Dive 20
    $QUIT
    $T_GPS,15
    $T_GPS,8
    $T_RSLEEP,30
Dive 15
    $D_TGT,180
    $T_DIVE,60
    $T_MISSION,75
Dive 14
    $T_GPS,8
Dive 12
    $C_ROLL_DIVE,2675
Dive 7
    $C_ROLL_DIVE,2175
Dive 6
    $SMARTS,2
Dive 5
    $D_TGT,360
    $T_DIVE,120
    $T_MISSION,150
Dive 4
    $SMARTS,3
Dive 3
    $HEADING,-1
Dive 2
    $GO
    $KALMAN_USE,1
    $SM_CC,300
Dive 1
    $D_TGT,180
    $T_DIVE,60
    $T_MISSION,75
    $CAPUPLOAD,0
    $D_TGT,180
    $D_TGT,45
    $QUIT
    $RESUME
    $SMARTS,0
    $SM_CC,440
    $T_DIVE,15
    $T_DIVE,60
    $T_GPS,8
    $T_MISSION,30
    $T_MISSION,75
    $T_RSLEEP,3