I was just made aware of the navigator c++ library where you can interact with the sensors and thruster more directly. This is of interest to me, but I cannot find good documentation on the api or underlying source code of the library and I am not sure how to access waterlinked DVL measurements
A bit late, but in case anyone else stumbles across this question: The waterlinked DVL Data can be accessed via the ip address of the Device which by default is 192.168.194.95 as described in the user manual (it can be changed in the web gui). I would access the data by using the device ip directly instead of using the navigator lib, since access to the dvl data is not specified in the features of the navigator lib (see its ReadMe).