# Commands Accepted by the DVL

Here is a summary table of commands the DVL recognizes. Each message is described in further detail after the table. “Sticky” means the effect of the command is preserved across a power on/off cycle. Commands are terminated with a newline (ASCII 0x0A, C++ “\n”). Carriage returns (ASCII 0x0D, C++ “\r”), if any, prior to the newline are ignored. There are additional commands for factory use that are not documented. Try not to experiment, for example, we recommend not sending a “BRICK-DEVICE” command to see what will happen.

<table data-header-hidden><thead><tr><th width="195"></th><th width="150"></th><th width="150"></th><th width="150"></th><th></th></tr></thead><tbody><tr><td><strong>Command</strong></td><td><strong>Serial</strong></td><td><strong>Ethernet</strong></td><td><strong>Sticky*</strong></td><td><strong>Notes</strong></td></tr><tr><td>$GPRMC</td><td>X</td><td>X</td><td> </td><td>Set position using a $GPRMC-formatted message</td></tr><tr><td>SET-POSITION</td><td>X</td><td>X</td><td> </td><td>Set a starting lat/long position</td></tr><tr><td>CONFIGURATION</td><td>X</td><td>X</td><td> </td><td>Send the current system configuration</td></tr><tr><td>SUPPRESS-GPS</td><td>X</td><td>X</td><td> </td><td>Ignore GPS reading for n seconds</td></tr><tr><td>DECLINATION</td><td>X</td><td>X</td><td>X</td><td>Set the magnetic declination for the area</td></tr><tr><td>HEADING-OFFSET</td><td>X</td><td>X</td><td>X</td><td>Offsets the heading output to as-mounted</td></tr><tr><td>SET-SPEED-OF-SOUND</td><td>X</td><td>X</td><td>X</td><td>Sets the speed of sound in the body of water where operating</td></tr><tr><td>SET-VELOCITY-ADJUSTMENT</td><td>X</td><td>X</td><td>X</td><td>Set a global adjustment to measured velocity</td></tr><tr><td>SEND-GPRMC</td><td>X</td><td>X</td><td>X</td><td>Turn on/off $GPRMC output message</td></tr><tr><td>SEND-DVEXT</td><td>X</td><td>X</td><td>X</td><td>Turn on/off Extended DVL Data message</td></tr><tr><td>SEND-FREEFORM</td><td>X</td><td>X</td><td>X</td><td>Turn on/off freeform messages</td></tr><tr><td>SEND-DVFKA</td><td>X</td><td>X</td><td>X</td><td>Turn on/off $DVKFA message</td></tr><tr><td>SEND-DVFKB</td><td>X</td><td>X</td><td>X</td><td>Turn on/off $DVKFB</td></tr><tr><td>RETWEET-GPS</td><td>X</td><td>X</td><td>X</td><td>Forward GPS messages to the main commo link</td></tr><tr><td>RETWEET-IMU</td><td>X</td><td>X</td><td>X</td><td>Forward IMU messages to the main commo link</td></tr><tr><td><del>SET-SIDE-TRACKING</del></td><td><del>X</del></td><td><del>X</del></td><td> </td><td><del>Turn side-tracking on/off</del></td></tr><tr><td><del>SEND-SIDE-TRACKING-FRAME</del></td><td><del>X</del></td><td><del>X</del></td><td> </td><td><del>Send the most recent side-tracking target surface normal</del></td></tr><tr><td>SET-SENSOR-ORIENTATION</td><td>X</td><td>X</td><td>X</td><td>Sets the mounting orientation of the DVL sensor with respect to the ROV coordinate frame</td></tr><tr><td>GRAB-IMU-CAL</td><td>X</td><td>X</td><td>X</td><td>Save Baseline IMU calibration coefficients</td></tr><tr><td>VOID-IMU-CAL</td><td>X</td><td>X</td><td>X</td><td>Delete Baseline IMU calibration coefficients</td></tr><tr><td>BAUD-RATE</td><td>X</td><td>X</td><td>X</td><td>Set the serial port baud rate</td></tr><tr><td>IP-ADDRESS</td><td>X</td><td>X</td><td>X</td><td>Set/delete a static IP address for the DVL</td></tr><tr><td>HOST-ADDRESS</td><td>X</td><td>X</td><td>X</td><td>Set an IP address for the host</td></tr><tr><td>MAVLINK-ADDRESS</td><td>X</td><td>X</td><td>X</td><td>Set an IP address and port for the the MAVlink REST server. Setting ing the IP address to 0.0.0.0 will disable the MAVlink interface.</td></tr><tr><td>FALLBACK-ADDRESS</td><td>X</td><td>X</td><td>X</td><td>Set a fallback IP address for the DVL</td></tr><tr><td>UNICAST-TO-ME</td><td> </td><td>X</td><td> </td><td>Change broadcast to unicast</td></tr><tr><td>PAUSE</td><td>X</td><td>X</td><td> </td><td>Suspends pinging and processing</td></tr><tr><td>RESUME</td><td>X</td><td>X</td><td> </td><td>Resumes pinging and processing</td></tr><tr><td>MANUAL-MODE</td><td>X</td><td>X</td><td> </td><td>See appendix on manual mode</td></tr><tr><td>REBOOT</td><td>X</td><td>X</td><td> </td><td>Restart the DVL as if powered up</td></tr><tr><td>Ethernet Discovery</td><td> </td><td>X</td><td> </td><td>Blue Robotics Ethernet Discovery</td></tr><tr><td>(ARP)</td><td> </td><td>X</td><td> </td><td>Ethernet Address Resolution Protocol</td></tr><tr><td>(DHCP)</td><td> </td><td>X</td><td> </td><td>Ethernet Dynamic Host Configuration Protocol</td></tr><tr><td>(Ping)</td><td> </td><td>X</td><td> </td><td>Ethernet Internet Control Message Protocol Ping</td></tr></tbody></table>


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