Dive 21
    $QUIT
Dive 20
    $C_ROLL_CLIMB,2650
    $C_ROLL_DIVE,2650
    $GLIDE_SLOPE,30
    $HEAD_ERRBAND,10
    $MAX_BUOY,200
Dive 19
    $C_ROLL_CLIMB,3500
    $C_ROLL_DIVE,3500
    $GLIDE_SLOPE,45
    $MAX_BUOY,90
Dive 18
    $C_ROLL_CLIMB,350
    $C_ROLL_DIVE,350
    $HEAD_ERRBAND,180
    $N_DIVES,25
Dive 17
    $ALTIM_FREQUENCY,13
    $ALTIM_PING_DEPTH,120
    $ALTIM_PULSE,7
    $ALTIM_SENSITIVITY,3
    $C_VBD,1800
    $GLIDE_SLOPE,20
    $MAX_BUOY,300
    $ROLL_DEG,45
Dive 12
    $ALTIM_FREQUENCY,14
    $ALTIM_PULSE,6
    $ALTIM_SENSITIVITY,2
    $ALTIM_TOP_PING_RANGE,15
    $GLIDE_SLOPE,45
Dive 11
    $C_VBD,1850
    $D_FLARE,2
    $GO
    $HD_A,0.004
    $HD_B,0.012
    $HD_C,5.7e-6
    $MAX_BUOY,100
    $ROLL_DEG,50
Dive 10
    $C_PITCH,3175
    $PITCH_GAIN,15
    $QUIT
    $RESUME
Dive 9
    $ALTIM_PULSE,3
    $ALTIM_SENSITIVITY,3
    $ALTIM_TOP_PING_RANGE,30
    $N_DIVES,20
Dive 8
    $C_PITCH,3150
    $C_VBD,1880
Dive 7
    $GO
Dive 6
    $C_PITCH,3122
    $C_ROLL_CLIMB,2600
    $C_ROLL_DIVE,2600
    $D_FLARE,3
    $D_TGT,180
    $HEADING,-1
    $MAX_BUOY,150
    $MAX_BUOY,200
    $ROLL_DEG,54
    $SM_CC,350
    $SM_CC,370
    $T_DIVE,60
    $T_MISSION,90
Dive 5
   
    $ALTIM_PING_DELTA,2
    $ALTIM_PULSE,7
    $D_FINISH,0
    $LOGGERS,1
    $N_NOSURFACE,0
Dive 3
    $C_PITCH,3138
    $C_VBD,1920
    $HEADING,270
    $MAX_BUOY,300
    $N_DIVES,3
    $N_DIVES,5
    $T_RSLEEP,1
Dive 1
    $CAPUPLOAD,1
    $C_VBD,1950
    $MAX_BUOY,400
    $N_DIVES,10
    $ALTIM_FREQUENCY,13
    $ALTIM_PING_DELTA,1
    $ALTIM_PING_DEPTH,90
    $ALTIM_PULSE,9
    $ALTIM_SENSITIVITY,1
    $ALTIM_TOP_PING_RANGE,20
    $CAPUPLOAD,1
    $C_VBD,1950
    $D_TGT,45
    $MAX_BUOY,150
    $MAX_BUOY,400
    $N_DIVES,1
    $N_DIVES,10
    $QUIT
    $RESUME
    $SM_CC,500
    $T_DIVE,15
    $T_MISSION,20
    $T_RSLEEP,3
    $USE_BATHY,-6