The Iridium AT Command Guide, version 5 lists all the commands available for your RockBLOCK.
You can download RockBLOCK's own Node.js library here.
The IridiumSBD library uses the RockBLOCK/Iridium’s SBD (“Short Burst Data”) protocol to send and receive short messages to/from the Iridium hub.
Makersnake is a RockBLOCK enthusiast's blog which has some great information and tutorials, particularly based around the Raspberry Pi.
There you can find an excellent worked project example - a remote controlled weather station.
Updated 21 days ago