Dive 48
    $QUIT
    $T_RSLEEP,27
    $T_RSLEEP,7
Dive 46
    $PITCH_ADJ_DBAND,1
    $PITCH_ADJ_GAIN,0.02
Dive 45
    $KALMAN_USE,2
    $T_DIVE,1000
    $T_MISSION,1030
Dive 43
    $GO
Dive 42
    $QUIT
    $RESUME
    $T_RSLEEP,2
Dive 40
    $GO
Dive 39
    $D_TGT,2400
    $QUIT
    $RESUME
    $T_DIVE,800
    $T_MISSION,830
    $T_RSLEEP,12
Dive 37
    $ALTIM_PING_DEPTH,2000
    $C_VBD,1735
    $D_TGT,5760
    $PITCH_GAIN,12.5
    $SM_CC,350
    $T_ABORT,2160
    $T_DIVE,1920
    $T_MISSION,1950
Dive 34
    $HD_A,0.0044716
    $HD_B,0.016021
    $HD_C,9.4708e-6
    $KALMAN_USE,1
Dive 33
    $ALTIM_PING_DELTA,25
    $ALTIM_PING_DEPTH,900
    $D_TGT,2880
    $KALMAN_USE,0
    $MAX_BUOY,150
    $T_DIVE,960
    $T_MISSION,990
Dive 29
    $D_TGT,1440
    $T_DIVE,480
    $T_MISSION,510
Dive 28
    $ALTIM_PING_DELTA,20
    $ALTIM_PING_DEPTH,100
    $D_TGT,360
    $HEADING,-1
    $KALMAN_USE,1
    $MAX_BUOY,200
    $T_DIVE,120
Dive 26
    $MAX_BUOY,300
Dive 25
    $GO
Dive 24
    $MAX_BUOY,400
Dive 23
    $USE_BATHY,0
Dive 22
    /
    $ALTIM_PING_DELTA,10
    $ALTIM_PING_DEPTH,50
    $ALTIM_TOP_PING_RANGE,20
    $C_PITCH,1550
    $C_ROLL_CLIMB,1650
    $C_ROLL_DIVE,1900
    $C_VBD,2074
    $D_TGT,90
    $HEAD_ERRBAND,10
    $HEADING,0
    $KALMAN_USE,0
    $MAX_BUOY,300
    $PITCH_ADJ_DBAND,0
    $PITCH_ADJ_GAIN,0
    $PITCH_GAIN,12
    $QUIT
    $RESUME
    $SM_CC,450
    $T_DIVE,30
    $T_MISSION,45
    $USE_BATHY,-1
Dive 21
Dive 14
    $ALTIM_PING_DEPTH,200
Dive 12
    $USE_BATHY,0
Dive 7
    /
    $ALTIM_PING_DEPTH,500
    $C_ROLL_CLIMB,1650
    $D_TGT,1800
    $MAX_BUOY,150
    $T_DIVE,800
    $T_MISSION,830
Dive 6
    $GO
Dive 5
    $ALTIM_PING_DELTA,20
    $ALTIM_PING_DEPTH,400
    $C_ROLL_CLIMB,1750
    $D_TGT,900
    $HEAD_ERRBAND,10
    $MAX_BUOY,500
    $RESUME
    $T_DIVE,300
    $T_MISSION,330
Dive 4
Dive 3
    $ALTIM_PING_DEPTH,300
    $CAPUPLOAD,0
    $C_VBD,2074
    $D_TGT,450
    $PITCH_GAIN,12
    $SM_CC,450
    $T_DIVE,150
    $T_MISSION,180
Dive 2
    $C_PITCH,1550
    $PITCH_GAIN,11
Dive 1
    $CAPUPLOAD,1
    $C_PITCH,1680
    $C_VBD,2582
    $MAX_BUOY,300
    $SM_CC,710
    $ALTIM_PING_DELTA,25
    $ALTIM_PING_DEPTH,125
    $ALTIM_TOP_PING_RANGE,20
    $CAPUPLOAD,1
    $C_PITCH,1680
    $C_PITCH,1720
    $C_ROLL_CLIMB,1850
    $C_ROLL_DIVE,1900
    $C_VBD,2074
    $C_VBD,2582
    $D_ABORT,5800
    $D_OFFGRID,5761
    $D_TGT,45
    $MAX_BUOY,150
    $MAX_BUOY,300
    $PITCH_ADJ_DBAND,0
    $PITCH_ADJ_GAIN,0
    $QUIT
    $RESUME
    $SM_CC,560
    $SM_CC,710
    $T_ABORT,1440
    $T_DIVE,15
    $TGT_DEFAULT_LAT,18.5
    $TGT_DEFAULT_LON,-125
    $T_MISSION,30
    $USE_BATHY,-1