Dive 17
    $QUIT
Dive 10
    $C_PITCH,2428
    $PITCH_GAIN,23
    $T_MISSION,100
Dive 9
    $C_PITCH,2430
    $PITCH_GAIN,22.5
    $T_RSLEEP,2
Dive 8
    $GO
Dive 7
    $ALTIM_BOTTOM_TURN_MARGIN,15
    $C_ROLL_CLIMB,2332
    $C_ROLL_DIVE,2332
    $D_TGT,180
    $GLIDE_SLOPE,45
    $HEAD_ERRBAND,10
    $MAX_BUOY,150
    $SM_CC,350
    $T_DIVE,85
    $T_MISSION,90
    $USE_BATHY,0
Dive 6
    $ALTIM_PING_DEPTH,100
    $CAPMAXSIZE,1000000
    $C_ROLL_CLIMB,3800
    $C_ROLL_DIVE,3800
    $GLIDE_SLOPE,50
    $MAX_BUOY,80
    $QUIT
    $RESUME
Dive 5
    $C_PITCH,2435
    $C_ROLL_CLIMB,50
    $C_ROLL_DIVE,50
    $D_TGT,150
    $GLIDE_SLOPE,15
    $HEAD_ERRBAND,180
    $MAX_BUOY,300
    $T_DIVE,50
    $T_MISSION,70
Dive 4
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $ALTIM_SENSITIVITY,2
    $ALTIM_TOP_PING_RANGE,0
    $C_PITCH,2430
    $D_TGT,180
    $T_DIVE,60
    $T_MISSION,80
Dive 3
Dive 2
    $ALTIM_TOP_PING_RANGE,20
    $C_PITCH,2445
    $C_VBD,2100
    $D_TGT,150
    $GO
    $SM_CC,400
    $T_DIVE,50
    $T_MISSION,60
    $T_RSLEEP,3
Dive 1
    $C_PITCH,2430
    $C_VBD,2400
    $SM_CC,600
    $ALTIM_PING_DELTA,5
    $ALTIM_PING_DEPTH,50
    $CAPUPLOAD,1
    $C_PITCH,2338
    $C_PITCH,2430
    $C_ROLL_CLIMB,2332
    $C_ROLL_DIVE,2332
    $C_VBD,2400
    $C_VBD,2710
    $D_TGT,45
    $KALMAN_USE,1
    $MAX_BUOY,150
    $QUIT
    $RESUME
    $SM_CC,600
    $SM_CC,700
    $T_DIVE,15
    $T_MISSION,30
    $T_RSLEEP,2
    $T_TURN,540
    $USE_BATHY,-1