Dive 30
    $QUIT
    $QUIT$T_MISSION,35
Dive 28
    $C_PITCH,2480
    $D_TGT,75
    $T_DIVE,25
    $T_MISSION,35
Dive 27
    $GLIDE_SLOPE,30
    $GO
    $MAX_BUOY,200
    $N_DIVES,33
Dive 26
    $ALTIM_PING_DEPTH,110
    $GLIDE_SLOPE,7
    $MAX_BUOY,400
    $QUIT
    $RESUME$T_MISSION,65
Dive 25
    $GLIDE_SLOPE,10
Dive 11
    $C_ROLL_CLIMB,1900
    $MAX_BUOY,175
    $N_DIVES,30
Dive 7
    $MAX_BUOY,200
Dive 5
    $C_ROLL_CLIMB,2000
    $C_ROLL_DIVE,1900
    $GO
Dive 4
    $RESUME
Dive 3
    $C_PITCH,2530
    $D_TGT,150
    $GO$T_MISSION,65
    $MAX_BUOY,250
    $N_DIVES,15
    $N_DIVES,20
    $QUIT$T_MISSION,65
    $RESUME$T_MISSION,65
    $ROLL_DEG,60
    $T_DIVE,50
    $T_MISSION,65
Dive 2
    $C_PITCH,2550
    $N_DIVES,3
    $PITCH_GAIN,12
    $QUIT
    $RESUME$MASS,73414
Dive 1
    $C_PITCH,2590
    $N_DIVES,2
    $PITCH_GAIN,13
    $ALTIM_PING_DEPTH,100
    $ALTIM_SENSITIVITY,4
    $ALTIM_TOP_PING_RANGE,20
    $C_PITCH,2590
    $C_PITCH,2670
    $C_ROLL_CLIMB,2100
    $C_ROLL_DIVE,2050
    $C_VBD,2082
    $D_TGT,75
    $GLIDE_SLOPE,45
    $HEAD_ERRBAND,20
    $MASS,73414
    $MAX_BUOY,200
    $N_DIVES,1
    $N_DIVES,2
    $PITCH_GAIN,13
    $PITCH_GAIN,14.7
    $PITCH_VBD_SHIFT,0.0016
    $QUIT$MASS,73414
    $RESUME
    $ROLL_ADJ_DBAND,0.03
    $ROLL_ADJ_GAIN,1
    $ROLL_DEG,40
    $SM_CC,300
    $T_DIVE,25
    $T_MISSION,40
    $T_RSLEEP,3