Dive 15
    $QUIT
Dive 14
    $T_DIVE,50
    $T_MISSION,60
Dive 10
    $T_DIVE,100
    $T_MISSION,110
Dive 8
    $T_DIVE,90
    $T_MISSION,100
Dive 6
    $C_ROLL_CLIMB,2200
    $C_ROLL_DIVE,2200
    $D_TGT,180
    $HEAD_ERRBAND,15
    $MAX_BUOY,150
    $T_DIVE,80
    $T_MISSION,90
Dive 5
    $C_ROLL_CLIMB,3990
    $C_ROLL_DIVE,3990
    $GLIDE_SLOPE,45
    $GO
    $MAX_BUOY,70
    $T_DIVE,50
Dive 4
    $ALTIM_BOTTOM_TURN_MARGIN,15
    $C_ROLL_CLIMB,187
    $C_ROLL_DIVE,187
    $D_TGT,150
    $GLIDE_SLOPE,15
    $HEAD_ERRBAND,180
    $MAX_BUOY,250
    $T_DIVE,65
    $T_MISSION,70
Dive 3
    $ALTIM_PING_DELTA,5
    $SM_CC,500
    $USE_BATHY,0
    $VBD_MAX,3926
    $VBD_MIN,321
Dive 2
    $C_VBD,2500
    $D_TGT,180
    $SM_CC,650
    $T_DIVE,60
    $T_MISSION,75
Dive 1
    $C_PITCH,3365
    $C_VBD,2888
    $PITCH_GAIN,21.5
    $SM_CC,750
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $ALTIM_PING_DEPTH,100
    $ALTIM_PING_DEPTH,5
    $ALTIM_PULSE,3
    $ALTIM_SENSITIVITY,2
    $ALTIM_TOP_PING_RANGE,20
    $CAPUPLOAD,1
    $C_PITCH,3365
    $C_VBD,2888
    $C_VBD,3309
    $D_TGT,45
    $KALMAN_USE,2
    $MAX_BUOY,150
    $PITCH_GAIN,21.5
    $QUIT
    $RESUME
    $SM_CC,750
    $SM_CC,870
    $T_DIVE,15
    $T_MISSION,30
    $T_RSLEEP,2