Dive 26
    $QUIT
Dive 25
    $D_TGT,90
    $T_DIVE,30
    $T_MISSION,40
Dive 23
    $C_ROLL_CLIMB,2500
    $C_ROLL_DIVE,2500
    $C_VBD,2650
    $HEAD_ERRBAND,15
    $PITCH_GAIN,14
    $PITCH_VBD_SHIFT,0.0012
    $ROLL_DEG,40
Dive 21
    $C_ROLL_CLIMB,2400
    $C_ROLL_DIVE,2400
    $D_TGT,180
    $T_DIVE,50
    $T_MISSION,60
Dive 15
    $C_VBD,2600
    $MAX_BUOY,350
Dive 14
Dive 13
    $C_ROLL_CLIMB,2250
    $C_ROLL_DIVE,2250
    $D_TGT,90
    $MAX_BUOY,250
    $PITCH_GAIN,14.5
    $PITCH_GAIN,15
    $RESUME
    $T_DIVE,30
    $T_MISSION,40
Dive 12
    $PITCH_GAIN,16
Dive 11
    $T_DIVE,50
    $T_MISSION,60
Dive 10
    $C_PITCH,2780
    $C_VBD,2570
    $MAX_BUOY,350
Dive 9
    $D_TGT,180
    $T_DIVE,60
    $T_MISSION,70
Dive 8
    $C_PITCH,2850
    $C_VBD,2500
    $GO
Dive 5
    $C_VBD,2450
Dive 4
    $D_TGT,90
    $GO
    $T_DIVE,30
    $T_MISSION,40
Dive 3
    $C_PITCH,2900
    $N_DIVES,30
    $PITCH_GAIN,17
    $QUIT
    $QUIT$T_DIVE,15
    $RESUME$T_DIVE,15
Dive 2
    $C_PITCH,2780
    $C_VBD,2350
    $QUIT$MASS,74036
Dive 1
    $C_PITCH,2630
    $MAX_BUOY,500
    $N_DIVES,2
    $N_DIVES,3
    $RESUME
    $ALTIM_FREQUENCY,13
    $ALTIM_PING_DELTA,2
    $ALTIM_PING_DEPTH,120
    $ALTIM_PULSE,7
    $ALTIM_SENSITIVITY,3
    $ALTIM_TOP_PING_RANGE,15
    $CAPMAXSIZE,200000
    $CAPUPLOAD,1
    $C_PITCH,2630
    $C_ROLL_CLIMB,2045
    $C_ROLL_DIVE,2045
    $C_VBD,2131
    $D_FLARE,2
    $D_TGT,45
    $GLIDE_SLOPE,30
    $HEAD_ERRBAND,10
    $KALMAN_USE,1
    $MASS,74036
    $MAX_BUOY,500
    $NAV_MODE,1
    $N_DIVES,2
    $N_DIVES,3
    $PITCH_GAIN,18
    $PITCH_VBD_SHIFT,0.0015
    $RESUME
    $RESUME$MASS,74036
    $ROLL_DEG,45
    $SM_CC,350
    $T_DIVE,15
    $T_MISSION,25
    $T_RSLEEP,3
    $USE_BATHY,-6