Just found this, thought I'd share this.
Haven't read the page myself yet, but it looks really cool, all the configuration options you can possibly imagine. The software even has a Tab that shows a Back-EMF plot.
There is also some nice info on sensorless motor startup there and generally a lot of interesting info about ESCs and how they work.
@Patrick: Maybe you can use that info to fix the cogging problem on your Mambas?
http://vedder.se/2015/01/vesc-open-source-esc/