function [ Data, Config, T_beam2xyz ] = signatureAD2CP_beam2xyz_enu( Data, Config, mode, twoZs, declination, index )

if nargin == 3
	twoZs = 0;
end




ad2cpstr = 'AD2CP_';
ad2cpstr = '';

switch mode
    case 'avg'
        dataModeWord = 'Average';
        configModeWord = 'avg';
    case 'avg1'
        dataModeWord = 'Alt_Average';
        configModeWord = 'avg1';
    case 'burst'
        dataModeWord = 'Alt_Burst';
        configModeWord = 'burst1';
    case 'burst1'    
        dataModeWord = 'Burst';
        configModeWord = 'burst';
    case 'shallow'
        dataModeWord = 'Shallow';
        configModeWord = 'autonomous';
    case 'shallow1'
        dataModeWord = 'Shallow1';
        configModeWord = 'autonomous';
end
    

% make the assumption the beam mapping is the same for all measurements in a data file
activeBeams = Data.( [dataModeWord '_Physicalbeam'] )( 1, : );
activeBeams = activeBeams(find(activeBeams > 0));
numberOfBeams = length( activeBeams );
if numberOfBeams <= 2
	print( 'Transformations require at least 3 active beams.' )
	T_beam2xyz = nan;
	return
end


beam2xyz_vec = Config.([ad2cpstr configModeWord '_beam2xyz'] );
if numberOfBeams == 4,
    T_beam2xyz = [beam2xyz_vec(1:4); beam2xyz_vec(5:8); beam2xyz_vec(9:12); beam2xyz_vec(13:16)];
else
    if numberOfBeams == 3,
        T_beam2xyz = [beam2xyz_vec(1:3); beam2xyz_vec(4:6); beam2xyz_vec(7:9)];        
    end
end

% Special case
if strcmp(Config.instrumentName, 'Signature55kHz'),
    T_beam2xyz =[   1.9492   -0.9746   -0.9746; ...
             0   -1.6881    1.6881; ...
        0.3547    0.3547    0.3547];
end

if Config.fwVersionDoppler <= 2163 && numberOfBeams == 4,
    % Fix bug in transformation matrix in version 2163
    T_beam2xyz(2,:) = -T_beam2xyz(2,:);
end


if nargin < 6
    disp(T_beam2xyz)
    L=length( Data.( [ dataModeWord '_TimeStamp' ] ));
    index = 1:L;
else
    L=length(index);    
end
   
% verify we're not already in 'xyz'
if strcmpi( Config.( [ ad2cpstr configModeWord '_coordSystem' ] ), 'xyz' )
	disp( 'Velocity data is already in xyz coordinate system.' )
	return
end


xAllCells = zeros( L, Config.( [ad2cpstr  configModeWord '_nCells' ] ) );
yAllCells = zeros( L, Config.( [ad2cpstr  configModeWord '_nCells' ] ) );
zAllCells = zeros( L, Config.( [ad2cpstr  configModeWord '_nCells' ] ) );
if twoZs == 1
	z2AllCells = zeros( L, Config.( [ad2cpstr  configModeWord '_nCells' ] ) );
end

xyz = zeros( size( T_beam2xyz, 2 ), L );
beam = zeros( size( T_beam2xyz, 2 ), L );
for nCell = 1:Config.( [ad2cpstr  configModeWord '_nCells' ] )
	for i = 1:numberOfBeams
		beam( i, : ) = Data.( [ dataModeWord '_VelBeam' num2str( Data.( [ dataModeWord '_Physicalbeam' ] )( 1, i ) ) ] )( index, nCell )';
	end
	xyz = T_beam2xyz * beam;
	xAllCells( :, nCell ) = xyz( 1, : )';	
	yAllCells( :, nCell ) = xyz( 2, : )';
	zAllCells( :, nCell ) = xyz( 3, : )';
	if twoZs == 1
		z2AllCells( :, nCell ) = xyz( 4, : )';
	end
end

Config.( [ad2cpstr   configModeWord '_coordSystemXYZ' ] )(index,:) = 'xyz';
Data.( [ dataModeWord '_VelX' ] )(index,1:nCell) = xAllCells;
Data.( [ dataModeWord '_VelY' ] )(index,1:nCell) = yAllCells;

if twoZs == 1
	Data.( [ dataModeWord '_VelZ1' ] )(index,1:nCell) = zAllCells;
	Data.( [ dataModeWord '_VelZ2' ] )(index,1:nCell) = z2AllCells;
else
	Data.( [ dataModeWord '_VelZ' ] )(index,1:nCell) = zAllCells;
end





% verify we're not already in 'enu'
if strcmpi( Config.( [ad2cpstr   configModeWord '_coordSystem' ] ), 'enu' )
	disp( 'Velocity data is already in enu coordinate system.' )
	return
end

K = 3;
Ncells = Config.( [ad2cpstr   configModeWord '_nCells' ] );
EAllCells = zeros( L , Ncells );
NAllCells = zeros( L , Ncells );
UAllCells = zeros( L , Ncells );
if twoZs == 1
   U2AllCells = zeros( L, Config.( [ad2cpstr  configModeWord '_nCells' ] ) );
   K = 4;
end

Name = ['X','Y','Z'];
ENU = zeros( K, Ncells);
xyz = zeros( K, Ncells);

for sampleIndex = index(1):index(end)
   orientation = bitand(bitshift(uint32(Data.( [dataModeWord  '_Status' ])(sampleIndex)), -25),7);
   if (orientation == 5)
      signXYZ=[1 -1 -1 -1];
   else
      signXYZ=[1 1 1 1];
   end

   if (orientation == 7)
      % AHRS
      xyz2enuAHRS = transpose(reshape(Data.([dataModeWord  '_AHRSRotationMatrix'])(sampleIndex,:),3,3));
      
      % Apply declination      
      % Make declination rotation matrix
      H = [cosd(declination) sind(declination) 0; -sind(declination) cosd(declination) 0; 0 0 1];
      xyz2enuAHRSdecl = H*xyz2enuAHRS;
      
      % Update the transformation matrix
      Data.([dataModeWord  '_AHRSRotationMatrix'])(sampleIndex,:)=reshape(transpose(xyz2enuAHRSdecl),1,9);
      
      % Update the heading value
      heading = 90-(atan2(xyz2enuAHRSdecl(2,1),xyz2enuAHRSdecl(1,1))*180/pi);
      if heading < 0,
         heading = heading + 360;
      end
      if heading >= 360,
         heading = heading - 360;
      end
      Data.([dataModeWord  '_Heading'])(sampleIndex) = heading;
      
      xyz2enu = xyz2enuAHRSdecl;
      
   else
      % Apply declination
      heading = Data.([dataModeWord  '_Heading'])(sampleIndex) + declination;
      if heading < 0,
         heading = heading + 360;
      end
      if heading >= 360,
         heading = heading - 360;
      end
      Data.([dataModeWord  '_Heading'])(sampleIndex) = heading;
      
      % Regular compass
      hh = pi*(Data.([dataModeWord  '_Heading'])(sampleIndex)-90)/180;
      pp = pi*Data.([dataModeWord  '_Pitch'])(sampleIndex)/180;
      rr = pi*Data.([dataModeWord  '_Roll'])(sampleIndex)/180;

      % Make heading matrix
      H = [cos(hh) sin(hh) 0; -sin(hh) cos(hh) 0; 0 0 1];

      % Make tilt matrix
      P = [cos(pp) -sin(pp)*sin(rr) -cos(rr)*sin(pp);...
            0             cos(rr)          -sin(rr);  ...
            sin(pp) sin(rr)*cos(pp)  cos(pp)*cos(rr)];

      % Make resulting transformation matrix
      xyz2enu = H*P; 
   end
   if (twoZs == 1)
      xyz2enu(1,3) = xyz2enu(1,3)/2;
      xyz2enu(1,4) = xyz2enu(1,3);
      xyz2enu(2,3) = xyz2enu(2,3)/2;
      xyz2enu(2,4) = xyz2enu(2,3);
      
      xyz2enu(4,:) = xyz2enu(3,:);
      xyz2enu(3,4) = 0;
      xyz2enu(4,4) = xyz2enu(3,3);
      xyz2enu(4,3) = 0;
   end

   for i = 1:K
      if (twoZs == 1) && (i >= 3)
         axs = [ Name(3) num2str((i-2),1) ];
      else
         axs = Name(i);
      end
      xyz( i, : ) = signXYZ(i) * Data.( [ dataModeWord '_Vel' axs] )( sampleIndex, 1:Ncells )';
   end
   ENU = xyz2enu * xyz;
   Data.( [ dataModeWord '_VelEast' ] )( sampleIndex, 1:Ncells ) = ENU( 1, : )';	
   Data.( [ dataModeWord '_VelNorth' ] )( sampleIndex, 1:Ncells ) = ENU( 2, : )';
   
   if twoZs == 0
      Data.( [ dataModeWord '_VelUp' ] )( sampleIndex, 1:Ncells ) = ENU( 3, : )';
   else
     Data.( [ dataModeWord '_VelUp1' ] )( sampleIndex, 1:Ncells ) = ENU( 3, : )';
     Data.( [ dataModeWord '_VelUp2' ] )( sampleIndex, 1:Ncells ) = ENU( 4, : )';
   end
end
Config.( [ad2cpstr   configModeWord '_coordSystemENU' ] ) = 'enu';