Dive 16
    $QUIT
Dive 15
    $MAX_BUOY,100
    $T_DIVE,60
    $T_MISSION,75
Dive 11
    $USE_BATHY,0
Dive 10
    $ALTIM_PING_DEPTH,120
    $D_TGT,180
    $HEADING,-1
    $MAX_BUOY,200
    $T_DIVE,80
    $T_MISSION,90
Dive 9
    $GO
Dive 8
    $D_TGT,150
    $T_DIVE,50
    $T_MISSION,60
Dive 7
    $D_TGT,75
    $HEADING,270
    $MAX_BUOY,250
    $PITCH_ADJ_DBAND,2.5
    $PITCH_ADJ_GAIN,0.02
    $QUIT
    $RESUME
    $T_DIVE,25
    $T_MISSION,35
    $USE_BATHY,-6
Dive 6
    $GO
Dive 5
    $C_ROLL_CLIMB,2019
    $C_ROLL_DIVE,2019
    $GLIDE_SLOPE,30
    $HEAD_ERRBAND,15
    $MAX_BUOY,150
    $QUIT
    $RESUME
    $SM_CC,350
    $T_DIVE,60
    $T_MISSION,75
    $USE_BATHY,0
Dive 4
    $C_ROLL_CLIMB,3900
    $C_ROLL_DIVE,190
    $GO
    $HEAD_ERRBAND,180
    $MAX_BUOY,250
    $T_DIVE,80
    $T_MISSION,90
Dive 3
    $C_ROLL_CLIMB,390
    $C_ROLL_DIVE,3900
    $HEAD_ERRBAND,1800
    $MAX_BUOY,100
    $T_DIVE,40
    $T_MISSION,50
Dive 2
    $C_PITCH,3519
    $D_TGT,180
    $MAX_BUOY,150
    $PITCH_GAIN,15.0
    $RESUME
    $T_DIVE,60
    $T_MISSION,75
    QUIT
Dive 1
    $C_PITCH,3400
    $PITCH_GAIN,16.9
    $ALTIM_BOTTOM_PING_RANGE,0
    $ALTIM_FREQUENCY,12
    $ALTIM_PING_DELTA,5
    $ALTIM_PING_DEPTH,100
    $CAPUPLOAD,1
    $C_PITCH,3400
    $C_VBD,2107
    $D_TGT,45
    $MAX_BUOY,250
    $PITCH_ADJ_DBAND,0
    $PITCH_ADJ_GAIN,0
    $PITCH_GAIN,16.9
    $QUIT
    $SM_CC,570
    $STOP_T,0
    $T_DIVE,15
    $T_MISSION,30
    $T_RSLEEP,2
    $USE_BATHY,-1
    / $C_PITCH,1965
    / $PITCH_ADJ_DBAND,2.5
    / $PITCH_ADJ_GAIN,0.02
    / $PITCH_GAIN,15.2