# 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>

&#x20;

{% hint style="info" %}
Send these commands directly to the receiver or transmitter.
{% endhint %}

{% hint style="info" %}
Send newline (linefeed) (ASCII 0x0A) after all commands to make them take effect.
{% endhint %}

{% hint style="info" %}
Sending messages not listed may have unpleasant consequences including bricking your unit.
{% endhint %}

{% hint style="info" %}
These commands should not be sent in NMEA sentence format except as noted.
{% endhint %}


---

# Agent Instructions: Querying This Documentation

If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question.

Perform an HTTP GET request on the current page URL with the `ask` query parameter:

```
GET https://docs.ceruleansonar.com/c/ethernet-rov-locator/communicating-with-the-rovl/messages-from-host-to-rovl/valid-commands-from-host-to-rovl-serial-and-ethernet.md?ask=<question>
```

The question should be specific, self-contained, and written in natural language.
The response will contain a direct answer to the question and relevant excerpts and sources from the documentation.

Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.