Dive 19
    $D_TGT,45
    $D_TGT,90
    $MAX_BUOY,150
    $MAX_BUOY,250
    $N_DIVES,0
    $N_DIVES,21
    $QUIT
    $SM_CC,500
    $SM_CC,600
    $T_DIVE,15
    $T_DIVE,20
    $T_MISSION,20
    $T_MISSION,30
    $T_RSLEEP,2
    $T_SLOITER,0
Dive 17
    $APOGEE_PITCH,-8
    $C_PITCH,2780
    $MAX_BUOY,450
    $N_DIVES,25
Dive 16
    $APOGEE_PITCH,-5
    $MAX_BUOY,150
    $T_DIVE,60
Dive 15
    $APOGEE_PITCH,-8
    $MAX_BUOY,450
Dive 14
    $APOGEE_PITCH,-5
    $C_PITCH,2790
    $MAX_BUOY,150
    $T_DIVE,80
Dive 13
    $APOGEE_PITCH,-8
    $C_PITCH,2800
    $GO
    $T_DIVE,60
Dive 10
    $MAX_BUOY,450
Dive 9
    $MAX_BUOY,150
    $T_DIVE,80
    $T_MISSION,90
Dive 8
    $MAX_BUOY,450
Dive 7
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $C_PITCH,2810
    $D_TGT,180
    $N_DIVES,20
    $T_DIVE,60
    $USE_BATHY,-6
Dive 6
    $C_ROLL_CLIMB,2180
    $C_ROLL_DIVE,2180
    $GLIDE_SLOPE,30
    $HEAD_ERRBAND,10
    $MAX_BUOY,150
    $N_DIVES,10
    $T_SLOITER,30
Dive 5
    $ALTIM_BOTTOM_TURN_MARGIN,15
    $C_ROLL_CLIMB,3500
    $C_ROLL_DIVE,3500
    $C_VBD,2168
    $D_TGT,210
    $GLIDE_SLOPE,45
    $MAX_BUOY,90
    $N_DIVES,9
    $T_DIVE,70
    $T_MISSION,80
    $USE_BATHY,0
Dive 4
    $COMPASS_USE,4
    $C_ROLL_CLIMB,400
    $C_ROLL_DIVE,400
    $D_TGT,180
    $GLIDE_SLOPE,15
    $GO
    $HEAD_ERRBAND,180
    $MAX_BUOY,300
    $N_DIVES,8
    $T_DIVE,60
Dive 3
    $ALTIM_TOP_PING_RANGE,0
    $C_PITCH,2800
    $N_DIVES,4
    $PITCH_GAIN,13
    $ROLL_DEG,55
    $USE_BATHY,-6
Dive 2
    $CALL_TRIES,5
    $C_PITCH,2750
    $D_TGT,150
    $MAX_BUOY,200
    $N_DIVES,3
    $PITCH_GAIN,15
    $T_DIVE,50
    $T_MISSION,75
    $T_RSLEEP,3
Dive 1
    $ALTIM_PING_DELTA,5
    $ALTIM_PING_DEPTH,100
    $ALTIM_TOP_PING_RANGE,20
    $C_PITCH,2718
    $C_ROLL_CLIMB,2181
    $C_ROLL_DIVE,2181
    $C_VBD,2000
    $D_TGT,30
    $D_TGT,45
    $GO
    $MAX_BUOY,150
    $MAX_BUOY,20
    $N_DIVES,2
    $PITCH_GAIN,10
    $QUIT
    $RESUME
    $SIM_PITCH,-20
    $SIM_PITCH,0
    $SIM_W,0
    $SIM_W,0.1
    $SM_CC,150
    $SM_CC,350
    $SM_CC,500
    $T_DIVE,10
    $T_DIVE,15
    $T_MISSION,11
    $T_MISSION,20
    $T_RSLEEP,1
    $ALTIM_PING_DELTA,5
    $ALTIM_PING_DEPTH,100
    $ALTIM_TOP_PING_RANGE,20
    $C_PITCH,2718
    $C_ROLL_CLIMB,2181
    $C_ROLL_DIVE,2181
    $C_VBD,2000
    $D_TGT,30
    $D_TGT,45
    $GO
    $MAX_BUOY,150
    $MAX_BUOY,20
    $N_DIVES,2
    $PITCH_GAIN,10
    $QUIT
    $RESUME
    $SIM_PITCH,-20
    $SIM_PITCH,0
    $SIM_W,0
    $SIM_W,0.1
    $SM_CC,150
    $SM_CC,350
    $SM_CC,500
    $T_DIVE,10
    $T_DIVE,15
    $T_MISSION,11
    $T_MISSION,20
    $T_RSLEEP,1