Dive 148
    $KALMAN_USE,0
    $T_RSLEEP,13
Dive 142
    $D_TGT,990
    $GO
    $T_DIVE,412.5
    $T_MISSION,450
Dive 141
Dive 140
    $D_TGT,300
    $T_DIVE,100
    $T_MISSION,120
Dive 139
    $D_TGT,45
    $QUIT
    $RESUME
    $T_DIVE,15
    $T_MISSION,30
    $T_RSLEEP,13
    $T_RSLEEP,3
Dive 81
Dive 80
    $KALMAN_USE,1
Dive 79
    $KALMAN_USE,0
Dive 53
Dive 51
    $MAX_BUOY,120
    $T_DIVE,412.5
    $T_MISSION,450
Dive 22
Dive 12
    $C_PITCH,2370
    $C_ROLL_CLIMB,2350
    $C_ROLL_DIVE,2300
Dive 7
    $D_TGT,990
    $T_DIVE,330
    $T_MISSION,375
Dive 6
Dive 5
    $C_ROLL_CLIMB,2200
    $C_ROLL_DIVE,2100
    $D_TGT,600
    $GO
    $T_DIVE,200
    $T_MISSION,230
Dive 3
Dive 2
    $C_ROLL_CLIMB,2100
    $C_ROLL_DIVE,2000
    $D_TGT,300
    $T_DIVE,100
    $T_MISSION,120
Dive 1
    $C_PITCH,2420
    $D_TGT,150
    $SM_CC,400
    $T_DIVE,50
    $T_MISSION,70
    $C_PITCH,2370
    $C_PITCH,2420
    $C_VBD,2547
    $D_TGT,150
    $D_TGT,45
    $QUIT
    $RESUME
    $SM_CC,400
    $SM_CC,580
    $T_DIVE,15
    $T_DIVE,50
    $T_MISSION,30
    $T_MISSION,70