Dive 36
    $ALTIM_PING_DEPTH,5000
    $ROLL_AD_RATE,250
Dive 34
    $C_VBD,1887
    $SM_CC,250
Dive 33
    $GO
Dive 32
    $KALMAN_USE,12
Dive 31
    $ALTIM_PING_DEPTH,0
    $ALTIM_TOP_PING_RANGE,0
    $QUIT
    $RESUME
    $T_DIVE,2820
    $T_MISSION,2850
Dive 30
    $GO
    $ROLL_AD_RATE,300
    $T_DIVE,2333
    $T_MISSION,2400
    $T_RSLEEP,12
Dive 29
    $C_ROLL_CLIMB,2537
    $C_ROLL_DIVE,2537
Dive 28
    $KALMAN_USE,13
    $T_DIVE,2187
    $T_MISSION,2230
Dive 27
    $ALTIM_PING_DEPTH,4500
    $D_TGT,5250
    $T_DIVE,1750
    $T_MISSION,1800
Dive 26
    $GLIDE_SLOPE,30
    $T_RSLEEP,12
Dive 25
Dive 24
    $D_TGT,45
    $GO
    $ROLL_DEG,40
    $T_ABORT,30
    $T_DIVE,10
    $T_MISSION,25
    $T_RSLEEP,12
    $T_RSLEEP,8
Dive 23
    $QUIT
    $RESUME
    $ROLL_DEG,30
Dive 18
    $ALTIM_PING_DEPTH,900
    $D_TGT,6084
    $KALMAN_USE,12
    $T_DIVE,2028
    $T_MISSION,2055
Dive 14
    $C_ROLL_CLIMB,2500
    $C_ROLL_DIVE,2600
    $GO
Dive 13
    $ALTIM_SENSITIVITY,3
    $QUIT
    $RESUME
    $T_RSLEEP,2
Dive 12
    $KALMAN_USE,14
    $PITCH_ADJ_DBAND,1
    $PITCH_ADJ_GAIN,0.02
    $USE_BATHY,0
Dive 7
    $GO
    $T_DIVE,440
    $T_MISSION,480
Dive 6
    $KALMAN_USE,13
Dive 5
    $ALTIM_PING_DELTA,10
    $ALTIM_SENSITIVITY,4
    $D_TGT,990
    $KALMAN_USE,12
    $PITCH_GAIN,17
    $T_ABORT,2880
    $T_DIVE,330
    $T_MISSION,360
    $T_NO_W,300
    $T_RSLEEP,12
Dive 4
    $D_TGT,150
    $SM_CC,300
    $T_DIVE,50
    $T_MISSION,60
Dive 3
    $CAPUPLOAD,0
    $C_PITCH,2460
    $MAX_BUOY,150
    $SM_CC,350
    $T_DIVE,15
    $T_MISSION,30
Dive 2
    $C_PITCH,2350
    $SM_CC,400
Dive 1
    $MAX_BUOY,450
    $SM_CC,450
    $ALTIM_PING_DELTA,5
    $ALTIM_PING_DEPTH,200
    $ALTIM_SENSITIVITY,3
    $ALTIM_TOP_PING_RANGE,20
    $CAPUPLOAD,1
    $C_PITCH,2177
    $C_VBD,2057
    $D_TGT,45
    $KALMAN_USE,2
    $MAX_BUOY,300
    $MAX_BUOY,450
    $PITCH_ADJ_DBAND,0
    $PITCH_ADJ_GAIN,0
    $PITCH_GAIN,14
    $QUIT
    $RESUME
    $SM_CC,450
    $SM_CC,550
    $T_DIVE,10
    $T_MISSION,25
    $T_RSLEEP,2
    $USE_BATHY,-1