Dive 20
    $QUIT
Dive 19
    $ALTIM_PULSE,2
    $ALTIM_SENSITIVITY,5
    $GO
    $MAX_BUOY,400
    $SM_CC,300
    $T_DIVE,30
Dive 18
    $D_TGT,150
    $MAXI_10V,0.8
    $MAXI_24V,1.0
    $MAX_BUOY,350
    $T_DIVE,40
    $T_MISSION,60
Dive 17
    $COMPASS_USE,2052
    $D_TGT,70
    $HEAD_ERRBAND,180
    $HEAD_ERRBAND,20
    $MAXI_10V,0.9
    $QUIT
    $RESUME
    $T_DIVE,20
    $T_MISSION,40
Dive 14
    $GLIDE_SLOPE,35
    $HEAD_ERRBAND,90
    $MAX_BUOY,250
    $T_DIVE,75
    $T_TURN,360
Dive 13
    $ALTIM_SENSITIVITY,4
    $D_TGT,180
    $GLIDE_SLOPE,40
    $MAX_BUOY,90
    $N_DIVES,25
Dive 11
Dive 10
    $D_TGT,150
    $HEADING,-1
    $N_DIVES,20
    $RESUME
    $T_DIVE,50
Dive 8
    $D_TGT,60
    $T_DIVE,15
Dive 7
    $GO
    $HEADING,270
    $PRESSURE_SLOPE,3.3037559e-05
Dive 6
    $N_DIVES,10
Dive 5
    $COMPASS_USE,4
    $D_TGT,150
    $HEADING,235
    $N_DIVES,6
    $T_DIVE,50
    $T_MISSION,70
Dive 4
    $ALTIM_SENSITIVITY,2
    $ALTIM_TOP_PING_RANGE,25
    $ALTIM_TOP_PING_RANGE,30
    $COMPASS_USE,513
    $N_DIVES,5
    $PRESSURE_SLOPE,3.1299e-05
    $QUIT
Dive 3
    $ALTIM_PING_DELTA,5
    $COMPASS_USE,2052
    $GO
    $N_DIVES,4
    $T_MISSION,20
Dive 2
    $C_PITCH,2860
    $D_TGT,150
    $N_DIVES,3
    $T_DIVE,50
Dive 1
    $COMPASS_USE,4
    $MAX_BUOY,150
    $MAX_BUOY,250
    $N_DIVES,2
    $SM_CC,250
    $SM_CC,350
    $ALTIM_PING_DEPTH,90
    $ALTIM_SENSITIVITY,3
    $ALTIM_TOP_PING_RANGE,20
    $COMPASS_USE,4
    $C_PITCH,2840
    $C_ROLL_CLIMB,1800
    $C_ROLL_DIVE,1800
    $C_VBD,1995
    $D_TGT,45
    $MAX_BUOY,150
    $MAX_BUOY,250
    $N_DIVES,1
    $N_DIVES,2
    $PITCH_GAIN,12
    $PITCH_GAIN,16
    $PITCH_VBD_SHIFT,0.0015
    $QUIT
    $RESUME
    $SM_CC,250
    $SM_CC,350
    $T_DIVE,15
    $T_MISSION,25
    $T_RSLEEP,3
    $USE_BATHY,-6