Dive 24
    $T_RSLEEP,12
Dive 23
    $QUIT
Dive 13
    $KALMAN_USE,2
Dive 12
    $PITCH_ADJ_DBAND,1
    $PITCH_ADJ_GAIN,0.02
Dive 6
    $GO
    $T_DIVE,80
    $T_MISSION,100
    $USE_BATHY,0
Dive 5
    $PITCH_GAIN,16
    $QUIT
    $RESUME
Dive 4
    $GO
    $KALMAN_USE,13
Dive 3
    $KALMAN_USE,12
    $PITCH_GAIN,15
    $ROLL_DEG,40
Dive 2
    $C_PITCH,1685
    $KALMAN_USE,13
Dive 1
    $CAPUPLOAD,0
    $C_PITCH,1625
    $C_ROLL_CLIMB,2050
    $C_ROLL_DIVE,2050
    $D_TGT,150
    $KALMAN_USE,12
    $SM_CC,800
    $T_DIVE,50
    $T_MISSION,60
    /
    $ALTIM_PING_DELTA,10
    $ALTIM_PING_DEPTH,60
    $ALTIM_TOP_PING_RANGE,20
    $CAPUPLOAD,0
    $CAPUPLOAD,1
    $C_PITCH,1550
    $C_PITCH,1625
    $C_ROLL_CLIMB,1650
    $C_ROLL_CLIMB,2050
    $C_ROLL_DIVE,1900
    $C_ROLL_DIVE,2050
    $C_VBD,3473
    $D_TGT,150
    $D_TGT,45
    $KALMAN_USE,12
    $KALMAN_USE,2
    $MAX_BUOY,150
    $PITCH_ADJ_DBAND,0
    $PITCH_ADJ_GAIN,0
    $PITCH_GAIN,12.5
    $QUIT
    $RESUME
    $SM_CC,800
    $SM_CC,970
    $T_DIVE,15
    $T_DIVE,50
    $T_MISSION,30
    $T_MISSION,60
    $T_RSLEEP,2
    $USE_BATHY,-4