How are heading, yaw, heel, roll, trim and pitch related?
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By definition Heel/Trim/Heading are the static rotational angles of a yacht around the X/Y/Z axes (respectively) and Roll/Pitch/Yaw is the dynamic component sometimes referred to as Rates, or in the case of Yaw Rate - ROT (Rate Of Turn).
Surge/Sway/Heave is dynamic, linear motion in the plane of the X/Y/Z axes - in the case of Surge, the static component is BSP.
All without considering Leeway (i.e. X is Heading, not Course, therefore Surge is in the X axis, there would be an element of Sway and Heave due to leeway and heel).