function [u,v,w,err] = BASSuvw_d(A,B,C,D,k)

%  BASSuvw_d -- calibrate BASS without axis D
%
%      A, B, C, D are pod counts for the four axes (zeroes
%         should be already subtracted).
%      k is the proportionality constant, usually .03.
%      u, v, w are in cm/s, pod coordinate system.
%      err is a measure of error, the difference between
%          vertical velocities calculated with the two axis
%          pairs.
% 
%      Fran Hotchkiss, January 12, 1998.

k = k * cos(pi/4);
u = k .* (B+B-A-C);
v = k .* (A-C);
w = -k/2 .* (A+C);
err = k/2 .* (A-B+C-D);
CalPod = [u v w err];