== cmdfile.15 ==
    $C_PITCH,2760
    $PITCH_GAIN,22
    $PITCH_ADJ_GAIN,0.02
    $PITCH_ADJ_DBAND,1
    $C_ROLL_DIVE,2800
    $C_ROLL_CLIMB,2550
    $W_ADJ_DBAND,2
    $PITCH_W_DBAND,0.5
    $PITCH_W_GAIN,2.0
    $D_OFFGRID,600
    $D_ABORT,1020
    $MAX_BUOY,200
    $D_TGT,660
    $T_DIVE,220
    $T_MISSION,250
    $ALTIM_PING_DELTA,0
    $ALTIM_PING_DEPTH,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $ALTIM_PING_FIT,785
    $PROTOCOL,9
    $PHONE_DEVICE,49
    $T_RSLEEP,2
    $T_BOOST,0
    $SM_CC,350
    //
    $HEAD_ERRBAND,180
    // Force a static starboard roll on dive and climb
    $C_ROLL_DIVE,3750
    $C_ROLL_CLIMB,3750
    $ROLL_DEG,0
    // Steeper pitch dive
    $GLIDE_SLOPE,50
    $MAX_BUOY,70
    $D_TGT,150
    $T_DIVE,50
    $T_MISSION,70
    $GO