function procsonar_07(metaFile, outFileRoot)
% procsonar_07.m  A function to process Imagenex fan and pencil sonar data 
%
% usage:
%
%       where:  metaFile is the name of your text file containing metadata,
%                        surrounded by single quotes WITHOUT the file
%                        extension .txt. An example metadata file,
%                        sonarmetaexample.txt, is provided in this package of
%                        mfiles.
%                        ** currently assumes fan and pencil are processed 
%                           as separate steps
%               outFileRoot is the name given to the output netCDF file,
%                           surrounded by single quotes WITHOUT the file
%                           extension .cdf.  The files will be named:
%                           'outFileRoot'_raw.cdf and 'outFileRoot _proc.cdf)
%
% Written by Charlene Sullivan, E.Montgomery
% USGS Woods Hole Field Center
% csullivan@usgs.gov
%
% Dependencies:
%   USGS NetCDF Toolbox (C. Denham)
%   readfan.m, readpencil.m  (M. Martini)
%   plotfan07.m, plotpen07.m (E. Montgomery)
%   (6/07 the above files replaced showfan.m and showpen.m)
%   defineDonarNcFile.m  (E. Montgomery)
%   
% 6/21/07 netcdf output for both fan and pencil, _raw & _proc works 
% 6/13/07 (readpencil & plotpencil07) to replace showpencil
% 6/1/07 creation of raw and processed netcdf files is implemented, but not perfect yet
% 5/31/07  (readfan & plotfan07) replace showfan07.  (showfan07 is still
%  there but commented out for validation purposes
% 5/23/07  modified to fun readfan- showfan07 will have to be modified to 
%    just plot, not read and plot
% 5/18/07 split out defineSonarNcFile so it would be easier to tweak
%  showpencilMM returns 3 arguments, so changed the call
% 5/7/07 modified to read showpencilMM
% etm 04/07
% This program just processes the fan and pencil data to images
% procsonar_apr07 must be run with ('penxxxmeta') to create the
% processed pencilbeam data then run with ('fanxxxmeta').  This creates
% fan_data.mat and pen_data.mat.
%
%  Once the fan and pencil .mat files have been created, animtripod can be
%  run to integrat the data from ADCP, ADV and sonars on one plot, then
%  make a movie from all the samples
%
% C. Sullivan   10/03/05,   version 1.0
%This function is heavily based on the script animatesonar.m by M. Martini
%(thanks!). Use of this function does not require users to manually specify
%metadata information, copy sonar data directories to a root directory, and
%delete sonar data files that are less than 5 kb (as required by
%animatesonar.m). To use this function, users must include required metadata
%in a text file with specific formatting (see sonarmetaexample.txt in this
%package of m-files). This text file must reside in the current directory.
%Users can show currents and/or wave data in conjunction with sonar images
%by specifying the complete paths to the netcdf files containing this data
%in their metadata file. Sonar images are saved as a series of .png's in a
%subdirectory named 'frame' of the current directory. The naming convention
%used w/ the .pngs's is yyyymmddTHHMMSS.png, where 'yyyy','mm','dd','HH',
%'MM','SS', are the year, month, day, hour, minute, and second at which the
%image was colleccted.

% Notes from M. Martini on animating images from animatesonar.m:
% -- frame images are written to the local directory and also saved to
% Fanmovie or Pencilmovie in the workspace, so if you like MATLAB movies,
% save the workspace when this script is done.
% -- the best results so far have been by digitizing frames using VideoMach
% Microsoft Video 1 codec, 75% compression quality
% turn keep duration off
% turn automatic off
% 5 frames per second

close all
more off

version = '2.2'; % Version updated by etm 4/07

% Check for metadata file
metaPath = pwd;
meta = dir([metaFile,'.txt']);
if isempty(meta)
   fprintf('\n')
   fprintf('The metadata file %s.txt does not exist in this directory\n',metaFile)
   metaPath = input('Please enter the full path to the directory with your metadata file:  ','s');
   meta = dir(fullfile(metaPath,[metaFile,'.txt']));
   if isempty(meta)
      error('Still cannot find the metadata file ',fullfile(metaPath,[metaFile,'.txt']))
   end
end
metaFile = fullfile(metaPath,meta.name);

% Get user's metadata structure
settings = readSonarMeta(metaFile);

% Check that the metadata contains required fields.  If a required field
% is missing, ask the user for it.
reqFields = {'FirstSonarDay','LastSonarDay','RootDataDir',...
   'ADCPbin','SectorSweep','datayear',...
   'AngleSweepAround','StepSize','DataPoints','Height',...
   'SonartoAnimate','FillVal','adcp3val','dxy'};
for f = 1:length(reqFields)
   if ~isfield(settings,reqFields{f})
      disp(['The field ''',reqFields{f},''' is not specified in ',metaFile,'.txt'])
      missingFields(f) = 1;
   else
      missingFields(f) = 0;
   end
end
if any(missingFields)
   disp('Required fields missing from the metadata');
   % Default settings for Eurostrat first deployment 2002-2003
   settings.ADCPbin = '6';
   settings.FirstSonarDay = julian(2002,11,7,0);
   settings.LastSonarDay = julian(2002,12,8,0);
   settings.RootDataDir = 'C:\home\data\eutostrat\original_images\';
   settings.SonartoAnimate = 'Pencil';
   settings.SectorSweep = '132';
   settings.AngleSweepAround = '0';
   settings.StepSize = '1';
   settings.DataPoints = '500';  % number of 'ranges' recorded in each ping
   settings.Height = '1.06'; 
   settings.datayear = '2002';
   settings.FillVal = 1e35;
   settings.adcp3val = 0;
   settings.rot = '0';
   % fan beam specific things - this should be read from someplace!!!
    settings.dxy = 0.01;    % Key setting...determines image resolution at cost of
                            % speed (reasonable range 0.02 to 0.005)

   defaultSonarSettings = {settings.ADCPbin,...
      settings.FirstSonarDay,...
      settings.LastSonarDay,...
      settings.RootDataDir,...
      settings.SonartoAnimate,...
      settings.SectorSweep,...
      settings.AngleSweepAround,...
      settings.StepSize,...
      settings.DataPoints,...
      settings.Height,...
      settings.datayear,...
      settings.rot};
   prompt  = {'Enter the complete path to the currents netcdf file:',...
      'Enter the ADCP bin to use:',...
      'Enter the complete path to the waves netcdf file:',...
      'Enter the date of the first sonar image:',...
      'Enter the date of the last sonar image:',...
      'Enter the complete path to the sonar data directories:',...
      'Enter the sonar you would like to animate:',...
      'Enter the sector that was swept:',...
      'Enter the center to sweep around:',...
      'Enter the Step size used:',...
      'Enter the data points setting (points/10):',...
      'Enter the sonar''s height off the bottom, m:',...
      'Enter the year the instrument was deployed:',...
      'Enter the rotation angle to rotate the image to true N, deg:'};
   dlgtitle   = 'Sonar input metadata for the setup';
   lineNo  = 1;
   dlgresult  = inputdlg(prompt,dlgtitle,lineNo,defaultSonarSettings);
   settings.ADCPbin = str2num(dlgresult{2});
   settings.FirstSonarDay = str2num(dlgresult{4});  % number of 'ranges' recorded in each ping
   settings.LastSonarDay = str2num(dlgresult{5});
   settings.RootDataDir = str2num(dlgresult{6});
   settings.SonartoAnimate = str2num(dlgresult{7});
   settings.SectorSweep = str2num(dlgresult{8});
   settings.AngleSweepAround = str2num(dlgresult{9});
   settings.StepSize = str2num(dlgresult{10});
   settings.DataPoints = str2num(dlgresult{11});
   settings.Height = str2num(dlgresult{12});
   settings.datayear = str2num(dlgresult{13});
   settings.rot = str2num(dlgresult{14});
end
clear reqFields missingFields


% Get a listing of sonar data directories
SubDataDir = dir(settings.RootDataDir);

% Individual movie frames saved to a subdirectory
% of the current directory named 'frame'
outdir = 'frame';
[success,message,messageid] = mkdir(outdir);

clear FanTime PencilTime
Fanidx = 1;
Pencilidx = 1;
save settings settings;
% Go through each sonar data directory and parse. The
% first two directories are always . and ..
for d=3:length(SubDataDir),

   disp(SubDataDir(d).name)

   % Get the year in which the data was collected
   [yyyy] = getSonarYear(SubDataDir(d).name, settings.FirstSonarDay,...
      settings.LastSonarDay);
   yyyy = str2num(yyyy);
   mm = str2num(SubDataDir(d).name(2:3));
   dd = str2num(SubDataDir(d).name(4:5));
   dirDay = julian(yyyy,mm,dd,0);
   fileDay = gregorian(dirDay - 1); %files are 1 day behind directory day
   settings.datayear = fileDay(1);

   % Act only on directories
   if exist(fullfile(settings.RootDataDir,SubDataDir(d).name)) == 7,
      % Get a listing of data files
      DataFiles = dir(fullfile(settings.RootDataDir,SubDataDir(d).name));
      for f = 3:length(DataFiles),
        sonarDataFile = fullfile(settings.RootDataDir,...
            SubDataDir(d).name,...
            DataFiles(f).name);
         disp(sonarDataFile)

         % get rid of all plots every 10th
         if mod(f,10)== 0; close all; end
             
         % The file name convention for sonar data files is
         % S1111020.F50 = S1MMDDHH.?MM where ? = F for fan
         % or P for pencil
         a = sscanf(DataFiles(f).name,'S1%c%c%c%c%c%c.%c%c%c')
         mon = str2num(a(1:2));
         day = str2num(a(3:4));
         hr = str2num(a(5:6));
         mn = str2num(a(8:9));
         datenum_sonar = datenum(settings.datayear,mon,day,hr,mn,0); %used to interpolate currents?

         % The file name convention for individual
         % sonar frames is yyyymmddTHHMMSS.png
          %  outf = ['B',datestr(datenum_sonar,30)];
          % outfile = fullfile(outdir,outf);

         % Fan files less than 5 kb are duds and
         % should not be used in the animation
         [WhichSonar, validFile] = checkSonarFile(sonarDataFile);
        % WhichSonar='P'; validFile=1;
         % For valid (>5 kb) fan files, display the sonar image
         % and write the image data to NetCDF
         if WhichSonar == 'F' && validFile == 1 && strcmpi(settings.SonartoAnimate,'fan'),
  
             % first, display the sonar image
            FanTime(Fanidx) = julian([settings.datayear mon day hr mn 0]);
            FanDatenum=datenum([settings.datayear mon day hr mn 0]);

            clearimfig = figure;
            set(gcf,'Position',[9 37 827 659])

            sonar_ax = axes('pos',[0.2 0.25 0.73 0.73]);
            % use new generic readfan
            fname=fullfile(settings.RootDataDir,SubDataDir(d).name,DataFiles(f).name)
            %  readfan and plotfan are replacing showfan07
            %  use readfan and plotfan OR showfan07 for the moment
            [FanData, FanHeader, FanSwitches] = readfan(fname);
            [Xplot, Yplot, Zi, settings]=plotfan07(FanData,FanHeader,'polar', settings);
            [npts,nscans]=size(FanData.imagedata);
            %
            % call to showfan07 replaced but kept for vaildation
    %        [imagedata, Xplot, Yplot, Zi, FanData(Fanidx), settings] = ...
    %          showfan07(fname,'polar',settings);
    %         ylabel('Fan Beam Sonar, range in meters')
    
            % create the netcdf file      
            if Fanidx==1
            % initiaize NetCDF dimensions
               ncdims.npoints=npts; ncdims.nscans=nscans;
                ncdims.x=length(Xplot); ncdims.y=length(Yplot);
               ofraw=[outFileRoot '_raw'];
               ncr = defineSonarNcFile(ofraw, settings, ncdims, 'r');
                  ncr.start_time = datestr(gregorian(FanTime(1)));
                    ncr=addHeaderMeta(ncr,FanHeader, FanSwitches);
                    ncr.NOTE = ['vector variables combined from scan headers; ',...
                        'names match Imagenex documentation of headers']
                      ncr = write2rawNcFile(ncr, Fanidx, FanTime(Fanidx), FanData, FanHeader);
               % now repeat for processed
               ofproc=[outFileRoot '_proc'];
               ncp = defineSonarNcFile(ofproc, settings, ncdims, 'p');
                 ncp.start_time = datestr(gregorian(FanTime(1)));
                    ncp=addHeaderMeta(ncp,FanHeader, FanSwitches);
                     ncp.NOTE =['radial data interpolated onto x-y grid to make image;',...
                         'image rotated so that +y (up) is N'];
                     ncp.NOTE1 = ['To view images in Matlab type the following at the command ',...
                      'prompt:  nc=netdcf(''sonarxxx.nc'');',...
                      'imagesc(nc{''x''}(:),nc{''y''}(:),squeeze(nc{''sonar_image''}(n,:,:)));',...
                      'set(gca,''ydir'',''rev''); **where n is the time index'];
                     ncp = write2procNcFile(ncp, Fanidx, FanTime(Fanidx), Xplot, Yplot, Zi);
            else
                ncr = write2rawNcFile(ncr, Fanidx, FanTime(Fanidx), FanData, FanHeader);
                ncp = write2procNcFile(ncp, Fanidx, FanTime(Fanidx), Xplot, Yplot, Zi);
            end

            Fanidx=Fanidx+1;
               % save fan_data.mat FanData FanTime 

            clear imagedata Xplot Yplot Zi
         elseif WhichSonar == 'P' && validFile == 1 && strcmpi(settings.SonartoAnimate,'pencil'),
            % first, display the sonar image
            PencilTime(Pencilidx) = julian([settings.datayear mon day hr mn 0]);
            settings.PencilTime = PencilTime(Pencilidx);
              fname=fullfile(settings.RootDataDir,SubDataDir(d).name,DataFiles(f).name)

           % replaced showpencil07 with (readpencil and plotPencil07
           [PenData, PenHeader, PenSwitches] = readpencil(fname);
           [cnv_img,xint,hgt,max_retn, rval]=plotpen07(PenData,PenHeader,'polar', settings);
           % [PencilData(Pencilidx),FileSwitches]=showpen07(fname,settings);

             [p,q]=size(cnv_img.imi); 
           %figure(2);
            imfig = 2;
            imfile = sprintf('%s.png',outfile);
            %imfile = sprintf('p%03d.png',Pencilidx);
            
          % only need this if changing range settings around-
          % that only happens real-time, so ignoring at the moment
            % for pencil, X can be different lengths (if range setting changes, and y and z are
            % dependent on x, but we're going to make all the same length
               xx=[-5.0:.0125:5.0];         % largest it could be
                 xdst=ones(1,length(xx))*settings.FillVal;
                 yelev=ones(length(xx),1)*settings.FillVal;
                 zss=ones(length(xx),1)*settings.FillVal;
                 ncnv.x=ones(length(xx),1)*settings.FillVal;
                 ncnv.y=ones(length(xx),1)*settings.FillVal;
                 ncnv.imi=ones(p,length(xx))*settings.FillVal;
                 % intersect doesn't get all the points
                 % [st,ia,ib]=intersect(xx*,xint*);  
                 ixx=(1:length(xx))';
                 ia=fix(interp1(xx,ixx,xint,'nearest'));
                 xdst(ia)=xint;
                 %xdst=xx;
                 yelev(ia)=hgt;
                 zss(ia)=max_retn;
                 ib=fix(interp1(xx,ixx,cnv_img.x,'nearest'));                
                 ncnv.x(ib)=cnv_img.x;
                 ncnv.y=cnv_img.y;
                 ncnv.imi(:,ib)=cnv_img.imi;    %surrounding with 1e35 may not work well            
             % create the netcdf file
             if Pencilidx==1
              %  initiaize NetCDF attributes 
              [npts,nscans]=size(PenData.imagedata);   % doesn't change size
               ncdims.npoints=npts; ncdims.nscans=nscans;
               ofraw=[outFileRoot '_raw'];
               ofproc=[outFileRoot '_proc'];
               % first do the raw
               ncr = defineSonarNcFile(ofraw, settings, ncdims,'r');
               ncr.start_time = datestr(gregorian(PencilTime(1)));
               hist = ncr.history(:);
               hist_new = ['Sonar data written to NetCDF by procsonar07.m V ',version,...
                '; ',hist];
               ncr.history = hist_new;
               %  don't know why, but the flipud is needed here
               ncr.NOTE = ['Pencil data']
                ncr = write2rawNcFile(ncr, Pencilidx, PencilTime(Pencilidx), PenData, PenHeader);

            % now the processed
               [q,p]=size(ncnv.imi);   % use the BIG size
               ncdims.npoints=p; ncdims.nscans=q;
               ncp = defineSonarNcFile(ofproc, settings, ncdims,'p');
               ncp.start_time = datestr(gregorian(PencilTime(1)));
               ncp.vert_offset=settings.Pencil_vert_off;
               hist = ncp.history(:);
               hist_new = ['Sonar data written to NetCDF by procsonar07.m V ',version,...
                '; ',hist];
               ncp.history = hist_new;
               %  don't know why, but the flipud is needed here
               ncp.NOTE = ['Pencil data has the extracted x and y data, with',...
                        'zi containing the strength of the max reflection defining yelev'];
                % ncp = write2procNcFile(ncp, Pencilidx, PencilTime(Pencilidx), xint, hgt, max_retn, cnv_img);
               ncp = write2procNcFile(ncp, Pencilidx, PencilTime(Pencilidx), xdst, yelev, zss, ncnv, rval);
             else
                ncr = write2rawNcFile(ncr, Pencilidx, PencilTime(Pencilidx),PenData, PenHeader);
                ncp = write2procNcFile(ncp, Pencilidx, PencilTime(Pencilidx), xdst, yelev, zss, ncnv, rval);
            end
            Pencilidx = Pencilidx+1;
             %  save pen_data.mat PencilTime PencilData

            clear outfile imfile
         end
       end
     end
end

% this is where the data is saved
%  writing to netCDF doesn't work, but you get a .mat file for each fan and
%  Pencil run
if strcmpi(settings.SonartoAnimate,'fan'),
    save fan_data.mat FanData FanTime FanHeader
       ncr.stop_time = datestr(gregorian(FanTime(end)))
       ncr.DELTA_T = [num2str(gmean(diff(FanTime*1000))*60),' sec'];
        close(ncr);
       ncp.stop_time = datestr(gregorian(FanTime(end)))
       ncp.DELTA_T = [num2str(gmean(diff(FanTime*1000))*60),' sec'];
        close(ncp);
       ncclose;
elseif strcmpi(settings.SonartoAnimate,'pencil'),
   % KLUDGE Alert - should write a netCDF file here
   save pen_data.mat PencilTime PenData PenHeader
       ncr.stop_time = datestr(gregorian(PencilTime(end)))
       ncr.DELTA_T = [num2str(gmean(diff(PencilTime*1000))*60),' sec'];
        close(ncr);
       ncp.stop_time = datestr(gregorian(PencilTime(end)))
       ncp.DELTA_T = [num2str(gmean(diff(PencilTime*1000))*60),' sec'];
        close(ncp);
       ncclose;

end

% ---------------- Subfunction: readSonarMeta.m ------------------------- %
function userMeta = readSonarMeta(metaFile);
[atts, defs] = textread(metaFile,'%s %63c','commentstyle','shell');
defs = cellstr(defs);
for i = 1:length(atts)
   theAtt = atts{i}(:)';
   theDef = defs{i}(:)';
   % deblank removes trailing whitespace
   theAtt = deblank(theAtt);
   theDef = deblank(theDef);
   % check for and replace spaces in
   % the attributes with underscores
   f1 = find(isspace(theAtt));
   f2 = strfind(theAtt,'-');
   f = union(f1,f2);
   if ~isempty(f)
      theAtt(f) = '_';
   end
   % attribute definitions read in as characters; convert to
   % numbers where appropriate
   theDefNum = str2double(theDef);
   if ~isnan(theDefNum)
      theDef = theDefNum;
   end
   eval(['userMeta.',theAtt,'= theDef;'])
end

% ---------------- Subfunction:  getSonarYear.m ------------------------- %
function [yyyy] = getSonarYear(DirName, FirstSonarDay, LastSonarDay);

first = datevec(FirstSonarDay);
first_yyyy = first(1);
first_mm = first(2);
first_dd = first(3);

last = datevec(LastSonarDay);
last_yyyy = last(1);
last_mm = last(2);
last_dd = last(3);

mm = str2num(DirName(2:3));
dd = str2num(DirName(4:5));

if (mm >= first_mm)
   yyyy = num2str(first_yyyy);
else
   yyyy = num2str(last_yyyy);
end

% ---------------- Subfunction:  checkSonarFile.m ----------------- %
function [WhichSonar, validFile] = checkSonarFile(sonarFileName);

F = dir(sonarFileName); % FAN files only!
filesize = F.bytes;
if strcmp(F.name(10),'F') && filesize <= 5000
   disp(['### The Fan file ',sonarFileName, ' is a dud file and will not be used in animations'])
   WhichSonar = 'F';
   validFile = 0;
elseif strcmp(F.name(10),'F') && filesize > 5000
   WhichSonar = 'F';
   validFile = 1;
elseif strcmp(F.name(10),'P') && filesize > 100
   WhichSonar = 'P';
   validFile = 1;
else
   validFile = 0;
end
% ---------------- Subfunction:  addHeaderMeta.m -------------------- %
function nc =addHeaderMeta(nc, header, switches);
     % update the history
     hist = nc.history(:);
     hist_new = ['Sonar data written to NetCDF by procsonarMM.m V ',version,...
     '; ',hist];
     nc.history = hist_new;
     % add everythin from the switches to the global attributs
     nc.HeadID=switches.HeadID;
     nc.Range=switches.Range;
     nc.RangeOffset=switches.RangeOffset;
     nc.RevHold=ncchar(switches.RevHold);
     nc.MasterSlave=ncchar(switches.MasterSlave);
     nc.StartGain=switches.StartGain;
     nc.LOGF=switches.LOGF;
     nc.Absorption=switches.Absorption;
     nc.TrainAngle=switches.TrainAngle;
     nc.SectorWidth=switches.SectorWidth;
     nc.StepSize=switches.StepSize;
     nc.PulseLength=switches.PulseLength;
     nc.StepDirection=switches.StepDirection;
     nc.MoveRelative=switches.MoveRelative;
     nc.StepSize=header.StepSize;
     nc.DataPoints=switches.DataPoints;
     nc.DataBits=switches.DataBits;
     nc.UpBaud=switches.UpBaud;
     nc.Profile=ncchar(switches.Profile);
     nc.Calibrate=ncchar(switches.Calibrate);
     nc.SwitchDelay=switches.SwitchDelay;
     % and some from the first scan header that don't change
     cc=char(header.ReturnDataHeaderType{1});
     nc.HeadType=ncchar(cc);
     nc.NDataBytes=header.NDataBytes(1);
     nc.NReturnBytes=header.NReturnBytes(1);
     
% ---------------- Subfunction:  write2rawNcFile.m -------------------- %
function nc = write2rawNcFile(nc, idx, timeWrd, data, header);
 % treat fan and pencil the same.

 % timeWrd is in decimal days, so have to convert .604 days to msecs
   nc{'time'}(idx) = floor(timeWrd);
   nc{'time2'}(idx) = mod(timeWrd,floor(timeWrd))*1000*3600*24;
   [npoints,nscans]=size(data.imagedata);
   if idx ==1
       nc{'points'}(1:npoints)=[1:1:npoints];
       nc{'scan'}(1:nscans)=[1:1:nscans];
   end
   nc{'headangle'}(idx,1:nscans) = header.HeadAngle;
   nc{'head_pos'}(idx,1:nscans) = header.HeadPosition;
   nc{'profile_range'}(idx,1:nscans) = header.ProfileRange;
   nc{'nDataBytes'}(idx,1:nscans) = header.NDataBytes;
   nc{'raw_image'}(idx,1:npoints,1:nscans) = data.imagedata; 
  clear alltime timeWrd

% ---------------- Subfunction:  write2procNcFile.m -------------------- %
function nc = write2procNcFile(nc, idx, timeWrd, Xplot, Yplot, Zi, img, rawV);

% timeWrd is in decimal days, so have to convert .604 days to msecs
   nc{'time'}(idx) = floor(timeWrd);
   nc{'time2'}(idx) = mod(timeWrd,floor(timeWrd))*1000*3600*24;
   
if (nargin ==6)
    nx=length(Xplot);  ny=length(Yplot);
 if idx == 1 
   nc{'y'}(1:ny) = Yplot;
   nc{'x'}(1:nx) = Xplot;
 end
   nc{'sonar_image'}(idx,1:ny,1:nx) = round(Zi.*1000); %apply scale factor
else     % pencil
    nr=length(img.x);  nq=length(img.y);
  if idx == 1 
   % x and y are for scaling the sonar_image
   nc{'x'}(1:nr) = img.x;    
   nc{'z'}(1:nq) = img.y;
  end
   nl=length(Xplot);
   % hdst is "x" for elev, and max_retn
   nc{'hdst'}(idx,1:nl) = Xplot;
   nc{'elev'}(idx,1:nl) = Yplot;
   nc{'max_ret'}(idx,1:nl) = Zi;
   nc{'sonar_image'}(idx,1:nq,1:nr)=img.imi;
   nc{'rdst'}(idx,1:length(rawV.dist)) = rawV.dist;
   nc{'relev'}(idx,1:length(rawV.dist)) = rawV.elev;
end
  clear alltime timeWrd
% this command works to plot fan beam imaged:
%  pcolor(nc{'xcoord'}(:),nc{'ycoord'}(:),nc{'sonar_image'}(1,:,:));
%  shading flat
% or
%  imagesc(nc{'xcoord'}(:),nc{'ycoord'}(:),rot90(nc{'sonar_image'}(1,:,:)'));
%  shading flat
% not sure why you HAVE to rot90, but you do.  Or when opening the .nc file
% directly, it looks like flipud is necessary.