Advanced Navigation Boreas D90 - Raw DVL Data Packet; Raw DVL Data Flags

Table 113: RTKSoftware License Accuracies
11.4.42 Raw DVL Data Packet
Note: The Raw DVL Data packet will be output each time it is received, unless a certain output rate has
been set in "Configuration"→"Packet Rates" of Boreas Manager.
Raw DVL Data Packet
Packet ID 70
Length 60
Read / Write Read
Field # Bytes Offset Data Type Size Description
1 0 u32 4 Unix timestamp (seconds)
2 4 u32 4 Microseconds
3 8 u32 4 Flags, see 11.4.42.1 Raw DVL Data Flags
4 12 fp32 4 Bottom velocity X (m/s)
5 16 fp32 4 Bottom velocity Y (m/s)
6 20 fp32 4 Bottom velocity Z (m/s)
7 24 fp32 4 Bottom velocity standard deviation (m/s)
8 28 fp32 4 Water velocity X (m/s)
9 32 fp32 4 Water velocity Y (m/s)
10 36 fp32 4 Water velocity Z (m/s)
11 40 fp32 4 Water velocity standard deviation (m/s)
12 44 fp32 4 Water velocity layer depth (m)
13 48 fp32 4 Depth (m)
14 52 fp32 4 Altitude (m)
15 56 fp32 4 Temperature (deg C)
Table 114: Raw DVL Data Packet
11.4.42.1 Raw DVL Data Flags
Bit Description
0 Bottom velocity valid
1 Water velocity valid
2 Temperature valid
3 Depth valid
4 Altitude valid
Table 115: Raw DVL Data Flags
v1.2 Page 149 11 Oct 2022
Boreas Reference Manual • Advanced Navigation Packet Protocol