Dive 17
    $QUIT
Dive 16
    $GLIDE_SLOPE,30
    $MAX_BUOY,200
Dive 14
    $C_ROLL_CLIMB,1900
    $C_ROLL_DIVE,1900
    $HEAD_ERRBAND,10
Dive 13
    $ALTIM_PING_DELTA,3
    $ALTIM_PING_DEPTH,130
    $ALTIM_PULSE,4
    $C_ROLL_CLIMB,350
    $C_ROLL_DIVE,350
    $GLIDE_SLOPE,20
    $HEAD_ERRBAND,180
    $MAX_BUOY,300
Dive 9
    $ALTIM_PULSE,5
    $ALTIM_TOP_PING_RANGE,15
    $GLIDE_SLOPE,45
    $MAX_BUOY,90
    $T_MISSION,75
Dive 8
    $HD_A,6.31e-03;
    $HD_B,1.26e-02;
    $HD_C,5.7e-06;
Dive 7
    $GO
Dive 6
    $ALTIM_FREQUENCY,14
    $ALTIM_PING_DEPTH,100
    $ALTIM_PULSE,3
    $ALTIM_SENSITIVITY,3
    $N_DIVES,20
    $QUIT
    $RESUME
Dive 4
    $GO
Dive 3
    $ALTIM_PING_DELTA,2
    $ALTIM_PULSE,5
    $C_PITCH,2878
Dive 2
    $C_PITCH,2875
    $GO
    $PITCH_GAIN,12
    $SM_CC,370
Dive 1
   
    $C_ROLL_CLIMB,1900
    $C_ROLL_DIVE,1900
    $D_TGT,180
    $N_DIVES,10
    $T_DIVE,60
    $T_MISSION,95
   
    $ALTIM_FREQUENCY,13
    $ALTIM_PING_DELTA,1
    $ALTIM_PING_DEPTH,90
    $ALTIM_PULSE,9
    $ALTIM_SENSITIVITY,1
    $ALTIM_TOP_PING_RANGE,20
    $C_ROLL_CLIMB,1900
    $C_ROLL_DIVE,1900
    $D_TGT,180
    $D_TGT,45
    $MAX_BUOY,150
    $N_DIVES,10
    $QUIT
    $RESUME
    $SIM_PITCH,0
    $SIM_W,0
    $SM_CC,500
    $T_DIVE,15
    $T_DIVE,60
    $T_MISSION,20
    $T_MISSION,95
    $T_RSLEEP,3
    $USE_BATHY,-6