Dive 5
    $QUIT
Dive 4
    $GO
    $HEAD_ERRBAND,15
    $N_DIVES,6
Dive 3
    $C_VBD,2400
    $MAX_BUOY,400
    $N_DIVES,4
    $T_MISSION,80
Dive 2
    $C_PITCH,2658
    $C_VBD,2260
    $MASS,74798
    $N_DIVES,3
    $QUIT
    $RESUME$T_TURN_SAMPINT,6
    $SM_CC,300
Dive 1
    $C_PITCH,3070
    $HEAD_ERRBAND,15
    $MAX_BUOY,200
    $N_DIVES,2
    $PITCH_GAIN,13
    $ALTIM_SENSITIVITY,4
    $C_PITCH,3070
    $C_PITCH,3134
    $C_ROLL_CLIMB,2350
    $C_ROLL_DIVE,2350
    $C_VBD,2618
    $D_TGT,150
    $GLIDE_SLOPE,40
    $HEAD_ERRBAND,15
    $HEAD_ERRBAND,180
    $MASS,74415
    $MAX_BUOY,150
    $MAX_BUOY,200
    $N_DIVES,2
    $PITCH_GAIN,13
    $PITCH_GAIN,15
    $PITCH_VBD_SHIFT,0.0020
    $QUIT$T_TURN_SAMPINT,6
    $RESUME
    $ROLL_DEG,55
    $SM_CC,200
    $T_DIVE,50
    $T_MISSION,60
    $T_RSLEEP,3
    $T_TURN_SAMPINT,6
    $USE_BATHY,-6