Dive 4
    $QUIT$T_TURN_SAMPINT,10
Dive 3
    $D_TGT,30
    $N_DIVES,4
    $RESUME$T_TURN_SAMPINT,10
    $T_DIVE,10
    $T_MISSION,20
    $T_RSLEEP,4
    $T_TURN_SAMPINT,10
Dive 2
    $C_ROLL_CLIMB,2350
    $C_ROLL_DIVE,2350
    $N_DIVES,3
    $RESUME$T_MISSION,25
    $ROLL_DEG,15
Dive 1
    $C_PITCH,2650
    $C_ROLL_CLIMB,2300
    $C_ROLL_DIVE,2300
    $HEAD_ERRBAND,20
    $N_DIVES,2
    $PITCH_GAIN,13
    $QUIT
    $QUIT$ROLL_AD_RATE,300
    $QUIT$T_MISSION,25
    $RESUME$ROLL_AD_RATE,300
    $ROLL_DEG,40
    $ALTIM_PING_DEPTH,100
    $ALTIM_SENSITIVITY,4
    $ALTIM_TOP_PING_RANGE,0
    $CAPMAXSIZE,200000
    $CAPUPLOAD,1
    $C_PITCH,2624
    $C_PITCH,2650
    $C_ROLL_CLIMB,2190
    $C_ROLL_CLIMB,2300
    $C_ROLL_DIVE,2190
    $C_ROLL_DIVE,2300
    $C_VBD,1991
    $D_TGT,60
    $GLIDE_SLOPE,40
    $HEAD_ERRBAND,20
    $MAX_BUOY,150
    $N_DIVES,1
    $N_DIVES,2
    $PITCH_GAIN,13
    $PITCH_GAIN,16
    $PITCH_VBD_SHIFT,0.0021
    $QUIT$ROLL_AD_RATE,300
    $QUIT$T_MISSION,25
    $RESUME
    $ROLL_AD_RATE,300
    $ROLL_DEG,40
    $ROLL_DEG,57
    $SM_CC,190
    $T_DIVE,20
    $T_MISSION,25
    $T_RSLEEP,3
    $USE_BATHY,-6