Dive 18
    $QUIT
    $T_RSLEEP,8
Dive 17
    $CAPUPLOAD,0
    $D_TGT,150
    $SM_CC,370
    $T_DIVE,50
    $T_MISSION,60
    $T_RSLEEP,2
Dive 12
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $ALTIM_PING_DEPTH,0
    $D_TGT,180
    $GLIDE_SLOPE,20
    $MAX_BUOY,200
    $T_MISSION,100
    $USE_BATHY,-6
Dive 9
    $C_ROLL_CLIMB,1750
    $GLIDE_SLOPE,15
    $MAX_BUOY,250
    $SM_CC,320
Dive 7
    $C_ROLL_CLIMB,1800
    $C_ROLL_DIVE,2000
    $GLIDE_SLOPE,45
    $HEAD_ERRBAND,10
    $MAX_BUOY,90
Dive 6
    $ALTIM_BOTTOM_TURN_MARGIN,15
    $C_PITCH,2562
    $C_ROLL_CLIMB,3580
    $C_ROLL_DIVE,3580
    $GLIDE_SLOPE,20
    $MAX_BUOY,200
Dive 5
    $ALTIM_BOTTOM_TURN_MARGIN,20
    $ALTIM_PING_DEPTH,120
    $C_ROLL_CLIMB,350
    $C_ROLL_DIVE,350
    $GLIDE_SLOPE,45
    $HEAD_ERRBAND,180
    $MAX_BUOY,80
    $SM_CC,280
    $T_RSLEEP,3
    $USE_BATHY,0
Dive 3
    $GO
Dive 2
    $ALTIM_PING_DEPTH,100
    $ALTIM_PING_DEPTH,110
    $ALTIM_TOP_PING_RANGE,0
    $COMM_SEQ,0
    $COMM_SEQ,1
    $D_TGT,200
    $N_DIVES,0
    $PITCH_GAIN,28
    $T_DIVE,90
    $T_MISSION,95
    $T_RSLEEP,2
Dive 1
    $C_PITCH,2558
    $C_ROLL_CLIMB,1850
    $C_ROLL_DIVE,1850
    $D_TGT,180
    $N_DIVES,2
    $PITCH_GAIN,26.5
    $SM_CC,300
    $T_DIVE,60
    $T_MISSION,85
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $ALTIM_PING_DEPTH,90
    $ALTIM_TOP_PING_RANGE,30
    $C_PITCH,2544
    $C_PITCH,2558
    $C_ROLL_CLIMB,1850
    $C_ROLL_CLIMB,1900
    $C_ROLL_DIVE,1850
    $C_ROLL_DIVE,1900
    $C_VBD,2106
    $D_NO_BLEED,100
    $D_TGT,180
    $D_TGT,45
    $MAX_BUOY,150
    $N_DIVES,2
    $PITCH_GAIN,26.5
    $QUIT
    $RESUME
    $SM_CC,300
    $SM_CC,382
    $T_DIVE,15
    $T_DIVE,60
    $T_MISSION,25
    $T_MISSION,85
    $T_RSLEEP,3
    $USE_BATHY,-6