> 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
```