Círdan, Master of the Grey Havens Ocean Scout CLI (Level 20) Firmware 1.1.2 => help comm.info : Retrieve remote communications information No parameters comm.power : Turn on or off the remote communications device Parameters on : Power on (1) or off (0) comm.setLogLevel : Set the internal debug log level for remote communications Parameters level : Log level comm.setModeInternet : Set the remote communications device to Internet (direct) Parameters server : Address of server (IP or DNS name) password : Key password comm.setModeIridium : Set the remote communications device to the Iridium modem No parameters comm.status : Print the status of the remote communications device No parameters exit : Exit program No parameters general.getIdle : Parameters controlling the idle (non-mission) loop behaviour. Access Level: 20 No parameters general.getManifest : Description of all hardware contained within the glider. The name can be set by the user. Access Level: 20 No parameters general.getTestDive : Parameters controlling test dives. Access Level: 20 No parameters general.setIdle : Parameters controlling the idle (non-mission) loop behaviour. Access Level: 20 Parameters gps_timeout : Time to wait for a GPS fix to take place Units: s. Range 30 - 300 shore_comms_timeout : Time to wait during an Iridium lock / shore message check. Units: s. Range 60 - 600 telemetry_interval : GPS telemetry interval. Less than 60 seconds disables the telemetry interval. Units: s. Range: 0 - 86400 depth_interval : Depth interval (checks for glider descending in water without starting a mission). Less than 60 seconds disables the check. Units: s. Range: 0 - 36000 check_message_interval : Interval at which to check for shore messages (when enabled). Less than 60 seconds disables the check. Units: s. Range: 0 - 36000 general.setTestDive : Parameters controlling test dives. Access Level: 20 Parameters yo_count : Number of yos to complete before surfacing. Range: 1 - 16 pitch : Pitch angle for dive. Units: degrees. Range: 15 - 45 pitch_control : Active control of pitch. vertical_rate : Vertical descent rate. Units: m/s. Range: 0.01 - 1. rate_control : Active control of vertical rate. glide_buoyancy_offset : Buoyancy offset to use when vertical rate is not controlled. Units: ml: Range: 50 - 300 heading : Magnetic north heading. Units: degrees. Range: 0 - 360. quiet_time : Time period after reaching descent depth that quiet mode should be run. Units: seconds. Range: 0 - 1200 altitude : Minimum altitude above ocean floor. 0 disables the altimeter altogether. Units: meters. Range: 0 - 200. ascend_depth : Depth for the top of the yo. Units: meters. Range: 1 - 190 descend_depth : Depth for the bottom of the yo. Units: meters. Range: 5 - 200. gps_timeout : Time to wait for a GPS fix. Units: s. Range: 30 - 300 shore_comms_timeout : Time to wait during an Iridium lock / shore message check. Units: s. Range: 60 - 600 run_time : Time for test dive to complete before an abort occurs. Units: s. Range: 600 - 14400 max_depth : Maximum depth allowed before aborting. Units: meters: Range: 10 - 210. help : Retrieve help for all commands or a single command Parameters cmd : Search command (none = all) mission.addRouteSegment : Add a single segment and waypoint to a route. When travelling in the forward direction, the segment description is used to reach the waypoint. Access Level: 20 Parameters route_id : Range: 1 - 16 segment_description_id : Range: 1 - 255 waypoint_id : Range: 1 - 255 mission.clearAbort : Clears the current abort condition. Access Level: 20 No parameters mission.getAbort : Abort criteria. If any one of the abort conditions is met, the glider enters ABORT mode, immediately surfacing and sending telemetry messages. The mission is halted until the abort condition is cleared (if possible). Access Level: 20 No parameters mission.getAllIds : Retrieve a list of all element IDs that are currently defined. Access Level: 20 No parameters mission.getCommsTimeout : Parameters controlling communications timeouts. Access Level: 20 No parameters mission.getPamWhisprConfig : Configuration for the passive acoustic monitor. Access Level: 30 Parameters id : The sampling description ID that this range belongs to (0 = apply immediately). mission.getRecovery : Recovery mode puts the vehicle on the surface, turns on the wifi and the strobe at configured intervals and sends regular telemetry messages. Access Level: 20 No parameters mission.getRoute : A route is a collection of waypoints with segment descriptions describing how to reach the waypoints in between. When travelling in the forward direction, the segment description at index p is used to travel to the waypoint at index p. In the reverse direction the segment description at index p is used to reach waypoint p-1. This is the top level desciption of a glider mission. Access Level: 20 Parameters id : Range: 1 - 16 mission.getRouteExecution : Start travelling along a defined route. Access Level: 20 Parameters route_id : The route to be traversed. Range: 1 - 16 segment_description_id : The segment description to use to reach the start_at waypoint. Range: 1 - 255 mission.getSegmentDescription : Describes how the glider travels between two waypoints. Note that an ID of 0 is invalid (used internally in the firmware to prevent diving). Access Level: 20 Parameters id : Unique ID used to identify this segment description (0 = test dive segment). Range: 0 - 255 mission.getSensorSampleDescription : Parameters sampling_description_id : The ID that uniquely identifies this description. ID = 0 is no scientific sensor sampling. ID = 1 is default sampling. Range: 1 - 32 mission.getWaypoint : Defines a waypoint for the mission. Access Level: 20 Parameters id : Unique waypoint identifier. Range: 1 - 255 mission.getWaypointList : Retrieve the current status for waypoints in the mission. Access Level: 20 No parameters mission.modifyGlideAscend : Parameters controlling glider climb. Access Level: 20 Parameters segment_description_id : The segment description ID that uses this behaviour (0 = test dive segment). Range: 0 - 255 timeout : Length of time for glider to complete climb before aborting. Units: seconds. Range: 300 - 36000. guidance_interval : Sleep interval no monitoring carried out (low power operation). Units: seconds. Range: 0 - 600. nominal_depth : Depth at which glider reaches top of yo. Units: meters. Range: 1 - 190. depth_rate : Climb rate. Units: m/s. Range: 0.01 - 1 speed_control : Whether or not VBE should be automatically adjusted to maintain speed pump_volume : Pump volume offset from neutral to use if speed control is disabled. Units: ml. Range: 0 - 500. pitch : Pitch angle for climb. Units: deg. Range: 10 - 35. pitch_control : Whether or not the pitch motor should be automatically adjusted to maintain pitch mission.modifyGlideDescend : Parameters controlling glider descent. Access Level: 20 Parameters segment_description_id : The segment description ID that uses this behaviour (0 = test dive segment). Range: 0 - 255 timeout : Length of time for glider to complete climb before aborting. Units: seconds. Range: 300 - 36000. guidance_interval : Low power suspend interval(no flight control). Units: seconds. Range: 0 - 600. nominal_depth : Depth at which glider reaches bottom of the yo. Units: meters. Range: 5 - 200. altitude : Minimum altitude above ocean floor. 0 disables the altimeter altogether. Units: meters. Range: 0 - 200. depth_rate : Vertical descent rate. Units: m/s. Range: 0.01 - 1. speed_control : Whether or not VBE should be automatically adjusted to maintain speed. pump_volume : Pump volume offset from neutral to use if speed control is disabled. Units: ml. Range: 0 - 500. pitch : Pitch angle for descent. Units: deg. Range: 10 - 40. pitch_control : Whether or not the pitch motor should be automatically adjusted to maintain pitch mission.modifyQuiet : Hovers at the bottom of a yo and then disables all motors / sytems for the configured duration to allow the passive acoustic system to collect background noise data. Access Level: 20 Parameters segment_description_id : The segment description ID that uses this behaviour (0 = test dive segment). Range: 0 - 255 timeout : Time period to reach the zero vertical speed before aborting. Units: seconds. Range: 300 - 10000 cadence : Cadence in number of yos at which this behaviour should occur. Units: yos. duration : The length of time that the behaviour should run. Units: seconds. mission.modifySensorSample : Parameters to control sensor operation. This configuration can be applied to multiple sensors. Selections allowed: [CTD PAM]. Access Level: 20 Parameters select : Applicable sensor. Allowed: [CTD PAM] id : The sampling description ID that this configuration belongs to. Range: 1 - 32 sample_always : Sensor is always sampling. sample_surface : Sample when surfaced / surfacing. sample_ascend : Sample when ascending. sample_descend : Sample when descending. sample_quiet : Sample when drifting. sample_hover : Sample when in hover mode. power_always : Sensor is always on. power_surface : Turn sensor on when surfaced / surfacing. power_ascend : Turn sensor on when ascending. power_descend : Turn sensor on when descending. power_quiet : Turn sensor on when drifting. power_hover : Turn sensor on when in hover mode. yo : The yo that the sampling should start. yo_interval : Allows sampling on multiple yos. For constant sampling, use 1. For a single yo, use 0. start_time : Turn on the sensor at this time (disabled = 0). end_time : Turn off the sensor at this time (leave turned on = 0). telemetry_yo : Select yo that is used to transmit collected data to shore (all yos = 0). mission.modifySurface : Describes how often / when the glider should surface and (possibly) send data to shore. Access Level: 20 Parameters segment_description_id : The segment description ID that uses this behaviour (0 = test dive segment). Range: 0 - 255 on_waypoint_reached : Whether or not to surface when way point reached. n_yos_to_surface : Number of yos to execute before surfacing. Range: 1 - 16 time_interval : Time interval for dive (0 = disable) Units: seconds. Range: 0 - 7200 timeout : Timeout period to reach surface before abort. Units: second. Range: 600 - 7200 timestamp : Timestamp at which to surface (0 = disable). Expressed as ms since the epoch. Units: milliseconds. n_surfacing_data_transmit : Number of surfacings between data transmission (telemetery sent every one) Range: 1 - 100 time_interval_data_transmit : Time interval between data transmission (0 = disable); Units: seconds. Range: timestamp_data_transmit : Time at which data is to be transmitted. (0 = disable). Expressed as ms since the epoch. Units: milliseconds. mission.modifyWaypointDrift : Parameters for drifting on the surface for a given period of time. This can be used for collecting data (e.g telemetry data for surface currents) or as part of a station keeping operation. Station keeping occurs when a non-zero segment_description_id is configured. The distance to the waypoint is checked after every telemetry measurement and the glider will travel back towards the waypoint when outside of the waypoint attainment radius. If hovering is also enabled for the waypoint, it will occur before every drift telemetry interval is started. Drifting only occurs at a waypoint. Access Level: 20 Parameters waypoint_id : Associated waypoint ID. Range: 1 - 255 segment_description_id : Segment description to use for station keeping (0 = no station keeping). Range: 0 - 255 telemetry_interval : Interval at which telemetry messages are to be generated. Units: seconds. Range: 60 - 72000 duration : The length of time that the behaviour should run. Units: seconds. mission.modifyWaypointHover : Hovering involves descending to a defined depth and remaining there for a given period of time. This can be used as a means for collecting data at a certain depth or for keeping off the surface while station keeping. The hovering operation occurs before drifting when station keeping is enabled. Hovering can be disabled by setting the duration to 0 seconds. Hovering only occurs at a waypoint. Access Level: 20 Parameters waypoint_id : Associated waypoint ID. Range: 1 - 255 min_depth : The minimum depth allowed before moving the VBE. Units: meters. Range: 1 - 200 max_depth : The maximum depth allowed before moving the VBE. Units: meters. Range: 1 - 200 timeout : Time period to reach the hover depth before aborting. Units: seconds. Range: 300 - 10000 quiet_time : Time period after reaching hover depth that quiet mode should be initiated. Units: seconds. Range: 0 - 1200 duration : The length of time to hover. Units: s. mission.removeRoute : Remove a route. Access Level: 20 Parameters id : Route ID to remove. Range: 1 - 16 mission.removeSegmentDescription : Remove a segment description. A segment description can not be removed if it's used within a route. Access Level: 20 Parameters id : ID to remove. Range: 1 - 255 mission.removeWaypoint : Remove a waypoint. A waypoint can not be removed if it's used within a route. Access Level: 20 Parameters id : ID to remove. Range: 1 - 255 mission.setAbort : Abort criteria. If any one of the abort conditions is met, the glider enters ABORT mode, immediately surfacing and sending telemetry messages. The mission is halted until the abort condition is cleared (if possible). Access Level: 20 Parameters no_comms_timeout : Length of time for no communications with shore. Units: days. Range: 1 - 7 deployment_timeout : Maximum length of time that the deployment should take. Units: days. Range: 0.1 - 200 telemetry_interval : Interval between telemetry messages when in abort mode. Units: seconds. Range 120 - 7200 max_depth : Maximum depth that is allowed. Units: meters. Range: 100 - 220 min_battery_percent : Minimum percent battery to continue mission. Units: %. Range: 0 - 20 min_battery_voltage : Minimum battery voltage to continue mission. Units: volts. Range: 20 - 45 min_disk_space_available : Minimum percentage of data disk space available. Units: %. Range: 1 - 20 min_disk_space : Minimum absolute amount of disk space available. Units: MB. Range: 10 - 20000 internal_pressure : Maximum internal hull pressure. Units: kPa. Range: 50 - 120 leak_detect_period : Maximum length of time that a leak detect is triggered. Units: seconds. Range: 0.1 - 10 strobe_on_interval : Period of time that strobe lights should be on and blinking. Note that altering the strobe configuration is currently not supported. Units: seconds. Range: 1 to 1000 strobe_off_interval : Period of time that strobe lights should be powered off. Units: seconds. Range: 0 to 1000 strobe_cycle : Blink rate of strobe lights. Units: Hertz. Range 0.1 to 5 mission.setCommsTimeout : Parameters controlling communications timeouts. Access Level: 20 Parameters gps_timeout : Maximum time to wait for GPS fix to occur. Units: seconds. Range: 30 - 600. shore_comms_timeout : Maximum time to wait for shore communications to complete. Units: seconds. Range: 60 - 600. response_delay : Time to wait for environment data response from shore after sending a dive summary. Units: seconds. Range: 0 - 300. mission.setPamWhisprConfig : Configuration for the passive acoustic monitor. Access Level: 30 Parameters id : The sampling description ID that this range belongs to (0 = apply immediately). sample_size : Sample size. Units: bytes. Range: [ 2 3 ] decimation_factor : Decimation factor used by oversampling analog to digital converter.. Allowed: [ 4 8 16 32 ] preamp_gain : Pre-amp gain. Units: dB. Allowed: [ 0 6 12 18 ] spectrum_bins : Number of bins in the power spectrum. Allowed: [ 128 256 512 1024 2048 ] spectrum_duration : Length of time that the power spectrum is collected. Units: seconds. Range: [ 30 1200 ] sample_rate : Analog to digital converter sampling rate. Units: Hz. Range: [ 1000 200000 ] mission.setRecovery : Recovery mode puts the vehicle on the surface, turns on the wifi and the strobe at configured intervals and sends regular telemetry messages. Access Level: 20 Parameters strobe_on_interval : Period of time that strobe lights should be on and blinking. Note that altering the strobe configuration is currently not supported. Units: seconds. Range: 1 to 1000 strobe_off_interval : Period of time that strobe lights should be powered off. Units: seconds. Range: 0 to 1000 strobe_cycle : Blink rate of strobe lights. Units: Hertz. Range 0.1 to 5 wifi_on : Period of time that WiFi should be powered on. Units: seconds. Range 60 to 3600. wifi_off : Period of time that WiFi should be powered off. Units: seconds. Range 0 to 3600. telemetry_interval : Interval between telemetry messages. Units: seconds. Range 60 to 36000. mission.setRoute : A route is a collection of waypoints with segment descriptions describing how to reach the waypoints in between. When travelling in the forward direction, the segment description at index p is used to travel to the waypoint at index p. In the reverse direction the segment description at index p is used to reach waypoint p-1. This is the top level desciption of a glider mission. Access Level: 20 Parameters id : Range: 1 - 16 mission.setRouteUpdate : Update route parameters for a running mission. To switch to a different route, the RouteExecution message is used (not yet implemented). Access Level: 20 Parameters direction : Traverse the route in the forward or reverse direction. Forward = 1 Reverse = 2 Allowed: [1 2] goto_waypoint_route_index : Goto the waypoint at the given index in the route table completion : When the waypoint has been reached, do one of the following. 1: Enter idle drift loop 2: Loop route 3: Reverse route 4: Enter recovery mode 5: Go to assembly point Allowed: [1 2 3 4 5] assembly_waypoint_id : Range: 0 - 254 assembly_segment_description_id : Segment description to use to travel to the assembly way point. Range: 1 - 255 mission.setSegmentDescription : Describes how the glider travels between two waypoints. Note that an ID of 0 is invalid (used internally in the firmware to prevent diving). Access Level: 20 Parameters id : Unique ID used to identify this segment description (0 = test dive segment). Range: 0 - 255 sampling_description_id : The sensor sampling description ID to be used for this segment. mission.setWaypoint : Defines a waypoint for the mission. Access Level: 20 Parameters id : Unique waypoint identifier. Range: 1 - 255 latitude : Latitude position. Units: degrees. Range: -90 - 90 longitude : Longitude position Units: degrees. Range: -180 - 180 attainment_radius : Radius around waypoint that determines if waypoint was reached. Units: meters. Range 50 - 5000 must_attain : Setting the field forces the glider to surface within the attainment radius. Without this setting, the glider may go through the waypoint without surfacing (bypassing it), considering it completed without turning back. mission.startRoute : Start travelling along a defined route. Access Level: 20 Parameters route_id : The route to be traversed. Range: 1 - 16 segment_description_id : The segment description to use to reach the start_at waypoint. Range: 1 - 255 direction : Traverse the route in the forward or reverse direction. Forward = 1 Reverse = 2 Allowed: [1 2] start_at_waypoint_id : Enter the route at this waypoint. completion : When the waypoint has been reached, do one of the following. 1: Enter idle drift loop 2: Loop route 3: Reverse route 4: Enter recovery mode 5: Go to assembly point Allowed: [1 2 3 4 5] data_prefix : Data / log files will be prefixed with this string for easy identification. time : Start date for the route (expressed as seconds since the epoch). 0 = immediately. Units: seconds. Range: 0 - 8000000000 assembly_waypoint_id : Waypoint to use as an assembly point. '0' means 'none'. Range: 0 - 254 assembly_segment_description_id : Segment description to use to travel to the assembly way point. Range: 1 - 255 mission.stopDeployment : Stop a currently running deployment. This service is used by code generation tools in the firmware. Access Level: 20 Parameters time : Stop date for the deployment (expressed as ms since the epoch). 0 = immediately. mission.switchOperation : Switch between operations in a mission. Access Level: 20 Parameters operation : Allowed: [START ROUTE RECOVERY HALT ASSEMBLE ABORT] mpcu.abort : Enter abort mode No parameters mpcu.battery : Reads the battery status No parameters mpcu.calibratePitch : Calibrate Pitch No parameters mpcu.calibrateRoll : Calibrate roll motor No parameters mpcu.calibrateVBE : Calibrate the VBE No parameters mpcu.clearAbort : Clears the abort No parameters mpcu.clearLog : Clear internal log Parameters priority : Log priority level mpcu.clearVMPLEDStatus : Clears VMP LED status messages No parameters mpcu.faults : Retrieve error information from MPCU No parameters mpcu.getAbortLimits : Retrieve abort limits for hardware and internal pressure No parameters mpcu.getAllMotors : Retrieve all motor information No parameters mpcu.getHealth : Retrieve health data Parameters resetMinMax : Resets the minimum / maximum values found by the monitor mpcu.getLEDStatus : Retrieve LED status information No parameters mpcu.getLog : Retrieve internal log Parameters log : Log type 1:user, 2:information, 3:warning, 4:error mpcu.getMotorPower : Retrieve powered state for the motors No parameters mpcu.getPitch : Retrieve pitch motor information No parameters mpcu.getRoll : Retrieve roll motor information No parameters mpcu.getStrobe : Retrieves the strobe light flash cycle parameters No parameters mpcu.getVBE : Retrieve VBE information No parameters mpcu.isAbort : Gets abort status and reason No parameters mpcu.moveAllMotors : Move all motors to specified positions Parameters volume : Displacement volume (ml) vbespeed : VBE speed (ml/s) (Not Yet Implemented) percent : Percent travel range pitchspeed : Pitch speed (percent/s) (Not Yet Implemented) angle : Angle (degrees) rollspeed : Roll speed (degrees/s) (Not Yet Implemented) mpcu.movePitch : Move the pitch motor to a specific percentage of travel Parameters percent : Percent travel range speed : Speed (percent/s) mpcu.moveRoll : Move the roll motor to a specific angle Parameters angle : Angle (degrees) speed : Speed (degrees/s) (Not Yet Implemented) mpcu.moveVBE : Move the VBE to a specific volume Parameters volume : Displacement volume (ml) speed : Speed (ml/s) (Not Yet Implemented) mpcu.readProduction : Read production information from the MPCU No parameters mpcu.setMotorPower : Turn motor power on or off Parameters vbe : Power for the variable buoyancy engine motor pitch : Power for the pitch motor roll : Power for the roll motor mpcu.setStatusLEDPower : Turns on / off the status LED Parameters power : Power on/off mpcu.surface : Set motors to surfacing positions No parameters mpcu.updateInfo : Retrieve information on the status of the MPCU firmware update No parameters mpcu.version : MPCU firmware version No parameters platform.clearMessageLog : Clear system message log No parameters platform.eraseData : Erase data files from the gliders internal SD card Parameters match : Remove files containing this string platform.eraseLogs : Erases log files from the gliders internal SD card Parameters match : Remove files containing this string platform.eraseMission : Erases mission configuration data from the gliders internal SD card No parameters platform.getLastTest : Retrieve information about the last time the specified subsystem was tested Parameters system : Allowed: [AHRS GPS NAV CTD PAM MPCU VBE PITCH ROLL COMMS ALL ALL_NOVBE ALL_NOCOMMS ALL_SENS] platform.info : Platform firmware and hardware information No parameters platform.pbfLog : PicBuffer logging level Parameters level : Logging level (0 = none) platform.pbfVersion : PicBuffer firmware version information No parameters platform.ping : Check if a platform is responding Parameters platform : Target platform. Allowed: [SURFACE, UNDERWATER, IMX8, STM32, LOCAL, REMOTE] platform.plog : Print system message log Parameters find : Print lines containing this string tail : Print the tail number of lines of the log platform.powerCycle : Power cycle the glider No parameters platform.printMessageLog : Print system message log Parameters find : Print lines containing this string (use '#' for a space) tail : Print the tail number of lines of the log platform.reboot : Reboot processor Parameters platform : Target platform. Allowed: [SURFACE, UNDERWATER, IMX8, STM32, LOCAL, REMOTE] platform.saveMessageLog : Save system message log to a new file so that it is not overwritten Parameters name : Log file name platform.sleep : Sleeps for a period of time (ms) Parameters time : Sleep time (ms) platform.test : Start collecting data for the given sensor Parameters system : Allowed: [AHRS GPS NAV CTD PAM PRESS MPCU VBE PITCH ROLL COMMS ALL ALL_NOVBE ALL_NOCOMMS ALL_SENS] length : Maximum length of report forceVBE : Test VBE regardless of internal pressure platform.timestamp : Prints the current real-time clock time No parameters platform.upgradeStatus : Upgrade status information No parameters platform.verifyProduction : Verify production information in both processors Parameters copy : Copy information from surface to underwater processor if different platform.version : Platform firmware and hardware information No parameters platform.wifiStations : Retrieve information about stations connected to the access point No parameters quit : Exit program No parameters sensor.ahrsCalibrate : Starts AHRS calibration mode Parameters rate : Data rate (in Hertz) max : Maximum number of data points sep : Minimum data point separation err : Maximum 'good calibration' error update : Update the AHRS with the new calibration when complete sensor.ahrsClearCalibration : Clears the AHRS calibration No parameters sensor.ahrsGetCalibration : Gets the AHRS calibration No parameters sensor.continuePAM : Continues internal data collection internally on PAM No parameters sensor.getConfig : Print sensor configuration Parameters sensor : Allowed: [AHRS GPS NAV PLAT CTD PAM PRESS] sensor.getDevice : Print device information Parameters sensor : Sensor. Allowed: [AHRS GPS NAV PLAT CTD PAM PRESS] sensor.pausePAM : Pauses internal data collection on the PAM No parameters sensor.power : Turn on / off power for the given sensor Parameters sensor : Allowed: [AHRS GPS NAV PLAT CTD PAM PRESS ALL] power : Power on (1) or off (0) sensor.setConfigNav : Set altimeter data collection parameters Parameters rate : Sample rate (Hz) Number of samples : Number of samples Sample interval : Time between samples (s) (0 for continuous sampling) sensor.setConfigPAM : Configure the passive acoustic monitor Parameters dataSize : Data size (2 or 3 bytes) rate : Sensor sampling rate (Hz) decim : Decimation Factor gain : Gain (dB) psTime : Power spectrum duration (seconds) psSize : Power spectrum size (bins = size/2) sensor.setDataRate : Configure the sampling rate for the given sensor (Hz) Parameters sensor : Allowed: [AHRS GPS NAV PLAT CTD PAM PRESS] rate : Sensor sampling rate (Hz) sensor.setDefaultConfig : Set the default configuration for the sensor Parameters sensor : Allowed: [AHRS GPS NAV PLAT CTD PAM PRESS ALL] sensor.setLogLevel : Set the logging level to use for a sensor Parameters sensor : Allowed: [AHRS GPS NAV PLAT CTD PAM PRESS ALL] level : Level to use for log messages. Range: 0 - 100. sensor.start : Start collecting data for the given sensor Parameters sensor : Allowed: [AHRS GPS NAV PLAT CTD PAM PRESS ALL] sensor.status : Get the run time status for the sensor Parameters sensor : Allowed: [AHRS GPS NAV PLAT CTD PAM PRESS ALL] clear : Clear error sensor.stop : Stop collecting data for the given sensor Parameters sensor : Allowed: [AHRS GPS NAV PLAT CTD PAM PRESS ALL] sensor.syncClock : Synchronizes the on board clock with the GPS time No parameters sensor.test : Check and see if the sensor is operational and can collect data Parameters sensor : Allowed: [AHRS GPS NAV PLAT CTD PAM PRESS ALL] count : Number of data blocks to read super.chatResponse : Displays the last chat message received from shore No parameters super.checkMessage : Check for and process any incoming messages Parameters timeout : Timeout (seconds) super.clearAlert : Clear any outstanding errors No parameters super.getAtmospheric : Gets the atmospheric pressure offset and current depth reading (pressure sensor must be running) No parameters super.getDeadReckoning : Retrieves dead reckoning status and data No parameters super.getIdleCharacterization : Retrieve parameters controlling auto-characterization behaviour while idle. No parameters super.getMission : Outputs the current mission. Access Level: 20 No parameters super.getMissionStatus : Retrieves dead reckoning status and data No parameters super.getStatus : Retrieves supervisor operating status No parameters super.getTestDive : Get test dive parameters No parameters super.interrupt : Interrupt any currently running operation No parameters super.restoreMission : Restore mission configuration Parameters prefix : prefix to use for mission configuration file super.saveMission : Save mission configuration Parameters prefix : prefix to use for mission configuration file super.sendChat : Send a chat message to shore Parameters msg : Chat message to send timeout : Timeout (seconds) super.sendEcho : Send an echo communications check message Parameters mesg : Message to send timeout : Timeout (seconds) super.sendManifest : Send a manifest message Parameters timeout : Timeout (seconds) super.sendRemoteStart : Send a request to shore to start the mission Parameters timeout : Timeout (seconds) super.sendTelemetry : Send a telemetry message Parameters timeout : Timeout (seconds) super.setAtmospheric : Sets atmospheric pressure offset (0 = use current pressure reading. Pressure sensor must be running.) Parameters level : Pressure (dbar) super.setLogLevel : Set the internal debug log level for supervisor Parameters level : Log level super.setTestDive : Set parameters for a test dive Parameters heading : Heading (degrees) descend : Descent depth (m) ascend : Ascent depth (before transition to surface) (m) altitude : Descent minimum height above bottom (m) startFlight : Depth at which flight control starts (m) startOffsetml : Offset from neutral buoyancy to use when starting a dive (ml) glideOffsetml : Offset from neutral buoyancy to use during flight (ml) rate : Vertical rate (m/s) ratectrl : Vertical rate control enable (true or false) startPitch : Pitch angle to use when starting a dive (degrees) glidePitch : Pitch (degrees: down is positive) pitchctrl : Pitch rate control enable (true or false) yos : Number of yos before surfacing quiet : Time that motors should be disabled after descend depth stabilizes (s) gps : GPS timeout (0 disables GPS) (seconds) comms : Shore communications timeout (0 disables shore communications) (seconds) runtime : Test run time after which an abort is generated (seconds) maxDepth : Maximum allowed descent depth (m) super.startTestDive : Start the configured test dive Parameters start : Delay time before starting (seconds) prefix : prefix to use for supervisor data file super.status : Retrieves supervisor operating status No parameters super.stop : Gracefully stop any currently running operation No parameters super.switchOperation : Switch between operations modes when idle Parameters operation : Allowed: [RECOVERY HALT CHARACTERIZE]