Dive 19
    $QUIT
Dive 18
    $T_DIVE,50
    $T_MISSION,70
Dive 12
    $ALTIM_PING_DEPTH,115
Dive 11
    $C_ROLL_CLIMB,2050
    $C_ROLL_DIVE,2220
    $GLIDE_SLOPE,35
    $HEAD_ERRBAND,10
    $MAX_BUOY,120
    $T_DIVE,75
    $T_MISSION,90
Dive 10
    $C_ROLL_CLIMB,350
    $C_ROLL_DIVE,350
    $GLIDE_SLOPE,20
    $MAX_BUOY,300
Dive 9
    $C_PITCH,3505
    $C_ROLL_CLIMB,3500
    $C_ROLL_DIVE,3500
    $D_TGT,180
    $GLIDE_SLOPE,50
    $HEADING,-1
    $HEAD_ERRBAND,180
    $MAX_BUOY,90
    $T_DIVE,50
Dive 5
    $D_TGT,115
    $GO
    $HEADING,245
    $MAX_BUOY,250
    $T_DIVE,24
    $W_ADJ_DBAND,5
Dive 4
    $ALTIM_BOTTOM_TURN_MARGIN,15
    $ALTIM_PING_DEPTH,100
    $C_PITCH,3480
    $D_TGT,150
    $QUIT
    $T_DIVE,50
    $USE_BATHY,-6
Dive 3
    $ALTIM_PING_DEPTH,110
    $C_PITCH,3450
    $D_TGT,180
    $GLIDE_SLOPE,30
    $GLIDE_SLOPE,40
    $HEAD_ERRBAND,15
    $MAX_BUOY,150
    $QUIT
    $ROLL_DEG,65
    $SM_CC,320
    $T_DIVE,60
    $USE_BATH,-6
Dive 2
    $C_PITCH,3380
    $D_TGT,150
    $SM_CC,300
    $T_DIVE,50
    $T_MISSION,70
Dive 1
    $C_PITCH,3208
    $C_PITCH,3250
    $C_ROLL_CLIMB,2050
    $C_ROLL_DIVE,2220
    $C_VBD,2221
    $D_TGT,60
    $PITCH_GAIN,12.5
    $T_DIVE,20
    $T_MISSION,30
    $ALTIM_FREQUENCY,13
    $ALTIM_PING_DELTA,5
    $ALTIM_PING_DEPTH,90
    $ALTIM_PULSE,3
    $ALTIM_SENSITIVITY,2
    $C_PITCH,2959
    $C_PITCH,3208
    $C_PITCH,3250
    $C_ROLL_CLIMB,2050
    $C_ROLL_CLIMB,2150
    $C_ROLL_DIVE,2150
    $C_ROLL_DIVE,2220
    $C_VBD,2221
    $C_VBD,2564
    $D_TGT,45
    $D_TGT,60
    $HEAD_ERRBAND,10
    $MAX_BUOY,200
    $PITCH_GAIN,12.5
    $PITCH_GAIN,20
    $QUIT
    $RESUME
    $ROLL_DEG,55
    $SM_CC,500
    $T_DIVE,15
    $T_DIVE,20
    $T_MISSION,20
    $T_MISSION,30
    $T_RSLEEP,3
    $USE_BATHY,-6
    $XPDR_VALID,4