== cmdfile.23 ==
    $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
    // 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, ...
    // last was 13
    $KALMAN_USE,12
    $GO
== cmdfile.23.1 ==
    $GO
== cmdfile.23.10 ==
    $T_RSLEEP,1
    $CALL_TRIES,10
    $CALL_WAIT,45
    $GO
== cmdfile.23.11 ==
    $T_RSLEEP,1
    $CALL_TRIES,10
    $CALL_WAIT,45
    $GO
== cmdfile.23.12 ==
    $T_RSLEEP,1
    $CALL_TRIES,10
    $CALL_WAIT,45
    $GO
== cmdfile.23.13 ==
    $T_RSLEEP,1
    $CALL_TRIES,10
    $CALL_WAIT,45
    $GO
== cmdfile.23.14 ==
    $T_RSLEEP,1
    $CALL_TRIES,10
    $CALL_WAIT,45
    $GO
== cmdfile.23.15 ==
    $T_RSLEEP,1
    $CALL_TRIES,10
    $CALL_WAIT,45
    $GO
== cmdfile.23.16 ==
    $T_RSLEEP,1
    $CALL_TRIES,10
    $CALL_WAIT,45
    $GO
== cmdfile.23.17 ==
    $T_RSLEEP,1
    $CALL_TRIES,10
    $CALL_WAIT,45
    $GO
== cmdfile.23.18 ==
    $T_RSLEEP,1
    $CALL_TRIES,10
    $CALL_WAIT,45
    $GO
== cmdfile.23.19 ==
    $T_RSLEEP,1
    $CALL_TRIES,10
    $CALL_WAIT,45
    $GO
== cmdfile.23.2 ==
    $T_RSLEEP,1
    $CALL_TRIES,10
    $CALL_WAIT,45
    $GO
== cmdfile.23.21 ==
    $T_RSLEEP,1
    $CALL_TRIES,10
    $CALL_WAIT,45
    $GO
== cmdfile.23.22 ==
    $T_RSLEEP,1
    $CALL_TRIES,10
    $CALL_WAIT,45
    $GO
== cmdfile.23.23 ==
    $T_RSLEEP,1
    $CALL_TRIES,10
    $CALL_WAIT,45
    $GO
== cmdfile.23.24 ==
    $T_RSLEEP,1
    $CALL_TRIES,10
    $CALL_WAIT,45
    $GO
== cmdfile.23.25 ==
    $T_RSLEEP,1
    $CALL_TRIES,10
    $CALL_WAIT,45
    $GO
== cmdfile.23.27 ==
    $T_RSLEEP,1
    $CALL_TRIES,10
    $CALL_WAIT,45
    $GO
== cmdfile.23.28 ==
    $T_RSLEEP,1
    $CALL_TRIES,10
    $CALL_WAIT,45
    $GO
== cmdfile.23.29 ==
    $T_RSLEEP,1
    $CALL_TRIES,10
    $CALL_WAIT,45
    $GO
== cmdfile.23.3 ==
    $T_RSLEEP,1
    $CALL_TRIES,10
    $CALL_WAIT,45
    $GO
== cmdfile.23.30 ==
    $T_RSLEEP,1
    $CALL_TRIES,10
    $CALL_WAIT,45
    $GO
== cmdfile.23.31 ==
    $T_RSLEEP,1
    $CALL_TRIES,10
    $CALL_WAIT,45
    $GO
== cmdfile.23.33 ==
    $T_RSLEEP,1
    $CALL_TRIES,10
    $CALL_WAIT,45
    $GO
== cmdfile.23.35 ==
    $T_RSLEEP,1
    $CALL_TRIES,10
    $CALL_WAIT,45
    $GO
== cmdfile.23.36 ==
    $T_RSLEEP,1
    $CALL_TRIES,10
    $CALL_WAIT,45
    $GO
== cmdfile.23.37 ==
    $T_RSLEEP,1
    $CALL_TRIES,10
    $CALL_WAIT,45
    $GO
== cmdfile.23.38 ==
    $T_RSLEEP,1
    $CALL_TRIES,10
    $CALL_WAIT,45
    $RESUME
== cmdfile.23.4 ==
    $T_RSLEEP,1
    $CALL_TRIES,10
    $CALL_WAIT,45
    $GO
== cmdfile.23.5 ==
    $PITCH_VBD_SHIFT,0.0004
    $D_SURF,5
    $C_VBD,3450
    $SM_CC,600
    $MAX_BUOY,120
    $D_TGT,200
    $T_MISSION,80
    $T_DIVE,70
    $C_PITCH,2385
    $PITCH_GAIN,28
    $C_ROLL_DIVE,2300
    $C_ROLL_CLIMB,2200
    $USE_BATHY,0
    $ALTIM_PING_DEPTH,0
    $ALTIM_BOTTOM_TURN_MARGIN,15
    $T_RSLEEP,3
    $QUIT
== cmdfile.23.6 ==
    $T_RSLEEP,1
    $CALL_TRIES,10
    $CALL_WAIT,45
    $GO
== cmdfile.23.7 ==
    $T_RSLEEP,1
    $CALL_TRIES,10
    $CALL_WAIT,45
    $GO
== cmdfile.23.8 ==
    $T_RSLEEP,1
    $CALL_TRIES,10
    $CALL_WAIT,45
    $GO
== cmdfile.23.9 ==
    $T_RSLEEP,1
    $CALL_TRIES,10
    $CALL_WAIT,45
    $GO
== pdoscmds.bat.23 ==
    target SW
== pdoscmds.bat.23.1 ==
    target SW
== pdoscmds.bat.23.2 ==
    target SW
== pdoscmds.bat.23.3 ==
    target SW
== pdoscmds.bat.23.4 ==
    target SW
== pdoscmds.bat.23.5 ==
    target SW
== pdoscmds.bat.23.6 ==
    target SW
== pdoscmds.bat.23.7 ==
    target SW
== pdoscmds.bat.23.8 ==
    target SW
== pdoscmds.bat.23.9 ==
    target SW