Dive 13
    $QUIT
    $SM_CC,500
Dive 11
    $C_ROLL_CLIMB,2150
    $C_ROLL_DIVE,1750
    $GO
Dive 10
    $ALTIM_PING_DEPTH,3000
    $C_PITCH,3200
    $C_ROLL_CLIMB,1950
    $C_ROLL_DIVE,1950
    $D_TGT,4800
    $KALMAN_USE,13
    $PITCH_ADJ_DBAND,2.5
    $PITCH_ADJ_GAIN,0.02
    $PITCH_ADJ_GAIN,2.5
    $PITCH_GAIN,23
    $QUIT
    $RESUME
    $SM_CC,300
    $T_DIVE,1600
    $T_MISSION,1630
Dive 7
    $ALTIM_PING_DEPTH,500
    $ALTIM_TOP_PING_RANGE,0
    $D_TGT,1080
    $T_DIVE,360
    $T_MISSION,390
    $T_RSLEEP,12
Dive 4
    $C_ROLL_CLIMB,1900
    $C_ROLL_DIVE,1900
    $D_TGT,360
    $GLIDE_SLOPE,45
    $GO
    $HEAD_ERRBAND,15
    $MAX_BUOY,150
    $T_DIVE,120
    $T_MISSION,150
Dive 3
    $C_PITCH,3220
    $C_ROLL_CLIMB,3775
    $C_ROLL_CLIMB,3990
    $C_ROLL_DIVE,3775
    $C_ROLL_DIVE,3990
    $GLIDE_SLOPE,50
    $MAX_BUOY,70
    $PITCH_GAIN,24
    $SM_CC,350
    $T_DIVE,50
Dive 2
    $CAPUPLOAD,0
    $C_ROLL_CLIMB,187
    $C_ROLL_DIVE,187
    $D_TGT,150
    $GLIDE_SLOPE,15
    $HEAD_ERRBAND,180
    $MAX_BUOY,250
    $T_DIVE,65
Dive 1
    $C_PITCH,3250
    $C_VBD,2300
    $PITCH_GAIN,22
    $SM_CC,550
    $T_DIVE,60
    $T_MISSION,70
    $ALTIM_BOTTOM_TURN_MARGIN,30
    $ALTIM_PING_DELTA,10
    $ALTIM_TOP_PING_RANGE,20
    $C_PITCH,3250
    $C_PITCH,3337
    $C_ROLL_CLIMB,2200
    $C_ROLL_DIVE,2200
    $C_VBD,2123
    $C_VBD,2300
    $D_TGT,180
    $D_TGT,45
    $HEAD_ERRBAND,15
    $MAX_BUOY,150
    $MAX_BUOY,300
    $PITCH_GAIN,22
    $PITCH_GAIN,27
    $QUIT
    $RESUME
    $SM_CC,515
    $SM_CC,550
    $T_DIVE,15
    $T_DIVE,60
    $T_MISSION,30
    $T_MISSION,70
    $T_RSLEEP,2