Dive 30
    $QUIT
    $T_RSLEEP,5
Dive 29
    $D_TGT,30
    $T_DIVE,10
    $T_MISSION,20
    $T_RSLEEP,7
Dive 28
    $D_TGT,60
    $T_DIVE,20
    $T_MISSION,30
Dive 26
    $D_TGT,120
    $T_DIVE,40
    $T_MISSION,55
Dive 25
    $D_TGT,240
    $GLIDE_SLOPE,45
    $T_DIVE,60
    $T_MISSION,75
Dive 22
    $D_TGT,480
    $T_DIVE,120
    $T_MISSION,150
Dive 21
    $MAX_BUOY,175
    $T_DIVE,248
Dive 18
    $GO
Dive 17
    $HEADING,-1.0
    $KALMAN_USE,1
    $NAV_MODE,1
    $QUIT
    $RESUME
Dive 16
    $GLIDE_SLOPE,40
    $HEADING,60.0
    $KALMAN_USE,2
    $MAX_BUOY,250
    $T_DIVE,230
Dive 11
    $C_VBD,2748
    $SM_CC,300
Dive 9
    $C_ROLL_CLIMB,2200
    $C_VBD,2850
    $SM_CC,275
Dive 8
    $C_PITCH,3115
Dive 6
    $C_PITCH,3025
Dive 5
    $C_ROLL_CLIMB,2125
    $C_ROLL_DIVE,2550
    $MAX_BUOY,200
    $T_DIVE,248
    $T_MISSION,310
Dive 4
    $GLIDE_SLOPE,30
    $GO
    $MAX_BUOY,175
    $T_DIVE,330
    $T_MISSION,390
    $T_RSLEEP,5
Dive 3
    $C_PITCH,3125
    $C_ROLL_CLIMB,2050
    $C_ROLL_DIVE,2500
    $D_TGT,990
    $T_DIVE,220
    $T_MISSION,260
Dive 2
    $C_ROLL_DIVE,2300
    $D_TGT,450
    $SM_CC,250
    $T_DIVE,100
    $T_MISSION,130
Dive 1
    $C_PITCH,3150
    $D_TGT,180
    $MAX_BUOY,250
    $SM_CC,300
    $SM_CC,400
    $T_DIVE,40
    $T_MISSION,60
    $C_PITCH,3150
    $D_TGT,180
    $D_TGT,45
    $MAX_BUOY,250
    $QUIT
    $RESUME
    $SM_CC,300
    $SM_CC,400
    $SM_CC,560
    $T_DIVE,15
    $T_DIVE,40
    $T_MISSION,25
    $T_MISSION,60
    $T_RSLEEP,3