# Sensor specification sheet
#----------------------------
NAME: rdiDVL
TYPE: 1
NUMBEAMS: 4

PITCH ANGLES:30, 30, 30, 30
YAW ANGLES: -45, 135, 45, -135

#----------------------------------------------------------------
# Sensor beam configuration diagram:
#
# Beam numbering convention, looking down on Dvl from above.  
# x and y are the vehicle axes. x points to port, y to starboard.               
#                                                                        
#                  x                                                     
#                  ^                                                          
#                  |                                                     
#                1 | 3                                                   
#                  |------> y                                            
#                4   2                                                   
#                                                                        
# Each beam is spaced 45 degrees from the horizontal/vertical.            
# The inclination angle is 30 degrees.