subroutine mvbvel_usr(nob)
c
      use obsijk_module
c
#ifdef SINGLE
      include '../comdeck/precis4.f'
#else
      include '../comdeck/precis.f'
#endif
c
      include '../comdeck/params.f'
      include '../comdeck/const.f'
      include '../comdeck/cntrl.f'
      include '../comdeck/cbusr.f'  
      include '../comdeck/dumn.f'   
      include '../comdeck/mparam.f'  
      include '../comdeck/acctrm.f'   
      include '../comdeck/scalar.f'    
c      
      dimension as(3),ab(3)
c           
c
c      HINCHEY JOT CODE: PROP AUV
c
c       if(cycle.eq.0) then 
c       cs=0.0
c       pold=0.0
c       rold=0.0
c       endif   
c       if(nob.eq.1) return
c       dogs=zrefn(1)
c       cats=omzmvbn(1)
c       raw=pold
c       arm=0.1
c       swing=omzmvbn(1)*arm
c       if(nob.eq.4) then
c       wref(4)=wrefn(1)
c       vref(4)=vrefn(1)+swing*cos(rold)
c       uref(4)=urefn(1)-swing*sin(rold)
c       omzmvb(4)=-cs+omzmvbn(1)
c       omzmvb(4)=-cs
c       omymvb(4)=0.0
c       omxmvb(4)=0.0
c       endif
c       if(nob.eq.5) then
c       wref(5)=wrefn(1)
c       vref(5)=vrefn(1)-swing*cos(rold)
c       uref(5)=urefn(1)+swing*sin(rold)
c       omzmvb(5)=+cs+omzmvbn(1)
c       omzmvb(5)=+cs
c       omymvb(5)=0.0
c       omxmvb(5)=0.0
c       endif
c       arm=0.1
c       swing=omzmvbn(1)*arm
c       if(nob.eq.2) then
c       as(1)=+raw*cos(rold)
c       as(2)=+raw*sin(rold)
c       as(3)=omzmvbn(1)
c       do i=1,3
c       ab(i)=0.0
c       do j=1,3
c       ab(i)=ab(i)+trfmvb(nob,j,i)*as(j)
c       end do
c       end do      
c       wref(2)=wrefn(1)
c       vref(2)=vrefn(1)-swing*sin(rold)
c       uref(2)=urefn(1)-swing*cos(rold)
c       omxmvb(2)=ab(1)
c       omymvb(2)=ab(2)
c       omzmvb(2)=ab(3)
c       endif      
c       if(nob.eq.3) then
c       as(1)=+raw*cos(rold)
c       as(2)=+raw*sin(rold)
c       as(3)=omzmvbn(1)
c       do i=1,3
c       ab(i)=0.0
c       do j=1,3
c       ab(i)=ab(i)+trfmvb(nob,j,i)*as(j)
c       end do
c       end do      
c       wref(3)=wrefn(1)     
c       vref(3)=vrefn(1)+swing*sin(rold)
c       uref(3)=urefn(1)+swing*cos(rold)  
c       omxmvb(3)=ab(1)
c       omymvb(3)=ab(2)
c       omzmvb(3)=ab(3)
c       endif      
c
c      HINCHEY JOT CODE: PROP AUV  
c
c
c  
c      HINCHEY JOT CODE: TANK AUV
c
c       if(cycle.eq.0) then 
c       cs=0.0
c       pold=0.0
c       rold=0.0
c       endif   
c       if(nob.eq.1) return
c       dogs=zrefn(1)
c       cats=omzmvbn(1)
c       raw=pold
c       arm=0.1
c       swing=omzmvbn(1)*arm
c       if(nob.eq.2) then
c       as(1)=+raw*cos(rold)
c       as(2)=+raw*sin(rold)
c       as(3)=omzmvbn(1)
c       do i=1,3
c       ab(i)=0.0
c       do j=1,3
c       ab(i)=ab(i)+trfmvb(nob,j,i)*as(j)
c       end do
c       end do      
c       wref(2)=wrefn(1)
c       vref(2)=vrefn(1)-swing*sin(rold)
c       uref(2)=urefn(1)-swing*cos(rold)
c       omxmvb(2)=ab(1)
c       omymvb(2)=ab(2)
c       omzmvb(2)=ab(3)
c       endif      
c       if(nob.eq.3) then
c       as(1)=+raw*cos(rold)
c       as(2)=+raw*sin(rold)
c       as(3)=omzmvbn(1)
c       do i=1,3
c       ab(i)=0.0
c       do j=1,3
c       ab(i)=ab(i)+trfmvb(nob,j,i)*as(j)
c       end do
c       end do      
c       wref(3)=wrefn(1)     
c       vref(3)=vrefn(1)+swing*sin(rold)
c       uref(3)=urefn(1)+swing*cos(rold)  
c       omxmvb(3)=ab(1)
c       omymvb(3)=ab(2)
c       omzmvb(3)=ab(3)
c       endif      
c       if(nob.eq.4) then
c       wref(4)=wrefn(1)+cs
c       vref(4)=vrefn(1)
c       uref(4)=urefn(1)
c       omzmvb(4)=omzmvbn(1)
c       omymvb(4)=0.0
c       omxmvb(4)=0.0
c       endif
c       
c      HINCHEY JOT cODE: TANK AUV
c
c  
c
c
c     HINCHEY JOT CODE: PROP/TANK AUV
c
       if(cycle.eq.0) then 
       cs=0.0
       pold=0.0
       rold=0.0
       endif   
       if(nob.eq.1) return
       dogs=zrefn(1)
       cats=omzmvbn(1)
       raw=pold
       arm=0.1
       swing=omzmvbn(1)*arm
       if(nob.eq.4) then
       wref(4)=wrefn(1)
       vref(4)=vrefn(1)+swing*cos(rold)
       uref(4)=urefn(1)-swing*sin(rold)
       omzmvb(4)=-cs+omzmvbn(1)
       omzmvb(4)=-cs
c      omzmvb(4)=omzmvbn(1)
       omymvb(4)=0.0
       omxmvb(4)=0.0
       endif
       if(nob.eq.5) then
       wref(5)=wrefn(1)
       vref(5)=vrefn(1)-swing*cos(rold)
       uref(5)=urefn(1)+swing*sin(rold)
       omzmvb(5)=+cs+omzmvbn(1)
       omzmvb(5)=+cs
c      omzmvb(5)=omzmvbn(1)
       omymvb(5)=0.0
       omxmvb(5)=0.0
       endif
       arm=0.1
       swing=omzmvbn(1)*arm
       if(nob.eq.2) then
       as(1)=+raw*cos(rold)
       as(2)=+raw*sin(rold)
       as(3)=omzmvbn(1)
       do i=1,3
       ab(i)=0.0
       do j=1,3
       ab(i)=ab(i)+trfmvb(nob,j,i)*as(j)
       end do
       end do      
       wref(2)=wrefn(1)
       vref(2)=vrefn(1)-swing*sin(rold)
       uref(2)=urefn(1)-swing*cos(rold)
       omxmvb(2)=ab(1)
       omymvb(2)=ab(2)
       omzmvb(2)=ab(3)
       endif      
       if(nob.eq.3) then
       as(1)=+raw*cos(rold)
       as(2)=+raw*sin(rold)
       as(3)=omzmvbn(1)
       do i=1,3
       ab(i)=0.0
       do j=1,3
       ab(i)=ab(i)+trfmvb(nob,j,i)*as(j)
       end do
       end do      
       wref(3)=wrefn(1)     
       vref(3)=vrefn(1)+swing*sin(rold)
       uref(3)=urefn(1)+swing*cos(rold)  
       omxmvb(3)=ab(1)
       omymvb(3)=ab(2)
       omzmvb(3)=ab(3)
       endif  
       if(nob.eq.6) then
       wref(6)=wrefn(1)
c      wref(6)=wrefn(1)+cs
       vref(6)=vrefn(1)
       uref(6)=urefn(1)
       omzmvb(6)=omzmvbn(1)
       omymvb(6)=0.0
       omxmvb(6)=0.0
       endif
c       
c    HINCHEY JOT CODE: PROP/TANK AUV 
c
      return
      end