Dive 96
    $COMM_SEQ,0
    $QUIT
    $T_RSLEEP,13
Dive 95
    $GO
Dive 94
    $QUIT
    $RESUME
    $T_RSLEEP,3
Dive 92
    $STOP_T,06211719
Dive 86
    $STOP_T,06141719
Dive 84
    $ALTIM_BOTTOM_TURN_MARGIN,15
    $ALTIM_PING_DEPTH,4000
Dive 81
    $STOP_T,06071719
Dive 77
    $ALTIM_SENSITIVITY,1
Dive 76
    $STOP_T,05311719
Dive 73
Dive 72
    $RESUME
    $STOP_T,05241719
Dive 67
    $ALTIM_SENSITIVITY,2
Dive 66
    $ALTIM_PULSE,3
    $ALTIM_SENSITIVITY,4
    $STOP_T,05171719
Dive 64
    $ALTIM_PULSE,5
    $GLIDE_SLOPE,30
Dive 59
    $ALTIM_PULSE,3
    $STOP_T,05101719
    $T_DIVE,3000
Dive 55
Dive 54
    $ALTIM_BOTTOM_TURN_MARGIN,25
    $ALTIM_PULSE,2
    $C_VBD,2175
    $RESUME
    $SM_CC,350
    $STOP_T,05031719
Dive 46
    $ALTIM_PING_DELTA,25
    $ALTIM_PING_DEPTH,3500
    $STOP_T,04251719
    $T_ABORT,3120
    $T_DIVE,2400
    $T_MISSION,3060
Dive 44
    $ALTIM_PING_DEPTH,1200
    $D_TGT,5400
    $HEADING,-1
    $T_ABORT,3060
    $T_DIVE,1800
    $T_MISSION,3000
Dive 40
    $MAX_BUOY,150
Dive 35
    $D_TGT,1620
    $PITCH_VBD_SHIFT,0.00059
    $T_DIVE,540
    $T_MISSION,570
Dive 34
    $HEADING,135
Dive 32
    $MAX_BUOY,450
    $STOP_T,04171719
Dive 31
    $MAX_BUOY,150
Dive 25
    $HEADING,90
    $T_DIVE,360
Dive 20
    $HEADING,0
Dive 18
    $C_ROLL_CLIMB,1712
    $C_ROLL_DIVE,1767
Dive 15
    $ALTIM_BOTTOM_TURN_MARGIN,50
    $C_PITCH,3037
    $USE_BATHY,0
Dive 10
    $ALTIM_BOTTOM_TURN_MARGIN,30
    $ALTIM_PULSE,1
    $ALTIM_SENSITIVITY,3
    $HEADING,30
    $PITCH_ADJ_DBAND,2.5
    $PITCH_ADJ_GAIN,0.02
Dive 8
    $C_ROLL_CLIMB,1750
    $C_ROLL_DIVE,1750
Dive 7
    $HEADING,75
    $MAX_BUOY,450
    $T_DIVE,240
Dive 6
    $C_ROLL_CLIMB,2253
    $C_ROLL_DIVE,2253
    $D_TGT,1080
    $GLIDE_SLOPE,45
    $HEAD_ERRBAND,15
    $MAX_BUOY,150
    $SM_CC,400
    $T_DIVE,360
    $T_MISSION,390
    $T_RSLEEP,13
Dive 5
    $CAPUPLOAD,0
    $C_ROLL_CLIMB,3850
    $C_ROLL_DIVE,3850
    $GLIDE_SLOPE,50
    $GO
    $MAX_BUOY,70
    $T_DIVE,50
Dive 4
    $C_ROLL_CLIMB,250
    $C_ROLL_DIVE,250
    $C_VBD,2348
    $D_TGT,150
    $GLIDE_SLOPE,20
    $HEAD_ERRBAND,180
    $T_DIVE,65
Dive 3
    $C_PITCH,3050
    $D_TGT,180
    $MAX_BUOY,150
    $T_DIVE,60
    $T_MISSION,70
Dive 2
    $C_PITCH,3000
    $MAX_BUOY,250
    $QUIT
Dive 1
    $MAX_BUOY,450
    $ALTIM_FREQUENCY,12
    $ALTIM_PING_DELTA,10
    $ALTIM_PING_DEPTH,800
    $ALTIM_PULSE,2
    $ALTIM_SENSITIVITY,2
    $ALTIM_TOP_PING_RANGE,20
    $CAPUPLOAD,1
    $C_PITCH,3250
    $C_ROLL_CLIMB,2253
    $C_ROLL_DIVE,2253
    $C_VBD,2048
    $D_TGT,45
    $GLIDE_SLOPE,45
    $HEADING,-1
    $HEAD_ERRBAND,15
    $MAX_BUOY,450
    $PITCH_ADJ_DBAND,0
    $PITCH_ADJ_GAIN,0
    $PITCH_GAIN,17
    $RESUME
    $SM_CC,530
    $STOP_T,0
    $T_ABORT,1440
    $T_DIVE,15
    $T_MISSION,30
    $T_RSLEEP,2
    $USE_BATHY,-1