Thanks a lot for taking away HOURS of my new scope playtime
I have an E4432B with Bluetooth and other options. Not sure it has the UND. While I haven't done this myself (yet), have a look a few pages before your reference, where 4-5 discusses the stored segment lengths. Also look in the remote section 2-72 for loading waveform files. Also search for the word "length" and it leads to many relevant items such as waveform lengths from the internal editor (looks like you have only discrete lengths available).
In various references, such as the 2-72 area, I'm not clear if "file name" refers to an operating system file on your PC. The program samples and Table 2-2 which describe them step by step may help.
I think this section will get your waveform into the ESG. You could probably generate a waveform to test within Excel, save it as .txt and tweak it with a text editor to give the proper delimiters.
I seem to recall briefly using an ESG Excel add-in from Agilent (Intuilink system ??) some years back but don't recall what it was capable of. Their Intuilink examples for DMMs for instance, provided a strip chart application within Excel.
If you still have your nice scope, you could output an ARB file from a scope channel capture, then possibly tweak that file until it's just the necessary content, etc. Sorry but I don't recall the format of the scope ARB file.
Don't be afraid to play via SCPI. That's my $0.02 and I hope someone else has a $1.00 to spare.