CCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCC
c
c "bin3.f" reads binary ADCP data in single-byte pieces on a Mac PowerBook-G4
c		for 2003 OS-75 kHz and BB-153 kHz data collected aboard the USCGC Healy.
c
c		The binary file size is nn bytes and must be either set manually
c			or via control file that runs adcp.csh that may have
c			created this code.
c
c May-30-2003 Andreas Muenchow, University of Delaware
c July-28-2003 modified at sea (amue)
c Sept.-12-2003 accomodating BB and NB pulses for each ping
CCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCC
	parameter (nn=10486428)
	integer*1 a(nn)
	integer*1 l,l1,l2,l3,l4
	integer*4 i4,i3,ib
	integer*4 itime,imsec(4),isec(4),imin(4),ihrs(4),ntot
	integer nbytes,bytes_e,bytes_h,xlen,ppens,ibt_on,iping2_on
	integer zbin,zblk,vel(4),cor(4),int(4),pgd(4),sta1(4)
	integer zbin2,zblk2,vel2(4),cor2(4),int2(4),pgd2(4)
	integer bvel(4),bz(4),bcor(4),bint(4),bpgd(4),bb_switch
c
	real*8 iavg(50,4)
c
	double precision bam16,bam32,xlat,xlon
	character*60 input,output
	character*7 ic1,ic2,ic3
c
	bam32 = 180./2**31
	bam16 = 180./2**15
c
	input = 'OS75050_000001.ENS'
	open(unit=99,file='adcp.log')
c
c adcp-short contains the TRUE configurations independent of any parameter settings
c
	open(unit=79,file='adcp-short')
c	write(6,*) 'ADCP binary to ASCII ',input
	write(99,*) 'Processing ',input
c
c Ensemble time
c
	open (unit=91,file='line1')
c
c deployment settings (configuration)
c
	open (unit=92,file='line2')
c
c ADCP health (empty)
c
	open (unit=93,file='line3')
c
c Pitch/Roll/Heading
c
	open (unit=94,file='line4')
c
c Bottom tracking
c
	open (unit=95,file='line5')
	open (unit=96,file='line6')
c
c Depth cell data
c
	open (unit=97,file='l1')
	open (unit=98,file='l2')
	open (unit=89,file='l3')
	open (unit=88,file='l4')
c
c Navigation data (.ENS files)
c
	open (unit=16,file='l-nav')
c
c	open (unit=26,file=output)
	open (unit=10, file=input, form='unformatted', access='direct', recl=nn)
	read(10,rec=1)a
	close (10)
c	write(6,*)'Done reading file into memory'
c
c Header Data: a(6) is # of data fields
c
	l = a(6)
	nfields = mod(l+256,256)
	bytes_h = 6+nfields*2
c
c Header Data: # of bytes in ensemble
c
	l1 = a(3)
	l2 = a(4)
		bytes_e = 2+mod(l1+256,256)+256*mod(l2+256,256)
		nensemble = nn/bytes_e-1
c	nensemble = 1
c	write(6,*)'&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&'
c	write(6,*)'bytes in header:   ',bytes_h
c	write(6,*)'bytes in ensemble: ',bytes_e
c	write(6,*)'number of ensemble:',nensemble
c	write(6,*)'number of fields:',nfields
c	write(6,*)'&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&'
c
c Header Data: starting byte position for each data field
c
	ibt_1 = 0
	ista_2 = 0
	do 21 i=1,nfields
		l1 = a(2*i+5)
		l2 = a(2*i+6)
				ib = mod(l1+256,256)+256*mod(l2+256,256)
c
c identifyer for each block:
c	Set-up:		 	0:000 fixed leader 
c				0:128 variable leader
c	Profile Data:		0:001 velocity (0100)
c				0:002 correlation
c				0:003 intensity
c				0:004 Pg
c				0:005 Status
c				0:006 Bottom Track
c
		l1 = a(ib+1)
		l2 = a(ib+2)
			idd = mod(l1+256,256)+256*mod(l2+256,256)
			if (idd.eq.256) then
				write(99,*)i,' field number has identifyer:',idd,' velocity-1',ib
				ivel_1 = ib
			else if (idd.eq.2*256) then
				write(99,*)i,' field number has identifyer:',idd,' correlation-1',ib
				 icor_1 = ib
			else if (idd.eq.3*256) then
				write(99,*)i,' field number has identifyer:',idd,' intensity-1',ib
				iint_1 = ib
			else if (idd.eq.4*256) then
				write(99,*)i,' field number has identifyer:',idd,' p-good-1',ib
				ipgd_1 = ib
			else if (idd.eq.5*256) then
				write(99,*)i,' field number has identifyer:',idd,' status-1',ib
				ista_1 = ib
			else if (idd.eq.6*256) then
				write(99,*)i,' field number has identifyer:',idd,' bottom-track-1',ib
				ibt_1 =  ib
			else if (idd.eq.128) then
				write(99,*)i,' field number has identifyer:',idd,' variable leader-1',ib
				ivlead_1 =  ib
c second ping start
			else if (idd.eq.256+1) then
				write(99,*)i,' field number has identifyer:',idd,' velocity-2',ib
				ivel_2 = ib
			else if (idd.eq.2*256+1) then
				write(99,*)i,' field number has identifyer:',idd,' correlation-2',ib
				 icor_2 = ib
			else if (idd.eq.3*256+1) then
				write(99,*)i,' field number has identifyer:',idd,' intensity-2',ib
				iint_2 = ib
			else if (idd.eq.4*256+1) then
				write(99,*)i,' field number has identifyer:',idd,' p-good-2',ib
				ipgd_2 = ib
			else if (idd.eq.5*256+1) then
				write(99,*)i,' field number has identifyer:',idd,' status-2',ib
				ista_2 = ib
			else if (idd.eq.6*256+1) then
				write(99,*)i,' field number has identifyer:',idd,' bottom-track-2',ib
				ibt_2 =  ib
			else if (idd.eq.128+1) then
				write(99,*)i,' field number has identifyer:',idd,' variable leader-2',ib
				ivlead_2 =  ib
			else if (idd.eq.1) then
				write(99,*)i,' field number has identifyer:',idd,' fixed leader-2',ib
				iflead_2 = ib
c second ping end
			else if (idd.eq.0) then
				write(99,*)i,' field number has identifyer:',idd,' fixed leader-1',ib
				iflead_1 = ib
			else if (idd.eq.3*4096) then
				write(99,*)i,' field number has identifyer:',idd,' fixed attitude-1',ib
				ifat_1 =  ib
			else if (idd.ge.12352 .and. idd.le.12540) then
				write(99,*)i,' field number has identifyer:',idd,' variable attitude-1',ib
				ivat_1 =  ib
			else if (idd.eq.2*4096) then
				write(99,*)i,' field number has identifyer:',idd,' navigation-1',ib
				inav_1 = ib
			else
c				write(6,*)'Unknown field identifyer, modify code', idd
				stop
			end if 
21	continue
c
c
c
	bb_switch = 1
	if (bb_switch.eq.1 .and. ivel_2.gt.0) ivel_1 = ivel_2
	if (bb_switch.eq.1 .and. ipgd_2.gt.0) ipgd_1 = ipgd_2
	if (bb_switch.eq.1 .and. iint_2.gt.0) iint_1 = iint_2
	if (bb_switch.eq.1 .and. icor_2.gt.0) icor_1 = icor_2
	if (bb_switch.eq.1 .and. iflead_2.gt.0) iflead_1 = iflead_2
	if (bb_switch.eq.1 .and. ivlead_2.gt.0) ivlead_1 = ivlead_2
c
c
c
c	write(6,*)'&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&'
c
c Fixed Leader Data: # of depth bins
c
	l = a(iflead_1+3)
				ifware1 = mod(l+256,256)
	l = a(iflead_1+4)
				ifware2 = mod(l+256,256)
	l = a(iflead_1+5)
				icfg = mod(l+256,256)
				ic1 = 'down'
				iori = 1
				ic2 = 'concave'
				ipat = 1
				if (icfg.ge.128) then
					ic1 = 'up'
					iori = 0
					icfg = icfg-128
				end if
				if (icfg .ge. 64) then
					icfg = icfg-64
				end if
				if (icfg . ge. 32) then
					icfg = icfg-32
				end if
				if (icfg .ge. 16) then
					icfg = icfg-16
				end if
				if (icfg .ge. 8) then
					ipat = 0
					ic2 = 'convex'
					icfg = icfg-8
				end if
				if (icfg.eq.0) ifreq = 75
				if (icfg.eq.1) ifreq = 153
				if (icfg.eq.2) ifreq = 307
				if (icfg.eq.3) ifreq = 614
				if (icfg.eq.4) ifreq = 1224
				if (icfg.eq.5) ifreq = 2449
	 l = a(iflead_1+6)
				icfg = mod(l+256,256)
				if (icfg .ge. 128) then
					icfg = icfg-128
				end if
				if (icfg .ge. 64) then
					icfg = icfg-64
				end if
				if (icfg .ge. 32) then
					icfg = icfg-32
				end if
				if (icfg .ge. 16) then
					icfg = icfg-16
				end if
				if (icfg .ge. 8) then
					icfg = icfg-8
				end if
				if (icfg .ge. 4) then
					icfg = icfg-4
				end if
				if (icfg.eq.0) iang = 15
				if (icfg.eq.1) iang = 20
				if (icfg.eq.2) iang = 30
				if (icfg.eq.3) iang = 99
	 l = a(iflead_1+10)
				nbin = mod(l+256,256)
	l1 = a(iflead_1+11)
	l2 = a(iflead_1+12)
				ppens = mod(l1+256,256)+256*mod(l2+256,256)
	l1 = a(iflead_1+13)
	l2 = a(iflead_1+14)
				zbin = mod(l1+256,256)+256*mod(l2+256,256)
	l1 = a(iflead_1+15)
	l2 = a(iflead_1+16)
				zblk = mod(l1+256,256)+256*mod(l2+256,256)
	l = a(iflead_1+26)
				cosys = mod(l+256,256)
				icfg = cosys
				ic3 = 'beam'
				if (icfg .ge. 128) then
					icfg = icfg-128
				end if
				if (icfg .ge. 64) then
					icfg = icfg-64
				end if
				if (icfg .ge. 32) then
					icfg = icfg-32
				end if
				if (icfg .ge. 24) then
					icfg = icfg-16
					ic3 = 'earth'
				else if (icfg .ge. 16) then
					icfg = icfg-16
					ic3 = 'ship'
				end if
				if (icfg .ge. 8) then
					icfg = icfg-8
					ic3 = 'inst.'
				end if
	l1 = a(iflead_1+33)
	l2 = a(iflead_1+34)
				zdis = mod(l1+256,256)+256*mod(l2+256,256)
	l1 = a(iflead_1+35)
	l2 = a(iflead_1+36)
				xlen = mod(l1+256,256)+256*mod(l2+256,256)
c
	write(99,*)'Firmware              ',ifware1,'.',ifware2
	write(99,*)'System frequency       ',ifreq
	write(99,*)'Co-ordinate system     ',ic3
	write(99,*)'Beam pattern           ',ic2
	Write(99,*)'Beam orientation       ',ic1
	write(99,*)'Beam angle             ',iang
	write(99,*)'&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&'
	write(99,*)'Distance to center bin ',zdis
	write(99,*)'&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&'
	write(99,*)'WN-command (# of bins )',nbin
	write(99,*)'WP-command (pings/ens )',ppens
	write(99,*)'WS-command (bin length)',zbin
	write(99,*)'WT-command (TXD length)',xlen
	write(99,*)'WF-command (blanking  )',zblk
	write(99,*)'&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&'
c	write(6,*)'Firmware               ',ifware1,'.',ifware2
c	write(6,*)'System frequency       ',ifreq
c	write(6,*)'Co-ordinate system     ',ic3
c	write(6,*)'Beam pattern           ',ic2
c	Write(6,*)'Beam orientation       ',ic1
c	write(6,*)'Beam angle             ',iang
c	write(6,*)'&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&'
c	write(6,*)'Distance to center bin-1 ',zdis
c	write(6,*)'&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&'
c	write(6,*)'WN-command (# of bins )',nbin
c	write(6,*)'WP-command (pings/ens )',ppens
c	write(6,*)'WS-command (bin length)',zbin
c	write(6,*)'WT-command (TXD length)',xlen
c	write(6,*)'WF-command (blanking  )',zblk
c	write(6,*)'&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&'
	ibt_on = 0
	iping2_on = 0
	if (ibt_1 .gt. 1) then
		ibt_on = 1
	end if
	if (ivel_2 .gt. 1) then
		iping2_on = 1
	end if
	write(79,179) input,nensemble,nbin,zbin/100,zblk/100,zdis/100,ibt_on,iping2_on
179	format(a60,i7,i4,i3,i3,f6.2,i2,i2)
	idum = 2
c
c Variable Profile Data: 
c
	do 22 k=1,nensemble
c
c Variable Leader Data:
c
		idate = ivlead_1+(k-1)*bytes_e
c
c Ensemble Number:
c
		l1 = a(idate+3)
		l2 = a(idate+4)
				iens = mod(l1+256,256)+256*mod(l2+256,256)
c
c Ensemble Time:
c
		l = a(idate+5)
				iyea = mod(l+256,256)
		l = a(idate+6)
				imon = mod(l+256,256)
		l = a(idate+7)
				iday = mod(l+256,256)
		l = a(idate+8)
				ihrs(4) = mod(l+256,256)
		l = a(idate+9)
				imin(4) = mod(l+256,256)
		l = a(idate+10)
				isec(4) = mod(l+256,256)
		write(91,191)iens,imon,iday,ihrs(4),imin(4),isec(4)
191		format(i10,6i3)
	id2 = 2
	idum = 0
	write(92,192)iens,idum,idum,idum,ppens,nbin,zbin,xlen,zblk,idum,idum,idum,id2,idum,iori,ipat,ifreq
192	format(i10,3i3,i5,i3,2i5,i7,4i3,2i3,2i5)
c
c Attitude Sensors:
c
		l1 = a(idate+19)
		l2 = a(idate+20)
				ihdg = mod(l1+256,256)+256*mod(l2+256,256)
		l1 = a(idate+21)
		l2 = a(idate+22)
				ipit = mod(l1+256,256)+256*mod(l2+256,256)
		l1 = a(idate+23)
		l2 = a(idate+24)
				irol = mod(l1+256,256)+256*mod(l2+256,256)
		l1 = a(idate+27)
		l2 = a(idate+28)
				item = mod(l1+256,256)+256*mod(l2+256,256)
		l = a(idate+32)
				isdh = mod(l+256,256)
		l = a(idate+33)
				isdp = mod(l+256,256)
		l = a(idate+34)
				isdr = mod(l+256,256)
c	write(26,101)iens,iyea,imon,iday,ihrs(4),imin(4),isec(4),ihdg,ipit,irol,item,isdh,isdp,isdr
	write(94,194)iens,ipit,irol,ihdg,isdp,isdr,isdh,item
194	format(i10,7i8)
22	continue
101		format(i6,i4,5i3,7i6)
c
	if (ifat_1.gt.0) then
c		write(6,*) 'processing fixed attitude data'
		write(99,*)'processing fixed attitude data'
		l1 = a(ifat_1+1)
		l2 = a(ifat_1+2)
			id1 = mod(l1+256,256)
			id2 = mod(l2+256,256)
	end if
c
c Velocity Data
c
	if (ivel_1.gt.0) then
c		write(6,*)'processing velocity data'
		write(99,*)'processing velocity data'
	do 32 k=1,nensemble
		ivel0 = ivel_1+(k-1)*bytes_e-8
		do 33 ibin=1,nbin
			ivel1 = ivel0+ibin*8
			do 34 j=1,4
				ivel = ivel1+j*2
				l1 = a(ivel+1)
				l2 = a(ivel+2)
c
c use sign of most significant bit
c
						vel(j) = mod(l1+256,256)+256*l2
					if(vel(j).eq.-32768) vel(j) = 99999
34			continue
	write(97,197)k,ibin,(vel(j),j=1,4)
197	format(i10,i4,4i7)
33		continue
32	continue
	end if
c
c Correlation
c
	if (icor_1.gt.0) then
c		write(6,*)'processing correlation data'
	do 42 k=1,nensemble
		icor0 = icor_1+(k-1)*bytes_e-4+1
		do 43 ibin=1,nbin
			icor1 = icor0+ibin*4
			do 44 j=1,4
				icor = icor1+j
				l = a(icor+1)
						cor(j) = mod(l+256,256)

44			continue
	write(98,197)k,ibin,(cor(j),j=1,4)
43		continue
42	continue
	end if
c
c Intensity
c
	if (iint_1.gt.0) then
c		write(6,*)'processing echo intensity data'
		write(99,*)'processing echo intensity data'
	do 52 k=1,nensemble
		iint0 = iint_1+(k-1)*bytes_e-4+1
		do 53 ibin=1,nbin
			iint1 = iint0+ibin*4
			do 54 j=1,4
				iint = iint1+j
				l = a(iint+1)
						int(j) = mod(l+256,256)
54			continue
	write(89,197)k,ibin,(int(j),j=1,4)
53		continue
52	continue
	end if
c
c Pgood
c
	if (ipgd_1.gt.0) then
c		write(6,*)'processing Pgood'
		write(99,*)'processing Pgood'
	do 62 k=1,nensemble
		ipgd0 = ipgd_1+(k-1)*bytes_e-4+1
 		do 63 ibin=1,nbin
			ipgd1 = ipgd0+ibin*4
			do 64 j=1,4
				ipgd = ipgd1+j
				l = a(ipgd+1)
						pgd(j) = mod(l+256,256)
64			continue
	write(88,197)k,ibin,(pgd(j),j=1,4)
63		continue
62	continue
c	write(26,102)iens,ibin,(vel(j),j=1,4),(cor(j),j=1,4),(int(j),j=1,4),(pgd(j),j=1,4)
102	format(i6,i4,4i8,12i4)
	end if
c
c Bottom Track:
c
	if (ibt_1.gt.0) then
cc		write(6,*)'processing bottom track data'
		write(99,*)'processing bottom track data'
	do 72 k=1,nensemble
		ibt0 = ibt_1+(k-1)*bytes_e
		l1 = a(ibt0+3)
		l2 = a(ibt0+4)
						ibtpens = mod(l1+256,256)+256*mod(l2+256,256)
		do 74 j=1,4
			ibz1   = ibt0+15+2*j
			ibz2   = ibt0+77+j
			ibvel  = ibt0+23+2*j
			ibcor  = ibt0+32+j
			ibpgd   = ibt0+40+j
			l1 = a(ibz1)
			l2 = a(ibz1+1)
			l3 = a(ibz2)
						bz(j) = mod(l1+256,256)+256*(mod(l2+256,256)+256*mod(l3+256,256))
			l1 = a(ibvel)
			l2 = a(ibvel+1)
						bvel(j) = mod(l1+256,256)+256*l2
			l = a(ibpgd)
						bpgd(j) = mod(l+256,256)
						if (bpgd(j).lt.100) then
							 bz(j) = -1
							 bvel(j) = 99999
						end if
			l = a(ibcor)
						bcor(j) = mod(l+256,256)
74		continue
	write(95,195)k,(bcor(j),j=1,4),(bpgd(j),j=1,4)
	write(96,195)k,(bvel(j),j=1,4),(bz(j),j=1,4)
195	format(i10,8i8)
72	continue
	else
c
c write dummy BT data for osadcp.f
c
		bz(1) = -1
		bz(2) = -1
		bz(3) = -1
		bz(4) = -1
		do 73 k=1,nensemble
			write(95,195)k,(bcor(j),j=1,4),(bpgd(j),j=1,4)
			write(96,195)k,(bvel(j),j=1,4),(bz(j),j=1,4)
73		continue
	end if
	if (ivat_1.gt.0) then
c		write(6,*)'processing variable Attitude data'
		write(99,*)'processing variable Attitude data'
			l1 = a(ivat_1+1)
			l2 = a(ivat_1+2)
					id1 = mod(l1+256,256)+256*mod(l2+256,256)
c	write(6,*)'vat',id1
		do 82 k=1,nensemble
			ivat0 = ivat_1+(k-1)*bytes_e
			kk = 0
			do 83 j=3,97,12
				kk = kk+1
				l1 = a(ivat0+j)
				l2 = a(ivat0+j+1)
					ihdg1 = mod(l1+256,256)+256*mod(l2+256,256)
				l1 = a(ivat0+j+2)
				l2 = a(ivat0+j+3)
					ipit1 = mod(l1+256,256)+256*mod(l2+256,256)
				l1 = a(ivat0+j+4)
				l2 = a(ivat0+j+5)
					irol1 = mod(l1+256,256)+256*mod(l2+256,256)
c				write(36,*)k,kk,ihdg1,ipit1,irol1
83			continue
82		continue
	end if
c
c status
c
	if (ista_1.gt.0) then
c		write(6,*)'processing Status data'
		write(99,*)'processing Status data'
c
c	do 93 k=1,nensemble
c		ista0 = ista_1+(k-1)*bytes_e-4+1
c 		do 65 ibin=1,nbin
c			ista1 = ista0+ibin*4
c			do 66 j=1,4
c				ista = ista1+j
c				l = a(ista+1)
c						sta1(j) = mod(l+256,256)
66			continue
c	write(6,*)k,ibin,(sta1(j),j=1,4)
65		continue
93	continue
	end if
c
c Navigation
c
	if (inav_1.gt.0) then
c		write(6,*)'processing Navigation data'
		write(99,*)'processing Navigation data'
		i2 = 256
		i3 = i2*256
		i4 = i3*256
	do 92 k=1,nensemble
		inav0 = inav_1+(k-1)*bytes_e
		l1 = a(inav0+51)
		l2 = a(inav0+52)
		l3 = a(inav0+53)
		l4 = a(inav0+54)
			iens = mod(l1+256,256)+mod(l2+256,256)*i2
			iens = iens+mod(l3+256,256)*i3+mod(l4+256,256)*i4
c
		l = a(inav0+3)
				iday = mod(l+256,256)
		l = a(inav0+4)
				imon = mod(l+256,256)
c UTC previous ping:
		l1 = a(inav0+7)
		l2 = a(inav0+8)
		l3 = a(inav0+9)
		l4 = a(inav0+10)
c UTC last ping:
c		l1 = a(inav0+23)
c		l2 = a(inav0+24)
c		l3 = a(inav0+25)
c		l4 = a(inav0+26)
			itime = mod(l1+256,256)+mod(l2+256,256)*i2
			itime = itime+mod(l3+256,256)*i3+mod(l4+256,256)*i4
			imsec(1) = mod(itime,10000)
			itime = (itime-imsec(1))*0.0001
			isec(1) = mod(itime,60)
			itime = (itime-isec(1))/60
			imin(1) = mod(itime,60)
			itime = (itime-imin(1))/60
			ihrs(1) = mod(itime,24)
c PC offset
		l1 = a(inav0+11)
		l2 = a(inav0+12)
		l3 = a(inav0+13)
		l4 = a(inav0+14)
			itime = mod(l1+256,256)+mod(l2+256,256)*i2
			itime = itime+mod(l3+256,256)*i3+mod(l4+256,256)*i4
			imsec(2) = mod(itime,1000)
			itime = (itime-imsec(2))*0.001
			isec(2) = mod(itime,60)
			itime = (itime-isec(2))/60
			imin(2) = mod(itime,60)
			itime = (itime-imin(2))/60
			ihrs(2) = mod(itime,24)
c lat previous ping
c		l1 = a(inav0+15)
c		l2 = a(inav0+16)
c		l3 = a(inav0+17)
c		l4 = a(inav0+18)
c lat present ping
		l1 = a(inav0+27)
		l2 = a(inav0+28)
		l3 = a(inav0+29)
		l4 = a(inav0+30)
			ilat = mod(l1+256,256)+mod(l2+256,256)*i2
			ilat = ilat+mod(l3+256,256)*i3+mod(l4+256,256)*i4
			xlat = ilat*bam32
c lat previous ping
c		l1 = a(inav0+19)
c		l2 = a(inav0+20)
c		l3 = a(inav0+21)
c		l4 = a(inav0+22)
c lon present ping
		l1 = a(inav0+31)
		l2 = a(inav0+32)
		l3 = a(inav0+33)
		l4 = a(inav0+34)
			ilon = mod(l1+256,256)+mod(l2+256,256)*i2
			ilon = ilon+mod(l3+256,256)*i3+mod(l4+256,256)*i4
			xlon = ilon*bam32
c Ship Speed
		l1 = a(inav0+41)
		l2 = a(inav0+42)
			ispd = mod(l1+256,256)+mod(l2+256,256)*256
c Ship Dir
		l1 = a(inav0+43)
		l2 = a(inav0+44)
			idir = mod(l1+256,256)+mod(l2+256,256)*256
			dir = idir*bam16
c ADCP time
		l1 = a(inav0+59)
		l2 = a(inav0+60)
		l3 = a(inav0+61)
		l4 = a(inav0+62)
			itime = mod(l1+256,256)+mod(l2+256,256)*i2
			itime = itime+mod(l3+256,256)*i3+mod(l4+256,256)*i4
			imsec(3) = mod(itime,100)
			itime = (itime-imsec(3))*0.01
			isec(3) = mod(itime,60)
			itime = (itime-isec(3))/60
			imin(3) = mod(itime,60)
			itime = (itime-imin(3))/60
			ihrs(3) = mod(itime,24)
c Pitch
		l1 = a(inav0+63)
		l2 = a(inav0+64)
			ipit = mod(l1+256,256)+mod(l2+256,256)*256
			pit  = ipit*bam16
c Roll
		l1 = a(inav0+65)
		l2 = a(inav0+66)
			irol = mod(l1+256,256)+mod(l2+256,256)*256
			rol  = irol*bam16
c Heading
		l1 = a(inav0+67)
		l2 = a(inav0+68)
			ihdg = mod(l1+256,256)+mod(l2+256,256)*256
			hdg  = ihdg*bam16
	write(16,182)iens,imon,iday,ihrs(3),imin(3),isec(3),imsec(3),hdg,-xlon,-xlat,ispd,dir
182		format(i9,6i3,f8.2,2f14.8,i6,f8.2)
c182		format(i9,3(3i3,i5),f8.2,2f14.8,i6,f8.2)
92	continue
	end if
	stop
	end