> 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/inertial-measurement-unit-imu/baseline-imu-calibrations.md). # Baseline IMU Calibrations Low-cost IMUs like the one in the DVL are vexing devices that will surely test your patience. We say at Cerulean, “Every IMU is worse than every other IMU.” Note that a good IMU calibration is one of the dominating factors for good system performance. It is easier and more reliable to do the baseline IMU calibration if you can see the calibration state of the IMU. The calibration state is given in the extended data message. However, to see the calibration state you either need to write some interface software, or, if you are using Ethernet, run the Cerulean Windows DVL application on the same network as the DVL. If you plan to use the DVL as a GPS emulator and do not want to write any software, follow the “blind calibration” procedure below. If you can see the calibration status while calibrating, follow the “status-assisted calibration” procedure below. --- # 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/inertial-measurement-unit-imu/baseline-imu-calibrations.md?ask=&goal= ``` `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.