Dive 93
    $GO
Dive 92
    $QUIT
Dive 91
    $D_TGT,180
    $RESUME
    $T_DIVE,60
Dive 87
    $ALTIM_PING_DEPTH,500
    $D_TGT,3600
    $MAX_BUOY,150
    $T_ABORT,2120
    $T_DIVE,2000
    $T_MISSION,2060
Dive 85
    $ALTIM_PING_DEPTH,3000
Dive 79
    $P_OVSHOOT_WITHG,0.1553
Dive 70
    $MAX_BUOY,450
    $T_ABORT,1500
    $T_DIVE,1250
    $T_MISSION,1440
Dive 67
    $T_DIVE,3750
Dive 65
Dive 64
    $CAPMAXSIZE,200000
    $CAPUPLOAD,0
    $VBD_PUMP_AD_RATE_APOGEE,1
Dive 63
    $CAPMAXSIZE,2000000
    $CAPUPLOAD,1
    $KALMAN_USE,2
    $NAV_MODE,2
    / reset these to 0 and 200000 respectively
Dive 62
    $ALTIM_PING_DEPTH,4000
    $GLIDE_SLOPE,20
    $KALMAN_USE,13
    $T_RSLEEP,12
Dive 57
    $C_VBD,2340
Dive 54
    $D_ABORT,6000
Dive 52
    $D_TGT,6000
    $T_ABORT,4120
    $T_DIVE,4000
    $T_MISSION,4060
Dive 50
    $C_VBD,2300
Dive 44
    $ALTIM_PING_DEPTH,3000
Dive 40
    $KALMAN_USE,12
Dive 29
    $KALMAN_USE,13
Dive 27
    $GO
    $T_RSLEEP,13
Dive 26
    $ALTIM_PING_DEPTH,4000
    $C_ROLL_CLIMB,1500
    $D_TGT,5400
    $KALMAN_USE,12
    $QUIT
    $RESUME
    $T_ABORT,3120
    $T_DIVE,3000
    $T_MISSION,3060
    $T_RSLEEP,2
Dive 25
    $D_TGT,2160
    $T_DIVE,720
Dive 18
    $ALTIM_PING_DEPTH,3900
    $KALMAN_USE,13
    $T_RSLEEP,12
Dive 17
    $ALTIM_PING_DEPTH,3500
    $C_PITCH,3150
    $C_ROLL_CLIMB,1600
    $C_VBD,2200
    $SM_CC,250
Dive 14
    $D_TGT,4800
    $T_DIVE,1600
    $T_MISSION,1620
Dive 11
    $ALTIM_PING_DEPTH,1500
    $D_TGT,2160
    $PITCH_ADJ_DBAND,2.5
    $PITCH_ADJ_GAIN,0.02
    $T_DIVE,720
    $T_MISSION,750
Dive 9
    $ALTIM_PING_DEPTH,500
    $D_TGT,1080
    $T_DIVE,360
    $T_MISSION,390
Dive 6
    $ALTIM_TOP_PING_RANGE,0
    $C_ROLL_CLIMB,1700
    $C_ROLL_DIVE,1700
    $D_TGT,360
    $GLIDE_SLOPE,45
    $HEAD_ERRBAND,15
    $MAX_BUOY,150
    $T_DIVE,120
    $T_MISSION,135
Dive 5
    $C_ROLL_CLIMB,3990
    $C_ROLL_DIVE,3990
    $GLIDE_SLOPE,50
    $GO
    $MAX_BUOY,70
    $T_DIVE,50
Dive 4
    $C_ROLL_CLIMB,190
    $C_ROLL_DIVE,190
    $D_TGT,150
    $GLIDE_SLOPE,15
    $HEAD_ERRBAND,180
    $T_DIVE,65
Dive 3
    $CAPUPLOAD,0
    $D_TGT,180
    $MAX_BUOY,150
    $PITCH_GAIN,20.5
    $SM_CC,350
    $T_DIVE,60
    $T_MISSION,70
Dive 2
    $C_ROLL_CLIMB,1700
    $C_ROLL_DIVE,1700
    $C_VBD,2500
    $PITCH_GAIN,21
Dive 1
    $C_PITCH,3300
    $ALTIM_BOTTOM_TURN_MARGIN,30
    $ALTIM_PING_DELTA,10
    $ALTIM_PING_DEPTH,100
    $ALTIM_TOP_PING_RANGE,20
    $CAPUPLOAD,1
    $C_PITCH,3200
    $C_PITCH,3300
    $C_ROLL_CLIMB,1900
    $C_ROLL_DIVE,1900
    $C_VBD,2300
    $D_TGT,45
    $HEAD_ERRBAND,15
    $KALMAN_USE,2
    $MAX_BUOY,250
    $PITCH_ADJ_DBAND,0
    $PITCH_ADJ_GAIN,0
    $PITCH_GAIN,23
    $QUIT
    $RESUME
    $SM_CC,570
    $T_ABORT,2880
    $T_DIVE,15
    $T_MISSION,30
    $T_RSLEEP,2