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.

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