Dive 23
    $QUIT
Dive 22
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $ALTIM_PING_DELTA,0
    $ALTIM_PING_DEPTH,0
    $C_PITCH,2660
    $MAX_BUOY,100
    $PITCH_GAIN,31
Dive 13
    $ALTIM_BOTTOM_TURN_MARGIN,1
    $ALTIM_PING_DELTA,10
    $ALTIM_PING_DEPTH,80
    $APOGEE_PITCH,-10
    $C_PITCH,2664
    $C_ROLL_CLIMB,2323
    $C_ROLL_DIVE,2323
    $C_VBD,2741
    $D_SURF,4
    $D_TGT,150
    $GO
    $MAX_BUOY,150
    $PITCH_GAIN,30
    $SM_CC,700
    $T_DIVE,50
    $T_MISSION,70
    $T_RSLEEP,3
    $USE_BATHY,-4
    $VBD_PUMP_AD_RATE_SURFACE,5
Dive 11
Dive 7
    $C_PITCH,2664
    $PITCH_GAIN,30
Dive 6
    $ALTIM_BOTTOM_TURN_MARGIN,1
Dive 4
    $GO
Dive 2
    $APOGEE_PITCH,-10
    $D_TGT,150
    $T_DIVE,50
    $T_MISSION,70
Dive 1
    $C_PITCH,2670
    $C_VBD,2741
    $PITCH_GAIN,28
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $ALTIM_PING_DELTA,10
    $ALTIM_PING_DEPTH,80
    $C_PITCH,2670
    $C_PITCH,2705
    $C_ROLL_CLIMB,2323
    $C_ROLL_DIVE,2323
    $C_VBD,2741
    $C_VBD,3291
    $D_SURF,4
    $D_TGT,45
    $MAX_BUOY,150
    $PITCH_GAIN,25
    $PITCH_GAIN,28
    $QUIT
    $RESUME
    $SM_CC,700
    $T_DIVE,15
    $T_MISSION,30
    $T_RSLEEP,3
    $USE_BATHY,-4
    $VBD_PUMP_AD_RATE_SURFACE,5
    $VBD_TIMEOUT,720