Dive 27
    $QUIT
Dive 12
    $SM_CC,550
Dive 10
    $C_ROLL_CLIMB,2200
    $C_ROLL_DIVE,2200
    $GO
Dive 2
Dive 1
    $D_TGT,150
    $T_DIVE,50
    $T_MISSION,60
    $ALTIM_BOTTOM_TURN_MARGIN,10
    $ALTIM_PING_DELTA,10
    $ALTIM_PING_DEPTH,60
    $C_VBD,2972
    $D_TGT,150
    $D_TGT,45
    $KALMAN_USE,1
    $MAX_BUOY,150
    $QUIT
    $RESUME
    $SM_CC,650
    $T_DIVE,15
    $T_DIVE,50
    $T_MISSION,30
    $T_MISSION,60
    $T_RSLEEP,2
    $USE_BATHY,-1