Dive 614
    $QUIT
    $T_RSLEEP,7
Dive 483
    $ALTIM_PING_DELTA,25
    $ALTIM_PING_DEPTH,125
    $ALTIM_SENSITIVITY,4
    $C_PITCH,2400
    $C_ROLL_CLIMB,1850
    $C_ROLL_DIVE,1850
    $C_VBD,2540
    $D_TGT,990
    $GO
    $KALMAN_USE,1
    $MAX_BUOY,120
    $SM_CC,350
    $T_DIVE,528
    $T_MISSION,550
    $T_RSLEEP,57
    $T_TURN_SAMPINT,10
    $USE_BATHY,0
Dive 482
Dive 414
    $T_TURN_SAMPINT,10
Dive 258
    $ALTIM_PING_DELTA,25
    $ALTIM_PING_DEPTH,125
    $ALTIM_SENSITIVITY,4
    $C_PITCH,2400
    $C_ROLL_CLIMB,1850
    $C_ROLL_DIVE,1850
    $C_VBD,2540
    $D_TGT,990
    $GO
    $KALMAN_USE,1
    $MAX_BUOY,120
    $SM_CC,350
    $T_DIVE,528
    $T_MISSION,550
    $T_RSLEEP,57
    $USE_BATHY,0
Dive 257
Dive 87
    $MAX_BUOY,120
    $T_DIVE,528
    $T_MISSION,550
    $T_RSLEEP,57
Dive 74
    $C_ROLL_CLIMB,1850
    $C_ROLL_DIVE,1850
Dive 61
    $T_DIVE,412.5
    $T_MISSION,440
Dive 54
    $ALTIM_SENSITIVITY,4
    $C_ROLL_DIVE,1900
    $KALMAN_USE,1
Dive 44
    $C_ROLL_DIVE,1950
Dive 34
    $KALMAN_USE,0
Dive 30
    $ALTIM_SENSITIVITY,3
Dive 11
    $KALMAN_USE,2
Dive 3
    $C_PITCH,2400
    $C_ROLL_CLIMB,1900
    $D_TGT,990
    $GO
    $SM_CC,350
    $T_DIVE,330
    $T_MISSION,360
Dive 2
Dive 1
    $D_TGT,150
    $T_DIVE,50
    $T_MISSION,60
    $ALTIM_PING_DELTA,25
    $ALTIM_PING_DEPTH,125
    $ALTIM_SENSITIVITY,2
    $C_PITCH,2324
    $C_ROLL_CLIMB,2047
    $C_ROLL_DIVE,2047
    $C_VBD,2540
    $D_OFFGRID,1001
    $D_TGT,150
    $D_TGT,45
    $KALMAN_USE,1
    $MAX_BUOY,150
    $QUIT
    $RESUME
    $SM_CC,570
    $T_DIVE,15
    $T_DIVE,50
    $T_MISSION,30
    $T_MISSION,60
    $T_NO_W,120
    $USE_BATHY,0