Dive 21
    $QUIT
Dive 10
    $ALTIM_PING_DEPTH,120
    $ALTIM_PULSE,5
    $ALTIM_SENSITIVITY,4
    $SM_CC,300
Dive 6
    $SM_CC,400
Dive 5
    $ALTIM_PING_DEPTH,75
    $D_TGT,180
Dive 3
    $ALTIM_BOTTOM_TURN_MARGIN,15
    $C_PITCH,2480
    $GO
    $T_ABORT,120
    $T_DIVE,60
    $T_MISSION,90
    $USE_BATHY,0
Dive 2
Dive 1
    $C_PITCH,2400
    $D_TGT,90
    $SM_CC,600
    $T_ABORT,60
    $T_DIVE,30
    $T_MISSION,45
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $ALTIM_PING_DELTA,5
    $ALTIM_PING_DEPTH,100
    $ALTIM_PULSE,3
    $ALTIM_SENSITIVITY,2
    $ALTIM_TOP_PING_RANGE,20
    $CALL_WAIT,60
    $C_PITCH,2400
    $C_VBD,2345
    $D_ABORT,6000
    $D_NO_BLEED,50
    $D_SURF,3
    $D_TGT,45
    $D_TGT,90
    $KALMAN_USE,2
    $MAX_BUOY,150
    $NOCOMM_ACTION,384
    $N_GPS,100840
    $QUIT
    $RESUME
    $ROLL_DEG,45
    $SM_CC,600
    $SM_CC,900
    $T_ABORT,120
    $T_ABORT,60
    $T_DIVE,16
    $T_DIVE,30
    $T_MISSION,31
    $T_MISSION,45
    $T_RSLEEP,2
    $T_SLOITER,60
    $USE_BATHY,-6
    / 12 samples at 5s in upper bin
    / extend T_DIVE, T_MISSION by T_SLOITER
    / from ballasting for Port Susan 1/23/2017
    / xmit position as SMS, use both phone numbers 110000000