diff --git a/nodes/SonarArrayDriverNode/node/SonarArrayDriverNode.cpp b/nodes/SonarArrayDriverNode/node/SonarArrayDriverNode.cpp
index 2f171a8..0b9d716 100644
--- a/nodes/SonarArrayDriverNode/node/SonarArrayDriverNode.cpp
+++ b/nodes/SonarArrayDriverNode/node/SonarArrayDriverNode.cpp
@@ -27,14 +27,8 @@ void SonarArrayDriverNode::system_commandAction_Callback(
 }
 void SonarArrayDriverNode::command_Callback(const eros::command::ConstPtr &t_msg) {
     eros::command cmd = eros::eros_utility::ConvertUtility::convert_fromptr(t_msg);
-    eros::eros_diagnostic::Diagnostic diag = process->get_root_diagnostic();
-    diag = process->update_diagnostic(
-        eros::eros_diagnostic::DiagnosticType::COMMUNICATIONS,
-        eros::Level::Type::WARN,
-        eros::eros_diagnostic::Message::DROPPING_PACKETS,
-        "Received unsupported Command: " +
-            eros::Command::CommandString((eros::Command::Type)cmd.Command));
-    logger->log_diagnostic(diag);
+    auto diag_list = process->new_commandmsg(cmd);
+    for (auto diag : diag_list) { logger->log_diagnostic(diag); }
 }
 bool SonarArrayDriverNode::changenodestate_service(eros::srv_change_nodestate::Request &req,
                                                    eros::srv_change_nodestate::Response &res) {
diff --git a/nodes/SonarArrayDriverNode/node/SonarArrayDriverNode.h b/nodes/SonarArrayDriverNode/node/SonarArrayDriverNode.h
index 76bc071..c98c9a7 100644
--- a/nodes/SonarArrayDriverNode/node/SonarArrayDriverNode.h
+++ b/nodes/SonarArrayDriverNode/node/SonarArrayDriverNode.h
@@ -35,10 +35,10 @@ class SonarArrayDriverNode : public eros::BaseNode
     const uint16_t MINOR_RELEASE_VERSION = 0;
 
     /*! \brief The Build Number of the Node.*/
-    const uint16_t BUILD_NUMBER = 3;
+    const uint16_t BUILD_NUMBER = 4;
 
     /*! \brief A Description of the Firmware.*/
-    const std::string FIRMWARE_DESCRIPTION = "Latest Rev: 19-Mar-2025";
+    const std::string FIRMWARE_DESCRIPTION = "Latest Rev: 31-Mar-2025";
 
     /*! \brief What System this Node falls under.*/
     const eros::System::MainSystem DIAGNOSTIC_SYSTEM = eros::System::MainSystem::ROVER;
diff --git a/nodes/SonarArrayDriverNode/node/SonarArrayDriverNodeProcess.cpp b/nodes/SonarArrayDriverNode/node/SonarArrayDriverNodeProcess.cpp
index 0ca88da..c37ffce 100644
--- a/nodes/SonarArrayDriverNode/node/SonarArrayDriverNodeProcess.cpp
+++ b/nodes/SonarArrayDriverNode/node/SonarArrayDriverNodeProcess.cpp
@@ -42,9 +42,17 @@ eros::eros_diagnostic::Diagnostic SonarArrayDriverNodeProcess::update(double t_d
 }
 std::vector<eros::eros_diagnostic::Diagnostic> SonarArrayDriverNodeProcess::new_commandmsg(
     eros::command msg) {
-    (void)msg;
-    std::vector<eros::eros_diagnostic::Diagnostic> diag_list;
-    logger->log_warn("No Command Messages Supported at this time.");
+    std::vector<eros::eros_diagnostic::Diagnostic> diag_list = base_new_commandmsg(msg);
+    if (diag_list.size() == 0) {
+        // No currently supported commands.
+    }
+    else {
+        for (auto diag : diag_list) {
+            if (diag.level >= eros::Level::Type::INFO) {
+                diagnostic_manager.update_diagnostic(diag);
+            }
+        }
+    }
     return diag_list;
 }
 std::vector<eros::eros_diagnostic::Diagnostic>
diff --git a/nodes/SonarArrayDriverNode/node/test/test_SonarArrayDriverNodeProcess.cpp b/nodes/SonarArrayDriverNode/node/test/test_SonarArrayDriverNodeProcess.cpp
index 8d7c6f9..07a1cf1 100644
--- a/nodes/SonarArrayDriverNode/node/test/test_SonarArrayDriverNodeProcess.cpp
+++ b/nodes/SonarArrayDriverNode/node/test/test_SonarArrayDriverNodeProcess.cpp
@@ -45,7 +45,6 @@ TEST(BasicTest, TestOperation) {
                 Logger::LoggerStatus::LOG_WRITTEN);
 
     eros_diagnostic::Diagnostic diag = tester->finish_initialization();
-    logger->log_diagnostic(diag);
     EXPECT_TRUE(diag.level <= Level::Type::NOTICE);
 
     tester->reset();
@@ -59,12 +58,6 @@ TEST(BasicTest, TestOperation) {
         timer += dt;
     }
 
-    logger->log_warn("Testing Unsupported Command Message");
-    {
-        eros::command cmd;
-        std::vector<eros::eros_diagnostic::Diagnostic> diag_list = tester->new_commandmsg(cmd);
-        EXPECT_EQ(diag_list.size(), 0);
-    }
     logger->log_warn("Testing Unsupported Program Variables Check");
     {
         std::vector<eros::eros_diagnostic::Diagnostic> diag_list = tester->check_programvariables();
@@ -75,6 +68,39 @@ TEST(BasicTest, TestOperation) {
     // delete logger;
     delete tester;
 }
+
+TEST(TestCommands, TestAllCommands) {
+    Logger* logger = new Logger("DEBUG", "UnitTestSonarArrayDriverNodeProcess");
+    SonarArrayDriverNodeProcessTester* tester = new SonarArrayDriverNodeProcessTester;
+    tester->initialize("UnitTestSonarArrayDriverNodeProcess",
+                       "UnitTestSonarArrayDriverNodeProcess",
+                       "MyHost",
+                       System::MainSystem::SIMROVER,
+                       System::SubSystem::ENTIRE_SYSTEM,
+                       System::Component::ENTIRE_SUBSYSTEM,
+                       logger);
+    std::vector<eros_diagnostic::DiagnosticType> diagnostic_types;
+    diagnostic_types.push_back(eros_diagnostic::DiagnosticType::SOFTWARE);
+    diagnostic_types.push_back(eros_diagnostic::DiagnosticType::DATA_STORAGE);
+    diagnostic_types.push_back(eros_diagnostic::DiagnosticType::SYSTEM_RESOURCE);
+    diagnostic_types.push_back(eros_diagnostic::DiagnosticType::COMMUNICATIONS);
+    tester->enable_diagnostics(diagnostic_types);
+    EXPECT_TRUE(tester->get_logger()->log_warn("A Log to Write") ==
+                Logger::LoggerStatus::LOG_WRITTEN);
+
+    eros_diagnostic::Diagnostic diag = tester->finish_initialization();
+    EXPECT_TRUE(diag.level <= Level::Type::NOTICE);
+    for (uint8_t i = (uint16_t)Command::Type::UNKNOWN; i < (uint16_t)Command::Type::END_OF_LIST;
+         ++i) {
+        eros::command new_cmd;
+        new_cmd.Command = i;
+        std::vector<eros_diagnostic::Diagnostic> diag_list = tester->new_commandmsg(new_cmd);
+        EXPECT_GT(diag_list.size(), 0);
+        for (auto diag : diag_list) { EXPECT_TRUE(diag.level < Level::Type::WARN); }
+    }
+
+    delete tester;
+}
 int main(int argc, char** argv) {
     testing::InitGoogleTest(&argc, argv);
     return RUN_ALL_TESTS();