Dive 90
    $T_DIVE,440
    $T_MISSION,460
    $T_TURN_SAMPINT,6
Dive 54
    $MAX_BUOY,120
Dive 53
    $CAPUPLOAD,1
Dive 33
    $C_PITCH,2186
    $C_ROLL_CLIMB,2550
Dive 28
    $C_PITCH,2139
    $C_ROLL_CLIMB,2600
    $C_ROLL_DIVE,2550
    $SM_CC,250
    $T_DIVE,412.5
    $T_MISSION,430
Dive 14
Dive 12
    $ALTIM_TOP_PING_RANGE,0
    $USE_BATHY,0
Dive 10
    $C_ROLL_CLIMB,2500
    $C_ROLL_DIVE,2500
    $D_TGT,990
    $GO
    $T_DIVE,330
    $T_MISSION,360
    $T_RSLEEP,13
Dive 8
    $ALTIM_BOTTOM_TURN_MARGIN,15
    $ALTIM_FREQUENCY,13
    $ALTIM_PING_DELTA,25
    $ALTIM_PING_DEPTH,200
    $ALTIM_PULSE,3
    $ALTIM_SENSITIVITY,3
    $ALTIM_TOP_PING_RANGE,40
    $C_PITCH,2186
    $C_ROLL_CLIMB,2332
    $C_ROLL_DIVE,2350
    $C_VBD,2794
    $D_TGT,300
    $RESUME
    $SM_CC,350
    $T_DIVE,100
    $T_MISSION,120
    $T_RSLEEP,3
    $USE_BATHY,-3
Dive 7
Dive 3
Dive 2
    $D_TGT,300
    $T_DIVE,100
    $T_MISSION,120
Dive 1
    $D_TGT,150
    $SM_CC,350
    $T_DIVE,50
    $T_MISSION,60
    $ALTIM_BOTTOM_TURN_MARGIN,15
    $ALTIM_FREQUENCY,13
    $ALTIM_PING_DELTA,25
    $ALTIM_PING_DEPTH,200
    $ALTIM_PULSE,3
    $ALTIM_SENSITIVITY,3
    $ALTIM_TOP_PING_RANGE,40
    $C_PITCH,2186
    $C_ROLL_CLIMB,2332
    $C_ROLL_DIVE,2350
    $C_VBD,2794
    $D_OFFGRID,1001
    $D_TGT,150
    $D_TGT,45
    $QUIT
    $RESUME
    $SM_CC,350
    $SM_CC,600
    $T_DIVE,15
    $T_DIVE,50
    $T_MISSION,30
    $T_MISSION,60
    $T_RSLEEP,3
    $USE_BATHY,-3