Dive 9
Dive 8
Dive 7
    $ALTIM_PING_DEPTH,50
    $C_VBD,3041
    $HEADING,315
    $KALMAN_USE,2
    $MAX_BUOY,250
    $QUIT
    $RESUME
Dive 4
    $D_TGT,300
    $GO
    $T_DIVE,100
    $T_MISSION,120
    $USE_BATHY,0
Dive 3
    $C_PITCH,2475
    $C_ROLL_CLIMB,1450
    $C_ROLL_DIVE,1450
    $D_TGT,180
    $PITCH_GAIN,30
    $T_DIVE,60
    $T_MISSION,90
Dive 2
    $C_ROLL_CLIMB,1300
    $C_ROLL_DIVE,1300
    $SM_CC,400
Dive 1
    $D_TGT,120
    $PITCH_GAIN,27
    $SM_CC,600
    $T_DIVE,40
    $T_MISSION,60
    $ALTIM_BOTTOM_TURN_MARGIN,10
    $ALTIM_PING_DELTA,5
    $ALTIM_PING_DEPTH,50
    $ALTIM_PING_DEPTH,60
    $ALTIM_TOP_PING_RANGE,20
    $CAPUPLOAD,1
    $COMPASS_USE,0
    $C_PITCH,2450
    $C_VBD,3380
    $D_TGT,120
    $D_TGT,45
    $GLIDE_SLOPE,45
    $KALMAN_USE,1
    $MAX_BUOY,150
    $PITCH_CNV,0.003125763
    $PITCH_GAIN,20
    $PITCH_GAIN,27
    $QUIT
    $RESUME
    $SM_CC,600
    $SM_CC,930
    $T_DIVE,15
    $T_DIVE,40
    $T_MISSION,30
    $T_MISSION,60
    $T_RSLEEP,2
    $USE_BATHY,-6