%This is revised from motcorrfinal-05/01/06 for Knorr 2006 cruise

%B means bow mount and S means stern mount
Braccx=datalogdata(:,5);
Braccy=datalogdata(:,6);
Braccz=datalogdata(:,7);
Brangx=datalogdata(:,2);
Brangy=datalogdata(:,3);
Brangz=datalogdata(:,4);
Sraccx=datalogdata(:,17);
Sraccy=datalogdata(:,18);
Sraccz=datalogdata(:,19);
Srangx=datalogdata(:,14);
Srangy=datalogdata(:,15);
Srangz=datalogdata(:,16);  

%looks like the x direction was wired incorrectly so that the polarity was
%flipped (both x and y should have minus signs but now only y gets a minus)
BrawU=1*datalogdata(:,8);%had a -1 multiplier from wecoma workup (maybe reversed polarity)
BrawV=-1*datalogdata(:,9);%had a -1 multiplier from wecoma workup (maybe reversed polarity)
BrawW=datalogdata(:,10);

SrawU=datalogdata(:,20);%had a -1 multiplier from wecoma workup (maybe reversed polarity)
SrawV=datalogdata(:,21);%had a -1 multiplier from wecoma workup (maybe reversed polarity)
SrawW=datalogdata(:,22);

g=9.8; %gravity
sf=50; %sampling frequency in Hz

%column 1 is B and colunm 2 is S
% B coordinate system is pos x toward stern, pos y toward the left when facing bow (port), pos z is up
% S coordinate system is pos x toward bow, pos y toward the right when
% facing bow (starboard, pos z is up; Overall coordinate system is pos x
% toward bow and pos y toward port, pos z up
% angles converted to radians

%convert volts to appropriate units, need to check against scott's
accx(:,1)=((Braccx./6.02).*g).*-1;%this is reversed from it's bow orientation
accx(:,2)=((Sraccx./6.02).*g);
accy(:,1)=((Braccy./6.02).*g).*1;
accy(:,2)=((Sraccy./6.02).*g).*-1;%this is reversed from it's stern orientation
accz(:,1)=(((Braccz-2.5)/1.2).*g).*1;
accz(:,2)=(((Sraccz-2.5)/1.2).*g).*1;
angx(:,1)=-1*((Brangx.*7.50).*((2*pi)/360));%this is reversed from it's bow orientation
angx(:,2)=((Srangx.*7.50).*((2*pi)/360));
angy(:,1)=-1*((Brangy.*7.50).*((2*pi)/360));%seems like the polarity is reversed as a result of miswiring
angy(:,2)=-1*((Srangy.*7.50).*((2*pi)/360));%this is reversed from it's stern orientation
angz(:,1)=1*(Brangz.*7.50).*((2*pi)/360);
angz(:,2)=1*(Srangz.*7.50).*((2*pi)/360);
heading=shhead.*((2*pi)/360);

%remove the mean (drift)
heading=1*(heading-mean(heading));%was -1, changed to see if it effects the correction
angx(:,1)=angx(:,1)-mean(angx(:,1));
angx(:,2)=angx(:,2)-mean(angx(:,2));
angy(:,1)=angy(:,1)-mean(angy(:,1));
angy(:,2)=angy(:,2)-mean(angy(:,2));
angz(:,1)=angz(:,1)-mean(angz(:,1));
angz(:,2)=angz(:,2)-mean(angz(:,2));