Dive 431
    $GO$T_RSLEEP,2
Dive 150
    $D_TGT,450
    $SM_CC,250
    $T_DIVE,150
    $T_MISSION,190
Dive 57
    $C_PITCH,2657
    $C_ROLL_CLIMB,2330
    $C_ROLL_DIVE,2230
    $C_VBD,2745
    $HD_A,0.0038000001
    $HD_B,0.0099999998
    $HD_C,2.7999999e-06
    $KALMAN_USE,2
    $MASS,51779
    $PITCH_CNV,0.0046000001
    $PITCH_GAIN,15.9
    $PITCH_MAX,3700
    $PITCH_MIN,350
    $PITCH_VBD_SHIFT,0.0012300001
    $ROLL_CNV,0.028270001
    $ROLL_MAX,3598
    $ROLL_MIN,294
    $SEABIRD_C_G,-10.106751
    $SEABIRD_C_H,1.1366181
    $SEABIRD_C_I,0.0
    $SEABIRD_C_J,0.0
    $SEABIRD_T_G,0.0043498399
    $SEABIRD_T_H,0.0006493734
    $SEABIRD_T_I,0.0
    $SEABIRD_T_J,0.0
    $SM_CC,300
    $T_DIVE,30
    $T_MISSION,45
    $T_RSLEEP,2
    $VBD_CNV,-0.24529999
    $VBD_MAX,3951
    $VBD_MIN,588
Dive 54
    $HD_A,0.0041149999
    $HD_B,0.014024
    $HD_C,5.5727e-05
Dive 46
    $T_DIVE,45
Dive 32
    $COMPASS_USE,1
Dive 28
    $D_TGT,90
    $T_DIVE,40
    $T_MISSION,60
Dive 25
    $D_TGT,120
    $T_DIVE,50
    $T_MISSION,75
Dive 19
    $COMPASS_USE,3
    $HD_A,0.0038360001
    $HD_B,0.010078
    $HD_C,9.8541004e-06
    $T_DIVE,30
    $T_MISSION,45
Dive 3
Dive 2
    $D_SURF,2
    $T_DIVE,30
    $T_MISSION,45
Dive 1
    $QUIT$D_SURF,2
    $SEABIRD_C_I,0.0
    $SEABIRD_C_J,0.0
    $SEABIRD_T_I,0.0
    $SEABIRD_T_J,0.0
    $ALTIM_BOTTOM_PING_RANGE,25
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $ALTIM_PING_DELTA,10
    $ALTIM_PING_DEPTH,80
    $ALTIM_TOP_MIN_OBSTACLE,1
    $ALTIM_TOP_PING_RANGE,0
    $ALTIM_TOP_TURN_MARGIN,0
    $APOGEE_PITCH,-5
    $CALL_NDIVES,1
    $CALL_TRIES,5
    $CALL_WAIT,60
    $CAPUPLOAD,0
    $COMM_SEQ,0
    $COMPASS_USE,1
    $COURSE_BIAS,0
    $C_PITCH,2657
    $C_ROLL_CLIMB,2330
    $C_ROLL_DIVE,2230
    $C_VBD,2745
    $D_ABORT,1090
    $D_FINISH,0
    $D_FLARE,3
    $D_NO_BLEED,200
    $D_OFFGRID,100
    $D_SURF,2
    $D_TGT,45
    $D_TGT,90
    $FERRY_MAX,45
    $GLIDE_SLOPE,45
    $GO
    $HD_A,0.0038000001
    $HD_A,0.0041149999
    $HD_B,0.0099999998
    $HD_B,0.014024
    $HD_C,2.7999999e-06
    $HD_C,5.5727e-05
    $HEADING,-1
    $KALMAN_USE,1
    $KALMAN_USE,2
    $MASS,51779
    $MAX_BUOY,150
    $NAV_MODE,1
    $N_FILEKB,4
    $N_GPS,20
    $N_NOCOMM,1
    $N_NOSURFACE,0
    $PITCH_ADJ_DBAND,0
    $PITCH_ADJ_GAIN,0
    $PITCH_CNV,0.0046000001
    $PITCH_GAIN,15.9
    $PITCH_MAX,3700
    $PITCH_MIN,350
    $PITCH_VBD_SHIFT,0.0012300001
    $QUIT$T_RSLEEP,2
    $RESUME
    $ROLL_ADJ_DBAND,0
    $ROLL_ADJ_GAIN,0
    $ROLL_CNV,0.028270001
    $ROLL_MAX,3598
    $ROLL_MIN,294
    $SEABIRD_C_G,-10.106751
    $SEABIRD_C_G,-10.331019
    $SEABIRD_C_H,1.1366181
    $SEABIRD_C_H,1.1763502
    $SEABIRD_C_I,0.0
    $SEABIRD_C_I,0.00038917549
    $SEABIRD_C_I,-0.0012340198
    $SEABIRD_C_J,0.0
    $SEABIRD_C_J,0.00017379176
    $SEABIRD_C_J,7.9540005e-05
    $SEABIRD_T_G,0.0043498399
    $SEABIRD_T_G,0.0043805656
    $SEABIRD_T_H,0.00064742006
    $SEABIRD_T_H,0.0006493734
    $SEABIRD_T_I,0.0
    $SEABIRD_T_I,2.5554549e-05
    $SEABIRD_T_I,2.8112627e-05
    $SEABIRD_T_J,0.0
    $SEABIRD_T_J,2.6681391e-06
    $SEABIRD_T_J,3.1957888e-06
    $SM_CC,300
    $SM_CC,350
    $T_ABORT,1440
    $T_DIVE,15
    $T_DIVE,50
    $T_GPS,15
    $T_MISSION,30
    $T_MISSION,65
    $T_NO_W,120
    $T_RSLEEP,2
    $T_RSLEEP,3
    $T_TURN,270
    $T_TURN_SAMPINT,5
    $USE_BATHY,-4
    $USE_ICE,0
    $VBD_CNV,-0.24529999
    $VBD_MAX,3951
    $VBD_MIN,588