@18:28:36.50PDT14-Aug-24 <MAIN> 
Environmental Sample Processor built 20-Feb-24 (b91d4858)
@18:28:37.72 ESP2 v3.41 I2C Gateway v3.20 for core bus
@18:28:40.16 Configuration for bruce 5/18/23 by brent@mbari.org
/home/esp/esp2/type/shallow/bruce/configure.rb
@18:28:43.98 Polling Can every 10:00
@18:28:44.21 Cleanly exited at 18:27:04PDT14-Aug-24
@18:28:44.69 Clients may connect on TCP port 9999
@18:28:44.70 Waiting for espclients...
@18:30:37.94 <brent> Session Begun
@18:31:11.24 -> `uptime`
 18:31:11 up  5:03,  0 users,  load average: 0.03, 0.05, 0.01
@18:31:29.82 -> can
Can@18:31:29, 1% Wet!, 30.4C, 68% humidity, 13.7psia, 13.490V, 0.134A, 0.134A avg, 1.80W
@18:31:53.09 -> upsync
@18:32:21.49 <uploadLog> upsync

@18:36:21.80 <brent> -> ESP

@18:36:39.65 -> ESP.ready!
@18:36:39.68 Powering core bus
@18:36:45.29 Gate.power :raw,:ON
@18:36:46.29 CS.configure :default
@18:36:46.34 PS.configure :default
@18:36:46.39 SS.configure :default
@18:36:46.44 CC.configure :default
@18:36:46.49 PC.configure :default
@18:36:46.56 Forearm.configure :loose
@18:36:46.61 Elbow.configure :loose
@18:36:46.68 SC.configure :loose
@18:36:46.74 SE.configure :default
@18:36:46.78 CH.configure :default
@18:36:46.84 PH.configure :default
@18:36:46.89 All dwarf controllers running firmware version 3.85
@18:36:47.15 <rdySampler> Intake.select :close
@18:36:47.19 Exhaust.select :close
@18:36:47.21 CTV.dial :air
@18:36:47.30 <rdyProcessing> PSV.dial :air
@18:36:47.43 <brent> Forearm.home.seek :retract
@18:36:47.52 <rdySampler> CSV.dial :waste1
@18:36:47.55 <rdyProcessing> PS.home.seek 0ml
@18:36:48.12 <rdySampler> SSV.dial :spit,avoiding: :exhaust
@18:36:48.27 <closeHand> Hand.close
@18:36:48.32 <brent> Elbow.reconfigure :loose
@18:36:48.43 Elbow.jog -9000
@18:36:49.11 <readyCS> CS.reconfigure :fast
@18:36:49.14 <rdySampler> SS.home.seek 0ml
@18:36:49.23 <readyCS> CS.home.seek 0ml
@18:36:49.38 <brent> Elbow.reconfigure :loose
@18:36:49.44 Elbow.home.seek :clear
@18:36:55.08 SE.home.seek :down
@18:36:55.69 SC.reconfigure :tight
@18:36:55.75 SC.home.seek :initial
@18:36:57.01 <rdyProcessing> PS.stop
@18:36:59.36 <brent> SC.configure :limp
@18:36:59.42 Forearm.seek :retract
@18:36:59.50 Elbow.seek :hammer
@18:37:00.86 Forearm.reconfigure :tight
@18:37:00.92 Forearm.seek :retracted
@18:37:01.16 Forearm.coast
@18:37:01.23 Arm::StretchError in brent -- Holding position retracted requires 48mA
@18:37:01.25 Retry #1 of 5
@18:37:01.34 Hammering Forearm against inboard stop to recenter bearing races
@18:37:01.43 Forearm.reconfigure :loose
@18:37:01.50 Forearm.seek between 3 and retracted
@18:37:02.16 Forearm.force 100
@18:37:02.77 Forearm.stop
@18:37:03.19 Forearm.reconfigure :tight
@18:37:03.26 Forearm.seek :retracted
@18:37:03.67 <openPC> PC.home.seek :open
@18:37:03.69 <brent> CC.home.seek :open
CSV = Collection Syringe Valve at waste1
CTV = Collection Top Valve at air
CBV = Collection Bottom Valve at CSV
PSV = Processing Syringe Valve at air
PBV = Processing Bottom Valve at waste1
PTV = Processing Top Valve at puck
PRV = Processing Reagent Valve at air
SSV = Sampler Syringe Valve at air
CS = Collection Syringe at 0ml
PS = Processing Syringe at 0ml
SS = Sampler Syringe at 0ml
CC = Collection Clamp open
PC = Processing Clamp open
Forearm at retracted
Elbow at 1
Hand is closed
SC = Storage Carousel at 3
SE = Storage Elevator down
CH = Collection Puck Heater at 31.6C
PH = Processing Puck Heater at 33C
CSR = Collection Valve::Manifold in an unknown or transitory state
Intake = Outer Intake Valve closed
Exhaust = Outer Exhaust Valve closed
PSR = Processing Valve::Manifold in an unknown or transitory state
@18:37:33.90 -> Arm.to CC
@18:37:34.03 Elbow.reconfigure :tight
@18:37:34.08 Elbow.seek CC
@18:37:35.71 Elbow.reconfigure :loose
@18:37:35.81 Forearm.seek CC
Arm at CC, Hand is closed
@18:37:47.34 -> Arm
Arm at CC, Hand is closed
@18:37:55.56 -> Hand.open
@18:37:55.57 Hand.open
Hand is opened
@18:38:05.24 -> CC.close
@18:38:05.28 Arm::Error in brent -- Claim Arm, then retry closing Collection Clamp
@18:38:25.42 -> Arm.claim
1
@18:38:32.29 -> CC.close
@18:38:32.37 Elbow.reconfigure :tight
@18:38:32.43 Elbow.seek CC
@18:38:32.74 Elbow.reconfigure :loose
@18:38:32.84 Forearm.reconfigure :loose
@18:38:32.90 Forearm.seek CC
@18:38:32.98 Hand.close
@18:38:33.77 CC.seek :closed
@18:38:37.86 Collection Clamp onSpring/offSpring for 6/25 samples, on/off torque 1.00
@18:38:37.90 Slide::Error in brent -- No Puck Clamped in Collection Clamp
@18:38:45.49 -> CC.open
@18:38:45.52 CC.seek :open
Collection Clamp open
@18:38:57.64 -> Arm.retract
@18:38:57.66 Hand.open
@18:38:58.32 Forearm.seek :retract
Elbow at CC, Forearm retracted, Hand is opened
@18:39:10.88 -> Arm.relinquish
Elbow at CC, Forearm retracted, Hand is opened
@18:42:00.50 -> `uptime`
 18:42:00 up  5:14,  0 users,  load average: 0.00, 0.02, 0.00
@18:42:04.53 -> can
Can@18:42:04, 30.2C, 69% humidity, 13.7psia, 13.410V, 0.390A, 0.390A avg, 5.23W
@18:42:25.33 -> ESP.shutdown
@18:42:25.38 Asleep / Shutdown
@18:42:25.72 <shutdown> Gate.power :core,:OFF
@18:42:25.73 Gate.power :raw,:OFF
@18:42:25.75 Shutdown

@18:46:59.86 <brent> -> exit
@18:46:59.88 Session Ended
@19:06:31.14 <brent> Session Begun
@19:06:44.51 -> upsync;exit
@19:07:11.98 <uploadLog> upsync
@19:07:12.00 <brent> Session Ended