== cmdfile.517 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $GO
== cmdfile.517.1 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $QUIT
== cmdfile.517.10 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.100 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.101 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.102 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.103 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.104 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.105 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.106 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.107 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.108 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.109 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.11 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.110 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.111 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.112 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.113 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.114 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.115 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.116 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.117 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.118 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.119 ==
    $T_RSLEEP,15
    $QUIT
== cmdfile.517.12 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.120 ==
    $T_RSLEEP,15
    $QUIT
== cmdfile.517.121 ==
    $T_RSLEEP,15
    $QUIT
== cmdfile.517.122 ==
    $T_RSLEEP,15
    $QUIT
== cmdfile.517.123 ==
    $T_RSLEEP,15
    $QUIT
== cmdfile.517.124 ==
    $T_RSLEEP,15
    $QUIT
== cmdfile.517.125 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.126 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.127 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.128 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.129 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.13 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.130 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.131 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.132 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.133 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.135 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.136 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.137 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.138 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.139 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.14 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.140 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.141 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.142 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.143 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.144 ==
    $T_RSLEEP,15
    $QUIT
== cmdfile.517.145 ==
    $T_RSLEEP,15
    $QUIT
== cmdfile.517.146 ==
    $T_RSLEEP,15
    $QUIT
== cmdfile.517.147 ==
    $T_RSLEEP,15
    $QUIT
== cmdfile.517.148 ==
    $T_RSLEEP,15
    $QUIT
== cmdfile.517.149 ==
    $T_RSLEEP,15
    $QUIT
== cmdfile.517.15 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.151 ==
    $T_RSLEEP,15
    $QUIT
== cmdfile.517.152 ==
    $T_RSLEEP,15
    $QUIT
== cmdfile.517.153 ==
    $T_RSLEEP,15
    $QUIT
== cmdfile.517.154 ==
    $T_RSLEEP,15
    $QUIT
== cmdfile.517.155 ==
    $T_RSLEEP,15
    $QUIT
== cmdfile.517.156 ==
    $T_RSLEEP,15
    $QUIT
== cmdfile.517.159 ==
    $T_RSLEEP,15
    $QUIT
== cmdfile.517.16 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.160 ==
    $T_RSLEEP,15
    $QUIT
== cmdfile.517.161 ==
    $T_RSLEEP,15
    $QUIT
== cmdfile.517.162 ==
    $T_RSLEEP,15
    $QUIT
== cmdfile.517.165 ==
    $T_RSLEEP,15
    $QUIT
== cmdfile.517.167 ==
    $T_RSLEEP,15
    $QUIT
== cmdfile.517.168 ==
    $T_RSLEEP,15
    $QUIT
== cmdfile.517.169 ==
    $T_RSLEEP,15
    $QUIT
== cmdfile.517.17 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.171 ==
    $T_RSLEEP,15
    $QUIT
== cmdfile.517.173 ==
    $T_RSLEEP,15
    $QUIT
== cmdfile.517.174 ==
    $T_RSLEEP,15
    $QUIT
== cmdfile.517.175 ==
    $T_RSLEEP,15
    $QUIT
== cmdfile.517.176 ==
    $T_RSLEEP,15
    $QUIT
== cmdfile.517.177 ==
    $T_RSLEEP,15
    $QUIT
== cmdfile.517.178 ==
    $T_RSLEEP,15
    $QUIT
== cmdfile.517.179 ==
    $T_RSLEEP,15
    $QUIT
== cmdfile.517.18 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.184 ==
    $T_RSLEEP,720
    $QUIT
== cmdfile.517.19 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.2 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $QUIT
== cmdfile.517.20 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.21 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.22 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.23 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.24 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.25 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.26 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.27 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.28 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.29 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.3 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.30 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.31 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.32 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.33 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.34 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.35 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.36 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.37 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.38 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.39 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.4 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.40 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.41 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.42 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.43 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.44 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.45 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.46 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.47 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.48 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.49 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.5 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.50 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.51 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.52 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.53 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.54 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.55 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.56 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.57 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.58 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.59 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.6 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.60 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.61 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.62 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.63 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.64 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.65 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.66 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.67 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.68 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.69 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.7 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.70 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.71 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.72 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.73 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.74 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.75 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.76 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.77 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.78 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.79 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.8 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.80 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.81 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.82 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.83 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.84 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.85 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.86 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.87 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.88 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.89 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.9 ==
    $C_PITCH,2250
    $PITCH_GAIN,37
    $PITCH_ADJ_GAIN,0.005
    $PITCH_ADJ_DBAND,1.0
    $C_ROLL_DIVE,2025
    $C_ROLL_CLIMB,1975
    $SM_CC,400
    $MAX_BUOY,200
    $D_TGT,980
    $T_DIVE,380
    $T_MISSION,420
    $NAV_MODE,2
    $HEADING,-1
    $KALMAN_USE,2
    $D_SURF,8
    $D_FLARE,8
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $N_FILEKB,4
    $MINV_10V,9.0
    $CALL_TRIES,3
    $T_RSLEEP,30
    $QUIT
== cmdfile.517.90 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.92 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.93 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.94 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.95 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.96 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.97 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.98 ==
    $T_RSLEEP,60
    $QUIT
== cmdfile.517.99 ==
    $T_RSLEEP,60
    $QUIT