Dive 481
    $QUIT
Dive 480
    $T_DIVE,330
    $T_MISSION,360
Dive 479
    $KALMAN_USE,2
    $SM_CC,560
    $T_RSLEEP,7
Dive 456
    $C_ROLL_CLIMB,2075
Dive 452
    $T_DIVE,550
    $T_MISSION,580
Dive 437
    $TGT_DEFAULT_LAT,63
    $TGT_DEFAULT_LON,-6
Dive 433
    $SM_CC,200
Dive 366
    $KALMAN_USE,0
Dive 348
    $C_ROLL_CLIMB,2000
    $C_ROLL_DIVE,2750
Dive 341
    $C_PITCH,2440
    $C_ROLL_CLIMB,2075
    $C_ROLL_DIVE,2675
    $C_VBD,2902
    $D_TGT,990
    $GO
    $HEADING,-1
    $KALMAN_USE,1
    $ROLL_AD_RATE,300
    $SM_CC,225
    $T_DIVE,412.5
    $T_MISSION,440
    $T_RSLEEP,27
    $XPDR_INHIBIT,90
    $XPDR_VALID,3
Dive 340
Dive 316
    $KALMAN_USE,1
Dive 308
    $T_DIVE,412.5
    $T_MISSION,440
Dive 305
    $KALMAN_USE,0
Dive 264
    $C_ROLL_CLIMB,2075
Dive 246
    $C_ROLL_CLIMB,2025
    $C_ROLL_DIVE,2675
Dive 243
    $KALMAN_USE,1
Dive 242
    $HEADING,-1
Dive 239
    $HEADING,135
Dive 234
    $HEADING,315
    $KALMAN_USE,0
Dive 186
    $KALMAN_USE,1
Dive 176
    $HEADING,-1
Dive 175
    $HEADING,225
Dive 169
    $KALMAN_USE,0
Dive 143
    $KALMAN_USE,1
Dive 139
    $C_PITCH,2440
    $C_ROLL_CLIMB,2000
    $C_ROLL_DIVE,2650
    $C_VBD,2902
    $D_TGT,990
    $GO
    $HEADING,-1
    $KALMAN_USE,0
    $ROLL_AD_RATE,300
    $SM_CC,225
    $T_DIVE,550
    $T_MISSION,580
    $T_RSLEEP,27
    $XPDR_INHIBIT,90
    $XPDR_VALID,3
Dive 138
Dive 130
    $KALMAN_USE,0
Dive 126
    $T_DIVE,550
    $T_MISSION,580
Dive 122
    $HEADING,-1
    $XPDR_INHIBIT,90
Dive 117
    $HEADING,225
Dive 111
    $HEADING,135
    $T_DIVE,412.5
    $T_MISSION,440
Dive 76
    $C_ROLL_CLIMB,2000
Dive 63
    $KALMAN_USE,1
Dive 60
    $KALMAN_USE,0
Dive 55
    $SM_CC,225
Dive 51
    $C_ROLL_CLIMB,1900
Dive 41
    $C_ROLL_CLIMB,1800
    $C_ROLL_DIVE,2650
Dive 31
    $T_DIVE,550
    $T_MISSION,580
Dive 22
Dive 21
    $ALTIM_TOP_PING_RANGE,20
    $C_PITCH,2247
    $C_ROLL_CLIMB,2350
    $C_ROLL_DIVE,2200
    $D_FLARE,3
    $D_SURF,2
    $D_TGT,45
    $QUIT
    $SM_CC,571
    $T_DIVE,15
    $T_DIVE,412.5
    $T_MISSION,30
    $T_MISSION,440
    $T_RSLEEP,2
    $USE_BATHY,-1
Dive 13
    $C_ROLL_CLIMB,1700
    $C_ROLL_DIVE,2750
Dive 11
    $ROLL_AD_RATE,300
Dive 10
    $C_ROLL_CLIMB,1800
    $C_ROLL_DIVE,2700
Dive 7
    $T_RSLEEP,27
    $USE_BATHY,0
Dive 6
    $C_ROLL_CLIMB,1950
    $C_ROLL_DIVE,2600
Dive 5
    $ALTIM_TOP_PING_RANGE,0
Dive 4
    $C_ROLL_CLIMB,2100
    $C_ROLL_DIVE,2450
Dive 3
    $D_TGT,990
    $GO
    $SM_CC,300
    $T_DIVE,330
    $T_MISSION,350
Dive 2
    $C_PITCH,2440
    $C_ROLL_CLIMB,2250
    $C_ROLL_DIVE,2300
    $XPDR_VALID,2
    $XPDR_VALID,3
Dive 1
    $C_PITCH,2400
    $D_TGT,300
    $T_DIVE,100
    $T_MISSION,120
    $ALTIM_PING_DELTA,25
    $ALTIM_PING_DEPTH,150
    $ALTIM_TOP_PING_RANGE,20
    $C_PITCH,2247
    $C_PITCH,2400
    $C_ROLL_CLIMB,2350
    $C_ROLL_DIVE,2200
    $C_VBD,2902
    $D_FLARE,3
    $D_SURF,2
    $D_TGT,300
    $D_TGT,45
    $KALMAN_USE,1
    $QUIT
    $RESUME
    $SM_CC,571
    $T_DIVE,100
    $T_DIVE,15
    $T_MISSION,120
    $T_MISSION,30
    $T_NO_W,200
    $T_RSLEEP,2
    $USE_BATHY,-1
    $XPDR__INHIBIT,90