Dive 15
    $QUIT
Dive 14
    $HEADING,90
    $T_DIVE,75
Dive 9
    $C_PITCH,2990
    $T_DIVE,90
Dive 8
    $ALTIM_PULSE,2
Dive 7
    $GO
    $MAX_BUOY,150
    $T_DIVE,80
    $T_MISSION,100
Dive 6
    $ALTIM_PING_DEPTH,110
    $C_PITCH,2996
    $C_ROLL_CLIMB,2169
    $C_ROLL_DIVE,2169
    $GLIDE_SLOPE,45
    $HEAD_ERRBAND,15
    $MAX_BUOY,120
    $QUIT
    $RESUME
    $T_DIVE,75
    $T_MISSION,90
Dive 5
    $C_ROLL_CLIMB,3775
    $C_ROLL_DIVE,3775
    $GLIDE_SLOPE,50
    $GO
    $MAX_BUOY,80
Dive 4
    $ALTIM_SENSITIVITY,3
    $C_ROLL_CLIMB,300
    $C_ROLL_DIVE,300
    $GLIDE_SLOPE,15
    $HEAD_ERRBAND,180
    $MAX_BUOY,300
Dive 3
    $ALTIM_TOP_PING_RANGE,0
    $C_PITCH,3000
    $C_VBD,2627
    $SM_CC,290
Dive 2
    $C_PITCH,3010
    $D_TGT,180
    $PITCH_GAIN,19
    $SM_CC,400
    $T_DIVE,60
    $T_MISSION,70
Dive 1
    $C_PITCH,3045
    $C_VBD,2614
    $PITCH_GAIN,16
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $ALTIM_PING_DELTA,5
    $ALTIM_PING_DEPTH,100
    $ALTIM_PULSE,3
    $ALTIM_SENSITIVITY,2
    $ALTIM_TOP_PING_RANGE,20
    $C_PITCH,3045
    $C_VBD,2614
    $C_VBD,3442
    $D_TGT,45
    $MAX_BUOY,150
    $PITCH_GAIN,16
    $QUIT
    $RESUME
    $SM_CC,930
    $T_DIVE,15
    $T_MISSION,30
    $T_RSLEEP,3
    $USE_BATHY,-6