Dive 20
    $QUIT
Dive 19
    $D_TGT,90
    $T_DIVE,30
    $T_MISSION,40
Dive 17
    $C_PITCH,2275
    $C_VBD,2575
    $HEAD_ERRBAND,15
    $PITCH_GAIN,14
    $PITCH_VBD_SHIFT,0.0012
    $ROLL_DEG,40
Dive 15
    $C_ROLL_CLIMB,2150
    $C_ROLL_DIVE,2150
Dive 14
    $PITCH_GAIN,15
Dive 11
    $C_ROLL_CLIMB,2100
    $C_ROLL_DIVE,2100
    $PITCH_GAIN,16
Dive 10
    $PITCH_GAIN,17
Dive 9
    $C_PITCH,2300
    $C_VBD,2540
    $T_DIVE,50
    $T_MISSION,60
Dive 8
    $C_PITCH,2320
    $C_VBD,2525
Dive 7
    $C_PITCH,2325
    $C_VBD,2500
Dive 5
    $C_VBD,2450
    $D_TGT,180
    $GLIDE_SLOPE,40
    $MAX_BUOY,350
    $T_DIVE,60
    $T_MISSION,75
Dive 4
    $GO
Dive 3
    $C_PITCH,2350
    $D_TGT,90
    $N_DIVES,30
    $N_DIVES,4
    $N_DIVES,5
    $QUIT
    $RESUME$T_DIVE,30
    $RHO,1.023
    $T_DIVE,30
    $T_MISSION,40
Dive 2
    $C_PITCH,2300
    $C_VBD,2400
    $N_DIVES,3
    $RESUME
Dive 1
    $MAX_BUOY,400
    $N_DIVES,2
    $ALTIM_FREQUENCY,13
    $ALTIM_PING_DELTA,2
    $ALTIM_PING_DEPTH,120
    $ALTIM_PULSE,7
    $ALTIM_SENSITIVITY,3
    $ALTIM_TOP_PING_RANGE,15
    $C_PITCH,2651
    $C_ROLL_CLIMB,2065
    $C_ROLL_DIVE,2065
    $C_VBD,2292
    $D_TGT,45
    $GLIDE_SLOPE,30
    $HEAD_ERRBAND,10
    $MAX_BUOY,400
    $MAX_BUOY,500
    $N_DIVES,1
    $N_DIVES,2
    $PITCH_GAIN,18
    $PITCH_VBD_SHIFT,0.0015
    $QUIT$T_DIVE,15
    $RESUME
    $RESUME$T_DIVE,15
    $ROLL_DEG,45
    $SM_CC,350
    $T_DIVE,15
    $T_MISSION,25
    $T_RSLEEP,3