== cmdfile.55 ==
    / was 4800
    $D_TGT,150
    / was 1600
    $T_DIVE,50
    / was 1620
    $T_MISSION,80
    $T_ABORT,2880
    $MAX_BUOY,150
    $GLIDE_SLOPE,45
    / was 13
    $KALMAN_USE,14
    $SM_CC,250
    / was 12
    $T_RSLEEP,2
    $C_PITCH,2970
    $PITCH_GAIN,20
    $C_ROLL_DIVE,2200
    $C_ROLL_CLIMB,2200
    / was 2000
    $C_VBD,2140
    / was 4000; if > 666m bad altim timeout
    $ALTIM_PING_DEPTH,20
    $ALTIM_PING_DELTA,5
    / p1,s3 found a 'bottom' a few times
    $ALTIM_SENSITIVITY,4
    $ALTIM_PULSE,1
    / was 12, which did pretty well
    $ALTIM_FREQUENCY,12
    $ALTIM_TOP_PING_RANGE,50
    / remove this before deep dive
    $CAPUPLOAD,1
    $GO