Dive 26
    $QUIT
Dive 15
    $PITCH_ADJ_DBAND,1
    $PITCH_ADJ_GAIN,0.04
    $SM_CC,400
    $T_DIVE,80
    $T_MISSION,100
    $USE_BATHY,0
Dive 3
    $GO
Dive 2
Dive 1
    $C_PITCH,2650
    $D_TGT,150
    $SM_CC,500
    $T_DIVE,50
    $T_MISSION,60
    $T_NO_W,300
    $ALTIM_PING_DELTA,10
    $ALTIM_PING_DEPTH,60
    $C_PITCH,2650
    $C_VBD,3240
    $D_SURF,4
    $D_TGT,150
    $D_TGT,45
    $MAX_BUOY,150
    $PITCH_ADJ_DBAND,0
    $PITCH_ADJ_GAIN,0
    $QUIT
    $RESUME
    $SM_CC,500
    $SM_CC,690
    $T_DIVE,15
    $T_DIVE,50
    $T_MISSION,30
    $T_MISSION,60
    $T_NO_W,300
    $T_RSLEEP,2
    $USE_BATHY,-1