function [dphi,dlambda,h] = togeod(a,finv,X,Y,Z)
%TOGEOD   Subroutine to calculate geodetic coordinates
%                 latitude, longitude, height given Cartesian
%                 coordinates X,Y,Z, and reference ellipsoid
%                 values semi-major axis (a) and the inverse
%                 of flattening (finv).

%  The units of linear parameters X,Y,Z,a must all agree (m,km,mi,ft,..etc)
%  The output units of angular quantities will be in decimal degrees
%  (15.5 degrees not 15 deg 30 min).  The output units of h will be the
%  same as the units of X,Y,Z,a.

%  Copyright (C) 1987 C. Goad, Columbus, Ohio
%  Reprinted with permission of author, 1996
%  Fortran code translated into MATLAB
%  Kai Borre 03-30-96
% Changed according to Matlab ver. 6.5.1, 9 February 2004

h = 0;
tolsq = 1.e-10;
maxit = 10;
% compute radian-to-degree factor
rtd = 180/pi;
% compute square of eccentricity
if finv < 1.e-20
   esq = 0;
else  
   esq = (2-1/finv)/finv; 
end
oneesq = 1-esq;
% first guess
% P is distance from spin axix
P = sqrt(X^2+Y^2);
% direct calculation of longitude
if P > 1.e-20
   dlambda = atan2(Y,X)*rtd;
else
   dlambda = 0; 
end;
if (dlambda < 0)
   dlambda = dlambda + 360;
end
% r is distance from origin (0,0,0)
r = sqrt(P^2+Z^2);
if r > 1.e-20
   sinphi = Z/r;
else
   sinphi = 0; 
end
dphi = asin(sinphi);
% initial value of height  =  distance from origin minus
% approximate distance from origin to surface of ellipsoid
if r < 1.e-20
   h = 0;
   return;
end;
h = r-a*(1-sinphi*sinphi/finv);
% iterate
for i = 1:maxit
   sinphi = sin(dphi);
   cosphi = cos(dphi);
   % compute radius of curvature in prime vertical direction
   N_phi = a/sqrt(1-esq*sinphi*sinphi);
   % compute residuals in P and Z
   dP = P - (N_phi + h) * cosphi;
   dZ = Z - (N_phi*oneesq + h) * sinphi;
   % update height and latitude
   h = h+(sinphi*dZ+cosphi*dP);
   dphi = dphi+(cosphi*dZ-sinphi*dP)/(N_phi + h);
   % test for convergence
   if (dP*dP + dZ*dZ < tolsq)
      break;
   end
   
   % Not Converged--Warn user
   if i == maxit
      fprintf([' Problem in TOGEOD, did not converge in %2.0f',...
            ' iterations\n'],i)
   end;
end;
dphi = dphi*rtd;
%%%%%%%% end togeod.m  %%%%%%%%%%%%%%%%%%%%%%
