Dive 396
    $QUIT
Dive 395
    $D_TGT,360
    $T_DIVE,120
    $T_MISSION,150
    $T_RSLEEP,8
Dive 367
    $T_DIVE,550
    $T_MISSION,590
Dive 345
Dive 343
    $C_ROLL_CLIMB,2065
    $C_ROLL_DIVE,2360
    $PITCH_GAIN,14
Dive 339
Dive 338
    $KALMAN_USE,1
Dive 337
    $KALMAN_USE,0
Dive 247
Dive 117
    $MAX_BUOY,120
    $T_DIVE,412.5
    $T_MISSION,450
Dive 114
Dive 113
    $C_VBD,2519
    $MAX_BUOY,100
Dive 109
    $MAX_BUOY,220
Dive 103
    $SM_CC,315
Dive 99
    $SM_CC,325
Dive 98
    $SM_CC,315
Dive 97
    $SM_CC,300
Dive 80
Dive 78
    $MAX_BUOY,120
Dive 73
Dive 72
    $C_PITCH,2378
    $C_VBD,2625
    $PITCH_GAIN,13
Dive 58
    $SM_CC,315
Dive 51
    $SM_CC,325
Dive 41
    $ROLL_AD_RATE,440
Dive 40
    $C_VBD,2757
    $SM_CC,350
Dive 36
    $SM_CC,300
Dive 29
Dive 28
    $KALMAN_USE,1
Dive 27
    $KALMAN_USE,0
Dive 22
Dive 20
    $C_ROLL_DIVE,2480
    $PITCH_GAIN,14
Dive 16
Dive 15
    $C_PITCH,2440
Dive 10
Dive 9
    $C_PITCH,2415
    $C_ROLL_CLIMB,1965
    $C_ROLL_DIVE,2370
    $PITCH_GAIN,14.5
    $SM_CC,325
Dive 7
Dive 6
    $C_ROLL_CLIMB,2100
    $C_ROLL_DIVE,2185
    $D_TGT,990
    $HD_A,0.003836
    $HD_B,0.010078
    $HD_C,9.8541e-6
    $T_DIVE,330
    $T_MISSION,375
Dive 5
    $C_ROLL_CLIMB,2185
    $SM_CC,350
Dive 4
    $D_TGT,450
    $GO
    $T_DIVE,150
    $T_MISSION,180
Dive 3
    $C_PITCH,2460
Dive 2
    $D_TGT,150
    $SM_CC,400
    $T_DIVE,50
    $T_MISSION,60
Dive 1
    $C_PITCH,2415
    $SM_CC,450
    $C_PITCH,2415
    $QUIT
    $RESUME
    $SM_CC,450