Dive 564
    $QUIT
Dive 553
    $GO
    $SM_CC,300
Dive 552
    $D_TGT,180
    $QUIT
    $RESUME
    $SM_CC,3000
    $T_ABORT,90
    $T_DIVE,60
    $T_MISSION,75
    $T_RSLEEP,2
Dive 542
    $ALTIM_PING_DELTA,5
    $ALTIM_PING_DEPTH,75
Dive 498
Dive 497
    $RESUME
Dive 457
Dive 456
    $COMM_SEQ,1
Dive 451
    $GO
Dive 450
   
    $QUIT
    $RESUME
Dive 445
Dive 443
    $RESUME
Dive 430
Dive 429
    $RESUME
Dive 427
Dive 426
    $RESUME
Dive 425
Dive 424
    $RESUME
Dive 422
Dive 421
    $RESUME
Dive 417
Dive 416
    $QUIT
    $T_RSLEEP,12
    $T_RSLEEP,2
Dive 412
Dive 409
    $RESUME
Dive 407
Dive 406
    $RESUME
Dive 402
    $ALTIM_PING_DEPTH,0
Dive 401
    $RESUME
Dive 397
Dive 395
    $RESUME
Dive 394
Dive 393
Dive 392
    // $HEADING,240
Dive 391
    $RESUME
Dive 389
Dive 387
   
Dive 386
    $RESUME
Dive 382
    $HEADING,-1
Dive 368
    $HEADING,180
Dive 347
Dive 346
    $RESUME
Dive 343
    $C_ROLL_DIVE,2100
Dive 327
    $HEADING,-1
Dive 326
    $CALL_TRIES,20
    $HEADING,020
Dive 308
    $HEADING,-1
    $KALMAN_USE,14
Dive 306
    $HEADING,325
Dive 303
    $W_ADJ_DBAND,2
Dive 300
    $W_ADJ_DBAND,1
Dive 299
    $RESUME
Dive 282
Dive 281
    $CALL_TRIES,12
    $RESUME
Dive 280
    $ALTIM_PING_DEPTH,300
Dive 276
    $CALL_TRIES,8
    $C_PITCH,2842
    $C_ROLL_CLIMB,2000
    $C_ROLL_DIVE,2233
    $PITCH_GAIN,21.0
Dive 267
    $ALTIM_PING_DEPTH,700
Dive 253
    $GO
Dive 252
    $QUIT
Dive 251
    $GO
Dive 250
    $QUIT
    $RESUME
    $T_RSLEEP,2
Dive 246
Dive 245
    $CALL_TRIES,12
    $RESUME
Dive 244
Dive 243
    $RESUME
Dive 242
    $GO
Dive 241
    $QUIT
Dive 240
    $RESUME
Dive 237
Dive 235
    $RESUME
Dive 183
    $CALL_TRIES,8
Dive 167
    $ALTIM_PING_DEPTH,900
    $PITCH_W_DBAND,1
Dive 121
    $ALTIM_PING_DEPTH,600
Dive 107
    $ALTIM_PING_DEPTH,700
Dive 101
    $T_MISSION,660
Dive 95
    $KALMAN_USE,13
Dive 94
    $KALMAN_USE,12
Dive 93
    $ALTIM_PING_DEPTH,900
    $T_DIVE,550
    $T_MISSION,600
Dive 80
    $GO
Dive 79
    $ALTIM_PING_DEPTH,400
    $C_ROLL_CLIMB,2173
    $C_ROLL_DIVE,2263
    $C_VBD,2400
    $D_TGT,990
    $HEAD_ERRBAND,15
    $PITCH_ADJ_DBAND,2.5
    $PITCH_ADJ_GAIN,0.02
    $PITCH_VBD_SHIFT,0
    $QUIT
    $RESUME
    $ROLL_DEG,40
    $T_DIVE,440
    $T_MISSION,480
    $T_RSLEEP,12
Dive 78
    $C_ROLL_CLIMB,291
    $C_ROLL_DIVE,291
    $GLIDE_SLOPE,40
    $MAX_BUOY,150
    $T_DIVE,80
    $T_MISSION,90
Dive 76
    $C_ROLL_CLIMB,3873
    $C_ROLL_DIVE,3873
    $D_TGT,180
    $GLIDE_SLOPE,30
    $HEAD_ERRBAND,180
    $KALMAN_USE,14
    $MAX_BUOY,75
    $PITCH_ADJ_DBAND,0
    $PITCH_ADJ_GAIN,0
    $ROLL_DEG,0
    $T_DIVE,60
    $T_MISSION,75
    $T_RSLEEP,2
Dive 55
    $C_ROLL_CLIMB,2173
    $PITCH_ADJ_DBAND,2.5
Dive 50
    $ALTIM_PING_DEPTH,400
    $T_DIVE,440
    $T_MISSION,480
Dive 31
    $ALTIM_PING_DEPTH,0
    $PITCH_ADJ_DBAND,0.5
    $SM_CC,250
Dive 21
    $PITCH_ADJ_GAIN,0.02
Dive 19
    $C_PITCH,2785
    $PITCH_ADJ_DBAND,1
    $PITCH_ADJ_GAIN,0.04
    $PITCH_GAIN,22.9
Dive 16
    $KALMAN_USE,13
Dive 15
    $KALMAN_USE,12
Dive 14
    $KALMAN_USE,13
Dive 13
    $C_VBD,2400
    $KALMAN_USE,1
    $SM_CC,280
Dive 10
    $ALTIM_TOP_PING_RANGE,0
    $C_PITCH,2807
    $C_ROLL_CLIMB,2355
    $C_ROLL_DIVE,2263
    $C_VBD,2280
    $KALMAN_USE,0
    $PITCH_GAIN,23.2
    $SM_CC,250
    $T_MISSION,390
    $T_RSLEEP,12
Dive 5
    $GO
Dive 4
    $D_TGT,990
    $T_DIVE,330
    $T_MISSION,360
Dive 3
    $D_TGT,300
    $PITCH_GAIN,24
    $T_DIVE,100
    $T_MISSION,120
Dive 2
    $C_PITCH,2850
    $PITCH_VBD_SHIFT,0
    $SM_CC,300
Dive 1
    $C_PITCH,2900
    $D_TGT,150
    $T_DIVE,50
    $T_MISSION,60
    $ALTIM_BOTTOM_TURN_MARGIN,10
    $ALTIM_PING_DELTA,10
    $ALTIM_PING_DEPTH,100
    $ALTIM_TOP_PING_RANGE,20
    $C_PITCH,2900
    $C_PITCH,3050
    $C_ROLL_CLIMB,2300
    $C_ROLL_DIVE,2200
    $C_VBD,2371
    $D_TGT,150
    $D_TGT,45
    $KALMAN_USE,2
    $MAX_BUOY,150
    $PITCH_ADJ_DBAND,0
    $PITCH_ADJ_GAIN,0
    $PITCH_GAIN,21.2
    $QUIT
    $RESUME
    $SM_CC,450
    $T_DIVE,15
    $T_DIVE,50
    $T_MISSION,30
    $T_MISSION,60
    $T_RSLEEP,2
    $T_TURN,290
    $USE_BATHY,0