////////////////////////////////////////////////////////////////////
//
// PURPOSE: List Dvl configuration commands.  These will be executed
//          upon startup.
// AUTHOR:  Rob McEwen
// DATE:    02/7/16
//
// NOTES:   See the RDI Workhorse Navigator manual for descriptions of
//          the commands and their units.
//
//          WARNING: The code that parses this file cannot accept spaces 
//          within commands.  For example, it will fail to interpret 
//          WN 25 correctly.  This command must be entered as WN25.
//
// MODS:
//
////////////////////////////////////////////////////////////////////
//
//
// Have the Dvl spew back it's parameters, just for the record.
//
// PS0
//
// Reset the DVL to the factory settings.
//
   CR1
//
// Select either PD0 or PD5 output format.
//
   PD5
//
// Set BK1, which sends a water-mass layer after every bottom-track ping.
// We should consider setting this to BK2 for operational use, which would
// send a water-mass layer ping only if the bottom-track ping doesn't return.
// This presumably would save power, and decrease the sampling period.
//
   BK1
//
// Set the Dvl to the minimum time between pings.  
//
// WARNING:  Be careful not to set the Dvl to spew serial characters faster 
// than the serial transmission rate, which is currently set to 9600 baud.
// So, for example, 40 cells => 2044 byte (Ascii) record, and 2044/(9600/9) 
// = 1.9 seconds.  Thus TP must be AT LEAST 2 seconds.  If CB711 works, then
// 2044/(57600/9) = .32, so TP can be safely set to .4
//
// Also, beware that TP should be long enough to accomodate bottom track, water
// mass, and water profiling pings. 
//
// TP00:02.00
//
// When TP is set to 00:00.00, the Dvl automatically sets the sampling rate
// to the fastest value possible that doesn't overrun the serial line, given
// the baud rate.
//
   TP00:00.00
//
// Set the time between pings to zero
//
   TE00:00:00.60
//
// Set the water-tracking layer to 10 meters in depth, beginning from the
// vehicle and extending 10 m down.
//
   BL,10,010,100
//
// Set BP001, which selects only one ping per ensemble.
//
   BP001
//
// Select hex/ascii format. Binary is NOT IMPLEMENTED YET.
//
   CF11010
//
// Set the baud rate. 411=>  9600,8,n,1  (WN40 => TP00:02.00)
//                    511=> 19200,8,n,1  
//                    611=> 38400,8,n,1  (WN40 => TP00:00.60)
//                    711=> 57600,8,n,1  (WN40 => TP00:00.40)
//
   CB611
//
// Select Ship Coordinates.  Do not apply the Pitch/Roll from the tilt
// sensors in the coordinate transformation.  Allow 3-beam solutions.
// Turn on bin mapping, although it really doesn't matter since the
// tilt sensors aren't applied.
//
   EX10011
//
// Set the mounting angle to 45 Deg.  This means that the alignment groove
// on the DVL head should be coincident with the vehicle centerline, and
// the alignment notch should be forward.  This places the number 3 beam
// forward and to starboard.
// DVL has a 2.6224 degree boresight error relative to the microstrain compass
//   EA+04500
     EA+04238
//
// Pings per ensemble
//
   WP0001
//
// Number of depth cells.
// 
// WARNING FOR THE ALTEX VEHICLE:  At this time, a WN of >40 causes a qnx serial 
// read buffer to overflow. Until we find this bug, WN must be <= 40.
//
// WARNING FOR THE CTD VEHICLE:  The qnx serial buffer on this PC104 stack is
// apparently 4096 bytes, which implies that WN must be <= 25.
//
   WN25
   WV210
// 
// END OF FILE.
//
