Dive 20
    $QUIT
Dive 19
    $N_DIVES,0
    $SM_CC,305
Dive 12
    $ALTIM_PING_DEPTH,0
    $C_ROLL_CLIMB,1730
    $C_ROLL_DIVE,1550
    $GLIDE_SLOPE,30
    $HEAD_ERRBAND,10
    $MAX_BUOY,150
    $T_DIVE,75
Dive 11
    $C_ROLL_CLIMB,333
    $C_ROLL_DIVE,335
    $GLIDE_SLOPE,15
    $MAX_BUOY,250
Dive 10
    $C_ROLL_CLIMB,3330
    $C_ROLL_DIVE,3350
    $GLIDE_SLOPE,45
    $HEAD_ERRBAND,180
    $MAX_BUOY,80
    $T_DIVE,65
Dive 8
    $ALTIM_PING_DEPTH,110
    $ALTIM_PULSE,5
    $ALTIM_SENSITIVITY,4
    $C_PITCH,2948
    $C_ROLL_CLIMB,1730
    $C_ROLL_DIVE,1550
    $C_VBD,1745
    $MAX_BUOY,150
    $N_DIVES,25
    $PITCH_GAIN,30.8
    $SM_CC,235
    $T_DIVE,75
    $T_MISSION,85
    $USE_BATHY,-6
Dive 4
    $C_PITCH,2950
Dive 3
    $GO
Dive 2
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $ALTIM_PING_DEPTH,100
    $D_TGT,180
    $N_DIVES,25
    $T_DIVE,65
    $T_MISSION,75
    $T_RSLEEP,3
Dive 1
    $C_PITCH,2970
    $C_ROLL_CLIMB,1580
    $C_ROLL_DIVE,1580
    $D_TGT,150
    $N_DIVES,2
    $N_DIVES,3
    $PITCH_GAIN,33
    $QUIT
    $SM_CC,250
    $T_DIVE,50
    $T_MISSION,72
    $T_RSLEEP,3
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $ALTIM_PING_DEPTH,80
    $C_PITCH,2950
    $C_PITCH,2970
    $C_ROLL_CLIMB,1550
    $C_ROLL_CLIMB,1580
    $C_ROLL_DIVE,1550
    $C_ROLL_DIVE,1580
    $C_VBD,1745
    $D_TGT,150
    $D_TGT,45
    $GLIDE_SLOPE,30
    $HEAD_ERRBAND,10
    $MAX_BUOY,150
    $N_DIVES,2
    $N_DIVES,3
    $PITCH_GAIN,30
    $PITCH_GAIN,33
    $QUIT
    $RESUME
    $SM_CC,250
    $SM_CC,310
    $T_DIVE,15
    $T_DIVE,50
    $T_MISSION,22
    $T_MISSION,72
    $T_RSLEEP,3
    $USE_BATHY,-6