Dive 19
    $QUIT
Dive 18
    $C_ROLL_CLIMB,1880
    $C_ROLL_DIVE,1950
    $GLIDE_SLOPE,30
    $MAX_BUOY,150
Dive 13
    $ALTIM_BOTTOM_TURN_MARGIN,20
    $ALTIM_PING_DEPTH,100
    $C_ROLL_DIVE,2000
    $D_TGT,185
    $GLIDE_SLOPE,20
    $USE_BATHY,0
Dive 11
    $ALTIM_PING_DEPTH,110
    $GLIDE_SLOPE,45
    $MAX_BUOY,300
Dive 9
    $ALTIM_PULSE,3
    $C_ROLL_CLIMB,1860
    $C_ROLL_DIVE,1860
    $C_VBD,2305
    $GLIDE_SLOPE,20
    $MAX_BUOY,500
    $ROLL_DEG,50
Dive 8
    $ALTIM_PING_DELTA,5
    $ALTIM_PING_DEPTH,120
    $ALTIM_PULSE,4
    $ALTIM_SENSITIVITY,3
    $C_ROLL_CLIMB,1900
    $C_ROLL_DIVE,1900
    $D_TGT,180
    $GLIDE_SLOPE,45
    $HEAD_ERRBAND,15
    $MAX_BUOY,200
    $SM_CC,180
    $T_DIVE,75
    $T_MISSION,80
Dive 7
    $C_ROLL_CLIMB,3500
    $C_ROLL_DIVE,3500
    $GLIDE_SLOPE,15
    $MAX_BUOY,300
    $SM_CC,200
Dive 6
    $ALTIM_SENSITIVITY,4
    $C_PITCH,2705
    $C_ROLL_CLIMB,400
    $C_ROLL_DIVE,400
    $D_TGT,150
    $GLIDE_SLOPE,50
    $HEAD_ERRBAND,180
    $SM_CC,90
    $T_DIVE,50
Dive 5
    $ALTIM_SENSITIVITY,3
    $C_PITCH,2715
    $C_ROLL_CLIMB,1880
    $C_ROLL_DIVE,1880
    $C_VBD,2275
    $GO
    $PITCH_GAIN,14.2
Dive 4
Dive 3
    $C_PITCH,2735
    $C_VBD,2250
    $PITCH_GAIN,14
Dive 2
    $ALTIM_TOP_PING_RANGE,0
    $MAXI_10V,1
    $MAXI_24V,1.2
    $MAX_BUOY,150
Dive 1
    $C_PITCH,2780
    $C_ROLL_CLIMB,1900
    $C_ROLL_DIVE,1900
    $D_TGT,120
    $PITCH_GAIN,11
    $SM_CC,250
    $T_DIVE,40
    $T_MISSION,60
    $ALTIM_PING_DEPTH,100
    $COMPASS_USE,4
    $C_PITCH,2500
    $C_PITCH,2780
    $C_ROLL_CLIMB,1900
    $C_ROLL_CLIMB,1950
    $C_ROLL_DIVE,1900
    $C_ROLL_DIVE,1950
    $C_VBD,2220
    $D_TGT,120
    $D_TGT,45
    $GLIDE_SLOPE,35
    $HEAD_ERRBAND,15
    $MAX_BUOY,200
    $PITCH_GAIN,11
    $QUIT
    $RESUME
    $SM_CC,250
    $SM_CC,500
    $T_DIVE,15
    $T_DIVE,40
    $T_MISSION,20
    $T_MISSION,60
    $T_RSLEEP,3
    $USE_BATHY,-6