What are the rotation sequence of the euler angles measured from 2-coordinate-system-distances (6DOF)

[[Fr...]]

I have set up a 2 coordinate system distance. And I would like to measure the rotations from my reference frame to local frame. The outputs are three angles phi, theta, psi. I would like to know are those angles extrinsic Euler angles? If so, what are the rotation sequence? Can someone point me to the corresponding user guide/documentations?