Dive 264
    $CALL_TRIES,15
    $D_NO_BLEED,50
    $D_TGT,60
    $MAX_BUOY,75
    $QUIT
    $ROLL_DEG,40
    $SIM_PITCH,-20
    $SIM_W,0.1
    $SM_CC,200
    $T_DIVE,20
    $T_MISSION,60
    $T_RSLEEP,12
    // (2*D_TGT/T_DIVE)/60(s/min) -> 0.10m/s
    // attempt a deck dive to see about power draw
    // original
Dive 262
    $RESUME
Dive 253
    $GO
Dive 252
    $COMM_SEQ,1
    $RESUME
    $SM_CC,250
Dive 250
Dive 249
    $CALL_TRIES,20
    $RESUME
Dive 248
    $CALL_TRIES,10
    $N_NOCOMM,1
Dive 139
    $HEADING,-1
Dive 137
    $GO
Dive 136
    $HEADING,340
    $QUIT
    $RESUME
Dive 125
    $HEADING,-1
Dive 114
    $HEADING,180
Dive 89
    $C_ROLL_CLIMB,1677
    $C_ROLL_DIVE,1967
Dive 77
    $HEADING,-1
Dive 75
    $HEADING,325
Dive 54
    $KALMAN_USE,14
    $PITCH_W_DBAND,1
    $W_ADJ_DBAND,2
Dive 36
    $KALMAN_USE,13
Dive 35
    $KALMAN_USE,12
    $T_DIVE,550
    $T_MISSION,660
Dive 31
    $C_ROLL_CLIMB,1950
    $C_ROLL_DIVE,2075
    $PITCH_GAIN,27
    $T_DIVE,440
    $T_MISSION,480
Dive 11
    $ALTIM_PING_DEPTH,500
    $ALTIM_TOP_PING_RANGE,0
    $C_PITCH,2486
    $PITCH_ADJ_DBAND,2.5
    $PITCH_ADJ_GAIN,0.02
    $PITCH_VBD_SHIFT,0
Dive 8
    $C_PITCH,2500
    $C_ROLL_CLIMB,2100
    $C_ROLL_DIVE,2100
    $D_TGT,990
    $HEAD_ERR_BAND,15
    $ROLL_DEG,40
    $T_DIVE,330
    $T_MISSION,360
    $T_RSLEEP,12
Dive 7
    $C_ROLL_CLIMB,400
    $C_ROLL_DIVE,400
Dive 6
    $C_ROLL_CLIMB,3900
    $C_ROLL_DIVE,3900
    $MAX_BUOY,150
    $T_DIVE,80
    $T_MISSION,90
    GLIDE_SLOPE,40
Dive 5
    $C_ROLL_CLIMB,400
    $C_ROLL_DIVE,400
Dive 4
    $C_ROLL_CLIMB,3924
    $C_ROLL_DIVE,3924
    $D_TGT,180
    $HEAD_ERR_BAND,180
    $MAX_BUOY,75
    $ROLL_DEG,0
    $T_DIVE,60
    $T_MISSION,75
    GLIDE_SLOPE,30
Dive 3
    $GO
Dive 2
    $ALTIM_PING_DEPTH,300
    $C_PITCH,2534
    $C_ROLL_CLIMB,2100
    $C_ROLL_DIVE,2100
    $D_TGT,990
    $PITCH_GAIN,28
    $SM_CC,250
    $T_DIVE,330
    $T_MISSION,360
Dive 1
    $ALTIM_PING_DEPTH,100
    $CAPUPLOAD,0
    $D_TGT,180
    $T_DIVE,60
    $T_MISSION,80
    $ALTIM_PING_DELTA,10
    $ALTIM_PING_DEPTH,100
    $ALTIM_PING_DEPTH,75
    $ALTIM_TOP_PING_RANGE,20
    $CAPUPLOAD,0
    $CAPUPLOAD,1
    $COMPASS_USE,4
    $C_PITCH,2580
    $C_ROLL_CLIMB,2247
    $C_ROLL_DIVE,2247
    $C_VBD,2931
    $D_TGT,180
    $D_TGT,45
    $MAX_BUOY,150
    $PITCH_ADJ_DBAND,0
    $PITCH_ADJ_GAIN,0
    $PITCH_GAIN,29
    $QUIT
    $RESUME
    $ROLL_DEG,40
    $SM_CC,590
    $T_DIVE,15
    $T_DIVE,60
    $T_MISSION,30
    $T_MISSION,80
    $T_RSLEEP,2