== cmdfile.4 ==
$KALMAN_USE,1
$XPDR_VALID,1
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$D_SURF,2
$C_VBD,3500
$SM_CC,350
$C_PITCH,2835
$D_TGT,150
$T_DIVE,50
$T_MISSION,60
$USE_BATHY,-4
$CAPUPLOAD,1
$T_RSLEEP,3
$GO