Egyro=speedup(tsonic,gE);
Ngyro=speedup(tsonic,gN);
gyro=atan3(Egyro,Ngyro);
Egps=speedup(tsonic,sE);
Ngps=speedup(tsonic,sN);
lat=speedup(tsonic,Lat);
lon=speedup(tsonic,Lon);
checksigns=0;
if checksigns
    checksignsofDCFS
end
selfNav=0;    %Not using ETL motionPak to correct sonics - yet!
if selfNav
    EgyroE=speedup(tsonicE,gE);
    NgyroE=speedup(tsonicE,gN);
    gyroE=atan3(EgyroE,NgyroE);
    EgpsE=speedup(tsonicE,sE);
    NgpsE=speedup(tsonicE,sN);
    latE=speedup(tsonicE,Lat);
    lonE=speedup(tsonicE,Lon);
end
clear gE gN sE sN Lat Lon
        