We propose the global frame to be such that the origin is relative to the pinger, and yaw is relative to magnetic north. Pitch and Roll are relative to the gravity vector.

• X+ - front of the sub
• Y+ - left of the sub
• Z+ - above the sub

• 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)