Dive 20
    $QUIT
Dive 18
    $C_ROLL_CLIMB,1750
    $ROLL_AD_RATE,340
Dive 17
    $MAX_BUOY,300
    $T_DIVE,50
    $T_MISSION,60
Dive 12
    $KALMAN_USE,13
Dive 11
    $C_ROLL_DIVE,1900
    $KALMAN_USE,12
    $USE_BATHY,-1
Dive 10
    $C_ROLL_DIVE,2000
    $SM_CC,450
Dive 7
    $C_ROLL_CLIMB,1800
    $C_ROLL_DIVE,2100
Dive 6
    $ALTIM_PING_DELTA,5
    $ALTIM_PING_DEPTH,60
    $GO
    $PITCH_ADJ_DBAND,1
    $PITCH_ADJ_GAIN,0.02
    $T_DIVE,80
    $T_MISSION,90
    $T_RSLEEP,7
    $USE_BATHY,0
Dive 5
    $C_ROLL_DIVE,2200
    $KALMAN_USE,13
    $QUIT
    $RESUME
Dive 3
    $GO
Dive 2
    $D_TGT,150
    $KALMAN_USE,12
    $SM_CC,500
    $T_DIVE,50
    $T_MISSION,60
Dive 1
    $C_PITCH,1650
    $D_ABORT,6099
    $MAX_BUOY,150
    $T_ABORT,2880
    $ALTIM_PING_DELTA,10
    $ALTIM_PING_DEPTH,50
    $ALTIM_SENSITIVITY,3
    $ALTIM_TOP_PING_RANGE,20
    $C_PITCH,1650
    $C_PITCH,1700
    $C_ROLL_CLIMB,1900
    $C_ROLL_DIVE,2400
    $C_VBD,2682
    $D_ABORT,6099
    $D_OFFGRID,6084
    $D_TGT,45
    $KALMAN_USE,0
    $MAX_BUOY,150
    $PITCH_ADJ_DBAND,0
    $PITCH_ADJ_GAIN,0
    $PITCH_GAIN,16
    $QUIT
    $RESUME
    $ROLL_AD_RATE,350
    $SM_CC,740
    $T_ABORT,2880
    $T_DIVE,15
    $T_MISSION,30
    $T_NO_W,180
    $T_RSLEEP,2
    $USE_BATHY,-1