Dive 21
    $ALTIM_PING_DELTA,10
    $QUIT
Dive 20
    $SM_CC,350
Dive 19
    $MAX_BUOY,120
    $T_DIVE,50
Dive 12
    $PITCH_GAIN,26
    $SM_CC,290
Dive 8
    $C_ROLL_CLIMB,2050
    $C_ROLL_DIVE,2150
    $GLIDE_SLOPE,45
    $HEAD_ERRBAND,15
    $MAX_BUOY,60
    $USE_BATHY,0
Dive 7
    $C_PITCH,2920
    $C_ROLL_CLIMB,3700
    $C_ROLL_DIVE,3700
    $GLIDE_SLOPE,20
    $MAX_BUOY,250
    $PITCH_GAIN,25
Dive 6
    $C_ROLL_CLIMB,350
    $C_ROLL_DIVE,350
    $D_TGT,180
    $GLIDE_SLOPE,45
    $HEAD_ERRBAND,180
    $MAX_BUOY,90
    $T_DIVE,60
Dive 4
    $ALTIM_BOTTOM_TURN_MARGIN,15
Dive 3
    $ALTIM_TOP_PING_RANGE,0
    $C_PITCH,2914
    $PITCH_GAIN,26
    $SM_CC,250
Dive 2
    $GO
Dive 1
    $C_PITCH,2930
    $C_ROLL_CLIMB,2050
    $C_ROLL_DIVE,2150
    $D_TGT,150
    $SM_CC,290
    $T_DIVE,50
    $T_MISSION,70
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $ALTIM_PING_DELTA,5
    $ALTIM_PING_DEPTH,100
    $ALTIM_TOP_PING_RANGE,20
    $C_PITCH,2850
    $C_PITCH,2930
    $C_ROLL_CLIMB,2050
    $C_ROLL_CLIMB,2100
    $C_ROLL_DIVE,2100
    $C_ROLL_DIVE,2150
    $C_VBD,1888
    $D_TGT,150
    $D_TGT,45
    $MAX_BUOY,150
    $QUIT
    $RESUME
    $SM_CC,290
    $T_DIVE,15
    $T_DIVE,50
    $T_MISSION,20
    $T_MISSION,70
    $T_RSLEEP,3