A pirate ship Q starts at the dock at point D, and north 500m 

On top of the mast of ship Q, 30m above the deck is a seagull S, which is facing to right hand side of the ship

Draw a scene-graph including D, P, Q, and S with the dock D as the root. 
What is the matrix 𝑀 𝑆→𝑄 representing the seagull’s coordinate frame relative to the ship Q, expressed as a product of simple 3D transformations (T, Rx, Ry, Rz, S)?