== cmdfile.4 ==
    $STOP_T,0
    $D_TGT,180
    $T_DIVE,80
    $T_MISSION,90
    $MAX_BUOY,250
    $CAPUPLOAD,1
    $USE_BATHY,-1
    $SM_CC,570
    $T_RSLEEP,2
    $C_ROLL_DIVE,190
    $C_ROLL_CLIMB,3900
    $HEAD_ERRBAND,180
    $C_PITCH,3519
    $PITCH_GAIN,15.0
    / $PITCH_ADJ_GAIN,0.02
    / $PITCH_ADJ_DBAND,2.5
    $PITCH_ADJ_GAIN,0
    $PITCH_ADJ_DBAND,0
    $C_VBD,2107
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_PING_DEPTH,100
    $ALTIM_PING_DELTA,5
    $ALTIM_FREQUENCY,12
    $GO