Dive 20
    $QUIT
Dive 17
    $C_PITCH,3860
    $MAX_BUOY,150
    $T_DIVE,25
    $T_MISSION,45
Dive 14
    $C_ROLL_DIVE,2025
    $MAX_BUOY,100
Dive 12
    $C_ROLL_DIVE,2050
    $C_VBD,2921
    $T_DIVE,100
    $T_MISSION,120
Dive 8
    $GO
    $T_DIVE,75
    $T_MISSION,90
Dive 6
Dive 5
    $ALTIM_TOP_PING_RANGE,0
    $C_VBD,3000
    $SM_CC,500
Dive 4
    $C_VBD,3100
    $USE_BATHY,0
Dive 3
    $CAPUPLOAD,0
    $C_PITCH,3870
    $C_ROLL_CLIMB,2060
    $C_ROLL_DIVE,2000
    $SM_CC,700
Dive 2
    $C_PITCH,3840
Dive 1
    $C_PITCH,3734
    $D_TGT,150
    $T_DIVE,50
    $T_MISSION,60
    $ALTIM_TOP_PING_RANGE,20
    $CAPUPLOAD,1
    $C_PITCH,3634
    $C_PITCH,3734
    $C_ROLL_CLIMB,1960
    $C_ROLL_DIVE,1960
    $C_VBD,3239
    $D_TGT,150
    $D_TGT,45
    $HD_A,0.0038945
    $HD_B,0.0099685
    $HD_C,2.57e-6
    $MAX_BUOY,150
    $PITCH_ADJ_DBAND,0
    $PITCH_ADJ_GAIN,0
    $PITCH_GAIN,12
    $QUIT
    $RESUME
    $SM_CC,950
    $T_DIVE,15
    $T_DIVE,50
    $T_MISSION,30
    $T_MISSION,60
    $T_RSLEEP,2
    $USE_BATHY,-1