Dive 556
    $GO
    $MAX_BUOY,240
    $SM_CC,300
    $T_DIVE,330
Dive 527
Dive 526
    $MAX_BUOY,240
    $T_DIVE,330
Dive 525
    $GO
    $MAX_BUOY,150
    $SM_CC,300
Dive 523
Dive 522
    $GO
    $MAX_BUOY,150
    $SM_CC,300
Dive 505
Dive 504
    $MAX_BUOY,150
Dive 499
    $GO
    $SM_CC,300
Dive 495
Dive 492
    $GO
    $SM_CC,300
Dive 486
Dive 485
    $GO
    $SM_CC,300
Dive 483
Dive 481
    $GO
    $SM_CC,300
Dive 454
Dive 453
    $GO
    $SM_CC,200
    $SM_CC,300
Dive 444
Dive 440
    $GO
    $SM_CC,200
Dive 439
Dive 431
    $GO
    $SM_CC,200
Dive 430
Dive 419
    $GO
    $SM_CC,200
Dive 418
Dive 416
    $GO
    $SM_CC,200
Dive 415
Dive 405
    $GO
    $SM_CC,200
Dive 404
Dive 397
    $GO
Dive 396
    $RESUME
    $T_GPS_ALMANAC,0
    $T_GPS_ALMANAC,-1
    $T_GPS_ALMANAC,10
Dive 395
Dive 394
    $QUIT
    $T_RSLEEP,13
Dive 377
    $MAX_BUOY,130
    $T_DIVE,550
Dive 344
Dive 343
    $KALMAN_USE,2
Dive 327
    $MAX_BUOY,240
    $T_DIVE,330
Dive 301
    $KALMAN_USE,1
Dive 82
Dive 81
    $KALMAN_USE,2
Dive 57
Dive 41
    $C_ROLL_CLIMB,2100
Dive 38
    $C_ROLL_CLIMB,2175
    $C_ROLL_DIVE,2375
    $MAX_BUOY,130
    $T_DIVE,550
    $T_MISSION,660
Dive 27
    $MAX_BUOY,120
Dive 21
    $T_DIVE,412.5
    $T_MISSION,440
Dive 17
    $C_ROLL_CLIMB,2200
    $C_ROLL_DIVE,2300
    $D_TGT,990
    $SM_CC,200
    $T_DIVE,330
    $T_MISSION,360
Dive 15
    $D_TGT,750
    $GO
    $T_DIVE,250
    $T_MISSION,280
Dive 14
Dive 13
    $D_TGT,750
    $T_DIVE,250
    $T_MISSION,280
Dive 10
    $D_TGT,540
    $T_DIVE,180
    $T_MISSION,210
Dive 3
    $D_TGT,180
    $GO
    $T_DIVE,60
    $T_MISSION,80
Dive 2
    $SM_CC,250
Dive 1
    $D_TGT,150
    $T_DIVE,50
    $T_MISSION,70
    $D_TGT,150
    $QUIT
    $RESUME
    $T_DIVE,50
    $T_MISSION,70