Dive 16
    $QUIT
    $T_RSLEEP,8
Dive 13
    $MAX_BUOY,150
    $T_DIVE,60
Dive 11
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $ALTIM_PING_DEPTH,0
    $GLIDE_SLOPE,30
    $MAX_BUOY,120
    $USE_BATHY,-6
Dive 9
    $GLIDE_SLOPE,45
    $MAX_BUOY,90
Dive 8
    $GLIDE_SLOPE,15
    $MAX_BUOY,300
Dive 7
    $C_ROLL_DIVE,2250
Dive 6
    $ALTIM_BOTTOM_TURN_MARGIN,15
    $MAXI_10V,1
    $MAXI_24V,0.6
    $RESUME
    $USE_BATHY,0
Dive 5
    $COMPASS_USE,4
Dive 4
    $C_PITCH,2776
Dive 3
    $GO
    $T_DIVE,75
Dive 2
    $ALTIM_PING_DEPTH,110
    $ALTIM_TOP_PING_RANGE,0
    $C_PITCH,2780
    $D_TGT,180
    $N_DIVES,25
    $SM_CC,320
    $T_DIVE,60
Dive 1
    $C_ROLL_CLIMB,2150
    $C_ROLL_DIVE,2150
    $D_TGT,150
    $N_DIVES,2
    $PITCH_GAIN,21
    $SM_CC,280
    $T_DIVE,50
    $T_MISSION,80
    $ALTIM_PING_DEPTH,100
    $ALTIM_TOP_PING_RANGE,20
    $C_PITCH,2800
    $C_ROLL_CLIMB,2095
    $C_ROLL_CLIMB,2150
    $C_ROLL_DIVE,2095
    $C_ROLL_DIVE,2150
    $C_VBD,2849
    $D_TGT,150
    $D_TGT,45
    $MAX_BUOY,150
    $N_DIVES,2
    $PITCH_GAIN,20
    $PITCH_GAIN,21
    $QUIT
    $RESUME
    $SM_CC,280
    $SM_CC,500
    $STOP_AT,02111620
    $T_DIVE,15
    $T_DIVE,50
    $T_MISSION,25
    $T_MISSION,80
    $T_RSLEEP,3