# DVL - Georeferencing video or exporting a timelog of lat long

**URL:** https://discuss.bluerobotics.com/t/dvl-georeferencing-video-or-exporting-a-timelog-of-lat-long/15014
**Category:** Third Party Products
**Tags:** dvl
**Created:** [September 6, 2023, 12:24pm UTC](https://discuss.bluerobotics.com/t/dvl-georeferencing-video-or-exporting-a-timelog-of-lat-long/15014 "2023-09-06T12:24:26Z")
**Posts on this page:** 1
**Showing post:** 2

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### Author: ![EliotBR](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/eliotbr/32/6937_2.png) [@EliotBR](https://discuss.bluerobotics.com/u/EliotBR)
#### Post date: [September 6, 2023, 8:53pm UTC](https://discuss.bluerobotics.com/t/dvl-georeferencing-video-or-exporting-a-timelog-of-lat-long/15014/2 "2023-09-06T20:53:55Z")

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Hi @GavXYZ,

I believe I responded to this when you asked a few weeks ago in a different post:

> [@Waterlinked GPS Data log](https://discuss.bluerobotics.com/t/waterlinked-gps-data-log/14777/8):
>
> The vehicle has internal DataFlash `.bin` log files, and QGroundControl also logs the MAVLink messages it receives during operation in `.log` telemetry logs, which can both be parsed using [Log Viewer](https://ardupilot.org/dev/docs/common-uavlogviewer.html) or programs like Pymavlink’s [`mavlogdump.py`](https://www.ardusub.com/reference/data-logging.html#mavlogdumppy).
> 
> If you’re using `.bin` logs the [`VIS*`](https://docs.bluerobotics.com/ardusub-zola/software/autopilot/ArduSub-4.1/developers/log-messages/#viso) messages give you the information ArduSub is receiving from the DVL extension, and the [`POS`](https://docs.bluerobotics.com/ardusub-zola/software/autopilot/ArduSub-4.1/developers/log-messages/#pos) messages log the vehicle’s position estimate from ArduSub’s sensor fusion (its EKF). In `.log` files you can look at the [`GLOBAL_POSITION_INT`](https://mavlink.io/en/messages/common.html#GLOBAL_POSITION_INT) message data, and possibly also any `VISION_*` messages that get passed along.

Feel free to follow up if you have additional questions 🙂

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