== cmdfile.20 ==
    $C_PITCH,3195
    $PITCH_ADJ_DBAND,0.0
    $PITCH_ADJ_GAIN,0.0
    $C_ROLL_DIVE,2175
    $C_ROLL_CLIMB,2300
    $ROLL_ADJ_DBAND,0.0
    $ROLL_ADJ_GAIN,0.0
    $MAX_BUOY,150
    $NAV_MODE,2
    $D_TGT,990
    $T_DIVE,450
    $T_MISSION,500
    $T_RSLEEP,3
    $D_BOOST,4
    $KALMAN_USE,1
    $SM_CC,300
    $HD_A,3.1e-3
    $HD_B,9.3e-3
    $HD_C,4.5e-5
    $C_VBD,2794
    $GO