Dive 2
    /
    $T_RSLEEP,12
    $T_RSLEEP,27
    $T_RSLEEP,57
Dive 1
    $D_TGT,1440
    $T_ABORT,720
    $T_DIVE,600
    $T_MISSION,630
    $ALTIM_PING_DELTA,10
    $ALTIM_PING_DEPTH,700
    $ALTIM_TOP_PING_RANGE,20
    $C_PITCH,1550
    $C_ROLL_CLIMB,1650
    $C_ROLL_DIVE,1900
    $C_VBD,1735
    $D_TGT,1440
    $D_TGT,45
    $HEAD_ERRBAND,10
    $HEADING,-1
    $KALMAN_USE,2
    $MAX_BUOY,150
    $PITCH_ADJ_DBAND,1
    $PITCH_ADJ_GAIN,0.02
    $PITCH_GAIN,12.5
    $QUIT
    $RESUME
    $SM_CC,350
    $T_ABORT,35
    $T_ABORT,720
    $T_DIVE,15
    $T_DIVE,600
    $T_MISSION,30
    $T_MISSION,630
    $T_RSLEEP,2
    $USE_BATHY,0