Dive 33
    $QUIT
    $T_RSLEEP,180
    $T_RSLEEP,57
    $T_RSLEEP,7
Dive 32
    $ALTIM_PING_DEPTH,0
    $PITCH_ADJ_DBAND,0.5
Dive 20
    $PITCH_ADJ_DBAND,1
    $PITCH_ADJ_GAIN,0.04
    $PITCH_VBD_SHIFT,0.0
Dive 18
    $C_PITCH,3110
    $PITCH_ADJ_GAIN,1
    $PITCH_VBD_SHIFT,0.04
Dive 16
    $KALMAN_USE,13
Dive 15
    $KALMAN_USE,12
Dive 14
    $KALMAN_USE,13
Dive 13
    $KALMAN_USE,1
Dive 9
    $ALTIM_TOP_PING_RANGE,0
    $C_PITCH,3128
    $C_ROLL_CLIMB,2307
    $C_ROLL_DIVE,2390
    $KALMAN_USE,0
    $PITCH_GAIN,22.5
    $SM_CC,250
    $T_MISSION,390
    $T_RSLEEP,12
Dive 5
    $GO
Dive 4
    $D_TGT,990
    $T_DIVE,330
    $T_MISSION,360
Dive 3
    $D_TGT,300
    $PITCH_GAIN,23
    $T_DIVE,100
    $T_MISSION,120
Dive 2
    $C_PITCH,3180
    $PITCH_VBD_SHIFT,0.0
    $SM_CC,350
Dive 1
    $C_PITCH,3262
    $C_VBD,2672
    $D_TGT,150
    $T_DIVE,50
    $T_MISSION,60
    $ALTIM_BOTTOM_TURN_MARGIN,10
    $ALTIM_PING_DELTA,10
    $ALTIM_PING_DEPTH,100
    $ALTIM_TOP_PING_RANGE,20
    $C_PITCH,3262
    $C_PITCH,3350
    $C_ROLL_CLIMB,2400
    $C_ROLL_DIVE,2300
    $C_VBD,2288
    $C_VBD,2672
    $D_TGT,150
    $D_TGT,45
    $KALMAN_USE,2
    $MAX_BUOY,150
    $PITCH_ADJ_DBAND,0
    $PITCH_ADJ_GAIN,0
    $PITCH_GAIN,24.4
    $PITCH_VBD_SHIFT,0.00246
    $QUIT
    $RESUME
    $SM_CC,430
    $T_DIVE,15
    $T_DIVE,50
    $T_MISSION,30
    $T_MISSION,60
    $T_RSLEEP,2
    $T_TURN,290
    $USE_BATHY,0