Dive 23
    $QUIT
Dive 21
    $ALTIM_PING_DEPTH,100
    $GLIDE_SLOPE,45
    $MAX_BUOY,100
    $T_DIVE,60
Dive 16
    $GO
Dive 15
    $MAX_BUOY,200
    $T_DIVE,80
Dive 14
    $ALTIM_PING_DEPTH,80
    $HEADING,-1
    $QUIT
    $RESUME
Dive 11
    $ALTIM_PING_DEPTH,30
    $USE_BATHY,0
Dive 9
    $USE_BATHY,-6
Dive 7
    $C_ROLL_CLIMB,2047
    $C_ROLL_DIVE,2047
Dive 6
    $GO
Dive 5
    $GLIDE_SLOPE,30
    $HEADING,270
    $HEAD_ERRBAND,10
    $HEAD_ERRBAND,15
    $MAX_BUOY,400
    $SM_CC,400
    $T_DIVE,60
Dive 4
    $C_ROLL_CLIMB,3860
    $C_ROLL_DIVE,3860
    $GLIDE_SLOPE,45
    $MAX_BUOY,100
    $T_DIVE,40
Dive 3
    $C_ROLL_CLIMB,250
    $C_ROLL_DIVE,250
    $GLIDE_SLOPE,40
    $HEAD_ERRBAND,180
    $PITCH_ADJ_DBAND,2.5
    $PITCH_ADJ_GAIN,0.02
    $T_DIVE,80
    $T_MISSION,90
    $USE_BATHY,0
Dive 2
    $C_PITCH,3025
    $D_TGT,180
    $RESUME
    $T_DIVE,60
    $T_MISSION,75
Dive 1