== cmdfile.56 ==
    $C_PITCH,2700
    $PITCH_GAIN,22
    $PITCH_ADJ_GAIN,0.0
    $PITCH_ADJ_DBAND,0
    $W_ADJ_DBAND,2
    $PITCH_W_DBAND,0.5
    $PITCH_W_GAIN,2.0
    $C_ROLL_DIVE,2500
    $C_ROLL_CLIMB,2200
    $D_OFFGRID,990
    $D_ABORT,1020
    $MAX_BUOY,150
    $D_TGT,450
    $T_DIVE,150
    $T_MISSION,180
    $ALTIM_PING_DELTA,8
    $ALTIM_PING_FIT,783
    $ALTIM_SENSITIVITY,4
    $ALTIM_PULSE,1
    $ALTIM_TOP_MIN_OBSTACLE,1.8
    $ALTIM_BOTTOM_TURN_MARGIN,10
    $ALTIM_TOP_TURN_MARGIN,10
    $PROTOCOL,9
    $PHONE_DEVICE,49
    $SM_CC,300
    $USE_ICE,1
    $D_FINISH,10
    $D_CALL,2
    $D_PITCH,3
    $SURFACE_URGENCY,5
    $SURFACE_URGENCY_TRY,5
    $SURFACE_URGENCY_FORCE,10
    $N_NOCOMM,0
    $D_NO_BLEED,500
    / Updated for under ice - okay to leave set in open water
    $D_SAFE,500
    $ICE_FREEZE_MARGIN,0.15
    $FIX_MISSING_TIMEOUT,1
    $FILEMGR,2
    $UPLOAD_DIVES_MAX,3
    $CALL_TRIES,3
    $CALL_WAIT,45
    $CAPMAXSIZE,10000
    $T_GPS,3
    $PITCH_TIMEOUT,40
    $PITCH_AD_RATE,20
    $ROLL_TIMEOUT,30
    $ROLL_AD_RATE,50
    $ROLL_MAXERRORS,0
    $MINV_24V,0
    $MINV_10V,0
    $MAXI_24V,2.0
    $MAXI_10V,2.0
    $ESCAPE_HEADING,0
    $ESCAPE_HEADING_DELTA,10
    /
    / Initial incursion into cavity
    $SURFACE_URGENCY,5
    $SURFACE_URGENCY_TRY,5
    $SURFACE_URGENCY_FORCE,10
    $USE_BATHY,0
    $NAV_MODE,2
    $N_NOCOMM,3
    $QUIT
== cmdfile.56.1 ==
    $C_PITCH,2700
    $PITCH_GAIN,22
    $PITCH_ADJ_GAIN,0.0
    $PITCH_ADJ_DBAND,0
    $W_ADJ_DBAND,2
    $PITCH_W_DBAND,0.5
    $PITCH_W_GAIN,2.0
    $C_ROLL_DIVE,2500
    $C_ROLL_CLIMB,2200
    $D_OFFGRID,990
    $D_ABORT,1020
    $MAX_BUOY,150
    $D_TGT,300
    $T_DIVE,100
    $T_MISSION,130
    $ALTIM_PING_DELTA,8
    $ALTIM_PING_FIT,783
    $ALTIM_SENSITIVITY,4
    $ALTIM_PULSE,1
    $ALTIM_TOP_MIN_OBSTACLE,1.8
    $ALTIM_BOTTOM_TURN_MARGIN,10
    $ALTIM_TOP_TURN_MARGIN,10
    $PROTOCOL,9
    $PHONE_DEVICE,49
    $SM_CC,300
    $USE_ICE,1
    $D_FINISH,10
    $D_CALL,2
    $D_PITCH,3
    $SURFACE_URGENCY,5
    $SURFACE_URGENCY_TRY,5
    $SURFACE_URGENCY_FORCE,10
    $N_NOCOMM,0
    $D_NO_BLEED,500
    / Updated for under ice - okay to leave set in open water
    $D_SAFE,500
    $ICE_FREEZE_MARGIN,0.15
    $FIX_MISSING_TIMEOUT,1
    $FILEMGR,2
    $UPLOAD_DIVES_MAX,3
    $CALL_TRIES,3
    $CALL_WAIT,45
    $CAPMAXSIZE,10000
    $T_GPS,3
    $PITCH_TIMEOUT,40
    $PITCH_AD_RATE,20
    $ROLL_TIMEOUT,30
    $ROLL_AD_RATE,50
    $ROLL_MAXERRORS,0
    $MINV_24V,0
    $MINV_10V,0
    $MAXI_24V,2.0
    $MAXI_10V,2.0
    $ESCAPE_HEADING,0
    $ESCAPE_HEADING_DELTA,10
    /
    / Initial incursion into cavity
    $SURFACE_URGENCY,5
    $SURFACE_URGENCY_TRY,5
    $SURFACE_URGENCY_FORCE,10
    $USE_BATHY,0
    $NAV_MODE,2
    $N_NOCOMM,3
    $RESUME