Appendix: Beta Release Command Set

The Beta release of the ROV-Locator Receiver has an extensive set of commands used to program and monitor the operation of the system. Generally, these commands are only useful to Cerulean personnel and for remote diagnosis.

Experimenting with these commands can cause your ROL-Locator to work erratically and/or to stop working entirely. The effect of many of these commands is persisted in non-volatile memory. A factory reset ALWAYS removes the angular calibration constants loaded at the factory, rendering your unit useless until the calibration constants specific to your hardware are reloaded.

Valid Beta User Commands to Units

Command	Description	Sticky	Receiver	Transmitter
Ci,v	Load memory copy of azimuth calibration array with point I, value v		X
CI	Zero memory copy of azimuth calibration array		X
CD	Dump memory copy of azimuth calibration to console		X
CF	Check memory copy azimuth calibration array for complete fill and then write to flash memory	X	X
CZ	Zero memory copy of azimuth calibration array		X
Ni	Begin IMU calibration download		X
Ni,v	Set IMU calibration byte I to v [v is 2-digit hex number]		X
Nf	Finish IMU calibration download and write to flash	X	X
Pn,i,f	Set memory copy of calibration of sensor point n, I = {0->X,1->Y,2->Z} to f meters		X
PRESET	Reset sensor x,y,z calibration to factory (memory only)		X
PWRITE	Write memory copy of sensor x,y,z calibration to flash	X	X
Sd,y,e	Set output simulation to slant range d, apparent bearing y, apparent elevation e d = 0 turns off simulation d != 0 turns on simulation with d, y and e values		X
T	Toggle between small data set (1000 pts) and large data set (6000+ points)		X
V0	Turn off all verbose switches		X
V1	Turn on all verbose switches		X
V3	Turn on GNSS retweet		X
V7	Turn on verbose messages for IMU interface messages		X
V8	Turn on verbose messages for calibration		X
V9	Turn on verbose messages for calibration		X

Send newline (linefeed) (ASCII 0x0A) after all commands to make them take effect.

Sending messages not listed may have unpleasant consequences including bricking your unit.

These commands should not be sent in NMEA sentence format.

Sticky items have an effect that persists across boots; they are saved in flash memory.