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The Centurion is the workhorse of the Cylon Empire. Acting as infantry, pilots, the Centurion is as versatile as it is shiny. Used in any front-line encounter, Centurions are the only type of Cylon a Colonial Warrior is likely to ever directly encounter.
Centurions speak with a mechanical voice, typically responding to orders with the iconic phrase "By your command." Despite their name, they are the Cylons' lowest ranking soldiers, answerable to Command Centurions and the IL-series models.
Dynamite Entertainment comics
Colonials use the term "toaster" and "tin horn" to describe the Centurions (Battlestar Galactica: Cylon Apocalypse #1, Battlestar Galactica: Starbuck #1).
The Colonials refer to various Cylons by "Mark" designations, such as the Mark V Centurion that they capture (Battlestar Galactica: Cylon Apocalypse #2).