Dive 365
    $ALTIM_PING_DEPTH,500
    $ALTIM_SENSITIVITY,4
Dive 342
    $HEADING,-1
Dive 340
    $HEADING,045
Dive 318
    $W_ADJ_DBAND,2
Dive 290
    $ALTIM_PING_DEPTH,100
Dive 267
    $GO
Dive 266
    $QUIT
    $RESUME
Dive 256
    $GO
Dive 255
    $KALMAN_USE,14
    $QUIT
    $RESUME
Dive 212
Dive 211
    $CALL_TRIES,8
    $RESUME
Dive 180
    $ALTIM_PING_DEPTH,900
    $PITCH_W_DBAND,1
Dive 136
    $ALTIM_PING_DEPTH,600
Dive 124
    $ALTIM_PING_DEPTH,700
Dive 112
    $KALMAN_USE,13
    $T_MISSION,660
Dive 111
    $KALMAN_USE,12
Dive 110
    $ALTIM_PING_DEPTH,900
    $C_ROLL_CLIMB,2027
    $T_DIVE,550
    $T_MISSION,600
Dive 86
    $GO
Dive 85
    $QUIT
    $RESUME
    $T_RSLEEP,2
Dive 83
    $ALTIM_PING_DEPTH,400
    $C_ROLL_CLIMB,1972
    $C_ROLL_DIVE,2207
    $C_VBD,2618
    $D_TGT,990
    $GO
    $HEAD_ERRBAND,15
    $PITCH_ADJ_DBAND,2.5
    $PITCH_ADJ_GAIN,0.02
    $PITCH_VBD_SHIFT,0.0
    $ROLL_DEG,40
    $T_DIVE,440
    $T_MISSION,480
    $T_RSLEEP,12
Dive 82
    $GLIDE_SLOPE,40
    $KALMAN_USE,14
Dive 81
    $C_ROLL_CLIMB,224
    $C_ROLL_DIVE,224
    $GLIDE_SLOPE,15
    $MAX_BUOY,150
    $QUIT
    $RESUME
    $T_DIVE,80
    $T_MISSION,90
Dive 80
    $C_ROLL_CLIMB,3758
    $C_ROLL_DIVE,3758
    $D_TGT,180
    $GLIDE_SLOPE,30
    $HEAD_ERRBAND,180
    $MAX_BUOY,75
    $PITCH_ADJ_DBAND,0
    $PITCH_ADJ_GAIN,0
    $ROLL_DEG,0
    $T_DIVE,60
    $T_MISSION,75
    $T_RSLEEP,2
Dive 74
    $C_VBD,2618
Dive 73
    $C_ROLL_CLIMB,1972
    $C_ROLL_DIVE,2207
    $PITCH_ADJ_GAIN,0.02
Dive 71
    $PITCH_ADJ_DBAND,2.5
Dive 66
    $T_DIVE,440
    $T_MISSION,480
Dive 65
    $ALTIM_PING_DEPTH,400
    $RESUME
Dive 58
    $ALTIM_PING_DEPTH,600
Dive 43
    $ALTIM_PING_DEPTH,700
    $PITCH_ADJ_DBAND,0.5
    $PITCH_ADJ_GAIN,0.04
    $SM_CC,250
Dive 24
    $PITCH_ADJ_GAIN,0.02
Dive 22
    $C_PITCH,2545
    $PITCH_ADJ_DBAND,1
    $PITCH_ADJ_GAIN,0.04
Dive 21
    $ALTIM_BOTTOM_TURN_MARGIN,10
    $ALTIM_PING_DELTA,10
    $ALTIM_TOP_PING_RANGE,20
    $CAPUPLOAD,0
    $C_PITCH,2699
    $D_TGT,45
    $KALMAN_USE,2
    $QUIT
    $SM_CC,560
    $T_DIVE,15
    $T_MISSION,30
    $T_RSLEEP,2
    $USE_BATHY,0
Dive 18
    $KALMAN_USE,13
Dive 17
    $KALMAN_USE,12
    $RESUME
Dive 15
    $KALMAN_USE,13
Dive 14
    $C_VBD,2820
    $KALMAN_USE,1
    $RESUME
    $SM_CC,350
Dive 10
    $ALTIM_TOP_PING_RANGE,0
    $C_PITCH,2550
    $C_VBD,2306
    $KALMAN_USE,0
    $PITCH_GAIN,22.2
    $SM_CC,200
    $T_MISSION,390
    $T_RSLEEP,12
Dive 5
    $GO
Dive 4
    $D_TGT,990
    $T_DIVE,330
    $T_MISSION,360
Dive 3
    $D_TGT,300
    $PITCH_GAIN,23.5
    $T_DIVE,100
    $T_MISSION,120
Dive 2
    $C_PITCH,2577
    $SM_CC,300
Dive 1
    $C_PITCH,2616
    $D_TGT,150
    $T_DIVE,50
    $T_MISSION,60
    $T_TURN,290
    $ALTIM_BOTTOM_TURN_MARGIN,10
    $ALTIM_PING_DELTA,10
    $ALTIM_PING_DEPTH,100
    $ALTIM_TOP_PING_RANGE,20
    $CAPUPLOAD,0
    $C_PITCH,2616
    $C_PITCH,2699
    $C_ROLL_CLIMB,2025
    $C_ROLL_DIVE,2025
    $C_VBD,2820
    $D_TGT,150
    $D_TGT,45
    $KALMAN_USE,2
    $MAX_BUOY,150
    $PITCH_GAIN,22.2
    $PITCH_VBD_SHIFT,0.0
    $QUIT
    $RESUME
    $SM_CC,560
    $T_DIVE,15
    $T_DIVE,50
    $T_MISSION,30
    $T_MISSION,60
    $T_RSLEEP,2
    $T_TURN,290
    $USE_BATHY,0