== cmdfile.139 ==
    $C_PITCH,2010
    $PITCH_ADJ_GAIN,0.007
    $PITCH_ADJ_DBAND,1.0
    $PITCH_GAIN,40
    $ROLL_ADJ_GAIN,0.0
    $ROLL_ADJ_DBAND,0.0
    $C_ROLL_DIVE,2630
    $C_ROLL_CLIMB,2500
    $T_RSLEEP,3
    $MAX_BUOY,250
    $SM_CC,425
    $D_TGT,990
    $T_DIVE,320
    $T_MISSION,350
    $D_ABORT,1020
    $KALMAN_USE,2
    $HEADING,200.0
    $NAV_MODE,0
    $HD_A,0.003836
    $HD_B,0.010078
    $HD_C,9.85E-06
    $GO