Dive 578
    $QUIT
    $T_RSLEEP,7
Dive 567
    $D_TGT,150
    $T_DIVE,50
    $T_MISSION,60
Dive 550
    $MAX_BUOY,300
    $T_DIVE,330
    $T_MISSION,360
Dive 541
    $HEADING,-1
Dive 511
    $HEADING,225
Dive 496
    $HEADING,270
Dive 487
    $HEADING,135
Dive 472
    $HEADING,0
Dive 466
    $HEADING,115
Dive 447
    $HEADING,135
Dive 439
    $HEADING,0
Dive 405
    $HEADING,-1
Dive 401
    $HEADING,0
Dive 370
    $HEADING,180
    $KALMAN_USE,2
Dive 349
    $HEADING,-1
Dive 345
    $ALTIM_PING_DELTA,25
    $ALTIM_PING_DEPTH,200
    $C_PITCH,2553
    $C_ROLL_CLIMB,2208
    $C_ROLL_DIVE,2221
    $C_VBD,2189
    $D_TGT,990
    $GO
    $HEADING,180
    $KALMAN_USE,0
    $SM_CC,250
    $T_DIVE,528
    $T_MISSION,550
Dive 344
Dive 336
    $ALTIM_PING_DELTA,25
    $ALTIM_PING_DEPTH,200
    $C_PITCH,2553
    $C_ROLL_CLIMB,2208
    $C_ROLL_DIVE,2221
    $C_VBD,2189
    $D_TGT,990
    $GO
    $HEADING,180
    $KALMAN_USE,0
    $SM_CC,250
    $T_DIVE,528
    $T_MISSION,550
Dive 334
Dive 328
    $HEADING,180
Dive 317
    $ALTIM_PING_DELTA,25
    $ALTIM_PING_DEPTH,200
    $C_PITCH,2553
    $C_ROLL_CLIMB,2208
    $C_ROLL_DIVE,2221
    $C_VBD,2189
    $D_TGT,990
    $GO
    $KALMAN_USE,0
    $SM_CC,250
    $T_DIVE,528
    $T_MISSION,550
Dive 316
Dive 308
    $ALTIM_PING_DELTA,25
    $ALTIM_PING_DEPTH,200
    $C_PITCH,2553
    $C_ROLL_CLIMB,2208
    $C_ROLL_DIVE,2221
    $C_VBD,2189
    $D_TGT,990
    $GO
    $KALMAN_USE,0
    $SM_CC,250
    $T_DIVE,528
    $T_MISSION,550
Dive 306
Dive 302
    $ALTIM_PING_DELTA,25
    $ALTIM_PING_DEPTH,200
    $C_PITCH,2553
    $C_ROLL_CLIMB,2208
    $C_ROLL_DIVE,2221
    $C_VBD,2189
    $D_TGT,990
    $GO
    $KALMAN_USE,0
    $SM_CC,250
    $T_DIVE,528
    $T_MISSION,550
Dive 300
Dive 275
    $ALTIM_PING_DELTA,25
    $ALTIM_PING_DEPTH,200
    $C_PITCH,2553
    $C_ROLL_CLIMB,2208
    $C_ROLL_DIVE,2221
    $C_VBD,2189
    $D_TGT,990
    $GO
    $KALMAN_USE,0
    $SM_CC,250
    $T_DIVE,528
    $T_MISSION,550
Dive 273
Dive 272
    $C_PITCH,2553
    $C_ROLL_CLIMB,2208
    $C_ROLL_DIVE,2221
    $KALMAN_USE,0
Dive 258
    $ALTIM_PING_DELTA,25
    $ALTIM_PING_DEPTH,200
    $C_PITCH,2490
    $C_ROLL_CLIMB,2190
    $C_ROLL_DIVE,2240
    $C_VBD,2189
    $D_TGT,990
    $GO
    $KALMAN_USE,1
    $SM_CC,250
    $T_DIVE,528
    $T_MISSION,550
Dive 255
Dive 254
    $ALTIM_PING_DELTA,25
    $ALTIM_PING_DEPTH,200
    $C_PITCH,2490
    $C_ROLL_CLIMB,2190
    $C_ROLL_DIVE,2240
    $C_VBD,2189
    $D_TGT,990
    $GO
    $KALMAN_USE,1
    $SM_CC,250
    $T_DIVE,528
    $T_MISSION,550
Dive 253
Dive 246
    $ALTIM_PING_DELTA,25
    $ALTIM_PING_DEPTH,200
    $C_PITCH,2490
    $C_ROLL_CLIMB,2190
    $C_ROLL_DIVE,2240
    $C_VBD,2189
    $D_TGT,990
    $GO
    $KALMAN_USE,1
    $SM_CC,250
    $T_DIVE,528
    $T_MISSION,550
Dive 243
Dive 235
    $T_DIVE,528
    $T_MISSION,550
Dive 212
Dive 211
    $QUIT
    $T_RSLEEP,12
Dive 203
    $T_RSLEEP,1
Dive 192
    $KALMAN_USE,1
Dive 172
    $ALTIM_PING_DELTA,25
    $ALTIM_PING_DEPTH,200
    $C_PITCH,2490
    $C_ROLL_CLIMB,2190
    $C_ROLL_DIVE,2240
    $C_VBD,2189
    $D_TGT,990
    $GO
    $KALMAN_USE,2
    $SM_CC,250
    $T_DIVE,440
    $T_MISSION,460
Dive 171
Dive 149
    $KALMAN_USE,2
Dive 113
    $ALTIM_PING_DEPTH,200
    $KALMAN_USE,0
Dive 90
Dive 84
    $T_TURN_SAMPINT,6
Dive 57
    $C_ROLL_CLIMB,2190
    $C_ROLL_DIVE,2240
    $T_DIVE,440
    $T_MISSION,460
Dive 50
    $MAX_BUOY,120
Dive 43
    $C_ROLL_CLIMB,2240
    $C_ROLL_DIVE,2280
    $PITCH_GAIN,11
Dive 35
    $C_ROLL_CLIMB,2220
    $C_ROLL_DIVE,2310
    $PITCH_GAIN,12
Dive 25
    $ALTIM_PING_DEPTH,250
    $C_PITCH,2490
    $C_ROLL_CLIMB,2120
    $C_ROLL_DIVE,2270
    $C_VBD,2189
    $SM_CC,250
    $T_DIVE,412.5
    $T_MISSION,440
Dive 22
    $PITCH_GAIN,16
Dive 15
    $ALTIM_BOTTOM_TURN_MARGIN,15
    $ALTIM_TOP_PING_RANGE,0
    $USE_BATHY,0
Dive 12
    $C_ROLL_DIVE,2300
    $D_TGT,990
    $T_DIVE,330
    $T_MISSION,360
Dive 10
    $C_ROLL_CLIMB,2100
    $C_ROLL_DIVE,2200
    $GO
    $T_RSLEEP,13
Dive 2
    $D_TGT,300
    $T_DIVE,100
    $T_MISSION,120
Dive 1
    $C_VBD,2250
    $D_TGT,150
    $SM_CC,300
    $T_DIVE,50
    $T_MISSION,60
    $ALTIM_FREQUENCY,13
    $ALTIM_PING_DELTA,25
    $ALTIM_PING_DEPTH,200
    $ALTIM_PULSE,3
    $ALTIM_SENSITIVITY,3
    $ALTIM_TOP_PING_RANGE,40
    $C_PITCH,2552
    $C_ROLL_CLIMB,1907
    $C_ROLL_DIVE,1907
    $C_VBD,2250
    $C_VBD,2650
    $D_ABORT,1090
    $D_OFFGRID,1001
    $D_TGT,150
    $D_TGT,45
    $QUIT
    $RESUME
    $SM_CC,300
    $SM_CC,580
    $T_DIVE,15
    $T_DIVE,50
    $T_MISSION,30
    $T_MISSION,60
    $T_RSLEEP,3
    $USE_BATHY,-3
    $VBD_TIMEOUT,720