# Valid Commands from Host to ROVL, Serial and Ethernet

<table data-header-hidden><thead><tr><th width="142"></th><th width="150"></th><th width="85"></th><th width="106"></th><th width="128"></th><th></th></tr></thead><tbody><tr><td><strong>Command</strong></td><td><strong>Description</strong></td><td><strong>Sticky</strong></td><td><strong>Mk II Receiver</strong></td><td><strong>Mk III Transceiver</strong></td><td><strong>Transmitter Transponder</strong></td></tr><tr><td><p>?</p><p>?*</p></td><td>Print configuration and menu of user commands</td><td> </td><td>X</td><td>X</td><td>Mk II / Mk III</td></tr><tr><td>BOOT</td><td>Reset CPU into bootload (firmware load) mode. We recommend you instead use the firmware loading capability of the SonarView application.</td><td></td><td>X</td><td>X</td><td>X</td></tr><tr><td>Cx</td><td>Factory-use commands for calibration</td><td></td><td>X</td><td>X</td><td></td></tr><tr><td>HIGH-RATE {ON, OFF}</td><td>Mk V High rate ping enable</td><td>X</td><td></td><td>X</td><td>Mk V only</td></tr><tr><td>IA, IB</td><td>Sets operating channel to A or B</td><td>X</td><td>X</td><td> </td><td>Mk II only</td></tr><tr><td>ID</td><td>Sets receiver to receive on both channels simultaneously (Dual Channel operation) (Mk II only)</td><td>X</td><td>X</td><td> </td><td> </td></tr><tr><td>Jn</td><td>Set magnetic declination to n degrees</td><td>X</td><td>X</td><td>X</td><td> </td></tr><tr><td>K</td><td>Send the flash contents to the console</td><td></td><td>X</td><td>X</td><td></td></tr><tr><td>Mn</td><td>Pause mode, n=1 paused, n=0 resumed</td><td></td><td>X</td><td>X</td><td></td></tr><tr><td>On, Off</td><td>Turn transmitter pinging on and off.</td><td> </td><td> </td><td> </td><td>Mk II / Mk III</td></tr><tr><td>RESET</td><td>Reset flash to factory default (think twice before using)</td><td></td><td>X</td><td>X</td><td></td></tr><tr><td>SGH heading</td><td>Simulate GNSS heading using supplied heading value</td><td></td><td>X</td><td>X</td><td></td></tr><tr><td>SGH OFF</td><td>Set GNSS heading simulation off</td><td></td><td>X</td><td>X</td><td></td></tr><tr><td>SGP lat,lon</td><td>Simulate GNSS position with supplied latitude and longitu</td><td></td><td>X</td><td>X</td><td></td></tr><tr><td>SGP OFF</td><td>Set GNSS position simulation off</td><td></td><td>X</td><td>X</td><td></td></tr><tr><td>SI r,p,y</td><td>Simulate IMU output with supplied roll, pitch, yaw (ENU)</td><td></td><td>X</td><td>X</td><td></td></tr><tr><td>SI 0,0,-1</td><td>Set IMU simulation off</td><td></td><td>X</td><td>X</td><td></td></tr><tr><td>ST sr,bear,el</td><td>Simulate ROV detection at slant range sr, bearing bear, elevation el </td><td></td><td>X</td><td>X</td><td></td></tr><tr><td>ST 0,0,0</td><td>Set ROV detection simulation off</td><td></td><td>X</td><td>X</td><td></td></tr><tr><td>U</td><td>Future use</td><td></td><td></td><td></td><td></td></tr><tr><td>Vx</td><td>Various verbose mode switches for factory use</td><td> </td><td>X</td><td> X</td><td> </td></tr><tr><td>W</td><td>Toggle Mk I emulation</td><td> </td><td>X</td><td> X</td><td></td></tr><tr><td>X</td><td>Jog timebase (Mk I emulation only)</td><td> </td><td>X</td><td> X</td><td> </td></tr><tr><td>YON, YOFF</td><td>Send raw IMU data</td><td></td><td>X</td><td>X</td><td></td></tr><tr><td>YMAG z,y,z</td><td>set magnetometer calibration offsets</td><td></td><td>X</td><td>X</td><td></td></tr><tr><td>YGYR x,y,z</td><td>set gyro calibration offsets</td><td></td><td>X</td><td>X</td><td></td></tr><tr><td>YACC x,y,z </td><td>set accelometer calibration offsets</td><td></td><td>X</td><td>X</td><td></td></tr><tr><td>YYAX x</td><td>Set IMU yaw offset to n</td><td></td><td>X</td><td>X</td><td></td></tr><tr><td>ANTOFF x,y,z</td><td>Future use</td><td></td><td>X</td><td>X</td><td></td></tr><tr><td>ANTROT 0,0,z</td><td>Set GNSS antenna offset to z</td><td></td><td>X</td><td>X</td><td></td></tr><tr><td>Zn</td><td>Set speed of sound to n meters/second</td><td>X</td><td>X</td><td><strong>X</strong></td><td> </td></tr><tr><td>$xxxxx,</td><td>NMEA command carrier </td><td> </td><td>X</td><td><strong>X</strong></td><td> </td></tr><tr><td>###</td><td>Reboot immediately</td><td></td><td>X</td><td>X</td><td>X</td></tr><tr><td>@n </td><td>Set Mk II / Mk III flag. <strong>Do not test this to see what happens!</strong>  It would be very sad if you accidentally bricked your device.</td><td>X</td><td>X</td><td>X</td><td>X</td></tr></tbody></table>

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Send these commands directly to the receiver or transmitter.
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Send newline (linefeed) (ASCII 0x0A) after all commands to make them take effect.
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Sending messages not listed may have unpleasant consequences including bricking your unit.
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These commands should not be sent in NMEA sentence format except as noted.
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