Dive 22
Dive 21
    $QUIT
    $RESUME
Dive 18
    $GLIDE_SLOPE,45
    $T_DIVE,25
    $T_MISSION,35
Dive 16
    $T_DIVE,100
    $T_MISSION,120
Dive 15
    $ALTIM_BOTTOM_TURN_MARGIN,15
    $ALTIM_TOP_PING_RANGE,20
    $CAPUPLOAD,1
    $C_PITCH,3250
    $C_VBD,3239
    $D_TGT,150
    $GO
    $HD_A,0.0038945
    $HD_B,0.0099685
    $HD_C,2.57e-6
    $MAX_BUOY,150
    $PITCH_ADJ_DBAND,0
    $PITCH_ADJ_GAIN,0
    $PITCH_GAIN,12
    $SM_CC,700
    $T_DIVE,75
    $T_MISSION,90
    $T_RSLEEP,2
    $USE_BATHY,0
Dive 14
    $QUIT
Dive 9
    $ALTIM_BOTTOM_TURN_MARGIN,15
    $C_PITCH,3250
    $T_DIVE,75
    $T_MISSION,90
    $USE_BATHY,0
Dive 8
    $ALTIM_TOP_PING_RANGE,20
    $CAPUPLOAD,1
    $C_PITCH,3215
    $C_VBD,3239
    $D_TGT,150
    $GO
    $HD_A,0.0038945
    $HD_B,0.0099685
    $HD_C,2.57e-6
    $MAX_BUOY,150
    $PITCH_ADJ_DBAND,0
    $PITCH_ADJ_GAIN,0
    $PITCH_GAIN,12
    $SM_CC,700
    $T_DIVE,50
    $T_MISSION,60
    $T_RSLEEP,2
Dive 7
Dive 5
    $GO
Dive 4
    $HD_A,0.0038945
    $HD_B,0.0099685
    $HD_C,2.57e-6
    $QUIT
Dive 3
    $ALTIM_TOP_PING_RANGE,20
    $CAPUPLOAD,1
    $C_PITCH,3215
    $C_VBD,3239
    $D_TGT,150
    $MAX_BUOY,150
    $PITCH_ADJ_DBAND,0
    $PITCH_ADJ_GAIN,0
    $PITCH_GAIN,12
    $QUIT
    $RESUME
    $SM_CC,700
    $T_DIVE,50
    $T_MISSION,60
    $T_RSLEEP,12
    $T_RSLEEP,2
    $T_RSLEEP,2
Dive 2
Dive 1
    $C_PITCH,3734
    $ALTIM_TOP_PING_RANGE,20
    $CAPUPLOAD,1
    $C_PITCH,3634
    $C_PITCH,3734
    $C_ROLL_CLIMB,1960
    $C_ROLL_DIVE,1960
    $C_VBD,3239
    $D_TGT,45
    $HD_A,0.0038945
    $HD_B,0.0099685
    $HD_C,2.57e-6
    $MAX_BUOY,150
    $PITCH_ADJ_DBAND,0
    $PITCH_ADJ_GAIN,0
    $PITCH_GAIN,12
    $QUIT
    $SM_CC,950
    $T_DIVE,15
    $T_MISSION,30
    $T_RSLEEP,2
    $USE_BATHY,-1