Dive 740
    $QUIT
    $T_RSLEEP,12
    $T_RSLEEP,177
    $T_RSLEEP,2
    $T_RSLEEP,357
    $T_RSLEEP,57
    $T_RSLEEP,7
Dive 636
    $C_PITCH,3317
    $C_ROLL_CLIMB,2200
    $C_ROLL_DIVE,2400
    $C_VBD,2876
    $D_SURF,7
    $D_TGT,990
    $GO
    $KALMAN_USE,1
    $MAX_BUOY,120
    $PITCH_ADJ_DBAND,1
    $PITCH_ADJ_GAIN,0.04
    $PITCH_GAIN,23
    $SM_CC,275
    $T_DIVE,660
    $T_MISSION,675
    $T_RSLEEP,27
Dive 635
Dive 569
    $C_PITCH,3317
    $C_ROLL_CLIMB,2200
    $C_ROLL_DIVE,2400
    $C_VBD,2876
    $D_SURF,7
    $D_TGT,990
    $GO
    $KALMAN_USE,1
    $MAX_BUOY,120
    $PITCH_ADJ_DBAND,1
    $PITCH_ADJ_GAIN,0.04
    $PITCH_GAIN,23
    $SM_CC,275
    $T_DIVE,660
    $T_MISSION,675
    $T_RSLEEP,27
Dive 568
Dive 473
    $C_PITCH,3317
    $C_ROLL_CLIMB,2200
    $C_ROLL_DIVE,2400
    $C_VBD,2876
    $D_SURF,7
    $D_TGT,990
    $GO
    $KALMAN_USE,1
    $MAX_BUOY,120
    $PITCH_ADJ_DBAND,1
    $PITCH_ADJ_GAIN,0.04
    $PITCH_GAIN,23
    $SM_CC,275
    $T_DIVE,660
    $T_MISSION,675
    $T_RSLEEP,27
Dive 472
Dive 391
    $KALMAN_USE,1
Dive 390
    $KALMAN_USE,0
    $SM_CC,275
Dive 223
    $C_PITCH,3317
    $C_ROLL_CLIMB,2200
    $C_ROLL_DIVE,2400
    $C_VBD,2876
    $D_SURF,7
    $D_TGT,990
    $GO
    $MAX_BUOY,120
    $PITCH_ADJ_DBAND,1
    $PITCH_ADJ_GAIN,0.04
    $PITCH_GAIN,23
    $SM_CC,300
    $T_DIVE,660
    $T_MISSION,675
    $T_RSLEEP,27
Dive 222
Dive 98
    $D_SURF,7
Dive 62
    $D_SURF,6
Dive 58
    $D_SURF,4
Dive 35
    $T_DIVE,660
    $T_MISSION,675
Dive 33
Dive 32
    $QUIT
Dive 26
    $T_DIVE,600
Dive 23
    $C_ROLL_CLIMB,2200
    $C_VBD,2876
    $D_TGT,990
    $MAX_BUOY,120
    $PITCH_ADJ_DBAND,1
    $PITCH_ADJ_GAIN,0.04
    $PITCH_GAIN,23
    $SM_CC,300
    $T_DIVE,550
    $T_MISSION,615
    $T_RSLEEP,27
Dive 21
    $ALTIM_PULSE,5
    $ALTIM_SENSITIVITY,4
    $C_ROLL_CLIMB,2280
    $C_VBD,3283
    $D_OFFGRID,150
    $D_TGT,150
    $MAX_BUOY,150
    $PITCH_GAIN,29
    $SM_CC,698
    $T_DIVE,62.5
    $T_MISSION,70
    $T_NO_W,120
    $T_RSLEEP,2
    $USE_BATHY,-1
Dive 20
    $C_ROLL_CLIMB,2200
    $C_VBD,2876
    $D_TGT,990
    $MAX_BUOY,120
    $PITCH_ADJ_DBAND,1
    $PITCH_ADJ_GAIN,0.04
    $PITCH_GAIN,23
    $SM_CC,300
    $T_DIVE,600
    $T_MISSION,615
    $T_RSLEEP,27
Dive 18
    $ALTIM_PULSE,5
    $ALTIM_SENSITIVITY,4
    $C_ROLL_CLIMB,2280
    $C_VBD,3283
    $D_OFFGRID,150
    $D_TGT,150
    $MAX_BUOY,150
    $PITCH_GAIN,29
    $SM_CC,698
    $T_DIVE,62.5
    $T_MISSION,70
    $T_NO_W,120
    $T_RSLEEP,2
    $USE_BATHY,-1
Dive 17
    $T_DIVE,600
Dive 15
    $SM_CC,300
    $T_DIVE,550
    $T_MISSION,615
Dive 12
    $MAX_BUOY,120
Dive 8
    $T_DIVE,528
    $T_MISSION,540
    $T_RSLEEP,27
Dive 6
    $ALTIM_TOP_PING_RANGE,0
    $T_DIVE,440
    $T_MISSION,480
Dive 4
    $GO
    $PITCH_ADJ_DBAND,1
    $PITCH_ADJ_GAIN,0.04
Dive 3
    $C_PITCH,3200
    $C_ROLL_CLIMB,2200
    $C_VBD,2910
    $D_TGT,990
    $SM_CC,400
    $T_DIVE,330
    $T_MISSION,360
    $T_RSLEEP,12
Dive 2
    $ALTIM_PING_DELTA,10
    $ALTIM_PING_DEPTH,60
    $ALTIM_TOP_PING_RANGE,20
    $CAPUPLOAD,0
    $CAPUPLOAD,1
    $C_PITCH,2990
    $C_PITCH,3327
    $C_ROLL_CLIMB,2433
    $C_ROLL_DIVE,2350
    $C_VBD,3283
    $C_VBD,3610
    $D_OFFGRID,150
    $D_TGT,150
    $D_TGT,300
    $PITCH_GAIN,22.3
    $PITCH_GAIN,23
    $SM_CC,350
    $SM_CC,698
    $SM_CC,700
    $T_DIVE,100
    $T_DIVE,50
    $T_MISSION,120
    $T_MISSION,60
    $T_NO_W,120
    $USE_BATHY,-1
Dive 1
    $C_PITCH,3317
    $C_ROLL_CLIMB,2280
    $C_ROLL_DIVE,2400
    $C_VBD,2876
    $D_TGT,45
    $MAX_BUOY,150
    $PITCH_ADJ_DBAND,0
    $PITCH_ADJ_GAIN,0
    $PITCH_GAIN,29
    $QUIT
    $RESUME
    $SM_CC,600
    $T_DIVE,15
    $T_MISSION,30
    $T_RSLEEP,2