Dive 19
    $QUIT
    $SM_CC,100
    $SM_CC,315
    $T_RSLEEP,1
    $T_RSLEEP,12
    $T_RSLEEP,27
    $T_RSLEEP,57
Dive 15
    $D_TGT,3000
    $HEAD_ERRBAND,15
    $T_DIVE,1000
    $T_MISSION,1030
Dive 9
    $C_ROLL_CLIMB,2000
Dive 7
    $C_VBD,1836
Dive 6
    $C_PITCH,1947
    $C_ROLL_CLIMB,2100
    $C_ROLL_DIVE,2100
Dive 3
    $D_TGT,2400
    $GO
    $T_DIVE,800
    $T_MISSION,830
Dive 2
    $C_ROLL_CLIMB,1900
    $C_ROLL_DIVE,2050
    $D_TGT,1200
    $SM_CC,450
    $T_DIVE,400
    $T_MISSION,430
Dive 1
    $ALTIM_BOTTOM_TURN_MARGIN,20
    $D_TGT,300
    $SM_CC,500
    $T_DIVE,100
    $T_MISSION,120
    $USE_BATHY,0
    $ALTIM_BOTTOM_TURN_MARGIN,10
    $ALTIM_BOTTOM_TURN_MARGIN,20
    $ALTIM_PING_DELTA,25
    $ALTIM_PING_DEPTH,125
    $C_PITCH,1917
    $C_VBD,2024
    $D_TGT,300
    $D_TGT,45
    $MAX_BUOY,150
    $PITCH_ADJ_DBAND,0
    $PITCH_ADJ_GAIN,0
    $QUIT
    $RESUME
    $SM_CC,500
    $SM_CC,670
    $T_DIVE,100
    $T_DIVE,15
    $T_MISSION,120
    $T_MISSION,30
    $T_RSLEEP,2
    $USE_BATHY,0
    $USE_BATHY,-1