Dive 24
    $QUIT
Dive 5
    $ALTIM_BOTTOM_TURN_MARGIN,1
    $ALTIM_PING_DELTA,10
    $ALTIM_PING_DEPTH,80
    $VBD_PUMP_AD_RATE_SURFACE,5
Dive 3
    $GO
Dive 2
    $C_PITCH,2712
    $PITCH_GAIN, 31
Dive 1
    $C_PITCH,2710
    $D_TGT,150
    $PITCH_GAIN, 30
    $T_DIVE,50
    $T_MISSION,70
    $C_PITCH,2694
    $C_PITCH,2710
    $C_ROLL_CLIMB,2146
    $C_ROLL_DIVE,2146
    $C_VBD,3525
    $D_SURF,4
    $D_TGT,150
    $D_TGT,45
    $KALMAN_USE,1
    $MAX_BUOY,150
    $PITCH_GAIN, 30
    $QUIT
    $RESUME
    $SM_CC,700
    $T_DIVE,15
    $T_DIVE,50
    $T_MISSION,30
    $T_MISSION,70
    $T_RSLEEP,3
    $USE_BATHY,-4