Dive 216
    $QUIT$QUIT$QUIT$QUIT$QUIT$QUIT$QUIT$QUIT$QUIT$QUIT$QUIT$QUIT$QUIT$QUIT$QUIT$QUIT$QUIT$QUIT$QUIT$QUIT$QUIT$QUIT$QUIT
Dive 215
    $D_ABORT,300
    $D_TGT,100
    $HEADING,-1
    $NAV_MODE,1
    $T_ABORT,150
    $T_DIVE,35
    $T_MISSION,55
Dive 202
    $HEADING,180
    $NAV_MODE,0
    $T_DIVE,320
    $T_MISSION,360
Dive 201
    $C_PITCH,3040
    $C_ROLL_CLIMB,1830
    $C_ROLL_DIVE,1930
    $C_VBD,2600
    $D_ABORT,1050
    $D_TGT,1000
    $GO
    $MAX_BUOY,160
    $PITCH_GAIN,31
    $SM_CC,185
    $T_ABORT,720
    $T_DIVE,380
    $T_MISSION,420
Dive 200
Dive 183
    $C_PITCH,3040
    $C_ROLL_CLIMB,1830
    $C_ROLL_DIVE,1930
    $C_VBD,2600
    $D_ABORT,1050
    $D_TGT,1000
    $GO
    $MAX_BUOY,160
    $PITCH_GAIN,31
    $SM_CC,185
    $T_ABORT,720
    $T_DIVE,380
    $T_MISSION,420
Dive 182
Dive 176
    $C_ROLL_CLIMB,1830
    $C_ROLL_DIVE,1930
    $PITCH_GAIN,31
    $T_DIVE,380
    $T_MISSION,420
Dive 122
    $C_PITCH,3040
    $C_ROLL_CLIMB,1810
    $C_ROLL_DIVE,1950
    $C_VBD,2600
    $D_ABORT,1050
    $D_TGT,1000
    $GO
    $MAX_BUOY,160
    $PITCH_GAIN,30
    $SM_CC,185
    $T_ABORT,720
    $T_DIVE,340
    $T_MISSION,380
Dive 120
Dive 99
    $C_ROLL_CLIMB,1810
    $C_ROLL_DIVE,1950
    $SM_CC,185
    $T_DIVE,340
    $T_MISSION,380
Dive 79
    $C_ROLL_CLIMB,1800
    $C_ROLL_DIVE,1970
    $PITCH_GAIN,30
Dive 59
    $C_ROLL_CLIMB,1790
    $C_ROLL_DIVE,2000
    $PITCH_GAIN,29
    $SM_CC,200
    $T_DIVE,380
    $T_MISSION,420
Dive 44
    $C_ROLL_CLIMB,1770
    $C_ROLL_DIVE,2010
    $SM_CC,210
    $T_DIVE,400
    $T_MISSION,440
Dive 25
    $C_ROLL_CLIMB,1730
    $C_ROLL_DIVE,2030
    $PITCH_GAIN,28
    $SM_CC,230
Dive 22
    $D_TGT,1000
    $GO
    $KALMAN_USE,1
Dive 21
    $C_PITCH,3040
    $C_ROLL_CLIMB,1700
    $C_ROLL_DIVE,2050
    $C_VBD,2600
    $D_ABORT,1050
    $HEAD_ERRBAND,15
    $MAX_BUOY,160
    $PITCH_GAIN,26
    $QUIT$QUIT$QUIT$QUIT$D_TGT,1000
    $RESUME
    $SM_CC,270
    $T_ABORT,720
    $T_DIVE,450
    $T_MISSION,520
Dive 20
    $C_PITCH,3040
    $C_ROLL_CLIMB,1670
    $HEAD_ERRBAND,22
    $PITCH_GAIN,26
    $SM_CC,300
Dive 18
    $C_PITCH,3025
    $C_ROLL_CLIMB,1655
    $C_ROLL_DIVE,2100
    $C_VBD,2600
    $D_ABORT,1050
    $D_TGT,1000
    $GO
    $MAX_BUOY,160
    $PITCH_GAIN,25
    $SM_CC,380
    $T_ABORT,720
    $T_DIVE,450
    $T_MISSION,520
Dive 17
Dive 15
    $CAPUPLOAD,0
    $C_ROLL_CLIMB,1650
    $C_ROLL_DIVE,2200
    $D_ABORT,1050
    $D_TGT,1000
    $MAX_BUOY,170
    $T_ABORT,720
    $T_DIVE,450
    $T_MISSION,520
Dive 13
    $C_ROLL_CLIMB,1750
    $D_ABORT,1000
    $D_TGT,700
    $GO
    $PITCH_GAIN,25
    $T_ABORT,600
    $T_DIVE,235
    $T_MISSION,260
Dive 11
    $C_PITCH,3000
    $C_ROLL_CLIMB,1850
    $D_ABORT,600
    $D_TGT,400
    $PITCH_GAIN,23
    $T_DIVE,135
    $T_MISSION,150
Dive 9
    $C_ROLL_DIVE,2250
    $D_ABORT,250
    $D_TGT,150
    $MAX_BUOY,180
    $PITCH_GAIN,21
    $T_ABORT,500
    $T_DIVE,50
    $T_MISSION,65
Dive 3
    $C_PITCH,2942
    $C_ROLL_CLIMB,2000
    $C_VBD,2600
    $D_ABORT,150
    $D_TGT,50
    $T_ABORT,90
    $T_DIVE,20
    $T_MISSION,30
Dive 2
    $C_VBD,2474
    $RESUME
    $T_ABORT,60
Dive 1
    $C_PITCH,2842
    $C_VBD,2827
    $CAPUPLOAD,1
    $C_PITCH,2200
    $C_PITCH,2842
    $C_ROLL_CLIMB,2370
    $C_ROLL_DIVE,2400
    $C_VBD,2827
    $D_ABORT,100
    $D_TGT,20
    $MAX_BUOY,200
    $QUIT$D_TGT,20
    $RESUME
    $RESUME$D_TGT,20
    $TGT_DEFAULT_LAT,-4200
    $TGT_DEFAULT_LON,-900
    $T_ABORT,40
    $T_DIVE,7
    $T_MISSION,15
    $T_RSLEEP,3
    $USE_BATHY,0