Index: autopilot/trunk/autopilot/add_glider.py
===================================================================
--- autopilot/trunk/autopilot/add_glider.py (revision 68)
+++ autopilot/trunk/autopilot/add_glider.py (revision 72)
@@ -3,4 +3,8 @@
 
     Usage:
+
+        add-glider glider
+
+    or
 
         python add_glider.py path/to/config/file glider
Index: autopilot/trunk/autopilot/add_option.py
===================================================================
---  (revision )
+++ autopilot/trunk/autopilot/add_option.py (revision 72)
@@ -1,0 +1,172 @@
+"""
+Add option to glider configuration.
+
+    Usage:
+
+        add-option glider option value
+
+    or
+
+        python add_option.py path/to/config/file glider option value
+"""
+
+import sys
+import math
+import errno
+import lockfile as lf
+import ConfigParser as cp
+
+def assert_degrees(deg):
+    assert 0 <= math.radians(deg) <= math.pi*2
+
+valid_options = {"bearingdeg":
+                    {"description":
+                        "Direction 0-360 degrees CW from north " \
+                        "for bearing task.",
+                     "default": None,
+                     "prereqs": None,
+                     "validators": [assert_degrees,],
+                    },
+                 "bearingdist":
+                    {"description":
+                         "Distance in kilometers per step " \
+                         "for the bearing task.",
+                     "default": 2,
+                     "prereqs": ["bearingdeg",],
+                     "validators": [float,],
+                    },
+                 "bearingsteps":
+                    {"description":
+                         "Number of steps for the bearing task.",
+                     "default": 20,
+                     "prereqs": ["bearingdeg", "bearingdist",],
+                     "validators": [int,],
+                    },
+                 "targetlat":
+                    {"description":
+                         "Latitude in ISO format (+/-ddmm.mmmm) " \
+                         "for target task.",
+                     "default": None,
+                     "prereqs": None,
+                     "validators": [float,],
+                    },
+                 "targetlon":
+                    {"description":
+                         "Longitude in ISO format (+/-ddmm.mmmm) " \
+                         "for target task.",
+                     "default": None,
+                     "prereqs": None,
+                     "validators": [float,],
+                    },
+                 "targetsteps":
+                    {"description":
+                         "Number of steps for the target task.",
+                     "default": 20,
+                     "prereqs": ["targetlat", "targetlon"],
+                     "validators": [int,],
+                    },
+                }
+
+def _usage():
+    options = valid_options.items()
+    options.sort()
+    print __doc__
+    print "    Valid options:"
+    print "\n       ",
+    option_list = []
+    for k, v in options:
+        option_list.append("{0}: {1[description]}".format(k, v))
+        if v["default"]:
+            option_list.append("{0:>{width}}Default = {1[default]}.".
+                               format('', v, width=(len(k) + 2)))
+    print "\n        ".join(option_list)
+    print
+    return
+
+if __name__ == "__main__":
+    num_args = len(sys.argv) - 1
+    if num_args != 4:
+        _usage()
+    else:
+        cfg_path = sys.argv[1]
+        glider = sys.argv[2].lower()
+        option = sys.argv[3].lower()
+        value = sys.argv[4].lower()
+        if option not in valid_options:
+            _usage()
+        else:
+            report = {"glider": glider,
+                      "path": cfg_path,
+                      "option": option,
+                      "value": value,
+                     }
+            try:
+                lock = lf.FileLock(cfg_path)
+                lock.acquire(5)
+            except lf.LockTimeout:
+                lock.break_lock()
+                lock.acquire(0)
+            config = cp.SafeConfigParser()
+            try:
+                with open(cfg_path) as handle:
+                    config.readfp(handle)
+            except IOError as e:
+                if e.errno == errno.ENOENT:
+                    print "Glider {glider} does not exist in {path}.". \
+                          format(**report)
+                else:
+                    raise
+            else:
+                prereqs = valid_options[option]["prereqs"]
+                if prereqs:
+                    for prereq in prereqs:
+                        try:
+                            config.get(glider,prereq)
+                        except cp.NoOptionError:
+                            report["prereq"] = prereq
+                            print "The {prereq} option is a prerequisite " \
+                                  "option for the {option} option.". \
+                                  format(**report)
+                validators = valid_options[option]["validators"]
+                if validators:
+                    for validator in validators:
+                        try:
+                            validator(value)
+                        except:
+                            report["validator"] = validator
+                            print "The value of {value} is not valid " \
+                                  "for option {option}.". \
+                                  format(**report)
+                            report.update(valid_options[option])
+                            print "Valid {option}: {description}". \
+                                  format(**report)
+                if "prereq" in report or "validator" in report:
+                    print "The {option} option for glider {glider} " \
+                          "not updated in {path}". \
+                          format(**report)
+                else:
+                    try:
+                        report["old_value"] = config.get(glider, option)
+                        config.set(glider, option, value)
+                        print "The {option} option for glider {glider} " \
+                              "changed from {old_value} to {value} " \
+                              "in {path}.". \
+                              format(**report)
+                    except cp.NoOptionError:
+                        config.set(glider, option, value)
+                        print "The {option} option for glider {glider} " \
+                              "set to {value} in {path}.". \
+                              format(**report)
+                    except cp.NoSectionError:
+                        config.add_section(glider)
+                        print "Glider {glider} added to {path}.". \
+                              format(**report)
+                        config.set(glider, option, value)
+                        print "The {option} option for glider {glider} " \
+                              "set to {value} in {path}.". \
+                              format(**report)
+                    finally:
+                        with open(cfg_path, "w") as handle:
+                            config.write(handle)
+            finally:
+                lock.release()
Index: autopilot/trunk/autopilot/add_task.py
===================================================================
--- autopilot/trunk/autopilot/add_task.py (revision 68)
+++ autopilot/trunk/autopilot/add_task.py (revision 72)
@@ -3,4 +3,8 @@
 
     Usage:
+
+        add-task glider task
+
+    or
 
         python add_task.py path/to/config/file glider task
Index: autopilot/trunk/autopilot/delete_glider.py
===================================================================
--- autopilot/trunk/autopilot/delete_glider.py (revision 68)
+++ autopilot/trunk/autopilot/delete_glider.py (revision 72)
@@ -3,4 +3,8 @@
 
     Usage:
+
+        delete-glider glider
+
+    or
 
         python delete_glider.py path/to/config/file glider
Index: autopilot/trunk/autopilot/delete_task.py
===================================================================
--- autopilot/trunk/autopilot/delete_task.py (revision 68)
+++ autopilot/trunk/autopilot/delete_task.py (revision 72)
@@ -3,4 +3,8 @@
 
     Usage:
+
+        delete-task glider task
+
+    or
 
         python delete_task.py path/to/config/file glider task
Index: autopilot/trunk/autopilot/list_gliders.py
===================================================================
--- autopilot/trunk/autopilot/list_gliders.py (revision 68)
+++ autopilot/trunk/autopilot/list_gliders.py (revision 72)
@@ -3,4 +3,8 @@
 
     Usage:
+
+        list-gliders
+
+    or
 
         python list_gliders.py path/to/config/file
Index: autopilot/trunk/autopilot/list_tasks.py
===================================================================
--- autopilot/trunk/autopilot/list_tasks.py (revision 68)
+++ autopilot/trunk/autopilot/list_tasks.py (revision 72)
@@ -3,4 +3,8 @@
 
     Usage:
+
+        list-tasks glider
+
+    or
 
         python list_tasks.py path/to/config/file glider
Index: autopilot/trunk/cmd/add-glider
===================================================================
--- autopilot/trunk/cmd/add-glider (revision 67)
+++ autopilot/trunk/cmd/add-glider (revision 72)
@@ -3,4 +3,4 @@
 cd /home/localuser/pilottools/lb/toolshed/autopilot/
 source bin/activate
-python autopilot/add_glider.py config/autopilot.cfg $1
+python autopilot/add_glider.py etc/autopilot.cfg $1
 
Index: autopilot/trunk/cmd/add-option
===================================================================
---  (revision )
+++ autopilot/trunk/cmd/add-option (revision 72)
@@ -1,0 +1,5 @@
+#!/bin/bash
+
+cd /home/localuser/pilottools/lb/toolshed/autopilot/
+source bin/activate
+python autopilot/add_option.py etc/autopilot.cfg $1 $2 $3
Index: autopilot/trunk/cmd/add-task
===================================================================
--- autopilot/trunk/cmd/add-task (revision 67)
+++ autopilot/trunk/cmd/add-task (revision 72)
@@ -3,4 +3,4 @@
 cd /home/localuser/pilottools/lb/toolshed/autopilot/
 source bin/activate
-python autopilot/add_task.py config/autopilot.cfg $1 $2
+python autopilot/add_task.py etc/autopilot.cfg $1 $2
 
Index: autopilot/trunk/cmd/delete-glider
===================================================================
--- autopilot/trunk/cmd/delete-glider (revision 67)
+++ autopilot/trunk/cmd/delete-glider (revision 72)
@@ -3,4 +3,4 @@
 cd /home/localuser/pilottools/lb/toolshed/autopilot/
 source bin/activate
-python autopilot/delete_glider.py config/autopilot.cfg $1
+python autopilot/delete_glider.py etc/autopilot.cfg $1
 
Index: autopilot/trunk/cmd/delete-task
===================================================================
--- autopilot/trunk/cmd/delete-task (revision 67)
+++ autopilot/trunk/cmd/delete-task (revision 72)
@@ -3,3 +3,3 @@
 cd /home/localuser/pilottools/lb/toolshed/autopilot/
 source bin/activate
-python autopilot/delete_task.py config/autopilot.cfg $1 $2
+python autopilot/delete_task.py etc/autopilot.cfg $1 $2
Index: autopilot/trunk/cmd/list-gliders
===================================================================
--- autopilot/trunk/cmd/list-gliders (revision 67)
+++ autopilot/trunk/cmd/list-gliders (revision 72)
@@ -3,4 +3,4 @@
 cd /home/localuser/pilottools/lb/toolshed/autopilot/
 source bin/activate
-python autopilot/list_gliders.py config/autopilot.cfg
+python autopilot/list_gliders.py etc/autopilot.cfg
 
Index: autopilot/trunk/cmd/list-tasks
===================================================================
--- autopilot/trunk/cmd/list-tasks (revision 67)
+++ autopilot/trunk/cmd/list-tasks (revision 72)
@@ -3,4 +3,4 @@
 cd /home/localuser/pilottools/lb/toolshed/autopilot/
 source bin/activate
-python autopilot/list_tasks.py config/autopilot.cfg $1
+python autopilot/list_tasks.py etc/autopilot.cfg $1