Dive 18
    $QUIT
Dive 17
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $ALTIM_PING_DELTA,5
    $ALTIM_PING_DEPTH,50
    $CAPUPLOAD,1
    $C_PITCH,2740
    $C_VBD,3410
    $D_SURF,4.5
    $D_TGT,150
    $GO
    $KALMAN_USE,0
    $MAX_BUOY,150
    $PITCH_GAIN,32
    $SIM_PITCH,0
    $SIM_W,0
    $SM_CC,700
    $T_DIVE,50
    $T_MISSION,70
    $T_RSLEEP,3
    $USE_BATHY,-4
    $VBD_PUMP_AD_RATE_SURFACE,5
    $XPDR_VALID,0
Dive 16
Dive 3
    $GO
Dive 2
Dive 1
    $C_PITCH,2740
    $D_TGT,150
    $PITCH_GAIN,32
    $T_DIVE,50
    $T_MISSION,70
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $ALTIM_PING_DELTA,5
    $ALTIM_PING_DEPTH,50
    $CAPUPLOAD,1
    $C_PITCH,2740
    $C_PITCH,2756
    $C_VBD,3410
    $D_SURF,4.5
    $D_TGT,150
    $D_TGT,45
    $KALMAN_USE,0
    $MAX_BUOY,150
    $PITCH_GAIN,32
    $QUIT
    $RESUME
    $SIM_PITCH,0
    $SIM_W,0
    $SM_CC,700
    $T_DIVE,15
    $T_DIVE,50
    $T_MISSION,30
    $T_MISSION,70
    $T_RSLEEP,3
    $USE_BATHY,-4
    $VBD_PUMP_AD_RATE_SURFACE,5
    $XPDR_VALID,0