Dive 4
    $HEAD_ERRBAND,180
Dive 3
    $MAX_BUOY,300
    $N_DIVES,5
    $PITCH_GAIN,14
    $QUIT
    $QUIT$HEAD_ERRBAND,180
    $RESUME$T_MISSION,40
Dive 2
    $C_PITCH,2500
    $MAX_BUOY,600
    $N_DIVES,3
    $PITCH_GAIN,15
    $RESUME
    $T_MISSION,40
Dive 1
    $D_TGT,150
    $N_DIVES,2
    $QUIT$T_MISSION,40
    $ROLL_DEG,75
    $T_DIVE,50
    $T_MISSION,60
    $ALTIM_PING_DEPTH,100
    $ALTIM_SENSITIVITY,4
    $ALTIM_TOP_PING_RANGE,20
    $C_PITCH,2485
    $C_ROLL_CLIMB,2100
    $C_ROLL_DIVE,2050
    $C_VBD,1970
    $D_TGT,150
    $D_TGT,90
    $GLIDE_SLOPE,45
    $MAX_BUOY,200
    $N_DIVES,2
    $PITCH_GAIN,11
    $PITCH_VBD_SHIFT,0.0021
    $QUIT$T_MISSION,40
    $QUIT$T_MISSION,60
    $RESUME
    $ROLL_DEG,55
    $ROLL_DEG,75
    $SM_CC,300
    $T_DIVE,30
    $T_DIVE,50
    $T_MISSION,40
    $T_RSLEEP,3
    $USE_BATHY,-6