== cmdfile.40 ==
    $D_TGT,2400
    $T_DIVE,800
    $T_MISSION,830
    $T_ABORT,2160
    $USE_BATHY,0
    $KALMAN_USE,1
    $HEADING,-1
    $MAX_BUOY,150
    $SM_CC,350
    $T_RSLEEP,12
    $C_PITCH,1550
    $PITCH_ADJ_GAIN,0
    $PITCH_ADJ_DBAND,0
    $PITCH_GAIN,12.5
    $C_ROLL_DIVE,1900
    $C_ROLL_CLIMB,1650
    $HEAD_ERRBAND,10
    $C_VBD,1735
    $ALTIM_TOP_PING_RANGE,20
    $ALTIM_PING_DEPTH,2000
    $ALTIM_PING_DELTA,25
    $GO