Dive 878
    $QUIT
    $T_RSLEEP,12
    $T_RSLEEP,120
    $T_RSLEEP,177
    $T_RSLEEP,180
    $T_RSLEEP,240
    $T_RSLEEP,357
    $T_RSLEEP,360
Dive 806
    $D_TGT,990
    $GO
    $MAX_BUOY,120
    $PITCH_ADJ_GAIN,0.02
    $SM_CC,300
    $T_DIVE,600
    $T_MISSION,630
    $T_RSLEEP,57
Dive 805
Dive 670
    $D_TGT,990
    $GO
    $MAX_BUOY,120
    $PITCH_ADJ_GAIN,0.02
    $SM_CC,300
    $T_DIVE,600
    $T_MISSION,630
    $T_RSLEEP,57
Dive 669
Dive 487
    $D_TGT,990
    $GO
    $MAX_BUOY,120
    $PITCH_ADJ_GAIN,0.02
    $SM_CC,300
    $T_DIVE,600
    $T_MISSION,630
    $T_RSLEEP,57
Dive 486
Dive 273
    $PITCH_ADJ_GAIN,0.02
Dive 195
    $C_PITCH,2000
    $D_TGT,990
    $GO
    $MAX_BUOY,120
    $SM_CC,300
    $T_DIVE,600
    $T_MISSION,630
    $T_RSLEEP,57
Dive 192
Dive 30
    $MAX_BUOY,120
Dive 26
    $T_DIVE,600
    $T_MISSION,630
Dive 18
    $T_DIVE,528
    $T_MISSION,570
Dive 7
    $T_DIVE,440
    $T_MISSION,480
Dive 4
    $GO
    $T_RSLEEP,57
Dive 3
    $D_TGT,990
    $T_DIVE,330
    $T_MISSION,360
    $T_RSLEEP,7
Dive 2
    $ALTIM_TOP_PING_RANGE,0
    $CAPUPLOAD,0
    $D_TGT,300
    $PITCH_ADJ_DBAND,1
    $PITCH_ADJ_GAIN,0.04
    $T_DIVE,100
    $T_MISSION,120
    $T_RSLEEP,27
Dive 1
    $SM_CC,300
    $ALTIM_PING_DEPTH,0
    $ALTIM_TOP_PING_RANGE,20
    $CAPUPLOAD,1
    $C_PITCH,2000
    $C_VBD,2931
    $D_TGT,45
    $HD_A,0.0037098
    $HD_B,0.012019
    $HD_C,3.204e-05
    $MAX_BUOY,150
    $PITCH_ADJ_DBAND,0
    $PITCH_ADJ_GAIN,0
    $PITCH_GAIN,23
    $QUIT
    $RESUME
    $SM_CC,300
    $SM_CC,595
    $T_DIVE,15
    $T_MISSION,30
    $T_RSLEEP,2