Dive 22
    $QUIT
Dive 8
    $ALTIM_PING_DEPTH,70
    $T_DIVE,62.5
    $T_MISSION,80
    $USE_BATHY,0
Dive 2
    $GO
Dive 1
    $C_PITCH,2700
    $D_SURF,4
    $D_TGT,150
    $HEADING,-1
    $SM_CC,695
    $T_DIVE,50
    $T_MISSION,60
    $ALTIM_PING_DELTA,10
    $ALTIM_PINT_DEPTH,70
    $ALTIM_TOP_PING_RANGE,20
    $CF8_MAXERRORS,3
    $C_PITCH,2500
    $C_PITCH,2700
    $C_VBD,3239
    $D_SURF,2
    $D_SURF,4
    $D_TGT,150
    $D_TGT,45
    $HEADING,-1
    $KALMAN_USE,1
    $MAX_BUOY,150
    $PITCH_ADJ_DBAND,0
    $PITCH_ADJ_GAIN,0
    $PITCH_MAXERRORS,1
    $QUIT
    $RESUME
    $ROLL_ADJ_DBAND,0
    $ROLL_ADJ_GAIN,0
    $ROLL_MAXERRORS,1
    $SM_CC,690
    $SM_CC,695
    $T_DIVE,15
    $T_DIVE,50
    $T_MISSION,30
    $T_MISSION,60
    $T_RSLEEP,2
    $USE_BATHY,-1