dataDvlReprocessed;
dataPS;
dataN;

% Coordinate system:
%   moving in direction of beam 1 & away from beam 2 = pos y
%   moving in direction of beam 3 & away from beam 4 = pos x
% For run 2001.289.03 looks like:
%   beam 1 pointed aft
%   beam 3 pointed....starboard???

% Find the 'good' DVL results...

i = find(abs(dataDvl(:, dvlBotVelx)) < 10);

% Load in more accessible variables....

dt = dataDvl(i, dvlToping) - dataDvl(1, dvlToping);

db1 = dataDvl(i, dvlBeam1);
db2 = dataDvl(i, dvlBeam2);
db3 = dataDvl(i, dvlBeam3);
db4 = dataDvl(i, dvlBeam4);

vx = dataDvl(i, dvlBotVelx);
vy = dataDvl(i, dvlBotVely);
vz = dataDvl(i, dvlBotVelz);

% Do plot....

subplot(3, 1, 1);plot(dt, [db1, db2], '.')
subplot(3, 1, 2);plot(dt, [db3, db4], '.')
subplot(3, 1, 3);plot(dataNav(:,1)-dataNav(1,1), [dataNav(:,1),dataNav(:,1) '.')
