== cmdfile.4 ==
    $CAPUPLOAD,1
    $T_TURN_SAMPINT,5
    $SIM_PITCH,0
    // these parameters or VBD
    $C_VBD,2000
    $SM_CC,220
    //$MAX_BUOY,150
    //$D_BOOST,50
    //$T_BOOST,2
    //these parameters for pitch
    $C_PITCH,2803
    $C_ROLL_DIVE,2276
    $C_ROLL_CLIMB,2276
    $PITCH_GAIN,20
    //$ROLL_AD_RATE,350
    //these parameters for dive
    $D_TGT,150
    $T_MISSION,70
    $T_DIVE,50
    //these parameters for BATH and ALTI
    //$USE_BATHY,-6
    $ALTIM_PING_DEPTH,90
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $ALTIM_PING_DELTA,5
    //How sensitive is the altimeter
    $ALTIM_SENSITIVITY,3
    $ALTIM_PULSE,3
    //these parameters for simulation
    //$SIM_W,0
    //$SIM_PITCH,0
    //
    COMPASS_USE,4
    $T_RSLEEP,3
    //$MASS,53651
    $GO