== cmdfile.12 ==
$NAV_MODE,1
$KALMAN_USE,1
$HEADING,-1
$HEAD_ERRBAND,5
$C_VBD,1917
$SM_CC,340
$MAX_BUOY,120
$C_PITCH,2710
$PITCH_GAIN,26
$C_ROLL_DIVE,2380
$C_ROLL_CLIMB,2280
$D_TGT,150
$T_DIVE,50
$T_MISSION,70
$USE_BATHY,-6
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_PING_DELTA,5
$ALTIM_PING_DEPTH,100
$T_RSLEEP,3
$GO