Dive 20
    $C_ROLL_CLIMB,1800
    $C_ROLL_DIVE,2030
Dive 19
    $C_ROLL_DIVE,2000
    $T_TURN_SAMPINT,6
Dive 16
    $C_ROLL_DIVE,2050
Dive 12
    $C_ROLL_CLIMB,2200
    $C_ROLL_DIVE,2200
Dive 5
    $C_ROLL_CLIMB,2100
    $C_ROLL_DIVE,2100
    $GO
Dive 3
Dive 2
    $C_PITCH,2480
    $D_TGT,990
    $SM_CC,300
    $T_DIVE,330
    $T_MISSION,360
    $T_RSLEEP,57
Dive 1
    $C_PITCH,2610
    $SM_CC,250
    $ALTIM_BOTTOM_TURN_MARGIN,10
    $ALTIM_PING_DELTA,10
    $ALTIM_PING_DELTA,25
    $ALTIM_PING_DEPTH,150
    $ALTIM_PING_DEPTH,60
    $ALTIM_PULSE,3
    $ALTIM_SENSITIVITY,3
    $C_PITCH,2510
    $C_PITCH,2610
    $C_ROLL_CLIMB,2200
    $C_ROLL_DIVE,2200
    $C_VBD,2427
    $C_VBD,2563
    $D_SURF,2
    $D_TGT,150
    $D_TGT,45
    $KALMAN_USE,1
    $MAX_BUOY,150
    $QUIT
    $RESUME
    $SM_CC,250
    $SM_CC,550
    $T_DIVE,15
    $T_DIVE,50
    $T_MISSION,30
    $T_MISSION,60
    $T_RSLEEP,2
    $USE_BATHY,-1