# $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: 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:

```
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>
```

The question should be specific, self-contained, and written in natural language.
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.