Dive 283
    $C_PITCH,3172
    $C_ROLL_CLIMB,1883
    $C_ROLL_DIVE,2040
    $D_TGT,1000
    $GO
    $MAX_BUOY,150
    $PITCH_GAIN,34
    $SM_CC,220
    $T_DIVE,375
    $T_MISSION,390
Dive 282
Dive 212
    $C_ROLL_CLIMB,1883
    $PITCH_GAIN,34
Dive 203
    $C_ROLL_CLIMB,1890
    $C_ROLL_DIVE,2040
    $SM_CC,220
    $T_DIVE,375
    $T_MISSION,390
Dive 113
    $C_PITCH,3172
    $C_ROLL_CLIMB,1930
    $C_ROLL_DIVE,2050
    $MAX_BUOY,150
    $PITCH_GAIN,33
    $SM_CC,250
    $T_DIVE,353
    $T_MISSION,368
Dive 4
    $D_TGT,1000
    $GO
Dive 3
    $D_TGT,200
    $QUIT$D_TGT,1000
    $RESUME$D_TGT,200
    $T_DIVE,333
    $T_MISSION,348
Dive 2
    $ALTIM_PING_DEPTH,30
    $CAPUPLOAD,0
    $C_PITCH,3166
    $D_ABORT,1050
    $D_TGT,25
    $MAX_BUOY,250
    $QUIT
    $QUIT$D_TGT,200
    $QUIT$D_TGT,25
    $RESUME$D_TGT,100
    $T_DIVE,66
    $T_DIVE,8
    $T_MISSION,23
    $USE_BATHY,0
Dive 1
    $D_ABORT,300
    $D_TGT,100
    $QUIT$D_TGT,100
    $RESUME
    $RESUME$D_TGT,50
    $T_DIVE,33
    $T_MISSION,48
    $ALTIM_PING_DEPTH,1000
    $CAPUPLOAD,1
    $D_ABORT,200
    $D_ABORT,300
    $D_TGT,50
    $HEADING,-1
    $KALMAN_USE,1
    $MAX_BUOY,200
    $NAV_MODE,1
    $QUIT$D_TGT,100
    $QUIT$D_TGT,50
    $RESUME
    $RESUME$D_TGT,100
    $T_DIVE,15
    $T_DIVE,33
    $TGT_DEFAULT_LAT,-4230
    $TGT_DEFAULT_LON,-200
    $T_MISSION,30
    $T_MISSION,48