Please note that the A50 and A125 software version should be rolled back to 2.1.0 when using Companion and for the time-being you also need to roll it back to 2.1.0 when using BlueOS.
BlueOS will be updated shortly to work with the latest DVL software (currently 2.2.1) however Companion will not be updated and you will always have to revert ot 2.1.0 when using Companion.
Refer to the manual software update process as detailed here;
https://waterlinked.github.io/dvl/sw-update/#offline-software-update
To manually download 2.1.0 for your DVL enter your DVLs CHIPID into this link;
https://update.waterlinked.com/api/v1/download/CHIPID/2.1.0