Dive 5
    $C_VBD,3368
    $QUIT
    $SM_CC,903
Dive 4
    $C_ROLL_CLIMB,100
    $C_ROLL_DIVE,100
Dive 3
    $D_TGT,90
    $GLIDE_SLOPE,45
    $GO
    $MAX_BUOY,150
    $T_DIVE,40
    $T_MISSION,50
Dive 2
    $C_ROLL_CLIMB,3750
    $C_ROLL_DIVE,3750
Dive 1
    $C_ROLL_CLIMB,100
    $C_ROLL_DIVE,100
    $D_TGT,150
    $GLIDE_SLOPE,30
    $HEAD_ERRBAND,180
    $MAX_BUOY,75
    $ROLL_DEG,0
    $T_DIVE,50
    $T_MISSION,60
    $CAPUPLOAD,0
    $CAPUPLOAD,1
    $C_PITCH,3050
    $C_ROLL_CLIMB,100
    $C_ROLL_CLIMB,1735
    $C_ROLL_DIVE,100
    $C_ROLL_DIVE,1735
    $C_VBD,3123
    $D_TGT,150
    $D_TGT,45
    $GLIDE_SLOPE,30
    $GLIDE_SLOPE,45
    $HEAD_ERRBAND,180
    $KALMAN_USE,2
    $MAX_BUOY,150
    $MAX_BUOY,75
    $PITCH_ADJ_DBAND,0
    $PITCH_ADJ_GAIN,0
    $PITCH_GAIN,25
    $QUIT
    $RESUME
    $ROLL_DEG,0
    $ROLL_DEG,40
    $SM_CC,870
    $T_DIVE,15
    $T_DIVE,50
    $T_MISSION,30
    $T_MISSION,60
    $T_RSLEEP,2
    $USE_BATHY,-4
    $USE_BATHY,0