Dive 30
    $T_MISSION,35
Dive 29
    $ALTIM_FREQUENCY,11
    $D_TGT,180
    $GLIDE_SLOPE,45
    $MAX_BUOY,250
    $QUIT
    $RESUME
    $T_DIVE,60
    $T_MISSION,70
Dive 28
    $C_PITCH,2440
    $C_VBD,2525
    $D_TGT,60
    $GLIDE_SLOPE,25
    $GO
    $HD_A,3.57857e-03
    $HD_B,1.68193e-02
    $HD_C,5.81795e-06
    $HEAD_ERRBAND,10
    $MAX_BUOY,400
    $PITCH_GAIN,18.7
    $PITCH_VBD_SHIFT,0.0016
    $T_DIVE,20
    $T_MISSION,25
Dive 26
    $ALTIM_FREQUENCY,16
    $ALTIM_SENSITIVITY,5
    $C_ROLL_CLIMB,1990
    $C_ROLL_DIVE,1990
    $HEAD_ERRBAND,20
    $MAX_BUOY,200
    $N_DIVES,35
    $ROLL_ADJ_DBAND,0.03
    $ROLL_ADJ_GAIN,1
Dive 25
    $C_ROLL_CLIMB,3150
    $C_ROLL_DIVE,3150
    $GLIDE_SLOPE,50
    $MAX_BUOY,100
Dive 24
    $C_ROLL_CLIMB,950
    $C_ROLL_DIVE,950
    $HEAD_ERRBAND,180
    $MAX_BUOY,400
Dive 23
    $GLIDE_SLOPE,15
    $GO
    $MAX_BUOY,600
Dive 13
    $GO
    $HEAD_ERRBAND,20
    $MAX_BUOY,250
    $ROLL_DEG,45
    $ROLL_MAXERRORS,2
    $VBD_MAXERRORS,1
Dive 12
    $GLIDE_SLOPE,30
    $N_DIVES,30
    $ROLL_DEG,40
Dive 11
    $GLIDE_SLOPE,15
    $HEAD_ERRBAND,25
    $MAX_BUOY,400
Dive 10
    $GO
Dive 9
    $C_ROLL_CLIMB,1990
    $C_ROLL_CLIMB,850
    $C_ROLL_DIVE,1990
    $C_ROLL_DIVE,850
    $GLIDE_SLOPE,30
    $HEAD_ERRBAND,15
    $RESUME
    $T_MISSION,65
Dive 8
    $C_ROLL_CLIMB,3320
    $C_ROLL_CLIMB,400
    $C_ROLL_DIVE,3320
    $C_ROLL_DIVE,400
    $GLIDE_SLOPE,50
    $GO$T_MISSION,70
    $MAX_BUOY,70
    $N_DIVES,25
    $RESUME$T_MISSION,70
    $ROLL_DEG,65
    $T_DIVE,50
Dive 7
    $C_ROLL_CLIMB,250
    $C_ROLL_DIVE,250
    $GLIDE_SLOPE,15
    $HEAD_ERRBAND,180
    $MAX_BUOY,250
    $ROLL_DEG,60
    $T_DIVE,65
    $T_MISSION,70
Dive 5
    $GO
Dive 4
    $C_PITCH,2479
    $C_VBD,2520
    $GLIDE_SLOPE,30
    $N_DIVES,15
Dive 3
    $C_PITCH,2475
    $C_ROLL_CLIMB,1990
    $C_ROLL_DIVE,1990
    $N_DIVES,4
    $RESUME$T_MISSION,65
    $T_MISSION,65
Dive 2
    $ALTIM_PULSE,1
    $C_ROLL_CLIMB,2000
    $C_ROLL_DIVE,2000
    $C_VBD,2505
    $D_TGT,150
    $N_DIVES,3
    $PITCH_GAIN,15
    $QUIT$T_MISSION,65
    $ROLL_DEG,40
    $T_DIVE,50
Dive 1
    $ALTIM_PULSE,2
    $C_PITCH,2490
    $C_ROLL_CLIMB,2050
    $C_ROLL_DIVE,2050
    $C_VBD,2420
    $N_DIVES,2
    $PITCH_GAIN,16
    $ALTIM_PULSE,2
    $ALTIM_SENSITIVITY,4
    $C_PITCH,2331
    $C_PITCH,2490
    $C_ROLL_CLIMB,2050
    $C_ROLL_CLIMB,2212
    $C_ROLL_DIVE,2050
    $C_ROLL_DIVE,2212
    $C_VBD,2420
    $C_VBD,2477
    $D_TGT,90
    $GLIDE_SLOPE,45
    $HEAD_ERRBAND,15
    $MAX_BUOY,200
    $N_DIVES,1
    $N_DIVES,2
    $PITCH_GAIN,16
    $PITCH_GAIN,17.7
    $PITCH_VBD_SHIFT,0.0020
    $QUIT$T_MISSION,45
    $RESUME
    $ROLL_DEG,55
    $SM_CC,300
    $T_DIVE,30
    $T_MISSION,45
    $T_RSLEEP,3
    $USE_BATHY,-6