== cmdfile.4 ==
    $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, ...
    // 0 or 12 is a one-shot so subsequent commands are line 1 or 13 respectively
    $KALMAN_USE,12
    $GO