Dive 17
    $QUIT
Dive 16
    $T_DIVE,50
    $T_MISSION,60
Dive 11
    $T_DIVE,100
    $T_MISSION,110
Dive 9
    $T_DIVE,90
    $T_MISSION,100
Dive 7
    $C_ROLL_CLIMB,2140
    $C_ROLL_DIVE,2140
    $D_TGT,180
    $HEAD_ERRBAND,15
    $MAX_BUOY,150
    $T_DIVE,80
    $T_MISSION,90
Dive 6
    $C_ROLL_CLIMB,3830
    $C_ROLL_DIVE,3830
    $GLIDE_SLOPE,45
    $GO
    $MAX_BUOY,70
    $T_DIVE,50
Dive 5
    $ALTIM_BOTTOM_TURN_MARGIN,15
    $C_ROLL_CLIMB,265
    $C_ROLL_DIVE,265
    $D_TGT,150
    $GLIDE_SLOPE,15
    $HEAD_ERRBAND,180
    $MAX_BUOY,250
    $T_DIVE,65
    $T_MISSION,70
Dive 4
    $QUIT
    $USE_BATHY,0
Dive 3
Dive 2
    $C_VBD,2705
    $D_TGT,180
    $SM_CC,500
    $T_DIVE,60
    $T_MISSION,75
Dive 1
    $C_VBD,2966
    $SM_CC,770
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $ALTIM_PING_DELTA,5
    $ALTIM_PING_DEPTH,100
    $ALTIM_PULSE,3
    $ALTIM_SENSITIVITY,2
    $ALTIM_TOP_PING_RANGE,20
    $CAPUPLOAD,1
    $C_VBD,2966
    $C_VBD,3419
    $D_TGT,45
    $HEAD_ERRBAND,15
    $MAX_BUOY,150
    $QUIT
    $RESUME
    $SM_CC,770
    $SM_CC,900
    $T_DIVE,15
    $T_MISSION,30
    $T_RSLEEP,2