Y</td><td>Z</td><td>7</td><td>Sontek</td><td>PCADP</td></tr><tr><td>up</td><td>H-90</td><td>R</td><td>-P</td><td>X</td><td>Y</td><td>Z</td><td>8</td><td>Sontek</td><td>PCADP</td><td>down</td><td>H-90</td></tr></table><p>Finally, a standardized rotation matrix is used to convert from ship
coordinates to earth coordinates.  As described in the RDI coordinate
transformation manual (reference 1, pages 13 and 14), this matrix is based on sines
and cosines of heading, pitch, and roll If <code>CH</code> and <code>