Dive 173
    $KALMAN_USE,2
    $NAV_MODE,2
Dive 155
    $P_OVSHOOT_WITHG,0.1948
Dive 154
    $MINV_24V,16
    $RESUME
Dive 131
    $GO
Dive 130
    $QUIT
    $RESUME
Dive 107
Dive 100
    $GLIDE_SLOPE,20
Dive 99
    // $GLIDE_SLOPE,20
    $GLIDE_SLOPE,45
    $GO
    // $QUIT then $RESUME then $GO
Dive 98
    $QUIT
    $RESUME
Dive 86
    $GO
    $KALMAN_USE,13
Dive 85
    $KALMAN_USE,12
    $QUIT
    $RESUME
    $T_RSLEEP,2
Dive 82
    $GLIDE_SLOPE,20
Dive 80
    $GO
Dive 79
    $CALL_WAIT,60
    $QUIT
    $RESUME
    $T_RSLEEP,2
Dive 71
    $KALMAN_USE,13
Dive 69
    $KALMAN_USE,12
Dive 54
    $GO
Dive 53
    $QUIT
    $RESUME
Dive 40
    $GO
Dive 39
    $QUIT
    $RESUME
Dive 28
    $MAX_BUOY,150
    $T_DIVE,3600
    $T_MISSION,3660
Dive 27
    $C_PITCH,2250
    $MAX_BUOY,500
    $T_DIVE,1200
    $T_MISSION,1230
Dive 24
    $KALMAN_USE,13
Dive 20
    $KALMAN_USE,1
Dive 18
    $ALTIM_PING_DEPTH,3900
    $C_ROLL_CLIMB,2350
    $C_ROLL_DIVE,2350
    $T_ABORT,3720
    $T_DIVE,3600
    $T_MISSION,3660
Dive 17
    $ALTIM_BOTTOM_TURN_MARGIN,30
    $ALTIM_PING_DEPTH,100
    $ALTIM_TOP_PING_RANGE,20
    $CALL_TRIES,10
    $CAPMAXSIZE,200000
    $CAPUPLOAD,1
    $C_PITCH,2706
    $C_ROLL_CLIMB,2332
    $C_ROLL_DIVE,2332
    $C_VBD,2076
    $D_TGT,45
    $GO
    $HEAD_ERRBAND,15
    $PITCH_GAIN,22
    $SM_CC,510
    $T_DIVE,15
    $TGT_DEFAULT_LAT,3210
    $TGT_DEFAULT_LON,-6430
    $T_MISSION,30
    $T_RSLEEP,2
    $USE_BATHY,0
Dive 16
    $D_TGT,5400
    $T_ABORT,3120
    $T_DIVE,3000
    $T_MISSION,3060
Dive 15
    $T_DIVE,2400
    $T_MISSION,2430
    $T_RSLEEP,2
Dive 14
    $QUIT
    $RESUME
    $T_DIVE,1600
Dive 13
    $ALTIM_PING_DEPTH,3750
    $ALTIM_TOP_PING_RANGE,0
    $C_PITCH,2300
    $C_ROLL_CLIMB,2250
    $RELAUNCH,0
    $T_DIVE,2000
    $T_MISSION,2040
Dive 11
    $GO
Dive 10
    $ALTIM_PING_DELTA,10
    $ALTIM_PING_DEPTH,2500
    $D_FLARE,5
    $D_TGT,4800
    $PITCH_ADJ_DBAND,2.5
    $PITCH_ADJ_GAIN,0.02
    $QUIT
    $RESUME
    $T_DIVE,1600
    $T_MISSION,1620
Dive 8
    $ALTIM_PING_DELTA,20
    $ALTIM_PING_DEPTH,1000
    $D_TGT,2160
    $T_DIVE,720
    $T_MISSION,750
Dive 6
    $C_ROLL_CLIMB,2400
    $C_ROLL_DIVE,2400
    $D_TGT,1080
    $GLIDE_SLOPE,45
    $HEAD_ERRBAND,15
    $MAX_BUOY,150
    $T_DIVE,360
    $T_MISSION,390
    $T_RSLEEP,12
Dive 5
    $C_ROLL_CLIMB,3810
    $C_ROLL_DIVE,3810
    $GLIDE_SLOPE,50
    $GO
    $MAX_BUOY,70
    $T_DIVE,50
Dive 4
    $C_ROLL_CLIMB,35
    $C_ROLL_DIVE,35
    $D_TGT,150
    $GLIDE_SLOPE,15
    $HEAD_ERRBAND,180
    $MAX_BUOY,250
    $SM_CC,300
    $T_DIVE,65
    $T_MISSION,70
Dive 3
    $CAPUPLOAD,0
    $C_PITCH,2350
    $C_VBD,2248
    $D_TGT,180
    $PITCH_GAIN,20
    $SM_CC,400
    $T_DIVE,60
    $T_MISSION,75
Dive 2
    $C_PITCH,2400
Dive 1
    $MAX_BUOY,300
    $ALTIM_BOTTOM_TURN_MARGIN,30
    $ALTIM_PING_DELTA,10
    $ALTIM_PING_DEPTH,100
    $ALTIM_TOP_PING_RANGE,20
    $CAPUPLOAD,1
    $C_PITCH,2706
    $C_ROLL_CLIMB,2332
    $C_ROLL_DIVE,2332
    $C_VBD,2076
    $D_TGT,45
    $KALMAN_USE,2
    $MAX_BUOY,150
    $MAX_BUOY,300
    $PITCH_GAIN,22
    $QUIT
    $RESUME
    $SM_CC,510
    $T_ABORT,2880
    $T_DIVE,15
    $T_MISSION,30
    $T_RSLEEP,2