Dive 21
    $QUIT
Dive 14
    $ALTIM_PING_DELTA,10
    $ALTIM_PING_DEPTH,60
    $ALTIM_SENSITIVITY,4
    $ALTIM_TOP_PING_RANGE,20
    $CAPUPLOAD,0
    $COMPASS_USE,4
    $C_PITCH,2177
    $C_VBD,3455
    $D_NO_BLEED,200
    $D_SURF,5
    $D_TGT,150
    $GO
    $HEAD_ERRBAND,15
    $MAX_BUOY,300
    $PITCH_GAIN,15
    $SM_CC,970
    $T_DIVE,50
    $T_MISSION,60
    $T_RSLEEP,2
Dive 13
Dive 12
    $GO
Dive 11
    $ALTIM_PING_DELTA,10
    $ALTIM_PING_DEPTH,60
    $ALTIM_SENSITIVITY,4
    $ALTIM_TOP_PING_RANGE,20
    $CAPUPLOAD,0
    $COMPASS_USE,4
    $C_PITCH,2177
    $C_VBD,3455
    $D_NO_BLEED,200
    $D_SURF,5
    $D_TGT,150
    $HEAD_ERRBAND,15
    $MAX_BUOY,300
    $PITCH_GAIN,15
    $QUIT
    $RESUME
    $SM_CC,970
    $T_DIVE,50
    $T_MISSION,60
    $T_RSLEEP,2
Dive 9
Dive 6
    $ALTIM_SENSITIVITY,3
    $CAPUPLOAD,0
    $GO
    $SM_CC,900
Dive 5
    $D_SURF,5
    $MAX_BUOY,300
    $PITCH_GAIN,12
Dive 3
    $ALTIM_PING_DELTA,10
    $ALTIM_PING_DEPTH,60
    $ALTIM_TOP_PING_RANGE,20
    $CAPUPLOAD,1
    $COMPASS_USE,4
    $C_PITCH,2177
    $C_VBD,3455
    $D_NO_BLEED,200
    $D_TGT,150
    $HEAD_ERRBAND,15
    $MAX_BUOY,150
    $RESUME
    $SM_CC,970
    $T_DIVE,50
    $T_MISSION,60
    $T_RSLEEP,2
Dive 2
Dive 1
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $ALTIM_PING_DELTA,0
    $ALTIM_PING_DEPTH,0
    $ALTIM_TOP_PING_RANGE,0
    $D_SURF,2
    $D_TGT,90
    $GLOBE_SLOPE,45
    $HD_A,0.0047458
    $HD_B,0.011518
    $HD_C,5.7096e-5
    $HEAD_ERRBAND,181
    $MAX_BUOY,100
    $SM_CC,100
    $T_DIVE,30
    $T_MISSION,60
    $T_NO_W,1800
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $ALTIM_BOTTOM_TURN_MARGIN,10
    $ALTIM_PING_DELTA,0
    $ALTIM_PING_DELTA,10
    $ALTIM_PING_DEPTH,0
    $ALTIM_PING_DEPTH,60
    $ALTIM_TOP_PING_RANGE,0
    $ALTIM_TOP_PING_RANGE,20
    $CAPUPLOAD,0
    $CAPUPLOAD,1
    $COMPASS_USE,4
    $C_PITCH,2177
    $C_VBD,3455
    $D_NO_BLEED,200
    $D_SURF,2
    $D_TGT,45
    $D_TGT,90
    $GLOBE_SLOPE,45
    $HD_A,0.0047458
    $HD_B,0.011518
    $HD_C,5.7096e-5
    $HEAD_ERRBAND,15
    $HEAD_ERRBAND,181
    $MAX_BUOY,100
    $MAX_BUOY,150
    $PITCH_GAIN,14
    $QUIT
    $RESUME
    $SM_CC,100
    $SM_CC,970
    $T_DIVE,15
    $T_DIVE,30
    $T_MISSION,30
    $T_MISSION,60
    $T_NO_W,1800
    $T_NO_W,300
    $T_RSLEEP,2
    $T_TURN_SAMPINT,5