Dive 21
    $D_TGT,90
    $QUIT
    $SM_CC,300
    $T_DIVE,30
    $T_MISSION,40
Dive 20
    $ALTIM_PING_DEPTH,0
    $C_VBD,1800
    $HD_A,3.18893e-03
    $HD_B,8.22699e-03
    $HD_C,3.24089e-06
    $ROLL_AD_RATE,200
    $T_DIVE,60
Dive 13
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $D_TGT,190
    $GLIDE_SLOPE,45
    $MAX_BUOY,200
    $SM_CC,230
    $T_DIVE,90
    $USE_BATHY,-6
Dive 12
    $T_DIVE,95
Dive 11
    $C_VBD,1880
    $HD_A,4.19e-03;
    $HD_B,8.083e-03;
    $T_DIVE,45
Dive 10
    $ALTIM_TOP_PING_RANGE,0
    $C_PITCH,2795
    $MAX_BUOY,120
Dive 7
    $ALTIM_BOTTOM_TURN_MARGIN,15
    $ALTIM_PING_DEPTH,140
    $D_TGT,200
    $GLIDE_SLOPE,40
    $MAX_BUOY,250
    $T_DIVE,95
    $T_MISSION,100
    $USE_BATHY,0
Dive 6
    $C_VBD,1790
    $GLIDE_SLOPE,20
    $MAX_BUOY,300
Dive 4
    $ALTIM_SENSITIVITY,3
    $ALTIM_TOP_PING_DEPTH,0
    $C_PITCH,2790
    $C_VBD,1880
    $MASS,52269
    $MAX_BUOY,60
    $PITCH_GAIN,24
    $SM_CC,250
Dive 3
    $GO
Dive 2
    $ALTIM_PULSE,5
    $C_PITCH,2795
    $C_VBD,1790
    $MAX_BUOY,90
    $PITCH_GAIN,23
    $SM_CC,270
    $XPDR_VALID,6
Dive 1
    $C_ROLL_DIVE,2200
    $D_TGT,180
    $PITCH_GAIN,24
    $SM_CC,250
    $T_DIVE,60
    $T_MISSION,80
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $ALTIM_TOP_PING_RANGE,20
    $C_PITCH,2820
    $C_ROLL_DIVE,2200
    $C_VBD,1835
    $D_TGT,180
    $D_TGT,45
    $MAX_BUOY,150
    $PITCH_GAIN,24
    $PITCH_GAIN,25
    $QUIT
    $RESUME
    $SM_CC,250
    $SM_CC,345
    $T_DIVE,15
    $T_DIVE,60
    $T_MISSION,25
    $T_MISSION,80
    $T_RSLEEP,3
    $USE_BATHY,-6