Dive 387
    $MAX_BUOY,400
    $N_NOSURFACE,0
    $QUIT
    $QUIT$T_MISSION,42
Dive 325
    $HEADING,100
    $MAX_BUOY,500
Dive 267
    $MAX_BUOY,600
Dive 263
    $D_FLARE,0
Dive 261
    $N_NOSURFACE,2
Dive 259
    $D_FLARE,1
    $MAX_BUOY,1000
Dive 254
    $HEAD_ERRBAND,15
    $MAX_BUOY,900
    $ROLL_DEG,35
Dive 251
    $MAX_BUOY,800
    $N_NOSURFACE,0
    $PITCH_GAIN,9
    $ROLL_DEG,45
Dive 221
    $D_FINISH,4
    $MAX_BUOY,650
Dive 219
    $ALTIM_FREQUENCY,11
    $HEADING,195
    $MAX_BUOY,500
    $NAV_MODE,0
Dive 205
    $ALTIM_FREQUENCY,16
    $ALTIM_PULSE,2
    $HEADING,-1
    $NAV_MODE,1
Dive 201
    $C_ROLL_CLIMB,2075
    $C_ROLL_DIVE,2170
    $HEADING,115
    $MAX_BUOY,450
Dive 197
    $C_ROLL_DIVE,2150
    $MAX_BUOY,500
    $ROLL_DEG,55
Dive 193
    $C_PITCH,2380
    $C_ROLL_DIVE,2100
    $MAX_BUOY,600
Dive 189
    $C_PITCH,2390
    $C_ROLL_DIVE,1900
    $PITCH_GAIN,10
Dive 187
    $MAX_BUOY,550
Dive 93
    $HEADING,110
Dive 85
    $HEADING,120
Dive 59
    $ALTIM_PULSE,3
    $D_TGT,58
    $HEAD_ERRBAND,25
    $MAX_BUOY,450
    $ROLL_DEG,65
    $T_DIVE,20
    $T_MISSION,42
Dive 31
    $ALTIM_PING_DEPTH,50
    $ALTIM_SENSITIVITY,5
    $HEADING,109
    $NAV_MODE,0
Dive 29
    $MAX_BUOY,400
Dive 25
    $MAX_BUOY,300
    $NAV_MODE,2
Dive 23
    $T_MISSION,38
Dive 17
    $ALTIM_PING_DEPTH,45
    $ALTIM_PULSE,2
    $ALTIM_SENSITIVITY,4
    $C_PITCH,2412
    $C_ROLL_CLIMB,2025
    $C_ROLL_DIVE,2025
    $C_VBD,2175
    $D_FINISH,3
    $D_TGT,55
    $GLIDE_SLOPE,45
    $HEAD_ERRBAND,20
    $MAX_BUOY,200
    $N_NOSURFACE,2
    $PITCH_GAIN,11
    $ROLL_DEG,55
    $SM_CC,300
    $T_DIVE,18
    $T_MISSION,28
    $T_RSLEEP,3
Dive 7
    $C_ROLL_CLIMB,2025
    $C_ROLL_DIVE,2025
    $D_FINISH,3
    $N_NOSURFACE,2
Dive 6
    $GO
Dive 5
    $C_PITCH,2412
    $C_ROLL_CLIMB,2000
    $C_ROLL_DIVE,2000
Dive 4
    $ALTIM_SENSITIVITY,4
    $C_PITCH,2400
    $C_ROLL_CLIMB,1975
    $C_ROLL_DIVE,1975
    $C_VBD,2175
    $N_DIVES,0
    $QUIT$T_MISSION,28
Dive 3
    $T_MISSION,28
Dive 2
    $C_PITCH,2415
    $C_VBD,2145
    $D_TGT,55
    $N_DIVES,4
    $PITCH_GAIN,11
    $QUIT$T_MISSION,28
    $RESUME
    $RESUME$T_MISSION,28
    $TGT_DEFAULT_LAT,5650
    $TGT_DEFAULT_LON,-16401
    $T_DIVE,18
Dive 1
    $C_PITCH,2450
    $C_VBD,2132
    $D_NO_BLEED,200
    $N_DIVES,2
    $N_DIVES,3
    $PITCH_GAIN,10.5
    $QUIT
    $QUIT$T_MISSION,25
    $RELAUNCH,0
    $ALTIM_PING_DEPTH,30
    $ALTIM_PULSE,2
    $ALTIM_SENSITIVITY,3
    $ALTIM_TOP_PING_RANGE,0
    $C_PITCH,2450
    $C_PITCH,2480
    $C_ROLL_CLIMB,1900
    $C_ROLL_DIVE,1900
    $C_VBD,2082
    $C_VBD,2132
    $D_NO_BLEED,200
    $D_TGT,45
    $GLIDE_SLOPE,45
    $HEAD_ERRBAND,20
    $MAX_BUOY,200
    $N_DIVES,2
    $N_DIVES,3
    $PITCH_GAIN,10.5
    $PITCH_GAIN,12
    $PITCH_VBD_SHIFT,0.0016
    $QUIT$T_MISSION,25
    $RELAUNCH,0
    $RESUME
    $ROLL_ADJ_DBAND,0.03
    $ROLL_ADJ_GAIN,1
    $ROLL_DEG,55
    $SM_CC,300
    $T_DIVE,15
    $T_MISSION,25
    $T_RSLEEP,3