Hi @fhmrocha,
I’ve moved your comment here, because it’s more relevant to this topic than the original thread 
ArduSub 4.1.0 stable should work fine (it’s actually the same as 4.1.0 beta at the moment). Note that as per Scotty’s comment above our old Companion software only supports the previous DVL firmware version. If you want to use the new one you’ll need to install BlueOS and its Water Linked DVL extension.