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Coordinate System
The coordinate system is currently RIGHT handed axes and RIGHT handed rotations. The axes are as follows:
Axes:
X+ - front of the sub
Y+ - left of the sub
Z+ - above the sub
Rotations:
Yaw+ - Counterclockwise around Z+ axis (this is opposite of magnetic) (Yaw Left positive)
Roll+ - Counterclockwise around X+ axis (Roll Right is positive)
Pitch+ - Counterclockwise around Y+ axis (Pitch Down is positive)