Dive 25
    $QUIT
Dive 23
    $PITCH_ADJ_DBAND,1
    $PITCH_ADJ_GAIN,0.04
    $PITCH_GAIN,23
Dive 13
    $PITCH_GAIN,22
Dive 10
    $AH0_10V,122.2
    $AH0_24V,147
    $ALTIM_PING_DEPTH,60
    $ALTIM_TOP_PING_RANGE,20
    $CAPUPLOAD,1
    $C_PITCH,2000
    $C_VBD,3338
    $D_SURF,4
    $D_TGT,150
    $GO
    $MAX_BUOY,150
    $PITCH_ADJ_DBAND,0
    $PITCH_ADJ_GAIN,0
    $SM_CC,600
    $T_DIVE,62.5
    $T_MISSION,75
    $T_NO_W,600
    $T_RSLEEP,2
    $USE_BATHY,0
Dive 9
Dive 5
    $T_DIVE,62.5
    $T_MISSION,75
Dive 4
    $GO
Dive 3
    $C_PITCH,2000
Dive 2
    $SM_CC,600
    $USE_BATHY,0
Dive 1
    $C_PITCH,2050
    $D_TGT,150
    $T_DIVE,50
    $T_MISSION,60
    $AH0_10V,122.2
    $AH0_24V,147
    $ALTIM_PING_DEPTH,60
    $ALTIM_TOP_PING_RANGE,20
    $CAPUPLOAD,1
    $C_PITCH,2050
    $C_PITCH,2176
    $C_VBD,3338
    $D_SURF,4
    $D_TGT,150
    $D_TGT,45
    $MAX_BUOY,150
    $PITCH_ADJ_DBAND,0
    $PITCH_ADJ_GAIN,0
    $QUIT
    $RESUME
    $SM_CC,680
    $T_DIVE,15
    $T_DIVE,50
    $TGT_DEFAULT_LAT,4808
    $TGT_DEFAULT_LON,-12223
    $T_MISSION,30
    $T_MISSION,60
    $T_NO_W,600
    $T_RSLEEP,2