--- /dev/null
+gnuplot -persist << EOF
+set ylabel "altitude (m)"
+set y2label "error"
+set xlabel "time (s)"
+set xtics border out nomirror
+set ytics border out nomirror
+set y2tics border out nomirror
+plot "$1" using 1:3 with lines axes x1y1 title "raw height",\
+"$1" using 1:21 with lines axes x1y2 title "error"
+EOF