Dive 77
    $MAX_BUOY,200
Dive 41
    $C_ROLL_DIVE,2075
Dive 36
    $KALMAN_USE,2
Dive 34
    $C_ROLL_CLIMB,1935
    $C_ROLL_DIVE,2115
Dive 28
    $T_DIVE,412.5
    $T_MISSION,440
Dive 26
    $C_ROLL_CLIMB,1925
    $C_ROLL_DIVE,2125
Dive 20
    $C_ROLL_CLIMB,1910
    $C_ROLL_DIVE,2110
Dive 14
    $C_ROLL_CLIMB,1935
    $C_ROLL_DIVE,2135
Dive 11
    $C_ROLL_CLIMB,1950
    $C_ROLL_DIVE,2155
Dive 9
    $C_ROLL_CLIMB,1940
Dive 8
    $C_ROLL_CLIMB,1920
    $C_ROLL_DIVE,2165
Dive 6
    $C_ROLL_CLIMB,1910
    $C_ROLL_DIVE,2175
Dive 5
Dive 4
    $C_PITCH,2280
Dive 3
    $D_TGT,990
    $HD_A,0.0030138
    $HD_B,0.0088572
    $HD_C,1.0995e-05
    $PITCH_GAIN,15
    $T_DIVE,330
    $T_MISSION,360
    $T_TURN_SAMPINT,10
    $USE_BATHY,0
Dive 2
    $C_PITCH,2300
    $D_TGT,300
    $T_DIVE,100
    $T_MISSION,120
Dive 1
    $C_PITCH,2400
    $SM_CC,300
    $C_PITCH,2400
    $C_ROLL_DIVE,2100
    $C_VBD,2903
    $D_FLARE,3
    $D_SURF,2
    $D_TGT,45
    $MAX_BUOY,150
    $QUIT
    $RESUME
    $SM_CC,300
    $SM_CC,564
    $T_DIVE,15
    $T_MISSION,30
    $USE_BATHY,-1