Dive 386
    $D_TGT,150
    $T_DIVE,50
    $T_MISSION,60
Dive 385
    $QUIT
    $RESUME
    $T_RSLEEP,7
Dive 384
    $D_TGT,300
    $T_DIVE,100
    $T_MISSION,120
Dive 254
    $C_PITCH,2730
Dive 237
    $KALMAN_USE,1
Dive 221
    $KALMAN_USE,0
Dive 207
    $CF8_MAXERRORS,0
Dive 182
    $HEADING,-1
Dive 174
    $HEADING,270
Dive 172
    &HEADING,270
Dive 164
    $T_DIVE,412.5
    $T_MISSION,440
Dive 101
    $KALMAN_USE,1
Dive 100
    $KALMAN_USE,0
Dive 98
    $T_NO_W,600
Dive 67
    $T_NO_W,240
Dive 56
    $ROLL_ADJ_DBAND,0.03
    $ROLL_ADJ_GAIN,3
Dive 54
    $C_ROLL_CLIMB,2100
Dive 51
    $C_ROLL_CLIMB,2050
Dive 35
    $C_VBD,2620
    $MAX_BUOY,120
Dive 25
    $T_DIVE,550
    $T_MISSION,580
Dive 20
    $T_DIVE,412.5
    $T_MISSION,440
Dive 5
    $T_RSLEEP,12
    $USE_BATHY,0
Dive 4
    $ALTIM_PULSE,5
Dive 3
    $GO
Dive 2
    $D_TGT,990
    $T_DIVE,330
    $T_MISSION,360
Dive 1
    $D_TGT,300
    $SM_CC,300
    $T_DIVE,100
    $T_MISSION,120
    $ALTIM_PING_DELTA,25
    $ALTIM_PING_DEPTH,150
    $ALTIM_TOP_PING_RANGE,20
    $C_PITCH,2700
    $C_VBD,2832
    $D_TGT,300
    $D_TGT,45
    $HEADING,-1
    $KALMAN_USE,1
    $MAX_BUOY,150
    $QUIT
    $RESUME
    $SM_CC,300
    $SM_CC,590
    $T_DIVE,100
    $T_DIVE,15
    $T_MISSION,120
    $T_MISSION,30
    $T_RSLEEP,2
    $USE_BATHY,-1