Dive 26
    $QUIT
    $T_RSLEEP,57
    $T_RSLEEP,7
Dive 20
    $D_SURF,5
    $D_TGT,540
    $STOP_T,9111806
    $T_DIVE,180
Dive 17
    $ALTIM_BOTTOM_TURN_MARGIN,15
    $T_SLOITER,60
Dive 16
    $GO
Dive 15
    $ALTIM_PING_DEPTH,2000
    $C_PITCH,2748
    $C_ROLL_CLIMB,2044
    $C_ROLL_DIVE,2216
    $C_VBD,2510
    $D_FLARE,5
    $D_TGT,5400
    $MAX_BUOY,150
    $QUIT
    $RESUME
    $STOP_T,9201819
    $T_ABORT,1920
    $T_DIVE,1800
    $T_MISSION,1860
Dive 9
    $GO
Dive 8
    $C_ROLL_CLIMB,2122
    $C_ROLL_DIVE,2122
    $D_TGT,540
    $HEAD_ERRBAND,15
    $MAX_BUOY,250
    $T_DIVE,180
    $T_MISSION,210
Dive 7
    $GLIDE_SLOPE,45
    $MAX_BUOY,150
    $T_DIVE,30
    $T_MISSION,60
Dive 6
    $C_ROLL_CLIMB,225
    $C_ROLL_DIVE,225
    $MAX_BUOY,75
    $T_DIVE,60
Dive 5
    $CAPUPLOAD,0
    $C_PITCH,2779
    $C_ROLL_CLIMB,3795
    $C_ROLL_DIVE,3795
    $C_VBD,2649
    $SM_CC,500
Dive 4
    $C_ROLL_CLIMB,225
    $C_ROLL_DIVE,225
    $D_TGT,360
    $MAX_BUOY,250
    $T_DIVE,120
    $T_MISSION,150
Dive 3
    $GLIDE_SLOPE,40
    $HEAD_ERRBAND,180
    $MAX_BUOY,150
    $T_DIVE,80
Dive 2
    $C_PITCH,2800
    $D_TGT,180
    $MAX_BUOY,350
    $T_DIVE,60
    $T_MISSION,90
Dive 1
    $C_PITCH,3000
    $HEAD_ERRBAND,15
    $ALTIM_BOTTOM_TURN_MARGIN,25
    $ALTIM_FREQUENCY,13
    $ALTIM_PING_DEPTH,1000
    $ALTIM_PULSE,2
    $ALTIM_SENSITIVITY,3
    $C_PITCH,3000
    $C_PITCH,3366
    $C_ROLL_CLIMB,2122
    $C_ROLL_DIVE,2122
    $C_VBD,2402
    $D_TGT,45
    $GLIDE_SLOPE,30
    $HEAD_ERRBAND,15
    $MAX_BUOY,250
    $NAV_MODE,2
    $PITCH_GAIN,16.2
    $QUIT
    $RESUME
    $SM_CC,590
    $STOP_T,9131819
    $T_ABORT,1440
    $T_DIVE,15
    $T_MISSION,30
    $T_RSLEEP,2
    $USE_BATHY,0