Dive 112
    $QUIT
    $T_RSLEEP,117
    $T_RSLEEP,27
    $T_RSLEEP,7
Dive 58
    $C_VBD,3045
    $T_DIVE,440
    $T_MISSION,480
Dive 37
    $C_ROLL_CLIMB,2000
    $C_ROLL_DIVE,1900
Dive 31
    $T_DIVE,412.5
    $T_MISSION,450
Dive 16
    $ALTIM_SENSITIVITY,4
    $ALTIM_TOP_PING_RANGE,0
Dive 10
    $C_ROLL_CLIMB,1950
    $D_TGT,990
    $SM_CC,250
    $T_DIVE,330
    $T_MISSION,360
    $T_RSLEEP,57
Dive 6
    $D_TGT,600
    $T_DIVE,200
    $T_MISSION,240
Dive 4
    $C_ROLL_CLIMB,2052
    $C_ROLL_DIVE,2052
    $T_RSLEEP,12
Dive 3
    $GO
Dive 2
    $D_TGT,300
    $T_DIVE,100
    $T_MISSION,120
Dive 1
    $C_PITCH,2450
    $HEADING,-1
    $SM_CC,300
    $ALTIM_TOP_PING_RANGE,20
    $C_PITCH,2410
    $C_PITCH,2450
    $C_VBD,2915
    $D_TGT,45
    $HEADING,-1
    $KALMAN_USE,1
    $QUIT
    $RESUME
    $SM_CC,300
    $SM_CC,560
    $T_DIVE,15
    $T_MISSION,30
    $T_RSLEEP,2