Dive 3
    $C_ROLL_CLIMB,1800
    $C_ROLL_DIVE,2200
    $D_TGT,990
    $SM_CC,300
    $T_DIVE,330
    $T_MISSION,360
Dive 2
    $GO
Dive 1
    $D_TGT,300
    $SM_CC,350
    $T_DIVE,100
    $T_MISSION,120
    $ALTIM_PING_DELTA,25
    $ALTIM_PING_DEPTH,150
    $ALTIM_TOP_PING_RANGE,20
    $C_PITCH,2420
    $C_ROLL_CLIMB,1950
    $C_ROLL_DIVE,2350
    $C_VBD,2366
    $D_OFFGRID,1001
    $D_SURF,2
    $D_TGT,300
    $D_TGT,45
    $KALMAN_USE,1
    $QUIT
    $RESUME
    $SM_CC,350
    $SM_CC,500
    $T_DIVE,100
    $T_DIVE,15
    $T_MISSION,120
    $T_MISSION,30
    $T_TURN_SAMPINT,5
    $USE_BATHY,-1