OKMC Apr12 * SG169 * Dive index * Mission links * Dive 27

== cmdfile.27.1 ==
    $C_PITCH,2035
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $PITCH_GAIN,40
    $ROLL_ADJ_GAIN,0.0
    $ROLL_ADJ_DBAND,0.0
    $C_ROLL_DIVE,2500
    $C_ROLL_CLIMB,2525
    $KALMAN_USE,2
    $NAV_MODE,2
    $SM_CC,425
    $MAX_BUOY,175
    $D_TGT,990
    $T_DIVE,360
    $T_MISSION,380
    $D_ABORT,1020
    $ALTIM_PING_DEPTH,300
    $ALTIM_PING_DELTA,50
    $ALTIM_BOTTOM_TURN_MARGIN,20
    $GO
== cmdfile.27.10 ==
    $C_PITCH,2035
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $PITCH_GAIN,40
    $ROLL_ADJ_GAIN,0.0
    $ROLL_ADJ_DBAND,0.0
    $C_ROLL_DIVE,2500
    $C_ROLL_CLIMB,2525
    $KALMAN_USE,2
    $NAV_MODE,2
    $SM_CC,425
    $MAX_BUOY,175
    $D_TGT,990
    $T_DIVE,360
    $T_MISSION,380
    $D_ABORT,1020
    $ALTIM_PING_DEPTH,100
    $ALTIM_PING_DELTA,50
    $ALTIM_BOTTOM_TURN_MARGIN,20
    $GO
== cmdfile.27.11 ==
    $C_PITCH,2035
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $PITCH_GAIN,40
    $ROLL_ADJ_GAIN,0.0
    $ROLL_ADJ_DBAND,0.0
    $C_ROLL_DIVE,2500
    $C_ROLL_CLIMB,2525
    $KALMAN_USE,2
    $NAV_MODE,2
    $SM_CC,425
    $MAX_BUOY,175
    $D_TGT,990
    $T_DIVE,360
    $T_MISSION,380
    $D_ABORT,1020
    $ALTIM_PING_DEPTH,100
    $ALTIM_PING_DELTA,50
    $ALTIM_BOTTOM_TURN_MARGIN,20
    $GO
== cmdfile.27.12 ==
    $C_PITCH,2035
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $PITCH_GAIN,40
    $ROLL_ADJ_GAIN,0.0
    $ROLL_ADJ_DBAND,0.0
    $C_ROLL_DIVE,2500
    $C_ROLL_CLIMB,2525
    $KALMAN_USE,2
    $NAV_MODE,2
    $SM_CC,425
    $MAX_BUOY,175
    $D_TGT,990
    $T_DIVE,360
    $T_MISSION,380
    $D_ABORT,1020
    $ALTIM_PING_DEPTH,100
    $ALTIM_PING_DELTA,50
    $ALTIM_BOTTOM_TURN_MARGIN,20
    $GO
== cmdfile.27.13 ==
    $C_PITCH,2035
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $PITCH_GAIN,40
    $ROLL_ADJ_GAIN,0.0
    $ROLL_ADJ_DBAND,0.0
    $C_ROLL_DIVE,2500
    $C_ROLL_CLIMB,2525
    $KALMAN_USE,2
    $NAV_MODE,2
    $SM_CC,425
    $MAX_BUOY,175
    $D_TGT,990
    $T_DIVE,360
    $T_MISSION,380
    $D_ABORT,1020
    $ALTIM_PING_DEPTH,100
    $ALTIM_PING_DELTA,50
    $ALTIM_BOTTOM_TURN_MARGIN,20
    $GO
== cmdfile.27.14 ==
    $C_PITCH,2035
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $PITCH_GAIN,40
    $ROLL_ADJ_GAIN,0.0
    $ROLL_ADJ_DBAND,0.0
    $C_ROLL_DIVE,2500
    $C_ROLL_CLIMB,2525
    $KALMAN_USE,2
    $NAV_MODE,2
    $SM_CC,425
    $MAX_BUOY,175
    $D_TGT,990
    $T_DIVE,360
    $T_MISSION,380
    $D_ABORT,1020
    $ALTIM_PING_DEPTH,100
    $ALTIM_PING_DELTA,50
    $ALTIM_BOTTOM_TURN_MARGIN,20
    $GO
== cmdfile.27.15 ==
    $C_PITCH,2035
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $PITCH_GAIN,40
    $ROLL_ADJ_GAIN,0.0
    $ROLL_ADJ_DBAND,0.0
    $C_ROLL_DIVE,2500
    $C_ROLL_CLIMB,2525
    $KALMAN_USE,2
    $NAV_MODE,2
    $SM_CC,425
    $MAX_BUOY,175
    $D_TGT,990
    $T_DIVE,360
    $T_MISSION,380
    $D_ABORT,1020
    $ALTIM_PING_DEPTH,100
    $ALTIM_PING_DELTA,50
    $ALTIM_BOTTOM_TURN_MARGIN,20
    $GO
== cmdfile.27.16 ==
    $C_PITCH,2035
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $PITCH_GAIN,40
    $ROLL_ADJ_GAIN,0.0
    $ROLL_ADJ_DBAND,0.0
    $C_ROLL_DIVE,2500
    $C_ROLL_CLIMB,2525
    $KALMAN_USE,2
    $NAV_MODE,2
    $SM_CC,425
    $MAX_BUOY,175
    $D_TGT,990
    $T_DIVE,360
    $T_MISSION,380
    $D_ABORT,1020
    $ALTIM_PING_DEPTH,100
    $ALTIM_PING_DELTA,50
    $ALTIM_BOTTOM_TURN_MARGIN,20
    $GO
== cmdfile.27.17 ==
    $C_PITCH,2035
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $PITCH_GAIN,40
    $ROLL_ADJ_GAIN,0.0
    $ROLL_ADJ_DBAND,0.0
    $C_ROLL_DIVE,2500
    $C_ROLL_CLIMB,2525
    $KALMAN_USE,2
    $NAV_MODE,2
    $SM_CC,425
    $MAX_BUOY,175
    $D_TGT,990
    $T_DIVE,360
    $T_MISSION,380
    $D_ABORT,1020
    $ALTIM_PING_DEPTH,100
    $ALTIM_PING_DELTA,50
    $ALTIM_BOTTOM_TURN_MARGIN,20
    $GO
== cmdfile.27.18 ==
    $C_PITCH,2035
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $PITCH_GAIN,40
    $ROLL_ADJ_GAIN,0.0
    $ROLL_ADJ_DBAND,0.0
    $C_ROLL_DIVE,2500
    $C_ROLL_CLIMB,2525
    $KALMAN_USE,2
    $NAV_MODE,2
    $SM_CC,425
    $MAX_BUOY,175
    $D_TGT,990
    $T_DIVE,360
    $T_MISSION,380
    $D_ABORT,1020
    $ALTIM_PING_DEPTH,100
    $ALTIM_PING_DELTA,50
    $ALTIM_BOTTOM_TURN_MARGIN,20
    $GO
== cmdfile.27.19 ==
    $C_PITCH,2035
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $PITCH_GAIN,40
    $ROLL_ADJ_GAIN,0.0
    $ROLL_ADJ_DBAND,0.0
    $C_ROLL_DIVE,2500
    $C_ROLL_CLIMB,2525
    $KALMAN_USE,2
    $NAV_MODE,2
    $SM_CC,425
    $MAX_BUOY,175
    $D_TGT,990
    $T_DIVE,360
    $T_MISSION,380
    $D_ABORT,1020
    $ALTIM_PING_DEPTH,100
    $ALTIM_PING_DELTA,50
    $ALTIM_BOTTOM_TURN_MARGIN,20
    $GO
== cmdfile.27.2 ==
    $C_PITCH,2035
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $PITCH_GAIN,40
    $ROLL_ADJ_GAIN,0.0
    $ROLL_ADJ_DBAND,0.0
    $C_ROLL_DIVE,2500
    $C_ROLL_CLIMB,2525
    $KALMAN_USE,2
    $NAV_MODE,2
    $SM_CC,425
    $MAX_BUOY,175
    $D_TGT,990
    $T_DIVE,360
    $T_MISSION,380
    $D_ABORT,1020
    $ALTIM_PING_DEPTH,300
    $ALTIM_PING_DELTA,50
    $ALTIM_BOTTOM_TURN_MARGIN,20
    $GO
== cmdfile.27.20 ==
    $C_PITCH,2035
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $PITCH_GAIN,40
    $ROLL_ADJ_GAIN,0.0
    $ROLL_ADJ_DBAND,0.0
    $C_ROLL_DIVE,2500
    $C_ROLL_CLIMB,2525
    $KALMAN_USE,2
    $NAV_MODE,2
    $SM_CC,425
    $MAX_BUOY,175
    $D_TGT,990
    $T_DIVE,360
    $T_MISSION,380
    $D_ABORT,1020
    $ALTIM_PING_DEPTH,100
    $ALTIM_PING_DELTA,50
    $ALTIM_BOTTOM_TURN_MARGIN,20
    $GO
== cmdfile.27.21 ==
    $C_PITCH,2035
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $PITCH_GAIN,40
    $ROLL_ADJ_GAIN,0.0
    $ROLL_ADJ_DBAND,0.0
    $C_ROLL_DIVE,2500
    $C_ROLL_CLIMB,2525
    $KALMAN_USE,2
    $NAV_MODE,2
    $SM_CC,425
    $MAX_BUOY,175
    $D_TGT,990
    $T_DIVE,360
    $T_MISSION,380
    $D_ABORT,1020
    $ALTIM_PING_DEPTH,100
    $ALTIM_PING_DELTA,50
    $ALTIM_BOTTOM_TURN_MARGIN,20
    $GO
== cmdfile.27.22 ==
    $C_PITCH,2035
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $PITCH_GAIN,40
    $ROLL_ADJ_GAIN,0.0
    $ROLL_ADJ_DBAND,0.0
    $C_ROLL_DIVE,2500
    $C_ROLL_CLIMB,2525
    $KALMAN_USE,2
    $NAV_MODE,2
    $SM_CC,425
    $MAX_BUOY,175
    $D_TGT,990
    $T_DIVE,360
    $T_MISSION,380
    $D_ABORT,1020
    $ALTIM_PING_DEPTH,100
    $ALTIM_PING_DELTA,50
    $ALTIM_BOTTOM_TURN_MARGIN,20
    $GO
== cmdfile.27.23 ==
    $C_PITCH,2035
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $PITCH_GAIN,40
    $ROLL_ADJ_GAIN,0.0
    $ROLL_ADJ_DBAND,0.0
    $C_ROLL_DIVE,2500
    $C_ROLL_CLIMB,2525
    $KALMAN_USE,2
    $NAV_MODE,2
    $SM_CC,425
    $MAX_BUOY,175
    $D_TGT,990
    $T_DIVE,360
    $T_MISSION,380
    $D_ABORT,1020
    $ALTIM_PING_DEPTH,100
    $ALTIM_PING_DELTA,50
    $ALTIM_BOTTOM_TURN_MARGIN,20
    $GO
== cmdfile.27.24 ==
    $C_PITCH,2035
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $PITCH_GAIN,40
    $ROLL_ADJ_GAIN,0.0
    $ROLL_ADJ_DBAND,0.0
    $C_ROLL_DIVE,2500
    $C_ROLL_CLIMB,2525
    $KALMAN_USE,2
    $NAV_MODE,2
    $SM_CC,425
    $MAX_BUOY,175
    $D_TGT,990
    $T_DIVE,360
    $T_MISSION,380
    $D_ABORT,1020
    $ALTIM_PING_DEPTH,100
    $ALTIM_PING_DELTA,50
    $ALTIM_BOTTOM_TURN_MARGIN,20
    $GO
== cmdfile.27.25 ==
    $C_PITCH,2035
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $PITCH_GAIN,40
    $ROLL_ADJ_GAIN,0.0
    $ROLL_ADJ_DBAND,0.0
    $C_ROLL_DIVE,2500
    $C_ROLL_CLIMB,2525
    $KALMAN_USE,2
    $NAV_MODE,2
    $SM_CC,425
    $MAX_BUOY,175
    $D_TGT,990
    $T_DIVE,360
    $T_MISSION,380
    $D_ABORT,1020
    $ALTIM_PING_DEPTH,100
    $ALTIM_PING_DELTA,50
    $ALTIM_BOTTOM_TURN_MARGIN,20
    $GO
== cmdfile.27.26 ==
    $C_PITCH,2035
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $PITCH_GAIN,40
    $ROLL_ADJ_GAIN,0.0
    $ROLL_ADJ_DBAND,0.0
    $C_ROLL_DIVE,2500
    $C_ROLL_CLIMB,2525
    $KALMAN_USE,2
    $NAV_MODE,2
    $SM_CC,425
    $MAX_BUOY,175
    $D_TGT,990
    $T_DIVE,360
    $T_MISSION,380
    $D_ABORT,1020
    $ALTIM_PING_DEPTH,100
    $ALTIM_PING_DELTA,50
    $ALTIM_BOTTOM_TURN_MARGIN,20
    $GO
== cmdfile.27.27 ==
    $C_PITCH,2035
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $PITCH_GAIN,40
    $ROLL_ADJ_GAIN,0.0
    $ROLL_ADJ_DBAND,0.0
    $C_ROLL_DIVE,2500
    $C_ROLL_CLIMB,2525
    $KALMAN_USE,2
    $NAV_MODE,2
    $SM_CC,425
    $MAX_BUOY,175
    $D_TGT,990
    $T_DIVE,360
    $T_MISSION,380
    $D_ABORT,1020
    $ALTIM_PING_DEPTH,100
    $ALTIM_PING_DELTA,50
    $ALTIM_BOTTOM_TURN_MARGIN,20
    $GO
== cmdfile.27.28 ==
    $C_PITCH,2035
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $PITCH_GAIN,40
    $ROLL_ADJ_GAIN,0.0
    $ROLL_ADJ_DBAND,0.0
    $C_ROLL_DIVE,2500
    $C_ROLL_CLIMB,2525
    $KALMAN_USE,2
    $NAV_MODE,2
    $SM_CC,425
    $MAX_BUOY,175
    $D_TGT,990
    $T_DIVE,360
    $T_MISSION,380
    $D_ABORT,1020
    $ALTIM_PING_DEPTH,100
    $ALTIM_PING_DELTA,50
    $ALTIM_BOTTOM_TURN_MARGIN,20
    $GO
== cmdfile.27.29 ==
    $C_PITCH,2035
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $PITCH_GAIN,40
    $ROLL_ADJ_GAIN,0.0
    $ROLL_ADJ_DBAND,0.0
    $C_ROLL_DIVE,2500
    $C_ROLL_CLIMB,2525
    $KALMAN_USE,2
    $NAV_MODE,2
    $SM_CC,425
    $MAX_BUOY,175
    $D_TGT,990
    $T_DIVE,360
    $T_MISSION,380
    $D_ABORT,1020
    $ALTIM_PING_DEPTH,100
    $ALTIM_PING_DELTA,50
    $ALTIM_BOTTOM_TURN_MARGIN,20
    $GO
== cmdfile.27.3 ==
    $C_PITCH,2035
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $PITCH_GAIN,40
    $ROLL_ADJ_GAIN,0.0
    $ROLL_ADJ_DBAND,0.0
    $C_ROLL_DIVE,2500
    $C_ROLL_CLIMB,2525
    $KALMAN_USE,2
    $NAV_MODE,2
    $SM_CC,425
    $MAX_BUOY,175
    $D_TGT,990
    $T_DIVE,360
    $T_MISSION,380
    $D_ABORT,1020
    $ALTIM_PING_DEPTH,300
    $ALTIM_PING_DELTA,50
    $ALTIM_BOTTOM_TURN_MARGIN,20
    $QUIT
== cmdfile.27.30 ==
    $C_PITCH,2035
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $PITCH_GAIN,40
    $ROLL_ADJ_GAIN,0.0
    $ROLL_ADJ_DBAND,0.0
    $C_ROLL_DIVE,2500
    $C_ROLL_CLIMB,2525
    $KALMAN_USE,2
    $NAV_MODE,2
    $SM_CC,425
    $MAX_BUOY,175
    $D_TGT,990
    $T_DIVE,360
    $T_MISSION,380
    $D_ABORT,1020
    $ALTIM_PING_DEPTH,100
    $ALTIM_PING_DELTA,50
    $ALTIM_BOTTOM_TURN_MARGIN,20
    $GO
== cmdfile.27.31 ==
    $C_PITCH,2035
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $PITCH_GAIN,40
    $ROLL_ADJ_GAIN,0.0
    $ROLL_ADJ_DBAND,0.0
    $C_ROLL_DIVE,2500
    $C_ROLL_CLIMB,2525
    $KALMAN_USE,2
    $NAV_MODE,2
    $SM_CC,425
    $MAX_BUOY,175
    $D_TGT,990
    $T_DIVE,360
    $T_MISSION,380
    $D_ABORT,1020
    $ALTIM_PING_DEPTH,100
    $ALTIM_PING_DELTA,50
    $ALTIM_BOTTOM_TURN_MARGIN,20
    $GO
== cmdfile.27.32 ==
    $C_PITCH,2035
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $PITCH_GAIN,40
    $ROLL_ADJ_GAIN,0.0
    $ROLL_ADJ_DBAND,0.0
    $C_ROLL_DIVE,2500
    $C_ROLL_CLIMB,2525
    $KALMAN_USE,2
    $NAV_MODE,2
    $SM_CC,425
    $MAX_BUOY,175
    $D_TGT,990
    $T_DIVE,360
    $T_MISSION,380
    $D_ABORT,1020
    $ALTIM_PING_DEPTH,100
    $ALTIM_PING_DELTA,50
    $ALTIM_BOTTOM_TURN_MARGIN,20
    $GO
== cmdfile.27.33 ==
    $C_PITCH,2035
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $PITCH_GAIN,40
    $ROLL_ADJ_GAIN,0.0
    $ROLL_ADJ_DBAND,0.0
    $C_ROLL_DIVE,2500
    $C_ROLL_CLIMB,2525
    $KALMAN_USE,2
    $NAV_MODE,2
    $SM_CC,425
    $MAX_BUOY,175
    $D_TGT,990
    $T_DIVE,360
    $T_MISSION,380
    $D_ABORT,1020
    $ALTIM_PING_DEPTH,100
    $ALTIM_PING_DELTA,50
    $ALTIM_BOTTOM_TURN_MARGIN,20
    $GO
== cmdfile.27.34 ==
    $C_PITCH,2035
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $PITCH_GAIN,40
    $ROLL_ADJ_GAIN,0.0
    $ROLL_ADJ_DBAND,0.0
    $C_ROLL_DIVE,2500
    $C_ROLL_CLIMB,2525
    $KALMAN_USE,2
    $NAV_MODE,2
    $SM_CC,425
    $MAX_BUOY,175
    $D_TGT,990
    $T_DIVE,360
    $T_MISSION,380
    $D_ABORT,1020
    $ALTIM_PING_DEPTH,100
    $ALTIM_PING_DELTA,50
    $ALTIM_BOTTOM_TURN_MARGIN,20
    $GO
== cmdfile.27.35 ==
    $C_PITCH,2035
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $PITCH_GAIN,40
    $ROLL_ADJ_GAIN,0.0
    $ROLL_ADJ_DBAND,0.0
    $C_ROLL_DIVE,2500
    $C_ROLL_CLIMB,2525
    $KALMAN_USE,2
    $NAV_MODE,2
    $SM_CC,425
    $MAX_BUOY,175
    $D_TGT,990
    $T_DIVE,360
    $T_MISSION,380
    $D_ABORT,1020
    $ALTIM_PING_DEPTH,100
    $ALTIM_PING_DELTA,50
    $ALTIM_BOTTOM_TURN_MARGIN,20
    $GO
== cmdfile.27.36 ==
    $C_PITCH,2035
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $PITCH_GAIN,40
    $ROLL_ADJ_GAIN,0.0
    $ROLL_ADJ_DBAND,0.0
    $C_ROLL_DIVE,2500
    $C_ROLL_CLIMB,2525
    $KALMAN_USE,2
    $NAV_MODE,2
    $SM_CC,425
    $MAX_BUOY,175
    $D_TGT,990
    $T_DIVE,360
    $T_MISSION,380
    $D_ABORT,1020
    $ALTIM_PING_DEPTH,100
    $ALTIM_PING_DELTA,50
    $ALTIM_BOTTOM_TURN_MARGIN,20
    $GO
== cmdfile.27.37 ==
    $C_PITCH,2035
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $PITCH_GAIN,40
    $ROLL_ADJ_GAIN,0.0
    $ROLL_ADJ_DBAND,0.0
    $C_ROLL_DIVE,2500
    $C_ROLL_CLIMB,2525
    $KALMAN_USE,2
    $NAV_MODE,2
    $SM_CC,425
    $MAX_BUOY,175
    $D_TGT,990
    $T_DIVE,360
    $T_MISSION,380
    $D_ABORT,1020
    $ALTIM_PING_DEPTH,100
    $ALTIM_PING_DELTA,50
    $ALTIM_BOTTOM_TURN_MARGIN,20
    $GO
== cmdfile.27.38 ==
    $C_PITCH,2035
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $PITCH_GAIN,40
    $ROLL_ADJ_GAIN,0.0
    $ROLL_ADJ_DBAND,0.0
    $C_ROLL_DIVE,2500
    $C_ROLL_CLIMB,2525
    $KALMAN_USE,2
    $NAV_MODE,2
    $SM_CC,425
    $MAX_BUOY,175
    $D_TGT,990
    $T_DIVE,360
    $T_MISSION,380
    $D_ABORT,1020
    $ALTIM_PING_DEPTH,100
    $ALTIM_PING_DELTA,50
    $ALTIM_BOTTOM_TURN_MARGIN,20
    $GO
== cmdfile.27.39 ==
    $C_PITCH,2035
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $PITCH_GAIN,40
    $ROLL_ADJ_GAIN,0.0
    $ROLL_ADJ_DBAND,0.0
    $C_ROLL_DIVE,2500
    $C_ROLL_CLIMB,2525
    $KALMAN_USE,2
    $NAV_MODE,2
    $SM_CC,425
    $MAX_BUOY,175
    $D_TGT,990
    $T_DIVE,360
    $T_MISSION,380
    $D_ABORT,1020
    $ALTIM_PING_DEPTH,100
    $ALTIM_PING_DELTA,50
    $ALTIM_BOTTOM_TURN_MARGIN,20
    $GO
== cmdfile.27.4 ==
    $C_PITCH,2035
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $PITCH_GAIN,40
    $ROLL_ADJ_GAIN,0.0
    $ROLL_ADJ_DBAND,0.0
    $C_ROLL_DIVE,2500
    $C_ROLL_CLIMB,2525
    $KALMAN_USE,2
    $NAV_MODE,2
    $SM_CC,425
    $MAX_BUOY,175
    $D_TGT,990
    $T_DIVE,360
    $T_MISSION,380
    $D_ABORT,1020
    $ALTIM_PING_DEPTH,100
    $ALTIM_PING_DELTA,50
    $ALTIM_BOTTOM_TURN_MARGIN,20
    $GO
== cmdfile.27.40 ==
    $C_PITCH,2035
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $PITCH_GAIN,40
    $ROLL_ADJ_GAIN,0.0
    $ROLL_ADJ_DBAND,0.0
    $C_ROLL_DIVE,2500
    $C_ROLL_CLIMB,2525
    $KALMAN_USE,2
    $NAV_MODE,2
    $SM_CC,425
    $MAX_BUOY,175
    $D_TGT,990
    $T_DIVE,360
    $T_MISSION,380
    $D_ABORT,1020
    $ALTIM_PING_DEPTH,100
    $ALTIM_PING_DELTA,50
    $ALTIM_BOTTOM_TURN_MARGIN,20
    $GO
== cmdfile.27.41 ==
    $C_PITCH,2035
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $PITCH_GAIN,40
    $ROLL_ADJ_GAIN,0.0
    $ROLL_ADJ_DBAND,0.0
    $C_ROLL_DIVE,2500
    $C_ROLL_CLIMB,2525
    $KALMAN_USE,2
    $NAV_MODE,2
    $SM_CC,425
    $MAX_BUOY,175
    $D_TGT,990
    $T_DIVE,360
    $T_MISSION,380
    $D_ABORT,1020
    $ALTIM_PING_DEPTH,100
    $ALTIM_PING_DELTA,50
    $ALTIM_BOTTOM_TURN_MARGIN,20
    $RESUME
== cmdfile.27.5 ==
    $C_PITCH,2035
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $PITCH_GAIN,40
    $ROLL_ADJ_GAIN,0.0
    $ROLL_ADJ_DBAND,0.0
    $C_ROLL_DIVE,2500
    $C_ROLL_CLIMB,2525
    $KALMAN_USE,2
    $NAV_MODE,2
    $SM_CC,425
    $MAX_BUOY,175
    $D_TGT,990
    $T_DIVE,360
    $T_MISSION,380
    $D_ABORT,1020
    $ALTIM_PING_DEPTH,100
    $ALTIM_PING_DELTA,50
    $ALTIM_BOTTOM_TURN_MARGIN,20
    $GO
== cmdfile.27.6 ==
    $C_PITCH,2035
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $PITCH_GAIN,40
    $ROLL_ADJ_GAIN,0.0
    $ROLL_ADJ_DBAND,0.0
    $C_ROLL_DIVE,2500
    $C_ROLL_CLIMB,2525
    $KALMAN_USE,2
    $NAV_MODE,2
    $SM_CC,425
    $MAX_BUOY,175
    $D_TGT,990
    $T_DIVE,360
    $T_MISSION,380
    $D_ABORT,1020
    $ALTIM_PING_DEPTH,100
    $ALTIM_PING_DELTA,50
    $ALTIM_BOTTOM_TURN_MARGIN,20
    $GO
== cmdfile.27.7 ==
    $C_PITCH,2035
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $PITCH_GAIN,40
    $ROLL_ADJ_GAIN,0.0
    $ROLL_ADJ_DBAND,0.0
    $C_ROLL_DIVE,2500
    $C_ROLL_CLIMB,2525
    $KALMAN_USE,2
    $NAV_MODE,2
    $SM_CC,425
    $MAX_BUOY,175
    $D_TGT,990
    $T_DIVE,360
    $T_MISSION,380
    $D_ABORT,1020
    $ALTIM_PING_DEPTH,100
    $ALTIM_PING_DELTA,50
    $ALTIM_BOTTOM_TURN_MARGIN,20
    $GO
== cmdfile.27.8 ==
    $C_PITCH,2035
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $PITCH_GAIN,40
    $ROLL_ADJ_GAIN,0.0
    $ROLL_ADJ_DBAND,0.0
    $C_ROLL_DIVE,2500
    $C_ROLL_CLIMB,2525
    $KALMAN_USE,2
    $NAV_MODE,2
    $SM_CC,425
    $MAX_BUOY,175
    $D_TGT,990
    $T_DIVE,360
    $T_MISSION,380
    $D_ABORT,1020
    $ALTIM_PING_DEPTH,100
    $ALTIM_PING_DELTA,50
    $ALTIM_BOTTOM_TURN_MARGIN,20
    $GO
== cmdfile.27.9 ==
    $C_PITCH,2035
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $PITCH_GAIN,40
    $ROLL_ADJ_GAIN,0.0
    $ROLL_ADJ_DBAND,0.0
    $C_ROLL_DIVE,2500
    $C_ROLL_CLIMB,2525
    $KALMAN_USE,2
    $NAV_MODE,2
    $SM_CC,425
    $MAX_BUOY,175
    $D_TGT,990
    $T_DIVE,360
    $T_MISSION,380
    $D_ABORT,1020
    $ALTIM_PING_DEPTH,100
    $ALTIM_PING_DELTA,50
    $ALTIM_BOTTOM_TURN_MARGIN,20
    $GO