Cmd  Parameters                                    Description
---  --------------------------------------------  --------------------------
!B                                                 Set baud rate: 
                                                      0=2400, 
                                                      1=4800, 
                                                      2=9600, 
                                                      3=19200, 
                                                      4=38400, 
                                                      5=115200

!W   <num>,<DDMM.MMMM>,<N|S>,<DDDMM.MMMM>,<E|W>    Set waypoint number <num>

!L                                                 List waypoints

!C                                                 Clear all waypoints

!N   <num>                                         Set number of waypoints

!A   <dist>                                        Set arrival distance (km)

!Q   <A|D>                                         Set waypoint sequencing:
                                                      A=Arrival
                                                      D=Departure

!Y   <1,H,R>                                       Set waypoint cycling:
                                                      1=once, stay at last wp
                                                      H=once then return to origin
                                                      R=repeat

!V                                                 Display program version

!D   <0|1>                                         Debug mode