Dive 21
    $QUIT
Dive 20
    $MAX_BUOY,250
    $T_DIVE,80
    $T_MISSION,90
Dive 15
    $C_ROLL_CLIMB,2079
    $C_ROLL_DIVE,2079
    $GLIDE_SLOPE,30
    $GO
    $HEAD_ERRBAND,15
    $MAX_BUOY,200
    $T_DIVE,60
    $T_MISSION,75
Dive 14
    $C_ROLL_CLIMB,3845
    $C_ROLL_DIVE,3845
    $GLIDE_SLOPE,45
    $MAX_BUOY,100
    $QUIT
    $T_DIVE,40
Dive 13
    $C_ROLL_CLIMB,245
    $C_ROLL_DIVE,245
    $GLIDE_SLOPE,40
    $HEAD_ERRBAND,180
    $MAX_BUOY,250
    $T_DIVE,80
    $T_MISSION,90
Dive 12
    $QUIT
    $RESUME
Dive 11
    $ALTIM_PING_DEPTH,100
    $C_PITCH,2870
Dive 10
    $ALTIM_PING_DEPTH,75
    $USE_BATHY,0
Dive 9
    $MAX_BUOY,400
Dive 8
    $GO
Dive 7
    $MAX_BUOY,250
Dive 6
    $HEADING,-1
    $MAX_BUOY,200
    $SM_CC,400
    $USE_BATHY,0
Dive 5
    $PITCH_ADJ_DBAND,2.5
    $PITCH_ADJ_GAIN,0.02
    $SM_CC,300
Dive 4
    $C_VBD,2000
    $MAX_BUOY,400
    $NAV_MODE,0
Dive 3
    $HEADING,270
Dive 2
    $C_PITCH,2860
    $D_TGT,180
    $MAX_BUOY,150
    $T_DIVE,60
    $T_MISSION,75
Dive 1
    $C_PITCH,2900
    $ALTIM_PING_DELTA,5
    $ALTIM_PING_DEPTH,100
    $CAPMAXSIZE,200000
    $CAPUPLOAD,1
    $C_PITCH,2593
    $C_PITCH,2900
    $C_VBD,2637
    $D_TGT,45
    $MAX_BUOY,250
    $MINV_24V,17
    $PITCH_ADJ_DBAND,0
    $PITCH_ADJ_GAIN,0
    $QUIT
    $RESUME
    $RHO,1.0275
    $SM_CC,720
    $STOP_T,0
    $T_ABORT,1440
    $T_DIVE,15
    $T_MISSION,30
    $T_RSLEEP,2
    $T_SLOITER,60
    $USE_BATHY,-6
    $VBD_PUMP_AD_RATE_APOGEE,3
    $VBD_PUMP_AD_RATE_SURFACE,4