== cmdfile.30 ==
    $D_TGT,90
    $T_DIVE,30
    $T_MISSION,45
    $MAX_BUOY,150
    $KALMAN_USE,14
    $HEADING,90
    $SM_CC,300
    $T_RSLEEP,2
    $C_PITCH,3050
    $PITCH_GAIN,26
    $PITCH_ADJ_GAIN,0.02
    $PITCH_ADJ_DBAND,2.5
    $ROLL_DEG,40
    $C_ROLL_DIVE,2100
    $C_ROLL_CLIMB,2100
    $C_VBD,2200
    $ALTIM_TOP_PING_RANGE,0
    $ALTIM_PING_DEPTH,30
    $ALTIM_PING_DELTA,5
    $GO