!c****************************************************************

        subroutine latlon(elp,r_v,r_llh,i_type) 

!c****************************************************************
!c**   
!c**   FILE NAME: latlon.f
!c**   
!c**   DATE WRITTEN:7/22/93 
!c**   
!c**   PROGRAMMER:Scott Hensley
!c**   
!c**   FUNCTIONAL DESCRIPTION:This program converts a vector to 
!c**   lat,lon and height above the reference ellipsoid or given a
!c**   lat,lon and height produces a geocentric vector. 
!c**   
!c**   ROUTINES CALLED:none
!c**   
!c**   NOTES: none
!c**   
!c**   UPDATE LOG:
!c**   
!c****************************************************************
        
        implicit none
        
!c       INPUT VARIABLES:
        integer i_type          !1=lat,lon to vector,2= vector to lat,lon
	type :: ellipsoid 
	   real*8 r_a        
	   real*8 r_e2
	end type ellipsoid
	type(ellipsoid) :: elp
        
        real*8 r_v(3)                    !geocentric vector (meters)
        real*8 r_llh(3)                  !latitude (deg -90 to 90),longitude (deg -180 to 180),height
   
!c       OUTPUT VARIABLES: see input

!c       LOCAL VARIABLES:
        integer i_ft
        real*8 pi,r_dtor,r_re,r_q2,r_q3,r_b,r_q
        real*8 r_p,r_tant,r_theta,r_a,r_e2

!c       DATA STATEMENTS:
        data pi /3.141592653589793238d0/
        data r_dtor /1.74532925199d-2/

!C       FUNCTION STATEMENTS:

!c       PROCESSING STEPS:

        r_a = elp%r_a
        r_e2 = elp%r_e2

        if(i_type .eq. 1)then  !convert lat,lon to vector
           
           r_re = r_a/sqrt(1.d0 - r_e2*sin(r_llh(1))**2)
           
           r_v(1) = (r_re + r_llh(3))*cos(r_llh(1))*cos(r_llh(2))
           r_v(2) = (r_re + r_llh(3))*cos(r_llh(1))*sin(r_llh(2))
           r_v(3) = (r_re*(1.d0-r_e2) + r_llh(3))*sin(r_llh(1))               
           
        elseif(i_type .eq. 2)then  !convert vector to lat,lon 
           
           r_q2 = 1.d0/(1.d0 - r_e2)
           r_q = sqrt(r_q2)
           r_q3 = r_q2 - 1.d0
           r_b = r_a*sqrt(1.d0 - r_e2)
           
           r_llh(2) = atan2(r_v(2),r_v(1))
           
           r_p = sqrt(r_v(1)**2 + r_v(2)**2)
           r_tant = (r_v(3)/r_p)*r_q
           r_theta = atan(r_tant)
           r_tant = (r_v(3) + r_q3*r_b*sin(r_theta)**3)/(r_p - r_e2*r_a*cos(r_theta)**3)
           r_llh(1) =  atan(r_tant)
           r_re = r_a/sqrt(1.d0 - r_e2*sin(r_llh(1))**2)
           r_llh(3) = r_p/cos(r_llh(1)) - r_re          
  
        endif
      
        end