This is an old revision of the document!
Coordinate System
Global Frame
The global frame is such that the x,y origin is at the pinger, and z=0 is at the surface. Positive z is up. Yaw is relative to magnetic north. Pitch and Roll are relative to the gravity vector.
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)