/*--------------------------------------------------------------------
 *    The MB-system:	mbsys_sb.c	2/26/93
 *	$Id: mbsys_sb.c 1917 2012-01-10 19:25:33Z caress $
 *
 *    Copyright (c) 1993-2012 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_sb.c contains the functions for handling the data structure
 * used by MBIO functions to store data from the 16-beam Sea Beam 
 * multibeam sonar systems.
 * The data formats which are commonly used to store Sea Beam
 * data in files include
 *      MBF_SBSIOMRG : MBIO ID 11
 *      MBF_SBSIOCEN : MBIO ID 12
 *      MBF_SBSIOLSI : MBIO ID 13
 *      MBF_SBURICEN : MBIO ID 14
 *      MBF_SBURIVAX : MBIO ID 15
 *      MBF_SBSIOSWB : MBIO ID 16
 *      MBF_SBIFREMR : MBIO ID 17
 *
 * Author:	D. W. Caress
 * Date:	February 26, 1993
 * $Log: mbsys_sb.c,v $
 * Revision 5.7  2009/03/08 09:21:00  caress
 * Fixed problem reading and writing format 16 (MBF_SBSIOSWB) data on little endian systems.
 *
 * Revision 5.6  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 5.5  2003/04/17 21:05:23  caress
 * Release 5.0.beta30
 *
 * Revision 5.4  2002/09/18 23:32:59  caress
 * Release 5.0.beta23
 *
 * Revision 5.3  2001/08/25 00:54:13  caress
 * Adding beamwidth values to extract functions.
 *
 * Revision 5.2  2001/07/20  00:32:54  caress
 * Release 5.0.beta03
 *
 * Revision 5.1  2001/01/22  07:43:34  caress
 * Version 5.0.beta01
 *
 * Revision 5.0  2000/12/01  22:48:41  caress
 * First cut at Version 5.0.
 *
 * Revision 4.14  2000/10/11  01:03:21  caress
 * Convert to ANSI C
 *
 * Revision 4.13  2000/09/30  06:32:52  caress
 * Snapshot for Dale.
 *
 * Revision 4.12  1998/10/05  18:32:27  caress
 * MB-System version 4.6beta
 *
 * Revision 1.1  1998/10/05  17:46:15  caress
 * Initial revision
 *
 * Revision 4.11  1997/07/25  14:19:53  caress
 * Version 4.5beta2.
 * Much mucking, particularly with Simrad formats.
 *
 * Revision 4.10  1997/04/21  17:02:07  caress
 * MB-System 4.5 Beta Release.
 *
 * Revision 4.9  1996/04/22  13:21:19  caress
 * Now have DTR and MIN/MAX defines in mb_define.h
 *
 * Revision 4.9  1996/04/22  13:21:19  caress
 * Now have DTR and MIN/MAX defines in mb_define.h
 *
 * Revision 4.8  1995/11/27  21:52:49  caress
 * New version of mb_ttimes with ssv and angles_null.
 *
 * Revision 4.7  1995/09/28  18:10:48  caress
 * Various bug fixes working toward release 4.3.
 *
 * Revision 4.6  1995/08/17  14:41:09  caress
 * Revision for release 4.3.
 *
 * Revision 4.5  1995/07/13  19:13:36  caress
 * Intermediate check-in during major bug-fixing flail.
 *
 * Revision 4.4  1995/03/06  19:38:54  caress
 * Changed include strings.h to string.h for POSIX compliance.
 *
 * Revision 4.3  1994/11/09  21:40:34  caress
 * Changed ttimes extraction routines to handle forward beam angles
 * so that alongtrack distances can be calculated.
 *
 * Revision 4.2  1994/10/21  12:20:01  caress
 * Release V4.0
 *
 * Revision 4.1  1994/04/11  23:34:41  caress
 * Added function to extract travel time and beam angle data
 * from multibeam data in an internal data structure.
 *
 * Revision 4.1  1994/04/11  23:34:41  caress
 * Added function to extract travel time and beam angle data
 * from multibeam data in an internal data structure.
 *
 * Revision 4.0  1994/03/06  00:01:56  caress
 * First cut at version 4.0
 *
 * Revision 4.1  1994/03/03  03:39:43  caress
 * Fixed copyright message.
 *
 * Revision 4.0  1994/02/20  04:13:19  caress
 * First cut at new version.  Now passes unused arrays for
 * amplitude and sidescan data.
 *
 * Revision 3.0  1993/05/14  23:05:12  sohara
 * initial version
 *
 */

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

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

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

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

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

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

	/* allocate memory for data structure */
	status = mb_malloc(verbose,sizeof(struct mbsys_sb_struct),
				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       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_sb_deall(int verbose, void *mbio_ptr, void **store_ptr, 
			int *error)
{
	char	*function_name = "mbsys_sb_deall";
	int	status = MB_SUCCESS;

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

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

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

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

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

	/* extract data from structure */
	if (*kind == MB_DATA_DATA)
		{
		/* get beam and pixel numbers */
		*nbath = mb_io_ptr->beams_bath_max;
		*namp = 0;
		*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_sb_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_sb_extract";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_sb_struct *store;
	int	time_j[5];
	int	id;
	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_sb_struct *) store_ptr;

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

	/* extract data from structure */
	if (*kind == MB_DATA_DATA)
		{
		/* get time */
		time_j[0] = store->year;
		time_j[1] = store->day;
		time_j[2] = store->min;
		time_j[3] = store->sec;
		time_j[4] = 0;
		mb_get_itime(verbose,time_j,time_i);
		mb_get_time(verbose,time_i,time_d);

		/* get navigation */
		*navlon = store->lon2u/60. + store->lon2b/600000.;
		*navlat = store->lat2u/60. + store->lat2b/600000. - 90.;

		/* get heading (360 degrees = 65536) */
		*heading = store->sbhdg*0.0054932;

		/* set speed to zero */
		*speed = 0.0;
			
		/* set beamwidths in mb_io structure */
		mb_io_ptr->beamwidth_ltrack = 2.67;
		mb_io_ptr->beamwidth_xtrack = 2.67;

		/* read distance and depth values into storage arrays */
		/* switch order of data as it is read into the global arrays */
		*nbath = mb_io_ptr->beams_bath_max;
		*namp = 0;
		*nss = 0;
		id = *nbath - 1;
		for (i=0;i<*nbath;i++)
			{
			if (store->deph[i] > 0)
			    {
			    beamflag[id-i] = MB_FLAG_NONE;
			    bath[id-i] = store->deph[i];
			    }
			else if (store->deph[i] < 0)
			    {
			    beamflag[id-i] 
				= MB_FLAG_MANUAL + MB_FLAG_FLAG;
			    bath[id-i] = -store->deph[i];
			    }
			else
			    {
			    beamflag[id-i] = MB_FLAG_NULL;
			    bath[id-i] = store->deph[i];
			    }
			bathacrosstrack[id-i] = store->dist[i];
			bathalongtrack[id-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:%2d  flag:%3d  bath:%f  bathdist:%f\n",
				i,beamflag[i],bath[i],bathacrosstrack[i]);
			}

		/* done translating values */

		}

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

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

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

	/* print input debug statements */
	if (verbose >= 2)
		{
		fprintf(stderr,"\ndbg2  MBIO function <%s> called\n",function_name);
		fprintf(stderr,"dbg2  Revision id: %s\n",rcs_id);
		fprintf(stderr,"dbg2  Input arguments:\n");
		fprintf(stderr,"dbg2       verbose:    %d\n",verbose);
		fprintf(stderr,"dbg2       mbio_ptr:   %lu\n",(size_t)mbio_ptr);
		fprintf(stderr,"dbg2       store_ptr:  %lu\n",(size_t)store_ptr);
		fprintf(stderr,"dbg2       kind:       %d\n",kind);
		}
	if (verbose >= 2 && (kind == MB_DATA_DATA || kind == MB_DATA_NAV))
		{
		fprintf(stderr,"dbg2       time_i[0]:  %d\n",time_i[0]);
		fprintf(stderr,"dbg2       time_i[1]:  %d\n",time_i[1]);
		fprintf(stderr,"dbg2       time_i[2]:  %d\n",time_i[2]);
		fprintf(stderr,"dbg2       time_i[3]:  %d\n",time_i[3]);
		fprintf(stderr,"dbg2       time_i[4]:  %d\n",time_i[4]);
		fprintf(stderr,"dbg2       time_i[5]:  %d\n",time_i[5]);
		fprintf(stderr,"dbg2       time_i[6]:  %d\n",time_i[6]);
		fprintf(stderr,"dbg2       time_d:     %f\n",time_d);
		fprintf(stderr,"dbg2       navlon:     %f\n",navlon);
		fprintf(stderr,"dbg2       navlat:     %f\n",navlat);
		fprintf(stderr,"dbg2       speed:      %f\n",speed);
		fprintf(stderr,"dbg2       heading:    %f\n",heading);
		}
	if (verbose >= 2 && kind == MB_DATA_DATA)
		{
		fprintf(stderr,"dbg2       nbath:      %d\n",nbath);
		if (verbose >= 3) 
		 for (i=0;i<nbath;i++)
		  fprintf(stderr,"dbg3       flag[%d]: %d  bath[%d]: %f  bathdist[%d]: %f\n",
			i,beamflag[i],i,bath[i],i,bathacrosstrack[i]);
		fprintf(stderr,"dbg2       namp:       %d\n",namp);
		if (verbose >= 3) 
		 for (i=0;i<namp;i++)
		  fprintf(stderr,"dbg3        amp[%d]: %f\n",
			i,amp[i]);
		fprintf(stderr,"dbg2        nss:       %d\n",nss);
		if (verbose >= 3) 
		 for (i=0;i<nss;i++)
		  fprintf(stderr,"dbg3        ss[%d]: %f    ssdist[%d]: %f\n",
			i,ss[i],i,ssacrosstrack[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_sb_struct *) store_ptr;

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

	/* insert data in structure */
	if (store->kind == MB_DATA_DATA)
		{
		/* get time */
		mb_get_jtime(verbose,time_i,time_j);
		store->year = time_j[0];
		store->day = time_j[1];
		store->min = time_j[2];
		store->sec = time_j[3];

		/* get navigation */
		if (navlon < 0.0) navlon = navlon + 360.0;
		store->lon2u = (short int) 60.0*navlon;
		store->lon2b = (short int) (600000.0*(navlon 
			- store->lon2u/60.0));
		navlat = navlat + 90.0;
		store->lat2u = (short int) 60.0*navlat;
		store->lat2b = (short int) (600000.0*(navlat 
			- store->lat2u/60.0));

		/* get heading (360 degrees = 65536) */
		store->sbhdg = 182.044444*heading;

		/* put distance and depth values 
			into sbsiocen data structure */
		/* switch order of data as it is read 
			into the output arrays */
		id = nbath - 1;
		for (i=0;i<nbath;i++)
			{
			if (mb_beam_check_flag(beamflag[id-i]))
			    store->deph[i] = -bath[id-i];
			else
			    store->deph[i] = bath[id-i];
			store->dist[i] = bathacrosstrack[id-i];
			}
		}

	/* insert comment in structure */
	else if (store->kind == MB_DATA_COMMENT)
		{
		strcpy(store->comment,comment);
		}
		
	if (verbose >= 2 && (kind == MB_DATA_DATA || kind == MB_DATA_NAV))
		{
		fprintf(stderr,"dbg2   Data inserted into storage structure:\n");
		fprintf(stderr,"dbg2       kind:       %d\n",store->kind);
		fprintf(stderr,"dbg2       lon2u:      %d\n",store->lon2u);
		fprintf(stderr,"dbg2       lon2b:      %d\n",store->lon2b);
		fprintf(stderr,"dbg2       lat2u:      %d\n",store->lat2u);
		fprintf(stderr,"dbg2       lat2b:      %d\n",store->lat2b);
		fprintf(stderr,"dbg2       year:       %d\n",store->year);
		fprintf(stderr,"dbg2       day:        %d\n",store->day);
		fprintf(stderr,"dbg2       min:        %d\n",store->min);
		fprintf(stderr,"dbg2       sec:        %d\n",store->sec);
		}
	if (verbose >= 2 && kind == MB_DATA_DATA)
		{
		for (i=0;i<MBSYS_SB_BEAMS;i++)
		  fprintf(stderr,"dbg3       dist[%d]: %d  deph[%d]: %d\n",
			i,store->dist[i],i,store->deph[i]);
		fprintf(stderr,"dbg2       sbtim:        %d\n",store->sbtim);
		fprintf(stderr,"dbg2       sbhdg:        %d\n",store->sbhdg);
		fprintf(stderr,"dbg2       axis:         %d\n",store->axis);
		fprintf(stderr,"dbg2       major:        %d\n",store->major);
		fprintf(stderr,"dbg2       minor:        %d\n",store->minor);
		}
	if (verbose >= 2 && kind == MB_DATA_COMMENT)
		{
		fprintf(stderr,"dbg2   Data inserted into storage structure:\n");
		fprintf(stderr,"dbg2       comment:     \ndbg2       %s\n",
			store->comment);
		}

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

	/* return status */
	return(status);
}
/*--------------------------------------------------------------------*/
int mbsys_sb_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_sb_ttimes";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_sb_struct *store;
	int	i;

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

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

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

		/* get travel times, angles */
		for (i=0;i<*nbeams;i++)
			{
			ttimes[i] = 0.0;
			angles[i] = 0.0;
			angles_forward[i] = 0.0;
			angles_null[i] = 0.0;
			heave[i] = 0.0;
			alongtrack_offset[i] = 0.0;
			}

		/* get ssv */
		*ssv = 0.0;
		*draft = 0.0;

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

		/* done translating values */

		}

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

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

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

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

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

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

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

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

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

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

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

		/* done translating values */

		}

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

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

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

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

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

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

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

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

	/* extract data from structure */
	if (*kind == MB_DATA_DATA)
		{
		bath_best = 0.0;
		if (store->deph[mb_io_ptr->beams_bath_max/2] > 0.0)
		    bath_best = store->deph[mb_io_ptr->beams_bath_max/2];
		else
		    {
		    xtrack_min = 99999999.9;
		    for (i=0;i<mb_io_ptr->beams_bath_max;i++)
			{
			if (store->deph[i] > 0.0
			    && fabs(store->dist[i]) < xtrack_min)
			    {
			    xtrack_min = fabs(store->dist[i]);
			    bath_best = store->deph[i];
			    }
			}		
		    }
		if (bath_best <= 0.0)
		    {
		    xtrack_min = 99999999.9;
		    for (i=0;i<mb_io_ptr->beams_bath_max;i++)
			{
			if (store->deph[i] < 0.0
			    && fabs(store->dist[i]) < xtrack_min)
			    {
			    xtrack_min = fabs(store->dist[i]);
			    bath_best = -store->deph[i];
			    }
			}		
		    }
		*transducer_depth = 0.0;
		*altitude = bath_best - *transducer_depth;

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

		/* done translating values */

		}

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

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

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

	/* return status */
	return(status);
}
/*--------------------------------------------------------------------*/
int mbsys_sb_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_sb_extract_nav";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_sb_struct *store;
	int	time_j[5];

	/* 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_sb_struct *) store_ptr;

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

	/* extract data from structure */
	if (*kind == MB_DATA_DATA)
		{
		/* get time */
		time_j[0] = store->year;
		time_j[1] = store->day;
		time_j[2] = store->min;
		time_j[3] = store->sec;
		time_j[4] = 0;
		mb_get_itime(verbose,time_j,time_i);
		mb_get_time(verbose,time_i,time_d);

		/* get navigation */
		*navlon = store->lon2u/60. + store->lon2b/600000.;
		*navlat = store->lat2u/60. + store->lat2b/600000. - 90.;

		/* get heading (360 degrees = 65536) */
		*heading = store->sbhdg*0.0054932;

		/* get speed */
		*speed = 0.0;

		/* get draft */
		*draft = 0.0;

		/* get roll pitch and heave */
		*roll = 0.0;
		*pitch = 0.0;
		*heave = 0.0;

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

		/* done translating values */

		}

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

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

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

	/* return status */
	return(status);
}
/*--------------------------------------------------------------------*/
int mbsys_sb_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_sb_insert_nav";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_sb_struct *store;
	int	time_j[5];

	/* 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_sb_struct *) store_ptr;

	/* insert data in structure */
	if (store->kind == MB_DATA_DATA)
		{
		/* get time */
		mb_get_jtime(verbose,time_i,time_j);
		store->year = time_j[0];
		store->day = time_j[1];
		store->min = time_j[2];
		store->sec = time_j[3];

		/* get navigation */
		if (navlon < 0.0) navlon = navlon + 360.0;
		store->lon2u = (short int) 60.0*navlon;
		store->lon2b = (short int) (600000.0*(navlon 
			- store->lon2u/60.0));
		navlat = navlat + 90.0;
		store->lat2u = (short int) 60.0*navlat;
		store->lat2b = (short int) (600000.0*(navlat 
			- store->lat2u/60.0));

		/* get heading (360 degrees = 65536) */
		store->sbhdg = 182.044444*heading;

		/* 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_sb_copy(int verbose, void *mbio_ptr, 
			void *store_ptr, void *copy_ptr,
			int *error)
{
	char	*function_name = "mbsys_sb_copy";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_sb_struct *store;
	struct mbsys_sb_struct *copy;

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

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

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

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

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

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