Dive 24
    $PITCH_ADJ_DBAND,2
    $PITCH_ADJ_GAIN,0.1
    $QUIT
    $T_RSLEEP,12
Dive 17
    $D_TGT,180
    $T_DIVE,80
    $T_MISSION,100
Dive 13
    $ALTIM_PING_DEPTH,90
    $D_TGT,120
    $T_DIVE,40
    $T_MISSION,60
Dive 12
    $GO
Dive 11
    $D_TGT,90
    $HEADING,-1
    $KALMAN_USE,0
    $MAX_BUOY,150
    $T_DIVE,30
    $T_MISSION,45
Dive 10
    $D_TGT,60
    $T_DIVE,20
    $T_MISSION,40
Dive 9
    $CAPUPLOAD,0
Dive 8
    $MAX_BUOY,250
    $T_MISSION,30
Dive 7
    $D_TGT,45
    $HEADING,270
    $T_DIVE,15
Dive 6
    $ALTIM_BOTTOM_TURN_MARGIN,10
    $ALTIM_PING_DEPTH,20
    $ALTIM_PING_DEPTH,50
    $QUIT
    $RESUME
Dive 5
    $USE_BATHY,0
Dive 4
    $GO
Dive 3
    $SM_CC,300
Dive 2
    $ALTIM_PING_DELTA,5
    $ALTIM_PING_DEPTH,100
    $C_PITCH,3050
    $C_ROLL_CLIMB,2300
    $C_ROLL_DIVE,2200
    $PITCH_GAIN,21.2
    $RESUME
Dive 1
    $C_PITCH,3000
    $D_TGT,150
    $PITCH_ADJ_DBAND,0
    $PITCH_ADJ_GAIN,0
    $T_DIVE,50
    $T_TURN,290
    $ALTIM_TOP_PING_RANGE,20
    $CAPUPLOAD,1
    $C_PITCH,2776
    $C_PITCH,3000
    $C_VBD,2742
    $D_NO_BLEED,200
    $D_TGT,150
    $D_TGT,45
    $HEAD_ERRBAND,15
    $MAX_BUOY,150
    $PITCH_ADJ_DBAND,0
    $PITCH_ADJ_GAIN,0
    $QUIT
    $ROLL_DEG,40
    $SM_CC,540
    $T_DIVE,15
    $T_DIVE,50
    $T_MISSION,30
    $T_MISSION,60
    $T_RSLEEP,2
    $T_TURN,290