The boot_wait variable needs to be set, to cause the WRT to delay the boot process for a few seconds, allowing a new firmware to be installed through the bootloader.
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This variable needs to be set via a "hack" using the ping functionality in the web interface. In the web interface, navigate to the Administration -> Diagnostics page, and hit the Ping button.
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Enter each of these lines into the "ip address or domain name" text box, and hit "ping" after each entry:
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;cp${IFS}*/*/nvram${IFS}/tmp/n
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;*/n${IFS}set${IFS}boot_wait=on
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;*/n${IFS}commit
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;*/n${IFS}show>tmp/ping.log
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After the last command, a long list of configuration parameters is shown, and it should include