Dive 21
Dive 20
    $C_PITCH,3270
    $D_TGT,90
    $QUIT
    $RESUME
    $STOP_T,03091717
    $T_DIVE,30
    $T_MISSION,90
    $T_SLOITER,0
Dive 14
    $ALTIM_FREQUENCY,18
    $C_ROLL_CLIMB,1960
    $C_ROLL_DIVE,2060
    $GLIDE_SLOPE,40
    $HEAD_ERRBAND,10
    $MAX_BUOY,200
Dive 13
    $C_ROLL_CLIMB,3750
    $C_ROLL_DIVE,3750
    $GLIDE_SLOPE,50
    $MAX_BUOY,90
Dive 12
    $ALTIM_FREQUENCY,14
    $C_PITCH,3275
    $C_ROLL_CLIMB,280
    $C_ROLL_DIVE,280
    $GLIDE_SLOPE,15
    $HEAD_ERRBAND,180
    $MAX_BUOY,250
    $PITCH_GAIN,15
    $T_DIVE,80
    $T_MISSION,80
Dive 9
    $STOP_T,03091715
    $T_SLOITER,30
Dive 8
    $D_FLARE,4
    $D_TGT,180
    $HD_A,1.17757e-03
    $HD_B,2.11827e-02
    $HD_C,9.08513e-06
    $SM_CC,290
Dive 7
    $ALTIM_PULSE,1
Dive 6
    $HD_A,1.21753e-03
    $HD_B,2.17135e-02
    $HD_C,9.8541e-6
Dive 5
    $C_ROLL_CLIMB,1960
    $C_ROLL_DIVE,2060
Dive 4
    $ALTIM_PULSE,2
    $ALTIM_SENSITIVITY,5
Dive 3
    $C_ROLL_CLIMB,1950
    $C_ROLL_DIVE,2050
    $GO
    $PITCH_GAIN,16
Dive 2
    $C_PITCH,3270
    $D_TGT,150
    $SM_CC,280
    $T_DIVE,50
    $T_MISSION,60
Dive 1
    $C_PITCH,3200
    $PITCH_GAIN,14
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $ALTIM_PING_DEPTH,100
    $ALTIM_PULSE,3
    $ALTIM_SENSITIVITY,2
    $ALTIM_TOP_PING_RANGE,20
    $C_PITCH,2919
    $C_PITCH,3200
    $C_ROLL_CLIMB,2020
    $C_ROLL_DIVE,2020
    $C_VBD,2276
    $D_FLARE,5
    $D_SURF,2
    $D_TGT,45
    $MAX_BUOY,150
    $PITCH_GAIN,14
    $PITCH_GAIN,20
    $QUIT
    $RESUME
    $ROLL_DEG,45
    $SM_CC,410
    $STOP_T,03101715
    $T_DIVE,15
    $T_MISSION,20
    $T_RSLEEP,3
    $USE_BATHY,-6