== cmdfile.21 ==
    $D_TGT,180
    $T_DIVE,80
    $T_MISSION,100
    $T_TURN,290
    $MAX_BUOY,150
    $KALMAN_USE,0
    $T_RSLEEP,2
    $USE_BATHY,0
    $C_PITCH,3350
    $PITCH_GAIN,24.4
    $PITCH_VBD_SHIFT,0.00246
    $PITCH_ADJ_GAIN,0
    $PITCH_ADJ_DBAND,0
    $C_ROLL_DIVE,2300
    $C_ROLL_CLIMB,2400
    $C_VBD,2930
    $SM_CC,300
    $ALTIM_TOP_PING_RANGE,20
    $ALTIM_BOTTOM_TURN_MARGIN,10
    $ALTIM_PING_DEPTH,90
    $GO