SeaTrac Serial Command Interface Reference
Page 137
9.2.
USBL Spherical Angles (Azimuth and Elevation)
On X150 beacons, for resolving incoming USBL signals, positive azimuths are defined
as being a positive rotation around the yaw axis (complying with the right-hand-rule).
Positive elevations are defined as being above the beacons horizontal plane (defined by
the XY axis pair), while negative elevations are defined as being below it.
Spherical angles are valid where…
0°
Azimuth
360°
-90°
Elevation
+90°
