Dive 375
    $QUIT
    $T_RSLEEP,8
Dive 374
Dive 373
    $D_TGT,165
    $MAX_BUOY,150
    $T_DIVE,55
    $T_MISSION,75
    $T_RSLEEP,8
Dive 369
    $SM_CC,500
Dive 261
Dive 260
    $C_PITCH,2360
    $C_ROLL_CLIMB,2140
    $C_ROLL_DIVE,2300
    $PITCH_GAIN,15
Dive 237
    $C_ROLL_CLIMB,2130
Dive 236
    $SM_CC,300
Dive 213
Dive 182
    $GO
    $KALMAN_USE,1
    $SM_CC,325
Dive 181
Dive 108
    $KALMAN_USE,1
Dive 94
    $KALMAN_USE,2
Dive 41
    $SM_CC,325
Dive 34
Dive 33
    $C_PITCH,2370
    $C_ROLL_CLIMB,2140
    $C_ROLL_DIVE,2320
    $PITCH_GAIN,15.5
    $SM_CC,350
Dive 32
Dive 29
    $T_DIVE,550
    $T_MISSION,580
Dive 22
Dive 20
    $SM_CC,300
    $T_DIVE,515
    $T_MISSION,560
Dive 19
Dive 18
    $C_ROLL_CLIMB,2100
    $C_ROLL_DIVE,2300
    $MAX_BUOY,130
    $T_DIVE,480
    $T_MISSION,520
Dive 6
    $GO
Dive 2
Dive 1
    $C_PITCH,2356
    $D_TGT,150
    $D_TGT,990
    $SM_CC,300
    $T_DIVE,330
    $T_DIVE,50
    $T_MISSION,360
    $T_MISSION,70
    $C_PITCH,2334
    $C_PITCH,2356
    $C_ROLL_CLIMB,2075
    $C_ROLL_DIVE,2230
    $C_VBD,2482
    $D_TGT,150
    $D_TGT,990
    $MAX_BUOY,150
    $QUIT
    $RESUME
    $SM_CC,300
    $SM_CC,550
    $T_DIVE,330
    $T_DIVE,50
    $T_MISSION,360
    $T_MISSION,70