$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

All-in-One or Most-in-One Sensor head – ArduSub Coordinate System for $DVPDL

Example:

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