Dive 440
    $QUIT
Dive 437
    $D_TGT,300
    $T_DIVE,100
    $T_MISSION,120
Dive 407
    $KALMAN_USE,1
Dive 400
    $KALMAN_USE,0
Dive 343
    $D_TGT,900
    $T_DIVE,300
    $T_MISSION,330
Dive 340
    $GO
Dive 339
    $D_TGT,810
    $T_DIVE,270
    $T_MISSION,300
Dive 338
    $D_TGT,300
    $T_DIVE,100
    $T_MISSION,120
Dive 337
    $D_TGT,45
    $QUIT
    $RESUME
    $T_DIVE,15
    $T_MISSION,30
    $T_RSLEEP,3
Dive 7
    $MAX_BUOY,120
    $SM_CC,400
Dive 6
    $C_ROLL_CLIMB,2300
    $C_ROLL_DIVE,2300
Dive 4
    $D_TGT,990
    $GO
    $T_DIVE,330
    $T_MISSION,375
    $T_RSLEEP,13
Dive 3
Dive 2
    $D_TGT,300
    $SM_CC,450
    $T_DIVE,100
    $T_MISSION,120
Dive 1
    $C_PITCH,2586
    $C_PITCH,2586
    $C_ROLL_CLIMB,2029
    $C_ROLL_DIVE,2029
    $C_VBD,2541
    $D_TGT,45
    $MAX_BUOY,150
    $QUIT
    $RESUME
    $SM_CC,550
    $T_DIVE,15
    $T_MISSION,30
    $T_RSLEEP,3