Dive 21
    $QUIT
Dive 9
    $T_DIVE,75
    $T_MISSION,90
Dive 8
    $CAPUPLOAD,0
Dive 7
    $C_PITCH,2699
    $PITCH_GAIN,22.2
Dive 6
    $PITCH_VBD_SHIFT,0.0
Dive 5
    $GO
    $PITCH_VBD_SHIFT,0.0005
Dive 4
    $SM_CC,250
Dive 3
    $C_PITCH,2675
    $C_VBD,2262
    $KALMAN_USE,0
    $PITCH_GAIN,21.6
    $USE_BATHY,0
Dive 2
    $C_PITCH,2700
    $D_TGT,150
    $SM_CC,400
    $T_DIVE,50
    $T_MISSION,60
Dive 1
    $ALTIM_BOTTOM_TURN_MARGIN,10
    $ALTIM_PING_DEPTH,75
    $ALTIM_TOP_PING_RANGE,20
    $C_PITCH,2800
    $C_ROLL_CLIMB,2025
    $C_ROLL_DIVE,2025
    $ALTIM_BOTTOM_TURN_MARGIN,10
    $ALTIM_PING_DEPTH,75
    $ALTIM_TOP_PING_RANGE,20
    $C_PITCH,2800
    $C_PITCH,3300
    $C_ROLL_CLIMB,2025
    $C_ROLL_DIVE,2025
    $C_VBD,2738
    $D_TGT,45
    $MAX_BUOY,150
    $PITCH_GAIN,22
    $PITCH_VBD_SHIFT,0.001
    $QUIT
    $RESUME
    $SM_CC,540
    $T_DIVE,15
    $T_MISSION,30
    $T_RSLEEP,2