== cmdfile.4 ==
    $NAV_MODE,1
    $KALMAN_USE,1
    $HEADING,-1
    $HEAD_ERRBAND,10
    $C_VBD,1966
    $SM_CC,350
    $MAX_BUOY,150
    $C_PITCH,2870
    $PITCH_GAIN,14
    $C_ROLL_DIVE,2090
    $C_ROLL_CLIMB,2000
    $D_TGT,150
    $T_DIVE,50
    $T_MISSION,70
    $USE_BATHY,-6
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $ALTIM_PING_DEPTH,90
    $T_RSLEEP,3
    $GO