Dive 2
    $ALTIM_TOP_PING_RANGE,20
    $C_VBD,2100
    $D_TGT,150
    $GO
    $SM_CC,500
    $T_DIVE,50
    $T_MISSION,60
Dive 1
    $C_PITCH,2430
    $C_VBD,2400
    $SM_CC,600
    $ALTIM_PING_DELTA,5
    $ALTIM_PING_DEPTH,50
    $CAPUPLOAD,1
    $C_PITCH,2338
    $C_PITCH,2430
    $C_ROLL_CLIMB,2332
    $C_ROLL_DIVE,2332
    $C_VBD,2400
    $C_VBD,2710
    $D_TGT,45
    $KALMAN_USE,1
    $MAX_BUOY,150
    $QUIT
    $RESUME
    $SM_CC,600
    $SM_CC,700
    $T_DIVE,15
    $T_MISSION,30
    $T_RSLEEP,2
    $T_TURN,540
    $USE_BATHY,-1