Dive 559
    $QUIT
    $T_RSLEEP,3
    $T_RSLEEP,30
Dive 557
    $D_TGT,90
    $T_DIVE,30
    $T_MISSION,40
    $T_RSLEEP,8
Dive 552
Dive 551
    $D_TGT,300
    $GLIDE_SLOPE,45
    $T_DIVE,100
    $T_MISSION,120
Dive 550
    $KALMAN_USE,2
Dive 542
Dive 541
Dive 540
    $D_TGT,990
    $T_DIVE,440
    $T_MISSION,570
Dive 539
    $D_TGT,500
    $T_DIVE,220
    $T_MISSION,300
Dive 538
    $KALMAN_USE,1
Dive 536
Dive 535
    $D_TGT,300
    $KALMAN_USE,0
    $MAX_BUOY,150
    $T_DIVE,100
    $T_MISSION,120
    $T_NO_W,600
Dive 529
Dive 528
    $MAX_BUOY,135
Dive 518
Dive 516
Dive 515
    $T_DIVE,550
Dive 511
    $MAX_BUOY,150
    $T_DIVE,500
Dive 439
    $GO
    $SM_CC,350
Dive 432
Dive 393
Dive 389
    $KALMAN_USE,1
Dive 388
    $KALMAN_USE,0
Dive 246
    $SM_CC,350
Dive 226
    $GO
Dive 225
Dive 116
Dive 74
    $C_ROLL_CLIMB,1890
    $C_ROLL_DIVE,2141
Dive 55
Dive 40
    $C_ROLL_CLIMB,1904
    $C_ROLL_DIVE,2154
Dive 35
    $C_VBD,2497
    $HD_A,0.0028355
    $HD_B,0.012471
    $HD_C,1.1158e-5
Dive 32
Dive 26
    $C_ROLL_CLIMB,1940
Dive 24
    $C_PITCH,2822
    $D_TGT,990
    $T_DIVE,550
    $T_MISSION,580
Dive 23
Dive 22
    $C_PITCH,2797
    $C_ROLL_CLIMB,1890
    $C_ROLL_DIVE,2157
    $PITCH_GAIN,17.1
    $SM_CC,350
Dive 20
    $D_TGT,990
    $MAX_BUOY,120
    $SM_CC,375
    $T_DIVE,515
    $T_MISSION,560
Dive 17
Dive 16
Dive 15
    $SM_CC,375
    $T_DIVE,480
    $T_MISSION,520
Dive 14
    $C_PITCH,2822
    $C_ROLL_DIVE,2162
    $D_TGT,990
    $MAX_BUOY,120
    $T_DIVE,412.5
    $T_MISSION,480
Dive 13
Dive 12
    $C_PITCH,2813
    $C_ROLL_CLIMB,1866
    $C_ROLL_DIVE,2204
    $HEAD_ERRBAND,15
    $PITCH_GAIN,18.1
    $T_DIVE,412.5
    $T_MISSION,480
Dive 5
    $D_TGT,990
    $MAX_BUOY,120
    $T_DIVE,330
    $T_MISSION,360
Dive 3
    $D_TGT,300
    $GO
    $SM_CC,400
    $T_DIVE,100
    $T_MISSION,120
Dive 2
Dive 1
    $C_PITCH,2840
    $T_DIVE,30
    $T_MISSION,40
    $T_TGT,90
    $C_PITCH,2840
    $KALMAN_USE,1
    $MAX_BUOY,150
    $QUIT
    $RESUME
    $SM_CC,575
    $T_DIVE,15
    $T_DIVE,30
    $T_MISSION,30
    $T_MISSION,40
    $T_TGT,45
    $T_TGT,90