Dive 19
    $QUIT
Dive 14
Dive 12
    $ALTIM_PING_DELTA,5
    $ALTIM_PING_DEPTH,200
    $ALTIM_SENSITIVITY,3
    $ALTIM_TOP_PING_RANGE,20
    $C_PITCH,1835
    $C_ROLL_CLIMB,1750
    $C_ROLL_DIVE,1900
    $C_VBD,2082
    $D_TGT,1080
    $GO
    $KALMAN_USE,2
    $MAX_BUOY,150
    $PITCH_ADJ_DBAND,1
    $PITCH_ADJ_GAIN,0.02
    $PITCH_GAIN,16
    $ROLL_AD_RATE,340
    $SM_CC,500
    $T_DIVE,450
    $T_MISSION,480
    $T_RSLEEP,2
    $USE_BATHY,0
Dive 11
Dive 9
    $D_TGT,1080
    $PITCH_ADJ_DBAND,1
    $PITCH_ADJ_GAIN,0.02
    $T_DIVE,450
    $T_MISSION,480
Dive 5
    $GO
Dive 4
    $T_DIVE,440
    $T_MISSION,470
Dive 3
    $D_TGT,540
    $D_TGT,600
    $T_DIVE,180
    $T_DIVE,250
    $T_MISSION,210
    $T_MISSION,270
Dive 2
    $ALTIM_PING_DELTA,5
    $D_TGT,990
    $MAX_BUOY,150
    $SM_CC,500
    $T_DIVE,330
    $T_MISSION,360
    $T_RSLEEP,7
Dive 1
    $C_PITCH,1835
    $ALTIM_PING_DELTA,10
    $ALTIM_PING_DEPTH,200
    $ALTIM_SENSITIVITY,3
    $ALTIM_TOP_PING_RANGE,20
    $C_PITCH,1650
    $C_PITCH,1835
    $C_ROLL_CLIMB,1750
    $C_ROLL_DIVE,1900
    $C_VBD,2082
    $D_TGT,45
    $KALMAN_USE,2
    $MAX_BUOY,300
    $PITCH_ADJ_DBAND,0
    $PITCH_ADJ_GAIN,0
    $PITCH_GAIN,16
    $QUIT
    $RESUME
    $ROLL_AD_RATE,340
    $SM_CC,550
    $T_DIVE,15
    $T_MISSION,30
    $T_RSLEEP,2
    $USE_BATHY,-1