function [d,p]=uvwrot(d,p,iup)

% function [d,p]=uvwrot(d,p,iup)

% rotate velocities by p.drot p.dpit p.drol

% iup=1, up-looking data olny

% iup=0, down-looking data only

p.uwvrot=1;

p=setdefv(p,'drot',0);

p=setdefv(p,'dpit',0);

p=setdefv(p,'drol',0);

% which bins to transform

if nargin<3,

 iz=1:size(d.ru,1);

 it=1;

else

 if iup

 % up looking only

  iz=d.izu;

  it=2;

  disp(' up-looking data pitch-roll offset')

  disp([' pitch: ',num2str(p.dpit),' roll: ',num2str(p.dpit)])

 else

 % down looking only

  iz=d.izd;

  it=1;

  disp(' down-looking data pitch-roll offset')

  disp([' pitch: ',num2str(p.dpit),' roll: ',num2str(p.dpit)])

 end

end

d=setdefv(d,'drot',[0 0]);

d=setdefv(d,'dpit',[0 0]);

d=setdefv(d,'drol',[0 0]);

drot=p.drot-d.drot(it);

dpit=p.dpit-d.dpit(it);

drol=p.drol-d.drol(it);

d.drot(it)=p.drot;

d.dpit(it)=p.dpit;

d.drol(it)=p.drol;

% precompute some constants

d2r=pi/180;	% conversion from degrees to radians

[nb,ne]=size(d.ru);

%big loop

for ii=1:ne

 % get roll, pitch and heading

 roll=d.rol(it,ii);

 pitch=d.pit(it,ii);

 head=d.hdg(it,ii);

 roll2=roll+drol;

 pitch2=pitch+dpit;

 head2=head+drot;

 earth=[d.ru(:,ii),d.rv(:,ii),d.rw(:,ii)];

 % Step 1 - determine rotation angles from sensor readings

 % fixed sensor case

 % make sure everything is expressed in radians for MATLAB

 RR=roll.*d2r;

 KA=sqrt(1.0 - (sin(pitch.*d2r).*sin(roll.*d2r)).^2);

 PP=asin(sin(pitch.*d2r).*cos(roll.*d2r)./KA);

 HH=head.*d2r;

 RR2=roll2.*d2r;

 KA=sqrt(1.0 - (sin(pitch2.*d2r).*sin(roll2.*d2r)).^2);

 PP2=asin(sin(pitch2.*d2r).*cos(roll2.*d2r)./KA);

 HH2=head2.*d2r;

 % Step 2 - calculate trig functions and scaling factors

 CP=cos(PP); CR=cos(RR); 

 SP=sin(PP); SR=sin(RR); 

 CP2=cos(PP2); CR2=cos(RR2); 

 SP2=sin(PP2); SR2=sin(RR2); 

 CH=cos(HH); SH=sin(HH);

 CH2=cos(HH2); SH2=sin(HH2);

 % rotation matrix

 %	VX =  VXE.*(CH*CR + SH*SR*SP) + VYE.*SH.*CP + VZE.*(CH*SR - SH*CR*SP);

 %	VY = -VXE.*(SH*CR - CH*SR*SP) + VYE.*CH.*CP - VZE.*(SH*SR + CH*SP*CR);

 %  VZ = -VXE.*(SR*CP)            + VYE.*SP     + VZE.*(CP*CR);

	R(1,1) = (CH*CR + SH*SR*SP);

    R(1,2) = SH.*CP ;

    R(1,3) = (CH*SR - SH*CR*SP);

	R(2,1) = -(SH*CR - CH*SR*SP);

    R(2,2) = CH.*CP;

    R(2,3) = -(SH*SR + CH*SP*CR);

    R(3,1) = -(SR*CP);

    R(3,2) = SP;

    R(3,3) = (CP*CR);

    RI=inv(R);

	R2(1,1) = (CH2*CR2 + SH2*SR2*SP2);

    R2(1,2) = SH2.*CP2 ;

    R2(1,3) = (CH2*SR2 - SH2*CR2*SP2);

	R2(2,1) = -(SH2*CR2 - CH2*SR2*SP2);

    R2(2,2) = CH2.*CP2;

    R2(2,3) = -(SH2*SR2 + CH2*SP2*CR2);

    R2(3,1) = -(SR2*CP2);

    R2(3,2) = SP2;

    R2(3,3) = (CP2*CR2);

 for IB=iz,

    % Step 4: rotate to instument coordinates

    vb = RI*earth(IB,:)';

    % Step 4: rotate to earth coordinates

    ve = R2*vb;

    earth(IB,:)=ve';

 end	

 d.ru(iz,ii)=earth(iz,1);

 d.rv(iz,ii)=earth(iz,2);

 d.rw(iz,ii)=earth(iz,3);

end % Big Loop