, based on the table given below.
The table comes from Clark Richards, a former PhD student at Dalhousie
University (reference 2), who developed it based on instrument documentation,
discussion on user groups, and analysis of measurements acquired with RDI
and Sontek acoustic current profilers in the SLEIWEX experiment.  In the
table, (X, Y, Z) denote instrument-coordinate velocities, (S, F, M) denote
ship-coordinate velocities, and (H, P, R) denote heading, pitch, and roll.</p>
<table class="table table"><