== cmdfile.50 ==
$MAX_BUOY,250
$D_NO_BLEED,200
$C_PITCH,2800
$PITCH_GAIN,40
$ROLL_ADJ_GAIN,2.25
$ROLL_ADJ_DBAND,0.03
$PITCH_ADJ_GAIN,0.012
$PITCH_ADJ_DBAND,1
$PITCH_VBD_SHIFT,0.0006
$NAV_MODE,2
$HEADING,-1
$C_VBD,3121
$D_TGT,990
$T_DIVE,360
$T_MISSION,420
$D_ABORT,1040
$C_ROLL_DIVE,2690
$C_ROLL_CLIMB,1940
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_PULSE,5
$HD_A,5e-3
$HD_B,9e-3
$HD_C,8e-6
$GO