== cmdfile.540 ==
    $D_TGT,180
    $T_DIVE,60
    $T_MISSION,90
    $USE_BATHY,0
    $MAX_BUOY,250
    $GLIDE_SLOPE,30
    $NAV_MODE,2
    $KALMAN_USE,2
    $HEADING,-1
    $SM_CC,410
    $T_RSLEEP,2
    $C_PITCH,3153
    $C_ROLL_DIVE,2082
    $C_ROLL_CLIMB,2082
    $HEAD_ERRBAND,10
    $C_VBD,2065
    $ALTIM_BOTTOM_TURN_MARGIN,10
    $ALTIM_PING_DEPTH,100
    / CCE's original settings
    $ALTIM_FREQUENCY,13
    $ALTIM_PULSE,3
    $ALTIM_SENSITIVITY,3
    / potentially better
    /$ALTIM_FREQUENCY,10
    /$ALTIM_PULSE,5
    /$ALTIM_SENSITIVITY,3
    $GO