Dive 797
    $QUIT
    $T_RSLEEP,12
Dive 744
    $ALTIM_BOTTOM_TURN_MARGIN,15
Dive 716
Dive 335
Dive 334
   
    $QUIT
Dive 323
Dive 322
    $QUIT
Dive 310
Dive 309
    $QUIT
Dive 268
Dive 267
    $QUIT
Dive 246
    $KALMAN_USE,2
    $NAV_MODE,2
Dive 158
Dive 157
    $QUIT
    $RESUME
Dive 148
    $C_PITCH,2812
    $C_ROLL_CLIMB,1843
    $C_ROLL_DIVE,1843
    $GLIDE_SLOPE,30
    $HEAD_ERRBAND,10
    $MAX_BUOY,250
Dive 147
    $C_ROLL_CLIMB,3700
    $C_ROLL_DIVE,3700
    $GLIDE_SLOPE,45
    $MAX_BUOY,75
    $T_DIVE,60
Dive 146
    $ALTIM_PING_DEPTH,100
    $C_ROLL_CLIMB,300
    $C_ROLL_DIVE,300
    $HEAD_ERRBAND,180
    $T_DIVE,80
    $T_MISSION,90
Dive 128
    $GO
Dive 127
Dive 126
Dive 125
    $D_TGT,45
    $KALMAN_USE,0
    $QUIT
    $RESUME
    $T_DIVE,15
    $T_MISSION,30
Dive 123
    $GO
    $KALMAN_USE,1
Dive 122
    $HEADING,-1
    $QUIT
    $RESUME
Dive 55
    $MAX_BUOY,250
Dive 54
    $GO
Dive 53
Dive 52
    $HEADING,0
    $KALMAN_USE,0
    $MAX_BUOY,400
    $QUIT
    $RESUME
Dive 49
    $ALTIM_BOTTOM_TURN_MARGIN,10
    $HEADING,-1
    $MAX_BUOY,250
Dive 47
    $HEADING,315
    $MAX_BUOY,400
Dive 29
    $MAX_BUOY,250
Dive 24
    $GO
Dive 23
    $QUIT
    $RESUME
Dive 11
    $KALMAN_USE,1
Dive 10
    $KALMAN_USE,0
Dive 4
    $GO
Dive 3
    $ALTIM_BOTTOM_TURN_MARGIN,15
    $D_TGT,180
    $T_DIVE,60
    $T_MISSION,75
Dive 2
    $CAPUPLOAD,0
    $C_PITCH,2850
    $D_TGT,150
    $RESUME
    $T_DIVE,50
    $T_MISSION,60
    $USE_BATHY,0
Dive 1