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Global reference frame
The global coordinate system O(\vec{e_1},\vec{e_2},\vec{e_3}) is as follows:
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The point O(0,0,0) is on the mean free surface,
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the vector \vec{e_1} defines the X coordinate,
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the vector \vec{e_2} defines the Y coordinate,
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the vector \vec{e_3} defines the Z coordinate and is upward.