Dive 20
    $QUIT
Dive 11
    $T_DIVE,75
    $T_MISSION,85
Dive 7
    $ALTIM_BOTTOM_TURN_MARGIN,15
    $C_ROLL_CLIMB,2300
    $C_ROLL_DIVE,2300
    $GLIDE_SLOPE,35
    $HEAD_ERRBAND,10
    $MAX_BUOY,100
Dive 5
    $C_ROLL_CLIMB,350
    $C_ROLL_DIVE,350
    $GLIDE_SLOPE,15
    $MAX_BUOY,250
Dive 3
    $C_ROLL_CLIMB,3500
    $C_ROLL_DIVE,3500
    $GLIDE_SLOPE,50
    $GO
    $HEAD_ERRBAND,180
    $MAX_BUOY,80
    $ROLL_DEG,65
Dive 2
    $ALTIM_PING_DEPTH,115
    $C_PITCH,3097
    $D_TGT,180
    $MAX_BUOY,120
    $PITCH_GAIN,12.7
    $SM_CC,330
    $T_DIVE,60
    $USE_BATHY,-6
Dive 1
    $C_PITCH,3100
    $C_ROLL_CLIMB,2300
    $C_ROLL_DIVE,2300
    $D_TGT,150
    $HEAD_ERRBAND,10
    $PITCH_GAIN,11
    $SM_CC,300
    $T_DIVE,50
    $T_MISSION,70
    $ALTIM_FREQUENCY,13
    $ALTIM_PING_DEPTH,90
    $ALTIM_PULSE,3
    $ALTIM_SENSITIVITY,2
    $C_PITCH,2912
    $C_PITCH,3100
    $C_ROLL_CLIMB,2216
    $C_ROLL_CLIMB,2300
    $C_ROLL_DIVE,2216
    $C_ROLL_DIVE,2300
    $C_VBD,1858
    $D_TGT,150
    $D_TGT,45
    $HEAD_ERRBAND,10
    $MAX_BUOY,200
    $PITCH_GAIN,11
    $PITCH_GAIN,20
    $QUIT
    $RESUME
    $SM_CC,300
    $T_DIVE,15
    $T_DIVE,50
    $T_MISSION,20
    $T_MISSION,70
    $T_RSLEEP,3
    $XPDR_VALID,2