Dive 617
    $QUIT
    $T_RSLEEP,1440
    $T_RSLEEP,180
    $T_RSLEEP,720
Dive 616
    $SM_CC,590
Dive 568
Dive 567
    $C_PITCH,2426
    $C_ROLL_CLIMB,2050
    $C_ROLL_DIVE,2130
    $PITCH_GAIN,15.5
Dive 562
    $SM_CC,200
Dive 553
    $SM_CC,250
Dive 550
    $SM_CC,225
Dive 538
    $SM_CC,250
Dive 535
    $SM_CC,225
Dive 533
    $SM_CC,215
Dive 531
Dive 530
    $C_ROLL_CLIMB,2060
    $C_ROLL_DIVE,2100
    $C_VBD,2615
    $SM_CC,225
Dive 529
Dive 528
    $C_ROLL_CLIMB,2040
Dive 511
Dive 507
    $C_ROLL_DIVE,2125
Dive 504
Dive 503
    $C_ROLL_CLIMB,2025
    $C_ROLL_DIVE,2110
    $PITCH_GAIN,16
Dive 500
Dive 493
    $ROLL_AD_RATE,425
Dive 454
    $GO
    $SM_CC,200
Dive 453
Dive 438
Dive 433
    $R_STBD_OVSHOOT,25
Dive 430
    $SM_CC,200
Dive 427
    $SM_CC,225
Dive 425
    $SM_CC,300
Dive 424
    $GO
    $SM_CC,200
    $T_NO_W,1800
Dive 423
Dive 417
    $T_NO_W,1800
Dive 415
    $T_NO_W,600
Dive 412
    $SM_CC,200
Dive 406
    $GO
    $SM_CC,300
Dive 405
Dive 404
    $GO
    $SM_CC,200
Dive 403
Dive 391
Dive 390
    $C_PITCH,2414
    $C_ROLL_CLIMB,2070
    $C_ROLL_DIVE,2125
Dive 360
    $GO
    $SM_CC,200
Dive 358
Dive 339
    $GO
    $SM_CC,200
Dive 338
Dive 301
    $GO
    $SM_CC,200
Dive 300
Dive 295
    $SM_CC,200
Dive 279
Dive 276
    $C_PITCH,2389
    $PITCH_GAIN,15.5
Dive 263
    $KALMAN_USE,2
    $SM_CC,200
Dive 261
    $T_MISSION,660
Dive 250
Dive 249
    $D_OFFGRID,1001
Dive 229
    $SM_CC,250
Dive 197
    $GO
    $SM_CC,300
Dive 196
Dive 61
Dive 49
    $C_PITCH,2375
    $PITCH_GAIN,16.4
Dive 48
    $HEAD_ERRBAND,15
Dive 45
Dive 44
    $C_ROLL_CLIMB,2095
    $C_ROLL_DIVE,2151
Dive 35
    $T_DIVE,550
    $T_MISSION,580
Dive 22
    $D_TGT,990
    $MAX_BUOY,130
    $T_DIVE,412.5
    $T_MISSION,430
Dive 14
Dive 13
    $C_ROLL_CLIMB,2091
    $C_ROLL_DIVE,2112
    $C_VBD,2513
    $SM_CC,275
    $T_NO_W,120
Dive 7
    $D_TGT,990
    $GO
    $SM_CC,300
    $T_DIVE,330
    $T_MISSION,360
    $T_NO_W,600
    $T_RSLEEP,8
Dive 6
Dive 5
    $D_ABORT,1090
    $RESUME
Dive 4
    $D_TGT,360
    $GO
    $T_DIVE,120
    $T_MISSION,140
Dive 3
Dive 2
    $D_TGT,180
    $T_DIVE,60
    $T_MISSION,80
Dive 1
    $C_PITCH,2366
    $SM_CC,350
    $C_PITCH,2366
    $C_VBD,2550
    $D_TGT,45
    $HEAD_ERRBAND,10
    $KALMAN_USE,1
    $MAX_BUOY,150
    $QUIT
    $RESUME
    $SM_CC,350
    $T_DIVE,15
    $T_MISSION,30
    $T_RSLEEP,2