How can I tell what the firmware level of my tape drive is?

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On Solaris, you can run the command /usr/openv/volmgr/bin/sgscan -v. The last column of output will be the firmware level.

The MTX tool can be compiled for the following OS's to query firmware, load and unload storage elements from the command line, etc. Check it out at http://mtx.sourceforge.net.