Dive 20
    $N_DIVES,0
    $QUIT
    $SM_CC,300
Dive 19
    $ALTIM_BOTTOM_TURN_MARGIN,15
    $ALTIM_PING_DEPTH,110
    $D_TGT,200
    $T_DIVE,90
    $USE_BATHY,0
Dive 12
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $ALTIM_PING_DEPTH,0
    $D_TGT,180
    $N_DIVES,25
    $SM_CC,280
    $T_DIVE,50
    $USE_BATHY,-6
Dive 9
    $MAX_BUOY,150
Dive 8
    $C_ROLL_CLIMB,2110
    $C_ROLL_DIVE,2190
    $GLIDE_SLOPE,40
    $HEAD_ERRBAND,10
    $MAX_BUOY,90
Dive 7
    $C_ROLL_CLIMB,3500
    $C_ROLL_DIVE,3500
    $GLIDE_SLOPE,20
    $MAX_BUOY,300
Dive 6
    $C_ROLL_CLIMB,500
    $C_ROLL_DIVE,500
    $HEAD_ERRBAND,180
    $USE_BATHY,0
Dive 4
    $ALTIM_BOTTOM_TURN_MARGIN,15
    $ALTIM_PING_DEPTH,110
    $ALTIM_TOP_PING_RANGE,0
    $GLIDE_SLOPE,45
    $MAX_BUOY,90
Dive 3
    $GO
Dive 2
    $C_PITCH,2343
    $D_TGT,190
    $GLIDE_SLOPE,15
    $MAX_BUOY,300
    $N_DIVES,20
    $PITCH_GAIN,23
    $T_DIVE,65
Dive 1
    $C_PITCH,2340
    $C_ROLL_CLIMB,2110
    $C_ROLL_DIVE,2190
    $D_TGT,150
    $N_DIVES,2
    $PITCH_GAIN,25
    $SM_CC,250
    $T_DIVE,50
    $T_MISSION,75
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $ALTIM_PING_DEPTH,100
    $ALTIM_PULSE,3
    $ALTIM_SENSITIVITY,2
    $ALTIM_TOP_PING_RANGE,20
    $C_PITCH,2326
    $C_PITCH,2340
    $C_ROLL_CLIMB,2050
    $C_ROLL_CLIMB,2110
    $C_ROLL_DIVE,2050
    $C_ROLL_DIVE,2190
    $C_VBD,1677
    $D_TGT,150
    $D_TGT,45
    $GLIDE_SLOPE,30
    $HEAD_ERRBAND,10
    $MAX_BUOY,150
    $N_DIVES,2
    $PITCH_GAIN,18
    $PITCH_GAIN,25
    $QUIT
    $RESUME
    $SM_CC,250
    $SM_CC,300
    $T_DIVE,15
    $T_DIVE,50
    $T_MISSION,25
    $T_MISSION,75
    $T_RSLEEP,3
    $USE_BATHY,-6