Dive 142
Dive 141
$C_ROLL_CLIMB,2000
$C_ROLL_DIVE,2000
Dive 140
$C_ROLL_CLIMB,2100
$C_ROLL_DIVE,2100
$KALMAN_USE,12
$QUIT
$RESUME
Dive 137
$T_ABORT,3660
$T_DIVE,3600
$T_MISSION,3630
Dive 132
$MINV_24V,18
Dive 127
$D_NO_BLEED,200
$W_ADJ_DBAND,2
Dive 123
$T_ABORT,3060
$T_DIVE,3000
$T_MISSION,3030
Dive 120
$C_VBD,2000
$SM_CC,250
Dive 119
Dive 118
$C_VBD,2400
$MINV_24V,18.5
$RESUME
$SM_CC,350
Dive 113
$D_ABORT,5500
Dive 111
$D_TGT,5400
$T_ABORT,2550
$T_DIVE,2500
$T_MISSION,2520
Dive 107
$GO
Dive 106
$QUIT
$RESUME
Dive 100
$C_VBD,2200
$T_ABORT,2060
$T_DIVE,2000
$T_MISSION,2030
Dive 87
$ALTIM_PING_DEPTH,3500
$GO
$T_RSLEEP,12
Dive 86
$QUIT
$RESUME
$T_RSLEEP,7
Dive 83
$GO
Dive 82
$ALTIM_PING_DEPTH,3000
$D_TGT,4800
$QUIT
$RESUME
$T_ABORT,1650
$T_DIVE,1600
$T_MISSION,1620
Dive 67
$GO
Dive 66
$C_ROLL_CLIMB,2300
$C_ROLL_DIVE,1800
$QUIT
$RESUME
Dive 65
$KALMAN_USE,13
Dive 64
$KALMAN_USE,0
Dive 63
$ALTIM_PING_DEPTH,2000
$C_ROLL_CLIMB,2200
$C_ROLL_DIVE,1900
Dive 60
$ALTIM_BOTTOM_TURN_MARGIN,30
$D_TGT,3600
$T_DIVE,1200
$T_MISSION,1260
Dive 58
$D_TGT,1800
$T_DIVE,600
$T_MISSION,630
Dive 54
$GO
Dive 53
$D_TGT,900
$HEADING,-1
$QUIT
$RESUME
$T_ABORT,1500
$T_DIVE,300
$T_MISSION,330
Dive 52
$ALTIM_PING_DELTA,10
$ALTIM_PING_DEPTH,100
$D_TGT,3600
$HEADING,135
$KALMAN_USE,2
$NAV_MODE,1
$T_DIVE,1200
$T_MISSION,1260
$T_RSLEEP,12
Dive 51
$D_TGT,360
$T_DIVE,120
$T_MISSION,140
Dive 49
$ALTIM_PING_DEPTH,50
$D_TGT,180
$T_DIVE,60
$T_MISSION,75
Dive 48
$GO
Dive 47
$ALTIM_PING_DEPTH,40
$D_TGT,90
$T_DIVE,30
$T_MISSION,45
Dive 46
Dive 45
$ALTIM_PING_DELTA,5
$ALTIM_PING_DEPTH,30
$D_TGT,60
$T_DIVE,20
$T_MISSION,30
Dive 44
$KALMAN_USE,0
$NAV_MODE,0
Dive 43
$HEADING,90
Dive 42
$ALTIM_PING_DELTA,1
$ALTIM_PING_DELTA,10
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DEPTH,5
$ALTIM_TOP_PING_RANGE,0
$C_PITCH,3050
$C_ROLL_CLIMB,2100
$C_ROLL_DIVE,2100
$C_VBD,2000
$D_TGT,15
$D_TGT,3600
$HEADING,-1
$HEADING,150
$KALMAN_USE,13
$KALMAN_USE,2
$MAX_BUOY,150
$PITCH_ADJ_DBAND,2.5
$PITCH_ADJ_GAIN,0.02
$PITCH_GAIN,26
$QUIT
$RESUME
$SM_CC,300
$T_DIVE,1200
$T_DIVE,5
$T_MISSION,1260
$T_MISSION,15
$T_RSLEEP,12
Dive 30
Dive 29
$D_TGT,90
$T_DIVE,30
$T_MISSION,45
Dive 28
Dive 27
$ALTIM_PING_DEPTH,30
$HEADING,90
Dive 26
$ALTIM_PING_DELTA,5
$ALTIM_PING_DEPTH,40
$ALTIM_TOP_PING_RANGE,0
$C_PITCH,3050
$C_ROLL_CLIMB,2100
$C_ROLL_DIVE,2100
$C_VBD,2200
$D_TGT,45
$HEADING,150
$KALMAN_USE,14
$MAX_BUOY,150
$PITCH_ADJ_DBAND,2.5
$PITCH_ADJ_GAIN,0.02
$PITCH_GAIN,26
$QUIT
$RESUME
$SM_CC,300
$T_DIVE,15
$T_MISSION,30
$T_RSLEEP,12
Dive 20
Dive 19
$ALTIM_PING_DELTA,10
$ALTIM_PING_DEPTH,100
$ALTIM_TOP_PING_RANGE,20
$CAPUPLOAD,1
$C_PITCH,3300
$C_ROLL_CLIMB,1735
$C_ROLL_DIVE,1735
$C_VBD,2276
$D_ABORT,5000
$D_NO_BLEED,200
$D_TGT,45
$KALMAN_USE,1
$MAX_BUOY,150
$PITCH_ADJ_DBAND,0
$PITCH_ADJ_GAIN,0
$PITCH_GAIN,24
$PITCH_VBD_SHIFT,0
$QUIT
$SM_CC,580
$TGT_DEFAULT_LAT,32.30833
$TGT_DEFAULT_LON,-64.6
$T_DIVE,15
$T_MISSION,30
$USE_BATHY,-15
Dive 4
Dive 3
$C_ROLL_CLIMB,3800
$C_ROLL_DIVE,3800
$ROLL_DEG,0
$T_MISSION,75
Dive 2
$C_PITCH,3100
$D_TGT,180
$SM_CC,300
$T_DIVE,60
$T_MISSION,80
$USE_BATHY,0
Dive 1
$C_PITCH,3050
$ALTIM_PING_DELTA,10
$ALTIM_PING_DEPTH,100
$ALTIM_TOP_PING_RANGE,20
$CAPUPLOAD,0
$CAPUPLOAD,1
$C_PITCH,3050
$C_PITCH,3300
$C_ROLL_CLIMB,1735
$C_ROLL_DIVE,1735
$C_VBD,2276
$D_NO_BLEED,50
$D_TGT,45
$D_TGT,60
$GO
$KALMAN_USE,1
$MAX_BUOY,150
$MAX_BUOY,75
$MINV_24V,17
$PITCH_ADJ_DBAND,0
$PITCH_ADJ_GAIN,0
$PITCH_GAIN,24
$PITCH_VBD_SHIFT,0
$QUIT
$RESUME
$ROLL_DEG,40
$SIM_PITCH,-20
$SIM_W,0.1
$SM_CC,200
$SM_CC,580
$T_DIVE,15
$T_DIVE,20
$T_MISSION,30
$T_MISSION,60
$T_RSLEEP,2
$USE_BATHY,-15
// (2*D_TGT/T_DIVE)/60(s/min) -> 0.10m/s