/*--------------------------------------------------------------------
 *    The MB-system:	mbsys_reson7k.c	3.00	3/23/2004
 *	$Id: mbsys_reson7k.c 1999 2012-11-13 02:22:31Z caress $
 *
 *    Copyright (c) 2004-2012 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_reson7k.c contains the MBIO functions for handling data from
 * Reson SeaBat 7k series sonars.
 * The data formats associated with Reson SeaBat 7k multibeams
 * include:
 *    MBSYS_RESON7K formats (code in mbsys_reson7k.c and mbsys_reson7k.h):
 *      MBF_RESON7KR : MBIO ID 191 - Raw vendor format
 *      MBF_RESON7KP : MBIO ID 192 - Full processed data
 *      MBF_RESON7KP : MBIO ID 193 - Stripped processed data
 *
 * Author:	D. W. Caress
 * Date:	March 23, 2004
 *
 * $Log: mbsys_reson7k.c,v $
 * Revision 5.21  2008/09/27 03:27:10  caress
 * Working towards release 5.1.1beta24
 *
 * Revision 5.20  2008/09/20 00:57:41  caress
 * Release 5.1.1beta23
 *
 * Revision 5.19  2008/05/16 22:56:24  caress
 * Release 5.1.1beta18.
 *
 * Revision 5.18  2008/03/01 09:14:03  caress
 * Some housekeeping changes.
 *
 * Revision 5.17  2008/01/14 18:11:28  caress
 * Fixes to handling beamflagging following upgrades to Reson 7k multibeams.
 *
 * Revision 5.16  2007/10/08 15:59:34  caress
 * MBIO changes as of 8 October 2007.
 *
 * Revision 5.15  2007/07/03 17:25:51  caress
 * Changes to handle new time lag value in bluefin nav records.
 *
 * Revision 5.14  2006/11/10 22:36:05  caress
 * Working towards release 5.1.0
 *
 * Revision 5.13  2006/09/11 18:55:53  caress
 * Changes during Western Flyer and Thomas Thompson cruises, August-September
 * 2006.
 *
 * Revision 5.12  2006/08/09 22:41:27  caress
 * Fixed programs that read or write grids so that they do not use the GMT_begin() function; these programs will now work when GMT is built in the default fashion, when GMT is built in the default fashion, with "advisory file locking" enabled.
 *
 * Revision 5.11  2006/03/14 01:48:08  caress
 * Changed log2() and exp2() calls to log() and exp() for compatitibility with non-POSIX compliant operating systems.
 *
 * Revision 5.10  2005/11/05 00:48:04  caress
 * Programs changed to register arrays through mb_register_array() rather than allocating the memory directly with mb_realloc() or mb_malloc().
 *
 * Revision 5.9  2005/06/15 15:20:17  caress
 * Fixed problems with writing Bluefin records in 7k data and improved support for Edgetech Jstar data.
 *
 * Revision 5.8  2005/06/04 04:16:00  caress
 * Support for Edgetech Jstar format (id 132 and 133).
 *
 * Revision 5.7  2004/12/02 06:33:31  caress
 * Fixes while supporting Reson 7k data.
 *
 * Revision 5.6  2004/11/08 05:47:20  caress
 * Now gets sidescan from snippet data, maybe even properly...
 *
 * Revision 5.5  2004/11/06 03:55:15  caress
 * Working to support the Reson 7k format.
 *
 * Revision 5.4  2004/09/16 19:02:34  caress
 * Changes to better support segy data.
 *
 * Revision 5.3  2004/07/15 19:25:04  caress
 * Progress in supporting Reson 7k data.
 *
 * Revision 5.2  2004/06/18 05:22:32  caress
 * Working on adding support for segy i/o and for Reson 7k format 88.
 *
 * Revision 5.1  2004/05/21 23:44:49  caress
 * Progress supporting Reson 7k data, including support for extracing subbottom profiler data.
 *
 * Revision 5.0  2004/04/27 01:50:15  caress
 * Adding support for Reson 7k sonar data, including segy extensions.
 *
 *
 *
 */

/* standard include files */
#include <stdio.h>
#include <stdlib.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_reson7k.h"
#include "../../include/mb_segy.h"

/* turn on debug statements here */
/* #define MSYS_RESON7KR_DEBUG 1 */

static char rcs_id[]="$Id: mbsys_reson7k.c 1999 2012-11-13 02:22:31Z caress $";

/*--------------------------------------------------------------------*/
int mbsys_reson7k_zero7kheader(int verbose, s7k_header	*header,
			int *error)
{
	char	*function_name = "mbsys_reson7k_zero7kheader";
	int	status = MB_SUCCESS;
	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       header:     %lu\n",(size_t)header);
		}

	/* Reson 7k data record header information */
	header->Version = 0;
	header->Offset = 0;
	header->SyncPattern = 0;
	header->OffsetToOptionalData = 0;
	header->OptionalDataIdentifier = 0;
	header->s7kTime.Year = 0;
	header->s7kTime.Day = 0;
	header->s7kTime.Seconds = 0.0;
	header->s7kTime.Hours = 0;
	header->s7kTime.Minutes = 0;
	header->Reserved = 0;
	header->RecordType = 0;
	header->DeviceId = 0;
	header->Reserved2 = 0;
	header->SystemEnumerator = 0;
	header->DataSetNumber = 0;
	header->RecordNumber = 0;
	for (i=0;i<8;i++)
		{
		header->PreviousRecord[i] = 0;
		header->NextRecord[i] = 0;
		}
	header->Flags = 0;
	header->Reserved3 = 0;
	header->Reserved4 = 0;
	header->FragmentedTotal = 0;
	header->FragmentNumber = 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       error:      %d\n",*error);
		fprintf(stderr,"dbg2  Return status:\n");
		fprintf(stderr,"dbg2       status:     %d\n",status);
		}

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

/*--------------------------------------------------------------------*/
int mbsys_reson7k_alloc(int verbose, void *mbio_ptr, void **store_ptr,
			int *error)
{
	char	*function_name = "mbsys_reson7k_alloc";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_reson7k_struct *store;
	s7kr_reference		*reference;
	s7kr_sensoruncal	*sensoruncal;
	s7kr_sensorcal		*sensorcal;
	s7kr_position		*position;
	s7kr_customattitude	*customattitude;
	s7kr_tide		*tide;
	s7kr_altitude		*altitude;
	s7kr_motion		*motion;
	s7kr_depth		*depth;
	s7kr_svp		*svp;
	s7kr_ctd		*ctd;
	s7kr_geodesy		*geodesy;
	s7kr_rollpitchheave	*rollpitchheave;
	s7kr_heading		*heading;
	s7kr_surveyline		*surveyline;
	s7kr_navigation		*navigation;
	s7kr_attitude		*attitude;
	s7kr_fsdwss		*fsdwsslo;
	s7kr_fsdwss		*fsdwsshi;
	s7kr_fsdwsb		*fsdwsb;
	s7kr_bluefin		*bluefin;
	s7kr_processedsidescan	*processedsidescan;
	s7kr_volatilesettings	*volatilesettings;
	s7kr_configuration	*configuration;
	s7kr_matchfilter	*matchfilter;
	s7kr_v2firmwarehardwareconfiguration	*v2firmwarehardwareconfiguration;
	s7kr_beamgeometry	*beamgeometry;
	s7kr_calibration	*calibration;
	s7kr_bathymetry		*bathymetry;
	s7kr_backscatter	*backscatter;
	s7kr_beam		*beam;
	s7kr_verticaldepth	*verticaldepth;
	s7kr_image		*image;
	s7kr_v2pingmotion	*v2pingmotion;
	s7kr_v2detectionsetup	*v2detectionsetup;
	s7kr_v2amplitudephase	*v2amplitudephase;
	s7kr_v2beamformed	*v2beamformed;
	s7kr_v2bite		*v2bite;
	s7kr_v27kcenterversion	*v27kcenterversion;
	s7kr_v28kwetendversion	*v28kwetendversion;
	s7kr_v2detection	*v2detection;
	s7kr_v2rawdetection	*v2rawdetection;
	s7kr_v2snippettimeseries	*v2snippettimeseries;
	s7kr_v2snippet		*v2snippet;
	s7kr_installation	*installation;
	s7kr_systemeventmessage	*systemeventmessage;
	s7kr_fileheader		*fileheader;
	s7kr_remotecontrolsettings	*remotecontrolsettings;
	s7kr_reserved		*reserved;
	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);
		}

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

	/* allocate memory for data structure */
	status = mb_mallocd(verbose, __FILE__, __LINE__, sizeof(struct mbsys_reson7k_struct),
				(void **)store_ptr, error);

	/* get data structure pointer */
	store = (struct mbsys_reson7k_struct *) *store_ptr;

	/* initialize everything */

	/* Type of data record */
	store->kind = MB_DATA_NONE;
	store->type = R7KRECID_None;

	/* ping record id's */
	store->current_ping_number = -1;
	store->read_volatilesettings = MB_NO;
	store->read_matchfilter = MB_NO;
	store->read_beamgeometry = MB_NO;
	store->read_bathymetry = MB_NO;
	store->read_backscatter = MB_NO;
	store->read_beam = MB_NO;
	store->read_verticaldepth = MB_NO;
	store->read_image = MB_NO;
	store->read_v2pingmotion = MB_NO;
	store->read_v2detectionsetup = MB_NO;
	store->read_v2beamformed = MB_NO;
	store->read_v2detection = MB_NO;
	store->read_v2rawdetection = MB_NO;
	store->read_v2snippet = MB_NO;
	store->read_processedsidescan = MB_NO;

	/* MB-System time stamp */
	store->time_d = 0;
	for (i=0;i<7;i++)
		store->time_i[i] = 0;

	/* Reference point information (record 1000) */
	reference = &store->reference;
	mbsys_reson7k_zero7kheader(verbose, &reference->header, error);
	reference->offset_x = 0.0;
	reference->offset_y = 0.0;
	reference->offset_z = 0.0;
	reference->water_z = 0.0;

	/* Sensor uncalibrated offset position information (record 1001) */
	sensoruncal = &store->sensoruncal;
	mbsys_reson7k_zero7kheader(verbose, &sensoruncal->header, error);
	sensoruncal->offset_x = 0.0;
	sensoruncal->offset_y = 0.0;
	sensoruncal->offset_z = 0.0;
	sensoruncal->offset_roll = 0.0;
	sensoruncal->offset_pitch = 0.0;
	sensoruncal->offset_yaw = 0.0;

	/* Sensor calibrated offset position information (record 1002) */
	sensorcal = &store->sensorcal;
	mbsys_reson7k_zero7kheader(verbose, &sensorcal->header, error);
	sensorcal->offset_x = 0.0;
	sensorcal->offset_y = 0.0;
	sensorcal->offset_z = 0.0;
	sensorcal->offset_roll = 0.0;
	sensorcal->offset_pitch = 0.0;
	sensorcal->offset_yaw = 0.0;

	/* Position (record 1003) */
	position = &store->position;
	mbsys_reson7k_zero7kheader(verbose, &position->header, error);
	position->datum = 0;
	position->latency = 0.0;
	position->latitude = 0.0;
	position->longitude = 0.0;
	position->height = 0.0;
	position->type = 0;
	position->utm_zone = 0;
	position->quality = 0;
	position->method = 0;

	/* Custom attitude (record 1004) */
	customattitude = &store->customattitude;
	mbsys_reson7k_zero7kheader(verbose, &customattitude->header, error);
	customattitude->bitfield = 0;
	customattitude->reserved = 0;
	customattitude->n = 0;
	customattitude->frequency = 0;
	customattitude->nalloc = 0;
	customattitude->pitch = NULL;
	customattitude->roll = NULL;
	customattitude->heading = NULL;
	customattitude->heave = NULL;
	customattitude->pitchrate = NULL;
	customattitude->rollrate = NULL;
	customattitude->headingrate = NULL;
	customattitude->heaverate = NULL;

	/* Tide (record 1005) */
	tide = &store->tide;
	mbsys_reson7k_zero7kheader(verbose, &tide->header, error);
	tide->tide = 0.0;
	tide->source = 0;
	tide->flags = 0;
	tide->gauge = 0;
	tide->datum = 0;
	tide->latency = 0.0;
	tide->latitude = 0.0;
	tide->longitude = 0.0;
	tide->height = 0.0;
	tide->type = 0;
	tide->utm_zone = 0;

	/* Altitude (record 1006) */
	altitude = &store->altitude;
	mbsys_reson7k_zero7kheader(verbose, &altitude->header, error);
	altitude->altitude = 0.0;

	/* Motion over ground (record 1007) */
	motion = &store->motion;
	mbsys_reson7k_zero7kheader(verbose, &motion->header, error);
	motion->bitfield = 0;
	motion->reserved = 0;
	motion->n = 0;
	motion->frequency = 0;
	motion->nalloc = 0;
	motion->x = NULL;
	motion->y = NULL;
	motion->z = NULL;
	motion->xa = NULL;
	motion->ya = NULL;
	motion->za = NULL;

	/* Depth (record 1008) */
	depth = &store->depth;
	mbsys_reson7k_zero7kheader(verbose, &depth->header, error);
	depth->descriptor = 0;
	depth->correction = 0;
	depth->reserved = 0;
	depth->depth = 0.0;

	/* Sound velocity profile (record 1009) */
	svp = &store->svp;
	mbsys_reson7k_zero7kheader(verbose, &svp->header, error);
	svp->position_flag = 0;
	svp->reserved1 = 0;
	svp->reserved2 = 0;
	svp->latitude = 0.0;
	svp->longitude = 0.0;
	svp->n = 0;
	svp->nalloc = 0;
	svp->depth = NULL;
	svp->sound_velocity = NULL;

	/* CTD (record 1010) */
	ctd = &store->ctd;
	mbsys_reson7k_zero7kheader(verbose, &ctd->header, error);
	ctd->frequency = 0.0;
	ctd->velocity_source_flag = 0;
	ctd->velocity_algorithm = 0;
	ctd->conductivity_flag = 0;
	ctd->pressure_flag = 0;
	ctd->position_flag = 0;
	ctd->validity = 0;
	ctd->reserved = 0;
	ctd->latitude = 0.0;
	ctd->longitude = 0.0;
	ctd->sample_rate = 0.0;
	ctd->n = 0;
	ctd->nalloc = 0;
	ctd->conductivity_salinity = NULL;
	ctd->temperature = NULL;
	ctd->pressure_depth = NULL;
	ctd->sound_velocity = NULL;
	ctd->absorption = NULL;

	/* Geodesy (record 1011) */
	geodesy = &store->geodesy;
	mbsys_reson7k_zero7kheader(verbose, &geodesy->header, error);
	for (i=0;i<32;i++)
		geodesy->spheroid[i] = '\0';
	geodesy->semimajoraxis = 0.0;
	geodesy->flattening = 0.0;
	for (i=0;i<16;i++)
		geodesy->reserved1[i] = '\0';
	for (i=0;i<32;i++)
		geodesy->datum[i] = '\0';
	geodesy->calculation_method = 0;
	geodesy->number_parameters = 0;
	geodesy->dx = 0.0;
	geodesy->dy = 0.0;
	geodesy->dz = 0.0;
	geodesy->rx = 0.0;
	geodesy->ry = 0.0;
	geodesy->rz = 0.0;
	geodesy->scale = 0.0;
	for (i=0;i<35;i++)
		geodesy->reserved2[i] = '\0';
	for (i=0;i<32;i++)
		geodesy->grid_name[i] = '\0';
	geodesy->distance_units = 0;
	geodesy->angular_units = 0;
	geodesy->latitude_origin = 0.0;
	geodesy->central_meriidan = 0.0;
	geodesy->false_easting = 0.0;
	geodesy->false_northing = 0.0;
	geodesy->central_scale_factor = 0.0;
	geodesy->custum_identifier = 0;
	for (i=0;i<50;i++)
		geodesy->reserved3[i] = '\0';

	/* Roll pitch heave (record 1012) */
	rollpitchheave = &store->rollpitchheave;
	mbsys_reson7k_zero7kheader(verbose, &rollpitchheave->header, error);
	rollpitchheave->roll = 0.0;
	rollpitchheave->pitch = 0.0;
	rollpitchheave->heave = 0.0;

	/* Heading (record 1013) */
	heading = &store->heading;
	mbsys_reson7k_zero7kheader(verbose, &heading->header, error);
	heading->heading = 0.0;

	/* Survey Line (record 1014) */
	surveyline = &store->surveyline;
	mbsys_reson7k_zero7kheader(verbose, &surveyline->header, error);
	surveyline->n = 0;
	surveyline->type = 0;
	surveyline->turnradius = 0.0;
	for (i=0;i<64;i++)
		surveyline->name[i] = '\0';
	surveyline->nalloc = 0;
	surveyline->latitude = NULL;
	surveyline->longitude = NULL;

	/* Navigation (record 1015) */
	navigation = &store->navigation;
	mbsys_reson7k_zero7kheader(verbose, &navigation->header, error);
	navigation->vertical_reference = 0;
	navigation->latitude = 0.0;
	navigation->longitude = 0.0;
	navigation->position_accuracy = 0.0;
	navigation->height = 0.0;
	navigation->height_accuracy = 0.0;
	navigation->speed = 0.0;
	navigation->course = 0.0;
	navigation->heading = 0.0;

	/* Attitude (record 1016) */
	attitude = &store->attitude;
	mbsys_reson7k_zero7kheader(verbose, &attitude->header, error);
	attitude->n = 0;
	attitude->nalloc = 0;
	attitude->delta_time = NULL;
	attitude->roll = NULL;
	attitude->pitch = NULL;
	attitude->heave = NULL;
	attitude->heading = NULL;

	/* Edgetech FS-DW low frequency sidescan (record 3000) */
	fsdwsslo = &store->fsdwsslo;
	mbsys_reson7k_zero7kheader(verbose, &fsdwsslo->header, error);
	fsdwsslo->msec_timestamp = 0;
	fsdwsslo->ping_number = 0;
	fsdwsslo->number_channels = 0;
	fsdwsslo->total_bytes = 0;
	fsdwsslo->data_format = 0;
	for (i=0;i<2;i++)
		{
		fsdwsslo->channel[i].number = 0;
		fsdwsslo->channel[i].type = 0;
		fsdwsslo->channel[i].data_type = 0;
		fsdwsslo->channel[i].polarity = 0;
		fsdwsslo->channel[i].bytespersample = 0;
		fsdwsslo->channel[i].reserved1[0] = 0;
		fsdwsslo->channel[i].reserved1[1] = 0;
		fsdwsslo->channel[i].reserved1[2] = 0;
		fsdwsslo->channel[i].number_samples = 0;
		fsdwsslo->channel[i].start_time = 0;
		fsdwsslo->channel[i].sample_interval = 0;
		fsdwsslo->channel[i].range = 0.0;
		fsdwsslo->channel[i].voltage = 0.0;
		for (j=0;j<16;j++)
			fsdwsslo->channel[i].name[j] = '\0';
		for (j=0;j<20;j++)
			fsdwsslo->channel[i].reserved2[j] = 0;
		fsdwsslo->channel[i].data_alloc = 0;
		fsdwsslo->channel[i].data = NULL;
		}

	/* Edgetech FS-DW high frequency sidescan (record 3000) */
	fsdwsshi = &store->fsdwsshi;
	mbsys_reson7k_zero7kheader(verbose, &fsdwsshi->header, error);
	fsdwsshi->msec_timestamp = 0;
	fsdwsshi->ping_number = 0;
	fsdwsshi->number_channels = 0;
	fsdwsshi->total_bytes = 0;
	fsdwsshi->data_format = 0;
	for (i=0;i<2;i++)
		{
		fsdwsshi->channel[i].number = 0;
		fsdwsshi->channel[i].type = 0;
		fsdwsshi->channel[i].data_type = 0;
		fsdwsshi->channel[i].polarity = 0;
		fsdwsshi->channel[i].bytespersample = 0;
		fsdwsshi->channel[i].reserved1[0] = 0;
		fsdwsshi->channel[i].reserved1[1] = 0;
		fsdwsshi->channel[i].reserved1[2] = 0;
		fsdwsshi->channel[i].number_samples = 0;
		fsdwsshi->channel[i].start_time = 0;
		fsdwsshi->channel[i].sample_interval = 0;
		fsdwsshi->channel[i].range = 0.0;
		fsdwsshi->channel[i].voltage = 0.0;
		for (j=0;j<16;j++)
			fsdwsshi->channel[i].name[j] = '\0';
		for (j=0;j<20;j++)
			fsdwsshi->channel[i].reserved2[j] = 0;
		fsdwsshi->channel[i].data_alloc = 0;
		fsdwsshi->channel[i].data = NULL;
		}

	/* Edgetech FS-DW subbottom (record 3001) */
	fsdwsb = &store->fsdwsb;
	mbsys_reson7k_zero7kheader(verbose, &fsdwsb->header, error);
	fsdwsb->msec_timestamp = 0;
	fsdwsb->ping_number = 0;
	fsdwsb->number_channels = 0;
	fsdwsb->total_bytes = 0;
	fsdwsb->data_format = 0;
	fsdwsb->channel.number = 0;
	fsdwsb->channel.type = 0;
	fsdwsb->channel.data_type = 0;
	fsdwsb->channel.polarity = 0;
	fsdwsb->channel.bytespersample = 0;
	fsdwsb->channel.reserved1[0] = 0;
	fsdwsb->channel.reserved1[1] = 0;
	fsdwsb->channel.reserved1[2] = 0;
	fsdwsb->channel.number_samples = 0;
	fsdwsb->channel.start_time = 0;
	fsdwsb->channel.sample_interval = 0;
	fsdwsb->channel.range = 0.0;
	fsdwsb->channel.voltage = 0.0;
	for (j=0;j<16;j++)
		fsdwsb->channel.name[j] = '\0';
	for (j=0;j<20;j++)
		fsdwsb->channel.reserved2[j] = '\0';
	fsdwsb->channel.data_alloc = 0;
	fsdwsb->channel.data = NULL;

	/* Bluefin data frames (record 3100) */
	bluefin = &store->bluefin;
	mbsys_reson7k_zero7kheader(verbose, &bluefin->header, error);
	bluefin->msec_timestamp = 0;
	bluefin->number_frames = 0;
	bluefin->frame_size = 0;
	bluefin->data_format = 0;
	for (i=0;i<16;i++)
		bluefin->reserved[i] = 0;
	for (i=0;i<BLUEFIN_MAX_FRAMES;i++)
		{
		bluefin->nav[i].packet_size = 0;
		bluefin->nav[i].version = 0;
		bluefin->nav[i].offset = 0;
		bluefin->nav[i].data_type = 0;
		bluefin->nav[i].data_size = 0;
		bluefin->nav[i].s7kTime.Year = 0;
		bluefin->nav[i].s7kTime.Day = 0;
		bluefin->nav[i].s7kTime.Seconds = 0.0;
		bluefin->nav[i].s7kTime.Hours = 0;
		bluefin->nav[i].s7kTime.Minutes = 0;
		bluefin->nav[i].checksum = 0;
		bluefin->nav[i].timedelay = 0;
		bluefin->nav[i].quality = 0;
		bluefin->nav[i].latitude = 0.0;
		bluefin->nav[i].longitude = 0.0;
		bluefin->nav[i].speed = 0.0;
		bluefin->nav[i].depth = 0.0;
		bluefin->nav[i].altitude = 0.0;
		bluefin->nav[i].roll = 0.0;
		bluefin->nav[i].pitch = 0.0;
		bluefin->nav[i].yaw = 0.0;
		bluefin->nav[i].northing_rate = 0.0;
		bluefin->nav[i].easting_rate = 0.0;
		bluefin->nav[i].depth_rate = 0.0;
		bluefin->nav[i].altitude_rate = 0.0;
		bluefin->nav[i].roll_rate = 0.0;
		bluefin->nav[i].pitch_rate = 0.0;
		bluefin->nav[i].yaw_rate = 0.0;
		bluefin->nav[i].position_time = 0.0;
		bluefin->nav[i].depth_time = 0.0;
		bluefin->environmental[i].packet_size = 0;
		bluefin->environmental[i].version = 0;
		bluefin->environmental[i].offset = 0;
		bluefin->environmental[i].data_type = 0;
		bluefin->environmental[i].data_size = 0;
		bluefin->environmental[i].s7kTime.Year = 0;
		bluefin->environmental[i].s7kTime.Day = 0;
		bluefin->environmental[i].s7kTime.Seconds = 0.0;
		bluefin->environmental[i].s7kTime.Hours = 0;
		bluefin->environmental[i].s7kTime.Minutes = 0;
		bluefin->environmental[i].checksum = 0;
		bluefin->environmental[i].reserved1 = 0;
		bluefin->environmental[i].quality = 0;
		bluefin->environmental[i].sound_speed = 0.0;
		bluefin->environmental[i].conductivity = 0.0;
		bluefin->environmental[i].temperature = 0.0;
		bluefin->environmental[i].pressure = 0.0;
		bluefin->environmental[i].salinity = 0.0;
		bluefin->environmental[i].ctd_time = 0.0;
		bluefin->environmental[i].temperature_time = 0.0;
		bluefin->environmental[i].surface_pressure = 0.0;
		bluefin->environmental[i].temperature_counts = 0;
		bluefin->environmental[i].conductivity_frequency = 0.0;
		bluefin->environmental[i].pressure_counts = 0;
		bluefin->environmental[i].pressure_comp_voltage = 0.0;
		bluefin->environmental[i].sensor1 = 0;
		bluefin->environmental[i].sensor2 = 0;
		bluefin->environmental[i].sensor3 = 0;
		bluefin->environmental[i].sensor4 = 0;
		bluefin->environmental[i].sensor5 = 0;
		bluefin->environmental[i].sensor6 = 0;
		bluefin->environmental[i].sensor7 = 0;
		bluefin->environmental[i].sensor8 = 0;
		for (j=0;j<8;j++)
			bluefin->environmental[i].reserved2[j] = 0;
		}

	/* Processed sidescan - MB-System extension to 7k format (record 3199) */
	processedsidescan = &store->processedsidescan;
	mbsys_reson7k_zero7kheader(verbose, &processedsidescan->header, error);
	processedsidescan->serial_number = 0;
	processedsidescan->ping_number = 0;
	processedsidescan->multi_ping = 0;
	processedsidescan->recordversion = 0;
	processedsidescan->ss_source = 0;
	processedsidescan->number_pixels = 0;
	processedsidescan->ss_type = 0;
	processedsidescan->pixelwidth = 0;
	processedsidescan->sonardepth = 0;
	processedsidescan->altitude = 0;
	for (i=0;i<MBSYS_RESON7K_MAX_PIXELS;i++)
		{
		processedsidescan->sidescan[i] = 0.0;
		processedsidescan->alongtrack[i] = 0.0;
		}

	/* Reson 7k volatile sonar settings (record 7000) */
	volatilesettings = &store->volatilesettings;
	mbsys_reson7k_zero7kheader(verbose, &volatilesettings->header, error);
	volatilesettings->serial_number = 0;
	volatilesettings->ping_number = 0;
	volatilesettings->multi_ping = 0;
	volatilesettings->frequency = 0.0;
	volatilesettings->sample_rate = 0.0;
	volatilesettings->receiver_bandwidth = 0.0;
	volatilesettings->pulse_width = 0.0;
	volatilesettings->pulse_type = 0;
	volatilesettings->pulse_envelope = 0;
	volatilesettings->pulse_envelope_par = 0.0;
	volatilesettings->pulse_reserved = 0;
	volatilesettings->max_ping_rate = 0.0;
	volatilesettings->ping_period = 0.0;
	volatilesettings->range_selection = 0.0;
	volatilesettings->power_selection = 0.0;
	volatilesettings->gain_selection = 0.0;
	volatilesettings->control_flags = 0;
	volatilesettings->projector_magic_no = 0;
	volatilesettings->steering_vertical = 0.0;
	volatilesettings->steering_horizontal = 0.0;
	volatilesettings->beamwidth_vertical = 0.0;
	volatilesettings->beamwidth_horizontal = 0.0;
	volatilesettings->focal_point = 0.0;
	volatilesettings->projector_weighting = 0;
	volatilesettings->projector_weighting_par = 0.0;
	volatilesettings->transmit_flags = 0;
	volatilesettings->hydrophone_magic_no = 0;
	volatilesettings->receive_weighting = 0;
	volatilesettings->receive_weighting_par = 0.0;
	volatilesettings->receive_flags = 0;
	volatilesettings->receive_width = 0.0;
	volatilesettings->range_minimum = 0.0;
	volatilesettings->range_maximum = 0.0;
	volatilesettings->depth_minimum = 0.0;
	volatilesettings->depth_maximum = 0.0;
	volatilesettings->absorption = 0.0;
	volatilesettings->sound_velocity = 0.0;
	volatilesettings->spreading = 0.0;
	volatilesettings->reserved = 0;

	/* Reson 7k configuration (record 7001) */
	configuration = &store->configuration;
	mbsys_reson7k_zero7kheader(verbose, &configuration->header, error);
	configuration->serial_number = 0;
	configuration->number_devices = 0;
	for (i=0;i<MBSYS_RESON7K_MAX_DEVICE;i++)
		{
		configuration->device[i].magic_number = 0;
		for (j=0;j<16;j++)
			configuration->device[i].description[j] = '\0';
		configuration->device[i].serial_number = 0;
		configuration->device[i].info_length = 0;
		configuration->device[i].info_alloc = 0;
		configuration->device[i].info = NULL;
		}

	/* Reson 7k match filter (record 7002) */
	matchfilter = &store->matchfilter;
	mbsys_reson7k_zero7kheader(verbose, &matchfilter->header, error);
	matchfilter->serial_number = 0;
	matchfilter->ping_number = 0;
	matchfilter->operation = 0;
	matchfilter->start_frequency = 0.0;
	matchfilter->end_frequency = 0.0;

	/* Reson 7k firmware and hardware configuration (record 7003) */
	v2firmwarehardwareconfiguration = &store->v2firmwarehardwareconfiguration;
	mbsys_reson7k_zero7kheader(verbose, &v2firmwarehardwareconfiguration->header, error);
	v2firmwarehardwareconfiguration->device_count = 0;
	v2firmwarehardwareconfiguration->info_length = 0;
	v2firmwarehardwareconfiguration->info_alloc = 0;
	v2firmwarehardwareconfiguration->info = NULL;

	/* Reson 7k beam geometry (record 7004) */
	beamgeometry = &store->beamgeometry;
	mbsys_reson7k_zero7kheader(verbose, &beamgeometry->header, error);
	beamgeometry->serial_number = 0;
	beamgeometry->number_beams = 0;
	for (i=0;i<MBSYS_RESON7K_MAX_BEAMS;i++)
		{
		beamgeometry->angle_alongtrack[i] = 0.0;
		beamgeometry->angle_acrosstrack[i] = 0.0;
		beamgeometry->beamwidth_alongtrack[i] = 0.0;
		beamgeometry->beamwidth_acrosstrack[i] = 0.0;
		}

	/* Reson 7k calibration data (record 7005) */
	calibration = &store->calibration;
	mbsys_reson7k_zero7kheader(verbose, &calibration->header, error);
	calibration->serial_number = 0;
	calibration->number_channels = 0;
	for (i=0;i<MBSYS_RESON7K_MAX_RECEIVERS;i++)
		{
		calibration->gain[i] = 0.0;
		calibration->phase[i] = 0.0;
		}

	/* Reson 7k bathymetry (record 7006) */
	bathymetry = &store->bathymetry;
	mbsys_reson7k_zero7kheader(verbose, &bathymetry->header, error);
	bathymetry->serial_number = 0;
	bathymetry->ping_number = 0;
	bathymetry->multi_ping = 0;
	bathymetry->number_beams = 0;
	for (i=0;i<MBSYS_RESON7K_MAX_BEAMS;i++)
		{
		bathymetry->range[i] = 0.0;
		bathymetry->quality[i] = 0;
		bathymetry->intensity[i] = 0.0;
		bathymetry->min_depth_gate[i] = 0.0;
		bathymetry->max_depth_gate[i] = 0.0;
		}
	bathymetry->optionaldata = MB_NO;
	bathymetry->frequency = 0.0;
	bathymetry->latitude = 0.0;
	bathymetry->longitude = 0.0;
	bathymetry->heading = 0.0;
	bathymetry->height_source = 0;
	bathymetry->tide = 0.0;
	bathymetry->roll = 0.0;
	bathymetry->pitch = 0.0;
	bathymetry->heave = 0.0;
	bathymetry->vehicle_height = 0.0;
	for (i=0;i<MBSYS_RESON7K_MAX_BEAMS;i++)
		{
		bathymetry->depth[i] = 0.0;
		bathymetry->alongtrack[i] = 0.0;
		bathymetry->acrosstrack[i] = 0.0;
		bathymetry->pointing_angle[i] = 0.0;
		bathymetry->azimuth_angle[i] = 0.0;
		}

	/* Reson 7k backscatter imagery data (record 7007) */
	backscatter = &store->backscatter;
	mbsys_reson7k_zero7kheader(verbose, &backscatter->header, error);
	backscatter->serial_number = 0;
	backscatter->ping_number = 0;
	backscatter->multi_ping = 0;
	backscatter->beam_position = 0.0;
	backscatter->control_flags = 0;
	backscatter->number_samples = 0;
	backscatter->port_beamwidth_x = 0.0;
	backscatter->port_beamwidth_y = 0.0;
	backscatter->stbd_beamwidth_x = 0.0;
	backscatter->stbd_beamwidth_y = 0.0;
	backscatter->port_steering_x = 0.0;
	backscatter->port_steering_y = 0.0;
	backscatter->stbd_steering_x = 0.0;
	backscatter->stbd_steering_y = 0.0;
	backscatter->number_beams = 0;
	backscatter->current_beam = 0;
	backscatter->sample_size = 0;
	backscatter->data_type = 0;
	backscatter->nalloc = 0;
	backscatter->port_data = NULL;
	backscatter->stbd_data = NULL;
	backscatter->optionaldata = MB_NO;
	backscatter->frequency = 0.0;
	backscatter->latitude = 0.0;
	backscatter->longitude = 0.0;
	backscatter->heading = 0.0;
	backscatter->altitude = 0.0;

	/* Reson 7k beam data (record 7008) */
	beam = &store->beam;
	mbsys_reson7k_zero7kheader(verbose, &beam->header, error);
	beam->serial_number = 0;
	beam->ping_number = 0;
	beam->multi_ping = 0;
	beam->number_beams = 0;
	beam->reserved = 0;
	beam->number_samples = 0;
	beam->record_subset_flag = 0;
	beam->row_column_flag = 0;
	beam->sample_header_id = 0;
	beam->sample_type = 0;
	for (i=0;i<MBSYS_RESON7K_MAX_RECEIVERS;i++)
		{
		beam->snippets[i].beam_number = 0;
		beam->snippets[i].begin_sample = 0;
		beam->snippets[i].end_sample = 0;
		beam->snippets[i].nalloc_amp = 0;
		beam->snippets[i].nalloc_phase = 0;
		beam->snippets[i].amplitude = NULL;
		beam->snippets[i].phase = NULL;
		}

	/* Reson 7k vertical depth (record 7009) */
	verticaldepth = &store->verticaldepth;
	mbsys_reson7k_zero7kheader(verbose, &verticaldepth->header, error);
	verticaldepth->frequency = 0.0;
	verticaldepth->ping_number = 0;
	verticaldepth->multi_ping = 0;
	verticaldepth->latitude = 0.0;
	verticaldepth->longitude = 0.0;
	verticaldepth->heading = 0.0;
	verticaldepth->alongtrack = 0.0;
	verticaldepth->acrosstrack = 0.0;
	verticaldepth->vertical_depth = 0;

	/* Reson 7k image data (record 7011) */
	image = &store->image;
	mbsys_reson7k_zero7kheader(verbose, &image->header, error);
	image->ping_number = 0;
	image->multi_ping = 0;
	image->width = 0;
	image->height = 0;
	image->color_depth = 0;
	image->width_height_flag = 0;
	image->compression = 0;
	image->nalloc = 0;
	image->image = NULL;

	/* Ping motion (record 7012) */
	v2pingmotion = &store->v2pingmotion;
	mbsys_reson7k_zero7kheader(verbose, &v2pingmotion->header, error);
	v2pingmotion->serial_number = 0;
	v2pingmotion->ping_number = 0;
	v2pingmotion->multi_ping = 0;
	v2pingmotion->n = 0;
	v2pingmotion->flags = 0;
	v2pingmotion->error_flags = 0;
	v2pingmotion->frequency = 0.0;
	v2pingmotion->nalloc = 0;
	v2pingmotion->pitch = 0.0;
	v2pingmotion->roll = NULL;
	v2pingmotion->heading = NULL;
	v2pingmotion->heave = NULL;

	/* Detection setup (record 7017) */
	v2detectionsetup = &store->v2detectionsetup;
	mbsys_reson7k_zero7kheader(verbose, &v2detectionsetup->header, error);
	v2detectionsetup->serial_number = 0;
	v2detectionsetup->ping_number = 0;
	v2detectionsetup->multi_ping = 0;
	v2detectionsetup->number_beams = 0;
	v2detectionsetup->data_field_size = 0;
	v2detectionsetup->detection_algorithm = 0;
	v2detectionsetup->detection_flags = 0;
	v2detectionsetup->minimum_depth = 0.0;
	v2detectionsetup->maximum_depth = 0.0;
	v2detectionsetup->minimum_range = 0.0;
	v2detectionsetup->maximum_range = 0.0;
	v2detectionsetup->minimum_nadir_search = 0.0;
	v2detectionsetup->maximum_nadir_search = 0.0;
	v2detectionsetup->automatic_filter_window = 0.0;
	v2detectionsetup->applied_roll = 0.0;
	v2detectionsetup->depth_gate_tilt = 0.0;
	for (i=0;i<14;i++)
		v2detectionsetup->reserved[i] = 0.0;
	for (i=0;i<MBSYS_RESON7K_MAX_BEAMS;i++)
		{
		v2detectionsetup->beam_descriptor[i] = 0;
		v2detectionsetup->detection_point[i] = 0.0;
		v2detectionsetup->flags[i] = 0;
		v2detectionsetup->auto_limits_min_sample[i] = 0;
		v2detectionsetup->auto_limits_max_sample[i] = 0;
		v2detectionsetup->user_limits_min_sample[i] = 0;
		v2detectionsetup->user_limits_max_sample[i] = 0;
		v2detectionsetup->quality[i] = 0;
		v2detectionsetup->uncertainty[i] = 0;
		}

	/* Reson 7k beamformed magnitude and phase data (record 7018) */
	v2beamformed = &store->v2beamformed;
	mbsys_reson7k_zero7kheader(verbose, &v2beamformed->header, error);
	v2beamformed->serial_number = 0;
	v2beamformed->ping_number = 0;
	v2beamformed->multi_ping = 0;
	v2beamformed->number_beams = 0;
	v2beamformed->number_samples = 0;
	for (i=0;i<32;i++)
		v2beamformed->reserved[i] = 0;
	for (i=0;i<MBSYS_RESON7K_MAX_BEAMS;i++)
		{
		v2amplitudephase = &v2beamformed->amplitudephase[i];
		v2amplitudephase->beam_number = 0;
		v2amplitudephase->number_samples = 0;
		v2amplitudephase->nalloc = 0;
		v2amplitudephase->amplitude = NULL;
		v2amplitudephase->phase = NULL;
		}

	/* Reson 7k BITE (record 7021) */
	v2bite = &store->v2bite;
	mbsys_reson7k_zero7kheader(verbose, &v2bite->header, error);
	v2bite->number_reports = 0;
	v2bite->nalloc = 0;
	v2bite->reports = NULL;

	/* Reson 7k center version (record 7022) */
	v27kcenterversion = &store->v27kcenterversion;
	mbsys_reson7k_zero7kheader(verbose, &v27kcenterversion->header, error);
	for (i=0;i<32;i++)
		v27kcenterversion->version[i] = 0;

	/* Reson 7k 8k wet end version (record 7023) */
	v28kwetendversion = &store->v28kwetendversion;
	mbsys_reson7k_zero7kheader(verbose, &v28kwetendversion->header, error);
	for (i=0;i<32;i++)
		v28kwetendversion->version[i] = 0;

	/* Reson 7k version 2 detection (record 7026) */
	v2detection = &store->v2detection;
	mbsys_reson7k_zero7kheader(verbose, &v2detection->header, error);
	v2detection->serial_number = 0;
	v2detection->ping_number = 0;
	v2detection->multi_ping = 0;
	v2detection->number_beams = 0;
	v2detection->data_field_size = 0;
	v2detection->corrections = 0;
	v2detection->detection_algorithm = 0;
	v2detection->flags = 0;
	for (i=0;i<64;i++)
		v2detection->reserved[64] = 0;
	for (i=0;i<MBSYS_RESON7K_MAX_BEAMS;i++)
		{
		v2detection->range[i] = 0.0;
		v2detection->angle_x[i] = 0.0;
		v2detection->angle_y[i] = 0.0;
		v2detection->range_error[i] = 0.0;
		v2detection->angle_x_error[i] = 0.0;
		v2detection->angle_y_error[i] = 0.0;
		}

	/* Reson 7k version 2 raw detection (record 7027) */
	v2rawdetection = &store->v2rawdetection;
	mbsys_reson7k_zero7kheader(verbose, &v2rawdetection->header, error);
	v2rawdetection->serial_number = 0;
	v2rawdetection->ping_number = 0;
	v2rawdetection->multi_ping = 0;
	v2rawdetection->number_beams = 0;
	v2rawdetection->data_field_size = 0;
	v2rawdetection->detection_algorithm = 0;
	v2rawdetection->detection_flags = 0;
	v2rawdetection->sampling_rate = 0.0;
	v2rawdetection->tx_angle = 0.0;
	for (i=0;i<64;i++)
		v2rawdetection->reserved[i] = 0;
	for (i=0;i<MBSYS_RESON7K_MAX_BEAMS;i++)
		{
		v2rawdetection->beam_descriptor[i] = 0;
		v2rawdetection->detection_point[i] = 0;
		v2rawdetection->rx_angle[i] = 0;
		v2rawdetection->flags[i] = 0;
		v2rawdetection->quality[i] = 0;
		v2rawdetection->uncertainty[i] = 0;
		}

	/* Reson 7k version 2 snippet (record 7028) */
	v2snippet = &store->v2snippet;
	mbsys_reson7k_zero7kheader(verbose, &v2snippet->header, error);
	v2snippet->serial_number = 0;
	v2snippet->ping_number = 0;
	v2snippet->multi_ping = 0;
	v2snippet->number_beams = 0;
	v2snippet->error_flag = 0;
	v2snippet->control_flags = 0;
	for (i=0;i<28;i++)
		v2snippet->reserved[i] = 0;
	for (i=0;i<MBSYS_RESON7K_MAX_BEAMS;i++)
		{
		v2snippettimeseries = &v2snippet->snippettimeseries[i];
		v2snippettimeseries->beam_number = 0;
		v2snippettimeseries->begin_sample = 0;
		v2snippettimeseries->detect_sample = 0;
		v2snippettimeseries->end_sample = 0;
		v2snippettimeseries->nalloc = 0;
		v2snippettimeseries->amplitude = NULL;
		}

	/* Reson 7k sonar installation parameters (record 7051) */
	installation = &store->installation;
	mbsys_reson7k_zero7kheader(verbose, &installation->header, error);
	installation->frequency = 0.0;
	installation->firmware_version_len = 0;
	for (i=0;i<128;i++)
		installation->firmware_version[i] = 0;
	installation->software_version_len = 0;
	for (i=0;i<128;i++)
		installation->software_version[i] = 0;
	installation->s7k_version_len = 0;
	for (i=0;i<128;i++)
		installation->s7k_version[i] = 0;
	installation->protocal_version_len = 0;
	installation->protocal_version[i] = 0;
	installation->transmit_x = 0.0;
	installation->transmit_y = 0.0;
	installation->transmit_z = 0.0;
	installation->transmit_roll = 0.0;
	installation->transmit_pitch = 0.0;
	installation->transmit_heading = 0.0;
	installation->receive_x = 0.0;
	installation->receive_y = 0.0;
	installation->receive_z = 0.0;
	installation->receive_roll = 0.0;
	installation->receive_pitch = 0.0;
	installation->receive_heading = 0.0;
	installation->motion_x = 0.0;
	installation->motion_y = 0.0;
	installation->motion_z = 0.0;
	installation->motion_roll = 0.0;
	installation->motion_pitch = 0.0;
	installation->motion_heading = 0.0;
	installation->motion_time_delay = 0;
	installation->position_x = 0.0;
	installation->position_y = 0.0;
	installation->position_z = 0.0;
	installation->position_time_delay = 0;
	installation->waterline_z = 0.0;

	/* Reson 7k system event (record 7051) */
	systemeventmessage = &store->systemeventmessage;
	mbsys_reson7k_zero7kheader(verbose, &systemeventmessage->header, error);
	systemeventmessage->serial_number = 0;
	systemeventmessage->event_id = 0;
	systemeventmessage->message_length = 0;
	systemeventmessage->event_identifier = 0;
	systemeventmessage->message_alloc = 0;
	systemeventmessage->message = NULL;

	/* Reson 7k file header (record 7200) */
	fileheader = &store->fileheader;
	mbsys_reson7k_zero7kheader(verbose, &fileheader->header, error);
	for (i=0;i<16;i++)
		fileheader->file_identifier[i] = '\0';
	fileheader->version = 0;
	fileheader->reserved = 0;
	for (i=0;i<16;i++)
		fileheader->session_identifier[i] = '\0';
	fileheader->record_data_size = 0;
	fileheader->number_subsystems = 0;
	for (i=0;i<64;i++)
		fileheader->recording_name[i] = '\0';
	for (i=0;i<16;i++)
		fileheader->recording_version[i] = '\0';
	for (i=0;i<64;i++)
		fileheader->user_defined_name[i] = '\0';
	for (i=0;i<128;i++)
		fileheader->notes[i] = '\0';
	for (j=0;j<MBSYS_RESON7K_MAX_DEVICE;j++)
		{
		fileheader->subsystem[j].device_identifier = 0;
		fileheader->subsystem[j].system_enumerator = 0;
		}

	/* Reson 7k remote control sonar settings (record 7503) */
	remotecontrolsettings = &store->remotecontrolsettings;
	mbsys_reson7k_zero7kheader(verbose, &remotecontrolsettings->header, error);
	remotecontrolsettings->serial_number = 0;
	remotecontrolsettings->ping_number = 0;
	remotecontrolsettings->frequency = 0.0;
	remotecontrolsettings->sample_rate = 0.0;
	remotecontrolsettings->receiver_bandwidth = 0.0;
	remotecontrolsettings->pulse_width = 0.0;
	remotecontrolsettings->pulse_type = 0;
	remotecontrolsettings->pulse_envelope = 0;
	remotecontrolsettings->pulse_envelope_par = 0.0;
	remotecontrolsettings->pulse_reserved = 0;
	remotecontrolsettings->max_ping_rate = 0.0;
	remotecontrolsettings->ping_period = 0.0;
	remotecontrolsettings->range_selection = 0.0;
	remotecontrolsettings->power_selection = 0.0;
	remotecontrolsettings->gain_selection = 0.0;
	remotecontrolsettings->control_flags = 0;
	remotecontrolsettings->projector_magic_no = 0;
	remotecontrolsettings->steering_vertical = 0.0;
	remotecontrolsettings->steering_horizontal = 0.0;
	remotecontrolsettings->beamwidth_vertical = 0.0;
	remotecontrolsettings->beamwidth_horizontal = 0.0;
	remotecontrolsettings->focal_point = 0.0;
	remotecontrolsettings->projector_weighting = 0;
	remotecontrolsettings->projector_weighting_par = 0.0;
	remotecontrolsettings->transmit_flags = 0;
	remotecontrolsettings->hydrophone_magic_no = 0;
	remotecontrolsettings->receive_weighting = 0;
	remotecontrolsettings->receive_weighting_par = 0.0;
	remotecontrolsettings->receive_flags = 0;
	remotecontrolsettings->range_minimum = 0.0;
	remotecontrolsettings->range_maximum = 0.0;
	remotecontrolsettings->depth_minimum = 0.0;
	remotecontrolsettings->depth_maximum = 0.0;
	remotecontrolsettings->absorption = 0.0;
	remotecontrolsettings->sound_velocity = 0.0;
	remotecontrolsettings->spreading = 0.0;
	remotecontrolsettings->reserved = 0;
	remotecontrolsettings->tx_offset_x = 0.0;
	remotecontrolsettings->tx_offset_y = 0.0;
	remotecontrolsettings->tx_offset_z = 0.0;
	remotecontrolsettings->head_tilt_x = 0.0;
	remotecontrolsettings->head_tilt_y = 0.0;
	remotecontrolsettings->head_tilt_z = 0.0;
	remotecontrolsettings->ping_on_off = 0;
	remotecontrolsettings->data_sample_types = 0;
	remotecontrolsettings->projector_orientation = 0;
	remotecontrolsettings->beam_angle_mode = 0;
	remotecontrolsettings->r7kcenter_mode = 0;
	remotecontrolsettings->gate_depth_min = 0.0;
	remotecontrolsettings->gate_depth_max = 0.0;
	for (i=0;i<35;i++)
		remotecontrolsettings->reserved2[i] = 0;

	/* Reson 7k remote control sonar settings (record 7503) */
	reserved = &store->reserved;
	mbsys_reson7k_zero7kheader(verbose, &reserved->header, error);
	for (i=0;i<R7KHDRSIZE_7kReserved;i++)
		reserved->reserved[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_reson7k_deall(int verbose, void *mbio_ptr, void **store_ptr,
			int *error)
{
	char	*function_name = "mbsys_reson7k_deall";
	int	status = MB_SUCCESS;
	struct mbsys_reson7k_struct *store;
	s7kr_customattitude	*customattitude;
	s7kr_motion		*motion;
	s7kr_svp		*svp;
	s7kr_ctd		*ctd;
	s7kr_surveyline		*surveyline;
	s7kr_attitude		*attitude;
	s7kr_fsdwss		*fsdwsslo;
	s7kr_fsdwss		*fsdwsshi;
	s7kr_fsdwsb		*fsdwsb;
	s7kr_configuration	*configuration;
	s7kr_v2firmwarehardwareconfiguration	*v2firmwarehardwareconfiguration;
	s7kr_backscatter	*backscatter;
	s7kr_beam		*beam;
	s7kr_image		*image;
	s7kr_v2pingmotion	*v2pingmotion;
	s7kr_v2amplitudephase	*amplitudephase;
	s7kr_v2beamformed	*v2beamformed;
	s7kr_v2bite		*v2bite;
	s7kr_v2snippettimeseries	*v2snippettimeseries;
	s7kr_v2snippet		*v2snippet;
	s7kr_systemeventmessage	*systemeventmessage;
	int	i;

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

	/* get data structure pointer */
	store = (struct mbsys_reson7k_struct *) *store_ptr;

	/* Custom attitude (record 1004) */
	customattitude = &store->customattitude;
	customattitude->n = 0;
	customattitude->nalloc = 0;
	if (customattitude->pitch != NULL)
		status = mb_freed(verbose,__FILE__,__LINE__,(void **)&(customattitude->pitch),error);
	if (customattitude->roll != NULL)
		status = mb_freed(verbose,__FILE__,__LINE__,(void **)&(customattitude->roll),error);
	if (customattitude->heading != NULL)
		status = mb_freed(verbose,__FILE__,__LINE__,(void **)&(customattitude->heading),error);
	if (customattitude->heave != NULL)
		status = mb_freed(verbose,__FILE__,__LINE__,(void **)&(customattitude->heave),error);
	if (customattitude->pitchrate != NULL)
		status = mb_freed(verbose,__FILE__,__LINE__,(void **)&(customattitude->pitchrate),error);
	if (customattitude->rollrate != NULL)
		status = mb_freed(verbose,__FILE__,__LINE__,(void **)&(customattitude->rollrate),error);
	if (customattitude->headingrate != NULL)
		status = mb_freed(verbose,__FILE__,__LINE__,(void **)&(customattitude->headingrate),error);
	if (customattitude->heaverate != NULL)
		status = mb_freed(verbose,__FILE__,__LINE__,(void **)&(customattitude->heaverate),error);

	/* Motion over ground (record 1007) */
	motion = &store->motion;
	motion->n = 0;
	motion->nalloc = 0;
	if (motion->x != NULL)
		status = mb_freed(verbose,__FILE__,__LINE__,(void **)&(motion->x),error);
	if (motion->y != NULL)
		status = mb_freed(verbose,__FILE__,__LINE__,(void **)&(motion->y),error);
	if (motion->z != NULL)
		status = mb_freed(verbose,__FILE__,__LINE__,(void **)&(motion->z),error);
	if (motion->xa != NULL)
		status = mb_freed(verbose,__FILE__,__LINE__,(void **)&(motion->xa),error);
	if (motion->ya != NULL)
		status = mb_freed(verbose,__FILE__,__LINE__,(void **)&(motion->ya),error);
	if (motion->za != NULL)
		status = mb_freed(verbose,__FILE__,__LINE__,(void **)&(motion->za),error);

	/* Sound velocity profile (record 1009) */
	svp = &store->svp;
	svp->n = 0;
	svp->nalloc = 0;
	if (svp->depth != NULL)
		status = mb_freed(verbose,__FILE__,__LINE__,(void **)&(svp->depth),error);
	if (svp->sound_velocity != NULL)
		status = mb_freed(verbose,__FILE__,__LINE__,(void **)&(svp->sound_velocity),error);

	/* CTD (record 1010) */
	ctd = &store->ctd;
	ctd->n = 0;
	ctd->nalloc = 0;
	if (ctd->conductivity_salinity != NULL)
		status = mb_freed(verbose,__FILE__,__LINE__,(void **)&(ctd->conductivity_salinity),error);
	if (ctd->temperature != NULL)
		status = mb_freed(verbose,__FILE__,__LINE__,(void **)&(ctd->temperature),error);
	if (ctd->pressure_depth != NULL)
		status = mb_freed(verbose,__FILE__,__LINE__,(void **)&(ctd->pressure_depth),error);
	if (ctd->sound_velocity != NULL)
		status = mb_freed(verbose,__FILE__,__LINE__,(void **)&(ctd->sound_velocity),error);
	if (ctd->absorption != NULL)
		status = mb_freed(verbose,__FILE__,__LINE__,(void **)&(ctd->absorption),error);

	/* Survey Line (record 1014) */
	surveyline = &store->surveyline;
	surveyline->n = 0;
	surveyline->nalloc = 0;
	if (surveyline->latitude != NULL)
		status = mb_freed(verbose,__FILE__,__LINE__,(void **)&(surveyline->latitude),error);
	if (surveyline->longitude != NULL)
		status = mb_freed(verbose,__FILE__,__LINE__,(void **)&(surveyline->longitude),error);

	/* Attitude (record 1016) */
	attitude = &store->attitude;
	attitude->n = 0;
	attitude->nalloc = 0;
	if (attitude->delta_time != NULL)
		status = mb_freed(verbose,__FILE__,__LINE__,(void **)&(attitude->delta_time),error);
	if (attitude->pitch != NULL)
		status = mb_freed(verbose,__FILE__,__LINE__,(void **)&(attitude->pitch),error);
	if (attitude->roll != NULL)
		status = mb_freed(verbose,__FILE__,__LINE__,(void **)&(attitude->roll),error);
	if (attitude->heave != NULL)
		status = mb_freed(verbose,__FILE__,__LINE__,(void **)&(attitude->heave),error);
	if (attitude->heading != NULL)
		status = mb_freed(verbose,__FILE__,__LINE__,(void **)&(attitude->heading),error);

	/* Edgetech FS-DW low frequency sidescan (record 3000) */
	fsdwsslo = &store->fsdwsslo;
	for (i=0;i<2;i++)
		{
		fsdwsslo->channel[i].data_alloc = 0;
		if (fsdwsslo->channel[i].data != NULL)
			status = mb_freed(verbose,__FILE__,__LINE__,(void **)&(fsdwsslo->channel[i].data),error);
		}

	/* Edgetech FS-DW high frequency sidescan (record 3000) */
	fsdwsshi = &store->fsdwsshi;
	for (i=0;i<2;i++)
		{
		fsdwsshi->channel[i].data_alloc = 0;
		if (fsdwsshi->channel[i].data != NULL)
			status = mb_freed(verbose,__FILE__,__LINE__,(void **)&(fsdwsshi->channel[i].data),error);
		}

	/* Edgetech FS-DW subbottom (record 3001) */
	fsdwsb = &store->fsdwsb;
	fsdwsb->channel.data_alloc = 0;
	if (fsdwsb->channel.data != NULL)
		status = mb_freed(verbose,__FILE__,__LINE__,(void **)&(fsdwsb->channel.data),error);

	/* Reson 7k configuration (record 7001) */
	configuration = &store->configuration;
	for (i=0;i<MBSYS_RESON7K_MAX_DEVICE;i++)
		{
		configuration->device[i].info_length = 0;
		configuration->device[i].info_alloc = 0;
		if (configuration->device[i].info != NULL)
			status = mb_freed(verbose,__FILE__,__LINE__,(void **)&(configuration->device[i].info),error);
		}

	/* Reson 7k firmware and hardware configuration (record 7003) */
	v2firmwarehardwareconfiguration = &store->v2firmwarehardwareconfiguration;
	if (v2firmwarehardwareconfiguration->info != NULL && v2firmwarehardwareconfiguration->info_alloc > 0)
		status = mb_freed(verbose,__FILE__,__LINE__,(void **)&(v2firmwarehardwareconfiguration->info),error);
	v2firmwarehardwareconfiguration->info_length = 0;
	v2firmwarehardwareconfiguration->info_alloc = 0;

	/* Reson 7k backscatter imagery data (record 7007) */
	backscatter = &store->backscatter;
	backscatter->number_samples = 0;
	backscatter->nalloc = 0;
	if (backscatter->port_data != NULL)
			status = mb_freed(verbose,__FILE__,__LINE__,(void **)&(backscatter->port_data),error);
	if (backscatter->stbd_data != NULL)
			status = mb_freed(verbose,__FILE__,__LINE__,(void **)&(backscatter->stbd_data),error);

	/* Reson 7k beam data (record 7008) */
	beam = &store->beam;
	for (i=0;i<MBSYS_RESON7K_MAX_RECEIVERS;i++)
		{
		beam->snippets[i].begin_sample = 0;
		beam->snippets[i].end_sample = 0;
		beam->snippets[i].nalloc_amp = 0;
		beam->snippets[i].nalloc_phase = 0;
		if (beam->snippets[i].amplitude != NULL)
			status = mb_freed(verbose,__FILE__,__LINE__,(void **)&(beam->snippets[i].amplitude),error);
		if (beam->snippets[i].phase != NULL)
			status = mb_freed(verbose,__FILE__,__LINE__,(void **)&(beam->snippets[i].phase),error);
		}

	/* Reson 7k image data (record 7011) */
	image = &store->image;
	image->width = 0;
	image->height = 0;
	image->nalloc = 0;
	if (image->image != NULL)
		status = mb_freed(verbose,__FILE__,__LINE__,(void **)&(image->image),error);

	/* Reson 7k ping motion (record 7012) */
	v2pingmotion = &store->v2pingmotion;
	v2pingmotion->n = 0;
	v2pingmotion->nalloc = 0;
	if (v2pingmotion->roll != NULL)
		status = mb_freed(verbose,__FILE__,__LINE__,(void **)&(v2pingmotion->roll),error);
	if (v2pingmotion->heading != NULL)
		status = mb_freed(verbose,__FILE__,__LINE__,(void **)&(v2pingmotion->heading),error);
	if (v2pingmotion->heave != NULL)
		status = mb_freed(verbose,__FILE__,__LINE__,(void **)&(v2pingmotion->heave),error);

	/* Reson 7k beamformed magnitude and phase data (record 7018) */
	v2beamformed = &store->v2beamformed;
	for (i=0;i<MBSYS_RESON7K_MAX_BEAMS;i++)
		{
		amplitudephase = &(v2beamformed->amplitudephase[i]);
		amplitudephase->number_samples = 0;
		amplitudephase->nalloc = 0;
		if (amplitudephase->amplitude != NULL)
			status = mb_freed(verbose,__FILE__,__LINE__,(void **)&(amplitudephase->amplitude),error);
		if (amplitudephase->phase != NULL)
			status = mb_freed(verbose,__FILE__,__LINE__,(void **)&(amplitudephase->phase),error);
		}

	/* Reson 7k BITE (record 7021) */
	v2bite = &store->v2bite;
	v2bite->number_reports = 0;
	v2bite->nalloc = 0;
	if (v2bite->reports != NULL)
		status = mb_freed(verbose,__FILE__,__LINE__,(void **)&(v2bite->reports),error);

	/* Reson 7k version 2 snippet (record 7028) */
	v2snippet = &store->v2snippet;
	v2snippet->number_beams = 0;
	for (i=0;i<MBSYS_RESON7K_MAX_BEAMS;i++)
		{
		v2snippettimeseries = &(v2snippet->snippettimeseries[i]);
		v2snippettimeseries->beam_number = 0;
		v2snippettimeseries->begin_sample = 0;
		v2snippettimeseries->detect_sample = 0;
		v2snippettimeseries->end_sample = 0;
		v2snippettimeseries->nalloc = 0;
		if (amplitudephase->amplitude != NULL)
			status = mb_freed(verbose,__FILE__,__LINE__,(void **)&(v2snippettimeseries->amplitude),error);
		}

	/* Reson 7k system event (record 7051) */
	systemeventmessage = &store->systemeventmessage;
	systemeventmessage->message_length = 0;
	systemeventmessage->event_identifier = 0;
	systemeventmessage->message_alloc = 0;
	if (systemeventmessage->message != NULL)
		status = mb_freed(verbose,__FILE__,__LINE__,(void **)&(systemeventmessage->message),error);

	/* deallocate memory for data structure */
	status = mb_freed(verbose,__FILE__,__LINE__,(void **)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);
}

/*--------------------------------------------------------------------*/
/* 7K Macros */
int mbsys_reson7k_checkheader(s7k_header header)
    {
        return ( ( header.Version          >   0                                  ) &&
                 ( header.SyncPattern      ==  0x0000ffff                         ) &&
                 ( header.Size             >   MBSYS_RESON7K_RECORDHEADER_SIZE    ) &&
                 ( header.s7kTime.Day     >= 1    ) &&
                 ( header.s7kTime.Day     <= 366  ) &&
                 ( header.s7kTime.Seconds  >= 0.0f ) &&
                 ( header.s7kTime.Seconds  < 60.0f ) &&
                 ( header.s7kTime.Hours   <= 23   ) &&
                 ( header.s7kTime.Minutes <= 59   )  );
    }


/*--------------------------------------------------------------------*/
int mbsys_reson7k_print_header(int verbose,
			s7k_header *header,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_header";
	int	status = MB_SUCCESS;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;
	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       header:     %lu\n",(size_t)header);
		}


	/* print Reson 7k data record header information */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     Version:                 %d\n",first,header->Version);
	fprintf(stderr,"%s     Offset:                  %d\n",first,header->Offset);
	fprintf(stderr,"%s     SyncPattern:             %d\n",first,header->SyncPattern);
	fprintf(stderr,"%s     Size:                    %d\n",first,header->Size);
	fprintf(stderr,"%s     OffsetToOptionalData:    %d\n",first,header->OffsetToOptionalData);
	fprintf(stderr,"%s     OptionalDataIdentifier:  %d\n",first,header->OptionalDataIdentifier);
	fprintf(stderr,"%s     s7kTime.Year:            %d\n",first,header->s7kTime.Year);
	fprintf(stderr,"%s     s7kTime.Day:             %d\n",first,header->s7kTime.Day);
	fprintf(stderr,"%s     s7kTime.Seconds:         %f\n",first,header->s7kTime.Seconds);
	fprintf(stderr,"%s     s7kTime.Hours:           %d\n",first,header->s7kTime.Hours);
	fprintf(stderr,"%s     7kTime->Minutes:         %d\n",first,header->s7kTime.Minutes);
	fprintf(stderr,"%s     Reserved:                %d\n",first,header->Reserved);
	fprintf(stderr,"%s     RecordType:              %d\n",first,header->RecordType);
	fprintf(stderr,"%s     DeviceId:                %d\n",first,header->DeviceId);
	fprintf(stderr,"%s     Reserved2:               %d\n",first,header->Reserved2);
	fprintf(stderr,"%s     SystemEnumerator:        %d\n",first,header->SystemEnumerator);
	fprintf(stderr,"%s     DataSetNumber:           %d\n",first,header->DataSetNumber);
	fprintf(stderr,"%s     RecordNumber:            %d\n",first,header->RecordNumber);
	for (i=0;i<8;i++)
		{
		fprintf(stderr,"%s     PreviousRecord[%d]:       %d\n",first,i,header->PreviousRecord[i]);
		fprintf(stderr,"%s     NextRecord[%d]:           %d\n",first,i,header->NextRecord[i]);
		}
	fprintf(stderr,"%s     Flags:                   %d\n",first,header->Flags);
	fprintf(stderr,"%s     Reserved3:               %d\n",first,header->Reserved3);
	fprintf(stderr,"%s     Reserved4:               %d\n",first,header->Reserved4);
	fprintf(stderr,"%s     FragmentedTotal:         %d\n",first,header->FragmentedTotal);
	fprintf(stderr,"%s     FragmentNumber:          %d\n",first,header->FragmentNumber);

	/* 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_reson7k_print_reference(int verbose,
			s7kr_reference *reference,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_reference";
	int	status = MB_SUCCESS;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;

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

	/* print Reson 7k data record header information */
	mbsys_reson7k_print_header(verbose, &reference->header, error);

	/* print Reference point information (record 1000) */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     offset_x:                %f\n",first,reference->offset_x);
	fprintf(stderr,"%s     offset_y:                %f\n",first,reference->offset_y);
	fprintf(stderr,"%s     offset_z:                %f\n",first,reference->offset_z);
	fprintf(stderr,"%s     water_z:                 %f\n",first,reference->water_z);

	/* 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_reson7k_print_sensoruncal(int verbose,
			s7kr_sensoruncal *sensoruncal,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_sensoruncal";
	int	status = MB_SUCCESS;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;

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

	/* print Reson 7k data record header information */
	mbsys_reson7k_print_header(verbose, &sensoruncal->header, error);

	/* print Sensor uncalibrated offset position information (record 1001) */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     offset_x:                %f\n",first,sensoruncal->offset_x);
	fprintf(stderr,"%s     offset_y:                %f\n",first,sensoruncal->offset_y);
	fprintf(stderr,"%s     offset_z:                %f\n",first,sensoruncal->offset_z);
	fprintf(stderr,"%s     offset_roll:             %f\n",first,sensoruncal->offset_roll);
	fprintf(stderr,"%s     offset_pitch:            %f\n",first,sensoruncal->offset_pitch);
	fprintf(stderr,"%s     offset_yaw:              %f\n",first,sensoruncal->offset_yaw);

	/* 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_reson7k_print_sensorcal(int verbose,
			s7kr_sensorcal *sensorcal,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_sensorcal";
	int	status = MB_SUCCESS;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;

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

	/* print Reson 7k data record header information */
	mbsys_reson7k_print_header(verbose, &sensorcal->header, error);

	/* print Sensor Calibrated offset position information (record 1001) */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     offset_x:                %f\n",first,sensorcal->offset_x);
	fprintf(stderr,"%s     offset_y:                %f\n",first,sensorcal->offset_y);
	fprintf(stderr,"%s     offset_z:                %f\n",first,sensorcal->offset_z);
	fprintf(stderr,"%s     offset_roll:             %f\n",first,sensorcal->offset_roll);
	fprintf(stderr,"%s     offset_pitch:            %f\n",first,sensorcal->offset_pitch);
	fprintf(stderr,"%s     offset_yaw:              %f\n",first,sensorcal->offset_yaw);

	/* 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_reson7k_print_position(int verbose,
			s7kr_position *position,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_position";
	int	status = MB_SUCCESS;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;

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

	/* print Reson 7k data record header information */
	mbsys_reson7k_print_header(verbose, &position->header, error);

	/* print Sensor Calibrated offset position information (record 1001) */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     datum:                   %d\n",first,position->datum);
	fprintf(stderr,"%s     latency:                 %f\n",first,position->latency);
	fprintf(stderr,"%s     latitude:                %f\n",first,position->latitude);
	fprintf(stderr,"%s     longitude:               %f\n",first,position->longitude);
	fprintf(stderr,"%s     height:                  %f\n",first,position->height);
	fprintf(stderr,"%s     type:                    %d\n",first,position->type);
	fprintf(stderr,"%s     utm_zone:                %d\n",first,position->utm_zone);
	fprintf(stderr,"%s     quality:                 %d\n",first,position->quality);
	fprintf(stderr,"%s     method:                  %d\n",first,position->method);

	/* 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_reson7k_print_customattitude(int verbose,
			s7kr_customattitude *customattitude,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_customattitude";
	int	status = MB_SUCCESS;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;
	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       customattitude:%lu\n",(size_t)customattitude);
		}

	/* print Reson 7k data record header information */
	mbsys_reson7k_print_header(verbose, &customattitude->header, error);

	/* print Custom attitude (record 1004) */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     bitfield:                   %d\n",first,customattitude->bitfield);
	fprintf(stderr,"%s     reserved:                   %d\n",first,customattitude->reserved);
	fprintf(stderr,"%s     n:                          %d\n",first,customattitude->n);
	fprintf(stderr,"%s     frequency:                  %f\n",first,customattitude->frequency);
	fprintf(stderr,"%s     nalloc:                     %d\n",first,customattitude->nalloc);
	for (i=0;i<customattitude->n;i++)
		fprintf(stderr,"%s     i:%d pitch:%f roll:%f heading:%f heave:%f\n",
					first,i,customattitude->pitch[i],customattitude->roll[i],
					customattitude->heading[i],customattitude->heave[i]);
	for (i=0;i<customattitude->n;i++)
		fprintf(stderr,"%s     i:%d pitchrate:%f rollrate:%f headingrate:%f heaverate:%f\n",
					first,i,customattitude->pitchrate[i],customattitude->rollrate[i],
					customattitude->headingrate[i],customattitude->heaverate[i]);

	/* 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_reson7k_print_tide(int verbose,
			s7kr_tide *tide,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_tide";
	int	status = MB_SUCCESS;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;

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

	/* print Reson 7k data record header information */
	mbsys_reson7k_print_header(verbose, &tide->header, error);

	/* print Tide (record 1005) */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     tide:                       %f\n",first,tide->tide);
	fprintf(stderr,"%s     source:                     %d\n",first,tide->source);
	fprintf(stderr,"%s     flags:                      %d\n",first,tide->flags);
	fprintf(stderr,"%s     gauge:                      %d\n",first,tide->gauge);
	fprintf(stderr,"%s     datum:                      %d\n",first,tide->datum);
	fprintf(stderr,"%s     latency:                    %f\n",first,tide->latency);
	fprintf(stderr,"%s     latitude:                   %f\n",first,tide->latitude);
	fprintf(stderr,"%s     longitude:                  %f\n",first,tide->longitude);
	fprintf(stderr,"%s     height:                     %f\n",first,tide->height);
	fprintf(stderr,"%s     type:                       %d\n",first,tide->type);
	fprintf(stderr,"%s     utm_zone:                   %d\n",first,tide->utm_zone);

	/* 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_reson7k_print_altitude(int verbose,
			s7kr_altitude *altitude,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_altitude";
	int	status = MB_SUCCESS;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;

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

	/* print Reson 7k data record header information */
	mbsys_reson7k_print_header(verbose, &altitude->header, error);

	/* print Altitude (record 1006) */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     altitude:                   %f\n",first,altitude->altitude);

	/* 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_reson7k_print_motion(int verbose,
			s7kr_motion *motion,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_motion";
	int	status = MB_SUCCESS;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;
	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       motion:       %lu\n",(size_t)motion);
		}

	/* print Reson 7k data record header information */
	mbsys_reson7k_print_header(verbose, &motion->header, error);

	/* print Motion over ground (record 1007) */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     bitfield:                   %d\n",first,motion->bitfield);
	fprintf(stderr,"%s     reserved:                   %d\n",first,motion->reserved);
	fprintf(stderr,"%s     n:                          %d\n",first,motion->n);
	fprintf(stderr,"%s     frequency:                  %f\n",first,motion->frequency);
	fprintf(stderr,"%s     nalloc:                     %d\n",first,motion->nalloc);
	for (i=0;i<motion->n;i++)
		fprintf(stderr,"%s     i:%d x:%f y:%f z:%f xa:%f ya:%f za:%f\n",
					first,i,motion->x[i],motion->y[i],motion->z[i],
					motion->xa[i],motion->ya[i],motion->za[i]);

	/* 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_reson7k_print_depth(int verbose,
			s7kr_depth *depth,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_depth";
	int	status = MB_SUCCESS;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;

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

	/* print Reson 7k data record header information */
	mbsys_reson7k_print_header(verbose, &depth->header, error);

	/* print Depth (record 1008) */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     descriptor:                  %d\n",first,depth->descriptor);
	fprintf(stderr,"%s     correction:                  %d\n",first,depth->correction);
	fprintf(stderr,"%s     reserved:                    %d\n",first,depth->reserved);
	fprintf(stderr,"%s     depth:                       %f\n",first,depth->depth);

	/* 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_reson7k_print_svp(int verbose,
			s7kr_svp *svp,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_svp";
	int	status = MB_SUCCESS;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;
	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       svp:          %lu\n",(size_t)svp);
		}

	/* print Reson 7k data record header information */
	mbsys_reson7k_print_header(verbose, &svp->header, error);

	/* print Sound velocity profile (record 1009) */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     position_flag:              %d\n",first,svp->position_flag);
	fprintf(stderr,"%s     reserved1:                  %d\n",first,svp->reserved1);
	fprintf(stderr,"%s     reserved2:                  %d\n",first,svp->reserved2);
	fprintf(stderr,"%s     latitude:                   %f\n",first,svp->latitude);
	fprintf(stderr,"%s     longitude:                  %f\n",first,svp->longitude);
	fprintf(stderr,"%s     n:                          %d\n",first,svp->n);
	fprintf(stderr,"%s     nalloc:                     %d\n",first,svp->nalloc);
	for (i=0;i<svp->n;i++)
		fprintf(stderr,"%s     i:%d depth:%f sound_velocity:%f\n",
					first,i,svp->depth[i],svp->sound_velocity[i]);

	/* 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_reson7k_print_ctd(int verbose,
			s7kr_ctd *ctd,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_ctd";
	int	status = MB_SUCCESS;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;
	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       ctd:          %lu\n",(size_t)ctd);
		}

	/* print Reson 7k data record header information */
	mbsys_reson7k_print_header(verbose, &ctd->header, error);

	/* print CTD (record 1010) */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     frequency:                  %f\n",first,ctd->frequency);
	fprintf(stderr,"%s     velocity_source_flag:       %d\n",first,ctd->velocity_source_flag);
	fprintf(stderr,"%s     velocity_algorithm:         %d\n",first,ctd->velocity_algorithm);
	fprintf(stderr,"%s     conductivity_flag:          %d\n",first,ctd->conductivity_flag);
	fprintf(stderr,"%s     pressure_flag:              %d\n",first,ctd->pressure_flag);
	fprintf(stderr,"%s     position_flag:              %d\n",first,ctd->position_flag);
	fprintf(stderr,"%s     validity:                   %d\n",first,ctd->validity);
	fprintf(stderr,"%s     reserved:                   %d\n",first,ctd->reserved);
	fprintf(stderr,"%s     latitude:                   %f\n",first,ctd->latitude);
	fprintf(stderr,"%s     longitude:                  %f\n",first,ctd->longitude);
	fprintf(stderr,"%s     sample_rate:                %f\n",first,ctd->sample_rate);
	fprintf(stderr,"%s     n:                          %d\n",first,ctd->n);
	fprintf(stderr,"%s     nalloc:                     %d\n",first,ctd->nalloc);
	for (i=0;i<ctd->n;i++)
		fprintf(stderr,"%s     i:%d conductivity_salinity:%f temperature:%f pressure_depth:%f sound_velocity:%f absorption:%f\n",
					first,i,ctd->conductivity_salinity[i],
					ctd->temperature[i],ctd->pressure_depth[i],
					ctd->sound_velocity[i],ctd->absorption[i]);

	/* 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_reson7k_print_geodesy(int verbose,
			s7kr_geodesy *geodesy,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_geodesy";
	int	status = MB_SUCCESS;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;

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

	/* print Reson 7k data record header information */
	mbsys_reson7k_print_header(verbose, &geodesy->header, error);

	/* print Geodesy (record 1011) */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     spheroid:                   %s\n",first,geodesy->spheroid);
	fprintf(stderr,"%s     semimajoraxis:              %f\n",first,geodesy->semimajoraxis);
	fprintf(stderr,"%s     flattening:                 %f\n",first,geodesy->flattening);
	fprintf(stderr,"%s     reserved1:                  %s\n",first,geodesy->reserved1);
	fprintf(stderr,"%s     datum:                      %s\n",first,geodesy->datum);
	fprintf(stderr,"%s     calculation_method:         %d\n",first,geodesy->calculation_method);
	fprintf(stderr,"%s     number_parameters:          %d\n",first,geodesy->number_parameters);
	fprintf(stderr,"%s     dx:                         %f\n",first,geodesy->dx);
	fprintf(stderr,"%s     dy:                         %f\n",first,geodesy->dy);
	fprintf(stderr,"%s     dz:                         %f\n",first,geodesy->dz);
	fprintf(stderr,"%s     rx:                         %f\n",first,geodesy->rx);
	fprintf(stderr,"%s     ry:                         %f\n",first,geodesy->ry);
	fprintf(stderr,"%s     rz:                         %f\n",first,geodesy->rz);
	fprintf(stderr,"%s     scale:                      %f\n",first,geodesy->scale);
	fprintf(stderr,"%s     reserved2:                  %s\n",first,geodesy->reserved2);
	fprintf(stderr,"%s     grid_name:                  %s\n",first,geodesy->grid_name);
	fprintf(stderr,"%s     distance_units:             %d\n",first,geodesy->distance_units);
	fprintf(stderr,"%s     angular_units:              %d\n",first,geodesy->angular_units);
	fprintf(stderr,"%s     latitude_origin:            %f\n",first,geodesy->latitude_origin);
	fprintf(stderr,"%s     central_meriidan:           %f\n",first,geodesy->central_meriidan);
	fprintf(stderr,"%s     false_easting:              %f\n",first,geodesy->false_easting);
	fprintf(stderr,"%s     false_northing:             %f\n",first,geodesy->false_northing);
	fprintf(stderr,"%s     central_scale_factor:       %f\n",first,geodesy->central_scale_factor);
	fprintf(stderr,"%s     custum_identifier:          %d\n",first,geodesy->custum_identifier);
	fprintf(stderr,"%s     reserved3:                  %s\n",first,geodesy->reserved3);

	/* 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_reson7k_print_rollpitchheave(int verbose,
			s7kr_rollpitchheave *rollpitchheave,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_rollpitchheave";
	int	status = MB_SUCCESS;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;

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

	/* print Reson 7k data record header information */
	mbsys_reson7k_print_header(verbose, &rollpitchheave->header, error);

	/* print Roll pitch heave (record 1012) */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     roll:                       %f\n",first,rollpitchheave->roll);
	fprintf(stderr,"%s     pitch:                      %f\n",first,rollpitchheave->pitch);
	fprintf(stderr,"%s     heave:                      %f\n",first,rollpitchheave->heave);

	/* 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_reson7k_print_heading(int verbose,
			s7kr_heading *heading,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_heading";
	int	status = MB_SUCCESS;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;

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

	/* print Reson 7k data record header information */
	mbsys_reson7k_print_header(verbose, &heading->header, error);

	/* print Heading (record 1013) */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     heading:                    %f\n",first,heading->heading);

	/* 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_reson7k_print_surveyline(int verbose,
			s7kr_surveyline *surveyline,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_surveyline";
	int	status = MB_SUCCESS;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;
	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       surveyline:   %lu\n",(size_t)surveyline);
		}

	/* print Reson 7k data record header information */
	mbsys_reson7k_print_header(verbose, &surveyline->header, error);

	/* print Survey Line (record 1014) */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     n:                          %d\n",first,surveyline->n);
	fprintf(stderr,"%s     type:                       %d\n",first,surveyline->type);
	fprintf(stderr,"%s     turnradius:                 %f\n",first,surveyline->turnradius);
	fprintf(stderr,"%s     name:                       %s\n",first,surveyline->name);
	fprintf(stderr,"%s     nalloc:                     %d\n",first,surveyline->nalloc);
	for (i=0;i<surveyline->n;i++)
		fprintf(stderr,"%s     i:%d latitude:%f longitude:%f\n",
					first,i,surveyline->latitude[i],surveyline->longitude[i]);

	/* 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_reson7k_print_navigation(int verbose,
			s7kr_navigation *navigation,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_navigation";
	int	status = MB_SUCCESS;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;

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

	/* print Reson 7k data record header information */
	mbsys_reson7k_print_header(verbose, &navigation->header, error);

	/* print Navigation (record 1015) */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     vertical_reference:         %d\n",first,navigation->vertical_reference);
	fprintf(stderr,"%s     latitude:                   %f\n",first,navigation->latitude);
	fprintf(stderr,"%s     longitude:                  %f\n",first,navigation->longitude);
	fprintf(stderr,"%s     position_accuracy:          %f\n",first,navigation->position_accuracy);
	fprintf(stderr,"%s     height:                     %f\n",first,navigation->height);
	fprintf(stderr,"%s     height_accuracy:            %f\n",first,navigation->height_accuracy);
	fprintf(stderr,"%s     speed:                      %f\n",first,navigation->speed);
	fprintf(stderr,"%s     course:                     %f\n",first,navigation->course);
	fprintf(stderr,"%s     heading:                    %f\n",first,navigation->heading);

	/* 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_reson7k_print_attitude(int verbose,
			s7kr_attitude *attitude,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_attitude";
	int	status = MB_SUCCESS;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;
	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       attitude:     %lu\n",(size_t)attitude);
		}

	/* print Reson 7k data record header information */
	mbsys_reson7k_print_header(verbose, &attitude->header, error);

	/* print Attitude (record 1016) */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     n:                          %d\n",first,attitude->n);
	fprintf(stderr,"%s     nalloc:                     %d\n",first,attitude->nalloc);
	for (i=0;i<attitude->n;i++)
		fprintf(stderr,"%s     i:%d delta_time:%d pitch:%f roll:%f heading:%f heave:%f\n",
					first,i,attitude->delta_time[i],attitude->pitch[i],attitude->roll[i],
					attitude->heading[i],attitude->heave[i]);

	/* 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_reson7k_print_rec1022(int verbose,
			s7kr_rec1022 *rec1022,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_rec1022";
	int	status = MB_SUCCESS;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;
	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       rec1022:      %lu\n",(size_t)rec1022);
		}

	/* print Reson 7k data record header information */
	mbsys_reson7k_print_header(verbose, &rec1022->header, error);

	/* print Attitude (record 1016) */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     record bytes in hex:        |",first);
	for (i=0;i<R7KHDRSIZE_Rec1022;i++)
		{
		fprintf(stderr,"%x|",rec1022->data[i]);
		}
	fprintf(stderr,"\n");

	/* 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_reson7k_print_fsdwchannel(int verbose, int data_format,
			s7k_fsdwchannel *fsdwchannel,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_fsdwchannel";
	int	status = MB_SUCCESS;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;
	short	*shortptr;
	unsigned short	*ushortptr;
	int	i;

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

	/* print Edgetech sidescan or subbottom channel header data */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     number:                     %d\n",first,fsdwchannel->number);
	fprintf(stderr,"%s     type:                       %d\n",first,fsdwchannel->type);
	fprintf(stderr,"%s     data_type:                  %d\n",first,fsdwchannel->data_type);
	fprintf(stderr,"%s     polarity:                   %d\n",first,fsdwchannel->polarity);
	fprintf(stderr,"%s     bytespersample:             %d\n",first,fsdwchannel->bytespersample);
	fprintf(stderr,"%s     reserved1[0]                %d\n",first,fsdwchannel->reserved1[0]);
	fprintf(stderr,"%s     reserved1[1]                %d\n",first,fsdwchannel->reserved1[1]);
	fprintf(stderr,"%s     reserved1[2]                %d\n",first,fsdwchannel->reserved1[2]);
	fprintf(stderr,"%s     number_samples:             %d\n",first,fsdwchannel->number_samples);
	fprintf(stderr,"%s     start_time:                 %d\n",first,fsdwchannel->start_time);
	fprintf(stderr,"%s     sample_interval:            %d\n",first,fsdwchannel->sample_interval);
	fprintf(stderr,"%s     range:                      %f\n",first,fsdwchannel->range);
	fprintf(stderr,"%s     voltage:                    %f\n",first,fsdwchannel->voltage);
	fprintf(stderr,"%s     name:                       %s\n",first,fsdwchannel->name);
	fprintf(stderr,"%s     reserved2:                  %s\n",first,fsdwchannel->reserved2);
	fprintf(stderr,"%s     data_alloc:                 %d\n",first,fsdwchannel->data_alloc);
	shortptr = (short *) fsdwchannel->data;
	ushortptr = (unsigned short *) fsdwchannel->data;
	for (i=0;i<fsdwchannel->number_samples;i++)
		{
		if (data_format == EDGETECH_TRACEFORMAT_ENVELOPE)
			fprintf(stderr,"%s     data[%d]:                   %d\n", first,i,ushortptr[i]);
		else if (data_format == EDGETECH_TRACEFORMAT_ANALYTIC)
			fprintf(stderr,"%s     data[%d]:                   %d %d\n", first,i,shortptr[2*i],shortptr[2*i+1]);
		else if (data_format == EDGETECH_TRACEFORMAT_RAW)
			fprintf(stderr,"%s     data[%d]:                   %d\n", first,i,ushortptr[i]);
		else if (data_format == EDGETECH_TRACEFORMAT_REALANALYTIC)
			fprintf(stderr,"%s     data[%d]:                   %d\n", first,i,ushortptr[i]);
		else if (data_format == EDGETECH_TRACEFORMAT_PIXEL)
			fprintf(stderr,"%s     data[%d]:                   %d\n", first,i,ushortptr[i]);
		}

	/* 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_reson7k_print_fsdwssheader(int verbose,
			s7k_fsdwssheader *fsdwssheader,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_fsdwssheader";
	int	status = MB_SUCCESS;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;
	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       fsdwssheader:  %lu\n",(size_t)fsdwssheader);
		}

	/* print Edgetech sidescan or subbottom channel header data */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     subsystem;                    %d\n",first,fsdwssheader->subsystem);
	fprintf(stderr,"%s     channelNum;                   %d\n",first,fsdwssheader->channelNum);
	fprintf(stderr,"%s     pingNum;                      %d\n",first,fsdwssheader->pingNum);
	fprintf(stderr,"%s     packetNum;                    %d\n",first,fsdwssheader->packetNum);
	fprintf(stderr,"%s     trigSource;                   %d\n",first,fsdwssheader->trigSource);
	fprintf(stderr,"%s     samples;                      %d\n",first,fsdwssheader->samples);
	fprintf(stderr,"%s     sampleInterval;               %d\n",first,fsdwssheader->sampleInterval);
	fprintf(stderr,"%s     startDepth;                   %d\n",first,fsdwssheader->startDepth);
	fprintf(stderr,"%s     weightingFactor;              %d\n",first,fsdwssheader->weightingFactor);
	fprintf(stderr,"%s     ADCGain;                      %d\n",first,fsdwssheader->ADCGain);
	fprintf(stderr,"%s     ADCMax;                       %d\n",first,fsdwssheader->ADCMax);
	fprintf(stderr,"%s     rangeSetting;                 %d\n",first,fsdwssheader->rangeSetting);
	fprintf(stderr,"%s     pulseID;                      %d\n",first,fsdwssheader->pulseID);
	fprintf(stderr,"%s     markNumber;                   %d\n",first,fsdwssheader->markNumber);
	fprintf(stderr,"%s     dataFormat;                   %d\n",first,fsdwssheader->dataFormat);
	fprintf(stderr,"%s     reserved;                     %d\n",first,fsdwssheader->reserved);
	fprintf(stderr,"%s     millisecondsToday;            %d\n",first,fsdwssheader->millisecondsToday);
	fprintf(stderr,"%s     year;                         %d\n",first,fsdwssheader->year);
	fprintf(stderr,"%s     day;                          %d\n",first,fsdwssheader->day);
	fprintf(stderr,"%s     hour;                         %d\n",first,fsdwssheader->hour);
	fprintf(stderr,"%s     minute;                       %d\n",first,fsdwssheader->minute);
	fprintf(stderr,"%s     second;                       %d\n",first,fsdwssheader->second);
	fprintf(stderr,"%s     heading;                      %d\n",first,fsdwssheader->heading);
	fprintf(stderr,"%s     pitch;                        %d\n",first,fsdwssheader->pitch);
	fprintf(stderr,"%s     roll;                         %d\n",first,fsdwssheader->roll);
	fprintf(stderr,"%s     heave;                        %d\n",first,fsdwssheader->heave);
	fprintf(stderr,"%s     yaw;                          %d\n",first,fsdwssheader->yaw);
	fprintf(stderr,"%s     depth;                        %d\n",first,fsdwssheader->depth);
	fprintf(stderr,"%s     temperature;                  %d\n",first,fsdwssheader->temperature);
	for (i=0;i<10;i++)
		fprintf(stderr,"%s     reserved2[%d];                 %d\n",first,i,fsdwssheader->reserved2[i]);


	/* 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_reson7k_print_fsdwsegyheader(int verbose,
			s7k_fsdwsegyheader *fsdwsegyheader,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_fsdwsegyheader";
	int	status = MB_SUCCESS;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;
	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       fsdwsegyheader:  %lu\n",(size_t)fsdwsegyheader);
		}

	/* print Edgetech sidescan or subbottom channel header data */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     sequenceNumber;              %d\n",first,fsdwsegyheader->sequenceNumber);
	fprintf(stderr,"%s     startDepth;                  %d\n",first,fsdwsegyheader->startDepth);
	fprintf(stderr,"%s     pingNum;                     %d\n",first,fsdwsegyheader->pingNum);
	fprintf(stderr,"%s     channelNum;                  %d\n",first,fsdwsegyheader->channelNum);
	for (i=0;i<6;i++)
		fprintf(stderr,"%s     unused1[%d];                  %d\n",first,i,fsdwsegyheader->unused1[i]);
	fprintf(stderr,"%s     traceIDCode;                 %d\n",first,fsdwsegyheader->traceIDCode);
	for (i=0;i<2;i++)
		fprintf(stderr,"%s     unused2[%d];                  %d\n",first,i,fsdwsegyheader->unused2[i]);
	fprintf(stderr,"%s     dataFormat;                  %d\n",first,fsdwsegyheader->dataFormat);
	fprintf(stderr,"%s     NMEAantennaeR;               %d\n",first,fsdwsegyheader->NMEAantennaeR);
	fprintf(stderr,"%s     NMEAantennaeO;               %d\n",first,fsdwsegyheader->NMEAantennaeO);
	for (i=0;i<32;i++)
		fprintf(stderr,"%s     RS232[%d];                   %d\n",first,i,fsdwsegyheader->RS232[i]);
	fprintf(stderr,"%s     sourceCoordX;                %d\n",first,fsdwsegyheader->sourceCoordX);
	fprintf(stderr,"%s     sourceCoordY;                %d\n",first,fsdwsegyheader->sourceCoordY);
	fprintf(stderr,"%s     groupCoordX;                 %d\n",first,fsdwsegyheader->groupCoordX);
	fprintf(stderr,"%s     groupCoordY;                 %d\n",first,fsdwsegyheader->groupCoordY);
	fprintf(stderr,"%s     coordUnits;                  %d\n",first,fsdwsegyheader->coordUnits);
	fprintf(stderr,"%s     annotation;                  %s\n",first,fsdwsegyheader->annotation);
	fprintf(stderr,"%s     samples;                     %d\n",first,fsdwsegyheader->samples);
	fprintf(stderr,"%s     sampleInterval;              %d\n",first,fsdwsegyheader->sampleInterval);
	fprintf(stderr,"%s     ADCGain;                     %d\n",first,fsdwsegyheader->ADCGain);
	fprintf(stderr,"%s     pulsePower;                  %d\n",first,fsdwsegyheader->pulsePower);
	fprintf(stderr,"%s     correlated;                  %d\n",first,fsdwsegyheader->correlated);
	fprintf(stderr,"%s     startFreq;                   %d\n",first,fsdwsegyheader->startFreq);
	fprintf(stderr,"%s     endFreq;                     %d\n",first,fsdwsegyheader->endFreq);
	fprintf(stderr,"%s     sweepLength;                 %d\n",first,fsdwsegyheader->sweepLength);
	for (i=0;i<4;i++)
		fprintf(stderr,"%s     unused7[%d];                  %d\n",first,i,fsdwsegyheader->unused7[i]);
	fprintf(stderr,"%s     aliasFreq;                   %d\n",first,fsdwsegyheader->aliasFreq);
	fprintf(stderr,"%s     pulseID;                     %d\n",first,fsdwsegyheader->pulseID);
	for (i=0;i<6;i++)
		fprintf(stderr,"%s     unused8[%d];                  %d\n",first,i,fsdwsegyheader->unused8[i]);
	fprintf(stderr,"%s     year;                        %d\n",first,fsdwsegyheader->year);
	fprintf(stderr,"%s     day;                         %d\n",first,fsdwsegyheader->day);
	fprintf(stderr,"%s     hour;                        %d\n",first,fsdwsegyheader->hour);
	fprintf(stderr,"%s     minute;                      %d\n",first,fsdwsegyheader->minute);
	fprintf(stderr,"%s     second;                      %d\n",first,fsdwsegyheader->second);
	fprintf(stderr,"%s     timeBasis;                   %d\n",first,fsdwsegyheader->timeBasis);
	fprintf(stderr,"%s     weightingFactor;             %d\n",first,fsdwsegyheader->weightingFactor);
	fprintf(stderr,"%s     unused9;                     %d\n",first,fsdwsegyheader->unused9);
	fprintf(stderr,"%s     heading;                     %d\n",first,fsdwsegyheader->heading);
	fprintf(stderr,"%s     pitch;                       %d\n",first,fsdwsegyheader->pitch);
	fprintf(stderr,"%s     roll;                        %d\n",first,fsdwsegyheader->roll);
	fprintf(stderr,"%s     temperature;                 %d\n",first,fsdwsegyheader->temperature);
	fprintf(stderr,"%s     heaveCompensation;           %d\n",first,fsdwsegyheader->heaveCompensation);
	fprintf(stderr,"%s     trigSource;                  %d\n",first,fsdwsegyheader->trigSource);
	fprintf(stderr,"%s     markNumber;                  %d\n",first,fsdwsegyheader->markNumber);
	fprintf(stderr,"%s     NMEAHour;                    %d\n",first,fsdwsegyheader->NMEAHour);
	fprintf(stderr,"%s     NMEAMinutes;                 %d\n",first,fsdwsegyheader->NMEAMinutes);
	fprintf(stderr,"%s     NMEASeconds;                 %d\n",first,fsdwsegyheader->NMEASeconds);
	fprintf(stderr,"%s     NMEACourse;                  %d\n",first,fsdwsegyheader->NMEACourse);
	fprintf(stderr,"%s     NMEASpeed;                   %d\n",first,fsdwsegyheader->NMEASpeed);
	fprintf(stderr,"%s     NMEADay;                     %d\n",first,fsdwsegyheader->NMEADay);
	fprintf(stderr,"%s     NMEAYear;                    %d\n",first,fsdwsegyheader->NMEAYear);
	fprintf(stderr,"%s     millisecondsToday;           %d\n",first,fsdwsegyheader->millisecondsToday);
	fprintf(stderr,"%s     ADCMax;                      %d\n",first,fsdwsegyheader->ADCMax);
	fprintf(stderr,"%s     calConst;                    %d\n",first,fsdwsegyheader->calConst);
	fprintf(stderr,"%s     vehicleID;                   %d\n",first,fsdwsegyheader->vehicleID);
	fprintf(stderr,"%s     softwareVersion;             %s\n",first,fsdwsegyheader->softwareVersion);
	fprintf(stderr,"%s     sphericalCorrection;         %d\n",first,fsdwsegyheader->sphericalCorrection);
	fprintf(stderr,"%s     packetNum;                   %d\n",first,fsdwsegyheader->packetNum);
	fprintf(stderr,"%s     ADCDecimation;               %d\n",first,fsdwsegyheader->ADCDecimation);
	fprintf(stderr,"%s     decimation;                  %d\n",first,fsdwsegyheader->decimation);
	for (i=0;i<7;i++)
		fprintf(stderr,"%s     unuseda[%d];                  %d\n",first,i,fsdwsegyheader->unuseda[i]);

	/* 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_reson7k_print_fsdwss(int verbose,
			s7kr_fsdwss *fsdwss,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_fsdwss";
	int	status = MB_SUCCESS;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;
	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       fsdwss:       %lu\n",(size_t)fsdwss);
		}

	/* print Reson 7k data record header information */
	mbsys_reson7k_print_header(verbose, &fsdwss->header, error);

	/* print Edgetech FS-DW sidescan (record 3000) */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     msec_timestamp:             %d\n",first,fsdwss->msec_timestamp);
	fprintf(stderr,"%s     ping_number:                %u\n",first,fsdwss->ping_number);
	fprintf(stderr,"%s     number_channels:            %d\n",first,fsdwss->number_channels);
	fprintf(stderr,"%s     total_bytes:                %d\n",first,fsdwss->total_bytes);
	fprintf(stderr,"%s     data_format:                %d\n",first,fsdwss->data_format);
	for (i=0;i<fsdwss->number_channels;i++)
		{
		mbsys_reson7k_print_fsdwchannel(verbose, fsdwss->data_format, &fsdwss->channel[i], error);
		mbsys_reson7k_print_fsdwssheader(verbose, &fsdwss->ssheader[i], 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_reson7k_print_fsdwsb(int verbose,
			s7kr_fsdwsb *fsdwsb,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_fsdwsb";
	int	status = MB_SUCCESS;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;

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

	/* print Reson 7k data record header information */
	mbsys_reson7k_print_header(verbose, &fsdwsb->header, error);

	/* print Edgetech FS-DW subbottom (record 3001) */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     msec_timestamp:             %d\n",first,fsdwsb->msec_timestamp);
	fprintf(stderr,"%s     ping_number:                %u\n",first,fsdwsb->ping_number);
	fprintf(stderr,"%s     number_channels:            %d\n",first,fsdwsb->number_channels);
	fprintf(stderr,"%s     total_bytes:                %d\n",first,fsdwsb->total_bytes);
	fprintf(stderr,"%s     data_format:                %d\n",first,fsdwsb->data_format);
	mbsys_reson7k_print_fsdwchannel(verbose, fsdwsb->data_format, &fsdwsb->channel, error);
	mbsys_reson7k_print_fsdwsegyheader(verbose, &fsdwsb->segyheader, 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_reson7k_print_bluefin(int verbose,
			s7kr_bluefin *bluefin,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_bluefin";
	int	status = MB_SUCCESS;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;
	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       bluefin:      %lu\n",(size_t)bluefin);
		}

	/* print Reson 7k data record header information */
	mbsys_reson7k_print_header(verbose, &bluefin->header, error);

	/* print Bluefin data frames (record 3100) */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     msec_timestamp:             %d\n",first,bluefin->msec_timestamp);
	fprintf(stderr,"%s     number_frames:              %d\n",first,bluefin->number_frames);
	fprintf(stderr,"%s     frame_size:                 %d\n",first,bluefin->frame_size);
	fprintf(stderr,"%s     data_format:                %d\n",first,bluefin->data_format);
	for(i=0;i<16;i++)
		fprintf(stderr,"%s     reserved[%d]:                %d\n",first,i,bluefin->reserved[i]);
	if (bluefin->data_format == R7KRECID_BluefinNav)
		{
		for (i=0;i<MIN(bluefin->number_frames,BLUEFIN_MAX_FRAMES);i++)
			{
			fprintf(stderr,"%s     nav[%d].packet_size:        %d\n",first,i,bluefin->nav[i].packet_size);
			fprintf(stderr,"%s     nav[%d].version:            %d\n",first,i,bluefin->nav[i].version);
			fprintf(stderr,"%s     nav[%d].offset:             %d\n",first,i,bluefin->nav[i].offset);
			fprintf(stderr,"%s     nav[%d].data_type:          %d\n",first,i,bluefin->nav[i].data_type);
			fprintf(stderr,"%s     nav[%d].data_size:          %d\n",first,i,bluefin->nav[i].data_size);
			fprintf(stderr,"%s     nav[%d].s7kTime.Year:       %d\n",first,i,bluefin->nav[i].s7kTime.Year);
			fprintf(stderr,"%s     nav[%d].s7kTime.Day:        %d\n",first,i,bluefin->nav[i].s7kTime.Day);
			fprintf(stderr,"%s     nav[%d].s7kTime.Seconds:    %f\n",first,i,bluefin->nav[i].s7kTime.Seconds);
			fprintf(stderr,"%s     nav[%d].s7kTime.Hours:      %d\n",first,i,bluefin->nav[i].s7kTime.Hours);
			fprintf(stderr,"%s     nav[%d].7kTime->Minutes:    %d\n",first,i,bluefin->nav[i].s7kTime.Minutes);
			fprintf(stderr,"%s     nav[%d].checksum:           %d\n",first,i,bluefin->nav[i].checksum);
			fprintf(stderr,"%s     nav[%d].timedelay:          %d\n",first,i,bluefin->nav[i].timedelay);
			fprintf(stderr,"%s     nav[%d].quality:            %x\n",first,i,bluefin->nav[i].quality);
			fprintf(stderr,"%s     nav[%d].latitude:           %f\n",first,i,bluefin->nav[i].latitude);
			fprintf(stderr,"%s     nav[%d].longitude:          %f\n",first,i,bluefin->nav[i].longitude);
			fprintf(stderr,"%s     nav[%d].speed:              %f\n",first,i,bluefin->nav[i].speed);
			fprintf(stderr,"%s     nav[%d].depth:              %f\n",first,i,bluefin->nav[i].depth);
			fprintf(stderr,"%s     nav[%d].altitude:           %f\n",first,i,bluefin->nav[i].altitude);
			fprintf(stderr,"%s     nav[%d].roll:               %f\n",first,i,bluefin->nav[i].roll);
			fprintf(stderr,"%s     nav[%d].pitch:              %f\n",first,i,bluefin->nav[i].pitch);
			fprintf(stderr,"%s     nav[%d].yaw:                %f\n",first,i,bluefin->nav[i].yaw);
			fprintf(stderr,"%s     nav[%d].northing_rate:      %f\n",first,i,bluefin->nav[i].northing_rate);
			fprintf(stderr,"%s     nav[%d].easting_rate:       %f\n",first,i,bluefin->nav[i].easting_rate);
			fprintf(stderr,"%s     nav[%d].depth_rate:         %f\n",first,i,bluefin->nav[i].depth_rate);
			fprintf(stderr,"%s     nav[%d].altitude_rate:      %f\n",first,i,bluefin->nav[i].altitude_rate);
			fprintf(stderr,"%s     nav[%d].roll_rate:          %f\n",first,i,bluefin->nav[i].roll_rate);
			fprintf(stderr,"%s     nav[%d].pitch_rate:         %f\n",first,i,bluefin->nav[i].pitch_rate);
			fprintf(stderr,"%s     nav[%d].yaw_rate:           %f\n",first,i,bluefin->nav[i].yaw_rate);
			fprintf(stderr,"%s     nav[%d].position_time:      %f\n",first,i,bluefin->nav[i].position_time);
			fprintf(stderr,"%s     nav[%d].depth_time:         %f\n",first,i,bluefin->nav[i].depth_time);
			}
		}
	else if (bluefin->data_format == R7KRECID_BluefinEnvironmental)
		{
		for (i=0;i<MIN(bluefin->number_frames,BLUEFIN_MAX_FRAMES);i++)
			{
			fprintf(stderr,"%s     env[%d].packet_size:            %d\n",first,i,bluefin->environmental[i].packet_size);
			fprintf(stderr,"%s     env[%d].version:                %d\n",first,i,bluefin->environmental[i].version);
			fprintf(stderr,"%s     env[%d].offset:                 %d\n",first,i,bluefin->environmental[i].offset);
			fprintf(stderr,"%s     env[%d].data_type:              %d\n",first,i,bluefin->environmental[i].data_type);
			fprintf(stderr,"%s     env[%d].data_size:              %d\n",first,i,bluefin->environmental[i].data_size);
			fprintf(stderr,"%s     env[%d].s7kTime.Year:           %d\n",first,i,bluefin->environmental[i].s7kTime.Year);
			fprintf(stderr,"%s     env[%d].s7kTime.Day:            %d\n",first,i,bluefin->environmental[i].s7kTime.Day);
			fprintf(stderr,"%s     env[%d].s7kTime.Seconds:        %f\n",first,i,bluefin->environmental[i].s7kTime.Seconds);
			fprintf(stderr,"%s     env[%d].s7kTime.Hours:          %d\n",first,i,bluefin->environmental[i].s7kTime.Hours);
			fprintf(stderr,"%s     env[%d].7kTime->Minutes:        %d\n",first,i,bluefin->environmental[i].s7kTime.Minutes);
			fprintf(stderr,"%s     env[%d].checksum:               %d\n",first,i,bluefin->environmental[i].checksum);
			fprintf(stderr,"%s     env[%d].reserved1:              %d\n",first,i,bluefin->environmental[i].reserved1);
			fprintf(stderr,"%s     env[%d].quality:                %d\n",first,i,bluefin->environmental[i].quality);
			fprintf(stderr,"%s     env[%d].sound_speed:            %f\n",first,i,bluefin->environmental[i].sound_speed);
			fprintf(stderr,"%s     env[%d].conductivity:           %f\n",first,i,bluefin->environmental[i].conductivity);
			fprintf(stderr,"%s     env[%d].temperature:            %f\n",first,i,bluefin->environmental[i].temperature);
			fprintf(stderr,"%s     env[%d].pressure:               %f\n",first,i,bluefin->environmental[i].pressure);
			fprintf(stderr,"%s     env[%d].salinity:               %f\n",first,i,bluefin->environmental[i].salinity);
			fprintf(stderr,"%s     env[%d].ctd_time:               %f\n",first,i,bluefin->environmental[i].ctd_time);
			fprintf(stderr,"%s     env[%d].temperature_time:       %f\n",first,i,bluefin->environmental[i].temperature_time);
			fprintf(stderr,"%s     env[%d].surface_pressure:       %f\n",first,i,bluefin->environmental[i].surface_pressure);
			fprintf(stderr,"%s     env[%d].temperature_counts:     %d\n",first,i,bluefin->environmental[i].temperature_counts);
			fprintf(stderr,"%s     env[%d].conductivity_frequency: %f\n",first,i,bluefin->environmental[i].conductivity_frequency);
			fprintf(stderr,"%s     env[%d].pressure_counts:        %d\n",first,i,bluefin->environmental[i].pressure_counts);
			fprintf(stderr,"%s     env[%d].pressure_comp_voltage:  %f\n",first,i,bluefin->environmental[i].pressure_comp_voltage);
			fprintf(stderr,"%s     env[%d].sensor_time_sec:        %d\n",first,i,bluefin->environmental[i].sensor_time_sec);
			fprintf(stderr,"%s     env[%d].sensor_time_nsec:       %d\n",first,i,bluefin->environmental[i].sensor_time_nsec);
			fprintf(stderr,"%s     env[%d].sensor1:                %d\n",first,i,bluefin->environmental[i].sensor1);
			fprintf(stderr,"%s     env[%d].sensor2:                %d\n",first,i,bluefin->environmental[i].sensor2);
			fprintf(stderr,"%s     env[%d].sensor3:                %d\n",first,i,bluefin->environmental[i].sensor3);
			fprintf(stderr,"%s     env[%d].sensor4:                %d\n",first,i,bluefin->environmental[i].sensor4);
			fprintf(stderr,"%s     env[%d].sensor5:                %d\n",first,i,bluefin->environmental[i].sensor5);
			fprintf(stderr,"%s     env[%d].sensor6:                %d\n",first,i,bluefin->environmental[i].sensor6);
			fprintf(stderr,"%s     env[%d].sensor7:                %d\n",first,i,bluefin->environmental[i].sensor7);
			fprintf(stderr,"%s     env[%d].sensor8:                %d\n",first,i,bluefin->environmental[i].sensor8);
			for (j=0;j<8;j++)
				fprintf(stderr,"%s     env[%d].reserved2[%2d]:          %d\n",first,i,j,bluefin->environmental[i].reserved2[j]);
			}
		}

	/* 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_reson7k_print_processedsidescan(int verbose,
			s7kr_processedsidescan *processedsidescan,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_processedsidescan";
	int	status = MB_SUCCESS;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;
	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       processedsidescan: %lu\n",(size_t)processedsidescan);
		}

	/* print Reson 7k data record header information */
	mbsys_reson7k_print_header(verbose, &processedsidescan->header, error);

	/* print Reson 7k beam geometry (record 7004) */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     serial_number:              %llu\n",first,processedsidescan->serial_number);
	fprintf(stderr,"%s     ping_number:                %u\n",first,processedsidescan->ping_number);
	fprintf(stderr,"%s     multi_ping:                 %u\n",first,processedsidescan->multi_ping);
	fprintf(stderr,"%s     recordversion:              %u\n",first,processedsidescan->recordversion);
	fprintf(stderr,"%s     ss_source:                  %u\n",first,processedsidescan->ss_source);
	fprintf(stderr,"%s     number_pixels:              %u\n",first,processedsidescan->number_pixels);
	fprintf(stderr,"%s     pixelwidth:                 %f\n",first,processedsidescan->pixelwidth);
	fprintf(stderr,"%s     sonardepth:                 %f\n",first,processedsidescan->sonardepth);
	fprintf(stderr,"%s     altitude:                   %f\n",first,processedsidescan->altitude);
	for (i=0;i<processedsidescan->number_pixels;i++)
	fprintf(stderr,"%s     pixel[%d]:  sidescan:%f alongtrack:%f\n",
			first,i,processedsidescan->sidescan[i],processedsidescan->alongtrack[i]);

	/* 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_reson7k_print_volatilesettings(int verbose,
			s7kr_volatilesettings *volatilesettings,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_volatilesettings";
	int	status = MB_SUCCESS;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;

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

	/* print Reson 7k data record header information */
	mbsys_reson7k_print_header(verbose, &volatilesettings->header, error);

	/* print Reson 7k volatile sonar settings (record 7000) */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     serial_number:              %llu\n",first,volatilesettings->serial_number);
	fprintf(stderr,"%s     ping_number:                %u\n",first,volatilesettings->ping_number);
	fprintf(stderr,"%s     multi_ping:                 %u\n",first,volatilesettings->multi_ping);
	fprintf(stderr,"%s     frequency:                  %f\n",first,volatilesettings->frequency);
	fprintf(stderr,"%s     sample_rate:                %f\n",first,volatilesettings->sample_rate);
	fprintf(stderr,"%s     receiver_bandwidth:         %f\n",first,volatilesettings->receiver_bandwidth);
	fprintf(stderr,"%s     pulse_width:                %f\n",first,volatilesettings->pulse_width);
	fprintf(stderr,"%s     pulse_type:                 %d\n",first,volatilesettings->pulse_type);
	fprintf(stderr,"%s     pulse_envelope:             %d\n",first,volatilesettings->pulse_envelope);
	fprintf(stderr,"%s     pulse_envelope_par:         %f\n",first,volatilesettings->pulse_envelope_par);
	fprintf(stderr,"%s     pulse_reserved:             %d\n",first,volatilesettings->pulse_reserved);
	fprintf(stderr,"%s     max_ping_rate:              %f\n",first,volatilesettings->max_ping_rate);
	fprintf(stderr,"%s     ping_period:                %f\n",first,volatilesettings->ping_period);
	fprintf(stderr,"%s     range_selection:            %f\n",first,volatilesettings->range_selection);
	fprintf(stderr,"%s     power_selection:            %f\n",first,volatilesettings->power_selection);
	fprintf(stderr,"%s     gain_selection:             %f\n",first,volatilesettings->gain_selection);
	fprintf(stderr,"%s     control_flags:              %d\n",first,volatilesettings->control_flags);
	fprintf(stderr,"%s     projector_magic_no:         %d\n",first,volatilesettings->projector_magic_no);
	fprintf(stderr,"%s     steering_vertical:          %f\n",first,volatilesettings->steering_vertical);
	fprintf(stderr,"%s     steering_horizontal:        %f\n",first,volatilesettings->steering_horizontal);
	fprintf(stderr,"%s     beamwidth_vertical:         %f\n",first,volatilesettings->beamwidth_vertical);
	fprintf(stderr,"%s     beamwidth_horizontal:       %f\n",first,volatilesettings->beamwidth_horizontal);
	fprintf(stderr,"%s     focal_point:                %f\n",first,volatilesettings->focal_point);
	fprintf(stderr,"%s     projector_weighting:        %d\n",first,volatilesettings->projector_weighting);
	fprintf(stderr,"%s     projector_weighting_par:    %f\n",first,volatilesettings->projector_weighting_par);
	fprintf(stderr,"%s     transmit_flags:             %d\n",first,volatilesettings->transmit_flags);
	fprintf(stderr,"%s     hydrophone_magic_no:        %d\n",first,volatilesettings->hydrophone_magic_no);
	fprintf(stderr,"%s     receive_weighting:          %d\n",first,volatilesettings->receive_weighting);
	fprintf(stderr,"%s     receive_weighting_par:      %f\n",first,volatilesettings->receive_weighting_par);
	fprintf(stderr,"%s     receive_flags:              %d\n",first,volatilesettings->receive_flags);
	fprintf(stderr,"%s     receive_width:              %f\n",first,volatilesettings->receive_width);
	fprintf(stderr,"%s     range_minimum:              %f\n",first,volatilesettings->range_minimum);
	fprintf(stderr,"%s     range_maximum:              %f\n",first,volatilesettings->range_maximum);
	fprintf(stderr,"%s     depth_minimum:              %f\n",first,volatilesettings->depth_minimum);
	fprintf(stderr,"%s     depth_maximum:              %f\n",first,volatilesettings->depth_maximum);
	fprintf(stderr,"%s     absorption:                 %f\n",first,volatilesettings->absorption);
	fprintf(stderr,"%s     sound_velocity:             %f\n",first,volatilesettings->sound_velocity);
	fprintf(stderr,"%s     spreading:                  %f\n",first,volatilesettings->spreading);
	fprintf(stderr,"%s     reserved:                   %d\n",first,volatilesettings->reserved);

	/* 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_reson7k_print_device(int verbose,
			s7k_device *device,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_device";
	int	status = MB_SUCCESS;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;

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

	/* print Reson 7k device configuration structure */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     magic_number:               %d\n",first,device->magic_number);
	fprintf(stderr,"%s     description:                %s\n",first,device->description);
	fprintf(stderr,"%s     serial_number:              %llu\n",first,device->serial_number);
	fprintf(stderr,"%s     info_length:                %d\n",first,device->info_length);
	fprintf(stderr,"%s     info_alloc:                 %d\n",first,device->info_alloc);
	fprintf(stderr,"%s     info:                       %s\n",first,device->info);

	/* 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_reson7k_print_configuration(int verbose,
			s7kr_configuration *configuration,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_configuration";
	int	status = MB_SUCCESS;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;
	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       configuration:     %lu\n",(size_t)configuration);
		}

	/* print Reson 7k data record header information */
	mbsys_reson7k_print_header(verbose, &configuration->header, error);

	/* print Reson 7k configuration (record 7001) */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     serial_number:              %llu\n",first,configuration->serial_number);
	fprintf(stderr,"%s     number_devices:             %d\n",first,configuration->number_devices);
	for (i=0;i<configuration->number_devices;i++)
		mbsys_reson7k_print_device(verbose, &configuration->device[i], 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_reson7k_print_matchfilter(int verbose,
			s7kr_matchfilter *matchfilter,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_matchfilter";
	int	status = MB_SUCCESS;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;

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

	/* print Reson 7k data record header information */
	mbsys_reson7k_print_header(verbose, &matchfilter->header, error);

	/* print Reson 7k match filter (record 7002) */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     serial_number:              %llu\n",first,matchfilter->serial_number);
	fprintf(stderr,"%s     ping_number:                %u\n",first,matchfilter->ping_number);
	fprintf(stderr,"%s     operation:                  %d\n",first,matchfilter->operation);
	fprintf(stderr,"%s     start_frequency:            %f\n",first,matchfilter->start_frequency);
	fprintf(stderr,"%s     end_frequency:              %f\n",first,matchfilter->end_frequency);

	/* 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_reson7k_print_v2firmwarehardwareconfiguration(int verbose,
			s7kr_v2firmwarehardwareconfiguration *v2firmwarehardwareconfiguration,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_v2firmwarehardwareconfiguration";
	int	status = MB_SUCCESS;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;

	/* 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       v2firmwarehardwareconfiguration:       %lu\n",(size_t)v2firmwarehardwareconfiguration);
		}

	/* print Reson 7k data record header information */
	mbsys_reson7k_print_header(verbose, &v2firmwarehardwareconfiguration->header, error);

	/* print Reson 7k match filter (record 7002) */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     device_count:               %d\n",first,v2firmwarehardwareconfiguration->device_count);
	fprintf(stderr,"%s     info_length:                %d\n",first,v2firmwarehardwareconfiguration->info_length);
	fprintf(stderr,"%s     info:                       \n",first);
	fprintf(stderr,"%s\n%s\n",v2firmwarehardwareconfiguration->info,first);

	/* 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_reson7k_print_beamgeometry(int verbose,
			s7kr_beamgeometry *beamgeometry,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_beamgeometry";
	int	status = MB_SUCCESS;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;
	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       beamgeometry:      %lu\n",(size_t)beamgeometry);
		}

	/* print Reson 7k data record header information */
	mbsys_reson7k_print_header(verbose, &beamgeometry->header, error);

	/* print Reson 7k beam geometry (record 7004) */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     serial_number:              %llu\n",first,beamgeometry->serial_number);
	fprintf(stderr,"%s     number_beams:               %u\n",first,beamgeometry->number_beams);
	for (i=0;i<beamgeometry->number_beams;i++)
	fprintf(stderr,"%s     beam[%d]:  angle_alongtrack:%f angle_acrosstrack:%f beamwidth_alongtrack:%f beamwidth_acrosstrack:%f\n",
			first,i,beamgeometry->angle_alongtrack[i],beamgeometry->angle_acrosstrack[i],
			beamgeometry->beamwidth_alongtrack[i],beamgeometry->beamwidth_acrosstrack[i]);

	/* 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_reson7k_print_calibration(int verbose,
			s7kr_calibration *calibration,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_calibration";
	int	status = MB_SUCCESS;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;
	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       calibration:       %lu\n",(size_t)calibration);
		}

	/* print Reson 7k data record header information */
	mbsys_reson7k_print_header(verbose, &calibration->header, error);

	/* print Reson 7k calibration data (record 7005) */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     serial_number:              %llu\n",first,calibration->serial_number);
	fprintf(stderr,"%s     number_channels:            %d\n",first,calibration->number_channels);
	for (i=0;i<calibration->number_channels;i++)
		fprintf(stderr,"%s     channel[%d]:  gain:%f phase:%f\n",
				first,i,calibration->gain[i],calibration->phase[i]);

	/* 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_reson7k_print_bathymetry(int verbose,
			s7kr_bathymetry *bathymetry,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_bathymetry";
	int	status = MB_SUCCESS;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;
	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       bathymetry:        %lu\n",(size_t)bathymetry);
		}

	/* print Reson 7k data record header information */
	mbsys_reson7k_print_header(verbose, &bathymetry->header, error);

	/* print Reson 7k bathymetry (record 7006) */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     serial_number:              %llu\n",first,bathymetry->serial_number);
	fprintf(stderr,"%s     ping_number:                %u\n",first,bathymetry->ping_number);
	fprintf(stderr,"%s     multi_ping:                 %u\n",first,bathymetry->multi_ping);
	fprintf(stderr,"%s     number_beams:               %u\n",first,bathymetry->number_beams);
	fprintf(stderr,"%s     layer_comp_flag:            %d\n",first,bathymetry->layer_comp_flag);
	fprintf(stderr,"%s     sound_vel_flag:             %d\n",first,bathymetry->sound_vel_flag);
	fprintf(stderr,"%s     sound_velocity:             %f\n",first,bathymetry->sound_velocity);
	for (i=0;i<bathymetry->number_beams;i++)
		fprintf(stderr,"%s     beam[%d]:  range:%f quality:%d intensity:%f min_depth_gate:%f min_depth_gate:%f\n",
				first,i,bathymetry->range[i],bathymetry->quality[i],bathymetry->intensity[i],
				bathymetry->min_depth_gate[i],bathymetry->max_depth_gate[i]);
	fprintf(stderr,"%s     optionaldata:               %d\n",first,bathymetry->optionaldata);
	fprintf(stderr,"%s     frequency:                  %f\n",first,bathymetry->frequency);
	fprintf(stderr,"%s     latitude:                   %f\n",first,bathymetry->latitude);
	fprintf(stderr,"%s     longitude:                  %f\n",first,bathymetry->longitude);
	fprintf(stderr,"%s     heading:                    %f\n",first,bathymetry->heading);
	fprintf(stderr,"%s     height_source:              %d\n",first,bathymetry->height_source);
	fprintf(stderr,"%s     tide:                       %f\n",first,bathymetry->tide);
	fprintf(stderr,"%s     roll:                       %f\n",first,bathymetry->roll);
	fprintf(stderr,"%s     pitch:                      %f\n",first,bathymetry->pitch);
	fprintf(stderr,"%s     heave:                      %f\n",first,bathymetry->heave);
	fprintf(stderr,"%s     vehicle_height:             %f\n",first,bathymetry->vehicle_height);
	for (i=0;i<bathymetry->number_beams;i++)
		fprintf(stderr,"%s     beam[%d]:  depth:%f ltrack:%f xtrack:%f angles: %f %f\n",
				first,i,bathymetry->depth[i],bathymetry->alongtrack[i],bathymetry->acrosstrack[i],
				bathymetry->pointing_angle[i],bathymetry->azimuth_angle[i]);

	/* 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_reson7k_print_backscatter(int verbose,
			s7kr_backscatter *backscatter,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_backscatter";
	int	status = MB_SUCCESS;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;
	mb_s_char	*charptr;
	short	*shortptr;
	int	*intptr;
	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       backscatter:       %lu\n",(size_t)backscatter);
		}

	/* print Reson 7k data record header information */
	mbsys_reson7k_print_header(verbose, &backscatter->header, error);

	/* print Reson 7k backscatter imagery data (record 7007) */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     serial_number:              %llu\n",first,backscatter->serial_number);
	fprintf(stderr,"%s     ping_number:                %u\n",first,backscatter->ping_number);
	fprintf(stderr,"%s     multi_ping:                 %u\n",first,backscatter->multi_ping);
	fprintf(stderr,"%s     beam_position:              %f\n",first,backscatter->beam_position);
	fprintf(stderr,"%s     control_flags:              %d\n",first,backscatter->control_flags);
	fprintf(stderr,"%s     number_samples:             %d\n",first,backscatter->number_samples);
	fprintf(stderr,"%s     port_beamwidth_x:           %f\n",first,backscatter->port_beamwidth_x);
	fprintf(stderr,"%s     port_beamwidth_y:           %f\n",first,backscatter->port_beamwidth_y);
	fprintf(stderr,"%s     stbd_beamwidth_x:           %f\n",first,backscatter->stbd_beamwidth_x);
	fprintf(stderr,"%s     stbd_beamwidth_y:           %f\n",first,backscatter->stbd_beamwidth_y);
	fprintf(stderr,"%s     port_steering_x:            %f\n",first,backscatter->port_steering_x);
	fprintf(stderr,"%s     port_steering_y:            %f\n",first,backscatter->port_steering_y);
	fprintf(stderr,"%s     stbd_steering_x:            %f\n",first,backscatter->stbd_steering_x);
	fprintf(stderr,"%s     stbd_steering_y:            %f\n",first,backscatter->stbd_steering_y);
	fprintf(stderr,"%s     number_beams:               %u\n",first,backscatter->number_beams);
	fprintf(stderr,"%s     current_beam:               %d\n",first,backscatter->current_beam);
	fprintf(stderr,"%s     sample_size:                %d\n",first,backscatter->sample_size);
	fprintf(stderr,"%s     data_type:                  %d\n",first,backscatter->data_type);
	fprintf(stderr,"%s     nalloc:                     %d\n",first,backscatter->nalloc);
	if (backscatter->sample_size == 1)
		{
		charptr = (mb_s_char *) backscatter->port_data;
		for (i=0;i<backscatter->number_samples;i++)
			fprintf(stderr,"%s     port backscatter[%d]:  %d\n",
				first,i,charptr[i]);
		charptr = (mb_s_char *) backscatter->stbd_data;
		for (i=0;i<backscatter->number_samples;i++)
			fprintf(stderr,"%s     stbd backscatter[%d]:  %d\n",
				first,i,charptr[i]);
		}
	else if (backscatter->sample_size == 2)
		{
		shortptr = (short *) backscatter->port_data;
		for (i=0;i<backscatter->number_samples;i++)
			fprintf(stderr,"%s     port backscatter[%d]:  %d\n",
				first,i,shortptr[i]);
		shortptr = (short *) backscatter->stbd_data;
		for (i=0;i<backscatter->number_samples;i++)
			fprintf(stderr,"%s     stbd backscatter[%d]:  %d\n",
				first,i,shortptr[i]);
		}
	else if (backscatter->sample_size == 4)
		{
		intptr = (int *) backscatter->port_data;
		for (i=0;i<backscatter->number_samples;i++)
			fprintf(stderr,"%s     port backscatter[%d]:  %d\n",
				first,i,intptr[i]);
		intptr = (int *) backscatter->stbd_data;
		for (i=0;i<backscatter->number_samples;i++)
			fprintf(stderr,"%s     stbd backscatter[%d]:  %d\n",
				first,i,intptr[i]);
		}
	fprintf(stderr,"%s     optionaldata:               %d\n",first,backscatter->optionaldata);
	fprintf(stderr,"%s     frequency:                  %f\n",first,backscatter->frequency);
	fprintf(stderr,"%s     latitude:                   %f\n",first,backscatter->latitude);
	fprintf(stderr,"%s     longitude:                  %f\n",first,backscatter->longitude);
	fprintf(stderr,"%s     heading:                    %f\n",first,backscatter->heading);
	fprintf(stderr,"%s     altitude:                   %f\n",first,backscatter->altitude);

	/* 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_reson7k_print_beam(int verbose,
			s7kr_beam *beam,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_beam";
	int	status = MB_SUCCESS;
	s7kr_snippet *snippet;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;
	int	sample_type_amp;
	int	sample_type_phase;
	int	sample_type_iandq;
	int	sample_type_beamforming;
	mb_u_char	*ucharptramp, *ucharptrphase;
	unsigned short	*ushortptramp, *ushortptrphase;
	unsigned int	*uintptramp, *uintptrphase;
	short		*shortptramp, *shortptrphase;
	int		*intptramp, *intptrphase;
	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       beam:              %lu\n",(size_t)beam);
		}

	/* print Reson 7k data record header information */
	mbsys_reson7k_print_header(verbose, &beam->header, error);

	/* print Reson 7k beam data (record 7007) */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     serial_number:              %llu\n",first,beam->serial_number);
	fprintf(stderr,"%s     ping_number:                %u\n",first,beam->ping_number);
	fprintf(stderr,"%s     multi_ping:                 %u\n",first,beam->multi_ping);
	fprintf(stderr,"%s     number_beams:               %u\n",first,beam->number_beams);
	fprintf(stderr,"%s     reserved:                   %d\n",first,beam->reserved);
	fprintf(stderr,"%s     number_samples:             %d\n",first,beam->number_samples);
	fprintf(stderr,"%s     record_subset_flag:         %d\n",first,beam->record_subset_flag);
	fprintf(stderr,"%s     row_column_flag:            %d\n",first,beam->row_column_flag);
	fprintf(stderr,"%s     sample_header_id:           %d\n",first,beam->sample_header_id);
	fprintf(stderr,"%s     sample_type:                %d\n",first,beam->sample_type);
	sample_type_amp = beam->sample_type & 15;
	sample_type_phase = (beam->sample_type >> 4) & 15;
	sample_type_iandq = (beam->sample_type >> 8) & 15;
	sample_type_beamforming = (beam->sample_type >> 12) & 15;
	fprintf(stderr,"%s     sample_type amplitude:      %d\n",first,sample_type_amp);
	fprintf(stderr,"%s     sample_type phase:          %d\n",first,sample_type_phase);
	fprintf(stderr,"%s     sample_type I and Q:        %d\n",first,sample_type_iandq);
	fprintf(stderr,"%s     sample_type beamforming:    %d\n",first,sample_type_beamforming);
	for (i=0;i<beam->number_beams;i++)
		{
		snippet = &beam->snippets[i];
		fprintf(stderr,"%s     beam[%d]:%d   begin_sample:%d end_sample:%d nalloc_amp:%d nalloc_phase:%d\n",
						first,i,snippet->beam_number,snippet->begin_sample,
						snippet->end_sample,snippet->nalloc_amp,snippet->nalloc_phase);
		ucharptramp = (mb_u_char *) snippet->amplitude;
		ucharptrphase = (mb_u_char *) snippet->phase;
		ushortptramp = (unsigned short *) snippet->amplitude;
		ushortptrphase = (unsigned short *) snippet->phase;
		uintptramp = (unsigned int *) snippet->amplitude;
		uintptrphase = (unsigned int *) snippet->phase;
		shortptramp = (short *) snippet->amplitude;
		shortptrphase = (short *) snippet->phase;
		intptramp = (int *) snippet->amplitude;
		intptrphase = (int *) snippet->phase;
		for (j=0;j<=snippet->end_sample-snippet->begin_sample;j++)
			{
			fprintf(stderr,"%s     sample[%d]:%d",first,j,snippet->begin_sample+j);
			if (sample_type_amp == 1)
				fprintf(stderr,"   amplitude:%d",ucharptramp[j]);
			else if (sample_type_amp == 2)
				fprintf(stderr,"   amplitude:%d",ushortptramp[j]);
			else if (sample_type_amp == 3)
				fprintf(stderr,"   amplitude:%d",uintptramp[j]);
			if (sample_type_phase == 1)
				fprintf(stderr,"   phase:%d",ucharptrphase[j]);
			else if (sample_type_phase == 2)
				fprintf(stderr,"   phase:%d",ushortptrphase[j]);
			else if (sample_type_phase == 3)
				fprintf(stderr,"   phase:%d",uintptrphase[j]);
			if (sample_type_iandq == 1)
				fprintf(stderr,"   amplitude:%d   phase:%d",shortptramp[j],shortptrphase[j]);
			else if (sample_type_iandq == 2)
				fprintf(stderr,"   amplitude:%d   phase:%d",intptramp[j],intptrphase[j]);
			fprintf(stderr,"\n");
			}
		}

	/* 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_reson7k_print_verticaldepth(int verbose,
			s7kr_verticaldepth *verticaldepth,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_verticaldepth";
	int	status = MB_SUCCESS;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;

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

	/* print Reson 7k data record header information */
	mbsys_reson7k_print_header(verbose, &verticaldepth->header, error);

	/* print Reson 7k vertical depth data (record 7009) */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     frequency:                  %f\n",first,verticaldepth->frequency);
	fprintf(stderr,"%s     ping_number:                %u\n",first,verticaldepth->ping_number);
	fprintf(stderr,"%s     multi_ping:                 %u\n",first,verticaldepth->multi_ping);
	fprintf(stderr,"%s     latitude:                   %f\n",first,verticaldepth->latitude);
	fprintf(stderr,"%s     longitude:                  %f\n",first,verticaldepth->longitude);
	fprintf(stderr,"%s     heading:                    %f\n",first,verticaldepth->heading);
	fprintf(stderr,"%s     alongtrack:                 %f\n",first,verticaldepth->alongtrack);
	fprintf(stderr,"%s     acrosstrack:                %f\n",first,verticaldepth->acrosstrack);
	fprintf(stderr,"%s     vertical_depth:             %f\n",first,verticaldepth->vertical_depth);

	/* 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_reson7k_print_image(int verbose,
			s7kr_image *image,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_image";
	int	status = MB_SUCCESS;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;
	mb_s_char	*charptr;
	short	*shortptr;
	int	*intptr;
	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       image:             %lu\n",(size_t)image);
		}

	/* print Reson 7k data record header information */
	mbsys_reson7k_print_header(verbose, &image->header, error);

	/* print Reson 7k image imagery data (record 7007) */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     ping_number:                %u\n",first,image->ping_number);
	fprintf(stderr,"%s     multi_ping:                 %u\n",first,image->multi_ping);
	fprintf(stderr,"%s     width:                      %d\n",first,image->width);
	fprintf(stderr,"%s     height:                     %d\n",first,image->height);
	fprintf(stderr,"%s     color_depth:                %d\n",first,image->color_depth);
	fprintf(stderr,"%s     width_height_flag:          %d\n",first,image->width_height_flag);
	fprintf(stderr,"%s     compression:                %d\n",first,image->compression);
	fprintf(stderr,"%s     nalloc:                     %d\n",first,image->nalloc);
	if (image->color_depth == 1)
		{
		charptr = (mb_s_char *) image->image;
		for (i=0;i<image->width*image->height;i++)
			fprintf(stderr,"%s     image[%d]:  %hhu\n",
				first,i,charptr[i]);
		}
	else if (image->color_depth == 2)
		{
		shortptr = (short *) image->image;
		for (i=0;i<image->width*image->height;i++)
			fprintf(stderr,"%s     image[%d]:  %hu\n",
				first,i,shortptr[i]);
		}
	else if (image->color_depth == 4)
		{
		intptr = (int *) image->image;
		for (i=0;i<image->width*image->height;i++)
			fprintf(stderr,"%s     image[%d]:  %u\n",
				first,i,intptr[i]);
		}

	/* 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_reson7k_print_v2pingmotion(int verbose,
			s7kr_v2pingmotion *v2pingmotion,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_v2pingmotion";
	int	status = MB_SUCCESS;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;
	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       v2pingmotion:      %lu\n",(size_t)v2pingmotion);
		}

	/* print Reson 7k data record header information */
	mbsys_reson7k_print_header(verbose, &v2pingmotion->header, error);

	/* print Reson 7k ping motion (record 7012) */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     serial_number:              %llu\n",first,v2pingmotion->serial_number);
	fprintf(stderr,"%s     ping_number:                %u\n",first,v2pingmotion->ping_number);
	fprintf(stderr,"%s     multi_ping:                 %u\n",first,v2pingmotion->multi_ping);
	fprintf(stderr,"%s     n:                          %d\n",first,v2pingmotion->n);
	fprintf(stderr,"%s     flags:                      %d\n",first,v2pingmotion->flags);
	fprintf(stderr,"%s     error_flags:                %d\n",first,v2pingmotion->error_flags);
	fprintf(stderr,"%s     frequency:                  %f\n",first,v2pingmotion->frequency);
	fprintf(stderr,"%s     pitch:                      %f\n",first,v2pingmotion->pitch);
	fprintf(stderr,"%s     nalloc:                     %d\n",first,v2pingmotion->nalloc);
	fprintf(stderr,"%s     beam	roll    heading    heave\n",first);
	fprintf(stderr,"%s     ----	----    -------    -----\n",first);
	for (i=0;i<v2pingmotion->n;i++)
		{
		fprintf(stderr,"%s     %3d  %10g  %10g  %10g\n",
			first,i,v2pingmotion->roll[i],v2pingmotion->heading[i],v2pingmotion->heave[i]);
		}

	/* 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_reson7k_print_v2detectionsetup(int verbose,
			s7kr_v2detectionsetup *v2detectionsetup,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_v2detectionsetup";
	int	status = MB_SUCCESS;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;
	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       v2detectionsetup:  %lu\n",(size_t)v2detectionsetup);
		}

	/* print Reson 7k data record header information */
	mbsys_reson7k_print_header(verbose, &v2detectionsetup->header, error);

	/* print Reson 7k detection setup (record 7017) */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     serial_number:              %llu\n",first,v2detectionsetup->serial_number);
	fprintf(stderr,"%s     ping_number:                %u\n",first,v2detectionsetup->ping_number);
	fprintf(stderr,"%s     multi_ping:                 %u\n",first,v2detectionsetup->multi_ping);
	fprintf(stderr,"%s     number_beams:               %u\n",first,v2detectionsetup->number_beams);
	fprintf(stderr,"%s     data_field_size:            %d\n",first,v2detectionsetup->data_field_size);
	fprintf(stderr,"%s     detection_algorithm:        %d\n",first,v2detectionsetup->detection_algorithm);
	fprintf(stderr,"%s     detection_flags:            %d\n",first,v2detectionsetup->detection_flags);
	fprintf(stderr,"%s     minimum_depth:              %f\n",first,v2detectionsetup->minimum_depth);
	fprintf(stderr,"%s     maximum_depth:              %f\n",first,v2detectionsetup->maximum_depth);
	fprintf(stderr,"%s     minimum_range:              %f\n",first,v2detectionsetup->minimum_range);
	fprintf(stderr,"%s     maximum_range:              %f\n",first,v2detectionsetup->maximum_range);
	fprintf(stderr,"%s     minimum_nadir_search:       %f\n",first,v2detectionsetup->minimum_nadir_search);
	fprintf(stderr,"%s     maximum_nadir_search:       %f\n",first,v2detectionsetup->maximum_nadir_search);
	fprintf(stderr,"%s     automatic_filter_window:    %u\n",first,v2detectionsetup->automatic_filter_window);
	fprintf(stderr,"%s     applied_roll:               %f\n",first,v2detectionsetup->applied_roll);
	fprintf(stderr,"%s     depth_gate_tilt:            %f\n",first,v2detectionsetup->depth_gate_tilt);
	for (i=0;i<14;i++)
		{
		fprintf(stderr,"%s     reserved[%2d]:               %f\n",first,i,v2detectionsetup->reserved[i]);
		}
	fprintf(stderr,"%s     beam	descriptor pick flag amin amax umin umax quality uncertainty\n",first);
	fprintf(stderr,"%s     ---------------------------------------------------------\n",first);
	for (i=0;i<v2detectionsetup->number_beams;i++)
		{
		fprintf(stderr,"%s     %3d %u %10.3f %u %u %u %u %u %u %f\n",
			first,i,v2detectionsetup->beam_descriptor[i],
			v2detectionsetup->detection_point[i],
			v2detectionsetup->flags[i],
			v2detectionsetup->auto_limits_min_sample[i],
			v2detectionsetup->auto_limits_max_sample[i],
			v2detectionsetup->user_limits_min_sample[i],
			v2detectionsetup->user_limits_max_sample[i],
			v2detectionsetup->quality[i],
			v2detectionsetup->uncertainty[i]);
		}

	/* 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_reson7k_print_v2beamformed(int verbose,
			s7kr_v2beamformed *v2beamformed,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_v2beamformed";
	int	status = MB_SUCCESS;
	s7kr_v2amplitudephase *v2amplitudephase;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;
	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       v2beamformed:      %lu\n",(size_t)v2beamformed);
		}

	/* Reson 7k beamformed magnitude and phase data (record 7018) */
	mbsys_reson7k_print_header(verbose, &v2beamformed->header, error);

	/* print Reson 7k detection setup (record 7017) */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     serial_number:              %llu\n",first,v2beamformed->serial_number);
	fprintf(stderr,"%s     ping_number:                %u\n",first,v2beamformed->ping_number);
	fprintf(stderr,"%s     multi_ping:                 %u\n",first,v2beamformed->multi_ping);
	fprintf(stderr,"%s     number_beams:               %u\n",first,v2beamformed->number_beams);
	fprintf(stderr,"%s     number_samples:             %d\n",first,v2beamformed->number_samples);
	fprintf(stderr,"%s     reserved:                   ",first);
	for (i=0;i<32;i++)
		fprintf(stderr,"%u ",v2beamformed->reserved[i]);
	fprintf(stderr,"\n");
	for (i=0;i<v2beamformed->number_beams;i++)
		{
		v2amplitudephase = &(v2beamformed->amplitudephase[i]);
		fprintf(stderr,"%s     beam_number:                %d\n",first,v2amplitudephase->beam_number);
		fprintf(stderr,"%s     number_samples:             %d\n",first,v2amplitudephase->number_samples);
		for (j=0;j<v2amplitudephase->number_samples;j++)
			{
			fprintf(stderr,"%s     beam[%d] sample[%d] amplitude:%u phase:%d\n",
				first,i,j,v2amplitudephase->amplitude[j],v2amplitudephase->phase[j]);
			}
		}

	/* 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_reson7k_print_v2bite(int verbose,
			s7kr_v2bite *v2bite,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_v2bite";
	int	status = MB_SUCCESS;
	s7kr_v2bitereport *v2bitereport;
	s7kr_v2bitefield *v2bitefield;
	s7k_time *s7ktime;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;
	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       v2bite:      %lu\n",(size_t)v2bite);
		}

	/* print Reson 7k data record header information */
	mbsys_reson7k_print_header(verbose, &v2bite->header, error);

	/* Reson 7k BITE (record 7021) */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     number_reports:             %u\n",first,v2bite->number_reports);
	for (i=0;i<v2bite->number_reports;i++)
		{
		v2bitereport = &(v2bite->reports[i]);
		fprintf(stderr,"%s     source_name:                %s\n",first,v2bitereport->source_name);
		fprintf(stderr,"%s     source_address:             %u\n",first,v2bitereport->source_address);
		fprintf(stderr,"%s     frequency:                  %f\n",first,v2bitereport->frequency);
		fprintf(stderr,"%s     enumerator:                 %u\n",first,v2bitereport->enumerator);
		s7ktime = &(v2bitereport->downlink_time);
		fprintf(stderr,"%s     downlink_time:              %4.4d/%3.3d %2.2d:%2.2d:%9.6f\n",
			first,s7ktime->Year,s7ktime->Day,s7ktime->Hours,s7ktime->Minutes,s7ktime->Seconds);
		s7ktime = &(v2bitereport->uplink_time);
		fprintf(stderr,"%s     uplink_time:                %4.4d/%3.3d %2.2d:%2.2d:%9.6f\n",
			first,s7ktime->Year,s7ktime->Day,s7ktime->Hours,s7ktime->Minutes,s7ktime->Seconds);
		s7ktime = &(v2bitereport->bite_time);
		fprintf(stderr,"%s     bite_time:                  %4.4d/%3.3d %2.2d:%2.2d:%9.6f\n",
			first,s7ktime->Year,s7ktime->Day,s7ktime->Hours,s7ktime->Minutes,s7ktime->Seconds);
		fprintf(stderr,"%s     status:                     %u\n",first,v2bitereport->status);
		fprintf(stderr,"%s     number_bite:                %u\n",first,v2bitereport->number_bite);
		fprintf(stderr,"%s     bite_status:                ",first);
		for (j=0;j<32;j++)
			fprintf(stderr,"%u ",v2bitereport->bite_status[j]);
		fprintf(stderr,"\n");
		for (j=0;j<v2bitereport->number_bite;j++)
			{
			v2bitefield = &(v2bitereport->bitefield[j]);
			fprintf(stderr,"%s     reserved[%2d]:               %u\n",first,j,v2bitefield->reserved);
			fprintf(stderr,"%s     name[%2d]:                   %s\n",first,j,v2bitefield->name);
			fprintf(stderr,"%s     device_type[%2d]:            %d\n",first,j,v2bitefield->device_type);
			fprintf(stderr,"%s     minimum[%2d]:                %f\n",first,j,v2bitefield->minimum);
			fprintf(stderr,"%s     maximum[%2d]:                %f\n",first,j,v2bitefield->maximum);
			fprintf(stderr,"%s     value[%2d]:                  %f\n",first,j,v2bitefield->value);
			}
		}

	/* 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_reson7k_print_v27kcenterversion(int verbose,
			s7kr_v27kcenterversion *v27kcenterversion,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_v27kcenterversion";
	int	status = MB_SUCCESS;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;

	/* 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       v27kcenterversion: %lu\n",(size_t)v27kcenterversion);
		}

	/* print Reson 7k data record header information */
	mbsys_reson7k_print_header(verbose, &v27kcenterversion->header, error);

	/* Reson 7k center version (record 7022) */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     version:                    %s\n",first,v27kcenterversion->version);

	/* 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_reson7k_print_v28kwetendversion(int verbose,
			s7kr_v28kwetendversion *v28kwetendversion,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_v28kwetendversion";
	int	status = MB_SUCCESS;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;

	/* 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       v28kwetendversion:      %lu\n",(size_t)v28kwetendversion);
		}

	/* print Reson 7k data record header information */
	mbsys_reson7k_print_header(verbose, &v28kwetendversion->header, error);

	/* Reson 7k 8k wet end version (record 7023) */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     version:                    %s\n",first,v28kwetendversion->version);

	/* 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_reson7k_print_v2detection(int verbose,
			s7kr_v2detection *v2detection,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_v2detection";
	int	status = MB_SUCCESS;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;
	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       v2detection:      %lu\n",(size_t)v2detection);
		}

	/* print Reson 7k data record header information */
	mbsys_reson7k_print_header(verbose, &v2detection->header, error);

	/* print Reson 7k version 2 detection (record 7026) */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     serial_number:              %llu\n",first,v2detection->serial_number);
	fprintf(stderr,"%s     ping_number:                %u\n",first,v2detection->ping_number);
	fprintf(stderr,"%s     multi_ping:                 %u\n",first,v2detection->multi_ping);
	fprintf(stderr,"%s     number_beams:               %u\n",first,v2detection->number_beams);
	fprintf(stderr,"%s     data_field_size:            %d\n",first,v2detection->data_field_size);
	fprintf(stderr,"%s     corrections:                %llu\n",first,v2detection->corrections);
	fprintf(stderr,"%s     detection_algorithm:        %d\n",first,v2detection->detection_algorithm);
	fprintf(stderr,"%s     flags:                      %d\n",first,v2detection->flags);
	for (i=0;i<64;i++)
		fprintf(stderr,"%u ",v2detection->reserved[i]);
	fprintf(stderr,"%s     beam	range angle_x angle_y range_error angle_x_error angle_y_error\n",first);
	fprintf(stderr,"%s     ----------------------------------------------------------------------\n",first);
	for (i=0;i<v2detection->number_beams;i++)
		{
		fprintf(stderr,"%s     %3d %f %f %f %f %f %f\n",
			first,i,v2detection->range[i],
			v2detection->angle_x[i],
			v2detection->angle_y[i],
			v2detection->range_error[i],
			v2detection->angle_x_error[i],
			v2detection->angle_y_error[i]);
		}

	/* 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_reson7k_print_v2rawdetection(int verbose,
			s7kr_v2rawdetection *v2rawdetection,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_v2rawdetection";
	int	status = MB_SUCCESS;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;
	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       v2rawdetection:      %lu\n",(size_t)v2rawdetection);
		}

	/* print Reson 7k data record header information */
	mbsys_reson7k_print_header(verbose, &v2rawdetection->header, error);

	/* print Reson 7k version 2 raw detection (record 7027) */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     serial_number:              %llu\n",first,v2rawdetection->serial_number);
	fprintf(stderr,"%s     ping_number:                %u\n",first,v2rawdetection->ping_number);
	fprintf(stderr,"%s     multi_ping:                 %u\n",first,v2rawdetection->multi_ping);
	fprintf(stderr,"%s     number_beams:               %u\n",first,v2rawdetection->number_beams);
	fprintf(stderr,"%s     data_field_size:            %d\n",first,v2rawdetection->data_field_size);
	fprintf(stderr,"%s     detection_algorithm:        %d\n",first,v2rawdetection->detection_algorithm);
	fprintf(stderr,"%s     detection_flags:            %d\n",first,v2rawdetection->detection_flags);
	fprintf(stderr,"%s     sampling_rate:              %f\n",first,v2rawdetection->sampling_rate);
	fprintf(stderr,"%s     tx_angle:                   %f\n",first,v2rawdetection->tx_angle);
	fprintf(stderr,"%s     reserved:                   ",first);
	for (i=0;i<64;i++)
		fprintf(stderr,"%u ",v2rawdetection->reserved[i]);
	fprintf(stderr,"\n%s     beam	beam_descriptor detection_point rx_angle flags quality uncertainty\n",first);
	fprintf(stderr,"%s     ----------------------------------------------------------------------\n",first);
	for (i=0;i<v2rawdetection->number_beams;i++)
		{
		fprintf(stderr,"%s     %3d %u %f %f %u %u %f\n",
			first,i,v2rawdetection->beam_descriptor[i],
			v2rawdetection->detection_point[i],
			v2rawdetection->rx_angle[i],
			v2rawdetection->flags[i],
			v2rawdetection->quality[i],
			v2rawdetection->uncertainty[i]);
		}

	/* 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_reson7k_print_v2snippet(int verbose,
			s7kr_v2snippet *v2snippet,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_v2snippet";
	int	status = MB_SUCCESS;
	s7kr_v2snippettimeseries *v2snippettimeseries;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;
	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       v2snippet:      %lu\n",(size_t)v2snippet);
		}

	/* print Reson 7k data record header information */
	mbsys_reson7k_print_header(verbose, &v2snippet->header, error);

	/* print Reson 7k version 2 snippet (record 7028) */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     serial_number:              %llu\n",first,v2snippet->serial_number);
	fprintf(stderr,"%s     ping_number:                %u\n",first,v2snippet->ping_number);
	fprintf(stderr,"%s     multi_ping:                 %u\n",first,v2snippet->multi_ping);
	fprintf(stderr,"%s     number_beams:               %u\n",first,v2snippet->number_beams);
	fprintf(stderr,"%s     error_flag:                 %u\n",first,v2snippet->error_flag);
	fprintf(stderr,"%s     control_flags:              %u\n",first,v2snippet->control_flags);
	for (i=0;i<32;i++)
		fprintf(stderr,"%u ",v2snippet->reserved[i]);
	for (i=0;i<v2snippet->number_beams;i++)
		{
		v2snippettimeseries = &(v2snippet->snippettimeseries[i]);
		fprintf(stderr,"%s     beam: %u begin:%u detect:%u end:%u\n",
			first,v2snippettimeseries->beam_number,
			v2snippettimeseries->begin_sample,
			v2snippettimeseries->detect_sample,
			v2snippettimeseries->end_sample);
		for (j=0;j<v2snippettimeseries->end_sample-v2snippettimeseries->begin_sample+1;j++)
			fprintf(stderr,"%s     amplitude[%d]:%d\n",
				first,v2snippettimeseries->begin_sample+j,v2snippettimeseries->amplitude[j]);
		}

	/* 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_reson7k_print_installation(int verbose,
			s7kr_installation *installation,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_installation";
	int	status = MB_SUCCESS;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;

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

	/* print Reson 7k data record header information */
	mbsys_reson7k_print_header(verbose, &installation->header, error);

	/* print Reson 7k sonar installation parameters (record 7051) */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     frequency:                  %f\n",first,installation->frequency);
	fprintf(stderr,"%s     firmware_version_len:       %d\n",first,installation->firmware_version_len);
	fprintf(stderr,"%s     firmware_version:           %s\n",first,installation->firmware_version);
	fprintf(stderr,"%s     software_version_len:       %d\n",first,installation->software_version_len);
	fprintf(stderr,"%s     software_version:           %s\n",first,installation->software_version);
	fprintf(stderr,"%s     s7k_version_len:            %d\n",first,installation->s7k_version_len);
	fprintf(stderr,"%s     s7k_version:                %s\n",first,installation->s7k_version);
	fprintf(stderr,"%s     protocal_version_len:       %d\n",first,installation->protocal_version_len);
	fprintf(stderr,"%s     protocal_version:           %s\n",first,installation->protocal_version);
	fprintf(stderr,"%s     transmit_x:                 %f\n",first,installation->transmit_x);
	fprintf(stderr,"%s     transmit_y:                 %f\n",first,installation->transmit_y);
	fprintf(stderr,"%s     transmit_z:                 %f\n",first,installation->transmit_z);
	fprintf(stderr,"%s     transmit_roll:              %f\n",first,installation->transmit_roll);
	fprintf(stderr,"%s     transmit_pitch:             %f\n",first,installation->transmit_pitch);
	fprintf(stderr,"%s     transmit_heading:           %f\n",first,installation->transmit_heading);
	fprintf(stderr,"%s     transmit_x:                 %f\n",first,installation->transmit_x);
	fprintf(stderr,"%s     transmit_x:                 %f\n",first,installation->transmit_x);
	fprintf(stderr,"%s     receive_x:                  %f\n",first,installation->receive_x);
	fprintf(stderr,"%s     receive_y:                  %f\n",first,installation->receive_y);
	fprintf(stderr,"%s     receive_z:                  %f\n",first,installation->receive_z);
	fprintf(stderr,"%s     receive_roll:               %f\n",first,installation->receive_roll);
	fprintf(stderr,"%s     receive_pitch:              %f\n",first,installation->receive_pitch);
	fprintf(stderr,"%s     receive_heading:            %f\n",first,installation->receive_heading);
	fprintf(stderr,"%s     receive_x:                  %f\n",first,installation->receive_x);
	fprintf(stderr,"%s     receive_x:                  %f\n",first,installation->receive_x);
	fprintf(stderr,"%s     motion_x:                   %f\n",first,installation->motion_x);
	fprintf(stderr,"%s     motion_y:                   %f\n",first,installation->motion_y);
	fprintf(stderr,"%s     motion_z:                   %f\n",first,installation->motion_z);
	fprintf(stderr,"%s     motion_roll:                %f\n",first,installation->motion_roll);
	fprintf(stderr,"%s     motion_pitch:               %f\n",first,installation->motion_pitch);
	fprintf(stderr,"%s     motion_heading:             %f\n",first,installation->motion_heading);
	fprintf(stderr,"%s     motion_x:                   %f\n",first,installation->motion_x);
	fprintf(stderr,"%s     motion_x:                   %f\n",first,installation->motion_x);
	fprintf(stderr,"%s     motion_time_delay:          %d\n",first,installation->motion_time_delay);
	fprintf(stderr,"%s     position_x:                 %f\n",first,installation->position_x);
	fprintf(stderr,"%s     position_y:                 %f\n",first,installation->position_y);
	fprintf(stderr,"%s     position_z:                 %f\n",first,installation->position_z);
	fprintf(stderr,"%s     position_time_delay:        %d\n",first,installation->position_time_delay);
	fprintf(stderr,"%s     waterline_z:                %f\n",first,installation->waterline_z);

	/* 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_reson7k_print_systemeventmessage(int verbose,
			s7kr_systemeventmessage *systemeventmessage,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_systemeventmessage";
	int	status = MB_SUCCESS;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;

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

	/* print Reson 7k data record header information */
	mbsys_reson7k_print_header(verbose, &systemeventmessage->header, error);

	/* print Reson 7k system event (record 7051) */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     serial_number:              %llu\n",first,systemeventmessage->serial_number);
	fprintf(stderr,"%s     event_id:                   %d\n",first,systemeventmessage->event_id);
	fprintf(stderr,"%s     message_length:             %d\n",first,systemeventmessage->message_length);
	fprintf(stderr,"%s     event_identifier:           %d\n",first,systemeventmessage->event_identifier);
	fprintf(stderr,"%s     message_alloc:              %d\n",first,systemeventmessage->message_alloc);
	fprintf(stderr,"%s     message:                    %s\n",first,systemeventmessage->message);

	/* 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_reson7k_print_subsystem(int verbose,
			s7kr_subsystem *subsystem,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_subsystem";
	int	status = MB_SUCCESS;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;

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

	/* print Reson 7k subsystem structure */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     device_identifier:          %d\n",first,subsystem->device_identifier);
	fprintf(stderr,"%s     system_enumerator:          %d\n",first,subsystem->system_enumerator);

	/* 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_reson7k_print_fileheader(int verbose,
			s7kr_fileheader *fileheader,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_fileheader";
	int	status = MB_SUCCESS;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;
	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       fileheader:        %lu\n",(size_t)fileheader);
		}

	/* print Reson 7k data record header information */
	mbsys_reson7k_print_header(verbose, &fileheader->header, error);

	/* print Reson 7k system event (record 7051) */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     file_identifier:            0x",first);
	for (i=0;i<16;i++)
		fprintf(stderr,"%hhx",fileheader->file_identifier[i]);
	fprintf(stderr,"\n");
	fprintf(stderr,"%s     version:                    %d\n",first,fileheader->version);
	fprintf(stderr,"%s     reserved:                   %d\n",first,fileheader->reserved);
	fprintf(stderr,"%s     session_identifier:         %s\n",first,fileheader->session_identifier);
	fprintf(stderr,"%s     record_data_size:           %d\n",first,fileheader->record_data_size);
	fprintf(stderr,"%s     number_subsystems:          %d\n",first,fileheader->number_subsystems);
	fprintf(stderr,"%s     recording_name:             %s\n",first,fileheader->recording_name);
	fprintf(stderr,"%s     recording_version:          %s\n",first,fileheader->recording_version);
	fprintf(stderr,"%s     user_defined_name:          %s\n",first,fileheader->user_defined_name);
	fprintf(stderr,"%s     notes:                      %s\n",first,fileheader->notes);
	for (i=0;i<fileheader->number_subsystems;i++)
		mbsys_reson7k_print_subsystem(verbose, &fileheader->subsystem[i], 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_reson7k_print_remotecontrolsettings(int verbose,
			s7kr_remotecontrolsettings *remotecontrolsettings,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_remotecontrolsettings";
	int	status = MB_SUCCESS;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;
	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       remotecontrolsettings:  %lu\n",(size_t)remotecontrolsettings);
		}

	/* print Reson 7k data record header information */
	mbsys_reson7k_print_header(verbose, &remotecontrolsettings->header, error);

	/* print Reson 7k remote control sonar settings (record 7503) */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     serial_number:              %llu\n",first,remotecontrolsettings->serial_number);
	fprintf(stderr,"%s     ping_number:                %u\n",first,remotecontrolsettings->ping_number);
	fprintf(stderr,"%s     frequency:                  %f\n",first,remotecontrolsettings->frequency);
	fprintf(stderr,"%s     sample_rate:                %f\n",first,remotecontrolsettings->sample_rate);
	fprintf(stderr,"%s     receiver_bandwidth:         %f\n",first,remotecontrolsettings->receiver_bandwidth);
	fprintf(stderr,"%s     pulse_width:                %f\n",first,remotecontrolsettings->pulse_width);
	fprintf(stderr,"%s     pulse_type:                 %d\n",first,remotecontrolsettings->pulse_type);
	fprintf(stderr,"%s     pulse_envelope:             %d\n",first,remotecontrolsettings->pulse_envelope);
	fprintf(stderr,"%s     pulse_envelope_par:         %f\n",first,remotecontrolsettings->pulse_envelope_par);
	fprintf(stderr,"%s     pulse_reserved:             %d\n",first,remotecontrolsettings->pulse_reserved);
	fprintf(stderr,"%s     max_ping_rate:              %f\n",first,remotecontrolsettings->max_ping_rate);
	fprintf(stderr,"%s     ping_period:                %f\n",first,remotecontrolsettings->ping_period);
	fprintf(stderr,"%s     range_selection:            %f\n",first,remotecontrolsettings->range_selection);
	fprintf(stderr,"%s     power_selection:            %f\n",first,remotecontrolsettings->power_selection);
	fprintf(stderr,"%s     gain_selection:             %f\n",first,remotecontrolsettings->gain_selection);
	fprintf(stderr,"%s     control_flags:              %d\n",first,remotecontrolsettings->control_flags);
	fprintf(stderr,"%s     projector_magic_no:         %d\n",first,remotecontrolsettings->projector_magic_no);
	fprintf(stderr,"%s     steering_vertical:          %f\n",first,remotecontrolsettings->steering_vertical);
	fprintf(stderr,"%s     steering_horizontal:        %f\n",first,remotecontrolsettings->steering_horizontal);
	fprintf(stderr,"%s     beamwidth_vertical:         %f\n",first,remotecontrolsettings->beamwidth_vertical);
	fprintf(stderr,"%s     beamwidth_horizontal:       %f\n",first,remotecontrolsettings->beamwidth_horizontal);
	fprintf(stderr,"%s     focal_point:                %f\n",first,remotecontrolsettings->focal_point);
	fprintf(stderr,"%s     projector_weighting:        %d\n",first,remotecontrolsettings->projector_weighting);
	fprintf(stderr,"%s     projector_weighting_par:    %f\n",first,remotecontrolsettings->projector_weighting_par);
	fprintf(stderr,"%s     transmit_flags:             %d\n",first,remotecontrolsettings->transmit_flags);
	fprintf(stderr,"%s     hydrophone_magic_no:        %d\n",first,remotecontrolsettings->hydrophone_magic_no);
	fprintf(stderr,"%s     receive_weighting:          %d\n",first,remotecontrolsettings->receive_weighting);
	fprintf(stderr,"%s     receive_weighting_par:      %f\n",first,remotecontrolsettings->receive_weighting_par);
	fprintf(stderr,"%s     receive_flags:              %d\n",first,remotecontrolsettings->receive_flags);
	fprintf(stderr,"%s     range_minimum:              %f\n",first,remotecontrolsettings->range_minimum);
	fprintf(stderr,"%s     range_maximum:              %f\n",first,remotecontrolsettings->range_maximum);
	fprintf(stderr,"%s     depth_minimum:              %f\n",first,remotecontrolsettings->depth_minimum);
	fprintf(stderr,"%s     depth_maximum:              %f\n",first,remotecontrolsettings->depth_maximum);
	fprintf(stderr,"%s     absorption:                 %f\n",first,remotecontrolsettings->absorption);
	fprintf(stderr,"%s     sound_velocity:             %f\n",first,remotecontrolsettings->sound_velocity);
	fprintf(stderr,"%s     spreading:                  %f\n",first,remotecontrolsettings->spreading);
	fprintf(stderr,"%s     reserved:                   %d\n",first,remotecontrolsettings->reserved);
	fprintf(stderr,"%s     tx_offset_x:                %f\n",first,remotecontrolsettings->tx_offset_x);
	fprintf(stderr,"%s     tx_offset_y:                %f\n",first,remotecontrolsettings->tx_offset_y);
	fprintf(stderr,"%s     tx_offset_z:                %f\n",first,remotecontrolsettings->tx_offset_z);
	fprintf(stderr,"%s     head_tilt_x:                %f\n",first,remotecontrolsettings->head_tilt_x);
	fprintf(stderr,"%s     head_tilt_y:                %f\n",first,remotecontrolsettings->head_tilt_y);
	fprintf(stderr,"%s     head_tilt_z:                %f\n",first,remotecontrolsettings->head_tilt_z);
	fprintf(stderr,"%s     ping_on_off:                %d\n",first,remotecontrolsettings->ping_on_off);
	fprintf(stderr,"%s     data_sample_types:          %d\n",first,remotecontrolsettings->data_sample_types);
	fprintf(stderr,"%s     projector_orientation:      %d\n",first,remotecontrolsettings->projector_orientation);
	fprintf(stderr,"%s     beam_angle_mode:            %d\n",first,remotecontrolsettings->beam_angle_mode);
	fprintf(stderr,"%s     r7kcenter_mode:             %d\n",first,remotecontrolsettings->r7kcenter_mode);
	fprintf(stderr,"%s     gate_depth_min:             %f\n",first,remotecontrolsettings->gate_depth_min);
	fprintf(stderr,"%s     gate_depth_max:             %f\n",first,remotecontrolsettings->gate_depth_max);
	for (i=0;i<35;i++)
		fprintf(stderr,"%s     reserved2[i]:               %d\n",first,remotecontrolsettings->reserved2[i]);

	/* 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_reson7k_print_reserved(int verbose,
			s7kr_reserved *reserved,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_reserved";
	int	status = MB_SUCCESS;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;
	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       reserved:          %lu\n",(size_t)reserved);
		}

	/* print Reson 7k data record header information */
	mbsys_reson7k_print_header(verbose, &reserved->header, error);

	/* print Reson 7k Reserved (well, unknown really...) (record 7504) */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	for (i=0;i<R7KHDRSIZE_7kReserved;i++)
		fprintf(stderr,"%s     reserved[%d]:               %u\n",first,i,reserved->reserved[i]);

	/* 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_reson7k_print_roll(int verbose,
			s7kr_roll *roll,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_roll";
	int	status = MB_SUCCESS;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;

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

	/* print Reson 7k data record header information */
	mbsys_reson7k_print_header(verbose, &roll->header, error);

	/* print Reson 7k Roll (record 7600) */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     roll:                       %f\n",first,roll->roll);

	/* 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_reson7k_print_pitch(int verbose,
			s7kr_pitch *pitch,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_pitch";
	int	status = MB_SUCCESS;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;

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

	/* print Reson 7k data record header information */
	mbsys_reson7k_print_header(verbose, &pitch->header, error);

	/* print Reson 7k Pitch (record 7601) */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     pitch:                      %f\n",first,pitch->pitch);

	/* 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_reson7k_print_soundvelocity(int verbose,
			s7kr_soundvelocity *soundvelocity,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_soundvelocity";
	int	status = MB_SUCCESS;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;

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

	/* print Reson 7k data record header information */
	mbsys_reson7k_print_header(verbose, &soundvelocity->header, error);

	/* print Reson 7k Sound Velocity (record 7610) */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     soundvelocity:              %f\n",first,soundvelocity->soundvelocity);

	/* 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_reson7k_print_absorptionloss(int verbose,
			s7kr_absorptionloss *absorptionloss,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_absorptionloss";
	int	status = MB_SUCCESS;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;

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

	/* print Reson 7k data record header information */
	mbsys_reson7k_print_header(verbose, &absorptionloss->header, error);

	/* print Reson 7k Absorption Loss (record 7611) */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     absorptionloss:             %f\n",first,absorptionloss->absorptionloss);

	/* 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_reson7k_print_spreadingloss(int verbose,
			s7kr_spreadingloss *spreadingloss,
			int *error)
{
	char	*function_name = "mbsys_reson7k_print_spreadingloss";
	int	status = MB_SUCCESS;
	char	*debug_str = "dbg2  ";
	char	*nodebug_str = "  ";
	char	*first;

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

	/* print Reson 7k data record header information */
	mbsys_reson7k_print_header(verbose, &spreadingloss->header, error);

	/* print Reson 7k Spreading Loss (record 7611) */
	if (verbose >= 2)
		first = debug_str;
	else
		{
		first = nodebug_str;
		fprintf(stderr,"\n%sMBIO function <%s> called\n",
			first,function_name);
		}
	fprintf(stderr,"%sStructure Contents:\n", first);
	fprintf(stderr,"%s     spreadingloss:              %f\n",first,spreadingloss->spreadingloss);

	/* 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_reson7k_dimensions(int verbose, void *mbio_ptr, void *store_ptr,
		int *kind, int *nbath, int *namp, int *nss, int *error)
{
	char	*function_name = "mbsys_reson7k_dimensions";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_reson7k_struct *store;
	s7kr_bathymetry *bathymetry;

	/* 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_reson7k_struct *) store_ptr;

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

	/* extract data from structure */
	if (*kind == MB_DATA_DATA)
		{
		/* get beam and pixel numbers */
		bathymetry = (s7kr_bathymetry *) &store->bathymetry;
		*nbath = bathymetry->number_beams;
		*namp = *nbath;
		*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_reson7k_pingnumber(int verbose, void *mbio_ptr,
		int *pingnumber, int *error)
{
	char	*function_name = "mbsys_reson7k_pingnumber";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_reson7k_struct *store;
	s7kr_bathymetry *bathymetry;

	/* 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);
		}

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

	/* get data structure pointer */
	store = (struct mbsys_reson7k_struct *) mb_io_ptr->store_data;

	/* extract data from structure */
	bathymetry = (s7kr_bathymetry *) &store->bathymetry;
	*pingnumber = bathymetry->ping_number;

	/* 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       pingnumber: %d\n",*pingnumber);
		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_reson7k_sonartype(int verbose, void *mbio_ptr, void *store_ptr,
		int *sonartype, int *error)
{
	char	*function_name = "mbsys_reson7k_sonartype";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_reson7k_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_reson7k_struct *) store_ptr;

	/* get sonar type */
	*sonartype = MB_SONARTYPE_MULTIBEAM;

	/* 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       sonartype:  %d\n",*sonartype);
		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_reson7k_sidescantype(int verbose, void *mbio_ptr, void *store_ptr,
		int *ss_type, int *error)
{
	char	*function_name = "mbsys_reson7k_sidescantype";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_reson7k_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_reson7k_struct *) store_ptr;

	/* get sidescan type */
	*ss_type = MB_SIDESCAN_LINEAR;

	/* 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       ss_type:    %d\n",*ss_type);
		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_reson7k_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_reson7k_extract";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_reson7k_struct *store;
	s7kr_bluefin *bluefin;
	s7kr_processedsidescan *processedsidescan;
	s7kr_beamgeometry *beamgeometry;
	s7kr_bathymetry *bathymetry;
	s7kr_backscatter *backscatter;
	s7kr_beam *beam;
	s7kr_position *position;
	s7kr_systemeventmessage *systemeventmessage;
	s7kr_fsdwsb *fsdwsb;
	s7kr_fsdwss *fsdwsslo;
	s7kr_fsdwss *fsdwsshi;
	s7k_fsdwsegyheader *fsdwsegyheader;
	s7k_fsdwssheader *fsdwssheader;
	double	*pixel_size;
	double	*swath_width;
	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_reson7k_struct *) store_ptr;
	bluefin = (s7kr_bluefin *) &store->bluefin;
	processedsidescan = (s7kr_processedsidescan *) &store->processedsidescan;
	beamgeometry = (s7kr_beamgeometry *) &(store->beamgeometry);
	bathymetry = (s7kr_bathymetry *) &store->bathymetry;
	backscatter = (s7kr_backscatter *) &store->backscatter;
	beam = (s7kr_beam *) &store->beam;
	position = (s7kr_position *) &store->position;
	systemeventmessage = (s7kr_systemeventmessage *) &store->systemeventmessage;
	fsdwsb = &(store->fsdwsb);
	fsdwsslo = &(store->fsdwsslo);
	fsdwsshi = &(store->fsdwsshi);

	/* get saved values */
	pixel_size = (double *) &mb_io_ptr->saved1;
	swath_width = (double *) &mb_io_ptr->saved2;

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

	/* extract data from structure */
	if (*kind == MB_DATA_DATA)
		{
		/* get time */
		for (i=0;i<7;i++)
			time_i[i] = store->time_i[i];
		*time_d = store->time_d;

		/* get interpolated nav heading and speed  */
		*speed = 0.0;
		if (mb_io_ptr->nfix > 0)
			mb_navint_interp(verbose, mbio_ptr, store->time_d, *heading, *speed,
				    navlon, navlat, speed, error);

		/* get heading */
		if (bathymetry->optionaldata == MB_YES)
			*heading = RTD * bathymetry->heading;

		/* get navigation */
		if (bathymetry->optionaldata == MB_YES
			&& bathymetry->longitude != 0.0 && bathymetry->latitude != 0.0)
			{
			*navlon = RTD * bathymetry->longitude;
			*navlat = RTD * bathymetry->latitude;
/* fprintf(stderr,"mbsys_reson7k_extract: radians lon lat: %.10f %.10f  degrees lon lat: %.10f %.10f\n",
bathymetry->longitude,bathymetry->latitude,*navlon,*navlat); */
			}

		/* set beamwidths in mb_io structure */
		mb_io_ptr->beamwidth_xtrack = RTD * beamgeometry->beamwidth_acrosstrack[beamgeometry->number_beams/2];
		mb_io_ptr->beamwidth_ltrack = RTD * beamgeometry->beamwidth_alongtrack[beamgeometry->number_beams/2];

		/* read distance and depth values into storage arrays */
		*nbath = bathymetry->number_beams;
		*namp = *nbath;
		for (i=0;i<*nbath;i++)
			{
			bath[i] = bathymetry->depth[i];

			/* beamflagging scheme:
				Reson quality flags use bits 0-3
					bit 0: brightness test
					bit 1: colinearity test
					bit 2: amplitude pick
					bit 3: phase pick
				Early MB scheme (through 2007) - use bits 0-5
					null: 0
					flagged: 2
					good: 15
					amplitude: +16
					phase: +32
				Current MB scheme (>= 2008) - use bits 4-7
					- bits 0-3 left in original values
					- beam valid if bit 4 or 5 are set
					- beam flagged if bit 6 or 7 set
					bit 4: on = amplitude
					bit 5: on = phase
					bit 6: on = auto flag
					bit 7: on = manual flag */
			if (bathymetry->quality[i] == 0)
				{
				beamflag[i] = MB_FLAG_NULL;
				}
			else if (bathymetry->quality[i] & 64)
				{
				beamflag[i] = MB_FLAG_FLAG + MB_FLAG_FILTER;
				}
			else if (bathymetry->quality[i] & 128)
				{
				beamflag[i] = MB_FLAG_FLAG + MB_FLAG_MANUAL;
				}
			else if (bathymetry->quality[i] & 240)
				{
				beamflag[i] = MB_FLAG_NONE;
				}
			else if ((bathymetry->quality[i] & 3) == 3)
				{
				beamflag[i] = MB_FLAG_NONE;
				}
			else if ((bathymetry->quality[i] & 15) == 0)
				{
				beamflag[i] = MB_FLAG_NULL;
				}
			else if ((bathymetry->quality[i] & 3) == 0)
				{
				beamflag[i] = MB_FLAG_FLAG + MB_FLAG_FILTER;
				}
			else
				{
				beamflag[i] = MB_FLAG_FLAG + MB_FLAG_MANUAL;
				}
#ifdef MSYS_RESON7KR_DEBUG
fprintf(stderr,"EXTRACT: beam:%d quality:%d q&240:%d ",i,bathymetry->quality[i],bathymetry->quality[i] & 240);
if (bathymetry->quality[i] & 1) fprintf(stderr,"1"); else fprintf(stderr,"0");
if (bathymetry->quality[i] & 2) fprintf(stderr,"1"); else fprintf(stderr,"0");
if (bathymetry->quality[i] & 4) fprintf(stderr,"1"); else fprintf(stderr,"0");
if (bathymetry->quality[i] & 8) fprintf(stderr,"1"); else fprintf(stderr,"0");
if (bathymetry->quality[i] & 16) fprintf(stderr,"1"); else fprintf(stderr,"0");
if (bathymetry->quality[i] & 32) fprintf(stderr,"1"); else fprintf(stderr,"0");
if (bathymetry->quality[i] & 64) fprintf(stderr,"1"); else fprintf(stderr,"0");
if (bathymetry->quality[i] & 128) fprintf(stderr,"1"); else fprintf(stderr,"0");
fprintf(stderr," flag:%d\n",beamflag[i]);
#endif
			bathacrosstrack[i] = bathymetry->acrosstrack[i];
			bathalongtrack[i] = bathymetry->alongtrack[i];
			amp[i] = 20.0 * log10((double)bathymetry->intensity[i]);
			}

		/* extract sidescan */
		*nss = 0;
		if (store->read_processedsidescan == MB_YES)
			{
			*nss = processedsidescan->number_pixels;
			for (i=0;i<processedsidescan->number_pixels;i++)
				{
				ss[i] = processedsidescan->sidescan[i];
				ssacrosstrack[i] = processedsidescan->pixelwidth
							* (i - (int)processedsidescan->number_pixels / 2);
				ssalongtrack[i] = processedsidescan->alongtrack[i];
				}
			for (i=processedsidescan->number_pixels;i<MBSYS_RESON7K_MAX_PIXELS;i++)
				{
				ss[i] = MB_SIDESCAN_NULL;
				ssacrosstrack[i] = 0.0;
				ssalongtrack[i] = 0.0;
				}
			}
		else
			{
			for (i=0;i<MBSYS_RESON7K_MAX_PIXELS;i++)
				{
				ss[i] = MB_SIDESCAN_NULL;
				ssacrosstrack[i] = 0.0;
				ssalongtrack[i] = 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:%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]);
			fprintf(stderr,"dbg4        nss:      %d\n",
				*nss);
			for (i=0;i<*nss;i++)
			  fprintf(stderr,"dbg4        pixel:%d   ss:%f  acrosstrack:%f  alongtrack:%f\n",
				i,ss[i],ssacrosstrack[i],ssalongtrack[i]);
			}

		/* done translating values */

		}

	/* extract data from structure */
	else if (*kind == MB_DATA_NAV1)
		{
		/* get time */
		for (i=0;i<7;i++)
			time_i[i] = store->time_i[i];
		*time_d = store->time_d;

		/* get heading */
		if (mb_io_ptr->nheading > 0)
			mb_hedint_interp(verbose, mbio_ptr, store->time_d,
				    heading, error);

		/* get speed */
		*speed = 0.0;
		if (mb_io_ptr->nfix > 0)
			mb_navint_interp(verbose, mbio_ptr, store->time_d, *heading, *speed,
				    navlon, navlat, speed, error);

		/* get navigation */
		*navlon = RTD * position->longitude;
		*navlat = RTD * position->latitude;

		/* set beam and pixel numbers */
		*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 data from structure */
	else if (*kind == MB_DATA_NAV2)
		{
		/* get time */
		for (i=0;i<7;i++)
			time_i[i] = store->time_i[i];
		*time_d = store->time_d;

		/* get heading */
		*heading = RTD * bluefin->nav[0].yaw;

		/* get speed */
		*speed = 0.0;
		if (mb_io_ptr->nfix > 0)
			mb_navint_interp(verbose, mbio_ptr, store->time_d, *heading, *speed,
				    navlon, navlat, speed, error);

		/* get navigation */
		*navlon = RTD * bluefin->nav[0].longitude;
		*navlat = RTD * bluefin->nav[0].latitude;

		/* set beam and pixel numbers */
		*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 data from structure */
	else if (*kind == MB_DATA_SUBBOTTOM_SUBBOTTOM)
		{
		/* get edgetech segy header */
		fsdwsegyheader = &(fsdwsb->segyheader);

		/* get time */
		for (i=0;i<7;i++)
			time_i[i] = store->time_i[i];
		*time_d = store->time_d;

		/* get heading */
		if (fsdwsegyheader->heading != 0)
			*heading = 0.01 * fsdwsegyheader->heading;
		else if (mb_io_ptr->nheading > 0)
			mb_hedint_interp(verbose, mbio_ptr, store->time_d,
					    heading, error);

		/* get speed and position */
		*speed = 0.0;
		if (mb_io_ptr->nfix > 0)
			mb_navint_interp(verbose, mbio_ptr, store->time_d, *heading, *speed,
				    navlon, navlat, speed, error);

		/* get position */
		if (fsdwsegyheader->sourceCoordX != 0
			|| fsdwsegyheader->sourceCoordY != 0)
			{
			*navlon = ((double)fsdwsegyheader->sourceCoordX) / 360000.0;
			*navlat = ((double)fsdwsegyheader->sourceCoordY) / 360000.0;
			}

		/* set beam and pixel numbers */
		*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 data from sidescan structure */
	else if (*kind == MB_DATA_SIDESCAN2
		|| *kind == MB_DATA_SIDESCAN3)
		{
		/* get edgetech sidescan header */
		if (*kind == MB_DATA_SIDESCAN2)
			fsdwssheader = &(fsdwsslo->ssheader[0]);
		else if (*kind == MB_DATA_SIDESCAN3)
			fsdwssheader = &(fsdwsshi->ssheader[0]);

		/* get time */
		for (i=0;i<7;i++)
			time_i[i] = store->time_i[i];
		*time_d = store->time_d;

		/* get heading */
		if (fsdwssheader->heading != 0)
			*heading = 0.01 * fsdwssheader->heading;
		else if (mb_io_ptr->nheading > 0)
			mb_hedint_interp(verbose, mbio_ptr, store->time_d,
					    heading, error);

		/* get speed and position */
		*speed = 0.0;
		mb_navint_interp(verbose, mbio_ptr, store->time_d, *heading, *speed,
				    navlon, navlat, speed, error);

		/* get position */
		if (fsdwssheader->longitude != 0
			|| fsdwssheader->latitude != 0)
			{
			*navlon = ((double)fsdwssheader->longitude)/ 360000.0;
			*navlat = ((double)fsdwssheader->latitude)/ 360000.0;
			}

		/* set beam and pixel numbers */
		*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)
		{
		/* get time */
		for (i=0;i<7;i++)
			time_i[i] = store->time_i[i];
		*time_d = store->time_d;

		/* copy comment */
		if (systemeventmessage->message_length > 0)
			strncpy(comment, systemeventmessage->message, MB_COMMENT_MAXLINE);
		else
			comment[0] = '\0';

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

	/* set time for other data records */
	else
		{
		/* get time */
		for (i=0;i<7;i++)
			time_i[i] = store->time_i[i];
		*time_d = store->time_d;

		/* print debug statements */
		if (verbose >= 4)
			{
			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       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_reson7k_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_reson7k_insert";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_reson7k_struct *store;
	s7kr_bluefin *bluefin;
	s7kr_processedsidescan *processedsidescan;
	s7kr_volatilesettings *volatilesettings;
	s7kr_bathymetry *bathymetry;
	s7kr_backscatter *backscatter;
	s7kr_beam *beam;
	s7kr_position *position;
	s7kr_systemeventmessage *systemeventmessage;
	s7kr_fsdwsb *fsdwsb;
	s7kr_fsdwss *fsdwsslo;
	s7kr_fsdwss *fsdwsshi;
	s7k_fsdwsegyheader *fsdwsegyheader;
	s7k_fsdwssheader *fsdwssheader;
	int	msglen;
	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_NAV1 || kind == MB_DATA_NAV2))
		{
		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        beam:%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_reson7k_struct *) store_ptr;
	bluefin = (s7kr_bluefin *) &store->bluefin;
	volatilesettings = (s7kr_volatilesettings *) &store->volatilesettings;
	bathymetry = (s7kr_bathymetry *) &store->bathymetry;
	backscatter = (s7kr_backscatter *) &store->backscatter;
	beam = (s7kr_beam *) &store->beam;
	processedsidescan = (s7kr_processedsidescan *) &store->processedsidescan;
	position = (s7kr_position *) &store->position;
	systemeventmessage = (s7kr_systemeventmessage *) &store->systemeventmessage;
	fsdwsb = &(store->fsdwsb);
	fsdwsslo = &(store->fsdwsslo);
	fsdwsshi = &(store->fsdwsshi);

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

	/* insert data in structure */
	if (store->kind == MB_DATA_DATA)
		{
		/* get time */
		for (i=0;i<7;i++)
			store->time_i[i] = time_i[i];
		store->time_d = time_d;

		/* get navigation */
		bathymetry->longitude = DTR * navlon;
		bathymetry->latitude = DTR * navlat;

		/* get heading */
		bathymetry->heading = DTR * heading;

		/* get speed  */

		/* read distance and depth values into storage arrays */
		bathymetry->number_beams = nbath;
		for (i=0;i<bathymetry->number_beams;i++)
			{
			bathymetry->depth[i] = bath[i];
			if (beamflag[i] == MB_FLAG_NULL)
				bathymetry->quality[i] = 0;
			else if (mb_beam_check_flag_manual(beamflag[i]))
				bathymetry->quality[i] = (bathymetry->quality[i] & 63) + 128;
			else if (mb_beam_check_flag(beamflag[i]))
				bathymetry->quality[i] = (bathymetry->quality[i] & 63) + 64;
			else
				{
				bathymetry->quality[i] = (bathymetry->quality[i] & 63);
				if (!(bathymetry->quality[i] & 12))
					bathymetry->quality[i] = bathymetry->quality[i] | 16;
				else if (bathymetry->quality[i] & 4)
					bathymetry->quality[i] = bathymetry->quality[i] | 16;
				else if (bathymetry->quality[i] & 8)
					bathymetry->quality[i] = bathymetry->quality[i] | 32;
				}
			bathymetry->acrosstrack[i] = bathacrosstrack[i];
			bathymetry->alongtrack[i] = bathalongtrack[i];
			bathymetry->intensity[i] = (float)(pow(10.0, (amp[i] / 20.0)));
#ifdef MSYS_RESON7KR_DEBUG
fprintf(stderr,"INSERT: beam:%d quality:%d q&240:%d ",i,bathymetry->quality[i],bathymetry->quality[i] & 240);
if (bathymetry->quality[i] & 1) fprintf(stderr,"1"); else fprintf(stderr,"0");
if (bathymetry->quality[i] & 2) fprintf(stderr,"1"); else fprintf(stderr,"0");
if (bathymetry->quality[i] & 4) fprintf(stderr,"1"); else fprintf(stderr,"0");
if (bathymetry->quality[i] & 8) fprintf(stderr,"1"); else fprintf(stderr,"0");
if (bathymetry->quality[i] & 16) fprintf(stderr,"1"); else fprintf(stderr,"0");
if (bathymetry->quality[i] & 32) fprintf(stderr,"1"); else fprintf(stderr,"0");
if (bathymetry->quality[i] & 64) fprintf(stderr,"1"); else fprintf(stderr,"0");
if (bathymetry->quality[i] & 128) fprintf(stderr,"1"); else fprintf(stderr,"0");
fprintf(stderr," flag:%d\n",beamflag[i]);
#endif
			}

		/* insert the sidescan */
		processedsidescan->number_pixels = nss;
		for (i=0;i<processedsidescan->number_pixels;i++)
			{
			processedsidescan->sidescan[i] = ss[i];
			processedsidescan->alongtrack[i] = processedsidescan->alongtrack[i];
			}
		for (i=processedsidescan->number_pixels;i<MBSYS_RESON7K_MAX_PIXELS;i++)
			{
			processedsidescan->sidescan[i] = 0.0;
			processedsidescan->alongtrack[i] = 0.0;
			}
		}

	/* insert data in nav structure */
	else if (store->kind == MB_DATA_NAV1)
		{
		/* get time */
		for (i=0;i<7;i++)
			store->time_i[i] = time_i[i];
		store->time_d = time_d;

		/* get navigation */
		position->longitude = DTR * navlon;
		position->latitude = DTR * navlat;

		/* get heading */

		/* get speed  */
		}

	/* insert data in nav structure */
	else if (store->kind == MB_DATA_NAV2)
		{
		/* get time */
		for (i=0;i<7;i++)
			store->time_i[i] = time_i[i];
		store->time_d = time_d;

		/* get navigation */
		bluefin->nav[0].longitude = DTR * navlon;
		bluefin->nav[0].latitude = DTR * navlat;

		/* get heading */
		bluefin->nav[0].yaw = DTR * heading;

		/* get speed  */
		}

	/* insert data in subbottom structure */
	else if (store->kind == MB_DATA_SUBBOTTOM_SUBBOTTOM)
		{
		/* get edgetech segy header */
		fsdwsegyheader = &(fsdwsb->segyheader);

		/* get time */
		for (i=0;i<7;i++)
			store->time_i[i] = time_i[i];
		store->time_d = time_d;

		/* get navigation */
		fsdwsegyheader->sourceCoordX = (int)(navlon * 360000.0);
		fsdwsegyheader->sourceCoordY = (int)(navlat * 360000.0);

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

		/* get speed  */
		}

	/* insert data in sidescan structure */
	else if (store->kind == MB_DATA_SIDESCAN2
		|| store->kind == MB_DATA_SIDESCAN3)
		{
		/* get edgetech sidescan header */
		if (store->kind == MB_DATA_SIDESCAN2)
			fsdwssheader = &(fsdwsslo->ssheader[0]);
		else if (store->kind == MB_DATA_SIDESCAN3)
			fsdwssheader = &(fsdwsshi->ssheader[0]);

		/* get time */
		for (i=0;i<7;i++)
			store->time_i[i] = time_i[i];
		store->time_d = time_d;

		/* get navigation */
		fsdwssheader->longitude = (int)(navlon * 360000.0);
		fsdwssheader->latitude = (int)(navlat * 360000.0);

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

		/* get speed  */
		}

	/* insert comment in structure */
	else if (store->kind == MB_DATA_COMMENT)
		{
		/* make sure memory is allocated for comment */
		msglen = MIN(strlen(comment) +  1, MB_COMMENT_MAXLINE);
		if (msglen % 2 > 0)
			msglen++;
		if (systemeventmessage->message_alloc < msglen)
			{
			status = mb_reallocd(verbose, __FILE__, __LINE__, msglen,
						(void **)&(systemeventmessage->message), error);
			if (status != MB_SUCCESS)
				{
				systemeventmessage->message_alloc = 0;
				systemeventmessage->message = NULL;
				}
			else
				{
				systemeventmessage->message_alloc = msglen;
				}
			}

		/* copy comment */
		if (status == MB_SUCCESS)
			{
/*fprintf(stderr,"INSERTING COMMENT: %s\n",comment);
fprintf(stderr,"INSERTING COMMENT: msglen:%d message_alloc:%d status:%d error:%d\n",
msglen,systemeventmessage->message_alloc,status,*error);*/
			store->type = R7KRECID_7kSystemEventMessage;
			systemeventmessage->serial_number = 0;
			systemeventmessage->event_id = 1;
			systemeventmessage->message_length = msglen;
			systemeventmessage->event_identifier = 0;
			strncpy(systemeventmessage->message, comment, msglen);
			systemeventmessage->header.Size = MBSYS_RESON7K_RECORDHEADER_SIZE
							+ R7KHDRSIZE_7kSystemEventMessage
							+ msglen
							+ MBSYS_RESON7K_RECORDTAIL_SIZE;
			systemeventmessage->header.OffsetToOptionalData = 0;
			systemeventmessage->header.OptionalDataIdentifier = 0;
			systemeventmessage->header.Reserved = 0;
			systemeventmessage->header.RecordType = R7KRECID_7kSystemEventMessage;
			systemeventmessage->header.DeviceId = 0;
			systemeventmessage->header.SystemEnumerator = 0;
			systemeventmessage->header.DataSetNumber = 0;
			systemeventmessage->header.RecordNumber = 0;
			for (i=0;i<8;i++)
				{
				systemeventmessage->header.PreviousRecord[i] = -1;
				systemeventmessage->header.NextRecord[i] = -1;
				}
			systemeventmessage->header.Flags = 0;
			systemeventmessage->header.Reserved2 = 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_reson7k_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_reson7k_ttimes";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_reson7k_struct *store;
	s7kr_bathymetry *bathymetry;
	s7kr_depth *depth;
	s7kr_beamgeometry *beamgeometry;
	s7kr_attitude *attitude;
	s7kr_ctd *ctd;
	s7kr_reference *reference;
	double	heave_use, roll, pitch;
	double	alpha, beta, theta, phi;
	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_reson7k_struct *) store_ptr;
	bathymetry = (s7kr_bathymetry *) &store->bathymetry;
	depth = (s7kr_depth *) &store->depth;
	attitude = (s7kr_attitude *) &store->attitude;
	ctd = (s7kr_ctd *) &store->ctd;
	beamgeometry = (s7kr_beamgeometry *) &store->beamgeometry;
	reference = (s7kr_reference *) &store->reference;

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

	/* extract data from structure */
	if (*kind == MB_DATA_DATA)
		{
		/* get depth offset (heave + sonar depth) */
		if (bathymetry->sound_velocity > 0.0)
			*ssv = bathymetry->sound_velocity;
		else if (ctd != NULL && ctd->n > 0)
			*ssv = ctd->sound_velocity[0];
		else
			*ssv = 1500.0;

		/* get attitude data */
		if (bathymetry->optionaldata == MB_YES)
			{
			heave_use = bathymetry->heave;
			}
		else if (mb_io_ptr->nattitude > 0)
			{
			mb_attint_interp(verbose, mbio_ptr, store->time_d,
				   	&heave_use, &roll, &pitch, error);
			}

		/* get draft */
		if (bathymetry->optionaldata == MB_YES)
			{
			*draft = -bathymetry->vehicle_height + reference->water_z;
			heave_use = 0.0;
			}
		else if (mb_io_ptr->nsonardepth > 0)
			{
			mb_depint_interp(verbose, mbio_ptr, store->time_d,
				    draft, error);
			heave_use = 0.0;
			}
		else
			{
			*draft = reference->water_z;
			}

		/* get travel times, angles */
		*nbeams = bathymetry->number_beams;
		for (i=0;i<bathymetry->number_beams;i++)
			{
			ttimes[i] = bathymetry->range[i];
			if (bathymetry->optionaldata == MB_YES)
				{
				angles[i] = RTD * bathymetry->pointing_angle[i];
				angles_forward[i] = RTD * bathymetry->azimuth_angle[i];
				}
			else
				{
				alpha = RTD * beamgeometry->angle_alongtrack[i] + bathymetry->pitch;
				beta = 90.0 - RTD * beamgeometry->angle_acrosstrack[i] + bathymetry->roll;
				mb_rollpitch_to_takeoff(
					verbose,
					alpha, beta,
					&theta, &phi,
					error);
				angles[i] = theta;
				angles_forward[i] = phi;
				}
			if (bathymetry->header.DeviceId == 7100)
				angles_null[i] = angles[i];
			else
				angles_null[i] = 0.0;
			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  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_reson7k_detects(int verbose, void *mbio_ptr, void *store_ptr,
	int *kind, int *nbeams, int *detects, int *error)
{
	char	*function_name = "mbsys_reson7k_detects";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_reson7k_struct *store;
	s7kr_bathymetry *bathymetry;
	mb_u_char	detect;
	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_reson7k_struct *) store_ptr;
	bathymetry = (s7kr_bathymetry *) &store->bathymetry;

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

	/* extract data from structure */
	if (*kind == MB_DATA_DATA)
		{
		/* read distance and depth values into storage arrays */
		*nbeams = bathymetry->number_beams;
		for (i=0;i<*nbeams;i++)
			{
			detect = (bathymetry->quality[i] & 48) >> 4;
			if (detect == 0)
				detects[i] = MB_DETECT_UNKNOWN;
			else if (detect == 1)
				detects[i] = MB_DETECT_AMPLITUDE;
			else if (detect == 2)
				detects[i] = MB_DETECT_PHASE;
			else
				detects[i] = MB_DETECT_UNKNOWN;
			}

		/* 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_reson7k_gains(int verbose, void *mbio_ptr, void *store_ptr,
			int *kind, double *transmit_gain, double *pulse_length,
			double *receive_gain, int *error)
{
	char	*function_name = "mbsys_reson7k_gains";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_reson7k_struct *store;
	s7k_header *header;
	s7kr_volatilesettings *volatilesettings;

	/* 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_reson7k_struct *) store_ptr;

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

	/* extract data from structure */
	if (*kind == MB_DATA_DATA)
		{
		/* get survey data structure */
		volatilesettings = &(store->volatilesettings);
		header = &(volatilesettings->header);

		/* get transmit_gain (dB) */
		*transmit_gain = (double)volatilesettings->power_selection;

		/* get pulse_length (usec) */
		*pulse_length = (double)volatilesettings->pulse_width;

		/* get receive_gain (dB) */
		*receive_gain = (double)volatilesettings->gain_selection;

		/* 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       transmit_gain: %f\n",*transmit_gain);
		fprintf(stderr,"dbg2       pulse_length:  %f\n",*pulse_length);
		fprintf(stderr,"dbg2       receive_gain:  %f\n",*receive_gain);
		}
	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_reson7k_extract_altitude(int verbose, void *mbio_ptr, void *store_ptr,
	int *kind, double *transducer_depth, double *altitudev,
	int *error)
{
	char	*function_name = "mbsys_reson7k_extract_altitude";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_reson7k_struct *store;
	s7kr_bathymetry *bathymetry;
	s7kr_depth *depth;
	s7kr_altitude *altitude;
	s7kr_attitude *attitude;
	s7kr_reference *reference;
	double	heave, roll, pitch;
	double	xtrackmin;
	int	altitude_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_reson7k_struct *) store_ptr;
	bathymetry = (s7kr_bathymetry *) &store->bathymetry;
	depth = (s7kr_depth *) &store->depth;
	attitude = (s7kr_attitude *) &store->attitude;
	altitude = (s7kr_altitude *) &store->altitude;
	reference = (s7kr_reference *) &store->reference;

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

	/* extract data from structure */
	if (*kind == MB_DATA_DATA)
		{
		/* get transducer depth and altitude */
		if (bathymetry->optionaldata == MB_YES)
			{
			*transducer_depth = -bathymetry->vehicle_height + reference->water_z;
			}
		else if (mb_io_ptr->nsonardepth > 0)
			{
			mb_depint_interp(verbose, mbio_ptr, store->time_d,
				    transducer_depth, error);
			}
		else if (mb_io_ptr->nattitude > 0)
			{
			*transducer_depth = reference->water_z;
			mb_attint_interp(verbose, mbio_ptr, store->time_d,
				    &heave, &roll, &pitch, error);
			*transducer_depth += heave;
			}
		else
			{
			*transducer_depth = reference->water_z;
			}

		/* get altitude */
		altitude_found = MB_NO;
		if (mb_io_ptr->naltitude > 0)
			{
			mb_altint_interp(verbose, mbio_ptr, store->time_d,
				    altitudev, error);
			altitude_found = MB_YES;
			}
		if (altitude_found == MB_NO
			&& bathymetry->optionaldata == MB_YES)
			{
			/* get depth closest to nadir */
			xtrackmin = 999999.9;
			for (i=0;i<bathymetry->number_beams;i++)
				{
				if (((bathymetry->quality[i] & 15) == 15)
					&& fabs((double)bathymetry->acrosstrack[i]) < xtrackmin)
					{
					*altitudev = bathymetry->depth[i] - *transducer_depth;
					altitude_found = MB_YES;
					xtrackmin = fabs((double)bathymetry->acrosstrack[i]);
					}
				}
			}
		if (altitude_found == MB_NO
			&& altitude->altitude > 0.0)
			{
			*altitudev = altitude->altitude;
			}
		else if (altitude_found == MB_NO)
			{
			*altitudev = 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",*altitudev);
		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_reson7k_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_reson7k_extract_nav";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_reson7k_struct *store;
	s7kr_bathymetry *bathymetry;
	s7kr_bluefin *bluefin;
	s7kr_position *position;
	s7kr_depth *depth;
	s7kr_attitude *attitude;
	s7kr_reference *reference;
	s7kr_navigation *navigation;
	s7kr_fsdwsb *fsdwsb;
	s7kr_fsdwss *fsdwsslo;
	s7kr_fsdwss *fsdwsshi;
	s7k_fsdwsegyheader *fsdwsegyheader;
	s7k_fsdwssheader *fsdwssheader;
	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_reson7k_struct *) store_ptr;
	bathymetry = (s7kr_bathymetry *) &store->bathymetry;
	bluefin = (s7kr_bluefin *) &store->bluefin;
	position = (s7kr_position *) &store->position;
	depth = (s7kr_depth *) &store->depth;
	attitude = (s7kr_attitude *) &store->attitude;
	reference = (s7kr_reference *) &store->reference;
	navigation = &(store->navigation);

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

	/* extract data from ping structure */
	if (*kind == MB_DATA_DATA)
		{
		/* get time */
		for (i=0;i<7;i++)
			time_i[i] = store->time_i[i];
		*time_d = store->time_d;

		/* get interpolated nav heading and speed  */
		*speed = 0.0;
		if (mb_io_ptr->nheading > 0)
			mb_hedint_interp(verbose, mbio_ptr, store->time_d,
				    heading, error);
		if (mb_io_ptr->nfix > 0)
			mb_navint_interp(verbose, mbio_ptr, store->time_d, *heading, *speed,
				    navlon, navlat, speed, error);

		/* get heading */
		if (bathymetry->optionaldata == MB_YES)
			*heading = RTD * bathymetry->heading;

		/* get navigation */
		if (bathymetry->optionaldata == MB_YES)
			{
			*navlon = RTD * bathymetry->longitude;
			*navlat = RTD * bathymetry->latitude;
			}

		/* get draft  */
		if (bathymetry->optionaldata == MB_YES)
			{
			*draft = -bathymetry->vehicle_height + reference->water_z;
			}
		else if (mb_io_ptr->nsonardepth > 0)
			{
			if (mb_io_ptr->nsonardepth > 0)
				mb_depint_interp(verbose, mbio_ptr, store->time_d,
				    draft, error);
			}
		else
			{
			*draft = reference->water_z;
			}

		/* get attitude  */
		if (bathymetry->optionaldata == MB_YES)
			{
			*roll = RTD * bathymetry->roll;
			*pitch = RTD * bathymetry->pitch;
			*heave = bathymetry->heave;
			}
		else
			{
			if (mb_io_ptr->nattitude > 0)
				{
				mb_attint_interp(verbose, mbio_ptr, store->time_d,
				   	heave, roll, pitch, error);
				}
			}

		/* done translating values */

		}

	/* extract data from nav structure */
	else if (*kind == MB_DATA_NAV1)
		{
		/* get position data structure */
		position = (s7kr_position *) &store->position;

		/* get time */
		for (i=0;i<7;i++)
			time_i[i] = store->time_i[i];
		*time_d = store->time_d;

		/* get navigation and heading */
		*speed = 0.0;
		if (mb_io_ptr->nheading > 0)
			mb_hedint_interp(verbose, mbio_ptr, store->time_d,
				    heading, error);
		if (mb_io_ptr->nfix > 0)
			mb_navint_interp(verbose, mbio_ptr, store->time_d, *heading, *speed,
				    navlon, navlat, speed, error);
		*navlon = RTD * position->longitude;
		*navlat = RTD * position->latitude;

		/* get roll pitch and heave */
		if (mb_io_ptr->nattitude > 0)
			{
			mb_attint_interp(verbose, mbio_ptr, *time_d,
				    heave, roll, pitch, error);
			}

		/* get draft  */
		if (mb_io_ptr->nsonardepth > 0)
			{
			if (mb_io_ptr->nsonardepth > 0)
				mb_depint_interp(verbose, mbio_ptr, store->time_d,
				    draft, error);
			*heave = 0.0;
			}
		else if (bathymetry->optionaldata == MB_YES)
			{
			*draft = -bathymetry->vehicle_height + reference->water_z;
			*heave = 0.0;
			}
		else
			{
			*draft = reference->water_z;
			}

		/* done translating values */

		}

	/* extract data from structure */
	else if (*kind == MB_DATA_NAV2)
		{
		/* get time */
		for (i=0;i<7;i++)
			time_i[i] = store->time_i[i];
		*time_d = store->time_d;

		/* get heading */
		*heading = RTD * bluefin->nav[0].yaw;

		/* get speed */
		*speed = 0.0;
		if (mb_io_ptr->nfix > 0)
			mb_navint_interp(verbose, mbio_ptr, store->time_d, *heading, *speed,
				    navlon, navlat, speed, error);

		/* get navigation */
		*navlon = RTD * bluefin->nav[0].longitude;
		*navlat = RTD * bluefin->nav[0].latitude;

		/* get roll pitch and heave */
		*roll = RTD * bluefin->nav[0].roll;
		*pitch = RTD * bluefin->nav[0].pitch;
		*heave = 0.0;

		/* get draft  */
		*draft = bluefin->nav[0].depth;

		/* done translating values */

		}

	/* extract data from structure */
	else if (*kind == MB_DATA_NAV3)
		{
		/* get time */
		for (i=0;i<7;i++)
			time_i[i] = store->time_i[i];
		time_d[0] = store->time_d;

		/* get navigation */
		navlon[0] = RTD * navigation->longitude;
		navlat[0] = RTD * navigation->latitude;

		/* get speed  */
		speed[0] = 0.0;

		/* get heading */
		if (mb_io_ptr->nheading > 0)
			mb_hedint_interp(verbose, mbio_ptr, store->time_d,
				    heading, error);
		else if (bathymetry->optionaldata == MB_YES)
			heading[0] = RTD * bathymetry->heading;

		/* get draft  */
		if (mb_io_ptr->nsonardepth > 0)
			{
			mb_depint_interp(verbose, mbio_ptr, store->time_d,
				    &(draft[0]), error);
			}
		else if (bathymetry->optionaldata == MB_YES)
			{
			draft[0] = -bathymetry->vehicle_height + reference->water_z;
			}
		else
			{
			draft[0] = reference->water_z;
			}

		/* get attitude  */
		if (mb_io_ptr->nattitude > 0)
			{
			mb_attint_interp(verbose, mbio_ptr, store->time_d,
				   	&(heave[0]), &(roll[0]), &(pitch[0]), error);
			}
		else if (bathymetry->optionaldata == MB_YES)
			{
			roll[0] = RTD * bathymetry->roll;
			pitch[0] = RTD * bathymetry->pitch;
			heave[0] = bathymetry->heave;
			}
		else
			{
			roll[0] = 0.0;
			pitch[0] = 0.0;
			heave[0] = 0.0;
			}

		/* done translating values */

		}

	/* extract data from structure */
	else if (*kind == MB_DATA_SUBBOTTOM_SUBBOTTOM)
		{
		/* get edgetech segy header */
		fsdwsegyheader = &(fsdwsb->segyheader);

		/* get time */
		for (i=0;i<7;i++)
			time_i[i] = store->time_i[i];
		*time_d = store->time_d;

		/* get heading */
		if (fsdwsegyheader->heading != 0)
			*heading = 0.01 * fsdwsegyheader->heading;
		else
			mb_hedint_interp(verbose, mbio_ptr, store->time_d,
					    heading, error);

		/* get speed and position */
		*speed = 0.0;
		if (mb_io_ptr->nfix > 0)
			mb_navint_interp(verbose, mbio_ptr, store->time_d, *heading, *speed,
				    navlon, navlat, speed, error);

		/* get position */
		if (fsdwsegyheader->sourceCoordX != 0
			|| fsdwsegyheader->sourceCoordY != 0)
			{
			*navlon = ((double)fsdwsegyheader->sourceCoordX) / 360000.0;
			*navlat = ((double)fsdwsegyheader->sourceCoordY) / 360000.0;
			}

		/* get roll pitch and heave */
		*roll = 0.01 * fsdwsegyheader->roll;
		*pitch = 0.01 * fsdwsegyheader->pitch;
		*heave = 0.0;

		if (mb_io_ptr->nattitude > 0)
			{
			mb_attint_interp(verbose, mbio_ptr, store->time_d,
				    heave, roll, pitch, error);
			}

		/* get draft  */
		*draft = reference->water_z;

		/* done translating values */

		}

	/* extract data from sidescan structure */
	else if (*kind == MB_DATA_SIDESCAN2
		|| *kind == MB_DATA_SIDESCAN3)
		{
		/* get edgetech sidescan header */
		if (*kind == MB_DATA_SIDESCAN2)
			fsdwssheader = &(fsdwsslo->ssheader[0]);
		else if (*kind == MB_DATA_SIDESCAN3)
			fsdwssheader = &(fsdwsshi->ssheader[0]);

		/* get time */
		for (i=0;i<7;i++)
			time_i[i] = store->time_i[i];
		*time_d = store->time_d;

		/* get heading */
		if (fsdwssheader->heading != 0)
			*heading = 0.01 * fsdwssheader->heading;
		else
			if (mb_io_ptr->nheading > 0)
				mb_hedint_interp(verbose, mbio_ptr, store->time_d,
					    heading, error);

		/* get speed and position */
		*speed = 0.0;
		if (mb_io_ptr->nfix > 0)
			mb_navint_interp(verbose, mbio_ptr, store->time_d, *heading, *speed,
				    navlon, navlat, speed, error);

		/* get position */
		if (fsdwssheader->longitude != 0
			|| fsdwssheader->latitude != 0)
			{
			*navlon = ((double)fsdwssheader->longitude)/ 360000.0;
			*navlat = ((double)fsdwssheader->latitude)/ 360000.0;
			}

		/* 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 */

		}


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

		/* get time */
		for (i=0;i<7;i++)
			time_i[i] = store->time_i[i];
		*time_d = store->time_d;
		}

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

		/* get time */
		for (i=0;i<7;i++)
			time_i[i] = store->time_i[i];
		*time_d = store->time_d;
		}

	/* 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       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);
		fprintf(stderr,"dbg2       error:         %d\n",*error);
		fprintf(stderr,"dbg2  Return status:\n");
		fprintf(stderr,"dbg2       status:        %d\n",status);
		}
/*if (status == MB_SUCCESS)
fprintf(stderr,"%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d %f %f %f %f %f %f %f %f\n",
time_i[0],time_i[1],time_i[2],time_i[3],time_i[4],time_i[5],time_i[6],
*navlon,*navlat,*speed,*heading,*draft,*roll,*pitch,*heave);*/

	/* return status */
	return(status);
}
/*--------------------------------------------------------------------*/
int mbsys_reson7k_extract_nnav(int verbose, void *mbio_ptr, void *store_ptr,
			int nmax, int *kind, int *n,
			int *time_i, 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_reson7k_extract_nnav";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_reson7k_struct *store;
	s7kr_bathymetry *bathymetry;
	s7kr_bluefin *bluefin;
	s7kr_position *position;
	s7kr_depth *depth;
	s7kr_attitude *attitude;
	s7kr_reference *reference;
	s7kr_navigation *navigation;
	int	i, inav;

	/* 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       nmax:       %d\n",nmax);
		}

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

	/* get data structure pointer */
	store = (struct mbsys_reson7k_struct *) store_ptr;
	bathymetry = (s7kr_bathymetry *) &store->bathymetry;
	bluefin = (s7kr_bluefin *) &store->bluefin;
	position = (s7kr_position *) &store->position;
	depth = (s7kr_depth *) &store->depth;
	attitude = (s7kr_attitude *) &store->attitude;
	reference = (s7kr_reference *) &store->reference;
	navigation = &(store->navigation);

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

	/* extract data from ping structure */
	if (*kind == MB_DATA_DATA)
		{
		/* just one navigation value */
		*n = 1;

		/* get time */
		for (i=0;i<7;i++)
			time_i[i] = store->time_i[i];
		time_d[0] = store->time_d;

		/* get interpolated nav heading and speed  */
		speed[0] = 0.0;
		mb_hedint_interp(verbose, mbio_ptr, store->time_d,
				    &(heading[0]), error);
		mb_navint_interp(verbose, mbio_ptr, store->time_d, heading[0], speed[0],
				    &(navlon[0]), &(navlat[0]), &(speed[0]), error);

		/* get heading */
		if (bathymetry->optionaldata == MB_YES)
			heading[0] = RTD * bathymetry->heading;

		/* get navigation */
		if (bathymetry->optionaldata == MB_YES)
			{
			navlon[0] = RTD * bathymetry->longitude;
			navlat[0] = RTD * bathymetry->latitude;
			}

		/* get draft  */
		if (bathymetry->optionaldata == MB_YES)
			{
			draft[0] = -bathymetry->vehicle_height + reference->water_z;
			}
		else if (mb_io_ptr->nsonardepth > 0)
			{
			mb_depint_interp(verbose, mbio_ptr, store->time_d,
				    &(draft[0]), error);
			}
		else
			{
			draft[0] = reference->water_z;
			}

		/* get attitude  */
		if (bathymetry->optionaldata == MB_YES)
			{
			roll[0] = RTD * bathymetry->roll;
			pitch[0] = RTD * bathymetry->pitch;
			heave[0] = bathymetry->heave;
			}
		else
			{
			mb_attint_interp(verbose, mbio_ptr, store->time_d,
				   	&(heave[0]), &(roll[0]), &(pitch[0]), error);
			}

		/* done translating values */

		}

	/* extract data from nav structure */
	else if (*kind == MB_DATA_NAV1)
		{
		/* just one navigation value */
		*n = 1;

		/* get time */
		for (i=0;i<7;i++)
			time_i[i] = store->time_i[i];
		time_d[0] = store->time_d;

		/* get navigation and heading */
		speed[0] = 0.0;
		mb_hedint_interp(verbose, mbio_ptr, store->time_d,
				    &(heading[0]), error);
		mb_navint_interp(verbose, mbio_ptr, store->time_d, heading[0], speed[0],
				    &(navlon[0]), &(navlat[0]), &(speed[0]), error);
		navlon[0] = RTD * position->longitude;
		navlat[0] = RTD * position->latitude;

		/* get roll pitch and heave */
		mb_attint_interp(verbose, mbio_ptr, *time_d,
				    &(heave[0]), &(roll[0]), &(pitch[0]), error);

		/* get draft  */
		if (mb_io_ptr->nsonardepth > 0)
			{
			mb_depint_interp(verbose, mbio_ptr, store->time_d,
				    &draft[0], error);
			heave[0] = 0.0;
			}
		else if (bathymetry->optionaldata == MB_YES)
			{
			draft[0] = -bathymetry->vehicle_height + reference->water_z;
			heave[0] = 0.0;
			}
		else
			{
			draft[0] = reference->water_z;
			}

		/* done translating values */

		}

	/* extract data from structure */
	else if (*kind == MB_DATA_NAV2)
		{
		/* get number of available navigation values */
		if (bluefin->data_format ==  0 && bluefin->number_frames > 0)
			*n = bluefin->number_frames;
		else
			*n = 0;

		/* loop over navigation values */
		for (inav=0;inav<*n;inav++)
			{
			/* get time */
			time_d[inav] = bluefin->nav[inav].position_time;
			mb_get_date(verbose, time_d[inav], &(time_i[7 * inav]));

			/* get heading */
			heading[inav] = RTD * bluefin->nav[inav].yaw;

			/* get speed */
			speed[inav] = 0.0;
			mb_navint_interp(verbose, mbio_ptr, time_d[inav], heading[inav], speed[inav],
					    &(navlon[inav]), &(navlat[inav]), &(speed[inav]), error);

			/* get navigation */
			navlon[inav] = RTD * bluefin->nav[inav].longitude;
			navlat[inav] = RTD * bluefin->nav[inav].latitude;

			/* get roll pitch and heave */
			roll[inav] = RTD * bluefin->nav[inav].roll;
			pitch[inav] = RTD * bluefin->nav[inav].pitch;
			heave[inav] = 0.0;

			/* get draft  */
			draft[inav] = bluefin->nav[inav].depth;
			}

		/* done translating values */

		}

	/* extract data from structure */
	else if (*kind == MB_DATA_NAV3)
		{
		/* get number of available navigation values */
		*n = 1;

		/* get time */
		for (i=0;i<7;i++)
			time_i[i] = store->time_i[i];
		time_d[0] = store->time_d;

		/* get navigation */
		navlon[0] = RTD * navigation->longitude;
		navlat[0] = RTD * navigation->latitude;

		/* get speed  */
		speed[0] = 0.0;

		/* get heading */
		if (mb_io_ptr->nheading > 0)
			mb_hedint_interp(verbose, mbio_ptr, store->time_d,
				    heading, error);
		else if (bathymetry->optionaldata == MB_YES)
			heading[0] = RTD * bathymetry->heading;

		/* get draft  */
		if (mb_io_ptr->nsonardepth > 0)
			{
			mb_depint_interp(verbose, mbio_ptr, store->time_d,
				    &(draft[0]), error);
			}
		else if (bathymetry->optionaldata == MB_YES)
			{
			draft[0] = -bathymetry->vehicle_height + reference->water_z;
			}
		else
			{
			draft[0] = reference->water_z;
			}

		/* get attitude  */
		if (mb_io_ptr->nattitude > 0)
			{
			mb_attint_interp(verbose, mbio_ptr, store->time_d,
				   	&(heave[0]), &(roll[0]), &(pitch[0]), error);
			}
		else if (bathymetry->optionaldata == MB_YES)
			{
			roll[0] = RTD * bathymetry->roll;
			pitch[0] = RTD * bathymetry->pitch;
			heave[0] = bathymetry->heave;
			}
		else
			{
			roll[0] = 0.0;
			pitch[0] = 0.0;
			heave[0] = 0.0;
			}

		/* done translating values */

		}

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

		/* get time */
		for (i=0;i<7;i++)
			time_i[i] = store->time_i[i];
		*time_d = store->time_d;
		}

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

		/* get number of available navigation values */
		*n = 1;

		/* get time */
		for (i=0;i<7;i++)
			time_i[i] = store->time_i[i];
		*time_d = store->time_d;
		}

	/* 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       n:          %d\n",*n);
		for (inav=0;inav<*n;inav++)
			{
			for (i=0;i<7;i++)
				fprintf(stderr,"dbg2       %d time_i[%d]:     %d\n",inav,i,time_i[inav * 7 + i]);
			fprintf(stderr,"dbg2       %d time_d:        %f\n",inav,time_d[inav]);
			fprintf(stderr,"dbg2       %d longitude:     %f\n",inav,navlon[inav]);
			fprintf(stderr,"dbg2       %d latitude:      %f\n",inav,navlat[inav]);
			fprintf(stderr,"dbg2       %d speed:         %f\n",inav,speed[inav]);
			fprintf(stderr,"dbg2       %d heading:       %f\n",inav,heading[inav]);
			fprintf(stderr,"dbg2       %d draft:         %f\n",inav,draft[inav]);
			fprintf(stderr,"dbg2       %d roll:          %f\n",inav,roll[inav]);
			fprintf(stderr,"dbg2       %d pitch:         %f\n",inav,pitch[inav]);
			fprintf(stderr,"dbg2       %d heave:         %f\n",inav,heave[inav]);
			}
		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_reson7k_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_reson7k_insert_nav";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_reson7k_struct *store;
	s7kr_bathymetry *bathymetry;
	s7kr_position *position;
	s7kr_depth *depth;
	s7kr_attitude *attitude;
	s7kr_reference *reference;
	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       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_reson7k_struct *) store_ptr;
	bathymetry = (s7kr_bathymetry *) &store->bathymetry;
	position = (s7kr_position *) &store->position;
	depth = (s7kr_depth *) &store->depth;
	attitude = (s7kr_attitude *) &store->attitude;
	reference = (s7kr_reference *) &store->reference;

	/* insert data in ping structure */
	if (store->kind == MB_DATA_DATA)
		{
		/* get time */
		for (i=0;i<7;i++)
			store->time_i[i] = time_i[i];
		store->time_d = time_d;

		/* get navigation */
		bathymetry->longitude = DTR * navlon;
		bathymetry->latitude = DTR * navlat;

		/* get heading */
		bathymetry->heading = DTR * heading;

		/* get speed  */

		/* get draft  */
		bathymetry->vehicle_height = reference->water_z - draft;

		/* get roll pitch and heave */
		bathymetry->heave = heave;
		bathymetry->pitch = DTR * pitch;
		bathymetry->roll = DTR * roll;
		}

	/* insert data in nav structure */
	else if (store->kind == MB_DATA_NAV1)
		{
		/* get time */
		for (i=0;i<7;i++)
			store->time_i[i] = time_i[i];
		store->time_d = time_d;

		/* get navigation */
		position->longitude = DTR * navlon;
		position->latitude = DTR * navlat;

		/* get heading */

		/* get speed  */

		/* get draft  */

		/* get roll pitch and heave */
		}

	/* 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_reson7k_extract_svp(int verbose, void *mbio_ptr, void *store_ptr,
		int *kind, int *nsvp,
		double *depth, double *velocity,
		int *error)
{
	char	*function_name = "mbsys_reson7k_extract_svp";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_reson7k_struct *store;
	s7kr_svp *svp;
	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_reson7k_struct *) store_ptr;
	svp = (s7kr_svp *) &store->svp;

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

	/* extract data from structure */
	if (*kind == MB_DATA_VELOCITY_PROFILE)
		{
		/* get number of depth-velocity pairs */
		*nsvp = svp->n;

		/* get profile */
		for (i=0;i<*nsvp;i++)
			{
			depth[i] = svp->depth[i];
			velocity[i] =svp->sound_velocity[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_reson7k_insert_svp(int verbose, void *mbio_ptr, void *store_ptr,
		int nsvp,
		double *depth, double *velocity,
		int *error)
{
	char	*function_name = "mbsys_reson7k_insert_svp";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_reson7k_struct *store;
	s7kr_svp *svp;
	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_reson7k_struct *) store_ptr;
	svp = (s7kr_svp *) &store->svp;

	/* insert data in structure */
	if (store->kind == MB_DATA_VELOCITY_PROFILE)
		{
		/* allocate memory if necessary */
		if (svp->nalloc < nsvp)
			{
			status = mb_reallocd(verbose, __FILE__, __LINE__, nsvp * sizeof(float),
						(void **)&(svp->depth), error);
			status = mb_reallocd(verbose, __FILE__, __LINE__, nsvp * sizeof(float),
						(void **)&(svp->sound_velocity), error);
			if (status == MB_SUCCESS)
				{
				svp->nalloc = nsvp;
				}
			else
				{
				svp->n = 0;
				svp->nalloc = 0;
				}
			}

		/* get profile */
		if (status == MB_SUCCESS)
			{
			svp->n = nsvp;
			for (i=0;i<svp->n;i++)
				{
				svp->depth[i] = depth[i];
				svp->sound_velocity[i] = 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_reson7k_extract_segytraceheader(int verbose, void *mbio_ptr, void *store_ptr,
		int *kind, void *segytraceheader_ptr, int *error)
{
	char	*function_name = "mbsys_reson7k_extract_segytraceheader";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_reson7k_struct *store;
	struct mb_segytraceheader_struct *mb_segytraceheader_ptr;
	s7k_header *header;
	s7kr_bathymetry *bathymetry;
	s7kr_bluefin *bluefin;
	s7kr_fsdwsb *fsdwsb;
	s7k_fsdwchannel *fsdwchannel;
	s7k_fsdwsegyheader *fsdwsegyheader;
	s7kr_ctd *ctd;
	double	dsonardepth, dsonaraltitude, dwaterdepth;
	int	sonardepth, waterdepth;
	int	watersoundspeed;
	float	fwatertime;
	double	longitude, latitude;
	double	speed, heading;
	double	roll, pitch, heave;
	double	xtrackmin;
	int	time_j[5];
	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       kind:           %d\n",*kind);
		fprintf(stderr,"dbg2       segytraceheader_ptr: %lu\n",(size_t)segytraceheader_ptr);
		}

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

	/* get data structure pointer */
	store = (struct mbsys_reson7k_struct *) store_ptr;

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

	/* extract data from structure */
	if (*kind == MB_DATA_SUBBOTTOM_SUBBOTTOM)
		{
		/* get relevant structures */
		mb_segytraceheader_ptr = (struct mb_segytraceheader_struct *) segytraceheader_ptr;
		bathymetry = &(store->bathymetry);
		bluefin = &(store->bluefin);
		ctd = &(store->ctd);
		fsdwsb = &(store->fsdwsb);
		header = &(fsdwsb->header);
		fsdwchannel = &(fsdwsb->channel);
		fsdwsegyheader = &(fsdwsb->segyheader);

		/* get needed values */
		mb_depint_interp(verbose, mbio_ptr, store->time_d,
				    &dsonardepth, error);
		mb_altint_interp(verbose, mbio_ptr, store->time_d,
				    &dsonaraltitude, error);
		dwaterdepth = dsonardepth + dsonaraltitude;

		/* if possible get altitude from nadir of multibeam bathymetry */
		if (bathymetry->optionaldata == MB_YES)
			{
			/* get depth closest to nadir */
			xtrackmin = 999999.9;
			for (i=0;i<bathymetry->number_beams;i++)
				{
				if (((bathymetry->quality[i] & 15) == 15)
					&& fabs((double)bathymetry->acrosstrack[i]) < xtrackmin)
					{
					dwaterdepth = bathymetry->depth[i];
					dsonaraltitude = bathymetry->depth[i] - dsonardepth;
					xtrackmin = fabs((double)bathymetry->acrosstrack[i]);
					}
				}
			}

		/* get needed values */
		sonardepth = (int) (100 * dsonardepth);
		waterdepth = (int) (100 * dwaterdepth);
		if (ctd->n > 0)
			watersoundspeed = (int) (ctd->sound_velocity[ctd->n-1]);
		else if (bluefin->environmental[0].sound_speed > 0.0)
			watersoundspeed = (int) (bluefin->environmental[0].sound_speed);
		else
			watersoundspeed = 1500;
		fwatertime = 2.0 * dwaterdepth / ((double) watersoundspeed);

		mb_hedint_interp(verbose, mbio_ptr, store->time_d,
				    &heading, error);
		mb_navint_interp(verbose, mbio_ptr, store->time_d, heading, speed,
				    &longitude, &latitude, &speed, error);
		mb_attint_interp(verbose, mbio_ptr, store->time_d,
				    &heave, &roll, &pitch, error);
		if (longitude == 0.0 && latitude == 0.0
			&& bathymetry->longitude != 0.0 && bathymetry->latitude != 0.0)
			{
			longitude = RTD * bathymetry->longitude;
			latitude = RTD * bathymetry->latitude;
			}
		mb_get_jtime(verbose, store->time_i, time_j);

		/* extract the data */
		mb_segytraceheader_ptr->seq_num 	= fsdwsb->ping_number;
		mb_segytraceheader_ptr->seq_reel 	= fsdwsb->ping_number;
		mb_segytraceheader_ptr->shot_num 	= fsdwsb->ping_number;
		mb_segytraceheader_ptr->shot_tr	= 1;
		mb_segytraceheader_ptr->espn		= 0;
		mb_segytraceheader_ptr->rp_num	= fsdwsb->ping_number;
		mb_segytraceheader_ptr->rp_tr	= 1;
		mb_segytraceheader_ptr->trc_id	= 1;
		mb_segytraceheader_ptr->num_vstk	= 0;
		mb_segytraceheader_ptr->cdp_fold	= 0;
		mb_segytraceheader_ptr->use		= fsdwsb->data_format;
		mb_segytraceheader_ptr->range	= 0;
		mb_segytraceheader_ptr->grp_elev	= -sonardepth;
		mb_segytraceheader_ptr->src_elev	= -sonardepth;
		mb_segytraceheader_ptr->src_depth	= sonardepth;
		mb_segytraceheader_ptr->grp_datum	= 0;
		mb_segytraceheader_ptr->src_datum	= 0;
		mb_segytraceheader_ptr->src_wbd	= waterdepth;
		mb_segytraceheader_ptr->grp_wbd	= waterdepth;
		mb_segytraceheader_ptr->elev_scalar	= -100; 	/* 0.01 m precision for depths */
		mb_segytraceheader_ptr->coord_scalar	= -100;		/* 0.01 arc second precision for position
									= 0.3 m precision at equator */
		mb_segytraceheader_ptr->src_long	= (int)(longitude * 360000.0);
		mb_segytraceheader_ptr->src_lat	= (int)(latitude * 360000.0);
		mb_segytraceheader_ptr->grp_long	= (int)(longitude * 360000.0);
		mb_segytraceheader_ptr->grp_lat	= (int)(latitude * 360000.0);
		mb_segytraceheader_ptr->coord_units	= 2;
		mb_segytraceheader_ptr->wvel		= watersoundspeed;
		mb_segytraceheader_ptr->sbvel	= 0;
		mb_segytraceheader_ptr->src_up_vel	= 0;
		mb_segytraceheader_ptr->grp_up_vel	= 0;
		mb_segytraceheader_ptr->src_static	= 0;
		mb_segytraceheader_ptr->grp_static	= 0;
		mb_segytraceheader_ptr->tot_static	= 0;
		mb_segytraceheader_ptr->laga		= 0;
		mb_segytraceheader_ptr->delay_mils	= 0;
		mb_segytraceheader_ptr->smute_mils	= 0;
		mb_segytraceheader_ptr->emute_mils	= 0;
		mb_segytraceheader_ptr->nsamps	= fsdwchannel->number_samples;
		mb_segytraceheader_ptr->si_micros	= fsdwchannel->sample_interval;
		for (i=0;i<19;i++)
			mb_segytraceheader_ptr->other_1[i]	= 0;
		mb_segytraceheader_ptr->year		= store->time_i[0];
		mb_segytraceheader_ptr->day_of_yr	= time_j[1];
		mb_segytraceheader_ptr->hour		= store->time_i[3];
		mb_segytraceheader_ptr->min		= store->time_i[4];
		mb_segytraceheader_ptr->sec		= store->time_i[5];
		mb_segytraceheader_ptr->mils		= store->time_i[6] / 1000;
		mb_segytraceheader_ptr->tr_weight	= 1;
		for (i=0;i<5;i++)
			mb_segytraceheader_ptr->other_2[i]	= 0;
		mb_segytraceheader_ptr->delay	= 0.0;
		mb_segytraceheader_ptr->smute_sec	= 0.0;
		mb_segytraceheader_ptr->emute_sec	= 0.0;
		mb_segytraceheader_ptr->si_secs		= 0.000001 * ((float)fsdwchannel->sample_interval);
		mb_segytraceheader_ptr->wbt_secs	= fwatertime;
		mb_segytraceheader_ptr->end_of_rp	= 0;
		mb_segytraceheader_ptr->dummy1		= 0.0;
		mb_segytraceheader_ptr->dummy2		= 0.0;
		mb_segytraceheader_ptr->dummy3		= 0.0;
		mb_segytraceheader_ptr->dummy4		= 0.0;
		mb_segytraceheader_ptr->soundspeed 	= watersoundspeed;
		mb_segytraceheader_ptr->distance 	= 0.0;
		mb_segytraceheader_ptr->roll 		= (float) roll;
		mb_segytraceheader_ptr->pitch 		= (float) pitch;
		mb_segytraceheader_ptr->heading		= (float) heading;

		/* 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       seq_num:           %d\n",mb_segytraceheader_ptr->seq_num);
		fprintf(stderr,"dbg2       seq_reel:          %d\n",mb_segytraceheader_ptr->seq_reel);
		fprintf(stderr,"dbg2       shot_num:          %d\n",mb_segytraceheader_ptr->shot_num);
		fprintf(stderr,"dbg2       shot_tr:           %d\n",mb_segytraceheader_ptr->shot_tr);
		fprintf(stderr,"dbg2       espn:              %d\n",mb_segytraceheader_ptr->espn);
		fprintf(stderr,"dbg2       rp_num:            %d\n",mb_segytraceheader_ptr->rp_num);
		fprintf(stderr,"dbg2       rp_tr:             %d\n",mb_segytraceheader_ptr->rp_tr);
		fprintf(stderr,"dbg2       trc_id:            %d\n",mb_segytraceheader_ptr->trc_id);
		fprintf(stderr,"dbg2       num_vstk:          %d\n",mb_segytraceheader_ptr->num_vstk);
		fprintf(stderr,"dbg2       cdp_fold:          %d\n",mb_segytraceheader_ptr->cdp_fold);
		fprintf(stderr,"dbg2       use:               %d\n",mb_segytraceheader_ptr->use);
		fprintf(stderr,"dbg2       range:             %d\n",mb_segytraceheader_ptr->range);
		fprintf(stderr,"dbg2       grp_elev:          %d\n",mb_segytraceheader_ptr->grp_elev);
		fprintf(stderr,"dbg2       src_elev:          %d\n",mb_segytraceheader_ptr->src_elev);
		fprintf(stderr,"dbg2       src_depth:         %d\n",mb_segytraceheader_ptr->src_depth);
		fprintf(stderr,"dbg2       grp_datum:         %d\n",mb_segytraceheader_ptr->grp_datum);
		fprintf(stderr,"dbg2       src_datum:         %d\n",mb_segytraceheader_ptr->src_datum);
		fprintf(stderr,"dbg2       src_wbd:           %d\n",mb_segytraceheader_ptr->src_wbd);
		fprintf(stderr,"dbg2       grp_wbd:           %d\n",mb_segytraceheader_ptr->grp_wbd);
		fprintf(stderr,"dbg2       elev_scalar:       %d\n",mb_segytraceheader_ptr->elev_scalar);
		fprintf(stderr,"dbg2       coord_scalar:      %d\n",mb_segytraceheader_ptr->coord_scalar);
		fprintf(stderr,"dbg2       src_long:          %d\n",mb_segytraceheader_ptr->src_long);
		fprintf(stderr,"dbg2       src_lat:           %d\n",mb_segytraceheader_ptr->src_lat);
		fprintf(stderr,"dbg2       grp_long:          %d\n",mb_segytraceheader_ptr->grp_long);
		fprintf(stderr,"dbg2       grp_lat:           %d\n",mb_segytraceheader_ptr->grp_lat);
		fprintf(stderr,"dbg2       coord_units:       %d\n",mb_segytraceheader_ptr->coord_units);
		fprintf(stderr,"dbg2       wvel:              %d\n",mb_segytraceheader_ptr->wvel);
		fprintf(stderr,"dbg2       sbvel:             %d\n",mb_segytraceheader_ptr->sbvel);
		fprintf(stderr,"dbg2       src_up_vel:        %d\n",mb_segytraceheader_ptr->src_up_vel);
		fprintf(stderr,"dbg2       grp_up_vel:        %d\n",mb_segytraceheader_ptr->grp_up_vel);
		fprintf(stderr,"dbg2       src_static:        %d\n",mb_segytraceheader_ptr->src_static);
		fprintf(stderr,"dbg2       grp_static:        %d\n",mb_segytraceheader_ptr->grp_static);
		fprintf(stderr,"dbg2       tot_static:        %d\n",mb_segytraceheader_ptr->tot_static);
		fprintf(stderr,"dbg2       laga:              %d\n",mb_segytraceheader_ptr->laga);
		fprintf(stderr,"dbg2       delay_mils:        %d\n",mb_segytraceheader_ptr->delay_mils);
		fprintf(stderr,"dbg2       smute_mils:        %d\n",mb_segytraceheader_ptr->smute_mils);
		fprintf(stderr,"dbg2       emute_mils:        %d\n",mb_segytraceheader_ptr->emute_mils);
		fprintf(stderr,"dbg2       nsamps:            %d\n",mb_segytraceheader_ptr->nsamps);
		fprintf(stderr,"dbg2       si_micros:         %d\n",mb_segytraceheader_ptr->si_micros);
		for (i=0;i<19;i++)
		fprintf(stderr,"dbg2       other_1[%2d]:       %d\n",i,mb_segytraceheader_ptr->other_1[i]);
		fprintf(stderr,"dbg2       year:              %d\n",mb_segytraceheader_ptr->year);
		fprintf(stderr,"dbg2       day_of_yr:         %d\n",mb_segytraceheader_ptr->day_of_yr);
		fprintf(stderr,"dbg2       hour:              %d\n",mb_segytraceheader_ptr->hour);
		fprintf(stderr,"dbg2       min:               %d\n",mb_segytraceheader_ptr->min);
		fprintf(stderr,"dbg2       sec:               %d\n",mb_segytraceheader_ptr->sec);
		fprintf(stderr,"dbg2       mils:              %d\n",mb_segytraceheader_ptr->mils);
		fprintf(stderr,"dbg2       tr_weight:         %d\n",mb_segytraceheader_ptr->tr_weight);
		for (i=0;i<5;i++)
		fprintf(stderr,"dbg2       other_2[%2d]:       %d\n",i,mb_segytraceheader_ptr->other_2[i]);
		fprintf(stderr,"dbg2       delay:             %f\n",mb_segytraceheader_ptr->delay);
		fprintf(stderr,"dbg2       smute_sec:         %f\n",mb_segytraceheader_ptr->smute_sec);
		fprintf(stderr,"dbg2       emute_sec:         %f\n",mb_segytraceheader_ptr->emute_sec);
		fprintf(stderr,"dbg2       si_secs:           %f\n",mb_segytraceheader_ptr->si_secs);
		fprintf(stderr,"dbg2       wbt_secs:          %f\n",mb_segytraceheader_ptr->wbt_secs);
		fprintf(stderr,"dbg2       end_of_rp:         %d\n",mb_segytraceheader_ptr->end_of_rp);
		fprintf(stderr,"dbg2       dummy1:            %f\n",mb_segytraceheader_ptr->dummy1);
		fprintf(stderr,"dbg2       dummy2:            %f\n",mb_segytraceheader_ptr->dummy2);
		fprintf(stderr,"dbg2       dummy3:            %f\n",mb_segytraceheader_ptr->dummy3);
		fprintf(stderr,"dbg2       dummy4:            %f\n",mb_segytraceheader_ptr->dummy4);
		fprintf(stderr,"dbg2       soundspeed:        %f\n",mb_segytraceheader_ptr->soundspeed);
		fprintf(stderr,"dbg2       distance:          %f\n",mb_segytraceheader_ptr->distance);
		fprintf(stderr,"dbg2       roll:              %f\n",mb_segytraceheader_ptr->roll);
		fprintf(stderr,"dbg2       pitch:             %f\n",mb_segytraceheader_ptr->pitch);
		fprintf(stderr,"dbg2       heading:           %f\n",mb_segytraceheader_ptr->heading);
		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_reson7k_extract_segy(int verbose, void *mbio_ptr, void *store_ptr,
		int *sampleformat, int *kind, void *segyheader_ptr, float *segydata, int *error)
{
	char	*function_name = "mbsys_reson7k_extract_segy";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_reson7k_struct *store;
	struct mb_segytraceheader_struct *mb_segytraceheader_ptr;
	s7k_header *header;
	s7kr_fsdwsb *fsdwsb;
	s7k_fsdwchannel *fsdwchannel;
	s7k_fsdwsegyheader *fsdwsegyheader;
	short	*shortptr;
	unsigned short	*ushortptr;
	double	weight;
	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       sampleformat:      %d\n",*sampleformat);
		fprintf(stderr,"dbg2       kind:              %d\n",*kind);
		fprintf(stderr,"dbg2       segyheader_ptr:    %lu\n",(size_t)segyheader_ptr);
		fprintf(stderr,"dbg2       segydata:          %lu\n",(size_t)segydata);
		}

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

	/* get data structure pointer */
	store = (struct mbsys_reson7k_struct *) store_ptr;

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

	/* extract data from structure */
	if (*kind == MB_DATA_SUBBOTTOM_SUBBOTTOM)
		{
		/* extract segy header */
		status = mbsys_reson7k_extract_segytraceheader(verbose, mbio_ptr, store_ptr,
								kind, segyheader_ptr, error);

		/* get relevant structures */
		mb_segytraceheader_ptr = (struct mb_segytraceheader_struct *) segyheader_ptr;
		fsdwsb = &(store->fsdwsb);
		header = &(fsdwsb->header);
		fsdwchannel = &(fsdwsb->channel);
		fsdwsegyheader = &(fsdwsb->segyheader);
		shortptr = (short *) fsdwchannel->data;
		ushortptr = (unsigned short *) fsdwchannel->data;

		/* get the trace weight */
		weight = exp(MB_LN_2 * ((double)fsdwsegyheader->weightingFactor));
/*fprintf(stderr, "Subbottom: Weight: %d %f\n",fsdwsegyheader->weightingFactor,weight);*/

		/* extract the data */
		if (fsdwsb->data_format == EDGETECH_TRACEFORMAT_ENVELOPE)
			{
			*sampleformat = MB_SEGY_SAMPLEFORMAT_ENVELOPE;
			for (i=0;i<fsdwchannel->number_samples;i++)
				{
				segydata[i] = (float) (((double)ushortptr[i]) / weight);
				}
			}
		else if (fsdwsb->data_format == EDGETECH_TRACEFORMAT_ANALYTIC)
			{
			/* if no format specified do envelope by default */
			if (*sampleformat == MB_SEGY_SAMPLEFORMAT_NONE)
				*sampleformat = MB_SEGY_SAMPLEFORMAT_ENVELOPE;

			/* convert analytic data to desired envelope */
			if (*sampleformat == MB_SEGY_SAMPLEFORMAT_ENVELOPE)
				{
				for (i=0;i<fsdwchannel->number_samples;i++)
					{
					segydata[i] = (float) (sqrt((double) (shortptr[2*i] * shortptr[2*i]
								+ shortptr[2*i+1] * shortptr[2*i+1]))
								/ weight);
					}
				}

			/* else extract desired analytic data */
			else if (*sampleformat == MB_SEGY_SAMPLEFORMAT_ANALYTIC)
				{
				for (i=0;i<fsdwchannel->number_samples;i++)
					{
					segydata[2*i]   = (float) (((double)shortptr[2*i]) / weight);
					segydata[2*i+1] = (float) (((double)shortptr[2*i+1]) / weight);
					}
				}

			/* else extract desired real trace from analytic data */
			else if (*sampleformat == MB_SEGY_SAMPLEFORMAT_TRACE)
				{
				for (i=0;i<fsdwchannel->number_samples;i++)
					{
					segydata[i] = (float) (((double)shortptr[2*i]) / weight);
					}
				}
			}
		else if (fsdwsb->data_format == EDGETECH_TRACEFORMAT_RAW)
			{
			*sampleformat = MB_SEGY_SAMPLEFORMAT_TRACE;
			for (i=0;i<fsdwchannel->number_samples;i++)
				{
				segydata[i] = (float) (((double)ushortptr[i]) / weight);
				}
			}
		else if (fsdwsb->data_format == EDGETECH_TRACEFORMAT_REALANALYTIC)
			{
			*sampleformat = MB_SEGY_SAMPLEFORMAT_TRACE;
			for (i=0;i<fsdwchannel->number_samples;i++)
				{
				segydata[i] = (float) (((double)ushortptr[i]) / weight);
				}
			}
		else if (fsdwsb->data_format == EDGETECH_TRACEFORMAT_PIXEL)
			{
			*sampleformat = MB_SEGY_SAMPLEFORMAT_TRACE;
			for (i=0;i<fsdwchannel->number_samples;i++)
				{
				segydata[i] = (float) (((double)ushortptr[i]) / weight);
				}
			}

		/* 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       sampleformat:      %d\n",*sampleformat);
		fprintf(stderr,"dbg2       kind:              %d\n",*kind);
		fprintf(stderr,"dbg2       seq_num:           %d\n",mb_segytraceheader_ptr->seq_num);
		fprintf(stderr,"dbg2       seq_reel:          %d\n",mb_segytraceheader_ptr->seq_reel);
		fprintf(stderr,"dbg2       shot_num:          %d\n",mb_segytraceheader_ptr->shot_num);
		fprintf(stderr,"dbg2       shot_tr:           %d\n",mb_segytraceheader_ptr->shot_tr);
		fprintf(stderr,"dbg2       espn:              %d\n",mb_segytraceheader_ptr->espn);
		fprintf(stderr,"dbg2       rp_num:            %d\n",mb_segytraceheader_ptr->rp_num);
		fprintf(stderr,"dbg2       rp_tr:             %d\n",mb_segytraceheader_ptr->rp_tr);
		fprintf(stderr,"dbg2       trc_id:            %d\n",mb_segytraceheader_ptr->trc_id);
		fprintf(stderr,"dbg2       num_vstk:          %d\n",mb_segytraceheader_ptr->num_vstk);
		fprintf(stderr,"dbg2       cdp_fold:          %d\n",mb_segytraceheader_ptr->cdp_fold);
		fprintf(stderr,"dbg2       use:               %d\n",mb_segytraceheader_ptr->use);
		fprintf(stderr,"dbg2       range:             %d\n",mb_segytraceheader_ptr->range);
		fprintf(stderr,"dbg2       grp_elev:          %d\n",mb_segytraceheader_ptr->grp_elev);
		fprintf(stderr,"dbg2       src_elev:          %d\n",mb_segytraceheader_ptr->src_elev);
		fprintf(stderr,"dbg2       src_depth:         %d\n",mb_segytraceheader_ptr->src_depth);
		fprintf(stderr,"dbg2       grp_datum:         %d\n",mb_segytraceheader_ptr->grp_datum);
		fprintf(stderr,"dbg2       src_datum:         %d\n",mb_segytraceheader_ptr->src_datum);
		fprintf(stderr,"dbg2       src_wbd:           %d\n",mb_segytraceheader_ptr->src_wbd);
		fprintf(stderr,"dbg2       grp_wbd:           %d\n",mb_segytraceheader_ptr->grp_wbd);
		fprintf(stderr,"dbg2       elev_scalar:       %d\n",mb_segytraceheader_ptr->elev_scalar);
		fprintf(stderr,"dbg2       coord_scalar:      %d\n",mb_segytraceheader_ptr->coord_scalar);
		fprintf(stderr,"dbg2       src_long:          %d\n",mb_segytraceheader_ptr->src_long);
		fprintf(stderr,"dbg2       src_lat:           %d\n",mb_segytraceheader_ptr->src_lat);
		fprintf(stderr,"dbg2       grp_long:          %d\n",mb_segytraceheader_ptr->grp_long);
		fprintf(stderr,"dbg2       grp_lat:           %d\n",mb_segytraceheader_ptr->grp_lat);
		fprintf(stderr,"dbg2       coord_units:       %d\n",mb_segytraceheader_ptr->coord_units);
		fprintf(stderr,"dbg2       wvel:              %d\n",mb_segytraceheader_ptr->wvel);
		fprintf(stderr,"dbg2       sbvel:             %d\n",mb_segytraceheader_ptr->sbvel);
		fprintf(stderr,"dbg2       src_up_vel:        %d\n",mb_segytraceheader_ptr->src_up_vel);
		fprintf(stderr,"dbg2       grp_up_vel:        %d\n",mb_segytraceheader_ptr->grp_up_vel);
		fprintf(stderr,"dbg2       src_static:        %d\n",mb_segytraceheader_ptr->src_static);
		fprintf(stderr,"dbg2       grp_static:        %d\n",mb_segytraceheader_ptr->grp_static);
		fprintf(stderr,"dbg2       tot_static:        %d\n",mb_segytraceheader_ptr->tot_static);
		fprintf(stderr,"dbg2       laga:              %d\n",mb_segytraceheader_ptr->laga);
		fprintf(stderr,"dbg2       delay_mils:        %d\n",mb_segytraceheader_ptr->delay_mils);
		fprintf(stderr,"dbg2       smute_mils:        %d\n",mb_segytraceheader_ptr->smute_mils);
		fprintf(stderr,"dbg2       emute_mils:        %d\n",mb_segytraceheader_ptr->emute_mils);
		fprintf(stderr,"dbg2       nsamps:            %d\n",mb_segytraceheader_ptr->nsamps);
		fprintf(stderr,"dbg2       si_micros:         %d\n",mb_segytraceheader_ptr->si_micros);
		for (i=0;i<19;i++)
		fprintf(stderr,"dbg2       other_1[%2d]:       %d\n",i,mb_segytraceheader_ptr->other_1[i]);
		fprintf(stderr,"dbg2       year:              %d\n",mb_segytraceheader_ptr->year);
		fprintf(stderr,"dbg2       day_of_yr:         %d\n",mb_segytraceheader_ptr->day_of_yr);
		fprintf(stderr,"dbg2       hour:              %d\n",mb_segytraceheader_ptr->hour);
		fprintf(stderr,"dbg2       min:               %d\n",mb_segytraceheader_ptr->min);
		fprintf(stderr,"dbg2       sec:               %d\n",mb_segytraceheader_ptr->sec);
		fprintf(stderr,"dbg2       mils:              %d\n",mb_segytraceheader_ptr->mils);
		fprintf(stderr,"dbg2       tr_weight:         %d\n",mb_segytraceheader_ptr->tr_weight);
		for (i=0;i<5;i++)
		fprintf(stderr,"dbg2       other_2[%2d]:       %d\n",i,mb_segytraceheader_ptr->other_2[i]);
		fprintf(stderr,"dbg2       delay:             %f\n",mb_segytraceheader_ptr->delay);
		fprintf(stderr,"dbg2       smute_sec:         %f\n",mb_segytraceheader_ptr->smute_sec);
		fprintf(stderr,"dbg2       emute_sec:         %f\n",mb_segytraceheader_ptr->emute_sec);
		fprintf(stderr,"dbg2       si_secs:           %f\n",mb_segytraceheader_ptr->si_secs);
		fprintf(stderr,"dbg2       wbt_secs:          %f\n",mb_segytraceheader_ptr->wbt_secs);
		fprintf(stderr,"dbg2       end_of_rp:         %d\n",mb_segytraceheader_ptr->end_of_rp);
		fprintf(stderr,"dbg2       dummy1:            %f\n",mb_segytraceheader_ptr->dummy1);
		fprintf(stderr,"dbg2       dummy2:            %f\n",mb_segytraceheader_ptr->dummy2);
		fprintf(stderr,"dbg2       dummy3:            %f\n",mb_segytraceheader_ptr->dummy3);
		fprintf(stderr,"dbg2       dummy4:            %f\n",mb_segytraceheader_ptr->dummy4);
		fprintf(stderr,"dbg2       soundspeed:        %f\n",mb_segytraceheader_ptr->soundspeed);
		fprintf(stderr,"dbg2       distance:          %f\n",mb_segytraceheader_ptr->distance);
		fprintf(stderr,"dbg2       roll:              %f\n",mb_segytraceheader_ptr->roll);
		fprintf(stderr,"dbg2       pitch:             %f\n",mb_segytraceheader_ptr->pitch);
		fprintf(stderr,"dbg2       heading:           %f\n",mb_segytraceheader_ptr->heading);
		for (i=0;i<mb_segytraceheader_ptr->nsamps;i++)
			fprintf(stderr,"dbg2       segydata[%d]:      %f\n",i,segydata[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_reson7k_insert_segy(int verbose, void *mbio_ptr, void *store_ptr,
		int kind, void *segyheader_ptr, float *segydata, int *error)
{
	char	*function_name = "mbsys_reson7k_insert_segy";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_reson7k_struct *store;
	struct mb_segytraceheader_struct *mb_segytraceheader_ptr;
	s7k_header *header;
	s7kr_bathymetry *bathymetry;
	s7kr_fsdwsb *fsdwsb;
	s7k_fsdwchannel *fsdwchannel;
	s7k_fsdwsegyheader *fsdwsegyheader;
	s7kr_ctd *ctd;
	double	dsonardepth, dsonaraltitude, dwaterdepth;
	int	sonardepth, waterdepth;
	int	watersoundspeed;
	float	fwatertime;
	int	time_j[5];
	float	factor;
	float	datamax;
	double	weight;
	int	data_size;
	short	*shortptr;
	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       kind:           %d\n",kind);
		fprintf(stderr,"dbg2       segyheader_ptr: %lu\n",(size_t)segyheader_ptr);
		}

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

	/* get data structure pointer */
	store = (struct mbsys_reson7k_struct *) store_ptr;

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

	/* insert data to structure */
	if (store->kind == MB_DATA_SUBBOTTOM_SUBBOTTOM)
		{
		/* get relevant structures */
		mb_segytraceheader_ptr = (struct mb_segytraceheader_struct *) segyheader_ptr;
		bathymetry = &(store->bathymetry);
		ctd = &(store->ctd);
		fsdwsb = &(store->fsdwsb);
		header = &(fsdwsb->header);
		fsdwchannel = &(fsdwsb->channel);
		fsdwsegyheader = &(fsdwsb->segyheader);

		/* get needed values */
		mb_depint_interp(verbose, mbio_ptr, store->time_d,
				    &dsonardepth, error);
		mb_altint_interp(verbose, mbio_ptr, store->time_d,
				    &dsonaraltitude, error);
		dwaterdepth = dsonardepth + dsonaraltitude;
		sonardepth = (int) (100 * dsonardepth);
		waterdepth = (int) (100 * dwaterdepth);
		if (ctd->n > 0)
			watersoundspeed = (int) (ctd->sound_velocity[ctd->n-1]);
		else
			watersoundspeed = 1500;
		fwatertime = 2.0 * 0.01 * ((double) waterdepth) / ((double) watersoundspeed);
		mb_get_jtime(verbose, store->time_i, time_j);

		/* extract the data */
		if (mb_segytraceheader_ptr->shot_num != 0)
			fsdwsb->ping_number = mb_segytraceheader_ptr->shot_num;
		else if (mb_segytraceheader_ptr->seq_reel != 0)
			fsdwsb->ping_number = mb_segytraceheader_ptr->seq_reel;
		else if (mb_segytraceheader_ptr->seq_num != 0)
			fsdwsb->ping_number = mb_segytraceheader_ptr->seq_num;
		else if (mb_segytraceheader_ptr->rp_num != 0)
			fsdwsb->ping_number = mb_segytraceheader_ptr->rp_num;
		else
			fsdwsb->ping_number = 0;
		fsdwsb->data_format = mb_segytraceheader_ptr->use;
		if (mb_segytraceheader_ptr->grp_elev != 0)
			sonardepth = -mb_segytraceheader_ptr->grp_elev;
		else if (mb_segytraceheader_ptr->src_elev != 0)
			sonardepth = -mb_segytraceheader_ptr->src_elev;
		else if (mb_segytraceheader_ptr->src_depth != 0)
			sonardepth = mb_segytraceheader_ptr->src_depth;
		else
			sonardepth = 0;
		if (mb_segytraceheader_ptr->elev_scalar < 0)
			factor = 1.0 / ((float) (-mb_segytraceheader_ptr->elev_scalar));
		else
			factor = (float) mb_segytraceheader_ptr->elev_scalar;
		if (mb_segytraceheader_ptr->src_wbd != 0)
			waterdepth = -mb_segytraceheader_ptr->grp_elev;
		else if (mb_segytraceheader_ptr->grp_wbd != 0)
			waterdepth = -mb_segytraceheader_ptr->src_elev;
		else
			waterdepth = 0;
		if (mb_segytraceheader_ptr->coord_scalar < 0)
			factor = 1.0 / ((float) (-mb_segytraceheader_ptr->coord_scalar)) / 3600.0;
		else
			factor = (float) mb_segytraceheader_ptr->coord_scalar / 3600.0;
		fsdwchannel->number_samples = mb_segytraceheader_ptr->nsamps;
		fsdwchannel->sample_interval = mb_segytraceheader_ptr->si_micros;
		time_j[0] = mb_segytraceheader_ptr->year;
		time_j[1] = mb_segytraceheader_ptr->day_of_yr;
		time_j[2] = 60 * mb_segytraceheader_ptr->hour + mb_segytraceheader_ptr->min;
		time_j[3] = mb_segytraceheader_ptr->sec;
		time_j[4] = 1000 * mb_segytraceheader_ptr->mils;
		mb_get_itime(verbose,time_j,store->time_i);
		mb_get_time(verbose,store->time_i,&(store->time_d));
		header->s7kTime.Year = time_j[0];
		header->s7kTime.Day = time_j[1];
		header->s7kTime.Seconds = 0.000001 * store->time_i[6] + store->time_i[5];
		header->s7kTime.Hours = store->time_i[3];
		header->s7kTime.Minutes = store->time_i[4];

		/* get max data value */
		datamax = 0.0;
		for (i=0;i<mb_segytraceheader_ptr->nsamps;i++)
			{
			if (fabs(segydata[i]) > datamax)
				datamax = fabs(segydata[i]);
			}
		if (datamax > 0.0)
			{
			fsdwsegyheader->weightingFactor = (short) (log(datamax) / MB_LN_2) - 15;
			}
		else
			fsdwsegyheader->weightingFactor = 0;
		weight = pow(2.0, (double)fsdwsegyheader->weightingFactor);
		fsdwchannel->bytespersample = 2;

		/* make sure enough memory is allocated for channel data */
		data_size = fsdwchannel->bytespersample * fsdwchannel->number_samples;
		if (fsdwchannel->data_alloc < data_size)
			{
			status = mb_reallocd(verbose, __FILE__, __LINE__, data_size, (void **)&(fsdwchannel->data), error);
			if (status == MB_SUCCESS)
				{
				fsdwchannel->data_alloc = data_size;
				}
			else
				{
				fsdwchannel->data_alloc = 0;
				fsdwchannel->number_samples = 0;
				}
			}

		/* copy over the data */
		if (fsdwchannel->data_alloc >= data_size)
			{
			shortptr = (short *) fsdwchannel->data;
			for (i=0;i<fsdwchannel->number_samples;i++)
				{
				shortptr[i] = (short) (segydata[i] * weight);
				}
			}

		/* 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       seq_num:           %d\n",mb_segytraceheader_ptr->seq_num);
		fprintf(stderr,"dbg2       seq_reel:          %d\n",mb_segytraceheader_ptr->seq_reel);
		fprintf(stderr,"dbg2       shot_num:          %d\n",mb_segytraceheader_ptr->shot_num);
		fprintf(stderr,"dbg2       shot_tr:           %d\n",mb_segytraceheader_ptr->shot_tr);
		fprintf(stderr,"dbg2       espn:              %d\n",mb_segytraceheader_ptr->espn);
		fprintf(stderr,"dbg2       rp_num:            %d\n",mb_segytraceheader_ptr->rp_num);
		fprintf(stderr,"dbg2       rp_tr:             %d\n",mb_segytraceheader_ptr->rp_tr);
		fprintf(stderr,"dbg2       trc_id:            %d\n",mb_segytraceheader_ptr->trc_id);
		fprintf(stderr,"dbg2       num_vstk:          %d\n",mb_segytraceheader_ptr->num_vstk);
		fprintf(stderr,"dbg2       cdp_fold:          %d\n",mb_segytraceheader_ptr->cdp_fold);
		fprintf(stderr,"dbg2       use:               %d\n",mb_segytraceheader_ptr->use);
		fprintf(stderr,"dbg2       range:             %d\n",mb_segytraceheader_ptr->range);
		fprintf(stderr,"dbg2       grp_elev:          %d\n",mb_segytraceheader_ptr->grp_elev);
		fprintf(stderr,"dbg2       src_elev:          %d\n",mb_segytraceheader_ptr->src_elev);
		fprintf(stderr,"dbg2       src_depth:         %d\n",mb_segytraceheader_ptr->src_depth);
		fprintf(stderr,"dbg2       grp_datum:         %d\n",mb_segytraceheader_ptr->grp_datum);
		fprintf(stderr,"dbg2       src_datum:         %d\n",mb_segytraceheader_ptr->src_datum);
		fprintf(stderr,"dbg2       src_wbd:           %d\n",mb_segytraceheader_ptr->src_wbd);
		fprintf(stderr,"dbg2       grp_wbd:           %d\n",mb_segytraceheader_ptr->grp_wbd);
		fprintf(stderr,"dbg2       elev_scalar:       %d\n",mb_segytraceheader_ptr->elev_scalar);
		fprintf(stderr,"dbg2       coord_scalar:      %d\n",mb_segytraceheader_ptr->coord_scalar);
		fprintf(stderr,"dbg2       src_long:          %d\n",mb_segytraceheader_ptr->src_long);
		fprintf(stderr,"dbg2       src_lat:           %d\n",mb_segytraceheader_ptr->src_lat);
		fprintf(stderr,"dbg2       grp_long:          %d\n",mb_segytraceheader_ptr->grp_long);
		fprintf(stderr,"dbg2       grp_lat:           %d\n",mb_segytraceheader_ptr->grp_lat);
		fprintf(stderr,"dbg2       coord_units:       %d\n",mb_segytraceheader_ptr->coord_units);
		fprintf(stderr,"dbg2       wvel:              %d\n",mb_segytraceheader_ptr->wvel);
		fprintf(stderr,"dbg2       sbvel:             %d\n",mb_segytraceheader_ptr->sbvel);
		fprintf(stderr,"dbg2       src_up_vel:        %d\n",mb_segytraceheader_ptr->src_up_vel);
		fprintf(stderr,"dbg2       grp_up_vel:        %d\n",mb_segytraceheader_ptr->grp_up_vel);
		fprintf(stderr,"dbg2       src_static:        %d\n",mb_segytraceheader_ptr->src_static);
		fprintf(stderr,"dbg2       grp_static:        %d\n",mb_segytraceheader_ptr->grp_static);
		fprintf(stderr,"dbg2       tot_static:        %d\n",mb_segytraceheader_ptr->tot_static);
		fprintf(stderr,"dbg2       laga:              %d\n",mb_segytraceheader_ptr->laga);
		fprintf(stderr,"dbg2       delay_mils:        %d\n",mb_segytraceheader_ptr->delay_mils);
		fprintf(stderr,"dbg2       smute_mils:        %d\n",mb_segytraceheader_ptr->smute_mils);
		fprintf(stderr,"dbg2       emute_mils:        %d\n",mb_segytraceheader_ptr->emute_mils);
		fprintf(stderr,"dbg2       nsamps:            %d\n",mb_segytraceheader_ptr->nsamps);
		fprintf(stderr,"dbg2       si_micros:         %d\n",mb_segytraceheader_ptr->si_micros);
		for (i=0;i<19;i++)
		fprintf(stderr,"dbg2       other_1[%2d]:       %d\n",i,mb_segytraceheader_ptr->other_1[i]);
		fprintf(stderr,"dbg2       year:              %d\n",mb_segytraceheader_ptr->year);
		fprintf(stderr,"dbg2       day_of_yr:         %d\n",mb_segytraceheader_ptr->day_of_yr);
		fprintf(stderr,"dbg2       hour:              %d\n",mb_segytraceheader_ptr->hour);
		fprintf(stderr,"dbg2       min:               %d\n",mb_segytraceheader_ptr->min);
		fprintf(stderr,"dbg2       sec:               %d\n",mb_segytraceheader_ptr->sec);
		fprintf(stderr,"dbg2       mils:              %d\n",mb_segytraceheader_ptr->mils);
		fprintf(stderr,"dbg2       tr_weight:         %d\n",mb_segytraceheader_ptr->tr_weight);
		for (i=0;i<5;i++)
		fprintf(stderr,"dbg2       other_2[%2d]:       %d\n",i,mb_segytraceheader_ptr->other_2[i]);
		fprintf(stderr,"dbg2       delay:             %f\n",mb_segytraceheader_ptr->delay);
		fprintf(stderr,"dbg2       smute_sec:         %f\n",mb_segytraceheader_ptr->smute_sec);
		fprintf(stderr,"dbg2       emute_sec:         %f\n",mb_segytraceheader_ptr->emute_sec);
		fprintf(stderr,"dbg2       si_secs:           %f\n",mb_segytraceheader_ptr->si_secs);
		fprintf(stderr,"dbg2       wbt_secs:          %f\n",mb_segytraceheader_ptr->wbt_secs);
		fprintf(stderr,"dbg2       end_of_rp:         %d\n",mb_segytraceheader_ptr->end_of_rp);
		fprintf(stderr,"dbg2       dummy1:            %f\n",mb_segytraceheader_ptr->dummy1);
		fprintf(stderr,"dbg2       dummy2:            %f\n",mb_segytraceheader_ptr->dummy2);
		fprintf(stderr,"dbg2       dummy3:            %f\n",mb_segytraceheader_ptr->dummy3);
		fprintf(stderr,"dbg2       dummy4:            %f\n",mb_segytraceheader_ptr->dummy4);
		fprintf(stderr,"dbg2       soundspeed:        %f\n",mb_segytraceheader_ptr->soundspeed);
		fprintf(stderr,"dbg2       distance:          %f\n",mb_segytraceheader_ptr->distance);
		fprintf(stderr,"dbg2       roll:              %f\n",mb_segytraceheader_ptr->roll);
		fprintf(stderr,"dbg2       pitch:             %f\n",mb_segytraceheader_ptr->pitch);
		fprintf(stderr,"dbg2       heading:           %f\n",mb_segytraceheader_ptr->heading);
		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_reson7k_ctd(int verbose, void *mbio_ptr, void *store_ptr,
	int *kind, int *nctd, double *time_d,
	double *conductivity, double *temperature,
	double *depth, double *salinity, double *soundspeed, int *error)
{
	char	*function_name = "mbsys_reson7k_ctd";
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_reson7k_struct *store;
	s7k_header *header;
	s7kr_bluefin *bluefin;
	s7k_bluefin_environmental *environmental;
	s7kr_ctd *ctd;
	int	status;
	int	time_j[5];
	int	time_i[7];
	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 pointer to raw data structure */
	store = (struct mbsys_reson7k_struct *) store_ptr;

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

	/* extract ctd data from bluefin environmental SSV record */
	if (*kind == MB_DATA_SSV)
		{
		bluefin = &(store->bluefin);
		header = &(bluefin->header);

		*nctd = 0;
		for (i=0;i<bluefin->number_frames;i++)
			{
			environmental = &(bluefin->environmental[i]);
			if (environmental->ctd_time > 0.0)
				{
				/* get time_d if needed */
				if (environmental->ctd_time < 10000.0)
					{
					time_j[0] = environmental->s7kTime.Year;
					time_j[1] = environmental->s7kTime.Day;
					time_j[2] = 60 * environmental->s7kTime.Hours + environmental->s7kTime.Minutes;
					time_j[3] = (int) environmental->s7kTime.Seconds;
					time_j[4] = (int) (1000000 * (environmental->s7kTime.Seconds - time_j[3]));
					mb_get_itime(verbose, time_j, time_i);
					mb_get_time(verbose, time_i, &environmental->ctd_time);
					}

				/* get values */
				time_d[*nctd] = environmental->ctd_time;
				conductivity[*nctd] = environmental->conductivity;
				temperature[*nctd] = environmental->temperature;
				depth[*nctd] = environmental->pressure;
				salinity[*nctd] = environmental->salinity;
				soundspeed[*nctd] = environmental->sound_speed;
				(*nctd)++;
				}
			}
		}

	/* extract ctd data from CTD record */
	else if (*kind == MB_DATA_CTD)
		{
		ctd = &(store->ctd);
		header = &(ctd->header);

		/* get time */
		time_j[0] = header->s7kTime.Year;
		time_j[1] = header->s7kTime.Day;
		time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes;
		time_j[3] = (int) header->s7kTime.Seconds;
		time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3]));
		mb_get_itime(verbose, time_j, time_i);
		mb_get_time(verbose, time_i, &time_d[0]);

		*nctd = ctd->n;
		for (i=0;i<ctd->n;i++)
			{
			time_d[i] = time_d[0] + i * (1.0 / ctd->sample_rate);
			if (ctd->conductivity_flag == 0)
				conductivity[i] = ctd->conductivity_salinity[i];
			else
				salinity[i] = ctd->conductivity_salinity[i];
			temperature[i] = ctd->temperature[i];
			depth[i] = ctd->pressure_depth[i];
			soundspeed[i] = ctd->sound_velocity[i];
			}
		}

	/* else failure */
	else
		{
		status = MB_FAILURE;
		*error = MB_ERROR_BAD_SYSTEM;
		}

	/* 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       nctd:          %d\n",*nctd);
		for (i=0;i<*nctd;i++)
			{
			fprintf(stderr,"dbg2       time_d:        %f\n",time_d[i]);
			fprintf(stderr,"dbg2       conductivity:  %f\n",conductivity[i]);
			fprintf(stderr,"dbg2       temperature:   %f\n",temperature[i]);
			fprintf(stderr,"dbg2       depth:         %f\n",depth[i]);
			fprintf(stderr,"dbg2       salinity:      %f\n",salinity[i]);
			fprintf(stderr,"dbg2       soundspeed:    %f\n",soundspeed[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_reson7k_ancilliarysensor(int verbose, void *mbio_ptr, void *store_ptr,
	int *kind, int *nsamples, double *time_d,
	double *sensor1, double *sensor2, double *sensor3,
	double *sensor4, double *sensor5, double *sensor6,
	double *sensor7, double *sensor8, int *error)
{
	char	*function_name = "mbsys_reson7k_ancilliarysensor";
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_reson7k_struct *store;
	s7k_header *header;
	s7kr_bluefin *bluefin;
	s7k_bluefin_environmental *environmental;
	int	status;
	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 pointer to raw data structure */
	store = (struct mbsys_reson7k_struct *) store_ptr;

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

	/* extract ctd data from bluefin environmental SSV record */
	if (*kind == MB_DATA_SSV)
		{
		bluefin = &(store->bluefin);
		header = &(bluefin->header);

		*nsamples = 0;
		for (i=0;i<bluefin->number_frames;i++)
			{
			environmental = &(bluefin->environmental[i]);
			time_d[*nsamples] = environmental->sensor_time_sec + 0.000000001 * environmental->sensor_time_nsec;
			sensor1[*nsamples] = -5.0 + ((double)environmental->sensor1) / 6553.6;
			sensor2[*nsamples] = -5.0 + ((double)environmental->sensor2) / 6553.6;
			sensor3[*nsamples] = -5.0 + ((double)environmental->sensor3) / 6553.6;
			sensor4[*nsamples] = -5.0 + ((double)environmental->sensor4) / 6553.6;
			sensor5[*nsamples] = -5.0 + ((double)environmental->sensor5) / 6553.6;
			sensor6[*nsamples] = -5.0 + ((double)environmental->sensor6) / 6553.6;
			sensor7[*nsamples] = -5.0 + ((double)environmental->sensor7) / 6553.6;
			sensor8[*nsamples] = -5.0 + ((double)environmental->sensor8) / 6553.6;
			(*nsamples)++;
			}
		}

	/* else failure */
	else
		{
		status = MB_FAILURE;
		*error = MB_ERROR_BAD_SYSTEM;
		}

	/* 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       nsamples:   %d\n",*nsamples);
		for (i=0;i<*nsamples;i++)
			{
			fprintf(stderr,"dbg2       time_d:        %f\n",time_d[i]);
			fprintf(stderr,"dbg2       sensor1:       %f\n",sensor1[i]);
			fprintf(stderr,"dbg2       sensor2:       %f\n",sensor2[i]);
			fprintf(stderr,"dbg2       sensor3:       %f\n",sensor3[i]);
			fprintf(stderr,"dbg2       sensor4:       %f\n",sensor4[i]);
			fprintf(stderr,"dbg2       sensor5:       %f\n",sensor5[i]);
			fprintf(stderr,"dbg2       sensor6:       %f\n",sensor6[i]);
			fprintf(stderr,"dbg2       sensor7:       %f\n",sensor7[i]);
			fprintf(stderr,"dbg2       sensor8:       %f\n",sensor8[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_reson7k_copy(int verbose, void *mbio_ptr,
			void *store_ptr, void *copy_ptr,
			int *error)
{
	char	*function_name = "mbsys_reson7k_copy";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_reson7k_struct *store;
	struct mbsys_reson7k_struct *copy;
	s7kr_attitude *attitude;
	s7kr_motion *motion;
	s7kr_svp *svp;
	s7kr_ctd *ctd;
	s7kr_fsdwss *fsdwsslo;
	s7kr_fsdwss *fsdwsshi;
	s7kr_fsdwsb *fsdwsb;
	s7kr_configuration *configuration;
	s7kr_backscatter *backscatter;
	s7kr_beam		*beam;
	s7kr_image		*image;
	s7kr_systemeventmessage *systemeventmessage;
	int	nalloc;
	char	*charptr, *copycharptr;
	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       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_reson7k_struct *) store_ptr;
	copy = (struct mbsys_reson7k_struct *) copy_ptr;

	/* copy over structures, allocating memory where necessary */

	/* Type of data record */
	copy->kind = store->kind;			/* MB-System record ID */
	copy->type = store->type;			/* Reson record ID */

	/* MB-System time stamp */
	copy->time_d = store->time_d;
	for (i=0;i<7;i++)
		copy->time_i[i] = store->time_i[i];

	/* Reference point information (record 1000) */
	/*  Note: these offsets should be zero for submersible vehicles */
	copy->reference = store->reference;

	/* Sensor uncalibrated offset position information (record 1001) */
	copy->sensoruncal = store->sensoruncal;

	/* Sensor calibrated offset position information (record 1002) */
	copy->sensorcal = store->sensorcal;

	/* Position (record 1003) */
	copy->position = store->position;

	/* Attitude (record 1004) */
	attitude = &copy->attitude;
	copy->attitude = store->attitude;
	copy->attitude.nalloc = attitude->nalloc;
	copy->attitude.pitch = attitude->pitch;
	copy->attitude.roll = attitude->roll;
	copy->attitude.heading = attitude->heading;
	copy->attitude.heave = attitude->heave;
	if (status == MB_SUCCESS
		&& copy->attitude.nalloc < copy->attitude.n * sizeof(float))
		{
		copy->attitude.nalloc = copy->attitude.n * sizeof(float);
		if (status == MB_SUCCESS)
		status = mb_reallocd(verbose, __FILE__, __LINE__, copy->attitude.nalloc,
					(void **)&(copy->attitude.pitch), error);
		if (status == MB_SUCCESS)
		status = mb_reallocd(verbose, __FILE__, __LINE__, copy->attitude.nalloc,
					(void **)&(copy->attitude.roll), error);
		if (status == MB_SUCCESS)
		status = mb_reallocd(verbose, __FILE__, __LINE__, copy->attitude.nalloc,
					(void **)&(copy->attitude.heading), error);
		if (status == MB_SUCCESS)
		status = mb_reallocd(verbose, __FILE__, __LINE__, copy->attitude.nalloc,
					(void **)&(copy->attitude.heave), error);
		if (status != MB_SUCCESS)
			{
			copy->attitude.n = 0;
			copy->attitude.nalloc = 0;
			}
		}
	if (status == MB_SUCCESS)
		{
		for (i=0;i<copy->attitude.n;i++)
			{
			copy->attitude.pitch[i] = store->attitude.pitch[i];
			copy->attitude.roll[i] = store->attitude.roll[i];
			copy->attitude.heading[i] = store->attitude.heading[i];
			copy->attitude.heave[i] = store->attitude.heave[i];
			}
		}

	/* Tide (record 1005) */
	copy->tide = store->tide;

	/* Altitude (record 1006) */
	copy->altitude = store->altitude;

	/* Motion over ground (record 1007) */
	motion = &copy->motion;
	copy->motion = store->motion;
	copy->motion.nalloc = motion->nalloc;
	copy->motion.x = motion->x;
	copy->motion.y = motion->y;
	copy->motion.z = motion->z;
	copy->motion.xa = motion->xa;
	copy->motion.ya = motion->ya;
	copy->motion.za = motion->za;
	if (status == MB_SUCCESS
		&& copy->motion.nalloc < copy->motion.n * sizeof(float))
		{
		copy->motion.nalloc = copy->motion.n * sizeof(float);
		if (status == MB_SUCCESS)
		status = mb_reallocd(verbose, __FILE__, __LINE__, copy->motion.nalloc,
					(void **)&(copy->motion.x), error);
		if (status == MB_SUCCESS)
		status = mb_reallocd(verbose, __FILE__, __LINE__, copy->motion.nalloc,
					(void **)&(copy->motion.y), error);
		if (status == MB_SUCCESS)
		status = mb_reallocd(verbose, __FILE__, __LINE__, copy->motion.nalloc,
					(void **)&(copy->motion.z), error);
		if (status == MB_SUCCESS)
		status = mb_reallocd(verbose, __FILE__, __LINE__, copy->motion.nalloc,
					(void **)&(copy->motion.xa), error);
		if (status == MB_SUCCESS)
		status = mb_reallocd(verbose, __FILE__, __LINE__, copy->motion.nalloc,
					(void **)&(copy->motion.ya), error);
		if (status == MB_SUCCESS)
		status = mb_reallocd(verbose, __FILE__, __LINE__, copy->motion.nalloc,
					(void **)&(copy->motion.za), error);
		if (status != MB_SUCCESS)
			{
			copy->motion.n = 0;
			copy->motion.nalloc = 0;
			}
		}
	if (status == MB_SUCCESS)
		{
		for (i=0;i<copy->motion.n;i++)
			{
			copy->motion.x[i] = store->motion.x[i];
			copy->motion.y[i] = store->motion.y[i];
			copy->motion.z[i] = store->motion.z[i];
			copy->motion.xa[i] = store->motion.xa[i];
			copy->motion.ya[i] = store->motion.ya[i];
			copy->motion.za[i] = store->motion.za[i];
			}
		}

	/* Depth (record 1008) */
	copy->depth = store->depth;

	/* Sound velocity profile (record 1009) */
	svp = &copy->svp;
	copy->svp = store->svp;
	copy->svp.nalloc = svp->nalloc;
	copy->svp.depth = svp->depth;
	copy->svp.sound_velocity = svp->sound_velocity;
	if (status == MB_SUCCESS
		&& copy->svp.nalloc < copy->svp.n * sizeof(float))
		{
		copy->svp.nalloc = copy->svp.n * sizeof(float);
		if (status == MB_SUCCESS)
		status = mb_reallocd(verbose, __FILE__, __LINE__, copy->svp.nalloc,
					(void **)&(copy->svp.depth), error);
		if (status == MB_SUCCESS)
		status = mb_reallocd(verbose, __FILE__, __LINE__, copy->svp.nalloc,
					(void **)&(copy->svp.sound_velocity), error);
		if (status != MB_SUCCESS)
			{
			copy->svp.n = 0;
			copy->svp.nalloc = 0;
			}
		}
	if (status == MB_SUCCESS)
		{
		for (i=0;i<copy->svp.n;i++)
			{
			copy->svp.depth[i] = store->svp.depth[i];
			copy->svp.sound_velocity[i] = store->svp.sound_velocity[i];
			}
		}

	/* CTD (record 1010) */
	ctd = &copy->ctd;
	copy->ctd = store->ctd;
	copy->ctd.nalloc = ctd->nalloc;
	copy->ctd.conductivity_salinity = ctd->conductivity_salinity;
	copy->ctd.temperature = ctd->temperature;
	copy->ctd.pressure_depth = ctd->pressure_depth;
	copy->ctd.sound_velocity = ctd->sound_velocity;
	copy->ctd.absorption = ctd->absorption;
	if (status == MB_SUCCESS
		&& copy->ctd.nalloc < copy->ctd.n * sizeof(float))
		{
		copy->ctd.nalloc = copy->ctd.n * sizeof(float);
		if (status == MB_SUCCESS)
		status = mb_reallocd(verbose, __FILE__, __LINE__, copy->ctd.nalloc,
					(void **)&(copy->ctd.conductivity_salinity), error);
		if (status == MB_SUCCESS)
		status = mb_reallocd(verbose, __FILE__, __LINE__, copy->ctd.nalloc,
					(void **)&(copy->ctd.temperature), error);
		if (status == MB_SUCCESS)
		status = mb_reallocd(verbose, __FILE__, __LINE__, copy->ctd.nalloc,
					(void **)&(copy->ctd.pressure_depth), error);
		if (status == MB_SUCCESS)
		status = mb_reallocd(verbose, __FILE__, __LINE__, copy->ctd.nalloc,
					(void **)&(copy->ctd.sound_velocity), error);
		if (status == MB_SUCCESS)
		status = mb_reallocd(verbose, __FILE__, __LINE__, copy->ctd.nalloc,
					(void **)&(copy->ctd.absorption), error);
		if (status != MB_SUCCESS)
			{
			copy->ctd.n = 0;
			copy->ctd.nalloc = 0;
			}
		}
	if (status == MB_SUCCESS)
		{
		for (i=0;i<copy->ctd.n;i++)
			{
			copy->ctd.conductivity_salinity[i] = store->ctd.conductivity_salinity[i];
			copy->ctd.temperature[i] = store->ctd.temperature[i];
			copy->ctd.pressure_depth[i] = store->ctd.pressure_depth[i];
			copy->ctd.sound_velocity[i] = store->ctd.sound_velocity[i];
			copy->ctd.absorption[i] = store->ctd.absorption[i];
			}
		}

	/* Geodesy (record 1011) */
	copy->geodesy = store->geodesy;

	/* Edgetech FS-DW low frequency sidescan (record 3000) */
	fsdwsslo = &copy->fsdwsslo;
	copy->fsdwsslo = store->fsdwsslo;
	for (j=0;j<2;j++)
		{
		copy->fsdwsslo.channel[j].data_alloc = fsdwsslo->channel[j].data_alloc;
		copy->fsdwsslo.channel[j].data = fsdwsslo->channel[j].data;
		if (status == MB_SUCCESS
			&& copy->fsdwsslo.channel[j].data_alloc
				< copy->fsdwsslo.channel[j].number_samples
					* copy->fsdwsslo.channel[j].bytespersample)
			{
			copy->fsdwsslo.channel[j].data_alloc
				= copy->fsdwsslo.channel[j].number_samples
					* copy->fsdwsslo.channel[j].bytespersample;
			if (status == MB_SUCCESS)
			status = mb_reallocd(verbose, __FILE__, __LINE__, store->fsdwsslo.channel[j].data_alloc,
						(void **)&(copy->fsdwsslo.channel[j].data), error);
			if (status != MB_SUCCESS)
				{
				copy->fsdwsslo.channel[j].data_alloc = 0;
				copy->fsdwsslo.channel[j].number_samples = 0;
				}
			}
		if (status == MB_SUCCESS)
			{
			for (i=0;i<copy->fsdwsslo.channel[j].data_alloc;i++)
				{
				copy->fsdwsslo.channel[j].data[i]
					= store->fsdwsslo.channel[j].data[i];
				}
			}
		}

	/* Edgetech FS-DW high frequency sidescan (record 3000) */
	fsdwsshi = &copy->fsdwsshi;
	copy->fsdwsshi = store->fsdwsshi;
	for (j=0;j<2;j++)
		{
		copy->fsdwsshi.channel[j].data_alloc = fsdwsshi->channel[j].data_alloc;
		copy->fsdwsshi.channel[j].data = fsdwsshi->channel[j].data;
		if (status == MB_SUCCESS
			&& copy->fsdwsshi.channel[j].data_alloc
				< copy->fsdwsshi.channel[j].number_samples
					* copy->fsdwsshi.channel[j].bytespersample)
			{
			copy->fsdwsshi.channel[j].data_alloc
				= copy->fsdwsshi.channel[j].number_samples
					* copy->fsdwsshi.channel[j].bytespersample;
			if (status == MB_SUCCESS)
			status = mb_reallocd(verbose, __FILE__, __LINE__, store->fsdwsshi.channel[j].data_alloc,
						(void **)&(copy->fsdwsshi.channel[j].data), error);
			if (status != MB_SUCCESS)
				{
				copy->fsdwsshi.channel[j].data_alloc = 0;
				copy->fsdwsshi.channel[j].number_samples = 0;
				}
			}
		if (status == MB_SUCCESS)
			{
			for (i=0;i<copy->fsdwsshi.channel[j].data_alloc;i++)
				{
				copy->fsdwsshi.channel[j].data[i]
					= store->fsdwsshi.channel[j].data[i];
				}
			}
		}

	/* Edgetech FS-DW subbottom (record 3001) */
	fsdwsb = &copy->fsdwsb;
	copy->fsdwsb = store->fsdwsb;
	copy->fsdwsb.channel.data_alloc = fsdwsb->channel.data_alloc;
	copy->fsdwsb.channel.data = fsdwsb->channel.data;
	if (status == MB_SUCCESS
		&& copy->fsdwsb.channel.data_alloc
			< copy->fsdwsb.channel.number_samples
				* copy->fsdwsb.channel.bytespersample)
		{
		copy->fsdwsb.channel.data_alloc
			= copy->fsdwsb.channel.number_samples
				* copy->fsdwsb.channel.bytespersample;
		if (status == MB_SUCCESS)
		status = mb_reallocd(verbose, __FILE__, __LINE__, store->fsdwsb.channel.data_alloc,
					(void **)&(copy->fsdwsb.channel.data), error);
		if (status != MB_SUCCESS)
			{
			copy->fsdwsb.channel.data_alloc = 0;
			copy->fsdwsb.channel.number_samples = 0;
			}
		}
	if (status == MB_SUCCESS)
		{
		for (i=0;i<copy->fsdwsb.channel.data_alloc;i++)
			{
			copy->fsdwsb.channel.data[i]
				= store->fsdwsb.channel.data[i];
			}
		}

	/* Bluefin Environmental Data Frame (can be included in record 3100) */
	copy->bluefin = store->bluefin;

	/* Reson 7k volatile sonar settings (record 7000) */
	copy->volatilesettings = store->volatilesettings;

	/* Reson 7k configuration (record 7001) */
	configuration = &copy->configuration;
	copy->configuration = store->configuration;
	for (j=0;j<MBSYS_RESON7K_MAX_DEVICE;j++)
		{
		copy->configuration.device[j].info_alloc = configuration->device[j].info_alloc;
		copy->configuration.device[j].info = configuration->device[j].info;
		if (status == MB_SUCCESS
			&& copy->configuration.device[j].info_alloc
				< copy->configuration.device[j].info_length)
			{
			copy->configuration.device[j].info_alloc = copy->configuration.device[j].info_length;
			if (status == MB_SUCCESS)
			status = mb_reallocd(verbose, __FILE__, __LINE__, copy->configuration.device[j].info_alloc,
						(void **)&(copy->configuration.device[j].info), error);
			if (status != MB_SUCCESS)
				{
				copy->configuration.device[j].info_alloc = 0;
				copy->configuration.device[j].info_length = 0;
				}
			}
		if (status == MB_SUCCESS)
			{
			for (i=0;i<copy->configuration.device[j].info_length;i++)
				{
				copy->configuration.device[j].info[i]
					= store->configuration.device[j].info[i];
				}
			}
		}

	/* Reson 7k beam geometry (record 7004) */
	copy->beamgeometry = store->beamgeometry;

	/* Reson 7k calibration (record 7005) */
	copy->calibration = store->calibration;

	/* Reson 7k bathymetry (record 7006) */
	copy->bathymetry = store->bathymetry;

	/* Reson 7k backscatter imagery data (record 7007) */
	backscatter = &copy->backscatter;
	copy->backscatter = store->backscatter;
	copy->backscatter.nalloc = backscatter->nalloc;
	copy->backscatter.port_data = backscatter->port_data;
	copy->backscatter.stbd_data = backscatter->stbd_data;
	if (status == MB_SUCCESS
		&& copy->backscatter.nalloc
			< copy->backscatter.number_samples
				* copy->backscatter.sample_size)
		{
		copy->backscatter.nalloc = copy->backscatter.number_samples * copy->backscatter.sample_size;
		if (status == MB_SUCCESS)
		status = mb_reallocd(verbose, __FILE__, __LINE__, copy->backscatter.nalloc,
					(void **)&(copy->backscatter.port_data), error);
		if (status == MB_SUCCESS)
		status = mb_reallocd(verbose, __FILE__, __LINE__, copy->backscatter.nalloc,
					(void **)&(copy->backscatter.stbd_data), error);
		if (status != MB_SUCCESS)
			{
			copy->backscatter.nalloc = 0;
			copy->backscatter.number_samples = 0;
			}
		}
	if (status == MB_SUCCESS)
		{
		for (i=0;i<copy->backscatter.number_samples;i++)
			{
			copy->backscatter.port_data[i] = store->backscatter.port_data[i];
			copy->backscatter.stbd_data[i] = store->backscatter.stbd_data[i];
			}
		}

	/* Reson 7k beam data (record 7008) */
	beam = &copy->beam;
	copy->beam = store->beam;
	for (i=0;i<MBSYS_RESON7K_MAX_RECEIVERS;i++)
		{
		copy->beam.snippets[i].nalloc_amp = beam->snippets[i].nalloc_amp;
		copy->beam.snippets[i].nalloc_phase = beam->snippets[i].nalloc_phase;
		copy->beam.snippets[i].amplitude = beam->snippets[i].amplitude;
		copy->beam.snippets[i].phase = beam->snippets[i].phase;
		if (status == MB_SUCCESS
			&& (copy->beam.snippets[i].nalloc_amp < store->beam.snippets[i].nalloc_amp
				|| copy->beam.snippets[i].nalloc_phase < store->beam.snippets[i].nalloc_phase))
			{
			copy->beam.snippets[i].nalloc_amp = store->beam.snippets[i].nalloc_amp;
			if (status == MB_SUCCESS)
			status = mb_reallocd(verbose, __FILE__, __LINE__, copy->beam.snippets[i].nalloc_amp,
						(void **)&(copy->beam.snippets[i].amplitude), error);
			copy->beam.snippets[i].nalloc_phase = store->beam.snippets[i].nalloc_phase;
			if (status == MB_SUCCESS)
			status = mb_reallocd(verbose, __FILE__, __LINE__, copy->beam.snippets[i].nalloc_phase,
						(void **)&(copy->beam.snippets[i].phase), error);
			if (status != MB_SUCCESS)
				{
				copy->beam.snippets[i].nalloc_amp = 0;
				copy->beam.snippets[i].nalloc_phase = 0;
				copy->beam.snippets[i].end_sample = 0;
				copy->beam.snippets[i].begin_sample = 0;
				}
			}
		if (status == MB_SUCCESS)
			{
			copycharptr = (char *)(copy->beam.snippets[i].amplitude);
			charptr = (char *)(store->beam.snippets[i].amplitude);
			for (j=0;j<copy->beam.snippets[i].nalloc_amp;j++)
				copycharptr[j] = charptr[j];
			copycharptr = (char *)(copy->beam.snippets[i].phase);
			charptr = (char *)(store->beam.snippets[i].phase);
			for (j=0;j<copy->beam.snippets[i].nalloc_phase;j++)
				copycharptr[j] = charptr[j];
			}

		}

	/* Reson 7k image data (record 7011) */
	image = &copy->image;
	copy->image = store->image;
	copy->image.nalloc = image->nalloc;
	copy->image.image = image->image;
	nalloc = image->width * image->height * image->color_depth;
	if (status == MB_SUCCESS
		&& copy->image.nalloc < nalloc)
		{
		copy->image.nalloc = nalloc;
		if (status == MB_SUCCESS)
		status = mb_reallocd(verbose, __FILE__, __LINE__, copy->image.nalloc,
					(void **)&(copy->image.image), error);
		if (status != MB_SUCCESS)
			{
			copy->image.nalloc = 0;
			copy->image.width = 0;
			copy->image.height = 0;
			copy->image.color_depth = 0;
			}
		}
	if (status == MB_SUCCESS)
		{
		copycharptr = (char *)(copy->image.image);
		charptr = (char *)(store->image.image);
		for (j=0;j<nalloc;j++)
			copycharptr[j] = charptr[j];
		}

	/* Reson 7k system event (record 7051) */
	systemeventmessage = &copy->systemeventmessage;
	copy->systemeventmessage = store->systemeventmessage;
	copy->systemeventmessage.message_alloc = systemeventmessage->message_alloc;
	copy->systemeventmessage.message = systemeventmessage->message;
	if (status == MB_SUCCESS
		&& copy->systemeventmessage.message_alloc
			< copy->systemeventmessage.message_length)
		{
		copy->systemeventmessage.message_alloc = copy->systemeventmessage.message_length;
		if (status == MB_SUCCESS)
		status = mb_reallocd(verbose, __FILE__, __LINE__, copy->systemeventmessage.message_alloc,
					(void **)&(copy->systemeventmessage.message), error);
		if (status != MB_SUCCESS)
			{
			copy->systemeventmessage.event_id = 0;
			copy->systemeventmessage.message_alloc = 0;
			copy->systemeventmessage.message_length = 0;
			copy->systemeventmessage.event_identifier = 0;
			}
		}
	if (status == MB_SUCCESS)
		{
		for (i=0;i<copy->systemeventmessage.message_length;i++)
			{
			copy->systemeventmessage.message[i] = store->systemeventmessage.message[i];
			}
		}

	/* Reson 7k file header (record 7200) */
	copy->fileheader = store->fileheader;

	/* 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_reson7k_makess(int verbose, void *mbio_ptr, void *store_ptr,
		int source, int pixel_size_set, double *pixel_size,
		int swath_width_set, double *swath_width,
		int pixel_int, int *error)
{
	char	*function_name = "mbsys_reson7k_makess";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_reson7k_struct *store;
	s7kr_reference		*reference;
	s7kr_volatilesettings	*volatilesettings;
	s7kr_beamgeometry	*beamgeometry;
	s7kr_bathymetry		*bathymetry;
	s7kr_backscatter	*backscatter;
	s7kr_snippet		*snippet;
	s7kr_beam		*beam;
	s7kr_v2snippettimeseries *snippettimeseries;
	s7kr_v2snippet		*v2snippet;
	s7kr_processedsidescan  *processedsidescan;
	s7kr_bluefin		*bluefin;
	s7kr_soundvelocity	*soundvelocity;
	int	nss;
	int	ss_cnt[MBSYS_RESON7K_MAX_PIXELS];
	double	ss[MBSYS_RESON7K_MAX_PIXELS];
	double	ssacrosstrack[MBSYS_RESON7K_MAX_PIXELS];
	double	ssalongtrack[MBSYS_RESON7K_MAX_PIXELS];
	int	nbathsort;
	double	bathsort[MBSYS_RESON7K_MAX_BEAMS];
	char	beamflag[MBSYS_RESON7K_MAX_BEAMS];
	double  pixel_size_calc;
	double	ss_spacing, ss_spacing_use;
	double	soundspeed;
	int	iminxtrack;
	double	minxtrack;
	double	maxxtrack;
	int	nrangetable;
	double	rangetable[MBSYS_RESON7K_MAX_BEAMS];
	double	acrosstracktable[MBSYS_RESON7K_MAX_BEAMS], acrosstracktablemin;
	double	alongtracktable[MBSYS_RESON7K_MAX_BEAMS];
	int	irangenadir, irange;
	int	found;
	int	pixel_int_use;
	int	nsample, nsample_use, sample_start, sample_detect, sample_end;
	double	angle, altitude, xtrack, xtrackss, ltrackss, factor;
	double	range, beam_foot, beamwidth, sint;
	mb_u_char	*data_uchar;
	unsigned short	*data_ushort;
	unsigned int	*data_uint;
	int	first, last, k1, k2;
	int	ibeam;
	int	i, j, k, kk;

	/* 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       source:          %d\n",source);
		fprintf(stderr,"dbg2       pixel_size_set:  %d\n",pixel_size_set);
		fprintf(stderr,"dbg2       pixel_size:      %f\n",*pixel_size);
		fprintf(stderr,"dbg2       swath_width_set: %d\n",swath_width_set);
		fprintf(stderr,"dbg2       swath_width:     %f\n",*swath_width);
		fprintf(stderr,"dbg2       pixel_int:       %d\n",pixel_int);
		}

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

	/* get data structure pointer */
	store = (struct mbsys_reson7k_struct *) store_ptr;
	reference = (s7kr_reference *) &store->reference;
	volatilesettings = (s7kr_volatilesettings *) &store->volatilesettings;
	beamgeometry = (s7kr_beamgeometry *) &store->beamgeometry;
	bathymetry = (s7kr_bathymetry *) &store->bathymetry;
	backscatter = (s7kr_backscatter *) &store->backscatter;
	v2snippet = (s7kr_v2snippet *) &store->v2snippet;
	beam = (s7kr_beam *) &store->beam;
	processedsidescan = (s7kr_processedsidescan *) &store->processedsidescan;
	bluefin = (s7kr_bluefin *) &store->bluefin;
	soundvelocity = (s7kr_soundvelocity *) &store->soundvelocity;

	/* calculate sidescan from the desired source data if it is available */
	if (store->kind == MB_DATA_DATA &&
		((source == R7KRECID_7kV2SnippetData && store->read_v2snippet == MB_YES)
		 || (source == R7KRECID_7kBeamData && store->read_beam == MB_YES)
		 || (source == R7KRECID_7kBackscatterImageData && store->read_backscatter == MB_YES)))
		{
		/* get beamflags - only use snippets from good beams */
		for (i=0;i<bathymetry->number_beams;i++)
			{
			/* beamflagging scheme:
				Reson quality flags use bits 0-3
					bit 0: brightness test
					bit 1: colinearity test
					bit 2: amplitude pick
					bit 3: phase pick
				Early MB scheme (through 2007) - use bits 0-5
					null: 0
					flagged: 2
					good: 15
					amplitude: +16
					phase: +32
				Current MB scheme (>= 2008) - use bits 4-7
					- bits 0-3 left in original values
					- beam valid if bit 4 or 5 are set
					- beam flagged if bit 6 or 7 set
					bit 4: on = amplitude
					bit 5: on = phase
					bit 6: on = auto flag
					bit 7: on = manual flag */
			if (bathymetry->quality[i] == 0)
				{
				beamflag[i] = MB_FLAG_NULL;
				}
			else if (bathymetry->quality[i] & 64)
				{
				beamflag[i] = MB_FLAG_FLAG + MB_FLAG_FILTER;
				}
			else if (bathymetry->quality[i] & 128)
				{
				beamflag[i] = MB_FLAG_FLAG + MB_FLAG_MANUAL;
				}
			else if (bathymetry->quality[i] & 240)
				{
				beamflag[i] = MB_FLAG_NONE;
				}
			else if ((bathymetry->quality[i] & 3) == 3)
				{
				beamflag[i] = MB_FLAG_NONE;
				}
			else if ((bathymetry->quality[i] & 15) == 0)
				{
				beamflag[i] = MB_FLAG_NULL;
				}
			else if ((bathymetry->quality[i] & 3) == 0)
				{
				beamflag[i] = MB_FLAG_FLAG + MB_FLAG_FILTER;
				}
			else
				{
				beamflag[i] = MB_FLAG_FLAG + MB_FLAG_MANUAL;
				}
			}

		/* get beam angle size */
		beamwidth = 2.0 * RTD * volatilesettings->receive_width;

		/* get soundspeed */
		if (volatilesettings->sound_velocity > 0.0)
			soundspeed = volatilesettings->sound_velocity;
		else if (soundvelocity->soundvelocity > 0.0)
			soundspeed = soundvelocity->soundvelocity;
		else if (bluefin->environmental[0].sound_speed > 0.0)
			soundspeed = bluefin->environmental[0].sound_speed;
		else
			soundspeed = 1500.0;

		/* get raw pixel size */
		ss_spacing = 0.5 * soundspeed / volatilesettings->sample_rate;

		/* get median depth relative to the sonar and check for min max xtrack */
		nbathsort = 0;
		minxtrack = 0.0;
		maxxtrack = 0.0;
		iminxtrack = bathymetry->number_beams / 2;
		found = MB_NO;
		for (i=0;i<bathymetry->number_beams;i++)
			{
			if (mb_beam_ok(beamflag[i]))
				{
				bathsort[nbathsort] = bathymetry->depth[i] + bathymetry->vehicle_height;
				nbathsort++;

				if (found == MB_NO || fabs(bathymetry->acrosstrack[i] < minxtrack))
					{
					minxtrack = fabs(bathymetry->acrosstrack[i]);
					iminxtrack = i;
					found = MB_YES;
					}

				maxxtrack = MAX(fabs(bathymetry->acrosstrack[i]), maxxtrack);
				}
			}

		/* set number of pixels */
		nss = MIN(4 * bathymetry->number_beams, MBSYS_RESON7K_MAX_PIXELS);

		/* get sidescan pixel size */
		if (swath_width_set == MB_NO && bathymetry->number_beams > 0)
			{
			(*swath_width) = MAX(fabs(RTD * beamgeometry->angle_acrosstrack[0]),
					fabs(RTD * beamgeometry->angle_acrosstrack[bathymetry->number_beams-1]));
			}
		if (pixel_size_set == MB_NO
		    && nbathsort > 0)
			{
			/* calculate pixel size implied using swath width and nadir altitude */
			qsort((char *)bathsort, nbathsort, sizeof(double),(void *)mb_double_compare);
			pixel_size_calc = 2.1 * tan(DTR * (*swath_width)) * bathsort[nbathsort/2] / nss;

			/* use pixel size based on actual swath width if that is larger than the first value */
			pixel_size_calc = MAX(pixel_size_calc, 2.1 * maxxtrack / nss);

			/* make sure the pixel size is at least equivalent to a 0.1 degree nadir beamwidth */
			pixel_size_calc = MAX(pixel_size_calc, bathsort[nbathsort/2] * sin(DTR * 0.1));

			/* if the pixel size appears to be changing in size, moderate the change */
			if ((*pixel_size) <= 0.0)
				(*pixel_size) = pixel_size_calc;
			else if (0.95 * (*pixel_size) > pixel_size_calc)
				(*pixel_size) = 0.95 * (*pixel_size);
			else if (1.05 * (*pixel_size) < pixel_size_calc)
				(*pixel_size) = 1.05 * (*pixel_size);
			else
				(*pixel_size) = pixel_size_calc;
			}

		/* get pixel interpolation */
		pixel_int_use = pixel_int + 1;

		/* zero the sidescan */
		for (i=0;i<MBSYS_RESON7K_MAX_PIXELS;i++)
			{
			ss[i] = 0.0;
			ssacrosstrack[i] = 0.0;
			ssalongtrack[i] = 0.0;
			ss_cnt[i] = 0;
			}
		for (i=0;i<nss;i++)
			{
			ssacrosstrack[i] = (*pixel_size) * (double)(i - (nss / 2));;
			}

		/* loop over raw backscatter or sidescan from the desired source,
		 * 	putting each raw sample into the binning arrays */

		/* use current generation snippet data */
		if (source == R7KRECID_7kV2SnippetData && v2snippet->error_flag == MB_NO)
			{
			for (i=0;i<v2snippet->number_beams;i++)
				{
				snippettimeseries = (s7kr_v2snippettimeseries *)&(v2snippet->snippettimeseries[i]);
				ibeam = snippettimeseries->beam_number;

				/* only use snippets from non-null and unflagged beams */
				if (mb_beam_ok(beamflag[ibeam]))
					{
					nsample = snippettimeseries->end_sample - snippettimeseries->begin_sample + 1;
					altitude = bathymetry->depth[ibeam] + bathymetry->vehicle_height;
					xtrack = bathymetry->acrosstrack[ibeam];
					range = 0.5 * soundspeed * bathymetry->range[ibeam];
					angle = RTD * beamgeometry->angle_acrosstrack[ibeam];
					beam_foot = range * sin(DTR * beamwidth)
								/ cos(DTR * angle);
					sint = fabs(sin(DTR * angle));
					nsample_use = beam_foot / ss_spacing;
					if (sint < nsample_use * ss_spacing / beam_foot)
					    ss_spacing_use = beam_foot / nsample_use;
					else
					    ss_spacing_use = ss_spacing / sint;
/* fprintf(stderr, "spacing: %f %f n:%d sint:%f angle:%f range:%f foot:%f factor:%f\n",
ss_spacing, ss_spacing_use,
nsample_use, sint, angle, range, beam_foot,
nsample_use * ss_spacing / beam_foot); */
					sample_start = MAX(((int)snippettimeseries->detect_sample - (nsample_use / 2)),
								(int)snippettimeseries->begin_sample);
					sample_end = MIN(((int)snippettimeseries->detect_sample + (nsample_use / 2) - 1),
								(int)snippettimeseries->end_sample);
					for (k=sample_start;k<=sample_end;k++)
						{
						if (xtrack < 0.0)
							xtrackss = xtrack - ss_spacing_use * (k - (int)snippettimeseries->detect_sample);
						else
							xtrackss = xtrack + ss_spacing_use * (k - (int)snippettimeseries->detect_sample);
						kk = nss / 2
						    + (int)(xtrackss / (*pixel_size));
						kk = MIN(MAX(0,kk), nss-1);
						ss[kk]  += (double) snippettimeseries->amplitude[k-(int)snippettimeseries->begin_sample];
						ssalongtrack[kk] += bathymetry->alongtrack[i];
						ss_cnt[kk]++;
/* fprintf(stderr,"k:%d detect:%d xtrack:%f xtrackss:%f kk:%d ss:%f ss_cnt:%d\n",
k,snippettimeseries->detect_sample,xtrack,xtrackss,kk,ss[kk],ss_cnt[kk]); */
						}
					}
				}
			}

		/* use old snippet data */
		else if (source == R7KRECID_7kBeamData)
			{
			for (i=0;i<beam->number_beams;i++)
				{
				snippet = (s7kr_snippet *)&(beam->snippets[i]);
				ibeam = snippet->beam_number;

				/* only use snippets from non-null and unflagged beams */
				if (mb_beam_ok(beamflag[ibeam]))
					{
					nsample = snippet->end_sample - snippet->begin_sample + 1;
					altitude = bathymetry->depth[ibeam] + bathymetry->vehicle_height;
					xtrack = bathymetry->acrosstrack[ibeam];
					range = 0.5 * soundspeed * bathymetry->range[ibeam];
					angle = RTD * beamgeometry->angle_acrosstrack[ibeam];
					beam_foot = range * sin(DTR * beamwidth)
								/ cos(DTR * angle);
					sint = fabs(sin(DTR * angle));
					nsample_use = beam_foot / ss_spacing;
					if (sint < nsample_use * ss_spacing / beam_foot)
					    ss_spacing_use = beam_foot / nsample_use;
					else
					    ss_spacing_use = ss_spacing / sint;
/*fprintf(stderr, "spacing: %f %f n:%d sint:%f angle:%f range:%f foot:%f factor:%f\n",
ss_spacing, ss_spacing_use,
nsample_use, sint, angle, range, beam_foot,
nsample_use * ss_spacing / beam_foot);*/
					sample_detect = volatilesettings->sample_rate * bathymetry->range[ibeam];
					sample_start = sample_detect - (nsample_use / 2);
					sample_end = sample_detect + (nsample_use / 2) - 1;
					if ((beam->sample_type & 15) == 3)
						data_uint = (unsigned int *) snippet->amplitude;
					else if ((beam->sample_type & 15) == 2)
						data_ushort = (unsigned short *) snippet->amplitude;
					else
						data_uchar = (mb_u_char *) snippet->amplitude;
					for (k=sample_start;k<=sample_end;k++)
						{
						if (xtrack < 0.0)
							xtrackss = xtrack - ss_spacing_use * (k - sample_detect);
						else
							xtrackss = xtrack + ss_spacing_use * (k - sample_detect);
						kk = nss / 2
						    + (int)(xtrackss / (*pixel_size));
						kk = MIN(MAX(0,kk), nss-1);
						if ((beam->sample_type & 15) == 3)
							ss[kk]  += (double) data_uint[k-snippet->begin_sample];
						else if ((beam->sample_type & 15) == 2)
							ss[kk]  += (double) data_ushort[k-snippet->begin_sample];
						else
							ss[kk]  += (double) data_uchar[k-snippet->begin_sample];
						ssalongtrack[kk] += bathymetry->alongtrack[ibeam];
						ss_cnt[kk]++;
/* fprintf(stderr,"k:%d kk:%d ss:%f ss_cnt:%d\n", k,kk,ss[kk],ss_cnt[kk]);*/
						}
					}
				}
			}

		/* use backscatter record - basically a pseudosidescan */
		else if (source == R7KRECID_7kBackscatterImageData)
			{
			/* get acrosstrack distance versus range table from bathymetry */
			nrangetable = 0;
			for (i=bathymetry->number_beams-1;i>=0;i--)
				{
				if (mb_beam_ok(beamflag[i]))
					{
					rangetable[nrangetable] = bathymetry->range[i];
					acrosstracktable[nrangetable] = bathymetry->acrosstrack[i];
					alongtracktable[nrangetable] = bathymetry->alongtrack[i];
					if (nrangetable == 0 || fabs(acrosstracktable[nrangetable]) < acrosstracktablemin)
						{
						irangenadir = nrangetable;
						acrosstracktablemin = fabs(acrosstracktable[nrangetable]);
						}
					nrangetable++;
					}
				}

			/* lay out port side */
			data_uchar = (mb_u_char *) backscatter->port_data;
			data_ushort = (unsigned short *) backscatter->port_data;
			data_uint = (unsigned int *) backscatter->port_data;
			sample_start = rangetable[irangenadir] * volatilesettings->sample_rate;
			sample_end = MIN(rangetable[0] * volatilesettings->sample_rate, backscatter->number_samples - 1);
			irange = irangenadir;
			for (i=sample_start;i<sample_end;i++)
				{
				range = ((double)i) / ((double)volatilesettings->sample_rate);
				found = MB_NO;
				for (j=irange;j>0 && found == MB_NO;j--)
					{
					if (range >= rangetable[j] && range < rangetable[j-1])
						{
						irange = j;
						found = MB_YES;
						}
					}
				factor = (range - rangetable[irange])
							/ (rangetable[irange-1] - rangetable[irange]);
				xtrackss = acrosstracktable[irange]
						+ factor * (acrosstracktable[irange-1] - acrosstracktable[irange]);
				ltrackss = alongtracktable[irange]
						+ factor * (alongtracktable[irange-1] - alongtracktable[irange]);
				kk = nss / 2 + (int)(xtrackss / (*pixel_size));
				if (kk >= 0 && kk < nss)
					{
					if (backscatter->sample_size == 1)
						ss[kk]  += (double) data_uchar[i];
					else if (backscatter->sample_size == 2)
						ss[kk]  += (double) data_ushort[i];
					else
						ss[kk]  += (double) data_uint[i];
					ssalongtrack[kk] += ltrackss;
					ss_cnt[kk]++;
					}
				}

			/* lay out starboard side */
			data_uchar = (mb_u_char *) backscatter->stbd_data;
			data_ushort = (unsigned short *) backscatter->stbd_data;
			data_uint = (unsigned int *) backscatter->stbd_data;
			sample_start = rangetable[irangenadir] * volatilesettings->sample_rate;
			sample_end = MIN(rangetable[nrangetable-1] * volatilesettings->sample_rate, backscatter->number_samples - 1);
			irange = irangenadir;
			for (i=sample_start;i<sample_end;i++)
				{
				range = ((double)i) / ((double)volatilesettings->sample_rate);
				found = MB_NO;
				for (j=irange;j<nrangetable-1 && found == MB_NO;j++)
					{
					if (range >= rangetable[j] && range < rangetable[j+1])
						{
						irange = j;
						found = MB_YES;
						}
					}
				factor = (range - rangetable[irange])
							/ (rangetable[irange+1] - rangetable[irange]);
				xtrackss = acrosstracktable[irange]
						+ factor * (acrosstracktable[irange+1] - acrosstracktable[irange]);
				ltrackss = alongtracktable[irange]
						+ factor * (alongtracktable[irange+1] - alongtracktable[irange]);
				kk = nss / 2 + (int)(xtrackss / (*pixel_size));
				if (kk >= 0 && kk < nss)
					{
					if (backscatter->sample_size == 1)
						ss[kk]  += (double) data_uchar[i];
					else if (backscatter->sample_size == 2)
						ss[kk]  += (double) data_ushort[i];
					else
						ss[kk]  += (double) data_uint[i];
					ssalongtrack[kk] += ltrackss;
					ss_cnt[kk]++;
					}
				}


			}

		/* average the sidescan */
		first = nss;
		last = -1;
		for (k=0;k<nss;k++)
			{
			if (ss_cnt[k] > 0)
				{
				ss[k] /= ss_cnt[k];
				ssalongtrack[k] /= ss_cnt[k];
				first = MIN(first, k);
				last = k;
				}
			else
				ss[k] = MB_SIDESCAN_NULL;
			}

		/* interpolate the sidescan */
		k1 = first;
		k2 = first;
		for (k=first+1;k<last;k++)
			{
			if (ss_cnt[k] <= 0)
				{
				if (k2 <= k)
					{
					k2 = k+1;
					while (ss_cnt[k2] <= 0 && k2 < last)
					    k2++;
					}
				if (k2 - k1 <= pixel_int_use)
					{
					ss[k] = ss[k1] + (ss[k2] - ss[k1])
						* ((double)(k - k1)) / ((double)(k2 - k1));
					ssacrosstrack[k] = (k - nss / 2) * (*pixel_size);
					ssalongtrack[k] = ssalongtrack[k1]
								+ (ssalongtrack[k2] - ssalongtrack[k1])
									* ((double)(k - k1)) / ((double)(k2 - k1));
					}
				}
			else
				{
				k1 = k;
				 }
			}

		/* embed the sidescan into the processed sidescan record */
		store->read_processedsidescan = MB_YES;
		processedsidescan->header = bathymetry->header;
		processedsidescan->header.Offset = R7KRECID_ProcessedSidescan;
		processedsidescan->header.Size = MBSYS_RESON7K_RECORDHEADER_SIZE
							+ MBSYS_RESON7K_RECORDTAIL_SIZE
							+ R7KHDRSIZE_ProcessedSidescan
							+ nss * 8;
		processedsidescan->header.OffsetToOptionalData = 0;
		processedsidescan->header.OptionalDataIdentifier = 0;
		processedsidescan->header.RecordType = R7KRECID_ProcessedSidescan;
		processedsidescan->serial_number = bathymetry->serial_number;
		processedsidescan->ping_number = bathymetry->ping_number;
		processedsidescan->multi_ping = bathymetry->multi_ping;
		processedsidescan->recordversion = 1;
		processedsidescan->ss_source = source;
		processedsidescan->number_pixels = nss;
		processedsidescan->ss_type = MB_SIDESCAN_LINEAR;
		processedsidescan->pixelwidth = *pixel_size;
		processedsidescan->sonardepth = -bathymetry->vehicle_height + reference->water_z;
		processedsidescan->altitude = bathymetry->depth[iminxtrack] - processedsidescan->sonardepth;
		for (i=0;i<MBSYS_RESON7K_MAX_PIXELS;i++)
			{
			processedsidescan->sidescan[i] = ss[i];
			processedsidescan->alongtrack[i] = ssalongtrack[i];
			}

		/* print debug statements */
		if (verbose >= 2)
			{
			fprintf(stderr,"\ndbg2  Sidescan regenerated in <%s>\n",
				function_name);
			fprintf(stderr,"dbg2       pixels_ss:  %d\n", nss);
			for (i=0;i<nss;i++)
			  fprintf(stderr,"dbg2       pixel:%4d  cnt:%3d  ss:%10f  xtrack:%10f  ltrack:%10f\n",
				i,ss_cnt[i],ss[i],
				ssacrosstrack[i],
				ssalongtrack[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       pixel_size:      %f\n",*pixel_size);
		fprintf(stderr,"dbg2       swath_width:     %f\n",*swath_width);
		fprintf(stderr,"dbg2       error:           %d\n",*error);
		fprintf(stderr,"dbg2  Return status:\n");
		fprintf(stderr,"dbg2       status:          %d\n",status);
		}

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