Dive 13
    $QUIT
    $T_RSLEEP,27
    $T_RSLEEP,7
Dive 6
    $C_ROLL_CLIMB,2200
Dive 5
    $C_ROLL_DIVE,1946
Dive 4
    $GO
Dive 3
    $C_ROLL_CLIMB,2146
    $C_ROLL_DIVE,2046
    $D_TGT,990
    $T_DIVE,330
    $T_MISSION,350
Dive 2
    $CAPUPLOAD,0
    $D_TGT,300
    $T_DIVE,100
    $T_MISSION,120
Dive 1
    $C_PITCH,2550
    $SM_CC,300
    $ALTIM_PING_DELTA,25
    $ALTIM_PING_DEPTH,150
    $ALTIM_TOP_PING_RANGE,20
    $CAPUPLOAD,1
    $C_PITCH,2550
    $C_VBD,2831
    $D_FLARE,3
    $D_SURF,2
    $D_TGT,45
    $KALMAN_USE,1
    $PITCH_ADJ_DBAND,0
    $PITCH_ADJ_GAIN,0
    $PITCH_MAXERRORS,1
    $QUIT
    $RESUME
    $ROLL_ADJ_DBAND,0
    $ROLL_ADJ_GAIN,0
    $ROLL_MAXERRORS,1
    $SM_CC,300
    $SM_CC,578
    $T_DIVE,15
    $T_MISSION,30
    $T_NO_W,300
    $T_RSLEEP,2
    $T_TURN_SAMPINT,5