Dive 19
   
    $ALTIM_BOTTOM_TURN_MARGIN,10
    $ALTIM_PING_DELTA,10
    $ALTIM_PING_DEPTH,80
    $C_PITCH,2720
    $D_SURF,4
    $D_TGT,150
    $MAX_BUOY,150
    $QUIT
    $T_DIVE,50
    $T_MISSION,70
    $T_RSLEEP,3
    $USE_BATHY,-4
    $XPDR_VALID,0
Dive 18
Dive 17
    $ALTIM_BOTTOM_TURN_MARGIN,10
    $ALTIM_PING_DELTA,10
    $ALTIM_PING_DEPTH,80
    $C_PITCH,2720
    $D_SURF,4
    $D_TGT,150
    $GO
    $MAX_BUOY,150
    $T_DIVE,50
    $T_MISSION,70
    $T_RSLEEP,3
    $USE_BATHY,-4
    $XPDR_VALID,0
Dive 16
Dive 15
    $ALTIM_BOTTOM_TURN_MARGIN,10
    $ALTIM_PING_DELTA,10
    $ALTIM_PING_DEPTH,80
    $C_PITCH,2720
    $D_SURF,4
    $D_TGT,150
    $GO
    $MAX_BUOY,150
    $T_DIVE,50
    $T_MISSION,70
    $T_RSLEEP,3
    $USE_BATHY,-4
    $XPDR_VALID,0
Dive 14
Dive 13
    $ALTIM_BOTTOM_TURN_MARGIN,10
    $ALTIM_PING_DELTA,10
    $ALTIM_PING_DEPTH,80
    $C_PITCH,2720
    $D_SURF,4
    $D_TGT,150
    $GO
    $MAX_BUOY,150
    $T_DIVE,50
    $T_MISSION,70
    $T_RSLEEP,3
    $USE_BATHY,-4
    $XPDR_VALID,0
Dive 12
Dive 11
    $ALTIM_BOTTOM_TURN_MARGIN,10
    $ALTIM_PING_DELTA,10
    $ALTIM_PING_DEPTH,80
    $C_PITCH,2720
    $D_SURF,4
    $D_TGT,150
    $GO
    $MAX_BUOY,150
    $T_DIVE,50
    $T_MISSION,70
    $T_RSLEEP,3
    $USE_BATHY,-4
    $XPDR_VALID,0
Dive 10
Dive 9
    $ALTIM_BOTTOM_TURN_MARGIN,10
    $ALTIM_PING_DELTA,10
    $ALTIM_PING_DEPTH,80
    $C_PITCH,2720
    $D_SURF,4
    $D_TGT,150
    $GO
    $MAX_BUOY,150
    $T_DIVE,50
    $T_MISSION,70
    $T_RSLEEP,3
    $USE_BATHY,-4
    $XPDR_VALID,0
Dive 8
Dive 7
    $ALTIM_BOTTOM_TURN_MARGIN,10
    $ALTIM_PING_DELTA,10
    $ALTIM_PING_DEPTH,80
    $C_PITCH,2720
    $D_SURF,4
    $D_TGT,150
    $GO
    $MAX_BUOY,150
    $SM_CC,700
    $T_DIVE,50
    $T_MISSION,70
    $T_RSLEEP,3
    $USE_BATHY,-4
    $XPDR_VALID,0
Dive 6
Dive 5
   
    $ALTIM_BOTTOM_TURN_MARGIN,10
    $ALTIM_PING_DELTA,10
    $ALTIM_PING_DEPTH,80
    $C_PITCH,2703
    $C_PITCH,2720
    $D_SURF,4
    $D_TGT,150
    $GO
    $MAX_BUOY,150
    $QUIT
    $RESUME
    $SM_CC,650
    $SM_CC,700
    $T_DIVE,50
    $T_MISSION,70
    $T_RSLEEP,3
    $USE_BATHY,-4
    $XPDR_VALID,0
Dive 4
Dive 3
   
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $ALTIM_BOTTOM_TURN_MARGIN,10
    $ALTIM_PING_DELTA,10
    $ALTIM_PING_DELTA,5
    $ALTIM_PING_DEPTH,50
    $ALTIM_PING_DEPTH,80
    $CAPUPLOAD,1
    $C_PITCH,2676
    $C_PITCH,2703
    $C_VBD,3392
    $D_SURF,4
    $D_TGT,150
    $KALMAN_USE,1
    $MAX_BUOY,150
    $QUIT
    $RESUME
    $SIM_PITCH,0
    $SIM_W,0
    $SM_CC,630
    $SM_CC,650
    $T_DIVE,50
    $T_MISSION,70
    $T_RSLEEP,3
    $USE_BATHY,-4
    $VBD_PUMP_AD_RATE_SURFACE,5
    $XPDR_VALID,0
Dive 2
Dive 1
    $C_PITCH,2676
    $D_TGT,150
    $KALMAN_USE,1
    $SM_CC,630
    $T_DIVE,50
    $T_MISSION,70
   
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $ALTIM_PING_DELTA,5
    $ALTIM_PING_DEPTH,50
    $CAPUPLOAD,1
    $C_PITCH,2616
    $C_PITCH,2676
    $C_VBD,3392
    $D_SURF,4
    $D_TGT,150
    $D_TGT,45
    $KALMAN_USE,0
    $KALMAN_USE,1
    $MAX_BUOY,150
    $QUIT
    $RESUME
    $SIM_PITCH,0
    $SIM_W,0
    $SM_CC,600
    $SM_CC,630
    $T_DIVE,15
    $T_DIVE,50
    $T_MISSION,30
    $T_MISSION,70
    $T_RSLEEP,3
    $USE_BATHY,-4
    $VBD_PUMP_AD_RATE_SURFACE,5
    $XPDR_VALID,0