6.8 DVL - mcgill-robotics/auv-embedded-2026 GitHub Wiki
The DVL (Doppler Velocity Log) is an underwater sensor that uses sound waves to measure speed and direction. For more information on this specific sensor, see the DVL A50 Documentation on the Waterlinked website, especially the Interfaces pages.
Communication Interfaces
The DVL A50 supports both UART and Ethernet interfaces for communication and configuration.
UART Interface (Serial)
- The DVL A50 uses a 3.3V TTL UART interface, and is 5 V tolerant
- UART pins: TX, RX, and common GND should be connected to a UART‑USB converter for communication
- Serial port settings:
- Baud rate: 115200 bps
- Format: 8N1 (8 data bits, no parity, 1 stop bit)
- Flow control:
Ethernet Interface (Network GUI)
- The DVL A50 provides 10/100 BASE‑T Ethernet, enabling access to a web‑based GUI
- Access the GUI at http://waterlinked‑dvl
- Through the GUI you can:
- View live data visualizations
- Configure settings (e.g. network, acoustics, IMU calibration)
- Perform software updates and diagnostics
Wiring
Note: As of September 2026, information relating to the Subconn connector is no longer relevant, and is included here for reference only. The wire colours and pin descriptions remain relevant.
DVL A50 to DIL8M Subconn Wiring Table
| DVL Wire Colour | Subconn Wire Colour | DVL Pin Description | PCB Pin Description |
|---|---|---|---|
| Black | Blue/White | Negative / Ground | PGND |
| Red | Blue | Positive (10–30V DC) | +16 |
| Green/White | Green/White | ETH RX+ | ETH_RX_P |
| Green | Green | ETH RX- | ETH_RX_N |
| Orange | Orange | ETH TX- | ETH_TX_N |
| Orange/White | Orange/White | ETH TX+ | ETH_TX_P |
| Brown/White | Brown/White | UART TX | UART_T |
| Brown | Brown | UART RX | UART_RX |
| Blue | N/A | Unused | N/A |
| Blue/White | N/A | Unused | N/A |
🔌 DIL8M Subconn Face View (Male)
Standard Ethernet color-coding for twisted pairs, based on MacArtney DIL8M PDF:
Accessing the Water Linked DVL Web GUI
Standard Access Method (AUV Network)
To access the DVL GUI, you must connect to the AUV Network through the JP-Link Router, which should already be set up.
- Connect your computer to the AUV WiFi network
- Open a web browser and navigate to: http://waterlinked-dvl
If this does not work (for example, if you are connected locally straight to the JP-Link router via direct Ethernet), try: http://waterlinked-dvl.local
Troubleshooting Connectivity
If the GUI does not load, verify connectivity using the terminal:
ping waterlinked-dvl
or
ping waterlinked-dvl.local
If neither hostname resolves, you can attempt to access or ping the DVL using its assigned IP address: 192.168.194.95
Network Configuration (Important Notes)
Multicast DNS (mDNS)
The DVL runs a DHCP client which will attempt to obtain an IP address from a DHCP server (e.g. a router) on the same network, and supports mDNS.
The mDNS hostname of the DVL is: waterlinked-dvl
On systems that support mDNS, the web GUI can be accessed at: http://waterlinked-dvl
Note
If no DHCP server is available on the network, it is recommended to use the fallback IP or configure a static IP address, as the DVL can spend up to 5 minutes searching for a DHCP server.
Fallback IP
The DVL will always be available with the static IP address: 192.168.194.95
To be able to connect to the DVL using it:
- Connect an Ethernet cable directly from the DVL to your computer
- For the Ethernet interface of your computer, configure it to have a static IP address in the same subnet as 192.168.194.95, e.g. 192.168.194.90 or any address of the form 192.168.194.xxx using a subnet mask of 255.255.255.0 (192.168.194.0/24)
- Activate the Ethernet interface of your computer
- In a web browser, open: http://192.168.194.95
IP Configuration via the GUI
The IP address of the DVL can be configured in two ways via the web GUI:
- DHCP client: an IP address is obtained from a DHCP server (e.g. a router) on the same network
- Static: the DVL is assigned a fixed IP address
After the IP configuration of the DVL is modified, the DVL must be rebooted for the settings to take effect.
Note
The boot time, i.e. the time it takes from the DVL receiving power until it starts operating normally, depends on the IP configuration:
- Using the fallback IP: up to 1 min 30 sec
- Using a static IP: as low as 20 sec