$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

Example:

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

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