Dive 19
    $D_TGT,45
    $QUIT
    $T_DIVE,15
    $T_MISSION,30
Dive 12
    $ALTIM_PING_DELTA,5
    $ALTIM_SENSITIVITY,3
    $CAPUPLOAD,0
    $COMPASS_USE,0
    $C_PITCH,2177
    $C_VBD,3455
    $D_SURF,5
    $D_TGT,150
    $GO
    $HEAD_ERRBAND,10
    $MAX_BUOY,300
    $PITCH_GAIN,14
    $SM_CC,970
    $T_DIVE,50
    $T_MISSION,60
    $T_NO_W,180
    $T_RSLEEP,2
    $USE_BATHY,0
Dive 8
Dive 7
    $CAPUPLOAD,0
    $COMPASS_USE,0
    $C_VBD,3455
    $D_SURF,5
    $D_TGT,150
    $GO
    $HEAD_ERRBAND,10
    $SM_CC,970
    $T_DIVE,50
    $T_MISSION,60
    $T_NO_W,180
    $USE_BATHY,0
Dive 6
    $CAPUPLOAD,1
    $C_PITCH,2177
    $D_TGT,45
    $MAX_BUOY,300
    $SM_CC,550
    $T_DIVE,10
    $T_MISSION,25
Dive 5
    $ALTIM_PING_DELTA,10
    $ALTIM_SENSITIVITY,4
    $D_TGT,990
    $KALMAN_USE,12
    $PITCH_GAIN,17
    $T_ABORT,2880
    $T_DIVE,330
    $T_MISSION,360
    $T_NO_W,300
    $T_RSLEEP,12
Dive 4
    $D_TGT,150
    $SM_CC,300
    $T_DIVE,50
    $T_MISSION,60
Dive 3
    $CAPUPLOAD,0
    $C_PITCH,2460
    $SM_CC,350
    $T_MISSION,30
Dive 2
    $C_PITCH,2350
    $D_TGT,60
    $MAX_BUOY,500
    $SM_CC,400
Dive 1
    $CAPUPLOAD,0
    $COMPASS_USE,0
    $C_VBD,3455
    $D_SURF,4
    $D_TGT,150
    $HEAD_ERRBAND,15
    $MAX_BUOY,150
    $MAX_BUOY,450
    $SM_CC,450
    $SM_CC,970
    $T_DIVE,15
    $T_DIVE,50
    $T_MISSION,30
    $T_MISSION,60
    $T_NO_W,300
    $ALTIM_PING_DELTA,5
    $ALTIM_PING_DEPTH,200
    $ALTIM_SENSITIVITY,3
    $ALTIM_TOP_PING_RANGE,20
    $CAPUPLOAD,0
    $CAPUPLOAD,1
    $COMPASS_USE,0
    $C_PITCH,2177
    $C_VBD,2057
    $C_VBD,3455
    $D_SURF,4
    $D_TGT,150
    $D_TGT,45
    $HEAD_ERRBAND,15
    $KALMAN_USE,2
    $MAX_BUOY,150
    $MAX_BUOY,300
    $MAX_BUOY,450
    $PITCH_ADJ_DBAND,0
    $PITCH_ADJ_GAIN,0
    $PITCH_GAIN,14
    $QUIT
    $RESUME
    $SM_CC,450
    $SM_CC,550
    $SM_CC,970
    $T_DIVE,10
    $T_DIVE,15
    $T_DIVE,50
    $T_MISSION,25
    $T_MISSION,30
    $T_MISSION,60
    $T_NO_W,300
    $T_RSLEEP,2
    $USE_BATHY,-1