Dive 4
    $CAPUPLOAD,1
    $C_PITCH,1628
    $C_ROLL_CLIMB,3280
    $C_ROLL_DIVE,3400
    $C_VBD,2474
    $KALMAN_USE,2
    $MAX_BUOY,150
    $SIM_PITCH,-20
    $SIM_W,0.1
    $SM_CC,150
    $T_MISSION,15
    $T_RSLEEP,1
    $USE_BATHY,0
Dive 3
Dive 2
    $C_ROLL_CLIMB,2375
    $C_ROLL_DIVE,2400
    $RESUME
Dive 1
    $CAPUPLOAD,1
    $KALMAN_USE,2
    $SIM_PITCH,-20
    $SIM_W,0.1
    $T_RSLEEP,1
    $USE_BATHY,0
   
    $CAPUPLOAD,1
    $C_PITCH,1628
    $C_ROLL_CLIMB,3280
    $C_ROLL_DIVE,3400
    $C_VBD,2474
    $D_ABORT,1020
    $D_BOOST,0
    $D_TGT,30
    $KALMAN_USE,2
    $MAX_BUOY,150
    $QUIT
    $SIM_PITCH,-20
    $SIM_W,0.1
    $SM_CC,150
    $T_BOOST,0
    $T_DIVE,10
    $T_MISSION,15
    $T_RSLEEP,1
    $USE_BATHY,0