Dive 453
    $QUIT
Dive 451
    $T_RSLEEP,7
Dive 427
    $MAX_BUOY,150
Dive 380
    $T_DIVE,412.5
    $T_MISSION,440
Dive 345
    $SM_CC,300
Dive 341
    $C_PITCH,2610
    $C_ROLL_CLIMB,1900
    $C_ROLL_DIVE,2220
    $C_VBD,2563
    $D_TGT,990
    $GO
    $HEADING,-1
    $KALMAN_USE,2
    $MAX_BUOY,120
    $SM_CC,250
    $T_DIVE,528
    $T_MISSION,550
    $T_TURN_SAMPINT,10
Dive 340
Dive 175
    $HEADING,-1
Dive 173
    $HEADING,0
Dive 80
    $HEADING,-1
Dive 74
    $HEADING,0
Dive 49
    $KALMAN_USE,2
    $MAX_BUOY,120
Dive 44
    $C_ROLL_CLIMB,1900
    $T_DIVE,528
    $T_MISSION,550
Dive 38
    $SM_CC,250
    $T_DIVE,440
    $T_MISSION,480
Dive 32
    $C_ROLL_CLIMB,1800
Dive 27
    $C_ROLL_CLIMB,1900
Dive 19
    $C_ROLL_CLIMB,2210
    $C_ROLL_DIVE,2220
Dive 17
    $T_TURN_SAMPINT,10
Dive 15
    $C_ROLL_CLIMB,2100
    $C_ROLL_DIVE,2300
Dive 11
    $C_ROLL_CLIMB,2000
Dive 4
    $C_ROLL_CLIMB,2100
    $GO
Dive 3
    $T_RSLEEP,57
Dive 2
    $D_TGT,990
    $SM_CC,300
    $T_DIVE,330
    $T_MISSION,360
Dive 1
    $C_PITCH,2610
    $ALTIM_BOTTOM_TURN_MARGIN,10
    $ALTIM_PING_DELTA,25
    $ALTIM_PING_DEPTH,150
    $C_PITCH,2610
    $C_ROLL_CLIMB,2200
    $C_ROLL_DIVE,2200
    $C_VBD,2563
    $D_TGT,150
    $D_TGT,45
    $KALMAN_USE,1
    $MAX_BUOY,150
    $QUIT
    $RESUME
    $SM_CC,550
    $T_DIVE,15
    $T_DIVE,50
    $T_MISSION,30
    $T_MISSION,60
    $T_RSLEEP,2
    $USE_BATHY,-1