Dive 85
    $GO
Dive 84
    $QUIT
    $RESUME
    $T_RSLEEP,2
    $T_RSLEEP,27
Dive 74
    $ROLL_ADJ_DBAND,0.03
    $ROLL_ADJ_GAIN,10
    $ROLL_AD_RATE,350
Dive 34
    $T_DIVE,600
    $T_MISSION,660
Dive 29
    $MAX_BUOY,120
    $T_DIVE,550
    $T_MISSION,570
Dive 25
    $ALTIM_SENSITIVITY,3
    $C_ROLL_CLIMB,2200
    $SM_CC,350
    $T_DIVE,528
    $T_MISSION,540
Dive 19
    $C_ROLL_CLIMB,2300
    $T_DIVE,440
    $T_MISSION,480
Dive 6
    $C_ROLL_CLIMB,2400
    $D_TGT,990
    $PITCH_ADJ_DBAND,1
    $PITCH_ADJ_GAIN,0.04
    $T_DIVE,330
    $T_MISSION,360
    $T_RSLEEP,27
Dive 3
    $GO
Dive 2
    $ALTIM_TOP_PING_RANGE,0
    $C_ROLL_CLIMB,2200
    $C_ROLL_DIVE,2200
    $D_TGT,300
    $T_DIVE,100
    $T_MISSION,120
    $USE_BATHY,0
Dive 1
    $C_PITCH,2800
    $D_TGT,150
    $SM_CC,400
    $T_DIVE,50
    $T_MISSION,60
    $ALTIM_TOP_PING_RANGE,20
    $C_PITCH,2670
    $C_PITCH,2800
    $C_VBD,2837
    $D_TGT,150
    $D_TGT,45
    $PITCH_ADJ_DBAND,0
    $PITCH_ADJ_GAIN,0
    $QUIT
    $RESUME
    $SM_CC,400
    $SM_CC,590
    $T_DIVE,15
    $T_DIVE,50
    $T_MISSION,30
    $T_MISSION,60
    $T_RSLEEP,2
    $USE_BATHY,-1