== cmdfile.51 ==
    $HEADING,-1
    $KALMAN_USE,1
    $T_RSLEEP,5
    $VBD_MIN,640
    $MAX_BUOY,150
    $C_PITCH,2905
    $PITCH_GAIN,12
    $C_ROLL_DIVE,1000
    $C_ROLL_CLIMB,2510
    $C_VBD,3281
    $SM_CC,400
    $T_MISSION,70
    $T_DIVE,20
    $D_TGT,100
    $GO