Dive 444
    $QUIT
    $T_RSLEEP,2
Dive 440
    $D_TGT,990
    $KALMAN_USE,0
Dive 439
    $HEADING,45
    $MAX_BUOY,150
    $T_DIVE,330
    $T_MISSION,360
Dive 92
    $C_PITCH,2760
    $C_ROLL_CLIMB,2150
    $C_ROLL_DIVE,2150
    $C_VBD,2911
    $GO
    $MAX_BUOY,120
    $SM_CC,450
    $T_DIVE,550
    $T_MISSION,580
Dive 90
Dive 72
    $T_DIVE,550
    $T_MISSION,580
Dive 71
    $C_PITCH,2760
    $C_ROLL_CLIMB,2150
    $C_ROLL_DIVE,2150
    $C_VBD,2911
    $GO
    $MAX_BUOY,120
    $SM_CC,450
    $T_DIVE,528
    $T_MISSION,550
Dive 70
Dive 43
    $C_PITCH,2760
    $MAX_BUOY,120
    $SM_CC,450
    $T_DIVE,528
    $T_MISSION,550
Dive 31
    $T_DIVE,412.5
    $T_MISSION,440
Dive 7
    $C_ROLL_CLIMB,2150
    $C_ROLL_DIVE,2150
    $GO
Dive 3
Dive 2
    $C_PITCH,2740
    $D_TGT,990
    $T_DIVE,330
    $T_MISSION,360
    $T_RSLEEP,27
Dive 1
    $D_TGT,150
    $SM_CC,500
    $T_DIVE,50
    $T_MISSION,60
    $C_PITCH,2780
    $C_VBD,2911
    $D_TGT,150
    $D_TGT,45
    $MAX_BUOY,150
    $QUIT
    $RESUME
    $SM_CC,500
    $SM_CC,610
    $T_DIVE,15
    $T_DIVE,50
    $T_MISSION,30
    $T_MISSION,60
    $T_RSLEEP,2
    $USE_BATHY,0