when you boot normally the Debug Menu "----- System/pSOS Debug commands: ----- " is always there.
when you boot from the ESALOADER you don't initially see a menu. Pressing ? when show same menu above, you can CTRL+C and it causes an exception then you're in the Monitor menu where you can dump memory
I've hooked up a reset switch, booted normally, entered AXZ for the opt and 0123456789ABC for the code.
inserted the ESALOADER, and hit reset.
once rebooted I got into the mornitor and did 2 dumps (ones still dumping)
first is will be
0x0400 0000 to 0x0401 1000
second will be
0x0401 1000 to 0x0490 0000
soon as done i'll edit and post to this message
My HostID is 29611027
My BootRom is V5.00