Just use one of the following STSADM commands:
On Demand
Stsadm -o setproperty -pn developer-dashboard -pv ondemand
On
Stsadm -o setproperty -pn developer-dashboard -pv on
Off
Stsadm -o setproperty -pn developer-dashboard -pv off
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Get the SharePoint 2010 Developer DashBoard
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