Dive 19
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $QUIT
Dive 18
    $SM_CC,245
Dive 17
    $MAX_BUOY,120
    $T_DIVE,60
Dive 10
    $GLIDE_SLOPE,35
    $MAX_BUOY,90
    $USE_BATHY,0
Dive 9
    $C_ROLL_CLIMB,1750
    $C_ROLL_DIVE,1800
    $GLIDE_SLOPE,45
    $HEAD_ERRBAND,15
    $MAX_BUOY,60
Dive 8
    $C_ROLL_CLIMB,3700
    $C_ROLL_DIVE,3700
    $GLIDE_SLOPE,20
    $MAX_BUOY,200
Dive 7
    $ALTIM_BOTTOM_TURN_MARGIN,15
    $ALTIM_TOP_PING_RANGE,0
    $C_ROLL_CLIMB,350
    $C_ROLL_DIVE,350
    $HEAD_ERRBAND,180
Dive 6
    $D_TGT,180
    $GLIDE_SLOPE,45
    $MAX_BUOY,90
    $T_DIVE,80
Dive 4
    $C_PITCH,2350
    $C_ROLL_CLIMB,1800
    $PITCH_GAIN,23
Dive 2
    $GO
Dive 1
    $C_PITCH,2402
    $C_ROLL_CLIMB,1850
    $C_ROLL_DIVE,1850
    $C_VBD,1345
    $D_TGT,150
    $PITCH_GAIN,21
    $SM_CC,200
    $SM_CC,230
    $T_DIVE,50
    $T_MISSION,70
    $ALTIM_PING_DEPTH,100
    $ALTIM_TOP_PING_RANGE,20
    $C_PITCH,2261
    $C_PITCH,2402
    $C_ROLL_CLIMB,1850
    $C_ROLL_CLIMB,2110
    $C_ROLL_DIVE,1850
    $C_ROLL_DIVE,2190
    $C_VBD,1345
    $C_VBD,1365
    $D_TGT,150
    $D_TGT,45
    $MAX_BUOY,150
    $PITCH_GAIN,21
    $QUIT
    $RESUME
    $SM_CC,200
    $SM_CC,230
    $T_DIVE,15
    $T_DIVE,50
    $T_MISSION,20
    $T_MISSION,70
    $T_RSLEEP,3