Dive 599
    $QUIT
    $T_RSLEEP,3
    $T_RSLEEP,30
Dive 598
    $D_TGT,90
    $T_DIVE,30
    $T_MISSION,40
    $T_RSLEEP,8
Dive 592
    $D_TGT,300
    $T_DIVE,100
    $T_MISSION,120
Dive 591
    $GLIDE_SLOPE,45
Dive 590
    $KALMAN_USE,2
Dive 583
Dive 582
    $GO
    $KALMAN_USE,1
    $SM_CC,350
Dive 580
Dive 574
Dive 572
    $MAX_BUOY,135
Dive 566
Dive 563
    $C_ROLL_CLIMB,1925
    $C_ROLL_DIVE,2035
    $GO
    $SM_CC,350
Dive 562
Dive 560
    $C_PITCH,2665
    $T_DIVE,440
Dive 559
    $C_PITCH,2655
Dive 558
    $C_PITCH,2665
Dive 556
    $MAX_BUOY,150
    $T_DIVE,400
Dive 477
    $GO
    $SM_CC,350
Dive 474
Dive 262
    $GO
    $SM_CC,350
Dive 261
Dive 237
    $SM_CC,350
Dive 190
Dive 188
    $SM_CC,350
Dive 147
Dive 104
    $R_PORT_OVSHOOT,15
Dive 87
    $C_ROLL_CLIMB,1875
    $C_ROLL_DIVE,2235
Dive 84
Dive 83
    $C_ROLL_CLIMB,1820
    $C_ROLL_DIVE,2272
Dive 79
    $C_ROLL_DIVE,2315
    $R_PORT_OVSHOOT,25
    $R_STBD_OVSHOOT,25
    $T_MISSION,570
Dive 69
    $C_ROLL_CLIMB,1850
    $C_ROLL_DIVE,2300
Dive 67
    $C_ROLL_CLIMB,1950
    $C_ROLL_DIVE,2225
    $C_VBD,2649
Dive 64
    $C_PITCH,2675
    $C_ROLL_CLIMB,2050
    $C_ROLL_DIVE,2275
    $D_TGT,990
    $T_DIVE,480
    $T_MISSION,540
Dive 60
Dive 55
    $C_ROLL_CLIMB,1975
    $C_ROLL_DIVE,2300
    $D_TGT,990
    $T_DIVE,412.5
    $T_MISSION,510
Dive 53
Dive 51
    $D_TGT,990
    $T_DIVE,412.5
    $T_MISSION,480
Dive 50
    $C_ROLL_CLIMB,1896
Dive 47
    $C_ROLL_CLIMB,1864
    $C_ROLL_DIVE,2400
    $PITCH_GAIN,16.75
    $SM_CC,350
Dive 40
    $R_PORT_OVSHOOT,25
    $R_STBD_OVSHOOT,15
Dive 36
Dive 33
    $D_TGT,480
    $GLIDE_SLOPE,30
    $MAX_BUOY,120
    $T_DIVE,160
    $T_MISSION,200
Dive 32
    $C_ROLL_CLIMB,1800
    $C_ROLL_DIVE,2420
    $GLIDE_SLOPE,45
    $HEAD_ERRBAND,15
    $MAX_BUOY,50
Dive 30
    $HEAD_ERRBAND,179
Dive 29
    $C_ROLL_CLIMB,2049
    $C_ROLL_DIVE,2049
Dive 28
    $D_TGT,180
    $T_DIVE,60
    $T_MISSION,90
Dive 26
Dive 25
    $C_ROLL_CLIMB,1800
    $C_ROLL_DIVE,2420
    $D_TGT,990
    $MAX_BUOY,120
    $T_DIVE,330
    $T_MISSION,360
Dive 23
    $D_TGT,360
    $HEAD_ERRBAND,15
    $SM_CC,375
    $T_DIVE,120
    $T_MISSION,150
Dive 21
    $GO
Dive 20
    $D_TGT,180
    $D_TGT,90
    $MAX_BUOY,130
    $QUIT
    $RESUME
    $SM_CC,400
    $T_DIVE,30
    $T_DIVE,60
    $T_MISSION,40
    $T_MISSION,80
    $T_RSLEEP,8
Dive 11
Dive 10
    $D_TGT,90
    $QUIT
    $RESUME
    $T_DIVE,30
    $T_MISSION,40
    $T_RSLEEP,5
    $T_RSLEEP,8
Dive 6
    $D_TGT,990
    $MAX_BUOY,130
    $T_DIVE,330
    $T_MISSION,360
Dive 5
    $SM_CC,400
Dive 4
Dive 3
    $D_TGT,300
    $GO
    $T_DIVE,100
    $T_MISSION,120
Dive 2
Dive 1
    $C_PITCH,2700
    $D_TGT,90
    $T_DIVE,30
    $T_MISSION,40
    $C_PITCH,2700
    $D_TGT,45
    $D_TGT,90
    $KALMAN_USE,1
    $MAX_BUOY,150
    $QUIT
    $RESUME
    $SM_CC,530
    $T_DIVE,15
    $T_DIVE,30
    $T_MISSION,30
    $T_MISSION,40