== cmdfile.3 ==
    $KALMAN_USE,1
    $NAV_MODE,1
    $HEADING,-1
    $HEAD_ERRBAND,10
    $D_TGT,150
    $T_DIVE,50
    $T_MISSION,70
    $D_BOOST,120
    $C_VBD,1857
    $SM_CC,340
    $MAX_BUOY,120
    $C_PITCH,2460
    $PITCH_GAIN,26
    $C_ROLL_DIVE,2100
    $C_ROLL_CLIMB,2100
    $USE_BATHY,-6
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $ALTIM_PING_DEPTH,90
    $XPDR_VALID,4
    $T_RSLEEP,3
    $GO