== cmdfile.7 ==
    $D_TGT,990
    $T_DIVE,330
    $T_MISSION,360
    $T_TURN,290
    $MAX_BUOY,150
    $KALMAN_USE,2
    $T_RSLEEP,2
    $USE_BATHY,0
    $C_PITCH,2850
    $PITCH_GAIN,24
    $PITCH_ADJ_GAIN,0
    $PITCH_ADJ_DBAND,0
    $C_ROLL_DIVE,2200
    $C_ROLL_CLIMB,2300
    $C_VBD,2371
    $PITCH_VBD_SHIFT,0
    $SM_CC,300
    $ALTIM_TOP_PING_RANGE,20
    $ALTIM_BOTTOM_TURN_MARGIN,10
    $ALTIM_PING_DEPTH,100
    $ALTIM_PING_DELTA,10
    $GO