Dive 34
Dive 33
    $QUIT
    $RESUME
Dive 32
    $ALTIM_PULSE,5
    $ALTIM_SENSITIVITY,4
    $XPDR_VALID,6
Dive 28
    $ALTIM_SENSITIVITY,3
    $T_DIVE,50
    $T_MISSION,60
    $XPDR_VALID,5
Dive 15
    $PITCH_ADJ_DBAND,1
    $PITCH_ADJ_GAIN,0.04
    $SM_CC,400
    $T_DIVE,80
    $T_MISSION,100
    $USE_BATHY,0
    $XPDR_VALID,4
Dive 8
    $ALTIM_PULSE,4
    $XPDR_VALID,3
Dive 5
    $ALTIM_SENSITIVITY,2
    $XPDR_VALID,2
Dive 4
    $GO
Dive 3
    $ALTIM_PULSE,5
    $ALTIM_SENSITIVITY,3
    $RESUME
    $XPDR_VALID,1
Dive 2
Dive 1
    $C_PITCH,2260
    $D_TGT,150
    $SM_CC,500
    $T_DIVE,50
    $T_MISSION,60
    $ALTIM_PING_DELTA,10
    $ALTIM_PING_DEPTH,60
    $C_PITCH,2260
    $C_VBD,3225
    $D_SURF,4
    $D_TGT,150
    $D_TGT,45
    $KALMAN_USE,1
    $PITCH_ADJ_DBAND,0
    $PITCH_ADJ_GAIN,0
    $QUIT
    $RESUME
    $SM_CC,500
    $SM_CC,660
    $T_DIVE,15
    $T_DIVE,50
    $T_MISSION,30
    $T_MISSION,60
    $T_NO_W,300
    $T_RSLEEP,2
    $USE_BATHY,-1