Dive 30
Dive 29
Dive 28
    $C_ROLL_DIVE,2400
Dive 27
    $ALTIM_SENSITIVITY,3
    $C_ROLL_CLIMB,2050
    $C_ROLL_CLIMB,2200
    $C_ROLL_DIVE,2050
    $C_ROLL_DIVE,2200
    $PITCH_GAIN,14
    $QUIT
    $RESUME
Dive 25
    $C_ROLL_CLIMB,2000
    $C_ROLL_DIVE,2000
    $PITCH_GAIN,13
Dive 23
    $C_ROLL_CLIMB,3100
    $C_ROLL_DIVE,2900
    $GO
    %KALMAN_USE,2
    $PITCH_GAIN,12
Dive 11
    $C_PITCH,2415
    $C_ROLL_DIVE,2400
    $SM_CC,500
    $T_DIVE,62.5
    $T_MISSION,75
    $USE_BATHY,0
Dive 3
Dive 2
Dive 1
    $ALTIM_PING_DELTA,10
    $ALTIM_PING_DEPTH,60
    $C_PITCH,2350
    $D_TGT,150
    $RESUME
    $SM_CC,570
    $T_DIVE,50
    $T_MISSION,60
    $ALTIM_PING_DELTA,10
    $ALTIM_PING_DELTA,25
    $ALTIM_PING_DEPTH,150
    $ALTIM_PING_DEPTH,60
    $C_PITCH,2350
    $C_PITCH,2815
    $C_ROLL_CLIMB,2200
    $C_ROLL_DIVE,2200
    $C_VBD,3287
    $D_TGT,150
    $D_TGT,45
    $MAX_BUOY,150
    $QUIT
    $RESUME
    $SM_CC,570
    $SM_CC,670
    $T_DIVE,15
    $T_DIVE,50
    $T_MISSION,30
    $T_MISSION,60
    $T_RSLEEP,2
    $USE_BATHY,-1