Dive 15
    $QUIT
Dive 9
    $C_PITCH,2880
    $C_ROLL_CLIMB,1800
    $C_ROLL_DIVE,1700
    $T_MISSION,100
Dive 8
    $C_PITCH,2890
    $C_ROLL_CLIMB,1900
    $C_ROLL_DIVE,1900
    $PITCH_GAIN,21
    $T_RSLEEP,2
Dive 7
    $GO
Dive 6
    $ALTIM_BOTTOM_TURN_MARGIN,15
    $ALTIM_PULSE,4
    $C_ROLL_CLIMB,1988
    $C_ROLL_DIVE,1988
    $D_BOOST,3
    $D_TGT,180
    $GLIDE_SLOPE,45
    $HEAD_ERRBAND,10
    $MAX_BUOY,150
    $SM_CC,350
    $T_DIVE,85
    $T_MISSION,90
    $USE_BATHY,0
Dive 5
    $ALTIM_PING_DEPTH,100
    $CAPMAXSIZE,1000000
    $C_ROLL_CLIMB,3750
    $C_ROLL_DIVE,3750
    $GLIDE_SLOPE,50
    $MAX_BUOY,80
    $QUIT
    $RESUME
Dive 4
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $ALTIM_TOP_PING_RANGE,0
    $C_PITCH,2900
    $C_ROLL_CLIMB,250
    $C_ROLL_DIVE,250
    $D_TGT,150
    $GLIDE_SLOPE,15
    $HEAD_ERRBAND,180
    $MAX_BUOY,300
    $T_DIVE,50
Dive 3
    $SM_CC,400
Dive 2
    $ALTIM_SENSITIVITY,4
    $C_PITCH,2910
    $D_TGT,180
    $GO
    $SM_CC,350
    $T_DIVE,60
    $T_MISSION,75
    $T_RSLEEP,3
Dive 1
    $ALTIM_TOP_PING_RANGE,20
    $D_TGT,150
    $SM_CC,600
    $T_DIVE,50
    $T_MISSION,60
    $ALTIM_PING_DELTA,5
    $ALTIM_PING_DEPTH,50
    $ALTIM_TOP_PING_RANGE,20
    $CAPUPLOAD,1
    $C_PITCH,2927
    $C_ROLL_CLIMB,1988
    $C_ROLL_DIVE,1988
    $C_VBD,2617
    $D_TGT,150
    $D_TGT,45
    $KALMAN_USE,1
    $MAX_BUOY,150
    $QUIT
    $RESUME
    $SM_CC,600
    $SM_CC,690
    $T_DIVE,15
    $T_DIVE,50
    $T_MISSION,30
    $T_MISSION,60
    $T_RSLEEP,2
    $USE_BATHY,-1