Just adding deployment note since it came up:

(de_pump gave out?) (weight shot to prevent crush)

ABORT HISTORY: total since reset: 32

ABORT HISTORY: last abort cause: MS_ABORT_WEIGHT_DROPPED

ABORT HISTORY: last abort details:

ABORT HISTORY: last abort time: 2013-05-20T10:31:43

ABORT HISTORY: last abort segment: silbo-2013-139-26-0 (0067.0000)

ABORT HISTORY: last abort mission: lastgasp.mi

SEQUENCE: About to run lastgasp.mi on try 0

Recovered by hired crew out of Barbados.

!put u_low_power_hd_fin_ap_igain 0.0004

Changed back to low power 30 sec cycle
silbo-2013-091-0-37
!put u_low_power_cycle_time 30
!put u_low_power_hd_fin_ap_gain 1
!put u_low_power_hd_fin_ap_igain 0.0001
!put u_low_power_hd_fin_ap_dgain 0

Restarted Autoballast (for total drive of 400cc, to avoid retracting during dive) and
put u_low_power_hd_fin_ap_gain 0.5

Switched to datahost server

silbo-2013-091-0-0

Changed u_low_power_hd_fin_ap_igain to 0.001 for u_low_power_cycle_time 15

Updated sbdlist to include m_hdg_error

turned current correction off

put f_de_oil_vol_deadz_width 50

zeroed pressure

sequenced 5 times

some drift in pressure ducer

zero_ocean_pressure
longterm_put u_reqd_depth_at_surface 7

New yofile with constant battpos (silbo-2013-026-1-67)
b_arg: d_use_pitch(enum) 1 # 1:battpos 2:setonce 3:servo
# in rad rad, <0 dive
b_arg: d_pitch_value(X) 0.175 # inch
b_arg: c_use_pitch(enum) 1 # 1:battpos 2:setonce 3:servo
# in rad rad, >0 climb
b_arg: c_pitch_value(X) -0.45 # inch

silbo-2013-021-0-0
Reset Autoballast, as pump was retracting during the dive.
Changed the following parameters:
d_speed_min from 0.04 to 0.02 m/s
pitch_value: from +/- 0.383 to 0.418 rad
c_autoballast_state 0
c_climb_bpump 200
c_dive_bpump -200

Also put back to low power:
u_low_power_cycle_time 30

Glider reset (silbo-2013-017-0-0)
Autoballast restarted.

Changed to commanded battpos:
dive=-0.02in
climb=-0.35in

silbo-2012-333-0-17
longterm_put f_battpos_db_frac_dz 0.5
pitch: pitch servo, 22 deg

grabbed all .ma and leif.mi files

longterm_put u_low_power_hd_fin_ap_igain 0.0001

System reset:
Sun Nov 25 14:34:57 2012
m_why_started = 32.000000 enum

put u_low_power_hd_fin_ap_igain 0.0001
silbo-2012-240-0-22

Changed sbdlist (removed m_fin, m_hdg_error)
20120904T030325_sbdlist

put u_low_power_hd_fin_ap_igain 0.0001
silbo-2012-240-0-5

Integral component of heading control was dominating. Changed several terms and the sbdlist:
u_low_power_hd_fin_ap_gain 1.0
u_low_power_hd_fin_ap_dgain 0.0
u_low_power_hd_fin_ap_igain 0.0

resequenced mission.

changed u_low_power_hd_fin_ap_gain from 0.5 to 0.1 (silbo-2012-229-0-29)

changed u_low_power_hd_fin_ap_gain from 1.0 to 0.5
(silbo-2012-229-0-25)

New waypoint:
-1830.000 2245.000
-1900.000 2320.000

Changed low power D (time derivative heading error) gain from 0 to -10.0:
u_low_power_hd_fin_ap_dgain -10.0

New sbd list (in archive)
resequenced leif.mi (3)

adjusted to 2 yo's between surf

adjusted pitch to be slightly steeper

low power mode set to 30s at 8-10-12 17:24 surfacing.

Changed to 1 yo
turned current correction on
Changes min auto ballast speed for dive:
b_arg: d_speed_min(m/s) 0.04 # minimum depth rate for dive

Confirmed surface current of around 5.25 K/hr flowing to 328 degrees

Increasing to double yo's at july 25 2012 ~15:30 GMT surfacing

no comms surface is 12 hr

After a busy couple days an update is in order. Chris DeCollibus of TWR, with the much appreciated assistance and facilities of PLOCAN, has reconditioned silbo for the next leg. silbo now carries two pitch and one aft lithium packs for an expected 1030 total amp-hrs. On July 24th 2012, Chris and Alvaro Lorenzo of PLOCAN launched silbo ~6.5K south of Gran Canaria (a little closer than expected). The first day at sea was spent increasing depth and adjust trim as we flew off the shelf. The present waypoints,as of this post, per the recommendation of Nilsen Strandskov of Rutgers to avoid a large eddy to the south west are:
-1617.461 2631.593
-1754.630 2607.235

new waypoints
-2643.883 3843.565
-1708.000 3303.500

at 16:18 surfacing changed max time in gliderdos to 60 seconds and opened and closed the solenoid valve a number of times. air bladder did begin inflating during this period.

ABORT HISTORY: total since reset: 6
ABORT HISTORY: last abort cause:
deadman abort tracking:

MS_ABORT_DEVICE_ERROR ABORT HISTORY: last abort details: The deadman device driver returned an error.
ABORT HISTORY: last abort time: 2011-08-13T19:22:48 ABORT HISTORY: last abort segment: silbo-2011-216-0-60 (0151.0060) ABORT HISTORY: last abort mission: LEIF.MI

Note primarily for tracking of deadman aborts -
this mlg was not pulled:
ABORT HISTORY: last abort cause: MS_ABORT_DEVICE_ERROR
ABORT HISTORY: last abort details: The deadman device driver returned an error.
ABORT HISTORY: last abort time: 2011-08-05T02:13:14
ABORT HISTORY: last abort segment: silbo-2011-211-1-31 (0150.0031)