Dive 11
    $ALTIM_PING_DEPTH,2000
    $GO
Dive 10
Dive 9
    $QUIT
    $RESUME
    $SIM_PITCH,-15
    $SIM_W,0.1
    $T_RSLEEP,2
    $T_RSLEEP,27
    $T_RSLEEP,57
    $T_TURN,290
    /$T_RSLEEP,57
Dive 8
    $ALTIM_PING_DEPTH,1000
    $C_ROLL_CLIMB,1900
    $D_TGT,2160
    $T_DIVE,720
    $T_MISSION,750
Dive 6
    $ALTIM_PING_DEPTH,500
    $D_TGT,720
    $SM_CC,300
    $T_DIVE,240
    $T_MISSION,270
Dive 4
    $CAPUPLOAD,0
    $C_ROLL_CLIMB,2000
    $C_ROLL_DIVE,2000
    $D_TGT,360
    $GLIDE_SLOPE,45
    $HEAD_ERRBAND,15
    $MAX_BUOY,150
    $T_DIVE,120
    $T_MISSION,130
    $T_RSLEEP,12
Dive 3
    $C_ROLL_CLIMB,3930
    $C_ROLL_DIVE,3930
    $GLIDE_SLOPE,50
    $GO
    $MAX_BUOY,70
    $T_DIVE,50
Dive 2
    $C_ROLL_CLIMB,165
    $C_ROLL_DIVE,165
    $D_TGT,150
    $GLIDE_SLOPE,15
    $HEAD_ERRBAND,180
    $MAX_BUOY,250
    $T_DIVE,65
Dive 1
    $D_TGT,180
    $SM_CC,500
    $T_DIVE,60
    $T_MISSION,75
    $ALTIM_PING_DEPTH,100
    $ALTIM_TOP_PING_RANGE,20
    $CAPUPLOAD,1
    $C_PITCH,3200
    $C_ROLL_CLIMB,2332
    $C_ROLL_DIVE,2332
    $C_VBD,2181
    $D_TGT,180
    $D_TGT,45
    $HEAD_ERRBAND,15
    $KALMAN_USE,2
    $MAX_BUOY,150
    $PITCH_GAIN,22
    $QUIT
    $RESUME
    $SM_CC,500
    $SM_CC,542
    $T_ABORT,2880
    $T_DIVE,15
    $T_DIVE,60
    $T_MISSION,30
    $T_MISSION,75
    $T_RSLEEP,2
    $USE_BATHY,0