Dive 24
    $QUIT
Dive 22
    $ALTIM_BOTTOM_TURN_MARGIN,10
    $ALTIM_PING_DELTA,10
    $ALTIM_PING_DEPTH,80
    $ALTIM_PULSE,4
    $ALTIM_SENSITIVITY,1
    $CAPUPLOAD,1
    $C_PITCH,2727
    $C_ROLL_CLIMB,2250
    $C_ROLL_DIVE,2260
    $C_VBD,3291
    $D_SURF,4.5
    $D_TGT,150
    $GO
    $KALMAN_USE,0
    $MAX_BUOY,150
    $PITCH_GAIN,30
    $PRESSURE_SLOPE,1.16166754E-04
    $SEABIRD_C_G,-9.93744665E+00
    $SEABIRD_C_H,1.12564597E+00
    $SEABIRD_C_I,-1.08391873E-03
    $SEABIRD_C_J,1.77997684E-04
    $SEABIRD_T_G,4.32852192E-03
    $SEABIRD_T_H,6.26564448E-04
    $SEABIRD_T_I,2.46382492E-05
    $SEABIRD_T_J,2.73435385E-06
    $SM_CC,700
    $T_DIVE,50
    $T_MISSION,70
    $T_RSLEEP,3
    $USE_BATHY,-4
    $VBD_PUMP_AD_RATE_SURFACE,5
    $XPDR_VALID,1
Dive 20
Dive 10
    $ALTIM_PULSE,4
    $C_PITCH,2727
    $C_ROLL_CLIMB,2250
    $C_ROLL_DIVE,2260
    $XPDR_VALID,1
Dive 8
    $ALTIM_BOTTOM_TURN_MARGIN,10
    $ALTIM_PING_DELTA,10
    $ALTIM_PING_DEPTH,80
    $ALTIM_PULSE,3
    $ALTIM_SENSITIVITY,1
    $CAPUPLOAD,1
    $C_PITCH,2725
    $C_VBD,3291
    $D_SURF,4.5
    $D_TGT,150
    $GO
    $KALMAN_USE,0
    $MAX_BUOY,150
    $PITCH_GAIN,30
    $SIM_PITCH,0
    $SIM_W,0
    $SM_CC,700
    $T_DIVE,50
    $T_MISSION,70
    $T_RSLEEP,3
    $USE_BATHY,-4
    $VBD_PUMP_AD_RATE_SURFACE,5
    $XPDR_VALID,0
Dive 7
Dive 5
    $ALTIM_BOTTOM_TURN_MARGIN,10
    $ALTIM_PING_DELTA,10
    $ALTIM_PING_DEPTH,80
    $ALTIM_PULSE,3
    $ALTIM_SENSITIVITY,1
    $C_PITCH,2725
Dive 4
    $GO
    $PITCH_GAIN,30
Dive 3
    $C_PITCH,2720
    $D_SURF,4.5
Dive 2
    $C_PITCH,2715
    $D_TGT,150
    $QUIT
    $T_DIVE,50
    $T_MISSION,70
Dive 1