Dive 26
    $COMPASS_USE,0
    $C_ROLL_CLIMB,1800
    $C_ROLL_DIVE,1800
    $HEAD_ERRBAND,20
    $QUIT
Dive 25
    $C_ROLL_CLIMB,1300
    $C_ROLL_DIVE,1300
    $GO
Dive 24
    $T_DIVE,50
    $T_MISSION,60
Dive 23
    $C_ROLL_CLIMB,2300
    $C_ROLL_DIVE,2300
    $USE_BATHY,-1
Dive 22
    $C_ROLL_CLIMB,1300
    $C_ROLL_DIVE,1300
    $HEAD_ERRBAND,361
    $QUIT
    $RESUME
Dive 21
    $COMPASS_USE,4
    $HEAD_ERRBAND,20
Dive 19
    $MAX_BUOY,150
Dive 12
    $ROLL_DEG,15
    $T_NO_W,150
Dive 10
    $ROLL_DEG,10
Dive 8
    $C_ROLL_CLIMB,1800
    $C_ROLL_DIVE,1800
    $T_DIVE,75
    $T_MISSION,90
Dive 6
    $ROLL_DEG,20
Dive 5
    $GO
Dive 4
Dive 3
    $MAX_BUOY,300
    $USE_BATHY,0
Dive 2
    $C_PITCH,1720
    $C_ROLL_CLIMB,1840
    $C_ROLL_DIVE,1840
    $PITCH_GAIN,16
    $SM_CC,500
Dive 1
    $D_TGT,150
    $T_DIVE,50
    $T_MISSION,60
    $ALTIM_PING_DEPTH,60
    $C_PITCH,1750
    $C_ROLL_CLIMB,1680
    $C_ROLL_DIVE,1730
    $C_VBD,2618
    $D_TGT,150
    $D_TGT,45
    $MAX_BUOY,150
    $PITCH_GAIN,19
    $QUIT
    $RESUME
    $SM_CC,720
    $T_DIVE,15
    $T_DIVE,50
    $T_MISSION,30
    $T_MISSION,60
    $T_NO_W,300
    $T_RSLEEP,2
    $USE_BATHY,-1