== cmdfile.1 ==
    $D_TGT,60
    $D_NO_BLEED,50
    $T_DIVE,20
    $T_MISSION,60
    $MAX_BUOY,75
    $ROLL_DEG,40
    $SM_CC,200
    // (2*D_TGT/T_DIVE)/60(s/min) -> 0.10m/s
    $SIM_W,0.1
    $SIM_PITCH,-20
    $CAPUPLOAD,0
    $T_RSLEEP,2
    // Kalman experiments
    // 1 - compute all components
    // 12 - reset, compute mean only
    // 13 - compute mean
    // 14 - disable
    $KALMAN_USE,1
    $RESUME
   
== cmdfile.1.1 ==
    $D_SURF,4
    $C_VBD,3450
    $SM_CC,730
    $MAX_BUOY,100
    $D_TGT,45
    $T_MISSION,20
    $T_DIVE,15
    $C_PITCH,2842
    $PITCH_GAIN,20
    $C_ROLL_DIVE,2050
    $C_ROLL_CLIMB,2050
    $USE_BATHY,-6
    $ALTIM_PING_DEPTH,100
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $T_RSLEEP,3
    $QUIT
== cmdfile.1.2 ==
    $D_SURF,4
    $C_VBD,3450
    $SM_CC,550
    $MAX_BUOY,120
    $D_TGT,45
    $T_MISSION,20
    $T_DIVE,15
    $C_PITCH,2450
    $PITCH_GAIN,21
    $C_ROLL_DIVE,2050
    $C_ROLL_CLIMB,2050
    $USE_BATHY,-6
    $ALTIM_PING_DEPTH,100
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $T_RSLEEP,3
    $RESUME