> For the complete documentation index, see [llms.txt](https://docs.ceruleansonar.com/c/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.ceruleansonar.com/c/dvl-75/communicating-with-the-dvl/outgoing-message-formats-dvl-to-host/usddvpdl-dvl-position-and-angle-deltas-message.md).

# $DVPDL: DVL Position and Angle Deltas Message

The $DVPDL message is output at a variable rate between 5Hz and 20 Hz.

Format:

$DVPDL,tu,dtu,adr,adp,ady,pdx,pdy,pdz,c\*hh

| **Field** | **Name**           | **DVL Notes**                                             |
| --------- | ------------------ | --------------------------------------------------------- |
| tu        | Time uSec          | Time since system boot in microseconds                    |
| dtu       | Delta Time uSec    | Time since the last message, in microseconds              |
| adr       | Angle Delta Roll   | Angle delta from previous message, in radians             |
| adp       | Angle Delta Pitch  | Angle delta from previous message, in radians             |
| ady       | Angle Delta Yaw    | Angle delta from previous message, in radians             |
| pdx       | Position Delta X\* | Position delta from previous message, in meters           |
| pdy       | Position Delta Y\* | Position delta from previous message, in meters           |
| pdz       | Position Delta Z\* | Position delta from previous message, in meters           |
| c         | Confidence         | 0..100, where 100 = maximum confidence, 0 = no confidence |
| \*        | End of fields      |                                                           |
| hh        | Checksum           | NMEA standard                                             |

![Detached Sensor head – ArduSub Coordinate System for $DVPDL message](/files/fttESTwja6sh8VnCpdiW)

![All-in-One or Most-in-One Sensor head – ArduSub Coordinate System for $DVPDL](/files/DhT70LqIQfAn4jNqaor6)

Example:

```
$DVPDL,101234000,50000,0.001263,-0.019663,-0.745226,-0.000,0.001,-0.005,100*22
```


---

# Agent Instructions
This documentation is published with GitBook. GitBook is the documentation platform designed so that both humans and AI agents can read, navigate, and reason over technical content effectively. Learn more at gitbook.com.

## Querying This Documentation
If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question.

Perform an HTTP GET request on the current page URL with the `ask` query parameter, and the optional `goal` query parameter:

```
GET https://docs.ceruleansonar.com/c/dvl-75/communicating-with-the-dvl/outgoing-message-formats-dvl-to-host/usddvpdl-dvl-position-and-angle-deltas-message.md?ask=<question>&goal=<endgoal>
```

`ask` is the immediate question: it should be specific, self-contained, and written in natural language.
`goal` is optional and describes the broader end goal you are ultimately trying to accomplish on behalf of the user. GitBook uses it to tailor the answer towards what is most useful for that goal.

The response will contain a direct answer to the question and relevant excerpts and sources from the documentation.

Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.