Dive 11
    $ALTIM_PING_DELTA,10
    $ALTIM_PING_DEPTH,2500
    $C_ROLL_CLIMB,1800
    $C_ROLL_DIVE,1800
    $D_TGT,4800
    $GLIDE_SLOPE,45
    $HEAD_ERRBAND,15
    $MAX_BUOY,150
    $PITCH_ADJ_DBAND,2.5
    $PITCH_ADJ_GAIN,0.02
    $T_DIVE,1600
    $T_MISSION,1620
Dive 10
    $MAX_BUOY,120
    $T_DIVE,25
    $T_MISSION,40
Dive 9
    $C_ROLL_CLIMB,3845
    $C_ROLL_DIVE,3845
    $D_FLARE,5
    $D_TGT,150
    $GLIDE_SLOPE,50
    $HEAD_ERRBAND,180
    $MAX_BUOY,70
    $QUIT
    $RESUME
    $T_DIVE,50
    $T_MISSION,60
Dive 8
    $ALTIM_PING_DELTA,20
    $ALTIM_PING_DEPTH,1000
    $D_TGT,2160
    $T_DIVE,720
    $T_MISSION,750
Dive 6
    $C_ROLL_CLIMB,1800
    $C_ROLL_DIVE,1800
    $D_TGT,1080
    $GLIDE_SLOPE,45
    $HEAD_ERRBAND,15
    $MAX_BUOY,150
    $T_DIVE,360
    $T_MISSION,390
    $T_RSLEEP,12
Dive 5
    $C_ROLL_CLIMB,3845
    $C_ROLL_DIVE,3845
    $GLIDE_SLOPE,50
    $GO
    $MAX_BUOY,70
    $T_DIVE,50
Dive 4
    $C_ROLL_CLIMB,245
    $C_ROLL_DIVE,245
    $D_TGT,150
    $GLIDE_SLOPE,15
    $HEAD_ERRBAND,180
    $MAX_BUOY,250
    $SM_CC,300
    $T_DIVE,65
    $T_MISSION,70
Dive 3
    $CAPUPLOAD,0
    $C_PITCH,2650
    $D_TGT,180
    $PITCH_GAIN,17
    $SM_CC,350
    $T_DIVE,60
    $T_MISSION,75
Dive 2
    $C_PITCH,2700
Dive 1
    $MAX_BUOY,300
    $ALTIM_BOTTOM_TURN_MARGIN,30
    $ALTIM_PING_DELTA,10
    $ALTIM_PING_DEPTH,100
    $ALTIM_TOP_PING_RANGE,20
    $CAPUPLOAD,1
    $C_PITCH,2880
    $C_ROLL_CLIMB,2048
    $C_ROLL_DIVE,2048
    $C_VBD,2066
    $D_TGT,45
    $KALMAN_USE,2
    $MAX_BUOY,150
    $MAX_BUOY,300
    $PITCH_GAIN,25
    $QUIT
    $RESUME
    $SM_CC,530
    $T_ABORT,2880
    $T_DIVE,15
    $T_MISSION,30
    $T_RSLEEP,2