== cmdfile.24 ==
    $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,600
    $D_ABORT,1020
    $MAX_BUOY,150
    $D_TGT,800
    $T_DIVE,280
    $T_MISSION,340
    $ALTIM_PING_DELTA,8
    $ALTIM_PING_FIT,785
    $PROTOCOL,9
    $PHONE_DEVICE,49
    $T_RSLEEP,2
    $SM_CC,300
    $T_BOOST,0
    $QUIT
== cmdfile.24.1 ==
    $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,600
    $D_ABORT,1020
    $MAX_BUOY,150
    $D_TGT,800
    $T_DIVE,280
    $T_MISSION,340
    $ALTIM_PING_DELTA,8
    $ALTIM_PING_FIT,785
    $PROTOCOL,9
    $PHONE_DEVICE,49
    $T_RSLEEP,2
    $SM_CC,300
    $T_BOOST,0
    //
    $HEAD_ERRBAND,180
    // Force a static port roll on dive and climb
    $C_ROLL_DIVE,230
    $C_ROLL_CLIMB,230
    $ROLL_DEG,0
    // Shallow pitch dive
    $GLIDE_SLOPE,15
    $MAX_BUOY,200
    $D_TGT,150
    $T_DIVE,50
    $T_MISSION,70
    $RESUME