# Commands Accepted by the Tracker 650

Here is a summary table of commands the Tracker 650 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="81"></th><th width="102"></th><th width="94"></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><a href="commands-accepted-by-the-tracker-650/configuration">CONFIGURATION</a></td><td>X</td><td>X</td><td> </td><td>Send the current system configuration</td></tr><tr><td><a href="commands-accepted-by-the-tracker-650/mavlink-origin">MAVLINK-AUTO-ORIGIN</a></td><td>X</td><td>X</td><td>X</td><td>Turn on/off  auto MAVlink origin message</td></tr><tr><td><a href="commands-accepted-by-the-tracker-650/set-velocity-adjustment/set-speed-of-sound">SET-SPEED-OF-SOUND</a></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><a href="commands-accepted-by-the-tracker-650/set-velocity-adjustment">SET-VELOCITY-ADJUSTMENT</a></td><td>X</td><td>X</td><td>X</td><td>Set a global adjustment to measured velocity</td></tr><tr><td><a href="commands-accepted-by-the-tracker-650/set-pool-mode">SET-POOL-MODE</a></td><td>X</td><td>X</td><td>X</td><td>Turns Pool operating mode on and off.</td></tr><tr><td><a href="commands-accepted-by-the-tracker-650/send-dvpdl">SEND-DVPDL</a></td><td>X</td><td>X</td><td>X</td><td>Turn on/off position delta messages</td></tr><tr><td><a href="commands-accepted-by-the-tracker-650/send-dvpdx">SEND-DVPDX</a></td><td>X</td><td>X</td><td>X</td><td>Turn on/off extended position delta messages</td></tr><tr><td><a href="commands-accepted-by-the-tracker-650/send-dvkfc">SEND-DVFKC</a></td><td>X</td><td>X</td><td>X</td><td>Turn on/off $DVKFC message</td></tr><tr><td><a href="commands-accepted-by-the-tracker-650/send-mavlink-distance">SEND-MAVLINK-DISTANCE</a></td><td>X</td><td>X</td><td>X</td><td>Enables send the MAVlink distance message if the MAVlink interface is enabled.</td></tr><tr><td><a href="commands-accepted-by-the-tracker-650/set-position">SET-POSITION</a></td><td>X</td><td>X</td><td></td><td>Passes the supplied position to the MAVlink interface if it is enabled.</td></tr><tr><td><a href="commands-accepted-by-the-tracker-650/set-sensor-orientation">SET-SENSOR-ORIENTATION</a></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><a href="commands-accepted-by-the-tracker-650/ip-address">IP-ADDRESS</a></td><td>X</td><td>X</td><td>X</td><td>Set/delete a static IP address for the Tracker 650</td></tr><tr><td><a href="commands-accepted-by-the-tracker-650/host-address">HOST-ADDRESS</a></td><td>X</td><td>X</td><td>X</td><td>Set an IP address for the host</td></tr><tr><td><a href="commands-accepted-by-the-tracker-650/mavlink-address">MAVLINK-ADDRESS</a></td><td>X</td><td>X</td><td>X</td><td>Set an IP address and port for the the MAVlink REST server. Setting the IP address to 0.0.0.0 will disable the MAVlink interface.</td></tr><tr><td><a href="commands-accepted-by-the-tracker-650/fallback-address">FALLBACK-ADDRESS</a></td><td>X</td><td>X</td><td>X</td><td>Set a fallback IP address for the Tracker 650</td></tr><tr><td><a href="commands-accepted-by-the-tracker-650/unicast-to-me">UNICAST-TO-ME</a></td><td> </td><td>X</td><td> </td><td>Change broadcast to unicast</td></tr><tr><td><a href="commands-accepted-by-the-tracker-650/pause">PAUSE</a></td><td>X</td><td>X</td><td> </td><td>Suspends pinging and processing</td></tr><tr><td><a href="commands-accepted-by-the-tracker-650/resume">RESUME</a></td><td>X</td><td>X</td><td> </td><td>Resumes pinging and processing</td></tr><tr><td><a href="commands-accepted-by-the-tracker-650/reboot">REBOOT</a></td><td>X</td><td>X</td><td> </td><td>Restart the Tracker 650 as if powered up</td></tr><tr><td><a href="blue-robotics-discovery-protocol-ethernet-only">Ethernet Discovery</a></td><td> </td><td>X</td><td> </td><td>Blue Robotics Ethernet Discovery</td></tr><tr><td>(<a href="arp-address-resolution-protocol">ARP</a>)</td><td> </td><td>X</td><td> </td><td>Ethernet Address Resolution Protocol</td></tr><tr><td>(<a href="dhcp-dynamic-host-configuration-protocol">DHCP</a>)</td><td> </td><td>X</td><td> </td><td>Ethernet Dynamic Host Configuration Protocol</td></tr><tr><td>(<a href="ping-internet-control-message-protocol-ping">Ping</a>)</td><td> </td><td>X</td><td> </td><td>Ethernet Internet Control Message Protocol Ping</td></tr></tbody></table>