Recovered by Colin Dobson & Jeff Mart with NJDEP vessel out of AC Farley Marina.

Turned back offshore for final offshore leg before continuing zig-zag.

Looked into power numbers and my numbers come up smaller than what it appears the glider can do. Not sure why there is a discrepancy at this time.

Some light bottom sampling, will try to disable altimeter filter to see if the 1-1.5 m discrepancy is lowered. Right now the bottom is artificially deeper by 1.5 m, meaning the glider is coming very close on most inflections.

Adjusting goto for offshore segment; will begin and end at next inshore waypoint.

-7359.5000 3912.9400 - offshore
-7416.1592 3923.1063 - inshore

Putting climb depth back to 3 m. Adjusting u_reqd_depth_at_surface to 1.5 to try and keep gps off.

Next surfacing - dive pitch to 30 degrees; 15 minute mission to test. Water is more dense; dives are slow.

Several 30 min and 10 min tests for steering; settling on gain 1.5 igain .01 and dgain 5 for now. May revisit later. Still veering during inflections

30 min missions to try and cut down steering a bit. Trying gain at 1, igain at .02 and dgain at 7.5 (similar to OTIS shallow settings)

Lowering climb depth to 4 meters - gps still turning on almost every climb.

u_hd_fin_ap_gain from 1.5 to 1.25
u_hd_fin_ap_dgain from -4 to 4

Trying to calm steering down.

u_reqd_depth_at_surface changed to 1.75 to try and keep gps from turning on during top inflection. File transfers are caught up from leaving script off last night.

1 hour mbd available. Flight looks fine; perhaps some fin tuning. Small data drop out midway during one climb.

2 hour missions overnight.

Loaded alt_f.mi - shallow water altimeter settings to avoid bottom sampling. Still on 1 hour missions.

Software is actually 7.13
New puck for 2013 season: CTD 0057P, FLBBCD 2797, Optode SN1504