The first example ([UWSim](
http://uji-ros-pkg/underwater_simulation/blob/kinetic-devel/underwater_sensor_msgs/msg/DVL.msg)) is a very specific DVL message for an RDI DVL while the second ([uuv_simulator](
http://uuvsimulator/uuv_simulator/blob/master/uuv_sensor_plugins/uuv_sensor_plugins_ros_msgs/msg/DVL.msg)) for me is more generic. The only problem that I see with the second is that most of DVL sensors can provide measurements wrt. sea bottom or/and wrt. water. However, changing the _velocity_covariance_ or publishing two topics (one for bottom and another for water measurements) will be enough.
We could start the discussion using the ([uuv_simulator](
http://uuvsimulator/uuv_simulator/blob/master/uuv_sensor_plugins/uuv_sensor_plugins_ros_msgs/msg/DVL.msg)) as a base. For the Side Scan Sonar, and example can be found at [SSS msg](
https://bitbucket.org/udg_cirs/cola2_core/src/0ca1b8248790214ab21d3336bd1161b82b095a22/cola2_msgs/msg/ImagenexSSS.msg?at=master&fileviewer=file-view-default).
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