== cmdfile.4 ==
   
    $C_VBD,3264
    $C_PITCH,2713
    $PITCH_GAIN,30
    $C_ROLL_DIVE,2570
    $C_ROLL_CLIMB,2570
    $D_SURF,3
    $MAX_BUOY,100
    $T_RSLEEP,3
    $KALMAN_USE,1
    $SM_CC,400
    $D_TGT,150
    $T_DIVE,50
    $T_MISSION,75
    $ALTIM_BOTTOM_PING_DEPTH,80
    $ALTIM_PING_DELTA,5
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $USE_BATHY,-4
    $APOGEE_PITCH,-7
    $GO