Dive 4
    $C_ROLL_CLIMB,350
    $C_ROLL_DIVE,350
    $GLIDE_SLOPE,45
    $MAX_BUOY,90
Dive 3
    $C_ROLL_CLIMB,3500
    $C_ROLL_DIVE,3500
Dive 2
    $ALTIM_PING_DEPTH,100
    $C_PITCH,3015
    $C_ROLL_CLIMB,1800
    $C_ROLL_DIVE,1990
    $D_TGT,180
    $GLIDE_SLOPE,20
    $HEAD_ERRBAND,180
    $MAX_BUOY,300
    $N_DIVES,6
    $PITCH_GAIN,23
    $T_DIVE,60
Dive 1
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $C_PITCH,3000
    $C_ROLL_CLIMB,2105
    $C_ROLL_DIVE,2215
    $D_TGT,150
    $N_DIVES,2
    $PITCH_GAIN,21.5
    $SM_CC,200
    $T_DIVE,50
    $T_MISSION,75
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $C_PITCH,2886
    $C_PITCH,3000
    $C_ROLL_CLIMB,2105
    $C_ROLL_CLIMB,2395
    $C_ROLL_DIVE,2215
    $C_ROLL_DIVE,2395
    $C_VBD,2065
    $D_TGT,150
    $D_TGT,45
    $MAX_BUOY,150
    $N_DIVES,1
    $N_DIVES,2
    $PITCH_GAIN,21
    $PITCH_GAIN,21.5
    $QUIT
    $RESUME
    $SM_CC,200
    $SM_CC,400
    $T_DIVE,15
    $T_DIVE,50
    $T_MISSION,30
    $T_MISSION,75
    $T_RSLEEP,3