Dive 18
    $QUIT
Dive 10
    $T_DIVE,90
    $T_MISSION,105
Dive 6
    $PITCH_VBD_SHIFT,0
    $T_DIVE,80
    $T_MISSION,90
Dive 5
    $GO
Dive 4
    $C_PITCH,2995
    $D_TGT,180
    $PITCH_GAIN,24
    $T_DIVE,60
    $T_MISSION,70
Dive 3
    $C_PITCH,3010
    $D_TGT,150
    $KALMAN_USE,1
    $SM_CC,300
    $T_DIVE,50
    $T_MISSION,60
Dive 2
Dive 1
    $RESUME
    $CAPUPLOAD,0
    $C_PITCH,3050
    $C_ROLL_CLIMB,1735
    $C_ROLL_DIVE,1735
    $C_VBD,3368
    $D_TGT,45
    $GLIDE_SLOPE,45
    $HEAD_ERRBAND,15
    $KALMAN_USE,2
    $MAX_BUOY,150
    $PITCH_ADJ_DBAND,0
    $PITCH_ADJ_GAIN,0
    $PITCH_GAIN,25
    $QUIT
    $RESUME
    $ROLL_DEG,40
    $SM_CC,903
    $T_DIVE,15
    $T_MISSION,30
    $T_RSLEEP,2
    $USE_BATHY,0