== cmdfile.1 ==
    $D_TGT,10
    $D_NO_BLEED,50
    $T_DIVE,3
    $T_MISSION,5
    $MAX_BUOY,5
    $ROLL_DEG,40
    $SM_CC,150
    // (2*D_TGT/T_DIVE)/60(s/min) -> 0.10m/s
    $SIM_W,0.1
    $SIM_PITCH,-20
    $CAPUPLOAD,0
    $T_RSLEEP,1
    // Kalman experiments
    // 0 - reset
    // 1 - compute all components
    // 2 - disable
    // 12 - reset, compute mean only
    // 13 - compute mean
    // 14 - disable
    // moving from 14 to 12 did not reset
    // 12, 13, 13, 14, 12, 13, ...
    $KALMAN_USE,13
    $GO
== cmdfile.1.1 ==
    $CAPUPLOAD,1
    $D_TGT,45
    $T_DIVE,15
    $T_MISSION,20
    $T_RSLEEP,3
    $C_VBD,3640
    $C_PITCH,2925
    $C_ROLL_DIVE,2224
    $C_ROLL_CLIMB,2224
    $MAX_BUOY,100
    $SM_CC,780
    $SIM_PITCH,0
    $SIM_W,0
    $D_BOOST,100
    $PITCH_GAIN,20
    $COMPASS_USE,4
    $T_BOOST,2
    $MASS,53229
    $QUIT
== cmdfile.1.2 ==
    $CAPUPLOAD,1
    $D_TGT,45
    $T_DIVE,15
    $T_MISSION,20
    $T_RSLEEP,3
    $C_VBD,3640
    $C_PITCH,2925
    $C_ROLL_DIVE,2224
    $C_ROLL_CLIMB,2224
    $MAX_BUOY,100
    $SM_CC,780
    $SIM_PITCH,0
    $SIM_W,0
    $D_BOOST,100
    $PITCH_GAIN,20
    $COMPASS_USE,4
    $T_BOOST,2
    $MASS,53229
    $QUIT
== cmdfile.1.3 ==
    $CAPUPLOAD,1
    $D_TGT,45
    $T_DIVE,15
    $T_MISSION,20
    $T_RSLEEP,3
    $C_VBD,3640
    $C_PITCH,2925
    $C_ROLL_DIVE,2224
    $C_ROLL_CLIMB,2224
    $MAX_BUOY,100
    $SM_CC,780
    $SIM_PITCH,0
    $SIM_W,0
    $D_BOOST,100
    $PITCH_GAIN,20
    $COMPASS_USE,4
    $T_BOOST,2
    $MASS,53229
    $QUIT
== cmdfile.1.4 ==
    $D_TGT,150
    $T_DIVE,50
    $T_MISSION,70
    $D_SURF,4
    $T_RSLEEP,3
    $C_VBD,3640
    $C_PITCH,2940
    $C_ROLL_DIVE,2400
    $C_ROLL_CLIMB,2400
    $MAX_BUOY,100
    $SM_CC,550
    $D_BOOST,100
    $PITCH_GAIN,20
    $COMPASS_USE,4
    $T_BOOST,2
    $MASS,53229
    $RESUME