Dive 42
    $QUIT
    $T_RSLEEP,7
Dive 40
    $C_ROLL_CLIMB,1900
    $C_ROLL_DIVE,2400
Dive 38
    $C_ROLL_CLIMB,1800
    $C_ROLL_DIVE,2450
    $D_TGT,2160
    $KALMAN_USE,1
    $MAX_BUOY,300
Dive 36
    $GO
Dive 35
    $ALTIM_PING_DEPTH,900
    $D_TGT,1728
    $KALMAN_USE,0
    $ROLL_AD_RATE,350
    $T_ABORT,780
    $T_DIVE,720
    $T_MISSION,750
    $USE_BATHY,-1
Dive 34
    $D_ABORT,5999
    $D_TGT,1200
    $T_DIVE,400
Dive 33
    $ALTIM_PING_DEPTH,4000
    $D_ABORT,6020
    $ROLL_AD_RATE,360
    $ROLL_AD_RATE,370
Dive 32
    $D_ABORT,6001
Dive 31
    $D_TGT,6000
    $KALMAN_USE,1
    $QUIT
    $RESUME
    $T_DIVE,2000
Dive 30
    $ALTIM_PING_DEPTH,5000
    $KALMAN_USE,0
    $ROLL_AD_RATE,390
Dive 29
    $T_DIVE,1920
Dive 28
    $ALTIM_PING_DELTA,20
    $ALTIM_PING_DEPTH,2400
    $D_TGT,5760
    $T_ABORT,2460
    $T_DIVE,2400
    $T_MISSION,2430
Dive 27
    $D_TGT,4320
    $T_ABORT,2000
    $T_DIVE,1800
    $T_MISSION,1830
Dive 26
    $D_TGT,2160
    $T_ABORT,990
    $T_DIVE,900
    $T_MISSION,930
Dive 13
    $C_ROLL_CLIMB,1950
    $C_ROLL_DIVE,2300
    $PITCH_ADJ_DBAND,1
    $PITCH_ADJ_GAIN,0.02
    $T_NO_W,180
Dive 12
    $T_NO_W,1800
Dive 10
    $D_TGT,1080
    $GO
    $T_DIVE,450
    $T_MISSION,480
Dive 9
    $C_ROLL_DIVE,2200
    $T_RSLEEP,7
Dive 8
    $ALTIM_SENSITIVITY,3
    $KALMAN_USE,2
    $T_RSLEEP,12
Dive 7
Dive 6
    $CAPUPLOAD,0
    $D_TGT,540
    $KALMAN_USE,1
    $SM_CC,300
    $T_DIVE,180
    $T_MISSION,200
    $USE_BATHY,0
Dive 5
    $RESUME
Dive 4
    $SM_CC,400
Dive 3
Dive 2
    $C_PITCH,1850
    $D_FLARE,3
Dive 1
    $D_FLARE,5
    $MAX_BUOY,500
    $ALTIM_PING_DELTA,10
    $ALTIM_PING_DEPTH,100
    $ALTIM_TOP_PING_RANGE,20
    $CAPUPLOAD,1
    $C_PITCH,1993
    $C_ROLL_CLIMB,2050
    $C_ROLL_DIVE,2050
    $C_VBD,2082
    $D_FLARE,5
    $D_TGT,45
    $KALMAN_USE,2
    $MAX_BUOY,150
    $MAX_BUOY,500
    $PITCH_ADJ_DBAND,0
    $PITCH_ADJ_GAIN,0
    $PITCH_GAIN,16
    $QUIT
    $RESUME
    $SM_CC,550
    $T_DIVE,15
    $T_MISSION,30
    $T_RSLEEP,2
    $USE_BATHY,-1