== cmdfile.5 ==
    $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,14
    $QUIT
== cmdfile.5.1 ==
    $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,12
    $RESUME