Dive 593
    $GO
    $SM_CC,350
Dive 592
Dive 586
Dive 579
    $GO
    $N_NOCOMM,10
    $SM_CC,350
Dive 578
Dive 577
    $GO
    $KALMAN_USE,2
    $N_NOCOMM,10
    $SM_CC,350
    $SM_CC,400
Dive 573
Dive 569
Dive 568
    $KALMAN_USE,2
Dive 566
    $GO
    $SM_CC,400
    $T_GPS_ALMANAC,0
Dive 565
Dive 560
Dive 559
    $T_GPS_ALMANAC,0
    $T_GPS_ALMANAC,12.5
Dive 558
    $SM_CC,400
Dive 557
    $C_PITCH,2420
    $GO
    $PITCH_VBD_SHIFT,0.00159
    $SM_CC,300
    $T_DIVE,528
Dive 555
Dive 478
    $T_DIVE,528
Dive 475
    $T_DIVE,517
Dive 472
    $T_DIVE,506
Dive 469
    $T_DIVE,495
Dive 466
    $C_PITCH,2420
Dive 463
    $PITCH_VBD_SHIFT,0.00159
Dive 460
    $T_DIVE,484
Dive 457
    $C_PITCH,2450
Dive 405
Dive 404
    $C_PITCH,2410
    $T_DIVE,508
Dive 399
Dive 398
    $C_ROLL_CLIMB,1925
Dive 397
Dive 396
    $C_ROLL_CLIMB,1880
    $C_ROLL_DIVE,2050
Dive 392
    $C_PITCH,2405
Dive 386
Dive 385
    $C_PITCH,2410
Dive 367
Dive 364
    $KALMAN_USE,1
Dive 363
    $KALMAN_USE,0
Dive 356
    $C_PITCH,2405
Dive 355
    $C_ROLL_CLIMB,1900
    $C_ROLL_DIVE,2075
Dive 354
    $C_PITCH,2410
    $C_ROLL_CLIMB,1925
    $C_ROLL_DIVE,2060
Dive 353
Dive 351
    $C_PITCH,2405
Dive 198
Dive 43
    $C_VBD,2440
Dive 40
    $C_PITCH,2420
    C_VBD,2440
    $SM_CC,300
Dive 38
    $C_ROLL_CLIMB,1950
    $C_ROLL_DIVE,2050
Dive 29
    $T_DIVE,550
    $T_MISSION,580
Dive 19
    $MAX_BUOY,130
    $SM_CC,350
    $T_DIVE,440
    $T_MISSION,480
Dive 14
Dive 2
    $GO
    $SM_CC,400
    $T_RSLEEP,13
Dive 1
    $D_TGT,990
    $T_DIVE,330
    $T_MISSION,360
    $C_PITCH,2407
    $C_ROLL_CLIMB,2000
    $C_ROLL_DIVE,2000
    $C_VBD,2540
    $D_ABORT,1090
    $D_OFFGRID,1001
    $D_TGT,45
    $D_TGT,990
    $KALMAN_USE,1
    $MAX_BUOY,150
    $QUIT
    $RESUME
    $ROLL_AD_RATE,400
    $SM_CC,570
    $T_DIVE,15
    $T_DIVE,330
    $T_MISSION,30
    $T_MISSION,360
    $T_NO_W,120
    $T_RSLEEP,3
    $T_TURN,240
    $USE_BATHY,-1
    $VBD_PUMP_AD_RATE_SURFACE,6