> For the complete documentation index, see [llms.txt](https://docs.ceruleansonar.com/c/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.ceruleansonar.com/c/rov-locator/communicating-with-the-rovl.md).

# Communicating With the ROVL

- [Serial Parameters](https://docs.ceruleansonar.com/c/rov-locator/communicating-with-the-rovl/serial-parameters.md)
- [Packet Format](https://docs.ceruleansonar.com/c/rov-locator/communicating-with-the-rovl/packet-format.md)
- [Messages from ROVL to Host](https://docs.ceruleansonar.com/c/rov-locator/communicating-with-the-rovl/messages-from-rovl-to-host.md)
- [$USRTH Receiver-Transmitter Relative Angles Message](https://docs.ceruleansonar.com/c/rov-locator/communicating-with-the-rovl/messages-from-rovl-to-host/usdusrth-receiver-transmitter-relative-angles-message.md)
- [$USINF Information Message](https://docs.ceruleansonar.com/c/rov-locator/communicating-with-the-rovl/messages-from-rovl-to-host/usdusinf-information-message.md)
- [$USERR Error Message](https://docs.ceruleansonar.com/c/rov-locator/communicating-with-the-rovl/messages-from-rovl-to-host/usduserr-error-message.md)
- [Messages from Host to ROVL](https://docs.ceruleansonar.com/c/rov-locator/communicating-with-the-rovl/messages-from-host-to-rovl.md)
- [NMEA-Format Messages to Receiver](https://docs.ceruleansonar.com/c/rov-locator/communicating-with-the-rovl/messages-from-host-to-rovl/nmea-format-messages-to-receiver.md)
- [Valid Commands from Host to ROVL](https://docs.ceruleansonar.com/c/rov-locator/communicating-with-the-rovl/messages-from-host-to-rovl/valid-commands-from-host-to-rovl.md)