Recovered by Travis Miles; Shore support provided by Haskins.

Re-tasking for recovery.

Turned up and down sampling on, as recovery is soon and battery is still decent.

1 hour missions, 100_tn, station keeping

u_min_water_depth 40 m !!

Retasked to common safe spot until ice scare clears:
http://marine.rutgers.edu/~kerfoot/gearth/kmz/gliders/routes/ru05/20111223T012216_retask/ru05_20111223T012216.kmz

Many early turn arounds, need to set u_min_water_depth

Softened outer edges of remaining waypoints. They were getting too close to ice / islands for comfort.

Battery dropping quite fast, changing optics to just downcasts. Also extending mission time to 2.5 hours due to lengthening the cross shelf legs.

CTD sampling to 1 sec. Might have been on edge of overloading.

u_min_water_depth 15

Abort was iridium for me leaving glider idle too long.

Changed TBD to 4 sec downcasts, it was a bit too large before at 2 sec.

Resequenced new mission - 100_nwu
Glider will surface when it hits a waypoint, no_comms 2 hours, and UTC of midday.

Also flying on Travis Miles path:
http://marine.rutgers.edu/~kerfoot/gearth/kmz/gliders/routes/ru05/20111215T195612_retask/ru05_20111215T195612.kmz

TBD now only every downcast. Possibility of switching to every up and down at reduced resolution. Will talk to Travis about that.

Had to setdevlimit on attitude_rev before getting mission to run (upon deployment) (think it might have been the zodiac motors but unsure, I told them to move & setdevlimit, one of those fixed it):
attitude_rev I u 3 100 10 3 [ 3 0 0]

u_min_water_depth 40
u_pitch_max_delta_battpos .04
60 m dives for 2 hours, need to clear Outcast Islands, then 100 m