== cmdfile.2 ==
$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,14
$GO
== cmdfile.2.1 ==
$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
$QUIT
== cmdfile.2.2 ==
$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
$QUIT
== cmdfile.2.3 ==
$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
$QUIT
== cmdfile.2.4 ==
$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
$QUIT
== cmdfile.2.5 ==
$D_TGT,250
$T_DIVE,100
$T_MISSION,120
$D_SURF,4
$T_RSLEEP,3
$C_VBD,3640
$C_PITCH,2930
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2500
$ALTIM_SENSITIVITY,3
$ALTIM_PING_DEPTH,100
$MAX_BUOY,100
$SM_CC,550
$USE_BATHY,-6
$D_BOOST,100
$PITCH_GAIN,27
$COMPASS_USE,4
$T_BOOST,2
$MASS,53229
$RESUME