@1667536059.24PDT = =tMAIN =mMAIN_scheduler @PDT1667536060.87 !to:Errno::EBUSY:\ errnoi: mesg"DDevice or resource busy - /dev/I2Cgate -- Missing core Gateway!:bt[":/home/esp/esp2/lib/i2c/gateway.rb:178:in `initialize'":/home/esp/esp2/lib/i2c/gateway.rb:178:in `initialize'"3/home/esp/esp2/lib/i2c/gateway.rb:139:in `new'":/home/esp/esp2/lib/i2c/gateway.rb:139:in `initialize'"8/home/esp/esp2/lib/i2c/sleepy.rb:52:in `initialize'"9/home/esp/esp2/type/shallow/netconfig.rb:39:in `new'"0/home/esp/esp2/type/shallow/netconfig.rb:39"1/home/esp/esp2/lib/buildparser.rb:76:in `[]'">/home/esp/esp2/lib/buildparser.rb:76:in `installGateways'"3/home/esp/esp2/lib/buildparser.rb:73:in `each'">/home/esp/esp2/lib/buildparser.rb:73:in `installGateways'"4/home/esp/esp2/lib/realtime.rb:22:in `realTime'"-/home/esp/esp2/lib/esp.rb:104:in `shell'"7/home/esp/esp2/lib/schedule.rb:491:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"'/home/esp/esp2/lib/schedule.rb:482 @1667536060.88PDT @1667536092.73PDT = =tMAIN =mMAIN_scheduler @PDT1667536094.60 #"core_reset"Sent BREAK + #t@47517 receive with ifg=0x10, ie=0xFD + #@48164 receive with ifg=0x10, ie=0xFD + #@49002 receive with ifg=0x10, ie=0xFD + #@49632 receive with ifg=0x10, ie=0xFD + #@50262 receive with ifg=0x10, ie=0xFD #@50892 receive with ifg=0x10, ie=0xFD + #@51522 receive with ifg=0x10, ie=0xFD #@51853 receive with ifg=0x80, ie=0xFD + #@54398 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +9 #ESP2 v3.42 I2C Gateway v3.20 for core bus +249 #Configuration for friday by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +421 "Can"\ :1r + \ :1r! #tPolling Can every 10:00 +2 #Cleanly exited at 21:28:04PDT03-Nov-22 +607 #-> pucks +684 #-> ESP.ready! +155 "sampler") +2 ) +2 "core"  + "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %K2\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +3 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %U\ + .tPS.configure :default +3 "processing"%#A d`xb +3 "sampler")% +2 "core" %PN y\ +2 .tSS.configure :default +3 "sampler")#.0X Puck.count +2 "storage"(3% +3 "core" %f C K o  +2 .tSE.seek :down +2 "storage"(4'g +4 "core" ' + .tSE.stop +2 "storage"(5 +2 .tHand.open + "manipulator"&51 +58 "core" 1 +2 "manipulator"&6% +4 "core" % T l  +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 1 + "storage"(7( +818 "core" ( + .tSC.configure :limp +3 "storage"($(\ 1b +3 (8& +2 "core" & ^ e  +2 "manipulator"&9& +4 "core" &G ~  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&:( +50 "core" ( +2 "manipulator"&;& +4 "core" & & * + "storage"(<& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 800 counts +2 "manipulator"&='m +90 "core" ' + "storage"(>& +4 "core" & 2  +2 .tSE.reconfigure :place +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(?'6 +301 "core" ' +2 "storage"(@- +4 "core" -' + .tSE.configure :default +8 "storage"(#QK-0-\ b +3 (A% +7 "core" % i g  +2 ."downElevator"SE.seek :down +4 "storage"(B'g +99 (C% +3 "core" %ZT Y [ @ U] +2 "manipulator"&D% +4 "core" %r  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&E' ] +149 "core" ' +3 ' + ."downElevator"SE.stop +2 "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 2 +2 "storage"(F( v +200 "core" ( +2 .tSC.configure :limp +3 "storage"($(\ 1b +3 (G& +2 "core" & t E E $  +2 "manipulator"&H& +4 "core" & a ) +2 .tElbow.seek 2 +2 "manipulator"&I(v +26 "core" ( +2 "manipulator"&J& +4 "core" &} 8 5 + "storage"(K& +4 "core" & m t $ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 800 counts +2 "manipulator"&L'' +91 "core" ' +2 "storage"(M& +4 "core" & m $ + .tSE.reconfigure :place +3 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +2 "storage"(N'6 +274 "core" ' + "storage"(O- +4 "core" -'Y + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (P% +3 "core" % ] \\ Z `  +2 ."downElevator"SE.seek :down +4 "storage"(Q'g +99 (R% +3 "core" %Ҩ* v RP + "manipulator"&S% +4 "core" %& w +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&T' ] +102 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +46 "core" ' +2 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +3 .tSC.seek 3 + "storage"(U(8 +183 "core" ( + .tSC.configure :limp +3 "storage"($(\ 1b +2 (V& +3 "core" &6 B @ \\  +2 "manipulator"&W& +4 "core" &} 5 +2 .tElbow.seek 3 +2 "manipulator"&X( +38 "core" ( + "manipulator"&Y& +4 "core" &\ ( !q +2 "storage"(Z& +4 "core" &6  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 800 counts +2 "manipulator"&['! +99 "core" ' + "storage"(\\& +4 "core" &6  +2 .tSE.reconfigure :place +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(]'6 +268 "core" ' + "storage"(^- +4 "core" -'6 + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (_% +3 "core" % < X g M  +2 ."downElevator"SE.seek :down +4 "storage"(`'g +99 (a% +2 "core" %? h i TW +2 "manipulator"&b% +4 "core" %K Q +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&c' ] +152 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +3 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 4 +2 "storage"(d(, +192 "core" ( +2 .tSC.configure :limp +2 "storage"($(\ 1b +3 (e& +2 "core" &, 9 D Z  +2 "manipulator"&f& +4 "core" &\  !q +2 .tElbow.seek 4 + "manipulator"&g( +27 "core" ( + "manipulator"&h& +5 "core" &\  k + "storage"(i& +4 "core" &+ # +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 800 counts +2 "manipulator"&j'+ +97 "core" ' + "storage"(k& +5 "core" &+  # + .tSE.reconfigure :place +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(l'6 +269 "core" ' + "storage"(m- +3 "core" -'6 +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (n% +2 "core" % 3 \\ f T  +3 ."downElevator"SE.seek :down +3 "storage"(o'g +99 (p% +3 "core" %A g h o TY + "manipulator"&q% +4 "core" %9 c  +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&r' ] +152 "core" ' +8 ' + ."downElevator"SE.stop +2 "storage"(5 +3 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 5 +2 "storage"(s(; +206 "core" ( +5 .tSC.configure :limp +3 "storage"($(\ 1b +3 (t& +2 "core" &; )  +2 "manipulator"&u& +4 "core" &  k + .tElbow.seek 5 +2 "manipulator"&v(/ +52 "core" ( +2 "manipulator"&w& +4 "core" &; q  +2 "storage"(x& +3 "core" &; ~   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 800 counts +2 "manipulator"&y' +96 "core" ' +2 "storage"(z& +4 "core" &; q  + .tSE.reconfigure :place +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"({'6 +269 "core" ' + "storage"(|- +3 "core" -'6 +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (}% +2 "core" % * ~  +2 ."downElevator"SE.seek :down +4 "storage"(~'g +99 (% +2 "core" %^A X Y TX +2 "manipulator"&% +4 "core" % N $ + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&' ] +149 "core" ' +16 ' + ."downElevator"SE.stop +2 "storage"(5 +3 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 6 +2 "storage"((K +207 "core" ( +2 .tSC.configure :limp +3 "storage"($(\ 1b +2 (& +3 "core" &K u  +2 "manipulator"&& +4 "core" &; 6  +2 .tElbow.seek 6 +2 "manipulator"&(N +38 "core" ( + "manipulator"& & +4 "core" &\\  % +2 "storage"( & +4 "core" &K  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 800 counts + "manipulator"& ' +99 "core" ' +2 "storage"(& +4 "core" &K 0  +2 .tSE.reconfigure :place +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('6 +269 "core" ' + "storage"(- +4 "core" -'6 + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (% +2 "core" % 2 g X <  +3 ."downElevator"SE.seek :down +4 "storage"('g +99 (% +2 "core" %? i i TX +2 "manipulator"&% +4 "core" %%  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract +2 "manipulator"&' ] +137 "core" ' +26 ' + ."downElevator"SE.stop +2 "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 7 + "storage"(([S +196 "core" ( + .tSC.configure :limp +3 "storage"($(\ 1b +2 (& +3 "core" &[S  %  " + "manipulator"&& +4 "core" &\\  % +2 .tElbow.seek 7 + "manipulator"&( +29 "core" ( + "manipulator"&& +4 "core" &!  I +2 "storage"(& +4 "core" &[Q ; $ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 800 counts +2 "manipulator"& 'у +91 "core" ' + "storage"(!& +4 "core" &[Q 9 $ +2 .tSE.reconfigure :place +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"("'6 +268 "core" ' +2 "storage"(#- +3 "core" -'6 +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ($% +3 "core" % ) n %  +2 ."downElevator"SE.seek :down +3 "storage"(%'g +100 (&% +2 "core" %GD g h  UZ +2 "manipulator"&'% +4 "core" %т e +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&(' ] +143 "core" ' +18 ' + ."downElevator"SE.stop +2 "storage"(5 +15800 #t-> $daVol = 1000, nil #collect 1000 mL 0.65um filter, skipping WCR +23 #-> $daWCRvol = 1000, 1000 #da plus 1000 mL WCR +48 #-> $da[:wcrSampler] = BACsampler #Uses BACsampler to collect WCR instead of the WCR Sampler set up in the DA protocol +62 #-> def myDA #Creates a variable that contains the processes to run during each DA only phase\ initialPurge; da $daVol\ end +62 #-> def myDA_WCR #Creates a variable that contains the processes to run during each DA+WCR phase\ initialPurge; da $daWCRvol\ end +71 #-> def myWCR #Creates a variable that contains the processes to run a stand alone WCR phase\ initialPurge; standAloneWCR ([nil, 1000], $bac)\ end +4284 #-> myDA +2 #Starting initialPurge + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"')& +4 "core" &v,\  + "manipulator"&*& +4 "core" &! + I +2 "manipulator"&+% +4 "core" % R   + .tElbow.seek FlushPuck::Garage +2 "manipulator"&,(-] +167 "core" ( + "manipulator"&-& +4 "core" &-g \  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &.& +2 "core" &-g   +2 .tForearm.seek :garage +2 "manipulator"&/'t +99 "core" ' + .tHand.close +2 "manipulator"&0/ +64 "core" / +2 "manipulator"&1& +4 "core" &-g @  + "manipulator"&2% +4 "core" %  t W +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&3' ] +150 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&5( +293 "core" ( +2 "manipulator"&6& +4 "core" &  a & + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & c & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&4' +100 "core" ' + "manipulator"&& +4 "core" & p & +2 "manipulator"&8% +4 "core" % F  + "collection"'9& +4 "core" &v'\  +2 "collection"';& +5 "core" &v&\  +2 .tCC.seek :closed + "collection"'<(W +5 "core" &vB\ \  +8 &6{A\ +{ +9 &cC\ ? +10 &B{B\ P +9 &\\J\ O +10 &\\L\ P +9 &`L\ P +9 &JbL\ O +10 & ^J\ O +9 & _L\ O +9 &"bK\ O +10 &$R]M\ O +9 &&_L\ O +10 &'bM\ O +9 &)[J\ O +9 &+Y]J\ P +10 &-`K\ P +9 &.^K\ O +9 &0_K\ O +10 &2abL\ P +9 &4$`I\ O +10 &5\\E\ P +9 &7bJ\ O +9 &9i_G\ P +10 &;+^J\ P +9 &<`B\ P +9 &>]J\ P +10 &@rcK\ O +9 &B3]>\ P +10 &CbI\ O +9 &EbG\ O +9 &GvkF\ Q +10 &I4wE\ R +9 &JE\ V +9 &LK\ X +10 &NgC\ Y +9 &P(K\ Y +10 &QK\ Z +9 &S?\ Z +9 &UlF\ S +10 &VE@\ )z +9 &Ve>\ C +5 ( +2 "collection"';& +4 #tCollection Clamp onSpring/offSpring for 6/25 samples, on/off torque 1.90 +2 "collection"'>& +4 "core" &VWE\ C + &VW>\ C + .tHand.open +2 "manipulator"&1 +59 "core" 1 + "manipulator"&% +4 "core" % ]  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&@' ] +155 "core" ' +2 #tFlushing the Collection Valve::Manifold +2 "collection"'A& +4 "core" &VW&\ C +2 "collection"'C% +3 "core" %K'\ +2 "collection"'D +3 "core"  + .tCSV.dial CSR +2 "collection"'?  +129 "core"  + #tPulling 4.999ml of CSR.flush +2 .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml + "collection"'='m +1366 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +9 'G% +2 "core" %m \ +2 .tCS.reconfigure :fast +3 "collection"'#d @b +2 .tCS.seek 7.501ml +2 "collection"'H' +639 "core" ' + .tCSV.dial :waste +3 "collection"'J +127 "core" +4 .tCS.reconfigure :default +4 "collection"'#P d@b +6 .tCS.seek 0ml + "collection"'K'F +28 #"brent"Session Begun +378 #-> startTube 2 +858 #-> startTube +139 #-> pucks +576 "core" ' +2 #tPurging external Intake + "collection"'B& +7 "core" &VT \ C +2 "collection"'7% +3 "core" %G\ +2 .tCSV.dial :flush +2 "collection"'M  +43 "core"  +3 .tCS.reconfigure :fast +3 "collection"'#d @b +3 .tCS.seek 10ml +3 "collection"':' +311 #"brent"-> hidelog +2009 "core" ' + .tdelay 5 seconds +503 ."connect"CSV.dial CBV +4 .tCBV.dial CSV +3 "collection"'E +47 'O  +6 "core"  +65 ~ +2 .tCTV.dial :intake + "collection"'P  +75 "core"  +2 .tIntake.select :open + "sampler") +10 .tCS.seek 0ml +2 "collection"'R'F +789 #"brent"-> exit +2 #Session Ended +1537 "core" ' + .tIntake.select :close +2 "sampler")0 +9 .tCTV.dial :air + "collection"'S  +74 "core" +2 #tFlushing upper manifold + "collection"'N& +5 "core" &VT\ \ C + "collection"'L% +4 "core" %I\ + .tCSV.dial :flush +2 "collection"'V  +72 "core"  +2 .tCS.seek 5ml + "collection"'W'm +1200 "core" ' + .tdelay 5 seconds +503 .CSV.dial :air +2 "collection"'Y @ +42 "core" B +2 "collection"'Z% +4 "core" %m\  +2 .tCS.seek 7.001ml + "collection"'Q' +540 "core" ' + ."connect"CSV.dial CBV +4 .tCBV.dial CSV +2 "collection"'F + '\\  +7 "core"  +92  +2 .tCTV.dial :air +2 .CS.seek 0ml +2 "collection"'I'F +1652 "core" ' +2 .tdelay 7 seconds +703 .CS.seek 3ml + "collection"'T'.H +750 "core" ' +2 .tCSV.dial :waste + "collection"'^ +43 "core" +2 .tCS.seek 0ml + "collection"'_'F +764 "core" ' + "collection"'a& +4 "core" &VS\ C +2 "collection"'b% +3 "core" %G!\ +2 .tCSV.dial :flush + "collection"']  +43 "core"  +2 .tCS.seek 3ml +2 "collection"'['.H +765 "core" ' + .tdelay 5 seconds +503 .CSV.dial :air +2 "collection"'e @ +41 "core" A + "collection"'f% +4 "core" %.M\ \ +2 .tCS.seek 5.001ml +2 "collection"'h'm +531 "core" ' +2 .tCSV.dial :air +2 "collection"'i @ +4 "core" @ +2 .tCS.seek 0ml +2 "collection"'`'F +1201 "core" ' + .tdelay 7 seconds +704 .CS.seek 3ml + "collection"'U'.H +753 "core" ' +2 .tCSV.dial :waste +6 "collection"'k +70 "core" +2 .tCS.seek 0ml +2 "collection"'X'F +778 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&c& +4 "core" & F $ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&m( +34 "core" ( +2 "manipulator"&n& +4 "core" & B 6 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &p& +3 "core" & 6 6 +2 .tForearm.seek CC +2 "manipulator"&q' +97 "core" ' + .tHand.close +2 "manipulator"&l/ +55 "core" / + .tCC.seek :open +2 "collection"'j( +394 "core" ( +2 "manipulator"&t& +4 "core" & c 6 + "manipulator"&u% +4 "core" % @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract +2 "manipulator"&w' ] +153 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&x(-] +283 "core" ( + "manipulator"&o& +4 "core" &-] a \\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &d& +2 "core" &-]  \\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&z't +112 "core" ' +2 .tHand.open + "manipulator"&g1 +63 "core" 1 +2 "manipulator"&r% +4 "core" % } a +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&|' ] +149 "core" ' + #tda sampling at most 1000ml +6 #Loading sh1 puck from tube 2 into Collection Clamp +2 ."Qmail"DAfans.email "Started da in tube 2 at 21:37:36PDT03-Nov-22\\n{1 => 1,\\n 2 => 6,\\n 3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCan@21:28:21, 19.1C, 35% humidity, 14.8psia, 13.71V, 0.26A, 7.836Ah, 3.60W",Subject: "da sampling at most 1000ml" +3 "collection"'}& +8 "core" &\ + "manipulator"&% +4 "core" % X -  + "storage"(% +4 "core" %l {  +2 "storage"({. +3 "core" .([S + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +3 .tSC.seek 2 + "storage"(y( v +418 #"uploadLog"upsync +419 "core" ( +3 .tSC.configure :limp +2 "storage"($(\ 1b +3 (& +3 "core" & v h j  +2 "manipulator"&& +4 "core" &-] A \\ + "manipulator"& % +4 "core" % X E  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"& (v +176 "core" ( +2 "manipulator"&~& +4 "core" &|  1 % + "storage"(s& +4 "core" & | `  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 800 counts +2 "manipulator"&'' +110 "core" ' +2 "storage"(v& +4 "core" & | |  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('6 +249 "core" ' +2 "storage"(- +3 "core" -'4 +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & | i f  +2 "manipulator"&& +3 "core" &| L % +2 .tElbow.seek 2 + "manipulator"&(v +4 "core" ( + "manipulator"&& +4 "core" &|   % +2 "storage"( & +4 "core" & | u Z  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&'3 +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"('g +7 "core" &~ + % +2 "manipulator"&% +4 "core" % < R  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract +2 "manipulator"&' ] +149 "core" ' +2 .tElbow.seek CC +2 "manipulator"&!( +59 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +117 "core" ( + "manipulator"&& +4 "core" &  l +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 && +2 "core" &  l +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&#' +105 "core" ' +2 "manipulator"&$& +4 "core" & ~ 5 l +2 "manipulator"&&% +3 "core" % 7 +2 "collection"''& +4 "core" &*\ +2 "collection"'"& +6 "core" &&\ +2 .tCC.seek :closed +2 "collection"' (W +5 "core" &,\ +7 &6-\ $e +10 &V(\ 8 +9 &\ L +9 &`%\ N +10 &Qb\ N +9 &a#\ N +9 &a\ O +10 &a\ O +9 & X`\ O +10 &"`\ O +9 &#a\ O +9 &%`\ O +10 &'a_\ N +9 &)#\\\ N +9 &*b\ O +10 &,`\ O +9 &.i`\ N +9 &0+c\ N +10 &1b\ N +9 &3a\ O +10 &5q_\ N +9 &73`\ N +9 &8_\ N +10 &:b \ N +9 &<` \ N +9 &?a\ N +9 &Aa \ N +10 &Ca \ O +9 &EB` \ O +9 &Gg \ O +10 &Ht \ P +9 &J{ \ S +10 &L3\ W +9 &M\ X +9 &O \ W +10 &Qu\ \ X +9 &S5 \ X +9 &T\ Y +10 &Vib \ + +9 &V \ F +9 ( +3 "collection"'"& +3 #tCollection Clamp onSpring/offSpring for 6/25 samples, on/off torque 1.87 + .Hand.open +2 "manipulator"&%1 +4 "core" &V_ \ B +58 1 + "manipulator"&)% +4 "core" % Z | +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&*' ] +146 "core" ' +2 #tcollectSample 1000ml w/bubble point of 24psi +2 #Priming 7ml +2 .Gate.power :sampler,:ON +177 .Flow.enablePump :primary +11 .Flow.setRate 4.0 +7 .Intake.select :close +2 .Exhaust.select :close +2 .SS.hold +2 "sampler")++ +2 "core" + +2 "sampler")-% +4 "core" %RO \ +2 "collection"'.& +3 "core" &V_\ B +3 "Can" \ Cmr +2 #tCalibrating pressure and temperature sensors +3 .CTV.dial :air +2 .SSV.dial :spit,avoiding: :exhaust +2 "sampler") +4 "core"  +2 "sampler")0 +3 "core"  +2 "sampler")1  +3 "core" +2 .tSS.reconfigure :fast +3 "sampler")#.0X Sampler.remove_const :PrimeFlow + !o:NoMethodError : mesg"=undefined method `remove_const' for ShallowSampler:Class: name0: args0:bt[ ";/home/esp/esp2/lib/framework.rb:51:in `method_missing'"(ESP):22:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2967 #-> PrimeFlow +2 !o:NameError: mesg"%uninitialized constant PrimeFlow: name:PrimeFlow:bt["(ESP):23:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +587 #-> Sampler::PrimeFlow +6835 #-> Sampler +6337 #-> Sampler.class +10703 "Can" \ =sC +1219 #t-> Sampler.send :remove_const, :PrimeFlow +956 #-> Sampler.send :remove_const, :MaintainFlow +872 #-> trouble +4274 #-> trouble +255 #-> progress +3636 #-> MainThread.resume +2 #Resuming (suspended since 21:38:06) +4 #Calibrating pressure and temperature sensors +7 .CTV.dial :air +2 "collection"'3  +78 "core"  +2 .tSSV.dial :spit,avoiding: :exhaust +2 "sampler")\ +133 "core"  +2 .tSS.seek 5ml +3 "sampler")>'C$ +297 "core" ' + ."connect"SSV.dial CBV +4 .tCBV.dial SSV +5 "sampler")  +2 "collection"' @ +7 "core" ? +124 +2 .tdelay 3.8 seconds +383 "collection"';% +3 "core" %G(\ +2 "sampler")A% +4 "core" %C(OI \ +2 #tSensor limits: Intake max 150.8psia; Outlet max 119.2psia + .SSV.dial :spit +5 "sampler")C +133 "core"  +2 .tSS.seek 0ml +2 "sampler")D' +252 "core" ' + .tSSV.dial CBV +2 "sampler")4  +133 "core" +2 .tCTV.dial :intake +2 "collection"'?  +78 "core"  + .tGate.power :sampler,:ON +180 !o:NameError: mesg"5uninitialized constant ShallowSampler::PrimeFlow: name:PrimeFlow:bt["F/home/esp/esp2/lib/gauge/flow/uwflowcontrol.rb:305:in `primeFlow'"7/home/esp/esp2/utils/sampler.rb:568:in `startFlow'";/home/esp/esp2/utils/sampler.rb:599:in `sampleQuietly'"3/home/esp/esp2/utils/sampler.rb:690:in `prime'"=/home/esp/esp2/protocol/2G/sh1.rb:111:in `collectSample'"7/home/esp/esp2/protocol/2G/DA.rb:27:in `daExtract'"4/home/esp/esp2/utils/puckmoves.rb:410:in `load'"8/home/esp/esp2/utils/puckmoves.rb:967:in `loadPuck'"7/home/esp/esp2/protocol/2G/DA.rb:22:in `daExtract'"0/home/esp/esp2/protocol/2G/DA.rb:53:in `da'"(ESP):9:in `myDA'"(ESP):21:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +299 ."samplerPumpShutdown"Flow.disablePump :primary +6 .Gate.power :sampler,:OFF +1072 #t-> Flush +401 #-> CC +2 "collection"'& +6 "core" &VT\ B +5314 #t-> Sampler.send :remove_const, :PumpPrimeDelay +471 #-> MainThread.resume + #Resuming (suspended since 21:38:06) +3 #Calibrating pressure and temperature sensors +7 .CTV.dial :air +4 "collection"'G  +76 "core" ~ +2 .tSSV.dial :spit,avoiding: :exhaust +3 "sampler")= +132 "core"  +3 .tSS.seek 5ml +2 "sampler")J'C$ +283 "core" ' + ."connect"SSV.dial CBV +4 .tCBV.dial SSV +5 "sampler")H  +2 "collection"'B @ +7 "core" ? +125 +2 .tdelay 3.8 seconds +382 "collection"'7% +3 "core" %G*\ + "sampler")M% +4 "core" %C#PK \ H + #tSensor limits: Intake max 150.8psia; Outlet max 119.1psia +2 .SSV.dial :spit +4 "sampler")K +130 "core"  +2 .tSS.seek 0ml +3 "sampler")O' +262 "core" ' +2 .tSSV.dial CBV +2 "sampler")E  +131 "core" + .tCTV.dial :intake +2 "collection"'P  +75 "core"  +2 .tGate.power :sampler,:ON +179 !o:NameError: mesg":uninitialized constant ShallowSampler::PumpPrimeDelay: name:PumpPrimeDelay:bt["6/home/esp/esp2/utils/sampler.rb:558:in `priming?'"7/home/esp/esp2/utils/sampler.rb:567:in `startFlow'";/home/esp/esp2/utils/sampler.rb:599:in `sampleQuietly'"3/home/esp/esp2/utils/sampler.rb:690:in `prime'"=/home/esp/esp2/protocol/2G/sh1.rb:111:in `collectSample'"7/home/esp/esp2/protocol/2G/DA.rb:27:in `daExtract'"4/home/esp/esp2/utils/puckmoves.rb:410:in `load'"8/home/esp/esp2/utils/puckmoves.rb:967:in `loadPuck'"7/home/esp/esp2/protocol/2G/DA.rb:22:in `daExtract'"0/home/esp/esp2/protocol/2G/DA.rb:53:in `da'"(ESP):9:in `myDA'"(ESP):21:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +299 ."samplerPumpShutdown"Flow.disablePump :primary +5 .Gate.power :sampler,:OFF +1550 #t-> showlog 300 +1928 #-> CC.unloadPuck 2 +2 "collection"':& +5 "core" &VT\ B +3 #tStoring sh1 puck in Collection Clamp to tube 2 + "manipulator"&S% +7 "core" % Y q  +2 "storage"(N% +3 "core" %n d \\   + "storage"(L. +3 "core" .( v +2 "storage"(V& +3 "core" & | r f  +2 "storage"(R& +4 "core" & | Z Z s  + "manipulator"&Y& +4 "core" & D l + "manipulator"&Z% +4 "core" % Y }  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 2 +3 "manipulator"&W(v +156 "core" ( + "manipulator"&\\& +4 "core" &~ K J +2 "storage"(F& +3 "core" & | \\ ^   +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 2 + 800 counts + "manipulator"&Q'' +88 "core" ' +2 "storage"(I& +4 "core" & |  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak + "storage"(^'6 +253 "core" ' + "storage"(T- +4 "core" -'= + .tSE.configure :default +3 "storage"(#QK-0-\ b +5 "manipulator"&a& +3 "core" &~ ) J + "storage"(b& +4 "core" & | \\ Z   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +3 "manipulator"&]' +37 "core" ' + .tElbow.hold +3 "manipulator"&_, +5 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 "storage"(e- +3 "core" -'= +2 .tSE.seek 4.1 Pucks below Top Plate +2 "storage"(f'{ +28 "core" ' + "manipulator"&[% +4 "core" %]  +2 "storage"(i& +3 "core" & | 7 / +2 .tForearm.force -20 + "manipulator"&5 +5 .tForearm.seek 2 + 287 counts +2 "manipulator"&h'& +13 "core" ' +2 "manipulator"&`& +4 "core" &  h / + "storage"(k& +4 "core" & | | D  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 2 + 800 counts +2 "manipulator"&U'' +33 "core" ' +2 .tSE.seek 5.1 Pucks below Top Plate +4 "storage"(c'` +45 "core" ' + "manipulator"&n& +5 "core" &  / + "manipulator"&p% +38 "core" %M  +8 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +4 .tForearm.home.seek :retract +2 "manipulator"&l' ] +147 "core" ' + .tElbow.seek CC +3 "manipulator"&5( +165 "core" ( +2 "manipulator"&@& +4 "core" & U f + .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 &<& +2 "core" & b f +2 .tForearm.seek CC +2 "manipulator"&t' +108 "core" ' + .tHand.close +2 "manipulator"&u/ +57 "core" / +2 .tCC.seek :open +3 "collection"'q( +397 "core" ( + "storage"(o& +4 "core" & | Z Y (  +2 "storage"(d& +3 "core" & | h j p  +2 "manipulator"&m& +3 "core" & P d +2 "manipulator"&g% +4 "core" % И S +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +4 .tForearm.home.seek :retract +2 "manipulator"&r' ] +157 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 2 +3 "manipulator"&w(v +169 "core" ( +2 "manipulator"&}& +4 "core" &o S  + "storage"(& +4 "core" & |  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +4 .tForearm.seek 2 +2 "manipulator"&' +105 "core" ' + .tElbow.hold +3 "manipulator"&{, +7 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tHand.open +2 "manipulator"&z1 +55 "core" 1 +3 "manipulator"&% +4 "core" %   M + "storage"(& +4 "core" & | > 8  + .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 2 + 312 counts +2 "manipulator"&'? +14 "core" ' + "manipulator"& & +4 "core" & Q  +2 "storage"(~& +4 "core" & | U  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 2 + 800 counts +2 "manipulator"&s'' +23 "core" ' +2 "storage"(x% +4 "core" %g `  +2 ."downElevator"SE.seek :down +4 "storage"(v'g +98 (|% +3 "core" %6/ 6 RO +2 "manipulator"&% +3 "core" %3 \ X +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +5 .tForearm.home.seek :retract +2 "manipulator"&' ] +109 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +29 "core" ' +1360 #t-> pucks +513 #-> myDA +3 #Starting initialPurge +4 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +4 "collection"'& +5 "core" &.\ +2 "manipulator"&& +4 "core" &   +2 "manipulator"& % +3 "core" % ] @  +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(-] +164 "core" ( +2 "manipulator"&& +4 "core" &-\\ F \ + .tElbow.reconfigure :loose +8 "manipulator"&$ &.,(#b +4 && +9 "core" &-\\ w ) \ +2 .tForearm.seek :garage + "manipulator"& 't +107 "core" ' + .tHand.close +2 "manipulator"&/ +65 "core" / +2 "manipulator"&& +4 "core" &-] T \ +2 "manipulator"&% +3 "core" % υ . +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +4 .tForearm.home.seek :retract +3 "manipulator"&' ] +157 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek CC +2 "manipulator"&( +289 "core" ( + "manipulator"&& +5 "core" &\  , "z + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &$& +3 "core" &\ 0 "z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC +3 "manipulator"&&' +104 "core" ' + "manipulator"&'& +5 "core" &  P "z + "manipulator"&% +4 "core" % X +2 "collection"'& +4 "core" &\ +2 "collection"'j& +6 "core" &\ +2 .tCC.seek :closed +2 "collection"'%(W +7 "core" &3\ +3 &4\ 6 +10 &0H~9\ 1 +9 &Zq8\ E +10 &i3\ N +9 &b8\ N +9 &_-\ M +10 &E_1\ N +9 &_5\ N +9 &`4\ N +10 &!c4\ N +9 &#M`1\ N +10 &%]2\ N +9 &&_*\ M +9 &(`2\ N +10 &*U]4\ N +9 &,_0\ M +9 &-_1\ M +10 &/_3\ M +9 &1]a"\ N +10 &3_%\ N +9 &4^!\ M +9 &6b!\ N +10 &8e\\,\ N +9 &:(a/\ M +9 &;],\ N +10 &=]2\ N +9 &?l`0\ N +10 &A0^#\ M +9 &Bb,\ N +9 &D]/\ N +10 &Fu_4\ N +9 &H3j0\ O +9 &I{(\ Q +10 &K/\ U +9 &Mb'\ W +10 &O#,\ W +9 &P(\ W +9 &R,\ X +10 &Te&\ Y +9 &V |(\ = +9 &V2)\ !c +10 &VW)\ A +2 ( +2 "collection"'j& +3 #tCollection Clamp onSpring/offSpring for 5/25 samples, on/off torque 1.93 + "collection"')& +7 "core" &VW%\ A +2 .tHand.open + "manipulator"&"1 +58 "core" 1 + "manipulator"&#% +5 "core" % C x + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +5 .tForearm.home.seek :retract +2 "manipulator"&-' ] +142 "core" ' +2 #tFlushing the Collection Valve::Manifold +2 "collection"'.& +7 "core" &VW)\ A +2 "collection"'% +4 "core" %G\ + .tCSV.dial CSR +2 "collection"'0  +130 "core"  + #tPulling 5ml of CSR.flush +2 .CSR.select :flush +5 "collection"' +11 .tCS.reconfigure :default +4 "collection"'#P d@b +4 .tCS.seek 5ml +4 "collection"'1'm +1364 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +10 '% +3 "core" %m\ +2 .tCS.reconfigure :fast +3 "collection"'#d @b +4 .tCS.seek 7.5ml +2 "collection"'+' +654 "core" ' +2 .tCSV.dial :waste +2 "collection"'/ +128 "core" +2 .tCS.reconfigure :default +3 "collection"'#P d@b +4 .tCS.seek 0ml +3 "collection"'('F +2003 "core" ' +2 #tPurging external Intake +2 "collection"'6& +7 "core" &VV\ A + "collection"'% +4 "core" %I\ + .tCSV.dial :flush +2 "collection"',  +45 "core"  +2 .tCS.reconfigure :fast +3 "collection"'#d @b +4 .tCS.seek 10ml +2 "collection"'2' +2332 "core" ' + .tdelay 5 seconds +502 ."connect"CSV.dial CBV +5 .tCBV.dial CSV +4 "collection"'8 +2 '9  +71 "core"  +38  + .tCTV.dial :intake +2 .Intake.select :open +3 "sampler") +13 .tCS.seek 0ml + "collection"'3'F +2350 "core" ' +2 .tIntake.select :close + "sampler")0 +12 .tCTV.dial :air +2 "collection"'\  +74 "core" +2 #tFlushing upper manifold + "collection"'& +6 "core" &VU \ A +2 "collection"'% +4 "core" %K\ + .tCSV.dial :flush + "collection"'  +72 "core"  +2 .tCS.seek 5ml +4 "collection"';'m +1224 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air +3 "collection"'A @ +44 "core" A + "collection"'C% +4 "core" %m\ +2 .tCS.seek 7.001ml +2 "collection"'>' +541 "core" ' + ."connect"CSV.dial CBV +4 .tCBV.dial CSV +4 "collection"'4 +2 '?  +7 "core"  +93 ~ + .tCTV.dial :air +2 .CS.seek 0ml +5 "collection"''F +1665 "core" ' +2 .tdelay 7 seconds +703 .CS.seek 3ml + "collection"'G'.H +781 "core" ' +2 .tCSV.dial :waste + "collection"'= +46 "core" +2 .tCS.seek 0ml +4 "collection"'B'F +783 "core" ' + "collection"'D& +4 "core" &VU)\ A +2 "collection"'H% +3 "core" %F*\  +2 .tCSV.dial :flush + "collection"'7  +43 "core"  +2 .tCS.seek 3ml +3 "collection"'M'.H +758 "core" ' + .tdelay 5 seconds +503 .CSV.dial :air +2 "collection"'K @ +44 "core" A + "collection"'J% +4 "core" %.J!\ \ +2 .tCS.seek 5ml +2 "collection"'E'm +538 "core" ' + .tCSV.dial :air + "collection"'P @ +7 "core" @ +2 .tCS.seek 0ml +3 "collection"':'F +1217 "core" ' + .tdelay 7 seconds +704 .CS.seek 3ml + "collection"'S'.H +756 "core" ' +2 .tCSV.dial :waste +2 "collection"'N +82 "core" +2 .tCS.seek 0ml +3 "collection"'L'F +790 "core" ' +2 #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&V& +6 "core" &\ F "z +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek CC +2 "manipulator"&R( +42 "core" ( +2 "manipulator"&Y& +4 "core" &  ? + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +5 &Z& +2 "core" & > ? +2 .tForearm.seek CC +2 "manipulator"&\\' +93 "core" ' +2 .tHand.close + "manipulator"&F/ +63 "core" / +2 .tCC.seek :open +7 "collection"'I( +395 "core" ( +2 "manipulator"&!& +4 "core" & 2 ? + "manipulator"&*% +4 "core" % | + +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +4 .tForearm.home.seek :retract +3 "manipulator"&T' ] +143 "core" ' +2 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek :garage +2 "manipulator"&a(-] +274 "core" ( +2 "manipulator"&b& +4 "core" &-c   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +5 &e& +2 "core" &-c ?  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek :garage +2 "manipulator"&['t +111 "core" ' +2 .tHand.open + "manipulator"&i1 +64 "core" 1 +2 "manipulator"&`% +4 "core" % } : +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +4 .tForearm.home.seek :retract + "manipulator"&k' ] +153 "core" ' +2 #tda sampling at most 1000ml +6 ."Qmail"DAfans.email "Started da in tube 2 at 21:57:45PDT03-Nov-22\\n{1 => 1,\\n 2 => 6,\\n 3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCan@21:48:21, 19.2C, 35% humidity, 14.8psia, 13.70V, 0.28A, 7.933Ah, 3.86W",Subject: "da sampling at most 1000ml" +4 #tLoading sh1 puck from tube 2 into Collection Clamp +5 "collection"'n& +7 "core" &(\ + "manipulator"&p% +4 "core" % h   +2 "storage"(Q% +6 "core" %n  ~ |  + "storage"(W. +3 "core" .( v +2 "storage"(^& +3 "core" & | z  +2 "storage"(]& +6 "core" & |  `  +2 "manipulator"&h& +4 "core" &-c l  +2 "manipulator"&f% +5 "core" % h   +2 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek 2 +2 "manipulator"&U(v +205 "core" ( +2 "manipulator"&@& +4 "core" & / m +2 "storage"(<& +4 "core" & |  ~  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 2 + 800 counts +2 "manipulator"&_'' +116 "core" ' + "storage"(u& +4 "core" & |   +2 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak +2 "storage"(l'6 +98 #"uploadLog"upsync +147 "core" ' +2 "storage"( - +5 "core" -'5 +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +6 (o& +3 "core" & |  +2 "manipulator"&d& +4 "core" &  m +2 .tElbow.seek 2 +2 "manipulator"&m(v +7 "core" ( +2 "manipulator"&g& +3 "core" &  m +2 "storage"(t& +4 "core" & | @  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&}'3 +24 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tHand.close +2 "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&5& +3 "storage"(z'g +9 "core" & : m +2 "manipulator"&% +4 "core" % +  4 +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +4 .tForearm.home.seek :retract +3 "manipulator"&' ] +151 "core" ' +2 .tElbow.seek CC +2 "manipulator"& ( +45 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +124 "core" ( + "manipulator"&~& +4 "core" & B $ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &x& +3 "core" & / $ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC +2 "manipulator"&r' +101 "core" ' +3 "manipulator"&|& +5 "core" &  $ + "manipulator"&% +4 "core" % ' +2 "collection"'w& +4 "core" &%\ +2 "collection"'& +5 "core" &1\ +2 .tCC.seek :closed +2 "collection"'(W +7 "core" &+\ +6 &4)\ $d +9 &U|$\ 7 +10 &)\ L +9 &]+\ M +10 &U_)\ M +9 &_(\ M +9 &_)\ M +10 &]#\ M +9 & ]_(\ M +9 &"b%\ N +10 &#\\\ N +9 &%a\ N +9 &'d^\ N +10 &)']\ M +9 &*c\ N +10 &,b\ N +9 &.k`\ N +9 &0/]\ M +10 &1b\ N +9 &3a\ N +9 &5t_\ N +10 &76`\ N +9 &8^\ N +10 &:`\ N +9 &<|]\ N +9 &>?`\ M +10 &@`\ N +9 &A^\ N +9 &Cb\ N +10 &EF_\ N +9 &Gc\ N +10 &Hq\ P +9 &J\ R +9 &L8\ U +10 &M\ W +9 &O\ W +9 &Qy\ W +10 &S9\ W +9 &T \ X +10 &Vld \ . +9 &V\ \ Q +9 ( +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 6/25 samples, on/off torque 1.87 +2 .Hand.open +3 "manipulator"&c1 +6 "core" &Vj \ L +50 1 + "manipulator"&s% +4 "core" % e v +2 .tForearm.reconfigure :loose +4 "manipulator"&#@2^d^b +4 .tForearm.home.seek :retract +2 "manipulator"&v' ] +144 "core" ' +2 #tcollectSample 1000ml w/bubble point of 24psi +2 #Priming 7ml +4 .Intake.select :close +3 .Exhaust.select :close +5 .SS.reconfigure :default +5 "sampler")#.0X% +3 "core" %I4,\ +2 "sampler")% +4 "core" %483 \ 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@14.1psia, vacuum from 8.6 to 11.6psi +2 .SS.reconfigure :inhaling 2.16ml/s +6 "sampler")#.0X(< \  +32 "collection"'W% +3 "core" %I7.\ +2 "sampler")^% +4 "core" %,BA |\  +36 "collection"']% +3 "core" %I83\ +2 "sampler")h% +3 "core" %,RO \  +42 "collection"'f% +3 "core" %I>7\ +2 "sampler")[% +3 "core" %+|z \  +48 "collection"'@% +3 "core" %IPJ\ +2 "sampler")<% +4 "core" % \ F +53 "collection"'a% +3 "core" %Iqm\ +2 "sampler")u% +3 "core" % \ +2 "sampler")k% +4 "core" % |\ + .tIntake.select :close +7 "sampler")0 +11 ) % +3 "core" %,( \ + .tSSV.dial :exhaust +2 "sampler")o  +77 "core"  + .tExhaust.select :open +2 "sampler")@ +12 .tSS.seek 0ml + "sampler")d' +899 "core" ' + .tExhaust.select :close +2 "sampler") +12 ."connect"SSV.dial CBV +4 .tCBV.dial SSV +4 "sampler")g  +2 "collection"'t @ +9 "core" ? +68 + #tAllowing 130s for 25.0ml of remaining 950.0ml +2 .Intake.select :open +4 "sampler") +212 "collection"'% +3 "core" %I}\ + #tIntake @14.1psia, vacuum from 8.6 to 11.6psi +2 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"sampler")#.0X(8\ +2 "sampler")1% +4 "core" %077 \  +18 "collection"'/% +3 "core" %I=8\ + "sampler")+% +4 "core" %088 t\  +21 "collection"'6% +3 "core" %I?8\ +2 "sampler")% +4 "core" %0A> \  +24 "collection"'% +3 "core" %IA;\ + "sampler")% +4 "core" %0KI s\  +28 "collection"',% +3 "core" %ID=\ +2 "sampler")9% +4 "core" %0[X \  +31 "collection"'% +3 "core" %IFB\ +2 "sampler")% +3 "core" %0{| t\  +37 "collection"'% +3 "core" %ITN\ + "sampler")(% +4 "core" % \  +42 "collection"'% +3 "core" %Ilc\ + "sampler")8% +4 "core" %  \ + "sampler")C% +4 "core" %  {\ + .tIntake.select :close +2 "sampler")0 +9 );% +3 "core" % z\ + .tSSV.dial :exhaust +2 "sampler")?  +74 "core"  + .tExhaust.select :open +2 "sampler")@ +12 .tSS.seek 0ml +2 "sampler")4' +897 "core" ' + .tExhaust.select :close +2 "sampler") +12 ."connect"SSV.dial CBV +3 .tCBV.dial SSV +5 "sampler")>  +2 "collection"' @ +5 "core" ? +70 +2 #tAllowing 130s for 25.0ml of remaining 775.0ml +2 .Intake.select :open +3 "sampler") +212 "collection"'=% +3 "core" %I\ +2 #tIntake @14.2psia, vacuum from 8.7 to 11.7psi +2 .SS.reconfigure :inhaling 1.76ml/s +8 "sampler")#.z0X(7\ +2 "sampler")B% +3 "core" %4>> z\  +21 "collection"'K% +3 "core" %I@9\ +2 "sampler")J% +4 "core" %4GE \  +24 "collection"'M% +3 "core" %IC>\ +2 "sampler")P% +4 "core" %4RQ {\  +27 "collection"'3% +3 "core" %IFA\ +2 "sampler")E% +4 "core" %+mj \  +31 "collection"'\ % +3 "core" %ILI\ +2 "sampler")S% +4 "core" %" \  +36 "collection"'N% +3 "core" %I^Y\ +2 "sampler")V% +4 "core" % z\  +41 "collection"':% +3 "core" %Isn\ + "sampler")A% +4 "core" % q\  + "sampler")-% +4 "core" %"! \  + .tIntake.select :close +2 "sampler")0 +10 )% +3 "core" %)' \  + .tSSV.dial :exhaust +2 "sampler")\\  +76 "core"  + .tExhaust.select :open + "sampler")@ +13 .tSS.seek 0ml + "sampler")b' +923 "core" ' + .tExhaust.select :close + "sampler") +12 ."connect"SSV.dial CBV +4 .tCBV.dial SSV +4 "sampler")Y  +2 "collection"'e @ +8 "core" ? +68 + #tAllowing 130s for 25.0ml of remaining 750.0ml +2 .Intake.select :open +3 "sampler") +213 "collection"'R% +3 "core" %I\ + #tIntake @14.3psia, vacuum from 8.8 to 11.8psi +3 .SS.reconfigure :inhaling 1.76ml/s +5 "sampler")#.z0X(6\ +2 "sampler")W% +3 "core" %4>; \  +25 "collection"'^% +3 "core" %IA9\ +2 "sampler")]% +3 "core" %4GD r\  +28 "collection"'h% +3 "core" %IC<\ +2 "sampler")f% +4 "core" %4VS \  +31 "collection"'[% +3 "core" %IH?\ +2 "sampler")%% +3 "core" %4vr \  +37 "collection"'!% +3 "core" %IPJ\ +2 "sampler")F% +4 "core" % \ B +41 "collection"'a% +3 "core" %Iga\ + "sampler")<% +4 "core" % \ \ +2 "sampler")u% +3 "core" %  u\ \ +2 .tIntake.select :close + "sampler")0 +11 )@% +3 "core" % z\ \ + .tSSV.dial :exhaust +2 "sampler")o  +77 "core"  + .tExhaust.select :open +2 "sampler")@ +12 .tSS.seek 0ml + "sampler")*' +877 "core" ' +2 .tExhaust.select :close + "sampler") +12 ."connect"SSV.dial CBV +4 .tCBV.dial SSV +5 "sampler")t  +2 "collection"'d @ +53 "core" ? +23 +2 #tAllowing 130s for 25.0ml of remaining 725.0ml +2 .Intake.select :open +3 "sampler") +212 "collection"'U% +3 "core" %I\ + #tIntake @14.3psia, vacuum from 8.8 to 11.8psi +2 .SS.reconfigure :inhaling 1.76ml/s +6 "sampler")#.z0X(> z\  +28 "collection"'w% +3 "core" %IA=\ + "sampler")z% +4 "core" %4LJ x\  +32 "collection"'% +3 "core" %IG?\ +2 "sampler")I% +4 "core" %4`^ \  +36 "collection"'c% +3 "core" %IKF\ + "sampler")g% +4 "core" % {\  +42 "collection"'% +3 "core" %IZU\ + "sampler")5% +4 "core" % t\ 0 +47 "collection"'% +3 "core" %Irm\ +2 "sampler")% +4 "core" % \ 0 + "sampler")s% +4 "core" % \ 0 + .tIntake.select :close +2 "sampler")0 +11 )% +3 "core" %&% y\ 0 + .tSSV.dial :exhaust +2 "sampler")O  +77 "core"  +2 .tExhaust.select :open + "sampler")@ +12 .tSS.seek 0ml +2 "sampler")' +916 "core" ' + .tExhaust.select :close +2 "sampler") +12 ."connect"SSV.dial CBV +4 .tCBV.dial SSV +4 "sampler"){  +4 "collection"' @ +5 "core" ? +67 + #tAllowing 130s for 25.0ml of remaining 700.0ml +2 .Intake.select :open +3 "sampler") +212 "collection"'% +3 "core" %I~\ + #tIntake @14.2psia, vacuum from 8.7 to 11.7psi +2 .SS.reconfigure :inhaling 1.76ml/s +7 "sampler")#.z0X(:\ + "sampler")$% +4 "core" %33. \  +19 "collection"'% +2 "core" %I?7\ +2 "sampler")'% +4 "core" %363 z\  +21 "collection"'% +3 "core" %IA9\ + "sampler") % +4 "core" %398 \  +25 "collection"'q% +2 "core" %IA9\ +2 "sampler"))% +4 "core" %3<9 r\  +28 "collection"'"% +3 "core" %IB=\ +2 "sampler")#% +4 "core" %3DB \  +31 "collection"' % +3 "core" %IE?\ +2 "sampler")j% +3 "core" %3QP \  +37 "collection"'r% +3 "core" %IJC\ +2 "sampler")0% +3 "core" %3kk u\  +42 "collection"'% +3 "core" %IRJ\ + "sampler")&% +4 "core" % \ N +47 "collection"'.% +3 "core" %Iga\ +2 "sampler")% +4 "core" % \ ! + "sampler")1% +4 "core" % t\ ! + .tIntake.select :close +2 "sampler")0 +11 )/% +3 "core" % z\ ! + .tSSV.dial :exhaust +2 "sampler")+  +76 "core"  +2 .tExhaust.select :open + "sampler")@ +13 .tSS.seek 0ml + "sampler")6' +913 "core" ' + .tExhaust.select :close +2 "sampler") +12 ."connect"SSV.dial CBV +4 .tCBV.dial SSV +4 "sampler")  +4 "collection"' @ +5 "core" ? +70 + #tAllowing 130s for 25.0ml of remaining 675.0ml +2 .Intake.select :open +4 "sampler") +212 "collection"'% +3 "core" %I\ +2 #tIntake @14.3psia, vacuum from 8.8 to 11.8psi +2 .SS.reconfigure :inhaling 1.76ml/s +6 "sampler")#.z0X(\ +2 "sampler")?% +4 "core" %=; q\ o +32 "collection"'X% +3 "core" %IE?\ +2 "sampler")% +4 "core" %GE x\ o +36 "collection"'>% +45 "core" %IMI\ + "sampler")=% +4 "core" %yv \ o +42 "collection"'4% +2 "core" %IVR \ +2 "sampler")H% +4 "core" % ~\ o +47 "collection"'7% +3 "core" %Img\ + "sampler")2% +4 "core" %  \ o + "sampler")B% +4 "core" %  y\ o + .tIntake.select :close +2 "sampler")0 +10 )K% +3 "core" % \ o + .tSSV.dial :exhaust +2 "sampler")J  +77 "core"  + .tExhaust.select :open +2 "sampler")@ +12 .tSS.seek 0ml +2 "sampler")M' +883 "core" ' + .tExhaust.select :close + "sampler") +12 ."connect"SSV.dial CBV +5 .tCBV.dial SSV +4 "sampler")P  + "collection"'3 @ +8 "core" ? +68  + #tAllowing 130s for 25.0ml of remaining 650.0ml + .Intake.select :open +4 "sampler") +213 "collection"'E% +2 "core" %I\ +2 #tIntake @14.3psia, vacuum from 8.8 to 11.8psi +3 .SS.reconfigure :inhaling 1.76ml/s +5 "sampler")#.z0X(\ +2 "sampler")G% +3 "core" %?55 q\  +25 "collection"'% +3 "core" %ID?\ + "sampler")\\% +4 "core" %D98 \  +28 "collection"'D% +3 "core" %IF?\ + "sampler")e% +4 "core" %4<; v\  +32 "collection"'Y% +3 "core" %IF@\ +2 "sampler")R% +3 "core" %4ED u\  +37 "collection"'b% +3 "core" %IID\ + "sampler")Z% +4 "core" %4QO u\  +42 "collection"'T% +2 "core" %IOH\ +2 "sampler")n% +4 "core" %4om w\  +47 "collection"'p% +3 "core" %IYQ\ + "sampler")Q% +4 "core" %! \  +54 "collection"'W% +3 "core" %Ini\ + "sampler")^% +4 "core" % {\  + "sampler")]% +4 "core" %\  p\  + .tIntake.select :close +2 "sampler")0 +9 )h% +3 "core" % u\  + .tSSV.dial :exhaust +2 "sampler")f  +77 "core"  +2 .tExhaust.select :open +2 "sampler")@ +12 .tSS.seek 0ml +2 "sampler")[' +923 "core" ' + .tExhaust.select :close +2 "sampler") +10 ."connect"SSV.dial CBV +4 .tCBV.dial SSV +5 "sampler")%  +2 "collection"'! @ +6 "core" ? +70 + #tAllowing 130s for 25.0ml of remaining 625.0ml +2 .Intake.select :open +4 "sampler") +212 "collection"'F% +3 "core" %I \ + #tIntake @14.4psia, vacuum from 8.9 to 11.9psi +2 .SS.reconfigure :inhaling 1.76ml/s +6 "sampler")#.z0X( p\ s +21 "collection"'l% +3 "core" %IIE\ +2 "sampler")}% +3 "core" %II z\ s +25 "collection"'~% +3 "core" %IMG\ + "sampler") % +4 "core" %Z[ x\ s +28 "collection"'x% +3 "core" %IPK \ + "sampler")m% +4 "core" %zt \ s +32 "collection"'|% +3 "core" %IWR\ +2 "sampler")% +4 "core" % u\ s +36 "collection"'w% +3 "core" %Ije\ + "sampler")z% +4 "core" % }\ s +42 "collection"'% +3 "core" %Izu\ +2 "sampler")I% +3 "core" %)$ \ s +2 "sampler")c% +4 "core" %(( y\ s + .tIntake.select :close +2 "sampler")0 +9 )g% +3 "core" %0. \ s + .tSSV.dial :exhaust +2 "sampler")  +76 "core"  +2 .tExhaust.select :open + "sampler")@ +11 .tSS.seek 0ml +2 "sampler")5' +872 "core" ' + .tExhaust.select :close +2 "sampler") +11 ."connect"SSV.dial CBV +4 .tCBV.dial SSV +5 "sampler")k  +3 "collection"' @ +6 "core" ? +68 + #tAllowing 130s for 25.0ml of remaining 600.0ml +2 .Intake.select :open +5 "sampler") +212 "collection"'% +3 "core" %I\ +50 #tIntake @14.5psia, vacuum from 9.0 to 12.0psi +3 .SS.reconfigure :inhaling 1.59ml/s +6 "sampler")#.n0X(% +3 "core" %I}w\ +2 "sampler")=% +4 "core" %'% r\  + "sampler"),% +4 "core" %+( w\  + .tIntake.select :close +2 "sampler")0 +10 )4% +3 "core" %0. s\  + .tSSV.dial :exhaust +2 "sampler")H  +77 "core"  +2 .tExhaust.select :open +2 "sampler")@ +12 .tSS.seek 0ml +2 "sampler")7' +912 "core" ' + .tExhaust.select :close +2 "sampler") +12 ."connect"SSV.dial CBV +3 .tCBV.dial SSV +5 "sampler")2  + "collection"'B @ +8 "core" ? +68 + #tAllowing 130s for 25.0ml of remaining 550.0ml +2 .Intake.select :open +4 "sampler") +211 "collection"'K% +3 "core" %I \ +2 #tIntake @14.2psia, vacuum from 8.7 to 11.7psi +2 .SS.reconfigure :inhaling 1.59ml/s +6 "sampler")#.n0X(% +3 "core" %(& }\ +2 .tSSV.dial :exhaust +2 "sampler")=  +77 "core"  + .tExhaust.select :open +2 "sampler")@ +12 .tSS.seek 0ml + "sampler"),' +901 "core" ' + .tExhaust.select :close +2 "sampler") +11 ."connect"SSV.dial CBV +3 .tCBV.dial SSV +4 "sampler")4  +3 "collection"'H @ +6 "core" ? +68 +2 #tAllowing 130s for 25.0ml of remaining 450.0ml + .Intake.select :open +3 "sampler") +213 "collection"'/% +3 "core" %I\ + #tIntake @14.4psia, vacuum from 8.9 to 11.9psi +2 .SS.reconfigure :inhaling 1.43ml/s +8 "sampler")#.c0X(9 x\ + .tSSV.dial :exhaust +2 "sampler")"  +75 "core"  +2 .tExhaust.select :open + "sampler")@ +13 .tSS.seek 0ml + "sampler")#' +868 "core" ' + .tExhaust.select :close + "sampler") +12 ."connect"SSV.dial CBV +4 .tCBV.dial SSV +5 "sampler")s  +2 "collection"' @ +7 "core" ? +68 + #tAllowing 130s for 25.0ml of remaining 375.0ml +2 .Intake.select :open +3 "sampler") +213 "collection"'j% +3 "core" %I\ +2 #tIntake @14.5psia, vacuum from 9.0 to 12.0psi +2 .SS.reconfigure :inhaling 1.28ml/s +6 "sampler")#.Y0X(% +3 "core" %4FE u\  +19 "collection"'=% +3 "core" %IUO\ +2 "sampler")&% +3 "core" %4LK n\  +21 "collection"'H% +3 "core" %IVM\ +2 "sampler")4% +4 "core" %4UT x\  +24 "collection"'/% +3 "core" %IYR\ +2 "sampler"),% +4 "core" %4fe v\  +27 "collection"'K% +3 "core" %I]V\ +2 "sampler")7% +4 "core" % }\  +32 "collection"'3% +3 "core" %Ib`\ +2 "sampler")P% +4 "core" % \ = +36 "collection"'E% +3 "core" %Ipj\ + "sampler")M% +4 "core" % \ = +42 "collection"'N% +3 "core" %I}w\ +2 "sampler")V% +3 "core" %" z\ = +2 "sampler"):% +4 "core" %%# w\ = + .tIntake.select :close + "sampler")0 +11 )A% +3 "core" %+, m\ = + .tSSV.dial :exhaust +2 "sampler")-  +76 "core"  +2 .tExhaust.select :open + "sampler")@ +13 .tSS.seek 0ml + "sampler")G' +919 "core" ' +2 .tExhaust.select :close + "sampler") +13 ."connect"SSV.dial CBV +4 .tCBV.dial SSV +4 "sampler")  +4 "collection"'\\ @ +6 "core" ? +66 +2 #tAllowing 130s for 25.0ml of remaining 325.0ml + .Intake.select :open +3 "sampler") +213 "collection"'D% +2 "core" %I\ +2 #tIntake @14.3psia, vacuum from 8.8 to 11.8psi +3 .SS.reconfigure :inhaling 1.28ml/s +5 "sampler")#.Y0X(< o\  +18 "collection"'J% +3 "core" %IQL\ + "sampler")b% +4 "core" %3DA \  +21 "collection"'Z% +3 "core" %ITO\ +2 "sampler")T% +4 "core" %3LH j\  +24 "collection"'n% +3 "core" %IVP\ + "sampler")2% +4 "core" %3UT m\  +28 "collection"'Q% +3 "core" %IVR\ +2 "sampler")p% +3 "core" %2mn l\  +32 "collection"'9% +3 "core" %I]W\ +2 "sampler")\ % +4 "core" %4 x\  +36 "collection"'h% +3 "core" %Iic\ + "sampler")W% +4 "core" % p\ ( +42 "collection"'!% +3 "core" %Iur\ +2 "sampler")%% +3 "core" % n\ ( +2 "sampler")F% +3 "core" % w\ ( +2 .tIntake.select :close + "sampler")0 +11 )[% +3 "core" %%# u\ ( + .tSSV.dial :exhaust +2 "sampler")u  +76 "core"  + .tExhaust.select :open +2 "sampler")@ +12 .tSS.seek 0ml + "sampler")@' +877 "core" ' +2 .tExhaust.select :close + "sampler") +12 ."connect"SSV.dial CBV +4 .tCBV.dial SSV +4 "sampler")i  +4 "collection"'a @ +5 "core" ? +70 + #tAllowing 130s for 25.0ml of remaining 300.0ml +2 .Intake.select :open +5 "sampler") +211 "collection"'<% +3 "core" %I\ +2 #tIntake @14.5psia, vacuum from 9.0 to 12.0psi +2 .SS.reconfigure :inhaling 1.28ml/s +5 "sampler")#.Y0X(> q\  +18 "collection"'l% +3 "core" %ITP\ +2 "sampler")]% +4 "core" %3FD u\  +21 "collection"'}% +3 "core" %IUO\ + "sampler")~% +4 "core" %3NL l\  +24 "collection"'f% +3 "core" %IVS\ +2 "sampler") % +4 "core" %3YU w\  +28 "collection"'x% +3 "core" %IZR\ + "sampler")^% +4 "core" %3ok w\  +32 "collection"'% +3 "core" %I\\X\ +2 "sampler")|% +3 "core" %4 o\  +37 "collection"'w% +3 "core" %Ihb\ + "sampler")m% +4 "core" % |\  +42 "collection"'I% +2 "core" %Itq\ +2 "sampler")S% +4 "core" % \ w\  + "sampler")o% +4 "core" % m\  + .tIntake.select :close +2 "sampler")0 +10 )c% +3 "core" % |\  + .tSSV.dial :exhaust +2 "sampler")k  +76 "core"  +2 .tExhaust.select :open + "sampler")@ +13 .tSS.seek 0ml + "sampler")' +912 "core" ' + .tExhaust.select :close + "sampler") +12 ."connect"SSV.dial CBV +4 .tCBV.dial SSV +5 "sampler")5  +3 "collection"'z @ +6 "core" ? +68 + #tAllowing 130s for 25.0ml of remaining 275.0ml +2 .Intake.select :open +3 "sampler") +213 "collection"'`% +3 "core" %I\ + #tIntake @14.3psia, vacuum from 8.8 to 11.8psi +2 .SS.reconfigure :inhaling 1.28ml/s +7 "sampler")#.Y0X( o\  +21 "collection"'% +3 "core" %IUN\ +2 "sampler")6% +3 "core" %3GA x\  +25 "collection"'% +2 "core" %IUQ\ +2 "sampler")% +4 "core" %3RO l\  +28 "collection"'% +3 "core" %IZS\ +2 "sampler")(% +4 "core" %3dd w\  +31 "collection"'% +3 "core" %I]V\ +2 "sampler")8% +4 "core" %3 t\  +36 "collection"'O% +3 "core" %Ifa\ +2 "sampler")C% +3 "core" % v\ +42 "collection"'r% +3 "core" %Itn\ + "sampler")?% +4 "core" %\  l\  +2 "sampler")% +3 "core" % w\  + .tIntake.select :close +2 "sampler")0 +10 )% +3 "core" % l\  + .tSSV.dial :exhaust +2 "sampler");  +77 "core"  + .tExhaust.select :open +2 "sampler")@ +12 .tSS.seek 0ml + "sampler")' +877 "core" ' +2 .tExhaust.select :close + "sampler") +11 ."connect"SSV.dial CBV +3 .tCBV.dial SSV +5 "sampler")>  +2 "collection"'= @ +7 "core" ? +68 + #tAllowing 130s for 25.0ml of remaining 225.0ml +2 .Intake.select :open +4 "sampler") +212 "collection"'&% +3 "core" %I\ + #tIntake @14.5psia, vacuum from 9.0 to 12.0psi +2 .SS.reconfigure :inhaling 1.28ml/s +7 "sampler")#.Y0X(97 l\  +18 "collection"'K% +3 "core" %IUP\ +2 "sampler")7% +4 "core" %>=: u\  +21 "collection"'3% +2 "core" %IUO\ +2 "sampler")P% +4 "core" %=DB n\  +24 "collection"'E% +3 "core" %IXP\ +2 "sampler")M% +4 "core" %=NJ }\  +27 "collection"'N% +3 "core" %IYT\ +2 "sampler")V% +4 "core" %>ZY q\  +32 "collection"':% +3 "core" %I\\W\ +2 "sampler")1% +4 "core" %=rp l\  +36 "collection"'A% +3 "core" %I`]\ + "sampler")-% +4 "core" % t\ 4 +42 "collection"'X% +2 "core" %Ilf\ +2 "sampler")\\% +4 "core" % t\ 4 +47 "collection"'% +3 "core" %Izv\ +2 "sampler")D% +3 "core" % m\ 4 +2 "sampler")G% +3 "core" %# w\ 4 +2 .tIntake.select :close + "sampler")0 +11 )Y% +3 "core" %-( u\ 4 +42 .tSSV.dial :exhaust +11 "sampler")R  +77 "core"  + .tExhaust.select :open +2 "sampler")@ +13 .tSS.seek 0ml + "sampler")J' +925 "core" ' + .tExhaust.select :close +2 "sampler") +11 ."connect"SSV.dial CBV +4 .tCBV.dial SSV +6 "sampler")b  +3 "collection"'Z @ +5 "core" ? +69 +2 #tAllowing 130s for 25.0ml of remaining 200.0ml + .Intake.select :open +4 "sampler") +211 "collection"'T% +3 "core" %I\ +2 #tIntake @14.5psia, vacuum from 9.0 to 12.0psi +2 .SS.reconfigure :inhaling 1.28ml/s +6 "sampler")#.Y0X( n\  +24 "collection"'!% +3 "core" %IXR\ +2 "sampler")%% +4 "core" %4JF w\  +28 "collection"'F% +3 "core" %IYU\ +2 "sampler")[% +3 "core" %4XV l\  +32 "collection"'e% +3 "core" %I\\W\ +2 "sampler")u% +4 "core" %4no m\  +36 "collection"'B% +3 "core" %Ic]\ +2 "sampler")a% +3 "core" %4 v\  +42 "collection"'i% +3 "core" %Ini\ +2 "sampler")<% +4 "core" % u\  +47 "collection"'@% +2 "core" %I}x\ +2 "sampler")U% +4 "core" %  l\  + "sampler")*% +4 "core" % ! u\  + .tIntake.select :close +2 "sampler")0 +11 )l% +2 "core" %,) s\  +2 .tSSV.dial :exhaust +2 "sampler")]  +76 "core"  +2 .tExhaust.select :open + "sampler")@ +13 .tSS.seek 0ml +2 "sampler")}' +907 "core" ' +2 .tExhaust.select :close + "sampler") +12 ."connect"SSV.dial CBV +4 .tCBV.dial SSV +5 "sampler")~  +2 "collection"'f @ +6 "core" ? +68 +2 #tAllowing 130s for 25.0ml of remaining 175.0ml + .Intake.select :open +3 "sampler") +214 "collection"' % +3 "core" %I\ +2 #tIntake @14.4psia, vacuum from 8.9 to 11.9psi +2 .SS.reconfigure :inhaling 1.28ml/s +6 "sampler")#.Y0X(% +3 "core" %IVO\ + "sampler")&% +4 "core" %3@= k\  +28 "collection"'% +3 "core" %IWQ\ +2 "sampler")/% +4 "core" %9JH v\  +31 "collection"',% +3 "core" %IYS\ +2 "sampler")K% +4 "core" %:[X r\  +36 "collection"'7% +3 "core" %I^Y\ + "sampler")3% +4 "core" %9wt v\  +42 "collection"'P% +2 "core" %Ida\ +2 "sampler")E% +4 "core" % }\ +47 "collection"'M% +3 "core" %Irn\ +2 "sampler")N% +3 "core" % m\  +54 "collection"'V% +3 "core" %I|\ +2 "sampler"):% +3 "core" %-, n\  +2 "sampler")1% +3 "core" %,, u\  + .tIntake.select :close +2 "sampler")0 +10 )A% +3 "core" %11 o\  + .tSSV.dial :exhaust +2 "sampler")-  +76 "core"  +2 .tExhaust.select :open + "sampler")@ +13 .tSS.seek 0ml +2 "sampler")X' +906 "core" ' + .tExhaust.select :close +2 "sampler") +11 ."connect"SSV.dial CBV +4 .tCBV.dial SSV +5 "sampler")\\  + "collection"'H @ +8 "core" ? +69 +2 #tAllowing 130s for 25.0ml of remaining 100.0ml +2 .Intake.select :open +3 "sampler") +212 "collection"'% +3 "core" %I\ + #tIntake @14.4psia, vacuum from 8.9 to 11.9psi +2 .SS.reconfigure :inhaling 1.28ml/s +7 "sampler")#.Y0X(74 i\  +21 "collection"'}% +3 "core" %IZS\ +2 "sampler")% +4 "core" %>:7 m\  +24 "collection"'|% +3 "core" %IYT\ + "sampler")w% +4 "core" %>>< y\  +28 "collection"'m% +3 "core" %I\\U\ +2 "sampler")I% +4 "core" %=FB t\  +31 "collection"'S% +3 "core" %I^U\ +2 "sampler")o% +3 "core" %>NL o\  +37 "collection"'c% +3 "core" %I`Y\ +2 "sampler")d% +3 "core" %=_^ u\  +42 "collection"'k% +3 "core" %Ib[\ + "sampler")t% +4 "core" %8~{ z\  +47 "collection"'z% +3 "core" %Iie\ +2 "sampler")5% +4 "core" % n\ 4 +53 "collection"'`% +3 "core" %Iyt\ +2 "sampler")% +3 "core" % l\ 4 +61 "collection"'{% +3 "core" %I\ +2 "sampler")x% +4 "core" %01 p\ 4 + "sampler")% +4 "core" %21 l\ 4 + .tIntake.select :close +2 "sampler")0 +11 )% +3 "core" %63 t\ 4 + .tSSV.dial :exhaust +3 "sampler")  +77 "core"  + .tExhaust.select :open +2 "sampler")@ +12 .tSS.seek 0ml + "sampler")' +930 "core" ' +2 .tExhaust.select :close + "sampler") +12 ."connect"SSV.dial CBV +4 .tCBV.dial SSV +5 "sampler")$  +4 "collection"'^ @ +5 "core" ? +68 + #tAllowing 130s for 25.0ml of remaining 50.0ml + .Intake.select :open +3 "sampler") +214 "collection"'% +3 "core" %I\ + #tIntake @14.5psia, vacuum from 9.0 to 12.0psi +2 .SS.reconfigure :inhaling 1.28ml/s +6 "sampler")#.Y0X( {\  +19 "collection"'% +3 "core" %I[W\ +2 "sampler");% +3 "core" %94HF k\  +21 "collection"'% +3 "core" %I]V\ +2 "sampler")=% +4 "core" %94PO v\  +24 "collection"'>% +3 "core" %I^X\ +2 "sampler")&% +3 "core" %:4_] m\  +28 "collection"'% +3 "core" %Ib\\\ +2 "sampler")/% +4 "core" %:4wr u\  +32 "collection"',% +3 "core" %Ig`\ + "sampler")K% +4 "core" %=, u\  +37 "collection"'7% +2 "core" %Ioj\ +2 "sampler")3% +4 "core" %= l\ 5 +41 "collection"'P% +3 "core" %I{v\ +2 "sampler")E% +4 "core" %= l\ 5 + "sampler")r% +4 "core" %= u\ 5 + .tIntake.select :close +2 "sampler")0 +10 )M% +3 "core" %=#$ o\ 5 + .tSSV.dial :exhaust +2 "sampler")N  +77 "core"  + .tExhaust.select :open +2 "sampler")@ +12 .tSS.seek 0ml + "sampler")V' +932 "core" ' + .tExhaust.select :close +2 "sampler") +10 #tSampled 1000.0ml +2 #Evacuating Puck (bubblePt=24psi, evacVolume=10ml, delay 15 seconds) +4 .Intake.select :close +4 "collection"':& +5 "core" &Vhy\ L +2 ."airStroke"CSV.dial :waste +4 "sampler")1% +2 "collection"'A +7 "core" %62 v\ 3 +3 ."connect"SSV.dial CBV,avoiding: :exhaust +4 .tCBV.dial SSV +4 "sampler")-  + "collection"'? @ +7 "core" ? +3 ."airStroke"CS.seek 0ml +2 "collection"'H'F +6 "core" ' + ."airStroke"CSV.dial :air +2 "collection"'\\ @ +72 "core" A +2 ."airStroke"CS.seek 10ml +2 "collection"'' +92 "core"  +2 .tCTV.dial :air + "collection"'X  +72 "core" ~ +2 .tdelay 15 seconds +1503 .SSV.dial :spit,avoiding: :exhaust +2 "sampler")Y +135 "core" +2 ."prepCSV"CTV.dial CSV,avoiding: :intake +5 .tSS.seek 0ml +4 "collection"'R  +3 "sampler")4' +7 "core" ' +2 .tSSV.dial CBV,avoiding: :exhaust +3 "sampler")Z  +117 "core" ~ +16  +440 ' +2 .tSSV.dial between CBV and plug +2 "sampler")b +47 "core" +2 .tCBV.dial between SSV and waste2 +2 "collection"'T  +31 "core"  +2 "collection"'J% +4 "core" % \ +2 ."connect"CTV.dial CSV,avoiding: :air +4 .tCSV.dial CTV +4 "collection"'Q  +3 'p  +5 "core"  +38  +2 .tCS.reconfigure :pressurize +3 "collection"'# d@<<4b +5 .tCS.seek 0ml +3 "collection"'9'F +2127 "core" '95\ Ω +3 "collection"'\ % +4 "core" %b <5\  +2 "sampler")h% +3 "core" %MK l\ 3 +2 #tBubblePoint: Intake @24.0psia, Outlet @-0.1psia + .CBV.dial SSV +5 "collection"'W @ +34 "core" A +2 .tSS.reconfigure :default +3 "sampler")#.0X9\  +2 "sampler")% +3 "core" %]Z m\  +2 #tBubblePoint: Intake @24.3psia, Outlet @0.5psia +2 .CBV.dial SSV +4 "collection"' @ +36 "core" B +2 .tSS.reconfigure :default +3 "sampler")#.0X + ."CSpush"CS.reconfigure :fast +4 "collection"'#d @b +3 ."CSpush"CS.seek 0ml +3 "collection"''F +116 "core" ' +2 .tSSV.dial :spit,avoiding: :exhaust +2 "sampler")# +135 "core"  +2 .tSS.reconfigure :exhale +4 "sampler")#.0X hidelog +195 "core" ' + .tdelay 5 seconds +503 .CSR.select :air +2 "collection"' +9 ' % +2 "core" %\  +3 .tCS.seek 5ml + "collection"'O'm +857 "core" ' + .tdelay 2 seconds +202 .CSV.dial CTV +3 "collection"'q  +39 "core"  +2 .tCS.seek 1ml +2 "collection"'8' +1101 "core" ' + "collection"'(9 +4 "core" 92P + "collection"'% +4 "core" %\ +2 #tBefore lysing Collection Puck Heater at 19.5C/15.2psia +2 #Heating Puck.from 2, :sh1 in Collection Clamp to 70C for 10:00 +3 .CH.seek 70C,8:00 +3 "collection"' \ } +3 '9 +3 "core" 92Od +102 "collection"';9 +2 "core" 93Od +103 "collection"'9 +2 "core" 93O d +102 "collection"'=9 +2 "core" 94O d +103 "collection"'>9 +2 "core" 94Od +102 "collection"'&9 +3 "core" 95Od +102 "collection"'9 +2 "core" 99Od +103 "collection"'/9 +2 "core" 9<Od +102 "collection"',9 +2 "core" 9BO"d +103 "collection"'K9 +2 "core" 9JO&d +102 "collection"'79 +3 "core" 9SP*d +102 "collection"'39 +3 "core" 9_P/d +102 "collection"'P9 +2 "core" 9jP3d +103 "collection"'E9 +2 "core" 9yQ7d +102 "collection"'r9 +2 "core" 9Q;d +103 "collection"'M9 +2 "core" 9R?d +102 "collection"'C9 +2 "core" 9SCd +102 "collection"'N9 +3 "core" 9SHd +102 "collection"'9 +2 "core" 9SLd +102 "collection"':9 +3 "core" 9SPd +102 "collection"'19 +3 "core" 9TTd +102 "collection"'?9 +3 "core" 9VXd +102 "collection"'A9 +2 "core" 9,V]d +102 "collection"'\\9 +2 "core" 9DVad +103 "collection"'-9 +3 "core" 9\\Wed +101 "collection"'X9 +4 "core" 9uYid +103 "collection"'L9 +2 "core" 9Zmd +102 "collection"'H9 +2 "core" 9Zrd +102 "collection"'Y9 +3 "core" 9[vd +102 "collection"'R9 +2 "core" 9\\zd +102 "collection"'Z9 +4 "core" 9]~d +102 "collection"'V9 +2 "core" 9_d +102 "collection"'b9 +3 "core" 9,`d +102 "collection"'T9 +2 "core" 9H`d +102 "collection"'J9 +3 "core" 9aac +102 "collection"'Q9 +2 "core" 9}aa +102 "collection"'p9 +51 "core" 9d^ +102 "collection"'9 +2 "core" 9e[ +102 "collection"'\ 9 +2 "core" 9fY +103 "collection"'h9 +2 "core" 9gV +102 "collection"'W9 +3 "core" 9hU +103 "collection"'49 +2 "core" 9(iR +102 "collection"'%9 +3 "core" 9BjP +102 "collection"'F9 +2 "core" 9\\kN +103 "collection"'D9 +2 "core" 9umK +102 "collection"'!9 +3 "core" 9oI +102 "collection"'B9 +2 "core" 9qH +102 "collection"'[9 +6 "core" 9sF +103 "collection"'u9 +2 "core" 9uC +102 "collection"'a9 +3 "core" 9vB +102 "collection"'i9 +3 "core" 9x? +102 "collection"'G9 +3 "core" 9y> +102 "collection"'e9 +2 "core" 93y< +102 "collection"'@9 +3 "core" 9J{; +102 "collection"'99 +2 "core" 9`|9 +102 "collection"'<9 +4 "core" 9u}8 +102 "collection"'U9 +2 "core" 9~6 +103 "collection"'*9 +2 "core" 94 +102 "collection"'29 +2 "core" 93 +103 "collection"'f9 +2 "core" 91 +102 "collection"' 9 +3 "core" 90 +88 "Can"\ e]u +14 "collection"'n9 +3 "core" 9. +102 "collection"'}9 +2 "core" 9- +102 "collection"'9 +3 "core" 9\ + +102 "collection"'|9 +2 "core" 9!* +102 "collection"'m9 +3 "core" 92) +102 "collection"'~9 +2 "core" 9C( +102 "collection"'w9 +3 "core" 9T' +102 "collection"'S9 +2 "core" 9d% +102 "collection"'o9 +3 "core" 9t#$ +102 "collection"'d9 +3 "core" 9(# +102 "collection"'k9 +2 "core" 9," +103 "collection"'t9 +2 "core" 90! +102 "collection"'l9 +2 "core" 94 +103 "collection"'z9 +2 "core" 98 +102 "collection"'I9 +3 "core" 9= +102 "collection"'`9 +3 "core" 9A +102 "collection"'9 +2 "core" 9E +102 "collection"'59 +3 "core" 9I +102 "collection"'x9 +2 "core" 9M +102 "collection"'9 +4 "core" 9 Q +102 "collection"'9 +2 "core" 9 V +102 "collection"'c9 +3 "core" 9 Z +102 "collection"']9 +2 "core" 9 (^ +102 "collection"'^9 +3 "core" 9 2b +102 "collection"'$9 +3 "core" 9 <f +102 "collection"'9 +2 "core" 9 Ek +103 "collection"')9 +2 "core" 9 Oo +102 "collection"'9 +6 "core" 9 Xs +103 "collection"'9 +3 "core" 9 aw +102 "collection"'"9 +3 "core" 9 j| +102 "collection"'s9 +3 "core" 9 q +102 "collection"''9 +3 "core" 9 { +102 "collection"'9 +2 "core" 9  +102 "collection"'#9 +2 "core" 9  +102 "collection"'{9 +4 "core" 9  +102 "collection"'j9 +2 "core" 9  +103 "collection"'9 +2 "core" 9  +102 "collection"'9 +2 "core" 9  +103 "collection"'_9 +2 "core" 9  +102 "collection"'g9 +3 "core" 9  +102 "collection"'9 +3 "core" 9  +102 "collection"'.9 +2 "core" 9  +102 "collection"'+9 +3 "core" 9  +102 "collection"'9 +2 "core" 9  +102 "collection"'09 +3 "core" 9  +103 "collection"'9 +2 "core" 9  +102 "collection"' 9 +3 "core" 9  +102 "collection"'9 +2 "core" 9  +102 "collection"'9 +2 "core" 9  +103 "collection"'9 +2 "core" 9  +102 "collection"'69 +2 "core" 9  +103 "collection"'9 +2 "core" 9  +102 "collection"'9 +2 "core" 9  +102 "collection"' 9 +3 "core" 9  +102 "collection"'9 +3 "core" 9  +102 "collection"'q9 +3 "core" 9\  +102 "collection"'O9 +2 "core" 9\  +102 "collection"'(9 +3 "core" 9\  +102 "collection"'9 +2 "core" 9\  +102 "collection"'9 +3 "core" 9\  +103 "collection"';9 +2 "core" 9\  +102 "collection"'9 +2 "core" 9\  +103 "collection"'=9 +2 "core" 9\  +103 "collection"'>9 +2 "core" 9\ \  +102 "collection"'&9 +3 "core" 9\  +102 "collection"'9 +3 "core" 9\ $ +102 "collection"'/9 +2 "core" 9\ & +102 "collection"',9 +3 "core" 9\ + +102 "collection"'K9 +2 "core" 9\ - +102 "collection"'79 +3 "core" 9\ 0# +102 "collection"'39 +3 "core" 9\ 3' +2 .tCH.hold 10:00,70C +4 "collection"'P `\ } `\ 3\ + 'E9 +6 "core" ( + 9\ 3 + "collection"'r% +4 "core" %b\ + #tBegun lysing Collection Puck Heater at 68C/19.8psia +52635 "Can" \ v1 +7357 "core" ` + "collection"'M9 +4 "core" 9\ } + "collection"'C% +4 "core" % \ +2 #tEnded lysing Collection Puck Heater at 70C/18.0psia +2 .CS.seek 0ml + "collection"'N'F +342 "core" ' +4 .tCTV.dial between spare and air,avoiding: :intake +3 "collection"' @ +99 "core" @ +2 .tCSV.dial :air +2 "collection"': @ +42 "core" > +3 .tCS.seek 5ml + "collection"'1'm +1344 "core" ' +2 .tCSV.dial CTV +2 "collection"'?  +41 "core"  +2 .tdelay 2 seconds +202 .CSV.dial :air +2 "collection"'A @ +41 "core" ? +2 .tdelay 2 seconds +202 .CSV.dial CTV +2 "collection"'\\  +41 "core"  +2 .tdelay 2 seconds +202 .CSV.dial :air + "collection"'- @ +42 "core" ? +2 .tdelay 2 seconds +202 .CS.seek 0ml +2 "collection"'X'F +1358 "core" ' + "collection"'L% +5 "core" %G \ + #tPuck @30.9psia after final lysis pressurization + #Recovering Lysate into Collection syringe +2 .CSV.dial CBV +2 "collection"'H +99 "core" ~ + .tCBV.dial CSV +2 "collection"'Y  +30 "core"  + "collection"'R% +5 "core" %Gjg \ +2 .tCS.seek 5ml +2 "collection"'Z'm +1349 "core" ' +2 .tdelay 5 seconds +502 .CTV.dial :air +3 "collection"'V  +43 "core" +2 "collection"'b% +4 "core" %m\ \ +2 .tCS.seek 7.001ml + "collection"'T' +594 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air2 +3 "collection"'J @ +40 "core" ? +2 .tCS.seek 10ml +2 "collection"'Q' +856 "core" ' + .tCSV.dial between air and CTV,avoiding: CBV +3 "collection"'p ` +111 "core" _ +2 #tLysing Complete +2 "collection"'& +4 "core" &Vh2\ L +2 #tStoring sh1 puck in Collection Clamp to tube 1 + "manipulator"&\ % +4 "core" % d m  +2 "storage"(h% +3 "core" %n \\ f (  +2 "storage"(W. +3 "core" .( v +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 1 + "storage"(4( +188 "core" ( +2 .tSC.configure :limp +2 "storage"($(\ 1b +3 (%& +3 "core" & + $ X \ + "manipulator"&F& +4 "core" &  $ + "manipulator"&D% +4 "core" % d  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&!( +159 "core" ( +2 "manipulator"&B& +5 "core" &  R + "storage"([& +4 "core" & h g  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 800 counts + "manipulator"&u'm +99 "core" ' + "storage"(a& +5 "core" & r c   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(i'6 +285 "core" ' + "storage"(G- +4 "core" -'} + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&e& +2 "core" & + R +2 "storage"(@& +4 "core" & Y X  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&9'M +36 "core" ' + .tElbow.hold +2 "manipulator"&<, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(U- +3 "core" -'} +3 .tSE.seek 0.06 Pucks below Top Plate + "storage"(*' +22 "core" ' +2 "manipulator"&2% +4 "core" %R   P + "storage"(f& +4 "core" & + / + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 1 + 305 counts +2 "manipulator"& '~ +16 "core" ' + "manipulator"&n& +5 "core" &  R + "storage"(}& +4 "core" & Y Z   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 800 counts +2 "manipulator"&'m +25 "core" ' +2 .tSE.seek 1.06 Pucks below Top Plate +2 "storage"(|' +38 "core" ' +2 "manipulator"&m& +4 "core" & 2 R + "manipulator"&~% +4 "core" %y n z +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&w' ] +140 "core" ' + .tElbow.seek CC +2 "manipulator"&S( +164 "core" ( + "manipulator"&o& +4 "core" & l m +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &d& +3 "core" & } m +2 .tForearm.seek CC + "manipulator"&k' +107 "core" ' + .tHand.close +2 "manipulator"&t/ +62 "core" / +2 .tCC.seek :open +2 "collection"'l( +398 "core" ( +2 "storage"(z& +4 "core" &   +2 "storage"(I& +3 "core" &  +2 "manipulator"&`& +3 "core" & k f +2 "manipulator"&% +3 "core" % ~ R b +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&5' ] +145 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 +51 "manipulator"&x( +179 "core" ( +2 "manipulator"&& +4 "core" & ^ +2 "storage"(& +3 "core" & }  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 1 +2 "manipulator"&c'M +107 "core" ' +2 .tElbow.hold + "manipulator"&], +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&^1 +56 "core" 1 +2 "manipulator"&$% +4 "core" % ] I i +2 "storage"(& +4 "core" & X Y F  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 1 + 316 counts +2 "manipulator"&)'Љ +21 "core" ' + "manipulator"&& +4 "core" & ' +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 800 counts +2 "manipulator"&"'m +14 "core" ' +3 "storage"(s% +4 "core" %   +2 ."downElevator"SE.seek :down +4 "storage"(''g +98 (% +3 "core" %?  U\\ +2 "manipulator"&#% +4 "core" %v W < +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&{' ] +138 "core" ' +9 ' + ."downElevator"SE.stop +7 "storage"(5 +2 #tTranferring DA +2 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +7 "collection"'j& +4 "core" &)$\ +2 "manipulator"&& +4 "core" & l +2 "manipulator"&% +4 "core" % b   +2 .tElbow.seek FlushPuck::Garage + "manipulator"&_(-] +185 "core" ( + "manipulator"&g& +5 "core" &-Q S  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &-Q 9  +2 .tForearm.seek :garage +2 "manipulator"&.'t +106 "core" ' +2 .tHand.close +2 "manipulator"&+/ +57 "core" / +2 "manipulator"&& +4 "core" &-V x  +2 "manipulator"&0% +3 "core" % φ 1 +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +148 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"& ( +282 "core" ( +2 "manipulator"&& +4 "core" &\   b + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &\ : b +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&' +98 "core" ' +2 "manipulator"&6& +4 "core" &  + b +2 "manipulator"&% +3 "core" %  +2 "collection"'& +4 "core" &40|\ +2 "collection"' & +5 "core" &52\ +2 .tCC.seek :closed +2 "collection"'(W +4 "core" &71\ +7 & +6-\ $c +9 &vUz50\ 7 +10 &~50\ L +9 &]6/\ M +9 &J[5.o\ M +10 & \\50Z\ M +9 &a616\ M +10 &\\5/h\ L +9 & R^709\ M +9 &"]402\ L +10 &#]6/\ M +9 &%\\5/\ M +9 &'[]6. \ M +10 &)`6/ \ M +9 &*]72\ M +10 &,\\61\ M +9 &.c`7/\ M +9 &0%\\61\ M +10 &1^80\ M +9 &3]60\ M +9 &5l^70c\ L +10 &7-]71J\ M +9 &8[61C\ M +10 &:[83/\ M +9 &6]53{\ L +10 &?_73c\ M +9 &A\\72S\ M +9 &C{`63B\ M +10 &E>^84 \ L +9 &Fe80 \ N +10 &Hn94 \ O +9 &Jt:3 \ R +9 &L+83\ V +10 &M83\ V +9 &O:3\ V +9 &Qn73\ V +10 &S.;3\ W +9 &T:6\ W +10 &Vd`84\ . +9 &V95\ M +9 ( +3 "collection"' & +3 #tCollection Clamp onSpring/offSpring for 6/25 samples, on/off torque 1.92 +2 "collection"'q& +4 "core" &Ve94y\ H + &Vf83V\ H +2 .tHand.open + "manipulator"&O1 +56 "core" 1 +2 "manipulator"&(% +4 "core" %  b +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +153 "core" ' + .tPSV.dial PSR +2 "processing"% +139 "core" +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 "processing"%j +10 .tPS.seek 1.5ml + "processing"%;' +1597 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%  +42 "core"  +2 .tPS.seek 0ml + "processing"%='T +1604 "core" ' +2 .tPSV.dial PSR +2 "processing"%> +43 "core"  +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%&' +2623 "core" ' + ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV +2 "processing"% +3 "collection"'/  +5 "core" @ + "processing"%, +3 "core" @ +2 "processing"%K  +66 "core" +92  +2 .tPSV.dial :mixloop + "processing"%7 +100 "core" +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'3  +14 "core" + .tPTV.dial :PRVmixing +2 "processing"%E  +126 "core" +2 .tPS.seek 0ml +2 "processing"%r'T +2623 "core" ' + .tPSV.dial :air +2 "processing"%  +42 "core"  +2 .tPS.seek 2.5ml +2 "processing"%P' +2613 "core" ' +2 .tPSV.dial :mixloop +2 "processing"%M +43 "core" +2 .tPS.seek 0ml +2 "processing"%C'T +2612 "core" ' + .tPSV.dial :air +2 "processing"%8  +44 "core"  +2 .tPS.seek 2.5ml + "processing"%' +2612 "core" ' +2 .tPSV.dial :mixloop +2 "processing"%: +43 "core" +2 .tPS.seek 0ml +2 "processing"%N'T +2618 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&?& +5 "core" & 7 a + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&A( +40 "core" ( + "manipulator"&\\& +4 "core" &  N ) +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &-& +3 "core" & _ ) +2 .tForearm.seek CC + "manipulator"&1' +99 "core" ' + .tHand.close +2 "manipulator"&L/ +60 "core" / + .tCC.seek :open +2 "collection"'H( +399 "core" ( + "manipulator"&Y& +4 "core" &  ) +2 "manipulator"&R% +3 "core" % P +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&X' ] +143 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&V(-] +278 "core" ( + "manipulator"&b& +4 "core" &-R # / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Z& +2 "core" &-R = / +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&J't +111 "core" ' + .tHand.open +2 "manipulator"&T1 +62 "core" 1 +2 "manipulator"&p% +4 "core" % xd > H +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +157 "core" ' +2 .tPSV.dial :mixloop + "processing"%\ +15 "core" + .tPTV.dial :PRVmixing +2 "processing"%h  +16 "core" + ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%W  +2 "collection"'%  +6 "core"  +2 +2 .tCTV.dial :air,avoiding: :intake +2 #Loading lyfil puck from tube 2 into Collection Clamp + "collection"'F& +4 "core" &?:\ +2 "manipulator"&D% +4 "core" % m #  + "storage"(y% +4 "core" %l |  + "storage"(B. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 2 + "storage"([( v +200 "core" ( +2 .tSC.configure :limp +3 "storage"($(\ 1b +3 (a& +2 "core" & v J ; a  +2 "manipulator"& & +4 "core" &-S c . + "manipulator"&v% +4 "core" % m   + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&G(v +171 "core" ( +2 "manipulator"&e& +4 "core" &w\ L "| + "storage"(@& +4 "core" & o  " +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 800 counts +2 "manipulator"&U'' +99 "core" ' +2 "storage"(2& +4 "core" & o  N " +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(f'6 +252 "core" ' +2 "storage"(n- +3 "core" -'= + .tSE.configure :default +52 "storage"(#QK-0-\ b +4 (}& +2 "core" & n { d # +2 "manipulator"&m& +4 "core" &x\ _ "{ +2 .tElbow.seek 2 +2 "manipulator"&~(v +3 "core" ( + "manipulator"&u& +4 "core" &x  ^ "{ +2 "storage"(!& +4 "core" & n  # +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&i'3 +29 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&9/ +53 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"& & +3 "storage"(*'g +7 "core" &x  "{ +2 "manipulator"&% +4 "core" % )  0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract +2 "manipulator"&o' ] +143 "core" ' +2 .tElbow.seek CC + "manipulator"&d( +70 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +85 "core" ( +3 "manipulator"&<& +4 "core" & S # + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &t& +2 "core" & H # +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&w' +95 "core" ' +2 "manipulator"&& +4 "core" &  1 # +2 "manipulator"&z% +4 "core" % 5 $ +2 "collection"'I& +4 "core" &A:!\ +2 "collection"'`& +5 "core" &@;\ +2 .tCC.seek :closed +3 "collection"'(W +4 "core" &A8\ +5 &A<\ 2 +9 &"G~@;\ 1 +10 &Rt@=}\ E +9 &e@;\ N +10 &]B;o\ M +9 &_A:a\ M +9 &A]C;\ M +10 &]B9\ M +9 &`A;\ M +9 &!_A;\ M +10 &#H`?:\ M +9 &%\ _A:\ M +10 &&_B:t\ M +9 &(_@=g\ M +9 &*P]A:N\ M +10 &,]@=>\ M +9 &-_B:7\ M +10 &/`A;P\ M +9 &1Z`@<e\ M +9 &3^A;k\ M +10 &4^A:\\\ M +9 &6^A:J\ M +9 &8b\\?;D\ M +10 &:#`@;-\ M +9 &;^@<\ M +9 &=^B<\ M +10 &?i^A;\ M +9 &A+_B9\ M +10 &B_A9\ M +9 &D`@<\ M +9 &Fo_><\ N +10 &H0j@<\ N +9 &IA:S\ Q +9 &K@9\ U +10 &M^y~\ V +9 &O}\ W +10 &Po\ X +9 &R m\ X +9 &Tc&!_\ W +10 &V }51O\ < +9 &V6>9\ a +9 &VKB;\ ? +3 ( + "collection"'`& +4 #tCollection Clamp onSpring/offSpring for 5/25 samples, on/off torque 1.94 + .Hand.open +2 "manipulator"&k1 +61 "core" 1 +2 "manipulator"&% +4 "core" %  d +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +156 "core" ' +2 .tCTV.dial CSV,avoiding: :intake +2 "collection"'S  +131 "core" ~ + .tCSV.dial CTV +2 "collection"'^  +28 "core"  +2 .tPS.seek 2.5ml +2 "processing"%$' +2618 "core" ' + "collection"'% +4 "core" %  \ +2 .tCS.seek 4.251ml +2 "collection"''U +1534 "core" ' +2 .tdelay 8 seconds +803 .PSV.dial :air + "processing"%  +43 "core"  +2 .tdelay 2 seconds +202 .PSV.dial :waste2 + "processing"%s  +73 "core"  +2 .tPS.seek 0ml +2 "processing"%5'T +2623 "core" ' + .tCBV.dial between PRV and waste1 +2 "collection"' ` +34 "core" ^ +2 .tCSV.dial :air +2 "collection"'# @ +41 "core" ? +2 .tCS.seek 10ml +2 "collection"'x' +1545 "core" ' + .tCSV.dial CTV +2 "collection"'c  +42 "core"  +2 .tCS.seek 0ml +2 "collection"'j'F +2632 "core" ' + .tCBV.dial :waste1 +7 "collection"') @ +28 "core" ? +2 .tdelay 5 seconds +502 .CTV.dial :air,avoiding: :intake +2 "collection"'  +133 "core" +2 "collection"'& +4 "core" &VUZ\ ? + #tStoring lyfil puck in Collection Clamp to tube 1 +2 "manipulator"&|% +4 "core" % 3 T 7 +2 "storage"("% +3 "core" %j |   +2 "storage"(g. +3 "core" .( v +2 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 1 +2 "storage"(( +202 "core" ( + .tSC.configure :limp +3 "storage"($(\ 1b +2 ('& +3 "core" & _ ]  +2 "manipulator"&]& +4 "core" & > # + "manipulator"&+% +4 "core" % 3 J 7 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&( +161 "core" ( + "manipulator"&0& +4 "core" & L = +2 "storage"({& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 800 counts + "manipulator"&.'m +98 "core" ' +2 "storage"(& +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('6 +282 "core" ' + "storage"(_- +4 "core" -'o + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&6& +3 "core" &  = +2 "storage"(& +3 "core" & f f  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 + "manipulator"&'M +36 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(l- +2 "core" -'o +3 .tSE.seek 1.07 Pucks below Top Plate +2 "storage"(q' +24 "core" ' + "manipulator"&O% +5 "core" %Ys $ + "storage"((& +4 "core" & ; A + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 1 + 312 counts +2 "manipulator"& 'Ѕ +12 "core" ' +2 "manipulator"&& +4 "core" & [ = +2 "storage"(& +4 "core" & a [ 6  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 800 counts +2 "manipulator"&'m +26 "core" ' +2 .tSE.seek 2.07 Pucks below Top Plate +2 "storage"(;' +40 "core" ' + "manipulator"&>& +5 "core" & 2 = + "manipulator"&=% +4 "core" %T +  +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +139 "core" ' +2 .tElbow.seek CC +2 "manipulator"&,( +160 "core" ( +2 "manipulator"&/& +4 "core" & p # + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &K& +2 "core" & E # +2 .tForearm.seek CC +2 "manipulator"&7' +109 "core" ' +2 .tHand.close + "manipulator"&3/ +55 "core" / +2 .tCC.seek :open +2 "collection"'E( +398 "core" ( +2 "storage"(&& +4 "core" & j g  + "storage"(& +4 "core" & X c =  +2 "manipulator"&r& +3 "core" &  x # +2 "manipulator"&M% +4 "core" % D $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&P' ] +153 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&8( +162 "core" ( + "manipulator"&C& +5 "core" & & P + "storage"(:& +4 "core" & "  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 1 + "manipulator"&'M +109 "core" ' + .tElbow.hold +2 "manipulator"&?, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&\\1 +64 "core" 1 +2 "manipulator"&-% +4 "core" % \\ M + "storage"(L& +4 "core" & W K v  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 315 counts + "manipulator"& 'Ј +13 "core" ' + "manipulator"&& +5 "core" & P + "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 800 counts +2 "manipulator"&Y'm +39 "core" ' +2 "storage"(R% +4 "core" % \  +2 ."downElevator"SE.seek :down +3 "storage"(1'g +5 "Can"\ -bv +95 "storage"(b% +2 "core" %C< h SV +2 "manipulator"&Z% +4 "core" %M {  +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&A' ] +133 "core" ' + ."downElevator"SE.stop +3 "storage"(5 +3 "core" ' + .tPSV.dial :air +2 "processing"%T  +73 "core" +3 .tPS.seek 2.5ml +2 "processing"%p' +2625 "core" ' +10 .tdelay 1 second +101 .PSV.dial :mixloop +2 "processing"%X +42 "core" +2 .tdelay 1 second +102 .PSV.dial :air +2 "processing"%\  +42 "core"  +2 .tdelay 1 second +102 .PSV.dial :mixloop +2 "processing"%h +43 "core" + .tdelay 1 second +102 .PSV.dial :air +3 "processing"%W  +42 "core"  +2 .tdelay 1 second +102 .PS.seek 0ml +2 "processing"%%'T +2622 "core" ' +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage +2 "processing"%F& +4 "core" &u.\  +2 "manipulator"&D& +4 "core" & a P + "manipulator"&y% +4 "core" % Y o  +2 .tElbow.seek FlushPuck::Garage + "manipulator"&B(-] +167 "core" ( + "manipulator"&J& +5 "core" &-g L  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &a& +2 "core" &-g m  +2 .tForearm.seek :garage +2 "manipulator"& 't +103 "core" ' + .tHand.close +2 "manipulator"&v/ +56 "core" / +2 "manipulator"&4& +4 "core" &-g ~ <  + "manipulator"&e% +4 "core" % χ B +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&@' ] +149 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&2( +121 "core" ( + "manipulator"&V& +4 "core" & $  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&n'ϱ +110 "core" ' + "manipulator"&}& +5 "core" & :  + "manipulator"&m% +4 "core" %ϲ U +2 "processing"%u& +3 "core" &u.\  +3 "processing"%!& +4 "core" &u.\  +2 .tPC.seek :closed +2 "processing"%9(W +5 "core" &u.\  +7 &J/\ %h +9 &dY.\ 9 +9 &.\ M +10 &`.\ N +9 &Bc/\ N +10 &b/\ M +9 &a/\ N +9 &b/\ M +10 & Jg.\ N +9 &" b/\ N +9 &#c.\ N +10 &%b/\ N +9 &'T`.\ M +10 &)c/\ N +9 &*f0\ N +9 &,g.\ N +10 &.[h/\ N +9 &0c.\ N +9 &1c-\ N +10 &3g.\ N +9 &5ci.\ N +10 &7%b.\ N +9 &8c.\ M +9 &:d.\ N +10 &-h/\ N +9 &?h.\ N +10 &Ac.\ N +9 &Ctf.\ M +10 &E4h/\ N +9 &Fs-\ O +9 &H-\ Q +10 &Jl0\ S +9 &L-0\ S +9 &M.\ T +10 &O.\ S +9 &Qq2\ T +10 &S2.\ T +9 &T/\ T +9 &V.\ A +10 &W#Y.\ !^ +9 &W$.\ * +2 ( +2 "processing"%!& +3 #tProcessing Clamp onSpring/offSpring for 7/23 samples, on/off torque 1.52 +2 "processing"% & +4 "core" &W-\ * + .tHand.open +2 "manipulator"&1 +53 "core" 1 +2 "manipulator"&G% +4 "core" % ϲ r 1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&U' ] +161 "core" ' + .tPRV.dial :air +2 "processing"%f  +44 "core"  +2 .tPSV.dial :mixloop +2 "processing"%i +42 "core" +2 "processing"%<% +4 "core" %Q%\ +2 .tPS.seek 0.3ml +2 "processing"%t'd +383 "core" ' +2 .tPSV.dial PSR + "processing"% +102 "core"  +2 #tPulling 0.4ml of PSR.air +2 .PSR.select :air +3 .PS.seek 0.7ml +2 "processing"%z'2* +480 "core" ' +2 .tdelay 3 seconds +307 .PSR.select :air +2 .PS.seek 2.5ml +2 "processing"%I' +1903 "core" ' + .tdelay 3 seconds +303 .PSV.dial :mixloop + "processing"%~ +110 "core" +2 .tPTV.dial :mixing + "processing"%* @ +72 "core" B +2 .tPBV.dial :waste2 + "processing"%o  +91 "core" +2 .tPS.seek 0ml +2 "processing"%H'T +2612 "core" ' + #tGaraging FlushPuck in Processing Clamp +2 "manipulator"&k& +4 "core" & >  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&( +4 "core" ( + "manipulator"&`& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +3 "core" & *  +2 .tForearm.seek PC + "manipulator"&w'ϱ +110 "core" ' + .tHand.close +2 "manipulator"&^/ +53 "core" / +2 .tPC.seek :open + "processing"%N( +399 "core" ( + "manipulator"&& +4 "core" &   +2 "manipulator"&Q% +4 "core" % ρm  + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&' ] +156 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&s(-] +135 "core" ( +2 "manipulator"&$& +4 "core" &-] P "{ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &-]\  "{ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&#'t +111 "core" ' + .tHand.open +2 "manipulator"&1 +54 "core" 1 +3 "manipulator"&c% +4 "core" % z , +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract +2 "manipulator"&x' ] +163 "core" ' + #tLoading da puck from tube 2 into Processing Clamp +2 "processing"%)& +4 "core" &/\ +2 "manipulator"&% +4 "core" % U C + "storage"(% +4 "core" %_   + "storage"(|. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 2 +2 "storage"("( v +200 "core" ( + .tSC.configure :limp +3 "storage"($(\ 1b +2 (g& +3 "core" & v \\ d ]  +2 "manipulator"&'& +3 "core" &-d\  !t +2 "manipulator"&]% +4 "core" % U a +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&+(v +170 "core" ( +2 "manipulator"&[& +4 "core" &q % + "storage"(0& +4 "core" & o  " +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 800 counts +2 "manipulator"&{'' +97 "core" ' +2 "storage"(& +4 "core" & o " " +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(d'6 +267 "core" ' + "storage"(- +3 "core" -'P +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (_& +3 "core" & o } } " +2 "manipulator"&6& +4 "core" &r Q $ + .tElbow.seek 2 +2 "manipulator"&(v +4 "core" ( + "manipulator"&l& +4 "core" &r  i $ + "storage"(O& +4 "core" & o  " +2 .tForearm.seek 2 + 300 counts + "manipulator"&('3 +32 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +63 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(>'g +7 "core" &t  $ +2 "manipulator"&=% +4 "core" % 1 ' + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&.' ] +142 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +84 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +164 "core" ( + "manipulator"&& +5 "core" & r 2 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & > 2 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& 'ϱ +104 "core" ' +2 "manipulator"&q& +4 "core" & x 9 2 +2 "manipulator"&% +3 "core" %ϻ  +2 "processing"%/& +4 "core" &.\ +2 "processing"%K& +4 "core" &+\ +2 .tPC.seek :closed +2 "processing"%(W +5 "core" &/\ +7 &:+\ $e +9 &U.\ 7 +10 &.\ L +9 &_.\ M +9 &Tc.\ M +10 &_.\ M +9 &`.\ M +10 &c0\ M +9 & \\f/\ M +9 &"c.\ M +10 &#d0\ M +9 &%b.\ M +9 &'ea.\ M +10 &)&b.\ M +9 &*b-\ M +10 &,_/\ M +9 &.kc/\ N +9 &0.c0\ M +10 &1c.\ N +9 &3d-\ M +9 &5t`/\ M +10 &77c/\ M +9 &8b/\ M +9 &:d0\ M +10 &<|c.\ M +9 &>?`.\ M +10 &?d.\ N +9 &Ab/\ N +9 &Ce-\ N +10 &EDe-\ N +9 &Gs.\ O +10 &H.\ Q +9 &J}.\ R +9 &L=.\ S +10 &N.\ S +9 &O.\ S +9 &Q/\ S +10 &SC/\ T +9 &U.\ S +10 &V/\ 9 +9 &W60\ L +9 &W.\ ' +2 ( +2 "processing"%K& +3 #tProcessing Clamp onSpring/offSpring for 6/23 samples, on/off torque 1.54 + .Hand.open +2 "manipulator"&31 +62 "core" 1 +2 "manipulator"&% +4 "core" % ϻ p  +3 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +159 "core" ' +4 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +3 .PH.seek 28C,5:00 +2 "processing"%&  +2 %9 +7 "core" 9Sa +102 "processing"%r9 +2 "core" 9Pa +102 "processing"%M9 +3 "core" 9Na  +102 "processing"%79 +2 "core" 9K`  +103 "processing"%C9 +3 "core" 9Ja +102 "processing"%:9 +2 "core" 9I` +103 "processing"%,9 +2 "core" 9I` +102 "processing"%\\9 +2 "core" 9Ia +103 "processing"%-9 +3 "core" 9I`" +102 "processing"%L9 +2 "core" 9K`&! +102 "processing"%9 +3 "core" 9L`*! +102 "processing"%9 +2 "core" 9Na/! +102 "processing"%R9 +3 "core" 9Q`3! +102 "processing"%P9 +3 "core" 9Ta7 +102 "processing"%b9 +3 "core" 9Ya; +102 "processing"%Z9 +2 "core" 9\\`? +102 "processing"%89 +3 "core" 9baD +102 "processing"%9 +2 "core" 9gaH +102 "processing"% 9 +3 "core" 9m`L +102 "processing"%;9 +2 "core" 9taP +102 "processing"%T9 +3 "core" 9{bT +102 "processing"%Y9 +2 "core" 9bX +102 "processing"%19 +3 "core" 9b] +102 "processing"%59 +3 "core" 9ba +103 "processing"%X9 +2 "core" 9ce +102 "processing"%\ 9 +2 "core" 9ci +102 "processing"%h9 +3 "core" 9dm +102 "processing"%W9 +2 "core" 9cr +102 "processing"%p9 +3 "core" 9cv +103 "processing"%F9 +2 "core" 9dz +102 "processing"%D9 +2 "core" 9e~\ +103 "processing"%y9 +2 "core" 9e +102 "processing"%J9 +2 "core" 9f +103 "processing"%a9 +3 "core" 9g +102 "processing"%?9 +2 "core" 9f +102 "processing"%v9 +3 "core" 9g +102 "processing"%49 +2 "core" 9g +102 "processing"%e9 +3 "core" 9h +102 "processing"%A9 +2 "core" 9i +102 "processing"%V9 +3 "core" 9 g +102 "processing"%9 +2 "core" 9)g +102 "processing"% 9 +3 "core" 90h +102 "processing"%}9 +2 "core" 98h +102 "processing"%m9 +3 "core" 9@i +3 .tPH.hold 2:00:00,28C +3 "processing"%u pp; +2 .tdelay 1:30 +4 "core"  +9001 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%B +101 "core"  +2 #tPulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +10 .tPS.seek 0.5ml + "processing"%@' +597 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +9 .tPS.seek 2ml +2 "processing"% '& +1610 "core" ' + .tPTV.dial :puck +2 "processing"%  +69 "core"  + .tPSV.dial PTV +2 "processing"% +72 "core" + .tPBV.dial :waste1 +2 "processing"%G  +131 "core"  +2 "processing"%!% +4 "core" %*0\  +2 .tPS.seek 1.5ml +2 "processing"%f' +587 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%i * +32 "core" + +2 .tPS.seek 0ml +2 "processing"%<'T +1605 "core" ' +2 .tdelay 5:00 +23055 "Can"\ 5w] +6948 #trecoverPSRreagent08 + .PTV.dial :puck +2 "processing"%n  +4 "core"  +2 .tPBV.dial :waste1 +2 "processing"%%  +34 "core" + .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" + +2 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%t +74 "core"  +2 .tPS.reconfigure :fast +3 "processing"%#A ,`xb +2 .tPS.seek 2.5ml +2 "processing"%z' +2289 "core" ' +2 .tPSV.dial PTV +6 "processing"%~ +72 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%* +72 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%o +85 "core" ~ + .tdelay 5 seconds +503 .PSV.dial :air + "processing"%I  +74 "core"  +2 .tPS.seek 0ml +2 "processing"%k'T +2309 "core" ' + .tPTV.dial :PRVmixing,via: PRV +3 "processing"%`  +125 "core" +2 .tPSV.dial :mixloop + "processing"%S +44 "core" +2 .tPRV.dial :ab1 + "processing"%^ @ +72 "core" @ +2 .tPS.reconfigure :slow +3 "processing"%#A 2`xb +3 .tPS.seek 0.15ml + "processing"%2'] +352 "core" ' +2 .tdelay 2 seconds +202 ."connect"CBV.dial PRV +4 .tPRV.dial CBV +2 "collection"'U  + "processing"%9  +46 "core"  +2 +2 "processing"%% +3 "core" %Y\  +2 .tPS.seek 0.3ml +2 "processing"%Q'b +357 "core" ' +2 .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'$  +29 "core" + .tPRV.dial :air +2 "processing"%w  +42 "core"  +2 .tPS.seek 0.9ml +2 "processing"%'K +1260 "core" ' + .tPRV.dial :waste2 +2 "processing"% @ +72 "core" ? +2 .tPS.seek 0.5ml +2 "processing"%' +855 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air +2 "processing"%c  +42 "core"  +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 2ml +2 "processing"%'& +1607 "core" ' + .tPSV.dial :PML +2 "processing"%) +42 "core" +2 .tPTV.dial :mixing +2 "processing"% @ +70 "core" A + .tPBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"%|% +4 "core" %*\  +2 .tPS.seek 1.85ml +2 "processing"%#'! +228 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"%g * +34 "core" + +2 .tPS.seek 0ml +2 "processing"%''T +1962 "core" ' + .tdelay 2 seconds +203 #Beginning samplePassC +6 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"']& +8 "core" &OI\ + "manipulator"&& +4 "core" & 2 +2 "manipulator"&[% +3 "core" % N d +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&0(-] +137 "core" ( + "manipulator"&& +4 "core" &-` % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &s& +3 "core" &-` Q % +2 .tForearm.seek :garage +2 "manipulator"&x't +92 "core" ' + .tHand.close +2 "manipulator"&/ +61 "core" / +2 "manipulator"&_& +4 "core" &-d ? % +2 "manipulator"&6% +3 "core" % ς - | +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&l' ] +148 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&O( +277 "core" ( +2 "manipulator"&& +4 "core" & U # + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" & g # +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&=' +98 "core" ' +2 "manipulator"&+& +4 "core" & "{ +2 "manipulator"&{% +3 "core" %   +2 "collection"'d& +4 "core" &QI\ +2 "collection"'(& +5 "core" &PK\ \ +2 .tCC.seek :closed + "collection"'(W +5 "core" &NH\ +7 &5PI\ $e +10 &UQH\ 8 +9 &~OI\ L +10 &\\PI\ O +9 &LbQH\ O +9 &`PI\ O +10 &aOJ\ O +9 &`PK\ N +9 & T_NK\ O +10 &"`PJ\ O +9 &#_PJ\ O +10 &%bQH\ N +9 &'\\`OI\ O +9 &)\\QI"\ O +10 &*cPK\ O +9 &,aNF\ O +9 &.e_OI\ O +10 &0(`NG\ N +9 &1^OJ\ O +10 &3^QI\ O +9 &5n\\OJ\ N +9 &7/_QH\ O +10 &8aOI"\ N +9 &:]NK\ N +9 &8]PF\ N +9 &?`OJ\ N +10 &A_NJ\ N +9 &C}`OI\ O +9 &E?bOI\ O +10 &GcOJ\ O +9 &HsPI\ Q +9 &JyPJ\ S +10 &L0NH\ W +9 &MNI \ X +9 &ONI\ X +10 &QrOI\ X +9 &S0PH\ Y +10 &TNI\ Y +9 &VgbPH\ , +9 &VPI\ @ +6 ( + "collection"'(& +5 #tCollection Clamp onSpring/offSpring for 6/25 samples, on/off torque 1.88 + "collection"'& +5 "core" &VVPJ\ ? + &VWNH\ ? + .tHand.open +2 "manipulator"&1 +63 "core" 1 + "manipulator"&q% +5 "core" % I  +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +146 "core" ' + .tPSV.dial PSR +2 "processing"%> +102 "core"  + #tPulling 1.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%/' +1601 "core" ' + .tdelay 5 seconds +503 .PSV.dial :waste1 +2 "processing"%.  +42 "core"  +2 .tPS.seek 0ml +2 "processing"%N'T +1604 "core" ' +2 .tPSV.dial PSR +2 "processing"%3 +54 "core"  + .tPSR.select :air +3 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%' +2618 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +54 .tCBV.dial PRV +4 "processing"%K  + "collection"'  +36 "core" ~ +122  + .tPSV.dial :mixloop +2 "processing"%r +101 "core" +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'  +15 "core" +4 .tPTV.dial :PRVmixing +3 "processing"%M  +71 "core" +2 .tPS.seek 0ml +2 "processing"%7'T +2619 "core" ' +2 .tPSV.dial :air + "processing"%C  +43 "core"  +2 .tPS.seek 2.5ml +2 "processing"%:' +2619 "core" ' +2 .tPSV.dial :mixloop +2 "processing"%, +43 "core" +2 .tPS.seek 0ml +2 "processing"%\\'T +2612 "core" ' + .tPSV.dial :air +2 "processing"%-  +44 "core"  +2 .tPS.seek 2.5ml + "processing"%L' +2612 "core" ' + .tPSV.dial :mixloop +2 "processing"% +44 "core" +2 .tPS.seek 0ml +2 "processing"%'T +2624 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&R& +5 "core" & 9 "y +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&P( +40 "core" ( + "manipulator"&b& +4 "core" & n +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Z& +2 "core" &  n +2 .tForearm.seek CC +2 "manipulator"&8' +102 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +2 .tCC.seek :open +2 "collection"' ( +396 "core" ( + "manipulator"&;& +4 "core" & 2 n +2 "manipulator"&T% +3 "core" % Ф +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&Y' ] +145 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&1(-] +280 "core" ( +2 "manipulator"&5& +4 "core" &-R ~ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &X& +2 "core" &-R ? ~ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&\ 't +111 "core" ' +2 .tHand.open +2 "manipulator"&h1 +58 "core" 1 +2 "manipulator"&W% +4 "core" % z  +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&p' ] +146 "core" ' +2 ."da"delayUntil "23:10:26.96" +12162 "Can"\ 7w +12529 #"da"recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%F @ +72 "core" B + ."da"PBV.dial :waste1 +2 "processing"%D  +34 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +3 "processing"%y * +35 "core" , +2 ."da"PSV.dial :air + "processing"%J  +42 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%a' +2298 "core" ' +2 ."da"PSV.dial :mixloop + "processing"%? +43 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%v  +41 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%4 +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%e  +44 "core"  +2 ."da"PS.seek 0ml +2 "processing"%A'T +2299 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%V +130 "core"  +2 #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +584 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"% '& +1607 "core" ' + ."da"PTV.dial :puck +2 "processing"%}  +70 "core"  + ."da"PSV.dial PTV +3 "processing"%m +71 "core" + ."da"PBV.dial :waste1 +3 "processing"%B  +35 "core" +2 "processing"%H% +3 "core" %*/\  +2 ."da"PS.seek 1.5ml +3 "processing"%@' +584 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"% * +37 "core" , +2 ."da"PS.seek 0ml +2 "processing"%'T +1607 "core" ' +2 ."da"delay 2:00 +12002 #recoverPSRreagent08 +7 .PTV.dial :puck + "processing"%G  +5 "core"  +6 ."da"PBV.dial :waste1 +2 "processing"%!  +36 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +36 "core" , + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%i +75 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%f' +2298 "core" ' +2 ."da"PSV.dial PTV + "processing"%& +72 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%n +71 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%% +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%t'T +2261 "core" ' +2 #"da"washCycleDA #2 of 2 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%< +130 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%~' +584 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%*'& +1610 "core" ' + ."da"PTV.dial :puck +3 "processing"%o  +4 "core"  + ."da"PSV.dial PTV +3 "processing"%I +71 "core" + ."da"PBV.dial :waste1 +3 "processing"%z  +33 "core" +2 "processing"%`% +4 "core" %*0\  +2 ."da"PS.seek 1.5ml +2 "processing"%S' +592 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%^ * +35 "core" + +2 ."da"PS.seek 0ml + "processing"%k'T +1606 "core" ' + ."da"delay 2:00 +6158 "Can"\ Nx +5846 #"da"recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%9  +4 "core"  +2 ."da"PBV.dial :waste1 +2 "processing"%U  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +36 "core" , + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%2 +75 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%$' +2287 "core" ' +2 ."da"PSV.dial PTV + "processing"%w +72 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%Q +72 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"% +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%c'T +2299 "core" ' + #"da"getPMLReagent08 +2 .PRV.dial :air +2 "processing"%  +43 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +3 "processing"%)  +124 "core" +2 ."da"delay 5 seconds +503 .PRV.dial :ab2 + "processing"%  +43 "core"  + ."da"PTV.dial :PRVmixing +55 "processing"%  +10 "core" + ."da"PSV.dial :mixloop +2 "processing"%| +43 "core" +2 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.3ml +2 "processing"%g'g +381 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%  +42 "core"  +2 "processing"%#% +4 "core" %i\  +2 ."da"PS.seek 0.55ml +2 "processing"%]'# +342 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%  +42 "core"  +2 ."da"PS.seek 2ml +2 "processing"%['& +1562 "core" ' + ."da"PSV.dial :PML +2 "processing"% +42 "core" + ."da"PTV.dial :mixing +3 "processing"%s @ +69 "core" @ +2 ."da"PBV.dial :waste1 + "processing"%  +36 "core" +2 "processing"%% +4 "core" %&2\  +2 ."da"PS.seek 1.85ml + "processing"%_' +240 "core" ' + ."da"PBV.dial between PSV and waste1 +2 "processing"%6 * +36 "core" , +2 ."da"PS.seek 0ml +2 "processing"%'T +1963 "core" ' + ."da"delay 2 seconds +203 .delay 8:00 +38020 "Can"\ 2y +9983 #"da"recoverPRVreagent08 + .PTV.dial :mixing + .PBV.dial :waste1 +2 "processing"%x  +35 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"% * +35 "core" + + ."da"PSV.dial :air +2 "processing"%  +42 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%0' +2308 "core" ' + ."da"PSV.dial :mixloop +3 "processing"%+ +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%{  +42 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%d +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%l  +44 "core"  +2 ."da"PS.seek 0ml +2 "processing"%E'T +2295 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +129 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +592 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%q'& +1607 "core" ' + ."da"PTV.dial :puck +2 "processing"%(  +70 "core"  +2 ."da"PSV.dial PTV + "processing"%> +72 "core" +2 ."da"PBV.dial :waste1 + "processing"%=  +35 "core" + "processing"%'% +4 "core" %*2\  +2 ."da"PS.seek 1.5ml +2 "processing"%.' +583 "core" ' + ."da"delay 3 seconds +308 .PBV.dial between PSV and waste1 +2 "processing"%/ * +36 "core" , +2 ."da"PS.seek 0ml +2 "processing"%3'T +1596 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck +2 "processing"%N  +4 "core"  + ."da"PBV.dial :waste1 +2 "processing"%  +36 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%K * +36 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%r +74 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"% ' +2317 "core" ' +2 ."da"PSV.dial PTV + "processing"%M +72 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"% +72 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%C +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%7  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%,'T +2280 "core" ' +2 #"da"washCycleDA #2 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%: +130 "core"  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%-' +593 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%\\'& +1607 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"% +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%L  +34 "core" +2 "processing"%R% +4 "core" %)0\  +2 ."da"PS.seek 1.5ml +2 "processing"%b' +585 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%Z * +35 "core" + +2 ."da"PS.seek 0ml +2 "processing"%'T +1612 "core" ' + ."da"delay 2:00 +8745 "Can""\ 1qy +3258 #"da"recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%O  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +35 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +74 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%;' +2294 "core" ' +2 ."da"PSV.dial PTV + "processing"%T +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +3 "processing"%8 +71 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%5 +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%X  +72 "core"  +2 ."da"PS.seek 0ml + "processing"%P'T +2275 "core" ' + #"da"washCycleDA #3 of 3 +7 .PSR.select :air +2 .PSV.dial PSR +7 "processing"%h +139 "core" + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +3 "processing"%W' +592 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +4 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%Y'& +1600 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%\ +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%F  +36 "core" + "processing"%D% +4 "core" %!\  +2 ."da"PS.seek 1.5ml +2 "processing"%y' +594 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%J * +36 "core" , +2 ."da"PS.seek 0ml +2 "processing"%'T +1601 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%?  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%v * +34 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%4 +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%e' +2293 "core" ' + ."da"PSV.dial PTV +3 "processing"%a +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +52 "processing"%V +74 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%A +84 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%  +89 "core"  +2 ."da"PS.seek 0ml +2 "processing"%}'T +2271 "core" ' + ."da"Gate.power :camera,:ON +7 #Mixing DA Substrates +2 .PSR.select :air +2 .PSV.dial PSR +7 "processing"%m +133 "core"  +2 #"da"Pulling 0.25ml of PSR.sub1 +8 .PSR.select :sub1 +4 "processing"% +14 ."da"PS.reconfigure :default +4 "processing"%#A d`xb +5 ."da"PS.seek 0.25ml +6 "processing"%B' +339 "core" ' + ."da"delay 5 seconds +503 #Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +3 "processing"% +9 ."da"PS.seek 0.5ml +2 "processing"%H' +330 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"% '& +1598 "core" ' +2 ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"% +72 "core" + ."da"PBV.dial :waste1 +3 "processing"%@  +34 "core" + "processing"%G% +4 "core" %&0\  +2 ."da"PS.seek 1.5ml +2 "processing"%!' +586 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"% * +35 "core" + +2 ."da"PS.seek 0ml + "processing"%i'T +1609 "core" ' + ."da"delay 10 seconds +1004 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%& * +36 "core" , + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%n +75 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%%' +2319 "core" ' + ."da"PSV.dial PTV +7 "processing"% +73 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%f +74 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%< +72 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%t  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%~'T +2297 "core" ' +2 #"da"Additional air clear +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%o +131 "core"  +2 #"da"Pulling 2ml of PSR.air +2 .PSR.select :air +2 .PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%I'& +2117 "core" ' + ."da"delay 5 seconds +503 .PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%z +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%`  +36 "core" + "processing"%*% +4 "core" %+1\  +2 ."da"PS.seek 1.5ml +2 "processing"%^' +337 "Can"\ 3zK +254 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%S * +36 "core" + +2 ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%9  +102 "core"  +3 ."da"PS.seek 0ml +2 "processing"%U'T +1607 "core" ' +2 "processing"%9 +3 "core" 95' +2 #"da"Processing Puck Heater at 27.7C before imaging +2 .PH.coast + "processing"%2 +3 %k& +3 "core" 5' + &W\ ' +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 +2 "manipulator"&w% +4 "core" % W  + "storage"(Q% +4 "core" %m\ \  T\ + "storage"(. +3 "core" .( v +2 ."da"SC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 ."da"SC.seek 1 +2 "storage"(( +202 "core" ( + ."da"SC.configure :limp +3 "storage"($(\ 1b +3 ($& +2 "core" & `\ +2 "manipulator"&& +4 "core" &-S c } + "manipulator"&)% +4 "core" % W   +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 + "manipulator"&( +172 "core" ( +2 "manipulator"&& +4 "core" &\   !u + "storage"(|& +4 "core" & \ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 800 counts + "manipulator"&c'm +100 "core" ' +3 "storage"(& +4 "core" &  y  +2 ."da"SE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(#'6 +273 "core" ' + "storage"(g- +4 "core" -'c + ."da"SE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &\  !u +2 "storage"(]& +4 "core" & } *\ + ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 +2 "manipulator"&'M +38 "core" ' + ."da"Elbow.hold +3 "manipulator"&s, +3 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -'c +3 ."da"SE.seek 2.08 Pucks below Top Plate +2 "storage"(' +26 "core" ' +2 "manipulator"&6% +4 "core" %O\\ $ + "storage"([& +4 "core" & \ + ."da"Forearm.force -20 +2 "manipulator"&5 +3 ."da"Forearm.seek 1 + 302 counts +2 "manipulator"&_'{ +12 "core" ' + "manipulator"&x& +5 "core" &   !r + "storage"(& +4 "core" &  i\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 800 counts +2 "manipulator"&'m +39 "core" ' +3 ."da"SE.seek 3.08 Pucks below Top Plate +3 "storage"(' +53 "core" ' + "manipulator"&+& +5 "core" &  !r + "manipulator"&{% +4 "core" %N  \ +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 ."da"Forearm.home.seek :retract +3 "manipulator"&d' ] +138 "core" ' + ."da"Elbow.seek PC +3 "manipulator"&l( +252 "core" ( + "manipulator"&0& +4 "core" & g > +2 ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & O > +2 ."da"Forearm.seek PC +2 "manipulator"&E'ϱ +109 "core" ' + ."da"Hand.close +2 "manipulator"&/ +64 "core" / +2 ."da"PC.seek :open +2 "processing"%(( +399 "core" ( + "storage"(>& +4 "core" & o\ +2 "manipulator"&=& +4 "core" & > + "manipulator"&'% +4 "core" % p` +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 ."da"Forearm.home.seek :retract +2 "manipulator"&q' ] +161 "core" ' +2 ."da"Elbow.reconfigure :tight +8 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +7 "manipulator"&/( +245 "core" ( +2 "manipulator"&.& +3 "core" & ^ _ +2 "storage"(N& +4 "core" & !\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 800 counts + "manipulator"&'m +107 "core" ' + ."da"Hand.open +2 "manipulator"&K1 +55 "core" 1 +2 "storage"(r- +3 "core" -' +2 ."da"SE.seek 2.84 Pucks below Top Plate +2 "storage"(3'R +24 "core" ' +2 ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 ."da"SE.seek 2.23 Pucks below Top Plate +2 "storage"(M'Z +52 "core" ' +3 #"da"Lights, camera, ACTION! +4 #PuckCamera: snap -bin=2,2 -auto /var/log/esp/da22nov0323h1000ml.tif +1946 #"psFlush"Waiting >20 seconds for da to relinquish FlushPuck +8 #"da"SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 16.253 seconds\ /var/log/esp/da22nov0323h1000ml.tif: TIFF Upload Complete\ +11 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da22nov0323h1000ml15s.tif +1554 #SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da22nov0323h1000ml15s.tif: TIFF Upload Complete\ +65 #PuckCamera: snap -bin=2,2 25.0 /var/log/esp/midres/da22nov0323h1000ml25s.tif +2560 #SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 25 seconds\ /var/log/esp/midres/da22nov0323h1000ml25s.tif: TIFF Upload Complete\ +2 .Gate.power :camera,:OFF +3 ."Qmail"DAfans.email "16.253 sec auto-exposure",Subject: "da22nov0323h1000ml images!" +5 "storage"(- +3 "core" -'Z +3 "storage"(C& +11 "core" &\ \ I \ +2 "manipulator"&7& +7 "core" & I _ +3 ."da"Elbow.seek 1 +2 "manipulator"& ( +4 "core" ( + "manipulator"&:& +8 "core" & Q _ +2 "storage"(,& +4 "core" & Z [\ +3 ."da"Forearm.seek 1 + 800 counts +3 "manipulator"&-'m +15 "core" ' +2 ."da"SE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 ."da"SE.seek 2.95 Pucks below Top Plate +2 "storage"(' +66 "core" ' + "manipulator"&L& +5 "core" & _ +2 "storage"(R& +4 "core" & | ~ =  +2 ."da"Elbow.reconfigure :limp +4 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek 1 + "manipulator"&\\'M +36 "core" ' + ."da"Elbow.hold +2 "manipulator"&Z, +4 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"SE.reconfigure :default +2 "storage"(#QK-0-\ b +3 ."da"SE.seek 3.13 Pucks below Top Plate +2 "storage"(b' +26 "core" ' +2 "manipulator"&O% +4 "core" %Qq   + "storage"(& +4 "core" & \\ X  +2 ."da"Forearm.force -20 +2 "manipulator"&5 +2 ."da"Forearm.seek 1 + 304 counts +2 "manipulator"&'} +12 "core" ' +2 "manipulator"&& +4 "core" &  L S +2 "storage"(T& +4 "core" & ~ 5  +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 800 counts +2 "manipulator"&8'm +40 "core" ' + "storage"(5% +5 "core" % 6  +5 ."downElevator"SE.seek :down +11 "storage"(X'g +97 (;% +6 "core" %8 F RM +4 "manipulator"&h% +10 "core" %V   +4 ."da"Forearm.reconfigure :loose +5 "manipulator"&#@2^d^b +6 ."da"Forearm.home.seek :retract +4 "manipulator"&P' ] +112 "core" ' +2 ."downElevator"SE.stop +3 "storage"(5 +24 "core" ' +4 "storage"(W& +8 "core" & q   +4 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +7 #tStarting finalPurge +4 "processing"%\ & +9 "core" &\ +4 "manipulator"&F& +8 "core" &  S +4 "manipulator"&D% +8 "core" % [ x  +4 ."psFlush"Elbow.seek FlushPuck::Garage +4 "manipulator"&Y(-] +185 "core" ( +4 "manipulator"&J& +8 "core" &-] ( t +2 ."psFlush"Elbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +4 &y& +8 "core" &-] m t +4 ."psFlush"Forearm.seek :garage +4 "manipulator"&?'t +108 "core" ' +4 ."psFlush"Hand.close +4 "manipulator"&v/ +61 "core" / +4 "manipulator"&4& +8 "core" &-] ' t +4 "manipulator"&% +8 "core" % χ ] +4 ."psFlush"Forearm.reconfigure :loose +6 "manipulator"&#@2^d^b +4 ."psFlush"Forearm.home.seek :retract +4 "manipulator"&a' ] +164 "core" ' +4 ."psFlush"Elbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +4 ."psFlush"Elbow.seek PC +6 "manipulator"&V( +111 "core" ( +6 "manipulator"&A& +8 "core" &   +2 ."psFlush"Elbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +4 && +8 "core" &  +4 ."psFlush"Forearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +4 ."psFlush"Forearm.seek PC +6 "manipulator"&e'ϱ +105 "core" ' +2 "manipulator"&m& +9 "core" & k  +2 "manipulator"&}% +7 "core" %ϻ +4 "processing"%B& +8 "core" &\ +4 "processing"%H& +10 "core" &\ +8 ."psFlush"PC.seek :closed +6 "processing"% (W +6 "core" &\ +2 &\ +4 &\  +7 &1|\ *x +8 &d\ > +8 &dy\ N +11 &)]\ L +9 &^\ L +8 &_\ L +11 &n`\ M +8 &0b\ M +11 & ]\ M +9 &"]\ M +8 &$w^\ L +11 &&8a\ M +13 &'`\ M +10 &)\\\ M +4 &+~a\ M +9 &-@\\\ M +11 &/`\ M +9 &0a\ M +8 &2`\ L +11 &4Fb\ M +9 &6 `\ M +8 &7_\ M +11 &9a\ M +8 &;P]\ M +11 &=`\ M +9 &>^\ M +8 &@a\ M +11 &BW`\ M +15 &Da\ M +8 &Ee\ M +4 &Gl\ N +9 &IT\ Q +11 &K\ R +9 &L\ R +8 &N\ S +11 &PW\ R +9 &R\ S +8 &S\ S +11 &U\ S +8 &W+mr\ $o +11 &W!^\ , +7 ( +4 &W\ & +6 "processing"%H& +10 #"psFlush"Processing Clamp onSpring/offSpring for 6/23 samples, on/off torque 1.57 +2 "processing"%@& +13 "core" &W\ & +2 &W\ & +2 ."psFlush"Hand.open +3 "manipulator"&G1 +57 "core" 1 +5 "manipulator"& % +8 "core" % ϻ s +6 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#@2^d^b +4 ."psFlush"Forearm.home.seek :retract +3 "manipulator"& ' ] +168 "core" ' +4 ."psFlush"PSR.select :air +4 .PSV.dial PSR +3 "processing"%! +46 "core"  +4 #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +5 "processing"%@ +14 ."psFlush"PS.seek 0.5ml +4 "processing"%' +199 #tWaiting >20 seconds for psFlush to relinquish FlushPuck +388 "core" ' +2 ."psFlush"delay 5 seconds +301 #"uploadLog"upsync +202 ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%&' +2108 "core" ' + ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%n @ +186 "core" A + ."psFlush"PTV.dial :PRVmixing +2 "processing"%i  +125 "core" + ."psFlush"PSV.dial :mixloop +2 "processing"% +101 "core" +3 ."psFlush"PS.seek :empty +2 "processing"%f'6 +2622 "core" ' + ."psFlush"PSR.select :air +3 .PSV.dial PSR +2 "processing"%< +102 "core"  + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%t' +581 "core" ' + ."psFlush"delay 5 seconds +503 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%%' +2107 "core" ' + ."psFlush"delay 1 second +103 .PBV.dial :waste1 + "processing"%o  +34 "core" + ."psFlush"PTV.dial :mixing +2 "processing"%~ @ +121 "core" A +2 ."psFlush"PSV.dial :mixloop +2 "processing"%z +102 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%`'6 +2614 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%* +101 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%I'X= +1101 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%S' +1597 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%9 +72 "core" + ."psFlush"PTV.dial :puck +3 "processing"%^  +68 "core"  + ."psFlush"PBV.dial :waste1 +2 "processing"%  +4 "core" +2 ."psFlush"PS.seek 0ml +3 "processing"%2'T +2613 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%k +72 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%w' +584 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%Q' +2113 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +72 "core" + ."psFlush"PBV.dial PSV +2 "processing"%$ U +54 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%'T +2620 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%) @ +44 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%"' +2627 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%|'T +2635 "core" ' +2 ."psFlush"PSV.dial PSR +7 "processing"% +54 "core"  + ."psFlush"PSR.select :air +4 .PS.seek 2.5ml +2 "processing"%1' +2624 "core" ' + ."psFlush"PSV.dial PTV +3 "processing"%p +71 "core" +2 ."psFlush"PBV.dial PSV + "processing"%g U +5 "core" U +2 ."psFlush"PS.seek 0ml +2 "processing"%'T +2619 "core" ' +2 ."psFlush"PSV.dial PBV + "processing"%] @ +44 "core" > +2 ."psFlush"PS.seek 2.5ml +3 "processing"%' +2620 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%6  +71 "core"  +2 ."psFlush"PS.seek 0ml + "processing"%['T +2651 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%x +54 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%'X= +1098 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%+' +1610 "core" ' + ."psFlush"PSV.dial PTV +3 "processing"%{ +71 "core" +2 ."psFlush"PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%c  +54 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%'T +2612 "core" ' + ."psFlush"PSV.dial PSR +3 "processing"%# +71 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%' +427 "Can"#\ 2 z +154 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%_' +2109 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +72 "core" + ."psFlush"PBV.dial PSV +3 "processing"% U +54 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%0'T +2625 "core" ' +2 ."psFlush"PSV.dial PBV + "processing"% @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +3 "processing"%s' +2614 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%d'T @PDT1667545205.85 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%>' +2625 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%= +70 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%' U +4 "core" U +2 ."psFlush"PS.seek 0ml +3 "processing"%E'T +2617 "core" ' + ."psFlush"PSV.dial PBV +3 "processing"%. @ +43 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%N' +2640 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%l  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%K'T +2613 "core" ' +2 #tLoading FlushPuck into Collection Clamp from Processing Clamp +7 "collection"'r& +9 "core" &rkF\ + "manipulator"&q& +4 "core" & N  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&( +3 "core" ( +2 "manipulator"&3& +4 "core" &  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &   +2 .tForearm.seek PC +2 "manipulator"&C'ϱ +104 "core" ' +2 .tHand.close + "manipulator"&7/ +55 "core" / +2 .tPC.seek :open +2 "processing"%:( +399 "core" ( + "manipulator"&,& +5 "core" &   + "manipulator"&L% +4 "core" % ϑu  % +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&R' ] +152 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&O( +356 "core" ( + "manipulator"&& +4 "core" &  $ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" & R # +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&T' +100 "core" ' +2 "manipulator"&/& +4 "core" &  # +2 "manipulator"&5% +4 "core" % .  +2 "collection"'& +3 "core" &qmU\ +2 "collection"'M& +5 "core" &rmT\ +2 .tCC.seek :closed +2 "collection"';(W +4 "core" &smg\  +8 &1~rnf\ *y +10 &crne\ ? +9 &^~qlg\ O +10 & \\rmg\ O +9 &arle\ O +9 &`rk^\ O +10 &e`tmd\ O +9 &'bsje\ O +9 & `sj_\ O +10 &"aqle\ O +9 &$o`rmf\ O +9 &&1`rmZ\ O +10 &'`snh\ O +9 &)]sm[\ O +10 &+v`sml\ O +9 &-9`rlp\ O +9 &.aqkp\ N +10 &0`slk\ O +9 &2~`qlp\ O +9 &4A`rls\ O +10 &6bqlq\ O +9 &7`rnp\ O +10 &9brmo\ O +9 &;I]rmt\ O +9 &= aslw\ N +10 &>_tlq\ N +9 &@`tmo\ O +9 &BQarlq\ O +10 &Dcrom\ O +9 &Ebtlt\ O +10 &Gjrmu\ P +9 &IPyqmw\ R +9 &K rmw\ U +10 &Ltlw\ W +9 &Nrmu\ X +9 &PDrkw\ X +10 &Rqjx\ Y +9 &Sums\ Y +10 &Uqks\ K +9 &V@qls\ *} +9 &Vgrmm\ D +6 ( + "collection"'M& +4 #tCollection Clamp onSpring/offSpring for 6/25 samples, on/off torque 1.96 +2 "collection"'-& +4 "core" &VVqmq\ D + &VVrjv\ D +2 .tHand.open + "manipulator"&h1 +53 "core" 1 +2 "manipulator"& % +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +141 "core" ' +2 #tFlushing the Collection Valve::Manifold +2 "collection"'\\& +4 "core" &VVrl~\ D +2 "collection"'% +4 "core" %Grlv\ + .tCSV.dial CSR +2 "collection"'W  +40 "core"  +2 #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml +2 "collection"'\ 'm +1345 "core" ' +2 .tdelay 5 seconds +549 .CSR.select :air +3 "collection"' +10 'b% +2 "core" %mrm\ +2 .tCS.reconfigure :fast +3 "collection"'#d @b +3 .tCS.seek 7.5ml + "collection"'F' +650 "core" ' +2 .tCSV.dial :waste + "collection"'D +129 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml +2 "collection"'8'F +1984 "core" ' +2 #tFlushing lower manifold's waste1 port +2 "collection"'J& +4 "core" &VTsm\ D +2 "collection"'y% +4 "core" %Hrl\ + .tCSV.dial :flush +2 "collection"'X  +43 "core"  +2 .tCS.reconfigure :fast +3 "collection"'#d @b +2 .tCS.seek 5ml +2 "collection"'Z'm +1225 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +3 "collection"'v @ +42 "core" B + "collection"'4% +4 "core" %mqk\ +2 .tCS.seek 7ml +2 "collection"'' +539 "core" ' +2 ."connect"CSV.dial CTV +4 .tCTV.dial CSV +3 "collection"'P  + 'A  +42 "core"  +92  + .tCBV.dial :waste1 +2 "collection"'? @ +42 "core" ? +2 .tCS.seek 0ml +2 "collection"''F +1666 "core" ' +2 #tFlushing lower manifold's waste2 port +2 "collection"'m& +4 "core" &VTsj\ D +2 "collection"'}% +4 "core" %Hqm\ + .tCSV.dial :flush +2 "collection"'B  +72 "core" +3 .tCS.seek 5ml +2 "collection"'Y'm +1225 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +3 "collection"'a @ +43 "core" B +2 "collection"'(% +4 "core" %mql~\ +2 .tCS.seek 7ml + "collection"'@' +532 "core" ' + ."connect"CSV.dial CTV +4 .tCTV.dial CSV +3 "collection"'G  + '  +6 "core"  +47 ~ +2 .tCBV.dial :waste2 +2 "collection"'H  +104 "core"  +2 .tCS.seek 0ml +2 "collection"'!'F +1666 "core" ' +2 #tDisinfecting external Intake with kill + "collection"'e& +4 "core" &VTsjz\ D +2 "collection"'U% +4 "core" %>smt\ + .tCSV.dial CSR +2 "collection"'  +44 "core"  + #tPulling 8ml of CSR.kill +2 .CSR.select :kill +2 "collection"' +10 .tCS.seek 8ml + "collection"'n'̠ +1912 "core" ' + .tdelay 5 seconds +503 .CSR.select :air +3 "collection"' +9 .tCS.seek 10ml +2 "collection"'i' +554 "core" ' + ."connect"CSV.dial CBV +4 .tCBV.dial CSV +3 "collection"' + '&  +100 "core" +34  +2 .tCTV.dial :intake + "collection"'<  +76 "core" + .tIntake.select :open + "sampler") +10 .tCS.seek 2ml +2 "collection"'f' +1895 "core" ' + .tIntake.select :close +2 "sampler")0 +9 .tCTV.dial :air +2 "collection"'t  +70 "core" ~ +2 .tCS.reconfigure :default +3 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"'o'F +607 "core" ' + .tCSV.dial CSR +2 "collection"'~  +100 "core"  + #tPulling 5ml of CSR.flush +2 .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml + "collection"'z'm +1362 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +9 .tCS.seek 10ml +2 "collection"'%' +1351 "core" ' + .tCSV.dial CBV +2 "collection"'* +100 "core" +2 .tCS.seek 0ml +2 "collection"'`'F +2624 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&I& +5 "core" &\ [ !r + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&9( +34 "core" ( + "manipulator"&^& +4 "core" & b > +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  > +2 .tForearm.seek CC +2 "manipulator"&S' +96 "core" ' +2 .tHand.close + "manipulator"&k/ +60 "core" / +2 .tCC.seek :open + "collection"'2( +397 "core" ( +2 "manipulator"&w& +4 "core" & B > + "manipulator"&% +4 "core" % м % +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&$' ] +154 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&Q(-] +279 "core" ( + "manipulator"&)& +4 "core" &-^ q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &-^  q +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&'t +110 "core" ' + .tHand.open +2 "manipulator"&"1 +64 "core" 1 +2 "manipulator"&% +4 "core" % { +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&|' ] +146 "core" ' +2 "processing"%p& +4 "core" &\ +7955 #t-> pucks +2258 "Can"$\ 01{w +60002 #\ 0| +25588 #t-> Thread.schedule +227 #-> Thread.schedule.tick +34187 "Can"(\ 0| +60002 .\ 0Y}9 +60002 3\ 0} +60001 4\ 0~e +15776 #t-> ESP.shutdown +4 #Asleep / Shutdown +34 ."shutdown"Gate.power :raw,:OFF +2 .Gate.power :core,:OFF +2 #Shutdown +148 #t-> exit +7 #mEXIT +2 #"brent"Session Ended @1667548861.67PDT @1667586096.87PDT = =tMAIN =mMAIN_scheduler @PDT1667586098.66 #"core_reset"Sent BREAK + #t@61494 receive with ifg=0x10, ie=0xFD + #@62133 receive with ifg=0x10, ie=0xFD + #@62790 receive with ifg=0x10, ie=0xFD + #@63429 receive with ifg=0x10, ie=0xFD + #@64076 receive with ifg=0x10, ie=0xFD #@64724 receive with ifg=0x10, ie=0xFD + #@65372 receive with ifg=0x10, ie=0xFD #@162 receive with ifg=0x80, ie=0xFD + #@10693 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +9 #ESP2 v3.42 I2C Gateway v3.20 for core bus +236 #Configuration for friday by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +381 "Can"\ = + \ = + #tPolling Can every 10:00 +4 #Cleanly exited at 01:01:01PDT04-Nov-22 +977 #-> access 2 +5 #Powering core bus +536 .Gate.power :raw,:ON +2 "sampler") +34 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %j\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %#\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %VR \ +2 .tSS.configure :default +2 "sampler")#.0X ESP.ready! +2 "collection"'% +3 "processing"%% +4 "core" %\ +3 "manipulator"&% +2 ."rdySampler"Intake.select :close +6 .Exhaust.select :close +2 .CTV.dial :air +2 "collection"'  +3 "core" %+\ + % f +2 "manipulator"&% +4 ."rdyProcessing"PSV.dial :air +2 "processing"%  +2 "core"  +2 %  + ."rdySampler"CSV.dial :waste1 +4 .tForearm.reconfigure :loose +2 "collection"' +4 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract + "manipulator"&' ] +34 "core" +2 ."rdySampler"SSV.dial :spit,avoiding: :exhaust +2 "sampler") +3 "core"  +2 "sampler") +3 "core"  + "sampler")  +4 "core"  +3 ."readyCS"CS.reconfigure :fast +3 ."rdySampler"SS.reconfigure :default +4 "collection"'#d @b +3 "sampler")#.0X access 1 +2 "storage"(=% +3 "core" %p   +2 "manipulator"&>% +3 "core" % i `  +2 "manipulator"&?& +3 "core" & 4 H +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 5 +2 "storage"(@(; +354 "core" ( + .tSC.configure :limp +3 "storage"($(\ 1b +2 (A& +3 "core" &; \\ Z ,  +2153 #t-> access 2 +2 "storage"(B% +3 "core" %p  +2 "manipulator"&C% +4 "core" % i  +2 "manipulator"&D& +4 "core" & H + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 6 +2 "storage"(E(K +199 "core" ( + .tSC.configure :limp +3 "storage"($(\ 1b +2 (F& +3 "core" &K 6 5 h  +3661 #t-> exit +7 #mEXIT @1667586223.67PDT @1667586280.93PDT = =tMAIN =mMAIN_scheduler @PDT1667586282.78 #"core_reset"Sent BREAK + #t@9817 receive with ifg=0x10, ie=0xFD + #@10460 receive with ifg=0x10, ie=0xFD + #@11114 receive with ifg=0x10, ie=0xFD + #@11761 receive with ifg=0x10, ie=0xFD #@12521 receive with ifg=0x10, ie=0xFD + #@13163 receive with ifg=0x10, ie=0xFD + #@13810 receive with ifg=0x10, ie=0xFD #@14136 receive with ifg=0x80, ie=0xFD + #@25100 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +9 #ESP2 v3.42 I2C Gateway v3.20 for core bus +240 #Configuration for friday by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +388 "Can"\ 4%J + \ 4%J #tPolling Can every 10:00 +3 #Cleanly exited at 11:23:43PDT04-Nov-22 +714 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %G\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +2 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %R,\ +2 .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %VR t\ + .tSS.configure :default +3 "sampler")#.0X exit +6 #mEXIT @1667586307.76PDT @1668532200.32PST = =tMAIN =mMAIN_scheduler @PST1668532202.25 #"core_reset"Sent BREAK +3 #t@5147 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.42 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +245 #Configuration for friday by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +412 "Can"s\ K+ + s\ K+ ; + #tPolling Can every 10:00 +6 #Cleanly exited at 11:25:07PDT04-Nov-22 +1190 #-> CS.status.outPress +3 #Powering core bus +533 .Gate.power :raw,:ON +2 "sampler") +30 ) +2 "core"  +2 "collection"' +2 ' +4 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +4 "core" %*\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %)\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +4 "core" %.+\ +2 .tSS.configure :default +2 "sampler")#.0X CS.status.inPress +2 "collection"'% +3 "core" %@\ +9262 #t-> CS.status.inPress +2 "collection"'% +3 "core" %q\ +712 #t-> CS.status.inPress +2 "collection"'% +3 "core" %e_d\ +1581 #t-> CS.status.inPress +2 "collection"'% +3 "core" %[\ +150 #t-> CS.status.inPress + "collection"'% +4 "core" %Y\ +111 #t-> CS.status.inPress + "collection"'% +4 "core" %R\ +121 #t-> CS.status.inPress +2 "collection"'% +3 "core" %T\ +160 #t-> CS.status.inPress +2 "collection"'% +3 "core" %S\ +225 #t-> CS.status.inPress +2 "collection"'% +3 "core" %E\ +11456 #t-> CS.status.inPress + "collection"'% +4 "core" %Q\ +5810 #t-> CS.status.inPress +2 "collection"'% +3 "core" %T\ +213 #t-> CS.status.inPress +2 "collection"'% +3 "core" %U\ +1475 #t-> CS.status.inPress + "collection"'% +4 "core" %e\ +114 #t-> CS.status.inPress +2 "collection"'% +3 "core" %\\\ +953 #t-> CS.status.inPress + "collection"'% +4 "core" %i\ +99 #t-> CS.status.inPress +2 "collection"'% +3 "core" %w\ +114 #t-> CS.status.inPress +2 "collection"'% +3 "core" %jft\ +165 #t-> CS.status.inPress +2 "collection"'% +3 "core" %<8v\ +186 #t-> CS.status.inPress +2 "collection"' % +3 "core" %41n\ +513 #t-> CS.status.inPress +3 "collection"'!% +3 "core" %w\ +111 #t-> CS.status.inPress +2 "collection"'"% +3 "core" %$2r\ +392 #t-> CS.status.inPress + "collection"'#% +4 "core" % u\ +136 #t-> CS.status.inPress +2 "collection"'$% +3 "core" %z\ +248 #t-> CS.status.inPress + "collection"'%% +4 "core" % x\ +208 #t-> CS.status.inPress +2 "collection"'&% +3 "core" %z\ +133 #t-> CS.status.inPress +2 "collection"''% +3 "core" %B=v\ +136 #t-> CS.status.inPress +2 "collection"'(% +3 "core" %* y\ +131 #t-> CS.status.inPress + "collection"')% +4 "core" %NEw\ +139 #t-> CS.status.inPress +3 "collection"'*% +3 "core" %'!z\ +107 #t-> CS.status.inPress + "collection"'+% +4 "core" %#}\ +264 #t-> CS.status.inPress + "collection"',% +4 "core" %4.\ +143 #t-> CS.status.inPress +2 "collection"'-% +3 "core" %z\ +131 #t-> CS.status.inPress + "collection"'.% +4 "core" %40\ +116 #t-> CS.status.inPress +2 "collection"'/% +3 "core" %\ +137 #t-> CS.status.inPress + "collection"'0% +4 "core" %\ +135 #t-> CS.status.inPress +3 "collection"'1% +3 "core" %\ +120 #t-> CS.status.inPress +2 "collection"'2% +3 "core" %\ +117 #t-> CS.status.inPress + "collection"'3% +4 "core" %\ +121 #t-> CS.status.inPress +2 "collection"'4% +3 "core" %\ +125 #t-> CS.status.inPress +3 "collection"'5% +3 "core" %\ +151 #t-> CS.status.inPress +2 "collection"'6% +3 "core" %\ +244 #t-> CS.status.inPress +2 "collection"'7% +3 "core" % \ +101 #t-> CS.status.inPress +2 "collection"'8% +3 "core" %\ +105 #t-> CS.status.inPress +2 "collection"'9% +3 "core" % \ +752 #t-> CS.status.inPress + "collection"':% +4 "core" %\ +1164 #t-> CS.status.inPress + "collection"';% +4 "core" %  a\ +155 #t-> CS.status.inPress + "collection"'<% +4 "core" %\ +1418 #t-> CS.status.inPress +2 "collection"'=% +3 "core" %\ \ \ +145 #t-> CS.status.inPress + "collection"'>% +38 "core" % 0 )\ +130 #t-> CS.status.inPress +2 "collection"'?% +3 "core" % \ +117 #t-> CS.status.inPress +2 "collection"'@% +4 "core" % \ +92 #t-> CS.status.inPress +2 "collection"'A% +3 "core" % \ +83 #t-> CS.status.inPress +2 "collection"'B% +3 "core" % \ +105 #t-> CS.status.inPress + "collection"'C% +4 "core" %(!\ +114 #t-> CS.status.inPress + "collection"'D% +4 "core" %\ \ \ +92 #t-> CS.status.inPress + "collection"'E% +4 "core" %vs\ +167 #t-> CS.status.inPress +2 "collection"'F% +3 "core" %\ \ \ +107 #t-> CS.status.inPress +2 "collection"'G% +3 "core" %\ \ \ +107 #t-> CS.status.inPress + "collection"'H% +4 "core" % c \\\ +113 #t-> CS.status.inPress +2 "collection"'I% +3 "core" % - 1\ +89 #t-> CS.status.inPress +2 "collection"'J% +4 "core" %\ \ \ +619 #t-> CS.status.inPress +2 "collection"'K% +3 "core" % F B{\ +106 #t-> CS.status.inPress + "collection"'L% +4 "core" % A ;u\ +112 #t-> CS.status.inPress +2 "collection"'M% +3 "core" % ? 9\ +113 #t-> CS.status.inPress +2 "collection"'N% +3 "core" % @ 6\ +167 #t-> CS.status.inPress +3 "collection"'O% +3 "core" %\ +138 #t-> CS.status.inPress + "collection"'P% +3 "core" % I B\ +847 #t-> CS.status.inPress +2 "collection"'Q% +3 "core" %,&\ +103 #t-> CS.status.inPress +2 "collection"'R% +3 "core" %\ +94 #t-> CS.status.inPress + "collection"'S% +4 "core" % \ +100 #t-> CS.status.inPress +2 "collection"'T% +3 "core" %\ +201 #t-> CS.status.inPress +3 "collection"'U% +3 "core" %\ \ \ +196 #t-> CS.status.inPress + "collection"'V% +4 "core" %\ +99 #t-> CS.status.inPress + "collection"'W% +4 "core" %\ +124 #t-> CS.status.inPress +2 "collection"'X% +3 "core" %\ +132 #t-> CS.status.inPress +2 "collection"'Y% +3 "core" %\ +1468 #t-> CS.status.inPress +2 "collection"'Z% +3 "core" %\ +147 #t-> CS.status.inPress +2 "collection"'[% +3 "core" %\ +100 #t-> CS.status.inPress +2 "collection"'\\% +3 "core" %m\ +127 #t-> CS.status.inPress +2 "collection"']% +3 "core" %\ +121 #t-> CS.status.inPress + "collection"'^% +4 "core" %\ +107 #t-> CS.status.inPress +2 "collection"'_% +3 "core" %\ +85 #t-> CS.status.inPress +2 "collection"'`% +3 "core" %\ +100 #t-> CS.status.inPress +2 "collection"'a% +3 "core" %\ +681 #t-> CS.status.inPress + "collection"'b% +3 "core" %+%\ +539 #t-> CS.status.inPress +3 "collection"'c% +3 "core" %^\ +1560 #t-> CS.status.inPress +2 "collection"'d% +3 "core" %\ +144 #t-> CS.status.inPress + "collection"'e% +4 "core" %\ +812 #t-> CS.status.inPress + "collection"'f% +4 "core" %\ +159 #t-> CS.status.inPress + "collection"'g% +4 "core" %\ +108 #t-> CS.status.inPress + "collection"'h% +14 "core" %\ +110 #t-> CS.status.inPress +2 "collection"'i% +3 "core" %\ +154 #t-> CS.status.inPress +3 "collection"'j% +3 "core" %\ +175 #t-> CS.status.inPress +2 "collection"'k% +3 "core" %\ +128 #t-> CS.status.inPress + "collection"'l% +4 "core" %\ +317 #t-> CS.status.inPress +2 "collection"'m% +3 "core" %\ +154 #t-> CS.status.inPress + "collection"'n% +4 "core" %\ +136 #t-> CS.status.inPress +2 "collection"'o% +3 "core" %\ +166 #t-> CS.status.inPress + "collection"'p% +4 "core" %}\ +95 #t-> CS.status.inPress +2 "collection"'q% +4 "core" %\ +152 #t-> CS.status.inPress +2 "collection"'r% +3 "core" %w\ +229 #t-> CS.status.inPress +2 "collection"'s% +3 "core" %~\ +2559 "Can"V\ & +409 #t-> CS.status.inPress +2 "collection"'t% +3 "core" % \ +124 #t-> CS.status.inPress +3 "collection"'u% +3 "core" %\ +123 #t-> CS.status.inPress +2 "collection"'v% +3 "core" % \ +371 #t-> CS.status.inPress +3 "collection"'w% +2 "core" % |\ +545 #t-> CS.status.inPress +2 "collection"'x% +3 "core" %\ +1214 #t-> CS.status.inPress +2 "collection"'y% +3 "core" %"\ +120 #t-> CS.status.inPress +2 "collection"'z% +3 "core" %-'\ +101 #t-> CS.status.inPress + "collection"'{% +4 "core" %*%\ +106 #t-> CS.status.inPress +2 "collection"'|% +3 "core" %+%\ +903 #t-> CS.status.inPress +2 "collection"'}% +3 "core" %2,\ +147 #t-> CS.status.inPress +2 "collection"'~% +3 "core" %+'\ +2469 #t-> exit +6 #mEXIT @1668532880.39PST @1668551181.69PST = =tMAIN =mMAIN_scheduler @PST1668551184.11 #"core_reset"Sent BREAK +3 #t@26866 idle with ifg=0x00, ie=0x75 +2 #>RESET< ESP2 v3.42 I2C Gateway v3.20 +205 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +242 #Configuration for friday by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +407 "Can"\ H) + \ H)1 + #tPolling Can every 10:00 +3 #Cleanly exited at 09:21:20PST15-Nov-22 +621 #-> SS.home.to :home +3 !o: BusOff: mesg"$Sampler Syringe is not powered!:@checkpoint: omitted:bt["6/home/esp/esp2/lib/slide.rb:266:in `holdIfNeeded'"7/home/esp/esp2/lib/slide.rb:344:in `unlimitedSeek'"//home/esp/esp2/lib/slide.rb:343:in `times'"7/home/esp/esp2/lib/slide.rb:343:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:341:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:333:in `seek'",/home/esp/esp2/lib/slide.rb:382:in `to'"(ESP):1:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +4216 #-> Power.status +3028 #-> SS.status +4 #Powering core bus +569 .Gate.power :raw,:ON + "sampler") +52 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ + "collection"'% +4 "core" %\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %52\ + .tSS.configure :default +3 "sampler")#.0X SS.home.to :home +2 .SS.home.seek :home +2 "sampler")' +750 "core" ' +2 "sampler")% +4 "core" %53 U\ +13041 #t-> SS.force 30 + .SS.force 30 +2 "sampler")5 +2 )% +3 "core" %83c53 \\\  +1697 #t-> SS.coast + .SS.coast + "sampler")5 +3 )% +2 "core" %B63 W\ c +1557 #t-> CS.home.to :home + .CS.reconfigure :default +3 "collection"'#P d@b +2 .tCS.home.seek :home + "collection"'' +1289 "core" ' +2 "collection"'% +4 "core" % E\ +576 #t-> CS.force 30 + .CS.force 30 +2 "collection"'5 +2 '% +3 "core" % & `\  +5098 #t-> CS.force 35 + .CS.force 35 +2 "collection"'5# +2 '% +3 "core" %T8 e\ # +4890 #t-> CS.status +2 "collection"'% +3 "core" %0 ]\ #a +3876 #t-> CS.coast + .CS.coast +2 "collection"'5 +2 '% +3 "core" %% Z\ +834 #t-> CS.force -30 +2 .CS.force -30 + "collection"'5 +2 '% +3 "core" %% J\ +8987 #t-> CS.force -30 +2 .CS.force -30 + "collection"'5 +2 '% +3 "core" %~ [\ +1332 #t-> CS.force -35 + .CS.force -35 +2 "collection"'5 +2 '% +3 "core" %} [\  +2632 #t-> CS.force 30 +2 .CS.force 30 + "collection"'5 +2 '% +3 "core" %^. F\  +1782 #t-> CS.coast +2 .CS.coast + "collection"'5 +2 '% +3 "core" %nJ F\ +2090 "Can"\ % +122 #t-> CS.jog 100 +2 .CS.jog 100 + "collection"')d +40 "core" ) +2 "collection"'% +4 "core" %n% E\  +253 #t-> CS.jog 100 +2 .CS.jog 100 +2 "collection"')d +72 "core" ) +2 "collection"' % +4 "core" %o  Z\ +377 #t-> CS.jog 100 +2 .CS.jog 100 +2 "collection"'!)d +44 "core" ) +2 "collection"'"% +4 "core" %ot G\  +160 #t-> CS.jog 100 +2 .CS.jog 100 +2 "collection"'#)d +36 "core" ) +2 "collection"'$% +4 "core" %o E\  +172 #t-> CS.jog 100 + .CS.jog 100 +2 "collection"'%)d +47 "core" ) +2 "collection"'&% +4 "core" %pD H\ +311 #t-> CS.jog 100 +3 .CS.jog 100 +2 "collection"'')d +32 "core" ) + "collection"'(% +4 "core" %p  W\  +4191 #t-> CS.home.to :home +2 .CS.reconfigure :default +2 "collection"'#P d@b +2 .tCS.home.seek :home +2 "collection"')' +1242 "core" ' +2 "collection"'*% +4 "core" % D\  +703 #t-> CS.force 30 + .CS.force 30 +2 "collection"'5 +2 '+% +3 "core" % H\  +2369 #t-> CS.force 35 +2 .CS.force 35 + "collection"'5# +2 ',% +3 "core" %6 @\ # +5240 #t-> CS.force 35 + .CS.force 35 + "collection"'5# +2 '-% +3 "core" %8 E\ # +2132 #t-> CS.force 40 +2 .CS.force 40 + "collection"'5( +2 '.% +3 "core" %? [\ ( +613 #t-> CS.force 40 +2 .CS.force 40 + "collection"'5( +2 '/% +3 "core" %F X\ ( +982 #t-> CS.force 50 +2 .CS.force 50 + "collection"'52 +2 '0% +3 "core" %W F\ 2 +2296 #t-> CS.force 50 +2 .CS.force 50 + "collection"'52 +2 '1% +3 "core" %-? ^\ 2 +803 #t-> CS.force 50 +2 .CS.force 50 + "collection"'52 +2 '2% +3 "core" %238 D\ 2 +974 #t-> CS.force 50 + .CS.force 50 +2 "collection"'52 +2 '3% +3 "core" %.@ E\ 2 +858 #t-> CS.coast +2 .CS.coast + "collection"'5 +2 '4% +3 "core" %-E) \\\ +2360 #t-> ESP.shutdown +4 #Asleep / Shutdown +32 ."shutdown"Gate.power :raw,:OFF +2 .Gate.power :core,:OFF + #Shutdown +253 #t-> exit +7 #mEXIT @1668552063.76PST @1668552969.79PST = =tMAIN =mMAIN_scheduler @PST1668552971.70 #"core_reset"Sent BREAK +2 #t@46945 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.42 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +242 #Configuration for friday by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +413 "Can"\ L, + \ L,9 + #tPolling Can every 10:00 +3 #Cleanly exited at 14:41:03PST15-Nov-22 +688 #-> SS.status +3 #Powering core bus +577 .Gate.power :raw,:ON +2 "sampler") +17 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +3 "collection"'% +2 "core" %\ +2 .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %'\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %50&\ + .tSS.configure :default +3 "sampler")#.0X CS.home.to :home +2 .CS.reconfigure :default +2 "collection"'#P d@b +2 .tCS.home.seek :home +2 "collection"'' +2776 "core" ' + "collection"'% +4 "core" % l\ +572 #t-> CS.force 30 +2 .CS.force 30 +2 "collection"'5 +2 '% +3 "core" %$ m\  +755 #t-> CS.force 35 + .CS.force 35 + "collection"'5# +3 '% +3 "core" %6 j\ # +1113 #t-> CS.force 40 + .CS.force 40 +2 "collection"'5( +2 '% +3 "core" %> S\ ( +3229 #t-> CS.force 40 + .CS.force 40 +2 "collection"'5( +2 '% +3 "core" %G Q\ ( +2090 #t-> CS.force 50 + .CS.force 50 + "collection"'52 +3 '% +3 "core" %_ j\ 2 +1129 #t-> CS.force 50 + .CS.force 50 +2 "collection"'52 +2 '% +3 "core" %f h\ 2 +660 #t-> CS.force 60 +2 .CS.force 60 + "collection"'5< +2 '% +3 "core" %s P\ < +2690 #t-> CS.force 35 + .CS.force 35 +2 "collection"'5# +2 '% +3 "core" %|9' h\ # +186 #t-> CS.force 35 + .CS.force 35 +2 "collection"'5# +2 '% +3 "core" %Ƚ8 i\ # +195 #t-> CS.force 35 +2 .CS.force 35 + "collection"'5# +3 '% +3 "core" %Ƚ8 P\ # +754 #t-> CS.coast + .CS.coast +2 "collection"'5 +2 '% +3 "core" %Ƚ j\ +5467 #t-> ESP.shutdown +5 #Asleep / Shutdown +32 ."shutdown"Gate.power :raw,:OFF +2 .Gate.power :core,:OFF + #Shutdown +264 #t-> exit +6 #mEXIT @1668553225.07PST @1668554068.45PST = =tMAIN =mMAIN_scheduler @PST1668554070.39 #"core_reset"Sent BREAK +2 #t@12878 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.42 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +243 #Configuration for friday by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +414 "Can"\ S2 + \ S2: #tPolling Can every 10:00 +3 #Cleanly exited at 15:00:25PST15-Nov-22 +431 #-> ESP.wakeup +4 #Powering core bus +575 .Gate.power :raw,:ON +2 "sampler") +26 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" % \ +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %&\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %33L\ +2 .tSS.configure :default +2 "sampler")#.0X CS.to 1 +3 .CS.reconfigure :default +2 "collection"'#P d@b +2 .tCS.seek 1ml +2 "collection"'' +332 "core" ' +2 "collection"'% +4 "core" % [\  +280 #t-> CS.to 5 +3 .CS.seek 5ml +2 "collection"''m +1112 "core" ' +2 "collection"'% +4 "core" %m r\ +786 #t-> CS.to 0 +2 .CS.seek 0ml +2 "collection"''F +1367 "core" ' + "collection"'% +4 "core" %F ]\  +187 #t-> CS.to 5 +3 .CS.seek 5ml +2 "collection"''m +1353 "core" ' + "collection"'% +4 "core" %m  Z\  +144 #t-> CS.to 0 +2 .CS.seek 0ml +2 "collection"' 'F +1365 "core" ' +2 "collection"'!% +4 "core" %@ [\  +2162 #t-> CS.force 30 + .CS.force 30 +2 "collection"'5 +2 '"% +3 "core" %@! [\  +872 #t-> CS.coast +2 .CS.coast + "collection"'5 +2 '#% +3 "core" %L k\ +318 #t-> CS.force 40 +2 .CS.force 40 + "collection"'5( +2 '$% +3 "core" %L) W\ ( +8318 #t-> CS.coast + .CS.coast +2 "collection"'5 +2 '%% +2 "core" %X P\ +1595 #t-> CS.force -40 +2 .CS.force -40 + "collection"'5 +2 '&% +3 "core" %r \\\ +6848 #t-> CS.coast + .CS.coast + "collection"'5 +3 ''% +3 "core" % L\  +11291 #t-> CS.force 35 +2 .CS.force 35 + "collection"'5# +2 '(% +4 "core" %{ m\ # +1015 #t-> CS.coast + .CS.coast +2 "collection"'5 +2 ')% +3 "core" %  Q\ +6705 #t-> exit +8 #mEXIT @1668554604.24PST @1668555074.08PST = =tMAIN =mMAIN_scheduler @PST1668555076.01 #"core_reset"Sent BREAK +2 #t@9164 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.42 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +245 #Configuration for friday by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +414 "Can"\ D)\\ + \ D)\\0 #tPolling Can every 10:00 +3 #Cleanly exited at 15:23:24PST15-Nov-22 +3692 #-> Power.core :on +2 .Gate.power :core,:ON +1402 #-> CS.force 30 +2 .CS.force 30 +53 .Gate.power :raw,:ON +101 "sampler") +2 ) +3 "core"  +3 "collection"' + ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" % \ + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +4 "core" %#\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +4 "core" %52 6\ + .tSS.configure :default +3 "sampler")#.0X CS.force 35 + .CS.force 35 +2 "collection"'5# +2 '% +3 "core" %6 g\ # +2 !to:Slide::Error :@axisName"Collection Syringe: mesg"&Collection Syringe Not yet Homed!: @replyIS:I2C::Servo::Status: enabledF: pastRLSF: pastFLSF:pastThresholdF: lostT: homeF: positioni: velocityi: currenti;:pwmi(:erri: inPressi: outPressi:deltaPressig : voltagef13.7771566028473263: @type2F:bt["5/home/esp/esp2/lib/slide.rb:175:in `rawPosition'"3/home/esp/esp2/lib/syringe.rb:63:in `position'"0/home/esp/esp2/lib/axis.rb:177:in `examine'"4/home/esp/esp2/lib/pretty.rb:127:in `asIRBtext'"6/home/esp/esp2/lib/cmdserver.rb:49:in `asCmdText'"=/home/esp/esp2/lib/cmdserver.rb:54:in `broadcastIRBtext'"5/opt/mbari/lib/ruby/1.8/irb.rb:318:in `__send__'"9/opt/mbari/lib/ruby/1.8/irb.rb:318:in `output_value'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:277:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:163:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:162:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:69:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:67:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:67:in `start'"-/home/esp/esp2/lib/esp.rb:200:in `shell'"7/home/esp/esp2/lib/schedule.rb:491:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"'/home/esp/esp2/lib/schedule.rb:482 +500 #-> CS.coast +4 .CS.coast +2 "collection"'5 +2 '% +3 "core" % k\ +2 !to:Slide::Error :@axisName"Collection Syringe: mesg"&Collection Syringe Not yet Homed!: @replyIS:I2C::Servo::Status: enabledF: pastRLSF: pastFLSF:pastThresholdF: lostT: homeF: positioni: velocityi: currenti:pwmi:erri: inPressi: outPressi:deltaPressik : voltagef13.78697496318115D: @type2F:bt["5/home/esp/esp2/lib/slide.rb:175:in `rawPosition'"3/home/esp/esp2/lib/syringe.rb:63:in `position'"0/home/esp/esp2/lib/axis.rb:177:in `examine'"4/home/esp/esp2/lib/pretty.rb:127:in `asIRBtext'"6/home/esp/esp2/lib/cmdserver.rb:49:in `asCmdText'"=/home/esp/esp2/lib/cmdserver.rb:54:in `broadcastIRBtext'"5/opt/mbari/lib/ruby/1.8/irb.rb:318:in `__send__'"9/opt/mbari/lib/ruby/1.8/irb.rb:318:in `output_value'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:277:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:163:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:162:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:69:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:67:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:67:in `start'"-/home/esp/esp2/lib/esp.rb:200:in `shell'"7/home/esp/esp2/lib/schedule.rb:491:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"'/home/esp/esp2/lib/schedule.rb:482 +872 #-> CS.home.to :home +2 .CS.reconfigure :default +3 "collection"'#P d@b +2 .tCS.home.seek :home + "collection"'' +820 "core" ' + "collection"'% +4 "core" % \\\ +925 #t-> CS.force 30 + .CS.force 30 +2 "collection"'5 +2 '% +3 "core" %$ n\  +1111 #t-> CS.force 35.\ CS.force 35 +2 !o:NoMethodError : mesgu:NameError::message(undefined method `CS' for 35:Fixnum: name:CS: args[:bt["(ESP):7:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +210 #-> CS.force 35 +2 .CS.force 35 + "collection"'5# +3 '% +3 "core" % 53 i\ # +681 #t-> CS.force 40 +2 .CS.force 40 + "collection"'5( +2 '% +3 "core" % 6D f\ ( +1316 #t-> CS.force 35 +2 .CS.force 35 "collection"'5# +3 '% +3 "core" %?1 a\ # +7101 #t-> CS.coast +2 .CS.coast + "collection"'5 +2 '% +2 "core" % ^\ +865 #t-> CS.force -30 + .CS.force -30 +2 "collection"'5 +2 '% +8 "core" % e\ +3246 #t-> CS.force -35 +2 .CS.force -35 "collection"'5 +3 '% +3 "core" % [\ +557 #t-> CS.force -40 + .CS.force -40 +2 "collection"'5 +2 '% +3 "core" % ^\ +663 #t-> CS.force -50 +2 .CS.force -50 + "collection"'5 +2 '% +3 "core" % `\ +385 #t-> CS.force -40 + .CS.force -40 +2 "collection"'5 +2 '% +3 "core" % ^\ . +572 #t-> CS.force -35 + .CS.force -35 +2 "collection"'5 +2 '% +3 "core" % g\ +7682 #t-> CS.coast +2 .CS.coast + "collection"'5 +8 '% +2 "core" % c\  +3125 #t-> CS.to 8 +2 .CS.seek 8ml +2 "collection"''̠ +1940 "core" ' + "collection"'% +4 "core" %̡ c\ +395 #t-> CS.to 0 +2 .CS.seek 0ml +2 "collection"' 'F +2108 "core" ' +2 "collection"'!% +4 "core" %B W\ +18502 "Can"\ &D +1399 #t-> exit +5 #mEXIT @1668555698.38PST @1668622876.63PST = =tMAIN =mMAIN_scheduler @PST1668622878.57 #"core_reset"Sent BREAK +2 #t@56365 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.42 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +248 #Configuration for friday by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +415 "Can"C\ %o + C\ %o4 #tPolling Can every 10:00 +4 #Cleanly exited at 15:41:38PST15-Nov-22 +2568 #-> ESP.ready! +3 #Powering core bus +581 .Gate.power :raw,:ON +2 "sampler") +37 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %\ M\ I=\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +4 "core" %0.\ + .tSS.configure :default +3 "sampler")#.0X showlog 300 +8371 !to:IRB::Abort: mesg"User Abort!!:@checkpoint: omitted:bt["1/home/esp/esp2/lib/esp.rb:79:in `mainThread'""/home/esp/esp2/lib/esp.rb:342 +4909 #"brent"-> threads +33839 "Can"B\ 9Jl +14978 #t-> CS.jog 50 +2 .CS.reconfigure :default +6 "collection"'#P d@b +3 .tCS.jog 50 +2 "collection"'-)2 +31 "core" ) +2 "collection"'.% +4 "core" %ѡ\ B\ =%\ +694 #t-> CS.jog 50 +2 .CS.jog 50 +5 "collection"'/)2 +31 "core" ) + "collection"'0% +4 "core" %\ @\ ; \ +2761 #"brent"-> exit +3 #Session Ended +446 #t-> CS.jog 50 +2 .CS.jog 50 +2 "collection"'1)2 +37 "core" ) +2 "collection"'2% +4 "core" %\ @\ =#\  +1216 #t-> CS.jog 200 +2 .CS.jog 200 +2 "collection"'3) +49 "core" ) +2 "collection"'4% +4 "core" %\ A\ :\ \  +663 #t-> CS.jog 1000 + .CS.jog 1000 +2 "collection"'5) +97 "core" ) + "collection"'6% +5 "core" %֮\ A\ <\  +172 #t-> CS.jog 1000 +2 .CS.jog 1000 +2 "collection"'7) +121 "core" ) + "collection"'8% +5 "core" %ڙ\ A\ <\ +6455 #t-> CS.jog 1000 +2 .CS.jog 1000 +2 "collection"'9) +132 "core" ) + "collection"':% +4 "core" %ރ\ A\ :\ +75 #t-> CS.jog 1000 + .CS.jog 1000 +2 "collection"';) +110 "core" ) +2 "collection"'<% +4 "core" %m!\ B\ <\  +435 #t-> CS.jog 2000 +2 .CS.jog 2000 +2 "collection"'=) +162 "core" ) + "collection"'>% +4 "core" %B\ @\ < \ +227 #t-> CS.jog 2000 +2 .CS.jog 2000 +2 "collection"'?) +161 "core" ) + "collection"'@% +4 "core" %\ B\ 9\ +108 #t-> CS.jog 2000 +2 .CS.jog 2000 +2 "collection"'A) +139 "core" ) + "collection"'B% +5 "core" %\ B\ <\  +105 #t-> CS.jog 2000 +2 .CS.jog 2000 +2 "collection"'C) +182 "core" ) +2 "collection"'D% +4 "core" %\ B\ ;.\ +990 #t-> CS.home.to :home +2 .CS.reconfigure :default +2 "collection"'#P d@b +2 .tCS.home.seek :home +2 "collection"'E' +349 "core" ' + "collection"'F% +5 "core" %\ B\ ;\  +424 #t-> CS.status +2 "collection"'G% +3 "core" %\ ?\ ;\  +2806 #t-> CS.jog -500 +2 .CS.jog -500 +2 "collection"'H) +77 "core" ) + "collection"'I% +4 "core" %\ C\ :\ +282 #t-> CS.jog -500 +2 .CS.jog -500 +2 "collection"'J) +68 "core" ) + "collection"'K% +5 "core" %\ A\ ;\ +203 #t-> CS.jog -500 +2 .CS.jog -500 +2 "collection"'L) +75 "core" ) + "collection"'M% +4 "core" %"\ C\ ;\ +192 #t-> CS.jog -500 +2 .CS.jog -500 +2 "collection"'N) +70 "core" ) +2 "collection"'O% +4 "core" %.\ @\ ;\ +135 #t-> CS.jog -500 +2 .CS.jog -500 +2 "collection"'P) +93 "core" ) + "collection"'Q% +4 "core" %4\ A\ <\  +91 #t-> CS.jog -500 +2 .CS.jog -500 +2 "collection"'R) +94 "core" ) + "collection"'S% +4 "core" %@\ ?\ <\  +80 #t-> CS.jog -500 +2 .CS.jog -500 +2 "collection"'T) +76 "core" ) +2 "collection"'U% +4 "core" %M\ @\ <\ +87 #t-> CS.jog -500 +2 .CS.jog -500 +2 "collection"'V) +75 "core" ) +2 "collection"'W% +5 "core" %W\ A\ =/\ +88 #t-> CS.jog -500 +2 .CS.jog -500 + "collection"'X) +99 "core" ) + "collection"'Y% +5 "core" %a\ @\ ;\  +211 #t-> CS.jog -500 +2 .CS.jog -500 + "collection"'Z) +80 "core" ) + "collection"'[% +4 "core" %h\ B\ :\ +105 #t-> CS.jog -500 +2 .CS.jog -500 + "collection"'\\) +96 "core" ) +2 "collection"']% +4 "core" %s\ B\ ;\  +219 #t-> CS.jog -500 +2 .CS.jog -500 + "collection"'^) +75 "core" ) +3 "collection"'_% +4 "core" %y\ @\ :5\ +395 #t-> CS.jog -500 +2 .CS.jog -500 + "collection"'`) +77 "core" ) + "collection"'a% +4 "core" %\ B\ ;\ +126 #t-> CS.jog -500 +2 .CS.jog -500 +2 "collection"'b) +96 "core" ) + "collection"'c% +4 "core" %\ @\ <\ +137 #t-> CS.jog -500 +2 .CS.jog -500 +2 "collection"'d) +98 "core" ) + "collection"'e% +4 "core" %\ B\ <\  +128 #t-> CS.jog -500 +2 .CS.jog -500 + "collection"'f) +82 "core" ) +2 "collection"'g% +4 "core" %\ @\ :\ +127 #t-> CS.jog -500 +2 .CS.jog -500 +2 "collection"'h) +79 "core" ) +2 "collection"'i% +4 "core" %ި\ B\ <\ +142 #t-> CS.jog -500 +2 .CS.jog -500 +2 "collection"'j) +95 "core" ) + "collection"'k% +4 "core" %ܳ\ A\ ;\  +217 #t-> CS.jog -500 +2 .CS.jog -500 +2 "collection"'l) +80 "core" ) +2 "collection"'m% +4 "core" %ھ\ @\ =\ +464 #t-> CS.jog -500 +2 .CS.jog -500 +2 "collection"'n) +82 "core" ) +2 "collection"'o% +4 "core" %\ @\ :\ +861 #t-> CS.jog -100 +2 .CS.jog -100 +2 "collection"'p) +58 "core" ) + "collection"'q% +4 "core" %]\ @\ ;\ \ +1115 #t-> CS.status +2 "collection"'r% +3 "core" %]\ A\ ;\ \ +18367 "Can"8\ : f +5846 #t-> CS +2 "collection"'s% +3 "core" %]\ A\ ;*\ \ +917 #t-> CS.to 9 +3 .CS.seek 9ml +2 "collection"'t'L +2375 "core" ' + "collection"'u% +4 "core" %O\ D\ <1\ +1073 #t-> CS.jog 1000 +2 .CS.jog 1000 +2 "collection"'v) +105 "core" ) +2 "collection"'w% +4 "core" %8\ B\ ;\  +202 #t-> CS.jog 1000 +2 .CS.jog 1000 +2 "collection"'x) +101 "core" ) + "collection"'y% +4 "core" %\ A\ <7\  +73 #t-> CS.jog 1000 +3 .CS.jog 1000 + "collection"'z) +102 "core" ) +2 "collection"'{% +4 "core" %\ A\ <D\  +77 #t-> CS.jog 1000 +2 .CS.jog 1000 +2 "collection"'|) +119 "core" ) +2 "collection"'}% +4 "core" %\ C\ <\ +72 #t-> CS.jog 1000 +2 .CS.jog 1000 +2 "collection"'~) +103 "core" ) + "collection"'% +4 "core" %\ A\ =\  +70 #t-> CS.jog 1000 +2 .CS.jog 1000 +2 "collection"') +105 "core" ) +2 "collection"'% +4 "core" %\ C\ <\  +71 #t-> CS.jog 1000 +2 .CS.jog 1000 + "collection"') +98 "core" ) +2 "collection"'% +4 "core" %\ C\ ;D\  +79 #t-> CS.jog 1000 +2 .CS.jog 1000 +2 "collection"') +111 "core" ) +2 "collection"'% +5 "core" % %\ @\ :R\  +84 #t-> CS.jog 1000 +2 .CS.jog 1000 + "collection"') +97 "core" ) + "collection"'% +4 "core" %x\ A\ =:\  +98 #t-> CS.jog 1000 +2 .CS.jog 1000 +2 "collection"' ) +108 "core" ) +2 "collection"'\ % +4 "core" %_\ B\ 9 \  +763 #t-> CS.jog -100 +2 .CS.jog -100 + "collection"' ) +97 "core" ) +2 "collection"' % +4 "core" %\ B\ < \ +237 #t-> CS.jog -100 +2 .CS.jog -100 +2 "collection"' ) +56 "core" ) +2 "collection"'% +4 "core" %\ B\ >4\  +204 #t-> CS.jog -100 +2 .CS.jog -100 +2 "collection"') +43 "core" ) + "collection"'% +4 "core" %2\ B\ ;\ +97 #t-> CS.jog -100 +2 .CS.jog -100 +2 "collection"') +56 "core" ) + "collection"'% +5 "core" %\ A\ ;\  +213 #t-> CS.jog -100 +2 .CS.jog -100 + "collection"') +75 "core" ) +2 "collection"'% +4 "core" %c#\ B\ <\  +116 #t-> CS.jog -100 + .CS.jog -100 +2 "collection"') +44 "core" ) + "collection"'% +4 "core" %\ A\ ;\ +184 #t-> CS.jog -100 + .CS.jog -100 +2 "collection"') +39 "core" ) + "collection"'% +5 "core" %\ A\ <\ +602 #t-> CS.status + "collection"'% +4 "core" %\ ?\ :\ +20780 #t-> exit +8 #mEXIT @1668625648.43PST @1668625656.99PST = =tMAIN =mMAIN_scheduler @PST1668625658.83 #"core_reset"Sent BREAK +2 #t@12324 receive with ifg=0x10, ie=0xFD + #@12962 receive with ifg=0x10, ie=0xFD + #@13621 receive with ifg=0x10, ie=0xFD + #@14261 receive with ifg=0x10, ie=0xFD #@14911 receive with ifg=0x10, ie=0xFD + #@15560 receive with ifg=0x10, ie=0xFD #@16209 receive with ifg=0x10, ie=0xFD + #@16535 receive with ifg=0x80, ie=0xFD + #@22029 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +9 #ESP2 v3.42 I2C Gateway v3.20 for core bus +249 #Configuration for friday by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +392 "Can"q\ =\ _ + q\ =\ _2 + #tPolling Can every 10:00 +3 #Cleanly exited at 11:07:28PST16-Nov-22 +663 #-> CS.home.to :home +2 .CS.configure :default +154 "sampler") +2 ) +3 "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +5 "collection"' 9\ +3 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %\ @\ :\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +2004 !to:I2C::Request::Timeout: @requesto:I2C::Servo::On3Request : @tag0: @dontLog0:@maxDelayf20: @channeli: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi,: mesg"3No Response to I2C::Servo::On3Request[05:->27]:bt["3/home/esp/esp2/lib/i2c/msg.rb:317:in `process'"6/home/esp/esp2/lib/schedule.rb:179:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:456:in `step'"4/home/esp/esp2/lib/schedule.rb:205:in `process'"2/home/esp/esp2/lib/schedule.rb:223:in `start'"1/home/esp/esp2/lib/schedule.rb:222:in `loop'"2/home/esp/esp2/lib/schedule.rb:222:in `start'"-/home/esp/esp2/lib/esp.rb:211:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:111:in `load'"0/home/esp/esp2/lib/framework.rb:111:in `ld'"4/home/esp/esp2/lib/framework.rb:136:in `ldMode'""/home/esp/esp2/lib/esp.rb:342"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 + #Retry #1 of 3 +2 "collection"'+ +3 "core" +\ A\ :\ Ѩ +2 !o:I2C::UnexpectedReply: mesg"3I2C::Servo::On3Reply[05:27->20] aborted with status:\ :bt["=/home/esp/esp2/lib/i2c/msg.rb:615:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:610:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:491:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"'/home/esp/esp2/lib/schedule.rb:482 +401 + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %R$\ +2 .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %2. d\ A +2 .tSS.configure :default +3 "sampler")#.0X\ 9\  +2 .tCC.configure :default +2 "collection"'$x2 ^22b +3 .tCC.hold + "collection"' , +3 "core" , +2 .tCC.configure :default +2 "collection"'$x2 ^22b +3 "processing"% & +3 "core" &r$\  + .tPC.configure :default +3 "processing"%$x2 ^22b +2 .tPC.hold +2 "processing"% , +3 "core" , +2 .tPC.configure :default +2 "processing"%$x2 ^22b +4 "manipulator"&% +3 "core" % k  +2 .tForearm.configure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.hold + "manipulator"&+ +4 "core" + +2 .tForearm.configure :loose +2 "manipulator"&#Q@2^d^b +3 && +3 "core" &8 # # +2 .tElbow.configure :loose +2 "manipulator"&$ &.,(#b +3 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.configure :loose +2 "manipulator"&$ &.,(#b +5 "storage"(& +4 "core" &[N J L F  + .tSC.configure :loose +3 "storage"($.(\ 1~b +2 .tSC.hold +2 "storage"(, +7 "core" , + .tSC.configure :loose +3 "storage"($.(\ 1~b +2 (% +3 "core" %d   3 +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 .tSE.hold +2 "storage"(+ +3 "core" + +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 .tCH.coast + "collection"' +2 .tCH.configure :default + "collection"'\ 2 +3 .tPH.coast + "processing"% +2 .tPH.configure :default +2 "processing"%\ 2 +2 #tAll dwarf controllers running firmware version 3.85 +2 "sampler") +10 "collection"'#P d@b +7 .tCS.seek :home + "collection"'' +346 "core" ' +2 "collection"'% +4 "core" %\ @\ 9\ +226 #t-> CSV + "collection"' +3 "core"  +681 #t-> CS.to 10 +2 .CS.seek 10ml +2 "collection"'' +2288 "core" ' +2 "collection"'% +4 "core" %\ @\ 9\ +1208 #t-> CS.to 0 +2 .CS.seek 0ml +2 "collection"''] +2598 "core" ' + "collection"'% +4 "core" %X\ A\ :\  +1606 #t-> CS.status + "collection"'% +4 "core" %X\ A\ 9\  +1551 #t-> CS.jog -100 +2 .CS.jog -100 +2 "collection"' ) +63 "core" ) +2 "collection"'!% +4 "core" %\ @\ :\  +188 #t-> CS.jog -100 +2 .CS.jog -100 +2 "collection"'") +40 "core" ) + "collection"'#% +4 "core" %ד\ >\ 9\ +208 #t-> CS.jog -100 +2 .CS.jog -100 +2 "collection"'$) +39 "core" ) +2 "collection"'%% +4 "core" %.\ >\ : \ +600 #t-> CS.jog -100 +2 .CS.jog -100 + "collection"'&) +57 "core" ) + "collection"''% +4 "core" %\ ?\ 9\ \ +307 #t-> CS.jog -100 +2 .CS.jog -100 +2 "collection"'() +65 "core" ) + "collection"')% +4 "core" %b\ A\ :\  +1022 #t-> CS.status +2 "collection"'*% +3 "core" %b\ ?\ 9\  +688 #t-> CS.coast + .CS.coast +2 "collection"'5 +2 '+% +3 "core" %b\ @\ :\ +3383 #t-> CS.to 1 +2 .CS.seek 1ml +2 "collection"',' +354 "core" ' + "collection"'-% +4 "core" %\ A\ :\  +508 #t-> CS.empty +2 .CS.seek 0ml +2 "collection"'.'] +329 "core" ' +2 "collection"'/% +4 "core" %b\ @\ ;\ +306 #t-> CS.status + "collection"'0% +4 "core" %b\ ?\ :'\ +1210 #t-> CS.to 1 +2 .CS.seek 1ml +2 "collection"'1' +344 "core" ' +2 "collection"'2% +4 "core" %#\ ?\ 8\  +353 #t-> CS.empty +2 .CS.seek 0ml +2 "collection"'3'] +387 "core" ' +2 "collection"'4% +4 "core" %d\ @\ ;\ +246 #t-> CS.status +2 "collection"'5% +3 "core" %d\ ?\ :$\ +948 #t-> CS.to 1 +3 .CS.seek 1ml +2 "collection"'6' +334 "core" ' +2 "collection"'7% +4 "core" %#\ @\ :\  +656 #t-> CS.to 0 +2 .CS.seek 0ml +2 "collection"'8'] +353 "core" ' + "collection"'9% +4 "core" %Y\ B\ :"\  +247 #t-> CS.status + "collection"':% +4 "core" %Y\ A\ :"\  +1485 #t-> CS.to 1 +3 .CS.seek 1ml +2 "collection"';' +328 "core" ' + "collection"'<% +4 "core" %\ B\ :\  +457 #t-> CS.empty +2 .CS.seek 0ml +2 "collection"'='] +331 "core" ' + "collection"'>% +4 "core" %^\ A\ :\ +244 #t-> CS.status +2 "collection"'?% +3 "core" %^\ B\ :#\ +4979 #t-> PS.jog 1000 +2 .PS.jog 1000 +2 "processing"%@) +99 "core" ) +2 "processing"%A% +4 "core" %;\  +304 #t-> PS.jog 1000 +2 .PS.jog 1000 + "processing"%B) +106 "core" ) +8 "processing"%C% +4 "core" %*\  +490 #t-> PS.jog 3000 +2 .PS.jog 3000 +2 "processing"%D) +169 "core" ) + "processing"%E% +4 "core" %\  +278 #t-> PS.jog 3000 +2 .PS.jog 3000 +2 "processing"%F) +169 "core" ) +2 "processing"%G% +4 "core" %'\  +152 #t-> PS.jog 3000 +2 .PS.jog 3000 +2 "processing"%H) +182 "core" ) + "processing"%I% +4 "core" %C\  +128 #t-> PS.jog 3000 +2 .PS.jog 3000 +2 "processing"%J) +178 "core" ) +2 "processing"%K% +4 "core" %)\  +674 #t-> PS.home.to :home +2 .PS.reconfigure :default +2 "processing"%#A d`xb +2 .tPS.home.seek :home +2 "processing"%L' +478 "core" ' +2 "processing"%M% +4 "core" %\ +8939 #t-> PS.status + "processing"%N% +4 "core" %*\ +317 #t-> PS +2 "processing"%O% +3 "core" %\ +628 #t-> PS.to 2 +2 .PS.seek 2ml +2 "processing"%P'& +1799 "core" ' + "processing"%Q% +4 "core" %)\  +1050 #t-> PS.jog 3000 +2 .PS.jog 3000 +2 "processing"%R) +169 "core" ) +2 "processing"%S% +4 "core" %(\  +180 #t-> PS.jog 3000 +2 .PS.jog 3000 +2 "processing"%T) +166 "core" ) +3 "processing"%U% +4 "core" %#\  +134 #t-> PS.jog 3000 +2 .PS.jog 3000 + "processing"%V) +172 "core" ) + "processing"%W% +4 "core" %K\  +164 #t-> PS.jog 3000 +2 .PS.jog 3000 +2 "processing"%X) +180 "core" ) +2 "processing"%Y% +4 "core" %\  +3406 #t-> PS.jog 3000 +2 .PS.jog 3000 +2 "processing"%Z) +168 "core" ) +2 "processing"%[% +4 "core" %(\  +857 #t-> PS.jog 200 +2 .PS.jog 200 +2 "processing"%\\) +49 "core" ) + "processing"%]% +4 "core" %x\  +224 #t-> PS.jog 200 +2 .PS.jog 200 +2 "processing"%^) +51 "core" ) +2 "processing"%_% +4 "core" %<*\  +185 #t-> PS.jog 200 +2 .PS.jog 200 +2 "processing"%`) +62 "core" ) + "processing"%a% +4 "core" % (\  +281 #t-> PS.jog 200 +2 .PS.jog 200 +2 "processing"%b) +60 "core" ) + "processing"%c% +4 "core" %\  +269 #t-> PS.jog 200 +2 .PS.jog 200 +2 "processing"%d) +56 "core" ) + "processing"%e% +4 "core" %\  +906 #t-> PS.status +2 "processing"%f% +3 "core" %\  +604 "Can"\ N  +17590 #t-> PS.to 0.5 +2 .PS.seek 0.5ml +2 "processing"%g' +2108 "core" ' + "processing"%h% +4 "core" %(\ +899 #t-> PS.jog -500 +2 .PS.jog -500 + "processing"%i) +83 "core" ) +2 "processing"%j% +4 "core" %\ +105 #t-> PS.jog -500 +2 .PS.jog -500 +2 "processing"%k) +79 "core" ) + "processing"%l% +4 "core" %'\ +78 #t-> PS.jog -500 +2 .PS.jog -500 +2 "processing"%m) +82 "core" ) + "processing"%n% +4 "core" %\ +599 #t-> PS.jog -1000 +2 .PS.jog -1000 +2 "processing"%o) +113 "core" ) +2 "processing"%p% +4 "core" %\ +121 #t-> PS.jog -1000 +2 .PS.jog -1000 + "processing"%q) +108 "core" ) + "processing"%r% +4 "core" % \ +97 #t-> PS.jog -1000 +2 .PS.jog -1000 +2 "processing"%s) +110 "core" ) + "processing"%t% +4 "core" %+)\ +99 #t-> PS.jog -1000 +2 .PS.jog -1000 +2 "processing"%u) +104 "core" ) +2 "processing"%v% +4 "core" %H\ +87 #t-> PS.jog -1000 +2 .PS.jog -1000 +2 "processing"%w) +97 "core" ) + "processing"%x% +4 "core" %d\ +106 #t-> PS.jog -1000 +3 .PS.jog -1000 +2 "processing"%y) +109 "core" ) + "processing"%z% +4 "core" %z\ +80 #t-> PS.jog -1000 +2 .PS.jog -1000 +2 "processing"%{) +101 "core" ) +2 "processing"%|% +4 "core" %(\ +91 #t-> PS.jog -1000 +2 .PS.jog -1000 +2 "processing"%}) +103 "core" ) +2 "processing"%~% +4 "core" %)\ +91 #t-> PS.jog -1000 +2 .PS.jog -1000 +2 "processing"%) +102 "core" ) + "processing"%% +4 "core" %\ +88 #t-> PS.jog -1000 +2 .PS.jog -1000 +2 "processing"%) +100 "core" ) + "processing"%% +4 "core" %'\ +116 #t-> PS.jog -1000 +3 .PS.jog -1000 +2 "processing"%) +105 "core" ) + "processing"%% +4 "core" %\ +115 #t-> PS.jog -1000 +2 .PS.jog -1000 +2 "processing"%) +101 "core" ) + "processing"%% +4 "core" %\ +447 #t-> PS.jog -500 + .PS.jog -500 +2 "processing"%\ ) +76 "core" ) +2 "processing"% % +3 "core" %)\ +187 #t-> PS.jog -500 +2 .PS.jog -500 +2 "processing"%) +76 "core" ) + "processing"%% +4 "core" %9\ +222 #t-> PS.jog -500 +2 .PS.jog -500 +2 "processing"%) +81 "core" ) +2 "processing"%% +4 "core" %A\ +839 #t-> PS.jog -100 +2 .PS.jog -100 +2 "processing"%) +48 "core" ) +2 "processing"%% +4 "core" %\ +230 #t-> PS.jog -100 +2 .PS.jog -100 +2 "processing"%) +38 "core" ) +2 "processing"%% +4 "core" %y'\ +123 #t-> PS.jog -100 +2 .PS.jog -100 +2 "processing"%) +36 "core" ) +2 "processing"%% +8 "core" %)\ +111 #t-> PS.jog -100 + .PS.jog -100 +2 "processing"%) +42 "core" ) + "processing"%% +4 "core" %ܶ\ +88 #t-> PS.jog -100 +2 .PS.jog -100 +2 "processing"%) +47 "core" ) + "processing"%% +4 "core" %N)\ +84 #t-> PS.jog -100 +2 .PS.jog -100 +2 "processing"%!) +47 "core" ) +2 "processing"%% +4 "core" %\ +130 #t-> PS.jog -100 +2 .PS.jog -100 +2 "processing"%#) +38 "core" ) +2 "processing"%%% +4 "core" %ۃ\ +284 #t-> PS.jog -100 +2 .PS.jog -100 +2 "processing"% ) +47 "core" ) + "processing"%"% +4 "core" %\ +660 #t-> PS.status + "processing"%'% +4 "core" %\ +8368 #t-> exit +6 #mEXIT @1668626630.53PST @1668626638.18PST = =tMAIN =mMAIN_scheduler @PST1668626640.01 #"core_reset"Sent BREAK +2 #t@58643 receive with ifg=0x10, ie=0xFD + #@59281 receive with ifg=0x10, ie=0xFD + #@59939 receive with ifg=0x10, ie=0xFD #@60579 receive with ifg=0x10, ie=0xFD + #@61228 receive with ifg=0x10, ie=0xFD + #@61877 receive with ifg=0x10, ie=0xFD #@62526 receive with ifg=0x10, ie=0xFD + #@62852 receive with ifg=0x80, ie=0xFD #@46583 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +9 #ESP2 v3.42 I2C Gateway v3.20 for core bus +251 #Configuration for friday by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +390 "Can"E\ OSU6 + E\ OSU69 #tPolling Can every 10:00 +3 #Cleanly exited at 11:23:50PST16-Nov-22 +891 #-> PS.home.to :home +3 .PS.configure :default +154 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %^\ >\ 7:\ + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +4 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %(\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold +2 "processing"%+ +390 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %4. R\ A + .tSS.configure :default +3 "sampler")#.0X # +2 .tElbow.configure :loose +3 "manipulator"&$ &.,(#b +2 .tElbow.hold +2 "manipulator"&, +3 "core" , + .tElbow.configure :loose +3 "manipulator"&$ &.,(#b +4 "storage"(& +3 "core" &[Y.  :  +2 .tSC.configure :loose +3 "storage"($.(\ 1~b +2 .tSC.hold + "storage"(, +4 "core" , + .tSC.configure :loose +2 "storage"($.(\ 1~b +3 (% +3 "core" %d \ +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 .tSE.hold +2 "storage"(+ +3 "core" + + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 .tCH.coast +2 "collection"' +2 .tCH.configure :default + "collection"'\ 2 +3 .tPH.coast + "processing"% +2 .tPH.configure :default + "processing"%\ 2 +3 #tAll dwarf controllers running firmware version 3.85 +2 "sampler") +10 "processing"%#A d`xb +7 .tPS.seek :home +2 "processing"%' +372 "core" ' +3 "processing"%% +4 "core" %(\ +1157 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%' +2313 "core" ' +2 "processing"%% +4 "core" %*\ \ +259 #t-> PSV +2 "processing"% +2 "core"  +1202 #t-> PS.to 0 +2 .PS.seek 0ml +2 "processing"%' +2600 "core" ' +2 "processing"%% +4 "core" %#%\ +439 #t-> PS.to 1 +2 .PS.seek 1ml +2 "processing"%'YQ +1089 "core" ' + "processing"% % +4 "core" %YO(\  +547 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%!' +1093 "core" ' +2 "processing"%"% +4 "core" %*\ +349 #t-> PS.status + "processing"%#% +4 "core" %)\ +1189 #t-> PS.to 1 +2 .PS.seek 1ml +2 "processing"%$'YQ +1094 "core" ' +2 "processing"%%% +4 "core" %YN)\ \ +289 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%&' +1098 "core" ' +2 "processing"%'% +4 "core" %\ +7573 #t-> PS.status +2 "processing"%(% +3 "core" %+\ +3237 #t-> PS.to 0 +2 .PS.seek 0ml +2 "processing"%)' +3 "core" ' +2 "processing"%*% +4 "core" %)\ +1080 #t-> PS.jog -40 +2 .PS.jog -40 +2 "processing"%+) +26 "core" ) + "processing"%,% +4 "core" %'\ +634 #t-> PS.status + "processing"%-% +4 "core" %)\ +840 #t-> PS.jog -40 +2 .PS.jog -40 +2 "processing"%.) +24 "core" ) +2 "processing"%/% +4 "core" %ڿ'\ +140 #t-> PS.status + "processing"%0% +3 "core" %ڿ\ +3677 #t-> PS.jog -40 +2 .PS.jog -40 +2 "processing"%1) +25 "core" ) +2 "processing"%2% +4 "core" %ړ\ +117 #t-> PS.status + "processing"%3% +4 "core" %ړ(\ +368 #t-> PS.jog -40 +3 .PS.jog -40 + "processing"%4) +25 "core" ) +2 "processing"%5% +4 "core" %f(\ +132 #t-> PS.status +2 "processing"%6% +3 "core" %f(\ +403 #t-> PS.jog -40 +2 .PS.jog -40 +2 "processing"%7) +25 "core" ) +2 "processing"%8% +4 "core" %8'\ +86 #t-> PS.status +2 "processing"%9% +3 "core" %8(\ +313 #t-> PS.jog -40 +2 .PS.jog -40 +2 "processing"%:) +24 "core" ) + "processing"%;% +4 "core" % \ +93 #t-> PS.status +2 "processing"%<% +3 "core" % \ +8097 #t-> exit +6 #mEXIT @1668627085.83PST @1668627093.57PST = =tMAIN =mMAIN_scheduler @PST1668627095.40 #"core_reset"Sent BREAK +2 #t@49565 receive with ifg=0x10, ie=0xFD + #@50205 receive with ifg=0x10, ie=0xFD + #@50863 receive with ifg=0x10, ie=0xFD + #@51503 receive with ifg=0x10, ie=0xFD #@52152 receive with ifg=0x10, ie=0xFD + #@52801 receive with ifg=0x10, ie=0xFD #@53449 receive with ifg=0x10, ie=0xFD + #@53775 receive with ifg=0x80, ie=0xFD + #@64127 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +8 #ESP2 v3.42 I2C Gateway v3.20 for core bus +236 #Configuration for friday by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +386 "Can"\ Oy + \ Oy- + #tPolling Can every 10:00 +3 #Cleanly exited at 11:31:25PST16-Nov-22 +791 #-> PS.home.to :home +2 .PS.configure :default +154 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %^\ =\ 7L\ + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +2 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" % '\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold +2 "processing"%+ +397 "core" + + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %1/ Q\ A +2 .tSS.configure :default +3 "sampler")#.0X PS.to 1 +3 .PS.seek 1ml + "processing"%'X +794 "core" ' +2 "processing"%% +4 "core" %X\  +274 #t-> PS.to 0 +2 .PS.seek 0ml +2 "processing"%' +1088 "core" ' +2 "processing"%% +3 "core" % \ +2158 #t-> PS.status +2 "processing"%% +3 "core" % (\ +948 #t-> PS.to 1 +2 .PS.seek 1ml +2 "processing"%'X +1096 "core" ' + "processing"% % +4 "core" %X\  +642 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%!' +1092 "core" ' +2 "processing"%"% +4 "core" % \ +1268 #t-> PS.status + "processing"%#% +4 "core" % \ +1450 #t-> PS.to 1 +3 .PS.seek 1ml + "processing"%$'X +1092 "core" ' +2 "processing"%%% +46 "core" %X\  +218 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%&' +1087 "core" ' + "processing"%'% +4 "core" % \ +179 #t-> PS.status + "processing"%(% +3 "core" % \ +1960 #t-> PS.jog -30 +2 .PS.jog -30 +2 "processing"%)) +35 "core" ) + "processing"%*% +4 "core" %\  +245 #t-> PS.status + "processing"%+% +3 "core" %\  +474 #t-> PS.jog -30 +2 .PS.jog -30 +2 "processing"%,) +37 "core" ) + "processing"%-% +4 "core" %\  +130 #t-> PS.status + "processing"%.% +3 "core" %(\  +472 #t-> PS.jog -30 +2 .PS.jog -30 +2 "processing"%/) +38 "core" ) + "processing"%0% +4 "core" %ٲ\  +126 #t-> PS.status +2 "processing"%1% +3 "core" %ٲ)\  +374 #t-> PS.jog -30 +2 .PS.jog -30 +2 "processing"%2) +42 "core" ) +2 "processing"%3% +4 "core" %ٚ\ +147 #t-> PS.status +2 "processing"%4% +3 "core" %ٚ\ +1442 #t-> PS.jog -30 +2 .PS.jog -30 +2 "processing"%5) +21 "core" ) +2 "processing"%6% +3 "core" %ف\ +157 #t-> PS.status +2 "processing"%7% +3 "core" %ف&\ +391 #t-> PS.jog -30 +2 .PS.jog -30 +2 "processing"%8) +38 "core" ) + "processing"%9% +4 "core" %g\ +369 #t-> PS.status + "processing"%:% +4 "core" %g\ +1897 #t-> PS.jog -30 +2 .PS.jog -30 +2 "processing"%;) +42 "core" ) + "processing"%<% +4 "core" %O\ +135 #t-> PS.status +2 "processing"%=% +3 "core" %O\ +5747 #t-> PS.jog -30 +2 .PS.jog -30 +2 "processing"%>) +23 "core" ) + "processing"%?% +4 "core" %0\ +139 #t-> PS.status + "processing"%@% +3 "core" %0(\ +2912 #t-> PS.coast +2 .PS.coast + "processing"%5 +3 %A% +3 "core" %0\ +5355 #t-> PS.status + "processing"%B% +4 "core" %\ W +7569 #t-> exit +6 #mEXIT @1668627575.39PST @1668627583.19PST = =tMAIN =mMAIN_scheduler @PST1668627585.09 #"core_reset"Sent BREAK +2 #t@41106 receive with ifg=0x10, ie=0xFD + #@41745 receive with ifg=0x10, ie=0xFD + #@42404 receive with ifg=0x10, ie=0xFD #@43043 receive with ifg=0x10, ie=0xFD + #@43693 receive with ifg=0x10, ie=0xFD + #@44341 receive with ifg=0x10, ie=0xFD #@44990 receive with ifg=0x10, ie=0xFD + #@45316 receive with ifg=0x80, ie=0xFD #@61510 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +10 #ESP2 v3.42 I2C Gateway v3.20 for core bus +247 #Configuration for friday by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +397 "Can"\ NAx + \ NAx' #tPolling Can every 10:00 +4 #Cleanly exited at 11:39:35PST16-Nov-22 +1072 #-> PS.home.to :home +2 .PS.configure :default +154 "sampler") +3 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %^\ ;\ 6I\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +5 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %#\ W +2 .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %2/ [\ A +2 .tSS.configure :default +3 "sampler")#.0X PS.to 1 +3 .PS.seek 1ml + "processing"%'Xy +787 "core" ' +2 "processing"%% +4 "core" %Xv\  +332 #t-> PS.to 0 +2 .PS.seek 0ml +2 "processing"%'ٸ +1093 "core" ' + "processing"%% +4 "core" %ٹ\ +270 #t-> PS.status +2 "processing"%% +3 "core" %ٹ\ +504 #t-> PS.to 1 +2 .PS.seek 1ml +2 "processing"%'Xy +1090 "core" ' + "processing"%% +4 "core" %X|$\  +968 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"% 'ٸ +1088 "core" ' +2 "processing"%!% +4 "core" %ٶ\ +617 #t-> PS.status + "processing"%"% +4 "core" %ٶ\ +1405 #t-> PS.to 1 +3 .PS.seek 1ml +2 "processing"%#'Xy +1097 "core" ' + "processing"%$% +4 "core" %Xx$\  +359 #t-> PS.to 0 +2 .PS.seek 0ml +2 "processing"%%'ٸ +1094 "core" ' +2 "processing"%&% +4 "core" %ٷ#\ +1112 #t-> PS.fill +3 .PS.seek 2.5ml +2 "processing"%'' +2621 "core" ' + "processing"%(% +4 "core" %#\  +673 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%)'ٸ +2615 "core" ' + "processing"%*% +4 "core" %ٹ\ +2829 #t-> PS.status +2 "processing"%+% +3 "core" %ٹ\ +10441 #t-> SS.home.to :home +2 .SS.reconfigure :default +3 "sampler")#.0X SSV +2 "sampler"). +2 "core"  +786 #t-> SS.to 23 +2 .SS.seek 23ml +2 "sampler")/'{ +1103 "core" ' +2 "sampler")0% +4 "core" %{70 [\  +800 #t-> SS.jog 1000 +2 .SS.jog 1000 +2 "sampler")1) +53 "core" ) + "sampler")2% +4 "core" %~30 X\ o +914 #t-> SS.jog 1000 +2 .SS.jog 1000 +2 "sampler")3) +53 "core" ) +2 "sampler")4% +4 "core" %40 Z\ t +154 #t-> SS.jog 1000 +2 .SS.jog 1000 +2 "sampler")5) +53 "core" ) +2 "sampler")6% +4 "core" %31 b\  +130 #t-> SS.jog 1000 +2 .SS.jog 1000 +2 "sampler")7) +51 "core" ) + "sampler")8% +4 "core" %52 `\ y +586 #t-> SS.jog 500 +2 .SS.jog 500 +2 "sampler")9) +38 "core" ) + "sampler"):% +4 "core" %41 O\ q +759 #t-> SS.jog 500 +2 .SS.jog 500 +2 "sampler");) +61 "core" ) +2 "sampler")<% +4 "core" %11 ^\ +70 #t-> SS.jog 500 + .SS.jog 500 +2 "sampler")=) +51 "core" ) +2 "sampler")>% +4 "core" %42 O\ u +80 #t-> SS.jog 500 + .SS.jog 500 +2 "sampler")?) +39 "core" ) +2 "sampler")@% +4 "core" %{61 N\ { +82 #t-> SS.jog 500 +2 .SS.jog 500 +2 "sampler")A) +38 "core" ) + "sampler")B% +5 "core" %k52 _\  +70 #t-> SS.jog 500 +3 .SS.jog 500 +2 "sampler")C) +84 "core" ) +2 "sampler")D% +4 "core" %]50 \\\  +121 #t-> SS.jog 500 +2 .SS.jog 500 +2 "sampler")E) +37 "core" ) + "sampler")F% +4 "core" %P32 M\ } +103 #t-> SS.jog 500 +2 .SS.jog 500 +2 "sampler")G) +36 "core" ) +2 "sampler")H% +4 "core" %F52 [\ n +75 #t-> SS.jog 500 +2 .SS.jog 500 +2 "sampler")I) +39 "core" ) +2 "sampler")J% +4 "core" %?40 R\ r +578 #t-> SS.jog -500 +2 .SS.jog -500 + "sampler")K) +42 "core" ) +2 "sampler")L% +4 "core" %S51 U\ +171 #t-> SS.jog -500 +2 .SS.jog -500 +2 "sampler")M) +35 "core" ) + "sampler")N% +4 "core" %c50 V\ +77 #t-> SS.jog -500 +2 .SS.jog -500 +2 "sampler")O) +40 "core" ) +2 "sampler")P% +4 "core" %j42 T\ { +140 #t-> SS.jog -500 +2 .SS.jog -500 +2 "sampler")Q) +32 "core" ) + "sampler")R% +4 "core" %o52 O\ +126 #t-> SS.jog -500 +2 .SS.jog -500 +2 "sampler")S) +49 "core" ) +2 "sampler")T% +90 "core" %40 W\ +44 #t-> SS.jog -500 +2 .SS.jog -500 +2 "sampler")U) +37 "core" ) + "sampler")V% +4 "core" %41 _\ +454 #t-> SS.jog -200 +2 .SS.jog -200 +2 "sampler")W)8 +27 "core" ) +2 "sampler")X% +4 "core" %31 W\ +495 #t-> SS.status +3 "sampler")Y% +3 "core" %43 Q\ +2244 #t-> SS +2 "sampler")Z% +3 "core" %30 X\ +967 #t-> SS.to 2 +2 .SS.seek 2ml +2 "sampler")['* +1106 "core" ' + "sampler")\\% +4 "core" %&41 H\ 4 +1674 #t-> SS.jog -1000 +2 .SS.jog -1000 +2 "sampler")]) +65 "core" ) +2 "sampler")^% +4 "core" % B40 a\ +264 #t-> SS.jog -1000 +2 .SS.jog -1000 + "sampler")_) +51 "core" ) + "sampler")`% +4 "core" %[42 W\ +137 #t-> SS.jog -1000 +3 .SS.jog -1000 +2 "sampler")a) +53 "core" ) + "sampler")b% +4 "core" %q51 T\ +173 #t-> SS.jog -1000 +2 .SS.jog -1000 +2 "sampler")c) +47 "core" ) +2 "sampler")d% +4 "core" %61 \\\ +200 #t-> SS.jog -1000 +2 .SS.jog -1000 +2 "sampler")e) +64 "core" ) +2 "sampler")f% +4 "core" %53 R\ +172 #t-> SS.jog -1000 +2 .SS.jog -1000 + "sampler")g) +53 "core" ) +2 "sampler")h% +4 "core" %62 Y\ +179 #t-> SS.jog -1000 +2 .SS.jog -1000 + "sampler")i) +50 "core" ) + "sampler")j% +4 "core" %42 N\ +589 #t-> SS.jog -1000 +2 .SS.jog -1000 +2 "sampler")k) +52 "core" ) + "sampler")l% +4 "core" %52 Q\ +129 #t-> SS.jog -1000 +2 .SS.jog -1000 +2 "sampler")m) +52 "core" ) +2 "sampler")n% +4 "core" %33 K\ +131 #t-> SS.jog -1000 +2 .SS.jog -1000 +2 "sampler")o) +52 "core" ) + "sampler")p% +4 "core" %*52 W\ +177 #t-> SS.jog -1000 +2 .SS.jog -1000 +2 "sampler")q) +53 "core" ) + "sampler")r% +4 "core" %H52 [\ +770 #t-> SS.jog -1000 +2 .SS.jog -1000 +2 "sampler")s) +50 "core" ) +2 "sampler")t% +4 "core" %f41 ^\ u +188 #t-> SS.jog -1000 + .SS.jog -1000 +2 "sampler")u) +55 "core" ) + "sampler")v% +4 "core" %~41 X\  +986 #t-> SS.jog -200 +2 .SS.jog -200 +2 "sampler")w)8 +27 "core" ) + "sampler")x% +4 "core" %۵41 X\  +378 #t-> SS.jog -200 +2 .SS.jog -200 + "sampler")y)8 +26 "core" ) +2 "sampler")z% +4 "core" %53 X\ +773 #t-> SS.status +2 "sampler"){% +3 "core" %42 P\ +2571 #t-> SS.coast +2 .SS.coast + "sampler")5 +3 )|% +2 "core" %62 _\ +290 "Can"6\ J@ +328 #t-> SS.status +2 "sampler")}% +4 "core" %72 R\ +6773 #t-> SS.jog -50 +2 .SS.jog -50 + "sampler")~) +29 "core" ) +2 "sampler")% +4 "core" %24 Q\ X +531 #t-> SS.status +2 "sampler")% +3 "core" %51 P\ X +1508 #t-> SS.jog 50 +2 .SS.jog 50 +2 "sampler"))2 +32 "core" ) +2 "sampler")% +4 "core" %43 b\  +176 #t-> SS.status + "sampler")% +4 "core" %63 P\  +4906 #t-> exit +7 #mEXIT @1668628334.09PST @1668628341.77PST = =tMAIN =mMAIN_scheduler @PST1668628343.62 #"core_reset"Sent BREAK +2 #t@37784 receive with ifg=0x10, ie=0xFD + #@38422 receive with ifg=0x10, ie=0xFD #@39081 receive with ifg=0x10, ie=0xFD + #@39717 receive with ifg=0x10, ie=0xFD + #@40364 receive with ifg=0x10, ie=0xFD #@41011 receive with ifg=0x10, ie=0xFD + #@41658 receive with ifg=0x10, ie=0xFD #@41984 receive with ifg=0x80, ie=0xFD + #@40875 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +8 #ESP2 v3.42 I2C Gateway v3.20 for core bus +244 #Configuration for friday by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +397 "Can"\ L[ + \ L[1 + #tPolling Can every 10:00 +3 #Cleanly exited at 11:52:14PST16-Nov-22 +544 #-> SS.home.to :home +3 .SS.configure :default +154 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %^\ 9\ 3z\ + .tCS.configure :default +3 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +3 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %ٹ\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold +2 "processing"%+ +3 "core" + + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +4 "core" %72 Q\  + .tSS.configure :default +3 "sampler")#.0X SS.fill +2 .SS.seek 25ml +2 "sampler")' +1155 "core" ' +2 "sampler")% +3 "core" %31 Z\ t +874 #t-> SS.empty +2 .SS.seek 0ml +2 "sampler")' +1275 "core" ' + "sampler")% +4 "core" %43 a\ +361 #t-> SS.status + "sampler")% +4 "core" %42 Y\ +2020 #t-> SS.to 2 +2 .SS.seek 2ml +2 "sampler")' +191 "core" ' + "sampler") % +4 "core" %43 _\  +445 #t-> SS.empty +2 .SS.seek 0ml +2 "sampler")!' +182 "core" ' + "sampler")"% +4 "core" % 60 W\ ' +174 #t-> SS.status + "sampler")#% +4 "core" % 54 `\ ' +1506 #t-> SS.to 5 +3 .SS.seek 5ml +2 "sampler")$'3- +330 "core" ' + "sampler")%% +4 "core" %305/ L\ n +505 #t-> SS.empty +2 .SS.seek 0ml +2 "sampler")&' +322 "core" ' + "sampler")'% +4 "core" %32 _\ 2 +275 #t-> SS.status + "sampler")(% +3 "core" %53 Z\ 2 +936 #t-> SS.to 5 +2 .SS.seek 5ml +2 "sampler"))'3- +332 "core" ' + "sampler")*% +4 "core" %3.4/ ]\ l +204 #t-> SS.empty +2 .SS.seek 0ml +2 "sampler")+' +321 "core" ' +2 "sampler"),% +4 "core" %41 ^\ 6 +162 #t-> SS.status + "sampler")-% +4 "core" %63 a\ 6 +871 #t-> SS.to 5 +2 .SS.seek 5ml +2 "sampler").'3- +327 "core" ' +2 "sampler")/% +4 "core" %3-50 _\ k +166 #t-> SS.empty +3 .SS.seek 0ml +2 "sampler")0' +323 "core" ' +2 "sampler")1% +4 "core" %\ 31 Z\ 0 +142 #t-> SS.status +2 "sampler")2% +3 "core" %\ 41 P\ 0 +920 #t-> SS.to 5 +2 .SS.seek 5ml +2 "sampler")3'3- +336 "core" ' + "sampler")4% +4 "core" %3-44 S\ j +153 #t-> SS.empty +2 .SS.seek 0ml +3 "sampler")5' +324 "core" ' +2 "sampler")6% +4 "core" %42 ]\ . +135 #t-> SS.status + "sampler")7% +4 "core" %42 O\ . +5040 #t-> exit +111 #mEXIT @1668628580.15PST @1668628589.90PST = =mMAIN_scheduler =tMAIN @PST1668628591.74 #"core_reset"Sent BREAK +2 #t@34616 receive with ifg=0x10, ie=0xFD + #@35255 receive with ifg=0x10, ie=0xFD #@35909 receive with ifg=0x10, ie=0xFD + #@36548 receive with ifg=0x10, ie=0xFD + #@37195 receive with ifg=0x10, ie=0xFD + #@37843 receive with ifg=0x10, ie=0xFD #@38490 receive with ifg=0x10, ie=0xFD + #@38816 receive with ifg=0x80, ie=0xFD #@27440 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +9 #ESP2 v3.42 I2C Gateway v3.20 for core bus +238 #Configuration for friday by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +390 "Can"\ U= + \ U=0 + #tPolling Can every 10:00 +4 #Cleanly exited at 11:56:19PST16-Nov-22 +2622 #-> SS.home.to :home +2 .SS.configure :default +155 "sampler") +2 ) +2 "core"  +2 "collection"' + ' +4 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +5 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %^\ 9\ 4z\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold +2 "collection"'+ +4 "core" + + .tCS.configure :default +3 "collection"'#P d@b +3 "processing"%% +3 "core" %ٹ\ + .tPS.configure :default +3 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +3 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %33 `\ . +2 .tSS.configure :default +2 "sampler")#.0X SS.to 5 +2 .SS.seek 5ml +2 "sampler")'3F +196 "core" ' +2 "sampler")% +4 "core" %3F43 V\ f +447 #t-> SS.to 0 +3 .SS.seek 0ml +2 "sampler")'$ +322 "core" ' +2 "sampler")% +4 "core" %(/0 S\ +268 #t-> SS.status +2 "sampler")% +3 "core" %(41 P\ +1048 #t-> SS.coast + .SS.coast + "sampler")5 +3 )% +3 "core" %942 W\ +895 #t-> SS.status + "sampler") % +4 "core" %33 S\ K +4708 #t-> SS.to 5 +3 .SS.seek 5ml + "sampler")!'3F +322 "core" ' + "sampler")"% +4 "core" %3M41 U\ +536 #t-> SS.to 0 +2 .SS.seek 0ml +2 "sampler")#'$ +309 "core" ' +2 "sampler")$% +4 "core" % 53 _\ +139 #t-> SS.status +2 "sampler")%% +3 "core" % 42 R\ +356 #t-> SS.to 5 +2 .SS.seek 5ml +2 "sampler")&'3F +358 "core" ' + "sampler")'% +4 "core" %3A43 S\ p +5505 #t-> SS.to 1 +2 .SS.seek 1ml +2 "sampler")(' +296 "core" ' +2 "sampler"))% +4 "core" %34 ]\ F +1146 #t-> SS.jog -2000 +2 .SS.jog -2000 + "sampler")*)0 +88 "core" ) + "sampler")+% +4 "core" %41 O\ +874 #t-> SS.jog -1000 +2 .SS.jog -1000 +2 "sampler"),) +57 "core" ) +2 "sampler")-% +4 "core" %02 O\ y +182 #t-> SS.jog -1000 +2 .SS.jog -1000 +2 "sampler").) +54 "core" ) + "sampler")/% +4 "core" %40 ]\  +495 #t-> SS.jog -500 +2 .SS.jog -500 +2 "sampler")0) +44 "core" ) + "sampler")1% +5 "core" %42 L\ +895 #t-> SS.status + "sampler")2% +4 "core" %41 Y\ +894 #t-> SS.coast + .SS.coast +2 "sampler")5 +2 )3% +3 "core" % 44 _\ +437 #t-> SS.status +2 "sampler")4% +3 "core" %42 R\  +13252 #t-> SS.to .5 +2 .SS.seek 0.5ml +2 "sampler")5' +86 "core" ' + "sampler")6% +4 "core" %63 \\\ r +253 #t-> SS.coast + .SS.coast + "sampler")5 +3 )7% +3 "core" %33 Y\ +1195 #t-> SS.status +2 "sampler")8% +3 "core" %V42 Y\  +1150 #t-> SS.to 0.5 +2 .SS.seek 0.5ml +2 "sampler")9' +86 "core" ' +2 "sampler"):% +4 "core" %63 `\ v +239 #t-> SS.coast +2 .SS.coast + "sampler")5 +2 );% +4 "core" %54 Z\ +909 #t-> SS.status + "sampler")<% +4 "core" %w62 U\ e +1147 #t-> SS.to 0.5 +2 .SS.seek 0.5ml +2 "sampler")=' +76 "core" ' +2 "sampler")>% +4 "core" %42 b\ t +185 #t-> SS.coast + .SS.coast +2 "sampler")5 +2 )?% +3 "core" %63 X\ +843 #t-> SS.status +2 "sampler")@% +3 "core" %42 d\  +7609 #t-> exit +6 #mEXIT @1668629119.19PST @1668629127.22PST = =mMAIN_scheduler =tMAIN @PST1668629129.13 #"core_reset"Sent BREAK +2 #t@42819 receive with ifg=0x10, ie=0xFD + #@43459 receive with ifg=0x10, ie=0xFD + #@44355 receive with ifg=0x10, ie=0xFD #@44998 receive with ifg=0x10, ie=0xFD + #@45645 receive with ifg=0x10, ie=0xFD #@46292 receive with ifg=0x10, ie=0xFD + #@46939 receive with ifg=0x10, ie=0xFD + #@47266 receive with ifg=0x80, ie=0xFD #@12028 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +8 #ESP2 v3.42 I2C Gateway v3.20 for core bus +247 #Configuration for friday by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +404 "Can"\ Jw + \ Jw1 + #tPolling Can every 10:00 +3 #Cleanly exited at 12:05:19PST16-Nov-22 +1261 #-> SS.home.to :home +2 .SS.configure :default +155 "sampler") +2 ) + "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %^\ 7\ 2\ + .tCS.configure :default +8 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +7 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %ٹ\ +2 .tPS.configure :default +3 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +4 "core" + + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %61 U\  +2 .tSS.configure :default +2 "sampler")#.0X SS.to 2 +3 .SS.seek 2ml + "sampler")'B +47 "core" ' +2 "sampler")% +4 "core" %>52 \\\ b +469 #t-> SS.to 0 +2 .SS.seek 0ml +2 "sampler")'ޚ +182 "core" ' +2 "sampler")% +4 "core" %ޙ40 ^\ +207 #t-> SS.status +2 "sampler")% +3 "core" %ޙ51 `\ +544 #t-> SS.to 2 +2 .SS.seek 2ml +2 "sampler")'B +245 "core" ' +2 "sampler")% +4 "core" %C62 a\ i +350 #t-> SS.empty +2 .SS.seek 0ml +2 "sampler") 'ޚ +203 "core" ' + "sampler")!% +4 "core" %ޕ52 Z\ A +222 #t-> SS.status +2 "sampler")"% +3 "core" %ޕ53 b\ A +1670 #t-> SS.to 2 +2 .SS.seek 2ml +2 "sampler")#'B +183 "core" ' + "sampler")$% +4 "core" %I62 U\ +188 #t-> SS.empty +2 .SS.seek 0ml +2 "sampler")%'ޚ +182 "core" ' +2 "sampler")&% +4 "core" %ޔ33 a\ 8 +157 #t-> SS.status +2 "sampler")'% +3 "core" %ޔ53 P\ 8 +367 #t-> SS.to 2 +3 .SS.seek 2ml +2 "sampler")('B +165 "core" ' + "sampler"))% +4 "core" %A52 R\ d +165 #t-> SS.empty +2 .SS.seek 0ml +2 "sampler")*'ޚ +179 "core" ' +2 "sampler")+% +4 "core" %ޟ43 _\ +139 #t-> SS.status +2 "sampler"),% +3 "core" %ޟ61 [\ +409 #t-> SS.to 5 +2 .SS.seek 5ml +2 "sampler")-'5> +318 "core" ' +2 "sampler").% +4 "core" %5=51 ^\ m +221 #t-> SS.empty +2 .SS.seek 0ml +2 "sampler")/'ޚ +318 "core" ' + "sampler")0% +4 "core" %ޞ52 [\ +130 #t-> SS.status +2 "sampler")1% +3 "core" %ޞ51 O\ +2420 #t-> SS.to 5 +2 .SS.seek 5ml +2 "sampler")2'5> +322 "core" ' + "sampler")3% +4 "core" %5943 [\ t +607 #t-> SS.to 0 +2 .SS.seek 0ml +2 "sampler")4'ޚ +318 "core" ' + "sampler")5% +4 "core" %ޟ13 P\ +157 #t-> SS.status + "sampler")6% +4 "core" %ޟ32 P\ +6163 #t-> exit +7 #mEXIT @1668629333.43PST @1668632640.93PST = =mMAIN_scheduler =tMAIN @PST1668632642.77 #"core_reset"Sent BREAK +2 #t@10588 receive with ifg=0x10, ie=0xFD + #@11226 receive with ifg=0x10, ie=0xFD #@11882 receive with ifg=0x10, ie=0xFD + #@12520 receive with ifg=0x10, ie=0xFD + #@13168 receive with ifg=0x10, ie=0xFD #@13815 receive with ifg=0x10, ie=0xFD + #@14462 receive with ifg=0x10, ie=0xFD + #@14788 receive with ifg=0x80, ie=0xFD #@12344 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +8 #ESP2 v3.42 I2C Gateway v3.20 for core bus +239 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +393 "Can"\ O+\ 1 + \ O+\ 12 + #tPolling Can every 10:00 +4 #Cleanly exited at 12:08:53PST16-Nov-22 +1131 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ + ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" %^\ (\ $z\ +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +2 "core" + +2 .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %ٹ\ + .tPS.configure :default +3 "processing"%#A d`xb +2 .tPS.hold +2 "processing"%+ +3 "core" + + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %ޟ2/ P\ + .tSS.configure :default +3 "sampler")#.0X SS.home.to :home +2 .SS.reconfigure :default +2 "sampler")#.0X ESP.ready? +2 "collection"'6% +3 "core" %^\ )\ "\ +2 "sampler")7% +4 "core" %1/ Z\ } + "manipulator"&8% +4 "core" % k  M  + "manipulator"&9& +4 "core" &8 ? # + "storage"(:& +4 "core" &[Y. t  + "storage"(;% +3 "core" %d  +2 "collection"'<& +3 "core" &r\ )\ &\  +2 "processing"%=& +3 "core" &r%\  +2 "processing"%>% +3 "core" %ٹ\ +2519 #t-> require "calarm.rb" +867 #-> Hand.open +2 .Hand.open + "manipulator"&?1 +59 "core" 1 +3446 #t-> calarm Garage +3 .Forearm.seek :retract +2 "manipulator"&@' ] +2 "core" ' +2 .tElbow.seek :clear +2 "manipulator"&A(Z +110 "core" ( +2 .tForearm.seek :retract +2 "manipulator"&B' ] +3 "core" ' +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&C(-] +113 "core" ( + .tElbow.coast + "manipulator"&6 +3 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +202 .Forearm.force -100 + "manipulator"&5 +32 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +23 &D& +2 "core" &-w  +2 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +3 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +23 &E& +2 "core" &-w S +2 .tForearm.force -40 + "manipulator"&5 +32 &F& +3 "core" &-w F + "manipulator"&G% +4 "core" %u P + .tForearm.coast +2 "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +32 &H% +3 "core" %w G + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +33 &I% +2 "core" %s | +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +32 .tForearm.coast + "manipulator"&5 +2 .tForearm.seek :retract +2 "manipulator"&J' ] +89 "core" ' + .tElbow.seek :clear +2 "manipulator"&K(Z +112 "core" ( +3 .tForearm.seek :retract +2 "manipulator"&L' ] +3 "core" ' +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&M(-] +129 "core" ( + .tElbow.coast + "manipulator"&6 +3 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +202 .Forearm.force -100 + "manipulator"&5 +32 .tElbow.force 65 +2 "manipulator"&6A +53 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +23 &N& +2 "core" &-w b m  +2 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +22 &O& +3 "core" &-w _ ^  +2 .tForearm.force -40 + "manipulator"&5 +33 &P& +2 "core" &-w V +2 "manipulator"&Q% +3 "core" %{ # +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +33 &R% +2 "core" %v H 9 + .tForearm.coast +2 "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +33 &S% +2 "core" %p | +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +33 .tForearm.coast + "manipulator"&5 +2 .tForearm.seek :retract +2 "manipulator"&T' ] +102 "core" ' +2 .tElbow.seek :clear +2 "manipulator"&U(Z +112 "core" ( +2 .tForearm.seek :retract +2 "manipulator"&V' ] +12 "core" ' +2 .tElbow.seek FlushPuck::Garage + "manipulator"&W(-] +119 "core" ( + .tElbow.coast + "manipulator"&6 +3 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +201 .Forearm.force -100 + "manipulator"&5 +34 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +17 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 +85 "manipulator"&6 +12 .tElbow.coast +2 "manipulator"&6 +22 &X& +2 "core" &-y k h H + .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.coast +2 "manipulator"&6 +22 &Y& +3 "core" &-x E D +2 .tForearm.force -40 + "manipulator"&5 +33 &Z& +2 "core" &-x R +2 "manipulator"&[% +3 "core" %~ L +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +32 &\\% +3 "core" %s v 1 +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +33 &]% +2 "core" %n  +2 .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +32 .tForearm.coast +2 "manipulator"&5 +2 .tForearm.seek :retract + "manipulator"&^' ] +106 "core" ' +2 .tElbow.seek :clear + "manipulator"&_(Z +113 "core" ( +2 .tForearm.seek :retract + "manipulator"&`' ] +4 "core" ' +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&a(-] +118 "core" ( +2 .tElbow.coast + "manipulator"&6 +2 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +202 .Forearm.force -100 + "manipulator"&5 +32 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.coast + "manipulator"&6 +22 &b& +3 "core" &-x D C + .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +22 &c& +3 "core" &-x P P M +2 .tForearm.force -40 + "manipulator"&5 +32 &d& +3 "core" &-x P + "manipulator"&e% +4 "core" % B + .tForearm.coast +2 "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +32 &f% +3 "core" %s 3 + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +32 &g% +3 "core" %m   + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +32 .tForearm.coast + "manipulator"&5 +3 .tForearm.seek :retract + "manipulator"&h' ] +104 "core" ' +2 .tElbow.seek :clear + "manipulator"&i(Z +130 "core" ( +2 .tForearm.seek :retract +2 "manipulator"&j' ] +4 "core" ' + .tElbow.seek FlushPuck::Garage +2 "manipulator"&k(-] +102 "core" ( + .tElbow.coast + "manipulator"&6 +2 .tForearm.force -70 +2 "manipulator"&5 +2 .tdelay 2 seconds +202 .Forearm.force -100 + "manipulator"&5 +32 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.coast +2 "manipulator"&6 +22 &l& +3 "core" &-y P F ? + .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +23 &m& +2 "core" &-x C G +2 .tForearm.force -40 + "manipulator"&5 +32 &n& +3 "core" &-x ` + "manipulator"&o% +4 "core" %π f + .tForearm.coast +2 "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +32 &p% +3 "core" %r 2 + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +32 &q% +3 "core" %l  + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +32 .tForearm.coast +2 "manipulator"&5 +5208 #t-> calarm Garage +3 .Forearm.seek :retract + "manipulator"&r' ] +105 "core" ' + .tElbow.seek :clear +2 "manipulator"&s(Z +115 "core" ( +2 .tForearm.seek :retract +2 "manipulator"&t' ] +4 "core" ' + .tElbow.seek FlushPuck::Garage +2 "manipulator"&u(-] +118 "core" ( + .tElbow.coast + "manipulator"&6 +3 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +201 .Forearm.force -100 + "manipulator"&5 +33 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +23 &v& +3 "core" &-w E E  + .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.coast +2 "manipulator"&6 +22 &w& +2 "core" &-x F E N +2 .tForearm.force -40 + "manipulator"&5 +33 &x& +2 "core" &-x & +2 "manipulator"&y% +3 "core" %ρ [ ~ +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +32 &z% +2 "core" %q 3 +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +32 &{% +2 "core" %l  +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +31 .tForearm.coast +2 "manipulator"&5 +2 .tForearm.seek :retract +2 "manipulator"&|' ] +96 "core" ' +2 .tElbow.seek :clear + "manipulator"&}(Z +135 "core" ( + .tForearm.seek :retract +2 "manipulator"&~' ] +4 "core" ' +2 .tElbow.seek FlushPuck::Garage + "manipulator"&(-] +130 "core" ( +2 .tElbow.coast + "manipulator"&6 +2 .tForearm.force -70 + "manipulator"&5 +38 .tdelay 2 seconds +211 .Forearm.force -100 + "manipulator"&5 +33 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 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"manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.coast +2 "manipulator"&6 +22 &D& +2 "core" &-w L W l +2 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +37 "manipulator"&6 +14 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +23 &E& +3 "core" &-w V U R + .tForearm.force -40 + "manipulator"&5 +33 &F& +3 "core" &-w  + "manipulator"&G% +4 "core" %τ  + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +32 &H% +3 "core" %p ( 1 + .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 +3 "manipulator"&5 +32 &I% +2 "core" %j  +2 .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +32 .tForearm.coast + "manipulator"&5 +3 .tForearm.seek :retract + "manipulator"&J' ] +93 "core" ' +2 .tElbow.seek :clear +2 "manipulator"&K(Z +114 "core" ( + .tForearm.seek :retract +2 "manipulator"&M' ] +4 "core" ' +2 .tElbow.seek FlushPuck::Garage + "manipulator"&L(-] +119 "core" ( + .tElbow.coast +2 "manipulator"&6 +2 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +202 .Forearm.force -100 + "manipulator"&5 +32 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.coast + "manipulator"&6 +22 &N& +3 "core" &-x V J & +2 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +23 &O& +2 "core" &-w S H = +2 .tForearm.force -40 + "manipulator"&5 +32 &P& +3 "core" &-w 1 + "manipulator"&Q% +4 "core" %σ . +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +32 &R% +2 "core" %q $ 8 +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +32 &S% +2 "core" %j  + .tForearm.coast +2 "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +33 .tForearm.coast + "manipulator"&5 +2 .tForearm.seek :retract +2 "manipulator"&T' ] +90 "core" ' +2 .tElbow.seek :clear + "manipulator"&U(Z +113 "core" ( +2 .tForearm.seek :retract + "manipulator"&W' ] +4 "core" ' +2 .tElbow.seek FlushPuck::Garage + "manipulator"&V(-] +118 "core" ( + .tElbow.coast +2 "manipulator"&6 +2 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +202 .Forearm.force -100 + "manipulator"&5 +32 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 +3 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +17 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 +2 "manipulator"&6 +14 .tElbow.coast + "manipulator"&6 +23 &X& +2 "core" &-x V U  +2 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +22 &Y& +3 "core" &-x J P M + .tForearm.force -40 + "manipulator"&5 +33 &Z& +3 "core" &-x ? +2 "manipulator"&[% +3 "core" %τ - + .tForearm.coast +2 "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +33 &\\% +3 "core" %p V 6 + .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +33 &]% +3 "core" %k #  + .tForearm.coast +2 "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +32 .tForearm.coast +2 "manipulator"&5 +15123 #t-> exit +6 #mEXIT @1668633235.48PST @1668633242.94PST = =tMAIN =mMAIN_scheduler @PST1668633244.75 #"core_reset"Sent BREAK +2 #t@11184 sendCRC with ifg=0x20, ie=0x7F + #@11631 sendCRC with ifg=0x20, ie=0x7F + #@12947 sendCRC with ifg=0x20, ie=0x7F #@14313 sendCRC with ifg=0x08, ie=0x5F + #@13001 sendCRC with ifg=0x20, ie=0x7F #@13448 sendCRC with ifg=0x20, ie=0x7F + #@14764 sendCRC with ifg=0x20, ie=0x7F + #@16130 sendCRC with ifg=0x08, ie=0x5F #@50426 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +9 #ESP2 v3.42 I2C Gateway v3.20 for core bus +235 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +186 "Can"\ K.\ 5 +200 \ K.\ @ + \ K.\ @1 + #tPolling Can every 10:00 +3 #Cleanly exited at 13:13:55PST16-Nov-22 +354 #-> ESP.ready! +154 "sampler") +3 ) +2 "core"  + "collection"' +2 ' +3 "core"  +2 "processing"% + % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %^\ '\ !\ + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +2 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %ٹ\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +4 "core" + + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %30 P\ } + .tSS.configure :default +3 "sampler")#.0X 25.times{Hand.open; Arm.grab Garage; delay 1; Arm.clear; delay 1; Arm.to Garage; Hand.open; Arm.clear} +2 .Hand.open +2 "manipulator"&21 +25 "core" 1 + "manipulator"&3& +4 "core" &-x +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&4(-w +3 "core" ( + "manipulator"&5& +4 "core" &-x  t  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &6& +2 "core" &-x   +2 .tForearm.seek :garage +2 "manipulator"&7'π +34 "core" ' + .tHand.close +2 "manipulator"&8/ +55 "core" / + .tdelay 1 second +102 "manipulator"&9& +3 "core" &-x 3  + "manipulator"&:% +4 "core" % ώs   F # +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&;' ] +168 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :clear + "manipulator"&<(Z +127 "core" ( +2 "manipulator"&=& +4 "core" &Z W \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &>& +3 "core" &Z  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :clear + "manipulator"&?' ] +22 "core" ' + .tdelay 1 second +102 "manipulator"&@& +3 "core" &Z  \ + "manipulator"&A% +4 "core" % S    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&B(-w +116 "core" ( + "manipulator"&C& +4 "core" &-{ k 7 j +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &D& +3 "core" &-{  j +2 .tForearm.seek :garage +2 "manipulator"&E'π +105 "core" ' +2 .tHand.open + "manipulator"&F1 +58 "core" 1 +2 "manipulator"&G& +3 "core" &-{  K j +2 "manipulator"&H% +3 "core" % }p  b h +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract +2 "manipulator"&I' ] +162 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&J(Z +138 "core" ( +2 "manipulator"&K& +4 "core" &Z   + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +2 "core" &Z   +2 .tForearm.seek :clear +2 "manipulator"&M' ] +3 "core" ' +2 "manipulator"&N& +3 "core" &Z   +2 "manipulator"&O% +4 "core" % m  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&P(-w +115 "core" ( + "manipulator"&Q& +4 "core" &-y  n +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &R& +2 "core" &-y  n +2 .tForearm.seek :garage +2 "manipulator"&S'π +105 "core" ' +2 .tHand.close + "manipulator"&T/ +54 "core" / + .tdelay 1 second +102 "manipulator"&U& +3 "core" &-y \ $ n +2 "manipulator"&V% +3 "core" % ϓb   +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&W' ] +162 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&X(Z +118 "core" ( + "manipulator"&Y& +4 "core" &Z k ( N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Z& +3 "core" &Z ~  N +2 .tForearm.reconfigure :tight +37 "manipulator"&#Q@2^d^\ b +9 .tForearm.seek :clear + "manipulator"&[' ] +22 "core" ' + .tdelay 1 second +102 "manipulator"&\\& +23 "core" &Z  N +2 "manipulator"&]% +4 "core" % :   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&^(-w +118 "core" ( + "manipulator"&_& +4 "core" &-{ H o +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &`& +3 "core" &-{  o +2 .tForearm.seek :garage +2 "manipulator"&a'π +110 "core" ' + .tHand.open +2 "manipulator"&b1 +53 "core" 1 +2 "manipulator"&c& +4 "core" &-{ +  O o + "manipulator"&d% +4 "core" % χT  "  " + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&e' ] +158 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&f(Z +137 "core" ( + "manipulator"&g& +4 "core" &Z t X  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &h& +3 "core" &Z  +2 .tForearm.seek :clear +2 "manipulator"&i' ] +3 "core" ' +2 "manipulator"&j& +3 "core" &Z  +2 "manipulator"&k% +3 "core" % W   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&l(-w +113 "core" ( +2 "manipulator"&m& +4 "core" &-t w y + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &n& +2 "core" &-t y +2 .tForearm.seek :garage +2 "manipulator"&o'π +109 "core" ' + .tHand.close + "manipulator"&p/ +59 "core" / + .tdelay 1 second +102 "manipulator"&q& +3 "core" &-t  y + "manipulator"&r% +4 "core" % ωm    +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&s' ] +162 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&t(Z +136 "core" ( + "manipulator"&u& +4 "core" &Z o u + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &v& +3 "core" &Z   u +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :clear +2 "manipulator"&w' ] +17 "core" ' + .tdelay 1 second +102 "manipulator"&x& +3 "core" &Z 0 u + "manipulator"&y% +4 "core" % H : +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&z(-w +113 "core" ( +2 "manipulator"&{& +4 "core" &-  l + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &|& +3 "core" &-  l +2 .tForearm.seek :garage + "manipulator"&}'π +104 "core" ' +2 .tHand.open + "manipulator"&~1 +54 "core" 1 + "manipulator"&& +4 "core" &-  H l + "manipulator"&% +4 "core" % πq  a f +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&' ] +153 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&(Z +137 "core" ( + "manipulator"&& +4 "core" &Z  J  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &Z &  +2 .tForearm.seek :clear +2 "manipulator"&' ] +3 "core" ' + "manipulator"&\ & +4 "core" &Z   + "manipulator"& % +4 "core" % g    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(-w +114 "core" ( +2 "manipulator"&& +4 "core" &-| 6 w + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &-|  w +2 .tForearm.seek :garage + "manipulator"&'π +109 "core" ' + .tHand.close + "manipulator"&/ +62 "core" / +2 .tdelay 1 second +102 "manipulator"&& +2 "core" &-|  9 w +2 "manipulator"&% +3 "core" % φm  7  +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +152 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&(Z +136 "core" ( + "manipulator"&& +4 "core" &Z o  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &Z    +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :clear +2 "manipulator"&' ] +16 "core" ' + .tdelay 1 second +102 "manipulator"&& +3 "core" &Z   + "manipulator"&% +4 "core" % g  ; +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(-w +101 "core" ( + "manipulator"&& +4 "core" &- ] W  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &- W  +2 .tForearm.seek :garage + "manipulator"&!'π +109 "core" ' +2 .tHand.open + "manipulator"&"1 +58 "core" 1 + "manipulator"&#& +4 "core" &- % /  + "manipulator"&$% +4 "core" % ψ\\ * # + . +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract +2 "manipulator"&%' ] +170 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&&(Z +129 "core" ( + "manipulator"&'& +4 "core" &Z   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &(& +3 "core" &Z   + .tForearm.seek :clear +2 "manipulator"&)' ] +3 "core" ' +2 "manipulator"&*& +3 "core" &Z   +2 "manipulator"&+% +3 "core" % k  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&,(-w +110 "core" ( +2 "manipulator"&-& +4 "core" &-l  U +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &.& +3 "core" &-l * U +2 .tForearm.seek :garage +2 "manipulator"&/'π +105 "core" ' + .tHand.close + "manipulator"&0/ +60 "core" / +2 .tdelay 1 second +101 "manipulator"&1& +3 "core" &-m  T +2 "manipulator"&2% +3 "core" % ϊr   +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&3' ] +152 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&5(Z +111 "core" ( +2 "manipulator"&6& +4 "core" &Z   "z + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &8& +3 "core" &Z\   "z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :clear + "manipulator"&9' ] +3 "core" ' +2 .tdelay 1 second +102 "manipulator"&:& +3 "core" &Z\  !w + "manipulator"&7% +4 "core" % ]  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&=(-w +119 "core" ( +2 "manipulator"&>& +4 "core" &- ~ > r + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &@& +3 "core" &-  r +2 .tForearm.seek :garage + "manipulator"&A'π +109 "core" ' + .tHand.open +2 "manipulator"&41 +52 "core" 1 + "manipulator"&C& +4 "core" &- #  r + "manipulator"&D% +4 "core" % χ\\  ! 4 + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract + "manipulator"&;' ] +151 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&F(Z +137 "core" ( + "manipulator"&<& +4 "core" &Z o  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &G& +3 "core" &Z ~ U  +2 .tForearm.seek :clear +2 "manipulator"&H' ] +3 "core" ' + "manipulator"&?& +4 "core" &Z I  + "manipulator"&E% +4 "core" % O  _  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&K(-w +101 "core" ( +2 "manipulator"&L& +4 "core" &-| %  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &N& +2 "core" &-|   +2 .tForearm.seek :garage +2 "manipulator"&O'π +109 "core" ' + .tHand.close +2 "manipulator"&Q/ +53 "core" / +2 .tdelay 1 second +101 "manipulator"&R& +3 "core" &-| \ Y  +2 "manipulator"&B% +3 "core" % ώo \   +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&I' ] +155 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&T(Z +114 "core" ( + "manipulator"&J& +4 "core" &Z\  x < !t +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &U& +3 "core" &Z\   !t +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :clear +2 "manipulator"&V' ] +24 "core" ' + .tdelay 1 second +102 "manipulator"&M& +3 "core" &Z  + !t +2 "manipulator"&Y% +3 "core" % E +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&Z(-w +121 "core" ( +2 "manipulator"&S& +4 "core" &-x  a + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &P& +3 "core" &-x  a +2 .tForearm.seek :garage + "manipulator"&\\'π +107 "core" ' +2 .tHand.open + "manipulator"&]1 +63 "core" 1 + "manipulator"&_& +4 "core" &-x   a +2 "manipulator"&`% +3 "core" % ψc \  @ +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&W' ] +154 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&X(Z +123 "core" ( + "manipulator"&b& +4 "core" &Z r "} +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &c& +3 "core" &Z  & "} +2 .tForearm.seek :clear +2 "manipulator"&d' ] +3 "core" ' +2 "manipulator"&[& +3 "core" &Z  "} +2 "manipulator"&a% +3 "core" % i    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&g(-w +108 "core" ( +2 "manipulator"&h& +4 "core" &-} o  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +2 "core" &-} z  +2 .tForearm.seek :garage +2 "manipulator"&k'π +109 "core" ' + .tHand.close + "manipulator"&m/ +55 "core" / +2 .tdelay 1 second +102 "manipulator"&n& +3 "core" &-}    + "manipulator"&^% +4 "core" % τo \ \  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&e' ] +157 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&f(Z +112 "core" ( +2 "manipulator"&p& +4 "core" &Z  > !t + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &q& +3 "core" &Z\  N !t +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :clear +2 "manipulator"&r' ] +10 "core" ' +2 .tdelay 1 second +102 "manipulator"&i& +2 "core" &Z\  !t +2 "manipulator"&o% +4 "core" %   + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&u(-w +105 "core" ( +2 "manipulator"&v& +4 "core" &- j  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +2 "core" &-  +2 .tForearm.seek :garage +2 "manipulator"&y'π +112 "core" ' +2 .tHand.open + "manipulator"&l1 +62 "core" 1 +2 "manipulator"&{& +4 "core" &- 2  S + "manipulator"&|% +4 "core" % φU   V # +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&s' ] +163 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&~(Z +132 "core" ( +2 "manipulator"&& +4 "core" &Z ?  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &Z   +2 .tForearm.seek :clear + "manipulator"&t' ] +10 "core" ' +2 "manipulator"&w& +4 "core" &Z e  + "manipulator"&% +4 "core" % }  \ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&}(-w +102 "core" ( +2 "manipulator"&& +4 "core" &-p &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &\ & +3 "core" &-p   +2 .tForearm.seek :garage +2 "manipulator"& 'π +104 "core" ' +2 .tHand.close + "manipulator"&/ +53 "core" / +37 .tdelay 1 second +111 "manipulator"&& +3 "core" &-p  Y  +2 "manipulator"&z% +3 "core" % ϔr \ p  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +157 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&(Z +113 "core" ( + "manipulator"&& +4 "core" &Z   # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +4 "core" &Z  y # # + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :clear +2 "manipulator"&' ] +20 "core" ' +2 .tdelay 1 second +102 "manipulator"&& +3 "core" &Z   # + "manipulator"&% +4 "core" % T  ! +2 .tElbow.reconfigure :tight +7 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(-w +119 "core" ( +2 "manipulator"&& +4 "core" &-z  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &-z  +2 .tForearm.seek :garage +2 "manipulator"&'π +104 "core" ' + .tHand.open +2 "manipulator"&1 +58 "core" 1 + "manipulator"&& +4 "core" &-z  . +2 "manipulator"& % +3 "core" % ψm N a +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +151 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :clear + "manipulator"&"(Z +116 "core" ( + "manipulator"&#& +4 "core" &Z q ^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &$& +3 "core" &Z ' ^ +2 .tForearm.seek :clear +2 "manipulator"&' ] +3 "core" ' + "manipulator"&& +4 "core" &Z  ^ +2 "manipulator"&!% +4 "core" % N  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&'(-w +119 "core" ( +2 "manipulator"&(& +4 "core" &-| ` e +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &*& +3 "core" &-| \\ e +2 .tForearm.seek :garage + "manipulator"&+'π +109 "core" ' +2 .tHand.close + "manipulator"&-/ +53 "core" / +2 .tdelay 1 second +102 "manipulator"&.& +3 "core" &-| \ e + "manipulator"&% +4 "core" % χk \ \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&%' ] +165 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&0(Z +132 "core" ( +2 "manipulator"&&& +4 "core" &Z 3  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &1& +3 "core" &Z   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :clear +2 "manipulator"&2' ] +15 "core" ' + .tdelay 1 second +102 "manipulator"&)& +3 "core" &Z   +2 "manipulator"&6% +3 "core" % 4   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&8(-w +116 "core" ( + "manipulator"&/& +4 "core" &-  f +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &:& +3 "core" &-  f +2 .tForearm.seek :garage +2 "manipulator"&7'π +110 "core" ' + .tHand.open +2 "manipulator"&,1 +58 "core" 1 + "manipulator"&>& +4 "core" &- 1  f +2 "manipulator"&@% +3 "core" % ψZ (  [ ) +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&3' ] +149 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&4(Z +137 "core" ( +2 "manipulator"&5& +4 "core" &Z r ? } + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &C& +4 "core" &Z  $ } +2 .tForearm.seek :clear + "manipulator"&D' ] +3 "core" ' +2 "manipulator"&9& +3 "core" &Z  } +2 "manipulator"&<% +3 "core" % T    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&A(-w +117 "core" ( +2 "manipulator"&G& +4 "core" &- w L g + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &?& +3 "core" &- ' g +2 .tForearm.seek :garage +2 "manipulator"&E'π +106 "core" ' +2 .tHand.close + "manipulator"&L/ +52 "core" / + .tdelay 1 second +102 "manipulator"&N& +3 "core" &-  5 g + "manipulator"&=% +4 "core" % φo  \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&;' ] +156 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&Q(Z +118 "core" ( +2 "manipulator"&F& +4 "core" &Z  . "~ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &R& +3 "core" &Z  + "~ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :clear +2 "manipulator"&B' ] +2 "core" ' +2 .tdelay 1 second +102 "manipulator"&H& +3 "core" &Z  : "} + "manipulator"&J% +4 "core" % [  f  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&U(-w +121 "core" ( + "manipulator"&O& +4 "core" &-} w  k +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +3 "core" &-}  k +2 .tForearm.seek :garage + "manipulator"&Y'π +113 "core" ' +2 .tHand.open + "manipulator"&K1 +61 "core" 1 +2 "manipulator"&S& +4 "core" &-} 2   k + "manipulator"&P% +4 "core" % ψZ + * ; % + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&I' ] +163 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&T(Z +118 "core" ( +2 "manipulator"&]& +4 "core" &Z\  I o +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &_& +4 "core" &Z\  o + .tForearm.seek :clear +2 "manipulator"&`' ] +4 "core" ' +2 "manipulator"&V& +3 "core" &Z\   o +2 "manipulator"&b% +4 "core" % U  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&c(-w +122 "core" ( +2 "manipulator"&\\& +4 "core" &-p  u + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &[& +3 "core" &-p  u +2 .tForearm.seek :garage + "manipulator"&a'π +107 "core" ' +2 .tHand.close + "manipulator"&h/ +63 "core" / + .tdelay 1 second +102 "manipulator"&j& +3 "core" &-p \  u + "manipulator"&Z% +4 "core" % ϓd \ H +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&W' ] +161 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&m(Z +115 "core" ( + "manipulator"&X& +4 "core" &Z  m # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &n& +2 "core" &Z  # +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :clear +2 "manipulator"&^' ] +14 "core" ' +2 .tdelay 1 second +102 "manipulator"&d& +3 "core" &Z  ' # + "manipulator"&p% +4 "core" % 7   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&q(-w +126 "core" ( + "manipulator"&k& +4 "core" &- X I \\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &i& +3 "core" &- 4 \\ +2 .tForearm.seek :garage +2 "manipulator"&o'π +105 "core" ' +3 .tHand.open + "manipulator"&g1 +62 "core" 1 + "manipulator"&v& +4 "core" &-  k \\ + "manipulator"&x% +4 "core" % ωd   R G +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&e' ] +152 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&f(Z +117 "core" ( +2 "manipulator"&l& +4 "core" &Z s "x + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &{& +2 "core" &Z  H "x +2 .tForearm.seek :clear +2 "manipulator"&|' ] +3 "core" ' +2 "manipulator"&r& +3 "core" &Z   "x +2 "manipulator"&y% +3 "core" % Z  )  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(-w +121 "core" ( +2 "manipulator"&& +4 "core" &-t m ' | + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &w& +2 "core" &-t   | +2 .tForearm.seek :garage +2 "manipulator"&'π +110 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / + .tdelay 1 second +102 "manipulator"&\ & +3 "core" &-t   = | + "manipulator"&u% +4 "core" % ύd  = +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&s' ] +161 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&(Z +115 "core" ( + "manipulator"&~& +4 "core" &Z\  F "y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +3 "core" &Z  = "y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :clear +2 "manipulator"&' ] +24 "core" ' + .tdelay 1 second +102 "manipulator"&z& +3 "core" &Z   "y + "manipulator"&% +4 "core" % ?   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&(-w +125 "core" ( + "manipulator"& & +4 "core" &-  e + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &- V e +2 .tForearm.seek :garage + "manipulator"&'π +106 "core" ' + .tHand.open +2 "manipulator"&}1 +55 "core" 1 + "manipulator"&& +4 "core" &-  e +2 "manipulator"&% +3 "core" % ϊ` 8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +151 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&(Z +138 "core" ( +2 "manipulator"&& +4 "core" &Z o   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &Z    +2 .tForearm.seek :clear + "manipulator"& ' ] +4 "core" ' + "manipulator"&& +4 "core" &Z   + "manipulator"&#% +4 "core" % c    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&$(-w +100 "core" ( + "manipulator"&& +4 "core" &-p  "  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &-p   +2 .tForearm.seek :garage + "manipulator"&!'π +109 "core" ' + .tHand.close +2 "manipulator"&(/ +53 "core" / +2 .tdelay 1 second +102 "manipulator"&*& +2 "core" &-q \   +2 "manipulator"&% +4 "core" % ϑl  + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +162 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&"(Z +124 "core" ( +2 "manipulator"&-& +4 "core" &Z { +  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &.& +3 "core" &Z \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :clear + "manipulator"&' ] +23 "core" ' + .tdelay 1 second +102 "manipulator"&& +3 "core" &Z  +2 "manipulator"&+% +3 "core" %  o +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&&(-w +117 "core" ( + "manipulator"&1& +4 "core" &-   n + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &)& +3 "core" &-  n +2 .tForearm.seek :garage + "manipulator"&6'π +105 "core" ' + .tHand.open + "manipulator"&'1 +55 "core" 1 +2 "manipulator"&/& +4 "core" &-   W m + "manipulator"&:% +4 "core" % χn \ h ] +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&%' ] +160 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&0(Z +134 "core" ( +2 "manipulator"&,& +4 "core" &Z   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &>& +3 "core" &Z  $  +2 .tForearm.seek :clear +2 "manipulator"&@' ] +61 "core" ' + "manipulator"&2& +4 "core" &Z   +2 "manipulator"&5% +3 "core" % Z  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&7(-w +117 "core" ( + "manipulator"&C& +5 "core" &- V x + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &9& +2 "core" &- 2 x +2 .tForearm.seek :garage +2 "manipulator"&<'π +107 "core" ' + .tHand.close +2 "manipulator"&G/ +59 "core" / +2 .tdelay 1 second +102 "manipulator"&8& +3 "core" &- x +2 "manipulator"&?% +4 "core" % ωa V +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&3' ] +168 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&L(Z +115 "core" ( + "manipulator"&4& +4 "core" &Z   !u +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &N& +3 "core" &Z t K !u +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :clear +2 "manipulator"&=' ] +21 "core" ' + .tdelay 1 second +102 "manipulator"&D& +3 "core" &Z  p !u + "manipulator"&F% +4 "core" % E & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&R(-w +107 "core" ( +2 "manipulator"&E& +3 "core" &-t '  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +2 "core" &-u   +2 .tForearm.seek :garage +2 "manipulator"&J'π +106 "core" ' + .tHand.open + "manipulator"&A1 +54 "core" 1 + "manipulator"&O& +4 "core" &-u  A  +2 "manipulator"&M% +3 "core" % ϊg   h H +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&;' ] +163 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&Q(Z +130 "core" ( + "manipulator"&K& +8 "core" &Z   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &S& +3 "core" &Z   +2 .tForearm.seek :clear +2 "manipulator"&P' ] +3 "core" ' + "manipulator"&B& +4 "core" &Z   + "manipulator"&]% +4 "core" % R  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&_(-w +113 "core" ( + "manipulator"&Y& +4 "core" &-{  i +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &V& +3 "core" &-{ , i +2 .tForearm.seek :garage +2 "manipulator"&b'π +108 "core" ' +2 .tHand.close + "manipulator"&\\/ +58 "core" / +2 .tdelay 1 second +102 "manipulator"&[& +3 "core" &-{  i + "manipulator"&U% +4 "core" % ω^ S +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&I' ] +166 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&T(Z +134 "core" ( +2 "manipulator"&h& +4 "core" &Z  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &j& +2 "core" &Z   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :clear +2 "manipulator"&Z' ] +12 "core" ' + .tdelay 1 second +102 "manipulator"&`& +3 "core" &Z   +2 "manipulator"&X% +3 "core" % u   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&n(-w +103 "core" ( + "manipulator"&a& +4 "core" &-|   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &d& +3 "core" &-|   +2 .tForearm.seek :garage + "manipulator"&p'π +106 "core" ' +2 .tHand.open +2 "manipulator"&c1 +63 "core" 1 +2 "manipulator"&k& +4 "core" &-|  a  + "manipulator"&i% +4 "core" % zo $ _ + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&W' ] +156 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :clear + "manipulator"&m(Z +113 "core" ( + "manipulator"&g& +4 "core" &Z m % # + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &v& +3 "core" &Z  # +2 .tForearm.seek :clear + "manipulator"&x' ] +15 "core" ' +2 "manipulator"&^& +4 "core" &Z   # + "manipulator"&l% +4 "core" % G +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&{(-w +121 "core" ( +2 "manipulator"&r& +5 "core" &-v  q + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &o& +2 "core" &-v  q +2 .tForearm.seek :garage +2 "manipulator"&y'π +106 "core" ' + .tHand.close + "manipulator"&/ +54 "core" / +2 .tdelay 1 second +102 "manipulator"&w& +2 "core" &-v q +2 "manipulator"&q% +3 "core" % ϐr  +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&e' ] +169 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&f(Z +115 "core" ( + "manipulator"&& +4 "core" &Z   # +2 .tElbow.reconfigure :loose +7 "manipulator"&$ &.,(#b +2 &\ & +3 "core" &Z  # +6 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :clear +2 "manipulator"&u' ] +10 "core" ' +2 .tdelay 1 second +101 "manipulator"&|& +3 "core" &Z # +2 "manipulator"&~% +3 "core" % i  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&t(-w +121 "core" ( + "manipulator"&& +4 "core" &-|  | + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &z& +3 "core" &-|  | +2 .tForearm.seek :garage + "manipulator"&'π +112 "core" ' +2 .tHand.open + "manipulator"&1 +60 "core" 1 + "manipulator"& & +4 "core" &-| 2  M | + "manipulator"&% +4 "core" % σV '  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&s' ] +165 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&(Z +129 "core" ( + "manipulator"&}& +4 "core" &Z * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &Z  +2 .tForearm.seek :clear +2 "manipulator"&' ] +12 "core" ' + "manipulator"&& +4 "core" &Z  +2 "manipulator"&% +3 "core" % a  . +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&(-w +118 "core" ( + "manipulator"&& +4 "core" &-w   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &-w   +2 .tForearm.seek :garage +2 "manipulator"&#'π +105 "core" ' + .tHand.close + "manipulator"&/ +64 "core" / + .tdelay 1 second +102 "manipulator"&& +3 "core" &-w   +2 "manipulator"&% +3 "core" % ϑh +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +168 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&((Z +116 "core" ( + "manipulator"&& +4 "core" &Z\  b m + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &*& +3 "core" &Z\   m +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :clear +2 "manipulator"&' ] +2 "core" ' +2 .tdelay 1 second +102 "manipulator"& & +2 "core" &Z   m +2 "manipulator"&-% +3 "core" % \\ $ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&!(-w +108 "core" ( +2 "manipulator"&.& +4 "core" &-p U  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &-p n o  +2 .tForearm.seek :garage +2 "manipulator"&+'π +103 "core" ' + .tHand.open +2 "manipulator"&$1 +60 "core" 1 + "manipulator"&1& +25 "core" &-p   + "manipulator"&)% +4 "core" % ωk   I V +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +154 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :clear +2 "manipulator"&'(Z +124 "core" ( +2 "manipulator"&/& +4 "core" &Z \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &"& +3 "core" &Z +2 .tForearm.seek :clear +2 "manipulator"&:' ] +3 "core" ' + "manipulator"&& +4 "core" &Z + "manipulator"&6% +4 "core" % L   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&,(-w +117 "core" ( + "manipulator"&>& +4 "core" &-q  K b +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &2& +2 "core" &-q  2 b +2 .tForearm.seek :garage +2 "manipulator"&5'π +109 "core" ' + .tHand.close + "manipulator"&&/ +62 "core" / + .tdelay 1 second +102 "manipulator"&C& +3 "core" &-r   0 a + "manipulator"&9% +4 "core" % ψl  W +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&%' ] +168 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&0(Z +109 "core" ( +2 "manipulator"&G& +4 "core" &Z n ] "x + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &8& +3 "core" &Z  * "x +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :clear +2 "manipulator"&?' ] +12 "core" ' +2 .tdelay 1 second +102 "manipulator"&@& +3 "core" &Z   "x + "manipulator"&4% +4 "core" % b  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&N(-w +119 "core" ( +2 "manipulator"&<& +4 "core" &-{ ' s + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &D& +2 "core" &-{  s +2 .tForearm.seek :garage +2 "manipulator"&F'π +109 "core" ' +2 .tHand.open + "manipulator"&71 +53 "core" 1 +2 "manipulator"&E& +3 "core" &-{ #   s +2 "manipulator"&H% +3 "core" % ωY ) ! ! ) +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&3' ] +166 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&A(Z +121 "core" ( +2 "manipulator"&O& +4 "core" &Z  $ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &M& +3 "core" &Z   $ + .tForearm.seek :clear +2 "manipulator"&L' ] +4 "core" ' +2 "manipulator"&=& +3 "core" &Z z  $ +2 "manipulator"&J% +3 "core" % L {  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&K(-w +122 "core" ( +2 "manipulator"&S& +4 "core" &- ` ~ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &B& +3 "core" &-  ~ +2 .tForearm.seek :garage +2 "manipulator"&]'π +104 "core" ' +2 .tHand.close + "manipulator"&Y/ +60 "core" / + .tdelay 1 second +102 "manipulator"&V& +3 "core" &-  ~ + "manipulator"&R% +4 "core" % ϓo  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&;' ] +153 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&Q(Z +115 "core" ( +2 "manipulator"&\\& +4 "core" &Z q  # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &[& +2 "core" &Z   # +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :clear +2 "manipulator"&U' ] +3 "core" ' + .tdelay 1 second +102 "manipulator"&P& +3 "core" &Z  3 # + "manipulator"&b% +4 "core" % Z R  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&h(-w +107 "core" ( + "manipulator"&j& +4 "core" &-} l ,  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &`& +3 "core" &-}  +2 .tForearm.seek :garage +37 "manipulator"&X'π +120 "core" ' + .tHand.open + "manipulator"&_1 +63 "core" 1 +2 "manipulator"&a& +3 "core" &-} *  *  +2 "manipulator"&d% +3 "core" % ωZ " +  % +3 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&I' ] +160 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&c(Z +128 "core" ( + "manipulator"&k& +4 "core" &Z ] +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &i& +2 "core" &Z  +2 .tForearm.seek :clear +2 "manipulator"&T' ] +3 "core" ' +2 "manipulator"&Z& +3 "core" &Z  +2 "manipulator"&g% +3 "core" % _   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&v(-w +100 "core" ( +2 "manipulator"&p& +4 "core" &-q n P  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &^& +3 "core" &-q   +2 .tForearm.seek :garage +2 "manipulator"&l'π +103 "core" ' +2 .tHand.close + "manipulator"&r/ +57 "core" / + .tdelay 1 second +102 "manipulator"&o& +3 "core" &-q \ z  + "manipulator"&n% +4 "core" % ϔo \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&W' ] +160 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&m(Z +115 "core" ( + "manipulator"&& +4 "core" &Z\  p !t +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &w& +3 "core" &Z\  !t +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :clear +2 "manipulator"&q' ] +17 "core" ' +3 .tdelay 1 second +102 "manipulator"&x& +3 "core" &Z\  u !t + "manipulator"&% +4 "core" % Y z O +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&\ (-w +121 "core" ( + "manipulator"&y& +4 "core" &-|  p + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &|& +3 "core" &-|  p +2 .tForearm.seek :garage + "manipulator"&~'π +108 "core" ' + .tHand.open + "manipulator"&{1 +62 "core" 1 + "manipulator"&& +4 "core" &-|   p + "manipulator"&z% +4 "core" % φ`   6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&e' ] +152 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&f(Z +122 "core" ( + "manipulator"&& +4 "core" &Z  |  e + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &Z  , e +2 .tForearm.seek :clear + "manipulator"&' ] +4 "core" ' +2 "manipulator"&u& +4 "core" &Z  e + "manipulator"&% +4 "core" % S  \  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&}(-w +120 "core" ( + "manipulator"&& +4 "core" &- o : x + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &-  x +2 .tForearm.seek :garage +2 "manipulator"&'π +103 "core" ' +2 .tHand.close + "manipulator"&/ +65 "core" / + .tdelay 1 second +102 "manipulator"&t& +3 "core" &- x + "manipulator"&% +4 "core" % ϑ{ 2 + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&s' ] +160 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :clear + "manipulator"&(Z +116 "core" ( + "manipulator"&& +4 "core" &Z  p "z +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &Z   "z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :clear + "manipulator"&' ] +21 "core" ' +2 .tdelay 1 second +102 "manipulator"&& +3 "core" &Z w "y + "manipulator"&% +4 "core" % K  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&*(-w +109 "core" ( + "manipulator"&#& +4 "core" &-l m V  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &-l  >  +2 .tForearm.seek :garage + "manipulator"&-'π +111 "core" ' + .tHand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&.& +4 "core" &-l 2   + "manipulator"&% +4 "core" % χU * '   + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +156 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&$(Z +114 "core" ( + "manipulator"&(& +4 "core" &Z  L # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &1& +4 "core" &Z  , # + .tForearm.seek :clear +3 "manipulator"&)' ] +4 "core" ' + "manipulator"&& +4 "core" &Z  i # +2 "manipulator"&/% +3 "core" % f   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage + "manipulator"&"(-w +120 "core" ( + "manipulator"&+& +4 "core" &- v   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &- x  +2 .tForearm.seek :garage +2 "manipulator"&6'π +107 "core" ' + .tHand.close +2 "manipulator"&>/ +52 "core" / + .tdelay 1 second +102 "manipulator"&2& +3 "core" &-  + "manipulator"&!% +4 "core" % ϑu  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +156 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&'(Z +118 "core" ( +2 "manipulator"&&& +3 "core" &Z o \ "} +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &C& +2 "core" &Z  . "} +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :clear +2 "manipulator"&9' ] +24 "core" ' + .tdelay 1 second +102 "manipulator"&:& +3 "core" &Z  "} + "manipulator"&G% +4 "core" % .  & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&8(-w +108 "core" ( + "manipulator"&5& +4 "core" &-r j }  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &@& +3 "core" &-r c  +2 .tForearm.seek :garage + "manipulator"&4'π +104 "core" ' +3 .tHand.open + "manipulator"&,1 +62 "core" 1 +2 "manipulator"&<& +3 "core" &-r  >  +2 "manipulator"&D% +4 "core" % πr  a f + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&%' ] +154 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&0(Z +134 "core" ( + "manipulator"&7& +4 "core" &Z o  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &E& +3 "core" &Z \  +2 .tForearm.seek :clear +2 "manipulator"&H' ] +3 "core" ' + "manipulator"&?& +4 "core" &Z  +2 "manipulator"&O% +3 "core" % P  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&F(-w +112 "core" ( +2 "manipulator"&M& +4 "core" &-{  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +2 "core" &-{   +2 .tForearm.seek :garage +2 "manipulator"&J'π +108 "core" ' + .tHand.close +2 "manipulator"&S/ +53 "core" / +2 .tdelay 1 second +101 "manipulator"&B& +3 "core" &-{ \ [  +2 "manipulator"&N% +3 "core" % φk {  +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract + "manipulator"&3' ] +164 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&A(Z +137 "core" ( +2 "manipulator"&Y& +3 "core" &Z   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +2 "core" &Z a  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :clear +2 "manipulator"&R' ] +15 "core" ' + .tdelay 1 second +102 "manipulator"&L& +3 "core" &Z   + "manipulator"&\\% +4 "core" % r   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&[(-w +113 "core" ( +2 "manipulator"&]& +4 "core" &-|  } + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &P& +3 "core" &-|  } +2 .tForearm.seek :garage + "manipulator"&b'π +112 "core" ' +2 .tHand.open + "manipulator"&K1 +57 "core" 1 + "manipulator"&j& +4 "core" &-|  } + "manipulator"&`% +4 "core" % ωY   ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&;' ] +155 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&Q(Z +134 "core" ( +2 "manipulator"&_& +4 "core" &Z 8  + .tElbow.reconfigure :loose +35 "manipulator"&$ &.,(#b +11 &a& +2 "core" &Z J  +2 .tForearm.seek :clear +2 "manipulator"&d' ] +3 "core" ' +2 "manipulator"&U& +3 "core" &Z    +2 "manipulator"&k% +3 "core" % l y   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&X(-w +118 "core" ( + "manipulator"&i& +4 "core" &- l 2  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Z& +3 "core" &-  +2 .tForearm.seek :garage +2 "manipulator"&g'π +108 "core" ' +2 .tHand.close + "manipulator"&p/ +57 "core" / +2 .tdelay 1 second +102 "manipulator"&^& +3 "core" &-    + "manipulator"&h% +4 "core" % ϋl  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&I' ] +165 "core" ' +2 .tElbow.reconfigure :tight +8 "manipulator"&$&.,(\ #b +7 .tElbow.seek :clear +2 "manipulator"&r(Z +158 "core" ( + "manipulator"&c& +4 "core" &Z  ' "} +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &o& +3 "core" &Z   "} +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :clear +2 "manipulator"&n' ] +16 "core" ' +2 .tdelay 1 second +102 "manipulator"&T& +3 "core" &Z  "} +2 "manipulator"&% +3 "core" %  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&w(-w +122 "core" ( +2 "manipulator"&l& +4 "core" &- g $ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &x& +2 "core" &-  +2 .tForearm.seek :garage +2 "manipulator"&'π +106 "core" ' + .tHand.open + "manipulator"&v1 +55 "core" 1 +2 "manipulator"&y& +4 "core" &- "   +2 "manipulator"&|% +3 "core" % ωY   i ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&W' ] +153 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :clear +2 "manipulator"&m(Z +137 "core" ( + "manipulator"&{& +4 "core" &Z o  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +4 "core" &Z "  + .tForearm.seek :clear +2 "manipulator"&z' ] +4 "core" ' + "manipulator"&q& +4 "core" &Z  P  + "manipulator"&% +4 "core" % p  ;  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"& (-w +101 "core" ( + "manipulator"&~& +4 "core" &-~ m   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &u& +2 "core" &-   +2 .tForearm.seek :garage +2 "manipulator"&'π +110 "core" ' + .tHand.close +2 "manipulator"&/ +60 "core" / + .tdelay 1 second +102 "manipulator"&& +3 "core" &- ! ( +  + "manipulator"&\ % +4 "core" % τ] * " $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&e' ] +151 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&f(Z +112 "core" ( +2 "manipulator"&& +3 "core" &Z  , # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +2 "core" &Z  # +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :clear +2 "manipulator"&' ] +12 "core" ' + .tdelay 1 second +102 "manipulator"&& +3 "core" &Z  { C # +2 "manipulator"&% +3 "core" % Z  ?  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(-w +123 "core" ( +2 "manipulator"&& +4 "core" &-x  } + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &-x z } +2 .tForearm.seek :garage +2 "manipulator"&'π +109 "core" ' + .tHand.open + "manipulator"&}1 +65 "core" 1 + "manipulator"&#& +4 "core" &-x  ! } +2 "manipulator"& % +3 "core" % ψ`  J 8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&s' ] +152 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&(Z +132 "core" ( +2 "manipulator"&.& +4 "core" &Z    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &Z   +2 .tForearm.seek :clear +2 "manipulator"&' ] +14 "core" ' +13622 "Can"\ J1 ^@ +3141 #t-> require "calarm.rb" +604 #-> Hand.open +3006 #-> calarm CC +2 .Forearm.seek :retract +2 "manipulator"&' ] +2 "core" ' +2 .tElbow.seek :clear +2 "manipulator"&((Z +3 "core" ( +2 .tForearm.seek :retract +2 "manipulator"&1' ] +3 "core" ' +2 .tElbow.seek CC +2 "manipulator"&-( +215 "core" ( + .tElbow.coast +2 "manipulator"&6 +2 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +202 .Forearm.force -100 + "manipulator"&5 +32 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +3 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +23 && +3 "core" & B C + .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 +16 "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +22 &/& +3 "core" & F E . + .tForearm.force -40 +2 "manipulator"&5 +32 &+& +2 "core" & +2 "manipulator"&% +3 "core" % + .tForearm.coast +2 "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +32 &*% +3 "core" % 7 + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +32 &% +3 "core" %  = + .tForearm.coast +2 "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +32 .tForearm.coast + "manipulator"&5 +3 .tForearm.seek :retract + "manipulator"&>' ] +97 "core" ' +2 .tElbow.seek :clear + "manipulator"&$(Z +213 "core" ( + .tForearm.seek :retract +2 "manipulator"&2' ] +23 "core" ' +2 .tElbow.seek CC +2 "manipulator"&!( +213 "core" ( +2 .tElbow.coast + "manipulator"&6 +2 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +202 .Forearm.force -100 + "manipulator"&5 +33 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +39 "manipulator"&6 +14 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.coast +2 "manipulator"&6 +22 &)& +2 "core" & @ A + .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.coast + "manipulator"&6 +22 &&& +3 "core" & E O > + .tForearm.force -40 + "manipulator"&5 +33 &C& +2 "core" &  +2 "manipulator"&6% +3 "core" % 4 +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +33 &:% +2 "core" % y +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +33 &G% +3 "core" % 7 : + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +33 .tForearm.coast + "manipulator"&5 +2 .tForearm.seek :retract +2 "manipulator"&"' ] +92 "core" ' +2 .tElbow.seek :clear + "manipulator"&5(Z +233 "core" ( +2 .tForearm.seek :retract + "manipulator"&@' ] +4 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +228 "core" ( + .tElbow.coast +2 "manipulator"&6 +2 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +202 .Forearm.force -100 + "manipulator"&5 +32 .tElbow.force 65 + "manipulator"&6A +13 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.tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +38 "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +23 &Y& +3 "core" & G R  + .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force 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seconds +202 .Forearm.force -100 + "manipulator"&5 +32 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +23 &Z& +2 "core" & U Q +2 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 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+13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.coast + "manipulator"&6 +22 &T& +3 "core" & J Q X + .tForearm.force -40 + "manipulator"&5 +33 && +2 "core" & c +2 "manipulator"&l% +3 "core" % d +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +33 &x% +2 "core" % T +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +33 &I% +4 "core" % q 3 + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +33 .tForearm.coast + "manipulator"&5 +2 .tForearm.seek :retract + "manipulator"&r' ] +104 "core" ' +2 .tElbow.seek :clear + "manipulator"&v(Z +210 "core" ( +2 .tForearm.seek :retract + "manipulator"&y' ] +4 "core" ' +2 .tElbow.seek CC + "manipulator"&|( +232 "core" ( + .tElbow.coast +2 "manipulator"&6 +2 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +202 .Forearm.force -100 + "manipulator"&5 +32 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +13 .tElbow.coast + "manipulator"&6 +22 &n& +3 "core" & S U @ + .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 +2 "manipulator"&6 +11 .tElbow.coast +2 "manipulator"&6 +22 &{& +2 "core" & U T E +2 .tForearm.force -40 + "manipulator"&5 +33 && +2 "core" &  +2 "manipulator"&% +3 "core" % H + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +33 &q% +2 "core" % n +2 .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +32 &% +3 "core" % | 1 +2 .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +32 .tForearm.coast +2 "manipulator"&5 +2 .tForearm.seek :retract + "manipulator"&~' ] +103 "core" ' + .tElbow.seek :clear +2 "manipulator"&u(Z +216 "core" ( + .tForearm.seek :retract +2 "manipulator"&w' ] +4 "core" ' + .tElbow.seek CC +2 "manipulator"&W( +213 "core" ( + .tElbow.coast +2 "manipulator"&6 +2 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +202 .Forearm.force -100 + "manipulator"&5 +32 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 +2 "manipulator"&6 +13 .tElbow.coast + "manipulator"&6 +22 && +3 "core" & V V f + .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +22 &m& +3 "core" & R J . +2 .tForearm.force -40 + "manipulator"&5 +33 && +2 "core" & +2 "manipulator"&\ % +3 "core" %  +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +32 &z% +2 "core" % : + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 +2 "manipulator"&5 +32 &% +3 "core" % 3 1 + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +33 .tForearm.coast + "manipulator"&5 +976 #t-> calarm CC +2 .Forearm.seek :retract +2 "manipulator"&t' ] +95 "core" ' + .tElbow.seek :clear +2 "manipulator"&(Z +218 "core" ( +2 .tForearm.seek :retract +2 "manipulator"&' ] +4 "core" ' + .tElbow.seek CC +2 "manipulator"&( +214 "core" ( +2 .tElbow.coast + "manipulator"&6 +2 .tForearm.force -70 +2 "manipulator"&5 +3 .tdelay 2 seconds +201 .Forearm.force -100 + "manipulator"&5 +33 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.coast + "manipulator"&6 +23 & & +2 "core" & P O R +2 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +11 .tElbow.coast +2 "manipulator"&6 +22 && +2 "core" & I G +2 .tForearm.force -40 + "manipulator"&5 +32 && +3 "core" & + "manipulator"&e% +4 "core" % = + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +32 &f% +3 "core" % $ + .tForearm.coast +2 "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +32 &}% +4 "core" % ! 1 + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 +2 "manipulator"&5 +32 .tForearm.coast + "manipulator"&5 +2 .tForearm.seek :retract + "manipulator"&#' ] +106 "core" ' +2 .tElbow.seek :clear + "manipulator"& (Z +218 "core" ( +2 .tForearm.seek :retract + "manipulator"&' ] +17 "core" ' +2 .tElbow.seek CC + "manipulator"&.( +216 "core" ( + .tElbow.coast + "manipulator"&6 +3 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +201 .Forearm.force -100 +2 "manipulator"&5 +32 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +14 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 +3 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +7 "manipulator"&6 +13 .tElbow.coast + "manipulator"&6 +22 && +3 "core" & T U + .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +23 && +2 "core" & f k +2 .tForearm.force -40 + "manipulator"&5 +32 && +3 "core" & + "manipulator"&s% +4 "core" %  + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +32 &% +3 "core" % G + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +32 &% +4 "core" % + 0 + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 +2 "manipulator"&5 +31 .tForearm.coast +2 "manipulator"&5 +2 .tForearm.seek :retract + "manipulator"&' ] +101 "core" ' + .tElbow.seek :clear +2 "manipulator"&((Z +211 "core" ( +2 .tForearm.seek :retract +2 "manipulator"&-' ] +3 "core" ' +2 .tElbow.seek CC +2 "manipulator"&1( +214 "core" ( + .tElbow.coast +2 "manipulator"&6 +2 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +202 .Forearm.force -100 + "manipulator"&5 +32 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +23 && +2 "core" & K I r +2 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +23 &/& +3 "core" & Q Q 8 +2 .tForearm.force -40 + "manipulator"&5 +33 &+& +3 "core" & * + "manipulator"&% +4 "core" % 8 + .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 +32 "manipulator"&5 +39 &*% +2 "core" % +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 +3 "manipulator"&5 +32 &% +2 "core" %  - + .tForearm.coast +2 "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +32 .tForearm.coast + "manipulator"&5 +3 .tForearm.seek :retract +2 "manipulator"&>' ] +92 "core" ' +2 .tElbow.seek :clear +2 "manipulator"&$(Z +210 "core" ( +2 .tForearm.seek :retract +2 "manipulator"&!' ] +4 "core" ' + .tElbow.seek CC +2 "manipulator"&2( +208 "core" ( + .tElbow.coast + "manipulator"&6 +3 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +202 .Forearm.force -100 + "manipulator"&5 +32 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.coast + "manipulator"&6 +23 &)& +2 "core" & Q I S +2 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +6 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +22 &&& +3 "core" & Q O & + .tForearm.force -40 + "manipulator"&5 +32 &C& +3 "core" & 5 +2 "manipulator"&6% +3 "core" % + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 +2 "manipulator"&5 +32 &:% +2 "core" % 8 + .tForearm.coast +2 "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +33 &G% +3 "core" % / + .tForearm.coast +2 "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +33 .tForearm.coast + "manipulator"&5 +2 .tForearm.seek :retract +2 "manipulator"&"' ] +91 "core" ' + .tElbow.seek :clear +2 "manipulator"&5(Z +211 "core" ( +2 .tForearm.seek :retract + "manipulator"&' ] +20 "core" ' +2 .tElbow.seek CC +2 "manipulator"&@( +213 "core" ( +2 .tElbow.coast + "manipulator"&6 +2 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +202 .Forearm.force -100 + "manipulator"&5 +33 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +23 &,& +2 "core" & T R ? + .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.coast +2 "manipulator"&6 +22 &<& +2 "core" & Q R E + .tForearm.force -40 +2 "manipulator"&5 +32 &'& +2 "core" &  +2 "manipulator"&D% +3 "core" % % +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +33 &9% +2 "core" %  + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 +2 "manipulator"&5 +32 &7% +2 "core" %  / +2 .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +32 .tForearm.coast + "manipulator"&5 +11260 #t-> Hand.open +820 #-> Arm.grab Garage +2 "manipulator"&4& +3 "core" & Z +2 "manipulator"&E% +4 "core" %. B +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&O' ] +145 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&?(-w +280 "core" ( + "manipulator"&M& +4 "core" &-~ k  \\ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &=& +2 "core" &-~ t ! \\ +2 .tForearm.seek :garage +2 "manipulator"&8'π +109 "core" ' + .tHand.close +2 "manipulator"&%/ +53 "core" / +540 #t-> Arm.clear +2 "manipulator"&S& +3 "core" &-~ / \\ +2 "manipulator"&0% +4 "core" % φg   + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&B' ] +162 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&N(Z +115 "core" ( + "manipulator"&J& +4 "core" &Z  i 1 h +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &H& +3 "core" &Z  - g +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :clear +2 "manipulator"&Y' ] +13 "core" ' +2 "manipulator"&V& +3 "core" &Z  g +2 "manipulator"&L% +3 "core" % S  +452 #t-> Elbow.CC +2 .Elbow.seek CC +2 "manipulator"&\\( +207 "core" ( +2 "manipulator"&F& +4 "core" &\  r : !p +4146 #t-> Forearm.jog -1000 +2 .Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b + .tForearm.jog -1000 +2 "manipulator"&]) +33 "core" ) + "manipulator"&P% +4 "core" %n   +285 #t-> Forearm.jog -1000 +2 .Forearm.jog -1000 +2 "manipulator"&3) +38 "core" ) +2 "manipulator"&K% +4 "core" % + +319 #t-> Forearm.jog -1000 +2 .Forearm.jog -1000 +2 "manipulator"&A) +53 "core" ) + "manipulator"&j% +42 "core" %   +157 #t-> Forearm.jog -1000 +2 .Forearm.jog -1000 +2 "manipulator"&`) +28 "core" ) +2 "manipulator"&R% +4 "core" % |  +218 #t-> Forearm.jog -1000 +3 .Forearm.jog -1000 +2 "manipulator"&_) +32 "core" ) +2 "manipulator"&b% +4 "core" %F  +173 #t-> Forearm.jog -1000 +2 .Forearm.jog -1000 + "manipulator"&a) +42 "core" ) + "manipulator"&U% +4 "core" %  +164 #t-> Forearm.jog -1000 +2 .Forearm.jog -1000 + "manipulator"&k) +34 "core" ) +2 "manipulator"&i% +4 "core" %~ v +159 #t-> Forearm.jog -1000 + .Forearm.jog -1000 +2 "manipulator"&[) +30 "core" ) +2 "manipulator"&Z% +4 "core" %  +269 #t-> Forearm.jog -1000 +2 .Forearm.jog -1000 + "manipulator"&;) +29 "core" ) + "manipulator"&Q% +4 "core" %  t +186 #t-> Forearm.jog -1000 +3 .Forearm.jog -1000 + "manipulator"&p) +36 "core" ) + "manipulator"&^% +4 "core" % } E  +226 #t-> Forearm.jog -1000 +2 .Forearm.jog -1000 +2 "manipulator"&h) +24 "core" ) +2 "manipulator"&d% +4 "core" % ; +241 #t-> Forearm.jog -1000 +2 .Forearm.jog -1000 +2 "manipulator"&g) +21 "core" ) +2 "manipulator"&o% +4 "core" % m Z +997 #t-> Forearm.jog -500 +2 .Forearm.jog -500 +2 "manipulator"&c) +18 "core" ) +2 "manipulator"&X% +4 "core" % +355 #t-> Forearm.jog -500 +2 .Forearm.jog -500 +2 "manipulator"&T) +24 "core" ) +2 "manipulator"&% +4 "core" %   ! ! +822 #t-> Forearm.jog -100 +2 .Forearm.jog -100 + "manipulator"&l) +21 "core" ) + "manipulator"&x% +4 "core" %ٵ y + ! +1836 "Can"\ P4 @ +1596 #t-> Arm.clear +2 "manipulator"&I& +3 "core" &\   o +2 "manipulator"&r% +4 "core" %ٵ x + ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&v' ] +139 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&|(Z +212 "core" ( +2 "manipulator"&y& +4 "core" &Z n  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &n& +3 "core" &Z   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :clear +2 "manipulator"&{' ] +2 "core" ' +2 "manipulator"&& +4 "core" &Z  +2 "manipulator"&% +3 "core" % \\  .  +39292 #t-> Elbow.CC +2 .Elbow.seek CC +2 "manipulator"&q( +208 "core" ( +2 "manipulator"&& +4 "core" &  a h +690 #t-> Forearm.jog -1000 +3 .Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.jog -1000 +2 "manipulator"&~) +37 "core" ) +2 "manipulator"&u% +4 "core" %  G +109 #t-> Forearm.jog -1000 +2 .Forearm.jog -1000 +2 "manipulator"&W) +25 "core" ) +2 "manipulator"&w% +4 "core" %   H +176 #t-> Forearm.jog -1000 +2 .Forearm.jog -1000 + "manipulator"&) +25 "core" ) + "manipulator"&m% +4 "core" %  2  +106 #t-> Forearm.jog -1000 +3 .Forearm.jog -1000 +2 "manipulator"&) +26 "core" ) + "manipulator"&\ % +4 "core" % j Y +121 #t-> Forearm.jog -1000 +2 .Forearm.jog -1000 +2 "manipulator"&z) +22 "core" ) +3 "manipulator"&% +4 "core" % \\ +112 #t-> Forearm.jog -1000 + .Forearm.jog -1000 +2 "manipulator"&t) +35 "core" ) +2 "manipulator"&% +4 "core" % :  +122 #t-> Forearm.jog -1000 +2 .Forearm.jog -1000 +2 "manipulator"&) +37 "core" ) +2 "manipulator"&% +4 "core" %  +138 #t-> Forearm.jog -1000 +2 .Forearm.jog -1000 + "manipulator"& ) +28 "core" ) + "manipulator"&% +4 "core" %) +160 #t-> Forearm.jog -1000 +2 .Forearm.jog -1000 +2 "manipulator"&) +31 "core" ) + "manipulator"&e% +4 "core" %2 K +148 #t-> Forearm.jog -1000 +3 .Forearm.jog -1000 +2 "manipulator"&f) +23 "core" ) +2 "manipulator"&}% +4 "core" %E m ) ! +338 #t-> Forearm.jog -1000 +2 .Forearm.jog -1000 + "manipulator"&#) +22 "core" ) + "manipulator"& % +4 "core" %i p 1 +184 #t-> Forearm.jog -1000 +2 .Forearm.jog -1000 +2 "manipulator"&.) +21 "core" ) + "manipulator"&% +4 "core" %q | N Y +187 #t-> Forearm.jog -1000 +2 .Forearm.jog -1000 +2 "manipulator"&) +26 "core" ) + "manipulator"&% +4 "core" %{ p A +713 #t-> Forearm.jog -200 +2 .Forearm.jog -200 +2 "manipulator"&)8 +12 "core" ) +2 "manipulator"&s% +4 "core" %؝  J j +149 #t-> Forearm.jog -200 +2 .Forearm.jog -200 + "manipulator"&)8 +12 "core" ) +2 "manipulator"&% +4 "core" % l : +147 #t-> Forearm.jog -200 +2 .Forearm.jog -200 + "manipulator"&)8 +26 "core" ) + "manipulator"&(% +4 "core" %J y " +150 #t-> Forearm.jog -200 +3 .Forearm.jog -200 + "manipulator"&1)8 +19 "core" ) + "manipulator"&-% +4 "core" %q ) : +473 #t-> Forearm.jog -200 +3 .Forearm.jog -200 + "manipulator"&)8 +21 "core" ) + "manipulator"&/% +4 "core" % y , +2576 #t-> Forearm.jog -Arm.clear +2 "manipulator"&+& +3 "core" &  - f +2 "manipulator"&% +4 "core" %  + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&*' ] +144 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&(Z +212 "core" ( + "manipulator"&>& +4 "core" &Z h -  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &$& +2 "core" &Z '  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :clear +2 "manipulator"&2' ] +8 "core" ' +2 "manipulator"&!& +3 "core" &Z m I  +2 !to:Axis::Error:@axisName"\ Elbow: mesg"Unknown Elbow position: -@:bt["0/home/esp/esp2/lib/axis.rb:513:in `baseRaw'",/home/esp/esp2/lib/axis.rb:297:in `raw'"1/home/esp/esp2/lib/axismap.rb:175:in `fetch'"1/home/esp/esp2/lib/axismap.rb:163:in `fetch'"./home/esp/esp2/lib/axis.rb:281:in `fetch'",/home/esp/esp2/lib/axis.rb:292:in `raw'",/home/esp/esp2/lib/axis.rb:553:in `raw'"./home/esp/esp2/lib/axis.rb:667:in `near?'",/home/esp/esp2/utils/misc.rb:32:in `to'"8/home/esp/esp2/utils/misc.rb:38:in `method_missing'"(ESP):47:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'":0 +7674 #-> Arm.clear +2 "manipulator"&)& +3 "core" &Z  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&&(Z +2 "core" ( +2 "manipulator"&C& +3 "core" &Z  S  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &6& +3 "core" &Z   +2 .tForearm.seek :clear +2 "manipulator"&:' ] +23 "core" ' + "manipulator"&G& +4 "core" &Z   +2 "manipulator"&"% +42 "core" % O / +2862 "Can"=\ K7 @ +11455 #t-> Elbow.CC +2 .Elbow.seek CC +2 "manipulator"&5( +211 "core" ( + "manipulator"&@& +4 "core" &\   !w +1177 #t-> Forearm.jog -1000 +2 .Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.jog -1000 +2 "manipulator"&) +34 "core" ) +2 "manipulator"&,% +4 "core" % p +105 #t-> Forearm.jog -1000 +2 .Forearm.jog -1000 +2 "manipulator"&<) +39 "core" ) + "manipulator"&'% +4 "core" % X  +94 #t-> Forearm.jog -1000 +2 .Forearm.jog -1000 + "manipulator"&D) +44 "core" ) +2 "manipulator"&9% +4 "core" % 1 5 +88 #t-> Forearm.jog -1000 +2 .Forearm.jog -1000 + "manipulator"&7) +25 "core" ) +2 "manipulator"&4% +4 "core" % = & +91 #t-> Forearm.jog -1000 +2 .Forearm.jog -1000 +2 "manipulator"&E) +24 "core" ) +2 "manipulator"&M% +4 "core" % ( / +115 #t-> Forearm.jog -1000 +2 .Forearm.jog -1000 + "manipulator"&=) +25 "core" ) + "manipulator"&%% +4 "core" % +101 #t-> Forearm.jog -1000 +2 .Forearm.jog -1000 +2 "manipulator"&O) +21 "core" ) +2 "manipulator"&S% +3 "core" % \  +98 #t-> Forearm.jog -1000 +3 .Forearm.jog -1000 + "manipulator"&0) +29 "core" ) + "manipulator"&J% +5 "core" % 7 f +120 #t-> Forearm.jog -1000 +2 .Forearm.jog -1000 + "manipulator"&H) +35 "core" ) +2 "manipulator"&8% +4 "core" %G  W +127 #t-> Forearm.jog -1000 +2 .Forearm.jog -1000 + "manipulator"&V) +23 "core" ) +2 "manipulator"&L% +4 "core" %h   +139 #t-> Forearm.jog -1000 +2 .Forearm.jog -1000 +2 "manipulator"&?) +22 "core" ) + "manipulator"&B% +4 "core" %  2 +342 #t-> Forearm.jog -1000 +2 .Forearm.jog -1000 + "manipulator"&F) +22 "core" ) + "manipulator"&N% +4 "core" %ݏ v ` +713 #t-> Forearm.jog -200 +2 .Forearm.jog -200 +2 "manipulator"&P)8 +20 "core" ) + "manipulator"&Y% +4 "core" % 6 +141 #t-> Forearm.jog -200 +2 .Forearm.jog -200 + "manipulator"&K)8 +27 "core" ) +2 "manipulator"&]% +4 "core" % < +162 #t-> Forearm.jog -200 +2 .Forearm.jog -200 +2 "manipulator"&j)8 +14 "core" ) +2 "manipulator"&R% +4 "core" %!  N +215 #t-> Forearm.jog -200 + .Forearm.jog -200 +2 "manipulator"&3)8 +25 "core" ) + "manipulator"&b% +4 "core" %v v +186 #t-> Forearm.jog -200 +2 .Forearm.jog -200 + "manipulator"&A)8 +17 "core" ) + "manipulator"&U% +4 "core" %ٜ [ p +212 #t-> Forearm.jog -200 +2 .Forearm.jog -200 + "manipulator"&`)8 +12 "core" ) +2 "manipulator"&i% +4 "core" % o e +207 #t-> Forearm.jog -200 + .Forearm.jog -200 +2 "manipulator"&_)8 +22 "core" ) + "manipulator"&Z% +4 "core" % 0 +266 #t-> Forearm.jog -200 +2 .Forearm.jog -200 +2 "manipulator"&a)8 +23 "core" ) +2 "manipulator"&k% +4 "core" %9  +662 #t-> Forearm.jog -100 +2 .Forearm.jog -100 + "manipulator"&Q) +20 "core" ) + "manipulator"&^% +4 "core" % 5  +580 #t-> Forearm.jog -100 +2 .Forearm.jog -100 + "manipulator"&[) +13 "core" ) +2 "manipulator"&d% +4 "core" %m   +1009 #t-> Forearm.jog -50 +2 .Forearm.jog -50 + "manipulator"&;) +17 "core" ) + "manipulator"&o% +4 "core" % q _ +9691 #t-> Forearm.jog -50 +2 .Forearm.jog -50 +2 "manipulator"&p) +15 "core" ) +2 "manipulator"&h% +4 "core" %դ  , +230 #t-> Forearm.jog -50 +2 .Forearm.jog -50 +2 "manipulator"&X) +13 "core" ) +2 "manipulator"&g% +4 "core" %j  6 +169 #t-> Forearm.jog -50 +2 .Forearm.jog -50 +2 "manipulator"&) +9 "core" ) + "manipulator"&c% +4 "core" %) E +186 #t-> Forearm.jog -50 +2 .Forearm.jog -50 +2 "manipulator"&x) +10 "core" ) + "manipulator"&T% +4 "core" % B +392 #t-> Forearm.jog -50 +2 .Forearm.jog -50 + "manipulator"&I) +11 "core" ) + "manipulator"&r% +4 "core" % , & +428 #t-> Forearm.jog -50 +2 .Forearm.jog -50 +2 "manipulator"&l) +9 "core" ) +2 "manipulator"&y% +4 "core" %Ԋ * +176 #t-> Forearm.jog -50 +2 .Forearm.jog -50 + "manipulator"&n) +9 "core" ) +2 "manipulator"&% +4 "core" %O 3 +559 #t-> Forearm.jog -50 +2 .Forearm.jog -50 + "manipulator"&) +9 "core" ) + "manipulator"&\\% +4 "core" %/ 5  +485 #t-> Forearm.jog -50 +3 .Forearm.jog -50 + "manipulator"&v) +10 "core" ) +2 "manipulator"&% +4 "core" % =  +407 #t-> Forearm.jog -50 + .Forearm.jog -50 +2 "manipulator"&|) +9 "core" ) +2 "manipulator"&u% +4 "core" %   +213 #t-> Forearm.jog -50 +2 .Forearm.jog -50 +2 "manipulator"&w) +10 "core" ) +2 "manipulator"&{% +4 "core" %Ӡ ` +247 #t-> Forearm.jog -50 +2 .Forearm.jog -50 +2 "manipulator"&m) +10 "core" ) +2 "manipulator"&~% +4 "core" %9 e n +283 #t-> Forearm.jog -50 +2 .Forearm.jog -50 +2 "manipulator"&\ ) +12 "core" ) + "manipulator"&W% +4 "core" %\    +218 #t-> Forearm.jog -50 + .Forearm.jog -50 +2 "manipulator"&) +10 "core" ) + "manipulator"&% +4 "core" % u  > +388 #t-> Forearm.jog -50 +2 .Forearm.jog -50 +2 "manipulator"&) +11 "core" ) + "manipulator"&% +4 "core" %ҕ & +162 #t-> Forearm.jog -50 +2 .Forearm.jog -50 + "manipulator"&) +11 "core" ) +2 "manipulator"&z% +3 "core" %= m < i +348 #t-> Forearm.jog -50 +40 .Forearm.jog -50 +3 "manipulator"&) +12 "core" ) + "manipulator"&t% +4 "core" % 1  +381 #t-> Forearm.jog -50 +2 .Forearm.jog -50 +2 "manipulator"&e) +8 "core" ) +2 "manipulator"&% +4 "core" % F +349 #t-> Forearm.jog -50 +2 .Forearm.jog -50 + "manipulator"&}) +9 "core" ) +2 "manipulator"& % +4 "core" %  +748 #t-> Forearm.jog -50 +2 .Forearm.jog -50 +2 "manipulator"&) +16 "core" ) + "manipulator"& % +4 "core" %њ 3 +24120 "Can"F\ S:i @ +9999 #t-> Forearm.status + "manipulator"&% +4 "core" %љ +10930 #t-> Arm.to Garage +2 "manipulator"&f& +3 "core" & ` +2 "manipulator"&% +4 "core" %љ ? +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&#' ] +152 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&.(-w +283 "core" ( +2 "manipulator"&s& +4 "core" &-z @ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &-z + @ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&'π +106 "core" ' + "manipulator"&(& +4 "core" &-z Z g r @ +2 "manipulator"&% +3 "core" %xR d e   +1198 #t-> Hand.open + .Hand.open +2 "manipulator"&-1 +62 "core" 1 +356 #t-> Arm.clear +2 "manipulator"&& +3 "core" &-z ^ a @ +2 "manipulator"&% +4 "core" % xY ] c  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&/' ] +163 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +3 "manipulator"&1(Z +122 "core" ( + "manipulator"&+& +4 "core" &Z [ J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &Z & J +2 .tForearm.seek :clear +2 "manipulator"&' ] +19 "core" ' +2 "manipulator"&>& +4 "core" &Z x  J + "manipulator"&$% +4 "core" % q  +510 #t-> exit +6 #mEXIT @1668635891.51PST @1668635903.24PST = =tMAIN =mMAIN_scheduler @PST1668635905.13 #"core_reset"Sent BREAK +2 #t@43128 receive with ifg=0x10, ie=0xFD + #@43762 receive with ifg=0x10, ie=0xFD + #@44418 receive with ifg=0x10, ie=0xFD #@45052 receive with ifg=0x10, ie=0xFD + #@45686 receive with ifg=0x10, ie=0xFD + #@46320 receive with ifg=0x10, ie=0xFD #@46954 receive with ifg=0x10, ie=0xFD + #@47280 receive with ifg=0x80, ie=0xFD #@35653 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +8 #ESP2 v3.42 I2C Gateway v3.20 for core bus +245 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +412 "Can"R\ M; ah + R\ M; ah- + #tPolling Can every 10:00 +4 #Cleanly exited at 13:58:11PST16-Nov-22 +1074 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  + "collection"' +2 ' +3 "core"  +2 "processing"% + % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" %^\ "\ \ +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +4 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %ٹ\ + .tPS.configure :default +3 "processing"%#A d`xb +2 .tPS.hold +2 "processing"%+ +2 "core" + + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" %42 H\ } +2 .tSS.configure :default +3 "sampler")#.0X Hand.open + .Hand.open +2 "manipulator"&41 +25 "core" 1 +949 #t-> Arm.grab Garage + "manipulator"&5& +4 "core" &Z  J + "manipulator"&6% +4 "core" % q \\ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&7(-w +117 "core" ( + "manipulator"&8& +4 "core" &-}  b +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &9& +3 "core" &-} p b +2 .tForearm.seek :garage +2 "manipulator"&:'π +105 "core" ' +2 .tHand.close + "manipulator"&;/ +52 "core" / +909 #t-> Arm.to CC + "manipulator"&<& +4 "core" &-} K D  b +2 "manipulator"&=% +4 "core" % ϊg N F . +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&>' ] +166 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&?( +271 "core" ( +2 "manipulator"&@& +4 "core" & n 0 l + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &A& +3 "core" & k ! l +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&B'љ +99 "core" ' +2 "manipulator"&C& +4 "core" &\  h + "manipulator"&D% +4 "core" %ш > +7070 #t-> Forearm.jog -20 +2 .Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.jog -20 +6 "manipulator"&E) +3 "core" ) +2 "manipulator"&F% +4 "core" %ш +338 #t-> Forearm.jog -20 +2 .Forearm.jog -20 +2 "manipulator"&G) +2 "core" ) +2 "manipulator"&H% +4 "core" %ш A +1566 #t-> Forearm.status +2 "manipulator"&I% +3 "core" %ш . +4232 #t-> exit +7 #mEXIT @1668636094.76PST @1668636102.00PST = =tMAIN =mMAIN_scheduler @PST1668636103.80 #"core_reset"Sent BREAK +2 #t@24830 receive with ifg=0x10, ie=0xFD + #@25464 receive with ifg=0x10, ie=0xFD #@26120 receive with ifg=0x10, ie=0xFD + #@26754 receive with ifg=0x10, ie=0xFD + #@27389 receive with ifg=0x10, ie=0xFD #@28023 receive with ifg=0x10, ie=0xFD + #@28657 receive with ifg=0x10, ie=0xFD #@28983 receive with ifg=0x80, ie=0xFD + #@41489 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +8 #ESP2 v3.42 I2C Gateway v3.20 for core bus +233 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +378 "Can""\ T< + "\ T< - + #tPolling Can every 10:00 +4 #Cleanly exited at 14:01:34PST16-Nov-22 +1708 #-> Arm.clear +154 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +3 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %^\ \ \ + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +5 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +4 "core" %ٹ\ + .tPS.configure :default +3 "processing"%#A d`xb +2 .tPS.hold +2 "processing"%+ +2 "core" + + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %71 J\ } +2 .tSS.configure :default +3 "sampler")#.0X  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &Z   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :clear +2 "manipulator"&' ] +27 "core" ' +2 "manipulator"&& +4 "core" &Z J  + "manipulator"& % +4 "core" % = |  +4854 #t-> Arm.to Garage + "manipulator"&!& +4 "core" &Z .  +2 "manipulator"&"% +4 "core" % = : + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&#(-w +116 "core" ( +2 "manipulator"&$& +3 "core" &-v f % R +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &%& +4 "core" &-v B R +2 .tForearm.seek :garage + "manipulator"&&'π +102 "core" ' +2 "manipulator"&'& +4 "core" &-v V [ R + "manipulator"&(% +4 "core" %ϊ[ 8 I N . +381 #t-> Hand.open + .Hand.open +2 "manipulator"&)1 +57 "core" 1 +1253 #t-> Arm.clear + "manipulator"&*& +3 "core" &-v O O { R +2 "manipulator"&+% +67 "core" % ϊa P N . +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&,' ] +155 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&-(Z +115 "core" ( +2 "manipulator"&.& +4 "core" &Z  Q b + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &/& +3 "core" &Z  I b +2 .tForearm.seek :clear + "manipulator"&0' ] +3 "core" ' +2 "manipulator"&1& +4 "core" &Z  f b + "manipulator"&2% +4 "core" % N M  +287 #t-> ESP.ready! +2 "collection"'3% +3 "processing"%4% +4 "core" %^\ \ \ +3 "manipulator"&5% +4 "sampler")6% +5 "core" %ٹ$\ + % N e  + %42 U\ } + "manipulator"&7& +4 "core" &Z  b +2 "storage"(8& +3 "core" &[Y. z   + "storage"(9% +4 "core" %d   +2 "collection"':& +3 "core" &r\ \ \  +2 "processing"%;& +3 "core" &r"\  +2 "collection"'< +3 "core"  + "collection"'= +3 "core"  +2 "collection"'> +3 "core"  + "processing"%? +3 "core"  +2 "processing"%@ +3 "core" U + "processing"%A +3 "core"  +2 "processing"%B +3 "core" @ + "sampler")C +3 "core"  +2 "collection"'D% +3 "core" %^\ !\ \ +2 "processing"%E% +4 "core" %ٹ"\ +2 "sampler")F% +3 "core" %64 D\ } +2 "collection"'G& +4 "core" &r\ !\ \  + "processing"%H& +4 "core" &r#\  +2 "manipulator"&I% +3 "core" % N }  +2 "manipulator"&J& +4 "core" &Z  u b + "storage"(K& +4 "core" &[Y.    +2 "storage"(L% +3 "core" %d  ;  +2 "collection"'M9 +3 "core" 9 +2 "processing"%N9 +3 "core" 9 +366 #t-> Hand.open +443 #-> Arm.to Garage + "manipulator"&O& +4 "core" &Z  U b + "manipulator"&P% +4 "core" % N w  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&Q(-w +116 "core" ( +3 "manipulator"&R& +4 "core" &-{ ~ h + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &S& +2 "core" &-{ ; h +2 .tForearm.seek :garage +2 "manipulator"&T'π +109 "core" ' +2 "manipulator"&U& +4 "core" &-{ @ O ? h + "manipulator"&V% +4 "core" %τe P M @ +311 #t-> Hand.close +2 .Hand.close + "manipulator"&W/ +55 "core" / +736 #t-> Arm.clear + "manipulator"&X& +4 "core" &-{ O P v h + "manipulator"&Y% +4 "core" % τh O O +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&Z' ] +166 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&[(Z +114 "core" ( + "manipulator"&\\& +5 "core" &Z  - ` + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &]& +2 "core" &Z ` +37 .tForearm.reconfigure :tight +8 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :clear + "manipulator"&^' ] +3 "core" ' +2 "manipulator"&_& +3 "core" &Z   ` +2 "manipulator"&`% +3 "core" % X M +671 #t-> Arm.to CC +2 "manipulator"&a& +3 "core" &Z ` +2 "manipulator"&b% +4 "core" % X M +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&c( +206 "core" ( + "manipulator"&d& +4 "core" &  # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &e& +3 "core" &  u # +2 .tForearm.seek CC +2 "manipulator"&f'ш +88 "core" ' +2 "manipulator"&g& +4 "core" &   "~ + "manipulator"&h% +4 "core" %ч  +733 #t-> Arm.clear + "manipulator"&i& +4 "core" &   "| + "manipulator"&j% +4 "core" %ч   +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&k' ] +148 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&l(Z +226 "core" ( + "manipulator"&m& +4 "core" &Z t Q [ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &n& +3 "core" &Z  [ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :clear +2 "manipulator"&o' ] +3 "core" ' + "manipulator"&p& +4 "core" &Z $ [ +2 "manipulator"&q% +3 "core" % S   +656 #t-> Arm.to Garage +2 "manipulator"&r& +3 "core" &Z % [ +2 "manipulator"&s% +4 "core" % S %  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&t(-w +110 "core" ( +2 "manipulator"&u& +3 "core" &-z f Y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &v& +3 "core" &-z Y +2 .tForearm.seek :garage +2 "manipulator"&w'π +109 "core" ' + "manipulator"&x& +4 "core" &-z [ i s Y +2 "manipulator"&y% +3 "core" %πO b c 4 \ +388 #t-> Hand.open +2 .Hand.open + "manipulator"&z1 +63 "core" 1 +360 #t-> Arm.clear +2 "manipulator"&{& +3 "core" &-z _ c Y +2 "manipulator"&|% +4 "core" % πT e c \ + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract + "manipulator"&}' ] +161 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&~(Z +122 "core" ( + "manipulator"&& +4 "core" &Z @ J + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &Z  J +2 .tForearm.seek :clear + "manipulator"&' ] +4 "core" ' + "manipulator"&& +4 "core" &Z / J +2 "manipulator"&% +3 "core" % e  +743 #t-> require "calarm.rb" +1096 #-> calarm PC +2 .Forearm.seek :retract +2 "manipulator"&' ] +3 "core" ' +2 .tElbow.seek :clear + "manipulator"&(Z +18 "core" ( +2 .tForearm.seek :retract +2 "manipulator"&\ ' ] +4 "core" ' + .tElbow.seek PC +2 "manipulator"& ( +175 "core" ( + .tElbow.coast +2 "manipulator"&6 +2 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +202 .Forearm.force -100 + "manipulator"&5 +32 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +22 && +3 "core" & C / + .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.coast + "manipulator"&6 +22 && +3 "core" & D 5 + .tForearm.force -40 + "manipulator"&5 +33 && +2 "core" &\  +2 "manipulator"&% +3 "core" % S +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +33 &% +2 "core" %  +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +33 &% +3 "core" %   + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +32 .tForearm.coast +2 "manipulator"&5 +2 .tForearm.seek :retract + "manipulator"&' ] +90 "core" ' + .tElbow.seek :clear +2 "manipulator"&(Z +186 "core" ( +2 .tForearm.seek :retract +2 "manipulator"&' ] +3 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +190 "core" ( +2 .tElbow.coast + "manipulator"&6 +2 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +202 .Forearm.force -100 + "manipulator"&5 +32 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +23 && +2 "core" & = C +2 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +13 .tElbow.coast + "manipulator"&6 +22 && +87 "core" & P + .tForearm.force -40 + "manipulator"&5 +33 & & +2 "core" & I +2 "manipulator"&% +3 "core" %  +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +33 &% +2 "core" % u e +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +32 &!% +2 "core" % K u + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +33 .tForearm.coast + "manipulator"&5 +2 .tForearm.seek :retract +2 "manipulator"&"' ] +89 "core" ' +2 .tElbow.seek :clear +2 "manipulator"&$(Z +203 "core" ( + .tForearm.seek :retract +2 "manipulator"&%' ] +4 "core" ' +2 .tElbow.seek PC + "manipulator"&'( +182 "core" ( + .tElbow.coast + "manipulator"&6 +3 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +201 .Forearm.force -100 +2 "manipulator"&5 +32 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.coast +2 "manipulator"&6 +22 &(& +2 "core" & S +2 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.coast +2 "manipulator"&6 +23 && +2 "core" & | +2 .tForearm.force -40 + "manipulator"&5 +32 && +3 "core" &  + "manipulator"&)% +4 "core" %  + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +32 &*% +3 "core" % Z + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +32 &+% +3 "core" % l + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +32 .tForearm.coast +2 "manipulator"&5 +2 .tForearm.seek :retract + "manipulator"&.' ] +103 "core" ' + .tElbow.seek :clear +2 "manipulator"&/(Z +203 "core" ( +3 .tForearm.seek :retract +2 "manipulator"&&' ] +15 "core" ' +2 .tElbow.seek PC +2 "manipulator"&1( +170 "core" ( + .tElbow.coast + "manipulator"&6 +3 .tForearm.force -70 + "manipulator"&5 +2 .tdelay 2 seconds +202 .Forearm.force -100 + "manipulator"&5 +32 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +11 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.coast +2 "manipulator"&6 +22 &2& +2 "core" &  +2 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 +36 "manipulator"&6A +22 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.coast + "manipulator"&6 +23 &#& +2 "core" & : +2 .tForearm.force -40 + "manipulator"&5 +32 &3& +3 "core" & +2 "manipulator"&,% +3 "core" %  + .tForearm.coast +2 "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +32 &5% +3 "core" % ^ h + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +32 &4% +3 "core" % E  + .tForearm.coast +2 "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +32 .tForearm.coast +2 "manipulator"&5 +2 .tForearm.seek :retract + "manipulator"&6' ] +99 "core" ' + .tElbow.seek :clear +2 "manipulator"&7(Z +186 "core" ( +2 .tForearm.seek :retract +2 "manipulator"&8' ] +16 "core" ' +2 .tElbow.seek PC + "manipulator"&9( +178 "core" ( + .tElbow.coast + "manipulator"&6 +3 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +202 .Forearm.force -100 + "manipulator"&5 +32 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +22 &:& +3 "core" & + .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.coast + "manipulator"&6 +23 &;& +2 "core" & +2 .tForearm.force -40 + "manipulator"&5 +32 &<& +3 "core" &  + "manipulator"&=% +4 "core" %  + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +33 &>% +2 "core" % > V +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +32 &?% +2 "core" % X k +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +31 .tForearm.coast +2 "manipulator"&5 +1131 #t-> calarm PC +3 .Forearm.seek :retract + "manipulator"&@' ] +98 "core" ' +2 .tElbow.seek :clear + "manipulator"&A(Z +184 "core" ( +2 .tForearm.seek :retract +2 "manipulator"&B' ] +18 "core" ' +2 .tElbow.seek PC +2 "manipulator"&C( +178 "core" ( + .tElbow.coast + "manipulator"&6 +2 .tForearm.force -70 +2 "manipulator"&5 +2 .tdelay 2 seconds +203 .Forearm.force -100 + "manipulator"&5 +32 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +11 .tElbow.coast +2 "manipulator"&6 +23 &D& +2 "core" & +2 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +11 .tElbow.coast +2 "manipulator"&6 +22 &E& +3 "core" & 6 + .tForearm.force -40 + "manipulator"&5 +32 &F& +3 "core" & + "manipulator"&G% +4 "core" % + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +32 &H% +3 "core" % M + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +32 &I% +3 "core" % ] c + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +33 .tForearm.coast + "manipulator"&5 +2 .tForearm.seek :retract +2 "manipulator"&J' ] +103 "core" ' +2 .tElbow.seek :clear + "manipulator"&K(Z +188 "core" ( +2 .tForearm.seek :retract +2 "manipulator"&L' ] +4 "core" ' + .tElbow.seek PC +2 "manipulator"&M( +178 "core" ( +2 .tElbow.coast +2 "manipulator"&6 +2 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +202 .Forearm.force -100 + "manipulator"&5 +32 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +6 "manipulator"&6A +12 .tElbow.force -65 +3 "manipulator"&6 +11 .tElbow.coast +2 "manipulator"&6 +22 &N& +2 "core" &  +2 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +23 &O& +2 "core" &  +2 .tForearm.force -40 + "manipulator"&5 +32 &P& +3 "core" & M + "manipulator"&R% +4 "core" % X + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +32 &S% +3 "core" % a g + .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +32 &U% +3 "core" % I ~ +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +32 .tForearm.coast + "manipulator"&5 +2 .tForearm.seek :retract + "manipulator"&V' ] +97 "core" ' +2 .tElbow.seek :clear +2 "manipulator"&-(Z +207 "core" ( +2 .tForearm.seek :retract +2 "manipulator"&0' ] +3 "core" ' +2 .tElbow.seek PC + "manipulator"&W( +184 "core" ( + .tElbow.coast + "manipulator"&6 +3 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +201 .Forearm.force -100 +2 "manipulator"&5 +32 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +13 .tElbow.coast +2 "manipulator"&6 +22 &X& +2 "core" &  + .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +41 "manipulator"&6 +14 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +23 &Y& +2 "core" & $ +2 .tForearm.force -40 + "manipulator"&5 +32 &\\& +3 "core" &\  W + "manipulator"&]% +4 "core" % A + .tForearm.coast +2 "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +32 &T% +3 "core" % _ + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 +2 "manipulator"&5 +32 &_% +3 "core" % F z + .tForearm.coast +2 "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +32 .tForearm.coast + "manipulator"&5 +3 .tForearm.seek :retract + "manipulator"&`' ] +94 "core" ' + .tElbow.seek :clear +2 "manipulator"&Q(Z +203 "core" ( +2 .tForearm.seek :retract +2 "manipulator"&Z' ] +4 "core" ' + .tElbow.seek PC +2 "manipulator"&a( +184 "core" ( +2 .tElbow.coast + "manipulator"&6 +2 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +202 .Forearm.force -100 + "manipulator"&5 +32 .tElbow.force 65 + "manipulator"&6A +14 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +22 &b& +3 "core" & Y + .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +23 &d& +2 "core" &  +2 .tForearm.force -40 + "manipulator"&5 +32 &e& +3 "core" & M + "manipulator"&[% +4 "core" % N + .tForearm.coast +2 "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +32 &g% +3 "core" % P + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +32 &h% +4 "core" % ' f +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +33 .tForearm.coast + "manipulator"&5 +2 .tForearm.seek :retract +2 "manipulator"&^' ] +93 "core" ' + .tElbow.seek :clear +2 "manipulator"&i(Z +198 "core" ( +2 .tForearm.seek :retract +2 "manipulator"&j' ] +4 "core" ' + .tElbow.seek PC +2 "manipulator"&f( +174 "core" ( +2 .tElbow.coast + "manipulator"&6 +2 .tForearm.force -70 +2 "manipulator"&5 +2 .tdelay 2 seconds +202 .Forearm.force -100 + "manipulator"&5 +32 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.coast +2 "manipulator"&6 +22 &m& +2 "core" & ! +2 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.coast + "manipulator"&6 +23 &n& +2 "core" &  +2 .tForearm.force -40 + "manipulator"&5 +32 &p& +3 "core" & V +2 "manipulator"&q% +3 "core" % + .tForearm.coast +2 "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +32 &c% +3 "core" % I + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +32 &k% +4 "core" % u \\ + .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +32 .tForearm.coast + "manipulator"&5 +974 #t-> calarm PC +3 .Forearm.seek :retract + "manipulator"&r' ] +93 "core" ' + .tElbow.seek :clear +2 "manipulator"&s(Z +201 "core" ( +2 .tForearm.seek :retract +2 "manipulator"&u' ] +4 "core" ' +2 .tElbow.seek PC + "manipulator"&v( +172 "core" ( + .tElbow.coast + "manipulator"&6 +3 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +202 .Forearm.force -100 + "manipulator"&5 +32 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.coast + "manipulator"&6 +22 &x& +3 "core" &  + .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +43 .tElbow.force -65 +8 "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.coast + "manipulator"&6 +22 &y& +3 "core" &  + .tForearm.force -40 + "manipulator"&5 +33 &l& +3 "core" & + "manipulator"&o% +4 "core" % + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +32 &z% +3 "core" % = U + .tForearm.coast +2 "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +33 &{% +2 "core" % { o + .tForearm.coast +2 "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +32 .tForearm.coast + "manipulator"&5 +3 .tForearm.seek :retract +2 "manipulator"&|' ] +94 "core" ' + .tElbow.seek :clear +2 "manipulator"&(Z +189 "core" ( +2 .tForearm.seek :retract +2 "manipulator"&' ] +3 "core" ' +2 .tElbow.seek PC + "manipulator"&w( +190 "core" ( + .tElbow.coast +2 "manipulator"&6 +2 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +201 .Forearm.force -100 + "manipulator"&5 +33 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.coast + "manipulator"&6 +22 && +3 "core" & $ + .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.coast +2 "manipulator"&6 +22 && +2 "core" &  + .tForearm.force -40 +2 "manipulator"&5 +32 &t& +3 "core" & J + "manipulator"&}% +4 "core" % P + .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +33 &% +2 "core" % W b +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +32 &~% +2 "core" % { + .tForearm.coast +2 "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +33 .tForearm.coast + "manipulator"&5 +2 .tForearm.seek :retract +2 "manipulator"&' ] +93 "core" ' + .tElbow.seek :clear +2 "manipulator"&(Z +186 "core" ( +2 .tForearm.seek :retract + "manipulator"& ' ] +4 "core" ' +2 .tElbow.seek PC +2 "manipulator"&\ ( +194 "core" ( + .tElbow.coast + "manipulator"&6 +2 .tForearm.force -70 +2 "manipulator"&5 +2 .tdelay 2 seconds +202 .Forearm.force -100 + "manipulator"&5 +33 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +23 && +2 "core" & y  +2 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +13 .tElbow.coast + "manipulator"&6 +22 && +3 "core" & + .tForearm.force -40 + "manipulator"&5 +33 && +3 "core" & / + "manipulator"&% +4 "core" % W + .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +33 &% +3 "core" % _ Q + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +32 &% +3 "core" % " g + .tForearm.coast +2 "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +32 .tForearm.coast + "manipulator"&5 +3 .tForearm.seek :retract + "manipulator"&' ] +102 "core" ' +2 .tElbow.seek :clear +2 "manipulator"&(Z +182 "core" ( +3 .tForearm.seek :retract +2 "manipulator"&' ] +3 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +193 "core" ( + .tElbow.coast +2 "manipulator"&6 +2 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +201 .Forearm.force -100 +2 "manipulator"&5 +32 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +37 "manipulator"&6A +13 .tElbow.force -65 +2 "manipulator"&6 +17 .tElbow.coast +2 "manipulator"&6 +22 && +2 "core" & ~ +2 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +14 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +23 && +2 "core" &  +2 .tForearm.force -40 + "manipulator"&5 +32 & & +3 "core" & . + "manipulator"&% +4 "core" % O + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +33 &% +3 "core" % R X + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +32 &!% +3 "core" % h + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +32 .tForearm.coast +2 "manipulator"&5 +2 .tForearm.seek :retract + "manipulator"&"' ] +96 "core" ' + .tElbow.seek :clear +2 "manipulator"&$(Z +222 "core" ( +2 .tForearm.seek :retract + "manipulator"&'' ] +4 "core" ' +2 .tElbow.seek PC + "manipulator"&%( +177 "core" ( + .tElbow.coast +2 "manipulator"&6 +2 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +202 .Forearm.force -100 + "manipulator"&5 +32 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +23 &(& +2 "core" & i k ~ +2 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +23 && +2 "core" & k j +2 .tForearm.force -40 + "manipulator"&5 +32 && +3 "core" &  @ + "manipulator"&)% +4 "core" % 2 + .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +32 &*% +2 "core" % J e +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +33 &+% +2 "core" % < t +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +33 .tForearm.coast + "manipulator"&5 +15574 "Can",\ H?( +424 #t-> Arm.clear +2 "manipulator"&.& +3 "core" & 4 +2 "manipulator"&/% +4 "core" %]   +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&1' ] +147 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&&(Z +203 "core" ( + "manipulator"&2& +4 "core" &Z   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &#& +3 "core" &Z  +2 .tForearm.seek :clear +2 "manipulator"&3' ] +3 "core" ' + "manipulator"&,& +4 "core" &Z  +2 "manipulator"&5% +3 "core" % m  +726 #t-> Arm.to Garage +2 "manipulator"&4& +3 "core" &Z   +2 "manipulator"&6% +4 "core" % m  D  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&7(-w +113 "core" ( + "manipulator"&9& +4 "core" &-  Y z +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &8& +3 "core" &-  z +2 .tForearm.seek :garage + "manipulator"&:'π +109 "core" ' + "manipulator"&;& +4 "core" &- \  * z +2 "manipulator"&<% +3 "core" %ϒe  m +1216 #t-> Arm.clear +2 "manipulator"&=& +3 "core" &- z + "manipulator"&>% +4 "core" %ϒj  = +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract + "manipulator"&?' ] +167 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&@(Z +115 "core" ( + "manipulator"&A& +4 "core" &Z  ~ n $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &C& +3 "core" &Z  M $ +2 .tForearm.seek :clear +2 "manipulator"&B' ] +3 "core" ' +2 "manipulator"&D& +4 "core" &Z  $ + "manipulator"&E% +4 "core" % Y  i 3 +211 #t-> exit +6 #mEXIT @1668636745.29PST @1668636752.72PST = =tMAIN =mMAIN_scheduler @PST1668636754.51 #"core_reset"Sent BREAK +2 #t@49103 receive with ifg=0x10, ie=0xFD + #@49738 receive with ifg=0x10, ie=0xFD + #@50394 receive with ifg=0x10, ie=0xFD #@51030 receive with ifg=0x10, ie=0xFD + #@51664 receive with ifg=0x10, ie=0xFD + #@52298 receive with ifg=0x10, ie=0xFD #@52932 receive with ifg=0x10, ie=0xFD + #@53258 receive with ifg=0x80, ie=0xFD #@41837 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +9 #ESP2 v3.42 I2C Gateway v3.20 for core bus +235 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +383 "Can"/\ M@5 + /\ M@52 + #tPolling Can every 10:00 +4 #Cleanly exited at 14:12:25PST16-Nov-22 +697 #-> ESP.ready! +154 "sampler") + ) +3 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %^\ \ \ + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +3 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %ٹ\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold +2 "processing"%+ +2 "core" + + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %61 T\ } + .tSS.configure :default +3 "sampler")#.0X Hand.open +2 .Hand.open +2 "manipulator"&41 +17 "core" 1 +823 #t-> Arm.grab Garage +2 "manipulator"&5& +3 "core" &Z   # +2 "manipulator"&6% +4 "core" % Y 3 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&7(-w +124 "core" ( + "manipulator"&8& +4 "core" &-z s +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &9& +3 "core" &-z  s +2 .tForearm.seek :garage +2 "manipulator"&:'π +107 "core" ' + .tHand.close +2 "manipulator"&;/ +56 "core" / +1045 #t-> Arm.clear +2 "manipulator"&<& +3 "core" &-z s +2 "manipulator"&=% +4 "core" % ώj +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&>' ] +163 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&?(Z +118 "core" ( +2 "manipulator"&@& +4 "core" &Z  {  !p + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &A& +3 "core" &Z  !p +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :clear +2 "manipulator"&B' ] +3 "core" ' +2 "manipulator"&C& +3 "core" &Z   !p +2 "manipulator"&D% +3 "core" % \\  +974 #t-> Elbow.PC +2 .Elbow.seek PC +2 "manipulator"&E( +185 "core" ( + "manipulator"&F& +4 "core" &  < +9861 #t-> Forearm.jog -1000 +2 .Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.jog -1000 +2 "manipulator"&G) +23 "core" ) + "manipulator"&H% +4 "core" %c b +216 #t-> Forearm.jog -1000 +2 .Forearm.jog -1000 +2 "manipulator"&I) +45 "core" ) + "manipulator"&J% +4 "core" %V   +122 #t-> Forearm.jog -1000 +2 .Forearm.jog -1000 + "manipulator"&K) +39 "core" ) + "manipulator"&L% +4 "core" % 5 +193 #t-> Forearm.jog -1000 +2 .Forearm.jog -1000 +2 "manipulator"&M) +23 "core" ) + "manipulator"&N% +4 "core" % A Q +109 #t-> Forearm.jog -1000 +2 .Forearm.jog -1000 +2 "manipulator"&O) +19 "core" ) +2 "manipulator"&P% +4 "core" %  d +79 #t-> Forearm.jog -1000 + .Forearm.jog -1000 +2 "manipulator"&Q) +22 "core" ) + "manipulator"&R% +4 "core" % _ L +70 #t-> Forearm.jog -1000 +2 .Forearm.jog -1000 +2 "manipulator"&S) +19 "core" ) +2 "manipulator"&T% +4 "core" % q H +76 #t-> Forearm.jog -1000 +2 .Forearm.jog -1000 +2 "manipulator"&U) +26 "core" ) +2 "manipulator"&V% +4 "core" %  +69 #t-> Forearm.jog -1000 +3 .Forearm.jog -1000 + "manipulator"&W) +20 "core" ) + "manipulator"&X% +5 "core" %  +74 #t-> Forearm.jog -1000 +2 .Forearm.jog -1000 + "manipulator"&Y) +33 "core" ) + "manipulator"&Z% +4 "core" %6  +57 #t-> Forearm.jog -1000 +2 .Forearm.jog -1000 +2 "manipulator"&[) +29 "core" ) + "manipulator"&\\% +5 "core" %a  G +76 #t-> Forearm.jog -1000 +2 .Forearm.jog -1000 + "manipulator"&]) +21 "core" ) +2 "manipulator"&^% +4 "core" %i  3 +65 #t-> Forearm.jog -1000 +2 .Forearm.jog -1000 +2 "manipulator"&_) +33 "core" ) + "manipulator"&`% +5 "core" %ِ  ) +62 #t-> Forearm.jog -1000 +6 .Forearm.jog -1000 + "manipulator"&a) +28 "core" ) +2 "manipulator"&b% +4 "core" %՜  P +84 #t-> Forearm.jog -1000 +2 .Forearm.jog -1000 +2 "manipulator"&c) +26 "core" ) +2 "manipulator"&d% +4 "core" %Ѡ  J +2013 #t-> Forearm.jog -100 +2 .Forearm.jog -100 + "manipulator"&e) +25 "core" ) +2 "manipulator"&f% +4 "core" %E   +1419 #t-> Forearm.status +2 "manipulator"&g% +3 "core" %E S  +7487 #t-> Arm.clear + "manipulator"&h& +4 "core" & | < +2 "manipulator"&i% +4 "core" %E 1  + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&j' ] +144 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&k(Z +196 "core" ( +2 "manipulator"&l& +4 "core" &Z   ' + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &m& +2 "core" &Z \ & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :clear +2 "manipulator"&n' ] +3 "core" ' + "manipulator"&o& +4 "core" &Z  L & + "manipulator"&p% +4 "core" % c    +486 #t-> Arm.to Garage +2 "manipulator"&q& +3 "core" &Z { n % +2 "manipulator"&r% +4 "core" % c    + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&s(-w +119 "core" ( + "manipulator"&t& +4 "core" &-  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &u& +3 "core" &-  +2 .tForearm.seek :garage +2 "manipulator"&v'π +113 "core" ' + "manipulator"&w& +4 "core" &- F +2 "manipulator"&x% +4 "core" %~? Z +287 #t-> Hand.open +2 .Hand.open + "manipulator"&y1 +60 "core" 1 +300 #t-> Arm.clear +2 "manipulator"&z& +3 "core" &- L +2 "manipulator"&{% +4 "core" % ~G K + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&|' ] +154 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :clear +2 "manipulator"&}(Z +134 "core" ( + "manipulator"&~& +4 "core" &Z    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &Z m  +2 .tForearm.seek :clear +2 "manipulator"&' ] +3 "core" ' +2 "manipulator"&& +3 "core" &Z   +2 "manipulator"&% +4 "core" % N   +162 #t-> exit +7 #mEXIT @1668637066.09PST @1668637076.17PST = =mMAIN_scheduler =tMAIN @PST1668637078.08 #"core_reset"Sent BREAK +2 #t@42064 receive with ifg=0x10, ie=0xFD + #@42700 receive with ifg=0x10, ie=0xFD + #@43358 receive with ifg=0x10, ie=0xFD #@43994 receive with ifg=0x10, ie=0xFD + #@44629 receive with ifg=0x10, ie=0xFD + #@45263 receive with ifg=0x10, ie=0xFD #@45897 receive with ifg=0x10, ie=0xFD + #@46223 receive with ifg=0x80, ie=0xFD #@1449 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +8 #ESP2 v3.42 I2C Gateway v3.20 for core bus +248 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +397 "Can"9\ NA + 9\ NA0 + #tPolling Can every 10:00 +4 #Cleanly exited at 14:17:46PST16-Nov-22 +502 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" %^\ \ \ +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +5 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %ٹ\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold +2 "processing"%+ +2 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" %43 H\ } +2 .tSS.configure :default +2 "sampler")#.0X Hand.open + .Hand.open +2 "manipulator"&41 +23 "core" 1 +607 #t-> Arm.grab Garage +2 "manipulator"&5& +3 "core" &Z   +2 "manipulator"&6% +4 "core" % N  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&7(-w +111 "core" ( +2 "manipulator"&8& +4 "core" &-~   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &9& +3 "core" &-~ o +  +2 .tForearm.seek :garage +2 "manipulator"&:'π +111 "core" ' + .tHand.close +2 "manipulator"&;/ +55 "core" / +827 #t-> Arm.to PC +2 "manipulator"&<& +3 "core" &-~ q  +2 "manipulator"&=% +4 "core" % ϑ_ . + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&>' ] +152 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&?( +120 "core" ( +2 "manipulator"&@& +4 "core" &   2 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &A& +3 "core" &  2 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&B'E +91 "core" ' +2 "manipulator"&C& +4 "core" & \ 2 +2 "manipulator"&D% +3 "core" %F 7 E +864 #t-> Arm.clear + "manipulator"&E& +4 "core" & t 2 +2 "manipulator"&F% +4 "core" %F o l E +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&G' ] +145 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&H(Z +193 "core" ( + "manipulator"&I& +4 "core" &Z  / # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &J& +2 "core" &Z  - # +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :clear +2 "manipulator"&K' ] +12 "core" ' + "manipulator"&L& +4 "core" &Z   # +2 "manipulator"&M% +3 "core" %    +359 #t-> Arm.to Garage +2 "manipulator"&N& +3 "core" &Z   # +2 "manipulator"&O% +4 "core" %   4  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&P(-w +108 "core" ( +2 "manipulator"&Q& +4 "core" &-   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &R& +2 "core" &-   +3 .tForearm.seek :garage + "manipulator"&S'π +107 "core" ' +2 "manipulator"&T& +4 "core" &-  +2 "manipulator"&U% +3 "core" %ςM e +434 #t-> Hand.open +2 .Hand.open + "manipulator"&V1 +52 "core" 1 +333 #t-> Arm.clear +2 "manipulator"&W& +3 "core" &-  +2 "manipulator"&X% +4 "core" % ςR +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&Y' ] +153 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&Z(Z +114 "core" ( +2 "manipulator"&[& +4 "core" &Z  w * i + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\\& +3 "core" &Z  i +2 .tForearm.seek :clear + "manipulator"&]' ] +4 "core" ' + "manipulator"&^& +4 "core" &Z  O i +2 "manipulator"&_% +4 "core" % e  $  +53222 "Can":\ NDt +9617 #t-> SC.coast + .SC.coast +2 "storage"(6 +3 (`& +37 "core" &[W   +50342 "Can"3\ >F +60002 2\ <HH +60002 '\ <Kހ +44679 #t-> ESP.shutdown +4 #Asleep / Shutdown +33 ."shutdown"Gate.power :raw,:OFF +2 .Gate.power :core,:OFF + #Shutdown +236 #t-> exit +7 #mEXIT @1668639934.04PST @1668643940.16PST = =tMAIN =mMAIN_scheduler @PST1668643942.08 #"core_reset"Sent BREAK +2 #t@30550 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.42 I2C Gateway v3.20 +209 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +246 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +420 "Can"8\ { + 8\ {0 #tPolling Can every 10:00 +5 #Cleanly exited at 15:05:34PST16-Nov-22 +2492 #-> ESP.ready! +3 #Powering core bus +541 .Gate.power :raw,:ON +3 "sampler") +43 ) + "core"  +2 "collection"' +3 ' +3 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +3 "collection"'% +2 "core" %\ \ /\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %4.+\ +2 .tSS.configure :default +2 "sampler")#.0X\ +3 "manipulator"&% +2 ."rdySampler"Intake.select :close +4 .Exhaust.select :close +2 .CTV.dial :air + "collection"'  +3 "core" %(\ +2 %  + + ."rdyProcessing"PSV.dial :air +4 "manipulator"&% +3 ."rdySampler"CSV.dial :waste1 +3 "processing"%  + "collection"' +6 "core" %  + + +3 ."rdyProcessing"PS.reconfigure :default +3 ."rdySampler"SSV.dial :spit,avoiding: :exhaust +3 .tForearm.reconfigure :loose +3 "processing"%#A d`xb + "sampler") +5 ."rdyProcessing"PS.home.seek 0ml +4 "manipulator"&#@2^d^b + "processing"%'ٸ +4 .tForearm.home.seek :retract +2 "manipulator"&' ] +3 "core"  + "sampler") +3 "core"  +2 "sampler")  +3 "core"  +3 ."readyCS"CS.reconfigure :fast +3 ."rdySampler"SS.reconfigure :default +4 "collection"'#d @b +2 "sampler")#.0X  +2 .tSE.reconfigure :default +2 "storage"(#K-0-\ b +2 .tSE.home.seek :down +2 "storage"(!'g +70 "core" ' + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.home.seek :initial + "storage"("([S +178 "core" ' +2 ."rdyProcessing"PS.stop + "processing"%5 +23 "core" ' +836 ( + .tSC.configure :limp +7 "storage"($(\ 1b +7 "manipulator"&#& +3 "core" &Z [ Q +3 .tForearm.seek :retract + "manipulator"&$' ] +20 "core" ' +2 .tElbow.seek :hammer +2 "manipulator"&%( +106 "core" ( +2 "manipulator"&&& +4 "core" & S +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek retracted +2 "manipulator"&'' ] +3 "core" ' +2 "manipulator"&(% +4 "core" % T 4 +2 "processing"%)& +4 "collection"'*& +4 "core" &\ + &\ \ Y\ +3 .tCC.reconfigure :default +2 ."openPC"PC.reconfigure :default +3 "collection"'$x2 ^22b +3 .tCC.home.seek :open +3 "processing"%$x2 ^22b + "collection"'+( +4 ."openPC"PC.home.seek :open +3 "processing"%,( +322 "core" ( +5 ( +2 "collection"'- +4 "core"  +2 "processing"%. +2 "core" U +2 "processing"%/ +3 "core"  + "processing"%0 +3 "core" @ +2 "collection"'1% +4 "core" %Z\ \ V\ +2 "processing"%2% +3 "core" %ټ(\ +2 "sampler")3% +4 "core" %ޕ40 d\ 2 +2 "collection"'4& +3 "core" &r\ \ J\  +2 "processing"%5& +4 "core" &p\  + "manipulator"&6% +4 "core" % T + +2 "manipulator"&7& +3 "core" & 3 S +2 "storage"(8& +4 "core" &[O z { # + "storage"(9% +4 "core" %b q {  + "collection"':9 +4 "core" 9 + "processing"%;9 +3 "core" 9 +366 #t-> Hand.open +2 .Hand.open + "manipulator"&<1 +57 "core" 1 +588 #t-> Arm.grab Garage + "manipulator"&=& +4 "core" & . S + "manipulator"&>% +4 "core" % T ] +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage + "manipulator"&?(-w +171 "core" ( + "manipulator"&@& +4 "core" &- +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &A& +3 "core" &-  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :garage + "manipulator"&B'π +103 "core" ' + .tHand.close + "manipulator"&C/ +59 "core" / +510 #t-> Arm.clear +2 "manipulator"&D& +3 "core" &- n +2 "manipulator"&E% +4 "core" % ϓj +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&F' ] +158 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&G(Z +116 "core" ( + "manipulator"&H& +4 "core" &Z : U +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &I& +3 "core" &Z  U +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :clear + "manipulator"&J' ] +31 "core" ' + "manipulator"&K& +4 "core" &Z 7 U +2 "manipulator"&L% +4 "core" % 8   +601 #t-> Arm.to PC + "manipulator"&M& +4 "core" &Z  U + "manipulator"&N% +4 "core" % 8   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&O( +188 "core" ( +2 "manipulator"&P& +4 "core" & O # + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Q& +3 "core" & ] # +2 .tForearm.seek PC + "manipulator"&R'E +103 "core" ' + "manipulator"&S& +4 "core" & Y # +2 "manipulator"&T% +4 "core" %d  +2329 #t-> PC.jog 500 +2 .PC.jog 500 +2 "processing"%U* +37 "core" * +2 "processing"%V& +4 "core" &@(\  +554 #t-> PC.jog 1000 + .PC.jog 1000 +2 "processing"%W* +56 "core" * +2 "processing"%X& +4 "core" &\  +140 #t-> PC.jog 1000 +2 .PC.jog 1000 +2 "processing"%Y* +50 "core" * + "processing"%Z& +4 "core" &(\  +186 #t-> PC.jog 1000 +2 .PC.jog 1000 +2 "processing"%[* +58 "core" * +2 "processing"%\\& +5 "core" & \  +189 #t-> PC.jog 1000 +2 .PC.jog 1000 +2 "processing"%]* +47 "core" * +2 "processing"%^& +4 "core" &$\  +159 #t-> PC.jog 1000 + .PC.jog 1000 +2 "processing"%_* +57 "core" * +2 "processing"%`& +4 "core" &(Z\  +153 #t-> PC.jog 1000 + .PC.jog 1000 +2 "processing"%a* +47 "core" * +2 "processing"%b& +4 "core" &,"(\  +162 #t-> PC.jog 1000 + .PC.jog 1000 +2 "processing"%c* +57 "core" * +2 "processing"%d& +4 "core" &/'\  +174 #t-> PC.jog 1000 + .PC.jog 1000 +2 "processing"%e* +58 "core" * +2 "processing"%f& +4 "core" &3\  +416 #t-> PC.jog 1000 + .PC.jog 1000 +2 "processing"%g* +54 "core" * +2 "processing"%h& +4 "core" &7\  +35219 #t-> PC.jog -1000 + .PC.jog -1000 +2 "processing"%i* +55 "core" * +2 "processing"%j& +52 "core" &3$\ +93 #t-> PC.jog -1000 +2 .PC.jog -1000 +2 "processing"%k* +49 "core" * +2 "processing"%l& +4 "core" &0\ +99 #t-> PC.jog -1000 + .PC.jog -1000 +2 "processing"%m* +58 "core" * + "processing"%n& +4 "core" &,6&\ +110 #t-> PC.jog -1000 +2 .PC.jog -1000 +2 "processing"%o* +46 "core" * +2 "processing"%p& +4 "core" &(w%\ +123 #t-> PC.jog -1000 +2 .PC.jog -1000 +2 "processing"%q* +51 "core" * +2 "processing"%r& +4 "core" &$\ +210 #t-> PC.jog -1000 +2 .PC.jog -1000 +2 "processing"%s* +46 "core" * +2 "processing"%t& +4 "core" & \ +145 #t-> PC.jog -1000 + .PC.jog -1000 +2 "processing"%u* +56 "core" * + "processing"%v& +4 "core" &$\ +78 #t-> PC.jog -1000 +2 .PC.jog -1000 +2 "processing"%w* +50 "core" * + "processing"%x& +4 "core" &7&\ +76 #t-> PC.jog -1000 +2 .PC.jog -1000 +2 "processing"%y* +56 "core" * + "processing"%z& +4 "core" &_%\ +135 #t-> PC.jog -1000 +2 .PC.jog -1000 +2 "processing"%{* +46 "core" * +2 "processing"%|& +4 "core" &%\ +182 #t-> PC.jog -1000 +2 .PC.jog -1000 +2 "processing"%}* +52 "core" * +2 "processing"%~& +4 "core" & %\ +145 #t-> PC.jog -1000 + .PC.jog -1000 +2 "processing"%* +52 "core" * +3 "processing"%& +4 "core" & \ +139 #t-> PC.jog -1000 + .PC.jog -1000 +2 "processing"%* +54 "core" * +2 "processing"%& +4 "core" &%\ +101 #t-> PC.jog -1000 + .PC.jog -1000 +2 "processing"%* +53 "core" * + "processing"%& +4 "core" &O&\ +764 #t-> PC.jog 1000 +2 .PC.jog 1000 +2 "processing"%* +52 "core" * + "processing"%& +4 "core" &"%\  +109 #t-> PC.jog 1000 + .PC.jog 1000 +2 "processing"%* +48 "core" * +2 "processing"% & +4 "core" & &\ +147 #t-> PC.jog 1000 +2 .PC.jog 1000 +2 "processing"%\ * +56 "core" * +2 "processing"% & +4 "core" & %\  +110 #t-> PC.jog 1000 +2 .PC.jog 1000 +2 "processing"% * +49 "core" * + "processing"% & +4 "core" &%\  +121 #t-> PC.jog 1000 +2 .PC.jog 1000 +2 "processing"%* +57 "core" * +2 "processing"%& +4 "core" &k&\ \ +103 #t-> PC.jog 1000 + .PC.jog 1000 +2 "processing"%* +51 "core" * + "processing"%& +4 "core" &1&\  +136 #t-> PC.jog 1000 +3 .PC.jog 1000 +2 "processing"%* +54 "core" * + "processing"%& +4 "core" &%\  +6492 #t-> PC.force 15 +2 .PC.force 15 + "processing"%6 +3 %& +3 "core" &\  +207 "Can":\ 9: +2757 #t-> PC.rawPosition +2 "processing"%& +3 "core" &E %\  +9131 #t-> Forearm.coast + .Forearm.coast + "manipulator"&5 +3 &% +3 "core" %d  +1305 #t-> PC.jog -200 + .PC.jog -200 +2 "processing"%*8 +30 "core" * +2 "processing"%& +4 "core" &D&\  +1377 #t-> PC.jog -200 + .PC.jog -200 +2 "processing"%*8 +33 "core" * +2 "processing"%& +4 "core" &C%\ +3126 #t-> PC.jog -200 + .PC.jog -200 +2 "processing"% *8 +37 "core" * +2 "processing"%& +4 "core" &B&\  +862 #t-> PC.jog -200 + .PC.jog -200 +2 "processing"%#*8 +32 "core" * +2 "processing"%&& +4 "core" &B;%\ +689 #t-> PC.jog -200 + .PC.jog -200 +2 "processing"%(*8 +36 "core" * +2 "processing"%*& +4 "core" &Ak$\  +515 #t-> PC.jog -200 +3 .PC.jog -200 + "processing"%)*8 +32 "core" * + "processing"%& +4 "core" &@$\ +1432 #t-> PC.rawPosition + "processing"%& +4 "core" &@$\ +10037 #t-> PC.open +2 .PC.seek :open + "processing"%$( +274 "core" ( + "processing"%-& +4 "core" &%\ +754 #t-> Arm.to Garage +2 "manipulator"&.& +3 "core" & 1 +2 "manipulator"&/% +4 "core" %9 _ + +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract + "manipulator"&0' ] +144 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&1(-w +131 "core" ( +2 "manipulator"&2& +4 "core" &-t o % + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &3& +2 "core" &-t  $ % +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&4'π +111 "core" ' +2 "manipulator"&5& +4 "core" &-  / j + "manipulator"&6% +4 "core" %H  +387 #t-> Hand.open + .Hand.open +2 "manipulator"&71 +58 "core" 1 +322 #t-> Arm.clear +2 "manipulator"&8& +3 "core" &-  j +2 "manipulator"&9% +4 "core" % O  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&:' ] +167 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :clear + "manipulator"&;(Z +114 "core" ( +2 "manipulator"&<& +4 "core" &Z  % + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +2 "core" &Z  % +2 .tForearm.seek :clear +2 "manipulator"&>' ] +3 "core" ' +2 "manipulator"&@& +4 "core" &Z / % + "manipulator"&A% +4 "core" % h Y / +10472 #t-> exit +7 #mEXIT @1668644999.11PST @1668645006.36PST = =tMAIN =mMAIN_scheduler @PST1668645008.15 #"core_reset"Sent BREAK + #t@48952 receive with ifg=0x10, ie=0xFD + #@49587 receive with ifg=0x10, ie=0xFD + #@50245 receive with ifg=0x10, ie=0xFD + #@50881 receive with ifg=0x10, ie=0xFD + #@51516 receive with ifg=0x10, ie=0xFD #@52150 receive with ifg=0x10, ie=0xFD + #@52783 receive with ifg=0x10, ie=0xFD #@53109 receive with ifg=0x80, ie=0xFD + #@3241 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +9 #ESP2 v3.42 I2C Gateway v3.20 for core bus +244 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +382 "Can"/\ 5 + /\ 5. + #tPolling Can every 10:00 +4 #Cleanly exited at 16:29:59PST16-Nov-22 +873 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +3 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %Z\ \ \ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +4 "core" + + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %ټ$\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %ޕ31 g\ 2 +2 .tSS.configure :default +2 "sampler")#.0X Hand.open + .Hand.open +2 "manipulator"&31 +24 "core" 1 +624 #t-> Arm.grab Garage + "manipulator"&4& +4 "core" &Z  % + "manipulator"&5% +4 "core" % h  / +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&6(-w +120 "core" ( + "manipulator"&7& +4 "core" &-w , y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &8& +3 "core" &-w  y +2 .tForearm.seek :garage +2 "manipulator"&9'π +107 "core" ' + .tHand.close + "manipulator"&:/ +60 "core" / +507 #t-> Arm.to PC +2 "manipulator"&;& +3 "core" &-w p y + "manipulator"&<% +4 "core" % σj q  +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract + "manipulator"&=' ] +156 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&>( +120 "core" ( +2 "manipulator"&?& +4 "core" & i $ . + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &@& +3 "core" &  . +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&A'E +98 "core" ' + "manipulator"&B& +4 "core" &  \\ . +2 "manipulator"&C% +4 "core" %* {  +454 #t-> PC.sealed +2 .PC.seek :sealed + "processing"%D(E +296 "core" ( +2 "processing"%E& +4 "core" &D%\  +9977 #t-> PC.jog 500 + .PC.jog 500 +2 "processing"%F* +39 "core" * +2 "processing"%G& +4 "core" &F%\  +244 #t-> PC.jog 500 +2 .PC.jog 500 +2 "processing"%H* +34 "core" * + "processing"%I& +4 "core" &H%\  +269 #t-> PC.jog 500 +2 .PC.jog 500 +2 "processing"%J* +34 "core" * +2 "processing"%K& +4 "core" &Jg \  +259 #t-> PC.jog 500 + .PC.jog 500 +2 "processing"%L* +35 "core" * +2 "processing"%M& +4 "core" &L,$\ \  +752 #t-> PC.jog 200 + .PC.jog 200 +2 "processing"%N* +30 "core" * + "processing"%O& +4 "core" &M$\  +1524 #t-> PC.rawPosition +2 "processing"%P& +3 "core" &M$\  +13328 #t-> PC.open +2 .PC.seek :open +2 "processing"%Q( +340 "core" ( + "processing"%R& +4 "core" &%\ +594 #t-> Arm.to Garage + "manipulator"&S& +4 "core" & s . + "manipulator"&T% +4 "core" %* \\  +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract + "manipulator"&U' ] +159 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&V(-w +136 "core" ( + "manipulator"&W& +4 "core" &- h  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &X& +3 "core" &-  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&Y'π +104 "core" ' +2 "manipulator"&Z& +4 "core" &- %  +2 "manipulator"&[% +3 "core" %πW ( +408 #t-> Hand.open +2 .Hand.open + "manipulator"&\\1 +63 "core" 1 +281 #t-> Arm.clear +2 "manipulator"&]& +3 "core" &-  +2 "manipulator"&^% +4 "core" % π\\ ? ( + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&_' ] +157 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :clear + "manipulator"&`(Z +116 "core" ( +2 "manipulator"&a& +4 "core" &Z z 0 m + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &b& +3 "core" &Z  m +2 .tForearm.seek :clear +2 "manipulator"&c' ] +3 "core" ' + "manipulator"&d& +4 "core" &Z  m + "manipulator"&e% +4 "core" % L  + +10831 #t-> exit +6 #mEXIT @1668645486.96PST @1668645494.52PST = =tMAIN =mMAIN_scheduler @PST1668645496.35 #"core_reset"Sent BREAK +2 #t@1339 receive with ifg=0x10, ie=0xFD #@1973 receive with ifg=0x10, ie=0xFD + #@2629 receive with ifg=0x10, ie=0xFD + #@3265 receive with ifg=0x10, ie=0xFD #@3900 receive with ifg=0x10, ie=0xFD + #@4534 receive with ifg=0x10, ie=0xFD + #@5168 receive with ifg=0x10, ie=0xFD #@5494 receive with ifg=0x80, ie=0xFD + #@6069 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +9 #ESP2 v3.42 I2C Gateway v3.20 for core bus +238 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +382 "Can",\ Sl + ,\ Sl$ + #tPolling Can every 10:00 +4 #Cleanly exited at 16:38:06PST16-Nov-22 +998 #-> ESP.ready! +154 "sampler") +2 ) + "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" %Z\ \ 1\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +4 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %ټ%\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" %ޕ31 V\ 2 +2 .tSS.configure :default +3 "sampler")#.0X Hand.open + .Hand.open +2 "manipulator"&31 +21 "core" 1 +452 #t-> Arm.to Garage + "manipulator"&4& +4 "core" &Z  m + "manipulator"&5% +4 "core" % L  + +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&6(-w +124 "core" ( + "manipulator"&7& +4 "core" &-x _ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &8& +2 "core" &-x  _ +2 .tForearm.seek :garage + "manipulator"&9'π +111 "core" ' +2 "manipulator"&:& +4 "core" &-x  _ + "manipulator"&;% +4 "core" %ϑX +356 #t-> Hand.close +2 .Hand.close + "manipulator"& Arm.clear +2 "manipulator"&=& +3 "core" &-x _ +2 "manipulator"&>% +3 "core" % ϑ\\ +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract + "manipulator"&?' ] +167 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&@(Z +134 "core" ( +5 "manipulator"&A& +7 "core" &Z  +4 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +6 &B& +3 "core" &Z b  +4 .tForearm.reconfigure :tight +7 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :clear + "manipulator"&C' ] +19 "core" ' +2 "manipulator"&D& +4 "core" &Z U  +2 "manipulator"&E% +3 "core" % J +655 #t-> Arm.to PC +2 "manipulator"&F& +3 "core" &Z  +2 "manipulator"&G% +4 "core" % J k +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&H( +186 "core" ( + "manipulator"&I& +4 "core" &  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &J& +3 "core" & +2 .tForearm.seek PC + "manipulator"&K'E +97 "core" ' + "manipulator"&L& +4 "core" & n * + "manipulator"&M% +4 "core" %C   +2482 #t-> PC.home.to :home +3 .PC.reconfigure :default +2 "processing"%$x2 ^22b +2 .tPC.home.seek :home + "processing"%N( +230 "core" ( + "processing"%O& +4 "core" & &\ +348 #t-> PC.close + "manipulator"&P& +4 "core" & " +2 "manipulator"&Q% +4 "core" %C  + "processing"%R& +4 "core" & \ +2 .tPC.seek :open + "processing"%S( +137 "core" ( +2 "processing"%T& +6 "core" &t\  +2 .tPC.seek :closed + "processing"%U(M +5 "core" &t&\  +7 &Q%\ &l +9 &f[(\ : +10 &&\ M +9 &]%\ M +9 &R`%\ L +10 &_%\ M +9 &b&\ M +10 &b%\ M +9 & Yb&\ M +9 &"b%\ M +10 &#e&\ M +9 &%c%\ M +9 &'_b%\ M +10 &)!b$\ M +9 &*`$\ M +10 &,`%\ M +9 &.i`&\ M +9 &0*c%\ M +10 &1d%\ M +9 &3b&\ M +9 &5og&\ M +10 &71c%\ M +9 &8b$\ M +10 &:a&\ M +9 &9a%\ M +10 &?b%\ M +9 &A`&\ M +9 &C~e&\ N +10 &E?k&\ N +9 &Fv&\ O +10 &H&\ Q +9 &Jy%\ R +9 &Lxp#\ , +10 &L'b%\ > +9 ( +2 &L"#\ , + "processing"%T& +3 #tProcessing Clamp onSpring/offSpring for 4/24 samples, on/off torque 1.27 +2 "processing"%V& +4 "core" &L"\ , +5727 #t-> PC.jog 200 +2 .PC.jog 200 +2 "processing"%W* +25 "core" * + "processing"%X& +4 "core" &M \  +1558 #t-> PC.jog 200 +36 .PC.jog 200 +9 "processing"%Y* +29 "core" * +2 "processing"%Z& +4 "core" &N^'\  +423 #t-> PC.jog 200 +2 .PC.jog 200 +2 "processing"%[* +30 "core" * + "processing"%\\& +4 "core" &O %\ ! +687 #t-> PC.rawPosition +2 "processing"%]& +3 "core" &O %\ ! +1879 #t-> PC.open + .PC.seek :open +3 "processing"%^( +351 "core" ( +2 "processing"%_& +3 "core" &&\ +582 #t-> Arm.to Garage +2 "manipulator"&`& +3 "core" &  +2 "manipulator"&a% +4 "core" %C +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&b' ] +150 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&c(-w +137 "core" ( +2 "manipulator"&d& +3 "core" &- n V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &e& +3 "core" &-  V +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&f'π +111 "core" ' +2 "manipulator"&g& +4 "core" &- U + "manipulator"&h% +4 "core" %ϊ= +391 #t-> Hand.open + .Hand.open + "manipulator"&i1 +60 "core" 1 +327 #t-> Arm.clear +2 "manipulator"&j& +3 "core" &- U +2 "manipulator"&k% +4 "core" % ωF +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&l' ] +164 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&m(Z +111 "core" ( +2 "manipulator"&n& +4 "core" &Z  ` + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &o& +2 "core" &Z  ` +2 .tForearm.seek :clear +2 "manipulator"&p' ] +3 "core" ' +2 "manipulator"&q& +3 "core" &Z ` +2 "manipulator"&r% +3 "core" % Q z +4062 #t-> exit +7 #mEXIT @1668645760.86PST @1668645768.64PST = =tMAIN =mMAIN_scheduler @PST1668645770.44 #"core_reset"Sent BREAK +2 #t@24946 receive with ifg=0x10, ie=0xFD #@25580 receive with ifg=0x10, ie=0xFD + #@26234 receive with ifg=0x10, ie=0xFD + #@26868 receive with ifg=0x10, ie=0xFD + #@27502 receive with ifg=0x10, ie=0xFD #@28136 receive with ifg=0x10, ie=0xFD + #@28770 receive with ifg=0x10, ie=0xFD #@29096 receive with ifg=0x80, ie=0xFD + #@38441 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +9 #ESP2 v3.42 I2C Gateway v3.20 for core bus +237 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +382 "Can"/\ MD + /\ MD / + #tPolling Can every 10:00 +4 #Cleanly exited at 16:42:40PST16-Nov-22 +590 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  + "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %Z\ \ >\ +2 .tCS.configure :default +7 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +4 "core" + +7 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %ټ\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %ޕ30 X\ 2 +2 .tSS.configure :default +2 "sampler")#.0X Flush.PC + #Loading FlushPuck into Processing Clamp from FlushPuck::Garage +2 "processing"%3& +3 "core" &&\ +2 .tHand.open + "manipulator"&41 +27 "core" 1 + "manipulator"&5& +4 "core" &Z  ` +2 "manipulator"&6% +3 "core" % Q ] +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&7(-w +119 "core" ( +2 "manipulator"&8& +4 "core" &-t ) v + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &9& +2 "core" &-t ` v +2 .tForearm.seek :garage +2 "manipulator"&:'π +104 "core" ' +2 .tHand.close + "manipulator"&;/ +63 "core" / + "manipulator"&<& +4 "core" &-t v +2 "manipulator"&=% +3 "core" % ϒo   +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&>' ] +152 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&?( +121 "core" ( +2 "manipulator"&@& +4 "core" & 1 E + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &A& +3 "core" & E +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&B'E +90 "core" ' +2 "manipulator"&C& +4 "core" & ^ E + "manipulator"&D% +4 "core" %D 8 R + "processing"%E& +4 "core" &&\ +2 "processing"%F& +5 "core" &%\ +2 .tPC.seek :closed + "processing"%G(O +5 "core" &%\ +6 &;%\ $c +10 &U&\ 7 +9 &&\ K +9 &]$\ M +10 &V\\%\ M +9 &\\%\ M +9 &_%\ M +10 &`&\ L +9 & ^`&\ M +10 &" _$\ M +9 &#_&\ L +9 &%b%\ M +10 &'e`%\ M +9 &)'b%\ M +9 &*_$\ L +10 &,`%\ M +9 &.nc$\ M +10 &00b$\ M +9 &1c$\ M +9 &3_&\ M +10 &5vc(\ M +9 &78b#\ M +10 &8a&\ M +9 &:^$\ M +9 &<~`%\ M +10 &>?`$\ M +9 &@b%\ M +9 &Ac%\ M +10 &Cf%\ M +9 &EEj$\ N +9 &Gy&\ O +10 &H"\ Q +9 &J~%\ R +10 &L?&\ R +9 &M%\ : +9 &N1%\ [ +10 &O!&\ ) +2 ( + "processing"%F& +4 #tProcessing Clamp onSpring/offSpring for 5/24 samples, on/off torque 1.34 + "processing"%H& +4 "core" &O\ ) +2 .tHand.open + "manipulator"&I1 +58 "core" 1 +2 "manipulator"&J% +4 "core" % D [ R + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&K' ] +144 "core" ' +1823 #t-> PC.jog 500 +2 .PC.jog 500 +2 "processing"%L* +35 "core" * + "processing"%M& +4 "core" &P%\ \  +307 #t-> PC.jog 500 + .PC.jog 500 +2 "processing"%N* +35 "core" * + "processing"%O& +4 "core" &R(\  +261 #t-> PC.jog 500 + .PC.jog 500 +2 "processing"%P* +34 "core" * + "processing"%Q& +4 "core" &T[$\ # +250 #t-> PC.jog 500 + .PC.jog 500 +2 "processing"%R* +39 "core" * + "processing"%S& +4 "core" &V4&\ $ +503 #t-> PC.rawPosition + "processing"%T& +3 "core" &V4%\ $ +2391 #t-> PC.unloadFlush +2 #Garaging FlushPuck in Processing Clamp + "manipulator"&U& +3 "core" &  E +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&V( +32 "core" ( + "manipulator"&W& +4 "core" & ) 0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &X& +2 "core" & d 0 +2 .tForearm.seek PC +2 "manipulator"&Y'E +98 "core" ' + .tHand.close + "manipulator"&Z/ +113 "core" / +2 .tPC.seek :open +37 "processing"%[( +396 "core" ( +2 "manipulator"&\\& +5 "core" &   + "manipulator"&]% +4 "core" % :   +3 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract +2 "manipulator"&^' ] +161 "core" ' +2 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&_(-w +130 "core" ( +2 "manipulator"&`& +8 "core" &- 0  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &a& +3 "core" &-  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&b'π +107 "core" ' + .tHand.open +2 "manipulator"&c1 +53 "core" 1 +3 "manipulator"&d% +4 "core" % ωA 1 + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&e' ] +165 "core" ' +1549 #t-> exit +7 #mEXIT @1668645895.42PST @1668645902.56PST = =tMAIN =mMAIN_scheduler @PST1668645904.36 #"core_reset"Sent BREAK +2 #t@34404 sendCRC with ifg=0x20, ie=0x7F #@36239 sendCRC with ifg=0x08, ie=0x5F + #@43082 idle with ifg=0x84, ie=0x75 + #@43731 select with ifg=0x10, ie=0xF5 + #@44365 receive with ifg=0x10, ie=0xFD #@44999 receive with ifg=0x10, ie=0xFD + #@45633 receive with ifg=0x10, ie=0xFD #@45960 receive with ifg=0x80, ie=0xFD + #@16852 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +9 #ESP2 v3.42 I2C Gateway v3.20 for core bus +237 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +397 "Can"/\ Mve + /\ Mve. #tPolling Can every 10:00 +5 #Cleanly exited at 16:44:55PST16-Nov-22 +358 #-> ESP.ready! +154 "sampler") +3 ) +2 "core"  +2 "collection"' + ' +3 "core"  +2 "processing"% + % +3 "core"  +4 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %Z\ \ M\ + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +4 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %ټ&\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %ޕ41 `\ 2 +2 .tSS.configure :default +2 "sampler")#.0X Flush.PC + #Loading FlushPuck into Processing Clamp from FlushPuck::Garage +2 "processing"%3& +3 "core" &%\ +2 .tHand.open + "manipulator"&41 +15 "core" 1 +2 "manipulator"&5& +4 "core" &- y  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&6(-w +25 "core" ( +2 "manipulator"&7& +4 "core" &-x N V + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &8& +3 "core" &-x V +2 .tForearm.seek :garage + "manipulator"&9'π +104 "core" ' +2 .tHand.close + "manipulator"&:/ +61 "core" / +2 "manipulator"&;& +4 "core" &-x V + "manipulator"&<% +4 "core" % ϓo   +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&=' ] +159 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&>( +120 "core" ( +2 "manipulator"&?& +4 "core" & [ 9 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &@& +3 "core" & ( 9 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +3 "manipulator"&A'E +92 "core" ' + "manipulator"&B& +5 "core" & w 9 + "manipulator"&C% +4 "core" %H { 3 +2 "processing"%D& +4 "core" &\ +2 "processing"%E& +5 "core" &%\ +2 .tPC.seek :closed + "processing"%F(V4 +5 "core" &%\ +7 & 3%\ #b +9 &uV$\ 7 +10 &&\ L +9 &]%\ M +9 &M_%\ L +10 &Z%\ M +9 &]$\ M +10 &[%\ L +9 & T\\%\ M +9 &"[%\ M +10 &#\\&\ M +9 &%]&\ M +9 &'\\_%\ M +10 &)b%\ M +9 &*\\%\ M +10 &,_&\ L +9 &.d_%\ M +9 &0%_$\ M +10 &1b$\ M +9 &3_&\ M +9 &5la%\ M +10 &7-_&\ M +9 &8`$\ M +10 &:b%\ M +9 &6^%\ M +10 &?_%\ L +9 &Ab%\ M +9 &C{e%\ M +10 &E:m%\ N +9 &Fv&\ O +10 &H&\ Q +9 &Jv%\ Q +9 &L3$\ S +10 &M$\ S +9 &O$\ S +9 &Qx%\ S +10 &S9%\ T +9 &T%\ A +9 &U+~%\ \\ +10 &V1$\ 2 +2 ( +2 "processing"%E& +3 #tProcessing Clamp onSpring/offSpring for 10/24 samples, on/off torque 1.50 + "processing"%G& +4 "core" &V.\ 2 +2 .tHand.open + "manipulator"&H1 +62 "core" 1 + "manipulator"&I% +4 "core" % H l 5 3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&J' ] +151 "core" ' +2290 #t-> PC.unloadFlush +2 #Garaging FlushPuck in Processing Clamp +2 "manipulator"&K& +3 "core" &  9 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&L( +4 "core" ( + "manipulator"&M& +5 "core" &  9 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &N& +2 "core" & r , 9 +2 .tForearm.seek PC +2 "manipulator"&O'E +91 "core" ' +2 .tHand.close + "manipulator"&P/ +52 "core" / +2 .tPC.seek :open +2 "processing"%Q( +387 "core" ( +2 "manipulator"&R& +4 "core" &  9 + "manipulator"&S% +4 "core" % U  9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&T' ] +145 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&U(-w +139 "core" ( + "manipulator"&V& +4 "core" &- ] + +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &W& +3 "core" &-  + +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&X'π +106 "core" ' +2 .tHand.open + "manipulator"&Y1 +53 "core" 1 +2 "manipulator"&Z% +4 "core" % ϊ[ # 0 +3 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&[' ] +157 "core" ' +4904 #t-> PC.home.to :home +8 .PC.reconfigure :default +3 "processing"%$x2 ^22b +2 .tPC.home.seek :home + "processing"%\\( +239 "core" ( +2 "processing"%]& +4 "core" &%\ +839 #t-> PC.sealed +2 .PC.seek :sealed +2 "processing"%^(E +401 "core" ( +2 "processing"%_& +4 "core" &E\  +1856 #t-> PC.jog 500 +2 .PC.jog 500 +2 "processing"%`* +37 "core" * +2 "processing"%a& +4 "core" &F\  +179 #t-> PC.jog 500 +2 .PC.jog 500 +2 "processing"%b* +43 "core" * + "processing"%c& +4 "core" &H\  +121 #t-> PC.jog 500 + .PC.jog 500 +2 "processing"%d* +39 "core" * +2 "processing"%e& +4 "core" &J\  +108 #t-> PC.jog 500 + .PC.jog 500 +2 "processing"%f* +43 "core" * + "processing"%g& +4 "core" &LY\  +103 #t-> PC.jog 500 + .PC.jog 500 +3 "processing"%h* +38 "core" * + "processing"%i& +4 "core" &N5\  +131 #t-> PC.jog 500 +2 .PC.jog 500 +2 "processing"%j* +38 "core" * + "processing"%k& +4 "core" &O\  +74 #t-> PC.jog 500 +2 .PC.jog 500 +2 "processing"%l* +42 "core" * + "processing"%m& +5 "core" &Q\  +152 #t-> PC.jog 500 + .PC.jog 500 +2 "processing"%n* +39 "core" * + "processing"%o& +4 "core" &S%\  +65 #t-> PC.jog 500 +2 .PC.jog 500 +2 "processing"%p* +41 "core" * +2 "processing"%q& +4 "core" &U\  +72 #t-> PC.jog 500 + .PC.jog 500 +2 "processing"%r* +38 "core" * +2 "processing"%s& +4 "core" &Wh\  +78 #t-> PC.jog 500 +2 .PC.jog 500 +2 "processing"%t* +40 "core" * +2 "processing"%u& +4 "core" &Y=\  +81 #t-> PC.jog 500 + .PC.jog 500 +2 "processing"%v* +38 "core" * +2 "processing"%w& +4 "core" &[\  +289 #t-> PC.jog 500 +2 .PC.jog 500 +2 "processing"%x* +42 "core" * +2 "processing"%y& +4 "core" &\\\  +1248 #t-> PC.jog 500 +2 .PC.jog 500 +2 "processing"%z* +39 "core" * + "processing"%{& +4 "core" &^&\  +321 #t-> PC.jog 500 + .PC.jog 500 +2 "processing"%|* +43 "core" * + "processing"%}& +4 "core" &`&\  +274 #t-> PC.jog 500 +2 .PC.jog 500 +2 "processing"%~* +38 "core" * +2 "processing"%& +4 "core" &bx\  +1552 #t-> PC.jog -200 + .PC.jog -200 +2 "processing"%*8 +30 "core" * +2 "processing"%& +4 "core" &a\ +1096 #t-> PC.rawPosition +2 "processing"%& +3 "core" &a'\ +7078 #t-> PC.open +2 .PC.seek :open + "processing"%( +449 "core" ( +2 "processing"%& +4 "core" &&\ +177 #t-> exit +6 #mEXIT @1668646202.52PST @1668646210.20PST = =tMAIN =mMAIN_scheduler @PST1668646212.02 #"core_reset"Sent BREAK +2 #t@12944 receive with ifg=0x10, ie=0xFD #@13584 receive with ifg=0x10, ie=0xFD + #@14243 receive with ifg=0x10, ie=0xFD + #@14881 receive with ifg=0x10, ie=0xFD + #@15530 receive with ifg=0x10, ie=0xFD #@16179 receive with ifg=0x10, ie=0xFD + #@16828 receive with ifg=0x10, ie=0xFD #@17154 receive with ifg=0x80, ie=0xFD + #@44644 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +10 #ESP2 v3.42 I2C Gateway v3.20 for core bus +238 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +390 "Can"-\ Q t + -\ Q t1 #tPolling Can every 10:00 +5 #Cleanly exited at 16:50:02PST16-Nov-22 +346 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +3 "collection"' 9\ +2 ' 0\ +3 ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" %Z\ \ `\ +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +6 "core" + + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %ټ%\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %ޕ30 ]\ 2 + .tSS.configure :default +3 "sampler")#.0X PC.home.to :home +2 .PC.reconfigure :default +2 "processing"%$x2 ^22b +2 .tPC.home.seek :home +2 "processing"%3( +234 "core" ( +2 "processing"%4& +4 "core" &#"\ +2482 #t-> PC.close +2 !o:Arm::Error: mesg"3Claim Arm, then retry closing Processing Clamp:@checkpoint: omitted:bt["E/home/esp/esp2/utils/misc.rb:415:in `closeAndVerifyPuckPresence'"0/home/esp/esp2/utils/misc.rb:485:in `close'",/home/esp/esp2/lib/msg.rb:68:in `retry'"0/home/esp/esp2/utils/misc.rb:484:in `close'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"0/home/esp/esp2/utils/misc.rb:483:in `close'"(ESP):3:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1554 #-> Threads + !o:NameError: mesg"#uninitialized constant Threads: name: Threads:bt["(ESP):4:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +927 #-> Arm.clear +2 "manipulator"&5& +3 "core" &- / +2 "manipulator"&6% +4 "core" % ^ |  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&7(Z +122 "core" ( + "manipulator"&8& +4 "core" &Z   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &9& +3 "core" &Z   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :clear +2 "manipulator"&:' ] +28 "core" ' +2 "manipulator"&;& +4 "core" &Z b  + "manipulator"&<% +4 "core" % K +1814 #t-> PC.close +2 !o:Arm::Error: mesg"3Claim Arm, then retry closing Processing Clamp:@checkpoint: omitted:bt["E/home/esp/esp2/utils/misc.rb:415:in `closeAndVerifyPuckPresence'"0/home/esp/esp2/utils/misc.rb:485:in `close'",/home/esp/esp2/lib/msg.rb:68:in `retry'"0/home/esp/esp2/utils/misc.rb:484:in `close'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"0/home/esp/esp2/utils/misc.rb:483:in `close'"(ESP):6:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +855 #-> threads +956 #-> Hand.open + .Hand.open + "manipulator"&=1 +16 "core" 1 +321 #t-> Arm + "manipulator"&>& +4 "core" &Z c  +2 "manipulator"&?% +4 "core" % K y +690 #t-> PC.close +3 !o:Arm::Error: mesg"3Claim Arm, then retry closing Processing Clamp:@checkpoint: omitted:bt["E/home/esp/esp2/utils/misc.rb:415:in `closeAndVerifyPuckPresence'"0/home/esp/esp2/utils/misc.rb:485:in `close'",/home/esp/esp2/lib/msg.rb:68:in `retry'"0/home/esp/esp2/utils/misc.rb:484:in `close'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"0/home/esp/esp2/utils/misc.rb:483:in `close'"(ESP):10:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +536 #-> exit +7 #mEXIT @1668646340.73PST @1668646348.03PST = =tMAIN =mMAIN_scheduler @PST1668646349.91 #"core_reset"Sent BREAK +2 #t@7549 receive with ifg=0x10, ie=0xFD #@8182 receive with ifg=0x10, ie=0xFD + #@8840 receive with ifg=0x10, ie=0xFD + #@9474 receive with ifg=0x10, ie=0xFD #@10108 receive with ifg=0x10, ie=0xFD + #@10742 receive with ifg=0x10, ie=0xFD + #@11375 receive with ifg=0x10, ie=0xFD #@11701 receive with ifg=0x80, ie=0xFD + #@60814 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +9 #ESP2 v3.42 I2C Gateway v3.20 for core bus +247 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +397 "Can"'\ M\  + '\ M\ % + #tPolling Can every 10:00 +4 #Cleanly exited at 16:52:20PST16-Nov-22 +3109 #-> ESP.ready? +243 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %Z\ \ g\ + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +5 "core" + + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +4 "core" %ټ\ + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %ޕ21 f\ 2 + .tSS.configure :default +3 "sampler")#.0X PC.home.to :home +2 .PC.reconfigure :default +3 "processing"%$x2 ^22b +2 .tPC.home.seek :home +2 "processing"%3( +124 "core" ( +2 "processing"%4& +4 "core" & )\  +463 #t-> PC.close +3 !o:Arm::Error: mesg"3Claim Arm, then retry closing Processing Clamp:@checkpoint: omitted:bt["E/home/esp/esp2/utils/misc.rb:415:in `closeAndVerifyPuckPresence'"0/home/esp/esp2/utils/misc.rb:485:in `close'",/home/esp/esp2/lib/msg.rb:68:in `retry'"0/home/esp/esp2/utils/misc.rb:484:in `close'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"0/home/esp/esp2/utils/misc.rb:483:in `close'"(ESP):4:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +882 #-> Elbow.home.to :home +2 .Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 .tElbow.home.seek :home +2 "manipulator"&5( +278 "core" ( +2 "manipulator"&6& +4 "core" & g o +820 #t-> Forearm.home.to :home +2 .Forearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :home +2 "manipulator"&7' +57 "core" ' +2 "manipulator"&8% +4 "core" % ! +1033 #t-> Arm.clear + "manipulator"&9& +4 "core" & e o + "manipulator"&:% +5 "core" %  ! + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract + "manipulator"&;' ] +88 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&<(Z +177 "core" ( +2 "manipulator"&=& +4 "core" &Z\ q "~ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &>& +3 "core" &Z 7 "~ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :clear +2 "manipulator"&?' ] +10 "core" ' +2 "manipulator"&@& +3 "core" &Z C "~ +2 "manipulator"&A% +5 "core" % n  +366 #t-> PC.close +3 !o:Arm::Error: mesg"3Claim Arm, then retry closing Processing Clamp:@checkpoint: omitted:bt["E/home/esp/esp2/utils/misc.rb:415:in `closeAndVerifyPuckPresence'"0/home/esp/esp2/utils/misc.rb:485:in `close'",/home/esp/esp2/lib/msg.rb:68:in `retry'"0/home/esp/esp2/utils/misc.rb:484:in `close'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"0/home/esp/esp2/utils/misc.rb:483:in `close'"(ESP):8:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +884 #-> PC.loadFlush +2 #Loading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%B& +4 "core" & \  +2 .tHand.open + "manipulator"&C1 +27 "core" 1 + "manipulator"&D& +4 "core" &Z c "~ +2 "manipulator"&E% +3 "core" % n  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage + "manipulator"&F(-w +122 "core" ( +2 "manipulator"&G& +4 "core" &-{ 3 k + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &H& +3 "core" &-{ o k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :garage +2 "manipulator"&I'π +96 "core" ' + .tHand.close +2 "manipulator"&J/ +63 "core" / + "manipulator"&K& +4 "core" &-{ k +2 "manipulator"&L% +3 "core" % i +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&M' ] +145 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&N( +120 "core" ( +2 "manipulator"&O& +4 "core" &  1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &P& +3 "core" &  1 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&Q'E +95 "core" ' +2 "manipulator"&R& +4 "core" &  1 +2 "manipulator"&S% +3 "core" %M  H +2 "processing"%T& +4 "core" & *\  +2 .tPC.seek :open +2 "processing"%U( +136 "core" ( +2 "processing"%V& +5 "core" &s\  +2 .tPC.seek :closed +2 "processing"%W(V4 +5 "core" &s\  +7 &P\ &k +9 &h[\ 9 +10 &\ L +9 &\\\ L +9 &O]\ M +10 &[\ M +9 &`\ M +9 &`\ M +10 & Wb\ M +32 &"]\ M + &#_\ M + &%_\ M +3 &'^`\ M +10 &)!`\ M +9 &*]\ L +9 &,_\ M +12 &.fc\ M +7 &0)b\ M +9 &1b\ M +10 &3`\ M +9 &5ob\ M +10 &71a\ M +45 &8_\ M +11 &:_\ M + &:_\ L + &?a\ M + &A`\ L +5 &C~a\ M +10 &EAb\ M +9 &Gc\ M +9 &Hc\ M +10 &J`\ M +9 &LI`\ M +10 &N\ b\ M +9 &O`\ M +9 &Qc\ M +10 &SQ`\ M +9 &U Y\ 5 +9 &U2Z\ ; +10 &V\  +2 ( +2 "processing"%V& +3 #tProcessing Clamp onSpring/offSpring for 9/24 samples, on/off torque 1.02 +2 !o:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt[ "7/home/esp/esp2/utils/puckmoves.rb:273:in `giveup!'"2/home/esp/esp2/utils/puckmoves.rb:807:in `to'"6/home/esp/esp2/utils/puckmoves.rb:858:in `loadAt'"9/home/esp/esp2/utils/puckmoves.rb:983:in `loadFlush'"(ESP):9:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 !o:Slide::Error\ :@axisName"Processing Clamp: mesg"(No Puck Clamped in Processing Clamp:@checkpoint: omitted: @reply0:bt["E/home/esp/esp2/utils/misc.rb:475:in `closeAndVerifyPuckPresence'"0/home/esp/esp2/utils/misc.rb:485:in `close'",/home/esp/esp2/lib/msg.rb:68:in `retry'"0/home/esp/esp2/utils/misc.rb:484:in `close'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"0/home/esp/esp2/utils/misc.rb:483:in `close'"2/home/esp/esp2/utils/puckmoves.rb:798:in `to'"6/home/esp/esp2/utils/puckmoves.rb:858:in `loadAt'"9/home/esp/esp2/utils/puckmoves.rb:983:in `loadFlush'"(ESP):9:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +5933 #-> PC.unloadFlush +2 "processing"%X& +3 "core" &V\  +3 #tGaraging FlushPuck in Processing Clamp + "processing"%Y& +4 "core" &V\  +2 .tHand.open + "manipulator"&Z1 +60 "core" 1 +2 "manipulator"&[& +4 "core" &  1 + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&\\( +2 "core" ( + "manipulator"&]& +4 "core" &  1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &^& +3 "core" &  1 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek PC + "manipulator"&_'E +3 "core" ' + .tHand.close +2 "manipulator"&`/ +56 "core" / +2 .tPC.seek :open +2 "processing"%a( +387 "core" ( +2 "manipulator"&b& +4 "core" &  1 + "manipulator"&c% +4 "core" % M 7 H +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&d' ] +142 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&e(-w +132 "core" ( +2 "manipulator"&f& +4 "core" &-r  & & + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +2 "core" &-r  C & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&h'π +107 "core" ' + .tHand.open +2 "manipulator"&i1 +62 "core" 1 +2 "manipulator"&j% +4 "core" % t  ) +3 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&k' ] +142 "core" ' +8837 #t-> PC.home.to :home +2 .PC.reconfigure :default +2 "processing"%$x2 ^22b +2 .tPC.home.seek :home +2 "processing"%l( +236 "core" ( +2 "processing"%m& +4 "core" &"\ +4738 #t-> 10.times{PC.loadFlush; delay 1; PC.unloadFlush; delay 1} +3 #Loading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%n& +3 "core" &"\ +2 "manipulator"&o& +4 "core" &- z / o +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&p(-w +30 "core" ( +2 "manipulator"&q& +4 "core" &-|  I + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &r& +2 "core" &-|  I +2 .tForearm.seek :garage +2 "manipulator"&s'π +109 "core" ' + .tHand.close + "manipulator"&t/ +63 "core" / +2 "manipulator"&u& +4 "core" &-| I + "manipulator"&v% +4 "core" % ύ_ +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&w' ] +153 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&x( +117 "core" ( +3 "manipulator"&y& +4 "core" & ] < + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &z& +3 "core" & l < +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&{'E +93 "core" ' +2 "manipulator"&|& +4 "core" & | < +2 "manipulator"&}% +3 "core" %O D E +2 "processing"%~& +4 "core" &"\ +2 .tPC.seek :open +2 "processing"%( +138 "core" ( +2 "processing"%& +5 "core" &u\  +2 .tPC.seek :closed +2 "processing"%(V4 +4 "core" &u\  +8 &P\ %i +9 &eY\ 9 +9 &~\ M +10 &]\ M +9 &K^\ L +9 & _\ M +10 &]\ M +9 &[\ L +10 & S^\ L +9 &"_\ M +9 &#`\ M +10 &%b\ M +9 &'Z]\ M +9 &)^\ M +10 &*]\ L +9 &,a\ M +10 &.b]\ M +9 &0$^\ M +9 &1`\ L +10 &3_\ M +9 &5jd\ M +9 &7-`\ L +10 &8`\ M +9 &:b\ L +10 &5`\ L +9 &?a\ L +10 &Ac\ M +9 &Cze\ M +9 &E9l\ N +10 &Fu \ O +9 &H\ P +10 &Jr\ R +9 &L4\ R +9 &M\ R +10 &O\ S +9 &Qv\ S +9 &S8\ S +10 &T\ A +9 &U-\ Y +9 &V*\ 1 +3 ( + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 10/24 samples, on/off torque 1.49 + "processing"%& +4 "core" &V.(\ 1 +2 .tHand.open + "manipulator"&1 +64 "core" 1 +2 "manipulator"&% +4 "core" % O [ 9 E +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +153 "core" ' +2 .tdelay 1 second +102 #Garaging FlushPuck in Processing Clamp +2 "manipulator"& & +3 "core" & < +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"& ( +3 "core" ( + "manipulator"& & +4 "core" & z 1 < +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & ' < +2 .tForearm.seek PC +2 "manipulator"&'E +100 "core" ' +2 .tHand.close + "manipulator"&/ +54 "core" / + .tPC.seek :open +2 "processing"%( +388 "core" ( + "manipulator"&& +5 "core" & < + "manipulator"&% +4 "core" % E 9 + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +151 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(-w +145 "core" ( + "manipulator"&& +4 "core" &-  / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &- Z / +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&'π +106 "core" ' +2 .tHand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&% +4 "core" % ωK /  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&' ] +153 "core" ' + .tdelay 1 second +103 #Loading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"% & +3 "core" &)\ +2 "manipulator"&!& +4 "core" &-   / +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&"(-w +25 "core" ( + "manipulator"&#& +4 "core" &-x ] v + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &$& +3 "core" &-x 0 v +2 .tForearm.seek :garage +2 "manipulator"&%'π +107 "core" ' + .tHand.close +2 "manipulator"&&/ +58 "core" / +2 "manipulator"&'& +4 "core" &-x v +2 "manipulator"&(% +3 "core" % Ϗp  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&)' ] +167 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&*( +121 "core" ( +2 "manipulator"&+& +4 "core" & O 6 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &,& +3 "core" & 6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&-'E +99 "core" ' +2 "manipulator"&.& +4 "core" & l ` 6 +2 "manipulator"&/% +3 "core" %; +2 "processing"%0& +4 "core" &(\ +2 "processing"%1& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%2(V4 +4 "core" &\ +8 &<\ $c +10 &U\ 7 +9 &\ K +9 &Y\ L +10 &Y[\ L +9 &]\ M +10 &\\\ M +9 &]\ L +9 & _Z\ M +10 &""Z\ L +9 &#\\\ L +9 &%\\\ M +10 &'g[\ M +9 &))\\\ M +9 &*Z\ L +10 &,\\\ L +9 &.o[\ M +10 &01b\ M +9 &1]\ M +9 &3]\ L +10 &5w_\ M +9 &7:_\ L +9 &8]\ M +10 &:[\ M +9 &<[\ M +10 &>A\\\ M +9 &@]\ M +9 &A`\ M +10 &Cb\ M +9 &EEj\ N +9 &Gt\ O +10 &H\ P +9 &J\ R +10 &LA\ R +9 &N\ S +9 &O\ S +10 &Q\ S +9 &SD\ T +9 &U\ A +10 &U%f\ !` +9 &V0\ 0 +3 ( + "processing"%1& +3 #tProcessing Clamp onSpring/offSpring for 10/24 samples, on/off torque 1.51 +2 "processing"%4& +3 "core" &V((\ 0 +2 .tHand.open + "manipulator"& 1 +59 "core" 1 + "manipulator"&6% +4 "core" % ; p +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&' ] +151 "core" ' + .tdelay 1 second +103 #Garaging FlushPuck in Processing Clamp + "manipulator"&8& +3 "core" &  6 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&( +3 "core" ( + "manipulator"&9& +4 "core" &  ) 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &:& +3 "core" &  6 +2 .tForearm.seek PC +2 "manipulator"&='E +99 "core" ' + .tHand.close + "manipulator"&>/ +60 "core" / +2 .tPC.seek :open + "processing"%7( +392 "core" ( + "manipulator"&@& +4 "core" & z ' 6 + "manipulator"&A% +4 "core" % L | @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&5' ] +143 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&;(-w +135 "core" ( +2 "manipulator"&B& +4 "core" &- Y / + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &C& +2 "core" &- r x / +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&D'π +110 "core" ' + .tHand.open +2 "manipulator"&E1 +64 "core" 1 +2 "manipulator"&G% +5 "core" % ςL !  + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&H' ] +177 "core" ' +2 .tdelay 1 second +102 #Loading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%<& +3 "core" &*\ +2 "manipulator"&J& +4 "core" &- 4 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&K(-w +24 "core" ( + "manipulator"&L& +4 "core" &-y H ~ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &?& +3 "core" &-y ~ +2 .tForearm.seek :garage +2 "manipulator"&O'π +105 "core" ' +2 .tHand.close + "manipulator"&P/ +62 "core" / +2 "manipulator"&I& +4 "core" &-y ~ + "manipulator"&R% +4 "core" % ψe P +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&S' ] +158 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&T( +120 "core" ( +2 "manipulator"&F& +3 "core" &  M +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &M& +3 "core" &  M +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&3'E +101 "core" ' +2 "manipulator"&U& +4 "core" & M +2 "manipulator"&V% +4 "core" %; w +2 "processing"%X& +3 "core" &\ +3 "processing"%Y& +5 "core" &\ +45 .tPC.seek :closed +12 "processing"%Z(V4 +5 "core" &\ + &\ + &\ + &\ + &\ + &\ + &\  +3 &/\ *y +9 &d\ > +10 &]w\ M +9 & Z\ L +9 &Z\ L +10 &\\\ M +9 &fY\ L +9 &(Y\ L +10 & Z\ M +9 &"Y\ L +9 &$m_\ M +10 &&/_\ M +9 &'[\ M +10 &)Z\ M +9 &+u\\ \ M +9 &-8[\ L +10 &.]\ L +9 &0^\ L +9 &2}_\ M +10 &4?a\ M +9 &6b\ M +10 &7`\ L +9 &9^\ L +9 &;G^\ M +10 &=\ `\ L +9 &>]\ L +9 &@^\ L +13 &BO`\ M +9 &Df\ M +7 &Ek\ N +9 &Gt\ O +9 &IK\ Q +10 &K\ \ R +9 &L\ R +9 &N\ S +10 &PL\ S +9 &R\ S +10 &S\ S +9 &Utzy\ '{ +9 &V x\ 8 +9 ( +3 "processing"%Y& +3 #tProcessing Clamp onSpring/offSpring for 9/24 samples, on/off torque 1.50 + "processing"%[& +5 "core" &V'\ / + &V'\ / + .tHand.open +2 "manipulator"&]1 +58 "core" 1 +2 "manipulator"&^% +4 "core" % : m +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&`' ] +144 "core" ' + .tdelay 1 second +103 #Garaging FlushPuck in Processing Clamp + "manipulator"&N& +3 "core" & 4 M +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&Q( +3 "core" ( +2 "manipulator"&W& +3 "core" & | M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &b& +2 "core" & < M +2 .tForearm.seek PC +2 "manipulator"&c'E +91 "core" ' + .tHand.close +2 "manipulator"&f/ +61 "core" / +2 .tPC.seek :open + "processing"%g( +388 "core" ( +2 "manipulator"&_& +4 "core" & = M + "manipulator"&\\% +4 "core" % Q p N +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&i' ] +142 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&j(-w +135 "core" ( +2 "manipulator"&d& +4 "core" &- Q T O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &h& +3 "core" &- J O +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&m'π +109 "core" ' + .tHand.open + "manipulator"&a1 +59 "core" 1 + "manipulator"&n% +4 "core" % ωW ) +3 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&o' ] +162 "core" ' +2 .tdelay 1 second +102 #Loading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%q& +3 "core" &)\ +2 "manipulator"&r& +4 "core" &- N + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&t(-w +27 "core" ( + "manipulator"&u& +4 "core" &-| q } +2 .tElbow.reconfigure :loose +7 "manipulator"&$ &.,(#b +2 &v& +3 "core" &-|  } +7 .tForearm.seek :garage +2 "manipulator"&e'π +111 "core" ' + .tHand.close + "manipulator"&k/ +59 "core" / +2 "manipulator"&y& +5 "core" &-| } + "manipulator"&z% +4 "core" % yc O +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&s' ] +156 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&|( +122 "core" ( + "manipulator"&}& +4 "core" & f T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +2 "core" & . T +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&p'E +91 "core" ' +2 "manipulator"&w& +4 "core" & T + "manipulator"&l% +4 "core" %I T \\ +2 "processing"%& +4 "core" &\ +2 "processing"%& +5 "core" &+\ +2 .tPC.seek :closed +2 "processing"%(V4 +4 "core" &\  +9 &2\ *x +9 &e\ > +9 &jx\ M +10 &.[\ L +9 &\\\ M +9 &\\\ L +10 &tZ\ L +9 &7Y\ L +10 & _\ L +9 &"\\\ M +9 &${\\\ M +10 &&<^\ M +9 &(Z\ L +9 &)[\ M +10 &+\\\ L +9 &-E[\ M +10 &/]\ M +9 &0`\ L +9 &2^\ L +10 &4M\\\ M +9 &6]\ M +9 &7^\ M +10 &9\\\ M +9 &;V\\\ L +9 &=\\\ L +10 &>_\ L +9 &@\\\ M +10 &B]]\ M +9 &De\ M +9 &Ej\ N +10 &Gx\ O +9 &IY\ Q +10 &K\ R +9 &L\ R +9 &N\ S +10 &PZ\ S +9 &R\ S +9 &S\ T +10 &U~vy\ 'y +9 &Vu\ = +9 ( +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 9/24 samples, on/off torque 1.51 + "processing"%& +4 "core" &V.\ 3 +2 &V.\ 3 + .tHand.open + "manipulator"&1 +62 "core" 1 +2 "manipulator"& % +4 "core" % I t \\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"& ' ] +147 "core" ' +2 .tdelay 1 second +102 #Garaging FlushPuck in Processing Clamp + "manipulator"&& +3 "core" & V S +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&{( +3 "core" ( +2 "manipulator"&& +4 "core" & R S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &x& +3 "core" & ? S +2 .tForearm.seek PC +2 "manipulator"&'E +94 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +2 .tPC.seek :open +2 "processing"%( +387 "core" ( +2 "manipulator"&& +4 "core" &  S + "manipulator"&% +4 "core" % P  ) +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +149 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(-w +137 "core" ( + "manipulator"& & +4 "core" &- @  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &- M  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&'π +108 "core" ' + .tHand.open +2 "manipulator"&1 +61 "core" 1 +2 "manipulator"& % +4 "core" % }N +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&!' ] +175 "core" ' +2 .tdelay 1 second +102 #Loading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%& +3 "core" &*\ +2 "manipulator"&#& +4 "core" &-  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&$(-w +22 "core" ( + "manipulator"&&& +4 "core" &- u +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &'& +3 "core" &- u +2 .tForearm.seek :garage +2 "manipulator"&('π +107 "core" ' + .tHand.close +2 "manipulator"&/ +64 "core" / +3 "manipulator"&& +4 "core" &-  u + "manipulator"&+% +4 "core" % ϐ\\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&%' ] +158 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&,( +120 "core" ( +2 "manipulator"&.& +4 "core" & i " N + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &/& +3 "core" & ( N +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +3 "manipulator"&0'E +103 "core" ' + "manipulator"&"& +5 "core" &  N + "manipulator"&)% +4 "core" %9 w +2 "processing"%& +3 "core" &\ +2 "processing"%4& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"% (V4 +4 "core" &\  +9 &2\ *y +10 &e\ > +9 &hx\ M +10 &-Z\ L +9 &Z\ L +9 &W\ L +10 &q\\\ M +9 &4Z\ L +9 & Y\ L +10 &"W\ L +9 &$z]\ L +10 &&;_\ M +9 &'\\\ L +9 &)Z\ M +10 &+[\ L +9 &-DY\ L +9 &/_\ L +10 &0Z\ M +9 &2`\ M +10 &4K^\ M +9 &6 \\\ M +9 &7a\ M +10 &9`\ L +9 &;S\\\ M +9 &=_\ L +10 &>Z\ M +9 &@`\ L +10 &B[_\ M +9 &Dg\ M +9 &Ej\ N +10 &Gu\ O +9 &IW\ Q +9 &K\ R +10 &L\ R +9 &N\ R +10 &PW\ S +9 &R\ S +9 &S\ T +10 &Uxx\ (| +9 &V~\ ? +9 ( +3 "processing"%4& +3 #tProcessing Clamp onSpring/offSpring for 9/24 samples, on/off torque 1.49 + "processing"%6& +4 "core" &V.\ 2 + &V.\ 2 +2 .tHand.open + "manipulator"&11 +62 "core" 1 + "manipulator"&8% +5 "core" % ;  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&9' ] +156 "core" ' +2 .tdelay 1 second +102 #Garaging FlushPuck in Processing Clamp + "manipulator"&:& +3 "core" & N +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&-( +2 "core" ( +2 "manipulator"&>& +4 "core" & N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &*& +3 "core" & N +2 .tForearm.seek PC +2 "manipulator"&'E +98 "core" ' +2 .tHand.close + "manipulator"&2/ +53 "core" / +2 .tPC.seek :open +2 "processing"%@( +388 "core" ( + "manipulator"&A& +4 "core" & N +2 "manipulator"&B% +3 "core" % M E +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&C' ] +150 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&=(-w +129 "core" ( +2 "manipulator"&& +4 "core" &-n   % + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &E& +3 "core" &-n  % +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&G'π +108 "core" ' + .tHand.open + "manipulator"&51 +57 "core" 1 + "manipulator"&<% +5 "core" % v` = ; +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&J' ] +166 "core" ' +2 .tdelay 1 second +102 #Loading FlushPuck into Processing Clamp from FlushPuck::Garage +2 "processing"%D& +2 "core" &\ +2 "manipulator"&L& +4 "core" &-p  % +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&?(-w +3 "core" ( +2 "manipulator"&P& +4 "core" &-p  % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &I& +3 "core" &-p  % +2 .tForearm.seek :garage +2 "manipulator"&R'π +105 "core" ' + .tHand.close + "manipulator"&;/ +55 "core" / +2 "manipulator"&H& +4 "core" &-p  ' % +2 "manipulator"&F% +3 "core" % ϓq  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&M' ] +155 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&O( +136 "core" ( +2 "manipulator"&U& +4 "core" &  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +2 "core" & B  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&X'E +101 "core" ' + "manipulator"&K& +4 "core" & l   +2 "manipulator"&S% +4 "core" %A +2 "processing"%7& +3 "core" &\ +2 "processing"%[& +5 "core" &(\ +2 .tPC.seek :closed +2 "processing"%](V4 +4 "core" &\  +9 &2\ *x +10 &b\ = +9 &hx\ M +9 &,Z\ L +51 &\\\ L +14 &Z\ M + &q[\ M +6 &4Z\ L + & Z\ M + &"[\ M + &$y\\\ M +3 &&<[\ L +7 &'Y\ L +9 &)\\\ L +10 &+\\\ M +9 &-C]\ M +9 &/Z\ L +10 &0[\ M +9 &2\\\ L +9 &4L\\\ L +10 &6^\ L +9 &7b\ M +10 &9[\ L +9 &;S\\\ M +9 &=_\ L +10 &>_\ M +9 &@`\ M +9 &B[b\ M +10 &De\ M +9 &Em\ N +10 &Gr\ O +9 &IW\ Q +9 &K\ R +10 &L\ S +9 &N\ S +9 &PX\ S +10 &R\ S +10 &S\ T +9 &U}wy\ '{ +9 &Vs\ = +10 ( &V0\ 4 +2 "processing"%[& +3 #tProcessing Clamp onSpring/offSpring for 9/24 samples, on/off torque 1.50 + "processing"%^& +5 "core" &V1)\ 4 + .tHand.open +2 "manipulator"&Y1 +52 "core" 1 +2 "manipulator"&N% +4 "core" % A +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&W' ] +150 "core" ' +2 .tdelay 1 second +102 #Garaging FlushPuck in Processing Clamp +2 "manipulator"&b& +3 "core" &  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&3( +4 "core" ( + "manipulator"&f& +4 "core" & ]  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &T& +3 "core" & p  +2 .tForearm.seek PC +2 "manipulator"&`'E +92 "core" ' + .tHand.close +2 "manipulator"&Z/ +64 "core" / +2 .tPC.seek :open +2 "processing"%_( +387 "core" ( +2 "manipulator"&\\& +4 "core" &   + "manipulator"&d% +4 "core" % O  ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&h' ] +141 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&c(-w +151 "core" ( +2 "manipulator"&Q& +4 "core" &-n ?  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &a& +3 "core" &-n   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&n'π +108 "core" ' +2 .tHand.open + "manipulator"&i1 +55 "core" 1 +2 "manipulator"&q% +4 "core" % φ\\ A 5 +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&r' ] +169 "core" ' +2 .tdelay 1 second +102 #Loading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%m& +3 "core" &\ +2 "manipulator"&u& +4 "core" &-n  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&v(-w +3 "core" ( +2 "manipulator"&k& +4 "core" &-n  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &y& +2 "core" &-n   +2 .tForearm.seek :garage +2 "manipulator"&z'π +106 "core" ' +2 .tHand.close + "manipulator"&j/ +63 "core" / +2 "manipulator"&o& +5 "core" &-n  + "manipulator"&}% +4 "core" % ϔd 2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&~' ] +158 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&e( +122 "core" ( + "manipulator"&w& +4 "core" & ] @ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +2 "core" & t @ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'E +92 "core" ' +2 "manipulator"&t& +4 "core" & [ w @ +2 "manipulator"&s% +4 "core" %= r U  +2 "processing"%g& +3 "core" &*\ +2 "processing"%& +5 "core" &*\ +2 .tPC.seek :closed +2 "processing"%(V4 +5 "core" &\  +8 &2\ *x +9 &b\ = +10 &ew\ M +9 &*Y\ L +10 &Z\ L +9 &\\\ L +9 &nZ\ M +10 &1Z\ L +9 & _\ L +9 &"\\\ L +10 &$v[\ M +9 &&8]\ M +9 &'X\ L +10 &)]\ L +9 &+\\\ L +10 &-@\\\ M +9 &/Y\ L +9 &0`\ M +10 &2`\ M +9 &4H\\\ M +10 &6\ `\ M +9 &7`\ M +9 &9]\ M +10 &;PZ\ M +9 &=_\ L +9 &>[\ L +10 &@_\ M +9 &BX`\ M +10 &Dc\ M +9 &Ek\ N +9 &Gu\ O +10 &IS\ Q +9 &K\ R +9 &L\ R +10 &N\ R +9 &PS\ T +9 &R\ S +10 &S\ T +9 &Uywz\ '{ +10 &Vs\ ; +9 ( + &V.\ 3 +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 9/24 samples, on/off torque 1.48 + "processing"% & +4 "core" &V.(\ 3 +2 .tHand.open + "manipulator"&1 +59 "core" 1 +2 "manipulator"&% +4 "core" % = Y   +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&' ] +146 "core" ' + .tdelay 1 second +102 #Garaging FlushPuck in Processing Clamp +2 "manipulator"&x& +3 "core" & r  ? +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&p( +3 "core" ( + "manipulator"&& +4 "core" & }  ? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &|& +3 "core" & M ? +2 .tForearm.seek PC +2 "manipulator"& 'E +96 "core" ' + .tHand.close + "manipulator"&/ +55 "core" / +2 .tPC.seek :open +2 "processing"%( +391 "core" ( + "manipulator"&& +4 "core" &  ? +2 "manipulator"& % +4 "core" % R  $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +150 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(-w +130 "core" ( +2 "manipulator"&{& +4 "core" &-\  m ^ !u +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &-\   !u +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"& 'π +107 "core" ' +2 .tHand.open + "manipulator"&1 +52 "core" 1 + "manipulator"&% +4 "core" % u\\ r 5 +2 .tForearm.reconfigure :loose +6 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&#' ] +156 "core" ' +2 .tdelay 1 second +102 #Loading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%& +3 "core" &*\ +2 "manipulator"&&& +4 "core" &-\  !q +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&'(-w +33 "core" ( + "manipulator"&& +5 "core" &- i  ~ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &- ~ +2 .tForearm.seek :garage +2 "manipulator"&+'π +109 "core" ' + .tHand.close + "manipulator"&/ +55 "core" / +3 "manipulator"&!& +4 "core" &-  ~ + "manipulator"&.% +4 "core" % ωj 6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&/' ] +154 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&(( +121 "core" ( +2 "manipulator"&"& +4 "core" &  < +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &)& +3 "core" &  < +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&'E +93 "core" ' +2 "manipulator"&$& +4 "core" & < + "manipulator"&%% +4 "core" %<  L +2 "processing"%& +3 "core" &)\ +3 "processing"%6& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%1(V4 +4 "core" &\ +7 & ,\ #b +10 &vV\ 7 +9 &\ L +9 &Y\ L +10 &N[\ M +9 &[\ L +9 &Z\ L +10 &\\\ L +9 & W\\\ L +10 &"\\\ L +9 &#[\ M +9 &%[\ L +10 &'_Y\ L +9 &)!Z\ L +9 &*X\ L +10 &,\\\ M +9 &.f\\\ M +10 &0(]\ M +9 &1^\ M +9 &3Y\ L +10 &5o]\ L +9 &70`\ M +9 &8^\ M +10 &:[\ L +9 &9Z\ L +9 &?[\ M +9 &A\\\ M +10 &C}d\ M +9 &E<f\ N +9 &Fp\ O +10 &H{\ P +9 &Jy\ Q +10 &L9\ R +9 &M\ R +9 &O\ S +10 &Q|\ S +9 &S<\ S +9 &T\ A +10 &U)x\ ] +9 &V-\ / +2 ( +2 "processing"%6& +2 #tProcessing Clamp onSpring/offSpring for 10/24 samples, on/off torque 1.50 +6 "processing"%8& +4 "core" &V&\ / +2 .tHand.open +5 "manipulator"&41 +56 "core" 1 + "manipulator"&:% +4 "core" % < b L +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&>' ] +148 "core" ' +2 .tdelay 1 second +102 #Garaging FlushPuck in Processing Clamp + "manipulator"&*& +3 "core" &  < +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&0( +2 "core" ( +2 "manipulator"&2& +4 "core" & " < +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &,& +3 "core" &  < +2 .tForearm.seek PC +2 "manipulator"&9'E +92 "core" ' + .tHand.close +2 "manipulator"& / +55 "core" / +2 .tPC.seek :open + "processing"%A( +388 "core" ( +2 "manipulator"&B& +4 "core" & ; + "manipulator"&% +4 "core" % N  L +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&E' ] +155 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(-w +131 "core" ( + "manipulator"&-& +4 "core" &- & "x +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &5& +3 "core" &-  "x +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&<'π +108 "core" ' + .tHand.open +2 "manipulator"&C1 +61 "core" 1 +2 "manipulator"&D% +4 "core" % χC  + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&L' ] +151 "core" ' +2 .tdelay 1 second +102 #Loading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%P& +3 "core" &\ +2 "manipulator"&I& +4 "core" &-\  6 !v +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&G(-w +3 "core" ( +2 "manipulator"&;& +4 "core" &-\  x !v +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +2 "core" &-\ ( !v +2 .tForearm.seek :garage +2 "manipulator"&F'π +108 "core" ' +2 .tHand.close + "manipulator"&=/ +55 "core" / + "manipulator"&J& +4 "core" &-\  !v +2 "manipulator"&R% +4 "core" % ϒd F + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&U' ] +165 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&V( +122 "core" ( + "manipulator"&K& +5 "core" & : ~ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &S& +4 "core" & S ~ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&7'E +99 "core" ' + "manipulator"&?& +4 "core" & k  ~ +2 "manipulator"&M% +4 "core" %@  +2 "processing"%@& +3 "core" &\ +2 "processing"%^& +5 "core" &\ +2 .tPC.seek :closed +3 "processing"%Y(V4 +3 "core" &\ +6 &;\ $c +10 &V\ 7 +9 &~\ K +9 &[\ M +10 &YZ\ L +9 &Z\ M +10 &Y\ L +9 &\\\ L +9 & `[\ M +10 &"#Z\ L +9 &#]\ L +9 &%\\\ M +10 &'jY\ L +9 &)+]\ L +10 &*Z\ M +9 &,\\\ M +9 &.p]\ M +10 &01]\ M +49 &1\\\ M +14 &3Z\ L + &5y]\ L +3 &7:\\\ M + &8Z\ L + &:\\\ L +3 &<^\ L +3 &>C_\ L +9 &@Z\ L +9 &A]\ L +10 &C`\ M +9 &EHe\ M +10 &Gr\ O +9 &H{\ P +9 &J\ R +10 &LB\ R +9 &N\ S +9 &O\ S +10 &Q\ S +9 &SE\ T +10 &U\ A +9 &U%k\ ^ +9 &V2\ 3 +3 ( + "processing"%^& +4 #tProcessing Clamp onSpring/offSpring for 10/24 samples, on/off torque 1.50 + "processing"%N& +4 "core" &V*\ 3 +2 .tHand.open + "manipulator"&[1 +61 "core" 1 + "manipulator"&b% +4 "core" % @ # +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&f' ] +240 "core" ' +2 .tdelay 1 second +102 #Garaging FlushPuck in Processing Clamp + "manipulator"&T& +3 "core" &  | +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&X( +10 "core" ( +2 "manipulator"&Z& +4 "core" &  \\ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &O& +3 "core" &  \\ +2 .tForearm.seek PC +2 "manipulator"&W'E +92 "core" ' + .tHand.close +2 "manipulator"&]/ +55 "core" / +2 .tPC.seek :open + "processing"%\\( +391 "core" ( +2 "manipulator"&d& +4 "core" &  Z + "manipulator"&`% +4 "core" % L  > +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&Q' ] +146 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&a(-w +134 "core" ( +2 "manipulator"&3& +4 "core" &-{  # + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &i& +3 "core" &-|   # +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&q'π +112 "core" ' +2 .tHand.open + "manipulator"&h1 +60 "core" 1 +2 "manipulator"&m% +4 "core" % φ< +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&u' ] +164 "core" ' +2 .tdelay 1 second +102 #Loading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%k& +3 "core" &\ +2 "manipulator"&n& +4 "core" &-  # +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&y(-w +3 "core" ( +2 "manipulator"&j& +4 "core" &-  # + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &o& +3 "core" &-  # +2 .tForearm.seek :garage +2 "manipulator"&}'π +107 "core" ' +2 .tHand.close + "manipulator"&c/ +55 "core" / +2 "manipulator"&r& +4 "core" &-  q # +2 "manipulator"&w% +3 "core" % ύ] +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&l' ] +157 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&z( +157 "core" ( +2 "manipulator"&t& +4 "core" &   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &s& +3 "core" & G  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&g'E +99 "core" ' +2 "manipulator"&v& +4 "core" &   \ +2 "manipulator"&~% +3 "core" %E  +2 "processing"%_& +4 "core" &\ +2 "processing"% & +4 "core" &\ +3 .tPC.seek :closed + "processing"%(V4 +5 "core" &\  +9 &/}\ *y +9 &d\ > +10 &`u\ M +9 &$X\ L +9 &Z\ L +10 &V\ L +9 &iZ\ L +10 &,[\ L +9 & [\ L +9 &"W\ L +10 &$pZ\ M +9 &&3\\\ L +9 &'W\ L +10 &)]\ L +9 &+y\\\ L +10 &-;\\\ L +9 &.Y\ L +9 &0Z\ L +10 &2\\\ L +9 &4C_\ L +9 &6`\ M +10 &7`\ L +9 &9Z\ M +10 &;K^\ L +9 &= Y\ L +9 &>\\\ L +10 &@`\ M +9 &BR`\ M +10 &De\ M +9 &Eg \ N +9 &Gu\ O +10 &IM\ Q +9 &K \ R +9 &L\ R +10 &N\ S +9 &PN\ S +9 &R\ S +10 &S\ T +9 &Uvyy\ (| +10 &V~\ @ +9 ( + &V1\ 5 +2 "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 9/24 samples, on/off torque 1.51 + "processing"%& +4 "core" &V1'\ 5 +2 .tHand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&x% +4 "core" % E  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +144 "core" ' +2 .tdelay 1 second +102 #Garaging FlushPuck in Processing Clamp + "manipulator"&|& +3 "core" & B  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&( +22 "core" ( +2 "manipulator"&& +4 "core" &  _ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &e& +3 "core" &  _ +2 .tForearm.seek PC + "manipulator"&'E +91 "core" ' +2 .tHand.close + "manipulator"&/ +54 "core" / +2 .tPC.seek :open + "processing"%( +391 "core" ( +2 "manipulator"& & +4 "core" &  ^ + "manipulator"&{% +4 "core" % I  2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +152 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"& (-w +155 "core" ( + "manipulator"&p& +4 "core" &- Z m +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &-  m +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&'π +94 "Can")\ ] j +13 "core" ' +2 .tHand.open + "manipulator"&1 +52 "core" 1 +3 "manipulator"&% +4 "core" % ς] + / +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&&' ] +156 "core" ' + .tdelay 1 second +3877 #-> PC.loadFlush +2 #Loading FlushPuck into Processing Clamp from FlushPuck::Garage +2 "processing"% & +3 "core" &)\ +2 "manipulator"&& +4 "core" &-  n +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&(-w +4 "core" ( + "manipulator"&& +4 "core" &-  n +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &!& +2 "core" &-  n +2 .tForearm.seek :garage +2 "manipulator"&.'π +108 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / + "manipulator"&#& +4 "core" &-  n +2 "manipulator"&"% +3 "core" % ύn ' \ +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract + "manipulator"&)' ] +153 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&+( +121 "core" ( +2 "manipulator"&$& +5 "core" &  T + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &%& +4 "core" &  T +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&'E +100 "core" ' +2 "manipulator"&'& +4 "core" &  $ T + "manipulator"&/% +4 "core" %N z +2 "processing"%& +4 "core" &\ +2 "processing"%8& +5 "core" &)\ +2 .tPC.seek :closed + "processing"%4(V4 +5 "core" &\  +9 &/}\ *x +9 &d\ > +10 &_v\ M +9 &"X\ M +9 &Z\ L +10 &\\\ L +9 &iZ\ L +9 &,\\\ L +10 & ]\ L +9 &"X\ L +10 &$q\\\ L +9 &&3[\ L +9 &'Y\ L +10 &)^\ L +9 &+x[\ M +10 &-;\\\ L +9 &.^\ L +9 &0_\ M +10 &2`\ L +9 &4CZ\ L +9 &6]\ M +10 &7`\ L +9 &9\\\ L +9 &;K_\ L +10 &= Z\ M +9 &>]\ M +10 &@_\ L +9 &BS^\ L +9 &Dc\ M +10 &Ek\ N +9 &Gu\ O +10 &IN\ Q +9 &K \ R +9 &L\ S +10 &N\ R +9 &PO\ S +9 &R\ S +10 &S\ T +9 &Uuxy\ '{ +9 &V !}\ : +9 ( +3 "processing"%8& +3 #tProcessing Clamp onSpring/offSpring for 9/24 samples, on/off torque 1.49 +7 "processing"%:& +4 "core" &V(\ 0 + &V'\ 0 +6 .tHand.open +2 "manipulator"&61 +58 "core" 1 + "manipulator"&*% +4 "core" % M o +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&2' ] +144 "core" ' +2 "processing"%,& +4 "core" &V''\ 0 +1003 #t-> PC.jog 500 + .PC.jog 500 +2 "processing"%* +34 "core" * +2 "processing"% & +4 "core" &W$\ . +939 #t-> PC.rawPosition +2 "processing"%(& +3 "core" &W$)\ . +8366 #t-> PC.unloadFlush + #Garaging FlushPuck in Processing Clamp +2 "manipulator"&>& +3 "core" &  T +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&1( +3 "core" ( +2 "manipulator"&B& +3 "core" &  T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & x T +2 .tForearm.seek PC +2 "manipulator"&-'E +93 "core" ' + .tHand.close +2 "manipulator"&9/ +703 !to:I2C::Request::Timeout: @requesto:I2C::Servo::Grip3Request : @tag0: @dontLog0:@maxDelayo:\ Delay: @_dc_obji : @channeli: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: mesg"5No Response to I2C::Servo::Grip3Request[39:->26]:bt["3/home/esp/esp2/lib/i2c/msg.rb:317:in `process'"6/home/esp/esp2/lib/schedule.rb:179:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:456:in `step'"4/home/esp/esp2/lib/schedule.rb:205:in `process'"2/home/esp/esp2/lib/schedule.rb:223:in `start'"1/home/esp/esp2/lib/schedule.rb:222:in `loop'"2/home/esp/esp2/lib/schedule.rb:222:in `start'"-/home/esp/esp2/lib/esp.rb:211:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:111:in `load'"0/home/esp/esp2/lib/framework.rb:111:in `ld'"4/home/esp/esp2/lib/framework.rb:136:in `ldMode'""/home/esp/esp2/lib/esp.rb:342"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 +2 #Retry #1 of 3 + "manipulator"&5/ +2 "core" / + !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[39:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:615:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:610:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:491:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"'/home/esp/esp2/lib/schedule.rb:482 +704 !to:I2C::Request::Timeout: @requesto:I2C::Servo::Grip3Request : @tag0: @dontLog0:@maxDelayo:\ Delay: @_dc_obji : @channeli: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: mesg"5No Response to I2C::Servo::Grip3Request[35:->26]:bt["3/home/esp/esp2/lib/i2c/msg.rb:317:in `process'"6/home/esp/esp2/lib/schedule.rb:179:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:456:in `step'"4/home/esp/esp2/lib/schedule.rb:205:in `process'"2/home/esp/esp2/lib/schedule.rb:223:in `start'"1/home/esp/esp2/lib/schedule.rb:222:in `loop'"2/home/esp/esp2/lib/schedule.rb:222:in `start'"-/home/esp/esp2/lib/esp.rb:211:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:111:in `load'"0/home/esp/esp2/lib/framework.rb:111:in `ld'"4/home/esp/esp2/lib/framework.rb:136:in `ldMode'""/home/esp/esp2/lib/esp.rb:342"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 +6 #Retry #2 of 3 + "manipulator"&0/ +3 "core" / !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[35:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:615:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:610:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:491:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"'/home/esp/esp2/lib/schedule.rb:482 +709 !to:I2C::Request::Timeout: @requesto:I2C::Servo::Grip3Request : @tag0: @dontLog0:@maxDelayo:\ Delay: @_dc_obji : @channeli: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: mesg"5No Response to I2C::Servo::Grip3Request[30:->26]:bt["3/home/esp/esp2/lib/i2c/msg.rb:317:in `process'"6/home/esp/esp2/lib/schedule.rb:179:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:456:in `step'"4/home/esp/esp2/lib/schedule.rb:205:in `process'"2/home/esp/esp2/lib/schedule.rb:223:in `start'"1/home/esp/esp2/lib/schedule.rb:222:in `loop'"2/home/esp/esp2/lib/schedule.rb:222:in `start'"-/home/esp/esp2/lib/esp.rb:211:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:111:in `load'"0/home/esp/esp2/lib/framework.rb:111:in `ld'"4/home/esp/esp2/lib/framework.rb:136:in `ldMode'""/home/esp/esp2/lib/esp.rb:342"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 + #Retry #3 of 3 + "manipulator"&C/ +2 "core" / + !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[30:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:615:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:610:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:491:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"'/home/esp/esp2/lib/schedule.rb:482 +705 !to:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt[ "7/home/esp/esp2/utils/puckmoves.rb:273:in `giveup!'"6/home/esp/esp2/utils/puckmoves.rb:848:in `garage'";/home/esp/esp2/utils/puckmoves.rb:988:in `unloadFlush'"(ESP):16:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 !o:I2C::Request::Timeout : @requesto:I2C::Servo::Grip3Request : @tag0: @dontLog0:@maxDelayo:\ Delay: @_dc_obji : @channeli: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: mesg"[Hand could not finish closing because\ No Response to I2C::Servo::Grip3Request[43:->26]:@checkpoint: omitted:bt["3/home/esp/esp2/lib/i2c/msg.rb:317:in `process'"6/home/esp/esp2/lib/schedule.rb:179:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:456:in `step'"4/home/esp/esp2/lib/schedule.rb:205:in `process'"2/home/esp/esp2/lib/schedule.rb:223:in `start'"1/home/esp/esp2/lib/schedule.rb:222:in `loop'"2/home/esp/esp2/lib/schedule.rb:222:in `start'"-/home/esp/esp2/lib/esp.rb:211:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:111:in `load'"0/home/esp/esp2/lib/framework.rb:111:in `ld'"4/home/esp/esp2/lib/framework.rb:136:in `ldMode'""/home/esp/esp2/lib/esp.rb:342"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 +873 #-> PC.jog -200 + .PC.jog -200 +2 "processing"%D*8 +35 "core" * +2 "processing"%E& +4 "core" &W\  +734 #t-> PC.rawPosition +2 "processing"%P& +3 "core" &W\  +1397 #t-> PC.unloadFlush +2 #Garaging FlushPuck in Processing Clamp + "manipulator"&I& +3 "core" & 5 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&;( +10 "core" ( + "manipulator"&H& +4 "core" & q 0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &<& +3 "core" &  0 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&='E +47 "core" ' +11 .tHand.close + "manipulator"&J/ +3 "core" / + !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[43:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:615:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:610:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:491:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"'/home/esp/esp2/lib/schedule.rb:482 +508 !to:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt[ "7/home/esp/esp2/utils/puckmoves.rb:273:in `giveup!'"6/home/esp/esp2/utils/puckmoves.rb:848:in `garage'";/home/esp/esp2/utils/puckmoves.rb:988:in `unloadFlush'"(ESP):19:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 !o:IRB::Abort: mesg"7Hand could not finish closing because\ User Abort!!:@checkpoint: omitted:bt["1/home/esp/esp2/lib/esp.rb:79:in `mainThread'""/home/esp/esp2/lib/esp.rb:342 +338 #-> PC.open + "processing"%R& +4 "core" &W \  +2 !to:Puck::Error: mesg"(Processing Clamp contains FlushPuck:bt[ "4/home/esp/esp2/utils/puckmoves.rb:957:in `open'"(ESP):20:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +973 #-> Hand.close + .Hand.close + "manipulator"&/ +3 "core" / + !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[4A:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:615:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:610:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:491:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"'/home/esp/esp2/lib/schedule.rb:482 +703 !to:I2C::Request::Timeout: @requesto:I2C::Servo::Grip3Request : @tag0: @dontLog0:@maxDelayo:\ Delay: @_dc_obji : @channeli: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: mesg"5No Response to I2C::Servo::Grip3Request[10:->26]:bt["3/home/esp/esp2/lib/i2c/msg.rb:317:in `process'"6/home/esp/esp2/lib/schedule.rb:179:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:456:in `step'"4/home/esp/esp2/lib/schedule.rb:205:in `process'"2/home/esp/esp2/lib/schedule.rb:223:in `start'"1/home/esp/esp2/lib/schedule.rb:222:in `loop'"2/home/esp/esp2/lib/schedule.rb:222:in `start'"-/home/esp/esp2/lib/esp.rb:211:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:111:in `load'"0/home/esp/esp2/lib/framework.rb:111:in `ld'"4/home/esp/esp2/lib/framework.rb:136:in `ldMode'""/home/esp/esp2/lib/esp.rb:342"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 +2 #Retry #1 of 3 + "manipulator"&L/ +2 "core" / + !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[10:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:615:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:610:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:491:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"'/home/esp/esp2/lib/schedule.rb:482 +704 !to:I2C::Request::Timeout: @requesto:I2C::Servo::Grip3Request : @tag0: @dontLog0:@maxDelayo:\ Delay: @_dc_obji : @channeli: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: mesg"5No Response to I2C::Servo::Grip3Request[4C:->26]:bt["3/home/esp/esp2/lib/i2c/msg.rb:317:in `process'"6/home/esp/esp2/lib/schedule.rb:179:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:456:in `step'"4/home/esp/esp2/lib/schedule.rb:205:in `process'"2/home/esp/esp2/lib/schedule.rb:223:in `start'"1/home/esp/esp2/lib/schedule.rb:222:in `loop'"2/home/esp/esp2/lib/schedule.rb:222:in `start'"-/home/esp/esp2/lib/esp.rb:211:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:111:in `load'"0/home/esp/esp2/lib/framework.rb:111:in `ld'"4/home/esp/esp2/lib/framework.rb:136:in `ldMode'""/home/esp/esp2/lib/esp.rb:342"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 + #Retry #2 of 3 + "manipulator"&K/ +3 "core" / + !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[4C:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:615:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:610:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:491:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"'/home/esp/esp2/lib/schedule.rb:482 +703 !to:I2C::Request::Timeout: @requesto:I2C::Servo::Grip3Request : @tag0: @dontLog0:@maxDelayo:\ Delay: @_dc_obji : @channeli: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: mesg"5No Response to I2C::Servo::Grip3Request[4B:->26]:bt["3/home/esp/esp2/lib/i2c/msg.rb:317:in `process'"6/home/esp/esp2/lib/schedule.rb:179:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:456:in `step'"4/home/esp/esp2/lib/schedule.rb:205:in `process'"2/home/esp/esp2/lib/schedule.rb:223:in `start'"1/home/esp/esp2/lib/schedule.rb:222:in `loop'"2/home/esp/esp2/lib/schedule.rb:222:in `start'"-/home/esp/esp2/lib/esp.rb:211:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:111:in `load'"0/home/esp/esp2/lib/framework.rb:111:in `ld'"4/home/esp/esp2/lib/framework.rb:136:in `ldMode'""/home/esp/esp2/lib/esp.rb:342"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 +2 #Retry #3 of 3 + "manipulator"&F/ +2 "core" / + !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[4B:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:615:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:610:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:491:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"'/home/esp/esp2/lib/schedule.rb:482 +584 !to:IRB::Abort: mesg"7Hand could not finish closing because\ User Abort!!:@checkpoint: omitted:bt["1/home/esp/esp2/lib/esp.rb:79:in `mainThread'""/home/esp/esp2/lib/esp.rb:342 +639 #-> PC.coast +2 .PC.coast + "processing"%6 +3 %S& +3 "core" &W+\ +582 #t-> Hand.close +2 .Hand.close + "manipulator"&?/ +3 "core" / + !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[46:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:615:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:610:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:491:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"'/home/esp/esp2/lib/schedule.rb:482 +204 !to:IRB::Abort: mesg"7Hand could not finish closing because\ User Abort!!:@checkpoint: omitted:bt["1/home/esp/esp2/lib/esp.rb:79:in `mainThread'""/home/esp/esp2/lib/esp.rb:342 +1085 #-> PC.unloadFlush +2 #Garaging FlushPuck in Processing Clamp +2 "manipulator"&M& +3 "core" & 0 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&@( +2 "core" ( +2 "manipulator"&G& +3 "core" & ? 0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &U& +2 "core" & 0 +3 .tForearm.seek PC + "manipulator"&A'E +4 "core" ' + .tHand.close + "manipulator"&N/ +3 "core" / + !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[3F:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:615:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:610:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:491:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"'/home/esp/esp2/lib/schedule.rb:482 +700 !to:I2C::Request::Timeout: @requesto:I2C::Servo::Grip3Request : @tag0: @dontLog0:@maxDelayo:\ Delay: @_dc_obji : @channeli: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: mesg"5No Response to I2C::Servo::Grip3Request[4E:->26]:bt["3/home/esp/esp2/lib/i2c/msg.rb:317:in `process'"6/home/esp/esp2/lib/schedule.rb:179:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:456:in `step'"4/home/esp/esp2/lib/schedule.rb:205:in `process'"2/home/esp/esp2/lib/schedule.rb:223:in `start'"1/home/esp/esp2/lib/schedule.rb:222:in `loop'"2/home/esp/esp2/lib/schedule.rb:222:in `start'"-/home/esp/esp2/lib/esp.rb:211:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:111:in `load'"0/home/esp/esp2/lib/framework.rb:111:in `ld'"4/home/esp/esp2/lib/framework.rb:136:in `ldMode'""/home/esp/esp2/lib/esp.rb:342"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 +6 #Retry #1 of 3 +2 "manipulator"&[/ +2 "core" / + !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[4E:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:615:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:610:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:491:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"'/home/esp/esp2/lib/schedule.rb:482 +703 !to:I2C::Request::Timeout: @requesto:I2C::Servo::Grip3Request : @tag0: @dontLog0:@maxDelayo:\ Delay: @_dc_obji : @channeli: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: mesg"5No Response to I2C::Servo::Grip3Request[5B:->26]:bt["3/home/esp/esp2/lib/i2c/msg.rb:317:in `process'"6/home/esp/esp2/lib/schedule.rb:179:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:456:in `step'"4/home/esp/esp2/lib/schedule.rb:205:in `process'"2/home/esp/esp2/lib/schedule.rb:223:in `start'"1/home/esp/esp2/lib/schedule.rb:222:in `loop'"2/home/esp/esp2/lib/schedule.rb:222:in `start'"-/home/esp/esp2/lib/esp.rb:211:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:111:in `load'"0/home/esp/esp2/lib/framework.rb:111:in `ld'"4/home/esp/esp2/lib/framework.rb:136:in `ldMode'""/home/esp/esp2/lib/esp.rb:342"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 +2 #Retry #2 of 3 + "manipulator"&b/ +2 "core" / + !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[5B:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:615:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:610:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:491:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"'/home/esp/esp2/lib/schedule.rb:482 +703 !to:I2C::Request::Timeout: @requesto:I2C::Servo::Grip3Request : @tag0: @dontLog0:@maxDelayo:\ Delay: @_dc_obji : @channeli: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: mesg"5No Response to I2C::Servo::Grip3Request[62:->26]:bt["3/home/esp/esp2/lib/i2c/msg.rb:317:in `process'"6/home/esp/esp2/lib/schedule.rb:179:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:456:in `step'"4/home/esp/esp2/lib/schedule.rb:205:in `process'"2/home/esp/esp2/lib/schedule.rb:223:in `start'"1/home/esp/esp2/lib/schedule.rb:222:in `loop'"2/home/esp/esp2/lib/schedule.rb:222:in `start'"-/home/esp/esp2/lib/esp.rb:211:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:111:in `load'"0/home/esp/esp2/lib/framework.rb:111:in `ld'"4/home/esp/esp2/lib/framework.rb:136:in `ldMode'""/home/esp/esp2/lib/esp.rb:342"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 +2 #Retry #3 of 3 + "manipulator"&^/ +2 "core" / + !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[62:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:615:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:610:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:491:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"'/home/esp/esp2/lib/schedule.rb:482 +705 !to:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt[ "7/home/esp/esp2/utils/puckmoves.rb:273:in `giveup!'"6/home/esp/esp2/utils/puckmoves.rb:848:in `garage'";/home/esp/esp2/utils/puckmoves.rb:988:in `unloadFlush'"(ESP):24:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 + !o:I2C::Request::Timeout : @requesto:I2C::Servo::Grip3Request : @tag0: @dontLog0:@maxDelayo:\ Delay: @_dc_obji : @channeli: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: mesg"[Hand could not finish closing because\ No Response to I2C::Servo::Grip3Request[5E:->26]:@checkpoint: omitted:bt["3/home/esp/esp2/lib/i2c/msg.rb:317:in `process'"6/home/esp/esp2/lib/schedule.rb:179:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:456:in `step'"4/home/esp/esp2/lib/schedule.rb:205:in `process'"2/home/esp/esp2/lib/schedule.rb:223:in `start'"1/home/esp/esp2/lib/schedule.rb:222:in `loop'"2/home/esp/esp2/lib/schedule.rb:222:in `start'"-/home/esp/esp2/lib/esp.rb:211:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:111:in `load'"0/home/esp/esp2/lib/framework.rb:111:in `ld'"4/home/esp/esp2/lib/framework.rb:136:in `ldMode'""/home/esp/esp2/lib/esp.rb:342"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 +1711 #-> threads +1599 #-> Hand.open + .Hand.open + "manipulator"&71 +3 "core" / + !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[5E:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:615:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:610:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:491:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"'/home/esp/esp2/lib/schedule.rb:482 +60 1 +1719 #t-> PC.unloadFlush +2 #Garaging FlushPuck in Processing Clamp +2 "manipulator"&T& +3 "core" & q _ 0 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&Z( +3 "core" ( + "manipulator"&O& +4 "core" & | U 0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &]& +3 "core" &  ) 0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek PC +2 "manipulator"&V'E +3 "core" ' + .tHand.close +2 "manipulator"&f/ +146 "core" / +2 .tPC.seek :open + "processing"%Y( +395 "core" ( + "manipulator"&d& +4 "core" & l 0 +2 "manipulator"&`% +3 "core" % D u  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&3' ] +142 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&i(-w +139 "core" ( + "manipulator"&W& +4 "core" &-   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &X& +3 "core" &- E  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&h'π +131 "core" ' +2 .tHand.open + "manipulator"&m1 +63 "core" 1 +2 "manipulator"&Q% +4 "core" % w w t +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract + "manipulator"&k' ] +156 "core" ' +1305 #t-> exit +6 #mEXIT @1668647351.23PST @1668647410.28PST = =tMAIN =mMAIN_scheduler @PST1668647412.11 #"core_reset"Sent BREAK +2 #t@29996 sendCRC with ifg=0x20, ie=0x7F #@31831 sendCRC with ifg=0x08, ie=0x5F + #@16594 idle with ifg=0x84, ie=0x75 + #@17265 select with ifg=0x10, ie=0xF5 + #@17899 receive with ifg=0x10, ie=0xFD #@18533 receive with ifg=0x10, ie=0xFD + #@19166 receive with ifg=0x10, ie=0xFD #@19493 receive with ifg=0x80, ie=0xFD + #@14751 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +7 #ESP2 v3.42 I2C Gateway v3.20 for core bus +240 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +386 "Can"%\ Pr + %\ Pr% + #tPolling Can every 10:00 +5 #Cleanly exited at 17:09:11PST16-Nov-22 +631 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  + "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +3 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" %Z\ \ \ +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +4 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %ټ\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %ޕ3/ b\ 2 + .tSS.configure :default +3 "sampler")#.0X PC.home.to :home + .PC.reconfigure :default +3 "processing"%$x2 ^22b +2 .tPC.home.seek :home + "processing"%3( +236 "core" ( +2 "processing"%4& +4 "core" &$\  +851 #t-> Arm.ready! +3 .Forearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&5' ] +96 "core" ' + ."closeHand"Hand.close +4 .tElbow.jog 1500 +2 "manipulator"&6/ +2 &7* +54 "core" * + / + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 .tElbow.home.seek :clear +2 "manipulator"&8(Z +303 "core" ( + "manipulator"&9& +62 "core" &Z  K +2 "manipulator"&:% +4 "core" % +497 #t-> PC.loadFlush +3 #Loading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%;& +3 "core" &$\  +2 .tHand.open +2 "manipulator"&<1 +60 "core" 1 +2 "manipulator"&=& +4 "core" &Z  K + "manipulator"&>% +4 "core" % +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&?(-w +119 "core" ( + "manipulator"&@& +4 "core" &-p /  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &A& +3 "core" &-p  +2 .tForearm.seek :garage +2 "manipulator"&B'π +105 "core" ' +2 .tHand.close + "manipulator"&C/ +61 "core" / +2 "manipulator"&D& +4 "core" &-p X  + "manipulator"&E% +4 "core" % ϑ[ ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&F' ] +171 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&G( +121 "core" ( + "manipulator"&H& +4 "core" & J 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &I& +3 "core" & _ 4 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&J'E +92 "core" ' +2 "manipulator"&K& +4 "core" & k A 4 + "manipulator"&L% +4 "core" %, P $ +2 "processing"%M& +3 "core" &%\  +2 .tPC.seek :open +2 "processing"%N( +136 "core" ( + "processing"%O& +6 "core" &k$\  +2 .tPC.seek :closed + "processing"%P(V +5 "core" &k$\  +7 &~M%\ %i +10 &WY&\ 8 +9 &\ L +9 &u\\$\ M +10 &:X%\ L +9 &[$\ M +10 &X&\ L +9 &~]&\ M +9 & @\\%\ M +10 &"Z$\ M +9 &#_$\ M +9 &%]&\ M +10 &'I]%\ L +9 &) ]$\ L +10 &*^%\ M +9 &,]$\ M +9 &.QZ#\ L +10 &0]%\ L +9 &1_$\ M +9 &3Z$\ M +10 &5X]$\ M +9 &7]$\ L +10 &8^$\ M +9 &:^$\ M +9 &"`$\ M +9 &?_$\ M +9 &Aa%\ M +10 &Cha%\ M +9 &E'e%\ N +10 &Fo$\ O +9 &Hz%\ P +9 &Ja$\ R +10 &L#$\ R +9 &M%\ R +9 &O%\ S +10 &Qd%\ S +9 &S%%\ T +10 &T%\ Q +9 &V'>e$\ %m +9 &V}9$\ . +6 ( + "processing"%O& +4 #tProcessing Clamp onSpring/offSpring for 10/24 samples, on/off torque 1.48 +2 "processing"%Q& +4 "core" &V}$%\ . + &V}%"\ . + .tHand.open +2 "manipulator"&R1 +56 "core" 1 + "manipulator"&S% +4 "core" % , X % $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&T' ] +151 "core" ' +2 "processing"%U& +4 "core" &V}%&\ . +1336 #t-> PC.unloadFlush +2 #Garaging FlushPuck in Processing Clamp +2 "manipulator"&V& +3 "core" & U 3 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&W( +4 "core" ( + "manipulator"&X& +4 "core" & 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Y& +3 "core" & a 3 +37 .tForearm.seek PC +8 "manipulator"&Z'E +94 "core" ' + .tHand.close +2 "manipulator"&[/ +69 "core" / + .tPC.seek :open +2 "processing"%\\( +391 "core" ( +2 "manipulator"&]& +4 "core" & . 2 + "manipulator"&^% +4 "core" % B  g + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&_' ] +143 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&`(-w +150 "core" ( + "manipulator"&a& +4 "core" &-   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &b& +3 "core" &-   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&c'π +109 "core" ' + .tHand.open +2 "manipulator"&d1 +52 "core" 1 +2 "manipulator"&e% +4 "core" % φR ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&f' ] +176 "core" ' +4942 #t-> 10.times{PC.loadFlush; delay 1; PC.unloadFlush; delay 1} +3 #Loading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%g& +3 "core" &&\ +2 "manipulator"&h& +4 "core" &- h  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&i(-w +3 "core" ( + "manipulator"&j& +4 "core" &- d  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &k& +3 "core" &- L  +2 .tForearm.seek :garage +2 "manipulator"&l'π +105 "core" ' +2 .tHand.close + "manipulator"&m/ +55 "core" / +2 "manipulator"&n& +4 "core" &- y  + "manipulator"&o% +4 "core" % ύZ p +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&p' ] +172 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&q( +123 "core" ( +2 "manipulator"&r& +4 "core" & G 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &s& +3 "core" & 5 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&t'E +99 "core" ' + "manipulator"&u& +4 "core" & l C 5 +2 "manipulator"&v% +4 "core" %. G +2 "processing"%w& +3 "core" &\ +2 "processing"%x& +5 "core" &\ +2 .tPC.seek :closed + "processing"%y(V +4 "core" &$\  +9 &1%\ *x +9 &b$\ = +10 &[x%\ M +9 &Y&\ L +10 &Y&\ L +9 &W$\ L +9 &dW$\ L +10 &&W$\ L +9 & ^%\ M +9 &"Z%\ M +10 &$k\\%\ M +9 &&._%\ L +10 &'Y$\ M +9 &)_"\ L +9 &+tY%\ L +10 &-6[$\ L +9 &._!\ L +9 &0[$\ M +10 &2{\\$\ M +9 &4>[$\ L +10 &5]%\ M +9 &7]$\ M +9 &9Z%\ M +10 &;FZ&\ L +9 &=\\%\ L +9 &>Z$\ M +10 &@\\%\ L +9 &BM]%\ M +10 &Dc$\ M +9 &Ek&\ N +9 &Gs$\ O +10 &IJ%\ P +9 &K%\ R +9 &L%\ R +10 &N&\ S +9 &PJ$\ S +10 &R\ $\ T +9 &S%\ S +9 &Uz%\ 5 +10 &VO-p&\ W +9 &Vt-$\ 2 +2 ( +2 "processing"%x& +3 #tProcessing Clamp onSpring/offSpring for 9/24 samples, on/off torque 1.50 + "processing"%z& +4 "core" &Vt*\ 2 +2 .tHand.open + "manipulator"&{1 +52 "core" 1 +2 "manipulator"&|% +4 "core" % . h ( + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&}' ] +158 "core" ' +2 .tdelay 1 second +102 #Garaging FlushPuck in Processing Clamp + "manipulator"&~& +3 "core" & 5 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & 5 +2 .tForearm.seek PC +2 "manipulator"&'E +91 "core" ' + .tHand.close +2 "manipulator"&/ +72 "core" / +2 .tPC.seek :open +2 "processing"%( +391 "core" ( + "manipulator"&& +4 "core" & 9 . + "manipulator"& % +4 "core" % : 0 < +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"& ' ] +164 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"& (-w +147 "core" ( +2 "manipulator"&& +4 "core" &-}   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &-} X  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&'π +104 "core" ' + .tHand.open +2 "manipulator"&1 +51 "core" 1 +2 "manipulator"&% +4 "core" % ςL   +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +158 "core" ' +3 .tdelay 1 second +102 #Loading FlushPuck into Processing Clamp from FlushPuck::Garage +2 "processing"%& +2 "core" &\ +2 "manipulator"&& +4 "core" &-} A  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(-w +2 "core" ( +2 "manipulator"&& +4 "core" &-} >  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &-} w  +2 .tForearm.seek :garage +2 "manipulator"&'π +111 "core" ' + .tHand.close + "manipulator"&/ +60 "core" / +2 "manipulator"&& +4 "core" &-} Y  + "manipulator"& % +4 "core" % ό[ B +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&!' ] +159 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "manipulator"&"( +174 "core" ( +2 "manipulator"&#& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &$& +3 "core" & G  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&%'E +101 "core" ' + "manipulator"&&& +5 "core" &  -  + "manipulator"&'% +4 "core" %L   +2 "processing"%(& +3 "core" &%\ +2 "processing"%)& +5 "core" &$\ +2 .tPC.seek :closed + "processing"%*(V +5 "core" &%\ +7 & ,%\ #b +9 &yV%\ 7 +9 &%\ L +10 &Y$\ M +9 &RZ%\ L +10 &W$\ L +9 &\\%\ L +9 &Z#\ M +10 & ZZ%\ L +9 &"W$\ L +9 &#X"\ L +10 &%Y$\ L +9 &'bY%\ L +10 &)$Z$\ L +9 &*[%\ M +9 &,[$\ M +10 &.iZ%\ M +9 &0,_%\ L +9 &1\\$\ M +10 &3Z$\ L +9 &5r]%\ L +9 &74]$\ L +10 &8Z%\ M +9 &:^&\ L +10 &<\\#\ L +9 &?_&\ M +10 &A`$\ M +9 &Cc%\ M +9 &E@e%\ N +10 &Fo%\ O +9 &Hy&\ P +10 &J|&\ Q +9 &L<$\ R +9 &M%\ S +10 &O%\ S +9 &Q$\ R +9 &S@$\ S +10 &T$\ E +9 &V!@|%\ (t +10 &Vw(%\ * +5 ( + "processing"%)& +4 #tProcessing Clamp onSpring/offSpring for 10/24 samples, on/off torque 1.51 +2 "processing"%+& +4 "core" &Vw$\ * + &Vw%\ * +2 .tHand.open + "manipulator"&,1 +56 "core" 1 + "manipulator"&-% +5 "core" % G k \ + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&.' ] +147 "core" ' +2 .tdelay 1 second +102 #Garaging FlushPuck in Processing Clamp +2 "manipulator"&/& +3 "core" &  -  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&0( +3 "core" ( + "manipulator"&1& +4 "core" &   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &2& +3 "core" & { F  +2 .tForearm.seek PC +2 "manipulator"&4'E +94 "core" ' + .tHand.close + "manipulator"& / +66 "core" / +2 .tPC.seek :open +2 "processing"%6( +391 "core" ( +2 "manipulator"&& +4 "core" &   +2 "manipulator"&% +3 "core" % U  Y +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&7' ] +158 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&9(-w +145 "core" ( +2 "manipulator"&:& +4 "core" &- E + .tElbow.reconfigure :loose +8 "manipulator"&$ &.,(#b +2 &;& +3 "core" &- +6 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&<'π +106 "core" ' + .tHand.open +2 "manipulator"&=1 +59 "core" 1 +2 "manipulator"&>% +4 "core" % ψG   +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&@' ] +149 "core" ' +2 .tdelay 1 second +102 #Loading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%A& +3 "core" &$\ +2 "manipulator"&8& +4 "core" &-  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&C(-w +8 "core" ( + "manipulator"&D& +4 "core" &-   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &E& +3 "core" &-   +2 .tForearm.seek :garage +2 "manipulator"&5'π +110 "core" ' + .tHand.close +2 "manipulator"&B/ +51 "core" / +2 "manipulator"&H& +4 "core" &-   +2 "manipulator"&I% +3 "core" % ωX 6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&K' ] +172 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&L( +125 "core" ( + "manipulator"&M& +5 "core" &  A + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &?& +2 "core" & A +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&F'E +92 "core" ' +2 "manipulator"&3& +4 "core" & A + "manipulator"&N% +4 "core" %>  +2 "processing"%Q& +4 "core" &\ +2 "processing"%R& +4 "core" &$\ +2 .tPC.seek :closed +2 "processing"%S(V +4 "core" &$\ +8 &;%\ $c +10 &V%\ 7 +9 &%\ L +9 &]$\ L +10 &X\\%\ L +9 &Z$\ L +9 &W%\ L +10 &Z%\ M +9 & `[%\ L +10 &"#W$\ L +9 &#\\%\ L +9 &%X%\ L +10 &'h]$\ L +9 &)*]&\ L +9 &*Z&\ L +10 &,]&\ L +9 &.o\\%\ M +10 &02]$\ L +9 &1^%\ L +9 &3_#\ L +10 &5w`%\ M +9 &78_$\ M +9 &8Z \ L +10 &:Z$\ L +9 &<Z$\ L +10 &>A]&\ M +9 &@^%\ M +9 &A[&\ M +10 &C^#\ M +9 &EGe$\ M +9 &Gn$\ O +10 &Hy%\ O +9 &J$\ Q +10 &LB$\ R +9 &N%\ R +9 &O$\ S +10 &Q$\ S +9 &SF$\ S +9 &U%\ C +10 &V(Au%\ %l +9 &Vx+$\ , +6 ( + "processing"%R& +4 #tProcessing Clamp onSpring/offSpring for 10/24 samples, on/off torque 1.48 +2 "processing"%O& +4 "core" &Vx $\ , + &Vx &\ , + .tHand.open +2 "manipulator"&U1 +52 "core" 1 +2 "manipulator"&J% +4 "core" % >  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&V' ] +155 "core" ' +2 .tdelay 1 second +102 #Garaging FlushPuck in Processing Clamp +2 "manipulator"&X& +3 "core" & A +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&Y( +51 "core" ( + "manipulator"&[& +4 "core" &  A + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &G& +3 "core" & A +2 .tForearm.seek PC + "manipulator"&T'E +92 "core" ' + .tHand.close +2 "manipulator"&P/ +64 "core" / +2 .tPC.seek :open + "processing"%]( +392 "core" ( + "manipulator"&^& +4 "core" &  @ + "manipulator"&Z% +4 "core" % I  + +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&a' ] +148 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&b(-w +137 "core" ( +2 "manipulator"&W& +4 "core" &-   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &d& +3 "core" &-   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&e'π +107 "core" ' + .tHand.open +2 "manipulator"&_1 +61 "core" 1 +2 "manipulator"&c% +4 "core" % ρP   +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&g' ] +158 "core" ' + .tdelay 1 second +102 #Loading FlushPuck into Processing Clamp from FlushPuck::Garage +2 "processing"%h& +3 "core" &#\ +2 "manipulator"&j& +4 "core" &- a & + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&k(-w +23 "core" ( +2 "manipulator"&m& +4 "core" &-v  } + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &n& +2 "core" &-v * } +2 .tForearm.seek :garage +2 "manipulator"&o'π +107 "core" ' +2 .tHand.close + "manipulator"&`/ +55 "core" / +2 "manipulator"&f& +4 "core" &-v } +2 "manipulator"&l% +4 "core" % ϓp  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&r' ] +161 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&s( +123 "core" ( +2 "manipulator"&u& +4 "core" & i I + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &v& +3 "core" &  I +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&w'E +91 "core" ' +2 "manipulator"&i& +4 "core" & j I +2 "manipulator"&p% +3 "core" %<  P +2 "processing"%\\& +4 "core" &%\ +2 "processing"%z& +4 "core" &%\ +2 .tPC.seek :closed +2 "processing"%{(V +4 "core" &$\ +7 &;$\ $c +10 &T%\ 6 +9 &%\ K +9 &Y$\ L +10 &SW%\ L +9 &Z%\ L +9 &Y%\ L +10 &W&\ L +9 & ZZ%\ L +10 &"[%\ L +9 &#Z%\ L +9 &%[%\ M +10 &'a[$\ M +9 &)$[$\ L +9 &*V&\ L +10 &,[%\ L +9 &.j\\#\ L +10 &0,^%\ L +9 &1_$\ M +9 &3\\$\ M +10 &5r`&\ L +9 &73Z%\ M +9 &8_'\ L +10 &:^%\ M +9 &<Y%\ L +9 &?Z%\ L +9 &A[%\ M +10 &Ca#\ M +9 &EBc$\ M +9 &Gn$\ N +10 &Hy%\ P +9 &J|%\ Q +10 &L;$\ R +9 &M%\ S +9 &O%\ S +10 &Q'\ S +9 &S?%\ S +9 &U$\ C +10 &V%Cx%\ #h +9 &Vv7$\ . +6 ( + "processing"%z& +4 #tProcessing Clamp onSpring/offSpring for 10/24 samples, on/off torque 1.50 + "processing"%|& +4 "core" &Vv%%\ . +2 &Vv%$\ . + .tHand.open + "manipulator"&x1 +53 "core" 1 +2 "manipulator"&~% +4 "core" % < P +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +152 "core" ' +2 .tdelay 1 second +102 #Garaging FlushPuck in Processing Clamp + "manipulator"&& +3 "core" &  I +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&t( +2 "core" ( +2 "manipulator"&& +4 "core" & q I + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +2 "core" & ? I +2 .tForearm.seek PC +2 "manipulator"&}'E +91 "core" ' + .tHand.close +2 "manipulator"&y/ +66 "core" / +2 .tPC.seek :open +2 "processing"%( +390 "core" ( +2 "manipulator"& & +4 "core" &  I +2 "manipulator"&% +3 "core" % I  M +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +156 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(-w +140 "core" ( +2 "manipulator"&& +3 "core" &- ? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &- +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&'π +104 "core" ' + .tHand.open + "manipulator"& 1 +54 "core" 1 +2 "manipulator"&% +4 "core" % ϊL  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&' ] +172 "core" ' + .tdelay 1 second +103 #Loading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%& +3 "core" &\ +2 "manipulator"&& +3 "core" &- \ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&(-w +23 "core" ( + "manipulator"&& +4 "core" &- 8 z + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &- z +2 .tForearm.seek :garage + "manipulator"& 'π +108 "core" ' + .tHand.close + "manipulator"& / +55 "core" / +3 "manipulator"&& +4 "core" &- z + "manipulator"&% +4 "core" % ~c + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&#' ] +169 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&$( +122 "core" ( +2 "manipulator"&&& +3 "core" & _ Z +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & Z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&''E +102 "core" ' + "manipulator"&(& +4 "core" & Z +2 "manipulator"&!% +3 "core" %b +2 "processing"%& +4 "core" &$\ +2 "processing"%+& +4 "core" &%\ +2 .tPC.seek :closed +2 "processing"%,(V +4 "core" &#\ +7 &;$\ $c +10 &zV%\ 7 +9 &$\ K +9 &Z%\ L +10 &UZ$\ L +9 &Y%\ L +9 &Y&\ L +10 &Z%\ L +9 & ^Z%\ L +10 &" Z$\ L +9 &#Z$\ L +9 &%[#\ L +10 &'eZ$\ L +9 &)&[$\ L +9 &*Y%\ L +10 &,Z$\ L +9 &.l[$\ L +10 &0/Y$\ L +9 &1]$\ M +9 &3[$\ M +10 &5t]%\ L +9 &75["\ M +9 &8]%\ L +10 &:X%\ L +9 &<{\\$\ M +10 &>>\\$\ L +9 &?]$\ M +9 &A^%\ M +10 &C`%\ M +9 &EDd%\ M +10 &Gm$\ N +9 &H}%\ P +9 &J}%\ Q +10 &L>$\ R +9 &N$\ R +9 &O%\ R +10 &Q%\ S +9 &SC#\ S +9 &U$\ D +10 &V"@}&\ 'r +9 &Vv+$\ + +6 ( + "processing"%+& +4 #tProcessing Clamp onSpring/offSpring for 10/24 samples, on/off torque 1.51 + "processing"%-& +4 "core" &Vv"$\ + +2 &Vv"#\ + + .tHand.open + "manipulator"&)1 +63 "core" 1 + "manipulator"&/% +4 "core" % b E +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&1' ] +151 "core" ' +2 .tdelay 1 second +102 #Garaging FlushPuck in Processing Clamp + "manipulator"&2& +3 "core" & Z +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&%( +27 "core" ( +2 "manipulator"& & +4 "core" & C  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &"& +3 "core" &  +2 .tForearm.seek PC + "manipulator"&.'E +92 "core" ' + .tHand.close + "manipulator"&*/ +66 "core" / +2 .tPC.seek :open +2 "processing"%( +394 "core" ( +2 "manipulator"&& +3 "core" &   +2 "manipulator"&4% +3 "core" % 4  M +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&:' ] +148 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&;(-w +133 "core" ( + "manipulator"&0& +5 "core" &- ] 6  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +2 "core" &- <  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&>'π +105 "core" ' +2 .tHand.open + "manipulator"&71 +52 "core" 1 + "manipulator"&A% +4 "core" % }\\ F 3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract +2 "manipulator"&8' ] +159 "core" ' +2 .tdelay 1 second +102 #Loading FlushPuck into Processing Clamp from FlushPuck::Garage +2 "processing"%D& +2 "core" &\ +2 "manipulator"&E& +4 "core" &-  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&<(-w +20 "core" ( +2 "manipulator"&B& +3 "core" &-  z +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +2 "core" &- z +2 .tForearm.seek :garage +2 "manipulator"&I'π +114 "core" ' + .tHand.close + "manipulator"&9/ +63 "core" / +3 "manipulator"&@& +4 "core" &-  z + "manipulator"&5% +4 "core" % φX +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&M' ] +169 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&?( +124 "core" ( + "manipulator"&3& +4 "core" &  E + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &N& +2 "core" & E +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&Q'E +95 "core" ' + "manipulator"&C& +4 "core" &  E +2 "manipulator"&K% +4 "core" %: r ^ + "processing"%6& +4 "core" &\ +2 "processing"%O& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%U(V +5 "core" &$\  +8 &1&\ *x +9 &c%\ = +10 &Zv%\ M +9 &W$\ L +10 &Y$\ L +9 &Y%\ L +9 &cY$\ L +10 &%Y$\ L +9 & [%\ L +9 &"Y%\ L +10 &$kZ%\ L +9 &&,\\%\ M +10 &'Z%\ L +9 &)\\&\ L +9 &+sY%\ L +10 &-4Z$\ M +9 &.\\$\ L +9 &0Y$\ L +10 &2{\\%\ L +9 &4<_$\ M +10 &5]%\ M +9 &7[$\ L +9 &9[$\ L +10 &;D\\$\ M +9 &=[%\ M +9 &>\\$\ M +10 &@^$\ L +9 &BMZ%\ L +10 &Da&\ M +9 &Eh$\ N +9 &Gp%\ O +10 &II%\ P +9 &K%\ R +9 &L#\ S +10 &N$\ R +9 &PI#\ S +10 &R %\ S +9 &S$\ T +9 &U|$\ 2 +10 &V]5p$\ > +9 ( + &Vn "\ - +2 "processing"%O& +3 #tProcessing Clamp onSpring/offSpring for 9/24 samples, on/off torque 1.50 + "processing"%J& +5 "core" &Vn"\ - + .tHand.open + "manipulator"&R1 +59 "core" 1 +2 "manipulator"&X% +4 "core" % : Y k +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&F' ] +161 "core" ' +2 .tdelay 1 second +102 #Garaging FlushPuck in Processing Clamp +2 "manipulator"&[& +2 "core" & h E +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&G( +2 "core" ( +2 "manipulator"&P& +4 "core" & b E + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &L& +2 "core" & E +2 .tForearm.seek PC +2 "manipulator"&V'E +146 "core" ' +2 .tHand.close + "manipulator"&S/ +64 "core" / +2 .tPC.seek :open + "processing"%^( +392 "core" ( + "manipulator"&Z& +4 "core" &  E +2 "manipulator"&W% +4 "core" % C  + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract + "manipulator"&d' ] +156 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&T(-w +133 "core" ( + "manipulator"&Y& +4 "core" &- l  S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &_& +2 "core" &-  > S +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&c'π +109 "core" ' +2 .tHand.open + "manipulator"&a1 +55 "core" 1 +3 "manipulator"&h% +4 "core" % |Q  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&j' ] +173 "core" ' + .tdelay 1 second +103 #Loading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%e& +3 "core" &$\ +2 "manipulator"&m& +3 "core" &- u Q +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&n(-w +26 "core" ( +2 "manipulator"&`& +4 "core" &-   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &f& +3 "core" &- t  + .tForearm.seek :garage +2 "manipulator"&l'π +106 "core" ' + .tHand.close + "manipulator"&b/ +63 "core" / +3 "manipulator"&g& +4 "core" &-  + "manipulator"&u% +4 "core" % ύf ) +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&v' ] +161 "core" ' +2 .tElbow.reconfigure :tight +7 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&o( +121 "core" ( + "manipulator"&i& +5 "core" & S , H + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +3 "core" & : H +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&\\'E +97 "core" ' +2 "manipulator"&k& +4 "core" &  G + "manipulator"&r% +4 "core" %O  +2 "processing"%]& +3 "core" &$\ +2 "processing"%|& +5 "core" &$\ +2 .tPC.seek :closed + "processing"%x(V +6 "core" &$\  +9 &1}$\ )w +9 &e%\ > +10 &gu%\ M +9 &*Z$\ L +10 &Y&\ L +9 &[&\ L +9 &qZ$\ L +10 &3Y$\ L +9 & [$\ L +9 &"Y$\ L +10 &$y[%\ L +9 &&:[ \ L +10 &'Z$\ L +9 &)W$\ L +9 &+Y$\ L +10 &-BZ%\ L +9 &/Y%\ L +9 &0]$\ M +10 &2\\#\ M +9 &4I[%\ M +10 &6 ]$\ M +9 &7`$\ L +9 &9]#\ L +10 &;R]$\ L +9 &=\\$\ M +9 &>\\#\ M +10 &@\\%\ M +9 &BX]$\ M +10 &D`"\ M +9 &Eg$\ M +9 &Gp$\ O +10 &IV'\ P +9 &K%\ Q +9 &L%\ R +10 &N&\ R +9 &PW$\ S +10 &R%\ S +9 &S%\ S +9 &U&\ 4 +10 &VR*h%\ ] +9 &V}/%\ 2 +2 ( +2 "processing"%|& +3 #tProcessing Clamp onSpring/offSpring for 9/24 samples, on/off torque 1.50 + "processing"%~& +4 "core" &V}*\ 2 +2 .tHand.open + "manipulator"&z1 +58 "core" 1 +2 "manipulator"&% +4 "core" % K ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +150 "core" ' +2 .tdelay 1 second +102 #Garaging FlushPuck in Processing Clamp +2 "manipulator"&q& +2 "core" &  F G +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&w( +2 "core" ( +2 "manipulator"&y& +4 "core" & { L G + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &s& +3 "core" & o ^ G +2 .tForearm.seek PC + "manipulator"&'E +102 "core" ' +2 .tHand.close + "manipulator"&{/ +69 "core" / +2 .tPC.seek :open + "processing"% ( +392 "core" ( + "manipulator"&& +4 "core" & 2 F +2 "manipulator"&}% +3 "core" % F +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&' ] +148 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&(-w +128 "core" ( +2 "manipulator"&t& +4 "core" &-o\  ] @ "~ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +2 "core" &-o\  , "~ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&'π +111 "core" ' +2 .tHand.open + "manipulator"&1 +54 "core" 1 + "manipulator"&% +4 "core" % ς> / +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +162 "core" ' +2 .tdelay 1 second +102 #Loading FlushPuck into Processing Clamp from FlushPuck::Garage +2 "processing"%& +3 "core" &\ +2 "manipulator"&& +4 "core" &-s\  "z + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(-w +3 "core" ( + "manipulator"& & +4 "core" &-s\  "z + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &-s\  "z +2 .tForearm.seek :garage +2 "manipulator"&'π +113 "core" ' +2 .tHand.close + "manipulator"&/ +52 "core" / +2 "manipulator"&& +4 "core" &-s  1 "z + "manipulator"& % +4 "core" % υU +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&&' ] +167 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&( +120 "core" ( +2 "manipulator"&(& +4 "core" & ]  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &!& +3 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&'E +101 "core" ' + "manipulator"&& +5 "core" &   + "manipulator"&#% +4 "core" %H v +2 "processing"%& +3 "core" &\ +2 "processing"%-& +5 "core" &\ +2 .tPC.seek :closed + "processing"%)(V +4 "core" &$\  +9 &0}%\ *x +9 &e%\ > +10 &av%\ M +9 &&W%\ L +9 &Y%\ L +10 &Y#\ L +9 &lZ%\ L +10 &.Z$\ L +9 & [%\ L +9 &"Z$\ L +10 &$sZ$\ L +9 &&5\\$\ L +9 &'W#\ L +10 &)Z$\ L +9 &+|Z$\ L +10 &-=[$\ L +9 &.\\#\ L +9 &0^$\ L +10 &2]$\ M +9 &4E\\#\ L +9 &6Z#\ L +10 &7Z#\ L +9 &9^$\ L +10 &;M\\$\ L +9 &=Y#\ L +9 &>\\$\ L +10 &@Y#\ L +9 &BUZ$\ L +9 &Da$\ M +10 &Eg#\ M +9 &Gr%\ O +10 &IR~&\ P +9 &K&\ Q +9 &L$\ R +10 &N%\ S +9 &PS%\ R +9 &R%\ S +10 &S$\ S +9 &U$\ 5 +10 &VQ.{$\ U +9 &Vt,$\ 2 +2 ( +2 "processing"%-& +3 #tProcessing Clamp onSpring/offSpring for 9/24 samples, on/off torque 1.50 + "processing"%/& +4 "core" &Vt*\ 2 +2 .tHand.open + "manipulator"&+1 +58 "core" 1 +2 "manipulator"&2% +4 "core" % C m B + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"& ' ] +153 "core" ' +3 .tdelay 1 second +102 #Garaging FlushPuck in Processing Clamp + "manipulator"&'& +3 "core" &  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&"( +4 "core" ( + "manipulator"&*& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &$& +2 "core" &  +2 .tForearm.seek PC +2 "manipulator"&1'E +104 "core" ' + .tHand.close + "manipulator"&,/ +76 "core" / + .tPC.seek :open +3 "processing"%( +390 "core" ( +2 "manipulator"&4& +4 "core" & (  + "manipulator"&0% +4 "core" % E y > + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract + "manipulator"&=' ] +152 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&.(-w +126 "core" ( +2 "manipulator"&%& +4 "core" &- n l + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &7& +2 "core" &-   l +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&A'π +113 "core" ' + .tHand.open +2 "manipulator"&:1 +63 "core" 1 +2 "manipulator"&D% +4 "core" % ρ>  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&E' ] +162 "core" ' +2 .tdelay 1 second +102 #Loading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%>& +3 "core" &\ +2 "manipulator"&B& +4 "core" &-   k +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&H(-w +3 "core" ( +2 "manipulator"&9& +4 "core" &-  U k +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &@& +3 "core" &-  * k +2 .tForearm.seek :garage +2 "manipulator"&5'π +111 "core" ' + .tHand.close +2 "manipulator"&;/ +53 "core" / +2 "manipulator"&8& +4 "core" &-   j + "manipulator"&I% +4 "core" % ϐV + .tForearm.reconfigure :loose +4 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&3' ] +163 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&N( +128 "core" ( + "manipulator"&C& +4 "core" & S S A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &K& +3 "core" &  @ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&6'E +94 "core" ' + "manipulator"&<& +4 "core" & 7 @ +2 "manipulator"&M% +3 "core" %C w +2 "processing"%& +4 "core" &\ +2 "processing"%J& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%R(V +4 "core" &$\  +9 &/~$\ *y +9 &e%\ > +10 &fu%\ L +9 &(W'\ L +9 &Y$\ L +10 &Y$\ L +9 &oZ$\ L +9 &1Z%\ L +10 & Z$\ L +9 &"Y \ L +10 &$vZ$\ L +9 &&8[$\ L +9 &'Z$\ L +10 &)W$\ L +9 &+Z"\ L +9 &-@Z%\ L +10 &/[$\ M +9 &0\\#\ L +10 &2Z$\ L +9 &4HY%\ L +9 &6\ _%\ L +10 &7Z"\ L +9 &9Y$\ L +9 &;QY$\ L +10 &=\\$\ M +9 &>Z$\ L +10 &@]%\ L +9 &BX_%\ L +9 &D_%\ M +10 &Eh$\ N +9 &Gq%\ N +9 &IU$\ P +10 &K%\ Q +9 &L$\ S +10 &N"\ S +9 &PT$\ S +9 &R#\ S +10 &S$\ T +9 &U#\ 5 +9 &VS/$\ Q +10 &Vt&$\ 0 +2 ( +2 "processing"%J& +3 #tProcessing Clamp onSpring/offSpring for 9/24 samples, on/off torque 1.51 + "processing"%X& +4 "core" &Vt$\ 0 +2 .tHand.open + "manipulator"&O1 +61 "core" 1 +2 "manipulator"&[% +4 "core" % C S M + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&P' ] +155 "core" ' +2 .tdelay 1 second +103 #Garaging FlushPuck in Processing Clamp + "manipulator"&L& +3 "core" & ? +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&Q( +8 "core" ( +2 "manipulator"&S& +4 "core" &  8 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &?& +3 "core" & 8 +2 .tForearm.seek PC + "manipulator"&F'E +93 "core" ' + .tHand.close +2 "manipulator"&U/ +67 "core" / +2 .tPC.seek :open + "processing"%Z( +395 "core" ( + "manipulator"&W& +46 "core" & - +11 "manipulator"&Y% +4 "core" % F s * +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&V' ] +151 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&_(-w +150 "core" ( + "manipulator"&G& +4 "core" &-x e E  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &a& +3 "core" &-x } >  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&h'π +107 "core" ' +2 .tHand.open + "manipulator"&d1 +54 "core" 1 + "manipulator"&e% +4 "core" % υY = + +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&m' ] +157 "core" ' + .tdelay 1 second +103 #Loading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%c& +3 "core" &\ +2 "manipulator"&`& +4 "core" &-x   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&f(-w +3 "core" ( +2 "manipulator"&b& +4 "core" &-x &  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &g& +3 "core" &-x z  +2 .tForearm.seek :garage + "manipulator"&u'π +110 "core" ' +2 .tHand.close + "manipulator"&T/ +61 "core" / +3 "manipulator"&j& +4 "core" &-x  + "manipulator"&i% +4 "core" % z^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&l' ] +160 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&p( +126 "core" ( +2 "manipulator"&k& +4 "core" & ^  2 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &r& +3 "core" & p 2 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&]'E +108 "core" ' +2 "manipulator"&n& +4 "core" & X 2 +2 "manipulator"&v% +3 "core" %9 ! +2 "processing"%^& +4 "core" &$\ +2 "processing"%~& +4 "core" &%\ +2 .tPC.seek :closed +2 "processing"%z(V +4 "core" &$\ +7 &<#\ #c +10 &zU}$\ 6 +9 &$\ K +9 &W$\ L +10 &MY$\ L +9 &Y$\ L +9 &Y$\ L +10 &]$\ L +9 & UZ%\ L +9 &"Y$\ L +10 &#Z$\ L +9 &%Z%\ L +10 &']Z%\ L +9 &)[#\ L +9 &*Y#\ L +10 &,Z#\ L +9 &.fZ#\ L +9 &0'\\$\ L +10 &1]$\ M +9 &3\\#\ L +10 &5lZ$\ L +9 &7._%\ L +9 &8^%\ L +10 &:\\$\ L +9 &5\\$\ M +9 &?]#\ L +9 &A_&\ L +10 &C{a%\ M +9 &E<a$\ M +9 &Fm%\ N +10 &Hx$\ O +9 &Ju%\ Q +9 &L6$\ R +10 &M"\ R +9 &O!\ S +10 &Qy$\ S +9 &S:#\ S +9 &T$\ J +10 &V)K&\ ] +9 &Vo3#\ 2 +5 ( +2 "processing"%~& +4 #tProcessing Clamp onSpring/offSpring for 10/24 samples, on/off torque 1.49 + "processing"%& +4 "core" &Vo*%\ 2 +2 &Vo*$\ 2 + .tHand.open + "manipulator"&|1 +60 "core" 1 + "manipulator"&q% +4 "core" % ?   +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&y' ] +158 "core" ' +2 .tdelay 1 second +102 #Garaging FlushPuck in Processing Clamp + "manipulator"&s& +3 "core" & 1 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&\\( +4 "core" ( + "manipulator"&{& +4 "core" & V 1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &o& +2 "core" &  1 +2 .tForearm.seek PC +2 "manipulator"&'E +98 "core" ' + .tHand.close +2 "manipulator"&x/ +66 "core" / + .tPC.seek :open +2 "processing"%( +394 "core" ( +2 "manipulator"&}& +4 "core" &\ z + "manipulator"&t% +4 "core" % C  & + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"& ' ] +152 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&(-w +131 "core" ( +2 "manipulator"&w& +4 "core" &-t l  $ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &-u  $ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&'π +109 "core" ' + .tHand.open + "manipulator"&1 +59 "core" 1 +2 "manipulator"&% +4 "core" % }Y  ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +156 "core" ' +2 .tdelay 1 second +13073 #-> ESP.ready! +2 "collection"' % +3 "processing"%% +4 "manipulator"&% +5 "core" %Z\ \ }\ +5 "sampler")% +5 "core" %ټ\ + % N   + %ޕ60 Z\ 2 +2 "manipulator"&& +3 "core" &-\  5 "~ + "storage"( & +4 "core" &[Rb  P " + "storage"(% +4 "core" %b \ r + "collection"'& +3 "core" &r\ \ {\  +2 "processing"%(& +3 "core" &%\ +2 "collection"' +3 "core"  + "collection"'! +3 "core"  +2 "collection"' +2 "core"  +2 "processing"%# +3 "core"  + "processing"% +3 "core" U +2 "processing"% +3 "core"  + "processing"%& +3 "core" @ +2 "sampler")  +3 "core"  + "collection"'/% +4 "core" %Z\ \ \ +2 "processing"%+% +3 "core" %ټ\ +2 "sampler")2% +4 "core" %ޕ32 Z\ 2 + "collection"'-& +4 "core" &r\ \ ~\  +2 "processing"%'& +3 "core" &#\ +2 "manipulator"&*% +4 "core" % N !  + "manipulator"&$& +4 "core" &-\ { ` "~ + "storage"(& +4 "core" &[Rb  6 " +2 "storage"(,% +3 "core" %b g +2 "collection"'9 +3 "core" 9 + "processing"% 9 +3 "core" 9 +1311 #t-> Hand.open +897 #-> Arm.grab Garage + "manipulator"&)& +4 "core" &-\  "~ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&4(-w +2 "core" ( +2 "manipulator"&0& +3 "core" &-\  "~ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &%& +3 "core" &-\  x "~ +2 .tForearm.seek :garage +2 "manipulator"&7'π +110 "core" ' +2 .tHand.close + "manipulator"&1/ +58 "core" / +1234 #t-> Arm.clear + "manipulator"&"& +4 "core" &-\  < "~ + "manipulator"&:% +5 "core" % ψd * + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract + "manipulator"&D' ] +161 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&=(Z +110 "core" ( +2 "manipulator"&>& +4 "core" &Z  m ! o + .tElbow.reconfigure :loose +3 "Can"\ Tt: +2 "manipulator"&$ &.,(#b +2 &B& +3 "core" &Z   o +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :clear + "manipulator"&9' ] +21 "core" ' + "manipulator"&@& +4 "core" &Z  o +2 "manipulator"&A% +4 "core" % V  +888 #t-> Arm.to CC +2 "manipulator"&;& +3 "core" &Z  o +2 "manipulator"&8% +4 "core" % V  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&I( +207 "core" ( + "manipulator"&.& +4 "core" & 1 # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &E& +3 "core" &  # +2 .tForearm.seek CC + "manipulator"&5'ш +100 "core" ' + "manipulator"&C& +4 "core" & x F # +2 "manipulator"&K% +4 "core" %z Y +5579 #t-> CC.jog 1000 + .CC.jog 1000 +2 "collection"'<* +50 "core" * + "collection"'M& +4 "core" &0\ \ "\  +262 #t-> CC.jog 1000 + .CC.jog 1000 +2 "collection"'* +58 "core" * + "collection"'H& +4 "core" &\ \ +\  +208 #t-> CC.jog 1000 +2 .CC.jog 1000 +2 "collection"'3* +55 "core" * + "collection"'& +4 "core" &\ \ \ \ +347 #t-> CC.jog 1000 + .CC.jog 1000 +2 "collection"'X* +57 "core" * +2 "collection"'O& +4 "core" &"\ \ \ \ +143 #t-> CC.jog 1000 + .CC.jog 1000 +2 "collection"'[* +51 "core" * +2 "collection"'J& +4 "core" &&p\ \ a\  +132 #t-> CC.jog 1000 + .CC.jog 1000 +2 "collection"'L* +56 "core" * +2 "collection"'S& +4 "core" &*I\ \ \ &\  +152 #t-> CC.jog 1000 +2 .CC.jog 1000 +2 "collection"'?* +57 "core" * +2 "collection"'6& +3 "core" &.(\ \ \ \  +2299 #t-> CC.jog 1000 + .CC.jog 1000 +2 "collection"'U* +52 "core" * +2 "collection"'N& +4 "core" &1\ \ \ -\  +10982 #t-> CC.rawPosition +2 "collection"'P& +3 "core" &1\ \ \  +4898 #t-> CC.force 15 +2 .CC.force 15 + "collection"'6 +3 'R& +3 "core" &1\ \ \ \  +4562 #t-> CC.force 20 +2 .CC.force 20 + "collection"'6 +3 'W& +3 "core" &I<\ &\ \  +1024 #t-> CC.coast +2 .CC.coast + "collection"'6 +3 'Y& +2 "core" &K\ ;\ 3\ +676 #t-> CC.rawPosition + "collection"'F& +4 "core" &K\ <\ 4\ +2757 #t-> CC.open + .CC.seek :open +2 "collection"'G( +334 "core" ( + "collection"'a& +4 "core" &\ \ \ +569 #t-> CC.force 15 + .CC.force 15 +2 "collection"'6 +53 'Q& +3 "core" & \ \ \  +3674 #t-> CC.rawPosition + "collection"'d& +3 "core" &J\ %\ \ Ɂ +4981 #t-> Forearm.coast +2 .Forearm.coast + "manipulator"&5 +2 &e% +3 "core" % L +1064 #t-> CC.jog -200 + .CC.jog -200 +2 "collection"'V*8 +33 "core" * + "collection"'c& +4 "core" &IA\ \ \  +3209 #t-> CC.jog -200 +2 .CC.jog -200 +2 "collection"'`*8 +32 "core" * + "collection"'b& +4 "core" &Hl\ \ \  +670 #t-> CC.jog -200 + .CC.jog -200 +2 "collection"'g*8 +31 "core" * +2 "collection"'h& +4 "core" &G\ \ \ +2757 #t-> CC.jog -200 + .CC.jog -200 +2 "collection"'T*8 +31 "core" * + "collection"'j& +4 "core" &F\ \ \ +820 #t-> CC.jog -200 + .CC.jog -200 +2 "collection"'i*8 +31 "core" * +2 "collection"'_& +4 "core" &E\ \ \ +3335 #t-> CC.jog -200 + .CC.jog -200 +2 "collection"'m*8 +31 "core" * +2 "collection"'k& +4 "core" &E\ \ \ \ +2242 #t-> CC.jog -200 +2 .CC.jog -200 +2 "collection"'u*8 +33 "core" * + "collection"'r& +4 "core" &DA\ \ \ +131 "Can"\ K\ : +477 #t-> CC.jog -200 +2 .CC.jog -200 +2 "collection"'n*8 +33 "core" * + "collection"'v& +4 "core" &Ch\ \ \ +3105 #t-> CC.rawPosition + "collection"'^& +4 "core" &Ch\ \ \ +6062 #t-> CC.open +2 .CC.seek :open +2 "collection"'f( +287 "core" ( +2 "collection"'l& +4 "core" &\ \ \ +884 #t-> Arm.to Garage +2 "manipulator"&Z& +3 "core" &* C +2 "manipulator"&% +4 "core" %> j < +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract + "manipulator"&|' ] +143 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&q(-w +287 "core" ( + "manipulator"&~& +4 "core" &-  C +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &s& +3 "core" &-  C +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&{'π +106 "core" ' + "manipulator"&o& +5 "core" &-  C + "manipulator"&]% +4 "core" %ϊ` % C +446 #t-> Hand.open + .Hand.open +2 "manipulator"&x1 +52 "core" 1 +342 #t-> Arm.clear +2 "manipulator"&p& +3 "core" &- ; C +2 "manipulator"&y% +4 "core" % ϊe C +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&z' ] +169 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :clear + "manipulator"&}(Z +117 "core" ( +2 "manipulator"&t& +3 "core" &Z  !q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &w& +2 "core" &Z  !q +2 .tForearm.seek :clear +2 "manipulator"&' ] +4 "core" ' + "manipulator"&& +4 "core" &Z  !q +2 "manipulator"&\\% +3 "core" % P  6 +515 #t-> exit +6 #mEXIT @1668648749.46PST @1668648833.47PST = =tMAIN =mMAIN_scheduler @PST1668648835.30 #"core_reset"Sent BREAK +2 #t@46152 receive with ifg=0x10, ie=0xFD #@46786 receive with ifg=0x10, ie=0xFD + #@47444 receive with ifg=0x10, ie=0xFD + #@48077 receive with ifg=0x10, ie=0xFD + #@48712 receive with ifg=0x10, ie=0xFD #@49345 receive with ifg=0x10, ie=0xFD + #@49979 receive with ifg=0x10, ie=0xFD #@50305 receive with ifg=0x80, ie=0xFD + #@62566 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +8 #ESP2 v3.42 I2C Gateway v3.20 for core bus +242 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +389 "Can"%\ MB= + %\ MB=% + #tPolling Can every 10:00 +4 #Cleanly exited at 17:32:29PST16-Nov-22 +966 #-> Hand.open +2 .Hand.open +154 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %Z\ \ \ +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +5 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %ټ\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %ޕ41 \\\ 2 +2 .tSS.configure :default +2 "sampler")#.0X ESP.ready! + "collection"'% +3 "processing"%% +4 "core" %Z\ \ \ +2 "manipulator"&% +6 "sampler")% +7 "core" %ټ"\ + % P W + %ޕ43 a\ 2 +2 "manipulator"&& +4 "core" &Z  !q + "storage"(& +4 "core" &[Rb 7 " + "storage"(% +4 "core" %b +  + "collection"'& +4 "core" &\ \ \ + "processing"% & +4 "core" &$\ + "collection"'! +3 "core"  +2 "collection"'" +3 "core"  + "collection"'# +3 "core"  +2 "processing"%$ +3 "core"  +2 "processing"%% +3 "core" U + "processing"%& +3 "core"  +2 "processing"%' +3 "core" @ +2 "sampler")( +3 "core"  +2 "collection"')% +3 "core" %Z\ \ \ +2 "processing"%*% +4 "core" %ټ\ +2 "sampler")+% +4 "core" %ޕ42 \\\ 2 +2 "collection"',& +3 "core" &\ \ \ +2 "processing"%-& +4 "core" &$\ + "manipulator"&.% +4 "core" % P  +2 "manipulator"&/& +3 "core" &Z\ ` !q +2 "storage"(0& +4 "core" &[Rb > " + "storage"(1% +4 "core" %b G  +2 "collection"'29 +3 "core" 9 +2 "processing"%39 +3 "core" 9 +4316 #t-> Arm.grab Garage + "manipulator"&4& +4 "core" &Z\  !q +2 "manipulator"&5% +4 "core" % P  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&6(-w +120 "core" ( +2 "manipulator"&7& +4 "core" &-~ e o + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &8& +3 "core" &-~ o +2 .tForearm.seek :garage +2 "manipulator"&9'π +103 "core" ' +2 .tHand.close + "manipulator"&:/ +61 "core" / +1269 #t-> Arm.to CC +2 "manipulator"&;& +3 "core" &-~ v o +2 "manipulator"&<% +4 "core" % ϔb > +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&=' ] +172 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&>( +297 "core" ( + "manipulator"&?& +4 "core" & &  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &@& +3 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&A'ш +95 "core" ' +2 "manipulator"&B& +4 "core" &   +2 "manipulator"&C% +4 "core" %ђ  +2519 #t-> CC.sealed +2 .CC.seek :sealed +2 "collection"'D(J +324 "core" ( +2 "collection"'E& +4 "core" &I\ *\ \  +5860 #t-> CC.jog 500 +2 .CC.jog 500 +2 "collection"'F* +36 "core" * +2 "collection"'G& +4 "core" &K\ =\ 6\  +298 #t-> CC.jog 500 + .CC.jog 500 +2 "collection"'H* +37 "core" * +2 "collection"'I& +4 "core" &M^\ k\ d\ B +179 #t-> CC.jog 500 +2 .CC.jog 500 +3 "collection"'J* +35 "core" * +2 "collection"'K& +4 "core" &Om\ \ \ 0 +218 #t-> CC.jog 500 +2 .CC.jog 500 + "collection"'L* +36 "core" * + "collection"'M& +4 "core" &Q9*\ \ \ 3 +232 #t-> CC.jog 500 +2 .CC.jog 500 +2 "collection"'N* +33 "core" * +2 "collection"'O& +4 "core" &S *\ \ \ 6 +369 #t-> CC.jog 500 +2 .CC.jog 500 +2 "collection"'P* +34 "core" * +2 "collection"'Q& +4 "core" &T*\ \ \ 3 +170 #t-> CC.jog 500 +2 .CC.jog 500 +2 "collection"'R* +36 "core" * + "collection"'S& +4 "core" &V*\ \ \ 5 +160 #t-> CC.jog 500 + .CC.jog 500 +2 "collection"'T* +35 "core" * + "collection"'U& +4 "core" &XL\ \ \ = +167 #t-> CC.jog 500 + .CC.jog 500 +2 "collection"'V* +37 "core" * +2 "collection"'W& +4 "core" &Zj*\ \ \ 1 +147 #t-> CC.jog 500 + .CC.jog 500 +36 "collection"'X* +41 "core" * +2 "collection"'Y& +4 "core" &\\;"\ \ \ 0 +221 #t-> CC.jog 500 + .CC.jog 500 +2 "collection"'Z* +49 "core" * + "collection"'[& +4 "core" &^:b\ \ \ G +442 #t-> CC.jog 500 +2 .CC.jog 500 + "collection"'\\* +34 "core" * +2 "collection"']& +4 "core" &_U\ \ \ ? +166 #t-> CC.jog 500 +2 .CC.jog 500 +2 "collection"'^* +33 "core" * +2 "collection"'_& +4 "core" &aD\ \ \ < +199 #t-> CC.jog 500 + .CC.jog 500 +2 "collection"'`* +36 "core" * +2 "collection"'a& +4 "core" &cL\ \ \ = +155 #t-> CC.jog 500 + .CC.jog 500 +2 "collection"'b* +36 "core" * +2 "collection"'c& +4 "core" &ehT\ \ \ B +183 #t-> CC.jog 500 +2 .CC.jog 500 +2 "collection"'d* +35 "core" * +2 "collection"'e& +4 "core" &gK\\\ \ \ B +323 #t-> CC.jog 500 +2 .CC.jog 500 +2 "collection"'f* +36 "core" * +2 "collection"'g& +4 "core" &iY\ \ \ F +249 #t-> CC.jog 500 +2 .CC.jog 500 +2 "collection"'h* +35 "core" * + "collection"'i& +4 "core" &jb\ \ \ F +667 #t-> CC.jog 500 +2 .CC.jog 500 +2 "collection"'j* +36 "core" * +2 "collection"'k& +4 "core" &l]\ \ \ I +686 #t-> CC.jog 500 + .CC.jog 500 +2 "collection"'l* +36 "core" * +2 "collection"'m& +4 "core" &nr\ \ \ P +266 #t-> CC.jog 500 + .CC.jog 500 +2 "collection"'n* +41 "core" * +2 "collection"'o& +4 "core" &p\ \ \ [ +315 #t-> CC.jog 500 +2 .CC.jog 500 +2 "collection"'p* +44 "core" * + "collection"'q& +4 "core" &r^\ \ \ !b +3048 #t-> CC.rawPosition +2 "collection"'r& +3 "core" &r^\ \ \ !b +3015 #t-> CC.open +2 .CC.seek :open +2 "collection"'s( +545 "core" ( +2 "collection"'t& +4 "core" & \ +4315 #t-> Arm.to Garage +2 "manipulator"&u& +4 "core" &  + "manipulator"&v% +5 "core" %ю + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&w' ] +161 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&x(-w +274 "core" ( +2 "manipulator"&y& +4 "core" &-v c g +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &z& +3 "core" &-v g +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&{'π +105 "core" ' +2 "manipulator"&|& +4 "core" &-v k g +2 "manipulator"&}% +4 "core" %{R M  +373 #t-> Hand.open + .Hand.open +2 "manipulator"&~1 +62 "core" 1 +311 #t-> Arm.clear +2 "manipulator"&& +3 "core" &-v g +2 "manipulator"&% +4 "core" % {W .  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&' ] +154 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :clear +2 "manipulator"&(Z +133 "core" ( +2 "manipulator"&& +4 "core" &Z d   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &Z "  +2 .tForearm.seek :clear +2 "manipulator"&' ] +4 "core" ' +2 "manipulator"& & +3 "core" &Z  +2 "manipulator"& % +4 "core" % l  (  +1041 #t-> exit +6 #mEXIT @1668649221.20PST @1668703615.21PST = =tMAIN =mMAIN_scheduler @PST1668703617.04 #"core_reset"Sent BREAK +2 #t@25338 receive with ifg=0x10, ie=0xFD #@25972 receive with ifg=0x10, ie=0xFD + #@26628 receive with ifg=0x10, ie=0xFD + #@27264 receive with ifg=0x10, ie=0xFD + #@27899 receive with ifg=0x10, ie=0xFD #@28532 receive with ifg=0x10, ie=0xFD + #@29166 receive with ifg=0x10, ie=0xFD #@29492 receive with ifg=0x80, ie=0xFD + #@46814 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +9 #ESP2 v3.42 I2C Gateway v3.20 for core bus +239 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +386 "Can"\ T:8 + \ T:82 + #tPolling Can every 10:00 +5 #Cleanly exited at 17:40:21PST16-Nov-22 +1721 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +3 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %Z \ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +4 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %ټ\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %ޕ,+ t\ 2 + .tSS.configure :default +3 "sampler")#.0X Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'3& +3 "core" & \ +2 .tHand.open + "manipulator"&41 +20 "core" 1 +2 "manipulator"&5& +4 "core" &Z   + "manipulator"&6% +4 "core" % l   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&7(-w +112 "core" ( +2 "manipulator"&8& +4 "core" &-w h + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &9& +3 "core" &-w N h +2 .tForearm.seek :garage + "manipulator"&:'π +112 "core" ' +2 .tHand.close + "manipulator"&;/ +61 "core" / +2 "manipulator"&<& +4 "core" &-w h + "manipulator"&=% +4 "core" % ρ\\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&>' ] +158 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&?( +277 "core" ( + "manipulator"&@& +4 "core" &  _ Y % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &A& +3 "core" &  o $ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&B'ш +107 "core" ' +2 "manipulator"&C& +4 "core" &  $ +2 "manipulator"&D% +3 "core" %} ?  +2 "collection"'E& +4 "core" & q\ +2 "collection"'F& +4 "core" & n\ +2 .tCC.seek :closed +2 "collection"'G(r^ +5 "core" & \  +8 &/~ \ +{ +9 &c \ ? +10 &N| \ P +9 &] \ O +10 &` \ P +9 &` \ P +9 &VZ \ O +10 &] \ P +9 & [ \ O +9 &"^ \ O +10 &$]b \ P +9 &&` \ P +10 &'_ \ P +9 &)[ \ O +9 &+fY \ O +10 &-(] \ O +9 &._ \ O +9 &0^ \ O +10 &2m_ \ P +9 &4/b \ P +9 &5_ \ P +10 &7[ \ O +9 &9v\\ \ O +10 &;8Y \ O +9 &<[ \ P +9 &>^ \ O +10 &@~] \ O +9 &B>c \ P +9 &D^ \ O +10 &E_ \ O +9 &G[ \ O +10 &IH] \ O +9 &K \\ \ P +9 &L] \ P +10 &N` \ O +9 &PMc \ P +9 &Re \ Q +10 &Sp \ R +9 &U{ \ S +10 &WH \ U +10 &X\ .\ (\ Y +8 &Z\ G\ B\ Z +10 &\\|\ N\ H\ [\ +9 &^=\ T\ P\ [ +9 &_\ [\ U\ [ +10 &a\ a\ \\\ \\ +9 &c\ h\ b\ [ +10 &eD\ o\ j\ \\ +9 &g\ v\ t\ \\ +9 &h\ \ z\ ^ +10 &j~\ \ \ ` +9 &lC\ \ \ _ +9 &n\ \ \ ` +10 &o\ \ \ ` +9 &qlz\ \ \ : +10 &r$)\ \ \ %n +9 &r<~\ \ \ V +2 ( +2 "collection"'F& +3 #tCollection Clamp onSpring/offSpring for 20/25 samples, on/off torque 1.78 + "collection"'H& +5 "core" &r<}\ \ \ V + .tHand.open +2 "manipulator"&I1 +52 "core" 1 +2 "manipulator"&J% +4 "core" % } 9  +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&K' ] +141 "core" ' +10065 #t-> CC.unloadFlush +2 #Garaging FlushPuck in Collection Clamp + "manipulator"&L& +4 "core" &  # +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&M( +36 "core" ( + "manipulator"&N& +4 "core" & m 6 e +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &O& +3 "core" &  e +2 .tForearm.seek CC +2 "manipulator"&P'ш +93 "core" ' + .tHand.close + "manipulator"&Q/ +65 "core" / +2 .tCC.seek :open +2 "collection"'R( +539 "core" ( +2 "manipulator"&S& +4 "core" &  e + "manipulator"&T% +4 "core" % с | = +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&U' ] +146 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&V(-w +275 "core" ( + "manipulator"&W& +4 "core" &-} Y M + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &X& +3 "core" &-} M +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&Y'π +106 "core" ' + .tHand.open + "manipulator"&Z1 +54 "core" 1 + "manipulator"&[% +46 "core" % ` < +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&\\' ] +170 "core" ' +1100 #t-> CC.home.to :home +2 .CC.reconfigure :default +2 "collection"'$x2 ^22b +2 .tCC.home.seek :home +2 "collection"']( +188 "core" ( + "collection"'^& +4 "core" & \ +489 #t-> CC.sealed +2 .CC.seek :sealed +2 "collection"'_(J +430 "core" ( + "collection"'`& +4 "core" &J \  +807 #t-> CC.jog 500 +2 .CC.jog 500 +2 "collection"'a* +43 "core" * +2 "collection"'b& +4 "core" &K \  +209 #t-> CC.jog 500 +2 .CC.jog 500 +2 "collection"'c* +37 "core" * +2 "collection"'d& +4 "core" &M \  +102 #t-> CC.jog 500 +2 .CC.jog 500 +2 "collection"'e* +41 "core" * +2 "collection"'f& +4 "core" &O \ \ +121 #t-> CC.jog 500 +2 .CC.jog 500 +2 "collection"'g* +38 "core" * +2 "collection"'h& +4 "core" &Qf \  +73 #t-> CC.jog 500 + .CC.jog 500 +2 "collection"'i* +43 "core" * +2 "collection"'j& +4 "core" &SJ \ \ +68 #t-> CC.jog 500 +2 .CC.jog 500 +2 "collection"'k* +38 "core" * + "collection"'l& +4 "core" &U \  +66 #t-> CC.jog 500 + .CC.jog 500 +2 "collection"'m* +44 "core" * +2 "collection"'n& +4 "core" &V \  +59 #t-> CC.jog 500 + .CC.jog 500 +2 "collection"'o* +42 "core" * +2 "collection"'p& +4 "core" &X \  +62 #t-> CC.jog 500 + .CC.jog 500 +2 "collection"'q* +38 "core" * +2 "collection"'r& +4 "core" &Z \  +66 #t-> CC.jog 500 +2 .CC.jog 500 +2 "collection"'s* +40 "core" * + "collection"'t& +4 "core" &\\ \  +67 #t-> CC.jog 500 +2 .CC.jog 500 + "collection"'u* +37 "core" * +2 "collection"'v& +4 "core" &^N \  +115 #t-> CC.jog 500 + .CC.jog 500 +2 "collection"'w* +42 "core" * +2 "collection"'x& +5 "core" &`+ \  +179 #t-> CC.jog 500 +2 .CC.jog 500 +2 "collection"'y* +38 "core" * +2 "collection"'z& +4 "core" &a \  +1304 #t-> CC.jog -200 + .CC.jog -200 +2 "collection"'{*8 +28 "core" * + "collection"'|& +4 "core" &a/ \ +535 #t-> CC.rawPosition +2 "collection"'}& +3 "core" &a/ \ +5489 #t-> CC.open + .CC.seek :open +2 "collection"'~( +447 "core" ( +2 "collection"'& +4 "core" & \ +5502 #t-> exit +7 #mEXIT @1668703977.04PST @1668703986.01PST = =tMAIN =mMAIN_scheduler @PST1668703987.85 #"core_reset"Sent BREAK +2 #t@20910 receive with ifg=0x10, ie=0xFD #@21549 receive with ifg=0x10, ie=0xFD + #@22205 receive with ifg=0x10, ie=0xFD + #@22843 receive with ifg=0x10, ie=0xFD + #@23491 receive with ifg=0x10, ie=0xFD #@24138 receive with ifg=0x10, ie=0xFD + #@24785 receive with ifg=0x10, ie=0xFD #@25111 receive with ifg=0x80, ie=0xFD + #@40678 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +8 #ESP2 v3.42 I2C Gateway v3.20 for core bus +241 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +395 "Can"\ \ O; + \ \ O;0 + #tPolling Can every 10:00 +5 #Cleanly exited at 08:52:57PST17-Nov-22 +355 #-> ESP.ready! +154 "sampler") +3 ) +2 "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +3 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" %Z \ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +5 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %ټ\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %ޕ,* l\ 2 +2 .tSS.configure :default +2 "sampler")#.0X CC.loadFlush +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'3& +3 "core" & \ +2 .tHand.open + "manipulator"&41 +25 "core" 1 +2 "manipulator"&5& +4 "core" &-} f M +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&6(-w +4 "core" ( + "manipulator"&7& +4 "core" &-} N M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &8& +3 "core" &-} T M +2 .tForearm.seek :garage + "manipulator"&9'π +94 "core" ' + .tHand.close + "manipulator"&:/ +57 "core" / +2 "manipulator"&;& +4 "core" &-} n M + "manipulator"&<% +4 "core" % ό ( + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract + "manipulator"&=' ] +152 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&>( +280 "core" ( + "manipulator"&?& +4 "core" & b 6 % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &@& +3 "core" &  a % +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&A'ш +101 "core" ' +2 "manipulator"&B& +4 "core" &  $ + "manipulator"&C% +4 "core" %ђ  +2 "collection"'D& +3 "core" & \ \ +2 "collection"'E& +5 "core" &  \ +2 .tCC.seek :closed +2 "collection"'F(r^ +4 "core" & \ +7 &5 \ \ $c +10 &vU \ 7 +9 &~ \ L +10 &{` \ O +9 &=^  \ O +9 &] \ O +10 &] \ O +9 &\\ \ O +9 & F\\ \ O +10 &"` \ O +9 &#[ \ O +10 &%] \ O +9 &'N] \ O +9 &)^ \ O +10 &*\\ \ O +9 &,\\ \ \ N +9 &.U_ \ O +10 &0[ \ O +9 &1Z \ O +10 &3] \ N +9 &5]_ \ O +9 &7 ^ \ O +10 &8] \ N +9 &:] \ O +9 &(` \ O +9 &?_ \ O +10 &A\\ \ N +9 &Cn\\ \ O +9 &E1[ \ N +10 &F] \ O +9 &H] \ O +9 &Jt[ \ O +10 &L6] \ O +9 &M\\ \ O +9 &O\\ \ O +10 &Q}[ \ O +9 &S@[ \ O +10 &U\\ \ O +9 &V\\ \ O +9 &X_ \ O +10 &ZF] \ O +9 &\\_ \ P +9 &]c \ P +10 &_g \ P +9 &aLh \ P +10 &c k \ Q +9 &dt \ Q +9 &f ~\ V +10 &h8 q j\ Z +9 &i q k\ Y +10 &k m h\ [ +9 &m{ i c\ [ +9 &o: g a\ \\ +10 &p d ^\ I +9 &r? a ^\ $m +9 &r2F d ]\ ? +3 ( + "collection"'E& +3 #tCollection Clamp onSpring/offSpring for 13/25 samples, on/off torque 1.01 +2 !o:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt[ "7/home/esp/esp2/utils/puckmoves.rb:273:in `giveup!'"2/home/esp/esp2/utils/puckmoves.rb:807:in `to'"6/home/esp/esp2/utils/puckmoves.rb:858:in `loadAt'"9/home/esp/esp2/utils/puckmoves.rb:983:in `loadFlush'"(ESP):2:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 !o:Slide::Error\ :@axisName"Collection Clamp: mesg"(No Puck Clamped in Collection Clamp:@checkpoint: omitted: @reply0:bt["E/home/esp/esp2/utils/misc.rb:475:in `closeAndVerifyPuckPresence'"0/home/esp/esp2/utils/misc.rb:485:in `close'",/home/esp/esp2/lib/msg.rb:68:in `retry'"0/home/esp/esp2/utils/misc.rb:484:in `close'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"0/home/esp/esp2/utils/misc.rb:483:in `close'"0/home/esp/esp2/utils/misc.rb:501:in `close'"2/home/esp/esp2/utils/puckmoves.rb:798:in `to'"6/home/esp/esp2/utils/puckmoves.rb:858:in `loadAt'"9/home/esp/esp2/utils/puckmoves.rb:983:in `loadFlush'"(ESP):2:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1117 #-> CC.unloadFlush + "collection"'G& +4 "core" &r2M f b\ ? +2 #tGaraging FlushPuck in Collection Clamp + "collection"'H& +4 "core" &r2M g a\ ? +2 "manipulator"&I& +3 "core" &  $ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&J( +70 "core" ( +2 "manipulator"&K& +4 "core" & = + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +2 "core" & = +2 .tForearm.seek CC +2 "manipulator"&M'ш +3 "core" ' +2 .tCC.seek :open +2 "collection"'N( +542 "core" ( +2 "manipulator"&O& +3 "core" &  p +2 "manipulator"&P% +4 "core" %ђ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&Q' ] +147 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&R(-w +275 "core" ( + "manipulator"&S& +4 "core" &-x K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &T& +3 "core" &-x ! K +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&U'π +118 "core" ' +2 .tHand.open + "manipulator"&V1 +61 "core" 1 +2 "manipulator"&W% +4 "core" % f  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&X' ] +160 "core" ' +1623 #t-> CC.home.to :home + .CC.reconfigure :default +3 "collection"'$x2 ^22b +2 .tCC.home.seek :home +2 "collection"'Y( +245 "core" ( +2 "collection"'Z& +4 "core" &! \ +4039 #t-> 10.times{CC.loadFlush; delay 1; CC.unloadFlush; delay 1} +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'[& +4 "core" &! \ +2 "manipulator"&\\& +4 "core" &-x  K +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&](-w +3 "core" ( +2 "manipulator"&^& +4 "core" &-x y K + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &_& +3 "core" &-x K +2 .tForearm.seek :garage +2 "manipulator"&`'π +104 "core" ' +2 .tHand.close + "manipulator"&a/ +55 "core" / +2 "manipulator"&b& +4 "core" &-x  K + "manipulator"&c% +4 "core" % Ϗt , +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&d' ] +158 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&e( +278 "core" ( + "manipulator"&f& +4 "core" & p & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &g& +3 "core" & e & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&h'ш +111 "core" ' + "manipulator"&i& +4 "core" & 0 & +2 "manipulator"&j% +3 "core" %щ   +2 "collection"'k& +4 "core" &! \ +2 .tCC.seek :open + "collection"'l( +138 "core" ( +2 "collection"'m& +5 "core" &v \  +2 .tCC.seek :closed +2 "collection"'n(r^ +4 "core" &v \  +8 &K \ &k +9 &eY \ : +10 &| \ N +9 &Z \ O +9 &B\\ \ O +10 &[ \ O +9 &\\  \ O +10 &\\ \ O +9 & LZ \ \ O +9 &"[ \ N +10 &#[ \ O +9 &%_ \ O +9 &'T[ \ \ O +10 &)[ \ O +9 &*[ \ O +10 &,] \ O +9 &.[\\ \ O +9 &0Y \ N +10 &1Y \ O +9 &3Z \ O +9 &5d\\ \ O +10 &7%` \ O +9 &8Z \ O +10 &:^ \ O +9 &.Y \ O +10 &?] \ \ O +9 &A[  \ O +9 &CtZ \ \ O +10 &E6_ \ O +9 &Fb \ P +10 &Hh \ Q +9 &Jun \ Q +9 &L0 \ T +10 &M\ !\ \ W +9 &O\ I\ D\ Y +9 &Qc\ Q\ J\ Z +10 &S$\ V\ Q\ Z +9 &T\ ^\ V\ Z +10 &V\ c\ ]\ [ +9 &Xj\ l\ f\ Z +9 &Z*\ s\ k\ [\ +10 &[\ z\ r\ \\ +9 &]\ \ |\ \\ +9 &_f\ \ \ ^ +10 &a(\ \ \ ^ +9 &b\ \ \ ^ +10 &d\ \ \ _ +9 &fo\ \ \ ^ +9 &h,\ \ \ ` +10 &i\ \ \ _ +9 &k\ \  \ \\ +9 &m|\ \ \ \\ +10 &o?\ \ \ \\ +9 &p\ \ \ J +10 &r;\ \ \ %p +9 &r<g\ \ \ G +2 ( +2 "collection"'m& +3 #tCollection Clamp onSpring/offSpring for 14/25 samples, on/off torque 2.05 + "collection"'o& +5 "core" &r<d\ \ \ G + .tHand.open +2 "manipulator"&p1 +58 "core" 1 +2 "manipulator"&q% +4 "core" % щ V 4  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&r' ] +149 "core" ' + .tdelay 1 second +102 #Garaging FlushPuck in Collection Clamp +2 "manipulator"&s& +3 "core" &  f % +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&t( +3 "core" ( + "manipulator"&u& +4 "core" &  ^ % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &v& +3 "core" &  y % +2 .tForearm.seek CC +2 "manipulator"&w'ш +94 "core" ' + .tHand.close +2 "manipulator"&x/ +66 "core" / +2 .tCC.seek :open + "collection"'y( +543 "core" ( +2 "manipulator"&z& +3 "core" &  $ +2 "manipulator"&{% +4 "core" % ѓ ( % +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&|' ] +142 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&}(-w +282 "core" ( + "manipulator"&~& +4 "core" &-} ` C n +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &-} K n +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&'π +106 "core" ' +2 .tHand.open + "manipulator"&1 +58 "core" 1 +2 "manipulator"&% +4 "core" % ςe ! P +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +152 "core" ' + .tdelay 1 second +103 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'& +3 "core" & \ +2 "manipulator"&& +4 "core" &-}  n +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"& (-w +3 "core" ( + "manipulator"& & +5 "core" &-} ) n + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &-} , n + .tForearm.seek :garage +2 "manipulator"&'π +107 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +3 "manipulator"&& +4 "core" &-} \\ n + "manipulator"&% +4 "core" % τl   +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +158 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&( +270 "core" ( +2 "manipulator"&& +4 "core" & i  Y + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & Y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'ш +96 "core" ' +2 "manipulator"&& +4 "core" & z L Y + "manipulator"&% +4 "core" %ш 2 +2 "collection"'& +3 "core" &  \ +2 "collection"'& +5 "core" & \ +2 .tCC.seek :closed + "collection"'(r^ +6 "core" & \ +6 & . \ #b +10 &tU  \ 8 +9 &~~  \ L +10 &~\\ "\ O +9 &A\\ !\ O +9 &Y  \ O +10 &Y  \ O +9 &Z \ N +9 & I] \ O +10 &" ] \ O +9 &#Z \ O +10 &%\\ \ N +9 &'RZ \ N +9 &)Y  \ N +10 &*Z \ N +9 &,W \ N +9 &.Y[ \ O +10 &0Y \ O +9 &1Y \ O +10 &3Y \ N +9 &5cY \ N +9 &7$] \ N +10 &8V \ O +9 &:\\ \ N +9 &,Z \ N +9 &?W \ O +10 &AY \ \ N +9 &CqX  \ O +9 &E3Y \ O +10 &FZ \ \ N +9 &HY  \ N +9 &JzX \ N +10 &L;W \ O +9 &MY  \ N +10 &O] \ N +9 &Q`  \ O +9 &S?j \ P +10 &Ts  \ Q +9 &V \ T +9 &Xr\ ,\ # \ W +10 &Z0\ J\ E\ X +9 &[\ Q\ M\ X +10 &]\ Z\ S\ Y +9 &_r\ `\ [\ Y +9 &a1\ f\ `\ Z +10 &b\ m\ g\ \ Z +9 &d\ t\ n\ [\ +9 &fu\ }\ v\ [\ +10 &h3\ \ {\ \\ +9 &i\ \ \ \\ +10 &k\ \ \ ] +9 &mw\ \ \ ] +9 &o8\ \ \ ] +10 &p\ \ \ K +9 &r=\ \  \ $l +9 &r;`\ \ \ E +3 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 13/25 samples, on/off torque 1.45 + "collection"' & +4 "core" &r;c\ \ \ E +2 .tHand.open + "manipulator"&!1 +59 "core" 1 + "manipulator"&"% +4 "core" % ш +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&#' ] +147 "core" ' + .tdelay 1 second +102 #Garaging FlushPuck in Collection Clamp + "manipulator"&$& +3 "core" & r H X +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&%( +2 "core" ( +2 "manipulator"&&& +4 "core" &  X + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &'& +3 "core" & I X +2 .tForearm.seek CC + "manipulator"&('ш +92 "core" ' +2 .tHand.close +2 "manipulator"&)/ +69 "core" / +2 .tCC.seek :open + "collection"'*( +541 "core" ( + "manipulator"&+& +4 "core" & p X +2 "manipulator"&,% +3 "core" % ы  3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&-' ] +140 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&.(-w +287 "core" ( + "manipulator"&/& +4 "core" &- P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &0& +2 "core" &- g P +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&1'π +111 "core" ' +2 .tHand.open + "manipulator"&21 +55 "core" 1 + "manipulator"&3% +4 "core" % ψM  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&4' ] +159 "core" ' + .tdelay 1 second +102 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'5& +3 "core" & \ +2 "manipulator"&7& +4 "core" &- 4 P + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&8(-w +2 "core" ( + "manipulator"&:& +4 "core" &- # P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &;& +3 "core" &-  P +2 .tForearm.seek :garage +2 "manipulator"&<'π +107 "core" ' + .tHand.close +2 "manipulator"&/ +64 "core" / +2 "manipulator"&& +4 "core" &- F P + "manipulator"&9% +4 "core" % ϒv M % +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&?' ] +155 "core" ' + .tElbow.reconfigure :tight +7 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&@( +277 "core" ( +2 "manipulator"&6& +4 "core" & { x $ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &B& +2 "core" &  8 $ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&C'ш +97 "core" ' +2 "manipulator"&D& +4 "core" &  a _ $ +2 "manipulator"&=% +3 "core" %| ~ +2 "collection"'\ & +4 "core" & \ +2 "collection"'E& +5 "core" & \ +2 .tCC.seek :closed + "collection"'G(r^ +5 "core" & \ +7 &4 \ $c +9 &yU \ 7 +10 & \ L +9 &] \ O +9 &CY \ O +10 &] \ N +9 &Y \ O +9 &\\ \ O +10 & L[ \ N +9 &"X \ N +9 &#W \ N +10 &%Z \ N +9 &'T\\ \ N +10 &)\\ \ O +9 &*Z \ N +9 &,V \ N +10 &.\\] \ N +9 &0Z \ N +9 &1Y \ N +10 &3Y \ N +9 &5dZ \ N +10 &7%Y \ O +9 &8Z \ N +9 &:W \ N +10 &.Y \ N +10 &?V \ N +9 &AX \ N +9 &CtW \ N +10 &E6Z \ N +9 &FZ \ N +9 &HY \ N +10 &J|Z  \ N +9 &L>] \ N +9 &NZ  \ N +10 &OY  \ N +9 &Q[  \ N +10 &SE_ \ O +9 &Uc \ O +9 &Vm \ Q +10 &Xw \ R +9 &Z<\ \ \ U +10 &[\ F\ ?\ X +9 &]\ N\ H\ Y +9 &_u\ T\ O\ Y +10 &a6\ Z\ U\ Y +9 &b\ a\ [\ Z +9 &d\ f\ a\ Z +10 &fz\ l\ g\ Z +9 &h8\ u\ o\ \ [ +9 &i\ |\ u \ [ +10 &k\ \ z \ \\ +9 &m{\ \  \ \\ +10 &o;\ \ \ ] +9 &p\ \  \ J +9 &r@\ \ \ %p +10 &r6\ \  \ Z +2 ( +2 "collection"'E& +3 #tCollection Clamp onSpring/offSpring for 13/25 samples, on/off torque 1.35 + "collection"'H& +5 "core" &r6\ \ \ Z + .tHand.open + "manipulator"&I1 +62 "core" 1 +2 "manipulator"&K% +4 "core" % | _ 3 ~ +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&L' ] +149 "core" ' + .tdelay 1 second +102 #Garaging FlushPuck in Collection Clamp +2 "manipulator"&>& +2 "core" & * $ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +41 "manipulator"&A( +12 "core" ( +2 "manipulator"&F& +3 "core" & ~ P $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &O& +2 "core" &  c $ +2 .tForearm.seek CC +2 "manipulator"&P'ш +90 "core" ' +2 .tHand.close + "manipulator"&M/ +72 "core" / + .tCC.seek :open +2 "collection"'S( +540 "core" ( +2 "manipulator"&T& +4 "core" &  $ + "manipulator"&J% +4 "core" % њ 7 e +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&V' ] +161 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&W(-w +273 "core" ( +2 "manipulator"&Q& +4 "core" &-~ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &U& +3 "core" &-~ # +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&Z'π +112 "core" ' + .tHand.open + "manipulator"&N1 +59 "core" 1 + "manipulator"&[% +4 "core" % ρL +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&\\' ] +166 "core" ' +2 .tdelay 1 second +102 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'^& +2 "core" & \ +2 "manipulator"&_& +4 "core" &- A +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&a(-w +3 "core" ( +2 "manipulator"&b& +4 "core" &- ? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &c& +3 "core" &- y +2 .tForearm.seek :garage +2 "manipulator"&R'π +108 "core" ' + .tHand.close +2 "manipulator"&X/ +53 "core" / +3 "manipulator"&`& +4 "core" &- + "manipulator"&f% +4 "core" % ϑi  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&g' ] +175 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&]( +294 "core" ( +2 "manipulator"&i& +4 "core" & +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +2 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&k'ш +91 "core" ' +2 "manipulator"&d& +4 "core" & b ? + "manipulator"&Y% +4 "core" %ѐ  +2 "collection"'l& +4 "core" &  \ +2 "collection"'o& +6 "core" &  \ +2 .tCC.seek :closed +2 "collection"'p(r^ +4 "core" & \ +7 & 4 \ $d +9 &U \ 7 +10 &~ \ L +9 &[ \ O +9 &I\\ \ O +10 & X \ N +9 &Y \ O +10 &Z \ O +9 & SY \ N +9 &"W \ N +10 &#V \ N +9 &%[ \ N +9 &'[\\ \ N +10 &)\\ \ O +9 &*Z \ N +10 &,W \ N +9 &.b] \ O +9 &0&X \ N +10 &1X \ N +9 &3W \ N +9 &5k\\ \ N +10 &7-] \ N +9 &8Y \ O +10 &:Z \ O +9 &5Y \ N +10 &?X \ N +9 &AT \ N +9 &C{Y \ N +10 &E>U \ N +9 &FY \ N +10 &HV \ N +9 &JY \ N +9 &LEY \ N +10 &NW \ N +9 &OZ \ N +9 &QX  \ N +10 &SKZ \ O +9 &U_  \ O +10 &Ve  \ P +9 &Xo \ Q +9 &ZF \ T +10 &\\\ -\ %\ V +9 &]\ L\ F\ X +9 &_{\ Q\ L\ \ Y +10 &a=\ X\ R \ Y +10 &b\ _\ Z \ Z +9 &d\ e\ _ \ Z +9 &f\ k\ e\ Z +9 &h?\ r\ m\ \ [ +10 &j\ y\ t\ \\ +9 &k\ \ |\ \\ +9 &m\ \ \ ] +10 &oA\ \ \ ] +9 &q\ \  \ K +10 &r9\ \ \ + +9 &r6i\ \  \ J +2 ( +2 "collection"'o& +3 #tCollection Clamp onSpring/offSpring for 13/25 samples, on/off torque 1.29 + "collection"'q& +5 "core" &r6g\ \ \ J + .tHand.open + "manipulator"&m1 +56 "core" 1 +2 "manipulator"&s% +4 "core" % ѐ z 3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&u' ] +152 "core" ' + .tdelay 1 second +102 #Garaging FlushPuck in Collection Clamp +2 "manipulator"&v& +3 "core" & e +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&h( +3 "core" ( + "manipulator"&x& +5 "core" & + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &e& +2 "core" & +2 .tForearm.seek CC +2 "manipulator"&r'ш +90 "core" ' + .tHand.close +2 "manipulator"&n/ +53 "core" / +2 .tCC.seek :open +2 "collection"'z( +543 "core" ( + "manipulator"&{& +4 "core" & G +2 "manipulator"&w% +3 "core" % љ T +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&~' ] +162 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(-w +279 "core" ( +2 "manipulator"&t& +4 "core" &-u f + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &-u ; f +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&'π +108 "core" ' +2 .tHand.open + "manipulator"&|1 +52 "core" 1 +2 "manipulator"&% +4 "core" % χK .  + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +153 "core" ' +2 .tdelay 1 second +102 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"' & +3 "core" & \ +2 "manipulator"& & +4 "core" &-u  f +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&(-w +3 "core" ( +2 "manipulator"&& +4 "core" &-u @ f +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &-u i f +2 .tForearm.seek :garage +2 "manipulator"&'π +109 "core" ' +2 .tHand.close + "manipulator"&}/ +64 "core" / +3 "manipulator"&& +4 "core" &-u R f + "manipulator"&% +4 "core" % ϐb +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +157 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&( +281 "core" ( +2 "manipulator"& & +4 "core" &  ` X J + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &  x J +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'ш +102 "core" ' +2 "manipulator"&& +4 "core" &  | { J + "manipulator"&% +4 "core" %ф +2 "collection"'y& +3 "core" & \ +2 "collection"' & +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'!(r^ +4 "core" & \ +7 & - \ $c +10 &wU \ 7 +9 &~ \ L +10 &~[ \ O +9 &A\\ \ N +9 &\\ \ O +10 &Z \ O +9 &W \ N +9 & I[ \ N +10 &" \\ \ N +9 &#Z \ N +10 &%\\ \ O +9 &'QZ \ N +9 &)W \ O +10 &*Y \ O +9 &,W \ N +9 &.Y\\ \ N +10 &0W \ O +9 &1W \ N +10 &3Z \ O +9 &5aY \ N +9 &7#\\ \ N +10 &8Z \ N +9 &:Y \ O +9 &,U \ N +9 &?X \ N +10 &AV \ O +9 &CqX \ N +9 &E3W \ N +10 &FX \ O +9 &HX  \ N +9 &JyW \ N +10 &L;U \ N +9 &MW \ N +10 &OZ \ N +9 &QX \ N +9 &SC[ \ N +10 &U^ \ O +9 &Vd \ P +9 &Xn \ \ Q +10 &Z= \ S +9 &[\ ,\ #\ V +10 &]\ J\ C\ \ Y +9 &_s\ Q\ L\ Y +9 &a4\ X\ R\ Y +10 &b\ `\ \\ \ Z +9 &d\ g\ _\ \ Z +9 &fw\ j\ g \ Z +10 &h6\ s\ m\ \ [\ +9 &i\ {\ t\ [ +9 &k\ \ } \ \\ +10 &mw\ \ \ \ ] +9 &o7\ \ \ \ ] +10 &p\ \  \ K +9 &rA\ \  \ %r +9 &r<\ \ \ Y +6 ( + "collection"' & +4 #tCollection Clamp onSpring/offSpring for 13/25 samples, on/off torque 1.27 +2 "collection"'"& +4 "core" &r<\ \ \ Y + &r<\ \ \ Y +2 .tHand.open + "manipulator"&1 +63 "core" 1 + "manipulator"&$% +5 "core" % | ~ a + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&&' ] +159 "core" ' +2 .tdelay 1 second +102 #Garaging FlushPuck in Collection Clamp + "manipulator"&'& +3 "core" &  1 J +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&( +28 "core" ( +2 "manipulator"&)& +4 "core" & A _ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" & / _ +2 .tForearm.seek CC +2 "manipulator"&#'ш +92 "core" ' +2 .tHand.close + "manipulator"&/ +57 "core" / +2 .tCC.seek :open +2 "collection"'+( +540 "core" ( +2 "manipulator"&,& +4 "core" & l _ + "manipulator"&(% +4 "core" % ћ + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&/' ] +159 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&0(-w +264 "core" ( +2 "manipulator"&%& +4 "core" &-} 0 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &2& +2 "core" &-}  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&3'π +109 "core" ' +3 .tHand.open + "manipulator"&-1 +59 "core" 1 + "manipulator"&5% +4 "core" % zL +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&7' ] +153 "core" ' +2 .tdelay 1 second +102 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"':& +3 "core" & \ +2 "manipulator"&;& +4 "core" &-} q + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&1(-w +3 "core" ( +2 "manipulator"&& +4 "core" &-}  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &-}  +2 .tForearm.seek :garage +2 "manipulator"&9'π +108 "core" ' + .tHand.close + "manipulator"&./ +54 "core" / + "manipulator"&4& +5 "core" &-} P + "manipulator"&<% +4 "core" % ϑf +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&6' ] +176 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&B( +291 "core" ( + "manipulator"&8& +4 "core" & o  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &D& +3 "core" & d  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&='ш +94 "core" ' + "manipulator"&\ & +5 "core" & b n  + "manipulator"&?% +4 "core" %ђ \\ +2 "collection"'*& +3 "core" & \ +2 "collection"'H& +5 "core" & \ +2 .tCC.seek :closed + "collection"'I(r^ +5 "core" & \  +9 &1| \ *y +9 &b \ > +9 &[v \ O +10 &X \ N +9 &Y \ N +10 &W \ N +9 &c\\ \ N +9 &%Z \ N +10 & Y \ O +9 &"Z \ N +9 &$kV \ N +10 &&-Z \ N +9 &'[ \ N +10 &)[ \ O +9 &+sX \ N +9 &-6V \ N +10 &.X \ N +9 &0Y \ N +9 &2{Y \ N +10 &4=X \ N +9 &6Y \ N +10 &7Y \ N +9 &9W \ N +9 &;FV \ N +10 &=W \ N +9 &>W \ N +9 &@Y \ N +10 &BMW \ N +9 &DY \ N +10 &EX \ N +9 &GX \ N +9 &IUW \ N +10 &KW \ N +9 &LW \ N +9 &NX \ N +10 &P^W \ N +9 &R Y  \ N +10 &S\\ \ O +9 &U_ \ O +9 &W`i \ \ P +10 &Yu \ Q +9 &Z\ \ \ T +9 &\\\ ;\ 6\ W +10 &^O\ J\ D\ Y +9 &`\ O\ I \ Y +10 &a\ V\ P\ Y +9 &c\ [\ V\ Z +9 &eT\ c\ [\ Z +10 &g\ i\ c \ Z +9 &h\ r\ i\ \ [\ +9 &j\ w\ p\ \ \\ +10 &lT\ \ y \ \\ +9 &n\ \ \ \\ +50 &o\ \ \ \ ] +19 &qzz\ \ \ 4 + &r)"\ \  \ &p + &r9\ \ \ !` ( + &r9\ \  \ !` + &r9\ \ \ !` + &r9\ \ \ !` +3 "collection"'H& +3 #tCollection Clamp onSpring/offSpring for 13/25 samples, on/off torque 1.32 + "collection"'K& +4 "core" &r9\ \ \ !` + &r9\ \ \ !` +2 .tHand.open + "manipulator"&E1 +60 "core" 1 +2 "manipulator"&>% +4 "core" % ђ { +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&C' ] +157 "core" ' + .tdelay 1 second +103 #Garaging FlushPuck in Collection Clamp +2 "manipulator"&F& +3 "core" & X  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&O( +8 "core" ( + "manipulator"&M& +4 "core" & V  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +3 "core" & z  +2 .tForearm.seek CC + "manipulator"&L'ш +96 "core" ' + .tHand.close +2 "manipulator"&G/ +62 "core" / +2 .tCC.seek :open +2 "collection"'T( +540 "core" ( +2 "manipulator"&J& +4 "core" &   + "manipulator"&P% +4 "core" % ќ r +2 .tForearm.reconfigure :loose +7 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&Q' ] +162 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&U(-w +267 "core" ( +2 "manipulator"&A& +4 "core" &-k + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &N& +2 "core" &-k 3 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&['π +102 "core" ' + .tHand.open +2 "manipulator"&V1 +55 "core" 1 +2 "manipulator"&^% +4 "core" % |c q D + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&_' ] +169 "core" ' + .tdelay 1 second +103 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'b& +3 "core" & \ +2 "manipulator"&c& +3 "core" &-l  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&Z(-w +20 "core" ( + "manipulator"&X& +4 "core" &-m w g +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &`& +2 "core" &-m  g +2 .tForearm.seek :garage +2 "manipulator"&f'π +107 "core" ' +2 .tHand.close +2 "manipulator"&W/ +58 "core" / +2 "manipulator"&\\& +4 "core" &-p  8 d +2 "manipulator"&R% +3 "core" % ϒc 1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&i' ] +163 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&a( +267 "core" ( +2 "manipulator"&j& +4 "core" &  M # + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &d& +3 "core" &  s # +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&Y'ш +100 "core" ' +2 "manipulator"&l& +4 "core" & | # # + "manipulator"&g% +4 "core" %ь +2 "collection"'S& +3 "core" & \ +2 "collection"'q& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'m(r^ +4 "core" & \  +9 &1{ \ *z +9 &c \ ? +10 &ct \ O +9 &%Z \ O +9 &Z \ O +10 &Y \ N +9 &lW \ N +10 &/Z \ N +9 & Y \ N +9 &"[ \ N +10 &$tY \ N +9 &&6Z \ N +9 &'Y \ O +10 &)Z \ N +9 &+|Y \ N +10 &-?V \ N +9 &/X \ N +9 &0W \ N +10 &2X \ N +9 &4FW \ N +9 &6W \ N +10 &7V \ N +9 &9X \ N +10 &;NY \ N +9 &=W \ N +9 &>V \ N +10 &@W \ N +9 &BWV \ N +9 &DW \ N +10 &EW \ N +9 &GW \ N +10 &IaW \ M +9 &K!W \ N +9 &LW \ N +10 &NV \ N +9 &PhW \ N +9 &R)Z \ N +10 &S[ \ O +9 &U_ \ O +10 &Wjh \ P +9 &Y'r \ Q +9 &Z\ \ \ \ T +10 &\\\ =\ 7\ \ V +9 &^Y\ L\ E \ X +9 &`\ R\ M\ Y +10 &a\ Y\ U\ Y +9 &c\ a\ Y \ Z +10 &e^\ f\ a\ Y +9 &g\ l\ g \ Z +9 &h\ s\ n \ Z +10 &j\ {\ w\ \ [ +9 &l^\ \ {\ \\ +9 &n\ \ \ \\ +10 &o\ \ \ ] +9 &q{\ \  \ / +10 &r,.\ \ \ Y +8 ( +3 "collection"'q& +4 #tCollection Clamp onSpring/offSpring for 13/25 samples, on/off torque 1.31 + "collection"'s& +4 "core" &r;i\ \ \ J + &r;h\ \ \ J +2 .tHand.open + "manipulator"&o1 +53 "core" 1 + "manipulator"&v% +4 "core" % ы  +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&x' ] +151 "core" ' +2 .tdelay 1 second +102 #Garaging FlushPuck in Collection Clamp + "manipulator"&e& +4 "core" &  l # +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&k( +37 "core" ( + "manipulator"&n& +4 "core" & } ] +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &]& +3 "core" & ] +2 .tForearm.seek CC +2 "manipulator"&u'ш +93 "core" ' + .tHand.close + "manipulator"&p/ +55 "core" / +2 .tCC.seek :open +2 "collection"'{( +543 "core" ( +2 "manipulator"&w& +4 "core" &  ] + "manipulator"&r% +4 "core" % т   + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract + "manipulator"&t' ] +160 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&(-w +276 "core" ( + "manipulator"&h& +4 "core" &-v  e +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &|& +3 "core" &-v " e +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&'π +107 "core" ' +2 .tHand.open + "manipulator"&~1 +58 "core" 1 +2 "manipulator"& % +4 "core" % χK m +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"& ' ] +153 "core" ' +2 .tdelay 1 second +102 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'& +3 "core" & \ +2 "manipulator"&& +4 "core" &-v ] e + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(-w +2 "core" ( +2 "manipulator"&}& +4 "core" &-v e + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &-v  e e +2 .tForearm.seek :garage + "manipulator"&'π +113 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 "manipulator"&& +4 "core" &-v e +2 "manipulator"&% +3 "core" % ό` +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"& ' ] +161 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&( +275 "core" ( + "manipulator"&& +4 "core" & y G % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &  k ] % +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'ш +111 "core" ' +2 "manipulator"&y& +4 "core" & $ + "manipulator"&% +4 "core" %ь H  +2 "collection"'z& +3 "core" & \ +2 "collection"'"& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'(r^ +4 "core" &  \  +9 &2} \ *x +9 &b \ > +10 &Wu \ N +9 &V \ N +10 &X \ N +9 &Y \ N +9 &_W \ N +10 & Y \ N +9 & X  \ N +9 &"\\ \ N +10 &$gY \ N +9 &&(Y \ N +10 &'Y \ N +9 &)Z \ O +9 &+oX \ N +10 &-2X \ N +9 &.X \ N +9 &0W \ N +10 &2wV \ N +9 &49X \ N +10 &5W \ N +9 &7Y \ N +9 &9Y \ N +10 &;AY \ N +9 &=W \ N +9 &>V \ M +10 &@X \ N +9 &BKV \ M +10 &D Y \ N +9 &EX \ N +9 &GY \ N +10 &IRY \ N +9 &KW  \ N +9 &LW \ M +10 &NW \ N +9 &P[W \ M +10 &RX \ N +9 &SZ \ N +9 &U_ \ N +10 &W[g \ P +9 &Ys \ Q +9 &Z\ \ \ T +10 &\\\ =\ 5\ W +9 &^J\ K\ G\ Y +10 &` \ R\ N\ Y +9 &a\ X\ S\ Y +9 &c\ _\ Z\ Y +10 &eO\ e\ _ \ Z +9 &g\ k\ f\ Z +10 &h\ r\ m \ [\ +9 &j\ z\ r\ [\ +9 &lP\ \ z \ \\ +10 &n\ \  \ \\ +9 &o\ \  \ ] +9 &qvz\ \ \ 5 +10 &r,%\ \ \ K +9 ( + &r/]\ \ \ H +2 "collection"'"& +3 #tCollection Clamp onSpring/offSpring for 13/25 samples, on/off torque 1.32 + "collection"'$& +5 "core" &r/_\ \ \ H + .tHand.open + "manipulator"& 1 +60 "core" 1 +2 "manipulator"&'% +4 "core" % ь '  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +147 "core" ' +2 .tdelay 1 second +102 #Garaging FlushPuck in Collection Clamp + "manipulator"&)& +3 "core" &  # +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&( +32 "core" ( + "manipulator"&& +4 "core" & _ X  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &  +2 .tForearm.seek CC +2 "manipulator"&&'ш +89 "core" ' +2 .tHand.close + "manipulator"&!/ +55 "core" / +2 .tCC.seek :open + "collection"',( +544 "core" ( +2 "manipulator"&(& +4 "core" & o  + "manipulator"&#% +4 "core" % ъ ^ 9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&%' ] +161 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&2(-w +279 "core" ( +2 "manipulator"&& +4 "core" &-y + m + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &-& +3 "core" &-y  m +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&5'π +107 "core" ' + .tHand.open +2 "manipulator"&/1 +53 "core" 1 +2 "manipulator"&:% +4 "core" % υL  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&;' ] +164 "core" ' +2 .tdelay 1 second +102 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'& +3 "core" & \ +2 "manipulator"&& +4 "core" &-z . l +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&3(-w +3 "core" ( +2 "manipulator"&.& +4 "core" &-z m l +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &4& +3 "core" &-z 4 l +2 .tForearm.seek :garage +2 "manipulator"&<'π +105 "core" ' + .tHand.close +2 "manipulator"&0/ +58 "core" / +2 "manipulator"&7& +4 "core" &-z  l +2 "manipulator"&9% +3 "core" % ύm B +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&8' ] +153 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&D( +277 "core" ( + "manipulator"&1& +4 "core" & p  % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &\ & +3 "core" &  " % +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&?'ш +95 "core" ' + "manipulator"&*& +4 "core" &  ~ + % +2 "manipulator"&6% +4 "core" %ш + "collection"'+& +4 "core" & \ +2 "collection"'K& +5 "core" & \ +2 .tCC.seek :closed + "collection"'E(r^ +5 "core" &  \ +7 & -  \ $c +9 &vU \ 7 +10 &~  \ L +9 &Z \ N +10 &BZ \ \ N +9 &V \ N +10 &Z \ N +11 &W \ N +9 & KY \ N +7 &" Y  \ N +10 &#Y \ N +9 &%Z \ O +10 &'SX \ N +9 &)Y \ N +9 &*U \ N +52 &,X \ N +13 &.ZY  \ N +3 &0W  \ N + &1V \ N + &3Y \ N +2 &5bY \ N +4 &7%[ \ N + &8W  \ N +8 &:X \ N +9 &-W \ N +10 &?W \ N +9 &AT \ N +10 &CsW \ N +9 &E5W \ N +9 &FX \ N +10 &HX \ N +9 &J|W \ N +9 &L>Y \ N +10 &NV  \ N +9 &O[ \ N +10 &QV \ N +9 &SFY \ N +9 &U_ \ O +10 &Vb \ O +9 &Xk \ Q +9 &Z@ \ R +10 &[\ *\ %\ V +10 &]\ I\ D\ X +9 &_t\ R\ L \ Y +9 &a5\ V\ P\ Y +9 &b\ ]\ Y\ Y +10 &d\ d\ ]\ Z +9 &fx\ k\ c\ Z +9 &h7\ o\ i\ [\ +10 &i\ v\ r\ [ +9 &k\ \ {\ \\ +10 &mz\ \  \ \\ +9 &o;\ \ \ \\ +9 &p\ \ \ J +10 &r;\ \ \ 'u +9 &r9|\ \ \ X +5 ( +2 "collection"'K& +4 #tCollection Clamp onSpring/offSpring for 13/25 samples, on/off torque 1.29 + "collection"'>& +5 "core" &r9s\ \ \ X + &r9s\ \ \ X +2 .tHand.open + "manipulator"&H1 +53 "core" 1 +2 "manipulator"&F% +4 "core" % ш o  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&M' ] +149 "core" ' + .tdelay 1 second +103 #Garaging FlushPuck in Collection Clamp + "manipulator"&@& +3 "core" &  { % +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&=( +2 "core" ( +2 "manipulator"&G& +4 "core" &  G % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &B& +3 "core" &  I % +2 .tForearm.seek CC +2 "manipulator"&C'ш +91 "core" ' +2 .tHand.close + "manipulator"&I/ +69 "core" / + .tCC.seek :open +2 "collection"'J( +540 "core" ( +2 "manipulator"&P& +4 "core" &  $ + "manipulator"&L% +4 "core" % ш 8 : +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&A' ] +163 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&N(-w +271 "core" ( +2 "manipulator"&O& +4 "core" &-z @ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &V& +3 "core" &-z % +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&^'π +109 "core" ' +2 .tHand.open + "manipulator"&Q1 +61 "core" 1 + "manipulator"&b% +4 "core" % ρG -  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&c' ] +165 "core" ' + .tdelay 1 second +103 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'[& +3 "core" & \ +2 "manipulator"&X& +3 "core" &-z _ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&`(-w +3 "core" ( + "manipulator"&W& +5 "core" &-z _ J + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &\\& +4 "core" &-z # +2 .tForearm.seek :garage + "manipulator"&R'π +110 "core" ' + .tHand.close +2 "manipulator"&U/ +53 "core" / +2 "manipulator"&_& +4 "core" &-z ? + "manipulator"&f% +4 "core" % ύm #  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&j' ] +164 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&d( +294 "core" ( + "manipulator"&Z& +4 "core" & }  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &l& +3 "core" &    +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&g'ш +94 "core" ' + "manipulator"&S& +4 "core" & s   +2 "manipulator"&i% +4 "core" %ц    +2 "collection"'T& +4 "core" & \ +2 "collection"'s& +5 "core" &  \ +2 .tCC.seek :closed + "collection"'o(r^ +4 "core" & \  +9 &1{  \ *z +9 &c \ ? +9 &bs \ O +10 &%U \ N +9 &[ \ N +10 &W \ N +9 &kZ \ N +9 &-W !\ N +10 & W \ N +9 &"Y  \ N +9 &$sW \ N +10 &&5Y \ N +9 &'W \ N +9 &)Y \ N +10 &+|V \ N +9 &->W \ N +10 &/V \ N +9 &0V \ N +9 &2W \ N +10 &4FY \ N +9 &6 U \ N +9 &7W \ N +10 &9W \ N +9 &;NZ  \ N +10 &=V  \ N +9 &>T \ N +9 &@U \ N +10 &BWW \ N +9 &DV \ M +10 &EW \ N +9 &GV  \ M +9 &I_W \ N +10 &K!U \ N +9 &LU \ N +9 &NY \ N +10 &PgS \ N +9 &R)V \ N +10 &SZ  \ N +9 &U` \ O +9 &Wif \ P +10 &Y'r \ Q +9 &Z\ \ \ T +9 &\\\ =\ 6\ W +10 &^W\ K\ D\ Y +9 &`\ O\ L\ Y +9 &a\ W\ R\ Y +10 &c\ ]\ Z\ Y +9 &e\\\ e\ ^\ Z +10 &g\ k\ d\ Z +9 &h\ s\ k\ [ +9 &j\ y\ s\ [ +10 &l]\ ~\ y\ \\ +9 &n \ \ \ \\ +9 &o\ \ \ ] +10 &q{\ \ \ 1 +9 &r,+\ \ \ V +9 ( +3 "collection"'s& +3 #tCollection Clamp onSpring/offSpring for 13/25 samples, on/off torque 1.33 +6 "collection"'v& +4 "core" &r7k\ \ \ K + &r7k\ \ \ K +6 .tHand.open +2 "manipulator"&q1 +59 "core" 1 +2 "manipulator"&e% +4 "core" % ц a E  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&Y' ] +161 "core" ' +2 .tdelay 1 second +102 #Garaging FlushPuck in Collection Clamp +2 "manipulator"&n& +3 "core" &   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&]( +3 "core" ( +2 "manipulator"&p& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &a& +2 "core" & D  +2 .tForearm.seek CC +2 "manipulator"&x'ш +89 "core" ' +2 .tHand.close + "manipulator"&m/ +57 "core" / + .tCC.seek :open +2 "collection"'w( +543 "core" ( +2 "manipulator"&r& +4 "core" &  + "manipulator"&u% +4 "core" % є 9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&h' ] +149 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&|(-w +282 "core" ( + "manipulator"&k& +4 "core" &-} V Z +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &~& +3 "core" &-} O Z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"& 'π +112 "core" ' +2 .tHand.open +2 "manipulator"&t1 +59 "core" 1 + "manipulator"&% +4 "core" % }I  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&' ] +157 "core" ' +2 .tdelay 1 second +3165 #-> Flush.CC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'}& +3 "core" & \ +2 "manipulator"&& +4 "core" &-} t Z +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(-w +4 "core" ( + "manipulator"&& +4 "core" &-} K Z +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &-} | Z +2 .tForearm.seek :garage +2 "manipulator"&'π +110 "core" ' + .tHand.close + "manipulator"&/ +59 "core" / + "manipulator"& & +4 "core" &-} $ Z +2 "manipulator"&% +3 "core" % ϓb O +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +162 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&( +276 "core" ( +2 "manipulator"&& +4 "core" &  } y $ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &y& +2 "core" &  $ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&'ш +108 "core" ' + "manipulator"&z& +4 "core" & m $ +2 "manipulator"& % +4 "core" % # + "collection"'{& +4 "core" & \ +2 "collection"'$& +5 "core" & \ +2 .tCC.seek :closed + "collection"' (r^ +5 "core" & "\  +9 &2} *\ *x +9 &b $\ > +10 &Wu #\ N +9 &\\ \ N +9 &] \ N +10 &Z \ N +9 &]W #\ N +9 &Z !\ N +10 & X \ N +9 &"Y \ N +10 &$fU \ N +9 &&'Z *\ N +9 &'Y \ N +10 &)[ \ N +9 &+mX \ N +9 &-/X \ N +10 &.U \ N +9 &0W "\ N +9 &2vX !\ N +10 &48W \ N +9 &5W \ N +10 &7Y \ N +9 &9}X \ N +9 &;?Y  \ N +10 &=W \ N +9 &>U \ N +10 &@W \ N +9 &BHY \ N +9 &D\ W \ N +10 &EW \ N +9 &GX \ N +9 &IQX \ N +10 &KV \ N +9 &LV !\ N +10 &NU \ N +9 &PYU \ N +9 &RX \ M +10 &SZ \ O +9 &Ua "\ O +9 &W[g \ P +10 &Yp #\ Q +9 &Z\ \ "\ T +10 &\\\ <\ 7\ W +9 &^H\ J\ D#\ Y +9 &` \ Q\ L\ Y +10 &a\ V\ Q"\ Y +9 &c\ ]\ W\ Z +9 &eN\ c\ ^\ Z +10 &g\ j\ d\ Z +9 &h\ r\ l\ [ +10 &j\ x\ t\ [\ +9 &lN\ \ x\ \\ +9 &n\ \ \ \\ +10 &o\ \ \ ] +9 &qw{\ \ \ 3 +9 &r(&\ \ !\ #g +9 ( +3 "collection"'$& +3 #tCollection Clamp onSpring/offSpring for 13/25 samples, on/off torque 1.31 + "collection"''& +5 "core" &r5z\ \ \ Z + &r5{\ \ !\ Z + .tHand.open + "manipulator"&"1 +63 "core" 1 +2 "manipulator"&)% +4 "core" % ь _   + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +145 "core" ' +1885 #t-> CC.rawPosition +2 "collection"'& +3 "core" &r5z\ \ \ Z +7792 "Can"\ j\\; +60002 \ j!5 CC.jog -200 +2 .CC.jog -200 +7 "collection"'*8 +38 "core" * + "collection"'!& +4 "core" &q0j\ \ \ T +2 "collection"'& +3 "core" &q0j\ \ \ T +300 #t-> CC.jog -200 +2 .CC.jog -200 +2 "collection"'*8 +36 "core" * + "collection"'& +4 "core" &p#`\ \ \ P +2 "collection"'(& +3 "core" &p#`\ \ \ P +227 #t-> CC.jog -200 + .CC.jog -200 +2 "collection"'#*8 +35 "core" * + "collection"'&& +4 "core" &o5J\ \ \ A +2 "collection"'& +3 "core" &o5J\ \ \ A +294 #t-> CC.jog -200 +2 .CC.jog -200 +2 "collection"'-*8 +35 "core" * +2 "collection"'& +4 "core" &nU%\ \ \ 3 + "collection"'/& +4 "core" &nU%\ \ \ 3 +237 #t-> CC.jog -200 +2 .CC.jog -200 +2 "collection"':*8 +39 "core" * +2 "collection"'%& +4 "core" &mg\\\ \ \ M + "collection"'& +4 "core" &mg\\\ \ \ M +279 #t-> CC.jog -200 +2 .CC.jog -200 +2 "collection"'*8 +56 "core" * +2 "collection"'.& +4 "core" &la\ \ \ Y + "collection"'4& +4 "core" &la}\ \ \ Y +1876 #t-> CC.rawPosition +2 "collection"'5& +3 "core" &la}\ \ \ Y +3201 #t-> CC.unloadFlush +2 #Garaging FlushPuck in Collection Clamp +2 "manipulator"&0& +3 "core" &  M # +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&7( +2 "core" ( + "manipulator"&9& +4 "core" &  E # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &2& +3 "core" &  # +2 .tForearm.seek CC +2 "manipulator"&;'ш +94 "core" ' +2 .tHand.close + "manipulator"&1 +55 "core" 1 +2 "manipulator"&H% +4 "core" % φT  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&F' ] +157 "core" ' +5601 #t-> CC.loadFlush +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'K& +3 "core" & \ +2 "manipulator"&@& +4 "core" &-w M ` +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&G(-w +3 "core" ( + "manipulator"&B& +4 "core" &-w 2 ` +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &?& +3 "core" &-w  ` +2 .tForearm.seek :garage + "manipulator"&I'π +111 "core" ' + .tHand.close +2 "manipulator"&D/ +61 "core" / + "manipulator"&M& +4 "core" &-w  ` +2 "manipulator"&E% +4 "core" % ϒ_ +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&P' ] +159 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&L( +298 "core" ( +2 "manipulator"&C& +4 "core" &  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &O& +3 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&V'ш +90 "core" ' + "manipulator"&=& +4 "core" & j  +2 "manipulator"&Q% +3 "core" %р  6  +2 "collection"'b& +4 "core" & .\ +2 "collection"'A& +4 "core" & \ +2 .tCC.seek :closed +2 "collection"'[(r^ +4 "core" & \ +8 &2 \ $c +10 &yU~ \ 7 +9 &} \ L +9 &Z  \ N +10 &I\\ \ N +9 & W  \ N +9 &Z \ N +10 &W \ M +9 & SW \ M +10 &"W \ M +9 &#X \ M +9 &%\\  \ N +10 &'[Y \ M +9 &)Y \ N +10 &*Z \ N +9 &,Z \ N +9 &.c]  \ M +10 &0%Z \ \ M +9 &1Y \ N +9 &3[ \ N +10 &5jY \ N +9 &7,\\  \ N +9 &8W \ M +10 &:] \ N +9 &5V \ M +10 &?\\ \ M +8 &AZ \ M +10 &CzZ \ N +9 &E<Z  \ N +9 &FZ  \ M +10 &HZ  \ M +9 &J[ \ M +10 &LD] \ N +9 &NY  \ M +9 &O\\ \ M +10 &Q[ \ M +9 &SM] \ M +9 &U ` \ N +10 &Vc  \ O +9 &Xm  \ P +10 &ZG  \ R +9 &\\\ *\ % \ U +9 &]\ N\ G\ W +10 &_{\ U\ O \ X +9 &a=\ \\\ V\ X +10 &b\ a\ [\ Y +9 &d\ h\ c \ Y +9 &f\ n\ h \ Y +10 &h?\ w\ p \ Z +9 &j\ \ w\ [ +9 &k\ \ ~\ [ +10 &m\ \ \ [\ +9 &oA\ \  \ \\ +9 &q\ \  \ J +10 &q8\ \ \ , +9 &r=p\ \ \ R +2 ( +2 "collection"'A& +2 #tCollection Clamp onSpring/offSpring for 13/25 samples, on/off torque 1.28 +2 "collection"'X& +4 "core" &r=h\ \ &\ R + .tHand.open +2 "manipulator"&W1 +62 "core" 1 +2 "manipulator"&\\% +4 "core" % р a   +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&^' ] +150 "core" ' +2 "collection"'U& +4 "core" &r=h\ \ '\ R +280 #t-> CC.rawPosition + "collection"'_& +4 "core" &r=h\ \ \ R +27623 #t-> CC.jog 200 + .CC.jog 200 +2 "collection"'f* +25 "core" * +2 "collection"'N& +4 "core" &rK\ \ \ ? +2085 "Can"\ ^$<ߺ +8372 #t-> CC.jog 200 + .CC.jog 200 +2 "collection"'c* +28 "core" * + "collection"'R& +4 "core" &s\ \ 0\ , +222 #t-> CC.jog 200 +2 .CC.jog 200 +2 "collection"'Z* +28 "core" * +2 "collection"'l& +4 "core" &tg\ \ 7\ 0 +193 #t-> CC.jog 200 +2 .CC.jog 200 +2 "collection"'`* +32 "core" * +2 "collection"'S& +4 "core" &u\ \ O\ / +167 #t-> CC.jog 200 + .CC.jog 200 +2 "collection"'i* +33 "core" * +2 "collection"'T& +4 "core" &u\ \ E\ 0 +171 #t-> CC.jog 200 + .CC.jog 200 +2 "collection"'j* +32 "core" * +2 "collection"'J& +4 "core" &v%\ \ 9\ 3 +253 #t-> CC.jog 200 +2 .CC.jog 200 +2 "collection"'v* +31 "core" * +2 "collection"'q& +4 "core" &w7-\ \ .\ 5 +96 #t-> CC.jog 200 +2 .CC.jog 200 +2 "collection"'e* +29 "core" * + "collection"'s& +4 "core" &w%\ \ 9\ 2 +1593 #t-> CC.rawPosition +2 "collection"'n& +3 "core" &w%\ \ 9\ 2 +1587 #t-> CC.unloadFlush + #Garaging FlushPuck in Collection Clamp +2 "manipulator"&p& +4 "core" & o m  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&a( +4 "core" ( + "manipulator"&g& +4 "core" & c g  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &m& +3 "core" & ]  +2 .tForearm.seek CC +2 "manipulator"&d'ш +94 "core" ' + .tHand.close +2 "manipulator"&Y/ +56 "core" / +2 .tCC.seek :open +2 "collection"'o( +569 "core" ( + "manipulator"&r& +4 "core" &  + "manipulator"&u% +4 "core" % т  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&x' ] +147 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&k(-w +275 "core" ( + "manipulator"&~& +4 "core" &-t _ r + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &]& +3 "core" &-t r +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&t'π +109 "core" ' +2 .tHand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&h% +4 "core" % υP ;  + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"& ' ] +159 "core" ' +45489 "Can"\ Q'=u +2795 #t-> exit +6 #mEXIT @1668706421.61PST @1668706430.18PST = =mMAIN_scheduler =tMAIN @PST1668706431.99 #"core_reset"Sent BREAK +2 #t@8220 sendCRC with ifg=0x20, ie=0x7F + #@10055 sendCRC with ifg=0x08, ie=0x5F #@6737 idle with ifg=0x84, ie=0x75 + #@7408 select with ifg=0x10, ie=0xF5 + #@8043 receive with ifg=0x10, ie=0xFD #@8677 receive with ifg=0x10, ie=0xFD + #@9311 receive with ifg=0x10, ie=0xFD #@9638 receive with ifg=0x80, ie=0xFD + #@15399 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +8 #ESP2 v3.42 I2C Gateway v3.20 for core bus +236 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +386 "Can"\ R(= + \ R(=2 + #tPolling Can every 10:00 +5 #Cleanly exited at 09:33:41PST17-Nov-22 +893 #-> CC.home.to :home +3 .CC.configure :default +154 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +3 ' 0\ +2 ' -\ +3 "processing"% 9\ +3 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %Z 1\ +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +4 "core" + + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %ټ\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" %ޕ0. S\ 2 +2 .tSS.configure :default +3 "sampler")#.0X ESP.ready! +2 "collection"'% +5 "core" %Z \ + "processing"%% +2 "manipulator"&% +3 "sampler")% +10 "core" %ټ\ + % X e  + %ޕ0, ]\ 2 +2 "manipulator"&& +4 "core" &-t r + "storage"(& +4 "core" &[Rc W\ " + "storage"(% +4 "core" %b 7 + "collection"' & +4 "core" &" /\ + "processing"%!& +3 "core" &\ +2 "collection"'" +3 "core"  +2 "collection"'# +3 "core"  + "collection"'$ +3 "core"  +2 "processing"%% +3 "core"  + "processing"%& +3 "core" U +2 "processing"%' +3 "core"  + "processing"%( +3 "core" @ +2 "sampler")) +3 "core"  + "collection"'*% +4 "core" %Z \ +2 "processing"%+% +3 "core" %ټ\ +2 "sampler"),% +4 "core" %ޕ/. c\ 2 +2 "collection"'-& +3 "core" &" 2\ +2 "processing"%.& +3 "core" &\ +2 "manipulator"&/% +4 "core" % X   + "manipulator"&0& +4 "core" &-t j u r + "storage"(1& +4 "core" &[Rc Z " +2 "storage"(2% +3 "core" %b \\\ +2 "collection"'39 +3 "core" 9 +2 "processing"%49 +3 "core" 9 +1783 #t-> Flush.CC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'5& +3 "core" &" 8\ +2 .tHand.open + "manipulator"&61 +22 "core" 1 +2 "manipulator"&7& +3 "core" &-t K r +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage + "manipulator"&8(-w +3 "core" ( + "manipulator"&9& +4 "core" &-t  r + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &:& +3 "core" &-t r +2 .tForearm.seek :garage + "manipulator"&;'π +109 "core" ' +2 .tHand.close + "manipulator"&% +4 "core" % ςg + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&?' ] +157 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&@( +294 "core" ( + "manipulator"&A& +5 "core" & h [ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &B& +4 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&C'ш +100 "core" ' +2 "manipulator"&D& +4 "core" & q  +2 "manipulator"&E% +3 "core" %ъ  +2 "collection"'F& +4 "core" &" \ +2 .tCC.seek :open + "collection"'G( +139 "core" ( +2 "collection"'H& +5 "core" &y \  +2 .tCC.seek :closed +2 "collection"'I(w +5 "core" &y \  +7 &K \ %i +9 &bV \ 9 +9 &~ \ N +10 &x[ \ O +9 &;\\ \ O +9 &Y \ O +10 &Z \ N +9 &Z \ O +10 & CY \ O +9 &"Y \ O +9 &#Y \ N +10 &%Y \ N +9 &'J\\ \ O +9 &)Z \ N +10 &*\\ \ O +9 &,Y \ N +10 &.TZ \ N +9 &0Z  \ O +9 &1\\ \ O +11 &3^ \ \ O +8 &5[W \ O +9 &7Y \ N +10 &8[ \ O +13 &:X  \ O +7 &&Y \ N +8 &?Y \ N +9 &AY \ N +9 &Ck\\  \ O +9 &E+`  \ O +10 &Fe  \ P +9 &Ht \ Q +10 &Jf \ S +9 &L\ -\ &\ V +9 &M\ I\ B\ Y +10 &O\ P\ H\ \ Y +9 &Q]\ V\ N\ Y +9 &S\ Y\ T\ Z +10 &T\ d\ \\\ Z +9 &V\ h\ e\ Z +10 &X`\ p\ g\ [ +9 &Z!\ x\ p\ [\ +9 &[\ }\ x\ \\ +10 &]\ \ }\ [\ +9 &_b\ \ \ ] +9 &a"\ \ \ ] +10 &b\ \ \ ] +9 &d\ \ \ ^ +10 &fh\ \ \ ] +9 &h%\ \ \ _ +9 &i\ \ \ a +10 &k\ \ \ ` +9 &mn\ \ \ ^ +9 &o;\ \ \ Z +10 &p\ \ \ \\ +9 &r\ \ \ [ +10 &t\ \ \ Z +9 &v:\ \ \ \\ +9 &wF\ \ \ "i +10 &w\ \ \ Q +5 ( + "collection"'H& +5 #tCollection Clamp onSpring/offSpring for 14/25 samples, on/off torque 2.12 + "collection"'J& +4 "core" &ws\ \ \ P + &ws\ \ \ P +2 .tHand.open + "manipulator"&K1 +56 "core" 1 +2 "manipulator"&L% +4 "core" % щ x  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&M' ] +152 "core" ' +2122 #t-> CC.unloadFlush +2 #Garaging FlushPuck in Collection Clamp + "manipulator"&N& +3 "core" & j +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +37 "manipulator"&O( +22 "core" ( + "manipulator"&P& +4 "core" & t n +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Q& +3 "core" & C n +2 .tForearm.seek CC +2 "manipulator"&R'ш +93 "core" ' + .tHand.close + "manipulator"&S/ +52 "core" / +2 .tCC.seek :open +2 "collection"'T( +572 "core" ( + "manipulator"&U& +5 "core" & ^ n + "manipulator"&V% +4 "core" % ї  8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&W' ] +170 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +5 .tElbow.seek :garage +4 "manipulator"&X(-w +277 "core" ( + "manipulator"&Y& +4 "core" &-t i + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Z& +3 "core" &-t W i +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&['π +108 "core" ' + .tHand.open +2 "manipulator"&\\1 +59 "core" 1 +2 "manipulator"&]% +5 "core" % ςN B  + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&^' ] +157 "core" ' +1317 #t-> exit +6 #mEXIT @1668706550.05PST @1668706557.19PST = =tMAIN =mMAIN_scheduler @PST1668706559.03 #"core_reset"Sent BREAK +2 #t@42497 sendCRC with ifg=0x20, ie=0x7F #@44332 sendCRC with ifg=0x08, ie=0x5F + #@2836 idle with ifg=0x84, ie=0x75 + #@3510 select with ifg=0x10, ie=0xF5 #@4145 receive with ifg=0x10, ie=0xFD + #@4779 receive with ifg=0x10, ie=0xFD + #@5414 receive with ifg=0x10, ie=0xFD #@5741 receive with ifg=0x80, ie=0xFD + #@15799 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +9 #ESP2 v3.42 I2C Gateway v3.20 for core bus +243 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +396 "Can"\ S(= + \ S(=1 + #tPolling Can every 10:00 +5 #Cleanly exited at 09:35:50PST17-Nov-22 +403 #-> ESP.ready! +154 "sampler") +3 ) +2 "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ + "collection"'% +3 "core" %Z \ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +5 "core" + + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %ټ*\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %ޕ1- c\ 2 +2 .tSS.configure :default +2 "sampler")#.0X CC.home.to :home +2 .CC.reconfigure :default +3 "collection"'$x2 ^22b +2 .tCC.home.seek :home +2 "collection"'3( +144 "core" ( + "collection"'4& +4 "core" & 0\ +432 #t-> Flush.CC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'5& +3 "core" & \ +2 .tHand.open + "manipulator"&61 +16 "core" 1 + "manipulator"&7& +4 "core" &-t l i +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&8(-w +2 "core" ( +2 "manipulator"&9& +4 "core" &-t P i + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &:& +3 "core" &-t h i +2 .tForearm.seek :garage + "manipulator"&;'π +110 "core" ' +2 .tHand.close + "manipulator"&% +3 "core" % ϔg +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&?' ] +161 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&@( +294 "core" ( + "manipulator"&A& +4 "core" & k J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &B& +2 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&C'ш +101 "core" ' +2 "manipulator"&D& +4 "core" & z ! \ +2 "manipulator"&E% +3 "core" %ё  +2 "collection"'F& +4 "core" & 0\ +2 .tCC.seek :open + "collection"'G( +139 "core" ( +2 "collection"'H& +5 "core" &x -\  +2 .tCC.seek :closed +2 "collection"'I(v^ +5 "core" &x 2\  +7 &J 0\ %g +9 &eW *\ 8 +9 & *\ M +10 &uZ +\ O +9 &7] +\ O +9 &[ .\ N +10 &W /\ O +9 &~\\ /\ N +9 & @V &\ N +10 &"W +\ O +9 &#Y ,\ O +10 &%W (\ N +9 &'HY '\ N +9 &)\ \\ ,\ N +10 &*X +\ O +9 &,Z %\ O +9 &.P\\  \ N +10 &0Z ,\ N +9 &1Z )\ N +10 &3\\ !\ N +9 &5XU #\ N +9 &7W "\ O +10 &8Y \ O +9 &:Y \ O +9 &<`W \ N +10 &>#U !\ N +9 &?Y "\ O +10 &AZ $\ O +9 &CfY #\ O +9 &E&` \ P +10 &Fc  \ P +9 &Hr %\ Q +9 &J`\ \ \ T +9 &L\ ?\ 7 \ W +9 &M\ K\ E*\ X +10 &O\ S\ I \ Y +9 &QZ\ X\ R \ Y +9 &S\ ]\ Z\ Y +10 &T\ f\ `"\ Y +9 &V\ k\ e!\ Z +10 &X\\\ t\ m"\ [ +9 &Z\ y\ r)\ [\ +9 &[\ \ {!\ \\ +11 &]\ \ \ \\ +8 &_]\ \ \ ] +9 &a\ \ \ ] +10 &b\ \ !\ ] +9 &d\ \ \ ^ +10 &fd\ \ "\ ] +9 &h"\ \ \ _ +9 &i\ \ "\ _ +10 &k\ \ \ Z +9 &mx\ \ \ Y +9 &o6\ \ \ [ +10 &p\ \ \ [ +9 &r\ \ \ Z +10 &t~\ \ \ Z +9 &uK\ \ \ 4 +9 &v6m\ \ \ F +6 ( + "collection"'H& +5 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.16 + "collection"'J& +4 "core" &v6c\ \ \ F + &v6c\ \ \ F +2 .tHand.open + "manipulator"&K1 +62 "core" 1 +2 "manipulator"&L% +4 "core" % х n + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract + "manipulator"&M' ] +153 "core" ' +776 #t-> CC.unloadFlush +2 #Garaging FlushPuck in Collection Clamp +2 "manipulator"&N& +3 "core" & + \ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&O( +12 "core" ( +2 "manipulator"&P& +3 "core" & n  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +2 "core" & a A  +2 .tForearm.seek CC +2 "manipulator"&R'ш +93 "core" ' + .tHand.close +2 "manipulator"&S/ +55 "core" / + .tCC.seek :open +2 "collection"'T( +566 "core" ( + "manipulator"&U& +4 "core" & $  +2 "manipulator"&V% +4 "core" % ш t +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&W' ] +162 "core" ' +40 .tElbow.reconfigure :tight +9 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&X(-w +278 "core" ( +2 "manipulator"&Y& +4 "core" &- q b +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Z& +3 "core" &- % b +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&['π +107 "core" ' + .tHand.open + "manipulator"&\\1 +62 "core" 1 + "manipulator"&]% +4 "core" % ψO Q  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&^' ] +171 "core" ' +2909 #t-> exit +7 #mEXIT @1668706656.97PST @1668706664.32PST = =tMAIN =mMAIN_scheduler @PST1668706666.11 #"core_reset"Sent BREAK +2 #t@8994 sendCRC with ifg=0x20, ie=0x7F #@10829 sendCRC with ifg=0x08, ie=0x5F + #@24150 idle with ifg=0x84, ie=0x75 + #@24822 select with ifg=0x10, ie=0xF5 + #@25497 receive with ifg=0x10, ie=0xFD #@26091 receive with ifg=0x10, ie=0xFD + #@26730 receive with ifg=0x10, ie=0xFD #@27062 receive with ifg=0x80, ie=0xFD + #@52585 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +9 #ESP2 v3.42 I2C Gateway v3.20 for core bus +234 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +377 "Can"\ P)V=g + \ P)V=g4 #tPolling Can every 10:00 +6 #Cleanly exited at 09:37:36PST17-Nov-22 +354 #-> ESP.ready! +154 "sampler") +3 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %Z !\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +3 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %ټ)\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %ޕ/. c\ 2 +2 .tSS.configure :default +2 "sampler")#.0X CC.home.to :home +3 .CC.reconfigure :default +2 "collection"'$x2 ^22b +2 .tCC.home.seek :home + "collection"'3( +103 "core" ( +2 "collection"'4& +4 "core" & \ +401 #t-> Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'5& +3 "core" & *\ +2 .tHand.open + "manipulator"&61 +23 "core" 1 +2 "manipulator"&7& +4 "core" &- T b +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&8(-w +3 "core" ( +2 "manipulator"&9& +4 "core" &- A b + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &:& +2 "core" &- ? b +3 .tForearm.seek :garage + "manipulator"&;'π +106 "core" ' + .tHand.close + "manipulator"&% +4 "core" % ώb K + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&?' ] +164 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&@( +271 "core" ( +2 "manipulator"&A& +4 "core" &  ^ X n +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &B& +3 "core" &  V n +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&C'ш +92 "core" ' + "manipulator"&D& +4 "core" & o n +2 "manipulator"&E% +3 "core" %ц 5 +2 "collection"'F& +4 "core" & \ +2 .tCC.seek :open +2 "collection"'G( +141 "core" ( +2 "collection"'H& +5 "core" &s \  +2 .tCC.seek :closed +2 "collection"'I(u2 +4 "core" &s \  +8 &G \ %h +9 &_W \ 8 +10 &| \ M +9 &qZ \ O +9 &4Y \ N +10 &Z \ N +9 &] \ O +10 &yY \ O +9 & ;W \ O +9 &!Y \ O +10 &#[ \ N +9 &%Z \ N +9 &'DZ \ N +10 &)W \ O +9 &*Y \ O +9 &,\\ \ N +10 &.LZ \ N +9 &0 \\ \ O +10 &1Y \ O +9 &3Y \ N +9 &5TU \ N +10 &7Z \ N +9 &8[ \ O +9 &:Z \ O +10 &<\\\\ \ N +9 &>W \ N +10 &?Z \ N +9 &AZ \ N +9 &CeZ \ N +10 &E&Y \ N +9 &FW \ O +9 &H_ \ O +10 &Jgd \ P +9 &L'h \ Q +10 &Mx \ R +9 &O\ \ \ T +9 &QY\ F\ ?\ X +10 &S\ N\ G\ X +9 &T\ U\ M\ Y +9 &V\ [\ T\ X +10 &X\\\ a\ [\ Y +9 &Z\ i\ a\ Y +10 &[\ o\ i \ Z +9 &]\ w\ n\ [ +9 &_`\ |\ u\ [ +10 &a\ \ ~\ \\ +9 &b\ \ \ \\ +9 &d\ \ \ \\ +10 &f`\ \ \ ] +9 &h$\ \ \ ] +10 &i\ \ \ ] +9 &k\ \ \ ^ +9 &mc\ \ \ _ +10 &o,\ \ \ \\ +9 &p\ \ \ [\ +10 &r\ \ \ \\ +9 &tYz\ \ \ / +9 &u+\ \ \ X +9 ( +3 "collection"'H& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 1.88 + "collection"'J& +4 "core" &u^\ \ \ J +2 &u^\ \ \ J + .tHand.open + "manipulator"&K1 +56 "core" 1 + "manipulator"&L% +5 "core" % ц o  + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&M' ] +158 "core" ' +1609 #t-> CC.unloadFlush +2 #Garaging FlushPuck in Collection Clamp + "manipulator"&N& +4 "core" &  m +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&O( +4 "core" ( + "manipulator"&P& +5 "core" & < m + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +2 "core" &  m +2 .tForearm.seek CC +2 "manipulator"&R'ш +91 "core" ' +2 .tHand.close + "manipulator"&S/ +75 "core" / +2 .tCC.seek :open +2 "collection"'T( +556 "core" ( +2 "manipulator"&U& +4 "core" &  6 m + "manipulator"&V% +4 "core" % љ @  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&W' ] +162 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +37 "manipulator"&X(-w +293 "core" ( +2 "manipulator"&Y& +4 "core" &-~ Y Z +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Z& +3 "core" &-~ Z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&['π +110 "core" ' + .tHand.open +2 "manipulator"&\\1 +62 "core" 1 +2 "manipulator"&]% +4 "core" % ~L #  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&^' ] +172 "core" ' +2455 #t-> 10.times{CC.loadFlush; delay 1; CC.unloadFlush; delay 1} +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'_& +4 "core" & 1\ +2 "manipulator"&`& +4 "core" &-~ Z + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&a(-w +2 "core" ( +2 "manipulator"&b& +4 "core" &-~ Z + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &c& +3 "core" &-~ z Z +2 .tForearm.seek :garage + "manipulator"&d'π +107 "core" ' +2 .tHand.close + "manipulator"&e/ +58 "core" / +2 "manipulator"&f& +4 "core" &-~ Z +2 "manipulator"&g% +3 "core" % ψa O +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&h' ] +164 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&i( +280 "core" ( + "manipulator"&j& +4 "core" &\  _ S E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &k& +3 "core" &\  : E +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&l'ш +96 "core" ' +2 "manipulator"&m& +4 "core" &\  s  E +2 "manipulator"&n% +3 "core" %р  +2 "collection"'o& +4 "core" & \ +2 "collection"'p& +4 "core" & \ +2 .tCC.seek :closed +2 "collection"'q(u2 +5 "core" & \  +9 &0x \ *x +9 &b \ > +10 &Xw \ O +9 &X \ N +10 &Y \ O +9 &Y \ N +9 &`Y  \ N +10 &!] \ O +9 & [ \ N +9 &"Z \ O +10 &$hY \ N +9 &&)V \ O +10 &'[ \ O +9 &)Z \ N +9 &+p[ \ N +10 &-2Z \ N +9 &.[ \ N +9 &0[ \ O +10 &2xW \ N +9 &4:Z \ N +10 &5Y \ O +9 &7Y \ N +9 &9W \ N +10 &;BU \ N +9 &=\\ \ N +9 &>Y \ N +10 &@X \ N +9 &BJW \ N +9 &D T \ N +10 &EZ \ O +9 &GX \ N +10 &IRV \ N +9 &KW \ N +9 &LZ \ N +10 &NY \ O +9 &PYZ \ O +10 &R_ \ O +9 &Se \ P +9 &Un \ Q +10 &WV~ \ R +9 &Y \ 4\ ,\ V +9 &Z\ J\ C\ X +10 &\\\ Q\ J\ X +9 &^L\ Y\ P\ Y +10 &` \ ]\ W\ Y +9 &a\ e\ ]\ Z +9 &c\ m\ e\ Z +10 &eO\ r\ j\ Z +9 &g\ z\ r\ [ +9 &h\ \ y\ [ +10 &j\ \ \ \\ +9 &lS\ \ \ \\ +9 &n\ \ \ \\ +10 &o\ \ \ ] +9 &q\ \ \ ] +10 &sT\ \ \ ^ +9 &tJ\ \ \ 1 +9 &u m\ \ \ F +6 ( + "collection"'p& +4 #tCollection Clamp onSpring/offSpring for 13/25 samples, on/off torque 1.44 +2 "collection"'r& +4 "core" &u b\ \ \ F + &u b\ \ \ \ F +2 .tHand.open + "manipulator"&s1 +53 "core" 1 + "manipulator"&t% +4 "core" % } n +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&u' ] +153 "core" ' +2 .tdelay 1 second +102 #Garaging FlushPuck in Collection Clamp + "manipulator"&v& +3 "core" &  Y D +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&w( +25 "core" ( +2 "manipulator"&x& +4 "core" & ` r + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &y& +3 "core" & S r +2 .tForearm.seek CC + "manipulator"&z'ш +98 "core" ' + .tHand.close +2 "manipulator"&{/ +59 "core" / +2 .tCC.seek :open +2 "collection"'|( +556 "core" ( +2 "manipulator"&}& +4 "core" & | ! r +2 "manipulator"&~% +8 "core" % ќ % +4 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +5 .tForearm.home.seek :retract + "manipulator"&' ] +155 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&(-w +278 "core" ( + "manipulator"&& +4 "core" &-y  ; \\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &-y ^ ' \\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&'π +111 "core" ' +2 .tHand.open + "manipulator"&1 +58 "core" 1 +2 "manipulator"&% +4 "core" % ϊO '  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"& ' ] +161 "core" ' +2 .tdelay 1 second +102 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"' & +3 "core" & \ +2 "manipulator"& & +4 "core" &-y  e \\ + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage + "manipulator"&(-w +3 "core" ( +2 "manipulator"&& +3 "core" &-y R \\ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &-y ? \\ +3 .tForearm.seek :garage + "manipulator"&'π +111 "core" ' +2 .tHand.close + "manipulator"&/ +57 "core" / + "manipulator"&& +4 "core" &-y \\ +2 "manipulator"&% +4 "core" % ϊ\\ : + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract + "manipulator"&' ] +160 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&( +297 "core" ( + "manipulator"&& +4 "core" & i   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC + "manipulator"&'ш +109 "core" ' +2 "manipulator"&& +4 "core" &  +2 "manipulator"&% +3 "core" %ў +2 "collection"' & +4 "core" & <\ +2 "collection"'!& +4 "core" & \ +2 .tCC.seek :closed +2 "collection"'"(u2 +4 "core" & \  +8 &2| \ *z +10 &d \ ? +9 &dv \ O +10 &'V \ N +9 &Y \ N +9 &\\ \ N +10 &lZ \ N +9 &-[ \ O +9 & Y \ N +10 &"Y \ N +9 &$tY \ N +10 &&5Y \ O +9 &'Z \ N +9 &)Y \ N +10 &+|Y \ N +9 &->Y \ N +9 &.Z \ O +10 &0Z \ N +9 &2W \ N +10 &4GX \ N +9 &6\ X \ N +9 &7X \ N +10 &9Y \ N +9 &;PW \ N +9 &=Z \ N +10 &>W \ M +9 &@X \ N +10 &BWY \ N +9 &DV \ N +9 &EY \ N +10 &GY \ N +9 &I_Z \ N +9 &K Z \ N +10 &LY \ N +9 &NY \ N +10 &PgW \ N +9 &R'\\ \ O +9 &S` \ O +10 &Uf \ P +9 &Wim \ P +9 &Y$ \ R +10 &Z\ ,\ #\ U +9 &\\\ G\ ?\ W +10 &^[\ N\ G\ X +9 &`\ U\ P\ X +9 &a\ \\\ T\ Y +10 &c\ d\ Z\ Y +9 &e^\ h\ `\ Y +9 &g\ p\ j\ Z +10 &h\ x\ n\ Z +9 &j\ }\ w\ [ +10 &l`\ \ ~\ [ +9 &n!\ \ \ \\ +9 &o\ \ \ \\ +10 &q\ \ \ ] +9 &sb\ \ \ ] +9 &tI\ \ \ )| +10 &u u\ \ \ H +5 ( +2 "collection"'!& +4 #tCollection Clamp onSpring/offSpring for 13/25 samples, on/off torque 1.35 + "collection"'#& +5 "core" &u^\ \ \ H + &u^\ \ \ H + .tHand.open + "manipulator"&$1 +53 "core" 1 +2 "manipulator"&%% +4 "core" % ў +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&&' ] +149 "core" ' + .tdelay 1 second +103 #Garaging FlushPuck in Collection Clamp +2 "manipulator"&'& +3 "core" &   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&(( +3 "core" ( +2 "manipulator"&)& +3 "core" & n  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &*& +2 "core" &   +2 .tForearm.seek CC +2 "manipulator"&+'ш +98 "core" ' + .tHand.close + "manipulator"&,/ +62 "core" / +2 .tCC.seek :open + "collection"'-( +557 "core" ( + "manipulator"&.& +4 "core" &   +2 "manipulator"&/% +3 "core" % љ +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&0' ] +153 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&1(-w +281 "core" ( +2 "manipulator"&2& +4 "core" &-{ A N + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &4& +2 "core" &-{  N +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&\ 'π +106 "core" ' +2 .tHand.open + "manipulator"&51 +61 "core" 1 +2 "manipulator"&6% +4 "core" % υ_ = +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&7' ] +155 "core" ' +2 .tdelay 1 second +102 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'9& +3 "core" &  \ +2 "manipulator"&:& +4 "core" &-{  N +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&<(-w +3 "core" ( +2 "manipulator"&=& +4 "core" &-{ N + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &>& +3 "core" &-{ N +2 .tForearm.seek :garage + "manipulator"&'π +107 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +3 "manipulator"&;& +4 "core" &-{ N + "manipulator"&A% +4 "core" % ύg +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&B' ] +169 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&8( +277 "core" ( + "manipulator"&D& +4 "core" & o $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &E& +3 "core" &  $ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&F'ш +92 "core" ' + "manipulator"&?& +4 "core" &  z # +2 "manipulator"&3% +4 "core" %ђ C + "collection"'G& +4 "core" & 4\ +2 "collection"'J& +5 "core" & 6\ +2 .tCC.seek :closed + "collection"'K(u2 +4 "core" & \  +9 &1} \ *x +9 &a \ > +10 &Yv \ N +9 &V \ N +9 &Y \ O +10 &[ \ O +9 &`Y \ N +9 &"\\ \ N +10 & Y \ O +9 &"W \ N +9 &$hW \ N +10 &&+Y \ N +9 &'Z \ N +10 &)Y \ N +9 &+pZ \ N +9 &-2X \ N +10 &.Z \ N +9 &0U \ N +9 &2xW \ N +10 &4:X \ N +9 &5W \ N +10 &7X \ N +9 &9V \ N +9 &;BW \ N +10 &=Z \ N +9 &>S \ N +9 &@W \ N +10 &BKX \ N +9 &DU \ N +10 &EY \ N +9 &GW \ N +9 &ITY \ N +10 &KY \ N +9 &LW \ N +9 &NW \ N +10 &P[V \ N +9 &RW \ N +10 &SW \ N +9 &UY \ N +9 &Wa\\ \ O +10 &Y"` \ O +9 &Zm \ Q +10 &\\y \ R +9 &^W\ #\ \ U +9 &`\ F\ ?\ V +10 &a\ N\ G\ W +9 &c\ U\ L\ W +9 &eQ\ \\\ U\ Z +10 &g\ b\ Z\ Y +9 &h\ h\ a\ Y +10 &j\ m\ i\ Z +9 &lW\ u\ o\ Z +9 &n\ {\ t\ [ +10 &o\ \ z\ [ +9 &q\ \ \ [ +9 &sY\ \ \ \\ +10 &tI\ \ \ - +9 &u\ q\ \ \ L +5 ( +2 "collection"'J& +4 #tCollection Clamp onSpring/offSpring for 13/25 samples, on/off torque 1.17 +3 !o:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt["7/home/esp/esp2/utils/puckmoves.rb:273:in `giveup!'"2/home/esp/esp2/utils/puckmoves.rb:807:in `to'"6/home/esp/esp2/utils/puckmoves.rb:858:in `loadAt'"9/home/esp/esp2/utils/puckmoves.rb:983:in `loadFlush'"(ESP):5:in `irb_binding'"(ESP):5:in `times'"(ESP):5:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 + !o:Slide::Error\ :@axisName"Collection Clamp: mesg"(No Puck Clamped in Collection Clamp:@checkpoint: omitted: @reply0:bt["E/home/esp/esp2/utils/misc.rb:475:in `closeAndVerifyPuckPresence'"0/home/esp/esp2/utils/misc.rb:485:in `close'",/home/esp/esp2/lib/msg.rb:68:in `retry'"0/home/esp/esp2/utils/misc.rb:484:in `close'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"0/home/esp/esp2/utils/misc.rb:483:in `close'"0/home/esp/esp2/utils/misc.rb:501:in `close'"2/home/esp/esp2/utils/puckmoves.rb:798:in `to'"6/home/esp/esp2/utils/puckmoves.rb:858:in `loadAt'"9/home/esp/esp2/utils/puckmoves.rb:983:in `loadFlush'"(ESP):5:in `irb_binding'"(ESP):5:in `times'"(ESP):5:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +5 "core" &u\ a\ \ \ L +6932 #t-> CS.rawPosition + "collection"'L% +4 "core" %Z\ \ \ +725 #t-> CC.rawPosition +2 "collection"'H& +3 "core" &u\ `\ \ \ L +11560 #t-> CC.unloadFlush +2 "collection"'C& +3 "core" &u\ _\ \ J\ L +2 #tGaraging FlushPuck in Collection Clamp +2 "collection"'N& +4 "core" &u\ _\ \ "\ L +2 "manipulator"&P& +3 "core" &  # +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&Q( +3 "core" ( +2 "manipulator"&S& +4 "core" &  r # + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &@& +3 "core" &  ' # +2 .tForearm.seek CC +2 "manipulator"&M'ш +3 "core" ' +2 .tCC.seek :open +2 "collection"'I( +559 "core" ( +2 "manipulator"&U& +4 "core" &  # + "manipulator"&V% +4 "core" %э +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&R' ] +154 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&O(-w +283 "core" ( + "manipulator"&Y& +4 "core" &-x ^ h +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Z& +3 "core" &-x 9 h +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&\\'π +106 "core" ' + .tHand.open +2 "manipulator"&]1 +58 "core" 1 + "manipulator"&W% +4 "core" % χa / 6 +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&[' ] +156 "core" ' +817 #t-> Flush.CC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'_& +3 "core" & ?\ +2 "manipulator"&`& +4 "core" &-x h +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&b(-w +4 "core" ( + "manipulator"&c& +4 "core" &-x X h +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &e& +2 "core" &-x ` q h +2 .tForearm.seek :garage +2 "manipulator"&f'π +110 "core" ' +2 .tHand.close + "manipulator"&g/ +58 "core" / +2 "manipulator"&X& +4 "core" &-x h + "manipulator"&^% +4 "core" % ϋ]  + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&d' ] +175 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&j( +296 "core" ( +2 "manipulator"&k& +4 "core" & #  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &a& +3 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&m'ш +110 "core" ' +2 "manipulator"&n& +4 "core" &  + "manipulator"&o% +4 "core" %ѐ $ +2 "collection"'h& +3 "core" & K\ +2 "collection"'T& +5 "core" & L\ +2 .tCC.seek :closed + "collection"'r(u2 +5 "core" & 5\  +8 &1z 5\ *x +10 &b 4\ > +9 &\\u 1\ N +9 &X 4\ M +10 &V 5\ N +9 &X 5\ N +9 &eX 6\ M +10 &%] .\ N +9 & W 5\ M +10 &"Z 4\ N +9 &$kY 5\ N +9 &&.V 6\ N +10 &'\\ 5\ N +9 &)Z 6\ M +9 &+tW .\ N +10 &-6U 4\ N +9 &.\\ 6\ M +10 &0Y 5\ M +9 &2|U 5\ N +9 &4>Y 5\ N +10 &6U 3\ M +9 &7W 5\ M +9 &9\\ 5\ N +10 &;GY 7\ M +9 &= Y 4\ M +10 &>U 2\ N +9 &@Y 4\ N +9 &BOV 5\ M +10 &DV 6\ M +9 &EY 5\ N +9 &GT 5\ M +10 &IVV 5\ N +9 &KW /\ N +10 &LV 5\ M +9 &NX 4\ M +9 &P^U 1\ N +10 &R![ 5\ M +9 &SU ,\ N +9 &UW 4\ N +10 &WfX 2\ N +9 &Y'^ 5\ N +10 &Zg /\ O +9 &\\p 0\ P +9 &^a\  -\ R +10 &`\ 8\ .2\ V +9 &a\ K\ B1\ W +9 &c\ S\ L.\ W +10 &eU\ Y\ Q&\ Y +9 &g\ ^\ X2\ X +10 &h\ d\ _4\ X +9 &j\ m\ f3\ Y +9 &l[\ s\ j.\ Z +10 &n\ y\ q6\ Z +9 &o\ \ {,\ [\ +9 &q\ \ 4\ [\ +10 &s[\ \ 3\ \\ +9 &tJ\ \ 2\ *~ +10 &u \ {\ \ )\ O +5 ( + "collection"'T& +4 #tCollection Clamp onSpring/offSpring for 13/25 samples, on/off torque 1.13 +3 !o:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt[ "7/home/esp/esp2/utils/puckmoves.rb:273:in `giveup!'"2/home/esp/esp2/utils/puckmoves.rb:807:in `to'">/home/esp/esp2/utils/puckmoves.rb:816:in `method_missing'"(ESP):9:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 + !o:Slide::Error\ :@axisName"Collection Clamp: mesg"(No Puck Clamped in Collection Clamp:@checkpoint: omitted: @reply0:bt["E/home/esp/esp2/utils/misc.rb:475:in `closeAndVerifyPuckPresence'"0/home/esp/esp2/utils/misc.rb:485:in `close'",/home/esp/esp2/lib/msg.rb:68:in `retry'"0/home/esp/esp2/utils/misc.rb:484:in `close'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"0/home/esp/esp2/utils/misc.rb:483:in `close'"0/home/esp/esp2/utils/misc.rb:501:in `close'"2/home/esp/esp2/utils/puckmoves.rb:798:in `to'">/home/esp/esp2/utils/puckmoves.rb:816:in `method_missing'"(ESP):9:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +5 "core" &u m\ \ 1\ O +720 #t-> CC.unloadFlush +2 "collection"'s& +3 "core" &u m\ \ B\ O +3 #tGaraging FlushPuck in Collection Clamp + "collection"'t& +4 "core" &u m\ \ J\ O +2 "manipulator"&p& +3 "core" & u  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&v( +3 "core" ( +2 "manipulator"&x& +4 "core" & [  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &l& +3 "core" &   +2 .tForearm.seek CC + "manipulator"&y'ш +5 "core" ' +2 .tCC.seek :open + "collection"'{( +558 "core" ( + "manipulator"&i& +4 "core" &  +2 "manipulator"&u% +3 "core" %ћ O  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&q' ] +162 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&}(-w +277 "core" ( + "manipulator"&~& +4 "core" &-y g +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &z& +3 "core" &-y g +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&'π +103 "core" ' +2 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&w% +4 "core" % φ` : +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +158 "core" ' +3061 #t-> exit +67 #mEXIT @1668707133.08PST @1668707140.20PST = =tMAIN =mMAIN_scheduler @PST1668707142.00 #"core_reset"Sent BREAK +2 #t@6861 sendCRC with ifg=0x20, ie=0x7F #@8696 sendCRC with ifg=0x08, ie=0x5F + #@41360 idle with ifg=0x84, ie=0x75 + #@42031 select with ifg=0x10, ie=0xF5 + #@42666 receive with ifg=0x10, ie=0xFD #@43300 receive with ifg=0x10, ie=0xFD + #@43935 receive with ifg=0x10, ie=0xFD #@44262 receive with ifg=0x80, ie=0xFD + #@62384 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +9 #ESP2 v3.42 I2C Gateway v3.20 for core bus +236 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +388 "Can"\ T,>2f + \ T,>2f0 #tPolling Can every 10:00 +6 #Cleanly exited at 09:45:32PST17-Nov-22 +449 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %Z J\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +3 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %ټ)\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %ޕ0/ O\ 2 + .tSS.configure :default +3 "sampler")#.0X CC.home.to :home + .CC.reconfigure :default +3 "collection"'$x2 ^22b +2 .tCC.home.seek :home +2 "collection"'3( +76 "core" ( + "collection"'4& +4 "core" & F\  +665 #t-> Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'5& +4 "core" & Q\  +2 .tHand.open + "manipulator"&61 +16 "core" 1 + "manipulator"&7& +4 "core" &-y : g +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage + "manipulator"&8(-w +4 "core" ( +2 "manipulator"&9& +4 "core" &-y  " g + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &:& +3 "core" &-y   g +2 .tForearm.seek :garage +2 "manipulator"&;'π +111 "core" ' + .tHand.close + "manipulator"&% +4 "core" % ϒ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&?' ] +159 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&@( +277 "core" ( + "manipulator"&A& +4 "core" & q ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &B& +3 "core" & ! & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&C'ш +100 "core" ' +2 "manipulator"&D& +4 "core" & & + "manipulator"&E% +4 "core" %я +2 "collection"'F& +4 "core" & _\  +2 .tCC.seek :open +2 "collection"'G( +138 "core" ( +2 "collection"'H& +5 "core" &t \\\  +3 .tCC.seek :closed + "collection"'I(v^ +5 "core" &t W\  +7 &F X\ %g +9 &aX ]\ 8 +9 &} X\ M +10 &vV \\\ N +9 &7Y U\ N +9 &Y V\ N +10 &[ Q\ N +9 &~W W\ N +9 & @Z W\ N +10 &"Y W\ N +9 &#X X\ N +10 &%Y W\ N +9 &'IW V\ N +9 &) X U\ N +10 &*Y V\ N +9 &,Y W\ N +9 &.QY U\ N +10 &0W T\ M +9 &1Y V\ N +10 &3X V\ N +9 &5XU X\ N +9 &7X U\ N +10 &8W V\ N +9 &:Y [\ N +9 &"\\ U\ N +9 &?X V\ N +10 &AY U\ N +9 &CjX Z\ M +9 &E*W Z\ N +10 &FZ U\ N +9 &H\\ U\ N +9 &Jn` U\ O +10 &L,l Z\ P +9 &My J\ R +10 &O\ \ O\ U +9 &Q]\ C\ <G\ W +9 &S\ I\ CA\ W +10 &T\ R\ LH\ X +9 &V\ V\ RB\ Y +9 &Xb\ ^\ YF\ X +10 &Z"\ d\ ]I\ Y +9 &[\ k\ eK\ Y +10 &]\ s\ kN\ Z +9 &_a\ y\ tI\ [ +9 &a#\ \ zI\ [ +10 &b\ \ K\ \\ +9 &d\ \ K\ \\ +9 &fe\ \ I\ ] +10 &h%\ \ B\ ] +9 &i\ \ H\ ] +10 &k\ \ K\ _ +9 &mi\ \ I\ ^ +9 &o/\ \ I\ ] +10 &p\ \ L\ [\ +9 &r\ \ I\ \\ +9 &tq\ \ R\ ^ +10 &uO\ \ I\ 4 +9 &v4b\ \ B\ C +6 ( + "collection"'H& +4 #tCollection Clamp onSpring/offSpring for 14/25 samples, on/off torque 1.89 +2 "collection"'J& +4 "core" &v4T\ \ H\ C + &v4T\ \ I\ C +2 .tHand.open + "manipulator"&K1 +56 "core" 1 + "manipulator"&L% +4 "core" % т y +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract + "manipulator"&M' ] +165 "core" ' +603 #t-> CC.unloadFlush +2 #Garaging FlushPuck in Collection Clamp +2 "manipulator"&N& +3 "core" &  $ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&O( +44 "core" ( +2 "manipulator"&P& +4 "core" & = R + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Q& +3 "core" & R +2 .tForearm.seek CC + "manipulator"&R'ш +87 "core" ' + .tHand.close +2 "manipulator"&S/ +64 "core" / +2 .tCC.seek :open + "collection"'T( +563 "core" ( +2 "manipulator"&U& +4 "core" &  R + "manipulator"&V% +4 "core" % ї  1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&W' ] +153 "core" ' +8 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&X(-w +278 "core" ( + "manipulator"&Y& +4 "core" &-| ^ S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Z& +3 "core" &-| { S +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&['π +110 "core" ' + .tHand.open + "manipulator"&\\1 +60 "core" 1 +2 "manipulator"&]% +4 "core" % ψI  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&^' ] +172 "core" ' +1740 #t-> 10.times{CC.loadFlush; delay 1; CC.unloadFlush; delay 1} +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'_& +3 "core" & S\ +2 "manipulator"&`& +4 "core" &-| x S +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&a(-w +4 "core" ( +2 "manipulator"&b& +3 "core" &-| S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &c& +2 "core" &-| 6 S +3 .tForearm.seek :garage + "manipulator"&d'π +108 "core" ' + .tHand.close +2 "manipulator"&e/ +58 "core" / + "manipulator"&f& +4 "core" &-| S +2 "manipulator"&g% +4 "core" % ϊ\\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&h' ] +174 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&i( +299 "core" ( + "manipulator"&j& +4 "core" & C  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &k& +2 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&l'ш +99 "core" ' + "manipulator"&m& +4 "core" &  +2 "manipulator"&n% +4 "core" %я +2 "collection"'o& +4 "core" & U\ +2 "collection"'p& +5 "core" & V\ +2 .tCC.seek :closed + "collection"'q(v^ +5 "core" & Y\ +7 &4 W\ $c +9 &vT~ Y\ 7 +9 &} U\ L +10 &Z T\ N +9 &B\\ V\ N +9 &Y Y\ N +10 &Z V\ N +9 &Y W\ N +10 & JY U\ N +9 &" Y Z\ N +9 &#X W\ N +10 &%Y J\ N +9 &'RX X\ N +9 &)Y U\ N +10 &*Z Y\ N +9 &,Y U\ N +10 &.ZX U\ N +9 &0W Q\ N +9 &1Y V\ N +10 &3Y Z\ M +9 &5cW U\ N +9 &7%W U\ N +10 &8[ V\ N +9 &:Y V\ N +10 &-Y V\ N +9 &?U T\ N +10 &AX Y\ N +9 &CtY V\ M +9 &E4Y T\ N +10 &FY U\ N +9 &HW V\ N +10 &Jz\\ W\ N +9 &L=Y X\ N +9 &MX V\ N +10 &O\\ S\ N +9 &QY S\ N +10 &SC] K\ N +9 &Ub J\ O +9 &Vh J\ P +10 &Xy J\ R +9 &Z:\ \ G\ T +9 &[\ C\ @L\ V +10 &]\ J\ DM\ X +9 &_u\ R\ JL\ X +9 &a6\ X\ PH\ X +10 &b\ ^\ YM\ Y +9 &d\ d\ ^M\ Y +10 &fw\ j\ fK\ Z +9 &h7\ r\ lL\ [ +9 &i\ z\ qB\ Z +10 &k\ ~\ |E\ \\ +9 &mz\ \ D\ \\ +9 &o;\ \ M\ \\ +10 &p\ \ H\ ] +9 &r\ \ G\ \\ +10 &ty\ \ H\ _ +9 &uJ\ \ I\ 2 +9 &v7r\ \ B\ I +6 ( + "collection"'p& +5 #tCollection Clamp onSpring/offSpring for 13/25 samples, on/off torque 1.33 + "collection"'r& +4 "core" &v7i\ \ J\ I +2 &v7i\ \ H\ I + .tHand.open + "manipulator"&s1 +62 "core" 1 +2 "manipulator"&t% +4 "core" % с +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&u' ] +167 "core" ' +2 .tdelay 1 second +102 #Garaging FlushPuck in Collection Clamp + "manipulator"&v& +3 "core" &  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&w( +4 "core" ( + "manipulator"&x& +4 "core" &  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &y& +3 "core" & P  +2 .tForearm.seek CC +2 "manipulator"&z'ш +89 "core" ' + .tHand.close +2 "manipulator"&{/ +52 "core" / + .tCC.seek :open +2 "collection"'|( +563 "core" ( + "manipulator"&}& +5 "core" & ]  + "manipulator"&~% +4 "core" % ѓ  < +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +150 "core" ' +2 .tElbow.reconfigure :tight +7 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&(-w +279 "core" ( + "manipulator"&& +4 "core" &-z V ^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &-z  ^ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&'π +110 "core" ' +2 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&% +4 "core" % πI 0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"& ' ] +160 "core" ' +2 .tdelay 1 second +102 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"' & +3 "core" & E\ +2 "manipulator"& & +4 "core" &-z t 8 ^ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(-w +3 "core" ( +2 "manipulator"&& +3 "core" &-z ^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &-z  Q ^ +2 .tForearm.seek :garage + "manipulator"&'π +112 "core" ' + .tHand.close + "manipulator"&/ +57 "core" / +2 "manipulator"&& +4 "core" &-z  ^ +2 "manipulator"&% +3 "core" % Ϗ` +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +160 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&( +279 "core" ( +2 "manipulator"&& +4 "core" &\ m "x + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &\  "x +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'ш +98 "core" ' + "manipulator"&& +4 "core" &  n !w +2 "manipulator"&% +4 "core" %ф +2 "collection"' & +4 "core" & W\ +2 "collection"'!& +5 "core" & U\ +2 .tCC.seek :closed + "collection"'"(v^ +5 "core" & V\ +7 &2 V\ $c +9 &zT| T\ 7 +9 &} V\ L +10 &Y V\ N +9 &FV Y\ N +10 &Y V\ N +9 &Y U\ N +9 &V W\ N +10 & NX V\ N +9 &"Y U\ N +9 &#W V\ N +10 &%X U\ M +9 &'VV V\ N +10 &)X V\ N +9 &*X T\ N +9 &,Y X\ N +10 &._X R\ N +9 &0 Y U\ N +9 &1W W\ N +10 &3V W\ N +9 &5gU U\ N +10 &7)W V\ N +9 &8Z U\ N +9 &:X V\ N +10 &1X W\ N +9 &?T U\ N +10 &AW U\ M +9 &CwX U\ N +10 &E9Y V\ N +9 &FZ R\ N +9 &HT U\ M +10 &JW V\ M +9 &LAY V\ N +9 &NU W\ N +10 &OW W\ N +9 &QY W\ N +10 &SH[ R\ N +9 &U\ [ U\ N +9 &V` E\ O +10 &Xe I\ P +9 &ZGq I\ Q +9 &\\\  D\ T +10 &]\ <\ 6I\ W +9 &_z\ H\ BG\ W +10 &a;\ N\ GH\ X +9 &b\ U\ OJ\ Y +9 &d\ Z\ UF\ Y +10 &f}\ `\ \\J\ Y +9 &h=\ i\ `J\ Z +9 &i\ o\ hL\ Z +10 &k\ x\ nJ\ [ +9 &m\ ~\ yA\ [\ +10 &o>\ \ E\ \\ +9 &q\ \ M\ \\ +9 &r\ \ J\ \\ +10 &t\ \ G\ ^ +9 &uJ\ \ H\ 0 +9 &v:c\ \ I\ C +6 ( + "collection"'!& +5 #tCollection Clamp onSpring/offSpring for 13/25 samples, on/off torque 1.24 + "collection"'#& +5 "core" &v:]\ \ J\ C + &v:]\ \ H\ C + .tHand.open + "manipulator"&$1 +59 "core" 1 +2 "manipulator"&%% +4 "core" % ф q +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&&' ] +148 "core" ' +2 .tdelay 1 second +102 #Garaging FlushPuck in Collection Clamp + "manipulator"&'& +3 "core" &\   !v +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&(( +41 "core" ( + "manipulator"&)& +4 "core" &  B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &*& +3 "core" &  B +2 .tForearm.seek CC +2 "manipulator"&+'ш +98 "core" ' +2 .tHand.close + "manipulator"&,/ +62 "core" / +2 .tCC.seek :open +2 "collection"'-( +562 "core" ( +2 "manipulator"&.& +4 "core" & ) B + "manipulator"&/% +4 "core" % љ +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&0' ] +148 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&1(-w +273 "core" ( + "manipulator"&2& +5 "core" &- > o + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &4& +2 "core" &-  o +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&\ 'π +110 "core" ' + .tHand.open +2 "manipulator"&51 +62 "core" 1 +2 "manipulator"&6% +4 "core" % ρD , +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&7' ] +168 "core" ' + .tdelay 1 second +103 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'9& +3 "core" & U\ +2 "manipulator"&:& +4 "core" &-~ A p +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&<(-w +3 "core" ( +2 "manipulator"&=& +3 "core" &-~ 5 p +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &>& +2 "core" &-~  p +2 .tForearm.seek :garage +2 "manipulator"&'π +110 "core" ' +2 .tHand.close + "manipulator"&/ +62 "core" / +2 "manipulator"&;& +4 "core" &-~ R p +2 "manipulator"&A% +3 "core" % ϒk  +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&B' ] +160 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&8( +298 "core" ( +3 "manipulator"&D& +4 "core" & d  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &E& +3 "core" & k  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&F'ш +98 "core" ' +2 "manipulator"&?& +4 "core" & l #  +2 "manipulator"&3% +3 "core" %я w +2 "collection"'G& +4 "core" & V\ +2 "collection"'J& +5 "core" & F\ +2 .tCC.seek :closed + "collection"'K(v^ +5 "core" & V\  +9 &0{ U\ *y +9 &b U\ > +10 &Ys U\ O +9 &X V\ N +9 &W T\ N +10 &X X\ N +9 &cW V\ N +10 &$V V\ N +9 & X Y\ N +9 &"V U\ N +10 &$kZ Y\ N +9 &&.W Z\ M +9 &'W U\ N +10 &)X T\ N +9 &+sW Z\ N +10 &-4\\ V\ N +9 &.V V\ N +9 &0T V\ N +10 &2{W T\ N +9 &4=W W\ N +9 &5Z R\ N +10 &7X V\ N +9 &9Y R\ N +10 &;EW W\ N +9 &=Z L\ N +9 &>W T\ M +10 &@T U\ N +9 &BMY V\ N +10 &DT U\ N +9 &EU L\ N +9 &GV T\ N +10 &IVU M\ M +9 &KY M\ N +10 &LZ F\ N +9 &NV E\ N +9 &P]U E\ N +9 &R W J\ M +10 &SX C\ N +9 &U\\ H\ N +10 &Wb] B\ O +9 &Y$c I\ O +9 &Zn C\ P +10 &\\| G\ R +9 &^V\ (\ "E\ V +9 &`\ B\ >C\ W +10 &a\ J\ DI\ X +9 &c\ P\ KI\ Y +10 &eU\ V\ RG\ Y +9 &g\ ]\ WA\ Y +9 &h\ e\ ^F\ Z +10 &j\ j\ cH\ Z +9 &lV\ p\ lK\ [\ +9 &n\ v\ sL\ [\ +10 &o\ }\ zG\ \\ +9 &q\ \ ~J\ \\ +10 &sZ\ \ J\ \\ +9 &u\ \ K\ J +9 &v +\ \ L\ +~ +10 &v>a\ \ K\ K +2 ( + "collection"'J& +3 #tCollection Clamp onSpring/offSpring for 13/25 samples, on/off torque 1.20 +3 !o:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt["7/home/esp/esp2/utils/puckmoves.rb:273:in `giveup!'"2/home/esp/esp2/utils/puckmoves.rb:807:in `to'"6/home/esp/esp2/utils/puckmoves.rb:858:in `loadAt'"9/home/esp/esp2/utils/puckmoves.rb:983:in `loadFlush'"(ESP):5:in `irb_binding'"(ESP):5:in `times'"(ESP):5:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 + !o:Slide::Error\ :@axisName"Collection Clamp: mesg"(No Puck Clamped in Collection Clamp:@checkpoint: omitted: @reply0:bt["E/home/esp/esp2/utils/misc.rb:475:in `closeAndVerifyPuckPresence'"0/home/esp/esp2/utils/misc.rb:485:in `close'",/home/esp/esp2/lib/msg.rb:68:in `retry'"0/home/esp/esp2/utils/misc.rb:484:in `close'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"0/home/esp/esp2/utils/misc.rb:483:in `close'"0/home/esp/esp2/utils/misc.rb:501:in `close'"2/home/esp/esp2/utils/puckmoves.rb:798:in `to'"6/home/esp/esp2/utils/puckmoves.rb:858:in `loadAt'"9/home/esp/esp2/utils/puckmoves.rb:983:in `loadFlush'"(ESP):5:in `irb_binding'"(ESP):5:in `times'"(ESP):5:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +9661 #-> CC.unloadFlush +2 "collection"'L& +3 "core" &v>_\ \ ;\ K +3 #tGaraging FlushPuck in Collection Clamp + "collection"'H& +4 "core" &v>_\ \ O\ K +2 "manipulator"&C& +4 "core" &  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&N( +3 "core" ( +2 "manipulator"&P& +4 "core" & g  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &  +2 .tForearm.seek CC +2 "manipulator"&S'ш +3 "core" ' +2 .tCC.seek :open +2 "collection"'@( +565 "core" ( +2 "manipulator"&M& +4 "core" &  +2 "manipulator"&I% +3 "core" %я  +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract + "manipulator"&U' ] +165 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&V(-w +278 "core" ( +2 "manipulator"&R& +4 "core" &- R i + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Y& +3 "core" &- i +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&Z'π +104 "core" ' + .tHand.open + "manipulator"&O1 +54 "core" 1 + "manipulator"&\\% +5 "core" % ϊY + +3 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&]' ] +166 "core" ' +1756 #t-> exit +7 #mEXIT @1668707440.27PST @1668707447.70PST = =tMAIN =mMAIN_scheduler @PST1668707449.53 #"core_reset"Sent BREAK +2 #t@38558 sendCRC with ifg=0x20, ie=0x7F + #@40393 sendCRC with ifg=0x08, ie=0x5F #@3285 idle with ifg=0x84, ie=0x75 + #@3956 select with ifg=0x10, ie=0xF5 + #@4590 receive with ifg=0x10, ie=0xFD #@5224 receive with ifg=0x10, ie=0xFD + #@5859 receive with ifg=0x10, ie=0xFD #@6186 receive with ifg=0x80, ie=0xFD + #@37463 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +9 #ESP2 v3.42 I2C Gateway v3.20 for core bus +238 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +389 "Can"\ O->H + \ O->H; + #tPolling Can every 10:00 +5 #Cleanly exited at 09:50:40PST17-Nov-22 +399 #-> ESP.ready! +154 "sampler") +3 ) +2 "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %Z Q\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +3 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %ټ\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %ޕ2. Y\ 2 +2 .tSS.configure :default +2 "sampler")#.0X CC.home.to :home + .CC.reconfigure :default +3 "collection"'$x2 ^22b +2 .tCC.home.seek :home +2 "collection"'3( +131 "core" ( + "collection"'4& +4 "core" & a\ +2809 #t-> CC.loadFlush + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'5& +3 "core" & R\ +2 .tHand.open +2 "manipulator"&61 +16 "core" 1 + "manipulator"&7& +4 "core" &- j +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&8(-w +3 "core" ( + "manipulator"&9& +4 "core" &- j +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &:& +2 "core" &- j +2 .tForearm.seek :garage +2 "manipulator"&;'π +107 "core" ' + .tHand.close +2 "manipulator"&% +3 "core" % ϓb +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&?' ] +161 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&@( +294 "core" ( + "manipulator"&A& +4 "core" & d n +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &B& +3 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&C'ш +101 "core" ' +2 "manipulator"&D& +4 "core" & 3 + "manipulator"&E% +4 "core" %ь  +2 "collection"'F& +4 "core" & c\ +2 .tCC.seek :open +6 "collection"'G( +137 "core" ( +2 "collection"'H& +5 "core" &v a\  +2 .tCC.seek :closed +2 "collection"'I(w +4 "core" &v c\  +8 &F b\ %h +9 &bX `\ 9 +9 &x `\ M +10 &|X a\ N +9 &>Y c\ N +10 &X a\ N +9 &[ c\ N +9 &V a\ N +10 & GT a\ N +9 &" X `\ N +9 &#U `\ N +10 &%Z Z\ N +9 &'NY `\ N +10 &)Y a\ N +9 &*Y a\ N +9 &,Y a\ N +10 &.WW b\ N +9 &0Z a\ N +9 &1T _\ N +10 &3W a\ N +9 &5_U `\ N +10 &7 Y `\ N +9 &8X `\ N +9 &:Y a\ N +10 &)V Y\ N +9 &?U Y\ N +10 &AW Y\ N +9 &Cm] \\\ N +10 &E._ N\ O +9 &Ff Y\ P +9 &Ht Q\ Q +10 &Je\ \ \\\ T +9 &L \ >\ 9W\ V +9 &M\ F\ BW\ X +10 &O\ M\ HO\ X +9 &Q`\ U\ ON\ X +10 &S\ \\\ UY\ Y +9 &T\ a\ ]R\ Y +9 &V\ h\ cW\ Z +10 &Xb\ p\ kT\ Z +9 &Z!\ v\ rS\ [ +9 &[\ }\ xM\ \\ +10 &]\ \ ~V\ [ +9 &_c\ \ R\ ] +10 &a'\ \ Q\ \\ +9 &b\ \ V\ ^ +9 &d\ \ Z\ ^ +10 &fg\ \ Y\ ^ +9 &h$\ \ R\ ` +9 &i\ \ T\ _ +10 &k\ \ Y\ ` +9 &mr\ \ S\ ] +10 &o3\ \ S\ ] +9 &p\ \ U\ ` +9 &r\ \ N\ ` +10 &tp\ \ X\ ` +9 &v4\ \ Y\ \\ +9 &wz=\ \ N\ . +10 &wr\ \ Y\ L +5 ( +2 "collection"'H& +4 #tCollection Clamp onSpring/offSpring for 14/25 samples, on/off torque 2.15 + "collection"'J& +4 "core" &w`\ \ Q\ L +2 &w`\ \ Q\ L + .tHand.open + "manipulator"&K1 +62 "core" 1 +2 "manipulator"&L% +4 "core" % ц q +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&M' ] +154 "core" ' + "collection"'N& +4 "core" &w`\ \ J\ L +1164 #t-> CC.unloadFlush + #Garaging FlushPuck in Collection Clamp +2 "manipulator"&O& +3 "core" & 4 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&P( +14 "core" ( +2 "manipulator"&Q& +4 "core" & q  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &R& +2 "core" &  `  +2 .tForearm.seek CC +2 "manipulator"&S'ш +96 "core" ' +2 .tHand.close + "manipulator"&T/ +55 "core" / +2 .tCC.seek :open +2 "collection"'U( +572 "core" ( + "manipulator"&V& +4 "core" &   +2 "manipulator"&W% +3 "core" % ќ  +38 .tForearm.reconfigure :loose +9 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&X' ] +154 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&Y(-w +278 "core" ( +75 "manipulator"&Z& +3 "core" &-} g +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &[& +3 "core" &-}  ^ g +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&\\'π +111 "core" ' + .tHand.open +2 "manipulator"&]1 +51 "core" 1 +2 "manipulator"&^% +4 "core" % ~N  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&_' ] +158 "core" ' +527 #t-> CC.loadFlush +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'`& +3 "core" & U\ +2 "manipulator"&a& +4 "core" &-}  g +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&b(-w +2 "core" ( +2 "manipulator"&c& +4 "core" &-} 9 g + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &d& +3 "core" &-} \ g +2 .tForearm.seek :garage +2 "manipulator"&e'π +109 "core" ' +2 .tHand.close + "manipulator"&f/ +60 "core" / +2 "manipulator"&g& +4 "core" &-} g + "manipulator"&h% +4 "core" % ϋg ' + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&i' ] +162 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&j( +280 "core" ( + "manipulator"&k& +4 "core" & q h +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &l& +3 "core" &  N h +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&m'ш +103 "core" ' + "manipulator"&n& +4 "core" &  y D h +2 "manipulator"&o% +4 "core" %ѐ  +2 "collection"'p& +3 "core" & Q\ +2 "collection"'q& +6 "core" & P\ +2 .tCC.seek :closed + "collection"'r(w +5 "core" & a\ +7 & - `\ #a +9 &xT{ ^\ 7 +10 &} `\ L +9 &Z `\ N +9 &DU b\ N +10 &W X\ N +9 &W T\ N +10 &Z ]\ N +9 & MU `\ N +9 &"W _\ N +10 &#W _\ N +9 &%Y ]\ N +9 &'UX \\\ N +10 &)X \\\ N +9 &*X ]\ N +10 &,Z [\ N +9 &.]W ]\ N +9 &0 W `\ M +10 &1V `\ N +9 &3W ]\ M +9 &5eV _\ N +10 &7'X \\\ N +9 &8Z \\\ N +9 &:W Z\ N +10 &.W a\ N +10 &?V ^\ N +9 &AT \\\ N +9 &CuX ^\ N +10 &E8W Y\ M +9 &FX W\ N +10 &HW \\\ N +9 &J~W S\ M +9 &L>X X\ N +10 &NW [\ N +9 &OY X\ M +9 &QX S\ N +10 &SE[ X\ N +9 &U_ W\ O +10 &Vg [\ P +9 &Xs X\ Q +9 &Z<\ \ Q\ T +10 &[\ ?\ 9Q\ W +9 &]\ E\ AL\ W +9 &_v\ M\ GS\ X +10 &a9\ R\ NO\ X +9 &b\ X\ UO\ Y +10 &d\ ^\ XQ\ Y +9 &f{\ f\ aM\ Y +9 &h:\ m\ fJ\ Z +10 &i\ t\ mK\ Z +9 &k\ z\ sQ\ \\ +9 &m}\ \ |P\ [ +10 &o>\ \ I\ \\ +9 &p\ \ K\ ] +10 &r\ \ N\ \\ +9 &t\ \ Z\ ] +9 &v@\ \ N\ V +10 &wuF\ \ K\ , +9 &w\ \ M\ U +5 ( +2 "collection"'q& +4 #tCollection Clamp onSpring/offSpring for 13/25 samples, on/off torque 1.32 + "collection"'s& +5 "core" &wm\ \ R\ U + &wm\ \ R\ U + .tHand.open + "manipulator"&t1 +56 "core" 1 +2 "manipulator"&u% +4 "core" % ѐ x +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&v' ] +163 "core" ' +2 "collection"'w& +4 "core" &wm\ \ B\ U +1298 #t-> CC.rawPosition +2 "collection"'x& +3 "core" &wm\ \ R\ U +4565 #t-> CC.unloadFlush +2 #Garaging FlushPuck in Collection Clamp +2 "manipulator"&y& +3 "core" & e +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&z( +32 "core" ( + "manipulator"&{& +4 "core" & V b +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &|& +3 "core" & b +2 .tForearm.seek CC +2 "manipulator"&}'ш +90 "core" ' + .tHand.close + "manipulator"&~/ +66 "core" / +2 .tCC.seek :open +2 "collection"'( +572 "core" ( +2 "manipulator"&& +4 "core" &  b + "manipulator"&% +4 "core" % ѐ +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +146 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(-w +275 "core" ( + "manipulator"&& +4 "core" &-|  n +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &-|  n +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"& 'π +110 "core" ' + .tHand.open + "manipulator"& 1 +54 "core" 1 + "manipulator"& % +4 "core" % ψG !  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&' ] +162 "core" ' +225 #t-> exit +7 #mEXIT @1668707646.03PST @1668722030.58PST = =tMAIN =mMAIN_scheduler @PST1668722032.50 #"core_reset"Sent BREAK +3 #t@44864 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.42 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +245 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +415 "Can"X\ i>& + X\ i>&+ + #tPolling Can every 10:00 +10 #Cleanly exited at 09:54:05PST17-Nov-22 +557 #-> CS.status +3 #Powering core bus +575 .Gate.power :raw,:ON +3 "sampler") +39 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +3 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +4 "core" % =\ + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %--\ +2 .tSS.configure :default +2 "sampler")#.0X SC.coast + .SC.coast +2 "storage"(6 +2 (& +3 "core" & F  +2 !to:Slide::Error :@axisName"Storage Carousel: mesg"$Storage Carousel Not yet Homed!: @replyIS:I2C::Servo::Status: enabledF: pastRLSF: pastFLSF:pastThresholdF: lostT: homeF: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressiF : voltagef14.110980854197349: @type2F:bt["5/home/esp/esp2/lib/slide.rb:175:in `rawPosition'"2/home/esp/esp2/lib/slide.rb:219:in `position'"0/home/esp/esp2/lib/axis.rb:177:in `examine'"4/home/esp/esp2/lib/pretty.rb:127:in `asIRBtext'"6/home/esp/esp2/lib/cmdserver.rb:49:in `asCmdText'"=/home/esp/esp2/lib/cmdserver.rb:54:in `broadcastIRBtext'"5/opt/mbari/lib/ruby/1.8/irb.rb:318:in `__send__'"9/opt/mbari/lib/ruby/1.8/irb.rb:318:in `output_value'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:277:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:163:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:162:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:69:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:67:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:67:in `start'"-/home/esp/esp2/lib/esp.rb:200:in `shell'"7/home/esp/esp2/lib/schedule.rb:491:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"'/home/esp/esp2/lib/schedule.rb:482 +1608 #-> SC.home.to :home +3 .SC.reconfigure :loose +2 "storage"($.(\ 1~b +2 .tSC.home.seek :home +2 "storage"(( +907 "core" ( +2 "storage"(& +4 "core" & ~  +301 #t-> SC.coast + .SC.coast +2 "storage"(6 +2 (& +3 "core" & D  +32127 "Can"^\ 'Դ +13712 #t-> exit +6 #mEXIT @1668722780.62PST @1668726962.42PST = =tMAIN =mMAIN_scheduler @PST1668726964.31 #"core_reset"Sent BREAK +2 #t@8721 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.42 I2C Gateway v3.20 +209 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +243 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +407 "Can"N\ P0 + N\ P0+ + #tPolling Can every 10:00 +6 #Cleanly exited at 14:06:20PST17-Nov-22 +3198 #-> ESP.ready! +3 #Powering core bus +568 .Gate.power :raw,:ON +2 "sampler") +25 ) +2 "core"  +2 "collection"' +3 ' +3 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +4 "core" % "\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %&\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %+)\ +2 .tSS.configure :default +2 "sampler")#.0X PC.loadFlush + #Loading FlushPuck into Processing Clamp from FlushPuck::Garage +2 "processing"%<& +3 "core" &k\  +2 .tHand.open +2 "manipulator"&=1 +54 "core" 1 + "manipulator"&>& +4 "core" &( H w +2 "manipulator"&?% +4 "core" % o  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&@(-w +176 "core" ( +2 "manipulator"&A& +4 "core" &-l  S + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &B& +2 "core" &-l S +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :garage +2 "manipulator"&C'π +104 "core" ' + .tHand.close +2 "manipulator"&D/ +62 "core" / +2 "manipulator"&E& +4 "core" &-o ~ ` P +2 "manipulator"&F% +3 "core" % ϐr ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&G' ] +155 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&H( +125 "core" ( + "manipulator"&I& +4 "core" & u & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &J& +3 "core" & & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&K'E +95 "core" ' +2 "manipulator"&L& +4 "core" & F & +2 "manipulator"&M% +4 "core" %E # +2 "processing"%N& +3 "core" &k\  +2 "processing"%O& +5 "core" &k\  +2 .tPC.seek :closed +2 "processing"%P(V +5 "core" &k\  +6 &~M\ %i +9 &XY\ 9 +10 &\ M +9 &{a\ M +10 &=_\ M +9 &_\ M +9 &^\ M +10 &c\ M +9 & D`\ M +9 &"d\ M +10 &#c\ M +9 &%d\ M +9 &'Ke\ M +10 &) d\ M +9 &*_\ M +10 &,`\ M +9 &.Ub\ M +9 &0c\ M +10 &1e\ M +9 &3d\ M +10 &5[c\ M +9 &7e\ N +9 &8e\ M +10 &:b\ M +9 &&f\ M +10 &?b\ M +9 &Ad\ M +10 &Ckg\ M +9 &E+m\ N +9 &Fz\ O +10 &H\ P +9 &Jf\ R +9 &L(\ R +10 &M\ R +9 &O\ S +9 &Qi\ S +10 &S*\ T +9 &T\ M +10 &V A~\ %m +9 &Vt6\ / +5 ( +2 "processing"%O& +4 #tProcessing Clamp onSpring/offSpring for 10/24 samples, on/off torque 1.46 + "processing"%Q& +4 "core" &Vt'\ / +2 &Vt'\ / + .tHand.open + "manipulator"&R1 +54 "core" 1 + "manipulator"&S% +4 "core" % A ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&T' ] +166 "core" ' + "processing"%U& +45 "core" &Vt'\ / +777 #t-> PC.unloadFlush +2 #Garaging FlushPuck in Processing Clamp + "manipulator"&V& +3 "core" & & +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&W( +4 "core" ( + "manipulator"&X& +5 "core" & Y & + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Y& +3 "core" & q & +2 .tForearm.seek PC +2 "manipulator"&Z'E +85 "core" ' +2 .tHand.close + "manipulator"&[/ +71 "core" / +2 .tPC.seek :open + "processing"%\\( +391 "core" ( +2 "manipulator"&]& +4 "core" & < +2 "manipulator"&^% +4 "core" % O ! M + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&_' ] +159 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&`(-w +138 "core" ( + "manipulator"&a& +4 "core" &- M  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &b& +3 "core" &-  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&c'π +108 "core" ' + .tHand.open +2 "manipulator"&d1 +59 "core" 1 +2 "manipulator"&e% +4 "core" % ωR {  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&f' ] +175 "core" ' +1386 #t-> Arb.grab Garage +2 !o:NameError: mesg"uninitialized constant Arb: name:Arb:bt["(ESP):4:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +591 #-> Arm.grab Garage + "manipulator"&g& +4 "core" &-   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&h(-w +24 "core" ( +2 "manipulator"&i& +4 "core" &-x n + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +2 "core" &-x n +2 .tForearm.seek :garage +2 "manipulator"&k'π +107 "core" ' +2 .tHand.close + "manipulator"&l/ +55 "core" / +1493 #t-> Arm.CC +2 "manipulator"&m& +8 "core" &-x D n +2 "manipulator"&n% +4 "core" % ϊj f +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&o' ] +156 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :CC + "manipulator"&p( +300 "core" ( +2 "manipulator"&q& +3 "core" & ?  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &r& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&s'ш +110 "core" ' + "manipulator"&t& +4 "core" &  +2 "manipulator"&u% +4 "core" %ќ  +21637 #t-> CC.close + "manipulator"&v& +4 "core" &  +2 "manipulator"&w% +4 "core" %ќ +2 "collection"'x& +3 "core" &z ~\  +2 "collection"'y& +5 "core" &z |"\  +2 .tCC.seek :closed + "collection"'z(w +5 "core" &z 1\  +8 &7} 3\ +{ +10 &d ~2\ ? +9 &Lv }0\ O +9 &Y ~5\ O +10 &V }3\ N +9 &^ 7\ N +9 &UV }+\ N +10 &Y |2\ O +9 & _ }1\ N +10 &"\\ ~0\ N +9 &$\\Z ~3\ O +9 &&Z 4\ N +10 &'Z |5\ N +9 &)^ |2\ N +9 &+e\\ }2\ N +10 &-&[ ~0\ O +9 &.Z 4\ N +10 &0Z {4\ O +9 &2l\\ }2\ O +9 &4/X ~-\ N +10 &5\\ {0\ N +9 &7Y |*\ N +9 &9u] |(\ N +10 &;6^ }-\ O +9 &<Z {4\ O +10 &>\\ {1\ O +9 &@|Z |4\ O +9 &B>` {.\ O +10 &D\\ {0\ O +9 &E[ %\ O +10 &G\\ /\ O +9 &IEb 2\ O +9 &Kc 2\ P +10 &Lh 0\ P +9 &Nk *\ P +9 &PIl &\ P +10 &R k 0\ P +9 &Sy '\ R +9 &U ,\ T +10 &WA +\ V +9 &X\ \ (\ Y +10 &Z\ -\ *-\ Y +9 &\\~\ 1\ +(\ Y +9 &^D\ 0\ *)\ W +10 &`\ /\ *"\ W +9 &a\ /\ )-\ X +9 &c\ 1\ -*\ W +10 &eN\ 2\ ,(\ W +9 &g\ 0\ +*\ U +10 &h\ -\ % \ V +9 &j\ ,\ ),\ X +9 &lV\ .\ (#\ W +10 &n\ -\ $#\ U +9 &o\ ,\ $$\ V +9 &q\ 1\ +"\ W +10 &sZ\ 3\ +2\ X +9 &u\ :\ 2-\ X +10 &v\ ?\ 9(\ < +9 &w.\ >\ 9&\ Y +9 &w'\ =\ 60\ 2 +3 ( + "collection"'y& +4 #tCollection Clamp onSpring/offSpring for 13/25 samples, on/off torque 1.55 + "collection"'{& +4 "core" &w#\ >\ 8(\ 2 +622 #t-> CC.open + .CC.seek :open +3 "collection"'|( +570 "core" ( +2 "collection"'}& +4 "core" & "\ +731 #t-> Arm.garage +2 "manipulator"&~& +3 "core" &  +2 "manipulator"&% +4 "core" %ѝ ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +143 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&(-w +266 "core" ( +2 "manipulator"&& +4 "core" &-o r + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &-o +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&'π +106 "core" ' +2 "manipulator"&& +4 "core" &-o m  + "manipulator"&% +4 "core" %ωq  o +359 #t-> Hand.open + .Hand.open +2 "manipulator"&1 +63 "core" 1 +7193 "Can"R\ Lodž +595 #t-> Arm.clear +2 "manipulator"& & +3 "core" &-o B +2 "manipulator"&\ % +4 "core" % ωy o +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"& ' ] +156 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"& (Z +112 "core" ( + "manipulator"& & +4 "core" &Z\  !p +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &Z\ ( !p +2 .tForearm.seek :clear +2 "manipulator"&' ] +3 "core" ' +2 "manipulator"&& +3 "core" &Z\  !p +2 "manipulator"&% +4 "core" % `   +551 #t-> CC.loadFlush +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'& +3 "core" & !\ +2 "manipulator"&& +4 "core" &Z\ 6 !p + "manipulator"&% +4 "core" % `   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(-w +122 "core" ( +2 "manipulator"&& +4 "core" &- ` p + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &-  p + .tForearm.seek :garage +2 "manipulator"&'π +110 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 "manipulator"&& +4 "core" &- z p + "manipulator"& % +4 "core" % Ϗj + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +172 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&#( +300 "core" ( + "manipulator"&&& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &(& +3 "core" & s  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&*'ш +109 "core" ' +2 "manipulator"&)& +4 "core" & k  +2 "manipulator"&% +4 "core" %ё % +2 "collection"'& +4 "core" &  \ +2 "collection"'$& +5 "core" & 8\ +2 .tCC.seek :closed + "collection"'-(w +5 "core" & ;\ +7 & - 5\ $c +9 &xU 5\ 7 +10 & 1\ L +9 &` 6\ N +9 &CY 2\ N +10 &\\ .\ O +9 &Z 7\ N +9 &[ ~2\ N +10 & KY ~5\ N +9 &" [ 4\ N +10 &#Y 1\ N +9 &%\\ ~1\ N +9 &'S\\ 4\ N +10 &)Z }/\ N +9 &*[ ~0\ N +9 &,[ 5\ N +10 &.\\Y ~/\ N +9 &0[ }1\ N +10 &1[ 5\ O +9 &3[ 5\ N +9 &5c\\ ;\ N +10 &7%] }1\ N +9 &8\\ ~7\ O +9 &:Z ~0\ N +10 &.Z }2\ N +10 &?Y ~0\ N +9 &A\\ ~9\ N +9 &CsZ ~4\ N +10 &E5] ~9\ N +9 &FZ ~7\ N +9 &HZ }6\ O +10 &J|\\ }4\ N +9 &L>X }4\ N +9 &NZ ~3\ N +10 &OY }2\ N +9 &QY }7\ N +10 &SGZ }0\ N +9 &U X }6\ N +9 &V\\ {3\ N +10 &XY }4\ N +9 &ZMW |5\ N +10 &\\Y |4\ N +9 &]W {4\ N +9 &_Y }2\ N +10 &aWX }0\ N +9 &cX }3\ M +9 &dY {4\ N +10 &fX }4\ N +9 &h]Y }0\ N +9 &jX }3\ N +10 &kW }5\ N +10 &m] 5\ O +9 &occ 4\ O +9 &q"h 5\ P +9 &rv 2\ Q +10 &t 4\ S +9 &vX\ \ 2\ H +9 &w|G\ !\ 4\ c +10 &w U\ (\ "3\ 5 +5 ( +2 "collection"'$& +4 #tCollection Clamp onSpring/offSpring for 13/25 samples, on/off torque 0.98 +3 !o:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt[ "7/home/esp/esp2/utils/puckmoves.rb:273:in `giveup!'"2/home/esp/esp2/utils/puckmoves.rb:807:in `to'"6/home/esp/esp2/utils/puckmoves.rb:858:in `loadAt'"9/home/esp/esp2/utils/puckmoves.rb:983:in `loadFlush'"(ESP):12:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 + !o:Slide::Error\ :@axisName"Collection Clamp: mesg"(No Puck Clamped in Collection Clamp:@checkpoint: omitted: @reply0:bt["E/home/esp/esp2/utils/misc.rb:475:in `closeAndVerifyPuckPresence'"0/home/esp/esp2/utils/misc.rb:485:in `close'",/home/esp/esp2/lib/msg.rb:68:in `retry'"0/home/esp/esp2/utils/misc.rb:484:in `close'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"0/home/esp/esp2/utils/misc.rb:483:in `close'"0/home/esp/esp2/utils/misc.rb:501:in `close'"2/home/esp/esp2/utils/puckmoves.rb:798:in `to'"6/home/esp/esp2/utils/puckmoves.rb:858:in `loadAt'"9/home/esp/esp2/utils/puckmoves.rb:983:in `loadFlush'"(ESP):12:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +5 "core" &w,\ (\ "/\ 5 +4145 #t-> CC.unloadFlush +2 "collection"'.& +3 "core" &w+\ )\ !\ 5 +2 #tGaraging FlushPuck in Collection Clamp +2 "collection"'/& +4 "core" &w,\ )\ %\ 5 + "manipulator"&0& +4 "core" &  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&1( +2 "core" ( +2 "manipulator"&2& +4 "core" & ^  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &3& +3 "core" &  +2 .tForearm.seek CC + "manipulator"&4'ш +3 "core" ' +2 .tCC.seek :open +2 "collection"'5( +572 "core" ( + "manipulator"&6& +4 "core" & y  + "manipulator"&7% +4 "core" %ћ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&8' ] +155 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&9(-w +282 "core" ( +2 "manipulator"&:& +4 "core" &-s _ S + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &;& +2 "core" &-s S +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&<'π +110 "core" ' + .tHand.open +2 "manipulator"&=1 +61 "core" 1 + "manipulator"&>% +4 "core" % ωT Q  +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&?' ] +173 "core" ' +8016 #t-> Arm.grab Garage +2 "manipulator"&A& +3 "core" &-y ] M +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&B(-w +2 "core" ( +2 "manipulator"&%& +4 "core" &-y 0 M + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &D& +2 "core" &-y M +2 .tForearm.seek :garage +2 "manipulator"&E'π +104 "core" ' +2 .tHand.close + "manipulator"&F/ +57 "core" / +578 #t-> Arm.CC +2 "manipulator"&'& +3 "core" &-y M +2 "manipulator"&I% +4 "core" % ϔo  +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract + "manipulator"&J' ] +159 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :CC + "manipulator"&C( +290 "core" ( +2 "manipulator"&L& +4 "core" & s + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &M& +3 "core" & q s +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&N'ш +101 "core" ' +2 "manipulator"&@& +4 "core" &  s +2 "manipulator"&G% +3 "core" %ъ  +1224 #t-> CC.close +2 "manipulator"&,& +3 "core" &  s +2 "manipulator"&Q% +5 "core" %ъ  + "collection"'R& +4 "core" & 2\ +2 "collection"'S& +6 "core" & ~"\ +2 .tCC.seek :closed + "collection"'O(w +4 "core" & 0\  +9 &1~ 1\ *x +9 &b 0\ > +10 &Rx -\ O +9 &Y ~1\ N +9 &\\ }-\ N +10 &\\ /\ N +9 &[[ &\ N +10 &Y /\ N +9 & Z ~'\ N +9 &"Y }*\ N +10 &$b] $\ N +9 &&%Z }*\ N +9 &'[ }/\ O +10 &)Z ~"\ N +9 &+jZ !\ N +10 &--Z ~+\ N +9 &.W ~)\ N +9 &0Z ~.\ N +10 &2sZ ~/\ N +9 &44Y |1\ N +9 &5Z }%\ N +10 &7Y ~ \ N +9 &9z[ }*\ N +10 &;=U }/\ N +9 &=X {0\ N +9 &>Y }*\ N +10 &@Z }%\ N +9 &BD[ |,\ N +9 &DY }#\ N +10 &EY {%\ O +9 &GY }.\ N +9 &IMX }3\ N +10 &KZ z+\ N +9 &LW 3\ N +10 &NW ~/\ N +9 &PUX |3\ N +9 &RW |,\ N +10 &SY {#\ N +9 &UX |$\ N +10 &W\\Y |%\ N +9 &YY }*\ N +9 &ZW |1\ N +10 &\\X }+\ N +9 &^fV }$\ N +9 &`(Z z-\ N +10 &aW |1\ N +9 &cV {0\ N +9 &elW |1\ N +10 &g.Y |*\ N +9 &hY |1\ N +10 &jS y1\ N +9 &lwV |*\ M +9 &n7Y ,\ N +10 &o_ (\ O +9 &qd 0\ O +10 &suo &\ Q +9 &u3y (\ R +9 &v 2\ 4 +10 &w4u\ #\ 0\ > +8 ( +2 &w#\ (\ !1\ 0 +2 "collection"'S& +3 #tCollection Clamp onSpring/offSpring for 13/25 samples, on/off torque 0.98 +2 !o:Slide::Error\ :@axisName"Collection Clamp: mesg"(No Puck Clamped in Collection Clamp:@checkpoint: omitted: @reply0:bt["E/home/esp/esp2/utils/misc.rb:475:in `closeAndVerifyPuckPresence'"0/home/esp/esp2/utils/misc.rb:485:in `close'",/home/esp/esp2/lib/msg.rb:68:in `retry'"0/home/esp/esp2/utils/misc.rb:484:in `close'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"0/home/esp/esp2/utils/misc.rb:483:in `close'"0/home/esp/esp2/utils/misc.rb:501:in `close'"(ESP):16:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1136 #-> CC.open +2 .CC.seek :open +2 "collection"'U( +574 "core" ( + "collection"'K& +4 "core" & \ +662 #t-> CC.home.to :home +2 .CC.reconfigure :default +2 "collection"'$x2 ^22b +2 .tCC.home.seek :home +2 "collection"'V( +186 "core" ( +2 "collection"'X& +4 "core" & ~\  +414 #t-> CC.close + "manipulator"&Y& +4 "core" &  s +2 "manipulator"&[% +4 "core" %ъ  + "collection"'H& +4 "core" & "\  +2 .tCC.seek :open +2 "collection"'T( +139 "core" ( + "collection"'P& +6 "core" &k |\  +2 .tCC.seek :closed + "collection"'](w +4 "core" &k }#\  +8 &~G |\ %g +10 &WX }"\ 8 +9 & }\ M +9 &m\\ |!\ N +10 &0\\ }!\ N +9 &Y }\ N +10 &] |!\ N +9 &u[ |\ N +9 & 9W | \ M +10 &!X }"\ N +9 &#U |!\ N +9 &%~V {!\ N +10 &'@Z {"\ N +9 &)Z }!\ N +10 &*] {\ N +9 &,Y }!\ N +9 &.G\\ z!\ N +10 &0 W {!\ M +9 &1V }!\ M +9 &3[ }#\ N +10 &5PW {#\ N +9 &7[ {"\ N +10 &8Z |\ N +9 &:V z!\ N +9 &W z \ N +9 &?U y!\ N +9 &AW }#\ M +10 &C_[ %\ N +9 &Ee *\ O +10 &Fk %\ P +9 &Hx -\ Q +9 &JW $\ S +10 &L\ %\ *\ W +9 &M\ 1\ ,,\ X +9 &O\ 9\ 1(\ Y +10 &QQ\ >\ 9-\ X +9 &S\ B\ <#\ Y +10 &T\ I\ B(\ Y +9 &V\ H\ C"\ W +10 &X`\ A\ 9)\ V +9 &Z\ @\ :%\ W +9 &[\ B\ =&\ Y +9 &]\ E\ A$\ X +10 &_e\ A\ <$\ W +9 &a%\ ?\ 91\ X +10 &b\ @\ <#\ X +9 &d\ C\ <.\ Y +10 &fo\ A\ ='\ V +9 &h1\ ?\ ;,\ V +9 &i\ ?\ ;%\ X +9 &k\ E\ @$\ Y +10 &mm\ L\ E.\ Z +9 &o/\ Q\ J/\ Z +10 &p\ Q\ M%\ X +9 &r\ H\ @+\ X +10 &tx\ I\ C2\ Y +9 &v;\ M\ G1\ R +9 &wxD{\ M\ F0\ &p +10 &w*\ A\ <%\ , +5 ( + "collection"'P& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 1.98 +2 "collection"'^& +4 "core" &w\ B\ ;-\ , + &w\ B\ ;,\ , +1377 #t-> CC.rawPosition + "collection"'Z& +4 "core" &w\ B\ >1\ , +19608 #t-> CC.unloadFlush +2 "collection"'a& +4 "core" &w\ F\ A/\ , +2 #tGaraging FlushPuck in Collection Clamp + "collection"'b& +4 "core" &w\ E\ @ \ , +2 "manipulator"&W& +4 "core" & + s +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&d( +7 "core" ( + "manipulator"&e& +4 "core" &  j +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &_& +2 "core" &  j +2 .tForearm.seek CC +2 "manipulator"&c'ш +3 "core" ' +2 .tCC.seek :open + "collection"'g( +574 "core" ( + "manipulator"&i& +4 "core" &  j +2 "manipulator"&j% +3 "core" %ф  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&l' ] +163 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&`(-w +273 "core" ( + "manipulator"&f& +4 "core" &-{ s +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &m& +3 "core" &-{ s +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&n'π +107 "core" ' +2 .tHand.open + "manipulator"&k1 +57 "core" 1 + "manipulator"&h% +4 "core" % υR e  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&q' ] +155 "core" ' +1278 #t-> CC.loadFlush +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'r& +3 "core" & 1\ +2 "manipulator"&t& +3 "core" &-{ [ s +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&u(-w +3 "core" ( +2 "manipulator"&o& +4 "core" &-{ s + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &v& +3 "core" &-{ B s +2 .tForearm.seek :garage +2 "manipulator"&w'π +108 "core" ' + .tHand.close + "manipulator"&x/ +63 "core" / +2 "manipulator"&+& +4 "core" &-{ m s + "manipulator"&{% +4 "core" % ϑu # +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&y' ] +155 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&z( +296 "core" ( +2 "manipulator"&}& +4 "core" & ,  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &~& +3 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'ш +101 "core" ' + "manipulator"&s& +4 "core" & 1  +2 "manipulator"&% +4 "core" %я U + "collection"'& +4 "core" & B\ +2 "collection"'p& +6 "core" & 8\ +2 .tCC.seek :closed +3 "collection"'(w +3 "core" & }9\ +6 & 9\ 2 +9 &Ew 4\ 0 +10 &?q ?\ D +9 &e E\ O +9 &Y ~E\ M +10 &dZ =\ N +9 &&] 9\ N +9 &Z 8\ M +10 &Z ~7\ N +9 &!l\\ }5\ N +10 &#.[ }0\ N +9 &$\\ }>\ M +9 &&W ;\ N +10 &(uW ~?\ M +9 &*5] }:\ N +9 &+Z {5\ M +10 &-Y {7\ M +9 &/|U 5\ N +10 &1?U {;\ M +9 &3W {A\ M +9 &4W }9\ M +10 &6Z }6\ M +9 &8GW }8\ M +9 &:Z ~7\ N +10 &;] z4\ N +9 &=\\ |9\ N +10 &?NX {7\ N +9 &AV |C\ M +9 &BW {<\ M +10 &D[ {7\ N +9 &FWU |5\ M +9 &HW }E\ N +10 &IT {D\ M +9 &KW |;\ N +10 &M^V |D\ N +9 &O!U z=\ M +9 &PU ~8\ N +10 &RX |8\ N +9 &TgV {9\ M +9 &V(V {.\ N +10 &WY }&\ M +9 &Y[ |.\ N +10 &[oY z5\ M +9 &]0W z3\ N +10 &^U z%\ M +9 &`W |*\ M +9 &bwZ z2\ M +9 &d9T |6\ M +10 &eU |.\ N +9 &gY z2\ M +10 &iZ 2\ M +9 &k=` ,\ O +10 &lh 2\ O +9 &ns -\ Q +9 &pw 1\ S +9 &r/\ \ 3\ V +10 &s\ )\ %/\ W +9 &u\ 1\ +2\ X +10 &w1d\ 8\ 11\ / +9 &w\ =\ 6*\ E +9 ( +2 "collection"'p& +4 #tCollection Clamp onSpring/offSpring for 13/25 samples, on/off torque 0.98 +2 !o:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt[ "7/home/esp/esp2/utils/puckmoves.rb:273:in `giveup!'"2/home/esp/esp2/utils/puckmoves.rb:807:in `to'"6/home/esp/esp2/utils/puckmoves.rb:858:in `loadAt'"9/home/esp/esp2/utils/puckmoves.rb:983:in `loadFlush'"(ESP):22:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 + !o:Slide::Error\ :@axisName"Collection Clamp: mesg"(No Puck Clamped in Collection Clamp:@checkpoint: omitted: @reply0:bt["E/home/esp/esp2/utils/misc.rb:475:in `closeAndVerifyPuckPresence'"0/home/esp/esp2/utils/misc.rb:485:in `close'",/home/esp/esp2/lib/msg.rb:68:in `retry'"0/home/esp/esp2/utils/misc.rb:484:in `close'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"0/home/esp/esp2/utils/misc.rb:483:in `close'"0/home/esp/esp2/utils/misc.rb:501:in `close'"2/home/esp/esp2/utils/puckmoves.rb:798:in `to'"6/home/esp/esp2/utils/puckmoves.rb:858:in `loadAt'"9/home/esp/esp2/utils/puckmoves.rb:983:in `loadFlush'"(ESP):22:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +5 "core" &wA\ <\ 7-\ ; +891 #t-> CC.unloadFlush +2 "collection"'& +3 "core" &wA\ >\ :1\ ; +2 #tGaraging FlushPuck in Collection Clamp +2 "collection"'& +4 "core" &wA\ >\ 9"\ ; +2 "manipulator"&& +3 "core" &   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"& ( +3 "core" ( +2 "manipulator"&\ & +4 "core" & x  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &   +2 .tForearm.seek CC + "manipulator"&'ш +3 "core" ' +2 .tCC.seek :open +2 "collection"'( +569 "core" ( + "manipulator"&& +4 "core" &   + "manipulator"&% +4 "core" %я  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +149 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"& (-w +265 "core" ( +2 "manipulator"&& +4 "core" &-o L +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &-p o +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&'π +112 "core" ' +2 .tHand.open + "manipulator"&1 +55 "core" 1 + "manipulator"&% +4 "core" % σR m  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"& ' ] +162 "core" ' +208 #t-> CC.loadFlush +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'& +4 "core" & A\ + "manipulator"&& +4 "core" &-p  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage + "manipulator"& (-w +3 "core" ( +2 "manipulator"&& +3 "core" &-p z +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &-p 6 +2 .tForearm.seek :garage +2 "manipulator"&'π +110 "core" ' + .tHand.close +2 "manipulator"&&/ +63 "core" / + "manipulator"&(& +4 "core" &-p  +2 "manipulator"&)% +4 "core" % ϋd + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +159 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&( +297 "core" ( + "manipulator"&& +4 "core" &  z +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &|& +3 "core" & 9 z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&$'ш +110 "core" ' +2 "manipulator"&.& +4 "core" & z + "manipulator"&/% +4 "core" %~ +2 "collection"'0& +4 "core" & ,\ +2 "collection"'2& +4 "core" & (\ +2 .tCC.seek :closed +2 "collection"'3(w +4 "core" & ~:\  +9 &2} ?\ )w +9 &c D\ > +10 &^w E\ N +9 &!Y D\ M +9 &[ C\ M +10 &\\ ~?\ N +9 &e[ }8\ N +9 &)Z @\ M +10 & [ }:\ N +9 &"Z |=\ N +10 &$oV }7\ M +9 &&1Y ~@\ M +9 &'\\ @\ N +10 &)Z ~@\ N +9 &+vW |3\ N +10 &-7Z |7\ N +9 &.V {7\ N +9 &0Y }:\ N +10 &2T z;\ M +9 &4@[ zC\ N +9 &6Y |E\ M +10 &7V }:\ M +9 &9W |C\ M +10 &;HZ }B\ N +9 &= W };\ M +9 &>W {:\ N +10 &@Y ~>\ N +9 &BPW |B\ N +9 &DY }:\ N +10 &EY {4\ N +9 &GY {7\ N +9 &IXX }5\ N +10 &KV z9\ M +9 &LW ~ {@\ N +10 &NY }E\ N +9 &PaX |>\ M +9 &R#U zD\ M +10 &SY zA\ M +9 &UX  y9\ N +10 &WhY |:\ N +9 &Y+W z6\ M +9 &ZT {A\ M +10 &\\Z z5\ N +9 &^qY |9\ M +9 &`3V {7\ M +10 &aU {2\ M +9 &cY z:\ M +10 &exY z3\ N +9 &g;W y+\ M +9 &hT y2\ M +10 &jY 3\ N +9 &l] 2\ N +9 &n?g 2\ O +10 &os 1\ P +9 &q 2\ S +9 &sp\ \ .\ V +10 &u.\ /\ ).\ W +9 &v{\ 5\ 2-\ @ +10 &w$m\ :\ 52\ "c +9 &w?\ ;\ 62\ = +2 ( +2 "collection"'2& +3 #tCollection Clamp onSpring/offSpring for 13/25 samples, on/off torque 0.98 +2 !o:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt[ "7/home/esp/esp2/utils/puckmoves.rb:273:in `giveup!'"2/home/esp/esp2/utils/puckmoves.rb:807:in `to'"6/home/esp/esp2/utils/puckmoves.rb:858:in `loadAt'"9/home/esp/esp2/utils/puckmoves.rb:983:in `loadFlush'"(ESP):24:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 !o:Slide::Error\ :@axisName"Collection Clamp: mesg"(No Puck Clamped in Collection Clamp:@checkpoint: omitted: @reply0:bt["E/home/esp/esp2/utils/misc.rb:475:in `closeAndVerifyPuckPresence'"0/home/esp/esp2/utils/misc.rb:485:in `close'",/home/esp/esp2/lib/msg.rb:68:in `retry'"0/home/esp/esp2/utils/misc.rb:484:in `close'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"0/home/esp/esp2/utils/misc.rb:483:in `close'"0/home/esp/esp2/utils/misc.rb:501:in `close'"2/home/esp/esp2/utils/puckmoves.rb:798:in `to'"6/home/esp/esp2/utils/puckmoves.rb:858:in `loadAt'"9/home/esp/esp2/utils/puckmoves.rb:983:in `loadFlush'"(ESP):24:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +854 #-> CC.rawPosition +2 "collection"'#& +3 "core" &wD\ >\ 6 \ = +880 #t-> CC.unloadFlush + "collection"'*& +4 "core" &wD\ ?\ 8\ = +2 #tGaraging FlushPuck in Collection Clamp + "collection"'-& +5 "core" &wD\ ?\ 8#\ = + "manipulator"&6& +4 "core" &  z +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&7( +3 "core" ( +2 "manipulator"&4& +3 "core" & 8 z +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &:& +3 "core" & z +2 .tForearm.seek CC +2 "manipulator"&;'ш +2 "core" ' +2 .tCC.seek :open +2 "collection"'1( +570 "core" ( +2 "manipulator"&=& +4 "core" & z + "manipulator"&>% +4 "core" %ф +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&8' ] +153 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&<(-w +277 "core" ( + "manipulator"&A& +4 "core" &-  l +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &%& +3 "core" &- l +2 .tForearm.reconfigure :tight +7 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&D'π +115 "core" ' + .tHand.open +2 "manipulator"&F1 +53 "core" 1 +2 "manipulator"&9% +4 "core" % N  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&?' ] +156 "core" ' +4051 "Can"l\ 9] +372 #t-> exit +6 #mEXIT @1668728179.35PST @1668728841.73PST = =tMAIN =mMAIN_scheduler @PST1668728843.66 #"core_reset"Sent BREAK +2 #t@25260 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.42 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +245 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +418 "Can"v\ uGE +2 v\ uGE1 #tPolling Can every 10:00 +7 #Cleanly exited at 15:36:19PST17-Nov-22 +639 #-> ESP.ready! +4 #Powering core bus +548 .Gate.power :raw,:ON +2 "sampler") +56 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% + % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +4 "core" %  |4\ + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %%\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" %+()\ +2 .tSS.configure :default +3 "sampler")#.0X CC.jog 1000 +2 .CC.jog 1000 +2 "collection"'<* +55 "core" * + "collection"'=& +4 "core" &O {2\  +481 #t-> CC.jog 1000 +2 .CC.jog 1000 +2 "collection"'>* +57 "core" * + "collection"'?& +4 "core" &+ z3\  +444 #t-> CC.jog 1000 +2 .CC.jog 1000 +2 "collection"'@* +56 "core" * +2 "collection"'A& +4 "core" & y3\  +516 #t-> CC.jog 100 + .CC.jog 100 +2 "collection"'B*d +25 "core" * +2 "collection"'C& +4 "core" & y5\  +529 #t-> CC.jog 100 +2 .CC.jog 100 +2 "collection"'D*d +24 "core" * + "collection"'E& +4 "core" &  z7\  +394 #t-> CC.jog 100 +2 .CC.jog 100 +2 "collection"'F*d +25 "core" * + "collection"'G& +4 "core" & ~ z9\  +450 #t-> CC.jog 100 +2 .CC.jog 100 + "collection"'H*d +26 "core" * +2 "collection"'I& +4 "core" &   y6\  +3638 #t-> CC.home.to :home +2 .CC.reconfigure :default +2 "collection"'$x2 ^22b +2 .tCC.home.seek :home +2 "collection"'J( +320 "core" ( +2 "collection"'K& +3 "core" & {4\  +599 #t-> Hand.open +2 .Hand.open + "manipulator"&L1 +61 "core" 1 +924 #t-> CC.loadFlush +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'M& +4 "core" & }P\  +2 "manipulator"&N& +4 "core" & \ !t + "manipulator"&O% +4 "core" % z +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&P(-w +186 "core" ( + "manipulator"&Q& +4 "core" &-| m f +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &R& +3 "core" &-| f +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :garage +2 "manipulator"&S'π +106 "core" ' +2 .tHand.close + "manipulator"&T/ +57 "core" / + "manipulator"&U& +4 "core" &-| v f +2 "manipulator"&V% +4 "core" % ϑ` l +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&W' ] +167 "core" ' +37 .tElbow.reconfigure :tight +8 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&X( +293 "core" ( + "manipulator"&Y& +4 "core" & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Z& +3 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&['ш +99 "core" ' + "manipulator"&\\& +4 "core" & 9 +2 "manipulator"&]% +4 "core" %т A +2 "collection"'^& +3 "core" & }P\  +2 .tCC.seek :open +2 "collection"'_( +137 "core" ( +2 "collection"'`& +6 "core" &v yP\  +2 .tCC.seek :closed +2 "collection"'a(w +4 "core" &v {9\  +7 &L {7\ %g +9 &eX x3\ 8 +9 & y6\ M +10 &x\\ y3\ N +9 &:] y8\ N +10 &Y  y8\ O +9 &Z z9\ N +9 &X y8\ N +10 & B^ {4\ N +9 &"Z z7\ O +9 &#Z y2\ N +10 &%Z y8\ O +9 &'I\\  y2\ O +10 &) Y z+\ N +9 &*V  x-\ N +9 &,Z x5\ N +10 &.R] x0\ N +9 &0\\  z1\ O +10 &1Z w*\ N +9 &3W v(\ N +9 &5Y^ ~ w*\ O +10 &7Y  y/\ N +9 &8\\  z0\ N +9 &:Z } x-\ N +10 &$\\ } x0\ N +9 &?Z y,\ O +10 &A[ {-\ N +9 &Ci` *\ O +10 &E*d )\ O +9 &Fp 2\ Q +9 &Hw 2\ Q +10 &Ja 4\ T +9 &L\ \ 0\ V +9 &M\ ,\ ")\ X +10 &O\ 2\ -/\ X +9 &Q^\ <\ 4(\ X +10 &S\ C\ <(\ Y +9 &T\ L\ C&\ Z +9 &V\ R\ K-\ [\ +10 &X_\ Z\ R'\ Z +9 &Z\ a\ X-\ \\ +9 &[\ g\ a%\ \\ +10 &]\ n\ h*\ [\ +9 &_a\ t\ m&\ \\ +10 &a'\ {\ t&\ [\ +9 &b\ \ z&\ ] +9 &d\ \ ~'\ ] +10 &fd\ \ #\ ^ +9 &h!\ \ $\ ` +9 &i \ \ &\ ` +10 &k,\ \ &\ b& +9 &mF:\ \ !\ b9 +10 &nM\ \ %\ bS +4 (ox`\ \ $\ b +3 "collection"'`& +5 !to:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt[ "7/home/esp/esp2/utils/puckmoves.rb:273:in `giveup!'"2/home/esp/esp2/utils/puckmoves.rb:807:in `to'"6/home/esp/esp2/utils/puckmoves.rb:858:in `loadAt'"9/home/esp/esp2/utils/puckmoves.rb:983:in `loadFlush'"(ESP):11:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 !o:Slide::Error\ :@axisName"Collection Clamp: mesg"9Collection Clamp overCurrent at closed - 2166 counts:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply : @tagif: @error:overCurrent: @sourcei,: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positionixo: velocityi: currenti`:pwmig:erri: inPressi\ : outPressi\ :deltaPressi$: voltagef13.664245459008345*: @type2F:@destinationi%:bt["2/home/esp/esp2/lib/slide.rb:612:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:375:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:341:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:333:in `seek'",/home/esp/esp2/lib/slide.rb:382:in `to'"E/home/esp/esp2/utils/misc.rb:426:in `closeAndVerifyPuckPresence'"-/home/esp/esp2/lib/slide.rb:534:in `log'"E/home/esp/esp2/utils/misc.rb:426:in `closeAndVerifyPuckPresence'"0/home/esp/esp2/utils/misc.rb:485:in `close'",/home/esp/esp2/lib/msg.rb:68:in `retry'"0/home/esp/esp2/utils/misc.rb:484:in `close'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"0/home/esp/esp2/utils/misc.rb:483:in `close'"0/home/esp/esp2/utils/misc.rb:501:in `close'"2/home/esp/esp2/utils/puckmoves.rb:798:in `to'"6/home/esp/esp2/utils/puckmoves.rb:858:in `loadAt'"9/home/esp/esp2/utils/puckmoves.rb:983:in `loadFlush'"(ESP):11:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +5 "core" &o\ \ \ +774 #t-> CC.open +2 .CC.seek :open + "collection"'b( +506 "core" ( +2 "collection"'c& +4 "core" & y=\ +773 #t-> CC.sealed +2 .CC.seek :sealed + "collection"'d(J +327 "core" ( +2 "collection"'e& +4 "core" &I -\ * +1390 #t-> CC.jog 500 +2 .CC.jog 500 +2 "collection"'f* +34 "core" * +2 "collection"'g& +4 "core" &K\ \ I\ % +2616 #t-> CC.jog 500 +2 .CC.jog 500 +2 "collection"'h* +34 "core" * +2 "collection"'i& +4 "core" &M\ &\ B\ ) +1238 #t-> CC.open +2 .CC.seek :open + "collection"'j( +347 "core" ( + "collection"'k& +4 "core" &  y(\ +8759 #t-> CC.jog 500 +2 .CC.jog 500 +2 "collection"'l* +41 "core" * + "collection"'m& +4 "core" &{  y'\  +317 #t-> CC.jog 500 +2 .CC.jog 500 + "collection"'n* +37 "core" * +2 "collection"'o& +4 "core" &D ~ w*\  +187 #t-> CC.jog 500 +3 .CC.jog 500 + "collection"'p* +41 "core" * + "collection"'q& +4 "core" &% ~ x*\  +171 #t-> CC.jog 500 +2 .CC.jog 500 + "collection"'r* +40 "core" * + "collection"'s& +4 "core" & } wK\ +172 #t-> CC.jog 500 + .CC.jog 500 +2 "collection"'t* +44 "core" * +2 "collection"'u& +4 "core" & | uE\  +163 #t-> CC.jog 500 +2 .CC.jog 500 +2 "collection"'v* +40 "core" * +2 "collection"'w& +4 "core" & } w-\  +208 #t-> CC.jog 500 +2 .CC.jog 500 +2 "collection"'x* +44 "core" * +2 "collection"'y& +4 "core" &  | vM\  +513 #t-> CC.jog 500 +2 .CC.jog 500 +2 "collection"'z* +37 "core" * + "collection"'{& +4 "core" &"X  u"\ +374 #t-> CC.jog 500 +2 .CC.jog 500 +2 "collection"'|* +45 "core" * +2 "collection"'}& +3 "core" &$; ~ v#\  +103 #t-> CC.jog 500 +2 .CC.jog 500 +2 "collection"'~* +38 "core" * +2 "collection"'& +4 "core" && | u*\  +98 #t-> CC.jog 500 +2 .CC.jog 500 +2 "collection"'* +42 "core" * +2 "collection"'& +4 "core" &' } t$\ \ +84 #t-> CC.jog 500 +2 .CC.jog 500 +2 "collection"'* +37 "core" * +2 "collection"'& +4 "core" &) } v*\  +80 #t-> CC.jog 500 +2 .CC.jog 500 +2 "collection"'* +45 "core" * + "collection"'& +4 "core" &+ ~ y-\  +82 #t-> CC.jog 500 +2 .CC.jog 500 + "collection"'* +41 "core" * + "collection"'& +4 "core" &-q ~ v%\  +90 #t-> CC.jog 500 + .CC.jog 500 +2 "collection"' * +42 "core" * +2 "collection"'\ & +4 "core" &/R } w?\  +84 #t-> CC.jog 500 +2 .CC.jog 500 +2 "collection"' * +44 "core" * +2 "collection"' & +4 "core" &16 } wE\  +83 #t-> CC.jog 500 +2 .CC.jog 500 +2 "collection"' * +44 "core" * +2 "collection"'& +4 "core" &3 } v%\  +81 #t-> CC.jog 500 +3 .CC.jog 500 +2 "collection"'* +40 "core" * + "collection"'& +4 "core" &4 z v-\  +190 #t-> CC.jog 500 +2 .CC.jog 500 +2 "collection"'* +38 "core" * +2 "collection"'& +4 "core" &6 | v+\  +107 #t-> CC.jog 500 +2 .CC.jog 500 + "collection"'* +40 "core" * +2 "collection"'& +4 "core" &8 } wE\ \ +108 #t-> CC.jog 500 +2 .CC.jog 500 +2 "collection"'* +39 "core" * + "collection"'& +4 "core" &:l ~ w%\ +93 #t-> CC.jog 500 + .CC.jog 500 +2 "collection"'* +46 "core" * + "collection"'& +4 "core" & CC.jog 500 +2 .CC.jog 500 +2 "collection"'* +45 "core" * +2 "collection"'& +4 "core" &>; | v&\  +91 #t-> CC.jog 500 +2 .CC.jog 500 +2 "collection"' * +43 "core" * + "collection"'& +4 "core" &@! | u"\  +125 #t-> CC.jog 500 +2 .CC.jog 500 +2 "collection"'#* +44 "core" * + "collection"'&& +4 "core" &B z+\  +99 #t-> CC.jog 500 +2 .CC.jog 500 +2 "collection"'(* +42 "core" * + "collection"')& +4 "core" &C 3\  +128 #t-> CC.jog 500 +2 .CC.jog 500 +2 "collection"'** +38 "core" * + "collection"'& +5 "core" &E 6\  +151 #t-> CC.jog 500 +3 .CC.jog 500 +2 "collection"'* +41 "core" * +2 "collection"'$& +4 "core" &Gw 2\  +158 #t-> CC.jog 500 + .CC.jog 500 +2 "collection"'-* +36 "core" * +2 "collection"'.& +4 "core" &IH 6\  +251 #t-> CC.jog 500 +3 .CC.jog 500 + "collection"'/* +49 "core" * + "collection"'0& +4 "core" &K?" 7\ . +193 #t-> CC.jog 500 +2 .CC.jog 500 +2 "collection"'1* +35 "core" * +2 "collection"'2& +4 "core" &M#\ !\ 3\ * +11105 #t-> SC.coast +2 .SC.coast + "storage"(6 +2 (3& +3 "core" &[O X Y  +1234 #t-> CC.rawPosition +2 "collection"'4& +3 "core" &M#\ %\ E\ * +3125 #t-> CC.open +2 .CC.seek :open +2 "collection"'5( +341 "core" ( + "collection"'6& +5 "core" & v)\ +4825 "Can"\ 5 +33927 #t-> Arm.garage +2 "manipulator"&7& +3 "core" & } +2 "manipulator"&8% +4 "core" %- R  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&9' ] +152 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&:(-w +277 "core" ( + "manipulator"&;& +4 "core" &-u  w +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &=& +3 "core" &-u  w +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&,'π +112 "core" ' +2 "manipulator"&?& +4 "core" &-u  w + "manipulator"&<% +4 "core" %ςO W  +527 #t-> Arm.CC +3 "manipulator"&A& +3 "core" &-u [ w +2 "manipulator"&>% +4 "core" %ρT g  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&C' ] +161 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :CC +2 "manipulator"&@( +273 "core" ( + "manipulator"&E& +5 "core" &  # + .tElbow.reconfigure :loose +7 "manipulator"&$ &.,(#b +3 &B& +3 "core" &  # +7 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&G'ш +97 "core" ' + "manipulator"&D& +4 "core" & ' # +2 "manipulator"&I% +3 "core" %т 1 +1003 #t-> CC.unsealed + .CC.seek :unsealed +2 "collection"'F(Ch +287 "core" ( + "collection"'H& +4 "core" &CM ~H\  +894 #t-> CC.jog 500 +2 .CC.jog 500 +2 "collection"'K* +40 "core" * +2 "collection"'L& +4 "core" &E! E\  +264 #t-> CC.jog 500 +2 .CC.jog 500 +2 "collection"'M* +39 "core" * + "collection"'N& +4 "core" &F F\ \ +163 #t-> CC.jog 500 +7 .CC.jog 500 + "collection"'O* +86 "core" * +2 "collection"'Q& +4 "core" &H <\ " +97 #t-> CC.jog 500 +2 .CC.jog 500 +2 "collection"'R* +34 "core" * + "collection"'%& +4 "core" &J =\ \  +129 #t-> CC.jog 500 +2 .CC.jog 500 +2 "collection"'T* +46 "core" * +2 "collection"'U& +4 "core" &L'\ \ A\ 3 +131 #t-> CC.jog 500 +2 .CC.jog 500 +2 "collection"'V* +34 "core" * +2 "collection"''& +4 "core" &Nm\ %\ "?\ * +208 #t-> CC.jog 500 +2 .CC.jog 500 +2 "collection"'S* +35 "core" * +2 "collection"'Y& +4 "core" &PD\ .\ %>\ * +778 #t-> CC.rawPosition +2 "collection"'Z& +3 "core" &PD\ .\ ):\ * +6532 #t-> CC.open +2 .CC.seek :open +2 "collection"'P( +360 "core" ( + "collection"'\\& +4 "core" &  wY\ +522 #t-> Arm.garage +2 "manipulator"&]& +3 "core" &  # +2 "manipulator"&^% +4 "core" %т  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&W' ] +163 "core" ' +2 .tElbow.reconfigure :tight +7 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&J(-w +287 "core" ( +2 "manipulator"&_& +4 "core" &- I + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &a& +3 "core" &- l I +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&`'π +107 "core" ' +2 "manipulator"&c& +4 "core" &- I +2 "manipulator"&b% +4 "core" %ωP K  +483 #t-> Hand.open +2 !o:Puck::Error: mesg" Hand is closed on FlushPuck:bt[ "3/home/esp/esp2/utils/puckmoves.rb:81:in `open'"(ESP):64:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +652 #-> Hand.close +1124 #-> Arm.grab Garage +2 !o:Puck::Error: mesg" Hand is closed on FlushPuck:bt[\ "3/home/esp/esp2/utils/puckmoves.rb:81:in `open'"./home/esp/esp2/utils/misc.rb:54:in `grab'"(ESP):66:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1610 #-> CC.unloadFlush +2 "collection"'e& +3 "core" & ~ ud\ +2 !to:Puck::Error: mesg"-Collection Clamp not closed on FlushPuck:bt[ "@/home/esp/esp2/utils/puckmoves.rb:902:in `_updateContents!'"8/home/esp/esp2/utils/puckmoves.rb:36:in `contents='"9/home/esp/esp2/utils/puckmoves.rb:890:in `location='"6/home/esp/esp2/utils/puckmoves.rb:826:in `garage'";/home/esp/esp2/utils/puckmoves.rb:988:in `unloadFlush'"(ESP):67:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +711 #-> Arm.CC +2 "manipulator"&g& +3 "core" &-  I + "manipulator"&d% +5 "core" %ψ] { H  + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&i' ] +169 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :CC +2 "manipulator"&f( +301 "core" ( +2 "manipulator"&h& +5 "core" & p + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &k& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&m'ш +107 "core" ' + "manipulator"&j& +4 "core" & f +2 "manipulator"&o% +3 "core" %|  +746 #t-> CC.unloadFlush +2 "collection"'q& +3 "core" & | z`\ +2 !to:Puck::Error: mesg"-Collection Clamp not closed on FlushPuck:bt[ "@/home/esp/esp2/utils/puckmoves.rb:902:in `_updateContents!'"8/home/esp/esp2/utils/puckmoves.rb:36:in `contents='"9/home/esp/esp2/utils/puckmoves.rb:890:in `location='"6/home/esp/esp2/utils/puckmoves.rb:826:in `garage'";/home/esp/esp2/utils/puckmoves.rb:988:in `unloadFlush'"(ESP):69:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +623 #-> Arm.garage + "manipulator"&l& +3 "core" & s +2 "manipulator"&s% +4 "core" %| ~  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&n' ] +146 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&u(-w +276 "core" ( + "manipulator"&p& +4 "core" &-u  v +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &w& +2 "core" &-u  v +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&r'π +107 "core" ' + "manipulator"&t& +4 "core" &-u y $ v +2 "manipulator"&y% +3 "core" %χe  E +707 #t-> exit +4 !o:Storage::Warning: mesg"#Exiting with FlushPuck in Hand:bt["6/home/esp/esp2/utils/storage.rb:567:in `writeAll'"2/home/esp/esp2/utils/storage.rb:562:in `each'"6/home/esp/esp2/utils/storage.rb:562:in `writeAll'"./home/esp/esp2/lib/filepath.rb:80:in `[]'"2/home/esp/esp2/lib/filepath.rb:80:in `append'"0/home/esp/esp2/lib/filepath.rb:79:in `open'"2/home/esp/esp2/lib/filepath.rb:79:in `append'"6/home/esp/esp2/utils/storage.rb:558:in `writeAll'"(/home/esp/esp2/utils/storage.rb:574"4/home/esp/esp2/lib/framework.rb:171:in `atExit'"2/home/esp/esp2/lib/framework.rb:175:in `call'"4/home/esp/esp2/lib/framework.rb:175:in `atExit'"2/home/esp/esp2/lib/framework.rb:175:in `call'"4/home/esp/esp2/lib/framework.rb:175:in `atExit'"-/home/esp/esp2/lib/thread.rb:762:in `[]'"0/home/esp/esp2/lib/thread.rb:762:in `start'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"'/home/esp/esp2/lib/schedule.rb:482 +4 #mEXIT @1668730015.09PST @1668730024.72PST = =tMAIN =mMAIN_scheduler @PST1668730026.54 #"core_reset"Sent BREAK +2 #t@21206 receive with ifg=0x10, ie=0xFD + #@21840 receive with ifg=0x10, ie=0xFD + #@22498 receive with ifg=0x10, ie=0xFD #@23132 receive with ifg=0x10, ie=0xFD + #@23766 receive with ifg=0x10, ie=0xFD + #@24400 receive with ifg=0x10, ie=0xFD #@25035 receive with ifg=0x10, ie=0xFD + #@25361 receive with ifg=0x80, ie=0xFD + #@759 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +9 #ESP2 v3.42 I2C Gateway v3.20 for core bus +239 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +384 "Can"z\ Inc + z\ Inc* + #tPolling Can every 10:00 +6 #Cleanly exited at 16:06:55PST17-Nov-22 +3 !o:Storage::Warning: mesg"Hand.holds FlushPuck:bt["8/home/esp/esp2/utils/storage.rb:445:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:444:in `each'"8/home/esp/esp2/utils/storage.rb:444:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:634:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:491:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"'/home/esp/esp2/lib/schedule.rb:482 + #ESP.ready! will restore puck positions +766 #-> ESP.ready! +154 "sampler") +2 ) + "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +3 % +2 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %Z  un\  + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +2 "core" + + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %ٽ%\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %ޠ,* X\ +2 .tSS.configure :default +2 "sampler")#.0X Hand.open + .Hand.open +2 "manipulator"&21 +60 "core" 1 +316 #t-> Arm.clear + "manipulator"&3& +4 "core" &-u v + "manipulator"&4% +4 "core" % χ  E +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&5' ] +159 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&6(Z +117 "core" ( + "manipulator"&7& +5 "core" &Z  W + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &8& +2 "core" &Z  W +2 .tForearm.seek :clear +2 "manipulator"&9' ] +4 "core" ' + "manipulator"&:& +4 "core" &Z  W +2 "manipulator"&;% +3 "core" % Y   +208 #t-> exit +6 #mEXIT @1668730058.89PST @1668730189.67PST = =mMAIN_scheduler =tMAIN @PST1668730191.54 #"core_reset"Sent BREAK +3 #t@43150 receive with ifg=0x10, ie=0xFD #@43784 receive with ifg=0x10, ie=0xFD + #@44440 receive with ifg=0x10, ie=0xFD + #@45073 receive with ifg=0x10, ie=0xFD + #@45708 receive with ifg=0x10, ie=0xFD #@46342 receive with ifg=0x10, ie=0xFD + #@46976 receive with ifg=0x10, ie=0xFD #@47302 receive with ifg=0x80, ie=0xFD + #@32203 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +9 #ESP2 v3.42 I2C Gateway v3.20 for core bus +242 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +392 "Can"\ 7 + \ 72 + #tPolling Can every 10:00 +6 #Cleanly exited at 16:07:38PST17-Nov-22 +3921 #-> ESP.ready! +155 "sampler") +2 ) + "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% + % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %Z { tm\  + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +4 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %ٽ\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %ޠ+* Y\ + .tSS.configure :default +3 "sampler")#.0X CC.home.to :home +2 .CC.reconfigure :default +2 "collection"'$x2 ^22b +2 .tCC.home.seek :home +2 "collection"'2( +244 "core" ( +2 "collection"'3& +4 "core" & } tU\ +1224 #t-> Hand.open + .Hand.open +2 "manipulator"&41 +19 "core" 1 +594 #t-> CC.loadFlush +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'5& +3 "core" & | uq\ +2 "manipulator"&6& +4 "core" &Z  W +2 "manipulator"&7% +3 "core" % Y   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&8(-w +123 "core" ( + "manipulator"&9& +4 "core" &-|  O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &:& +3 "core" &-|  O +2 .tForearm.seek :garage +2 "manipulator"&;'π +110 "core" ' + .tHand.close +2 "manipulator"&% +4 "core" % Ϗh \\ + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&?' ] +163 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&@( +302 "core" ( + "manipulator"&A& +4 "core" &   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &B& +3 "core" & >  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&C'ш +103 "core" ' +2 "manipulator"&D& +4 "core" & | $  + "manipulator"&E% +4 "core" %ь L +2 "collection"'F& +4 "core" & | ut\ +2 .tCC.seek :open +2 "collection"'G( +137 "core" ( +2 "collection"'H& +5 "core" &y } u|\  +2 .tCC.seek :closed +2 "collection"'I(PD +4 "core" &y { uZ\  +8 &M | rY\ %h +9 &eW y sR\ 9 +9 &} z sV\ M +10 &}[ { tS\ N +9 &@] { tI\ N +9 &Z | tL\ N +10 &\\ y sX\ N +9 &Z | qM\ O +10 & H[ y tO\ N +9 &"Y y sE\ O +9 &#Y z tL\ N +10 &%] z sU\ O +9 &'OZ z sL\ N +9 &)[ z tO\ N +10 &*X z rH\ N +9 &,W z tL\ N +9 &.XW z tM\ N +10 &0Y y qL\ N +9 &1[ { rN\ N +10 &3X x sO\ N +9 &5_] x pM\ N +9 &7"\\ y rQ\ N +10 &8Y w rQ\ N +9 &:Y y tQ\ N +10 &)Y y tI\ N +9 &?V z qO\ N +10 &AY y sP\ N +9 &Cn` {Q\ O +9 &E0b I\ O +10 &Fm E\ P +9 &Hs G\ Q +9 &Jg K\ T +10 &L"\ \ M\ V +9 &M\ \ P\ X +10 &Oz\ %\ G\ * +9 &P|\ (\ "J\ ; +9 ( +2 &P .\ (\ H\ 5 + "collection"'H& +3 #tCollection Clamp onSpring/offSpring for 3/25 samples, on/off torque 1.81 +2 "collection"'J& +4 "core" &P .\ )\ #k\ 5 + .tHand.open +2 "manipulator"&K1 +52 "core" 1 + "manipulator"&L% +4 "core" % ь +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&M' ] +158 "core" ' +4 "collection"'N& +5 "core" &P .\ (\ #I\ 5 +1194 #t-> CC.unloadFlush +2 #Garaging FlushPuck in Collection Clamp +2 "manipulator"&O& +3 "core" &  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&P( +3 "core" ( + "manipulator"&Q& +5 "core" & H  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &R& +3 "core" &  +2 .tForearm.seek CC +2 "manipulator"&S'ш +92 "core" ' + .tHand.close +2 "manipulator"&T/ +53 "core" / +2 .tCC.seek :open +2 "collection"'U( +360 "core" ( +2 "manipulator"&V& +4 "core" &  + "manipulator"&W% +4 "core" % љ + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&X' ] +166 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&Y(-w +279 "core" ( +2 "manipulator"&Z& +4 "core" &-u V +36 .tElbow.reconfigure :loose +10 "manipulator"&$ &.,(#b +2 &[& +3 "core" &-u V +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&\\'π +104 "core" ' +2 .tHand.open +2 "manipulator"&]1 +53 "core" 1 + "manipulator"&^% +4 "core" % ωY x ( ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&_' ] +156 "core" ' +3865 #t-> CC.loadFlush +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'`& +4 "core" & { uk\ +2 "manipulator"&a& +4 "core" &-u  V +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&b(-w +3 "core" ( +2 "manipulator"&c& +4 "core" &-u  V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &d& +3 "core" &-u $ V +2 .tForearm.seek :garage +2 "manipulator"&e'π +109 "core" ' +2 .tHand.close + "manipulator"&f/ +60 "core" / + "manipulator"&g& +4 "core" &-u x V +2 "manipulator"&h% +3 "core" % ϑd  +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&i' ] +168 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&j( +278 "core" ( +2 "manipulator"&k& +4 "core" & j $ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &l& +2 "core" & $ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&m'ш +97 "core" ' +2 "manipulator"&n& +4 "core" &  ~ # +2 "manipulator"&o% +3 "core" %ф s S +2 "collection"'p& +4 "core" & { vo\ +2 "collection"'q& +4 "core" & { uk\ +2 .tCC.seek :closed +2 "collection"'r(PD +4 "core" & } uQ\  +9 &1} { uR\ *x +10 &b z sX\ > +9 &Nx z tX\ O +9 &X | uK\ N +10 &Y z tM\ N +9 &Z z tS\ N +10 &VZ z rK\ N +9 &Z { uT\ N +9 & Y y rT\ N +10 &"Z z sK\ N +9 &$^[ y rU\ N +9 && Y z rD\ N +10 &'[ y rM\ N +9 &)Y y sK\ N +10 &+gW z sM\ N +9 &-)Z y rF\ N +9 &.Z z qO\ N +10 &0Y z rI\ N +9 &2mZ z rR\ O +9 &42X z qG\ N +10 &5Z y rN\ N +9 &7Y y rN\ N +9 &9vW y rL\ N +10 &;8Y z sN\ N +9 &<W x rN\ N +10 &>Y y tO\ N +9 &@Y w qN\ N +9 &BBZ z vH\ N +10 &D_ }M\ O +9 &Ed F\ O +10 &Gn R\ P +9 &I>y E\ R +9 &J O\ U +10 &L\ \ K\ W +9 &Ns\ \ Q\ X +9 &OIx\ %\ !Q\ #j +10 &P"\ W\ (\ P\ 8 +5 ( +117 "collection"'q& +3 #tCollection Clamp onSpring/offSpring for 3/25 samples, on/off torque 1.88 + "collection"'s& +4 "core" &P"8\ )\ J\ 8 + &P"8\ )\ M\ 8 + &P"8\ )\ !K\ 8 + &P"7\ )\ !L\ 8 + &P"7\ )\ H\ 8 + &P"7\ )\ "A\ 8 + &P"7\ )\ J\ 8 + &P"7\ )\ "J\ 8 &P"8\ *\ #I\ 8 + &P"7\ )\ N\ 8 + &P"7\ (\ !N\ 8 + &P"8\ (\ "K\ 8 + &P"7\ (\ "P\ 8 + &P"8\ '\ !e\ 8 + .tHand.open +2 "manipulator"&t1 +59 "core" 1 + "manipulator"&u% +4 "core" % ф  +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&v' ] +150 "core" ' + "collection"'w& +4 "core" &P"7\ (\ #f\ 8 +831 #t-> CC.jog 200 +2 .CC.jog 200 +2 "collection"'x* +25 "core" * +2 "collection"'y& +4 "core" &P"\ -\ (N\ . +493 #t-> CC.jog 200 +2 .CC.jog 200 +2 "collection"'z* +28 "core" * +2 "collection"'{& +4 "core" &Q"\ 2\ -I\ / +993 #t-> CC.rawPosition +2 "collection"'|& +3 "core" &Q!\ 1\ +K\ / +2350 #t-> CC.unloadFlush +2 #Garaging FlushPuck in Collection Clamp +2 "manipulator"&}& +3 "core" & # +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&~( +3 "core" ( + "manipulator"&& +4 "core" &  # + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  # +2 .tForearm.seek CC +2 "manipulator"&'ш +94 "core" ' + .tHand.close +2 "manipulator"&/ +52 "core" / + .tCC.seek :open +2 "collection"'( +367 "core" ( + "manipulator"&& +4 "core" &  # +2 "manipulator"&% +3 "core" % ѓ "  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"& ' ] +162 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"& (-w +271 "core" ( +2 "manipulator"& & +4 "core" &- + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &- +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&'π +104 "core" ' + .tHand.open +2 "manipulator"&1 +53 "core" 1 + "manipulator"&% +5 "core" % ωj q W +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +156 "core" ' +6974 #t-> exit +7 #mEXIT @1668730501.87PST @1668730569.16PST = =tMAIN =mMAIN_scheduler @PST1668730571.00 #"core_reset"Sent BREAK +2 #t@25181 sendCRC with ifg=0x20, ie=0x7F + #@27016 sendCRC with ifg=0x08, ie=0x5F + #@56295 idle with ifg=0x84, ie=0x75 #@56968 select with ifg=0x10, ie=0xF5 + #@57602 receive with ifg=0x10, ie=0xFD + #@58235 receive with ifg=0x10, ie=0xFD #@58869 receive with ifg=0x10, ie=0xFD + #@59196 receive with ifg=0x80, ie=0xFD #@14083 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +9 #ESP2 v3.42 I2C Gateway v3.20 for core bus +241 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +393 "Can"\ 2V + \ 2V, + #tPolling Can every 10:00 +6 #Cleanly exited at 16:15:01PST17-Nov-22 +5294 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' + ' +3 "core"  +2 "processing"% + % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %Z | r\  +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +2 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %ٽ%\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %ޠ+* \\\ +2 .tSS.configure :default +2 "sampler")#.0X CC.home.to :home +3 .CC.reconfigure :default +2 "collection"'$x2 ^22b +2 .tCC.home.seek :home +2 "collection"'2( +233 "core" ( +2 "collection"'3& +4 "core" & y u\ +537 #t-> Hand.open + .Hand.open +2 "manipulator"&41 +15 "core" 1 +511 #t-> CC.loadFlush +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'5& +3 "core" & { s\ +2 "manipulator"&6& +5 "core" &-  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&7(-w +46 "core" ( +2 "manipulator"&8& +4 "core" &-  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &9& +3 "core" &- C  + .tForearm.seek :garage +2 "manipulator"&:'π +107 "core" ' +2 .tHand.close + "manipulator"&;/ +57 "core" / + "manipulator"&<& +4 "core" &- n  +2 "manipulator"&=% +3 "core" % ώh 3  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract +2 "manipulator"&>' ] +163 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&?( +268 "core" ( + "manipulator"&@& +4 "core" &  % +2 .tElbow.reconfigure :loose +7 "manipulator"&$ &.,(#b +2 &A& +3 "core" &  % +7 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&B'ш +96 "core" ' +2 "manipulator"&C& +4 "core" & b $ + "manipulator"&D% +4 "core" %ю 6 +2 "collection"'E& +4 "core" & y xw\ +2 .tCC.seek :open +2 "collection"'F( +137 "core" ( +2 "collection"'G& +6 "core" &u w qp\  +2 .tCC.seek :closed +2 "collection"'H(Q +5 "core" &u y r\  +6 &J w s}\ %g +9 &cX w u\ 8 +9 &~ z q\ M +10 &xZ w r\ N +9 &:Z x p\ N +10 &Z x r\ N +9 &Y x o\ N +9 &U y r\ N +10 & AZ z q\ N +9 &"Y y r\ N +9 &#W w r~\ N +10 &%X w r\ N +9 &'HY w q\ O +9 &) Y x q\ N +10 &*Y x pw\ N +9 &,V x p|\ N +10 &.QY w qx\ N +9 &0Z x r\ N +9 &1Y v s}\ N +10 &3X w p\ N +9 &5YZ x t|\ N +9 &7W w pz\ N +10 &8Z w pr\ N +9 &:W y sv\ N +10 &#X w ov\ N +9 &?Y x rw\ N +10 &AY v pr\ N +9 &Ch` yo\ O +10 &E)b t\ O +9 &Fk p\ P +9 &Hv r\ Q +10 &Jb k\ S +9 &L p\ V +9 &M\ \ h\ W +10 &O\ !\ t\ X +9 &PQ\ '\ q\ - +9 &Qz\ )\ $f\ J +10 ( + &QW\ ,\ &d\ @ +2 "collection"'G& +3 #tCollection Clamp onSpring/offSpring for 4/26 samples, on/off torque 1.77 + "collection"'I& +4 "core" &QV\ *\ ']\ @ +2 .tHand.open + "manipulator"&J1 +62 "core" 1 + "manipulator"&K% +4 "core" % ю N +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&L' ] +163 "core" ' +2 "collection"'M& +4 "core" &QV\ ,\ 'S\ @ +997 #t-> CC.unloadFlush +2 #Garaging FlushPuck in Collection Clamp +2 "manipulator"&N& +3 "core" & X $ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&O( +3 "core" ( +2 "manipulator"&P& +4 "core" &  $ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Q& +2 "core" & $ +2 .tForearm.seek CC +2 "manipulator"&R'ш +90 "core" ' + .tHand.close +2 "manipulator"&S/ +53 "core" / +2 .tCC.seek :open +2 "collection"'T( +369 "core" ( +3 "manipulator"&U& +4 "core" &  $ + "manipulator"&V% +4 "core" % ш   + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&W' ] +157 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&X(-w +287 "core" ( +2 "manipulator"&Y& +4 "core" &- ] [ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Z& +2 "core" &- 3 [ +39 .tForearm.reconfigure :tight +9 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&['π +111 "core" ' + .tHand.open +2 "manipulator"&\\1 +63 "core" 1 + "manipulator"&]% +4 "core" % υS x  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&^' ] +152 "core" ' +48229 "Can"\ 2& +60002 \ 2 " +60002 \ 2  +60002 \ 2 N +60002 \ 2G +60001 \ 2z +60002 \ 1 +60002 \ 1 +49667 #t-> ESP.ready! +2 "collection"'_% +4 "core" %Z o h\  +3 "sampler")`% +3 "processing"%a% +3 "manipulator"&b% +8 "core" %ޠ*' i\ + %ٽ\ + % t\  + "manipulator"&c& +5 "core" &- [ + "storage"(d& +3 "core" &9 p n 5 ! +2 "storage"(e% +3 "core" %m { x :  + "collection"'f& +4 "core" & o h1\ + "processing"%g& +4 "core" &u\  + "collection"'h +4 "core"  + "collection"'i +3 "core"  +2 "collection"'j +3 "core"  + "processing"%k +3 "core"  +2 "processing"%l +3 "core" U + "processing"%m +3 "core"  +2 "processing"%n +3 "core" @ + "sampler")o +3 "core"  +2 "collection"'p% +3 "core" %Z o h\  +2 "processing"%q% +4 "core" %ٽ\ + "sampler")r% +4 "core" %ޠ)' ^\ +2 "collection"'s& +3 "core" & n i-\ +2 "processing"%t& +4 "core" &u\  + "manipulator"&u% +4 "core" % t\  + "manipulator"&v& +4 "core" &- [ +2 "storage"(w& +4 "core" &9 p w 9 ! + "storage"(x% +4 "core" %m z z Z  + "collection"'y9 +3 "core" 9 +2 "processing"%z9 +3 "core" 9 +3502 #t-> SE.down +2 .SE.seek :down +2 "storage"({'g +3 "core" ' + "storage"(|% +4 "core" %m x n  +842 #t-> SC.home.to :home +2 .SC.reconfigure :loose +2 "storage"($.(\ 1~b +2 .tSC.home.seek :home +2 "storage"(}( +343 "core" ( +2 "storage"(~& +4 "core" & 5 N   +431 #t-> SC.to 1 +2 .SC.seek 1 +2 "storage"(( +64 "core" ( + "storage"(& +4 "core" & 7 % e  +4975 "Can"}\ Cz< +1939 #t-> CC.home.to :home +2 .CC.reconfigure :default +2 "collection"'$x2 ^22b +3 .tCC.home.seek :home + "collection"'( +240 "core" ( +2 "collection"'& +4 "core" & n h4\  +610 #t-> CC.loadFlush + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'& +3 "core" & n h2\  +2 "manipulator"&& +4 "core" &-  [ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(-w +3 "core" ( +2 "manipulator"& & +3 "core" &- w [ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &- ? [ +2 .tForearm.seek :garage +2 "manipulator"& 'π +107 "core" ' +2 .tHand.close + "manipulator"&/ +52 "core" / +2 "manipulator"&& +4 "core" &- { [ + "manipulator"&% +4 "core" % ϒh u +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +161 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&( +307 "core" ( +2 "manipulator"&& +3 "core" & P e +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & e +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'ш +107 "core" ' + "manipulator"&& +4 "core" & b e +2 "manipulator"&% +4 "core" %} T + "collection"'& +4 "core" & n j*\  +2 .tCC.seek :open +2 "collection"'( +139 "core" ( +2 "collection"'& +6 "core" &w l g0\  +2 .tCC.seek :closed +2 "collection"'(Q +4 "core" &w m h>\  +7 &J l hN\ %g +9 &dW m hL\ 8 +10 & l fE\ M +9 &uY k hK\ O +9 &7] j eH\ O +10 &\\ m hQ\ N +9 &W l gJ\ O +10 &Z k gL\ N +9 & ?] k eK\ O +9 &"\\ m fJ\ O +10 &#Y l gM\ O +9 &%[ j eN\ N +9 &'HY j fL\ N +10 &)\ Y l eI\ N +9 &*\\ k gQ\ O +10 &,Y k dQ\ O +9 &.OX j fR\ O +9 &0W j dR\ N +10 &1Y j eL\ N +9 &3W l gS\ O +9 &5W\\ k cT\ O +10 &7Y j cU\ O +9 &8X l eT\ N +10 &:Y k dT\ N +9 &<`\\ k cT\ N +9 &>!\\ k dR\ O +10 &?\\ k dR\ N +9 &AX k eT\ O +9 &Cf` o jQ\ O +10 &E'` w sR\ O +9 &Ff }S\ P +10 &Hm b\ Q +9 &Jc{ V\ S +9 &L! Q\ T +10 &M\ ^\ W +9 &O\ \ \ ^\ W +9 &PT\ \ ^\ *~ +10 &Qxx\ \ _\ ? +8 ( +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 4/26 samples, on/off torque 1.68 + "collection"'& +5 "core" &Q|<\ \ d\ ; + &Q|<\ \ b\ ; + .tHand.open + "manipulator"& 1 +60 "core" 1 +2 "manipulator"&!% +4 "core" % } } +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&"' ] +144 "core" ' +2 "collection"'#& +4 "core" &Q|;\ \ p\ ; +925 #t-> CC.unloadFlush +2 #Garaging FlushPuck in Collection Clamp +2 "manipulator"&$& +3 "core" & e +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&%( +3 "core" ( + "manipulator"&&& +4 "core" & } e +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &'& +3 "core" & m e +2 .tForearm.seek CC +2 "manipulator"&('ш +92 "core" ' +2 .tHand.close + "manipulator"&)/ +55 "core" / +2 .tCC.seek :open +2 "collection"'*( +365 "core" ( + "manipulator"&+& +4 "core" & e +2 "manipulator"&,% +3 "core" % x " +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&-' ] +146 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&.(-w +276 "core" ( +2 "manipulator"&/& +4 "core" &-|  i + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &0& +2 "core" &-| i +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&1'π +107 "core" ' +2 .tHand.open +2 "manipulator"&31 +62 "core" 1 + "manipulator"&\ % +4 "core" % ϊe n  N +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&4' ] +160 "core" ' +22574 #t-> exit +7 #mEXIT @1668736270.55PST @1668736278.40PST = =mMAIN_scheduler =tMAIN @PST1668736280.21 #"core_reset"Sent BREAK +2 #t@58563 sendCRC with ifg=0x20, ie=0x7F + #@60398 sendCRC with ifg=0x08, ie=0x5F + #@15842 idle with ifg=0x84, ie=0x75 #@16515 select with ifg=0x10, ie=0xF5 + #@17149 receive with ifg=0x10, ie=0xFD + #@17784 receive with ifg=0x10, ie=0xFD #@18418 receive with ifg=0x10, ie=0xFD + #@18746 receive with ifg=0x80, ie=0xFD #@6868 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +9 #ESP2 v3.42 I2C Gateway v3.20 for core bus +235 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +381 "Can"w\ F + w\ F2 #tPolling Can every 10:00 +7 #Cleanly exited at 17:51:10PST17-Nov-22 +2559 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' + ' +3 "core"  +2 "processing"% + % +3 "core"  +4 "collection"' 9\ +3 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %Z m f0\  +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +3 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %ٽ*\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %ޠ+' h\ +2 .tSS.configure :default +2 "sampler")#.0X Hand.open +2 .Hand.open + "manipulator"&31 +26 "core" 1 +1007 #t-> CC.loadFlush +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'4& +3 "core" & l h2\ +2 "manipulator"&5& +5 "core" &-| B i + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&6(-w +3 "core" ( +2 "manipulator"&7& +4 "core" &-| $ i + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &8& +3 "core" &-|  i +2 .tForearm.seek :garage + "manipulator"&9'π +109 "core" ' + .tHand.close +2 "manipulator"&:/ +64 "core" / + "manipulator"&;& +4 "core" &-| } b i +2 "manipulator"&<% +3 "core" % υq   +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&=' ] +157 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&>( +274 "core" ( +2 "manipulator"&?& +4 "core" & y & + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +3 "core" &  & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&A'ш +101 "core" ' + "manipulator"&B& +4 "core" & [ & +2 "manipulator"&C% +3 "core" %я  +2 "collection"'D& +4 "core" & n e3\ +2 "collection"'E& +4 "core" & m h)\ +2 .tCC.seek :closed +2 "collection"'F(R +5 "core" & m i.\  +9 &1~ n f3\ *x +9 &a k e2\ > +9 &Rv k e2\ N +10 &Y l e3\ O +9 &W m f4\ O +9 &X k e2\ O +10 &XZ j f5\ O +9 &Z j c1\ N +10 & Z l e1\ N +9 &"Y m e1\ N +9 &$`^ j e4\ O +10 &&#Y j f3\ N +9 &'[ j d1\ N +9 &)Y l d3\ N +10 &+h\\ j f2\ O +9 &-*[ j d2\ O +10 &.Y j d3\ O +9 &0W k d3\ N +9 &2pZ h d4\ O +10 &42Z k e3\ O +9 &5Y j d2\ O +9 &7Y j b3\ O +10 &9yU i c2\ N +9 &;:Y k d2\ O +10 &<V i e-\ N +9 &>\\ i d1\ O +9 &@\\ j b0\ N +10 &BBW i c-\ O +9 &D\\ r k1\ O +9 &Ea | s3\ O +10 &Gg 1\ P +9 &ICr -\ Q +10 &J (\ S +9 &L 1\ U +9 &Nu\ \ 0\ X +10 &P8\ \ 2\ X +9 &Qz\ \ 2\ / +9 &R(y\ \ .\ 9 +10 ( +2 "collection"'E& +3 #tCollection Clamp onSpring/offSpring for 4/25 samples, on/off torque 1.74 + "collection"'G& +5 "core" &R$\ \ 1\ 3 + &R$\ \ -\ 3 + .tHand.open + "manipulator"&H1 +57 "core" 1 + "manipulator"&I% +4 "core" % я ^ B +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&J' ] +160 "core" ' +2 "collection"'K& +4 "core" &R$\ \ "\ 3 +1033 #t-> CC.unloadFlush +2 #Garaging FlushPuck in Collection Clamp +2 "manipulator"&L& +3 "core" & a & +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&M( +3 "core" ( + "manipulator"&N& +5 "core" & & + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &O& +3 "core" & & +2 .tForearm.seek CC +2 "manipulator"&P'ш +89 "core" ' + .tHand.close +2 "manipulator"&Q/ +58 "core" / + .tCC.seek :open +2 "collection"'R( +372 "core" ( + "manipulator"&S& +4 "core" &  & +2 "manipulator"&T% +3 "core" % ђ @ * +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&U' ] +145 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&V(-w +284 "core" ( + "manipulator"&W& +4 "core" &-v X k +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &X& +3 "core" &-v k +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&Y'π +111 "core" ' +2 .tHand.open +2 "manipulator"&Z1 +56 "core" 1 + "manipulator"&[% +4 "core" % πM / +37 .tForearm.reconfigure :loose +9 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&\\' ] +154 "core" ' +1407 #t-> exit +6 #mEXIT @1668736393.36PST @1668736485.25PST = =tMAIN =mMAIN_scheduler @PST1668736487.09 #"core_reset"Sent BREAK +2 #t@16082 sendCRC with ifg=0x20, ie=0x7F + #@17917 sendCRC with ifg=0x08, ie=0x5F + #@8862 idle with ifg=0x84, ie=0x75 + #@9534 select with ifg=0x10, ie=0xF5 #@10168 receive with ifg=0x10, ie=0xFD + #@10802 receive with ifg=0x10, ie=0xFD + #@11437 receive with ifg=0x10, ie=0xFD #@11765 receive with ifg=0x80, ie=0xFD + #@59703 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +9 #ESP2 v3.42 I2C Gateway v3.20 for core bus +236 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +388 "Can"z\ Er + z\ Er9 + #tPolling Can every 10:00 +6 #Cleanly exited at 17:53:13PST17-Nov-22 +787 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +3 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %Z m h1\  +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +4 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %ٽ\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %ޠ*% i\ + .tSS.configure :default +3 "sampler")#.0X CC.home.to :home +3 .CC.reconfigure :default +2 "collection"'$x2 ^22b +2 .tCC.home.seek :home +2 "collection"'3( +240 "core" ( + "collection"'4& +4 "core" & o f#\  +852 #t-> Hand.open + .Hand.open +2 "manipulator"&51 +24 "core" 1 +482 #t-> CC.loadFlush +3 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'6& +4 "core" & m i\  + "manipulator"&7& +4 "core" &-v k +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&8(-w +2 "core" ( +2 "manipulator"&9& +4 "core" &-v ~ k + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &:& +3 "core" &-v k +2 .tForearm.seek :garage + "manipulator"&;'π +107 "core" ' +2 .tHand.close + "manipulator"&% +3 "core" % ϊs "  +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&?' ] +168 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&@( +303 "core" ( + "manipulator"&A& +4 "core" & x +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &B& +2 "core" & x +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&C'ш +96 "core" ' + "manipulator"&D& +4 "core" &  x +2 "manipulator"&E% +4 "core" %я  + "collection"'F& +4 "core" & m f"\  +2 .tCC.seek :open +2 "collection"'G( +138 "core" ( +2 "collection"'H& +5 "core" &i k e1\  +2 .tCC.seek :closed +2 "collection"'I(U +4 "core" &i l d.\  +7 &~I l e/\ $f +10 &NU k e$\ 8 +9 &~ l e*\ M +9 &_Z m d-\ N +10 &!Y l f-\ N +9 &[ j f-\ N +10 &[ j f+\ O +9 &fZ j e-\ O +9 & )W k g-\ N +10 &!W k e/\ O +9 &#Y l f-\ O +9 &%n] i e)\ O +10 &'0Z i b+\ O +9 &(V j d$\ N +10 &*[ k f,\ N +9 &,wZ j d*\ N +9 &.9] k e.\ N +10 &/\\ k f!\ N +9 &1\\ l e*\ N +9 &3W h d(\ N +10 &5@\\ k e,\ O +9 &7[ i d-\ O +10 &8[ j c,\ N +9 &:Y i e+\ N +9 & Z j e-\ N +9 &?\\ i b)\ N +9 &A[ i c \ N +10 &CP] m i\ O +9 &E] x p"\ O +10 &Fh z\ P +9 &Hl .\ Q +9 &JNx -\ R +10 &L $\ T +9 &M \ W +9 &O\ \ \ X +10 &QF\ \ \ X +9 &S\ \ \ Y +10 &Tu^\ \ \ 'y +9 &T\ !\ \ B +9 ( +3 "collection"'H& +2 #tCollection Clamp onSpring/offSpring for 6/26 samples, on/off torque 1.78 +2 "collection"'J& +4 "core" &UL\ \ \ > + &UL\ \ "\ > +2 .tHand.open + "manipulator"&K1 +62 "core" 1 +2 "manipulator"&L% +4 "core" % я ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&M' ] +160 "core" ' + "collection"'N& +5 "core" &UL\ "\ \ > +645 #t-> CC.unloadFlush + #Garaging FlushPuck in Collection Clamp +2 "manipulator"&O& +3 "core" & x +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&P( +3 "core" ( +2 "manipulator"&Q& +4 "core" & / x + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &R& +3 "core" & & x +2 .tForearm.seek CC +2 "manipulator"&S'ш +88 "core" ' +2 .tHand.close + "manipulator"&T/ +60 "core" / +2 .tCC.seek :open +2 "collection"'U( +383 "core" ( +2 "manipulator"&V& +4 "core" & x +2 "manipulator"&W% +3 "core" % љ d 4 +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&X' ] +152 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +37 "manipulator"&Y(-w +270 "core" ( +2 "manipulator"&Z& +4 "core" &-   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &[& +3 "core" &-  +6 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&\\'π +112 "core" ' +2 .tHand.open + "manipulator"&]1 +60 "core" 1 + "manipulator"&^% +5 "core" % φL 0 + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&_' ] +158 "core" ' +5493 #t-> 10.times{CC.loadFlush; delay 1; CC.unloadFlush; delay 1} +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'`& +4 "core" & l f#\ +2 "manipulator"&a& +4 "core" &-   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&b(-w +5 "core" ( + "manipulator"&c& +4 "core" &- +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &d& +2 "core" &- +2 .tForearm.seek :garage +2 "manipulator"&e'π +109 "core" ' +2 .tHand.close +2 "manipulator"&f/ +53 "core" / + "manipulator"&g& +5 "core" &- s + "manipulator"&h% +4 "core" % σj V  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&i' ] +179 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&j( +270 "core" ( +2 "manipulator"&k& +5 "core" & $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &l& +3 "core" &  $ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&m'ш +94 "core" ' +2 "manipulator"&n& +4 "core" & 6 $ + "manipulator"&o% +5 "core" %э  + "collection"'p& +4 "core" & j h"\ +2 "collection"'q& +5 "core" & m f2\ +2 .tCC.seek :closed +2 "collection"'r(U +5 "core" & m g1\ +7 &6 l h,\ $d +10 &}T n g1\ 7 +9 &~ k f.\ L +9 &] l e%\ O +10 &EZ l f1\ O +9 & W l e2\ N +9 &\\ k f.\ N +10 &W l d1\ O +9 & M[ k g2\ O +10 &"W l g%\ N +9 &#Z j e(\ N +9 &%] i d.\ O +10 &'U\\ k e%\ O +9 &)W l d1\ N +9 &*V l e1\ N +10 &,Y j g0\ O +9 &.]Z i d3\ O +10 &0 \\ i d,\ N +9 &1Z k c'\ O +9 &3Y j d1\ O +10 &5e[ i b#\ O +9 &7(Y j b#\ N +9 &8X j e$\ N +10 &:Z i c*\ N +9 &0Y h c'\ N +9 &?U i d+\ N +9 &AW h b"\ N +10 &CuZ m h&\ O +9 &E7^ t q&\ O +9 &Fe {"\ P +10 &Hk \ Q +9 &Js| "\ R +10 &L/ )\ T +9 &M \ W +9 &O\ \ \ W +10 &Ql\ \ \ W +9 &S(\ \ \ Y +9 &TL\ \ !\ / +10 &Tl\ \ \ A +5 ( +2 "collection"'q& +4 #tCollection Clamp onSpring/offSpring for 6/25 samples, on/off torque 1.79 +6 "collection"'s& +5 "core" &TX\ \  \ A + &TX\ \ \ A +6 .tHand.open + "manipulator"&t1 +56 "core" 1 +2 "manipulator"&u% +4 "core" % э +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&v' ] +149 "core" ' + .tdelay 1 second +102 #Garaging FlushPuck in Collection Clamp +2 "manipulator"&w& +3 "core" & d $ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&x( +3 "core" ( + "manipulator"&y& +4 "core" & \ $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &z& +3 "core" & 2 $ +2 .tForearm.seek CC +2 "manipulator"&{'ш +96 "core" ' +2 .tHand.close + "manipulator"&|/ +64 "core" / +2 .tCC.seek :open + "collection"'}( +384 "core" ( +2 "manipulator"&~& +4 "core" & $ + "manipulator"&% +4 "core" % ј a +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +153 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(-w +273 "core" ( +2 "manipulator"&& +4 "core" &- + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &- +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&'π +112 "core" ' + .tHand.open +2 "manipulator"&1 +59 "core" 1 +2 "manipulator"& % +4 "core" % }N ~ +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"& ' ] +158 "core" ' +2 .tdelay 1 second +102 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"' & +3 "core" & m g \ +2 "manipulator"&& +4 "core" &- U +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(-w +3 "core" ( +2 "manipulator"&& +4 "core" &-  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &-  +2 .tForearm.seek :garage +2 "manipulator"&'π +111 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / + "manipulator"&& +4 "core" &- u +2 "manipulator"&% +4 "core" % ϋc  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +162 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek CC +2 "manipulator"&( +271 "core" ( +2 "manipulator"&& +4 "core" & & + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'ш +96 "core" ' + "manipulator"&& +5 "core" & # & + "manipulator"& % +4 "core" %ѐ { ( +2 "collection"'!& +3 "core" & l g'\ +3 "collection"'"& +5 "core" & m f%\ +2 .tCC.seek :closed + "collection"'#(U +5 "core" & m f$\ +7 &6 n g#\ #c +9 &zU n e#\ 7 +9 &~ l f*\ L +10 &Y l h*\ N +9 &E\\ l h \ N +9 &[ k d\ N +10 &Y k e!\ O +9 &W l e"\ N +10 & MX j e\ N +9 &"W j g!\ N +9 &#Y k d\ N +10 &%\\ k e$\ N +9 &'UW j d\ N +9 &)W i e&\ N +10 &*Z i e"\ N +9 &,W i b\ N +10 &.]U k d'\ N +9 &0Z l e"\ N +9 &1Y j c"\ O +10 &3W i e\ N +9 &5e[ j f+\ N +9 &7'] k d\ N +10 &8\\ k f$\ N +9 &:Y j e\ N +9 &.Y k c#\ O +9 &?X j c"\ N +10 &AY j d#\ N +9 &CuY n f#\ N +9 &E6] w q!\ O +10 &Fe z$\ O +9 &Hk "\ Q +10 &Jsy \ R +9 &L. \ T +9 &M \ W +10 &O\ \ \ W +9 &Qj\ \ \ \ X +9 &S)\ \ !\ Y +10 &TM\ \ \ 2 +9 &T:\ \ \ 6 +5 ( +2 "collection"'"& +4 #tCollection Clamp onSpring/offSpring for 6/25 samples, on/off torque 1.80 +2 "collection"'$& +4 "core" &T*\ !\ \ 6 + &T*\ !\ \ 6 + .tHand.open +2 "manipulator"&%1 +56 "core" 1 +2 "manipulator"&&% +4 "core" % я i  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&'' ] +161 "core" ' +3 .tdelay 1 second +102 #Garaging FlushPuck in Collection Clamp + "manipulator"&(& +3 "core" & c & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&)( +3 "core" ( + "manipulator"&*& +4 "core" & & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &+& +3 "core" & & +2 .tForearm.seek CC +2 "manipulator"&,'ш +88 "core" ' +2 .tHand.close + "manipulator"&-/ +57 "core" / + .tCC.seek :open +2 "collection"'.( +384 "core" ( +2 "manipulator"&/& +4 "core" & e & + "manipulator"&0% +4 "core" % ѓ  < +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&1' ] +155 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&2(-w +273 "core" ( + "manipulator"&4& +5 "core" &-~ A  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\ & +3 "core" &-~ `  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&5'π +116 "core" ' + .tHand.open +2 "manipulator"&61 +53 "core" 1 +2 "manipulator"&7% +4 "core" % I   +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&9' ] +156 "core" ' +2 .tdelay 1 second +102 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"':& +3 "core" & m g\ +2 "manipulator"&<& +4 "core" &- 2  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&=(-w +3 "core" ( + "manipulator"&>& +4 "core" &-  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &- p  +2 .tForearm.seek :garage +2 "manipulator"&'π +110 "core" ' + .tHand.close +2 "manipulator"&;/ +61 "core" / +2 "manipulator"&8& +4 "core" &- z  +2 "manipulator"&A% +3 "core" % ϒk t  +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&B' ] +158 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&D( +293 "core" ( +2 "manipulator"&E& +4 "core" & Q  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &F& +3 "core" & ~  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&?'ш +103 "core" ' + "manipulator"&3& +5 "core" &   + "manipulator"&G% +4 "core" %ѐ ! +2 "collection"'J& +3 "core" & n f1\ +3 "collection"'K& +4 "core" & l h'\ +2 .tCC.seek :closed +2 "collection"'L(U +4 "core" & n g&\ +8 &6 m g$\ $d +9 &xT~ l e&\ 7 +9 &~ l h+\ L +10 &] l d/\ N +9 &B\\ j f&\ N +9 &Z k f*\ O +10 &Y j d*\ N +9 &X l e%\ N +9 & JW k f&\ N +10 &" [ j d,\ N +9 &#W l e2\ N +10 &%\\ l d+\ N +9 &'R\\ k c%\ N +9 &)Z j e3\ O +10 &*Y k d"\ N +9 &,X j b%\ N +9 &.ZY i d'\ N +10 &0Y j e'\ N +9 &1[ k f"\ N +10 &3W k f&\ N +9 &5aZ j e#\ O +9 &7#Z h e$\ O +10 &8Y i d&\ N +9 &:Y l e#\ N +9 &+Y j b+\ O +9 &?X i d(\ N +10 &AX k c$\ N +9 &Cq[ o g$\ O +9 &E3[ v p\ O +10 &Fc {!\ P +9 &Hj #\ P +9 &Joy #\ R +10 &L,  \ T +9 &M \ W +10 &O\ \ \ W +9 &Qg\ \ \ X +9 &S%\ \ $\ Y +10 &TN\ \ #\ 1 +9 &T\ \ "\ J +9 ( +2 &T]\ \ !\ G + "collection"'K& +3 #tCollection Clamp onSpring/offSpring for 6/25 samples, on/off torque 1.79 +2 "collection"'H& +4 "core" &T\\\ \ \ G +2 .tHand.open + "manipulator"&N1 +53 "core" 1 +2 "manipulator"&C% +4 "core" % ѐ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&O' ] +158 "core" ' +2 .tdelay 1 second +101 #Garaging FlushPuck in Collection Clamp +2 "manipulator"&Q& +3 "core" &   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&R( +3 "core" ( +2 "manipulator"&T& +3 "core" & $  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +3 "core" &  +2 .tForearm.seek CC + "manipulator"&M'ш +100 "core" ' +2 .tHand.close +2 "manipulator"&I/ +62 "core" / +3 .tCC.seek :open +2 "collection"'V( +389 "core" ( + "manipulator"&W& +4 "core" &   +2 "manipulator"&S% +4 "core" % ћ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +58 .tForearm.home.seek :retract +11 "manipulator"&Z' ] +166 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&[(-w +279 "core" ( +2 "manipulator"&P& +4 "core" &-w W l + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &]& +3 "core" &-w l +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&^'π +108 "core" ' + .tHand.open + "manipulator"&X1 +60 "core" 1 +2 "manipulator"&\\% +4 "core" % σQ n  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&`' ] +167 "core" ' +2 .tdelay 1 second +102 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'a& +3 "core" & m g\ +2 "manipulator"&c& +3 "core" &-w r l +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&d(-w +3 "core" ( + "manipulator"&f& +4 "core" &-w S l +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &g& +3 "core" &-w l +2 .tForearm.seek :garage +2 "manipulator"&h'π +103 "core" ' +2 .tHand.close + "manipulator"&Y/ +57 "core" / + "manipulator"&_& +4 "core" &-w  l +2 "manipulator"&e% +4 "core" % ϋk c  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&k' ] +171 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek CC + "manipulator"&l( +268 "core" ( + "manipulator"&b& +4 "core" & V Q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &n& +3 "core" & Q +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&o'ш +95 "core" ' +2 "manipulator"&p& +4 "core" & c Q +2 "manipulator"&i% +4 "core" %ю . + "collection"'U& +5 "core" & m h\ +2 "collection"'s& +4 "core" & o f\ +2 .tCC.seek :closed +2 "collection"'t(U +4 "core" & k d+\  +9 &1~ o f$\ *x +9 &b j g+\ > +9 &Uv l f&\ N +10 &X l e*\ N +9 &[ k f*\ N +10 &Y k f#\ N +9 &\\Z l e'\ N +9 &V m d\ N +10 & Z k f%\ N +9 &"Y l f)\ N +9 &$dZ m e&\ N +10 &&&] j e-\ N +9 &'Z k c+\ N +10 &)Z i c'\ N +9 &+lX k d1\ N +9 &-.Z j e-\ N +10 &.Y i f+\ N +9 &0Y j d$\ N +9 &2uZ j d*\ N +10 &48X j c&\ N +9 &5Z h c%\ N +10 &7[ j b+\ N +9 &9Y l c*\ M +9 &;@Y i b.\ N +10 &=W k d&\ M +9 &>Y k b(\ N +9 &@X i e"\ N +10 &BHY k c%\ N +9 &D ] o j%\ N +10 &Ec y t(\ O +9 &Gg '\ O +9 &IGn "\ Q +10 &K \ R +9 &L \ U +9 &Nx\  \ X +10 &P<\ \ \ W +9 &Q\ \ #\ X +10 &S\ \ /\ E +9 &TC\ \ .\ c +9 &T0\ \ &\ 6 +3 ( + "collection"'s& +3 #tCollection Clamp onSpring/offSpring for 6/25 samples, on/off torque 1.84 +2 "collection"'u& +4 "core" &T.\ \ \ 6 +2 .tHand.open + "manipulator"&q1 +55 "core" 1 +2 "manipulator"&w% +4 "core" % ю  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&y' ] +153 "core" ' +3 .tdelay 1 second +102 #Garaging FlushPuck in Collection Clamp + "manipulator"&z& +4 "core" & F Q +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&m( +4 "core" ( +2 "manipulator"&|& +3 "core" & Q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +3 "core" & Q +2 .tForearm.seek CC +2 "manipulator"&v'ш +95 "core" ' +2 .tHand.close + "manipulator"&r/ +57 "core" / + .tCC.seek :open +2 "collection"'~( +384 "core" ( +2 "manipulator"&& +4 "core" &  Q + "manipulator"&{% +4 "core" % є   +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +151 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&(-w +273 "core" ( + "manipulator"&x& +4 "core" &-  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &-  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"& 'π +113 "core" ' + .tHand.open + "manipulator"&1 +60 "core" 1 +2 "manipulator"& % +4 "core" % τN +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +156 "core" ' +2 .tdelay 1 second +102 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'& +2 "core" & n g*\ +3 "manipulator"&& +4 "core" &- +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(-w +10 "core" ( +2 "manipulator"&& +4 "core" &-   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &- ?  +2 .tForearm.seek :garage +2 "manipulator"&'π +111 "core" ' + .tHand.close +2 "manipulator"&/ +52 "core" / + "manipulator"& & +4 "core" &- i  +2 "manipulator"&% +4 "core" % ώd + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +160 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&( +267 "core" ( +2 "manipulator"&& +4 "core" & * G + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  G +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"& 'ш +97 "core" ' +3 "manipulator"&!& +4 "core" & G +2 "manipulator"&% +4 "core" %ы o +2 "collection"'}& +3 "core" & l h-\ +3 "collection"'$& +4 "core" & l h!\ +2 .tCC.seek :closed +2 "collection"'%(U +4 "core" & k f.\  +9 &1~ l h-\ *x +10 &b l g2\ > +9 &Sw l g#\ N +9 &Z k c.\ N +10 &W l f(\ N +9 &Y m f0\ N +10 &YZ k e,\ N +9 &[ k e+\ N +9 & Y k c(\ N +10 &"W l f'\ N +9 &$bY k e,\ N +9 &&#Z k c2\ N +10 &'[ k e'\ O +9 &)Y j c-\ N +10 &+jY j d*\ N +9 &--Y i c%\ N +9 &.Y j d&\ N +10 &0W h d(\ N +9 &2sZ k d*\ N +9 &46Y k e%\ M +10 &5Z j f*\ N +9 &7Z j b'\ N +9 &9yX k d$\ N +10 &;<Y j c.\ N +9 &<W k c$\ N +10 &>W j e$\ N +9 &@[ j c%\ N +9 &BEY i c%\ N +10 &D\\ o g \ N +9 &Eb y t!\ O +10 &Ge %\ P +9 &IEm %\ P +9 &K %\ R +10 &L %\ T +9 &Nw\  !\ W +9 &P9\ \ %\ W +10 &Q\ \ !\ X +9 &S\ \ \ E +9 &TC\ \ \ b +10 &T*\ !\ \ 5 +2 ( +2 "collection"'$& +2 #tCollection Clamp onSpring/offSpring for 6/25 samples, on/off torque 1.84 +7 "collection"'&& +3 "core" &T*\ \ #\ 5 +2 .tHand.open +6 "manipulator"&"1 +56 "core" 1 +2 "manipulator"&(% +4 "core" % ы +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&*' ] +150 "core" ' +2 .tdelay 1 second +102 #Garaging FlushPuck in Collection Clamp + "manipulator"&+& +3 "core" &  G +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&( +3 "core" ( +2 "manipulator"&-& +4 "core" &  G + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  G + .tForearm.seek CC +2 "manipulator"&''ш +96 "core" ' + .tHand.close +2 "manipulator"&#/ +62 "core" / +2 .tCC.seek :open +2 "collection"'/( +384 "core" ( +2 "manipulator"&0& +4 "core" &  G + "manipulator"&,% +4 "core" % ћ +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&4' ] +151 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&\ (-w +283 "core" ( + "manipulator"&)& +5 "core" &-{  s + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &6& +3 "core" &-{ s +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&7'π +108 "core" ' + .tHand.open +2 "manipulator"&11 +55 "core" 1 + "manipulator"&:% +5 "core" % ψf m ' K + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&<' ] +159 "core" ' +2 .tdelay 1 second +102 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'>& +3 "core" & n e\ +2 "manipulator"&& +4 "core" &-{ $ s + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&5(-w +3 "core" ( + "manipulator"&;& +5 "core" &-{ # s + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &8& +3 "core" &-{ > s +2 .tForearm.seek :garage + "manipulator"&A'π +108 "core" ' + .tHand.close +2 "manipulator"&2/ +59 "core" / +3 "manipulator"&9& +4 "core" &-{ s +2 "manipulator"&% +4 "core" % ϐn  + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&E' ] +172 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&F( +282 "core" ( +2 "manipulator"&=& +4 "core" & 8 ) + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &3& +3 "core" & b ) +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&G'ш +100 "core" ' + "manipulator"&J& +4 "core" &  ( +2 "manipulator"&B% +4 "core" %щ { > + "collection"'.& +4 "core" & m f.\ +3 "collection"'H& +6 "core" & l f.\ +2 .tCC.seek :closed +3 "collection"'N(U +3 "core" & k g1\ +6 & m f/\ 5 +9 &!Fy m f+\ 0 +9 &Fp k e/\ E +9 &d m h,\ O +10 &Z k e&\ N +9 &k[ k e+\ N +10 &.Y k f.\ N +9 &[ j e0\ O +9 &X k g.\ N +10 &!sZ i c/\ N +9 &#6Y k g+\ N +9 &$Z j d,\ N +10 &&_ k dE\ N +9 &({Z k d9\ N +10 &*?U k c1\ N +9 &,W h e&\ N +9 &-Y j d'\ N +10 &/Y l d%\ N +9 &1FV j c%\ N +9 &3W j d*\ N +10 &4Y i b*\ N +9 &6Z j c&\ N +10 &8MY i c*\ N +9 &:W j c$\ N +9 &;X g c*\ N +10 &=W h d&\ N +9 &?VY k a*\ N +9 &AW i c&\ N +10 &BY j d*\ N +9 &D\\ q k)\ O +10 &F[b } t-\ O +9 &Hj 1\ P +9 &Ir  \ Q +10 &K  \ S +9 &MO \ V +9 &O \ \ \ W +10 &P\ \ \ X +9 &R\ \ %\ X +10 &T3y\ \ \ 2 +9 &T%\ \ #\ ^ +9 &Tg\ \ \ H +2 ( +2 "collection"'H& +4 #tCollection Clamp onSpring/offSpring for 5/26 samples, on/off torque 1.81 + "collection"'C& +3 "core" &Tk\ \ \ H +2 .tHand.open +2 "manipulator"&K1 +52 "core" 1 + "manipulator"&Q% +5 "core" % щ R P +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&T' ] +148 "core" ' +2 .tdelay 1 second +102 #Garaging FlushPuck in Collection Clamp +2 "manipulator"&@& +3 "core" &  ( +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&?( +3 "core" ( + "manipulator"&I& +4 "core" &  ( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &D& +3 "core" &  ( +2 .tForearm.seek CC +2 "manipulator"&O'ш +94 "core" ' + .tHand.close +2 "manipulator"&L/ +53 "core" / +2 .tCC.seek :open +2 "collection"'W( +387 "core" ( + "manipulator"&S& +4 "core" &  ( +2 "manipulator"&M% +3 "core" % ё  +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&P' ] +151 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&](-w +289 "core" ( +2 "manipulator"&R& +44 "core" &- Z b +11 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &X& +3 "core" &-  b +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&\\'π +115 "core" ' + .tHand.open +2 "manipulator"&Z1 +62 "core" 1 +2 "manipulator"&a% +4 "core" % υN  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract +2 "manipulator"&c' ] +173 "core" ' +2 .tdelay 1 second +102 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'f& +3 "core" & m f\ +2 "manipulator"&g& +4 "core" &- b +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&^(-w +3 "core" ( +2 "manipulator"&Y& +4 "core" &- w b +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &_& +4 "core" &- b + .tForearm.seek :garage +2 "manipulator"&e'π +107 "core" ' +2 .tHand.close +2 "manipulator"&[/ +57 "core" / +3 "manipulator"&`& +4 "core" &- E b +2 "manipulator"&h% +3 "core" % ϑa +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&b' ] +164 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&n( +276 "core" ( +2 "manipulator"&d& +4 "core" & / # + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &p& +3 "core" &  # +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&i'ш +101 "core" ' +2 "manipulator"&U& +4 "core" &  2 "} +2 "manipulator"&k% +3 "core" %ы  +2 "collection"'V& +4 "core" & l d1\ +2 "collection"'u& +5 "core" & l e/\ +2 .tCC.seek :closed +2 "collection"'q(U +4 "core" & m g2\ +7 &6 l f+\ #b +9 &vT l f'\ 7 +10 & m e$\ L +9 &~[ j f&\ O +9 &BZ m d*\ N +10 &Y j d+\ N +9 &Y k g)\ N +9 &Y l e%\ N +10 & IZ j d-\ N +9 &" V k e%\ N +10 &#W j f*\ N +9 &%Z k c2\ N +9 &'QZ k d'\ N +10 &)Y l d2\ N +9 &*X j e'\ N +9 &,W j c'\ N +10 &.YY h d%\ N +9 &0X j e*\ N +10 &1Y i d&\ N +9 &3W k d)\ N +9 &5bY i c&\ N +10 &7#Z h a3\ N +9 &8Y i d*\ N +9 &:W j b*\ N +10 &-X j b'\ N +10 &?[ i c2\ N +9 &AW h c2\ N +9 &CsZ m g+\ N +10 &E2] v r0\ O +9 &Fc }&\ O +9 &Hj 0\ P +10 &Joy -\ R +9 &L+ \ T +10 &M \ V +9 &O\ \ \ \ X +9 &Qe\ \  \ X +10 &S%\ \ $\ Y +9 &TN\ \ "\ 2 +9 &T9\ \ \ 5 +6 ( + "collection"'u& +4 #tCollection Clamp onSpring/offSpring for 6/25 samples, on/off torque 1.81 +2 "collection"'w& +4 "core" &T*\ \ *\ 5 + &T*\ \ &\ 5 +2 .tHand.open + "manipulator"&s1 +56 "core" 1 +2 "manipulator"&z% +4 "core" % ы { +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&|' ] +155 "core" ' +2 .tdelay 1 second +102 #Garaging FlushPuck in Collection Clamp + "manipulator"&j& +4 "core" &\  "| +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&o( +33 "core" ( +2 "manipulator"&r& +4 "core" & D z + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &l& +3 "core" & z +2 .tForearm.seek CC +2 "manipulator"&y'ш +97 "core" ' + .tHand.close +2 "manipulator"&t/ +62 "core" / +2 .tCC.seek :open +2 "collection"'( +384 "core" ( +2 "manipulator"&{& +4 "core" &  z + "manipulator"&v% +4 "core" % љ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&x' ] +161 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(-w +277 "core" ( +2 "manipulator"&m& +4 "core" &- v +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &-  v +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"& 'π +106 "core" ' +2 .tHand.open + "manipulator"&1 +52 "core" 1 + "manipulator"&% +5 "core" % πQ x ?  + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +162 "core" ' +2 .tdelay 1 second +102 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'& +3 "core" & l g%\ +2 "manipulator"&& +4 "core" &- M v +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"& (-w +2 "core" ( +2 "manipulator"&& +4 "core" &- R v + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &-  v +2 .tForearm.seek :garage +2 "manipulator"&'π +110 "core" ' + .tHand.close +2 "manipulator"&/ +54 "core" / +2 "manipulator"&& +4 "core" &- 2 v +2 "manipulator"&% +3 "core" % ϓk   +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +169 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&( +266 "core" ( +2 "manipulator"&& +4 "core" & \\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &!& +3 "core" & \\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'ш +101 "core" ' +2 "manipulator"&}& +4 "core" &  \\ +2 "manipulator"&% +4 "core" %ъ 8 + "collection"'~& +4 "core" & m e!\ +3 "collection"'&& +6 "core" & l e\ +2 .tCC.seek :closed + "collection"'"(U +5 "core" & m d*\ +7 &6 m f1\ #c +9 &wV k e.\ 7 +9 &~ k e1\ L +10 &W l e+\ N +9 &CZ j c.\ N +10 &U j g1\ N +9 &Y k e'\ N +9 &Y k d1\ N +10 & KZ j e\ N +9 &" X k eB\ N +9 &#W j c*\ N +10 &%Y i e/\ N +9 &'TV i f,\ N +9 &)Y j e2\ N +10 &*W i f*\ N +9 &,W k d1\ N +10 &.]W i c&\ N +9 &0Y h d%\ N +9 &1[ i e*\ N +10 &3W h c%\ N +9 &5dY i d%\ N +9 &7%Z k e1\ N +10 &8Y h b*\ N +9 &:W j a*\ N +10 &.Z h f,\ N +9 &?W i a-\ N +10 &AV h a%\ N +9 &CtZ l g%\ N +10 &E5_ v q0\ N +9 &Fc |1\ O +9 &Hi 3\ P +10 &Jqy )\ R +9 &L. (\ S +9 &M $\ W +10 &O\ \ %\ W +9 &Qg\ \ \ "\ X +9 &S'\ \ \ Y +10 &TM\ \ "\ 2 +9 &T9\ \ $\ 5 +6 ( + "collection"'&& +4 #tCollection Clamp onSpring/offSpring for 6/25 samples, on/off torque 1.81 +2 "collection"'(& +4 "core" &T*\ \ #\ 5 + &T*\ \ \ 5 +2 .tHand.open + "manipulator"&$1 +59 "core" 1 +2 "manipulator"&+% +4 "core" % ъ i & +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&-' ] +150 "core" ' +2 .tdelay 1 second +102 #Garaging FlushPuck in Collection Clamp +2 "manipulator"&& +2 "core" & \\ +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"& ( +2 "core" ( +2 "manipulator"&#& +4 "core" & ; \\ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  \\ +2 .tForearm.seek CC +2 "manipulator"&*'ш +98 "core" ' +2 .tHand.close + "manipulator"&%/ +60 "core" / +2 .tCC.seek :open + "collection"'0( +384 "core" ( +2 "manipulator"&,& +4 "core" &  \\ +2 "manipulator"&'% +3 "core" % њ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&)' ] +148 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&6(-w +273 "core" ( + "manipulator"&& +4 "core" &-|  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &1& +2 "core" &-| B +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&:'π +110 "core" ' + .tHand.open + "manipulator"&41 +54 "core" 1 + "manipulator"&>% +4 "core" % πQ   +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +156 "core" ' +2 .tdelay 1 second +102 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"';& +4 "core" & l f&\ +2 "manipulator"&8& +3 "core" &-| @ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&7(-w +2 "core" ( +2 "manipulator"&2& +4 "core" &-| + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &9& +3 "core" &-| +2 .tForearm.seek :garage + "manipulator"&'π +109 "core" ' + .tHand.close +2 "manipulator"&\ / +62 "core" / +3 "manipulator"&<& +4 "core" &-| \\ + "manipulator"&A% +5 "core" % ϒo \ + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&=' ] +161 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&3( +295 "core" ( + "manipulator"&5& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &J& +3 "core" & =  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&B'ш +98 "core" ' + "manipulator"&.& +4 "core" &   +2 "manipulator"&E% +4 "core" %т  + "collection"'/& +4 "core" & l h/\ +2 "collection"'C& +5 "core" & l f2\ +2 .tCC.seek :closed + "collection"'K(U +4 "core" & m g,\ +8 &> k f0\ $d +10 &{V m e/\ 7 +9 & i f1\ L +9 &Z k f)\ N +10 &IZ i f)\ N +9 & Y l e1\ N +9 &X k e2\ N +10 &Y i e.\ N +9 & RZ j f1\ N +10 &"W j f1\ N +9 &#Y j e2\ N +9 &%Z k d%\ N +10 &'Z\\ i d$\ N +9 &)Z j d(\ N +9 &*Y j e1\ M +10 &,W i d2\ N +9 &.a\\ h c2\ N +10 &0$Y i e.\ N +9 &1\\ h d*\ N +9 &3V i c2\ N +10 &5h] i d-\ N +9 &7*Z h c2\ N +9 &8Y i b1\ N +10 &:W h c-\ N +9 &4W i d3\ N +9 &?W i c2\ M +9 &AW j b2\ N +10 &Cx] n g)\ N +9 &E9` t q)\ O +9 &Fb |%\ O +10 &Hk 2\ P +9 &Juz &\ R +10 &L1 \ T +9 &M $\ W +9 &O\ \ #\ W +10 &Qn\ \ \ W +9 &S,\ \ (\ Y +9 &TJ\ \ *\ / +10 &Tp\ \ #\ F +5 ( +2 "collection"'C& +4 #tCollection Clamp onSpring/offSpring for 6/25 samples, on/off torque 1.80 +6 "collection"'Q& +4 "core" &Te\ \ \ F + &Te\ \ \ F +6 .tHand.open +2 "manipulator"&H1 +59 "core" 1 +2 "manipulator"&@% +4 "core" % т  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&I' ] +155 "core" ' +2 .tdelay 1 second +101 #Garaging FlushPuck in Collection Clamp +2 "manipulator"&D& +3 "core" &   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&G( +3 "core" ( +2 "manipulator"&L& +3 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +3 "core" &   +2 .tForearm.seek CC +2 "manipulator"&T'ш +96 "core" ' +3 .tHand.close + "manipulator"&N/ +56 "core" / +2 .tCC.seek :open + "collection"'S( +388 "core" ( + "manipulator"&M& +4 "core" & '  +2 "manipulator"&O% +3 "core" % ђ g  +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract + "manipulator"&R' ] +150 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&?(-w +266 "core" ( + "manipulator"&X& +4 "core" &-r  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Z& +3 "core" &-s  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&a'π +112 "core" ' +12 .tHand.open + "manipulator"&P1 +56 "core" 1 +2 "manipulator"&f% +4 "core" % πO S +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&g' ] +157 "core" ' + .tdelay 1 second +103 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'Y& +3 "core" & k i/\ +2 "manipulator"&\\& +4 "core" &-s C +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&_(-w +3 "core" ( + "manipulator"&[& +4 "core" &-s c +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &`& +2 "core" &-s  +2 .tForearm.seek :garage +2 "manipulator"&h'π +110 "core" ' + .tHand.close +2 "manipulator"&]/ +61 "core" / + "manipulator"&c& +5 "core" &-s v + "manipulator"&e% +4 "core" % όk +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract +2 "manipulator"&d' ] +158 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&p( +277 "core" ( + "manipulator"&^& +4 "core" &  ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &U& +3 "core" &  ' +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&k'ш +97 "core" ' +2 "manipulator"&V& +4 "core" &  z ' +2 "manipulator"&b% +3 "core" %ь z c +2 "collection"'W& +4 "core" & l e2\ +2 "collection"'w& +5 "core" & m f(\ +2 .tCC.seek :closed +2 "collection"'s(U +4 "core" & k f1\ +7 &6 l f.\ $d +9 &yU~ k f/\ 7 +10 &~ l g1\ L +9 &] m d%\ N +9 &EY k d1\ N +10 &Y k d1\ N +9 &X l d-\ N +9 &Y j d2\ N +10 & MY j d/\ N +9 &"W j d.\ N +10 &#W j e1\ N +9 &%Z k d(\ N +9 &'UZ k b0\ N +10 &)Y k a3\ N +9 &*W i c&\ N +9 &,W g c0\ M +10 &.]W i b.\ N +9 &0 X i b0\ N +9 &1X j d-\ N +10 &3Y h b1\ N +9 &5eY i d3\ N +10 &7&Z i c+\ N +9 &8Y i d3\ N +9 &:X i c-\ N +10 &/Z h b0\ N +9 &?V h b.\ M +10 &AW j c2\ N +9 &CuZ l g&\ N +10 &E5] u m-\ O +9 &Fb |1\ O +9 &Hi "\ P +10 &Jrz *\ R +9 &L. (\ T +10 &M 1\ W +9 &O\ \ \  \ W +9 &Qi\ \ *\ X +10 &S'\ \ \ Y +9 &TK\ \  \ 1 +9 &Tp\ \ \ F +6 ( + "collection"'w& +4 #tCollection Clamp onSpring/offSpring for 6/25 samples, on/off torque 1.81 +2 "collection"'z& +4 "core" &T\\\ \ %\ F + &T\\\ \ "\ F +2 .tHand.open + "manipulator"&u1 +53 "core" 1 +2 "manipulator"&j% +4 "core" % ь s > +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&i' ] +155 "core" ' +2 .tdelay 1 second +103 #Garaging FlushPuck in Collection Clamp + "manipulator"&r& +3 "core" &  & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&l( +3 "core" ( + "manipulator"&t& +4 "core" &  & + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &n& +3 "core" & & +2 .tForearm.seek CC +2 "manipulator"&|'ш +97 "core" ' + .tHand.close +2 "manipulator"&q/ +55 "core" / +2 .tCC.seek :open + "collection"'{( +388 "core" ( + "manipulator"&v& +4 "core" &  & +2 "manipulator"&y% +3 "core" % ќ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&m' ] +159 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(-w +287 "core" ( + "manipulator"&o& +4 "core" &-| & b +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &-| b +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&'π +106 "core" ' +2 .tHand.open + "manipulator"&x1 +54 "core" 1 + "manipulator"&% +4 "core" % ϊQ { c  +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +159 "core" ' +2 .tdelay 1 second +1792 #-> Arm.CC +2 "manipulator"&& +3 "core" &-|  b +2 "manipulator"& % +4 "core" % N :  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :CC +2 "manipulator"& ( +282 "core" ( +2 "manipulator"&& +4 "core" & G ( + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & + ( +2 .tForearm.seek CC + "manipulator"&'ш +106 "core" ' + "manipulator"&& +5 "core" &  ( + "manipulator"&% +4 "core" %э   +2542 #t-> Arm.clear + "manipulator"&& +4 "core" & ' + "manipulator"&% +4 "core" %э  +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&!' ] +145 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"& (Z +225 "core" ( + "manipulator"&}& +4 "core" &Z n 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &Z 8 +2 .tForearm.seek :clear +2 "manipulator"&~' ] +3 "core" ' + "manipulator"&& +5 "core" &Z 8 + "manipulator"&% +4 "core" % g '  +958 #t-> Arm.grab Garage +2 "manipulator"&(& +3 "core" &Z g 8 +2 "manipulator"&$% +4 "core" % g   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&+(-w +119 "core" ( + "manipulator"&&& +4 "core" &-{  n +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &-{ n +2 .tForearm.seek :garage +2 "manipulator"&#'π +107 "core" ' + .tHand.close +2 "manipulator"&/ +64 "core" / +589 #t-> Arm.CC +2 "manipulator"&& +3 "core" &-{ H n +2 "manipulator"&%% +4 "core" % ώm  +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract + "manipulator"&' ] +170 "core" ' +2 .tElbow.reconfigure :tight +7 "manipulator"&$&.,(\ #b +2 .tElbow.seek :CC +2 "manipulator"&-( +275 "core" ( + "manipulator"&"& +4 "core" & % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &,& +3 "core" & % +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&''ш +91 "core" ' + "manipulator"&*& +4 "core" & $ % +2 "manipulator"&% +4 "core" %э   +483 #t-> CC.close +2 "manipulator"&1& +3 "core" &  % +3 "manipulator"& % +4 "core" %э   +2 "collection"'4& +3 "core" & k e)\ +3 "collection"'>& +4 "core" & m e1\ +2 .tCC.seek :closed +2 "collection"')(U +3 "core" & k e&\ +9 &5 m e-\ $c +9 &wT k f2\ 7 +9 &~ k f1\ L +10 &^ j e'\ N +9 &C\\ k d.\ N +10 &Y l c1\ N +9 &Y h f3\ N +9 &Y i d2\ O +10 & KZ k e-\ N +9 &" Y j f-\ N +9 &#X j c*\ N +10 &%Z j d/\ N +9 &'SV i d3\ N +10 &)Z j c0\ N +9 &*Y i c2\ N +9 &,W i d1\ N +10 &.ZY i b2\ N +9 &0V i b/\ N +9 &1Y g b1\ N +10 &3W i c2\ N +9 &5cZ i b1\ N +10 &7$[ h d2\ N +9 &8Z h a)\ N +9 &:Y h c.\ N +10 &.Y i b*\ N +9 &?X g b2\ N +10 &AW g b3\ N +9 &Cr[ l f*\ N +10 &E3\\ u l*\ O +9 &Fd }.\ O +9 &Hk 2\ P +10 &Jo{ .\ R +9 &L, '\ T +10 &M .\ W +9 &O\ \ %\ W +9 &Qg\ \ "\ X +10 &S'\ \ *\ X +9 &TL\ \ $\ 3 +9 &T;\ \ $\ 3 +6 ( + "collection"'>& +4 #tCollection Clamp onSpring/offSpring for 6/25 samples, on/off torque 1.80 +2 "collection"';& +4 "core" &T#\ \ .\ 3 + &T#\ \ !\ 3 +7151 #t-> CC.jog 200 +2 .CC.jog 200 +2 "collection"'8* +29 "core" * +2 "collection"'2& +4 "core" &U\ %\ \ $ +444 #t-> CC.jog 200 +2 .CC.jog 200 + "collection"'9* +32 "core" * +2 "collection"':& +4 "core" &V\ )\ #\ % +195 #t-> CC.jog 200 +2 .CC.jog 200 +2 "collection"'\ * +32 "core" * +2 "collection"'<& +4 "core" &W8\ ,\ &\ # +22 "Can"\ MvSE +9547 #t-> CC.rawPosition +2 "collection"'A& +3 "core" &W8\ -\ %\ # +3174 #t-> CC.unloadFlush + "collection"'6& +4 "core" &W8\ -\ '\ # +2 #tGaraging FlushPuck in Collection Clamp + "collection"'& +4 "core" &W8\ *\ %\ # +2 .tHand.open + "manipulator"&1 +53 "core" 1 + "manipulator"&5& +4 "core" &  % +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&7( +3 "core" ( + "manipulator"&J& +5 "core" &  % + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &.& +3 "core" & % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek CC +2 "manipulator"&E'ш +2 "core" ' +2 .tHand.close + "manipulator"&// +55 "core" / + .tCC.seek :open +2 "collection"'=( +397 "core" ( + "manipulator"&0& +4 "core" &  % +2 "manipulator"&Q% +4 "core" % э   +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&H' ] +154 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&@(-w +284 "core" ( +2 "manipulator"&C& +34 "core" &-v B [ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &D& +3 "core" &-v ~ [ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&L'π +107 "core" ' +2 .tHand.open + "manipulator"&F1 +58 "core" 1 +2 "manipulator"&B% +4 "core" % ρU z e # +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&N' ] +161 "core" ' +2586 #t-> exit +7 #mEXIT @1668737260.29PST @1668737299.94PST = =tMAIN =mMAIN_scheduler @PST1668737301.79 #"core_reset"Sent BREAK +2 #t@50475 sendCRC with ifg=0x20, ie=0x7F + #@52310 sendCRC with ifg=0x08, ie=0x5F + #@21986 idle with ifg=0x84, ie=0x75 + #@22658 select with ifg=0x10, ie=0xF5 #@23292 receive with ifg=0x10, ie=0xFD + #@23926 receive with ifg=0x10, ie=0xFD #@24561 receive with ifg=0x10, ie=0xFD + #@24888 receive with ifg=0x80, ie=0xFD + #@41424 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +8 #ESP2 v3.42 I2C Gateway v3.20 for core bus +255 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +383 "Can"w\ Hp$ + w\ Hp$1 + #tPolling Can every 10:00 +7 #Cleanly exited at 18:07:40PST17-Nov-22 +794 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +3 "collection"'% +3 "core" %Z k c.\  +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +5 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %ٽ%\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %ޠ'& e\ + .tSS.configure :default +3 "sampler")#.0X [ +2 .tElbow.configure :loose +3 "manipulator"&$ &.,(#b +2 .tElbow.hold + "manipulator"&, +2 "core" , +2 .tElbow.configure :loose +2 "manipulator"&$ &.,(#b +5 "storage"(& +2 "core" & % $  +2 .tSC.configure :loose +2 "storage"($.(\ 1~b +3 .tSC.hold + "storage"(, +3 "core" , + .tSC.configure :loose +3 "storage"($.(\ 1~b +2 (% +3 "core" %m ' 1 \\ + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 .tSE.hold +2 "storage"(+ +2 "core" + + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 .tCH.coast + "collection"' +2 .tCH.configure :default +2 "collection"'\ 2 + .tPH.coast +2 "processing"% + .tPH.configure :default +2 "processing"%\ 2 +2 #tAll dwarf controllers running firmware version 3.85 +3 "sampler") +9 "collection"'% +3 "processing"%% +4 "core" %ٽ+\ +2 "manipulator"&% +4 "core" % Q  / + "manipulator"&& +4 "core" &-v . [ + "storage"(& +4 "core" & $ '  + "storage"(% +4 "core" %m 1 5  + "collection"'& +4 "core" %Z j d"\  + & j d"\ +2 "processing"%& + "sampler")% +6 "core" &u*\  + %ޠ(% j\ +2 "collection"'  +3 "core"  +2 "collection"'! +3 "core"  + "collection"'" +3 "core"  +2 "processing"%# +3 "core"  + "processing"%$ +3 "core" U +2 "processing"%% +3 "core"  + "processing"%& +3 "core" @ +2 "sampler")' +3 "core"  + "collection"'(% +4 "core" %Z k f#\  +2 "processing"%)% +3 "core" %ٽ(\ +2 "sampler")*% +4 "core" %ޠ+& i\ + "collection"'+& +4 "core" & k e"\ +2 "processing"%,& +4 "core" &u\  + "manipulator"&-% +4 "core" % Q 0 / +3 "manipulator"&.& +3 "core" &-v - [ +2 "storage"(/& +3 "core" & ( $   +2 "storage"(0% +4 "core" %m 0 &  + "collection"'19 +3 "core" 9 +2 "processing"%29 +3 "core" 9 +667 #t-> CC.home.to :home +2 .CC.reconfigure :default +3 "collection"'$x2 ^22b +3 .tCC.home.seek :home + "collection"'3( +237 "core" ( + "collection"'4& +4 "core" & l e7\ +796 #t-> CC.loadFlush +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'5& +3 "core" & m f!\ +2 .tHand.open + "manipulator"&61 +23 "core" 1 + "manipulator"&7& +4 "core" &-v ? [ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&8(-w +3 "core" ( +2 "manipulator"&9& +4 "core" &-v U [ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &:& +3 "core" &-v l [ + .tForearm.seek :garage +2 "manipulator"&;'π +110 "core" ' +2 .tHand.close + "manipulator"&% +4 "core" % ϒd +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&?' ] +175 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&@( +278 "core" ( + "manipulator"&A& +4 "core" & % + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &B& +3 "core" & % +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&C'ш +94 "core" ' + "manipulator"&D& +4 "core" & ] $ +2 "manipulator"&E% +4 "core" %ъ + "collection"'F& +4 "core" & l f$\ +2 .tCC.seek :open +2 "collection"'G( +136 "core" ( +2 "collection"'H& +7 "core" &w j b \  +2 .tCC.seek :closed + "collection"'I(W8 +5 "core" &w i e1\  +6 &G i b2\ %h +10 &cX i d2\ 9 +9 &{ i c3\ M +9 &|Y j d.\ N +10 &>Z j c3\ N +9 &Y j b3\ N +9 &Y i e4\ N +10 &Y h b2\ N +9 & EZ i b1\ N +10 &"Y j b4\ N +9 &#W i a2\ N +9 &%Z i b2\ N +10 &'NW h a1\ N +9 &)Y i c2\ N +9 &*X j b2\ N +10 &,Y i c3\ N +9 &.WY h d5\ N +9 &0X i c2\ N +10 &1[ h b2\ N +9 &3W i b2\ N +10 &5^Y h b3\ N +9 &7Z h b/\ N +9 &8V g a2\ N +10 &:X h c4\ N +9 &(W g a/\ N +10 &?X h b1\ N +9 &AY g b-\ N +10 &Cm^ k f2\ N +9 &E.\\ s m1\ O +9 &Fc ~ y3\ O +10 &Hm 2\ P +9 &Jlw 3\ Q +9 &L( 1\ S +10 &M '\ W +9 &O\ \ 0\ W +10 &Qc\ \ 2\ W +9 &S \ \ +\ Y +9 &T\ \ -\ Y +10 &Vw\ $\ 1\ - +9 &W\ %\ 2\ [ +9 ( +2 &W"\ %\ 3\ G + "collection"'H& +3 #tCollection Clamp onSpring/offSpring for 7/25 samples, on/off torque 1.83 +2 "collection"'J& +4 "core" &W"\ (\ ! \ G + .tHand.open +2 "manipulator"&K1 +62 "core" 1 +2 "manipulator"&L% +4 "core" % ъ k +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&M' ] +155 "core" ' +2 "collection"'N& +4 "core" &W"\ %\ !(\ G +600 #t-> CC.unloadFlush +2 #Garaging FlushPuck in Collection Clamp +2 "manipulator"&O& +3 "core" &  # +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&P( +33 "core" ( + "manipulator"&Q& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &R& +3 "core" &   +2 .tForearm.seek CC +2 "manipulator"&S'ш +93 "core" ' + .tHand.close +2 "manipulator"&T/ +62 "core" / +2 .tCC.seek :open +2 "collection"'U( +397 "core" ( + "manipulator"&V& +4 "core" & D  +2 "manipulator"&W% +3 "core" % ~ X +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&X' ] +155 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&Y(-w +275 "core" ( +36 "manipulator"&Z& +11 "core" &- k +3 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &[& +3 "core" &- o k + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&\\'π +110 "core" ' + .tHand.open +2 "manipulator"&]1 +52 "core" 1 + "manipulator"&^% +4 "core" % ωL  +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&_' ] +158 "core" ' +8320 #t-> 10.times{CC.loadFlush; delay 1; CC.unloadFlush; delay 1} +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'`& +3 "core" & l e#\ +2 "manipulator"&a& +4 "core" &- O k +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&b(-w +2 "core" ( +2 "manipulator"&c& +4 "core" &- c k + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &d& +3 "core" &- k +2 .tForearm.seek :garage +2 "manipulator"&e'π +106 "core" ' +2 .tHand.close + "manipulator"&f/ +57 "core" / + "manipulator"&g& +4 "core" &- F k +2 "manipulator"&h% +3 "core" % ώm Z +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&i' ] +167 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&j( +295 "core" ( + "manipulator"&k& +4 "core" &   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &l& +3 "core" & ]  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&m'ш +93 "core" ' + "manipulator"&n& +4 "core" & R  +2 "manipulator"&o% +4 "core" %э   +2 "collection"'p& +3 "core" & k e$\ +2 "collection"'q& +5 "core" & j e*\ +2 .tCC.seek :closed +2 "collection"'r(W8 +3 "core" & k d2\ +9 &> l d3\ $d +9 &U j e*\ 7 +9 &~~ k d1\ L +10 &X i d/\ N +9 &O] g d/\ N +10 &Z j f1\ N +9 &[ h c)\ N +9 &Z i b)\ N +10 & V[ i d7\ O +9 &"Y i c5\ N +9 &#W i c6\ N +10 &%Y g a2\ N +9 &'_\\ i c1\ N +10 &)!Z h d1\ N +9 &*Y h d1\ N +9 &,Y g b2\ N +10 &.fY i c/\ O +9 &0*Y h c/\ N +9 &1Y j b2\ N +10 &3X j c3\ N +9 &5oZ h c/\ N +10 &72Y h d0\ N +9 &8Y g a1\ N +9 &:Z i b3\ N +10 &9Y h a4\ N +9 &?Y g b3\ N +10 &AY h b3\ N +9 &C~] m d*\ O +10 &E?^ r n)\ O +9 &Gd y.\ O +9 &Hj 4\ P +10 &J}v .\ R +9 &L8 (\ T +9 &M .\ V +10 &O\ \ )\ X +9 &Qt\ \ )\ X +10 &S4\ \ )\ X +9 &T\ \ &\ Y +9 &Vj\ !\ %\ + +10 &W \ "\ 2\ @ +8 ( +4 "collection"'q& +2 #tCollection Clamp onSpring/offSpring for 7/25 samples, on/off torque 1.80 +2 "collection"'s& +4 "core" &WE\ %\ +\ = + &WE\ %\ '\ = +2 .tHand.open + "manipulator"&t1 +56 "core" 1 + "manipulator"&u% +4 "core" % э |  +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract + "manipulator"&v' ] +152 "core" ' +2 .tdelay 1 second +102 #Garaging FlushPuck in Collection Clamp +2 "manipulator"&w& +2 "core" & ,  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&x( +2 "core" ( +2 "manipulator"&y& +4 "core" &   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &z& +3 "core" &  +2 .tForearm.seek CC + "manipulator"&{'ш +93 "core" ' +2 .tHand.close +2 "manipulator"&|/ +63 "core" / +2 .tCC.seek :open +2 "collection"'}( +397 "core" ( + "manipulator"&~& +4 "core" &   + "manipulator"&% +4 "core" % є  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +151 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(-w +279 "core" ( + "manipulator"&& +4 "core" &-|  b +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &-| : b +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&'π +114 "core" ' +2 .tHand.open + "manipulator"&1 +52 "core" 1 +2 "manipulator"& % +4 "core" % ρI } . + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"& ' ] +180 "core" ' + .tdelay 1 second +103 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"' & +3 "core" & j f'\ +2 "manipulator"&& +3 "core" &-| b +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(-w +3 "core" ( +2 "manipulator"&& +4 "core" &-| \\ b + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &-| b +2 .tForearm.seek :garage + "manipulator"&'π +108 "core" ' +2 .tHand.close + "manipulator"&/ +52 "core" / +2 "manipulator"&& +4 "core" &-| z b + "manipulator"&% +4 "core" % ϑ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +165 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&( +281 "core" ( + "manipulator"&& +4 "core" &   ( + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & U ( +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'ш +99 "core" ' +2 "manipulator"&& +4 "core" &   ( +2 "manipulator"& % +3 "core" %я w # +2 "collection"'!& +4 "core" & l d.\ +2 "collection"'"& +4 "core" & l d(\ +2 .tCC.seek :closed +2 "collection"'#(W8 +5 "core" & k e3\  +9 &0y l f2\ *x +9 &b j d+\ > +10 &Rv i e1\ O +9 &Y k d4\ O +9 &Z h d0\ N +10 &X k e1\ N +9 &YY j c/\ O +9 &Y h d2\ N +10 & Y j c3\ N +9 &"X k b4\ N +10 &$bY j c*\ N +9 &&%X h d/\ N +9 &'Y i c1\ N +10 &)W h b3\ N +9 &+jW j `3\ N +9 &-,Y g c3\ N +10 &.Y h b3\ N +9 &0X h d2\ N +10 &2rY h a0\ N +9 &44W h c2\ N +9 &5Y g c2\ N +10 &7U i b.\ N +9 &9{V h b4\ N +9 &;=W g a3\ N +10 &<X i b3\ N +9 &>W g a4\ N +10 &@W i a-\ N +9 &BFW f a2\ N +9 &D[ m j-\ N +10 &E` v p3\ O +9 &Ge }3\ P +9 &IGj *\ P +10 &K} (\ R +9 &L 2\ T +10 &Ny\ 2\ W +9 &P;\ \ 4\ W +9 &Q\ \ 2\ X +10 &S\ \ 2\ X +9 &U{\ \ 2\ X +9 &VG\ $\ )\ #i +10 &Ww\ $\ 2\ F +5 ( +2 "collection"'"& +4 #tCollection Clamp onSpring/offSpring for 7/25 samples, on/off torque 1.88 + "collection"'$& +8 "core" &Wd\ %\ 0\ F + &Wd\ %\ $\ F +2 .tHand.open +6 "manipulator"&%1 +60 "core" 1 +2 "manipulator"&&% +4 "core" % я \\  + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&'' ] +156 "core" ' +2 .tdelay 1 second +102 #Garaging FlushPuck in Collection Clamp +2 "manipulator"&(& +2 "core" & # ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&)( +2 "core" ( +2 "manipulator"&*& +4 "core" &  ' + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &+& +3 "core" &  ' +2 .tForearm.seek CC + "manipulator"&,'ш +98 "core" ' + .tHand.close +3 "manipulator"&-/ +54 "core" / + .tCC.seek :open +2 "collection"'.( +397 "core" ( + "manipulator"&/& +4 "core" & + ' +2 "manipulator"&0% +3 "core" % ћ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract + "manipulator"&1' ] +153 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&2(-w +271 "core" ( +2 "manipulator"&4& +4 "core" &-z   + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\ & +2 "core" &-z '  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&5'π +115 "core" ' + .tHand.open + "manipulator"&61 +59 "core" 1 + "manipulator"&7% +4 "core" % τI  J  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&9' ] +162 "core" ' + .tdelay 1 second +102 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"':& +3 "core" & j e\ +2 "manipulator"&<& +3 "core" &-z Q  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&=(-w +3 "core" ( + "manipulator"&>& +4 "core" &-z ~  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &-z  +2 .tForearm.seek :garage + "manipulator"&'π +114 "core" ' +2 .tHand.close + "manipulator"&;/ +65 "core" / + "manipulator"&A& +4 "core" &-z F  +2 "manipulator"&B% +3 "core" % ϋY P +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&8' ] +171 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&D( +293 "core" ( + "manipulator"&E& +4 "core" & P  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &F& +3 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&?'ш +95 "core" ' + "manipulator"&3& +5 "core" &   + "manipulator"&G% +4 "core" %я W + "collection"'J& +4 "core" & k e#\ +2 "collection"'K& +5 "core" & l d#\ +2 .tCC.seek :closed +2 "collection"'L(W8 +3 "core" & j e2\  +9 &1| l e2\ *y +9 &a k d2\ > +10 &Xv j d6\ N +9 &Y k e2\ N +9 &Y i d4\ N +10 &X i e3\ N +9 &][ i c5\ O +9 &!Y j c4\ N +10 & Z i c2\ N +9 &"Y i d2\ N +9 &$gW j b1\ N +10 &&(Z h c0\ N +9 &'Z i c2\ N +10 &)X i a3\ N +9 &+qY h b3\ M +9 &-2Z i a1\ N +10 &.Y h b)\ M +9 &0X i b.\ N +9 &2w\\ j a3\ N +10 &4;W h d4\ M +9 &5Y i d2\ N +10 &7Y j a1\ N +9 &9W h c2\ N +9 &;A\\ i a3\ N +10 &=W h `3\ M +9 &>X i c2\ N +9 &@V i d3\ N +10 &BKW h e1\ M +9 &D\ [ n f2\ N +10 &Eb v r*\ O +9 &Ge {.\ O +9 &IJp ,\ P +10 &K{ /\ R +9 &L *\ U +10 &N}\ &\ W +9 &P>\ \ 2\ W +9 &Q\ \ 2\ X +10 &S\ \ 2\ X +9 &U\ \ 1\ W +9 &VC\ \ (\ (v +10 &Wp\ "\ )\ F +5 ( +2 "collection"'K& +4 #tCollection Clamp onSpring/offSpring for 7/25 samples, on/off torque 1.87 + "collection"'H& +4 "core" &We\ $\ 0\ F + &We\ #\ ,\ F +2 .tHand.open + "manipulator"&N1 +57 "core" 1 + "manipulator"&C% +4 "core" % я  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&O' ] +157 "core" ' +2 .tdelay 1 second +103 #Garaging FlushPuck in Collection Clamp + "manipulator"&Q& +3 "core" &   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&R( +2 "core" ( +2 "manipulator"&T& +4 "core" & @  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &@& +3 "core" & B  +2 .tForearm.seek CC + "manipulator"&M'ш +99 "core" ' +2 .tHand.close + "manipulator"&I/ +52 "core" / +2 .tCC.seek :open +2 "collection"'V( +400 "core" ( + "manipulator"&W& +4 "core" & C  + "manipulator"&S% +4 "core" % ќ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract + "manipulator"&Z' ] +191 "core" ' +11 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&P(-w +278 "core" ( +3 "manipulator"&[& +4 "core" &-}  a + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &]& +3 "core" &-} 2 a +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&^'π +115 "core" ' +2 .tHand.open + "manipulator"&X1 +62 "core" 1 + "manipulator"&\\% +4 "core" % ςE ~ . +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&`' ] +168 "core" ' + .tdelay 1 second +102 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'a& +3 "core" & l e)\ +2 "manipulator"&c& +3 "core" &-} ; a +2 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&d(-w +2 "core" ( +2 "manipulator"&f& +3 "core" &-} 3 a +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +3 "core" &-}  a + .tForearm.seek :garage +2 "manipulator"&h'π +111 "core" ' +2 .tHand.close + "manipulator"&Y/ +62 "core" / + "manipulator"&_& +4 "core" &-} p O a +2 "manipulator"&e% +3 "core" % ϒh S +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&k' ] +179 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&b( +278 "core" ( + "manipulator"&l& +4 "core" & _ ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &n& +3 "core" & ' +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&o'ш +96 "core" ' + "manipulator"&p& +4 "core" &  & +2 "manipulator"&i% +4 "core" %ђ ' + "collection"'U& +4 "core" & l f#\ +2 "collection"'s& +5 "core" & k e,\ +2 .tCC.seek :closed + "collection"'t(W8 +4 "core" & k e2\  +8 &1~ l e(\ *x +10 &b j e-\ > +9 &Kv l c2\ N +10 & V k d1\ N +9 &[ k c3\ N +9 &Y k c2\ N +10 &T[ j b0\ N +9 &Z i d2\ N +9 & Y j d3\ N +10 &"W h b3\ N +9 &$\\Y j e4\ N +10 &&[ i c2\ N +9 &'Y j b3\ N +9 &)\\ h d7\ N +10 &+dW i b5\ N +9 &-&X i c-\ N +10 &.\\ h b.\ N +9 &0W i b,\ N +9 &2lW h c5\ N +10 &4/W i b2\ M +9 &5Y i a4\ N +9 &7Y h b1\ N +10 &9sW g b/\ N +9 &;6W h b6\ N +9 &<V i b5\ M +10 &>W i c1\ N +9 &@|V f `2\ N +10 &B=Z h b5\ N +9 &C[ n f3\ N +9 &E` v o)\ O +10 &Gc {+\ O +9 &I>k ,\ P +9 &J{ *\ R +10 &L &\ U +9 &Nq %\ W +10 &P2\ \ )\ W +9 &Q\ \ '\ X +9 &S\ \ *\ X +10 &Us\ \ '\ Y +9 &VH\ \ %\ $l +9 &W t\ %\ %\ F +6 ( + "collection"'s& +4 #tCollection Clamp onSpring/offSpring for 7/25 samples, on/off torque 1.86 +2 "collection"'u& +4 "core" &W[\ #\ .\ F + &W[\ "\ *\ F + .tHand.open +2 "manipulator"&q1 +62 "core" 1 +2 "manipulator"&w% +4 "core" % ђ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&y' ] +157 "core" ' + .tdelay 1 second +102 #Garaging FlushPuck in Collection Clamp +2 "manipulator"&z& +3 "core" &  & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&m( +3 "core" ( +2 "manipulator"&|& +3 "core" & , & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &j& +3 "core" & d & +2 .tForearm.seek CC +2 "manipulator"&v'ш +102 "core" ' +2 .tHand.close +2 "manipulator"&r/ +61 "core" / +2 .tCC.seek :open +2 "collection"'~( +400 "core" ( + "manipulator"&& +4 "core" &  \\ & +2 "manipulator"&{% +5 "core" % ћ m +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +157 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(-w +284 "core" ( + "manipulator"&x& +4 "core" &-| h c +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &-|  c +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"& 'π +113 "core" ' + .tHand.open +2 "manipulator"&1 +62 "core" 1 +2 "manipulator"& % +4 "core" % ςK   +3 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +160 "core" ' +2 .tdelay 1 second +102 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'& +2 "core" & l f2\ +2 "manipulator"&& +4 "core" &-| 8 c +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(-w +3 "core" ( +2 "manipulator"&& +4 "core" &-|  c +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &-|  c +2 .tForearm.seek :garage +2 "manipulator"&'π +113 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +2 "manipulator"& & +4 "core" &-| { ~ c + "manipulator"&% +4 "core" % ψZ y + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +164 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&( +304 "core" ( +2 "manipulator"&& +4 "core" &   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"& 'ш +98 "core" ' + "manipulator"&!& +4 "core" &  +2 "manipulator"&% +3 "core" %ь ~ +2 "collection"'}& +4 "core" & k e\ +2 "collection"'$& +4 "core" & k e"\ +2 .tCC.seek :closed +2 "collection"'%(W8 +4 "core" & k f(\ +8 &5 k e.\ #c +10 &vV k f,\ 7 +9 &} k e/\ L +10 &Y j e-\ N +9 &DY i c1\ N +9 &Y i f2\ N +10 &W k d/\ N +9 &Y i d'\ N +9 & KX i c/\ N +10 &" W g d(\ N +9 &#W k d1\ N +9 &%Y j b3\ N +10 &'SY h b'\ N +9 &)Y i c'\ N +10 &*W i c(\ N +9 &,V h d(\ N +9 &.]W h b&\ N +10 &0 X g c*\ M +9 &1W i c+\ N +9 &3U i a2\ N +10 &5d[ h c'\ N +9 &7%Y g `-\ N +10 &8W i c2\ N +9 &:W i a1\ N +9 &/V h a5\ N +9 &?Z h `2\ N +9 &AW i d-\ M +10 &CtY k c0\ N +9 &E4] r m4\ O +10 &Fb | x:\ O +9 &Hk 3\ P +9 &Jqx 6\ R +10 &L. +\ S +9 &M 0\ V +9 &O\  6\ W +10 &Qi\ \ 3\ W +9 &S(\ \ \ )\ X +10 &T\ \ *\ Y +9 &Vv\ \ 1\ , +9 &W"\ "\ /\ Y +9 ( +2 &W#\\\ #\ /\ G +2 "collection"'$& +2 #tCollection Clamp onSpring/offSpring for 7/25 samples, on/off torque 1.83 +2 "collection"'&& +4 "core" &W#[\ $\ \ G +2 .tHand.open + "manipulator"&"1 +59 "core" 1 +2 "manipulator"&(% +4 "core" % ь  +3 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract + "manipulator"&*' ] +159 "core" ' + .tdelay 1 second +103 #Garaging FlushPuck in Collection Clamp + "manipulator"&+& +3 "core" &   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&( +7 "core" ( +2 "manipulator"&-& +4 "core" &   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &   + .tForearm.seek CC +2 "manipulator"&''ш +98 "core" ' + .tHand.close +2 "manipulator"&#/ +59 "core" / +2 .tCC.seek :open +2 "collection"'/( +400 "core" ( + "manipulator"&0& +4 "core" &   +2 "manipulator"&,% +3 "core" % њ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&4' ] +153 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&\ (-w +279 "core" ( + "manipulator"&)& +4 "core" &-z T [ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &6& +2 "core" &-z  [ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&7'π +111 "core" ' +2 .tHand.open + "manipulator"&11 +63 "core" 1 + "manipulator"&:% +4 "core" % υR H  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract +2 "manipulator"&<' ] +156 "core" ' +2 .tdelay 1 second +102 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'>& +3 "core" & k c1\ +2 "manipulator"&& +3 "core" &-z  [ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&5(-w +2 "core" ( +2 "manipulator"&;& +4 "core" &-z ! [ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &A& +2 "core" &-z d [ +2 .tForearm.seek :garage +2 "manipulator"&B'π +112 "core" ' + .tHand.close +2 "manipulator"&2/ +59 "core" / +3 "manipulator"&9& +4 "core" &-z  [ + "manipulator"&% +4 "core" % ϐb c +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&E' ] +163 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&F( +278 "core" ( +2 "manipulator"&=& +4 "core" & s & + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &3& +7 "core" & & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +7 .tForearm.seek CC +2 "manipulator"&G'ш +94 "core" ' + "manipulator"&J& +4 "core" & C & +2 "manipulator"&8% +3 "core" %ф > +2 "collection"'.& +4 "core" & l d%\ +2 "collection"'H& +6 "core" & j f&\ + .tCC.seek :closed +3 "collection"'N(W8 +3 "core" & k d'\ +6 & j d+\ 6 +9 &Hy l e&\ 0 +10 &Dp k b4\ D +9 &g j c4\ O +9 &Y j d.\ N +10 &gX i e(\ N +9 &)W i c*\ N +10 &[ j d(\ N +9 &W j f&\ N +9 &!pY k b&\ N +10 &#2W g d.\ N +9 &$Y j b.\ N +9 &&Z i d2\ N +10 &(xW i d3\ N +9 &*:W j b'\ N +10 &+W g c,\ N +9 &-W i d4\ M +9 &/X g b3\ N +10 &1CW i b1\ N +9 &3W h b,\ M +9 &4X i c)\ N +10 &6Y h a)\ N +9 &8JW h a(\ N +10 &: W h b3\ N +9 &;W i b2\ N +9 &=U h c/\ N +10 &?RZ i c(\ N +9 &AW g c4\ N +9 &B\\ i b.\ N +10 &DZ o k2\ N +9 &FX_ y q3\ O +10 &He 3\ O +9 &Ir ;\ Q +9 &K 6\ S +10 &MK 9\ V +9 &O \  :\ W +9 &P\ \ )\ W +10 &R\ \ /\ Y +9 &TK\ \ 3\ Y +10 &V\ \ \ 2\ F +9 &V#\ "\ .\ +| +9 &W%c\ $\ 1\ D +3 ( + "collection"'H& +3 #tCollection Clamp onSpring/offSpring for 7/26 samples, on/off torque 1.91 +2 "collection"'C& +4 "core" &W%_\ %\ \ D + .tHand.open +2 "manipulator"&K1 +55 "core" 1 + "manipulator"&Q% +4 "core" % ф L +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&T' ] +159 "core" ' +2 .tdelay 1 second +102 #Garaging FlushPuck in Collection Clamp +2 "manipulator"&@& +2 "core" & * % +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&?( +35 "core" ( + "manipulator"&I& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &D& +3 "core" & D +2 .tForearm.seek CC +2 "manipulator"&O'ш +97 "core" ' +3 .tHand.close +2 "manipulator"&L/ +55 "core" / +2 .tCC.seek :open + "collection"'W( +397 "core" ( +2 "manipulator"&S& +4 "core" & ( + "manipulator"&M% +4 "core" % я < + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&[' ] +167 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&](-w +276 "core" ( +2 "manipulator"&R& +43 "core" &-y : j +12 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &X& +3 "core" &-y v j +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&\\'π +105 "core" ' +2 .tHand.open + "manipulator"&Z1 +61 "core" 1 +3 "manipulator"&a% +4 "core" % ϊQ  + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&c' ] +157 "core" ' +2 .tdelay 1 second +102 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'f& +2 "core" & l e%\ +2 "manipulator"&g& +4 "core" &-y  j +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&^(-w +2 "core" ( +2 "manipulator"&Y& +4 "core" &-y V j + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &_& +3 "core" &-y ? j +2 .tForearm.seek :garage + "manipulator"&e'π +110 "core" ' +2 .tHand.close + "manipulator"&P/ +60 "core" / + "manipulator"&`& +5 "core" &-y } q j + "manipulator"&h% +4 "core" % ϒe  +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&l' ] +163 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&n( +276 "core" ( + "manipulator"&d& +5 "core" &  ! % + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &p& +3 "core" & ? % +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&i'ш +97 "core" ' +2 "manipulator"&U& +4 "core" & e % + "manipulator"&k% +5 "core" %с h + "collection"'V& +4 "core" & m f(\ +2 "collection"'u& +5 "core" & l c(\ +2 .tCC.seek :closed +2 "collection"'q(W8 +4 "core" & l d*\ +7 &4 i f2\ $c +10 &vT~ j d3\ 7 +9 &} i e.\ L +9 &[ l d.\ N +10 &AZ j c,\ N +9 &W j d*\ N +9 &X i b3\ N +10 &X i c)\ N +9 & KX i d'\ N +10 &" W i d+\ N +9 &#Z i c'\ N +9 &%Y i c1\ N +10 &'SY i b5\ N +9 &)[ i b/\ N +9 &*W h c*\ N +10 &,Z i _,\ N +9 &.ZV g b)\ N +10 &0X g b+\ N +9 &1[ h a(\ N +9 &3T h b-\ N +10 &5cX e c)\ N +9 &7%Y h b)\ N +9 &8[ i d'\ N +10 &:U h b6\ N +9 &.V g b2\ M +9 &?W f b5\ M +9 &AW g a1\ M +10 &CsY j e,\ N +9 &E3\\ t l7\ N +9 &Fa | x7\ O +10 &Hh 5\ P +9 &Jow 8\ R +10 &L, 7\ T +9 &M /\ W +9 &O\  1\ W +10 &Qg\ \ \ 7\ W +9 &S$\ \ 2\ Y +9 &T\ \ 8\ Y +10 &Vz\ \ 7\ - +9 &W\ $\ 2\ [ +9 ( +2 &Wg\ %\ 5\ P + "collection"'u& +3 #tCollection Clamp onSpring/offSpring for 7/25 samples, on/off torque 1.81 +2 "collection"'w& +4 "core" &Wg\ #\ &\ P + .tHand.open +2 "manipulator"&s1 +62 "core" 1 +3 "manipulator"&z% +4 "core" % с  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&|' ] +157 "core" ' +2 .tdelay 1 second +102 #Garaging FlushPuck in Collection Clamp + "manipulator"&j& +4 "core" &  $ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&o( +33 "core" ( +2 "manipulator"&r& +4 "core" &   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &b& +2 "core" & !  +2 .tForearm.seek CC +2 "manipulator"&y'ш +93 "core" ' + .tHand.close +2 "manipulator"&t/ +52 "core" / +2 .tCC.seek :open + "collection"'( +400 "core" ( +2 "manipulator"&{& +4 "core" &   + "manipulator"&v% +4 "core" % ѓ  + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&x' ] +156 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(-w +276 "core" ( +2 "manipulator"&m& +4 "core" &-}  o + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &-}  o +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"& 'π +115 "core" ' + .tHand.open +2 "manipulator"&1 +59 "core" 1 +2 "manipulator"&% +4 "core" % ςK _  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +174 "core" ' + .tdelay 1 second +103 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'& +3 "core" & k e(\ +2 "manipulator"&& +4 "core" &-~ ^ n + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"& (-w +3 "core" ( + "manipulator"&& +5 "core" &-~ c n + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &-~ n + .tForearm.seek :garage +2 "manipulator"&'π +108 "core" ' +3 .tHand.close + "manipulator"&/ +57 "core" / +2 "manipulator"&& +4 "core" &-~ z | n + "manipulator"&% +4 "core" % Ϗ]  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +164 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&( +298 "core" ( +3 "manipulator"&& +4 "core" & %  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &!& +3 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'ш +101 "core" ' +2 "manipulator"&}& +4 "core" &   + "manipulator"&% +5 "core" %ц  + "collection"'~& +4 "core" & i d=\ +2 "collection"'&& +4 "core" & i f8\ +2 .tCC.seek :closed +2 "collection"'"(W8 +5 "core" & k e2\  +9 &3{ l e3\ *x +9 &b k c'\ > +10 &Yv i c0\ N +9 &W h e2\ N +9 &Y h d:\ N +10 &W j c4\ N +9 &bY j c7\ N +9 &$W i b:\ N +10 & Y i c4\ N +9 &"V j d6\ N +9 &$kX i b=\ M +10 &&+Z h b)\ N +9 &'Y h b4\ N +10 &)V i b0\ N +9 &+sW h b'\ M +9 &-5X g c6\ M +10 &.X h c9\ N +9 &0Y i b4\ N +9 &2zY i `&\ N +10 &4<T h b-\ N +10 &5X g a/\ N +9 &7V h b%\ N +9 &9V h b5\ N +9 &;DZ g a1\ N +10 &=Y h c.\ N +9 &>Y h c.\ N +9 &@Y g b8\ N +10 &BMU g a2\ M +9 &D Y l h8\ N +10 &E` t m;\ O +9 &Gc |3\ O +9 &ILn ;\ P +10 &K z :\ R +9 &L <\ U +9 &N :\ W +10 &P@\ \ ;\ W +9 &Q\ \ 9\ X +10 &S\ \ 4\ X +9 &U\ \ =\ X +9 &VG\ !\ <\ !e +10 &W&\ #\ 7\ F +5 ( +2 "collection"'&& +3 #tCollection Clamp onSpring/offSpring for 6/25 samples, on/off torque 1.83 +2 "collection"'(& +4 "core" &W'e\ #\ 5\ E + &W'e\ "\ 9\ E +2 .tHand.open + "manipulator"&$1 +63 "core" 1 + "manipulator"&+% +4 "core" % ц  +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&-' ] +151 "core" ' +2 .tdelay 1 second +102 #Garaging FlushPuck in Collection Clamp +2 "manipulator"&& +2 "core" & .  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"& ( +2 "core" ( +2 "manipulator"&#& +4 "core" & f  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  +2 .tForearm.seek CC + "manipulator"&*'ш +96 "core" ' +2 .tHand.close +2 "manipulator"&%/ +60 "core" / +2 .tCC.seek :open +2 "collection"'0( +397 "core" ( + "manipulator"&,& +4 "core" & ^  + "manipulator"&'% +4 "core" % і O +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&)' ] +156 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&6(-w +280 "core" ( +2 "manipulator"&& +4 "core" &-| g Q + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &1& +3 "core" &-|  Q +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&:'π +112 "core" ' + .tHand.open + "manipulator"&41 +62 "core" 1 + "manipulator"&>% +4 "core" % υR  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&' ] +165 "core" ' + .tdelay 1 second +103 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"';& +3 "core" & l d%\ + "manipulator"&A& +4 "core" &-|  Q +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&7(-w +3 "core" ( +2 "manipulator"&2& +4 "core" &-|  Q + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &9& +2 "core" &-|  Q +2 .tForearm.seek :garage +2 "manipulator"&'π +110 "core" ' + .tHand.close +2 "manipulator"&\ / +53 "core" / +2 "manipulator"&<& +4 "core" &-| q R Q + "manipulator"&B% +4 "core" % όh H +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&=' ] +162 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&3( +276 "core" ( + "manipulator"&5& +4 "core" &  % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &J& +3 "core" &  % +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&8'ш +102 "core" ' + "manipulator"&.& +4 "core" &  \\ % +2 "manipulator"&E% +4 "core" %с  + "collection"'/& +4 "core" & k e!\ +2 "collection"'C& +4 "core" & i e\ +2 .tCC.seek :closed +2 "collection"'K(W8 +4 "core" & k gA\  +9 &2{ j c5\ *x +9 &b k d:\ > +9 &Wv j a6\ O +10 &W i d2\ N +9 &Y i c0\ N +10 &W j c0\ N +9 &aW j a+\ N +9 &#X i b1\ N +10 & \\ j e;\ N +9 &"W i b+\ N +10 &$h[ i c.\ N +9 &&*Y g b3\ N +9 &'W h c3\ N +10 &)X i b2\ N +9 &+qU h a-\ N +9 &-3V f a-\ N +10 &.X g _2\ N +9 &0Z h c-\ N +9 &2xZ h c7\ N +10 &4<V i b9\ M +9 &5Y h `0\ N +10 &7X g a3\ N +9 &9U i c,\ N +9 &;CU h d*\ N +10 &=V g c'\ M +9 &>V h c5\ M +9 &@V f `.\ M +10 &BLV h a&\ M +9 &D Z l g5\ N +10 &E] t m:\ O +9 &Gc x:\ O +9 &IJm ;\ Q +10 &K | 9\ R +9 &L 8\ U +9 &N~\ 9\ W +10 &P?\ \ 5\ W +9 &Q\ \ 9\ X +10 &S\ \ :\ X +9 &U~\ \ 0\ Z +9 &VG\ \ ;\ _ +10 &W\ "\ 8\ L +5 ( +2 "collection"'C& +4 #tCollection Clamp onSpring/offSpring for 7/25 samples, on/off torque 1.89 + "collection"'Q& +4 "core" &Wn\ $\ 9\ L + &Wn\ "\ 5\ L +2 .tHand.open + "manipulator"&H1 +63 "core" 1 + "manipulator"&@% +4 "core" % с Y G +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&G' ] +165 "core" ' + .tdelay 1 second +103 #Garaging FlushPuck in Collection Clamp + "manipulator"&I& +3 "core" & $ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&D( +28 "core" ( + "manipulator"&L& +4 "core" & + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &F& +3 "core" & < +2 .tForearm.seek CC +2 "manipulator"&T'ш +93 "core" ' + .tHand.close + "manipulator"&N/ +52 "core" / +2 .tCC.seek :open +2 "collection"'S( +397 "core" ( + "manipulator"&M& +4 "core" &  + "manipulator"&O% +4 "core" % ь  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&R' ] +150 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&?(-w +276 "core" ( +2 "manipulator"&X& +4 "core" &-l  D + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Z& +3 "core" &-l D +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +56 .tForearm.seek :garage +14 "manipulator"&a'π +110 "core" ' + .tHand.open +2 "manipulator"&[1 +58 "core" 1 + "manipulator"&f% +4 "core" % a t 9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract +2 "manipulator"&g' ] +162 "core" ' +2 .tdelay 1 second +102 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'Y& +3 "core" & k e/\ +2 "manipulator"&_& +4 "core" &-o  A +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&\\(-w +3 "core" ( +2 "manipulator"&P& +3 "core" &-o  A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &`& +3 "core" &-o  A +3 .tForearm.seek :garage +2 "manipulator"&h'π +109 "core" ' +2 .tHand.close +6 "manipulator"&]/ +63 "core" / + "manipulator"&c& +4 "core" &-o } A +2 "manipulator"&e% +3 "core" % ϒr  +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&d' ] +162 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&p( +272 "core" ( + "manipulator"&^& +4 "core" &  & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &U& +3 "core" &  & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&k'ш +103 "core" ' +2 "manipulator"&V& +4 "core" & i & + "manipulator"&l% +4 "core" %т / +2 "collection"'W& +3 "core" & k d(\ +3 "collection"'w& +4 "core" & k e2\ +2 .tCC.seek :closed +2 "collection"'s(W8 +4 "core" & j d0\ +8 &4 m c0\ $d +9 &zU} j c.\ 7 +10 &} j dE\ L +9 &Y h c?\ N +10 &EY h a.\ N +9 &W j c4\ N +9 &W i b7\ N +10 &W i cC\ N +9 & PY g d9\ M +9 &"W i d7\ N +10 &#V h a8\ M +9 &%Y i a3\ N +10 &'WY h a@\ N +9 &)V i cF\ N +9 &*V g b5\ N +10 &,Y i a5\ N +9 &._Z f b;\ N +9 &0!U g `<\ N +10 &1V h bE\ N +9 &3T j c8\ N +10 &5fU f _+\ N +9 &7)W g b5\ N +9 &8V g a5\ N +10 &:W f a1\ M +9 &1Y g `/\ N +10 &?V g _3\ N +9 &AU h a3\ N +10 &Cv\\ j b9\ N +9 &E8\\ r l>\ N +9 &Fe | w=\ O +10 &Hk :\ P +9 &Jtu 6\ Q +9 &L0 8\ S +10 &M 6\ V +9 &O\  =\ X +10 &Qk\ \ 8\ W +9 &S(\ \ ;\ Y +9 &T\ \ 4\ Y +10 &Vu\ \ <\ + +9 &W \ !\ 3\ T +9 ( +3 "collection"'w& +2 #tCollection Clamp onSpring/offSpring for 7/25 samples, on/off torque 1.85 +2 "collection"'z& +4 "core" &W`\ #\ 7\ G + &W`\ "\ =\ G +2 .tHand.open + "manipulator"&u1 +62 "core" 1 +2 "manipulator"&j% +4 "core" % т X M + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&i' ] +152 "core" ' + .tdelay 1 second +102 #Garaging FlushPuck in Collection Clamp +2 "manipulator"&r& +3 "core" & ] & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&b( +3 "core" ( + "manipulator"&t& +4 "core" &  & + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &n& +3 "core" &  & +2 .tForearm.seek CC + "manipulator"&|'ш +93 "core" ' +3 .tHand.close + "manipulator"&q/ +64 "core" / + .tCC.seek :open +2 "collection"'{( +397 "core" ( + "manipulator"&v& +4 "core" &  % +2 "manipulator"&y% +3 "core" % ћ + ! +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&m' ] +165 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(-w +287 "core" ( +2 "manipulator"&o& +4 "core" &-y l b + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &-y b + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&'π +112 "core" ' + .tHand.open +2 "manipulator"&x1 +58 "core" 1 + "manipulator"&% +4 "core" % ςK  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +4 .tForearm.home.seek :retract + "manipulator"&' ] +161 "core" ' + .tdelay 1 second +2568 #-> exit +7 #mEXIT @1668737798.24PST @1668795574.79PST = =tMAIN =mMAIN_scheduler @PST1668795576.73 #"core_reset"Sent BREAK +2 #t@13350 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.42 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +340 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +505 "Can"\ W1 + \ W1: + #tPolling Can every 10:00 +7 #Cleanly exited at 18:16:38PST17-Nov-22 +751 #-> ESP.ready! +3 #Powering core bus +533 .Gate.power :raw,:ON +2 "sampler") +18 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +5 "sampler")&\ + "collection"'% +4 "core" % 4 -\ + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %'\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %\ +2 .tSS.configure :default +2 "sampler")#.0X Hand.open + .Hand.open +2 "manipulator"&<1 +52 "core" 1 +14594 #t-> SC.home.to :home +2 .SC.reconfigure :loose +2 "storage"($.(\ 1~b +3 .tSC.home.seek :home + "storage"(=( +1053 "core" ( + "storage"(>& +4 "core" & & 0 ,  +376 #t-> SC.to 1 + .SC.seek 1 +2 "storage"(?( +66 "core" ( + "storage"(@& +4 "core" & ! 9 6  +670 #t-> SE.home.to :home +2 .SE.reconfigure :default +3 "storage"(#K-0-\ b +2 .tSE.home.seek :home + "storage"(A' +46 "core" ' +2 "storage"(B% +4 "core" %  # +603 #t-> SE.down +2 .SE.seek :down +2 "storage"(C'g +33 "core" ' + "storage"(D% +4 "core" %r 2 F   +486 #t-> SE.top +2 .SE.seek :top +2 "storage"(E'o +278 "core" ' +2 "storage"(F% +4 "core" %c F @   +314 #t-> SE.down +2 .SE.seek :down +2 "storage"(G'g +276 "core" ' +2 "storage"(H% +4 "core" %n ; 8  +361 #t-> SC.to 2 +2 .SC.seek 2 +2 "storage"(I( v +198 "core" ( + "storage"(J& +5 "core" & t3   z  +281 #t-> SE.top +2 .SE.seek :top +2 "storage"(K'o +267 "core" ' + "storage"(L% +4 "core" %` 2 ) i +318 #t-> SE.down +2 .SE.seek :down +2 "storage"(M'g +276 "core" ' + "storage"(N% +4 "core" %m  ! z +392 #t-> SC.to 3 +2 .SC.seek 3 +2 "storage"(O(8 +185 "core" ( + "storage"(P& +4 "core" &8 1 3    +239 #t-> SE.top +2 .SE.seek :top +2 "storage"(Q'o +264 "core" ' +3 "storage"(R% +38 "core" %h 9 ?   +260 #t-> SE.down +2 .SE.seek :down +2 "storage"(S'g +270 "core" ' +3 "storage"(T% +4 "core" %t : 9 i  +425 #t-> SC.to 4 +2 .SC.seek 4 +2 "storage"(U(, +195 "core" ( +2 "storage"(V& +4 "core" &,    $ +339 #t-> SE.top +2 .SE.seek :top +2 "storage"(W'o +265 "core" ' +2 "storage"(X% +4 "core" %v  (  +440 #t-> SE.down +2 .SE.seek :down +2 "storage"(Y'g +272 "core" ' +2 "storage"(Z% +4 "core" %]   r +456 #t-> SC.to 5 +2 .SC.seek 5 +2 "storage"([(; +194 "core" ( + "storage"(\\& +4 "core" &;   9 ' +318 #t-> SE.top +2 .SE.seek :top +2 "storage"(]'o +270 "core" ' + "storage"(^% +4 "core" %]  Z  +377 #t-> SE.down +2 .SE.seek :down +2 "storage"(_'g +270 "core" ' + "storage"(`% +4 "core" %\\    +442 #t-> SC.to 6 +2 .SC.seek 6 +2 "storage"(a(K +189 "core" ( +2 "storage"(b& +4 "core" &KA    +321 #t-> SE.top +2 .SE.seek :top +2 "storage"(c'o +266 "core" ' +2 "storage"(d% +4 "core" %i  H +478 #t-> SE.down +2 .SE.seek :down +2 "storage"(e'g +270 "core" ' +2 "storage"(f% +4 "core" %r  < +454 #t-> SC.to 7 +2 .SC.seek 7 +2 "storage"(g([S +192 "core" ( +2 "storage"(h& +4 "core" &[W 7 5 ;  +327 #t-> SE.top + .SE.seek :top +2 "storage"(i'o +266 "core" ' + "storage"(j% +5 "core" %l b _  +276 #t-> SE.down +2 .SE.seek :down +2 "storage"(k'g +276 "core" ' +3 "storage"(l% +4 "core" %n Y X E  +392 #t-> SC.to 1 +2 .SC.seek 1 +2 "storage"(m( +985 "core" ( + "storage"(n& +4 "core" &   +990 #t-> require 'calcar' +401 #-> calcar +2 .SC.configure :tight +3 "storage"($\ .(\ 1~b +2 .tSE.configure SErough +2 "storage"(#Q-0-\ b +3 .tSE.reconfigure SErough +3 "storage"(#-0-\ b +2 .tSE.home.seek :down +2 "storage"(o'g +61 "core" ' +2 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.home.seek 1 +2 "storage"(p( +152 "core" ( +2 .tSE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +4 #tAwaiting answer to "Manually rotate carousel to tube 1 and press " +961 .SE.seek :down +2 "storage"(q'g +3 "core" ' +2 .tSE.seek 19.2 Pucks below Top Plate + "storage"(r' +134 "core" ' + .tSC.force 30 +2 "storage"(6 +2 .tdelay .3 seconds +31 .SC.coast +2 "storage"(6 +2 .tdelay .1 seconds +11 .SC.force -30 + "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(s& +3 "core" & Y Y  + .tSC.force 30 + "storage"(6 +3 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(t& +3 "core" & [ [ / + .tSC.force -30 + "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(u& +3 "core" & X U  + .tSC.force 30 + "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(v& +3 "core" & [ Q , + .tSC.force -30 + "storage"(6 +3 .tdelay .3 seconds +31 .SC.coast + "storage"(6 +3 .tdelay .2 seconds +22 "storage"(w& +4 "core" & X Z u  + .tSC.force 30 + "storage"(6 +3 .tdelay .3 seconds +31 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(x& +3 "core" & X W T . + .tSC.force -30 + "storage"(6 +3 .tdelay .3 seconds +31 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(y& +3 "core" & M K   + .tSC.force 30 +2 "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(z& +2 "core" & J T j - +2 .tSC.coast + "storage"(6 +2 #tIn slot #1 at 19.2 pucks below top plate bounds are [-885, -756] +2 .SE.seek :"Top Plate" +2 "storage"({'o +163 "core" ' +2 .tSC.force 30 + "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .1 seconds +12 .SC.force -30 + "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(|& +3 "core" & k h s  + .tSC.force 30 + "storage"(6 +3 .tdelay .3 seconds +31 .SC.coast +2 "storage"(6 +2 .tdelay .2 seconds +21 "storage"(}& +3 "core" &1 { z $ + .tSC.force -30 + "storage"(6 +3 .tdelay .3 seconds +31 .SC.coast +2 "storage"(6 +2 .tdelay .2 seconds +21 "storage"(~& +3 "core" & ^ p   + .tSC.force 30 + "storage"(6 +3 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(& +3 "core" &/ s a  & + .tSC.force -30 +6 "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(& +2 "core" & z { _  +2 .tSC.force 30 + "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(& +2 "core" &Q p z ~  +2 .tSC.force -30 + "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(& +2 "core" & w y 4  +2 .tSC.force 30 + "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(& +2 "core" &U p z %  +2 .tSC.coast + "storage"(6 +2 #tIn slot #1 at 0 pucks below top plate bounds are [-860, -703] +2 #===> Tube #1 slot centered at -808 rawCounts <=== +2 "storage"(& +4 "core" &U M K T  + .tSC.jog -125 +2 "storage"(* +32 "core" * +2 .tSE.seek :down + "storage"('g +270 "core" ' +2 .tSC.jog 4024 +2 "storage"(* +218 "core" * +2 .tSE.seek :down +2 "storage"( 'g +4 "core" ' +2 .tSE.seek 19.2 Pucks below Top Plate + "storage"(\ ' +135 "core" ' + .tSC.force 30 + "storage"(6 +3 .tdelay .3 seconds +31 .SC.coast +2 "storage"(6 +2 .tdelay .1 seconds +11 .SC.force -30 + "storage"(6 +3 .tdelay .3 seconds +31 .SC.coast +2 "storage"(6 +2 .tdelay .2 seconds +21 "storage"( & +3 "core" & ( U K :  +2 .tSC.force 30 + "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast +2 "storage"(6 +2 .tdelay .2 seconds +21 "storage"( & +4 "core" & U L H A + .tSC.force -30 + "storage"(6 +3 .tdelay .3 seconds +31 .SC.coast + "storage"(6 +3 .tdelay .2 seconds +22 "storage"( & +2 "core" & ( O N o  +2 .tSC.force 30 + "storage"(6 +3 .tdelay .3 seconds +31 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(& +3 "core" & J J ; B + .tSC.force -30 + "storage"(6 +3 .tdelay .3 seconds +31 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(& +2 "core" & ' J M H  +2 .tSC.force 30 + "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(& +2 "core" & N N k B +2 .tSC.force -30 + "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(& +2 "core" & ' J I 4  +2 .tSC.force 30 + "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(& +2 "core" & M P ) B +2 .tSC.coast + "storage"(6 +2 #tIn slot #2 at 19.2 pucks below top plate bounds are [3112, 3228] +2 .SE.seek :"Top Plate" +2 "storage"('o +159 "core" ' +2 .tSC.force 30 + "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .1 seconds +12 .SC.force -30 + "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(& +3 "core" & O Z Y  + .tSC.force 30 + "storage"(6 +3 .tdelay .3 seconds +31 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(& +3 "core" & Y U ' ? +2 .tSC.force -30 + "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(& +2 "core" & O J L   +2 .tSC.force 30 + "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(& +2 "core" & M W | ? +2 .tSC.force -30 + "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(& +2 "core" & O Y Y  +2 .tSC.force 30 + "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(& +2 "core" & M M : @ +2 .tSC.force -30 + "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(& +2 "core" & O N U 7  +2 .tSC.force 30 +2 "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"( & +2 "core" & U Z @ +2 .tSC.coast + "storage"(6 +2 #tIn slot #2 at 0 pucks below top plate bounds are [3151, 3286] +2 #===> Tube #2 slot centered at 3190 rawCounts <=== +2 "storage"(& +3 "core" & Z U  +2 .tSC.jog -95 + "storage"(#* +32 "core" * +2 .tSE.seek :down +2 "storage"(&'g +278 "core" ' + .tSC.jog 4024 +2 "storage"((* +204 "core" * +2 .tSE.seek :down +2 "storage"(*'g +4 "core" ' +2 .tSE.seek 19.2 Pucks below Top Plate + "storage"()' +133 "core" ' + .tSC.force 30 +2 "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .1 seconds +12 .SC.force -30 + "storage"(6 +2 .tdelay .3 seconds +31 .SC.coast +2 "storage"(6 +2 .tdelay .2 seconds +21 "storage"(& +3 "core" & J U =  +2 .tSC.force 30 + "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(& +2 "core" &b Y U | 3 +2 .tSC.force -30 + "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"($& +2 "core" & M T 9  +2 .tSC.force 30 + "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(-& +3 "core" &b N M z 3 + .tSC.force -30 + "storage"(6 +3 .tdelay .3 seconds +31 .SC.coast +2 "storage"(6 +2 .tdelay .2 seconds +21 "storage"(.& +4 "core" & N N }  + .tSC.force 30 + "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(/& +3 "core" &b M M  4 + .tSC.force -30 + "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(0& +3 "core" & Z [  + .tSC.force 30 + "storage"(6 +3 .tdelay .3 seconds +31 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(1& +3 "core" &a M U  5 + .tSC.coast + "storage"(6 +3 #tIn slot #3 at 19.2 pucks below top plate bounds are [7136, 7266] + .SE.seek :"Top Plate" +2 "storage"(2'o +159 "core" ' +2 .tSC.force 30 + "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .1 seconds +12 .SC.force -30 + "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(3& +2 "core" & L K t  +2 .tSC.force 30 + "storage"(6 +3 .tdelay .3 seconds +31 .SC.coast +2 "storage"(6 +2 .tdelay .2 seconds +22 "storage"(4& +3 "core" & N M p & + .tSC.force -30 + "storage"(6 +3 .tdelay .3 seconds +31 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(5& +3 "core" & V N   + .tSC.force 30 + "storage"(6 +3 .tdelay .3 seconds +31 .SC.coast +2 "storage"(6 + .tdelay .2 seconds +22 "storage"(6& +3 "core" & K U C & + .tSC.force -30 + "storage"(6 +3 .tdelay .3 seconds +31 .SC.coast +2 "storage"(6 +2 .tdelay .2 seconds +22 "storage"(7& +3 "core" & V N d  + .tSC.force 30 + "storage"(6 +3 .tdelay .3 seconds +31 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(8& +3 "core" & U M N % + .tSC.force -30 +2 "storage"(6 + .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(9& +3 "core" & Y U _  + .tSC.force 30 + "storage"(6 +3 .tdelay .3 seconds +68 .SC.coast +11 "storage"(6 + .tdelay .2 seconds +22 "storage"(:& +3 "core" & M N k  + .tSC.coast + "storage"(6 +3 #tIn slot #3 at 0 pucks below top plate bounds are [7182, 7337] +2 #===> Tube #3 slot centered at 7224 rawCounts <=== + "storage"(;& +4 "core" & Z U o  +2 .tSC.jog -141 + "storage"(<*s +32 "core" * +2 .tSE.seek :down +2 "storage"("'g +268 "core" ' +2 .tSC.jog 4024 + "storage"(>* +200 "core" * +2 .tSE.seek :down +2 "storage"(@'g +4 "core" ' +2 .tSE.seek 19.2 Pucks below Top Plate + "storage"(=' +138 "core" ' + .tSC.force 30 + "storage"(6 +3 .tdelay .3 seconds +31 .SC.coast +2 "storage"(6 +2 .tdelay .1 seconds +11 .SC.force -30 + "storage"(6 +3 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(B& +3 "core" &+ r ` U  + .tSC.force 30 +2 "storage"(6 +2 .tdelay .3 seconds +31 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(!& +3 "core" &,0 y y b @ + .tSC.force -30 +2 "storage"(6 +2 .tdelay .3 seconds +31 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(D& +3 "core" &+ M N J  + .tSC.force 30 + "storage"(6 +3 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(A& +3 "core" &,0 a l  A + .tSC.force -30 +2 "storage"(6 +2 .tdelay .3 seconds +31 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(F& +3 "core" &+ z y H  + .tSC.force 30 + "storage"(6 +3 .tdelay .3 seconds +31 .SC.coast +2 "storage"(6 +2 .tdelay .2 seconds +21 "storage"(C& +4 "core" &,0 x o  A + .tSC.force -30 + "storage"(6 +3 .tdelay .3 seconds +31 .SC.coast + "storage"(6 +3 .tdelay .2 seconds +22 "storage"(H& +2 "core" &+ k \\ q  +3 .tSC.force 30 + "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(E& +2 "core" &,0 m ]  A +2 .tSC.coast + "storage"(6 +2 #tIn slot #4 at 19.2 pucks below top plate bounds are [11181, 11312] +2 .SE.seek :"Top Plate" +2 "storage"(J'o +159 "core" ' + .tSC.force 30 + "storage"(6 +3 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .1 seconds +12 .SC.force -30 + "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(?& +3 "core" &+ L L H  +2 .tSC.force 30 + "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(L& +2 "core" &,M M U 0 > +2 .tSC.force -30 + "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(G& +3 "core" &+ U M 3  + .tSC.force 30 + "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast +2 "storage"(6 +2 .tdelay .2 seconds +22 "storage"(N& +3 "core" &,L M U ( ? + .tSC.force -30 + "storage"(6 +3 .tdelay .3 seconds +31 .SC.coast + "storage"(6 +3 .tdelay .2 seconds +22 "storage"(K& +2 "core" &+ N L G  +2 .tSC.force 30 + "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(P& +2 "core" &,L Z Y ? +2 .tSC.force -30 + "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(I& +2 "core" &+ J U S  +2 .tSC.force 30 + "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(R& +2 "core" &,L U N Y @ +2 .tSC.coast + "storage"(6 +2 #tIn slot #4 at 0 pucks below top plate bounds are [11204, 11340] +2 #===> Tube #4 slot centered at 11258 rawCounts <=== +2 "storage"(M& +3 "core" &,L Z Y  +2 .tSC.jog -82 + "storage"(T* +23 "core" * +2 .tSE.seek :down + "storage"(Q'g +275 "core" ' +2 .tSC.jog 4024 + "storage"(V* +200 "core" * +2 .tSE.seek :down +2 "storage"(O'g +4 "core" ' +2 .tSE.seek 19.2 Pucks below Top Plate + "storage"(X' +133 "core" ' + .tSC.force 30 +2 "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .1 seconds +12 .SC.force -30 + "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(S& +3 "core" &;z N U 7  +2 .tSC.force 30 + "storage"(6 +3 .tdelay .3 seconds +31 .SC.coast + "storage"(6 +3 .tdelay .2 seconds +22 "storage"(Z& +3 "core" &< U N k " +2 .tSC.force -30 + "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(W& +2 "core" &;z M J ~  +2 .tSC.force 30 + "storage"(6 +3 .tdelay .3 seconds +31 .SC.coast + "storage"(6 +3 .tdelay .2 seconds +21 "storage"(\\& +3 "core" &< L K A & +2 .tSC.force -30 + "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(U& +3 "core" &;z I L E  + .tSC.force 30 + "storage"(6 +3 .tdelay .3 seconds +31 .SC.coast +2 "storage"(6 + .tdelay .2 seconds +22 "storage"(^& +3 "core" &<\ M U L % + .tSC.force -30 +2 "storage"(6 + .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(Y& +3 "core" &;{ U L -  + .tSC.force 30 + "storage"(6 +3 .tdelay .3 seconds +31 .SC.coast +2 "storage"(6 +2 .tdelay .2 seconds +21 "storage"(`& +3 "core" &<\ M M K % + .tSC.coast + "storage"(6 +3 #tIn slot #5 at 19.2 pucks below top plate bounds are [15226, 15370] +2 .SE.seek :"Top Plate" +2 "storage"(]'o +158 "core" ' +2 .tSC.force 30 + "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .1 seconds +12 .SC.force -30 + "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(b& +3 "core" &; K T z  + .tSC.force 30 + "storage"(6 +3 .tdelay .3 seconds +31 .SC.coast +2 "storage"(6 +2 .tdelay .2 seconds +21 "storage"([& +3 "core" &< L K h  + .tSC.force -30 + "storage"(6 +3 .tdelay .3 seconds +31 .SC.coast +2 "storage"(6 +2 .tdelay .2 seconds +22 "storage"(d& +2 "core" &; M L S  +2 .tSC.force 30 + "storage"(6 +3 .tdelay .3 seconds +31 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(_& +3 "core" &<% M M  + .tSC.force -30 +2 "storage"(6 +2 .tdelay .3 seconds +31 .SC.coast +2 "storage"(6 + .tdelay .2 seconds +22 "storage"(f& +3 "core" &; L L <  + .tSC.force 30 +2 "storage"(6 +2 .tdelay .3 seconds +31 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(c& +3 "core" &< K J N  + .tSC.force -30 + "storage"(6 +3 .tdelay .3 seconds +31 .SC.coast +2 "storage"(6 +2 .tdelay .2 seconds +21 "storage"(h& +3 "core" &; I K Q  + .tSC.force 30 +3 "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(a& +2 "core" &<5 M K  +2 .tSC.coast + "storage"(6 +3 #tIn slot #5 at 0 pucks below top plate bounds are [15241, 15399] +2 #===> Tube #5 slot centered at 15306 rawCounts <=== + "storage"(j& +4 "core" &<& Z [  +2 .tSC.jog -92 + "storage"(e* +32 "core" * +2 .tSE.seek :down + "storage"(l'g +278 "core" ' +2 .tSC.jog 4024 + "storage"(i* +203 "core" * +2 .tSE.seek :down +2 "storage"(g'g +4 "core" ' +2 .tSE.seek 19.2 Pucks below Top Plate + "storage"(n' +139 "core" ' +2 .tSC.force 30 + "storage"(6 +3 .tdelay .3 seconds +31 .SC.coast + "storage"(6 +3 .tdelay .1 seconds +11 .SC.force -30 +2 "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(k& +3 "core" &K Y Z  + .tSC.force 30 +2 "storage"(6 +2 .tdelay .3 seconds +31 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(m& +3 "core" &K N V k B + .tSC.force -30 +2 "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(o& +3 "core" &K T M >  + .tSC.force 30 + "storage"(6 +3 .tdelay .3 seconds +31 .SC.coast +2 "storage"(6 +2 .tdelay .2 seconds +22 "storage"(p& +2 "core" &K X X B +2 .tSC.force -30 + "storage"(6 +3 .tdelay .3 seconds +31 .SC.coast + "storage"(6 +3 .tdelay .2 seconds +21 "storage"(s& +4 "core" &K V O   +2 .tSC.force 30 + "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(q& +3 "core" &K M T Q C + .tSC.force -30 + "storage"(6 +3 .tdelay .3 seconds +31 .SC.coast +2 "storage"(6 + .tdelay .2 seconds +22 "storage"(t& +3 "core" &K X W  + .tSC.force 30 + "storage"(6 +3 .tdelay .3 seconds +31 .SC.coast +2 "storage"(6 +2 .tdelay .2 seconds +21 "storage"(u& +3 "core" &K Y X { D + .tSC.coast + "storage"(6 +3 #tIn slot #6 at 19.2 pucks below top plate bounds are [19228, 19400] +2 .SE.seek :"Top Plate" +2 "storage"(v'o +162 "core" ' +2 .tSC.force 30 + "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .1 seconds +12 .SC.force -30 + "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(w& +2 "core" &K n y k  +2 .tSC.force 30 + "storage"(6 +3 .tdelay .3 seconds +31 .SC.coast +2 "storage"(6 +2 .tdelay .2 seconds +22 "storage"(x& +2 "core" &K y v k = +2 .tSC.force -30 + "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(y& +3 "core" &K v k 0  + .tSC.force 30 +2 "storage"(6 +2 .tdelay .3 seconds +31 .SC.coast +2 "storage"(6 +2 .tdelay .2 seconds +22 "storage"(z& +2 "core" &K x q f > +2 .tSC.force -30 + "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +65 "storage"(|& +5 "core" &K O ^  + .tSC.force 30 + "storage"(6 +3 .tdelay .3 seconds +31 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(r& +3 "core" &K l ] > + .tSC.force -30 + "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +3 .tdelay .2 seconds +21 "storage"(}& +4 "core" &K b z C  + .tSC.force 30 +2 "storage"(6 + .tdelay .3 seconds +32 .SC.coast + "storage"(6 +3 .tdelay .2 seconds +21 "storage"(~& +3 "core" &K a y  > +2 .tSC.coast + "storage"(6 +2 #tIn slot #6 at 0 pucks below top plate bounds are [19227, 19397] +2 #===> Tube #6 slot centered at 19313 rawCounts <=== +2 "storage"(& +3 "core" &K K M A  +2 .tSC.jog -84 + "storage"(* +29 "core" * +3 .tSE.seek :down +2 "storage"('g +273 "core" ' +2 .tSC.jog 4024 +2 "storage"(* +204 "core" * +2 .tSE.seek :down +2 "storage"('g +4 "core" ' +2 .tSE.seek 19.2 Pucks below Top Plate + "storage"(' +136 "core" ' + .tSC.force 30 +2 "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .1 seconds +12 .SC.force -30 + "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"({& +3 "core" &Z Y Y   + .tSC.force 30 +2 "storage"(6 +2 .tdelay .3 seconds +31 .SC.coast + "storage"(6 +3 .tdelay .2 seconds +21 "storage"(& +3 "core" &[u X X b + +2 .tSC.force -30 + "storage"(6 +3 .tdelay .3 seconds +31 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"( & +3 "core" &Z X X J  + .tSC.force 30 +2 "storage"(6 +2 .tdelay .3 seconds +31 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(& +3 "core" &[v P X ] + + .tSC.force -30 +2 "storage"(6 +2 .tdelay .3 seconds +31 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"( & +3 "core" &Z Z Z  + .tSC.force 30 + "storage"(6 +3 .tdelay .3 seconds +31 .SC.coast +2 "storage"(6 +2 .tdelay .2 seconds +21 "storage"( & +3 "core" &[w Z Y  + + .tSC.force -30 +2 "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"( & +2 "core" &Z Y Y $  +3 .tSC.force 30 + "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(& +2 "core" &[v W X r + +2 .tSC.coast + "storage"(6 +2 #tIn slot #7 at 19.2 pucks below top plate bounds are [23280, 23414] +2 .SE.seek :"Top Plate" +2 "storage"('o +160 "core" ' + .tSC.force 30 +2 "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .1 seconds +12 .SC.force -30 + "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(& +3 "core" &Z q k 4  + .tSC.force 30 + "storage"(6 +3 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(& +3 "core" &[ a v p  + .tSC.force -30 +2 "storage"(6 + .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(& +3 "core" &Z x a   + .tSC.force 30 + "storage"(6 +3 .tdelay .3 seconds +31 .SC.coast +2 "storage"(6 +3 .tdelay .2 seconds +21 "storage"(& +3 "core" &[ l k  +2 .tSC.force -30 + "storage"(6 +2 .tdelay .3 seconds +32 .SC.coast + "storage"(6 +3 .tdelay .2 seconds +21 "storage"(& +3 "core" &Z y u &  + .tSC.force 30 +7 "storage"(6 +2 .tdelay .3 seconds +36 .SC.coast +2 "storage"(6 +2 .tdelay .2 seconds +21 "storage"(\ & +3 "core" &[ o l   + .tSC.force -30 +2 "storage"(6 + .tdelay .3 seconds +32 .SC.coast + "storage"(6 +2 .tdelay .2 seconds +22 "storage"(& +3 "core" &Z l k  + .tSC.force 30 + "storage"(6 +3 .tdelay .3 seconds +31 .SC.coast +2 "storage"(6 +2 .tdelay .2 seconds +21 "storage"(& +3 "core" &[ z o v  + .tSC.coast +2 "storage"(6 +2 #tIn slot #7 at 0 pucks below top plate bounds are [23282, 23470] + #===> Tube #7 slot centered at 23348 rawCounts <=== +2 "storage"(& +4 "core" &[ L J ,  + .tSC.jog -121 +2 "storage"(* +28 "core" * +2 .tSE.seek :down +2 "storage"('g +276 "core" ' + .tSC.jog 4024 +2 "storage"(* +200 "core" * +7959 "Can"\ I~ +6227 #t-> exit +7 #mEXIT @1668796251.76PST @1668796620.51PST = =mMAIN_scheduler =tMAIN @PST1668796622.35 #"core_reset"Sent BREAK +2 #t@32764 sendCRC with ifg=0x20, ie=0x7F + #@34598 sendCRC with ifg=0x08, ie=0x5F + #@29592 idle with ifg=0x84, ie=0x75 #@30354 select with ifg=0x10, ie=0xF5 + #@30922 receive with ifg=0x10, ie=0xFD + #@31569 receive with ifg=0x10, ie=0xFD #@32215 receive with ifg=0x10, ie=0xFD + #@32542 receive with ifg=0x80, ie=0xFD + #@41259 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +9 #ESP2 v3.42 I2C Gateway v3.20 for core bus +240 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +389 "Can"\ J6T + \ J6T4 + #tPolling Can every 10:00 +7 #Cleanly exited at 10:30:51PST18-Nov-22 +769 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' + ' +3 "core"  +2 "processing"% + % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %] 1 ,\  + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +3 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %ٵ\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %ޝ  b\ +2 .tSS.configure :default +2 "sampler")#.0X Hand.open +2 .Hand.open +2 "manipulator"&31 +20 "core" 1 +14209 #t-> Arm.grab Garage +2 "manipulator"&4& +4 "core" &  Z F + "manipulator"&5% +4 "core" % \\\  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&6(-w +169 "core" ( +2 "manipulator"&7& +4 "core" &-y : + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &8& +3 "core" &-y  +2 .tForearm.seek :garage +2 "manipulator"&9'π +106 "core" ' +2 .tHand.close + "manipulator"&:/ +61 "core" / +483 #t-> Arm.clear +2 "manipulator"&;& +3 "core" &-y +2 "manipulator"&<% +4 "core" % ψx ) + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&=' ] +159 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&>(Z +112 "core" ( +2 "manipulator"&?& +4 "core" &Z > # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &@& +3 "core" &Z  # +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :clear +2 "manipulator"&A' ] +2 "core" ' +2 "manipulator"&B& +3 "core" &Z # +2 "manipulator"&C% +4 "core" % c  +1661 #t-> require 'calarm.rb' +482 #-> calarm 1 + "storage"(D% +3 "core" %n   +2 "manipulator"&E% +4 "core" % c   +2 "manipulator"&F& +3 "core" &Z w # +2 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +4 .tSC.seek 1 + "storage"(G( +1144 "core" ( +2 .tSC.configure :limp +2 "storage"($(\ 1b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H' ] +3 "core" ' +2 .tElbow.seek :clear +2 "manipulator"&I(Z +3 "core" ( +2 .tForearm.seek :retract +2 "manipulator"&J' ] +3 "core" ' +2 .tElbow.seek 1 +2 "manipulator"&K( +103 "core" ( +2 .tElbow.coast + "manipulator"&6 +3 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +201 .Forearm.force -100 +2 "manipulator"&5 +32 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +22 &L& +3 "core" & | + .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 "manipulator"&6A +13 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +47 .tElbow.coast +7 "manipulator"&6 +23 &M& +4 "core" & H + .tForearm.force -40 + "manipulator"&5 +33 &N& +2 "core" &  +2 "manipulator"&O% +3 "core" %ϊ  Y +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +33 &P% +3 "core" %ρ u F + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +32 &Q% +3 "core" %ρ { ~ + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +32 .tForearm.coast +2 "manipulator"&5 +2 .tForearm.seek :retract + "manipulator"&R' ] +88 "core" ' +2 .tElbow.seek :clear + "manipulator"&S(Z +138 "core" ( +2 .tForearm.seek :retract +2 "manipulator"&T' ] +3 "core" ' 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+2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +13 .tElbow.coast + "manipulator"&6 +22 &(& +3 "core" & G + .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 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"manipulator"&.' ] +92 "core" ' +2 .tElbow.seek :clear +2 "manipulator"&/(Z +109 "core" ( +3 .tForearm.seek :retract + "manipulator"&0' ] +4 "core" ' + .tElbow.seek 4 +2 "manipulator"&1( +109 "core" ( +2 .tElbow.coast + "manipulator"&6 +2 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +202 .Forearm.force -100 + "manipulator"&5 +32 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.coast + "manipulator"&6 +22 &2& +3 "core" & h + .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.coast + "manipulator"&6 +22 &3& +3 "core" & N + .tForearm.force -40 +2 "manipulator"&5 +32 &4& +2 "core" & k +2 "manipulator"&7% +4 "core" %` f j +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +32 &5% +2 "core" %Q Q + +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +32 &8% +2 "core" %S u \\ +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +33 .tForearm.coast + "manipulator"&5 +1336 "Can"\ 2> +2418 #t-> calarm 5 +2 "storage"(% +3 "core" %n i j  +2 "manipulator"&:% +4 "core" %е # +2 "manipulator"&% +3 "core" %е +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&;' ] +150 "core" ' +2 .tElbow.seek :clear +2 "manipulator"&<(Z +107 "core" ( +2 "manipulator"&?% +4 "core" % k  + "manipulator"&@& +4 "core" &Z \ +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 5 +2 "storage"(9(; +190 "core" ( + .tSC.configure :limp +3 "storage"($(\ 1b +2 .tForearm.seek :retract +3 "manipulator"&6' ] +3 "core" ' + .tElbow.seek :clear +2 "manipulator"&=(Z +4 "core" ( +2 .tForearm.seek :retract +2 "manipulator"&' ] +3 "core" ' +2 .tElbow.seek 5 + "manipulator"&B(/ +111 "core" ( + .tElbow.coast + "manipulator"&6 +3 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +233 .Forearm.force -100 +7 "manipulator"&5 +33 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.coast +2 "manipulator"&6 +22 &C& +2 "core" & [ +2 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.coast + "manipulator"&6 +22 &E& +4 "core" & x + .tForearm.force -40 + "manipulator"&5 +33 &F& +3 "core" &  + "manipulator"&A% +4 "core" % { e + .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +32 &% +3 "core" % ] P + .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +32 &>% +2 "core" % T n +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +32 .tForearm.coast + "manipulator"&5 +2 .tForearm.seek :retract +2 "manipulator"&H' ] +105 "core" ' +2 .tElbow.seek :clear + "manipulator"&I(Z +116 "core" ( + .tForearm.seek :retract +2 "manipulator"&K' ] +4 "core" ' +2 .tElbow.seek 5 + "manipulator"&J(/ +105 "core" ( +2 .tElbow.coast +2 "manipulator"&6 +2 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +202 .Forearm.force -100 + "manipulator"&5 +32 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.coast +2 "manipulator"&6 +22 &L& +3 "core" & l + .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A 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"manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +32 .tForearm.coast +2 "manipulator"&5 +2 .tForearm.seek :retract + "manipulator"&R' ] +94 "core" ' +2 .tElbow.seek :clear +2 "manipulator"&S(Z +109 "core" ( +2 .tForearm.seek :retract +2 "manipulator"&U' ] +3 "core" ' +2 .tElbow.seek 5 +2 "manipulator"&T(/ +109 "core" ( + .tElbow.coast +2 "manipulator"&6 +2 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +202 .Forearm.force -100 + "manipulator"&5 +32 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.coast +2 "manipulator"&6 +22 &V& +2 "core" & ) +2 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.coast +2 "manipulator"&6 +22 &W& +2 "core" & f +2 .tForearm.force -40 + "manipulator"&5 +32 &X& +3 "core" & p # + "manipulator"&Z% +4 "core" % z + .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +32 &Y% +2 "core" % ^ K +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +33 &[% +3 "core" % ~ j + .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +32 .tForearm.coast + "manipulator"&5 +2 .tForearm.seek :retract +2 "manipulator"&\\' ] +95 "core" ' + .tElbow.seek :clear +2 "manipulator"&](Z +155 "core" ( + .tForearm.seek :retract +2 "manipulator"&_' ] +4 "core" ' + .tElbow.seek 5 +2 "manipulator"&^(/ +105 "core" ( + .tElbow.coast +2 "manipulator"&6 +2 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +202 .Forearm.force -100 + "manipulator"&5 +32 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.coast + "manipulator"&6 +23 &`& +2 "core" & P +2 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +22 &a& +3 "core" & N + .tForearm.force -40 + "manipulator"&5 +33 &b& +3 "core" & d + "manipulator"&d% +4 "core" % _ } + .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 +3 "manipulator"&5 +32 &c% +2 "core" % I +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +32 &e% +2 "core" % F g +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +32 .tForearm.coast + "manipulator"&5 +2 .tForearm.seek :retract +2 "manipulator"&f' ] +104 "core" ' + .tElbow.seek :clear +2 "manipulator"&g(Z +109 "core" ( +2 .tForearm.seek :retract +2 "manipulator"&i' ] +4 "core" ' + .tElbow.seek 5 +2 "manipulator"&h(/ +111 "core" ( +2 .tElbow.coast + "manipulator"&6 +3 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +202 .Forearm.force -100 + "manipulator"&5 +32 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.coast + "manipulator"&6 +22 &j& +2 "core" & - +2 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A 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"manipulator"&u% +3 "core" % I  +2 "manipulator"&v& +3 "core" &Z +2 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 6 + "storage"(w(Kq +191 "core" ( + .tSC.configure :limp +2 "storage"($(\ 1b +3 .tForearm.seek :retract +2 "manipulator"&z' ] +2 "core" ' +2 .tElbow.seek :clear +2 "manipulator"&{(Z +3 "core" ( +2 .tForearm.seek :retract +2 "manipulator"&D' ] +4 "core" ' + .tElbow.seek 6 +2 "manipulator"&x(N +108 "core" ( +2 .tElbow.coast + "manipulator"&6 +3 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +201 .Forearm.force -100 + "manipulator"&5 +32 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 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+50 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.coast + "manipulator"&6 +23 && +2 "core" & ` +2 .tForearm.force -40 + "manipulator"&5 +33 && +3 "core" & p N + "manipulator"&}% +4 "core" %O { G [ +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +32 &G% +2 "core" %= V 2 +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +32 &~% +2 "core" %@ l +2 .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +32 .tForearm.coast + "manipulator"&5 +3 .tForearm.seek :retract +2 "manipulator"&' ] +94 "core" ' + .tElbow.seek :clear +2 "manipulator"&(Z +109 "core" ( +2 .tForearm.seek :retract +2 "manipulator"&' ] +3 "core" ' +2 .tElbow.seek 6 +2 "manipulator"&(N +109 "core" ( +2 .tElbow.coast + "manipulator"&6 +2 .tForearm.force -70 +2 "manipulator"&5 +2 .tdelay 2 seconds +202 .Forearm.force -100 + "manipulator"&5 +33 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +14 .tElbow.coast + "manipulator"&6 +22 & & +3 "core" &  + .tElbow.force 65 + 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-55 + "manipulator"&5 +32 &% +3 "core" %= [ / + .tForearm.coast +2 "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +32 &% +3 "core" %A X j + .tForearm.coast +2 "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +32 .tForearm.coast +2 "manipulator"&5 +2 .tForearm.seek :retract + "manipulator"&' ] +93 "core" ' +2 .tElbow.seek :clear +2 "manipulator"&(Z +110 "core" ( +2 .tForearm.seek :retract +2 "manipulator"&' ] +5 "core" ' + .tElbow.seek 6 +2 "manipulator"&(N +109 "core" ( + .tElbow.coast + "manipulator"&6 +3 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +201 .Forearm.force -100 +2 "manipulator"&5 +32 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A 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65 +2 "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.coast +2 "manipulator"&6 +22 && +2 "core" & [ +2 .tForearm.force -40 + "manipulator"&5 +32 && +3 "core" &  + "manipulator"&% +4 "core" %Q  ] + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +32 &% +3 "core" %> L - + .tForearm.coast +2 "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +32 &% +3 "core" %B C h + .tForearm.coast +2 "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +32 .tForearm.coast + "manipulator"&5 +3 .tForearm.seek :retract + "manipulator"&' ] +95 "core" ' +2 .tElbow.seek :clear + "manipulator"& (Z +108 "core" ( +3 .tForearm.seek :retract +2 "manipulator"&"' ] +3 "core" ' +2 .tElbow.seek 6 +2 "manipulator"&!(N 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.tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +33 .tForearm.coast + "manipulator"&5 +3 .tForearm.seek :retract + "manipulator"&6' ] +93 "core" ' +2 .tElbow.seek :clear + "manipulator"&=(Z +108 "core" ( +2 .tForearm.seek :retract +2 "manipulator"&B' ] +4 "core" ' + .tElbow.seek 5 +2 "manipulator"&(/ +111 "core" ( +2 .tElbow.coast + "manipulator"&6 +3 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +201 .Forearm.force -100 +2 "manipulator"&5 +32 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +22 &C& +3 "core" & P + .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +23 &E& +2 "core" & e +2 .tForearm.force -40 + "manipulator"&5 +32 &F& +3 "core" &  +2 "manipulator"&% +3 "core" %  + .tForearm.coast +2 "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +32 &A% +3 "core" % K C + .tForearm.coast +2 "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +33 &>% +3 "core" % F _ +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +32 .tForearm.coast + "manipulator"&5 +2 .tForearm.seek :retract +2 "manipulator"&H' ] +95 "core" ' +2 .tElbow.seek :clear + "manipulator"&I(Z +110 "core" ( + .tForearm.seek :retract +2 "manipulator"&J' ] +4 "core" ' +2 .tElbow.seek 5 + "manipulator"&K(/ +112 "core" ( + .tElbow.coast + "manipulator"&6 +3 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +201 .Forearm.force -100 + "manipulator"&5 +32 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +43 .tElbow.force -65 +8 "manipulator"&6 +12 .tElbow.coast +2 "manipulator"&6 +22 &L& +2 "core" & +2 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.coast +2 "manipulator"&6 +22 &M& +3 "core" & + .tForearm.force -40 + "manipulator"&5 +33 &N& +3 "core" & S + "manipulator"&O% +4 "core" % X + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +33 &P% +2 "core" % y @ + .tForearm.coast +2 "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +33 &Q% +2 "core" % ] ` + .tForearm.coast +2 "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +32 .tForearm.coast +2 "manipulator"&5 +2 .tForearm.seek :retract + "manipulator"&R' ] +94 "core" ' +2 .tElbow.seek :clear + "manipulator"&S(Z +110 "core" ( +2 .tForearm.seek :retract +2 "manipulator"&T' ] +3 "core" ' +2 .tElbow.seek 5 +2 "manipulator"&U(/ +109 "core" ( + .tElbow.coast + "manipulator"&6 +3 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +202 .Forearm.force -100 + "manipulator"&5 +32 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +23 &V& +2 "core" & +2 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +22 &W& +3 "core" &  + .tForearm.force -40 + "manipulator"&5 +33 &X& +3 "core" &  ' + "manipulator"&Y% +5 "core" % L + .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +32 &Z% +2 "core" % p A +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +32 &[% +2 "core" % ] c +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +33 .tForearm.coast + "manipulator"&5 +2 .tForearm.seek :retract +2 "manipulator"&\\' ] +92 "core" ' +2 .tElbow.seek :clear +2 "manipulator"&](Z +107 "core" ( +2 .tForearm.seek :retract +2 "manipulator"&^' ] +4 "core" ' + .tElbow.seek 5 +2 "manipulator"&_(/ +110 "core" ( + .tElbow.coast + "manipulator"&6 +3 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +201 .Forearm.force -100 + "manipulator"&5 +32 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +22 &`& +3 "core" &  ` + .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.coast +2 "manipulator"&6 +22 &a& +2 "core" & V +2 .tForearm.force -40 + "manipulator"&5 +32 &b& +3 "core" & Y + "manipulator"&c% +4 "core" % r G + .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +32 &d% +3 "core" % j > + .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +32 &e% +2 "core" % Y b +2 .tForearm.coast +2 "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +33 .tForearm.coast + "manipulator"&5 +1733 #t-> calarm 4 +2 "storage"(f% +3 "core" %n k k  +2 "manipulator"&g% +4 "core" %c +2 "manipulator"&h% +3 "core" %c O +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&i' ] +147 "core" ' + .tElbow.seek :clear +2 "manipulator"&j(Z +109 "core" ( +2 "manipulator"&k% +4 "core" % T }  + "manipulator"&l& +4 "core" &Z   +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 4 + "storage"(n(+ +190 "core" ( + .tSC.configure :limp +3 "storage"($(\ 1b +2 .tForearm.seek :retract +2 "manipulator"&p' ] +4 "core" ' +2 .tElbow.seek :clear + "manipulator"&q(Z +4 "core" ( +2 .tForearm.seek :retract +2 "manipulator"&' ] +3 "core" ' +2 .tElbow.seek 4 +2 "manipulator"&m( +110 "core" ( + .tElbow.coast + "manipulator"&6 +3 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +237 .Forearm.force -100 +3 "manipulator"&5 +32 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.coast + "manipulator"&6 +23 &o& +2 "core" & Q + .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.coast +2 "manipulator"&6 +22 &u& +3 "core" & < +2 .tForearm.force -40 + "manipulator"&5 +33 &v& +2 "core" &  +2 "manipulator"&r% +3 "core" %d i + .tForearm.coast +2 "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +33 &9% +2 "core" %U > % + .tForearm.coast +2 "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +32 &t% +3 "core" %X i T + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +33 .tForearm.coast + "manipulator"&5 +2 .tForearm.seek :retract +2 "manipulator"&z' ] +105 "core" ' +2 .tElbow.seek :clear +2 "manipulator"&{(Z +115 "core" ( +2 .tForearm.seek :retract +2 "manipulator"&x' ] +4 "core" ' + .tElbow.seek 4 +2 "manipulator"&D( +133 "core" ( + .tElbow.coast + "manipulator"&6 +3 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +201 .Forearm.force -100 +2 "manipulator"&5 +32 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force 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"manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.coast +2 "manipulator"&6 +22 && +2 "core" & 6 +2 .tForearm.force -40 + "manipulator"&5 +32 && +3 "core" & B + "manipulator"&G% +4 "core" %e g j + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +32 &}% +3 "core" %T I " + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +33 &~% +4 "core" %Y B S + .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +32 .tForearm.coast + "manipulator"&5 +2 .tForearm.seek :retract +2 "manipulator"&' ] +103 "core" ' + .tElbow.seek :clear +2 "manipulator"&(Z +108 "core" ( + .tForearm.seek :retract +2 "manipulator"&' ] +4 "core" ' +2 .tElbow.seek 4 + "manipulator"&( +108 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"manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +22 &0& +3 "core" & C + .tForearm.force -40 + "manipulator"&5 +33 &s& +3 "core" &  + "manipulator"&2% +4 "core" %ϗ  ^ + .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +32 &% +2 "core" %ό 8 ) +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +32 &:% +2 "core" %Ϗ o _ +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +33 .tForearm.coast + "manipulator"&5 +2 .tForearm.seek :retract +2 "manipulator"&w' ] +96 "core" ' + .tElbow.seek :clear +2 "manipulator"&5(Z +109 "core" ( +3 .tForearm.seek :retract +2 "manipulator"&8' ] +25 "core" ' +2 .tElbow.seek 1 + "manipulator"&?( +110 "core" ( + .tElbow.coast + "manipulator"&6 +2 .tForearm.force -70 +2 "manipulator"&5 +2 .tdelay 2 seconds +202 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.tForearm.home.seek :retract + "manipulator"&+' ] +147 "core" ' + .tElbow.seek :clear +2 "manipulator"&^(Z +115 "core" ( +2 "manipulator"&`% +4 "core" % a  + "manipulator"&f& +4 "core" &Z 0 } +2 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 2 +2 "storage"(g( v +202 "core" ( + .tSC.configure :limp +2 "storage"($(\ 1b +3 .tForearm.seek :retract +2 "manipulator"&d' ] +2 "core" ' +2 .tElbow.seek :clear +2 "manipulator"&1(Z +4 "core" ( + .tForearm.seek :retract +2 "manipulator"&e' ] +3 "core" ' +2 .tElbow.seek 2 +2 "manipulator"&k(v +119 "core" ( + .tElbow.coast +2 "manipulator"&6 +2 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +202 .Forearm.force -100 + "manipulator"&5 +32 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 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-65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.coast + "manipulator"&6 +24 &c& +2 "core" & 3 +2 .tForearm.force -40 + "manipulator"&5 +32 &h& +3 "core" & + "manipulator"&)% +68 "core" %Χ F y +2 .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +32 &g% +3 "core" %ή W N + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +33 &"% +2 "core" %ή = ` +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +32 .tForearm.coast + "manipulator"&5 +2 .tForearm.seek :retract +2 "manipulator"&(' ] +95 "core" ' +2 .tElbow.seek :clear + "manipulator"&.(Z +108 "core" ( +2 .tForearm.seek :retract +2 "manipulator"&%' ] +23 "core" ' + .tElbow.seek 7 +2 "manipulator"&*( +119 "core" ( + .tElbow.coast + "manipulator"&6 +3 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +201 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.tForearm.force -70 + "manipulator"&5 +2 .tdelay 2 seconds +202 .Forearm.force -100 + "manipulator"&5 +32 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +37 "manipulator"&6A +14 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.coast + "manipulator"&6 +22 &=& +3 "core" & \ + .tElbow.force 65 + 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"manipulator"&6A +13 "Can"\ g> + .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +13 .tElbow.coast + "manipulator"&6 +22 && +3 "core" & + .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +23 && +3 "core" & + .tForearm.force -40 + "manipulator"&5 +33 && +2 "core" & B + "manipulator"& % +4 "core" %T p  i +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +33 & % +3 "core" %F B  + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +32 & % +4 "core" %J F E + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +33 .tForearm.coast + "manipulator"&5 +2643 #t-> calarm 5 + "storage"(% +4 "core" %n k q {  + "manipulator"&% +5 "core" %З + "manipulator"&% +4 "core" %З + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +153 "core" ' +2 .tElbow.seek :clear + "manipulator"&(Z +109 "core" ( +2 "manipulator"&% +4 "core" % f , +2 "manipulator"&& +3 "core" &Z  +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 5 +2 "storage"((; +193 "core" ( +2 .tSC.configure :limp +3 "storage"($(\ 1b +2 .tForearm.seek :retract +2 "manipulator"&' ] +3 "core" ' +2 .tElbow.seek :clear + "manipulator"&(Z +8 "core" ( +2 .tForearm.seek :retract +2 "manipulator"&[' ] +3 "core" ' +2 .tElbow.seek 5 +2 "manipulator"&(/ +104 "core" ( +2 .tElbow.coast + "manipulator"&6 +3 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +201 .Forearm.force -100 + "manipulator"&5 +32 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +23 && +3 "core" & + .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.coast + "manipulator"&6 +22 &#& +3 "core" & G + .tForearm.force -40 +2 "manipulator"&5 +32 &$& +2 "core" & ~ E +2 "manipulator"&% +3 "core" % w  +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +33 &b% +3 "core" % > 8 + .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +32 & % +2 "core" % ? J +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +33 .tForearm.coast + "manipulator"&5 +2 .tForearm.seek :retract +2 "manipulator"&c' ] +107 "core" ' +2 .tElbow.seek :clear + "manipulator"&h(Z +110 "core" ( +2 .tForearm.seek :retract + "manipulator"&)' ] +13 "core" ' + .tElbow.seek 5 +2 "manipulator"&g(/ +125 "core" ( +2 .tElbow.coast + "manipulator"&6 +2 .tForearm.force -70 +2 "manipulator"&5 +2 .tdelay 2 seconds +202 .Forearm.force -100 + "manipulator"&5 +33 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.coast +2 "manipulator"&6 +22 &"& +2 "core" & +2 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +33 "manipulator"&6A +18 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.coast +2 "manipulator"&6 +22 &(& +2 "core" & ' +2 .tForearm.force -40 + "manipulator"&5 +33 &.& +2 "core" & +2 "manipulator"&*% +3 "core" % s | + .tForearm.coast +2 "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +33 &%% +2 "core" % U 7 + .tForearm.coast +2 "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +32 &!% +3 "core" % B N + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +33 .tForearm.coast + "manipulator"&5 +2 .tForearm.seek :retract +2 "manipulator"&,' ] +92 "core" ' + .tElbow.seek :clear +2 "manipulator"&n(Z +112 "core" ( +2 .tForearm.seek :retract +2 "manipulator"&-' ] +4 "core" ' + .tElbow.seek 5 +2 "manipulator"&3(/ +113 "core" ( + .tElbow.coast + "manipulator"&6 +3 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +201 .Forearm.force -100 +2 "manipulator"&5 +32 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.coast + "manipulator"&6 +23 &4& +2 "core" &  + .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +14 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.coast + "manipulator"&6 +23 &0& +2 "core" &  + .tForearm.force -40 +2 "manipulator"&5 +32 &s& +2 "core" &   +2 "manipulator"&2% +4 "core" %  ~ + .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +32 &% +2 "core" % G 7 +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +33 &:% +3 "core" % 1 R + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +33 .tForearm.coast + "manipulator"&5 +2 .tForearm.seek :retract +2 "manipulator"&w' ] +94 "core" ' + .tElbow.seek :clear +2 "manipulator"&5(Z +114 "core" ( +2 .tForearm.seek :retract +2 "manipulator"&8' ] +22 "core" ' +2 .tElbow.seek 5 +2 "manipulator"&?(/ +115 "core" ( + .tElbow.coast +2 "manipulator"&6 +2 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +202 .Forearm.force -100 + "manipulator"&5 +32 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +23 &@& +3 "core" &  + .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.coast +2 "manipulator"&6 +22 &|& +2 "core" & +2 .tForearm.force -40 + "manipulator"&5 +33 &;& +2 "core" &  +2 "manipulator"&<% +3 "core" % . + .tForearm.coast +2 "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +33 &6% +2 "core" % = 6 +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +33 &=% +3 "core" % R N + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +32 .tForearm.coast +2 "manipulator"&5 +2 .tForearm.seek :retract + "manipulator"&B' ] +94 "core" ' +2 .tElbow.seek :clear + "manipulator"&(Z +110 "core" ( + .tForearm.seek :retract +2 "manipulator"&C' ] +26 "core" ' +2 .tElbow.seek 5 +2 "manipulator"&E(/ +111 "core" ( +2 .tElbow.coast + "manipulator"&6 +2 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +202 .Forearm.force -100 + "manipulator"&5 +32 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +13 .tElbow.coast + "manipulator"&6 +22 &F& +3 "core" & & + .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 +38 "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +23 &A& +2 "core" & + .tForearm.force -40 +2 "manipulator"&5 +32 && +3 "core" & & + "manipulator"&>% +4 "core" % + .tForearm.coast +2 "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +32 &H% +2 "core" % J 6 +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +33 &I% +3 "core" % X M + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +32 .tForearm.coast +2 "manipulator"&5 +1699 #t-> calarm 4 + "storage"(J% +3 "core" %n k k   +2 "manipulator"&K% +4 "core" %R +2 "manipulator"&L% +3 "core" %R +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&M' ] +146 "core" ' +2 .tElbow.seek :clear + "manipulator"&N(Z +109 "core" ( +2 "manipulator"&P% +4 "core" % Z $ + "manipulator"&O& +4 "core" &Z { +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 4 +2 "storage"(R(+ +192 "core" ( + .tSC.configure :limp +2 "storage"($(\ 1b +3 .tForearm.seek :retract +2 "manipulator"&T' ] +4 "core" ' + .tElbow.seek :clear +2 "manipulator"&U(Z +3 "core" ( +2 .tForearm.seek :retract +2 "manipulator"&' ] +3 "core" ' +2 .tElbow.seek 4 + "manipulator"&Q( +108 "core" ( +2 .tElbow.coast + "manipulator"&6 +2 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +202 .Forearm.force -100 + "manipulator"&5 +33 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.coast + "manipulator"&6 +22 &S& +3 "core" & + .tElbow.force 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"manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +23 & & +3 "core" & + .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +23 &c& +2 "core" & \ +2 .tForearm.force -40 + "manipulator"&5 +32 &h& +3 "core" & P +2 "manipulator"&g% +3 "core" %P ~ ! w + .tForearm.coast +2 "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +32 &)% +3 "core" %K 2  + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +33 &"% +3 "core" %O G 8 +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +32 .tForearm.coast + "manipulator"&5 +2 .tForearm.seek :retract +2 "manipulator"&(' ] +94 "core" ' +2 .tElbow.seek :clear +2 "manipulator"&.(Z +111 "core" ( + .tForearm.seek :retract +2 "manipulator"&*' ] +4 "core" ' +2 .tElbow.seek 3 + "manipulator"&%( +110 "core" ( + .tElbow.coast + "manipulator"&6 +3 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +202 .Forearm.force -100 + "manipulator"&5 +32 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +23 &!& +2 "core" & + .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +7 "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +23 &,& +2 "core" &  +2 .tForearm.force -40 + "manipulator"&5 +33 &n& +2 "core" & 6 +2 "manipulator"&3% +3 "core" %Q 5 v + .tForearm.coast +2 "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +33 &-% +2 "core" %L   + .tForearm.coast +2 "manipulator"&5 +22 .tForearm.force -55 +31 "manipulator"&5 +39 &4% +3 "core" %P C 6 + .tForearm.coast +2 "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +32 .tForearm.coast +2 "manipulator"&5 +2 .tForearm.seek :retract + "manipulator"&0' ] +93 "core" ' +2 .tElbow.seek :clear + "manipulator"&s(Z +108 "core" ( +2 .tForearm.seek :retract +2 "manipulator"&2' ] +16 "core" ' +2 .tElbow.seek 3 +2 "manipulator"&( +110 "core" ( +2 .tElbow.coast + "manipulator"&6 +2 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +202 .Forearm.force -100 + "manipulator"&5 +32 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.coast + "manipulator"&6 +23 &:& +2 "core" & +2 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +23 &w& +2 "core" & +2 .tForearm.force -40 + "manipulator"&5 +32 &5& +4 "core" & _ + "manipulator"&?% +4 "core" %R  v + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +32 &8% +3 "core" %K (  + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +33 &@% +2 "core" %N 6 = +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +33 .tForearm.coast + "manipulator"&5 +2 .tForearm.seek :retract +2 "manipulator"&|' ] +92 "core" ' + .tElbow.seek :clear +2 "manipulator"&;(Z +111 "core" ( +2 .tForearm.seek :retract + "manipulator"&<' ] +4 "core" ' +2 .tElbow.seek 3 + "manipulator"&6( +113 "core" ( +3 .tElbow.coast + "manipulator"&6 +2 .tForearm.force -70 +2 "manipulator"&5 +2 .tdelay 2 seconds +202 .Forearm.force -100 + "manipulator"&5 +33 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +23 &=& +2 "core" & : +2 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +22 &B& +3 "core" & + .tForearm.force -40 + "manipulator"&5 +33 && +3 "core" & + "manipulator"&E% +4 "core" %S  v + .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +33 &C% +3 "core" %L   + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +32 &F% +4 "core" %O : : +2 .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +32 .tForearm.coast + "manipulator"&5 +2027 #t-> calarm 2 +2 "storage"(A% +3 "core" %n k j P  +2 "manipulator"&% +4 "core" %Џ + "manipulator"&>% +4 "core" %Џ +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&H' ] +144 "core" ' +2 .tElbow.seek :clear + "manipulator"&I(Z +116 "core" ( + "manipulator"&J% +102 "core" % S  + "manipulator"&K& +4 "core" &Z x +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 2 +2 "storage"(L( v +182 "core" ( + .tSC.configure :limp 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.tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +23 &N& +3 "core" & + .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 +37 "manipulator"&6 +14 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +3 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.coast + "manipulator"&6 +23 &T& +3 "core" & @ + .tForearm.force -40 + "manipulator"&5 +33 &U& +2 "core" &  +2 "manipulator"&Q% +4 "core" %N t a o + .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +32 &% +2 "core" %I ;  +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +32 &S% +2 "core" %K  7 +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +32 .tForearm.coast + "manipulator"&5 +2 .tForearm.seek :retract +2 "manipulator"&Z' ] +93 "core" ' +2 .tElbow.seek :clear + "manipulator"&Y(Z +109 "core" ( +2 .tForearm.seek :retract +2 "manipulator"&V' ] +5 "core" ' + .tElbow.seek 2 +2 "manipulator"&&(v +140 "core" ( + .tElbow.coast +2 "manipulator"&6 +2 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +202 .Forearm.force -100 + "manipulator"&5 +32 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +23 &X& +3 "core" & + .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.coast + "manipulator"&6 +22 &_& +3 "core" &  + .tForearm.force -40 + "manipulator"&5 +33 &a& +3 "core" & [ +2 "manipulator"&'% +3 "core" %M > u + .tForearm.coast +2 "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +33 &\\% +2 "core" %J C  + .tForearm.coast +2 "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +33 &]% +2 "core" %L = 3 + .tForearm.coast +2 "manipulator"&5 +22 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.tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 +2 "manipulator"&5 +32 & % +3 "core" %Ϗ , 0 + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +33 .tForearm.coast + "manipulator"&5 +2 .tForearm.seek :retract +2 "manipulator"&c' ] +94 "core" ' +2 .tElbow.seek :clear + "manipulator"&h(Z +117 "core" ( +2 .tForearm.seek :retract +2 "manipulator"&g' ] +4 "core" ' + .tElbow.seek 1 +2 "manipulator"&)( +113 "core" ( + .tElbow.coast + "manipulator"&6 +3 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +201 .Forearm.force -100 +2 "manipulator"&5 +32 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +23 &"& +2 "core" &  +2 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +3 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +22 &(& +3 "core" & ) + .tForearm.force -40 + "manipulator"&5 +33 &.& +3 "core" & z \\ + "manipulator"&%% +4 "core" %ϐ  ' u + .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +32 &*% +2 "core" %ό M  +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +33 &!% +3 "core" %ϐ = 1 + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +32 .tForearm.coast +2 "manipulator"&5 +2 .tForearm.seek :retract + "manipulator"&,' ] +93 "core" ' + .tElbow.seek :clear +2 "manipulator"&n(Z +108 "core" ( + .tForearm.seek :retract +2 "manipulator"&3' ] +5 "core" ' + .tElbow.seek 1 +2 "manipulator"&-( +131 "core" ( + .tElbow.coast + "manipulator"&6 +3 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +201 .Forearm.force -100 +2 "manipulator"&5 +32 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +3 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.coast + "manipulator"&6 +22 &4& +2 "core" & +2 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +23 &0& +2 "core" &  +2 .tForearm.force -40 + "manipulator"&5 +33 &s& +3 "core" & S +2 "manipulator"&% +4 "core" %ϐ D w + .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +32 &2% +2 "core" %ό H  +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +33 &:% +3 "core" %Ϗ 5 2 + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +33 .tForearm.coast + "manipulator"&5 +2 .tForearm.seek :retract +2 "manipulator"&w' ] +91 "core" ' + .tElbow.seek :clear +2 "manipulator"&5(Z +109 "core" ( +2 .tForearm.seek :retract +2 "manipulator"&?' ] +4 "core" ' + .tElbow.seek 1 +2 "manipulator"&8( +109 "core" ( +3 .tElbow.coast + "manipulator"&6 +3 .tForearm.force -70 +30 "manipulator"&5 +10 .tdelay 2 seconds +202 .Forearm.force -100 + "manipulator"&5 +32 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +22 &@& +3 "core" & + .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 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.tForearm.home.seek :retract +2 "manipulator"&C' ] +147 "core" ' +2 .tElbow.seek :clear + "manipulator"&F(Z +110 "core" ( + "manipulator"&A% +4 "core" % N F 6 +2 "manipulator"&& +3 "core" &Z 1 +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 7 +2 "storage"(>([4 +984 "core" ( +2 .tSC.configure :limp +7 "storage"($(\ 1b +2 .tForearm.seek :retract +2 "manipulator"&J' ] +8 "core" ' +2 .tElbow.seek :clear +2 "manipulator"&K(Z +3 "core" ( +2 .tForearm.seek :retract +2 "manipulator"&' ] +3 "core" ' +2 .tElbow.seek 7 +2 "manipulator"&H( +109 "core" ( + .tElbow.coast + "manipulator"&6 +3 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +202 .Forearm.force -100 + "manipulator"&5 +32 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +3 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.coast + "manipulator"&6 +23 &I& +2 "core" & + .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.coast + "manipulator"&6 +22 &P& +3 "core" & + .tForearm.force -40 + "manipulator"&5 +33 &O& +3 "core" & 8 + "manipulator"&M% +4 "core" %Ρ b + .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +32 &% +2 "core" %ΰ : ? +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +32 &N% +2 "core" %ΰ G D +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +33 .tForearm.coast + "manipulator"&5 +2 .tForearm.seek :retract +2 "manipulator"&T' ] +96 "core" ' + .tElbow.seek :clear +2 "manipulator"&U(Z +116 "core" ( + .tForearm.seek :retract +2 "manipulator"&Q' ] +4 "core" ' +2 .tElbow.seek 7 + "manipulator"&( +130 "core" ( +2 .tElbow.coast +2 "manipulator"&6 +2 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +202 .Forearm.force -100 + "manipulator"&5 +32 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A 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+32 &Y& +3 "core" & i f + "manipulator"&&% +4 "core" %Ψ ? + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +33 &V% +2 "core" %ΰ - 9 + .tForearm.coast +2 "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +33 &X% +2 "core" %α $ @ +2 .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +32 .tForearm.coast + "manipulator"&5 +2 .tForearm.seek :retract +2 "manipulator"&_' ] +109 "core" ' +2 .tElbow.seek :clear +2 "manipulator"&a(Z +117 "core" ( + .tForearm.seek :retract +2 "manipulator"&'' ] +11 "core" ' + .tElbow.seek 7 +2 "manipulator"&\\( +115 "core" ( +2 .tElbow.coast + "manipulator"&6 +3 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +201 .Forearm.force -100 + "manipulator"&5 +32 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 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.tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.coast +2 "manipulator"&6 +22 &`& +2 "core" & +2 .tForearm.force -40 + "manipulator"&5 +32 &f& +3 "core" &  R + "manipulator"&+% +4 "core" %Φ y X + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +33 &/% +2 "core" %ΰ 1 6 + .tForearm.coast +2 "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +32 &^% +3 "core" %α 1 A + .tForearm.coast +2 "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +32 .tForearm.coast + "manipulator"&5 +2 .tForearm.seek :retract +2 "manipulator"&d' ] +93 "core" ' +2 .tElbow.seek :clear +2 "manipulator"&1(Z +108 "core" ( +2 .tForearm.seek :retract +2 "manipulator"&k' ] +22 "core" ' +2 .tElbow.seek 7 + "manipulator"&e( +109 "core" ( +2 .tElbow.coast + "manipulator"&6 +2 .tForearm.force -70 +2 "manipulator"&5 +2 .tdelay 2 seconds +202 .Forearm.force -100 + "manipulator"&5 +33 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 +2 "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.coast +2 "manipulator"&6 +22 &l& +3 "core" & D + .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.coast + "manipulator"&6 +23 &i& +2 "core" & +2 .tForearm.force -40 + "manipulator"&5 +32 &7& +4 "core" & / + "manipulator"&p% +4 "core" %Χ |  + .tForearm.coast + "manipulator"&5 +22 .tForearm.force -55 +2 "manipulator"&5 +32 &j% +3 "core" %β G 2 + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +33 &q% +2 "core" %γ @ > + .tForearm.coast +2 "manipulator"&5 +22 .tForearm.force -55 + "manipulator"&5 +33 .tForearm.coast + "manipulator"&5 +2 .tForearm.seek :retract +2 "manipulator"&' ] +103 "core" ' +2 .tElbow.seek :clear + "manipulator"&m(Z +116 "core" ( + .tForearm.seek :retract +2 "manipulator"&u' ] +14 "core" ' + .tElbow.seek 7 +2 "manipulator"&o( +111 "core" ( +2 .tElbow.coast + "manipulator"&6 +3 .tForearm.force -70 + "manipulator"&5 +3 .tdelay 2 seconds +201 .Forearm.force -100 +2 "manipulator"&5 +32 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +13 .tElbow.coast + "manipulator"&6 +22 &v& +3 "core" & + .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 +2 "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.force 65 +37 "manipulator"&6A +14 .tElbow.force -65 + "manipulator"&6 +12 .tElbow.force 65 + "manipulator"&6A +13 .tElbow.force -65 + "manipulator"&6 +13 .tElbow.force 65 + "manipulator"&6A +12 .tElbow.force -65 +2 "manipulator"&6 +12 .tElbow.coast + "manipulator"&6 +22 &9& +3 "core" & + .tForearm.force -40 + "manipulator"&5 +33 &r& +3 "core" & + "manipulator"&z% +4 "core" %Ω  + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +32 &t% +3 "core" %β 4 0 + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 +2 "manipulator"&5 +33 &{% +3 "core" %γ : ; + .tForearm.coast + "manipulator"&5 +23 .tForearm.force -55 + "manipulator"&5 +32 .tForearm.coast +2 "manipulator"&5 +2221 "Can"\ 2-$> +47790 #t-> Arm.clear +2 "manipulator"&x& +3 "core" & +2 "manipulator"&D% +4 "core" % : +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +152 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&y(Z +110 "core" ( +2 "manipulator"&& +4 "core" &Z  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &}& +2 "core" &Z P  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :clear +2 "manipulator"&G' ] +12 "core" ' + "manipulator"&~& +4 "core" &Z   +2 "manipulator"&% +3 "core" % d   +544 #t-> Arm.garage +2 "manipulator"&& +3 "core" &Z {  +2 "manipulator"&L% +4 "core" % e c  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(-w +105 "core" ( + "manipulator"&& +4 "core" &-  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &-   +2 .tForearm.seek :garage +2 "manipulator"&'π +110 "core" ' +2 "manipulator"& & +4 "core" &-  + "manipulator"&R% +4 "core" %ςM q  +359 #t-> Hand.open +2 .Hand.open + "manipulator"& 1 +58 "core" 1 +348 #t-> Arm.clear +2 "manipulator"&& +3 "core" &-  +2 "manipulator"&% +4 "core" % ςT 7  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +160 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&W(Z +135 "core" ( +2 "manipulator"&& +4 "core" &Z f  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &Z   +2 .tForearm.seek :clear +2 "manipulator"&' ] +3 "core" ' + "manipulator"&[& +4 "core" &Z  +2 "manipulator"&% +3 "core" % P# A +265 #t-> exit +6 #mEXIT @1668800131.80PST @1668800297.97PST = =tMAIN =mMAIN_scheduler @PST1668800299.86 #"core_reset"Sent BREAK +2 #t@26443 receive with ifg=0x10, ie=0xFD + #@27079 receive with ifg=0x10, ie=0xFD + #@27735 receive with ifg=0x10, ie=0xFD #@28370 receive with ifg=0x10, ie=0xFD + #@29005 receive with ifg=0x10, ie=0xFD + #@29640 receive with ifg=0x10, ie=0xFD #@30274 receive with ifg=0x10, ie=0xFD + #@30600 receive with ifg=0x80, ie=0xFD + #@45475 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +10 #ESP2 v3.42 I2C Gateway v3.20 for core bus +252 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +400 "Can"\ ;Mͻ + \ ;Mͻ2 + #tPolling Can every 10:00 +7 #Cleanly exited at 11:35:31PST18-Nov-22 +704 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +3 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %] + #7\  + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +4 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +4 "core" %ٵ\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %ޝ  g\ + .tSS.configure :default +3 "sampler")#.0X access 1 +3 "storage"(3% +3 "core" %n ( 4 +2 "manipulator"&4% +4 "core" % x  + "manipulator"&5& +4 "core" &Z  +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 5 +2 "storage"(6(; +357 "core" ( + .tSC.configure :limp +2 "storage"($(\ 1b +3 (7& +3 "core" &;  +13039 #t-> to 1 +2 "storage"(8% +3 "core" %n W W O  +2 "manipulator"&9% +4 "core" % x a  +2 "manipulator"&:& +3 "core" &Z  +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 1 +2 "storage"(;( +662 "core" ( + .tSC.configure :limp +2 "storage"($(\ 1b +3 (<& +2 "core" &   < +1683 #t-> Puck.stackHeight(1) +2 "storage"(=% +2 "core" %n W V "  +2 .tSE.seek :down +2 "storage"(>'g +3 "core" ' + .tSE.stop +2 "storage"(5 +2 .tHand.open + "manipulator"&?1 +20 "core" 1 +2 "manipulator"&@% +4 "core" % x Z  +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 1 +2 "storage"(A( +14 "core" ( + .tSC.configure :limp +3 "storage"($(\ 1b +2 (B& +3 "core" & V W *  +2 "manipulator"&C& +3 "core" &Z  +2 "manipulator"&D% +4 "core" % x  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&E( +146 "core" ( +2 "manipulator"&F& +4 "core" & b e + "storage"(G& +4 "core" & J J /  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 800 counts +2 "manipulator"&H'Ҳ +98 "core" ' + "storage"(I& +4 "core" & k Z :  +2 .tSE.reconfigure :place +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(J' +273 "core" ' + "storage"(K- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (L% +3 "core" % 7 9 s  +2 ."downElevator"SE.seek :down +5 "storage"(M'g +99 (N% +2 "core" %rC + > V TZ +2 "manipulator"&O% +4 "core" %ҵ X  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&P' ] +155 "core" ' +13 ' + ."downElevator"SE.stop +2 "storage"(5 +22534 #t-> Puck.stackHeight(1) +2 "storage"(Q% +2 "core" % V M V  +3 .tSE.seek :down + "storage"(R'g +14 "core" ' +2 .tSE.stop "storage"(5 +3 "manipulator"&S% +4 "core" % V A ' +2 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 1 +2 "storage"(T( +3 "core" ( + .tSC.configure :limp +3 "storage"($(\ 1b +2 (U& +3 "core" & K F $  + "manipulator"&V& +4 "core" & z e +2 .tElbow.seek 1 +2 "manipulator"&W( +3 "core" ( + "manipulator"&X& +4 "core" & e +2 "storage"(Y& +4 "core" & S K 6  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 800 counts + "manipulator"&Z'Ҳ +104 "core" ' + "storage"([& +5 "core" & x n =  +2 .tSE.reconfigure :place +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(\\' +316 "core" ' +2 "storage"(]- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 !to:Puck::Error: mesg"-1 puck loaded in tube 1 when expecting 0:bt[";/home/esp/esp2/utils/puckmoves.rb:259:in `verifyCount'";/home/esp/esp2/utils/puckmoves.rb:655:in `stackHeight'"5/home/esp/esp2/lib/rmutex.rb:99:in `synchronize'"./home/esp/esp2/lib/rmutex.rb:72:in `lock'"./home/esp/esp2/lib/delay.rb:78:in `claim'";/home/esp/esp2/utils/puckmoves.rb:650:in `stackHeight'"0/home/esp/esp2/lib/rangenum.rb:21:in `each'";/home/esp/esp2/utils/puckmoves.rb:649:in `stackHeight'"4/home/esp/esp2/utils/puckmoves.rb:648:in `each'";/home/esp/esp2/utils/puckmoves.rb:648:in `stackHeight'"(ESP):5:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 "storage"(^% +3 "core" %  L f g  +38 ."downElevator"SE.seek :down +9 "storage"(_'g +99 (`% +2 "core" %[ 6 J  Wa +2 "manipulator"&a% +4 "core" % F  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&b' ] +149 "core" ' +6 ' + ."downElevator"SE.stop +2 "storage"(5 +11078 "Can"\ 6bc +960 #t-> exit +7 #mEXIT @1668800916.30PST @1668800924.83PST = =tMAIN =mMAIN_scheduler @PST1668800926.69 #"core_reset"Sent BREAK +2 #t@28115 select with ifg=0x10, ie=0xF5 + #@28764 receive with ifg=0x10, ie=0xFD + #@29413 receive with ifg=0x10, ie=0xFD #@30062 receive with ifg=0x10, ie=0xFD + #@30389 receive with ifg=0x80, ie=0xFD + #@10636 sendCRC with ifg=0x20, ie=0x7F #@11084 sendCRC with ifg=0x20, ie=0x7F + #@12674 sendCRC with ifg=0x08, ie=0x5F #@34627 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +8 #ESP2 v3.42 I2C Gateway v3.20 for core bus +246 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +398 "Can"\ 6xjg + \ 6xjg$ + #tPolling Can every 10:00 +2 #Cleanly exited at 11:48:36PST18-Nov-22 +712 #-> ESP.ready! +154 "sampler") +2 ) + "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %] ( >\  + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +2 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %ٵ\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %ޝ! a\ + .tSS.configure :default +3 "sampler")#.0X to 1 +2 "storage"(2% +3 "core" %r M N   +2 "manipulator"&3% +4 "core" % \\ B  + "manipulator"&4& +4 "core" & z e +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 1 + "storage"(5( +3 "core" ( + .tSC.configure :limp +3 "storage"($(\ 1b +2 (6& +3 "core" & K I S  +1179 #t-> Puck.stackHeight(1) +2 "storage"(7% +3 "core" %r N J H  +2 .tSE.seek :down + "storage"(8'g +13 "core" ' + .tSE.stop + "storage"(5 +3 .tHand.open + "manipulator"&91 +24 "core" 1 +2 "manipulator"&:% +4 "core" % \\  + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 1 +2 "storage"(;( +3 "core" ( +2 .tSC.configure :limp +2 "storage"($(\ 1b +2 (<& +3 "core" & T @   +2 "manipulator"&=& +4 "core" &  e + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&>( +3 "core" ( + "manipulator"&?& +4 "core" & e +2 "storage"(@& +3 "core" & J J 2  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 800 counts +2 "manipulator"&A'Ҳ +105 "core" ' +2 "storage"(B& +4 "core" & o k g  +2 .tSE.reconfigure :place +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(C' +311 "core" ' +2 "storage"(D- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (E% +3 "core" %  ^ s  +3 ."downElevator"SE.seek :down +3 "storage"(F'g +99 (G% +3 "core" %L ' ;  U_ +2 "manipulator"&H% +3 "core" %һ ^  +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&I' ] +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ' +5345 #t-> exit +7 #mEXIT @1668801025.32PST @1668801032.98PST = =tMAIN =mMAIN_scheduler @PST1668801034.88 #"core_reset"Sent BREAK +2 #t@18762 sendCRC with ifg=0x20, ie=0x7F + #@20352 sendCRC with ifg=0x08, ie=0x5F + #@13507 idle with ifg=0x84, ie=0x75 #@14181 select with ifg=0x10, ie=0xF5 + #@14815 receive with ifg=0x10, ie=0xFD + #@15449 receive with ifg=0x10, ie=0xFD #@16084 receive with ifg=0x10, ie=0xFD + #@16411 receive with ifg=0x80, ie=0xFD #@28134 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +9 #ESP2 v3.42 I2C Gateway v3.20 for core bus +244 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +398 "Can"\ 3q + \ 3q+ + #tPolling Can every 10:00 +2 #Cleanly exited at 11:50:25PST18-Nov-22 +803 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' + ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ + "collection"'% +4 "core" %] ) !2\  + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +3 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +5 "core" %ٵ%\ + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %ޝ `\ + .tSS.configure :default +3 "sampler")#.0X to 1 + "storage"(2% +4 "core" %h K K   + "manipulator"&3% +4 "core" % X +2 "manipulator"&4& +3 "core" & e +2 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 1 +2 "storage"(5( +2 "core" ( +2 .tSC.configure :limp +2 "storage"($(\ 1b +3 (6& +2 "core" & G H 7  +1002 #t-> Puck.stackHeight(1) +2 "storage"(7% +3 "core" %h q m   +2 .tSE.seek :down +2 "storage"(8'g +3 "core" ' + .tSE.stop + "storage"(5 +2 .tHand.open +2 "manipulator"&91 +21 "core" 1 +2 "manipulator"&:% +4 "core" % X  +2 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 1 +2 "storage"(;( +2 "core" ( +2 .tSC.configure :limp +2 "storage"($(\ 1b +3 (<& +3 "core" & J J $  +2 "manipulator"&=& +3 "core" & e +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 +2 "manipulator"&>( +2 "core" ( +2 "manipulator"&?& +3 "core" & e +2 "storage"(@& +4 "core" & k p  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 800 counts +2 "manipulator"&A'Ҳ +91 "core" ' + "storage"(B& +4 "core" & O X   +2 .tSE.reconfigure :place +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(C' +311 "core" ' +2 "storage"(D- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (E% +3 "core" %  J H   +2 ."downElevator"SE.seek :down +4 "storage"(F'g +98 (G% +3 "core" %] 2 ( L Xc +2 "manipulator"&H% +3 "core" %һ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&I' ] +147 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ' +1100 #t-> SE.home.to :home +2 .SE.reconfigure :default +2 "storage"(#K-0-\ b +3 .tSE.home.seek :home + "storage"(J' +48 "core" ' + "storage"(K% +5 "core" % ; Q  +1018 #t-> Puck.stackHeight(1) +2 "storage"(L% +3 "core" % K I 0  +2 .tSE.seek :down +2 "storage"(M'g +33 "core" ' + .tSE.stop + "storage"(5 +3 "manipulator"&N% +4 "core" % ] , +2 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 1 +2 "storage"(O( +2 "core" ( +2 .tSC.configure :limp +2 "storage"($(\ 1b +3 (P& +2 "core" & H ?  +2 "manipulator"&Q& +5 "core" & e + .tElbow.seek 1 +2 "manipulator"&R( +3 "core" ( +2 "manipulator"&S& +5 "core" & c e + "storage"(T& +4 "core" & W M 3  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 800 counts + "manipulator"&U'Ҳ +107 "core" ' +2 "storage"(V& +4 "core" & l j \  +2 .tSE.reconfigure :place +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(W' +318 "core" ' +3 "storage"(X- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Y% +3 "core" % \ h N .  +2 ."downElevator"SE.seek :down +4 "storage"(Z'g +98 ([% +3 "core" %\\ . K s Wa +2 "manipulator"&\\% +4 "core" % W  + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&]' ] +151 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ' +5039 #t-> exit +47 #mEXIT @1668801156.29PST @1668801163.71PST = =tMAIN =mMAIN_scheduler @PST1668801165.59 #"core_reset"Sent BREAK +2 #t@63949 select with ifg=0x10, ie=0xF5 + #@64583 receive with ifg=0x10, ie=0xFD + #@65217 receive with ifg=0x10, ie=0xFD #@316 receive with ifg=0x10, ie=0xFD + #@643 receive with ifg=0x80, ie=0xFD + #@56253 sendCRC with ifg=0x20, ie=0x7F #@56700 sendCRC with ifg=0x20, ie=0x7F + #@58291 sendCRC with ifg=0x08, ie=0x5F #@9823 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +9 #ESP2 v3.42 I2C Gateway v3.20 for core bus +244 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +400 "Can"\ 8= + \ 8=/ + #tPolling Can every 10:00 +2 #Cleanly exited at 11:52:36PST18-Nov-22 +507 #-> ESP.ready! +155 "sampler") +2 ) +2 "core"  +2 "collection"' + ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %] ( #!\  + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +3 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +5 "core" %ٵ\ + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %ޝ e\ + .tSS.configure :default +3 "sampler")#.0X P -  + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 .tCH.coast +2 "collection"' +2 .tCH.configure :default + "collection"'\ 2 +2 .tPH.coast + "processing"% +2 .tPH.configure :default +2 "processing"%\ 2 +2 #tAll dwarf controllers running firmware version 3.85 +2 "sampler") +9 "collection"'% +3 "processing"%% +7 "manipulator"&% + "core" %] ' "2\  + %ٵ\ +3 "sampler")% +4 "core" % N # +2 %ޝ  \\\ + "manipulator"&& +4 "core" & Q e + "storage"(& +4 "core" & L J 4  + "storage"(% +4 "core" %n J L /  + "collection"'& +4 "core" &t (  \  + "processing"%& +3 "core" &u\  +2 "collection"' +3 "core"  +2 "collection"'  +3 "core"  + "collection"'! +3 "core"  +2 "processing"%" +3 "core"  +2 "processing"%# +3 "core" U +2 "processing"%$ +3 "core"  + "processing"%% +4 "core" @ + "sampler")& +4 "core"  + "collection"''% +4 "core" %] * !>\  +2 "processing"%(% +4 "core" %ٵ#\ + "sampler"))% +4 "core" %ޝ  T\ +2 "collection"'*& +4 "core" &t ) !$\  +2 "processing"%+& +3 "core" &u\  +2 "manipulator"&,% +4 "core" % N u # +3 "manipulator"&-& +3 "core" & e +2 "storage"(.& +4 "core" & J L 5  + "storage"(/% +4 "core" %n J L 2  +2 "collection"'09 +3 "core" 9| +2 "processing"%19 +3 "core" 9 +298 #t-> to 1 + "storage"(2% +4 "core" %n K M G  + "manipulator"&3% +4 "core" % N # +2 "manipulator"&4& +4 "core" & i e + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 1 +2 "storage"(5( +3 "core" ( +2 .tSC.configure :limp +2 "storage"($(\ 1b +3 (6& +3 "core" & I I (  +944 #t-> Puck.stackHeight(1) +2 "storage"(7% +3 "core" %n W T K  +2 .tSE.seek :down + "storage"(8'g +4 "core" ' + .tSE.stop +2 "storage"(5 +2 .tHand.open +2 "manipulator"&91 +21 "core" 1 +2 "manipulator"&:% +4 "core" % N U # +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 1 +2 "storage"(;( +2 "core" ( +2 .tSC.configure :limp +2 "storage"($(\ 1b +3 (<& +3 "core" & J I 6  + "manipulator"&=& +4 "core" & e +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 +2 "manipulator"&>( +3 "core" ( +2 "manipulator"&?& +4 "core" & Y e +2 "storage"(@& +3 "core" & X W   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 800 counts +2 "manipulator"&A'Ҳ +100 "core" ' +2 "storage"(B& +4 "core" & O L   +2 .tSE.reconfigure :place +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(C' +313 "core" ' + "storage"(D- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (E% +3 "core" %  H I  +3 ."downElevator"SE.seek :down +3 "storage"(F'g +99 (G% +3 "core" %` 1 ' W Wb +2 "manipulator"&H% +3 "core" %Ҵ   +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&I' ] +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +8 "core" ' +1657 #t-> SE.home.to :home +2 .SE.reconfigure :default +2 "storage"(#K-0-\ b +2 .tSE.home.seek :home +2 "storage"(J' +49 "core" ' + "storage"(K% +4 "core" % L S 3  +303 #t-> Puck.stackHeight(1) +2 "storage"(L% +3 "core" % . < q  +2 .tSE.seek :down +2 "storage"(M'g +33 "core" ' + .tSE.stop + "storage"(5 +3 "manipulator"&N% +4 "core" % f , +2 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 1 +2 "storage"(O( +2 "core" ( +2 .tSC.configure :limp +2 "storage"($(\ 1b +3 (P& +3 "core" & H >  +2 "manipulator"&Q& +4 "core" & e + .tElbow.seek 1 +2 "manipulator"&R( +3 "core" ( +2 "manipulator"&S& +5 "core" & S e + "storage"(T& +4 "core" & N T 9  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 800 counts +2 "manipulator"&U'Ҳ +98 "core" ' +2 "storage"(V& +4 "core" & S W  +2 .tSE.reconfigure :place +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(W' +314 "core" ' +2 "storage"(X- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (Y% +3 "core" %  M J >  +3 ."downElevator"SE.seek :down +4 "storage"(Z'g +99 ([% +3 "core" %U 1 ) R V` +2 "manipulator"&\\% +4 "core" %Һ  + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&]' ] +149 "core" ' +3 ' + ."downElevator"SE.stop + "storage"(5 +7752 #t-> exit +41 #mEXIT @1668801310.11PST @1668801317.64PST = =tMAIN =mMAIN_scheduler @PST1668801319.45 #"core_reset"Sent BREAK +2 #t@6022 select with ifg=0x10, ie=0xF5 + #@6671 receive with ifg=0x10, ie=0xFD + #@7320 receive with ifg=0x10, ie=0xFD + #@7969 receive with ifg=0x10, ie=0xFD #@8296 receive with ifg=0x80, ie=0xFD + #@58300 sendCRC with ifg=0x20, ie=0x7F #@58807 sendCRC with ifg=0x20, ie=0x7F + #@60343 sendCRC with ifg=0x08, ie=0x5F + #@19997 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +9 #ESP2 v3.42 I2C Gateway v3.20 for core bus +237 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +388 "Can"\ 5̇ + \ 5̇9 #tPolling Can every 10:00 +3 #Cleanly exited at 11:55:10PST18-Nov-22 +645 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% + % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" %] ( "(\  +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +3 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +4 "core" %ٵ%\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %ޝ c\ +2 .tSS.configure :default +2 "sampler")#.0X Puck.raiseStack :place; SEplace +2 "storage"(2& +3 "core" & M J i  +2 .tSE.reconfigure :place +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(3' +314 "core" ' + "storage"(4- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +8787 #t-> exit +7 #mEXIT @1668801444.70PST @1668801452.25PST = =tMAIN =mMAIN_scheduler @PST1668801454.07 #"core_reset"Sent BREAK +2 #t@61496 sendCRC with ifg=0x20, ie=0x7F + #@61713 sendCRC with ifg=0x20, ie=0x7F + #@62866 sendCRC with ifg=0x20, ie=0x7F #@63082 sendCRC with ifg=0x20, ie=0x7F + #@64236 sendCRC with ifg=0x20, ie=0x7F + #@64452 sendCRC with ifg=0x20, ie=0x7F #@70 sendCRC with ifg=0x20, ie=0x7F + #@1436 sendCRC with ifg=0x08, ie=0x5F #@12645 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +8 #ESP2 v3.42 I2C Gateway v3.20 for core bus +234 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +375 "Can"\ ;:" + \ ;:"& + #tPolling Can every 10:00 +3 #Cleanly exited at 11:57:24PST18-Nov-22 +380 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %] % J\  + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +2 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %ٵ\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %ޝ d\ + .tSS.configure :default +3 "sampler")#.0X Puck.raiseStack :place; SEplace +2 "storage"(3& +3 "core" & J J &  +2 .tSE.reconfigure :place +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(4' +87 "core" ' + "storage"(5- +3 "core" -'B +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +1523 #t-> SE.down +2 .SE.seek :down +2 "storage"(6'g +263 "core" ' + "storage"(7% +4 "core" %\\ T C ;  +414 #t-> exit +7 #mEXIT @1668801505.09PST @1668801548.06PST = =tMAIN =mMAIN_scheduler @PST1668801549.86 #"core_reset"Sent BREAK +2 #t@40575 receive with ifg=0x10, ie=0xFD + #@41222 receive with ifg=0x10, ie=0xFD + #@41882 receive with ifg=0x10, ie=0xFD #@42527 receive with ifg=0x10, ie=0xFD + #@43177 receive with ifg=0x10, ie=0xFD + #@43826 receive with ifg=0x10, ie=0xFD #@44474 receive with ifg=0x10, ie=0xFD + #@44800 receive with ifg=0x80, ie=0xFD #@54483 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +8 #ESP2 v3.42 I2C Gateway v3.20 for core bus +235 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +379 "Can"\ : + \ :- #tPolling Can every 10:00 +3 #Cleanly exited at 11:58:25PST18-Nov-22 +442 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" %] ' !G\  +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +5 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %ٵ\ +2 .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %ޝ i\ + .tSS.configure :default +3 "sampler")#.0X Puck.raiseStack :place; SEplace +2 "storage"(3& +3 "core" & J I   +2 .tSE.reconfigure :place +2 "storage"(#]9K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(4' +317 "core" ' + "storage"(5- +4 "core" -'w + .tSE.configure :default +3 "storage"(#QK-0-\ b +1984 #t-> SE.status +2 "storage"(6% +3 "core" % m F ? \  +5163 #t-> SE.down +2 .SE.seek :down +2 "storage"(7'g +262 "core" ' + "storage"(8% +4 "core" %s 9 Q \  +1377 #t-> Puck.raiseStack :pick, SEpick +2 "storage"(9& +3 "core" & F ?  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(:' +300 "core" ' +2 "storage"(;- +3 "core" -'j + .tSE.configure :default +3 "storage"(#QK-0-\ b +2623 #t-> Hand.open +2 .Hand.open + "manipulator"&<1 +16 "core" 1 +799 #t-> Arm.to 1 +2 "manipulator"&=& +3 "core" & e +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&>( +3 "core" ( +2 "manipulator"&?& +4 "core" & e +2 "storage"(@& +3 "core" & . =  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 800 counts +2 "manipulator"&A'Ҳ +90 "core" ' + "manipulator"&B& +4 "core" & v e +2 "manipulator"&C% +4 "core" %ү * j +534 #t-> SE.status +2 "storage"(D% +3 "core" % f I I   +10960 #t-> SE.down +2 .SE.seek :down +2 "storage"(E'g +282 "core" ' +2 "storage"(F% +4 "core" %m 6 N  +640 #t-> to 2 +2 "storage"(G% +3 "core" %m ? E   +2 "manipulator"&H% +4 "core" %ү j + "manipulator"&I% +4 "core" %ү j + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&J' ] +152 "core" ' +2 .tElbow.seek :clear +2 "manipulator"&K(Z +109 "core" ( + "manipulator"&L% +4 "core" % O  +2 "manipulator"&M& +3 "core" &Z q  +2 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 2 +2 "storage"(N( v +194 "core" ( +3 .tSC.configure :limp +2 "storage"($(\ 1b +3 (O& +2 "core" & u    +1292 #t-> SE.home.to :home +2 .SE.reconfigure :default +3 "storage"(#K-0-\ b +2 .tSE.home.seek :home +2 "storage"(P' +47 "core" ' +2 "storage"(Q% +4 "core" % , C 9  +487 #t-> SE.pick +3 .SE.seek :pick +2 "storage"(R' +260 "core" ' +2 "storage"(S% +4 "core" %( O 5 ,  +980 #t-> SE.status + "storage"(T% +4 "core" %( I I   +25169 #t-> SE.down +2 .SE.seek :down +2 "storage"(U'g +273 "core" ' +2 "storage"(V% +4 "core" %t U G ,  +209 #t-> exit +6 #mEXIT @1668802130.59PST @1668802137.85PST = =tMAIN =mMAIN_scheduler @PST1668802139.74 #"core_reset"Sent BREAK +2 #t@38360 receive with ifg=0x10, ie=0xFD + #@39007 receive with ifg=0x10, ie=0xFD + #@39667 receive with ifg=0x10, ie=0xFD + #@40312 receive with ifg=0x10, ie=0xFD #@40961 receive with ifg=0x10, ie=0xFD + #@41610 receive with ifg=0x10, ie=0xFD #@42259 receive with ifg=0x10, ie=0xFD + #@42584 receive with ifg=0x80, ie=0xFD + #@31495 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +9 #ESP2 v3.42 I2C Gateway v3.20 for core bus +246 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +400 "Can"\ ; + \ ;# + #tPolling Can every 10:00 +3 #Cleanly exited at 12:08:50PST18-Nov-22 +548 #-> ESP.ready! +155 "sampler") + ) +2 "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %] & E\  + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +4 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +4 "core" %ٵ\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %ޝ  f\ + .tSS.configure :default +3 "sampler")#.0X SE.home.to :home +2 .SE.reconfigure :default +3 "storage"(#K-0-\ b +2 .tSE.home.seek :home + "storage"(3' +48 "core" ' + "storage"(4% +4 "core" % `  +274 #t-> SE.pick +2 .SE.seek :pick +2 "storage"(5') +261 "core" ' + "storage"(6% +4 "core" %.  +252 #t-> SE.status + "storage"(7% +4 "core" %. b  +8234 #t-> access 1 +3 "storage"(8% +3 "core" %. +2 .tSE.seek :down +2 "storage"(9'g +275 "core" ' + "manipulator"&:% +4 "core" % O s  + "manipulator"&;& +4 "core" &Z ^  +2 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 5 +2 "storage"(<(; +521 "core" ( +2 .tSC.configure :limp +2 "storage"($(\ 1b +2 (=& +3 "core" &; X V +  +23494 #t-> require 'shuffle.rb' +1294 #-> shuffle 1..1 +2 #Shuffling pucks in tube 1 of [1..1] +3 #Loading generic puck from tube 1 into Collection Clamp + "collection"'>& +4 "core" &t $ -\  + .tHand.open +2 "manipulator"&?1 +20 "core" 1 + "manipulator"&@% +4 "core" % O  +2 "storage"(A% +4 "core" %d R N N  + "storage"(B. +3 "core" .(; +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 1 +2 "storage"(C( +667 "core" ( + .tSC.configure :limp +3 "storage"($(\ 1b +2 (D& +3 "core" &   . \ +2 "manipulator"&E& +3 "core" &Z  +2 "manipulator"&F% +3 "core" % O  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&G( +152 "core" ( +2 "manipulator"&H& +4 "core" & C u + "storage"(I& +4 "core" & S H #  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 800 counts + "manipulator"&J'Ҳ +94 "core" ' + "storage"(K& +4 "core" & W N _  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(L' +303 "core" ' + "storage"(M- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (N& +3 "core" & < H  + "manipulator"&O& +4 "core" & u +2 .tElbow.seek 1 +2 "manipulator"&P( +3 "core" ( +2 "manipulator"&Q& +3 "core" & u +2 "storage"(R& +3 "core" & M S  +2 .tForearm.seek 1 + 300 counts +2 "manipulator"&S'о +36 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&T/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&U& + "storage"(V'g +8 "core" & W u + "manipulator"&W% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract +2 "manipulator"&X' ] +145 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Y( +100 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +71 "core" ( +2 "manipulator"&Z& +5 "core" &  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &[& +2 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +37 "manipulator"&\\'ш +105 "core" ' + "manipulator"&]& +5 "core" & ;  + "manipulator"&^% +4 "core" %ь ( +2 "collection"'_& +4 "core" &t % -\  +2 "collection"'`& +5 "core" &t # 2\  +2 .tCC.seek :closed +2 "collection"'a(W8 +3 "core" &t % \  +9 &I # @\ %i +9 &_X % C\ 9 +10 &} " \ N +9 &v\\ # \ O +9 &:\\ " .\ N +10 &Z & \ O +9 &Y # \ O +9 &] # #\ O +10 & AY # 5\ O +9 &"Z " :\ N +10 &#X # \ O +9 &%\\ " \ O +9 &'IY " \ O +10 &) Y # \ O +9 &*Y ! '\ N +9 &,\\ " \ O +10 &.Q] ! \ O +9 &0Y " \ O +10 &1^ $ \ O +9 &3X ! <\ N +9 &5Y\\ " \ O +10 &7Z # !\ O +9 &8Y # \ O +9 &:W # \ N +10 &#Y ! \ O +10 &?Y ! %\ N +9 &AY " \ O +9 &Cg` * &\ O +10 &E(f 7 /\ P +9 &Fj D =\ Q +10 &Ht T L\ Q +9 &Ja t m\ T +9 &L \ V +10 &M \ X +9 &O \ X +9 &Q] \ X +10 &S \ Y +9 &T \ Y +9 &Vx \ - +10 &W  \ P +9 ( +3 "collection"'`& +2 #tCollection Clamp onSpring/offSpring for 7/26 samples, on/off torque 1.89 +2 .Hand.open + "manipulator"&b1 +4 "core" &W] \ F +59 1 +2 "manipulator"&c% +4 "core" % ь u +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&d' ] +158 "core" ' +2 #tLoading generic puck from tube 1 into Processing Clamp +2 "processing"%e& +4 "core" &u\  + "manipulator"&f% +4 "core" % V  8 +2 "storage"(g% +4 "core" %[ .  2 + "storage"(h. +3 "core" .( + "storage"(i& +5 "core" &   + "storage"(j& +4 "core" &  + "manipulator"&k& +4 "core" & ;  + "manipulator"&l% +4 "core" % V  8 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 +2 "manipulator"&m( +153 "core" ( +3 "manipulator"&n& +4 "core" & j +2 "storage"(o& +3 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 800 counts +2 "manipulator"&p'Ҳ +95 "core" ' + "storage"(q& +5 "core" & ' 3 q +2 .tSE.reconfigure :pick +7 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(r' +295 "core" ' + "storage"(s- +4 "core" -'j + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (t& +3 "core" &  H \ + "manipulator"&u& +4 "core" & j +2 .tElbow.seek 1 + "manipulator"&v( +3 "core" ( +2 "manipulator"&w& +4 "core" & 9 j + "storage"(x& +4 "core" &  +2 .tForearm.seek 1 + 300 counts +2 "manipulator"&y'о +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&z/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&{& +2 "storage"(|'g +7 "core" & j +2 "manipulator"&}% +4 "core" % д \ Y + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&~' ] +146 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +107 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +135 "core" ( + "manipulator"&& +4 "core" & ! 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & 1 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'E +99 "core" ' +5 "manipulator"&& +4 "core" & 1 +2 "manipulator"&% +4 "core" %K + "processing"%& +4 "core" &u#\  +2 "processing"% & +5 "core" &u\  +2 .tPC.seek :closed +2 "processing"% (V +4 "core" &u\ \  +9 &7$\ +| +10 &h$\ @ +9 &W}$\ N +9 &a#\ M +10 &`$\ M +9 &`#\ M +9 &ba#\ M +10 &$b$\ M +9 & c#\ M +10 &"e&\ M +9 &$ic$\ M +9 &&+a#\ M +10 &'a$\ M +9 &)`$\ M +9 &+qe#\ M +10 &-3d$\ M +9 &.f$\ M +10 &0c$\ M +9 &2yb$\ M +9 &4;b#\ M +10 &5h#\ M +9 &7b$\ M +9 &9g$\ N +10 &;Dc#\ M +9 &=d$\ M +10 &>d#\ N +9 &@c#\ M +9 &BKh$\ M +10 &D i%\ M +9 &El$\ N +9 &Gx$\ O +10 &IJ~#\ P +9 &K$\ R +10 &L$\ S +9 &N$\ S +9 &PK#\ S +10 &R $\ S +9 &S$\ T +9 &U}$\ 1 +10 &VX3p\ C +8 ( +2 &Vn $\ - +3 "processing"% & +2 #tProcessing Clamp onSpring/offSpring for 9/24 samples, on/off torque 1.41 +2 .Hand.open + "manipulator"& 1 +64 "core" 1 + "manipulator"&% +4 "core" % K E +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +4 .tForearm.home.seek :retract +2 "manipulator"&' ] +158 "core" ' +2 "processing"%& +4 "core" &Vn \ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 1 + "manipulator"&% +4 "core" % T! 4 + "storage"(% +4 "core" %\\ \ + "storage"(. +4 "core" .( + "storage"(& +4 "core" & \ ` \ +2 "storage"(& +2 "manipulator"&& +6 "core" & t + & c 1 +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]9K-0-\ b +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "manipulator"&( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(' +2 "core" ( +2 "manipulator"&& +4 "core" & 1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & 1 +2 .tForearm.seek PC +2 "manipulator"&'E +94 "core" ' + .tHand.close +2 "manipulator"& / +59 "core" / +2 .tPC.seek :open +2 "processing"%!( +98 "core" ' +2 "storage"("- +3 "core" -' + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(#' +37 "core" ' +243 ( + "storage"($& +4 "core" & 4 ! N + "manipulator"&%& +5 "core" &  1 + "manipulator"&&% +4 "core" % Q ! + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&'' ] +151 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&(( +271 "core" ( +2 "manipulator"&)& +4 "core" & ` 2 + "storage"(*& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 800 counts +2 "manipulator"&+'Ҳ +105 "core" ' + .tHand.open +2 "manipulator"&,1 +61 "core" 1 +2 "storage"(-- +3 "core" -' +2 .tSE.seek -0.3 Pucks below Top Plate +2 "storage"(.'g +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.17 Pucks below Top Plate +2 "storage"(/'o +48 "core" ' + #tLights, camera, ACTION! +2 "storage"(0- +3 "core" -'o +2 "storage"(1& +4 "core" &\ 5\ 1\ + "manipulator"&2& +4 "core" & 2 +2 .tElbow.seek 1 + "manipulator"&4( +10 "core" ( + "manipulator"&& +4 "core" & 0 +2 "storage"(6& +4 "core" &\ '\ / \ +2 .tForearm.seek 1 + 800 counts +2 "manipulator"&3'Ҳ +13 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.46 Pucks below Top Plate + "storage"(7' +52 "core" ' +2 "manipulator"&8& +4 "core" & 0 + "storage"(:& +5 "core" &  ( + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&;'ϒ +40 "core" ' + .tElbow.hold +2 "manipulator"&5, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.27 Pucks below Top Plate +2 "storage"(' +21 "core" ' + "manipulator"&=% +5 "core" %ϑw k & + "storage"(>& +4 "core" &  .  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 1 + 299 counts + "manipulator"&?'н +23 "core" ' +2 "manipulator"&@& +4 "core" & w 0 + "storage"(A& +5 "core" & + % +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 800 counts +2 "manipulator"&B'Ҳ +31 "core" ' + "storage"(<% +5 "core" % 1 3  +2 ."downElevator"SE.seek :down +3 "storage"(D'g +99 (E% +3 "core" %@    TZ +2 "manipulator"&F% +3 "core" %҅ ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&H' ] +155 "core" ' +5 ' + ."downElevator"SE.stop + "storage"(5 +3 (I& +4 "core" & , P  +2 "collection"'K& +3 "core" &W\\ J\ F +2 #tStoring generic puck in Collection Clamp to tube 1 +2 "manipulator"&% +3 "core" % T   +2 "storage"(% +4 "core" %p 3 2  + "storage"(9. +3 "core" .( +2 "storage"(M& +3 "core" & 2 0 p  +2 "storage"(N& +4 "core" & ' 2 Y  + "manipulator"&O& +4 "core" & 0 + .tElbow.seek 1 +2 "manipulator"&Q( +53 "core" ( +2 "manipulator"&R& +4 "core" & 8 0 + "storage"(T& +4 "core" & 2 4 h  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 800 counts +2 "manipulator"&U'Ҳ +97 "core" ' + "storage"(W& +4 "core" & 4 4  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(G' +293 "core" ' + "storage"(J- +4 "core" -'i + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&L& +3 "core" & " 0 +2 "storage"(S& +4 "core" & /  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&Z'ϒ +40 "core" ' + .tElbow.hold +2 "manipulator"&[, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(P- +2 "core" -'i +3 .tSE.seek 0.18 Pucks below Top Plate + "storage"(]' +33 "core" ' + "manipulator"&^% +5 "core" %ϑb  + "storage"(_& +4 "core" &   + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 299 counts + "manipulator"&V'н +22 "core" ' +2 "manipulator"&X& +4 "core" & 0 + "storage"(\ & +4 "core" & / 2 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 800 counts +2 "manipulator"&b'Ҳ +13 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate +2 "storage"(c'v +43 "core" ' + "manipulator"&`& +5 "core" & 0 + "manipulator"&e% +4 "core" %Ҵ  +39 .tForearm.reconfigure :loose +12 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&f' ] +161 "core" ' + .tElbow.seek CC +2 "manipulator"&g( +162 "core" ( +2 "manipulator"&h& +5 "core" & $ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &i& +2 "core" &  $ +2 .tForearm.seek CC +2 "manipulator"&j'ш +91 "core" ' + .tHand.close + "manipulator"&k/ +63 "core" / +2 .tCC.seek :open +2 "collection"'l( +399 "core" ( +2 "storage"(\\& +4 "core" & 6 I m  + "storage"(n& +4 "core" & 0 0  + "manipulator"&o& +4 "core" &  # + "manipulator"&q% +4 "core" % ъ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&Y' ] +156 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&d( +159 "core" ( + "manipulator"&s& +4 "core" &  v +2 "storage"(t& +4 "core" & I I   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 1 +2 "manipulator"&u'ϒ +112 "core" ' +2 .tElbow.hold + "manipulator"&w, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&x1 +62 "core" 1 +2 "manipulator"&z% +4 "core" % ϛf + "storage"({& +4 "core" &   + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 1 + 309 counts +2 "manipulator"&}' +21 "core" ' + "manipulator"&m& +4 "core" & 4 v +2 "storage"(p& +4 "core" & I J  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 800 counts +2 "manipulator"&r'Ҳ +37 "core" ' +2 "storage"(y% +4 "core" %y I H  +2 ."downElevator"SE.seek :down +3 "storage"('g +99 (% +3 "core" %AZ 4 3 Y Va + "manipulator"&v% +4 "core" %Ҋ )  +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +145 "core" ' + ."downElevator"SE.stop + "storage"(5 +10 "core" ' +2240 #t-> shuffle2 +2 #Shuffling two pucks from tube 1 to 2 of [1..7] +2 #Loading generic puck from tube 1 into Collection Clamp + "collection"'& +4 "core" & % W\ +2 "manipulator"&% +4 "core" % L d +2 "storage"(|% +3 "core" %r X _  +2 "storage"(~. +3 "core" .( + "storage"( & +4 "core" & J I   + "storage"( & +4 "core" & N K \  + "manipulator"&& +4 "core" & u v + .tElbow.seek 1 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&& +4 "core" & v + "storage"(& +4 "core" & ^ l  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 800 counts +2 "manipulator"&'Ҳ +97 "core" ' + "storage"(& +5 "core" & M ] #  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(' +303 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & ; I  +2 "manipulator"&& +3 "core" & v +2 .tElbow.seek 1 +3 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & Y v +2 "storage"( & +3 "core" & W V o  +2 .tForearm.seek 1 + 300 counts +2 "manipulator"&"'о +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +5 "storage"( 'g +3 "core" & v +2 "manipulator"&$% +3 "core" % Y +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&%' ] +149 "core" ' + .tElbow.seek CC +2 "manipulator"&&( +95 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( + "manipulator"&& +5 "core" & N  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&)'ш +100 "core" ' +2 "manipulator"&*& +4 "core" &   +2 "manipulator"&% +4 "core" %я d + "collection"',& +5 "core" & # \ +2 "collection"'-& +4 "core" & % )\ +2 .tCC.seek :closed +2 "collection"'0(W8 +4 "core" & & \ \ +8 &/y & $\ *x +10 &b % \ > +9 &Pv % W\ N +9 &Y ! &\ N +10 &Y $  \ N +9 &W $ 2\ N +10 &W\\ # f\ N +9 &[ " $\ N +9 & \\ " >\ N +10 &"Y ! \ O +9 &$_[ $ \ N +9 && X " \ O +10 &'Z " -\ N +9 &)W " <\ N +10 &+fX ! 6\ O +9 &-)Z " \ N +9 &.Y " U\ O +10 &0X ! \ N +9 &2o\\ ! 0\ N +9 &41Y " 5\ N +10 &5] ! *\ N +9 &7] )\ N +10 &9wY  0\ N +9 &;9[ ! 3\ N +9 &<X ! &\ N +10 &>Y ! ,\ O +9 &@Y # 2\ N +9 &BAZ " U\ N +10 &D] + '\ O +9 &Eg 5 15\ P +10 &Gj D =\ P +9 &I>{ Z Q\ R +9 &J {\ U +10 &L \ W +9 &Nt \ X +9 &P6 $\ X +10 &Q 2\ X +9 &S 5\ X +10 &Ut _\ Z +9 &VI \ #j +9 &W~ ]\ H +6 ( + "collection"'-& +4 #tCollection Clamp onSpring/offSpring for 6/25 samples, on/off torque 1.89 +2 .Hand.open + "manipulator"&11 +4 "core" &W[ @\ G +60 1 + "manipulator"&2% +4 "core" % я  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract +2 "manipulator"&' ] +156 "core" ' +2 #tLoading generic puck from tube 1 into Processing Clamp + "processing"%6& +4 "core" &$\ +2 "manipulator"&'% +4 "core" % O ( + "storage"(8% +4 "core" %p   7  +2 "storage"(:. +3 "core" .( + "storage"(#& +4 "core" & \ ` + "storage"(=& +4 "core" &  6 + "manipulator"&>& +4 "core" &   + "manipulator"&.% +4 "core" % O , ( +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&@( +152 "core" ( + "manipulator"&A& +5 "core" & a h + "storage"(<& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 800 counts +2 "manipulator"&('Ҳ +106 "core" ' +2 "storage"(+& +4 "core" & 3 1  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(/' +297 "core" ' +2 "storage"(E- +3 "core" -'i +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (F& +3 "core" &    + "manipulator"&3& +5 "core" & % h + .tElbow.seek 1 +2 "manipulator"&4( +3 "core" ( +2 "manipulator"&7& +3 "core" & ~ h +2 "storage"(;& +3 "core" & 2 2 y  +2 .tForearm.seek 1 + 300 counts +2 "manipulator"&?'о +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&I/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&K& +3 "storage"('g +7 "core" & h +2 "manipulator"&% +3 "core" % и : +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +151 "core" ' +2 .tElbow.seek PC +2 "manipulator"&9( +99 "core" ' + ."downElevator"SE.stop + "storage"(5 +141 "core" ( + "manipulator"&M& +4 "core" & k  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &N& +2 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&O'E +99 "core" ' + "manipulator"&R& +4 "core" &   +2 "manipulator"&T% +4 "core" %L  + "processing"%B& +4 "core" &#\ +3 "processing"%W& +6 "core" &#\ +2 .tPC.seek :closed +3 "processing"%D(V +3 "core" &#\ +5 &#\ 3 +9 &&H#\ 0 +10 &Qr$\ E +9 &g#\ M +9 &_#\ M +10 &}`#\ M +9 &?\\$\ M +9 &_$\ M +10 &a#\ M +9 &!a#\ M +10 &#G_#\ M +9 &%\ `$\ L +9 &&b$\ M +10 &(`#\ M +9 &*Nc#\ M +10 &,_$\ M +9 &-`#\ M +9 &/_#\ L +10 &1Ub$\ M +9 &3c%\ N +9 &4` \ M +10 &6b$\ M +9 &8\\b"\ N +9 &: `#\ M +10 &;_$\ M +9 &=`$\ M +10 &?f_#\ M +9 &A(a$\ M +9 &Ba#\ M +10 &Dh$\ N +9 &Fkl$\ N +10 &H*s$\ O +9 &I$\ Q +9 &K$\ R +10 &Mf$\ R +9 &O(#\ R +9 &P$\ T +10 &R#\ S +9 &Tj#\ T +9 &Ug$\ ({ +10 &Vpv#\ 8 +9 ( +3 "processing"%W& +2 #tProcessing Clamp onSpring/offSpring for 9/24 samples, on/off torque 1.44 +7 .Hand.open + "manipulator"&51 +3 "core" &Vw-#\ 1 +51 1 + "manipulator"&H% +4 "core" % L +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&J' ] +152 "core" ' +3 "processing"%L& +4 "core" &Vw.$\ 1 + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&S% +3 "core" % J *  +2 "storage"(P% +4 "core" %g H + "storage"(^. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 2 + "storage"(_( v +203 "core" ( +2 .tSC.configure :limp +2 "storage"($(\ 1b +2 (X& +4 "core" & u $  + "manipulator"&\ & +5 "core" & .  + "manipulator"&`% +4 "core" % J B  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&e( +273 "core" ( +2 "manipulator"&U& +4 "core" & H  +2 "storage"(Q& +3 "core" & l \  " +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 800 counts +2 "manipulator"&G'm +96 "core" ' + "storage"(Z& +4 "core" & l " +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(V' +273 "core" ' + "storage"(]- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek :place +2 "storage"(b' +38 "core" ' +41 "manipulator"&h& +15 "core" & &  + "manipulator"&i% +5 "core" %v   + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&[' ] +151 "core" ' +2 .tElbow.seek PC +2 "manipulator"&k( +243 "core" ( + "manipulator"&f& +4 "core" & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &a& +2 "core" & 8 +2 .tForearm.seek PC +2 "manipulator"&\\'E +99 "core" ' +2 .tHand.close + "manipulator"&n/ +57 "core" / + .tPC.seek :open +2 "processing"%o( +395 "core" ( + "storage"(q& +4 "core" & l $ " +2 "manipulator"&j& +4 "core" & % + "manipulator"&s% +4 "core" % R \\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&t' ] +151 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&g( +254 "core" ( +2 "manipulator"&x& +4 "core" & & +2 "storage"(z& +81 "core" & l \ " +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 800 counts +2 "manipulator"&{'m +110 "core" ' + .tHand.open +2 "manipulator"&m1 +55 "core" 1 +2 "storage"(p- +4 "core" -' +2 .tSE.seek -0.3 Pucks below Top Plate +2 "storage"(y'g +28 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.17 Pucks below Top Plate +2 "storage"(Y'o +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -'o +2 "storage"(v& +3 "core" & l\ ^\ V M\ " +2 "manipulator"&d& +4 "core" &  & + .tElbow.seek 2 +2 "manipulator"&u( +3 "core" ( +2 "manipulator"&}& +4 "core" & } & + "storage"(c& +4 "core" & l n o \ " +2 .tForearm.seek 2 + 800 counts +2 "manipulator"&r'm +11 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.46 Pucks below Top Plate +2 "storage"(' +54 "core" ' + "manipulator"&& +4 "core" & X & +2 "storage"(& +4 "core" & l \  " + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&|'M +35 "core" ' +2 .tElbow.hold +2 "manipulator"&~, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.27 Pucks below Top Plate +2 "storage"( ' +20 "core" ' + "manipulator"& % +4 "core" %Vp  +2 "storage"(& +4 "core" & l 1 " + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 309 counts +2 "manipulator"&'Ђ +21 "core" ' +2 "manipulator"&& +4 "core" & 2 & + "storage"(& +5 "core" & l   " +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 800 counts +2 "manipulator"&w'm +14 "core" ' +2 "storage"(% +4 "core" %    +3 ."downElevator"SE.seek :down +4 "storage"('g +98 (% +2 "core" %C ~ TZ +2 "manipulator"&% +4 "core" %n ~  +3 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +148 "core" ' +15 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ( & +4 "core" & l   6 " +2 "collection"'& +4 "core" &WZ -\ G + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&% +3 "core" % m E  +2 "storage"($% +5 "core" %n % + "storage"( . +3 "core" .( v + "storage"(& +4 "core" & l   " +2 "storage"(& +4 "core" & l \  " + "manipulator"&"& +5 "core" &  % + .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & K % + "storage"(& +4 "core" & l \ T " +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 800 counts +2 "manipulator"&*'m +88 "core" ' + "storage"(& +5 "core" & l   " + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(,' +295 "core" ' + "storage"( - +4 "core" -'i +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&%& +3 "core" & \\ % + "storage"(l& +4 "core" & l   " + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&1'M +33 "core" ' + .tElbow.hold +2 "manipulator"&2, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(-- +2 "core" -'i +3 .tSE.seek 0.18 Pucks below Top Plate +2 "storage"(6' +28 "core" ' + "manipulator"&'% +5 "core" %O\\ + "storage"(8& +4 "core" & l " + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 302 counts +2 "manipulator"&:'{ +20 "core" ' + "manipulator"&#& +4 "core" & , % +2 "storage"(=& +5 "core" & l  > " +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 800 counts + "manipulator"&>'m +24 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate +2 "storage"(.'v +33 "core" ' + "manipulator"&)& +5 "core" & M % + "manipulator"&A% +4 "core" %s   +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&<' ] +153 "core" ' +2 .tElbow.seek CC +2 "manipulator"&+( +149 "core" ( +2 "manipulator"&&& +4 "core" & - % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &  % +2 .tForearm.seek CC +2 "manipulator"&E'ш +100 "core" ' + .tHand.close +2 "manipulator"&F/ +61 "core" / +2 .tCC.seek :open + "collection"'3( +397 "core" ( + "storage"(7& +4 "core" & l 0 - R " +2 "storage"(;& +3 "core" & l 1 ' _ " +2 "manipulator"&I& +3 "core" & ' $ +2 "manipulator"&K% +3 "core" % ќ * +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +158 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&@( +159 "core" ( + "manipulator"&(& +4 "core" & d P +2 "storage"(/& +3 "core" & l I H " +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&?'M +109 "core" ' + .tElbow.hold +2 "manipulator"&M, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&N1 +52 "core" 1 +2 "manipulator"&4% +4 "core" % Zn x \ +2 "storage"(R& +3 "core" & l " +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 313 counts + "manipulator"&T'І +19 "core" ' +2 "manipulator"&B& +4 "core" & q P +2 "storage"(& +3 "core" & l H J " +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 800 counts +2 "manipulator"&'m +21 "core" ' +2 "storage"(!% +4 "core" %| J N L  +2 ."downElevator"SE.seek :down +3 "storage"(5'g +99 (H% +3 "core" %LU ' / O V` + "manipulator"&W% +5 "core" %h +  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&L' ] +147 "core" ' +2 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling two pucks from tube 2 to 3 of [1..7] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'S& +4 "core" & % 8\ +2 "manipulator"&P% +4 "core" % N 0 ' +2 "storage"(^% +3 "core" %f H H  +2 "storage"(O. +3 "core" .( v + "storage"(X& +4 "core" & l J I " + "storage"(\ & +4 "core" & l H I  " + "manipulator"&`& +4 "core" & P +2 .tElbow.seek 2 +2 "manipulator"&C( +3 "core" ( +2 "manipulator"&U& +3 "core" &  P +2 "storage"(Q& +4 "core" & l H H " +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 800 counts +2 "manipulator"&9'm +98 "core" ' +3 "storage"(Z& +4 "core" & l I I  " +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(J' +304 "core" ' + "storage"(]- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (h& +3 "core" & l 0 . 0 " + "manipulator"&i& +4 "core" & R P +2 .tElbow.seek 2 + "manipulator"&V( +3 "core" ( +2 "manipulator"&G& +3 "core" &  P +2 "storage"(f& +3 "core" & l I I " +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&a'y +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&e/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&n& +2 "storage"(['g +7 "core" & _ P +2 "manipulator"&D% +3 "core" % q Z +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&q' ] +150 "core" ' +2 .tElbow.seek CC +2 "manipulator"&j( +96 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +57 "core" ( + "manipulator"&s& +4 "core" & ' # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &\\& +3 "core" &  # +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&x'ш +102 "core" ' + "manipulator"&k& +4 "core" & h # +2 "manipulator"&z% +4 "core" %я  5 + "collection"'m& +4 "core" & & S\ +3 "collection"'p& +4 "core" & $ V\ +2 .tCC.seek :closed +2 "collection"'(W8 +47 "core" & % ;\  +12 &1x & 8\ *x + &b % <\ > + &Zu % <\ N + &\\ $ 7\ N + &Z % 7\ N + &Y $ :\ N +5 &bZ # 6\ N +9 &%Y " 8\ N +9 & Y " 6\ N +10 &"X $ 3\ M +9 &$jZ $ 5\ N +10 &&,Y # 5\ N +9 &'Z # :\ N +9 &)Y # 8\ N +10 &+tW # :\ M +9 &-5Z " :\ N +9 &.Y " <\ N +10 &0Z # ;\ N +9 &2{Y # :\ N +10 &4=W " 8\ N +9 &5Y ! 9\ N +9 &7Y ! <\ N +10 &9W " 5\ M +9 &;EY " :\ N +9 &=U " 7\ N +10 &>W  .\ N +9 &@[ .\ N +10 &BMY ! )\ N +9 &D ] ) %'\ N +9 &Eb 4 0-\ O +10 &Gk B =!\ P +9 &IJw W Q%\ Q +9 &K z\ T +10 &L !\ W +9 &N~ !\ X +10 &P? $\ X +9 &Q +\ Y +9 &S -\ X +10 &U ,\ X +9 &VE %\ $k +9 &W %\ J +6 ( +2 "collection"'p& +4 #tCollection Clamp onSpring/offSpring for 6/25 samples, on/off torque 1.92 + .Hand.open + "manipulator"&v1 +4 "core" &Wh '\ I +53 1 +2 "manipulator"&d% +4 "core" % я & +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract +2 "manipulator"&}' ] +168 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%c& +4 "core" &$\ + "manipulator"&t% +5 "core" % P + "storage"(% +4 "core" %^   s + "storage"(. +3 "core" .( v +2 "storage"(b& +3 "core" & l  / " +2 "storage"( & +3 "core" & l \ w " +2 "manipulator"&& +3 "core" & # +2 "manipulator"&y% +4 "core" % P U +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +3 "manipulator"&( +158 "core" ( +2 "manipulator"&& +4 "core" &~ N a + "storage"(& +4 "core" & l 4 4 w " +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 800 counts + "manipulator"&g'm +71 "Can"\ L/~ +32 "core" ' + "storage"({& +5 "core" & l 5 4 " +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Y' +294 "core" ' + "storage"(- +4 "core" -'i + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" & l \  S " +2 "manipulator"&r& +4 "core" &~ a + .tElbow.seek 2 +2 "manipulator"&u( +3 "core" ( +2 "manipulator"&& +3 "core" &~ k a +2 "storage"(|& +4 "core" & l    " +2 .tForearm.seek 2 + 300 counts + "manipulator"&'y +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('g +7 "core" &~ a +2 "manipulator"& % +3 "core" %    +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&$' ] +161 "core" ' + .tElbow.seek PC +2 "manipulator"& ( +95 "core" ' + ."downElevator"SE.stop + "storage"(5 +148 "core" ( + "manipulator"&& +5 "core" &  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&"'E +100 "core" ' +2 "manipulator"&& +4 "core" &   +2 "manipulator"&% +3 "core" %F  +2 "processing"%w& +4 "core" &$\ +2 "processing"%& +4 "core" &#\ +2 .tPC.seek :closed +2 "processing"%(V +4 "core" &$\ +8 & -$\ #b +9 &qV$\ 7 +9 &#\ L +10 &_$\ M +9 &H]#\ L +10 &\ \\#\ L +9 &`$\ M +9 &\\#\ M +10 & O[$\ M +9 &"_$\ L +9 &#_#\ M +10 &%b$\ M +9 &'W`#\ M +10 &)^#\ M +9 &*b$\ M +9 &,]$\ M +10 &._]$\ M +9 &0!a$\ M +9 &1`$\ M +10 &3`$\ L +9 &5g_$\ M +10 &7)`#\ M +9 &8`#\ M +9 &:\\$\ M +10 &2_#\ L +9 &?^#\ L +10 &Aa$\ M +9 &Cwa$\ M +10 &E7h%\ M +9 &Fm%\ N +9 &Hy%\ O +10 &Jr$\ Q +9 &L1%\ R +9 &M#\ S +10 &O#\ S +9 &Qu#\ S +10 &S4%\ T +9 &T$\ H +9 &V(P#\ !f +10 &Vo%"\ + +2 ( +2 "processing"%& +2 #tProcessing Clamp onSpring/offSpring for 10/24 samples, on/off torque 1.45 +2 .Hand.open + "manipulator"&~1 +54 "core" 1 + "manipulator"&% +5 "core" % F F + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"& ' ] +156 "core" ' +2 "processing"%%& +4 "core" &Vo"#\ + + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&l% +3 "core" % T O * +2 "storage"(-% +4 "core" %e   + "storage"('. +3 "core" .( v +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 3 + "storage"(8(8 +189 "core" ( + .tSC.configure :limp +2 "storage"($(\ 1b +3 (#& +4 "core" &5 m  + "manipulator"&=& +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]9K-0-\ b +3 "core" &   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"()' +3 "manipulator"&A( +4 "core" ( + "manipulator"&*& +4 "core" &   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  +2 .tForearm.seek PC +2 "manipulator"&,'E +96 "core" ' +2 .tHand.close + "manipulator"&1/ +52 "core" / +2 .tPC.seek :open +2 "processing"%:( +113 "core" ' + "storage"(6- +3 "core" -' +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(>' +45 "core" ' +220 ( +2 "storage"(&& +4 "core" &3    + "manipulator"&& +4 "core" & a  + "manipulator"&2% +4 "core" % V d +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&F' ] +157 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&<( +271 "core" ( +2 "manipulator"&0& +4 "core" & v 6 + "storage"(7& +4 "core" &3 j \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 800 counts + "manipulator"&;'p +111 "core" ' + .tHand.open +2 "manipulator"&I1 +61 "core" 1 +2 "storage"(K- +3 "core" -' +2 .tSE.seek -0.3 Pucks below Top Plate +2 "storage"(E'g +33 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.17 Pucks below Top Plate +2 "storage"(('o +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(/- +4 "core" -'o +2 "storage"(+& +3 "core" &3\ \  \  +2 "manipulator"&N& +4 "core" & 6 + .tElbow.seek 3 +2 "manipulator"&4( +8 "core" ( + "manipulator"&R& +4 "core" & . +2 "storage"(B& +4 "core" &3\ \ \  +2 .tForearm.seek 3 + 800 counts + "manipulator"&'p +22 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.46 Pucks below Top Plate +2 "storage"(!' +51 "core" ' +2 "manipulator"&& +4 "core" & I . + "storage"(H& +5 "core" &3   /  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&W'P +36 "core" ' + .tElbow.hold +2 "manipulator"&@, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.27 Pucks below Top Plate +2 "storage"(?' +18 "core" ' + "manipulator"&S% +5 "core" %[p &  + "storage"(T& +4 "core" &3  `  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 311 counts +2 "manipulator"&P'Ї +21 "core" ' +2 "manipulator"&^& +4 "core" & h 5 +2 "storage"(O& +3 "core" &3 /  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 800 counts +2 "manipulator"&X'p +13 "core" ' + "storage"(\ % +5 "core" %   +2 ."downElevator"SE.seek :down +4 "storage"(.'g +98 (`% +4 "core" %^E ~ U[ +2 "manipulator"&U% +4 "core" %v  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&Q' ] +150 "core" ' +11 ' + ."downElevator"SE.stop +6 "storage"(5 +3 (& +4 "core" &3   +6 "collection"'Z& +4 "core" &Wg F\ I + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&5% +4 "core" % P# ( A + "storage"(M% +5 "core" %o  + "storage"(L. +3 "core" .(8 + "storage"(]& +4 "core" &3     +2 "storage"(h& +3 "core" &3   +2 "manipulator"&i& +4 "core" &  5 + .tElbow.seek 3 +2 "manipulator"&G( +3 "core" ( +2 "manipulator"&f& +4 "core" & ? 5 + "storage"(e& +4 "core" &3   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 800 counts +2 "manipulator"&n'p +109 "core" ' + "storage"(D& +4 "core" &3 % / f  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(C' +296 "core" ' +2 "storage"(9- +3 "core" -'o + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&J& +2 "core" & 5 +2 "storage"(a& +4 "core" &3  +  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&s'P +33 "core" ' + .tElbow.hold +2 "manipulator"&\\, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(k- +2 "core" -'o +3 .tSE.seek 0.19 Pucks below Top Plate +2 "storage"(z' +28 "core" ' +2 "manipulator"&m% +4 "core" %V_ s + "storage"(V& +4 "core" &3  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 306 counts +2 "manipulator"&['Ђ +23 "core" ' +2 "manipulator"&q& +4 "core" & j 7 + "storage"(3& +4 "core" &3   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 800 counts + "manipulator"&v'p +14 "core" ' +53 .tSE.seek 1.19 Pucks below Top Plate +2 "storage"(d'| +34 "core" ' + "manipulator"&p& +5 "core" & 7 + "manipulator"&c% +4 "core" %j ;  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&t' ] +162 "core" ' +2 .tElbow.seek CC +4 "manipulator"&( +160 "core" ( + "manipulator"&& +4 "core" & ' X +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &b& +2 "core" &  X +2 .tForearm.seek CC +2 "manipulator"& 'ш +93 "core" ' + .tHand.close +2 "manipulator"&/ +59 "core" / +2 .tCC.seek :open +2 "collection"'y( +396 "core" ( +2 "storage"(x& +4 "core" &3 - H Y  + "storage"(& +4 "core" &3 ' $ E  + "manipulator"&& +4 "core" & ' X +2 "manipulator"&{% +4 "core" % ћ  + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&j' ] +148 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&}( +156 "core" ( + "manipulator"&& +4 "core" &  s +2 "storage"(& +3 "core" &3 H I .  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&r'P +109 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&|1 +52 "core" 1 +3 "manipulator"& % +4 "core" % Yg q + "storage"(& +4 "core" &3   + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 309 counts + "manipulator"& 'Ѕ +20 "core" ' + "manipulator"&& +5 "core" & s + "storage"(g& +4 "core" &3 I I "  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 800 counts + "manipulator"&Y'p +22 "core" ' + "storage"(% +4 "core" % I H   +3 ."downElevator"SE.seek :down +3 "storage"('g +99 (% +3 "core" %&U 3 2 g T\\ +2 "manipulator"&u% +4 "core" %i e  + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +146 "core" ' +3 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling two pucks from tube 3 to 4 of [1..7] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +4 "core" & $ M\ +2 "manipulator"&w% +4 "core" % n "  + "storage"(% +4 "core" %j H H  + "storage"($. +4 "core" .(8 + "storage"(o& +4 "core" &3 H I   + "storage"(~& +5 "core" &3 ? E  + "manipulator"&& +4 "core" & v s +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&%& +5 "core" & % s + "storage"(l& +4 "core" &3 J K +  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 800 counts + "manipulator"&-'p +96 "core" ' +2 "storage"('& +4 "core" &3 L K 6  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"("' +304 "core" ' + "storage"(#- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (=& +3 "core" &3 # 0 &  + "manipulator"&*& +4 "core" & s +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"&_& +5 "core" & s + "storage"(1& +4 "core" &3 H H  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&6'| +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"& / +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"('g +8 "core" & s + "manipulator"&&% +4 "core" % t ! _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +156 "core" ' + .tElbow.seek CC +2 "manipulator"&2( +93 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +59 "core" ( + "manipulator"&)& +4 "core" &  # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &,& +3 "core" &  # +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&0'ш +98 "core" ' +2 "manipulator"&7& +4 "core" & g E # +2 "manipulator"&A% +3 "core" %ё w  +2 "collection"'I& +4 "core" & & !V\ +2 "collection"'K& +5 "core" & % V\ +2 .tCC.seek :closed + "collection"'/(W8 +5 "core" & % :\  +8 &0x % ;\ *x +10 &c % 9\ > +9 &Xv % 7\ O +9 &Y $ 7\ N +10 &Y " <\ N +9 &Y $ !:\ M +10 &a[ % ?\ N +9 &$Y " 9\ N +9 & \\ $ 9\ N +10 &"U $ <\ N +9 &$jW # <\ N +9 &&,Z % <\ N +10 &'\\ " 7\ N +9 &)Y " 5\ M +10 &+sW $ :\ M +9 &-4W " ;\ N +9 &.W # ;\ M +10 &0W ! :\ M +9 &2{Y # 7\ M +9 &4<V " ;\ N +10 &5Y " <\ N +9 &7\\ 7\ N +10 &9V " 7\ M +9 &;EY # :\ M +9 &=V ! 5\ M +10 &>Z ! 1\ N +9 &@V  5\ M +9 &BLY ! 9\ N +10 &D\\ + $;\ N +9 &Ec 6 .2\ O +10 &Gf C >_\ P +9 &IIx X Q\ Q +9 &K {'\ T +10 &L &\ W +9 &N~ '\ W +9 &P? '\ W +10 &Q (\ X +9 &S &\ X +10 &U~ ,\ Z +9 &VG "\ a +9 &W 3\ L +6 ( +2 "collection"'K& +3 #tCollection Clamp onSpring/offSpring for 6/25 samples, on/off torque 1.93 +2 .Hand.open + "manipulator"&+1 +4 "core" &Wl 4\ L +53 1 +2 "manipulator"&N% +4 "core" % ё b p +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&F' ] +155 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%R& +5 "core" &\ + "manipulator"&B% +4 "core" % N c ' + "storage"(% +4 "core" %m \ + "storage"(H. +4 "core" .(8 + "storage"(>& +4 "core" &3 \  + "storage"(S& +4 "core" &3 \ \  + "manipulator"&T& +4 "core" & # + "manipulator"&E% +4 "core" % N r ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&^( +241 "core" ( +2 "manipulator"&O& +4 "core" & r B + "storage"(\ & +4 "core" &3     +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 800 counts + "manipulator"&<'p +106 "core" ' +2 "storage"(;& +4 "core" &3 / 3 J  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"((' +296 "core" ' + "storage"(`- +4 "core" -'p + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (U& +3 "core" &3   \  +2 "manipulator"&& +3 "core" &  B +2 .tElbow.seek 3 +2 "manipulator"&4( +3 "core" ( +2 "manipulator"&!& +3 "core" & B +2 "storage"(W& +3 "core" &3    +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&P'| +37 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Z& +2 "storage"(?'g +7 "core" & B +2 "manipulator"&5% +4 "core" % b +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&M' ] +147 "core" ' +2 .tElbow.seek PC +2 "manipulator"&L( +109 "core" ' + ."downElevator"SE.stop + "storage"(5 +132 "core" ( +2 "manipulator"&]& +4 "core" & k  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &h& +3 "core" & u  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&i'E +103 "core" ' +2 "manipulator"&f& +4 "core" & b  +2 "manipulator"&e% +3 "core" %F  +2 "processing"%X& +4 "core" &#\ +2 "processing"%D& +5 "core" &$\ +2 .tPC.seek :closed +2 "processing"%.(V +4 "core" &$\ +7 & 4%\ #a +9 &}V#\ 7 +10 &$\ K +9 &Z$\ L +9 &Q]$\ M +10 &]$\ M +9 &Z$\ L +9 &]$\ L +10 & Y_#\ M +9 &"`$\ M +9 &#^#\ M +10 &%]#\ L +9 &'a` \ M +10 &)#a$\ M +9 &*b$\ M +9 &,_$\ M +10 &.j\\$\ L +9 &0+\\%\ M +9 &1]$\ M +10 &3_$\ M +9 &5qb$\ M +10 &73`#\ M +9 &8`#\ L +9 &:]#\ M +10 &;\\$\ M +9 &?Z$\ M +10 &A^#\ L +9 &C`$\ M +10 &E@f$\ N +9 &Gk$\ N +9 &Hu"\ O +10 &J|$\ Q +9 &L;#\ R +9 &M$\ S +10 &O$\ S +9 &Q$\ S +10 &SA$\ S +9 &U#\ G +9 &V,O$\ !g +10 &Vs"$\ ) +2 ( +2 "processing"%D& +3 #tProcessing Clamp onSpring/offSpring for 10/24 samples, on/off torque 1.44 + .Hand.open + "manipulator"&@1 +63 "core" 1 +2 "manipulator"&Q% +4 "core" % F  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&9' ] +152 "core" ' + "processing"%J& +4 "core" &Vs\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&a% +4 "core" % R W ) + "storage"(k% +5 "core" %m B  + "storage"(m. +3 "core" .(8 +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 4 +2 "storage"(V(+ +194 "core" ( + .tSC.configure :limp +2 "storage"($(\ 1b +3 (q& +5 "manipulator"&3& + "core" &+ ? % +48 ."raiseStack"SE.reconfigure :place +12 "storage"(#]9K-0-\ b +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(p' +2 "core" &   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&c( +3 "core" ( + "manipulator"&n& +5 "core" &   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &G& +3 "core" & J  +2 .tForearm.seek PC +2 "manipulator"&C'E +95 "core" ' + .tHand.close +2 "manipulator"&s/ +64 "core" / +2 .tPC.seek :open + "processing"%[( +93 "core" ' +2 "storage"(z- +3 "core" -' +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(v' +38 "core" ' +247 ( + "storage"(& +5 "core" &+ y & + "manipulator"&b& +4 "core" &  + "manipulator"&\\% +4 "core" % S L  +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +153 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&t( +257 "core" ( + "manipulator"&& +4 "core" & i k , +2 "storage"(x& +4 "core" &+  \\ \ & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 800 counts +2 "manipulator"&'Ҁ +96 "core" ' +2 .tHand.open + "manipulator"&1 +55 "core" 1 +2 "storage"({- +4 "core" -' +2 .tSE.seek -0.3 Pucks below Top Plate +2 "storage"( 'g +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.17 Pucks below Top Plate +2 "storage"('o +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -'o + "storage"(& +4 "core" &+\ \ \ & +2 "manipulator"&|& +4 "core" &  , + .tElbow.seek 4 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&& +4 "core" & U , + "storage"(& +4 "core" &+\ \ \ & +2 .tForearm.seek 4 + 800 counts +2 "manipulator"&g'Ҁ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.46 Pucks below Top Plate +2 "storage"(' +49 "core" ' +2 "manipulator"&j& +4 "core" & [ , + "storage"(& +4 "core" &+  & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&u'` +34 "core" ' +2 .tElbow.hold +2 "manipulator"&}, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.27 Pucks below Top Plate +2 "storage"(r' +20 "core" ' + "manipulator"&% +5 "core" %bs  + "storage"( & +4 "core" &+ r & + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 302 counts +2 "manipulator"&w'Ў +19 "core" ' +2 "manipulator"&& +4 "core" & $ , +2 "storage"($& +4 "core" &+ \  \ & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 800 counts +2 "manipulator"&o'Ҁ +20 "core" ' +2 "storage"(~% +4 "core" %   \ +2 ."downElevator"SE.seek :down +4 "storage"(d'g +99 (% +4 "core" %@ TY + "manipulator"&%% +5 "core" %x   +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&l' ] +144 "core" ' +14 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (Y& +4 "core" &+ Y & +2 "collection"''& +4 "core" &Wk (\ L + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&% +3 "core" % o c ( +2 "storage"(% +4 "core" %i   W +2 "storage"(. +3 "core" .(+ +2 "storage"(#& +3 "core" &+   M \ & +2 "storage"(=& +3 "core" &+ \ X & +2 "manipulator"&*& +4 "core" & i , + .tElbow.seek 4 +2 "manipulator"&_( +3 "core" ( +2 "manipulator"&1& +4 "core" & , + "storage"( & +4 "core" &+ & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 800 counts +2 "manipulator"& 'Ҁ +101 "core" ' + "storage"(&& +5 "core" &+  \ & + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(' +304 "core" ' +2 "storage"(-- +3 "core" -'r +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&"& +3 "core" &  , + "storage"(6& +4 "core" &+ & + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&)'` +35 "core" ' + .tElbow.hold +2 "manipulator"&,, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(7- +4 "core" -'r +2 .tSE.seek 0.19 Pucks below Top Plate +2 "storage"(A' +31 "core" ' + "manipulator"&I% +5 "core" %b\\ @ + "storage"(& +4 "core" &+  & + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 302 counts +2 "manipulator"&'Ў +21 "core" ' +2 "manipulator"&& +4 "core" & , +2 "storage"(y& +3 "core" &+ K \ & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 800 counts +2 "manipulator"&+'Ҁ +20 "core" ' +2 .tSE.seek 1.19 Pucks below Top Plate + "storage"(N' +38 "core" ' +2 "manipulator"&K& +4 "core" &  , +2 "manipulator"&R% +4 "core" %z   +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&B' ] +142 "core" ' + .tElbow.seek CC +2 "manipulator"&( +147 "core" ( +2 "manipulator"&H& +4 "core" &  # + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &>& +3 "core" & * # +2 .tForearm.seek CC +2 "manipulator"&S'ш +96 "core" ' +2 .tHand.close + "manipulator"&T/ +58 "core" / +2 .tCC.seek :open +2 "collection"'E( +396 "core" ( +2 "storage"(0& +4 "core" &+ : I j & + "storage"(O& +4 "core" &+ ) # i & + "manipulator"&\ & +4 "core" &  # + "manipulator"&2% +4 "core" % ћ A + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&;' ] +154 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&F( +172 "core" ( + "manipulator"&`& +4 "core" & V \ +2 "storage"(U& +3 "core" &+ I I  & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&'` +110 "core" ' +2 .tElbow.hold + "manipulator"&!, +4 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&W1 +55 "core" 1 +2 "manipulator"&% +4 "core" % sg \\ + "storage"(Z& +4 "core" &+    & + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 319 counts +2 "manipulator"&5'П +21 "core" ' + "manipulator"&^& +4 "core" & U +2 "storage"(<& +3 "core" &+ I I ! & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 800 counts +2 "manipulator"&('Ҁ +39 "core" ' + "storage"(P% +4 "core" % H L P  +3 ."downElevator"SE.seek :down +3 "storage"(]'g +99 (h% +3 "core" %'S & $ U] +2 "manipulator"&4% +4 "core" %v + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&f' ] +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ' +2 #tShuffling two pucks from tube 4 to 5 of [1..7] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'e& +4 "core" & $ 6\ +2 "manipulator"&X% +53 "core" % M#  B +2 "storage"(?% +4 "core" %\\ H H  +2 "storage"(M. +3 "core" .(+ + "storage"(:& +4 "core" &+ H H & + "storage"(@& +4 "core" &+ H H & + "manipulator"&Q& +4 "core" & m +2 .tElbow.seek 4 +2 "manipulator"&D( +3 "core" ( +2 "manipulator"&J& +4 "core" & + "storage"(a& +4 "core" &+ I H  & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 800 counts +2 "manipulator"&k'Ҁ +103 "core" ' + "storage"(m& +4 "core" &+ M [ & +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(i' +300 "core" ' + "storage"(q- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (3& +3 "core" &+ I B  & +2 "manipulator"&n& +3 "core" & k +2 .tElbow.seek 4 +2 "manipulator"&G( +3 "core" ( +2 "manipulator"&8& +3 "core" & N +3 "storage"(s& +3 "core" &+ M R U & +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&z'Ќ +42 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&L/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&9& +3 "storage"(.'g +7 "core" & +2 "manipulator"&% +3 "core" % y +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&b' ] +150 "core" ' +2 .tElbow.seek CC + "manipulator"&\\( +100 "core" ' + ."downElevator"SE.stop +6 "storage"(5 +51 "core" ( + "manipulator"&p& +4 "core" &  # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &C& +3 "core" &  # +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'ш +99 "core" ' +2 "manipulator"&x& +4 "core" &  "~ +2 "manipulator"&c% +4 "core" %ѐ  +2 "collection"'& +3 "core" & % S\ +3 "collection"'{& +6 "core" & % !5\ +2 .tCC.seek :closed +3 "collection"'(W8 +3 "core" & % 8\ +6 &5 % :\ $e +10 &|U| & :\ 7 +9 &} $ ;\ L +9 &Y # 6\ N +10 &LZ $ ;\ N +9 &V " 6\ M +9 &W # 9\ M +10 &X # 8\ M +9 & U\\ $ 9\ M +10 &"U $ 9\ M +9 &#W $ 9\ M +9 &%\\ # f\ N +10 &'\\Z " !\ N +9 &)W ! 9\ M +9 &*V ! ;\ N +10 &,X " <\ N +9 &.dY # <\ N +10 &0&Y " :\ N +9 &1X # 8\ N +9 &3U :\ M +10 &5m\\  8\ M +9 &7/Y  <\ M +9 &8\\ ! <\ M +10 &:Z ! ;\ M +9 &6Y ! :\ N +9 &?X :\ N +9 &AX :\ N +10 &C|] ' !8\ N +9 &E=_ 0 +0\ N +9 &Fh = 98\ O +10 &Hp N I4\ P +9 &Jv p i&\ R +10 &L0 \\\ U +9 &M \ W +9 &O )\ W +10 &Qq (\ W +9 &S0 \ X +9 &T !\ Y +10 &Vs -\ * +9 &W 2\ I +9 ( +2 &WT &\ C +2 "collection"'{& +2 #tCollection Clamp onSpring/offSpring for 7/25 samples, on/off torque 1.89 +2 .Hand.open + "manipulator"&1 +53 "core" 1 +2 "manipulator"&|% +4 "core" % я h +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +158 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%& +5 "core" &\ + "manipulator"&% +4 "core" % Y#  = + "storage"(j% +4 "core" %m   O + "storage"(. +3 "core" .(+ +2 "storage"(& +3 "core" &+ q & +2 "storage"( & +3 "core" &+   4 & +2 "manipulator"&v& +3 "core" &  "| +2 "manipulator"&% +3 "core" % Y#  = +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&$( +155 "core" ( +2 "manipulator"& & +4 "core" &  r + "storage"(~& +4 "core" &+   & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 800 counts + "manipulator"&t'Ҁ +98 "core" ' +2 "storage"(& +4 "core" &+ 3 3 Y & +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(' +296 "core" ' + "storage"(- +4 "core" -'q + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (%& +2 "core" &+  d \ & +2 "manipulator"&g& +4 "core" & r + .tElbow.seek 4 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&& +3 "core" &  r +2 "storage"(u& +3 "core" &+   & +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&w'Ќ +14 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Y/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&'& +3 "storage"('g +7 "core" & O r +2 "manipulator"&% +3 "core" % Г w T +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&r' ] +158 "core" ' + .tElbow.seek PC +2 "manipulator"&( +95 "core" ' + ."downElevator"SE.stop + "storage"(5 +145 "core" ( +3 "manipulator"&#& +4 "core" & # / + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &=& +3 "core" &  / +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&*'E +110 "core" ' +2 "manipulator"&1& +4 "core" & u / +2 "manipulator"& % +3 "core" %9  +2 "processing"%o& +4 "core" &#\ +2 "processing"%&& +5 "core" &$\ +2 .tPC.seek :closed +2 "processing"%d(V +4 "core" &#\ +7 & 3$\ #b +9 &|V#\ 7 +9 &$\ L +10 &]%\ L +9 &T_$\ M +10 &\\#\ L +9 &_$\ L +9 &^"\ M +10 & \\]$\ M +9 &"a#\ M +9 &#_$\ L +10 &%\\#\ M +9 &'db$\ M +10 &)&_$\ M +9 &*Z#\ L +9 &,[$\ L +10 &.lZ$\ M +9 &0._$\ M +9 &1]#\ L +10 &3_$\ L +9 &5t]$\ M +10 &76^#\ M +9 &8c \ M +9 &:_#\ M +10 &<}a$\ L +9 &>>`#\ M +9 &@^$\ L +10 &A_%\ L +9 &C^$\ M +10 &EEf#\ M +9 &Go$\ N +9 &Hu#\ O +10 &J$\ Q +9 &L>$\ R +9 &M#\ R +10 &O$\ R +9 &Q$\ S +10 &SB#\ S +9 &U#\ D +9 &V#?x$\ 'q +10 &Vz,$\ ) +5 ( +2 "processing"%&& +4 #tProcessing Clamp onSpring/offSpring for 10/24 samples, on/off torque 1.45 + .Hand.open + "manipulator"&}1 +3 "core" &Vz$\ ) +53 1 + "manipulator"&l% +4 "core" % : u  +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&-' ] +150 "core" ' +2 "processing"%"& +4 "core" &Vz$\ ) + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&6% +4 "core" % P  1 + "storage"(7% +4 "core" %e \ +2 "storage"(I. +3 "core" .(+ +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 5 +2 "storage"((; +189 "core" ( +2 .tSC.configure :limp +3 "storage"($(\ 1b +3 (& +2 "manipulator"&y& +4 "core" &; 3 \  +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]9K-0-\ b +3 "core" &  / +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&K( +4 "storage"(R' +2 "core" ( +2 "manipulator"& & +4 "core" & 3 / + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &_& +3 "core" &  / +2 .tForearm.seek PC + "manipulator"&'E +95 "core" ' +2 .tHand.close + "manipulator"&)/ +58 "core" / +2 .tPC.seek :open +2 "processing"%( +99 "core" ' + "storage"(A- +4 "core" -' + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +3 "storage"(H' +37 "core" ' +241 ( +2 "storage"(>& +4 "core" &; 5 5   + "manipulator"&+& +4 "core" & / + "manipulator"&,% +4 "core" % 2 h +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&T' ] +155 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&B( +245 "core" ( +2 "manipulator"&/& +4 "core" &  U + "storage"(0& +4 "core" &; \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 800 counts +50 "manipulator"&O' +106 "core" ' + .tHand.open +2 "manipulator"&\ 1 +58 "core" 1 +2 "storage"(2- +3 "core" -' +2 .tSE.seek -0.3 Pucks below Top Plate +2 "storage"(S'g +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.17 Pucks below Top Plate +2 "storage"(`'o +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(U- +3 "core" -'o +2 "storage"(& +4 "core" &;\ \ \ \  + "manipulator"&W& +4 "core" &  U +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&Z& +5 "core" &  U + "storage"(^& +4 "core" &;\ \  \  +2 .tForearm.seek 5 + 800 counts +2 "manipulator"&<' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.46 Pucks below Top Plate + "storage"(P' +52 "core" ' + "manipulator"&;& +5 "core" &  U + "storage"(h& +4 "core" &;  & P  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&4' +32 "core" ' +2 .tElbow.hold +2 "manipulator"&F, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.27 Pucks below Top Plate + "storage"(' +26 "core" ' + "manipulator"&5% +5 "core" % w K & + "storage"(e& +5 "core" &;  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 320 counts +2 "manipulator"&X'8 +23 "core" ' +3 "manipulator"&N& +4 "core" & 2 U +2 "storage"(?& +4 "core" &;    +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 800 counts + "manipulator"&M' +28 "core" ' + "storage"(:% +5 "core" % & 0 # +2 ."downElevator"SE.seek :down +4 "storage"(@'g +98 (Q% +3 "core" %gE   U \ U[ +2 "manipulator"&J% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&a' ] +151 "core" ' +11 ' + ."downElevator"SE.stop + "storage"(5 +3 ((& +4 "core" &;  "  + "collection"'m& +4 "core" &WT 0\ C +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&]% +5 "core" % S#  B + "storage"(!% +4 "core" %f { + "storage"(f. +3 "core" .(; +2 "storage"(q& +4 "core" &; \  + "storage"(3& +4 "core" &;   +  + "manipulator"&n& +4 "core" &  U + .tElbow.seek 5 +2 "manipulator"&8( +3 "core" ( +2 "manipulator"&s& +4 "core" &  U + "storage"(L& +5 "core" &; N  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 800 counts +2 "manipulator"&9' +103 "core" ' +2 "storage"(& +4 "core" &; 1 1 z  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(D' +296 "core" ' + "storage"(k- +4 "core" -'r + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&i& +3 "core" & U +2 "storage"(z& +3 "core" &;    +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&p' +39 "core" ' + .tElbow.hold +2 "manipulator"&C, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(x- +2 "core" -'r +2 .tSE.seek 0.19 Pucks below Top Plate +2 "storage"(c' +29 "core" ' + "manipulator"&% +4 "core" %` +2 "storage"(G& +3 "core" &; Z  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 307 counts + "manipulator"&.'+ +22 "core" ' +2 "manipulator"&b& +4 "core" & p U + "storage"(E& +4 "core" &; 4 3 r  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 800 counts +2 "manipulator"&' +19 "core" ' +3 .tSE.seek 1.19 Pucks below Top Plate +2 "storage"(|' +39 "core" ' + "manipulator"&{& +4 "core" &  U +2 "manipulator"&% +4 "core" % G  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +145 "core" ' +2 .tElbow.seek CC +2 "manipulator"&j( +148 "core" ( + "manipulator"&& +4 "core" &  $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &  $ +2 .tForearm.seek CC +2 "manipulator"& 'ш +100 "core" ' +2 .tHand.close + "manipulator"&v/ +54 "core" / +2 .tCC.seek :open +2 "collection"'( +396 "core" ( + "storage"(& +4 "core" &; 2 : a  + "storage"( & +4 "core" &; # #   +2 "manipulator"&~& +3 "core" &  $ +2 "manipulator"&% +4 "core" % ќ  + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&\\' ] +152 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +161 "core" ( + "manipulator"&& +4 "core" &  f +2 "storage"(%& +3 "core" &; H H  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&g' +107 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&u1 +59 "core" 1 +2 "manipulator"&Y% +4 "core" % k  + "storage"('& +4 "core" &; \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 311 counts +2 "manipulator"&'/ +21 "core" ' + "manipulator"&$& +4 "core" & H f +2 "storage"(t& +3 "core" &; U R u  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 800 counts +2 "manipulator"&' +23 "core" ' + "storage"(w% +4 "core" % H H "  +3 ."downElevator"SE.seek :down +3 "storage"(#'g +99 (=% +3 "core" %$S 2 3 S T[ +2 "manipulator"& % +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract +2 "manipulator"&1' ] +144 "core" ' +4 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling two pucks from tube 5 to 6 of [1..7] +2 #Loading generic puck from tube 5 into Collection Clamp +2 "collection"' & +4 "core" & % 6\ + "manipulator"&o% +4 "core" % Z  8 + "storage"(% +5 "core" %g H H  + "storage"(r. +3 "core" .(; + "storage"([& +5 "core" &; H I   + "storage"(}& +4 "core" &; I I   + "manipulator"&l& +4 "core" & D f +2 .tElbow.seek 5 +2 "manipulator"&&( +3 "core" ( + "manipulator"&"& +4 "core" & f +2 "storage"(6& +3 "core" &; H J  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 800 counts +2 "manipulator"&7' +116 "core" ' +2 "storage"(I& +4 "core" &; S q   +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(*' +302 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (y& +2 "core" &; > F  +2 "manipulator"& & +4 "core" & * f + .tElbow.seek 5 +2 "manipulator"&_( +3 "core" ( +2 "manipulator"&V& +3 "core" & S f +2 "storage"()& +3 "core" &; I I  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&A'$ +25 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&-& + "storage"(d'g +8 "core" & x f + "manipulator"&>% +4 "core" % ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +51 "manipulator"&+' ] +166 "core" ' + .tElbow.seek CC +2 "manipulator"&,( +39 "core" ' + ."downElevator"SE.stop + "storage"(5 +117 "core" ( +2 "manipulator"&R& +4 "core" & k $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & 9 $ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&/'ш +95 "core" ' +2 "manipulator"&0& +4 "core" & U $ +2 "manipulator"&K% +3 "core" %ш , +2 "collection"'\ & +4 "core" & & !\ +2 "collection"'2& +6 "core" & % \ +2 .tCC.seek :closed +3 "collection"'T(W8 +3 "core" & # [\ +6 & % \ 6 +9 &"G{ $ !\ 1 +9 &Mq $ 0\ E +10 &b # \ N +9 &W # \ M +9 &wU # .\ M +10 &9U " 8\ M +9 &\\ " ;\ M +10 &Z " e\ M +9 &![ "  \ M +9 &#@Y # 8\ N +10 &%Z ! 6\ N +9 &&X ! b\ M +9 &(V $ $\ N +10 &*IW " \ M +9 &, U " ^\ M +9 &-Y ! \ N +10 &/Y " +\ N +9 &1QX ! 7\ M +10 &3U " <\ M +9 &4[ :\ M +9 &6\\ ! ;\ N +10 &8YY ! a\ M +9 &:T ! "\ M +9 &;Y " 9\ M +10 &=U " ;\ M +9 &?`Y ;\ N +10 &A#Y ! c\ M +9 &B] " \ N +9 &D` . ',\ N +10 &Fde 7 1\ O +9 &H$m G A"\ P +9 &I{ _ Z\ Q +10 &K \ U +9 &MV  \ W +9 &O \ W +9 &P  \ W +9 &R 7\ X +10 &T[ \ X +9 &V ,\ F +9 &V \ , +10 &W,[ )\ E +5 ( +2 "collection"'2& +4 #tCollection Clamp onSpring/offSpring for 6/26 samples, on/off torque 1.94 + .Hand.open +2 "manipulator"&U1 +3 "core" &W,Y .\ E +60 1 + "manipulator"&% +4 "core" % ш n +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&W' ] +155 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%Z& +4 "core" &\ +2 "manipulator"&^% +3 "core" % e!  / +2 "storage"(;% +4 "core" %_ + "storage"(h. +3 "core" .(; +2 "storage"(5& +3 "core" &; d  +2 "storage"(e& +3 "core" &;    +2 "manipulator"&H& +3 "core" & b $ +2 "manipulator"&S% +3 "core" % e! H / +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&N( +160 "core" ( + "manipulator"&?& +4 "core" &  Q +3 "storage"(:& +4 "core" &; \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 800 counts +2 "manipulator"&B' +95 "core" ' +2 "storage"(O& +4 "core" &; & . C  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(`' +297 "core" ' +2 "storage"(Q- +3 "core" -'q +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (J& +3 "core" &;    + "manipulator"&<& +4 "core" & Q +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"&P& +4 "core" & | Q +2 "storage"(4& +3 "core" &; \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&X'$ +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&(/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&m& + "storage"(]'g +7 "core" &  Q +2 "manipulator"&% +4 "core" % & +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&!' ] +153 "core" ' + .tElbow.seek PC +2 "manipulator"&f( +106 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +158 "core" ( + "manipulator"&q& +5 "core" &0  Y + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &3& +3 "core" &0 7 Y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&n'E +100 "core" ' +2 "manipulator"&s& +4 "core" &1  X +2 "manipulator"&L% +4 "core" %J  + "processing"%M& +5 "core" &\ +2 "processing"%& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%@(V +4 "core" &$\  +8 &1$\ *x +10 &e$\ > +9 &c{$\ N +10 &'`#\ M +9 &\\$\ L +9 &Y#\ L +10 &n]#\ L +9 &0_$\ L +9 & ]#\ L +10 &"`$\ M +9 &$u^#\ M +10 &&7^"\ M +9 &'\\#\ M +9 &)`$\ L +10 &+~Z$\ L +9 &-?`$\ M +9 &/]#\ L +10 &0]$\ L +9 &2c$\ M +10 &4H\\#\ L +9 &6 `#\ M +9 &7b#\ M +10 &9`#\ L +9 &;Q]$\ L +9 &=`#\ M +10 &>_$\ M +9 &@`#\ L +10 &BX_#\ L +9 &Da#\ L +9 &Eg$\ N +10 &Gp$\ N +9 &IVy$\ P +9 &K#\ Q +10 &L$\ R +9 &N#\ S +10 &PU$\ S +9 &R#\ R +9 &S#\ S +10 &U~{$\ 9 +9 &VW4#\ M +9 &V{#\ ) +3 ( + "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 9/24 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&F1 +63 "core" 1 + "manipulator"&a% +5 "core" % I  + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +3 "manipulator"&k' ] +160 "core" ' + "processing"%i& +4 "core" &V{\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&z% +3 "core" % g"  = +2 "storage"(x% +4 "core" %q  \ + "storage"(. +3 "core" .(; +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 6 +2 "storage"(G(Kq +191 "core" ( +2 .tSC.configure :limp +2 "storage"($(\ 1b +3 (b& +2 "manipulator"&E& +4 "core" &Ks ! M  +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]9K-0-\ b +2 "core" &1  X +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"({' +3 "manipulator"&( +14 "core" ( +2 "manipulator"&9& +4 "core" & o T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &8& +3 "core" &  T +2 .tForearm.seek PC +2 "manipulator"&D'E +100 "core" ' +2 .tHand.close +2 "manipulator"&p/ +54 "core" / +2 .tPC.seek :open +2 "processing"%.( +75 "core" ' +2 "storage"(c- +3 "core" -' +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(' +38 "core" ' +264 ( +2 "storage"(& +4 "core" &Km   \ " + "manipulator"&& +4 "core" &/   + "manipulator"&C% +4 "core" % .  +2 .tForearm.reconfigure :loose +7 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&v' ] +165 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +278 "core" ( + "manipulator"&& +4 "core" & ; 0 +2 "storage"(& +4 "core" &Km  \ " +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 800 counts +2 "manipulator"& 'r +98 "core" ' + .tHand.open +2 "manipulator"&~1 +55 "core" 1 +2 "storage"(- +3 "core" -' +2 .tSE.seek -0.3 Pucks below Top Plate +2 "storage"( 'g +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.17 Pucks below Top Plate +3 "storage"('o +48 "core" ' +2 #tLights, camera, ACTION! + "storage"(%- +4 "core" -'o +2 "storage"(j& +3 "core" &Km\ #\ & 0\ " +2 "manipulator"&u& +4 "core" &  0 + .tElbow.seek 6 +2 "manipulator"&Y( +25 "core" ( + "manipulator"&'& +5 "core" & X 8 + "storage"($& +4 "core" &Km\ 0\ / \ " +2 .tForearm.seek 6 + 800 counts +2 "manipulator"&t'r +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.46 Pucks below Top Plate +2 "storage"(w' +49 "core" ' +2 "manipulator"&\\& +4 "core" & 8 + "storage"(=& +4 "core" &Km   _ " +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"& 'R +32 "core" ' + .tElbow.hold +2 "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.27 Pucks below Top Plate +2 "storage"(g' +30 "core" ' + "manipulator"&% +5 "core" %Zx ( + "storage"( & +4 "core" &Km e " +52 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 308 counts +2 "manipulator"&o'І +20 "core" ' +2 "manipulator"&& +4 "core" & < +2 "storage"(r& +4 "core" &Km \ K " +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 800 counts +2 "manipulator"&['r +22 "core" ' + "storage"(}% +4 "core" %   +3 ."downElevator"SE.seek :down +3 "storage"(|'g +99 (l% +3 "core" %D } U[ +2 "manipulator"&"% +4 "core" %s r  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract +2 "manipulator"&6' ] +157 "core" ' +3 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +4 "core" &Km 0 - " + "collection"'I& +4 "core" &W,Y 0\ E +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&#% +4 "core" % 6 0 +2 "storage"(% +4 "core" %p 1 3  + "storage"(1. +3 "core" .(Kq +2 "storage"(& +3 "core" &Km 2 3 " +2 "storage"(y& +4 "core" &Km 3 3 " + "manipulator"& & +4 "core" & < +2 .tElbow.seek 6 + "manipulator"&V( +4 "core" ( + "manipulator"&)& +5 "core" & < + "storage"(& +4 "core" &Km 3 4 " +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 800 counts +2 "manipulator"&-'r +88 "core" ' +2 "storage"(>& +4 "core" &Km # ' " +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(&' +294 "core" ' + "storage"(7- +4 "core" -'o + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&*& +3 "core" & < +2 "storage"(A& +4 "core" &Km \ \  " + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&R'R +31 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(0- +3 "core" -'o +2 .tSE.seek 0.19 Pucks below Top Plate +2 "storage"(K' +29 "core" ' + "manipulator"&\ % +4 "core" %Zg 5 +2 "storage"(_& +3 "core" &Km 8 " +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 308 counts + "manipulator"&d'І +22 "core" ' + "manipulator"&+& +5 "core" & ? + "storage"(& +4 "core" &Km 5 4 " +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 800 counts +2 "manipulator"&U'r +19 "core" ' +2 .tSE.seek 1.19 Pucks below Top Plate +2 "storage"('| +33 "core" ' +2 "manipulator"&2& +4 "core" & w ? +2 "manipulator"&Z% +3 "core" %n  +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&^' ] +146 "core" ' +2 .tElbow.seek CC +2 "manipulator"&;( +156 "core" ( +2 "manipulator"&h& +4 "core" &\  !v + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &5& +3 "core" & !v +2 .tForearm.seek CC + "manipulator"&e'ш +94 "core" ' + .tHand.close +2 "manipulator"&H/ +56 "core" / +2 .tCC.seek :open +2 "collection"'S( +400 "core" ( + "storage"(/& +4 "core" &Km I I  " + "storage"(?& +4 "core" &Km H H " +2 "manipulator"&:& +3 "core" &\  !v +2 "manipulator"&O% +3 "core" % ы  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&,' ] +151 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&W( +158 "core" ( + "manipulator"&Q& +4 "core" &  w +2 "storage"(J& +3 "core" &Km H I  " +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&<'R +109 "core" ' + .tElbow.hold +2 "manipulator"&P, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&41 +58 "core" 1 +3 "manipulator"&(% +4 "core" % Zq  +2 "storage"(m& +3 "core" &Km j \ " +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 308 counts + "manipulator"&'І +22 "core" ' + "manipulator"&N& +5 "core" & w + "storage"(B& +4 "core" &Km L J  " +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 800 counts + "manipulator"&`'r +14 "core" ' + "storage"(X% +5 "core" % H H  +2 ."downElevator"SE.seek :down +4 "storage"(q'g +98 (3% +2 "core" %_Y 1 ' 7 Wb +2 "manipulator"&% +4 "core" %m  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&s' ] +141 "core" ' +8 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling two pucks from tube 6 to 7 of [1..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'L& +5 "core" & % 6\ + "manipulator"&M% +4 "core" % L Y  +2 "storage"(]% +3 "core" %[ T T 1  +2 "storage"(!. +3 "core" .(Kq + "storage"(& +4 "core" &Km V S h " + "storage"(F& +4 "core" &Km W W b " + "manipulator"&a& +5 "core" & w +2 .tElbow.seek 6 + "manipulator"&( +3 "core" ( +2 "manipulator"&i& +4 "core" & w + "storage"(z& +5 "core" &Km V V f " +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 800 counts +2 "manipulator"&x'r +114 "core" ' +2 "storage"(& +4 "core" &Km l n " +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(n' +294 "core" ' +2 "storage"(b- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (E& +83 "core" &Km n p " +2 "manipulator"&9& +4 "core" & w + .tElbow.seek 6 +2 "manipulator"&8( +3 "core" ( +2 "manipulator"&& +3 "core" & w +2 "storage"(p& +3 "core" &Km J I & " +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&c'~ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&f/ +59 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&k& +2 "storage"(@'g +8 "core" & w + "manipulator"&{% +4 "core" % Є 3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +156 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +94 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +56 "core" ( + "manipulator"&C& +4 "core" & X m +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &D& +3 "core" &  m +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'ш +103 "core" ' + "manipulator"&& +4 "core" & ` k +2 "manipulator"&% +4 "core" %ч v +2 "collection"'~& +3 "core" & $ \ +3 "collection"'& +4 "core" & # \ +2 .tCC.seek :closed +2 "collection"'%(W8 +4 "core" & $ \  +9 &0w % \ *y +9 &d % 5\ > +9 &^v $ \ N +10 &"Y # 1\ M +9 &Y " =\ N +9 &U "  \ M +10 &fZ % ;\ N +9 &)V " \ M +10 & \\ # ,\ M +9 &"Z " @\ M +9 &$nZ # "\ N +10 &&1] " =\ M +9 &'W !  \ M +9 &)W ! \ M +10 &+wW ! 9\ M +9 &-9Y ! \ M +10 &.Y ! \ N +9 &0W " 4\ M +9 &2V  \ M +10 &4AZ " -\ M +9 &6\\ ! 8\ M +9 &7W ! \ M +10 &9T " '\ M +9 &;HX 9\ N +10 &= W a\ M +9 &>X " "\ N +9 &@X ! 9\ M +10 &BPY ! 9\ N +9 &D^ ) #<\ N +9 &Eb 4 .\ N +10 &Gh B <\ O +9 &IOv U O\ Q +10 &K y#\ T +9 &L \ V +9 &N  \ W +10 &PE \ W +9 &R M\ X +9 &S \ X +10 &U 5\ V +9 &V@ \ + +9 &W h \ D +6 ( + "collection"'& +5 #tCollection Clamp onSpring/offSpring for 7/25 samples, on/off torque 1.94 + .Hand.open + "manipulator"&j1 +4 "core" &W\\ \ D +50 1 +2 "manipulator"&u% +4 "core" % ч  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +51 "manipulator"&'' ] +233 "core" ' + #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%$& +4 "core" &#\ +2 "manipulator"&v% +3 "core" % b%  I +2 "storage"(\\% +4 "core" %n   & + "storage"(=. +3 "core" .(Kq +2 "storage"(& +3 "core" &Km   a " +2 "storage"(& +3 "core" &Km   " " +2 "manipulator"& & +4 "core" &  j + "manipulator"& % +4 "core" % i#  B +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +160 "core" ( + "manipulator"&& +4 "core" & N ^ +2 "storage"(r& +3 "core" &Km " p " +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 800 counts +2 "manipulator"& 'r +106 "core" ' +58 "storage"(}& +4 "core" &Km 2 5 Y " +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(' +295 "core" ' +2 "storage"(t- +3 "core" -'m +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (l& +3 "core" &Km  0 " + "manipulator"&"& +4 "core" & i ^ +2 .tElbow.seek 6 +2 "manipulator"&Y( +3 "core" ( +2 "manipulator"&w& +4 "core" & m ^ +2 "storage"( & +3 "core" &Km   . " +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&o'~ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&I& +3 "storage"(#'g +8 "core" & ^ + "manipulator"&g% +4 "core" % } P +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +155 "core" ' + .tElbow.seek PC +2 "manipulator"&1( +101 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +138 "core" ( + "manipulator"&& +5 "core" & @ 2 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &y& +3 "core" &  2 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& 'E +102 "core" ' +2 "manipulator"&)& +5 "core" & O 2 + "manipulator"&% +4 "core" %F > +2 "processing"%[& +3 "core" &#\ +3 "processing"%>& +6 "core" &\ +2 .tPC.seek :closed + "processing"%|(V +5 "core" &#\ +8 & 4"\ #b +9 &xU#\ 7 +9 &#\ K +10 &Y#\ L +9 &O_#\ L +9 &]$\ L +10 &^"\ L +9 &]#\ M +10 & V\\$\ M +9 &"`$\ M +9 &#]$\ M +10 &%^$\ M +9 &'^\\#\ M +9 &)!_#\ L +10 &*Z$\ M +9 &,]#\ M +10 &.gZ$\ L +9 &0(Z"\ M +9 &1`#\ L +10 &3^$\ L +9 &5o]#\ L +9 &71_#\ L +10 &8b$\ M +9 &:[$\ L +10 &8Z#\ M +9 &?_#\ L +10 &A]#\ M +9 &C~]$\ M +9 &E>e$\ M +11 &Fn#\ N +8 &Hs#\ O +10 &Jy#\ Q +9 &L9$\ R +9 &M$\ R +10 &O#\ S +9 &Q|#\ S +9 &S>#\ S +10 &U#\ C +9 &V!@v$\ )w +9 &V{(%\ ) +6 ( +2 "processing"%>& +3 #tProcessing Clamp onSpring/offSpring for 10/24 samples, on/off torque 1.46 +2 .Hand.open + "manipulator"&1 +4 "core" &V{$\ ) +49 1 + "manipulator"&6% +4 "core" % D  +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&7' ] +151 "core" ' +2 "processing"%*& +4 "core" &V{$\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&A% +4 "core" % T# . F +2 "storage"(0% +3 "core" %m q \ +2 "storage"(\ . +3 "core" .(Kq + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 7 +2 "storage"(_([4 +186 "core" ( +2 .tSC.configure :limp +2 "storage"($(\ 1b +3 (+& +2 "manipulator"&& +4 "core" &[2 ! X  +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]9K-0-\ b +2 "core" &  2 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(2' +2 "manipulator"&Z( +5 "core" ( +2 "manipulator"&-& +3 "core" & 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +3 "core" & 2 2 +2 .tForearm.seek PC +2 "manipulator"&&'E +96 "core" ' +2 .tHand.close + "manipulator"&R/ +57 "core" / +2 .tPC.seek :open + "processing"%d( +90 "core" ' +3 "storage"(K- +3 "core" -' +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(U' +40 "core" ' +247 ( + "storage"(h& +5 "core" &[.   + "manipulator"&5& +4 "core" &  2 + "manipulator"&% +4 "core" % S  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&H' ] +164 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&^( +243 "core" ( +2 "manipulator"&T& +4 "core" & O + "storage"(/& +4 "core" &[.    +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 800 counts +2 "manipulator"&?' +94 "core" ' + .tHand.open + "manipulator"&:1 +63 "core" 1 +2 "storage"(O- +4 "core" -' +2 .tSE.seek -0.3 Pucks below Top Plate +2 "storage"(e'g +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.17 Pucks below Top Plate +2 "storage"(Q'o +50 "core" ' + #tLights, camera, ACTION! +2 "storage"(J- +3 "core" -'o +2 "storage"(;& +4 "core" &[. 7\  + "manipulator"&4& +4 "core" &  O +2 .tElbow.seek 7 + "manipulator"&(( +4 "core" ( +2 "manipulator"&m& +3 "core" &  O +2 "storage"(N& +4 "core" &[. 9\  +2 .tForearm.seek 7 + 800 counts + "manipulator"&B' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.46 Pucks below Top Plate +2 "storage"(X' +50 "core" ' +2 "manipulator"&,& +4 "core" & q O + "storage"(3& +4 "core" &[. ! 5 T  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&'Χ +31 "core" ' +2 .tElbow.hold + "manipulator"&W, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.27 Pucks below Top Plate +2 "storage"(<' +26 "core" ' + "manipulator"&L% +5 "core" %λ S + "storage"(& +5 "core" &[.  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 320 counts +2 "manipulator"&M' +19 "core" ' +2 "manipulator"&]& +5 "core" & \\ O + "storage"(!& +4 "core" &[. \ )  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 800 counts +2 "manipulator"&' +21 "core" ' + "storage"(F% +5 "core" %  @ +2 ."downElevator"SE.seek :down +4 "storage"('g +98 (a% +2 "core" %]F T[ +2 "manipulator"&i% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract +2 "manipulator"&z' ] +145 "core" ' +20 ' + ."downElevator"SE.stop + "storage"(5 +3 (`& +4 "core" &[.   N  + "collection"'& +4 "core" &W\\ \ D +2 #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&q% +4 "core" % ]  ) + "storage"(P% +5 "core" %n # + "storage"(s. +3 "core" .([4 +2 "storage"(b& +3 "core" &[.   ^  +2 "storage"(E& +3 "core" &[.  :  +2 "manipulator"&9& +3 "core" &  N +2 .tElbow.seek 7 +2 "manipulator"&( +3 "core" ( + "manipulator"&p& +4 "core" &  N +2 "storage"(f& +3 "core" &[.   s  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 800 counts +2 "manipulator"&k' +107 "core" ' +2 "storage"({& +4 "core" &[. 2 ' d  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +54 .tSE.seek :beamBreak + "storage"(' +295 "core" ' +2 "storage"(x- +3 "core" -'k + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&n& +3 "core" &  N + "storage"(c& +4 "core" &[.    + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&C'Χ +36 "core" ' +2 .tElbow.hold + "manipulator"&D, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -'k +2 .tSE.seek 0.18 Pucks below Top Plate +2 "storage"(' +30 "core" ' + "manipulator"&~% +5 "core" %α\\ z + "storage"(8& +4 "core" &[. -  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 7 + 310 counts +2 "manipulator"&@' +20 "core" ' + "manipulator"&& +5 "core" & d N + "storage"(S& +4 "core" &[.   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 800 counts + "manipulator"&j' +25 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate + "storage"(u'x +34 "core" ' + "manipulator"&& +5 "core" & & N + "manipulator"&$% +4 "core" % +  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&v' ] +139 "core" ' +2 .tElbow.seek CC + "manipulator"&\\( +158 "core" ( + "manipulator"&=& +4 "core" &  / + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  / +2 .tForearm.seek CC +2 "manipulator"&'ш +100 "core" ' +3 .tHand.close + "manipulator"& / +53 "core" / + .tCC.seek :open +2 "collection"' ( +400 "core" ( + "storage"(& +4 "core" &[. - # @  +2 "storage"(& +3 "core" &[. 1 1 u  +2 "manipulator"&r& +4 "core" &  4 + "manipulator"&% +5 "core" % щ W +5 .tForearm.reconfigure :loose +9 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract +2 "manipulator"&}' ] +156 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&'( +156 "core" ( + "manipulator"&t& +4 "core" & I w +2 "storage"(l& +3 "core" &[. H I   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +7 "manipulator"&"'Χ +110 "core" ' +2 .tElbow.hold + "manipulator"&w, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +62 "core" 1 +3 "manipulator"&% +4 "core" % ζg + "storage"(I& +4 "core" &[.   + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 315 counts + "manipulator"&g' +23 "core" ' + "manipulator"&& +5 "core" & w + "storage"( & +4 "core" &[. J H  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 800 counts +2 "manipulator"&' +14 "core" ' + "storage"(o% +4 "core" % J N   +3 ."downElevator"SE.seek :down +3 "storage"('g +99 (y% +3 "core" %X 0 3 7 V_ +2 "manipulator"&Y% +4 "core" %   + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&)' ] +141 "core" ' +10 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling two pucks from tube 7 to 1 of [1..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'& +5 "core" & $ O\ + "manipulator"&[% +4 "core" % [  +2 "storage"(#% +3 "core" %\\ V U  +2 "storage"(. +3 "core" .([4 + "storage"(.& +5 "core" &[. R J ,  + "storage"(& +5 "core" &[. H R 9  + "manipulator"&6& +4 "core" & Z w +2 .tElbow.seek 7 +2 "manipulator"&>( +3 "core" ( + "manipulator"&*& +5 "core" & y w + "storage"(A& +4 "core" &[. V V f  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 800 counts + "manipulator"&0' +99 "core" ' +3 "storage"(\ & +4 "core" &[. U M V  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( ' +304 "core" ' +2 "storage"(+- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &[. / )  +2 "manipulator"&-& +4 "core" & w + .tElbow.seek 7 +2 "manipulator"&V( +3 "core" ( +2 "manipulator"&G& +3 "core" & Q w +2 "storage"(R& +3 "core" &[. H H  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&K' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&1/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&7& +5 "storage"(|'g +3 "core" & w + "manipulator"&h% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&5' ] +163 "core" ' +2 .tElbow.seek CC + "manipulator"&( +83 "core" ' + ."downElevator"SE.stop + "storage"(5 +92 "core" ( + "manipulator"&2& +4 "core" & <  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &&& +3 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&T'ш +89 "core" ' +2 "manipulator"&/& +4 "core" &   + "manipulator"&Z% +4 "core" %ч E +2 "collection"':& +4 "core" & % \ +2 "collection"'O& +5 "core" & $ \ +2 .tCC.seek :closed +2 "collection"'J(W8 +4 "core" & $ \ +7 &3 $ \ #b +9 &wU} % \ 7 +9 &~ # \ L +10 &Y " \ M +9 &HZ # \ N +9 & Y ! \ M +10 &Y " \ N +9 &Y # \ N +10 & QZ ! \ M +9 &"Z " \ M +9 &#W \ M +10 &%\\ " \ M +9 &'Y\\ \ M +9 &)[ !  \ M +10 &*X " \ M +9 &,X " \ N +10 &.aY ! \ M +9 &0#Y ! \ M +9 &1Y ;\ N +10 &3W !\ M +9 &5hY ;\ N +9 &7+Y !\ M +10 &8W ! \ M +9 &:Y \ M +9 &2Y  \ N +9 &?W  8\ M +10 &AX F\ M +9 &Cy] & +\ M +9 &E:^ . )\ N +10 &Fg = 5\ O +9 &Hp L G\ P +10 &Js m f\ R +9 &L, \ \ U +9 &M \ V +10 &O \ W +9 &Ql %\ W +9 &S, \ X +10 &T \ X +9 &Vv \ + +9 &W  \ X +10 ( + &Wa '\ G +2 "collection"'O& +3 #tCollection Clamp onSpring/offSpring for 7/25 samples, on/off torque 1.89 + .Hand.open + "manipulator"&;1 +60 "core" 1 + "manipulator"&4% +4 "core" % ч  +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&m' ] +153 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%N& +4 "core" &\ + "manipulator"&H% +4 "core" % J$  J +2 "storage"(,% +4 "core" %_ + "storage"(3. +3 "core" .([4 + "storage"(L& +5 "core" &[.  9  + "storage"(& +4 "core" &[. M  + "manipulator"&U& +4 "core" &   + "manipulator"&]% +4 "core" % J$  J +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&!( +149 "core" ( + "manipulator"&e& +4 "core" &  v +2 "storage"(F& +4 "core" &[. \ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 800 counts +2 "manipulator"&^' +101 "core" ' +2 "storage"(?& +4 "core" &[. ( 3 &  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Q' +296 "core" ' + "storage"(a- +4 "core" -'k + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (i& +2 "core" &[. f  +2 "manipulator"&B& +4 "core" & 5 v + .tElbow.seek 7 +2 "manipulator"&(( +3 "core" ( +2 "manipulator"&X& +3 "core" & v +2 "storage"(& +3 "core" &[.     +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&M' +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&`/ +52 "core" / +3 ."downElevator"SE.seek :down +53 "manipulator"&& +2 "storage"(q'g +7 "core" & v +2 "manipulator"&<% +3 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&P' ] +157 "core" ' +2 .tElbow.seek PC +2 "manipulator"&s( +97 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +148 "core" ( + "manipulator"&b& +4 "core" & D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &E& +3 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&9'E +98 "core" ' +2 "manipulator"&p& +4 "core" & Z +2 "manipulator"&f% +3 "core" %K ) +2 "processing"%& +4 "core" &!\ +2 "processing"%{& +5 "core" &#\ +2 .tPC.seek :closed +2 "processing"%(V +4 "core" &#\ +7 & 3#\ $d +9 &wV#\ 7 +9 &#\ L +10 &\\#\ L +9 &P^#\ L +9 &X#\ L +10 &]$\ L +9 &^#\ L +10 & X]#\ L +9 &"_#\ M +9 &#\\#\ M +10 &%\\$\ M +9 &'_Z#\ M +9 &)!\\#\ M +10 &*Z#\ M +9 &,\\#\ M +10 &.h_#\ L +9 &0)Z#\ M +9 &1_$\ M +10 &3`#\ M +9 &5o]#\ M +9 &72^"\ L +10 &8^#\ L +9 &:Z$\ M +10 &9]$\ M +9 &?Z"\ L +10 &A]$\ L +9 &C]$\ M +9 &E?g$\ M +10 &Fj$\ N +9 &Hv#\ O +10 &Jz#\ Q +9 &L:#\ R +10 &M$\ R +9 &O$\ S +9 &Q|$\ S +10 &S=$\ S +9 &T#\ D +9 &V>r#\ )x +9 &V|*#\ ) +6 ( +2 "processing"%{& +3 #tProcessing Clamp onSpring/offSpring for 10/24 samples, on/off torque 1.45 +2 .Hand.open + "manipulator"&W1 +4 "core" &V|$\ ) +58 1 + "manipulator"&z% +5 "core" % K  + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&x' ] +166 "core" ' + "processing"%n& +4 "core" &V|#\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 1 +2 "manipulator"&c% +3 "core" % ?  +2 "storage"(% +4 "core" %m + "storage"(~. +3 "core" .([4 +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 1 +2 "storage"(8( +987 "core" ( + .tSC.configure :limp +2 "storage"($(\ 1b +3 (& +2 "manipulator"&S& +4 "core" & 2 H +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]9K-0-\ b +2 "core" &  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(' +3 "manipulator"&$( +3 "core" ( +2 "manipulator"&k& +3 "core" & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & +2 .tForearm.seek PC +2 "manipulator"&'E +90 "core" ' +2 .tHand.close + "manipulator"&C/ +65 "core" / + .tPC.seek :open +2 "processing"%@( +96 "core" ' +2 "storage"(- +3 "core" -' +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(j' +36 "core" ' +246 ( + "storage"(=& +5 "core" &   + "manipulator"&& +4 "core" & + "manipulator"&D% +4 "core" % L +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"& ' ] +167 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&v( +264 "core" ( + "manipulator"&%& +5 "core" & Y 1 + "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 800 counts +2 "manipulator"&'Ҳ +88 "core" ' + .tHand.open +2 "manipulator"&r1 +56 "core" 1 +2 "storage"(- +3 "core" -' +2 .tSE.seek -0.3 Pucks below Top Plate +2 "storage"('g +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.17 Pucks below Top Plate + "storage"(t'o +48 "core" ' +2 #tLights, camera, ACTION! + "storage"(l- +3 "core" -'o +2 "storage"(\\& +4 "core" &\ \ \ +2 "manipulator"& & +3 "core" &  1 +2 .tElbow.seek 1 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&I& +4 "core" &  1 + "storage"(& +4 "core" &\ \ \ +2 .tForearm.seek 1 + 800 counts +2 "manipulator"& 'Ҳ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.46 Pucks below Top Plate +2 "storage"(o' +49 "core" ' + "manipulator"&}& +5 "core" & * 1 + "storage"(y& +4 "core" &  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&Y'ϒ +34 "core" ' + .tElbow.hold +2 "manipulator"&', +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.27 Pucks below Top Plate +2 "storage"("' +19 "core" ' +2 "manipulator"&% +4 "core" %ϔz > / +2 "storage"(g& +4 "core" &   + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 1 + 302 counts + "manipulator"&[' +24 "core" ' + "manipulator"&#& +5 "core" &  / + "storage"(& +5 "core" &   ' +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 800 counts +2 "manipulator"&.'Ҳ +13 "core" ' +2 "storage"(u% +4 "core" %   \ +3 ."downElevator"SE.seek :down +4 "storage"('g +99 (6% +4 "core" %OC U[ +2 "manipulator"&*% +3 "core" %Ҭ   +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&A' ] +153 "core" ' +9 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &   \ +2 "collection"'\ & +4 "core" &W` <\ G + #tStoring generic puck in Collection Clamp to tube 1 +2 "manipulator"&% +4 "core" % P% L + "storage"(w% +5 "core" %p   B \ + "storage"(). +3 "core" .( +2 "storage"(+& +3 "core" & T \ +2 "storage"(& +3 "core" & f \ +2 "manipulator"&-& +3 "core" & E / +2 .tElbow.seek 1 +2 "manipulator"&G( +3 "core" ( +2 "manipulator"&R& +3 "core" & a / +2 "storage"(1& +4 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 800 counts +2 "manipulator"&7'Ҳ +107 "core" ' +2 "storage"(h& +4 "core" & 2 3 Z +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(>' +294 "core" ' +4 "storage"(0- +6 "core" -'l +3 .tSE.configure :default +4 "storage"(#QK-0-\ b +4 "manipulator"& & +5 "core" & / + "storage"(K& +5 "core" & ~ \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&2'ϒ +38 "core" ' + .tElbow.hold +2 "manipulator"&&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(/- +4 "core" -'l +2 .tSE.seek 0.18 Pucks below Top Plate +2 "storage"(Z' +29 "core" ' +2 "manipulator"&V% +4 "core" %ϓ\\ y +2 "storage"(:& +3 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 301 counts + "manipulator"&|'п +23 "core" ' +2 "manipulator"&5& +4 "core" &  . + "storage"( & +4 "core" &  2 \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 800 counts +2 "manipulator"&;'Ҳ +21 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate +2 "storage"(4'y +33 "core" ' +2 "manipulator"&O& +4 "core" & ( . + "manipulator"&N% +5 "core" %ұ   +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&H' ] +149 "core" ' +2 .tElbow.seek CC +2 "manipulator"&,( +196 "core" ( +2 "manipulator"&3& +4 "core" &  # + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &L& +2 "core" &  # +2 .tForearm.seek CC +2 "manipulator"&'ш +93 "core" ' + .tHand.close +2 "manipulator"&U/ +58 "core" / +2 .tCC.seek :open +2 "collection"']( +396 "core" ( +2 "storage"(T& +4 "core" & 1 0 A  +2 "storage"(e& +4 "core" & 0 0 [  + "manipulator"&F& +4 "core" & < # + "manipulator"&?% +4 "core" % щ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +154 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&m( +159 "core" ( + "manipulator"&a& +5 "core" & w i + "storage"(i& +4 "core" & ) ;   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 1 +2 "manipulator"&B'ϒ +110 "core" ' +2 .tElbow.hold +2 "manipulator"&X, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +54 "core" 1 +3 "manipulator"&`% +4 "core" % Ϙd + "storage"(& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 306 counts + "manipulator"&<' +23 "core" ' +2 "manipulator"&!& +4 "core" & i i + "storage"(^& +4 "core" & J J &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 800 counts +2 "manipulator"&Q'Ҳ +16 "core" ' +2 "storage"(M% +4 "core" % J K "  +2 ."downElevator"SE.seek :down +4 "storage"(b'g +99 (E% +3 "core" %!Z 3 3 e Wa + "manipulator"&(% +5 "core" %Ҫ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&p' ] +145 "core" ' +3 ."downElevator"SE.stop + "storage"(5 +3 "core" ' +10016 "Can"\ 9~ +21609 #t-> Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'f& +3 "core" & $ \ +2 "manipulator"&& +4 "core" & P i +2 "manipulator"&q% +3 "core" % T& K !O +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&P(-w +175 "core" ( + "manipulator"&d& +4 "core" &-n  D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +2 "core" &-n  D +2 .tForearm.seek :garage +2 "manipulator"&z'π +110 "core" ' +2 .tHand.close + "manipulator"&{/ +52 "core" / + "manipulator"&n& +5 "core" &-o } @ C + "manipulator"&c% +4 "core" % Ϗd u + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&' ] +161 "core" ' +5 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&~( +293 "core" ( +2 "manipulator"&9& +4 "core" &  ~ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &_& +3 "core" &  ~ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'ш +105 "core" ' +2 "manipulator"&S& +4 "core" & ~ +2 "manipulator"&k% +3 "core" %} " ( +2 "collection"'& +4 "core" & $ \ +2 "collection"'C& +4 "core" & $ \ +2 .tCC.seek :closed +2 "collection"'(W8 +4 "core" & "  \  +8 &/x ! \ *w +9 &b $ \ \ > +10 &Tv "  \ N +9 &Y # \ N +10 &[ " \ N +9 &Z " \ \ N +9 &\\[ # \ N +10 &Z " \ N +9 & [ " \ N +9 &"Y " \ N +10 &$e\\ \ N +9 &&&\\ " \ N +10 &'[ \ N +9 &)Y \ N +9 &+kY \ N +10 &-.Z  \ N +9 &.Y !  \ N +9 &0Y " \ N +10 &2uZ \ N +9 &47Y  \ N +10 &5]   \ N +9 &7Y  \ N +9 &9{X ! \ N +10 &;>Y \ \ N +9 &=W !  \ M +9 &>Y \ N +10 &@Y \ M +9 &BFZ ! \ N +10 &D_ - *\ O +9 &Eg @ 7\ O +9 &Gx X O\ Q +10 &I; \ U +9 &J  \ W +9 &L \ W +10 &Nx \ W +9 &P8 \ X +10 &Q  \ X +9 &S \ \ Y +9 &Ux \ Z +10 &VH  \ #i +9 &W(  \ F +9 ( +2 &W*^  \ D +2 "collection"'C& +2 #tCollection Clamp onSpring/offSpring for 6/25 samples, on/off torque 2.02 +2 "collection"'s& +4 "core" &W*^ \ D +2 .tHand.open + "manipulator"&x1 +62 "core" 1 +2 "manipulator"&% +4 "core" % } ` ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&=' ] +149 "core" ' +584 #t-> CTV.intake +2 .CTV.dial :intake +2 "collection"'  +73 "core"  +425 #t-> CBV.SSV +3 .CBV.dial SSV + "collection"'D @ +105 "core" > +548 #t-> SSV.CBV +2 .SSV.dial CBV +2 "sampler")  +128 "core" +862 #t-> Intake.open +2 .Intake.select :open +2 "sampler") +640 #t-> SS.pull 10 + "sampler")% +3 "core" %ޝ e\ +3 .tSS.seek 10ml + "sampler")%' +579 "core" ' +2 "sampler")% +4 "core" % U\ +682 #t-> SSV.air +2 .SSV.dial :air +2 "sampler")$ +127 "core"  +571 #t-> SS.empty +2 .SS.seek 0ml +2 "sampler")r'ޚ +533 "core" ' +2 "sampler")% +4 "core" %ޚ b\ +3830 #t-> CTV.intake +2 .CTV.dial :intake +528 #-> CBV.SSV +3 .CBV.dial SSV + "collection"'l @ +5 "core" ? +421 #t-> SSV.plug +2 .SSV.dial :plug +2 "sampler")\\ +73 "core" +273 #t-> Intake +24237 #-> d=0; 30.times{d+=CS.status.inPress}; (d/30).round +2 "collection"' % +3 "core" %] \  +2 "collection"'I% +4 "core" %] \  + "collection"'% +4 "core" %] \  + "collection"' % +3 "core" %] \  +2 "collection"'}% +3 "core" %] \  +2 "collection"'y% +3 "core" %] \  + "collection"'% +4 "core" %]  \  +2 "collection"'g% +3 "core" %] \  + "collection"'j% +4 "core" %] \  + "collection"'#% +4 "core" %] \  + "collection"'% +3 "core" %] \  +2 "collection"'% +3 "core" %] \  +2 "collection"'u% +3 "core" %]  \  + "collection"'v% +4 "core" %]  \  + "collection"'% +4 "core" %] \  + "collection"'t% +3 "core" %]  \  +2 "collection"'6% +3 "core" %] \  +2 "collection"'*% +3 "core" %]  \  + "collection"' % +4 "core" %] \  +2 "collection"'% +3 "core" %]  \  +2 "collection"'o% +3 "core" %] \  +2 "collection"'Y% +3 "core" %] \  +2 "collection"'[% +3 "core" %] \ \  +2 "collection"'% +3 "core" %] \  +2 "collection"'\ % +3 "core" %]  \  + "collection"'% +4 "core" %] \  + "collection"'"% +4 "core" %]  \  + "collection"'w% +3 "core" %] \  +2 "collection"')% +3 "core" %] \  + "collection"'+% +4 "core" %] \  +1306 #t-> d=0; 30.times{d+=SS.status.outPress}; (d/30).round +2 "sampler")% +3 "core" %ޚ Q\ +2 "sampler")-% +2 "Can"\ T"b[~ +3 "core" %ޚ `\ +2 "sampler")R% +3 "core" %ޚ T\ + "sampler")1% +4 "core" %ޚ c\ +2 "sampler").% +3 "core" %ޚ T\ + "sampler")h% +4 "core" %ޚ _\ + "sampler")% +4 "core" %ޚ X\ + "sampler")'% +3 "core" %ޚ ]\ +2 "sampler")A% +3 "core" %ޚ R\ +2 "sampler")0% +3 "core" %ޚ `\ + "sampler") % +4 "core" %ޚ T\ + "sampler")K% +4 "core" %ޚ c\ + "sampler")/% +4 "core" %ޚ e\ + "sampler")V% +3 "core" %ޚ V\ +2 "sampler"):% +3 "core" %ޚ b\ +2 "sampler")5% +3 "core" %ޚ S\ + "sampler") % +4 "core" %ޚ d\ + "sampler")O% +4 "core" %ޚ T\ + "sampler")N% +3 "core" %ޚ b\ +2 "sampler")7% +3 "core" %ޚ U\ +2 "sampler")G% +3 "core" %ޚ ^\ + "sampler")>% +4 "core" %ޚ U\ + "sampler")2% +4 "core" %ޚ `\ + "sampler")|% +53 "core" %ޚ Q\ +2 "sampler")Z% +4 "core" %ޚ T\ + "sampler");% +4 "core" %ޚ [\ + "sampler")3% +3 "core" %ޚ R\ +2 "sampler")L% +3 "core" %ޚ `\ +2 "sampler")&% +3 "core" %ޚ Y\ +2 "sampler")U% +3 "core" %ޚ a\ +931 #t-> d=0; 30.times{d+=CS.status.inPress}; (d/30).round +2 "collection"'H% +3 "core" %] \  +2 "collection"'J% +4 "core" %] \ \  + "collection"'T% +4 "core" %]  \  + "collection"'e% +3 "core" %] \  +2 "collection"'F% +3 "core" %]  \  +2 "collection"'?% +3 "core" %] \  +2 "collection"'% +3 "core" %] \ \  + "collection"'a% +4 "core" %] \  +2 "collection"'i% +3 "core" %] \  +2 "collection"',% +3 "core" %]  \  +2 "collection"'% +3 "core" %] \  + "collection"'`% +4 "core" %]  \  + "collection"'% +4 "core" %] \  + "collection"'!% +4 "core" %] \  +2 "collection"'^% +3 "core" %] \ \  +2 "collection"'M% +3 "core" %] \  + "collection"'% +4 "core" %] \ \  + "collection"'E% +4 "core" %] \ \  +2 "collection"'(% +3 "core" %] \  +2 "collection"'m% +3 "core" %] \  +2 "collection"'B% +3 "core" %] \  + "collection"'<% +4 "core" %]  \  + "collection"'4% +4 "core" %] \  + "collection"'Q% +3 "core" %]  \  +2 "collection"'b% +3 "core" %]  \  +2 "collection"'f% +3 "core" %] \  +2 "collection"'% +3 "core" %] \  + "collection"'q% +4 "core" %] \  + "collection"'d% +4 "core" %] \ \  + "collection"'W% +4 "core" %] \  +9800 #t-> CS.status.outPress +2 "collection"'X% +3 "core" %] \  +2861 #t-> CC.unloadFlush +2 #Garaging FlushPuck in Collection Clamp + "manipulator"&{& +3 "core" & I ~ +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&n( +3 "core" ( + "manipulator"&c& +4 "core" & c ~ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &p& +3 "core" & ~ +2 .tForearm.seek CC +2 "manipulator"&z'ш +93 "core" ' + .tHand.close +2 "manipulator"&9/ +54 "core" / +2 .tCC.seek :open +2 "collection"'_( +397 "core" ( + "manipulator"&P& +4 "core" & ~ +2 "manipulator"&S% +3 "core" % ё ) +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&k' ] +167 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(-w +277 "core" ( +2 "manipulator"&& +4 "core" &-w Y + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &]& +3 "core" &-w q Y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&s'π +109 "core" ' + .tHand.open + "manipulator"&x1 +57 "core" 1 + "manipulator"&% +5 "core" % φ] } 1 + .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&C' ] +156 "core" ' +774 #t-> CS.status.inPress +2 "collection"'% +3 "core" %]  \  +2681 #t-> exit +3 "sampler")0 +12 #mEXIT @1668804134.19PST @1668806117.27PST = =tMAIN =mMAIN_scheduler @PST1668806119.20 #"core_reset"Sent BREAK +2 #t@44508 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.42 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +246 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +411 "Can"\ o +2 \ o 0 #tPolling Can every 10:00 +9 #Cleanly exited at 12:42:14PST18-Nov-22 +4813 #-> ESP.ready! +3 #Powering core bus +540 .Gate.power :raw,:ON +2 "sampler") +28 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% + % +3 "core"  +4 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" %\ +2 .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %\ + .tPS.configure :default +3 "processing"%#A d`xb +3 "sampler")% +3 "core" %\ + .tSS.configure :default +3 "sampler")#.0X CS.status.inPress + "collection"'<% +4 "core" %WP\  +14051 #t-> d=0; 30.times{d+=CS.status.inPress}; (d/30).round + "collection"'=% +4 "core" %W+\  + "collection"'>% +4 "core" %W\  +2 "collection"'?% +4 "core" %W\  + "collection"'@% +4 "core" %W\  + "collection"'A% +3 "core" %W(\  +2 "collection"'B% +3 "core" %W"\  +2 "collection"'C% +4 "core" %W\  + "collection"'D% +4 "core" %W\  + "collection"'E% +4 "core" %W\  + "collection"'F% +3 "core" %W.\  +2 "collection"'G% +3 "core" %W*\  +2 "collection"'H% +4 "core" %W\  + "collection"'I% +4 "core" %W\  + "collection"'J% +4 "core" %W\  + "collection"'K% +4 "core" %W\  + "collection"'L% +4 "core" %W@\  + "collection"'M% +4 "core" %W\  + "collection"'N% +3 "core" %W\  +2 "collection"'O% +3 "core" %W\  +2 "collection"'P% +3 "core" %W\  +2 "collection"'Q% +4 "core" %W\  + "collection"'R% +4 "core" %W\  + "collection"'S% +4 "core" %W4\  + "collection"'T% +3 "core" %W&\  +2 "collection"'U% +3 "core" %W\  +2 "collection"'V% +4 "core" %W\  + "collection"'W% +4 "core" %W\  + "collection"'X% +3 "core" %WH\  +2 "collection"'Y% +3 "core" %W&\  +2 "collection"'Z% +3 "core" %W\  +2059 #t-> d=0; 30.times{d+=SS.status.outPress}; (d/30).round + "sampler")[% +3 "core" %ޞ _\ +2 "sampler")\\% +4 "core" %ޞ e\ +2 "sampler")]% +3 "core" %ޞ h\ +2 "sampler")^% +3 "core" %ޞ _\ +2 "sampler")_% +4 "core" %ޞ h\ + "sampler")`% +3 "core" %ޞ ]\ +2 "sampler")a% +4 "core" %ޞ e\ + "sampler")b% +3 "core" %ޞ c\ +2 "sampler")c% +3 "core" %ޞ \\\ +2 "sampler")d% +4 "core" %ޞ d\ + "sampler")e% +4 "core" %ޞ ^\ + "sampler")f% +4 "core" %ޞ Z\ + "sampler")g% +3 "core" %ޞ h\ +2 "sampler")h% +3 "core" %ޞ _\ +2 "sampler")i% +4 "core" %ޞ g\ +36 "sampler")j% +10 "core" %ޞ h\ +2 "sampler")k% +4 "core" %ޞ ^\ + "sampler")l% +4 "core" %ޞ ]\ + "sampler")m% +4 "core" %ޞ e\ + "sampler")n% +4 "core" %ޞ [\ + "sampler")o% +4 "core" %ޞ h\ + "sampler")p% +4 "core" %ޞ Y\ + "sampler")q% +4 "core" %ޞ ^\ + "sampler")r% +4 "core" %ޞ c\ + "sampler")s% +4 "core" %ޞ ]\ + "sampler")t% +4 "core" %ޞ f\ + "sampler")u% +4 "core" %ޞ ^\ + "sampler")v% +4 "core" %ޞ _\ + "sampler")w% +4 "core" %ޞ f\ + "sampler")x% +3 "core" %ޞ ]\ +10482 #t-> d=0; 30.times{d+=CS.status.inPress}; (d/30).round +2 "collection"'y% +3 "core" %W\  +2 "collection"'z% +4 "core" %W\  + "collection"'{% +4 "core" %W \  + "collection"'|% +4 "core" %W\  + "collection"'}% +3 "core" %WI\  +2 "collection"'~% +4 "core" %W#\  + "collection"'% +4 "core" %W(\  + "collection"'% +4 "core" %W\  + "collection"'% +4 "core" %W\  + "collection"'% +4 "core" %W\  + "collection"'% +4 "core" %W\  + "collection"'% +4 "core" %W\  + "collection"'% +3 "core" %W\  +2 "collection"'% +3 "core" %W\ \  +2 "collection"'% +4 "core" %W\  + "collection"' % +4 "core" %W)\  + "collection"'\ % +4 "core" %W\  + "collection"' % +3 "core" %W\  +2 "collection"' % +4 "core" %W\  + "collection"' % +4 "core" %W\  + "collection"'% +3 "core" %W\  +2 "collection"'% +4 "core" %W\  + "collection"'% +3 "core" %W\  +2 "collection"'% +3 "core" %W\  +2 "collection"'% +4 "core" %W\  + "collection"'% +3 "core" %W\  +2 "collection"'% +3 "core" %W\  +2 "collection"'% +3 "core" %W\  +2 "collection"'% +3 "core" %W\  +2 "collection"'% +4 "core" %W\  +6787 #t-> CTV.intake +2 .CTV.dial :intake +2 "collection"'  +75 "core"  +516 #t-> CBV.SSV + .CBV.dial SSV +2 "collection"' @ +4 "core" ? +463 #t-> SSV.plug + .SSV.dial :plug +2 "sampler") +75 "core" +520 #t-> Intake.open + .Intake.select :open + "sampler") +821 #t-> Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"' & +3 "core" &t\  +2 .tHand.open + "manipulator"&1 +55 "core" 1 +2 "manipulator"&#& +4 "core" & B + "manipulator"&&% +4 "core" % a S ( + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&((-w +178 "core" ( + "manipulator"&)& +4 "core" &- m  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &*& +3 "core" &-  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :garage + "manipulator"&'π +105 "core" ' + .tHand.close + "manipulator"&/ +62 "core" / + "manipulator"&$& +4 "core" &- { q  +2 "manipulator"&-% +3 "core" % ϑm Q  +2 .tForearm.seek :retract +2 "manipulator"&.' ] +106 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&/( +284 "core" ( +2 "manipulator"&0& +4 "core" &  L + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &1& +2 "core" & 4 L +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&2'ш +105 "core" ' +2 "manipulator"&3& +4 "core" & L +2 "manipulator"&4% +3 "core" %~  +2 "collection"'5& +4 "core" &t\  +2 "collection"'6& +4 "core" &t\  +2 .tCC.seek :closed +2 "collection"'7(W8 +5 "core" &t\  +8 &6~\ +} +9 &e!\ @ +10 &Ls\ O +9 &W\ O +9 &Z@\ N +10 &Z#\ O +9 &TX\ O +9 &Z\ N +10 & \\\ O +9 &"Z\ O +10 &$]Y\ N +9 &&Z\ O +9 &'Z\ O +10 &)\\'\ O +9 &+eZ&\ N +9 &-&Y\ O +10 &.\\3\ O +9 &0[\ O +10 &2kZ\ O +9 &4.Z\ O +9 &5Z\ N +10 &7Y\ N +9 &9uY\ N +9 &;6Z@\ O +10 &<\\$\ O +9 &>[\ O +10 &@}Zh\ N +9 &B@W\ N +9 &D\\\ O +10 &E[U\ O +9 &G^%\ O +9 &ID`f\ O +10 &Kk+\ Q +9 &Lz\ R +10 &Nx\ 2\ V +9 &P2 B\ X +9 &QK\ X +10 &S #\ Y +9 &Ux@\ W +9 &VF~ \ #i +10 &W b\ ? +5 ( +2 "collection"'6& +4 #tCollection Clamp onSpring/offSpring for 7/25 samples, on/off torque 1.75 +2 "collection"'8& +4 "core" &WT\ ? + &WU%\ ? +2 .tHand.open + "manipulator"&91 +61 "core" 1 +2 "manipulator"&:% +4 "core" % ю  + .tForearm.reconfigure :loose +8 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&;' ] +95 "core" ' +964 #t-> d=0; 30.times{d+=CS.status.inPress}; (d/30).round + "collection"'<% +4 "core" %WW\  + "collection"'=% +4 "core" %W<\  +2 "collection"'>% +4 "core" %W9\  + "collection"'?% +4 "core" %WW\  + "collection"'@% +4 "core" %W9\  + "collection"'A% +3 "core" %WW\  +2 "collection"'B% +3 "core" %W8\  +2 "collection"'C% +3 "core" %WT\  +2 "collection"'D% +3 "core" %WV\  + "collection"'E% +4 "core" %W9\  + "collection"'F% +4 "core" %WW\  + "collection"'G% +4 "core" %W;\  + "collection"'H% +4 "core" %WU\  + "collection"'I% +4 "core" %W;\  + "collection"'J% +3 "core" %WT\  +2 "collection"'K% +4 "core" %W:\  + "collection"'L% +4 "core" %W:\  + "collection"'M% +3 "core" %WV\  +2 "collection"'N% +4 "core" %W8\  + "collection"'O% +3 "core" %WQ\  +2 "collection"'P% +3 "core" %W4\  +2 "collection"'Q% +3 "core" %W9\  +2 "collection"'R% +4 "core" %WX\  + "collection"'S% +3 "core" %W;\  +2 "collection"'T% +3 "core" %WQ\  +2 "collection"'U% +4 "core" %W5\  + "collection"'V% +3 "core" %W9\  +2 "collection"'W% +4 "core" %WT\  + "collection"'X% +4 "core" %W:\  + "collection"'Y% +4 "core" %WQ\  +4099 #t-> d=0; 30.times{d+=CS.status.inPress}; (d/30).round +2 "collection"'Z% +3 "core" %WV\  +2 "collection"'[% +4 "core" %W6\  +2 "collection"'\\% +3 "core" %WU\  +2 "collection"']% +3 "core" %WS\  + "collection"'^% +4 "core" %W7\  + "collection"'_% +4 "core" %WU\  + "collection"'`% +4 "core" %W7\  + "collection"'a% +4 "core" %WL\  + "collection"'b% +4 "core" %W/\  + "collection"'c% +3 "core" %WJ\  +2 "collection"'d% +4 "core" %WO\  + "collection"'e% +4 "core" %W.\  + "collection"'f% +3 "core" %WS\  +2 "collection"'g% +4 "core" %W8\  + "collection"'h% +4 "core" %W6\  + "collection"'i% +4 "core" %WV\  + "collection"'j% +3 "core" %W:\  +2 "collection"'k% +4 "core" %WW\  + "collection"'l% +4 "core" %W7\  + "collection"'m% +3 "core" %WP\  +2 "collection"'n% +4 "core" %W9\  + "collection"'o% +4 "core" %W:\  + "collection"'p% +4 "core" %WR\  + "collection"'q% +4 "core" %W;\  + "collection"'r% +4 "core" %WP\  + "collection"'s% +3 "core" %WR\  +2 "collection"'t% +4 "core" %W8\  + "collection"'u% +4 "core" %WU\  + "collection"'v% +3 "core" %W9\  +2 "collection"'w% +3 "core" %WN\  +7636 #t-> CC.unloadFlush + #Garaging FlushPuck in Collection Clamp +2 "manipulator"&x& +3 "core" &  L +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&y( +29 "core" ( + "manipulator"&z& +4 "core" &  ] +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &{& +3 "core" & ) ] +2 .tForearm.seek CC + "manipulator"&|'ш +101 "core" ' +2 .tHand.close + "manipulator"&}/ +53 "Can"\ ]v +8 "core" / +2 .tCC.seek :open +2 "collection"'~( +398 "core" ( + "manipulator"&& +4 "core" & ] + "manipulator"&% +4 "core" % њ & +2 .tForearm.seek :retract + "manipulator"&' ] +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&(-w +277 "core" ( + "manipulator"&& +4 "core" &-| R \\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &-| \\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&'π +113 "core" ' + .tHand.open +2 "manipulator"&1 +62 "core" 1 +2 "manipulator"&% +4 "core" % ψY y n + +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' ] +105 "core" ' +284 #t-> Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'\ & +4 "core" &;\ + "manipulator"& & +5 "core" &-|  \\ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"& (-w +3 "core" ( +2 "manipulator"& & +4 "core" &-| T \\ + .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +2 && +3 "core" &-|  \\ +2 .tForearm.seek :garage + "manipulator"&'π +111 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / + "manipulator"&& +4 "core" &-| } \\ +2 "manipulator"&% +4 "core" % ϓc +2 .tForearm.seek :retract + "manipulator"&' ] +103 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&( +297 "core" ( +2 "manipulator"&& +4 "core" & @  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & G  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'ш +104 "core" ' + "manipulator"&& +5 "core" &   + "manipulator"&% +4 "core" %ь  +2 "collection"'& +4 "core" &V\ +2 "collection"' & +5 "core" &<\ +2 .tCC.seek :closed + "collection"'(W8 +5 "core" &:\ +7 &6A\ #b +10 &rT;\ 7 +9 &}9\ L +10 &}Z6\ N +9 &?Z9\ N +9 &V7\ N +10 &Z9\ N +9 &[5\ N +9 & IY:\ N +10 &" Z9\ N +9 &#Z8\ N +10 &%Y8\ N +9 &'QY;\ N +9 &)W:\ N +10 &*Z:\ N +9 &,Z9\ N +9 &.XY9\ N +10 &0X>\ N +9 &1W9\ N +10 &3\\9\ N +9 &5`Y;\ N +9 &7"Y5\ N +10 &8X:\ N +9 &:Z<\ N +9 &+W8\ N +9 &?W9\ M +10 &AW:\ N +9 &CqX8\ N +9 &E2V/\ N +10 &FW3\ N +9 &H\\6\ N +9 &Juc<\ O +10 &L2q8\ Q +9 &M4\ T +10 &O 5\ X +9 &Qc 5\ X +9 &S$6\ X +10 &T4\ X +9 &Vu;\ ) +9 &W9\ C +9 ( +3 "collection"' & +3 #tCollection Clamp onSpring/offSpring for 7/25 samples, on/off torque 1.70 + "collection"'#& +4 "core" &WD<\ > +2 &WD:\ > + .tHand.open + "manipulator"&&1 +112 "core" 1 + "manipulator"&)% +5 "core" % ь L + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&*' ] +95 "core" ' +887 #t-> d=0; 30.times{d+=CS.status.inPress}; (d/30).round +2 "collection"'%% +3 "core" %WI\  +2 "collection"'% +4 "core" %WJ\  + "collection"'$% +4 "core" %W2\  + "collection"'-% +4 "core" %WL\  + "collection"''% +4 "core" %WB\  + "collection"'% +4 "core" %W(\  + "collection"'0% +4 "core" %WL\  + "collection"'1% +4 "core" %W2\  + "collection"'(% +4 "core" %WM\  + "collection"'3% +4 "core" %W.\  + "collection"'4% +4 "core" %W(\  + "collection"'5% +4 "core" %WI\  + "collection"'.% +3 "core" %W+\  +2 "collection"',% +3 "core" %WM\  +2 "collection"'8% +4 "core" %W-\  +2 "collection"'9% +3 "core" %W"\  +2 "collection"':% +4 "core" %W?\  + "collection"'6% +4 "core" %WB\  + "collection"'2% +4 "core" %W+\  + "collection"'<% +3 "core" %WH\  +2 "collection"'=% +3 "core" %W0\  +2 "collection"'>% +4 "core" %WG\  + "collection"'?% +4 "core" %W=\  + "collection"'@% +4 "core" %W'\  + "collection"'A% +4 "core" %W@\  + "collection"'B% +4 "core" %W*\  + "collection"'C% +3 "core" %WI\  +2 "collection"'D% +4 "core" %W*\  + "collection"'E% +4 "core" %W.\  + "collection"'F% +4 "core" %WK\  +758 #t-> CC.unloadFlush +2 #Garaging FlushPuck in Collection Clamp + "manipulator"&G& +4 "core" & (  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&H( +3 "core" ( +2 "manipulator"&I& +3 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &J& +3 "core" & '  +2 .tForearm.seek CC +2 "manipulator"&K'ш +94 "core" ' + .tHand.close +2 "manipulator"&L/ +61 "core" / +2 .tCC.seek :open +2 "collection"'M( +397 "core" ( + "manipulator"&N& +4 "core" &   +2 "manipulator"&O% +4 "core" % і  +2 .tForearm.seek :retract + "manipulator"&P' ] +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&Q(-w +279 "core" ( +2 "manipulator"&R& +4 "core" &-y  Q + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +2 "core" &-y  Q +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&T'π +112 "core" ' + .tHand.open +2 "manipulator"&U1 +64 "core" 1 + "manipulator"&V% +4 "core" % χY ~ ) +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&W' ] +103 "core" ' +193 #t-> d=0; 30.times{d+=CS.status.inPress}; (d/30).round +2 "collection"'X% +3 "core" %W G\  +2 "collection"'Y% +4 "core" %W 2\  + "collection"'Z% +4 "core" %WN\  + "collection"'[% +4 "core" %W 0\  + "collection"'\\% +3 "core" %W G\  +2 "collection"']% +4 "core" %W /\  + "collection"'^% +4 "core" %W &\  + "collection"'_% +3 "core" %W @\  +2 "collection"'`% +3 "core" %W (\  +2 "collection"'a% +4 "core" %W G\  + "collection"'b% +3 "core" %W .\  +2 "collection"'c% +4 "core" %W ,\  + "collection"'d% +4 "core" %W D\  + "collection"'e% +4 "core" %W -\  + "collection"'f% +4 "core" %W E\  + "collection"'g% +4 "core" %W A\  + "collection"'h% +4 "core" %W ,\  + "collection"'i% +3 "core" %W >\  +2 "collection"'j% +4 "core" %W -\  + "collection"'k% +4 "core" %W H\  + "collection"'l% +3 "core" %W '\  +2 "collection"'m% +3 "core" %W +\  +2 "collection"'n% +3 "core" %WI\  +2 "collection"'o% +3 "core" %W -\  +2 "collection"'p% +4 "core" %W B\  +2 "collection"'q% +4 "core" %W @\  + "collection"'r% +4 "core" %W E\  + "collection"'s% +4 "core" %W (\  + "collection"'t% +4 "core" %W J\  + "collection"'u% +3 "core" %W 0\  +914 #t-> Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'v& +3 "core" &S\ +2 "manipulator"&w& +4 "core" &-y  Q +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&x(-w +4 "core" ( + "manipulator"&z& +4 "core" &-y  Q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &{& +2 "core" &-y  Q +2 .tForearm.seek :garage +2 "manipulator"&}'π +108 "core" ' +2 .tHand.close + "manipulator"&// +58 "core" / +2 "manipulator"&;& +4 "core" &-y p Q + "manipulator"&7% +4 "core" % όq   +2 .tForearm.seek :retract + "manipulator"&' ] +107 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&( +286 "core" ( +2 "manipulator"&|& +4 "core" &  ] + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  ] +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'ш +99 "core" ' +2 "manipulator"&y& +4 "core" & H ] + "manipulator"&% +4 "core" %э U +2 "collection"'& +4 "core" &9\ +2 "collection"'& +4 "core" &;\ +2 .tCC.seek :closed +2 "collection"'(W8 +5 "core" &:\ +6 & -/\ #a +10 &sU~?\ 7 +9 &|7\ L +9 &~Z8\ N +10 &>\\9\ O +9 &Y:\ N +9 &W;\ N +10 &Y8\ N +9 & HX;\ N +10 &"\ Y8\ N +9 &#Y>\ N +9 &%Y<\ N +10 &'PW5\ N +9 &)Y8\ N +9 &*Z:\ N +10 &,Y7\ N +9 &.XW8\ N +10 &0W=\ N +9 &1W\ M +9 &3Y(\ N +10 &5aW5\ N +9 &7#Y:\ N +9 &8Z;\ N +10 &:Y5\ N +9 &*V9\ N +9 &?W6\ N +9 &AZ5\ N +10 &CrX6\ M +9 &E3W5\ N +9 &FV5\ N +10 &H\\5\ N +9 &Juc9\ O +10 &L2q1\ Q +9 &M 8\ T +9 &O\ 5\ W +10 &Qd 4\ X +9 &S$:\ X +9 &T/\ X +10 &Vq1\ ) +9 &W"8\ C +9 ( +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 7/25 samples, on/off torque 1.69 + "collection"'\ & +5 "core" &WK7\ < + &WL8\ < + .tHand.open +2 "manipulator"& 1 +64 "core" 1 + "manipulator"& % +4 "core" % э s ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' ] +98 "core" ' +655 #t-> d=0; 30.times{d+=CS.status.inPress}; (d/30).round + "collection"'% +4 "core" %W&\  + "collection"'% +4 "core" %W<\  +2 "collection"'% +4 "core" %W@\  + "collection"'% +4 "core" %W\  + "collection"' % +4 "core" %WC\  + "collection"'% +4 "core" %W-\  + "collection"'% +3 "core" %W-\  +2 "collection"' % +4 "core" %W@\  + "collection"'% +4 "core" %W"\  + "collection"'% +4 "core" %WE\  + "collection"'% +3 "core" %W.\  +2 "collection"'% +3 "core" %W0\  +2 "collection"'% +4 "core" %WK\  + "collection"'~% +4 "core" %W*\  + "collection"'#% +3 "core" %WA\  +2 "collection"'&% +4 "core" %W\  + "collection"')% +4 "core" %W\  + "collection"' % +4 "core" %W;\  + "collection"'% +4 "core" %W%\  + "collection"'%% +4 "core" %WC\  + "collection"'% +4 "core" %W)\  +2 "collection"'$% +4 "core" %W(\  + "collection"'-% +4 "core" %WD\  + "collection"''% +4 "core" %W6\  + "collection"'% +4 "core" %W#\  + "collection"'0% +3 "core" %W?\  +2 "collection"'1% +4 "core" %W%\  + "collection"'(% +4 "core" %W(\  + "collection"'3% +3 "core" %WA\  +2 "collection"'4% +4 "core" %W0\  +1387 #t-> d=0; 30.times{d+=SS.status.outPress}; (d/30).round + "sampler")5% +4 "core" %ޞ P\ + "sampler").% 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%ޞ V\ + "sampler")\ % +4 "core" %ޞ H\ + "sampler") % +4 "core" %ޞ L\ + "sampler") % +4 "core" %ޞ J\ + "sampler")% +4 "core" %ޞ U\ + "sampler")% +4 "core" %ޞ V\ + "sampler")% +4 "core" %ޞ G\ + "sampler")% +4 "core" %ޞ M\ + "sampler")% +4 "core" %ޞ C\ + "sampler")% +4 "core" %ޞ S\ + "sampler") % +4 "core" %ޞ H\ + "sampler")% +4 "core" %ޞ M\ + "sampler")% +4 "core" %ޞ R\ + "sampler") % +4 "core" %ޞ E\ + "sampler")% +4 "core" %ޞ U\ +2066 "Can"\ [\ e +4983 #t-> d=0; 30.times{d+=CS.status.inPress}; (d/30).round + "collection"'% +4 "core" %W \ \ \  +2 "collection"'% +4 "core" %W \ \ \  + "collection"'% +4 "core" %W \ \ \  + "collection"'% +4 "core" %W \ \ \  + "collection"'~% +4 "core" %W \ \ \  + "collection"'#% +4 "core" %W \ \ \  + "collection"'&% +4 "core" %W\ \  \  + "collection"')% +4 "core" %W \ \ \  + "collection"' % +4 "core" %W \ \ \  + "collection"'% +4 "core" %W \ \ \  + "collection"'%% +4 "core" %W \ \ \  + "collection"'% +4 "core" %W \ \ \  + "collection"'$% +4 "core" %W \ \ \  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"collection"']% +3 "core" %W \ \  \  +2 "collection"'^% +3 "core" %W \ \ \  +2 "collection"'_% +3 "core" %W \ \ \  +2 "collection"'`% +3 "core" %W \ \ \  +2 "collection"'a% +3 "core" %W \ \ \  +2 "collection"'b% +3 "core" %W \ \ \  +2 "collection"'c% +3 "core" %W \ \ \  + "collection"'d% +4 "core" %W \ \ \  + "collection"'e% +4 "core" %W \ \ \  + "collection"'f% +4 "core" %W \ \ \  + "collection"'g% +4 "core" %W \ \  \  + "collection"'h% +4 "core" %W \ \ \  + "collection"'i% +4 "core" %W \ \ \  + "collection"'j% +4 "core" %W \ \ \  + "collection"'k% +4 "core" %W \ \ \  + "collection"'l% +4 "core" %W \ \ \  + "collection"'m% +3 "core" %W \ \ \  +2 "collection"'n% +4 "core" %W \ \ \  + "collection"'o% +3 "core" %W \ \ \  +2 "collection"'p% +3 "core" %W \ \ \  +2 "collection"'q% +3 "core" %W \ \ \  +2 "collection"'r% +3 "core" %W \ \ \  +2 "collection"'s% +4 "core" %W \ \ \  +2 "collection"'t% +4 "core" %W \ \ \  + "collection"'u% +4 "core" %W \ \ \  + "collection"'v% +4 "core" %W \ \ \  + "collection"'w% +3 "core" %W \ \ \  +2 "collection"'z% +4 "core" %W \ \ \  +1493 #t-> d=0; 30.times{d+=SS.status.outPress}; (d/30).round + "sampler"){% +3 "core" %ޞ\ \ J\ +2 "sampler")/% +4 "core" %ޞ\ \ S\ +2 "sampler");% +3 "core" %ޞ\ \ G\ + "sampler")7% +4 "core" %ޞ\ \ O\ + "sampler")Q% +4 "core" %ޞ\ \ D\ + "sampler")W% +4 "core" %ޞ\ \ K\ + "sampler")}% +4 "core" %ޞ\ \ N\ + "sampler")|% +4 "core" %ޞ\ \ I\ + "sampler")% +4 "core" %ޞ\ \ O\ + "sampler")x% +4 "core" %ޞ\ \ K\ + "sampler")y% +4 "core" %ޞ\ \ M\ + "sampler")% +4 "core" %ޞ\ \ U\ + "sampler")% +4 "core" %ޞ\ \ D\ + "sampler")% +4 "core" %ޞ\ \ L\ + "sampler")M% +4 "core" %ޞ\ \ A\ + "sampler")\ % +4 "core" %ޞ\ \ U\ + "sampler") % +4 "core" %ޞ\ \ M\ + "sampler") % +4 "core" %ޞ\ \ F\ + "sampler")% +4 "core" %ޞ\ \ P\ + "sampler")% +4 "core" %ޞ\ \ K\ + "sampler")% +3 "core" %ޞ\ \ S\ +2 "sampler")% +3 "core" %ޞ\ \ V\ +2 "sampler")% +4 "core" %ޞ\ \ N\ + "sampler")% +4 "core" %ޞ\ \ S\ + "sampler") % +4 "core" %ޞ\ \ L\ + "sampler")% +4 "core" %ޞ\ \ V\ + "sampler")% +4 "core" %ޞ\ \ S\ + "sampler") % +3 "core" %ޞ\ \ I\ +2 "sampler")% +3 "core" %ޞ\ \ L\ +2 "sampler")% +3 "core" %ޞ\ \ C\ +217 #t-> d=0; 30.times{d+=SS.status.outPress}; (d/30).round + "sampler")% +4 "core" %ޞ\ \ L\ + "sampler")% +4 "core" %ޞ\ \ V\ +2 "sampler")% +3 "core" %ޞ\ \ P\ +2 "sampler")~% +4 "core" %ޞ\ \ J\ + "sampler")#% +4 "core" %ޞ\ \ R\ + "sampler")&% +4 "core" %ޞ\ \ F\ + "sampler"))% +4 "core" %ޞ\ \ Q\ + "sampler") % +4 "core" %ޞ\ \ V\ + "sampler")% +3 "core" %ޞ\ \ M\ +2 "sampler")%% +3 "core" %ޞ\ \ S\ +2 "sampler")% +4 "core" %ޞ\ \ E\ + "sampler")$% +3 "core" %ޞ\ \ U\ +2 "sampler")-% +3 "core" %ޞ\ \ R\ +2 "sampler")'% +4 "core" %ޞ\ \ K\ + "sampler")% +4 "core" %ޞ\ \ V\ + "sampler")0% +4 "core" %ޞ\ \ G\ + "sampler")1% +3 "core" %ޞ\ \ V\ +2 "sampler")(% +3 "core" %ޞ\ \ S\ +2 "sampler")3% +4 "core" %ޞ\ \ I\ + "sampler")4% +4 "core" %ޞ\ \ S\ + "sampler")5% +4 "core" %ޞ\ \ L\ + "sampler").% +3 "core" %ޞ\ \ U\ +2 "sampler"),% +3 "core" %ޞ\ \ Q\ +2 "sampler")8% +4 "core" %ޞ\ \ E\ + "sampler")9% +4 "core" %ޞ\ \ U\ + "sampler"):% +4 "core" %ޞ\ \ O\ + "sampler")6% +4 "core" %ޞ\ \ K\ +2 "sampler")2% +4 "core" %ޞ\ \ V\ + "sampler")<% +4 "core" %ޞ\ \ M\ + "sampler")=% +3 "core" %ޞ\ \ K\ +4595 #t-> d=0; 30.times{d+=CS.status.inPress}; (d/30).round +2 "collection"'>% +3 "core" %W 4 / \  +2 "collection"'?% +4 "core" %W 5 ."\  +2 "collection"'@% +4 "core" %W 5 .\  + "collection"'A% +4 "core" %W 6 1\  + "collection"'B% +4 "core" %W 6 0\  + "collection"'C% +3 "core" %W 5 0 \  +2 "collection"'D% +4 "core" %W 5 0\  + "collection"'E% +4 "core" %W 6 0\  + "collection"'F% +3 "core" %W 6 . \  +2 "collection"'G% +4 "core" %W 5 0\  + "collection"'I% +3 "core" %W 6 /\  +2 "collection"'J% +4 "core" %W 5 .\  + "collection"'L% +4 "core" %W 7 0\  + "collection"'% +4 "core" %W 6 .\  + "collection"'*% +4 "core" %W 5 1\  + "collection"'% +4 "core" %W 5 0\  + "collection"'N% +3 "core" %W 7 0\  +2 "collection"'O% +4 "core" %W 8 1\  + "collection"'K% +4 "core" %W 6 1\  + "collection"'R% +3 "core" %W 8 /\  +2 "collection"'S% +3 "core" %W 6 /\  +2 "collection"'H% +3 "core" %W 7 1\  +2 "collection"'U% +3 "core" %W 8 1\  +2 "collection"'V% +3 "core" %W 6 / \  + "collection"'P% +4 "core" %W 7 1\  + "collection"'X% +4 "core" %W 6 0\ \  + "collection"'T% +4 "core" %W 7 1\  + "collection"'Y% +4 "core" %W 7 0\  + "collection"'Z% +3 "core" %W 5 1\  +2 "collection"'[% +3 "core" %W 8 1\  +327 #t-> d=0; 30.times{d+=CS.status.inPress}; (d/30).round +2 "collection"'\\% +3 "core" %W : 3\  +2 "collection"']% +4 "core" %W ; 2\  + "collection"'^% +4 "core" %W 8 2\  + "collection"'_% +4 "core" %W < 3\  + "collection"'`% +5 "core" %W 8 2\  + "collection"'a% +4 "core" %W : 4\  + "collection"'b% +4 "core" %W 9 4\  + "collection"'c% +3 "core" %W 7 4\  +2 "collection"'d% +4 "core" %W : 2#\  + "collection"'e% +4 "core" %W : 6\  + "collection"'f% +4 "core" %W : 2\  + "collection"'g% +4 "core" %W 8 3\  + "collection"'h% +4 "core" %W 9 4 \  + "collection"'i% +3 "core" %W : 4\  +2 "collection"'j% +4 "core" %W < 3\  + "collection"'k% +4 "core" %W : 5\  + "collection"'l% +4 "core" %W 9 4\  + "collection"'m% +3 "core" %W ; 3\ \  +2 "collection"'n% +3 "core" %W : 4\  +2 "collection"'o% +4 "core" %W 8 7\  + "collection"'p% +4 "core" %W : 7\  + "collection"'q% +3 "core" %W ; 5\  +2 "collection"'r% +4 "core" %W : 4 \  + "collection"'s% +4 "core" %W ; 6\  + "collection"'t% +4 "core" %W ; 4\  + "collection"'u% +3 "core" %W ; 5 \  +2 "collection"'v% +3 "core" %W : 3\  +2 "collection"'w% +4 "core" %W < 7 \  + "collection"'z% +4 "core" %W : 3\  + "collection"'{% +3 "core" %W ; 6\  +364 #t-> d=0; 30.times{d+=CS.status.inPress}; (d/30).round + "collection"'/% +4 "core" %W > 7\  + "collection"';% +4 "core" %W = 7\  +3 "collection"'7% +3 "core" %W = 6\  +2 "collection"'Q% +3 "core" %W > 7\  +2 "collection"'W% +3 "core" %W > 8\  + "collection"'}% +4 "core" %W = 6\  + "collection"'|% +4 "core" %W < 7\  + "collection"'% +4 "core" %W = 6\  + "collection"'x% +4 "core" %W > 6 \  + "collection"'y% +4 "core" %W = 9\  + "collection"'% +4 "core" %W < 5\  + "collection"'% +42 "core" %W > 8\  +11 "collection"'% +4 "core" %W ? 7\  + "collection"'M% +4 "core" %W > 7!\  + "collection"'\ % +4 "core" %W = 6\  + "collection"' % +4 "core" %W ? 6\  + "collection"' % +4 "core" %W > 8\  + "collection"'% +4 "core" %W ; 7\  + "collection"'% +4 "core" %W ? 6\  + "collection"'% +4 "core" %W = 7\  + "collection"'% +4 "core" %W ? 7\  + "collection"'% +4 "core" %W ? 6#\  + "collection"'% +4 "core" %W = 8\  + "collection"' % +4 "core" %W = 8\  + "collection"'% +4 "core" %W > 7\  + "collection"'% +4 "core" %W @ 7\ \  + "collection"' % +4 "core" %W < 7\  + "collection"'% +4 "core" %W < 7\  + "collection"'% +4 "core" %W = 9\  + "collection"'% +4 "core" %W > 8\  +626 #t-> d=0; 30.times{d+=CS.status.inPress}; (d/30).round + "collection"'% +4 "core" %W ? 9\  +2 "collection"'% +4 "core" %W > :\  + "collection"'~% +4 "core" %W ? :\  + "collection"'#% +4 "core" %W < 9\  + "collection"'&% +4 "core" %W @ :\  + "collection"')% +4 "core" %W > 9\  + "collection"' % +4 "core" %W ? 8\  + "collection"'% +4 "core" %W > 9 \  + "collection"'%% +3 "core" %W > 9\  +2 "collection"'% +3 "core" %W ? 7\  +2 "collection"'$% +4 "core" %W > 9\  + "collection"'-% +4 "core" %W > 9\  + "collection"''% +3 "core" %W @ 7\  +2 "collection"'% +4 "core" %W ? 8\  + "collection"'0% +4 "core" %W ? : \  + "collection"'1% +4 "core" %W > 9\  + "collection"'(% +4 "core" %W = 7\  + "collection"'3% +3 "core" %W @ 8%\  +2 "collection"'4% +3 "core" %W @ 9 \  +2 "collection"'5% +4 "core" %W = 9\  + "collection"'.% +4 "core" %W > :\  + "collection"',% +4 "core" %W A 8\  + "collection"'8% +3 "core" %W @ 9\  +2 "collection"'9% +4 "core" %W ? :\  + "collection"':% +4 "core" %W ? 8\  + "collection"'6% +3 "core" %W A 9\  +2 "collection"'2% +3 "core" %W ? 9\  +2 "collection"'<% +3 "core" %W > 7\  +2 "collection"'=% +4 "core" %W ? 9\  + "collection"'>% +4 "core" %W = 9\  +506 #t-> d=0; 30.times{d+=CS.status.inPress}; (d/30).round + "collection"'?% +4 "core" %W = 9\  +2 "collection"'@% +4 "core" %W = 8\  + "collection"'A% +4 "core" %W @ <\  + "collection"'B% +4 "core" %W ? 9\  + "collection"'C% +4 "core" %W A 9\  + "collection"'D% +3 "core" %W ? ;\  +2 "collection"'E% +3 "core" %W ? 9\  +2 "collection"'F% +3 "core" %W A 8\  +2 "collection"'G% +4 "core" %W > 7\  + "collection"'I% +4 "core" %W > 9\  + "collection"'J% +4 "core" %W @ 9\  + "collection"'L% +3 "core" %W @ 8\  +2 "collection"'% +4 "core" %W > 9\  + "collection"'*% +4 "core" %W > 9\  + "collection"'% +4 "core" %W ? : \  + "collection"'N% +3 "core" %W @ : \  +2 "collection"'O% +3 "core" %W @ :\  +2 "collection"'K% +4 "core" %W ? 9\  + "collection"'R% +4 "core" %W ? 8 \  + "collection"'S% +4 "core" %W @ :\  + "collection"'H% +3 "core" %W @ 9!\  +2 "collection"'U% +4 "core" %W @ 9\  + "collection"'V% +4 "core" %W ? 9\  + "collection"'P% +3 "core" %W @ 8 \  +2 "collection"'X% +3 "core" %W @ 9\  +2 "collection"'T% +4 "core" %W ? 9!\  + "collection"'Y% +3 "core" %W ? 9\  +2 "collection"'Z% +3 "core" %W A 9\  +2 "collection"'[% +4 "core" %W A 9\  + "collection"'\\% +4 "core" %W A 8\  +613 #t-> d=0; 30.times{d+=CS.status.inPress}; (d/30).round + "collection"']% +4 "core" %W > :\  + "collection"'^% +4 "core" %W @ :\  +2 "collection"'_% +3 "core" %W > : \  +2 "collection"'`% +4 "core" %W @ 9\  + "collection"'a% +4 "core" %W @ 7\  + "collection"'b% +4 "core" %W > 9 \  + "collection"'c% +4 "core" %W ? :\  + "collection"'d% +3 "core" %W @ <\  +2 "collection"'e% +4 "core" %W @ 8 \  + "collection"'f% +4 "core" %W = 9"\  + "collection"'g% +3 "core" %W ? 9\  +2 "collection"'h% +4 "core" %W ? :\  + "collection"'i% +3 "core" %W @ 8\  +2 "collection"'j% +3 "core" %W ? < \  +2 "collection"'k% +4 "core" %W @ ;\  + "collection"'l% +3 "core" %W ? 9\  +2 "collection"'m% +3 "core" %W ? 8\  +2 "collection"'n% +4 "core" %W ? 8\  + "collection"'o% +3 "core" %W > 8 \  +2 "collection"'p% +4 "core" %W @ :\  + "collection"'q% +4 "core" %W > 9\  + "collection"'r% +4 "core" %W @ 8 \  + "collection"'s% +4 "core" %W ? ;\  + "collection"'t% +4 "core" %W ? 9\  + "collection"'u% +4 "core" %W @ 8 \  + "collection"'v% +4 "core" %W A 9\  + "collection"'w% +3 "core" %W ? <%\  +2 "collection"'z% +4 "core" %W ? :\  + "collection"'{% +4 "core" %W > ;\  + "collection"'/% +4 "core" %W @ 9!\  +260 #t-> d=0; 30.times{d+=CS.status.inPress}; (d/30).round +2 "collection"';% +3 "core" %W @ 9\  +2 "collection"'7% +4 "core" %W A :\  +2 "collection"'Q% +3 "core" %W ? :\  + "collection"'W% +4 "core" %W ? 8\  + "collection"'}% +4 "core" %W ? 9 \  + "collection"'|% +4 "core" %W > 9"\  + "collection"'% +4 "core" %W ? 9"\  + "collection"'x% +4 "core" %W ? ;\ \  + "collection"'y% +4 "core" %W @ 8\  + "collection"'% +4 "core" %W > 9\  + "collection"'% +4 "core" %W @ :\  + "collection"'% +3 "core" %W A 9\  +2 "collection"'M% +3 "core" %W A :\  +2 "collection"'\ % +4 "core" %W @ :\  + "collection"' % +4 "core" %W > 9\  + "collection"' % +4 "core" %W ? :#\  + "collection"'% +4 "core" %W ? 9\  + "collection"'% +3 "core" %W > :\  +3 "collection"'% +3 "core" %W ? <\  + "collection"'% +4 "core" %W ? 9 \  + "collection"'% +4 "core" %W > 8$\  + "collection"'% +4 "core" %W ? 9\  + "collection"' % +4 "core" %W > 7\  + "collection"'% +4 "core" %W ? 9\  + "collection"'% +3 "core" %W > :\  +2 "collection"' % +4 "core" %W @ 8\  + "collection"'% +4 "core" %W > 9\  + "collection"'% +4 "core" %W ? : \  + "collection"'% +3 "core" %W @ 9\  +2 "collection"'% +4 "core" %W > :\  +1910 #t-> d=0; 30.times{d+=SS.status.outPress}; (d/30).round + "sampler")% +4 "core" %ޞ B\ + "sampler")~% +4 "core" %ޞ M\ +2 "sampler")#% +4 "core" %ޞ M\ + "sampler")&% +4 "core" %ޞ I\ + "sampler"))% +3 "core" %ޞ W\ +2 "sampler") % +4 "core" %ޞ L\ + "sampler")% +4 "core" %ޞ J\ + "sampler")%% +4 "core" %ޞ S\ + "sampler")% +4 "core" %ޞ J\ + "sampler")$% +3 "core" %ޞ W\ +2 "sampler")-% +3 "core" %ޞ C\ +2 "sampler")'% +4 "core" %ޞ U\ + "sampler")% +4 "core" %ޞ M\ + "sampler")0% +3 "core" %ޞ J\ +2 "sampler")1% +4 "core" %ޞ T\ + "sampler")(% +4 "core" %ޞ K\ + "sampler")3% +4 "core" %ޞ X\ + "sampler")4% +3 "core" %ޞ W\ +2 "sampler")5% +4 "core" %ޞ G\ + "sampler").% +4 "core" %ޞ T\ + "sampler"),% +3 "core" %ޞ L\ +2 "sampler")8% +3 "core" %ޞ R\ +2 "sampler")9% +3 "core" %ޞ R\ +2 "sampler"):% +3 "core" %ޞ L\ + "sampler")6% +3 "core" %ޞ V\ + "sampler")2% +4 "core" %ޞ K\ + "sampler")<% +4 "core" %ޞ O\ + "sampler")=% +4 "core" %ޞ J\ + "sampler")>% +4 "core" %ޞ Q\ + "sampler")?% +4 "core" %ޞ R\ +251 #t-> d=0; 30.times{d+=SS.status.outPress}; (d/30).round +2 "sampler")@% +3 "core" %ޞ R\ +2 "sampler")A% +4 "core" %ޞ J\ +2 "sampler")B% +3 "core" %ޞ L\ +2 "sampler")C% +4 "core" %ޞ S\ + "sampler")D% +4 "core" %ޞ F\ + "sampler")E% +4 "core" %ޞ V\ + "sampler")F% +4 "core" %ޞ V\ + "sampler")G% +4 "core" %ޞ G\ + "sampler")I% +3 "core" %ޞ R\ +2 "sampler")J% +4 "core" %ޞ I\ + "sampler")L% +4 "core" %ޞ G\ + "sampler")% +4 "core" %ޞ U\ + "sampler")*% +4 "core" %ޞ L\ + "sampler")% +4 "core" %ޞ P\ + "sampler")N% +4 "core" %ޞ F\ + "sampler")O% +4 "core" %ޞ F\ + "sampler")K% +4 "core" %ޞ K\ + "sampler")R% +3 "core" %ޞ G\ +2 "sampler")S% +4 "core" %ޞ R\ + "sampler")H% +4 "core" %ޞ H\ +2 "sampler")U% +4 "core" %ޞ F\ + "sampler")V% +3 "core" %ޞ R\ +2 "sampler")P% +3 "core" %ޞ K\ +2 "sampler")X% +4 "core" %ޞ K\ + "sampler")T% +4 "core" %ޞ V\ + "sampler")Y% +3 "core" %ޞ I\ +2 "sampler")Z% +4 "core" %ޞ S\ + "sampler")[% +4 "core" %ޞ W\ + "sampler")\\% +3 "core" %ޞ B\ +2 "sampler")]% +3 "core" %ޞ P\ +1751 #t-> d=0; 30.times{d+=CS.status.inPress}; (d/30).round +2 "collection"'^% +3 "core" %W = 6 \  +2 "collection"'_% +4 "core" %W = 6\  + "collection"'`% +4 "core" %W = 7!\  + "collection"'a% +4 "core" %W > :\  + "collection"'b% +4 "core" %W ? 9\  + "collection"'c% +4 "core" %W = 6%\  + "collection"'d% +4 "core" %W = 8 \  + "collection"'e% +4 "core" %W = 6"\  + "collection"'f% +4 "core" %W < 7\  + "collection"'g% +3 "core" %W > 6#\  +2 "collection"'h% +4 "core" %W < 7$\  + "collection"'i% +4 "core" %W = 5\  + "collection"'j% +4 "core" %W > 7 \  + "collection"'k% +4 "core" %W < 8\  + "collection"'l% +4 "core" %W > 8\  + "collection"'m% +3 "core" %W < 8\  +2 "collection"'n% +4 "core" %W ? 7\  + "collection"'o% +4 "core" %W > 8#\  + "collection"'p% +3 "core" %W = 7\  +2 "collection"'q% +4 "core" %W = 8"\  + "collection"'r% +4 "core" %W ; 6\  + "collection"'s% +4 "core" %W = 8\  + "collection"'t% +4 "core" %W = 7$\  + "collection"'u% +3 "core" %W > 7\  +2 "collection"'v% +4 "core" %W = 7$\  + "collection"'w% +4 "core" %W < 8\  + "collection"'z% +4 "core" %W = 7\  + "collection"'{% +4 "core" %W = 6%\  + "collection"'/% +3 "core" %W < 8\  +2 "collection"';% +4 "core" %W < 6'\  +1010 #t-> d=0; 30.times{d+=CS.status.inPress}; (d/30).round +2 "collection"'7% +3 "core" %W = 6\  +2 "collection"'Q% +4 "core" %W > 8\  + "collection"'W% +4 "core" %W < 7\  + "collection"'}% +4 "core" %W < 5\ \  + "collection"'|% +4 "core" %W = 6"\  + "collection"'% +4 "core" %W < 7\  + "collection"'x% +4 "core" %W > 7"\  + "collection"'y% +4 "core" %W ; 7\  + "collection"'% +3 "core" %W = 6\  +2 "collection"'% +4 "core" %W ; 6\  + "collection"'% +4 "core" %W < 6\  + "collection"'M% +4 "core" %W > 8#\  + "collection"'\ % +4 "core" %W < 6\  +39 "collection"' % +14 "core" %W < 7\  + "collection"' % +4 "core" %W = 5\  + "collection"'% +4 "core" %W : 8"\  + "collection"'% +4 "core" %W ; 5\  + "collection"'% +4 "core" %W = 6\  + "collection"'% +4 "core" %W < 6\  + "collection"'% +4 "core" %W < 5\  + "collection"'% +4 "core" %W < 6\  + "collection"' % +4 "core" %W > 7\  + "collection"'% +4 "core" %W = 8\  + "collection"'% +4 "core" %W ; 6\  + "collection"' % +4 "core" %W = 9\  + "collection"'% +4 "core" %W : 6(\  + "collection"'% +4 "core" %W < 7\  + "collection"'% +4 "core" %W = 6%\  + "collection"'% +4 "core" %W ; 5\  + "collection"'% +4 "core" %W ; 6\  +275 #t-> d=0; 30.times{d+=CS.status.inPress}; (d/30).round + "collection"'~% +4 "core" %W < 7\  + "collection"'#% +4 "core" %W ; 6\  +2 "collection"'&% +3 "core" %W < 4\  +2 "collection"')% +3 "core" %W ; 5!\  +2 "collection"' % +3 "core" %W = 2 \  +3 "collection"'% +3 "core" %W < 4\  +2 "collection"'%% +3 "core" %W < 6%\  +2 "collection"'% +3 "core" %W ; 7\  +2 "collection"'$% +3 "core" %W ; 3!\  +2 "collection"'-% +4 "core" %W : 7$\  + "collection"''% +4 "core" %W ; 5\  + "collection"'% +4 "core" %W ; 5"\  + "collection"'0% +4 "core" %W < 7\  + "collection"'1% +3 "core" %W < 7!\  +2 "collection"'(% +4 "core" %W ; 6 \  + "collection"'3% +4 "core" %W = 7 \  + "collection"'4% +4 "core" %W ; 5\  + "collection"'5% +3 "core" %W = 4\  +2 "collection"'.% +3 "core" %W ; 7!\  +2 "collection"',% +4 "core" %W ; 8\  + "collection"'8% +4 "core" %W ; 6\  + "collection"'9% +3 "core" %W < 7#\  +2 "collection"':% +3 "core" %W = 5\  +2 "collection"'6% +3 "core" %W < 6!\  +2 "collection"'2% +4 "core" %W < 5\  + "collection"'<% +3 "core" %W ; 4\  +2 "collection"'=% +4 "core" %W < 5%\  + "collection"'>% +4 "core" %W : 7\  + "collection"'?% +4 "core" %W ; 6"\  + "collection"'@% +4 "core" %W = 5\  +224 #t-> d=0; 30.times{d+=CS.status.inPress}; (d/30).round +2 "collection"'A% +3 "core" %W < 5\  +2 "collection"'B% +4 "core" %W < 6"\  + "collection"'C% +4 "core" %W ; 6\  + "collection"'D% +4 "core" %W ; 6\  + "collection"'E% +4 "core" %W < 7+\  + "collection"'F% +4 "core" %W ; 5\  + "collection"'G% +3 "core" %W = 5(\  +2 "collection"'I% +4 "core" %W < 5\  + "collection"'J% +3 "core" %W ; 6#\  +2 "collection"'L% +3 "core" %W ; 4%\  +2 "collection"'% +3 "core" %W : 6\  +2 "collection"'*% +3 "core" %W < 6%\  +2 "collection"'% +4 "core" %W = 7\  + "collection"'N% +3 "core" %W < 5#\  +2 "collection"'O% +4 "core" %W = 6 \  + "collection"'K% +4 "core" %W ; 5\  + "collection"'R% +4 "core" %W = 5'\  + "collection"'S% +3 "core" %W < 8\  +2 "collection"'H% +4 "core" %W 9 5#\  + "collection"'U% +4 "core" %W < 7*\  + "collection"'V% +4 "core" %W < 4\  + "collection"'P% +4 "core" %W : 4%\  + "collection"'X% +3 "core" %W < 5\  +2 "collection"'T% +4 "core" %W ; 6#\  + "collection"'Y% +4 "core" %W = 5\  + "collection"'Z% +4 "core" %W < 4\  + "collection"'[% +4 "core" %W : 6#\  + "collection"'\\% +3 "core" %W ; 7\  +2 "collection"']% +3 "core" %W < 6"\  +2 "collection"'^% +3 "core" %W = 6\  +241 #t-> d=0; 30.times{d+=CS.status.inPress}; (d/30).round + "collection"'_% +3 "core" %W < 7\  +2 "collection"'`% +4 "core" %W < 7$\  +2 "collection"'a% +4 "core" %W : 7\  + "collection"'b% +4 "core" %W < 5\  + "collection"'c% +4 "core" %W < 5#\  + "collection"'d% +4 "core" %W ; 4\  + "collection"'e% +4 "core" %W ; 6!\  + "collection"'f% +3 "core" %W ; 4\  +2 "collection"'g% +4 "core" %W : 5\  + "collection"'h% +4 "core" %W ; 5#\  + "collection"'i% +4 "core" %W ; 5\  + "collection"'j% +4 "core" %W < 5$\  + "collection"'k% +3 "core" %W < 6\  +2 "collection"'l% +4 "core" %W < 5\  + "collection"'m% +4 "core" %W : 7!\  + "collection"'n% +4 "core" %W < 7\  + "collection"'o% +3 "core" %W ; 6'\  +2 "collection"'p% +3 "core" %W < 7\  +2 "collection"'q% +3 "core" %W ; 6&\  +2 "collection"'r% +4 "core" %W < 5 \  + "collection"'s% +4 "core" %W ; 4\  + "collection"'t% +4 "core" %W = 5 \  + "collection"'u% +4 "core" %W ; 6 \  + "collection"'v% +4 "core" %W ; 4\  + "collection"'w% +4 "core" %W ; 6\  + "collection"'z% +3 "core" %W < 6\  +2 "collection"'{% +3 "core" %W ; 6*\  +2 "collection"'/% +4 "core" %W < 6\  + "collection"';% +4 "core" %W ; 5\  + "collection"'7% +3 "core" %W = 6#\  +240 #t-> d=0; 30.times{d+=CS.status.inPress}; (d/30).round +2 "collection"'Q% +3 "core" %W = 5\  +2 "collection"'W% +4 "core" %W ; 7&\  +2 "collection"'}% +3 "core" %W : 6\  + "collection"'|% +4 "core" %W ; 5\ \  + "collection"'% +4 "core" %W < 5 \  + "collection"'x% +4 "core" %W 9 5\  + "collection"'y% +4 "core" %W ; 6$\  + "collection"'% +4 "core" %W < 6\  + "collection"'% +3 "core" %W : 5#\  +2 "collection"'% +4 "core" %W : 5\  + "collection"'M% +4 "core" %W 9 6\  + "collection"'\ % +4 "core" %W < 5#\  + "collection"' % +4 "core" %W ; 6\  + "collection"' % +3 "core" %W ; 4"\  +2 "collection"'% +4 "core" %W < 7\  + "collection"'% +4 "core" %W ; 5\  + "collection"'% +3 "core" %W = 5(\  +2 "collection"'% +4 "core" %W < 6\  + "collection"'% +4 "core" %W : 5%\  + "collection"'% +4 "core" %W : 5"\  + "collection"' % +3 "core" %W ; 6\  +2 "collection"'% +4 "core" %W < 5,\  + "collection"'% +4 "core" %W ; 4\  + "collection"' % +4 "core" %W < 6$\  + "collection"'% +3 "core" %W < 5\  +2 "collection"'% +3 "core" %W < 4\  +2 "collection"'% +4 "core" %W ; 7$\  + "collection"'% +4 "core" %W = 5\  + "collection"'% +4 "core" %W ; 5"\  + "collection"'~% +3 "core" %W : 7\  +1336 #t-> d=0; 30.times{d+=CS.status.inPress}; (d/30).round +2 "collection"'#% +3 "core" %W < 3#\  +2 "collection"'&% +4 "core" %W < 5\  + "collection"')% +4 "core" %W ; 3#\  + "collection"' % +4 "core" %W : 5"\  + "collection"'% +4 "core" %W ; 3\  + "collection"'%% +4 "core" %W : 4%\  + "collection"'% +3 "core" %W : 4\  +2 "collection"'$% +3 "core" %W < 6$\  +2 "collection"'-% +3 "core" %W : 4\  +2 "collection"''% +3 "core" %W : 5%\  +2 "collection"'% +3 "core" %W ; 4'\  +2 "collection"'0% +3 "core" %W ; 3\  + "collection"'1% +4 "core" %W ; 5$\  + "collection"'(% +4 "core" %W < 5\  + "collection"'3% +4 "core" %W ; 5)\  + "collection"'4% +4 "core" %W : 4\  + "collection"'5% +4 "core" %W = 4%\  + "collection"'.% +3 "core" %W ; 6\  +2 "collection"',% +4 "core" %W : 6\  + "collection"'8% +4 "core" %W ; 5!\  + "collection"'9% +4 "core" %W : 4\  + "collection"':% +3 "core" %W ; 4$\  +2 "collection"'6% +3 "core" %W : 4\  +2 "collection"'2% +4 "core" %W ; 3\  + "collection"'<% +3 "core" %W : 2-\  +2 "collection"'=% +4 "core" %W : 4\  + "collection"'>% +4 "core" %W ; 3$\  + "collection"'?% +4 "core" %W : 6\  + "collection"'@% +3 "core" %W 9 3\  +2 "collection"'A% +3 "core" %W : 4#\  +496 #t-> d=0; 30.times{d+=CS.status.inPress}; (d/30).round + "collection"'B% +4 "core" %W < 4%\  +2 "collection"'C% +3 "core" %W : 4\  +2 "collection"'D% +3 "core" %W : 6\  +2 "collection"'E% +4 "core" %W : 5%\  + "collection"'F% +4 "core" %W 9 5\  + "collection"'G% +4 "core" %W : 4"\  + "collection"'I% +3 "core" %W 9 4#\  +2 "collection"'J% +3 "core" %W : 3\  +2 "collection"'L% +3 "core" %W 9 5$\  +2 "collection"'% +3 "core" %W 9 4\  + "collection"'*% +4 "core" %W 9 4-\  + "collection"'% +4 "core" %W : 5\  + "collection"'N% +4 "core" %W < 4)\  + "collection"'O% +4 "core" %W : 3%\  + "collection"'K% +4 "core" %W 9 3\  + "collection"'R% +4 "core" %W ; 2#\  + "collection"'S% +4 "core" %W : 5\  + "collection"'H% +3 "core" %W : 2!\  +2 "collection"'U% +4 "core" %W 9 4\  + "collection"'V% +3 "core" %W : 3\  +2 "collection"'P% +4 "core" %W ; 4%\  + "collection"'X% +4 "core" %W : 5\  + "collection"'T% +3 "core" %W ; 5#\  +2 "collection"'Y% +4 "core" %W 9 4\  + "collection"'Z% +4 "core" %W : 4\  + "collection"'[% +4 "core" %W : 4'\  + "collection"'\\% +4 "core" %W : 4\  + "collection"']% +4 "core" %W : 4\  + "collection"'^% +3 "core" %W 8 4 \  +2 "collection"'_% +4 "core" %W 8 4\  +194 #t-> d=0; 30.times{d+=CS.status.inPress}; (d/30).round +2 "collection"'`% +3 "core" %W : 3\  +2 "collection"'a% +4 "core" %W = 4"\  +2 "collection"'b% +3 "core" %W 8 5\  + "collection"'c% +4 "core" %W 9 5\  + "collection"'d% +4 "core" %W 9 4#\  + "collection"'e% +4 "core" %W 9 3\  + "collection"'f% +4 "core" %W 9 2"\  + "collection"'g% +4 "core" %W : 5\  + "collection"'h% +4 "core" %W 9 3$\  + "collection"'i% +3 "core" %W 8 2\  +2 "collection"'j% +4 "core" %W 8 5\  + "collection"'k% +4 "core" %W 9 3#\  + "collection"'l% +4 "core" %W 9 2\  + "collection"'m% +4 "core" %W 8 5$\  + "collection"'n% +4 "core" %W 9 4\  + "collection"'o% +4 "core" %W 9 5\  + "collection"'p% +3 "core" %W ; 3#\  +2 "collection"'q% +3 "core" %W 9 4\  +2 "collection"'r% +4 "core" %W 9 4$\  + "collection"'s% +4 "core" %W 9 5&\  + "collection"'t% +4 "core" %W : 6\  + "collection"'u% +4 "core" %W : 5#\  + "collection"'v% +3 "core" %W ; 5\  +2 "collection"'w% +3 "core" %W 8 4&\  +2 "collection"'z% +4 "core" %W : 3\  + "collection"'{% +4 "core" %W < 3\  + "collection"'/% +3 "core" %W : 3$\  +2 "collection"';% +4 "core" %W : 4\  + "collection"'7% +4 "core" %W ; 3%\  + "collection"'Q% +4 "core" %W : 3"\  +232 #t-> d=0; 30.times{d+=CS.status.inPress}; (d/30).round +2 "collection"'W% +3 "core" %W ; 1*\  +2 "collection"'}% +4 "core" %W : 4\  + "collection"'|% +4 "core" %W : 3$\  + "collection"'% +4 "core" %W 9 3#\  + "collection"'x% +4 "core" %W 8 4\  + "collection"'y% +4 "core" %W : 2\  + "collection"'% +4 "core" %W 9 5\  + "collection"'% +4 "core" %W 9 3$\  + "collection"'% +4 "core" %W 9 3\  + "collection"'M% +4 "core" %W ; 3\  + "collection"'\ % +4 "core" %W : 3(\  + "collection"' % +4 "core" %W : 3\  + "collection"' % +4 "core" %W : 4!\  + "collection"'% +3 "core" %W 9 4\  +2 "collection"'% +42 "core" %W 8 3\  +12 "collection"'% +3 "core" %W 9 3\  +2 "collection"'% +3 "core" %W ; 3"\  +2 "collection"'% +3 "core" %W : 4\  +2 "collection"'% +3 "core" %W 8 4\  +2 "collection"' % +3 "core" %W : 3$\  +2 "collection"'% +3 "core" %W 9 4\  + "collection"'% +4 "core" %W 8 3)\  + "collection"' % +4 "core" %W : 6\  + "collection"'% +4 "core" %W 9 2%\  + "collection"'% +4 "core" %W 9 3&\  + "collection"'% +4 "core" %W 8 1\  + "collection"'% +4 "core" %W 9 2#\  + "collection"'% +4 "core" %W 9 5\  + "collection"'~% +4 "core" %W 8 2"\  + "collection"'#% +4 "core" %W 9 4\  +173 #t-> d=0; 30.times{d+=CS.status.inPress}; (d/30).round + "collection"'&% +4 "core" %W 9 2%\  +2 "collection"')% +4 "core" %W 9 3\  + "collection"' % +4 "core" %W 9 5#\  + "collection"'% +4 "core" %W 6 4#\  + "collection"'%% +4 "core" %W 8 3\  + "collection"'% +4 "core" %W 8 4#\  + "collection"'$% +4 "core" %W 9 3\  + "collection"'-% +4 "core" %W 8 3%\  + "collection"''% +4 "core" %W : 3#\  +2 "collection"'% +3 "core" %W 9 3\  + "collection"'0% +4 "core" %W : 2(\  + "collection"'1% +4 "core" %W 8 5\  + "collection"'(% +4 "core" %W 9 3\  + "collection"'3% +4 "core" %W < 3&\  + "collection"'4% +4 "core" %W 7 2\  + "collection"'5% +4 "core" %W 9 4,\  + "collection"'.% +4 "core" %W 9 5\  + "collection"',% +4 "core" %W 9 2%\  + "collection"'8% +4 "core" %W : 4!\  + "collection"'9% +4 "core" %W : 3\  + "collection"':% +3 "core" %W 9 1#\  +2 "collection"'6% +4 "core" %W : 4\  + "collection"'2% +4 "core" %W 9 4"\  + "collection"'<% +4 "core" %W 9 3!\  + "collection"'=% +4 "core" %W : 5\  + "collection"'>% +3 "core" %W : 1#\  +3 "collection"'?% +3 "core" %W : 5#\  + "collection"'@% +4 "core" %W : 5\  + "collection"'A% +4 "core" %W 9 5$\  + "collection"'B% +4 "core" %W : 2 \  +190 #t-> d=0; 30.times{d+=CS.status.inPress}; (d/30).round +2 "collection"'C% +3 "core" %W 7 2\  +2 "collection"'D% +4 "core" %W 9 5\  + "collection"'E% +4 "core" %W 9 3\  + "collection"'F% +3 "core" %W 8 5)\  +2 "collection"'G% +4 "core" %W : 2(\  + "collection"'I% +4 "core" %W 8 3\  + "collection"'J% +4 "core" %W 9 2)\  + "collection"'L% +3 "core" %W : 4\  +2 "collection"'% +4 "core" %W 9 2%\  + "collection"'*% +4 "core" %W : 4#\  + "collection"'% +4 "core" %W : 4\  + "collection"'N% +4 "core" %W : 2%\  + "collection"'O% +4 "core" %W : 4\  + "collection"'K% +3 "core" %W 9 1%\  +2 "collection"'R% +3 "core" %W 9 4$\  +2 "collection"'S% +3 "core" %W : 2\  +2 "collection"'H% +3 "core" %W 9 3#\  +2 "collection"'U% +3 "core" %W : 4\  +2 "collection"'V% +4 "core" %W : 2%\  + "collection"'P% +4 "core" %W : 3'\  + "collection"'X% +4 "core" %W : 4\  + "collection"'T% +4 "core" %W 8 2#\  + "collection"'Y% +4 "core" %W : 2\  + "collection"'Z% +4 "core" %W 8 3#\  + "collection"'[% +4 "core" %W 9 4"\  + "collection"'\\% +3 "core" %W 7 2\  +2 "collection"']% +4 "core" %W 9 2#\  + "collection"'^% +4 "core" %W 9 4\  + "collection"'_% +3 "core" %W 8 3"\  +2 "collection"'`% +4 "core" %W 6 4!\  +201 #t-> d=0; 30.times{d+=CS.status.inPress}; (d/30).round +2 "collection"'a% +3 "core" %W 9 2"\  +2 "collection"'b% +4 "core" %W 9 4\  +2 "collection"'c% +4 "core" %W 8 4\  + "collection"'d% +3 "core" %W : 3$\  +2 "collection"'e% +4 "core" %W 9 4\  + "collection"'f% +4 "core" %W 9 2\  + "collection"'g% +4 "core" %W 8 1&\  + "collection"'h% +4 "core" %W : 3\  + "collection"'i% +3 "core" %W 9 2*\  +2 "collection"'j% +4 "core" %W 8 3\  + "collection"'k% +4 "core" %W : 3\  + "collection"'l% +4 "core" %W 9 3$\  + "collection"'m% +4 "core" %W : 2\ \  + "collection"'n% +3 "core" %W 8 2 \  +2 "collection"'o% +3 "core" %W 8 3\  +2 "collection"'p% +3 "core" %W 9 2\  +2 "collection"'q% +4 "core" %W 9 4$\  + "collection"'r% +3 "core" %W 8 3\  +2 "collection"'s% +4 "core" %W : 2&\  + "collection"'t% +3 "core" %W 9 2'\  +2 "collection"'u% +3 "core" %W 9 1\  +2 "collection"'v% +4 "core" %W 9 2"\  + "collection"'w% +4 "core" %W 8 1\  + "collection"'z% +4 "core" %W 9 3#\  + "collection"'{% +3 "core" %W 9 4\  +2 "collection"'/% +4 "core" %W 9 3\  + "collection"';% +4 "core" %W 9 3#\  + "collection"'7% +4 "core" %W 7 2\  + "collection"'Q% +4 "core" %W 9 4 \  + "collection"'W% +3 "core" %W 9 3\  +236 #t-> d=0; 30.times{d+=CS.status.inPress}; (d/30).round + "collection"'}% +4 "core" %W 8 4\  + "collection"'|% +4 "core" %W 9 3\  +2 "collection"'% +3 "core" %W : 1$\  +2 "collection"'x% +4 "core" %W 8 3\  + "collection"'y% +4 "core" %W 8 4\  + "collection"'% +3 "core" %W ; 3%\  +2 "collection"'% +4 "core" %W 8 2\  + "collection"'% +4 "core" %W 8 3&\  + "collection"'M% +4 "core" %W 8 2\  + "collection"'\ % +3 "core" %W : 3 \  +2 "collection"' % +4 "core" %W 9 5"\  + "collection"' % +4 "core" %W 9 1\  + "collection"'% +4 "core" %W : 1(\  + "collection"'% +4 "core" %W 8 2\  + "collection"'% +3 "core" %W 8 4%\  +2 "collection"'% +3 "core" %W 8 1$\  +2 "collection"'% +4 "core" %W 9 4\  + "collection"'% +4 "core" %W 9 3"\  + "collection"' % +3 "core" %W 8 1\  +2 "collection"'% +4 "core" %W 9 3#\  + "collection"'% +3 "core" %W : 0"\  +2 "collection"' % +3 "core" %W ; 4\  +2 "collection"'% +4 "core" %W 8 2&\  +2 "collection"'% +4 "core" %W 8 2!\  + "collection"'% +3 "core" %W 9 2\  +2 "collection"'% +4 "core" %W : 5!\  + "collection"'% +4 "core" %W 9 3#\  + "collection"'~% +4 "core" %W 9 2\  + "collection"'#% +4 "core" %W 9 2#\  + "collection"'&% +3 "core" %W 8 2\  +173 #t-> d=0; 30.times{d+=CS.status.inPress}; (d/30).round + "collection"')% +4 "core" %W : 4\  +2 "collection"' % +4 "core" %W 8 2(\  + "collection"'% +4 "core" %W 9 5'\  + "collection"'%% +3 "core" %W 9 4\  +2 "collection"'% +3 "core" %W ; 0*\  +2 "collection"'$% +4 "core" %W 9 2\  + "collection"'-% +3 "core" %W 8 2$\  +2 "collection"''% +3 "core" %W 8 2\  +2 "collection"'% +3 "core" %W 8 2\  +2 "collection"'0% +3 "core" %W 8 3&\  +2 "collection"'1% +3 "core" %W : 2\  +2 "collection"'(% +4 "core" %W 8 2'\  + "collection"'3% +4 "core" %W 8 2(\  + "collection"'4% +4 "core" %W 9 2\  + "collection"'5% +4 "core" %W 8 2%\  + "collection"'.% +3 "core" %W 8 1\  +2 "collection"',% +4 "core" %W 8 3&\  + "collection"'8% +4 "core" %W 9 3%\  + "collection"'9% +3 "core" %W 9 2\  +2 "collection"':% +3 "core" %W 9 1#\  +2 "collection"'6% +4 "core" %W 9 1\  + "collection"'2% +4 "core" %W 9 1%\  + "collection"'<% +4 "core" %W 9 3\  + "collection"'=% +3 "core" %W 8 1\  +2 "collection"'>% +4 "core" %W 8 2$\  + "collection"'?% +3 "core" %W 8 1\  +2 "collection"'@% +3 "core" %W 9 4(\  +2 "collection"'A% +3 "core" %W 9 3\  +2 "collection"'B% +3 "core" %W : 5(\  + "collection"'C% +4 "core" %W 8 3"\  +175 #t-> d=0; 30.times{d+=CS.status.inPress}; (d/30).round +2 "collection"'D% +3 "core" %W 7 2\  +2 "collection"'E% +4 "core" %W : 3"\  +2 "collection"'F% +3 "core" %W 8 3-\  + "collection"'G% +4 "core" %W 9 2\  + "collection"'I% +4 "core" %W 8 4$\  + "collection"'J% +4 "core" %W : 1\  + "collection"'L% +5 "core" %W 9 2\  + "collection"'% +4 "core" %W 8 3%\  + "collection"'*% +3 "core" %W : 2\  +2 "collection"'% +4 "core" %W 8 2#\  + "collection"'N% +3 "core" %W 8 3#\  +2 "collection"'O% +4 "core" %W : 2\  + "collection"'K% +4 "core" %W 8 3$\  + "collection"'R% +3 "core" %W 8 2\  +2 "collection"'S% +3 "core" %W 8 4&\  +2 "collection"'H% +3 "core" %W 9 3"\  +2 "collection"'U% +4 "core" %W : 1\  + "collection"'V% +4 "core" %W 8 1$\  + "collection"'P% +3 "core" %W : 3\  +2 "collection"'X% +3 "core" %W 7 3+\  +2 "collection"'T% +3 "core" %W 9 2%\  +2 "collection"'Y% +4 "core" %W 8 2\  + "collection"'Z% +4 "core" %W ; 3#\  + "collection"'[% +4 "core" %W : 2\  + "collection"'\\% +4 "core" %W 9 1\  + "collection"']% +3 "core" %W 8 2$\  +2 "collection"'^% +3 "core" %W 8 3\  +2 "collection"'_% +4 "core" %W 9 1)\  + "collection"'`% +3 "core" %W 7 4\  +2 "collection"'a% +3 "core" %W 7 2#\  +166 #t-> d=0; 30.times{d+=CS.status.inPress}; (d/30).round +2 "collection"'b% +3 "core" %W 8 1(\  + "collection"'c% +5 "core" %W 8 3\  + "collection"'d% +4 "core" %W : 1(\  + "collection"'e% +3 "core" %W 7 1*\  +2 "collection"'f% +4 "core" %W : 1\  + "collection"'g% +4 "core" %W 8 2%\  + "collection"'h% +3 "core" %W : 2\  +2 "collection"'i% +4 "core" %W 8 4%\  + "collection"'j% +4 "core" %W 8 3$\  + "collection"'k% +4 "core" %W 7 3\  + "collection"'l% +4 "core" %W 8 1$\  + "collection"'m% +4 "core" %W 9 3\  + "collection"'n% +4 "core" %W 7 1%\  + "collection"'o% +4 "core" %W 8 1$\  + "collection"'p% +3 "core" %W 8 3\  +2 "collection"'q% +4 "core" %W 7 1$\  + "collection"'r% +4 "core" %W 8 3\  + "collection"'s% +3 "core" %W 8 1%\  +2 "collection"'t% +4 "core" %W 6 3"\  + "collection"'u% +4 "core" %W 8 5\  + "collection"'v% +4 "core" %W 9 4#\  + "collection"'w% +3 "core" %W 9 4\  +2 "collection"'z% +4 "core" %W 8 3$\  + "collection"'{% +4 "core" %W : 1"\  + "collection"'/% +3 "core" %W 8 1\  +2 "collection"';% +4 "core" %W 8 1'\  + "collection"'7% +4 "core" %W 8 4\  + "collection"'Q% +4 "core" %W : 2*\  + "collection"'W% +3 "core" %W 8 2'\  +2 "collection"'}% +4 "core" %W 7 2\  +149 #t-> d=0; 30.times{d+=CS.status.inPress}; (d/30).round +2 "collection"'|% +3 "core" %W 9 2(\  +2 "collection"'% +4 "core" %W 9 0\  + "collection"'x% +4 "core" %W 6 3!\  + "collection"'y% +4 "core" %W 8 2(\  + "collection"'% +4 "core" %W 9 2\  + "collection"'% +4 "core" %W 6 0%\  + "collection"'% +4 "core" %W 7 3\  + "collection"'M% +3 "core" %W 9 2$\  +2 "collection"'\ % +3 "core" %W : 4&\  +2 "collection"' % +4 "core" %W 7 2\  + "collection"' % +4 "core" %W 9 3%\  + "collection"'% +4 "core" %W 9 1\  + "collection"'% +3 "core" %W 9 3)\  +2 "collection"'% +4 "core" %W 8 3!\  + "collection"'% +4 "core" %W : 4\  + "collection"'% +4 "core" %W 9 2$\  + "collection"'% +52 "core" %W 8 2(\  +2 "collection"' % +3 "core" %W 9 2!\  +2 "collection"'% +3 "core" %W 9 3\  +2 "collection"'% +3 "core" %W 8 2&\  + "collection"' % +4 "core" %W 8 0\  + "collection"'% +4 "core" %W 8 5"\  + "collection"'% +4 "core" %W 8 /\  + "collection"'% +4 "core" %W 8 /\  + "collection"'% +4 "core" %W 8 3#\  + "collection"'% +4 "core" %W 7 1\  + "collection"'~% +4 "core" %W 6 1)\  + "collection"'#% +4 "core" %W 9 3\  + "collection"'&% +4 "core" %W 9 2\  + "collection"')% +4 "core" %W 8 2"\  +30804 "Can"\ [ 8 +5274 #t-> CC.unloadFlush + #Garaging FlushPuck in Collection Clamp +2 "manipulator"& & +3 "core" & \\ +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&( +30 "core" ( +2 "manipulator"&%& +4 "core" &  V + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  V +2 .tForearm.seek CC + "manipulator"&$'ш +106 "core" ' + .tHand.close +2 "manipulator"&-/ +53 "core" / +2 .tCC.seek :open + "collection"''( +396 "core" ( + "manipulator"&& +4 "core" &  U + "manipulator"&0% +4 "core" % ]  l +2 .tForearm.seek :retract + "manipulator"&1' ] +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&((-w +274 "core" ( + "manipulator"&3& +4 "core" &-q  m +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &4& +3 "core" &-q m +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&5'π +109 "core" ' + .tHand.open +2 "manipulator"&.1 +62 "core" 1 +2 "manipulator"&,% +4 "core" % ψZ l , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&8' ] +104 "core" ' +248 #t-> exit +3 "sampler")0 +11 #mEXIT @1668808599.38PST @1668809092.19PST = =tMAIN =mMAIN_scheduler @PST1668809094.16 #"core_reset"Sent BREAK +2 #t@64937 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.42 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +244 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +415 "Can"\ Y6" + \ Y6". #tPolling Can every 10:00 +18 #Cleanly exited at 13:56:39PST18-Nov-22 +358 #-> ESP.ready! +4 #Powering core bus +565 .Gate.power :raw,:ON +2 "sampler") +56 ) + "core"  +2 "collection"' +2 ' +4 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ + ' 0\ +2 ' -\ +6 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %,\ +2 .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %'\ + .tSS.configure :default +3 "sampler")#.0X access 2 +4 "storage"(<% +3 "core" %_ R K  +2 "manipulator"&=% +4 "core" % o  + "manipulator"&>& +4 "core" &\ !q +2 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 6 +2 "storage"(?(Kq +202 "core" ( +3 .tSC.configure :limp +3 "storage"($(\ 1b +2 (@& +3 "core" &Kr 2 . L  +2315 #t-> PC.loadPuck :LAFpuck, 2 +3 #Loading LAFpuck puck from tube 2 into Processing Clamp + "processing"%A& +3 "core" &t\  +2 .tHand.open + "manipulator"&B1 +54 "core" 1 +3 "manipulator"&C% +4 "core" % o W  +2 "storage"(D% +3 "core" %_ [ g 3  +2 "storage"(E. +3 "core" .(Kq + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 2 +2 "storage"(F( v +662 "core" ( + .tSC.configure :limp +3 "storage"($(\ 1b +2 (G& +3 "core" & x 8 ( + + "manipulator"&H& +4 "core" &\ !q +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&I( +26 "core" ( + "manipulator"&J& +4 "core" & ^ +2 "storage"(K& +3 "core" & ~ u u :  +2 .tForearm.seek 2 + 800 counts +2 "manipulator"&L'm +90 "core" ' +2 "storage"(M& +4 "core" & ~ ^ Q :  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(N' +294 "core" ' + "storage"(O- +4 "core" -'z + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (P& +3 "core" & ~ K H   +2 "manipulator"&Q& +4 "core" & ^ + .tElbow.seek 2 +2 "manipulator"&R( +3 "core" ( +2 "manipulator"&S& +3 "core" & ^ +2 "storage"(T& +4 "core" & ~ W W [  +2 .tForearm.seek 2 + 300 counts + "manipulator"&U'y +16 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&V/ +52 "core" / +2 !to:Puck::Warning: mesg"-Loaded Last remaining Puck (from Tube 2):bt[\ "4/home/esp/esp2/utils/puckmoves.rb:388:in `load'"8/home/esp/esp2/utils/puckmoves.rb:966:in `loadPuck'"(ESP):3:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +3 ."downElevator"SE.seek :down +4 "manipulator"&W& + "storage"(X'g +8 "core" & ^ + "manipulator"&Y% +4 "core" % | a +2 .tForearm.seek :retract + "manipulator"&Z' ] +93 "core" ' + .tElbow.seek PC +2 "manipulator"&[( +166 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +73 "core" ( + "manipulator"&\\& +5 "core" & . * +36 .tElbow.reconfigure :loose +9 "manipulator"&$ &.,(#b +2 &]& +3 "core" &  * +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +3 "manipulator"&^'E +109 "core" ' + "manipulator"&_& +5 "core" &  * + "manipulator"&`% +4 "core" %R d  +2 "processing"%a& +3 "core" &t%\  +3 "processing"%b& +5 "core" &t\  +2 .tPC.seek :closed +2 "processing"%c(V +4 "core" &t%\ \  +8 &8&\ +| +10 &h&\ @ +9 &^y&\ M +9 &"\\%\ L +10 &[%\ L +9 &]%\ M +9 &h^$\ L +10 &)]%\ M +9 & `$\ L +10 &"`$\ M +9 &$o`%\ M +9 &&2b&\ L +10 &'a$\ L +9 &)]$\ M +9 &+x\\$\ L +10 &-:\\%\ L +9 &._$\ L +10 &0b$\ L +9 &2a%\ L +9 &4B_%\ L +10 &6`$\ L +9 &7`%\ M +9 &9c&\ M +10 &;H`%\ M +9 &= ]$\ M +10 &>b&\ L +9 &@_#\ L +9 &BPe%\ M +10 &Dc$\ M +9 &Ep$\ N +9 &G~&\ P +10 &IL%\ Q +9 &K %\ R +10 &L&\ R +9 &N%\ S +9 &PN%\ S +10 &R$\ S +9 &S$\ T +9 &U~%\ 4 +10 &VQ.x%\ T +9 &Vr-$\ 3 +2 ( +2 "processing"%b& +3 #tProcessing Clamp onSpring/offSpring for 9/24 samples, on/off torque 1.52 +2 .Hand.open +2 "manipulator"&d1 +60 "core" 1 + "manipulator"&e% +4 "core" % R m  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&f' ] +94 "core" ' +2810 #t-> PC.imagePuck 2, :LAFpuck +2 "processing"%g& +3 "core" &Vr*&\ 3 +2 !to:Puck::Warning: mesg"8Unloading Puck.from 2, :LAFpuck to Storage Carousel:bt[ "6/home/esp/esp2/utils/puckmoves.rb:420:in `unload'"5/home/esp/esp2/utils/puckmoves.rb:504:in `image'"9/home/esp/esp2/utils/puckmoves.rb:978:in `imagePuck'"(ESP):4:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 #Imaging LAFpuck puck in Processing Clamp while storing it to tube 2 + "manipulator"&h% +4 "core" % K q * +2 "storage"(i% +3 "core" %m / ( *  +2 "storage"(j. +3 "core" .( v + "storage"(k& +4 "core" & ~ 2 3 Y  +2 "storage"(l& + "manipulator"&m& +7 "core" & ~ * / R  +2 & e * +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]9K-0-\ b +4 "manipulator"&n( +4 ."raiseStack"SE.seek :beamBreak + "storage"(o' +3 "core" ( + "manipulator"&p& +4 "core" & m * + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &q& +3 "core" &  * +2 .tForearm.seek PC +2 "manipulator"&r'E +94 "core" ' +2 .tHand.close + "manipulator"&s/ +74 "core" / +2 .tPC.seek :open + "processing"%t( +80 "core" ' +2 "storage"(u- +3 "core" -' + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(v' +39 "core" ' +258 ( + "storage"(w& +4 "core" & ~ W U   +2 "manipulator"&x& +4 "core" & * + "manipulator"&y% +4 "core" % S 9 + .tForearm.seek :retract +2 "manipulator"&z' ] +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&{( +257 "core" ( +2 "manipulator"&|& +4 "core" &   + "storage"(}& +5 "core" & ~ J K (  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 800 counts +2 "manipulator"&~'m +96 "core" ' + .tHand.open +2 "manipulator"&1 +58 "core" 1 +2 "storage"(- +4 "core" -' +2 .tSE.seek -0.3 Pucks below Top Plate +2 "storage"('g +23 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.17 Pucks below Top Plate + "storage"('o +54 "core" ' + #tLights, camera, ACTION! +1662 #-> Gate.power :camera, :on +2 .Gate.power :camera,:ON +5091 #-> PuckCamera.snapImages "shortFridaytest", {:image=>[:hires,40]} +17 #PuckCamera: snap -bin=1,1 40.0 /var/log/esp/hires/shortFridaytest40s.tif +4153 #SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 40 seconds\ /var/log/esp/hires/shortFridaytest40s.tif: TIFF Upload Complete\ +7531 #-> Puck.finishImage +2 "storage"(- +3 "core" -'o +2 "storage"(& +4 "core" & ~ f\ + "manipulator"&& +4 "core" & f  +2 .tElbow.seek 2 + "manipulator"&( +20 "core" ( + "manipulator"&& +4 "core" & H ] +2 "storage"( & +3 "core" & ~\ \  E\ +2 .tForearm.seek 2 + 800 counts +2 "manipulator"&\ 'm +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.46 Pucks below Top Plate +2 "storage"( ' +49 "core" ' +2 "manipulator"& & +4 "core" & ] + "storage"( & +4 "core" & ~ X\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'M +35 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.27 Pucks below Top Plate +2 "storage"(' +25 "core" ' + "manipulator"&% +5 "core" %^w  & + "storage"(& +4 "core" & ~\ $\ $ !\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&'Њ +19 "core" ' + "manipulator"&& +5 "core" & [ + "storage"(& +5 "core" & ~ |\ * i\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 800 counts +2 "manipulator"&'m +24 "core" ' + "storage"(% +5 "core" %{ >\ +2 ."downElevator"SE.seek :down +4 "storage"('g +98 (% +3 "core" %A\ O\ P j\ RQ + "manipulator"&% +5 "core" %j  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' ] +90 "core" ' +69 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" & ~ N\ +2 "manipulator"&#& +4 "core" & u [ + "manipulator"&&% +4 "core" % S 7 +17641 #t-> access 1 +3 "storage"((% +3 "core" %o 9\ +2 "manipulator"&*% +4 "core" % S # 7 +2 "manipulator"&)& +3 "core" & V [ +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 5 +2 "storage"((; +520 "core" ( +2 .tSC.configure :limp +2 "storage"($(\ 1b +3 (& +2 "core" &; [\  +2176 #t-> PSV.PTV +2 .PSV.dial PTV + "processing"%$ +72 "core" +738 #t-> PTV.PRV + .PTV.dial PRV +2 "processing"%- @ +71 "core" B +478 #t-> PRV.ab1 +3 .PRV.dial :ab1 +2 "processing"%. @ +130 "core" ? +744 #t-> PS.pull 0.5 +2 "processing"%/% +3 "core" %ٽ\ +3 .tPS.seek 0.5ml + "processing"%0' +581 "core" ' +2 "processing"%1% +4 "core" %#\  +474 #t-> PRV.ab2 +2 .PRV.dial :ab2 +2 "processing"%2  +100 "core" ~ +739 #t-> PS.pull 0.5 +2 "processing"%3% +3 "core" %\  +2 .tPS.seek 1ml +2 "processing"%4'X +584 "core" ' + "processing"%5% +4 "core" %X$\  +671 #t-> PSV.waste1 +2 .PSV.dial :waste1 +2 "processing"%6  +102 "core"  +845 #t-> PS.empty +2 .PS.seek 0ml + "processing"%7'ٸ +780 "Can"\ ̵ +311 "core" ' +2 "processing"%8% +4 "core" %ٽ$\ +4910 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%9 +44 "core"  +482 #t-> PSR.flush +2 .PSR.select :flush +2 "processing"%j +350 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%:' +2611 "core" ' + "processing"%;% +4 "core" %(\  +396 #t-> PSV.PTV +2 .PSV.dial PTV +2 "processing"%< +71 "core" +645 #t-> PTV.PRV + .PTV.dial PRV +2 "processing"%= @ +15 "core" ? +680 #t-> PRV.air + .PRV.dial :air +2 "processing"%>  +43 "core"  +659 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%@'ٸ +2612 "core" ' +2 "processing"%"% +4 "core" %ٷ \ +817 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%A +73 "core"  +607 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%B' +2606 "core" ' + "processing"%C% +4 "core" %#\  +782 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%D +72 "core" +682 #t-> PS.empty +3 .PS.seek 0ml + "processing"%E'ٸ +2611 "core" ' +2 "processing"%?% +4 "core" %ٶ\ +413 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%G +73 "core"  +310 #t-> PSR.air + .PSR.select :air +3 "processing"% +445 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%H' +2605 "core" ' + "processing"%J% +4 "core" %$\  +516 #t-> PSV.PTV +3 .PSV.dial PTV +2 "processing"%K +72 "core" +346 #t-> PS.empty + .PS.seek 0ml +2 "processing"%M'ٸ +2603 "core" ' + "processing"%%% +4 "core" %ٶ#\ +1301 #t-> access 2 +2 "storage"('% +4 "core" %p\ M\ Q \ +2 "manipulator"&O% +3 "core" % S 7 +2 "manipulator"&P& +4 "core" & [ +42 .tSC.reconfigure :tight +11 "storage"($\ .(\ 1~b +2 .tSC.seek 6 +2 "storage"(!(Kq +195 "core" ( + .tSC.configure :limp +2 "storage"($(\ 1b +3 (Q& +3 "core" &Kr\ \  \  +6843 #t-> PC.loadPuck :LAFpuck, 2 +2 #Loading LAFpuck puck from tube 2 into Processing Clamp +2 "processing"%S& +3 "core" &\ +2 "manipulator"&T% +4 "core" % S j 7 +2 "storage"(V% +3 "core" %p b\ +2 "storage"(W. +3 "core" .(Kq + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 2 +2 "storage"(Y( v +688 "core" ( +2 .tSC.configure :limp +7 "storage"($(\ 1b +2 (I& +3 "core" & u\ M\ D \ +6 "manipulator"&L& +4 "core" & [ +2 .tElbow.seek 2 +2 "manipulator"&N( +19 "core" ( + "manipulator"&U& +4 "core" & f +2 "storage"(\\& +4 "core" & u H I\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 800 counts +2 "manipulator"&]'m +108 "core" ' + "storage"(R& +5 "core" & u \ + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(_' +299 "core" ' +2 "storage"(`- +3 "core" -'k +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (a& +3 "core" & u \ \ + "manipulator"&X& +4 "core" & +2 .tElbow.seek 2 +2 "manipulator"&Z( +2 "core" ( +2 "manipulator"&,& +4 "core" & + "storage"(d& +4 "core" & u \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&e'y +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&b/ +58 "core" / +2 !to:Puck::Warning: mesg"-Loaded Last remaining Puck (from Tube 2):bt[\ "4/home/esp/esp2/utils/puckmoves.rb:388:in `load'"8/home/esp/esp2/utils/puckmoves.rb:966:in `loadPuck'"(ESP):34:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 ."downElevator"SE.seek :down +5 "manipulator"&^& + "storage"(g'g +7 "core" & +2 "manipulator"&h% +4 "core" % ~  +2 .tForearm.seek :retract + "manipulator"&i' ] +96 "core" ' + .tElbow.seek PC +2 "manipulator"&j( +160 "core" ' + ."downElevator"SE.stop + "storage"(5 +78 "core" ( +2 "manipulator"&k& +4 "core" & J ; + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &l& +3 "core" & ; +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&m'E +99 "core" ' + "manipulator"&p& +4 "core" & ) ; +2 "manipulator"&q% +4 "core" %L  + "processing"%s& +5 "core" &$\ +2 "processing"%u& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%[(V +4 "core" &"\  +9 &/|#\ *y +10 &d#\ > +9 &Yv!\ N +9 &X#\ N +10 &Z"\ N +9 &U"\ M +9 &cW$\ M +10 &$\\&\ N +9 & \\$\ N +9 &"]#\ N +10 &$jW'\ N +9 &&,Y$\ N +10 &']#\ N +9 &)]"\ N +9 &+rX#\ N +10 &-4W#\ N +9 &.W$\ N +10 &0X&\ N +9 &2{\\#\ M +9 &4;Z#\ N +10 &5]#\ M +9 &7`"\ M +9 &9_#\ M +10 &;D]#\ N +9 &=\\#\ M +9 &>\\!\ M +10 &@\\#\ M +9 &BN_#\ M +10 &D c#\ N +9 &Ek"\ O +9 &G$\ R +10 &ID$\ S +9 &K#\ T +9 &L\ T +10 &N$\ T +9 &PG#\ U +10 &R\ #\ T +9 &S#\ U +9 &U|$\ 5 +10 &VZ1u#\ H +9 &Vs&#\ / +2 ( +2 "processing"%u& +3 #tProcessing Clamp onSpring/offSpring for 9/24 samples, on/off torque 1.54 +2 .Hand.open + "manipulator"&f1 +73 "core" 1 +2 "manipulator"&c% +4 "core" % ;  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w' ] +100 "core" ' +2988 #t-> PC.imagePuck 2, :LAFpuck +2 "processing"%o& +3 "core" &Vs# \ / +2 !to:Puck::Warning: mesg"8Unloading Puck.from 2, :LAFpuck to Storage Carousel:bt[ "6/home/esp/esp2/utils/puckmoves.rb:420:in `unload'"5/home/esp/esp2/utils/puckmoves.rb:504:in `image'"9/home/esp/esp2/utils/puckmoves.rb:978:in `imagePuck'"(ESP):35:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 #Imaging LAFpuck puck in Processing Clamp while storing it to tube 2 + "manipulator"&x% +4 "core" % b % +2 "storage"(y% +3 "core" %r }\  +2 "storage"(r. +3 "core" .( v + "storage"(|& +4 "core" & u U\ +2 "storage"(}& +3 "manipulator"&n& +4 "core" & u x\ + & K ; +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]9K-0-\ b +3 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC + "storage"(' +2 "manipulator"&( +35 "core" ( + "manipulator"&z& +4 "core" &  & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &v& +3 "core" &  & +2 .tForearm.seek PC +2 "manipulator"&'E +94 "core" ' + .tHand.close +2 "manipulator"&/ +74 "core" / + .tPC.seek :open +2 "processing"%( +52 "core" ' + "storage"(- +4 "core" -' + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +3 "storage"(' +36 "core" ' +292 ( + "storage"( & +4 "core" & u +2 "manipulator"& & +3 "core" & h  +2 "manipulator"& % +3 "core" % B p  +2 .tForearm.seek :retract +2 "manipulator"&' ] +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +243 "core" ( +2 "manipulator"&& +4 "core" &  - + "storage"(& +4 "core" & u E\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 800 counts + "manipulator"&'m +91 "core" ' + .tHand.open + "manipulator"&{1 +60 "core" 1 +3 "storage"(~- +3 "core" -' +2 .tSE.seek -0.3 Pucks below Top Plate +2 "storage"('g +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.17 Pucks below Top Plate + "storage"('o +50 "core" ' + #tLights, camera, ACTION! +2105 #-> Gate.power :camera, :on +2 .Gate.power :camera,:ON +5127 #-> PuckCamera.snapImages "shortFridaytest", {:image=>[:hires,40]} +3 #PuckCamera: snap -bin=1,1 40.0 /var/log/esp/hires/shortFridaytest40s#2.tif +4137 #SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 40 seconds\ /var/log/esp/hires/shortFridaytest40s#2.tif: TIFF Upload Complete\ +2045 #-> Puck.finishImage +2 "storage"(- +3 "core" -'o + "storage"(\ & +5 "core" & u I D\ + "manipulator"&& +4 "core" & - + .tElbow.seek 2 +2 "manipulator"& ( +32 "core" ( + "manipulator"&& +4 "core" & # +2 "storage"(& +3 "core" & u \ +2 .tForearm.seek 2 + 800 counts +2 "manipulator"&'m +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.46 Pucks below Top Plate +2 "storage"(#' +48 "core" ' + "manipulator"&&& +5 "core" &  # + "storage"(& +4 "core" & u \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'M +33 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.27 Pucks below Top Plate +2 "storage"((' +25 "core" ' + "manipulator"&*% +4 "core" %^v , +2 "storage"()& +4 "core" & u 7\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&F'Њ +18 "core" ' +2 "manipulator"&& +4 "core" & } # +2 "storage"($& +4 "core" & u -\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 800 counts +2 "manipulator"&-'m +23 "core" ' +2 "storage"(.% +4 "core" %z @\ +3 ."downElevator"SE.seek :down +4 "storage"(/'g +99 (1% +3 "core" %? 9\ RR +2 "manipulator"&2% +4 "core" %r  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&3' ] +91 "core" ' +68 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (0& +4 "core" & u W\ +2 "manipulator"&5& +4 "core" & h # + "manipulator"&6% +4 "core" % T% ^ I +1241 "Can"=\ b +6129 #t-> exit +139 #mEXIT @1668810367.86PST @1668812536.70PST = =tMAIN =mMAIN_scheduler @PST1668812538.62 #"core_reset"Sent BREAK +2 #t@35169 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.42 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +247 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +414 "Can"5\ J- + 5\ J-0 + #tPolling Can every 10:00 +3 #Cleanly exited at 14:26:06PST18-Nov-22 +499 #-> ESP.ready! +3 #Powering core bus +544 .Gate.power :raw,:ON +2 "sampler") +17 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% + % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" % \ +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %'\ +2 .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %\ + .tSS.configure :default +3 "sampler")#.0X + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek retracted +2 "manipulator"&'' ] +13 "core" ' + "manipulator"&(% +4 "core" % < ~  +2 "processing"%)& +4 "collection"'*& +5 "core" &\ + &\ +2 .tCC.reconfigure :default +3 ."openPC"PC.reconfigure :default +3 "collection"'$x2 ^22b +3 .tCC.home.seek :open +3 "processing"%$x2 ^22b +2 "collection"'+( +3 ."openPC"PC.home.seek :open +3 "processing"%,( +316 "core" ( +6 ( +2 "collection"'- +3 "core" ? +2 "processing"%. +3 "core" U +2 "processing"%/ +3 "core" @ + "processing"%0 +3 "core"  +2 "collection"'1% +4 "core" %Z\ \ +2 "processing"%2% +3 "core" %ټ+\ +2 "sampler")3% +4 "core" %ޘ h\ D +2 "collection"'4& +3 "core" &w\  +2 "processing"%5& +4 "core" &u+\  + "manipulator"&6% +5 "core" % <   + "manipulator"&7& +4 "core" & 2 > +2 "storage"(8& +3 "core" &[5 a b x  +2 "storage"(9% +4 "core" %_ l p g  + "collection"':9 +3 "core" 9 +2 "processing"%;9 +3 "core" 9 +1435 #t-> PC.loadPuck :SAFpuck, 2 +2 #Loading SAFpuck puck from tube 2 into Processing Clamp +2 "processing"%<& +3 "core" &u\  +2 .tHand.open + "manipulator"&=1 +54 "core" 1 +2 "manipulator"&>% +4 "core" % <  +2 "storage"(?% +3 "core" %_ c g  +2 "storage"(@. +2 "core" .([4 +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 2 + "storage"(A( v +831 "core" ( + .tSC.configure :limp +3 "storage"($(\ 1b +2 (B& +3 "core" & t M J J  + "manipulator"&C& +4 "core" & B > +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&D( +23 "core" ( + "manipulator"&E& +4 "core" & { Q +2 "storage"(F& +4 "core" & z u 3  +2 .tForearm.seek 2 + 800 counts +2 "manipulator"&G'm +91 "core" ' +2 "storage"(H& +4 "core" & z y z D  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(I' +298 "core" ' +2 "storage"(J- +3 "core" -'m + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (K& +2 "core" & z m Z  +2 "manipulator"&L& +4 "core" &  Q +2 .tElbow.seek 2 + "manipulator"&M( +4 "core" ( + "manipulator"&N& +4 "core" & H Q +2 "storage"(O& +3 "core" & z x z u  +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&P'y +19 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Q/ +64 "core" / +3 !to:Puck::Warning: mesg"-Loaded Last remaining Puck (from Tube 2):bt[\ "4/home/esp/esp2/utils/puckmoves.rb:388:in `load'"8/home/esp/esp2/utils/puckmoves.rb:966:in `loadPuck'"(ESP):2:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 ."downElevator"SE.seek :down +3 "manipulator"&R& +2 "storage"(S'g +8 "core" &  Q + "manipulator"&T% +4 "core" % Ђ  +2 .tForearm.seek :retract +2 "manipulator"&U' ] +99 "core" ' + .tElbow.seek PC +2 "manipulator"&V( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +76 "core" ( +2 "manipulator"&W& +4 "core" & 5 . + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &X& +3 "core" & D . +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&Y'E +96 "core" ' + "manipulator"&Z& +5 "core" & @ . + "manipulator"&[% +4 "core" %@ A +2 "processing"%\\& +4 "core" &u\  +2 "processing"%]& +5 "core" &u\  +2 .tPC.seek :closed + "processing"%^(V +5 "core" &u\  +7 &O\ %g +9 &iZ\ 8 +9 &\ L +45 &]\ L +10 &K^\ M + &]\ L +2 &\\\ L + &\\\ L + & S]\ M +6 &"`\ M +9 &#\\\ L +10 &%]\ L +9 &'\\`\ L +9 &)^\ L +10 &*_\ L +9 &,`\ M +10 &.d]\ L +9 &0&b\ L +9 &1^\ M +10 &3c\ M +9 &5ka\ M +10 &7-_\ M +9 &8d\ M +9 &:_\ M +10 &6b\ L +9 &?\\\ L +10 &A_\ M +9 &C{`\ M +10 &E9r\ N +9 &F~\ P +9 &H\ Q +10 &Js\ R +9 &L4\ R +9 &M\ S +10 &O\ S +9 &Qx\ S +9 &S7\ T +10 &T\ H +9 &V*Q\ "h +10 &Vo"\ + +2 ( + "processing"%]& +3 #tProcessing Clamp onSpring/offSpring for 10/24 samples, on/off torque 1.53 + .Hand.open + "manipulator"&_1 +53 "core" 1 + "manipulator"&`% +4 "core" % 4 m +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a' ] +95 "core" ' +1671 #t-> PC.imagePuck 2, :SAFpuck +2 "processing"%b& +3 "core" &Vo"\ + +2 !to:Puck::Warning: mesg"8Unloading Puck.from 2, :SAFpuck to Storage Carousel:bt[ "6/home/esp/esp2/utils/puckmoves.rb:420:in `unload'"5/home/esp/esp2/utils/puckmoves.rb:504:in `image'"9/home/esp/esp2/utils/puckmoves.rb:978:in `imagePuck'"(ESP):3:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 #Imaging SAFpuck puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&c% +4 "core" % q!  3 + "storage"(d% +4 "core" %f ` j s  +2 "storage"(e. +2 "core" .( v +2 "storage"(f& +4 "core" & z L ] *  +2 "storage"(g& +4 "manipulator"&h& +4 "core" & z \\ j b  + & i - +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]9K-0-\ b +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "manipulator"&i( +4 ."raiseStack"SE.seek :beamBreak + "storage"(j' +3 "core" ( + "manipulator"&k& +4 "core" & Z - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +2 "core" & - +2 .tForearm.seek PC +2 "manipulator"&m'E +95 "core" ' +2 .tHand.close + "manipulator"&n/ +75 "core" / +2 .tPC.seek :open +2 "processing"%o( +75 "core" ' + "storage"(p- +4 "core" -' + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(q' +48 "core" ' +254 ( + "storage"(r& +4 "core" & z w w {  + "manipulator"&s& +4 "core" &  + "manipulator"&t% +4 "core" % - +2 .tForearm.seek :retract +2 "manipulator"&u' ] +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&v( +258 "core" ( + "manipulator"&w& +4 "core" & o  +2 "storage"(x& +4 "core" & z x o 3  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 800 counts +2 "manipulator"&y'm +108 "core" ' +2 .tHand.open + "manipulator"&z1 +56 "core" 1 +2 "storage"({- +3 "core" -' +2 .tSE.seek -0.3 Pucks below Top Plate +2 "storage"(|'g +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.17 Pucks below Top Plate +2 "storage"(}'o +48 "core" ' + #tLights, camera, ACTION! +1088 #-> Gate.power :camera, :on +2 .Gate.power :camera,:ON +5358 #-> PuckCamera.snapImages "shortFridaytest", {:image=>[:hires,40]} +3 #PuckCamera: snap -bin=1,1 40.0 /var/log/esp/hires/shortFridaytest40s#3.tif +4157 #SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 40 seconds\ /var/log/esp/hires/shortFridaytest40s#3.tif: TIFF Upload Complete\ +1739 #-> Puck.finishImage + "storage"(~- +3 "core" -'o +2 "storage"(& +4 "core" & z \ +2 "manipulator"&& +4 "core" & g  +2 .tElbow.seek 2 + "manipulator"&( +23 "core" ( + "manipulator"&& +4 "core" & q J +2 "storage"(& +4 "core" & z ;\ +2 .tForearm.seek 2 + 800 counts +2 "manipulator"&'m +13 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.46 Pucks below Top Plate +2 "storage"(' +49 "core" ' +2 "manipulator"&& +4 "core" & J + "storage"(& +4 "core" & z \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"& 'M +34 "core" ' + .tElbow.hold +2 "manipulator"&\ , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.27 Pucks below Top Plate +2 "storage"( ' +25 "core" ' +2 "manipulator"& % +4 "core" %^u m $ +2 "storage"( & +3 "core" & z\ -  #\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&'Њ +26 "core" ' + "manipulator"&& +5 "core" & 9 I + "storage"(& +4 "core" & z [ 2 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 800 counts +2 "manipulator"&'m +14 "core" ' +2 "storage"(% +4 "core" % = +3 ."downElevator"SE.seek :down +3 "storage"('g +98 (% +3 "core" %= \ SV +2 "manipulator"&% +4 "core" %s b  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' ] +94 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +4 "core" & z b\ + "manipulator"&& +4 "core" &  I +2 "manipulator"&% +3 "core" % m( "Y +19104 #t-> exit +11 #mEXIT @1668812974.80PST @1668813181.72PST = =tMAIN =mMAIN_scheduler @PST1668813183.63 #"core_reset"Sent BREAK +3 #t@4200 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.42 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +246 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +416 "Can"6\ 9" +2 6\ 9"( + #tPolling Can every 10:00 +4 #Cleanly exited at 15:09:34PST18-Nov-22 +512 #-> ESP.ready! +4 #Powering core bus +558 .Gate.power :raw,:ON +2 "sampler") +37 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +4 "core" %\ +2 .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %H\ + .tSS.configure :default +3 "sampler")#.0X acces 2 +2 !o:NoMethodError : mesg".undefined method `acces' for Object:Class: name0: args0:bt[\ ";/home/esp/esp2/lib/framework.rb:51:in `method_missing'";/home/esp/esp2/lib/framework.rb:63:in `method_missing'"(ESP):2:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +381 #-> access 2 +3 "storage"(<% +3 "core" %a x {  +2 "manipulator"&=% +4 "core" % U + "manipulator"&>& +4 "core" &  8 +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 6 +2 "storage"(?(Kq +195 "core" ( + .tSC.configure :limp +3 "storage"($(\ 1b +2 (@& +3 "core" &Kq J J   +14258 #t-> Sampler.undefine :PumpPrimeDelay +3 !o:NoMethodError : mesg"9undefined method `undefine' for ShallowSampler:Class: name0: args0:bt[ ";/home/esp/esp2/lib/framework.rb:51:in `method_missing'"(ESP):4:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +702 #-> Sampler.unassign :PumpPrimeDelay +1455 #-> Sampler.unassign :MaintainFlow +861 #-> Sampler.unassign :PrimeFlow +433 #-> startTube 2 +3308 #-> da 200 +2 #da sampling at most 200ml +6 #Loading sh1 puck from tube 2 into Collection Clamp +2 ."Qmail"DAfans.email "Started da in tube 2 at 15:17:30PST18-Nov-22\\n{3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCan@15:13:12, 21.1C, 16% humidity, 15.0psia, 13.76V, 0.08A, 0.003Ah, 1.05W",Subject: "da sampling at most 200ml" +3 "collection"'A& +5 "core" &s0\  +3 .tHand.open + "manipulator"&B1 +61 "core" 1 + "manipulator"&C% +5 "core" % U + "storage"(D% +4 "core" %a x x }  +2 "storage"(E. +4 "core" .(Kq +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +4 .tSC.seek 2 +3 "storage"(F( v +662 "core" ( +3 .tSC.configure :limp +6 "storage"($(\ 1b +6 (G& +10 "core" & z U k ;  +7 "manipulator"&H& +9 "core" & k 8 +4 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +5 .tElbow.seek 2 +2 "manipulator"&I( +26 "core" ( +4 "manipulator"&J& +8 "core" & 9 +3 "storage"(K& +9 "core" &  z z  +4 .tForearm.seek 2 + 800 counts +3 "manipulator"&L'm +104 "core" ' +4 "storage"(M& +15 "core" &  y z  +4 .tSE.reconfigure :pick +4 "storage"(#],K-0-\ b +6 .tSE.seek :beamBreak +4 "storage"(N' +59 #"uploadLog"upsync +228 "core" ' +2 "storage"(O- +4 "core" -'8 +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (P& +2 "core" &  m w x  +2 "manipulator"&Q& +4 "core" & : 9 +2 .tElbow.seek 2 +2 "manipulator"&R( +3 "core" ( +2 "manipulator"&S& +4 "core" & G 9 + "storage"(T& +4 "core" &  w j 8  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&U'y +16 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&V/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&W& +2 "storage"(X'g +7 "core" & 0 9 +2 "manipulator"&Y% +4 "core" % z  +2 .tForearm.seek :retract +2 "manipulator"&Z' ] +102 "core" ' + .tElbow.seek CC +2 "manipulator"&[( +144 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +17 "core" ( + "manipulator"&\\& +5 "core" &  !q + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &]& +3 "core" & O !q +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&^'ш +104 "core" ' +3 "manipulator"&_& +4 "core" &\ !q + "manipulator"&`% +4 "core" %х  y +2 "collection"'a& +4 "core" &s>\  +3 "collection"'b& +4 "core" &s.\  +2 .tCC.seek :closed +2 "collection"'c(W8 +5 "core" &s;\  +9 &7|7\ +{ +9 &d=\ ? +9 &Fv9\ O +10 &W5\ O +9 &W=\ N +9 &W2\ N +10 &NW/\ O +9 &X4\ N +10 & ]5\ O +9 &"Z0\ N +9 &$VY1\ O +10 &&^5\ O +9 &'[4\ O +9 &)Y4\ O +10 &+_Z5\ N +9 &- [5\ O +10 &.\\3\ N +9 &0\\3\ N +9 &2g]5\ N +10 &4(Y3\ O +9 &5\\(\ N +9 &7W'\ N +10 &9pW,\ N +9 &;1Z*\ N +9 &<U.\ N +10 &>])\ N +9 &@w\\(\ N +10 &B9[\ N +9 &C]\ O +9 &Eb\ O +10 &Gzk$\ P +9 &I9q\ Q +10 &J\ T +9 &L\ U +9 &Nl\ X +10 &P/\ W +9 &Q\ X +9 &S\ X +10 &Up\ Y +9 &VG \ &s +10 &W r\ F +5 ( +2 "collection"'b& +4 #tCollection Clamp onSpring/offSpring for 6/25 samples, on/off torque 1.84 + .Hand.open +2 "manipulator"&d1 +3 "core" &We \ F +56 1 + "manipulator"&e% +4 "core" % ф ] x z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&f' ] +104 "core" ' +2 #tcollectSample 200ml w/bubble point of 24psi +2 #Priming 7ml + .Intake.select :close +2 .Exhaust.select :close + .SS.hold +2 "sampler")g+ +4 "core" + + "sampler")h% +4 "core" %ޟ c\ + "collection"'i& +5 "core" &We  \ F +3 "Can"6\ L7ib + #tCalibrating pressure and temperature sensors +4 .CTV.dial :air + "collection"'j  +5 "core"  +2 .tSSV.dial :spit,avoiding: :exhaust +2 .SS.reconfigure :fast +2 "sampler")#.0X +300 "core" ' + ."connect"SSV.dial CBV +4 .tCBV.dial SSV +2 "sampler")l  +2 "collection"'m @ +5 "core" ? +122  + .tdelay 3.8 seconds +382 "collection"'n% +3 "core" %^ \ +2 "sampler")o% +3 "core" %5@ g\ +2 #tSensor limits: Intake max 144.9psia; Outlet max 124.8psia + .SSV.dial :spit +2 "sampler")p +127 "core" +2 .tSS.seek 0ml +2 "sampler")q'ޚ +246 "core" ' +2 .tSSV.dial CBV + "sampler")r  +130 "core"  +2 .tCTV.dial :intake + "collection"'s  +75 "core"  +2 ."connect"SSV.dial CBV +3 .tCBV.dial SSV +2 "sampler")t  +3 "collection"'u @ +6 "core"  ? +2 #tAllowing 40s for 7.0ml of remaining 7.0ml +2 .Intake.select :open + "sampler") +210 "collection"'v% +2 "core" %^ \ +2 #tIntake @15.0psia, vacuum from 9.5 to 12.5psi +2 .SS.reconfigure :inhaling 2.16ml/s +3 "sampler")#.0X\ M_p + .tCTV.dial :intake +2 "collection"'  +20 "core" +2 ."connect"SSV.dial CBV +3 .tCBV.dial SSV +3 "sampler")  +2 "collection"' @ +7 "core" ? +66 + #tAllowing 130s for 25.0ml of remaining 200.0ml +2 .Intake.select :open + "sampler") +210 "collection"'% +3 "core" %^\ + #tIntake @14.3psia, vacuum from 8.8 to 11.8psi +2 .SS.reconfigure :inhaling 2.16ml/s +3 "sampler")#.0X Z\  +24 "collection"'% +3 "core" %^#\ +2 "sampler")% +3 "core" %> W\  +28 "collection"'% +3 "core" %^:\ +2 "sampler")% +4 "core" %A c\  +32 "collection"'% +2 "core" %^g\ +2 "sampler")% +4 "core" %> c\  +36 "collection"'% +3 "core" %^l\ +2 "sampler")% +4 "core" %> d\  +41 "collection"'% +4 "core" %^e\ + "sampler")% +4 "core" %= S\  +48 "collection"'% +2 "core" %^e\ +2 "sampler")% +4 "core" %> a\  +53 "collection"' % +4 "core" %^d\ + "sampler")% +4 "core" %> `\  +61 "collection"'#% +3 "core" %^L\ + "sampler")&% +4 "core" %> Z\  +69 "collection"'(% +4 "core" %^F\ +2 "sampler")*% +3 "core" %> d\  +78 "collection"')% +3 "core" %^V\ +2 "sampler")% +4 "core" %> ^\  +88 "collection"'% +3 "core" %^Q\ +2 "sampler")$% +3 "core" %> d\  +101 "collection"'-% +3 "core" %^<\ + "sampler").% +4 "core" %> V\  +113 "collection"'/% +3 "core" %^<\ + "sampler")0% +6 "core" %> \\\  +130 "collection"'1% +2 "core" %^G\ +2 "sampler")2% +4 "core" %> e\  +144 "collection"'3% +3 "core" %^J\ + "sampler")4% +4 "core" % X\ \ b +163 "collection"'5% +3 "core" %^&\ + "sampler")6% +4 "core" % [\ \ M +183 "collection"'7% +4 "core" %^M\ +2 "sampler")8% +3 "core" % ]\ \ M +2 "sampler")9% +3 "core" % \\\ \ M +2 .tIntake.select :close + "sampler")0 +9 ):% +3 "core" % X\ \ M + .tSSV.dial :exhaust +2 "sampler");  +73 "core"  + .tExhaust.select :open +2 "sampler")@ +10 .tSS.seek 0ml + "sampler")<'ޚ +901 "core" ' +2 .tExhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV +3 .tCBV.dial SSV +2 "sampler")=  +3 "collection"'> @ +4 "core" ? +68 + #tAllowing 130s for 25.0ml of remaining 175.0ml +2 .Intake.select :open + "sampler") +210 "collection"'@% +3 "core" %^"\ + #tIntake @13.8psia, vacuum from 8.3 to 11.3psi +2 .SS.reconfigure :inhaling 2.16ml/s +3 "sampler")#.0X SSV.air +2 .SSV.dial :air + "sampler")K +175 "core"  +1760 #t-> SS.home.to :home +2 .SS.reconfigure :default +3 "sampler")#.0X SS.empty +2 .SS.seek 0ml +2 "sampler")''ޚ +147 "core" ' + "sampler")O% +5 "core" %ޟ85 `\ +778 #t-> SS.fill +2 .SS.seek 25ml +2 "sampler")P' +880 "Can"M\ X$ +382 "core" ' + "sampler")!% +4 "core" %76 Q\ +252 #t-> SS.empty +2 .SS.seek 0ml +2 "sampler")Q'ޚ +1219 "core" ' + "sampler")S% +4 "core" %ޗ85 X\ +571 #t-> SS.fill +2 .SS.seek 25ml +2 "sampler")T' +1241 "core" ' +2 "sampler")V% +4 "core" %85 V\ u +20595 #t-> SS.coast + .SS.coast +2 "sampler")5 +2 )W% +3 "core" %:5 Z\ +19531 #t-> $hab[:sampler].puckEvac +3 #Evacuating Puck (bubblePt=24psi, evacVolume=10ml, delay 15 seconds) + .Intake.select :close + "collection"'Y& +4 "core" &Wb!\ F +2 ."airStroke"CSV.dial :waste +3 "sampler")I% +2 "collection"'L +7 "core" %76 X\  + + .tSSV.dial :exhaust +4 ."airStroke"CS.seek 0ml +3 "sampler")\\  + "collection"']'] +6 "core" ' + ."airStroke"CSV.dial :air +2 "collection"'N @ +63 "core"  + .tExhaust.select :open +2 "sampler")@ +4 "core" A +2 ."airStroke"CS.seek 10ml +2 "collection"'U' +4 .tSS.reconfigure :exhale +2 "sampler")#.0X +245 "core" ' +2 ."connect"SSV.dial CBV,avoiding: :exhaust +2 .tCBV.dial SSV +3 "sampler")s  +2 "collection"'u @ +6 "core" A +122  +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'t  +131 "core" +2 ."CSpush"CSV.dial CTV +4 .tSS.seek 10ml +2 "collection"'v  +3 "sampler")q' +6 "core"  +102 ."CSpush"CSV.dial :air +2 "collection"'y @ +44 "core" > +2 ."CSpush"CS.reconfigure :fast +3 "collection"'#d @b +2 ."CSpush"CS.seek 0ml +2 "collection"'z'] +99 "core" ' +2 .tSSV.dial :spit,avoiding: :exhaust +2 "sampler"){ +129 "core" +2 .tSS.reconfigure :exhale +2 "sampler")#.0X +269 "core" ' +2 ."connect"SSV.dial CBV,avoiding: :exhaust +3 .tCBV.dial SSV +2 "sampler")w  +2 "collection"'x @ +7 "core" A +122  +103 .tSSV.dial :spit,avoiding: :exhaust +2 "sampler") +129 "core"  +2 .tSS.reconfigure :default +2 "sampler")#.0X +253 "core" ' +3 ."connect"SSV.dial CBV,avoiding: :exhaust +3 .tCBV.dial SSV +2 "sampler")*  +2 "collection"') @ +8 "core" @ +123  +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'  +131 "core" + ."CSpush"CSV.dial CTV +4 .tSS.seek 10ml +2 "collection"'  +2 "sampler")$' +6 "core"  +102 ."CSpush"CSV.dial :air +2 "collection"'- @ +42 "core" ? + ."CSpush"CS.reconfigure :fast +3 "collection"'#d @b +2 ."CSpush"CS.seek 0ml +2 "collection"'.'] +101 "core" ' + .tSSV.dial :spit,avoiding: :exhaust +2 "sampler")/ +131 "core"  +2 .tSS.reconfigure :exhale +7 "sampler")#.0X +263 "core" ' +3 ."connect"SSV.dial CBV,avoiding: :exhaust +2 .tCBV.dial SSV +3 "sampler")2  +131 "core"  +102 .tSSV.dial :spit,avoiding: :exhaust +2 "sampler")3 +129 "core"  +2 .tSS.reconfigure :default +2 "sampler")#.0X CC.unloadPuck 2, sh1 +2 !o:ArgumentError: mesg"(wrong number of arguments (0 for 2):bt[ "(ESP):18:in `sh1'"(ESP):18:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +806 #-> CC.unloadPuck 1, :sh1 +2 "collection"'5& +61 "core" &WbF\ F +2 !to:Puck::Warning: mesg"4Unloading Puck.from 2, :sh1 to Storage Carousel:bt[\ "6/home/esp/esp2/utils/puckmoves.rb:420:in `unload'":/home/esp/esp2/utils/puckmoves.rb:970:in `unloadPuck'"(ESP):19:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 #Storing sh1 puck in Collection Clamp to tube 1 + "manipulator"&6% +4 "core" % g%  G +2 "storage"(7% +3 "core" %g I I  +2 "storage"(8. +3 "core" .( v + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 1 +2 "storage"(9( +184 "core" ( + .tSC.configure :limp +3 "storage"($(\ 1b +2 (:& +3 "core" &   D +2 "manipulator"&;& +3 "core" &  !q +2 "manipulator"&% +4 "core" % g%  G + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&>( +158 "core" ( + "manipulator"&=& +4 "core" & P ` +2 "storage"(@& +3 "core" & S L ;  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 800 counts +2 "manipulator"&<'Ҳ +98 "core" ' +2 "storage"(B& +4 "core" & K I 3  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(C' +274 "core" ' +2 "storage"(D- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek :place +2 "storage"(E' +39 "core" ' +2 "manipulator"&?& +4 "core" &  ` +2 "manipulator"&"% +4 "core" %ұ v + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&A' ] +102 "core" ' + .tElbow.seek CC +2 "manipulator"&J( +156 "core" ( +2 "manipulator"&H& +4 "core" &  & + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &G& +3 "core" &  & +2 .tForearm.seek CC +49 "manipulator"&K'ш +98 "core" ' +2 .tHand.close + "manipulator"&%/ +60 "core" / +2 .tCC.seek :open + "collection"'O( +398 "core" ( +2 "storage"(M& +4 "core" & o q  + "storage"('& +4 "core" & o j 9  + "manipulator"&!& +4 "core" & $ # +2 "manipulator"&P% +3 "core" % ї  +2 .tForearm.seek :retract +2 "manipulator"&S' ] +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&Q( +159 "core" ( +2 "manipulator"&V& +4 "core" & # k + "storage"(W& +4 "core" & x x  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 1 +2 "manipulator"&T'ϒ +108 "core" ' +2 .tElbow.hold +2 "manipulator"&Y, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&I1 +56 "core" 1 +2 "manipulator"&L% +4 "core" % Ϡ` +2 "storage"(\\& +3 "core" & 0 -  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 1 + 314 counts +2 "manipulator"&N' +29 "core" ' + "manipulator"&& +4 "core" &  k +2 "storage"(]& +4 "core" & y g +  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 800 counts + "manipulator"&`'Ҳ +21 "core" ' +2 "storage"(R% +4 "core" % a c K  +2 ."downElevator"SE.seek :down +4 "storage"(a'g +100 (X% +2 "core" %CF r q U[ +2 "manipulator"&Z% +4 "core" %Ҽ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&d' ] +87 "core" ' +69 ' + ."downElevator"SE.stop + "storage"(5 +889 #t-> access 1 +3 "storage"(e% +3 "core" %\\ d c c  +2 "manipulator"&h% +4 "core" % b"  @ +2 "manipulator"&b& +3 "core" & , k +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 5 +2 "storage"(i(; +681 "core" ( +2 .tSC.configure :limp +2 "storage"($(\ 1b +3 (j& +2 "core" &; q l   +6043 #t-> CC.loadPuck :sh1, 1 +2 #Loading sh1 puck from tube 1 into Collection Clamp +2 "collection"'_& +3 "core" &b\ +2 "manipulator"&U% +4 "core" % b"  @ +2 "storage"(% +3 "core" %] f p 2  +2 "storage"(g. +2 "core" .(; +2 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 1 +2 "storage"(m( +666 "core" ( + .tSC.configure :limp +3 "storage"($(\ 1b +2 (+& +3 "core" & H L a  + "manipulator"&n& +4 "core" & \ k +2 .tElbow.seek 1 +2 "manipulator"&o( +3 "core" ( +2 "manipulator"&p& +4 "core" & B k +2 "storage"(l& +3 "core" & e c {  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 800 counts +2 "manipulator"&u'Ҳ +90 "core" ' + "storage"(k& +4 "core" & h  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(s' +297 "core" ' + "storage"(t- +4 "core" -'^ + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (v& +3 "core" & l l  + "manipulator"&y& +4 "core" & k +2 .tElbow.seek 1 +2 "manipulator"&r( +3 "core" ( +2 "manipulator"&{& +3 "core" & O k +2 "storage"(^& +3 "core" & u l T  +2 .tForearm.seek 1 + 300 counts +2 "manipulator"&q'о +18 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&z/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&x& + "storage"(|'g +9 "core" & ) k + "manipulator"&w% +4 "core" % и +2 .tForearm.seek :retract +2 "manipulator"&' ] +114 "core" ' + .tElbow.seek CC +2 "manipulator"&}( +142 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +34 "core" ( +2 "manipulator"&& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'ш +103 "core" ' +3 "manipulator"&& +4 "core" & g  + "manipulator"&~% +5 "core" %} 9 } +3 "collection"' & +8 "core" &c\ +6 "collection"'\ & +10 "core" &R\ +5 .tCC.seek :closed + "collection"'(W8 +3 "core" &c\ +5 &f\ 9 +9 &$Hyc\ 1 +10 &Rrd\ E +9 &`c\ N +9 &Ya\ M +10 &Yb\ M +9 &BYa\ L +9 &[c\ M +10 &Yb\ M +9 &!Z_\ M +10 &#IUb\ M +9 &%\ Y_\ M +9 &&Z\\\ M +10 &(YW\ M +9 &*QYZ\ M +9 &,XW\ M +10 &-YX\ M +9 &/Y]\ M +10 &1X[U\ M +9 &3XV\ M +9 &4\\X\ M +10 &6ZV\ M +9 &8`ZV\ M +9 &:#YU\ M +10 &;\\W\ M +9 &=XV\ L +10 &?iYY\ M +9 &A,YV\ L +9 &BZW\ M +10 &D[V\ M +9 &FmbW\ N +9 &H-gV\ O +10 &IrV\ P +9 &KZ\ Q +10 &MaW\ U +9 &O V\ V +9 &P U\ V +10 &R\ U\ W +9 &Tb\ N\ W +9 &VL\ > +10 &V/Q\ $l +9 &WVU\ D +2 ( +2 "collection"'\ & +3 #tCollection Clamp onSpring/offSpring for 6/26 samples, on/off torque 1.83 + .Hand.open +2 "manipulator"&1 +54 "core" 1 +2 "manipulator"& % +4 "core" % } r } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' ] +115 "core" ' +645 #t-> Sampler.unassign :PumpPrimeDelay +2 !o:NameError: mesg":uninitialized constant ShallowSampler::PumpPrimeDelay: name:PumpPrimeDelay:bt[\ "5/home/esp/esp2/lib/constant.rb:61:in `const_get'"4/home/esp/esp2/lib/constant.rb:61:in `unassign'"(ESP):22:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2835 #-> $hab[:sampler].sample 200 +2 #Sampling 200.0ml +2 .Intake.select :close + .Exhaust.select :close +2 .SS.hold + "sampler")+ +2 "core" + +2 "sampler")% +4 "core" %ޝ b\  + "collection"'& +4 "core" &WU 8\ D +3 "Can"=\ >u + #tCalibrating pressure sensors +2 .CTV.dial :air + .SSV.dial :spit,avoiding: :exhaust +2 "sampler")  +15 "core" +2 .tSS.reconfigure :fast +2 "sampler")#.0X +287 "core" ' + ."connect"SSV.dial CBV +3 .tCBV.dial SSV +3 "sampler")  +127 "core"  +2 .tdelay 3.8 seconds +382 "collection"'% +3 "core" %\\ <\ +2 "sampler")% +3 "core" %5B ^\ +2 #tSensor limits: Intake max 144.5psia; Outlet max 124.8psia + .SSV.dial :spit +2 "sampler") +128 "core"  +2 .tSS.seek 0ml +2 "sampler")'ޚ +248 "core" ' + .tSSV.dial CBV +2 "sampler")  +128 "core"  +2 .tCTV.dial :intake +2 "collection"'  +71 "core"  +2 ."connect"SSV.dial CBV +3 .tCBV.dial SSV +3 "sampler")  +5 "core"  + #tAllowing 130s for 25.0ml of remaining 200.0ml +2 .Intake.select :open + "sampler") +210 "collection"' % +3 "core" %\\E\ + #tIntake @14.2psia, vacuum from 8.7 to 11.7psi +2 .SS.reconfigure :inhaling 2.16ml/s +3 "sampler")#.0X\ +2 "sampler")B% +3 "core" %@ U\  +101 "collection"'[% +2 "core" %\\)\ +2 "sampler")f% +4 "core" %< \\\  +113 "collection"'D% +3 "core" %\\\ + "sampler")?% +4 "core" %5 R\  +128 "collection"'"% +2 "core" %\\~\ +2 "sampler")C% +4 "core" %4 `\  +144 "collection"'H% +3 "core" %\\\ + "sampler")G% +4 "core" %5 d\  +163 "collection"'<% +2 "core" %\\m\ +2 "sampler")>% +4 "core" % S\ ? + "sampler")%% +4 "core" % `\ ? + .tIntake.select :close +2 "sampler")0 +8 )A% +3 "core" % b\ ? + .tSSV.dial :exhaust +2 "sampler")c  +72 "core"  + .tExhaust.select :open +2 "sampler")@ +9 .tSS.seek 0ml +2 "sampler")M'ޚ +998 "core" ' + .tExhaust.select :close +2 "sampler") +9 ."connect"SSV.dial CBV +4 .tCBV.dial SSV + "sampler")'  +74 "core" + #tAllowing 130s for 25.0ml of remaining 175.0ml +2 .Intake.select :open + "sampler") +210 "collection"'!% +2 "core" %\\m\ +2 #tIntake @14.3psia, vacuum from 8.8 to 11.8psi +2 .SS.reconfigure :inhaling 2.16ml/s +2 "sampler")#.0X% +2 "core" %\\\ +2 "sampler")%% +4 "core" %P _\  +69 "collection"'A% +3 "core" %\\ \ +2 "sampler")c% +4 "core" %Q b\  +78 "collection"'#% +3 "core" %\\\ + "sampler")'% +4 "core" %P S\  +88 "collection"'!% +3 "core" %\\ \ +2 "sampler")M% +3 "core" %Q Q\  +101 "collection"'W% +2 "core" %\\\ +2 "sampler")K% +4 "core" %P `\  +113 "collection"'J% +3 "core" %\\\ + "sampler")I% +4 "core" %P `\  +128 "collection"'L% +3 "core" %\\\ +2 "sampler")\\% +4 "core" %P U\  +144 "collection"'% +3 "core" %\\\ + "sampler")]% +4 "core" % T\ @ +163 "collection"'R% +2 "core" %\\\ +2 "sampler")S% +4 "core" % a\ @ + "sampler")X% +4 "core" % R\ @ + .tIntake.select :close + "sampler")0 +10 )Z% +2 "core" % T\ @ +2 .tSSV.dial :exhaust +2 "sampler")Q  +72 "core"  + .tExhaust.select :open +2 "sampler")@ +10 .tSS.seek 0ml + "sampler")T'ޚ +1038 "core" ' + .tExhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV +3 .tCBV.dial SSV +3 "sampler")N  +74 "core" + #tAllowing 130s for 25.0ml of remaining 100.0ml +2 .Intake.select :open + "sampler") +156 .tSS.reconfigure :default +2 "sampler")#.0X2$ +2369 #t-> $hab[:sampler].puckEvac +2 #Evacuating Puck (bubblePt=24psi, evacVolume=10ml, delay 15 seconds) + .Intake.select :close +2 "collection"'`& +3 "core" &WT\ Z\ D +2 ."airStroke"CSV.dial :waste +3 "sampler")a% +2 "collection"'e +6 "core" %ޖ  T\ 4 +2 ."connect"SSV.dial CBV,avoiding: :exhaust +4 .tCBV.dial SSV + "sampler")h  +5 "core" +2 .tCTV.dial :air +2 "collection"'b  +48 "core" +2 ."airStroke"CS.seek 0ml +2 "collection"'9'] +4 "core" ' + ."airStroke"CSV.dial :air +2 "collection"'j @ +16 "core"  + .tdelay 15 seconds +56 "core" A +2 ."airStroke"CS.seek 10ml +3 "collection"'_' +1441 .tSSV.dial :spit,avoiding: :exhaust +2 "sampler")U +127 "core" +3 ."prepCSV"CTV.dial CSV,avoiding: :intake +4 .tSS.reconfigure :exhale +2 "collection"'  +4 "sampler")#.0X +248 "core" ' + ."connect"SSV.dial CBV,avoiding: :exhaust +4 .tCBV.dial SSV +2 "sampler")  +3 "collection"'q @ +5 "core" A +124  + .tCTV.dial :air,avoiding: :intake +2 "collection"'  +130 "core" +3 ."CSpush"CSV.dial CTV +3 .tSS.seek 10ml +4 "collection"'r  +2 "sampler")' +5 "core"  +102 ."CSpush"CSV.dial :air +2 "collection"'~ @ +41 "core" > +2 ."CSpush"CS.reconfigure :fast +3 "collection"'#d @b +2 ."CSpush"CS.seek 0ml +2 "collection"' '] +130 "core" ' +2 .tSSV.dial :spit,avoiding: :exhaust +2 "sampler")| +129 "core" +2 .tSS.reconfigure :exhale +2 "sampler")#.0X +266 "core" ' +2 ."connect"SSV.dial CBV,avoiding: :exhaust +3 .tCBV.dial SSV +2 "sampler")  +3 "collection"' @ +6 "core" A +122  +102 .tSSV.dial :spit,avoiding: :exhaust +2 "sampler")\ +128 "core"  +2 .tSS.reconfigure :default +3 "sampler")#.0X +269 "core" ' +2 ."connect"SSV.dial CBV,avoiding: :exhaust +2 .tCBV.dial SSV +4 "sampler")3  +2 "collection"'1 @ +6 "core" @ +121  +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'2  +131 "core" + ."CSpush"CSV.dial CTV +5 .tSS.seek 10ml + "collection"'5  +2 "sampler")6' +16 "core" ~ +102 ."CSpush"CSV.dial :air +2 "collection"'7 @ +39 "core" ? +2 ."CSpush"CS.reconfigure :fast +3 "collection"'#d @b +2 ."CSpush"CS.seek 0ml +2 "collection"'8'] +90 "core" ' + .tSSV.dial :spit,avoiding: :exhaust +2 "sampler"): +130 "core"  +2 .tSS.reconfigure :exhale +2 "sampler")#.0X +271 "core" ' +3 ."connect"SSV.dial CBV,avoiding: :exhaust +3 .tCBV.dial SSV +2 "sampler")F  +131 "core"  +103 .tSSV.dial :spit,avoiding: :exhaust +2 "sampler")= +128 "core"  +2 .tSS.reconfigure :default +3 "sampler")#.0X CC.unloadPuck 1, :sh1 +2 "collection"'B& +3 "core" &WT\ D +2 !to:Puck::Warning: mesg"4Unloading Puck.from 1, :sh1 to Storage Carousel:bt[\ "6/home/esp/esp2/utils/puckmoves.rb:420:in `unload'":/home/esp/esp2/utils/puckmoves.rb:970:in `unloadPuck'"(ESP):25:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 #Storing sh1 puck in Collection Clamp to tube 1 + "manipulator"&[% +4 "core" % $ M I +2 "storage"(f% +3 "core" %\\ K M   +2 "storage"(D. +3 "core" .( + "storage"(?& +4 "core" & I I $  +2 "storage"("& +3 "manipulator"&& +5 "core" & S I K  + & L  +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek CC +2 "storage"(#]9K-0-\ b +2 "manipulator"&C( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(H' +2 "core" ( +2 "manipulator"&G& +3 "core" &  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &<& +3 "core" &   +2 .tForearm.seek CC +2 "manipulator"&>'ш +89 "core" ' +2 .tHand.close + "manipulator"&%/ +61 "core" / +2 .tCC.seek :open +2 "collection"'A( +97 "core" ' + "storage"(c- +4 "core" -' + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(#' +39 "core" ' +248 ( + "storage"('& +4 "core" & z y  +2 "storage"(!& +3 "core" & m v a  +2 "manipulator"&M& +3 "core" &  +2 "manipulator"&W% +5 "core" % ќ +2 .tForearm.seek :retract + "manipulator"&K' ] +117 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&J( +150 "core" ( + "manipulator"&I& +4 "core" &  i +2 "storage"(L& +4 "core" & o p  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 1 +2 "manipulator"&\\'ϒ +110 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&]1 +54 "core" 1 +3 "manipulator"&R% +4 "core" % ϔh  +2 "storage"(S& +3 "core" & 1 1 z  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 1 + 302 counts +2 "manipulator"&X' +22 "core" ' + "manipulator"&Z& +4 "core" & i +2 "storage"(Q& +4 "core" & x x R  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 800 counts +2 "manipulator"&4'Ҳ +26 "core" ' +2 "storage"(N% +4 "core" % v z  +2 ."downElevator"SE.seek :down +3 "storage"(P'g +99 (T% +3 "core" % F r r 6 TZ + "manipulator"&`% +4 "core" %Ҹ W  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a' ] +94 "core" ' +59 ' +2 ."downElevator"SE.stop + "storage"(5 +1497 #t-> SSV.air +2 .SSV.dial :air +2 "sampler")h +4 "core"  +492 #t-> SS.home.to :home +3 .SS.reconfigure :default +3 "sampler")#.0X exit +8 #mEXIT @1668815332.63PST @1674082232.26PST = =mMAIN_scheduler =tMAIN @PST1674082234.19 #"core_reset"Sent BREAK +2 #t@5765 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +9 #ESP2 v3.42 I2C Gateway v3.20 for core bus +249 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +408 "Can"\ rw + \ rw + #tPolling Can every 10:00 +5 #Cleanly exited at 15:48:52PST18-Nov-22 +553 #-> ESP.configure +5 #Powering core bus +579 .Gate.power :raw,:ON +2 "sampler") +48 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" %\ +2 .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %&\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %57\ +2 .tSS.configure :default +2 "sampler")#.0X Power.sampler :on + .Gate.power :sampler,:ON +690 #-> Power.sampler :off + .Gate.power :sampler,:OFF +12683 #-> Power.sampler :on + .Gate.power :sampler,:ON +166 #-> Power.sampler :off + .Gate.power :sampler,:OFF +6395 #-> exit +6 #mEXIT @1674083065.35PST @1674083128.78PST = =tMAIN =mMAIN_scheduler @PST1674083130.63 #"core_reset"Sent BREAK +2 #t@3134 sendCRC with ifg=0x20, ie=0x7F + #@4942 sendCRC with ifg=0x08, ie=0x5F + #@47116 sendCRC with ifg=0x20, ie=0x7F #@47564 sendCRC with ifg=0x20, ie=0x7F + #@48870 sendCRC with ifg=0x20, ie=0x7F + #@49086 sendCRC with ifg=0x20, ie=0x7F #@50222 sendCRC with ifg=0x20, ie=0x7F + #@51570 sendCRC with ifg=0x08, ie=0x5F #@11632 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +9 #ESP2 v3.42 I2C Gateway v3.20 for core bus +243 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +400 "Can"\ "' + \ "' + #tPolling Can every 10:00 +3 #Cleanly exited at 15:04:25PST18-Jan-23 +500 #-> ESP.configure +154 "sampler") +2 ) +2 "core"  +2 "collection"' + ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ + ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +3 "sampler")&\ +3 "collection"'% +2 "core" % Z\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %76 o\ +2 .tSS.configure :default +2 "sampler")#.0X Power.sampler :on + .Gate.power :sampler,:ON +275 #-> Power.sampler :off + .Gate.power :sampler,:OFF +15577 #-> Flow.enablePump + .Flow.enablePump :primary +2 ."flow"Gate.power :sampler,:ON +1094 #t-> Flow.disablePump +2 .Flow.disablePump :primary +86 #"flow"0.0L/min +1007 #0.0L/min +1006 #0.0L/min +1006 #0.0L/min +1007 #0.0L/min +1006 #0.0L/min +1007 #0.0L/min +1006 #0.0L/min +1007 #0.0L/min +1007 #0.0L/min +1006 #0.0L/min +1007 #0.0L/min +669 #t-> Flow.stop +2 .Flow.disablePump :primary + ."flow"Gate.power :sampler,:OFF +25725 "Can"\ !P +60002 \ !u +46178 #t-> exit +7 #mEXIT @1674084798.97PST @1674162348.13PST = =tMAIN =mMAIN_scheduler @PST1674162350.07 #"core_reset"Sent BREAK +2 #t@23085 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.42 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +246 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +418 "Can"G\ V1_ + G\ V1_/ + #tPolling Can every 10:00 +3 #Cleanly exited at 15:33:18PST18-Jan-23 +475 #-> ESP.configure +3 #Powering core bus +557 .Gate.power :raw,:ON +2 "sampler") +42 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% + % +3 "core"  +4 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %\ +2 .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %44\ + .tSS.configure :default +3 "sampler")#.0X Flow.start +2 ."flow"Gate.power :sampler,:ON +1184 #0.0L/min +355 #t-> Flow.enablePump 1 +2 .Flow.enablePump :primary + .Flow.setPWM 100%,:primary +648 #"flow"0.0L/min +1006 #0.0L/min +1007 #0.0L/min +1007 #0.0L/min +25 #t-> Flow.disablePump +2 .Flow.disablePump :primary +979 #"flow"0.0L/min +830 #t-> Flow.stop +2 .Flow.disablePump :primary + ."flow"Gate.power :sampler,:OFF +23105 #t-> exit +7 #mEXIT @1674162691.82PST @1675971871.03PST = =tMAIN =mMAIN_scheduler @PST1675971872.93 #"core_reset"Sent BREAK + #t@41502 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.42 I2C Gateway v3.20 +209 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +242 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +406 "Can"q\ >#] + q\ >#]- + #tPolling Can every 10:00 +3 #Cleanly exited at 13:11:31PST19-Jan-23 +929 #-> ESP.ready? +383 #-> ESP.ready! +3 #Powering core bus +540 .Gate.power :raw,:ON +2 "sampler") +38 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% + % +3 "core"  +5 "collection"' 9\ + ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ + "collection"'% +4 "core" %mj\ + .tCS.configure :default +3 "collection"'#P d@b +3 "processing"%% +2 "core" %+\ +2 .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %53\ + .tSS.configure :default +3 "sampler")#.0X% +4 "core" % W X  +2 "manipulator"&?& +3 "core" &  +2 "storage"(@& +4 "core" &[/ _ ^ , % + "storage"(A% +4 "core" %i Z Z   + "collection"'B9 +4 "core" 9L] + "processing"%C9 +3 "core" 9gx +4275 #t-> access 1 +2 "storage"(D% +4 "core" %i ] \\ @  + "manipulator"&E% +4 "core" % W ~  +2 "manipulator"&F& +4 "core" & n  + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 5 +2 "storage"(G(; +359 "core" ( + .tSC.configure :limp +3 "storage"($(\ 1b +2 (H& +3 "core" &; D : l  +3244 #t-> access 2 +3 "storage"(I% +3 "core" %i c ] $  +2 "manipulator"&J% +4 "core" % W  +2 "manipulator"&K& +3 "core" &  +2 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 6 +2 "storage"(L(Kq +200 "core" ( +2 .tSC.configure :limp +2 "storage"($(\ 1b +3 (M& +3 "core" &Ko  Z " +3760 #t-> ESP.ready! +2 "collection"'N% +3 "processing"%O% +3 "core" %_ph\ +2 "manipulator"&P% +7 "sampler")Q% +6 "core" %ٶ+\ +2 % W  + %ޞ73 \  +2 "manipulator"&R& +4 "core" & r  + "storage"(S& +3 "core" &Ko \\ Z " +2 "storage"(T% +3 "core" %o \\ ]  +2 "collection"'U& +3 "core" &tpi\  +2 "processing"%V& +3 "core" &u \  +3 "collection"'W +3 "core" @ + "processing"%X +3 "core" U +2 "processing"%Y +3 "core" @ + "processing"%Z +3 "core"  +2 "collection"'[% +4 "core" %_qh\ + "processing"%\\% +4 "core" %ٶ+\ +2 "sampler")]% +46 "core" %ޞ41 z\  + "collection"'^& +4 "core" &tpi\  +2 "processing"%_& +4 "core" &u \  + "manipulator"&`% +4 "core" % W  +2 "manipulator"&a& +4 "core" &  +2 "storage"(b& +3 "core" &Ko [ Z " +2 "storage"(c% +4 "core" %o \\ [  +2 "collection"'d9 +3 "core" 9O] + "processing"%e9 +3 "core" 9kz +2427 #t-> SE.coast + .SE.coast + "storage"(5 +3 (f% +3 "core" %o c ]  +3012 #t-> SE.home.to :home +2 .SE.reconfigure :default +2 "storage"(#K-0-\ b +3 .tSE.home.seek :home + "storage"(g' +53 "core" ' + "storage"(h% +4 "core" % ? B S  +1478 #t-> ESP.ready! +2 "collection"'i% +3 "processing"%j% +4 "core" %_pi\ +2 "manipulator"&k% +2 "sampler")l% +10 "core" %ٶ*\ + % W u  + %ޞ43 y\  +2 "manipulator"&m& +4 "core" &  +2 "storage"(n& +4 "core" &Ko , ' $ " + "storage"(o% +3 "core" % ( '  +2 "collection"'p& +3 "core" &toh\  +2 "processing"%q& +3 "core" &u+\  +3 "collection"'r +3 "core" @ +2 "processing"%s +2 "core" U +2 "processing"%t +3 "core" @ +2 "processing"%u +3 "core"  +2 "collection"'v% +4 "core" %_nh\ + "processing"%w% +4 "core" %ٶ+\ +2 "sampler")x% +4 "core" %ޞ63 s\  + "collection"'y& +4 "core" &toj\  +2 "processing"%z& +3 "core" &u\  +2 "manipulator"&{% +3 "core" % W ~  +2 "manipulator"&|& +4 "core" & n  + "storage"(}& +4 "core" &Ko 5 H  " +2 "storage"(~% +4 "core" % + 6   + "collection"'9 +4 "core" 9P_ + "processing"%9 +3 "core" 9k{ +3643 #t-> exit +6 #mEXIT @1675972163.66PST @1675972310.04PST = =mMAIN_scheduler =tMAIN @PST1675972312.06 #"core_reset"Sent BREAK +2 #t@4844 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.42 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +257 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +427 "Can"g\ ,J + g\ ,J& #tPolling Can every 10:00 +3 #Cleanly exited at 11:49:23PST09-Feb-23 +574 #-> ESP.ready? +404 #-> ESP.ready! +3 #Powering core bus +570 .Gate.power :raw,:ON + "sampler") +60 ) + "core"  +2 "collection"' +2 ' +4 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +3 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %ph\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %!\ +2 .tPS.configure :default +3 "processing"%#A d`xb +5 "sampler")% +3 "core" %52\ +2 .tSS.configure :default +2 "sampler")#.0X exit +7 #mEXIT @1675972379.33PST @1676050468.99PST = =tMAIN =mMAIN_scheduler @PST1676050470.78 #"core_reset"Sent BREAK +2 #t@38319 receive with ifg=0x10, ie=0xFD + #@38958 receive with ifg=0x10, ie=0xFD #@39616 receive with ifg=0x10, ie=0xFD + #@40253 receive with ifg=0x10, ie=0xFD + #@40901 receive with ifg=0x10, ie=0xFD #@41549 receive with ifg=0x10, ie=0xFD + #@42196 receive with ifg=0x10, ie=0xFD #@42527 receive with ifg=0x80, ie=0xFD + #@35717 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +9 #ESP2 v3.42 I2C Gateway v3.20 for core bus +235 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +384 "Can"\ 9JLk + \ 9JLk( #tPolling Can every 10:00 +3 #Cleanly exited at 11:52:59PST09-Feb-23 +953 #-> ESP.ready! +155 "sampler") + ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% + % +4 "core"  +4 "collection"' 9\ +2 ' 0\ + ' -\ +4 "processing"% 9\ +3 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" %a~v\ +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +2 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %ٶ \ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %ޠ75 l\ + .tSS.configure :default +3 "sampler")#.0X access 1 +3 "storage"(3% +3 "core" %_    + "manipulator"&4% +4 "core" % Y Q  +2 "manipulator"&5& +3 "core" & P Z +2 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 5 +2 "storage"(6(; +359 "core" ( + .tSC.configure :limp +3 "storage"($(\ 1b +2 (7& +2 "core" &; ) 3 s +3250 #t-> require 'shuffle' +857 #-> shuffle 1 +2 #Shuffling pucks in tube 1 of [1] +2 #Loading generic puck from tube 1 into Collection Clamp + "collection"'8& +4 "core" &t}x\  + .tHand.open +2 "manipulator"&91 +59 "core" 1 +2 "manipulator"&:% +4 "core" % Y  + "storage"(;% +4 "core" %_ X W  + "storage"(<. +3 "core" .(; +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 1 + "storage"(=( +661 "core" ( + .tSC.configure :limp +3 "storage"($(\ 1b +2 (>& +3 "core" &   \ +2 "manipulator"&?& +3 "core" & J Z +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 +2 "manipulator"&@( +34 "core" ( + "manipulator"&A& +4 "core" &@ \\ +2 "storage"(B& +3 "core" & Z W  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 800 counts +2 "manipulator"&C'Ҳ +101 "core" ' + "storage"(D& +5 "core" & [ Y  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(E' +289 "core" ' +2 "storage"(F- +3 "core" -'7 +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (G& +3 "core" & 0 3  +2 "manipulator"&H& +4 "core" &@ +3 .tElbow.seek 1 +2 "manipulator"&I( +18 "core" ( +2 "manipulator"&J& +4 "core" & V _ + "storage"(K& +4 "core" & K M I  +2 .tForearm.seek 1 + 300 counts +2 "manipulator"&L'о +31 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&M/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&N& +4 "storage"(O'g +4 "core" & _ + "manipulator"&P% +4 "core" % Џ C +2 .tForearm.seek :retract +2 "manipulator"&Q' ] +111 "core" ' + .tElbow.seek CC +2 "manipulator"&R( +132 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +27 "core" ( +2 "manipulator"&S& +4 "core" & W ' + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &T& +3 "core" & 6 ' +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&U'ш +100 "core" ' + "manipulator"&V& +4 "core" & W & +2 "manipulator"&W% +4 "core" %h   +2 "collection"'X& +4 "core" &t|w\  +3 "collection"'Y& +4 "core" &t|x\  +2 .tCC.seek :closed +2 "collection"'Z(W8 +4 "core" &t}w\  +7 &G}w\ %i +9 &ZW}v\ 9 +10 &|y\ M +9 &re|u\ O +10 &5a|v\ O +9 &`|v\ N +9 &`|v\ O +10 &{c|w\ O +9 & =f}v\ O +10 &!e|w\ O +9 &#`|x\ O +9 &%dzv\ N +10 &'Eg|u\ O +9 &)c|v\ O +9 &*b}w\ N +10 &,b}v\ N +9 &.Nd}w\ N +9 &0g}w\ O +10 &1c|x\ O +9 &3_}w\ N +10 &5Vd}v\ N +9 &7`|v\ N +9 &8d}w\ N +10 &:b}u\ O +9 &<_^|v\ N +9 &>c}u\ O +10 &?_{u\ N +9 &Ae}t\ N +10 &Cf`}u\ N +9 &E'`{w\ O +9 &Fg|v\ O +10 &Hk}y\ O +9 &Jjr{w\ P +9 &L(}v\ Q +10 &M}w\ T +9 &O~w\ U +10 &Q]t\ W +9 &S~v\ W +49 &T~x\ W + &Vz|v\ + + &W}v\ G ( + &WI}w\ = + &WLy\ = +3 "collection"'Y& +3 #tCollection Clamp onSpring/offSpring for 7/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&[1 +3 "core" &WKy\ = +50 1 +2 "manipulator"&\\% +4 "core" % h  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&]' ] +99 "core" ' +2 #tLoading generic puck from tube 1 into Processing Clamp + "processing"%^& +4 "core" &m\  +2 "manipulator"&_% +4 "core" % P   +2 "storage"(`% +3 "core" %p  i  +2 "storage"(a. +3 "core" .( + "storage"(b& +4 "core" &   ? + "storage"(c& +4 "core" & 8 +2 "manipulator"&d& +4 "core" & % + "manipulator"&e% +4 "core" % P   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&f( +160 "core" ( +2 "manipulator"&g& +4 "core" & V + "storage"(h& +4 "core" & 1 + C +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 800 counts + "manipulator"&i'Ҳ +97 "core" ' + "storage"(j& +4 "core" & 3 4  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(k' +301 "core" ' + "storage"(l- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (m& +3 "core" &   y +2 "manipulator"&n& +3 "core" & V +2 .tElbow.seek 1 +2 "manipulator"&o( +3 "core" ( + "manipulator"&p& +4 "core" & ; V +2 "storage"(q& +3 "core" & 3 2 \\ +2 .tForearm.seek 1 + 300 counts +2 "manipulator"&r'о +28 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&s/ +57 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&t& +2 "storage"(u'g +7 "core" & A V +2 "manipulator"&v% +3 "core" % ж M , +2 .tForearm.seek :retract +2 "manipulator"&w' ] +96 "core" ' +2 .tElbow.seek PC + "manipulator"&x( +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( + "manipulator"&y& +5 "core" & W / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &z& +3 "core" & a / +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&{'E +97 "core" ' +2 "manipulator"&|& +4 "core" & / + "manipulator"&}% +4 "core" %0 ^ 5 +2 "processing"%~& +3 "core" &m\  +3 "processing"%& +5 "core" &m\  +2 .tPC.seek :closed + "processing"%(V +5 "core" &m'\  +8 &6'\ +} +9 &f'\ @ +9 &D~(\ O +10 & `&\ N +9 &c&\ N +10 &g'\ N +9 &Oa&\ N +9 &c&\ N +10 & b'\ N +9 &"f(\ N +9 &$Vf&\ N +10 &&g'\ N +9 &'g'\ N +10 &)g(\ N +9 &+^e&\ N +9 &-!e'\ N +10 &.e'\ M +9 &0e&\ N +9 &2he&\ M +10 &4(f(\ N +9 &5h&\ N +10 &7g'\ N +9 &9ng'\ N +9 &;1d&\ N +10 &<e&\ M +9 &>d'\ N +9 &@wh'\ N +10 &B8g&\ N +9 &Ck'\ O +10 &Eu'\ P +9 &Gs&\ R +9 &I1'\ S +10 &J'\ S +9 &L'\ S +9 &Nu&\ T +10 &P5'\ T +9 &Q'\ T +10 &S'\ T +9 &Ur'\ ; +9 &VS5'\ T +10 &Vz!&\ - +2 ( + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/24 samples, on/off torque 1.47 + .Hand.open + "manipulator"&1 +64 "core" 1 + "manipulator"&% +4 "core" % + : +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' ] +96 "core" ' + "processing"%& +5 "core" &Vz '\ - + #tImaging generic puck in Processing Clamp while storing it to tube 1 + "manipulator"&% +4 "core" % ^  +2 "storage"( % +4 "core" %m   ] + "storage"( . +3 "core" .( +2 "storage"( & +3 "core" &   e \ +2 "storage"(& +4 "core" &   1 \ +2 "manipulator"&& +3 "core" & 5 / +2 "manipulator"&% +4 "core" % ^ O  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&( +243 "core" ( +2 "manipulator"&& +5 "core" & I + "storage"(& +4 "core" &   > \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 800 counts +2 "manipulator"&'Ҳ +107 "core" ' + "storage"(& +4 "core" &   7 +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(' +303 "core" ' + "storage"(- +3 "core" -'b +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & I + "storage"(& +4 "core" &   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 + "manipulator"&'ϒ +36 "core" ' +3 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"( - +2 "core" -'b +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(!' +27 "core" ' +2 "manipulator"&"% +4 "core" %Ϟ 5 T + "storage"(#& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 1 + 312 counts +2 "manipulator"&$' +20 "core" ' +2 "manipulator"&%& +4 "core" & A + "storage"(&& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 800 counts +2 "manipulator"&''Ҳ +18 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate + "storage"(('o +35 "core" ' +2 "manipulator"&)& +4 "core" & A +2 "manipulator"&*% +3 "core" %Ҩ\  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+' ] +85 "core" ' +2 .tElbow.seek PC +2 "manipulator"&,( +248 "core" ( + "manipulator"&-& +4 "core" & { ! +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &.& +2 "core" & I ! +2 .tForearm.seek PC +2 "manipulator"&/'E +91 "core" ' +2 .tHand.close + "manipulator"&0/ +66 "core" / +2 .tPC.seek :open +2 "processing"%1( +394 "core" ( +2 "storage"(2& +4 "core" & 3 3 +2 "manipulator"&3& +3 "core" & j +2 "manipulator"&4% +3 "core" % 3 o +2 .tForearm.seek :retract +2 "manipulator"&5' ] +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 +2 "manipulator"&( +245 "core" ( + "manipulator"&7& +4 "core" & q R + "storage"(8& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 800 counts + "manipulator"&9'Ҳ +97 "core" ' + .tHand.open +2 "manipulator"&:1 +57 "core" 1 + "storage"(;- +4 "core" -'o +2 .tSE.seek 0.82 Pucks below Top Plate +2 "storage"(<'; +32 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.05 Pucks below Top Plate +2 "storage"(6'C +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(>- +3 "core" -'C +2 "storage"(?& +4 "core" &\ Q\ R \ +2 "manipulator"&A& +3 "core" & l R +2 .tElbow.seek 1 +2 "manipulator"&B( +3 "core" ( + "manipulator"&D& +4 "core" & R R +2 "storage"(& +4 "core" &\ S\ S \ +2 .tForearm.seek 1 + 800 counts + "manipulator"&'Ҳ +18 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.66 Pucks below Top Plate +2 "storage"(F' +57 "core" ' + "manipulator"&G& +4 "core" &  R +2 "storage"(& +3 "core" & . " & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 1 + "manipulator"&H'ϒ +36 "core" ' +2 .tElbow.hold +2 "manipulator"&J, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.85 Pucks below Top Plate +2 "storage"(K'U +26 "core" ' +2 "manipulator"&M% +4 "core" %ϗa +2 "storage"(N& +4 "core" &  d  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 305 counts +2 "manipulator"&P' +12 "core" ' + "manipulator"&@& +4 "core" & n Q +2 "storage"(C& +4 "core" & ) / * +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 800 counts +2 "manipulator"&S'Ҳ +26 "core" ' + "storage"(E% +5 "core" %T 3 3 +2 ."downElevator"SE.seek :down +4 "storage"(T'g +99 (L% +4 "core" %W . Wa +2 "manipulator"&V% +4 "core" %ҭ w  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&W' ] +93 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (X& +4 "core" & ( F 5 +2 "collection"'I& +3 "core" &WK|w\ = +2 #tStoring generic puck in Collection Clamp to tube 1 + "manipulator"&O% +4 "core" % Y  +2 "storage"(Q% +4 "core" %p   }  +2 "storage"(\ . +7 "core" .( +3 "storage"([& +9 "core" &   B +2 "storage"(\\& +4 "core" &   e + "manipulator"&^& +4 "core" & Q +2 .tElbow.seek 1 + "manipulator"&_( +4 "core" ( + "manipulator"&`& +4 "core" & Q +2 "storage"(a& +4 "core" &    +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 800 counts +2 "manipulator"&b'Ҳ +106 "core" ' +2 "storage"(c& +4 "core" & 6 5  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Y' +310 "core" ' + "storage"(d- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&e& +3 "core" & \\ Q +2 "storage"(U& +4 "core" & *  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&g'ϒ +36 "core" ' + .tElbow.hold +2 "manipulator"&h, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(j- +3 "core" -' +2 .tSE.seek 1.18 Pucks below Top Plate +2 "storage"(R't +40 "core" ' +11 "manipulator"&]% +3 "core" %ϗe +2 "storage"(l& +4 "core" &  \\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 305 counts + "manipulator"&m' +13 "core" ' + "manipulator"&n& +4 "core" & ) F +2 "storage"(p& +4 "core" & 3 3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 800 counts +2 "manipulator"&q'Ҳ +26 "core" ' +2 .tSE.seek 2.18 Pucks below Top Plate +2 "storage"(s' +33 "core" ' + "manipulator"&t& +5 "core" & C F + "manipulator"&v% +4 "core" %ҥ \\  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&f' ] +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&i( +157 "core" ( +2 "manipulator"&k& +4 "core" & v & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +2 "core" & & +2 .tForearm.seek CC +2 "manipulator"&y'ш +95 "core" ' + .tHand.close + "manipulator"&z/ +63 "core" / +2 .tCC.seek :open +2 "collection"'o( +396 "core" ( +2 "storage"(|& +4 "core" & N L [  + "storage"(}& +4 "core" & 2 4 )  +2 "manipulator"&~& +3 "core" & & +2 "manipulator"&u% +3 "core" % щ D +2 .tForearm.seek :retract +2 "manipulator"&w' ] +110 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"& ( +159 "core" ( + "manipulator"&& +5 "core" & Z + "storage"(& +4 "core" & N T g  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 1 +2 "manipulator"&'ϒ +105 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +58 "core" 1 +3 "manipulator"& % +4 "core" % Ϝv % ' +2 "storage"( & +3 "core" & 4  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 1 + 310 counts +2 "manipulator"&' +22 "core" ' + "manipulator"&& +5 "core" &  Z + "storage"(& +4 "core" & M K Z  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 800 counts +2 "manipulator"&'Ҳ +19 "core" ' +2 "storage"({% +4 "core" % M K X  % +2 ."downElevator"SE.seek :down +4 "storage"('g +99 (% +3 "core" %"; 7 > 7 TX + "manipulator"&x% +4 "core" % s +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' ] +97 "core" ' +42 ' + ."downElevator"SE.stop + "storage"(5 +25410 #t-> access 1 +3 "storage"(% +3 "core" %e \\ \\   + "manipulator"&% +5 "core" % B " + "manipulator"&& +4 "core" & g Z +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 5 +2 "storage"((; +689 "core" ( + .tSC.configure :limp +7 "storage"($(\ 1b +3 ( & +7 "core" &; L L H  +1197 #t-> access 2 +2 "storage"("% +4 "core" %e V W @  + "manipulator"&#% +4 "core" % B  " +2 "manipulator"&%& +3 "core" & Z +2 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 6 +2 "storage"(&(Kq +191 "core" ( +2 .tSC.configure :limp +2 "storage"($(\ 1b +2 ()& +3 "core" &Ko  \\ " +784 #t-> shuffle 2 +3 #Shuffling pucks in tube 2 of [2] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'*& +3 "core" &~u\ +2 "manipulator"&% +4 "core" % B  " +2 "storage"(% +3 "core" %e [ [  +2 "storage"(. +3 "core" .(Kq + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 2 + "storage"(( v +669 "core" ( + .tSC.configure :limp +3 "storage"($(\ 1b +2 ($& +2 "core" & y   | +2 "manipulator"&!& +4 "core" &  Z +2 .tElbow.seek 2 + "manipulator"&'( +18 "core" ( + "manipulator"&-& +4 "core" & u H +2 "storage"(.& +3 "core" & | Y [ &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 800 counts +2 "manipulator"&'m +109 "core" ' + "storage"(0& +4 "core" & } Z [  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(+' +303 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (2& +2 "core" & } 9 H )  +2 "manipulator"&3& +4 "core" & f H +2 .tElbow.seek 2 +2 "manipulator"&4( +3 "core" ( +2 "manipulator"&/& +4 "core" & H + "storage"(7& +4 "core" & } M L 6  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&8'y +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&,/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&:& +2 "storage"(;'g +7 "core" & @ H + "manipulator"&>% +4 "core" % | B = +2 .tForearm.seek :retract +2 "manipulator"&?' ] +105 "core" ' + .tElbow.seek CC +2 "manipulator"&A( +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +10 "core" ( +2 "manipulator"&D& +4 "core" &  % + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  % +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&5'ш +107 "core" ' +3 "manipulator"&G& +4 "core" & % +2 "manipulator"&% +4 "core" %Ѭ +2 "collection"'(& +3 "core" &|y\ +2 "collection"'M& +5 "core" &{x\ +2 .tCC.seek :closed +2 "collection"'N(W8 +4 "core" &|w\  +9 &/}|z \ *y +9 &c}u\ ? +9 &U~|w\ O +10 &e}u\ N +9 &h|w \ N +9 &a|w \ N +10 &^`|x\ N +9 & c|u\ N +10 & h|v\ N +9 &"c~y\ N +9 &$ff}u\ N +10 &&(b~x\ N +9 &'b}v\ N +10 &)c}u\ N +9 &+n`}u\ N +9 &-0d}u\ N +10 &.b{w\ N +9 &0e|w\ N +9 &2ve|t\ N +10 &47czw\ O +9 &5b}t\ N +10 &7`}u\ N +9 &9~b{u\ N +9 &;@_}v\ N +10 &=b|x\ N +9 &>`zw\ N +9 &@a{t\ O +10 &BHc}w\ N +9 &D\ ^}v\ N +9 &Ec~w\ N +10 &Gg|v\ N +9 &IOl|v\ O +10 &Ku|u\ P +9 &L~|u\ Q +9 &N~t\ S +10 &PA~x\ V +9 &R~v\ W +9 &S}w\ V +10 &U}w\ S +9 &V;{}w\ *z +10 &W Z|u\ 6 +5 ( + "collection"'M& +5 #tCollection Clamp onSpring/offSpring for 7/25 samples, on/off torque 1.61 + .Hand.open + "manipulator"&<1 +4 "core" &W.}v\ 6 +54 1 + "manipulator"&@% +4 "core" % Ѭ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&C' ] +91 "core" ' + #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%E& +4 "core" &&\ +2 "manipulator"&% +3 "core" % e\  +2 "storage"(9% +4 "core" %j 3 3 +2 "storage"(6. +2 "core" .( v +2 "storage"(L& +3 "core" & } 3 2 o  +2 "storage"(V& +4 "core" & } * 2  + "manipulator"&& +4 "core" & N $ + "manipulator"&B% +4 "core" % e\  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&F( +164 "core" ( +2 "manipulator"&H& +4 "core" &  + "storage"(P& +4 "core" & } 2 2  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 800 counts +2 "manipulator"&X'm +102 "core" ' + "storage"(I& +4 "core" & } 3 5  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(O' +295 "core" ' + "storage"(Q- +3 "core" -'q +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\ & +3 "core" & }   + "manipulator"&[& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&K( +3 "core" ( +2 "manipulator"&\\& +4 "core" & ^  +2 "storage"(^& +3 "core" & } ' & +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&`'y +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&a/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&S& +2 "storage"(c'g +7 "core" & -  + "manipulator"&T% +4 "core" % j } +2 .tForearm.seek :retract +2 "manipulator"&J' ] +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&W( +166 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +69 "core" ( +2 "manipulator"&d& +4 "core" &  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &e& +3 "core" &  +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&U'E +99 "core" ' + "manipulator"&j& +4 "core" &  +2 "manipulator"&]% +4 "core" %D  + "processing"%l& +4 "core" &&\ +2 "processing"%n& +5 "core" &&\ +2 .tPC.seek :closed +2 "processing"%p(V +4 "core" &&\ +7 & -%\ #a +9 &pV&\ 8 +10 &&\ L +9 &_%\ M +9 &Gb&\ M +10 & e'\ M +9 &e&\ N +9 &d%\ N +10 & Oa%\ M +9 &"e'\ N +10 &#`&\ N +9 &%d&\ M +9 &'Vg'\ N +10 &)f&\ N +9 &*f&\ N +9 &,e%\ N +10 &._c%\ M +9 &0 g%\ N +10 &1b&\ N +9 &3f%\ M +9 &5fe$\ N +10 &7)f%\ M +9 &8e&\ N +9 &:a&\ M +10 &0g%\ N +10 &?d#\ N +9 &Ac&\ N +9 &Cvg&\ N +10 &E4u&\ O +9 &F&\ Q +9 &H$\ R +10 &Jo&\ S +9 &L/&\ S +10 &M%\ S +9 &O$\ T +9 &Qt \ T +10 &S5%\ T +9 &T&\ K +9 &V(L&\ ` +10 &Vp>%\ 4 +5 ( +2 "processing"%n& +4 #tProcessing Clamp onSpring/offSpring for 10/24 samples, on/off torque 1.46 + .Hand.open + "manipulator"&t1 +4 "core" &Vp4 \ 4 +49 1 +2 "manipulator"&v% +4 "core" % ;  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b' ] +105 "core" ' +2 "processing"%_& +4 "core" &Vp3'\ 4 + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&Y% +4 "core" % V j + "storage"(g% +4 "core" %h   T +40 "storage"(m. +13 "core" .( v + "storage"(R& +4 "core" & }   g +2 "storage"(k& +4 "manipulator"&r& +4 "core" & }   + &   +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]9K-0-\ b +2 "manipulator"&q( +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(h' +2 "core" ( +2 "manipulator"&z& +4 "core" &   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &f& +3 "core" & U  +2 .tForearm.seek PC +2 "manipulator"&Z'E +89 "core" ' + .tHand.close + "manipulator"&|/ +68 "core" / +2 .tPC.seek :open +2 "processing"%}( +91 "core" ' + "storage"(~- +4 "core" -' +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(u' +41 "core" ' +245 ( + "storage"(& +5 "core" & } 0 #  + "manipulator"&& +4 "core" &  + "manipulator"&y% +4 "core" % C A +2 .tForearm.seek :retract +2 "manipulator"&i' ] +105 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"& ( +274 "core" ( + "manipulator"& & +5 "core" & A + "storage"( & +4 "core" & } 4 4 9  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 800 counts +2 "manipulator"&'m +109 "core" ' + .tHand.open +2 "manipulator"&1 +53 "core" 1 +2 "storage"({- +4 "core" -' +2 .tSE.seek -0.3 Pucks below Top Plate +2 "storage"(w'g +24 "core" ' +3 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.17 Pucks below Top Plate +2 "storage"('o +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(x- +4 "core" -'o +2 "storage"( & +3 "core" & }\  $\ +2 "manipulator"&& +4 "core" &  A + .tElbow.seek 2 +2 "manipulator"&( +8 "core" ( + "manipulator"&s& +5 "core" & o 8 + "storage"(& +4 "core" & } \  \ +2 .tForearm.seek 2 + 800 counts +2 "manipulator"&'m +19 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.46 Pucks below Top Plate +2 "storage"(' +50 "core" ' +2 "manipulator"&& +4 "core" &  8 + "storage"(& +4 "core" & } 4 7  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&='M +39 "core" ' + .tElbow.hold +2 "manipulator"& , +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.27 Pucks below Top Plate +2 "storage"("' +26 "core" ' + "manipulator"&#% +4 "core" %Sr  +2 "storage"(%& +4 "core" & }  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 306 counts + "manipulator"&)' +19 "core" ' + "manipulator"&& +5 "core" & k 8 + "storage"(*& +4 "core" & } 4 4 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 800 counts +2 "manipulator"&'m +21 "core" ' + "storage"(% +4 "core" % + 0 v +3 ."downElevator"SE.seek :down +3 "storage"('g +99 (&% +3 "core" %AA   t TY +2 "manipulator"&$% +3 "core" %u  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&!' ] +99 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (-& +4 "core" & } 7 3 J  + "collection"'.& +4 "core" &W.|w\ 6 +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&0% +4 "core" % J I +2 "storage"(% +3 "core" %m 4 2 d  +2 "storage"(. +3 "core" .( v + "storage"(& +4 "core" & } 4 4  + "storage"(2& +4 "core" & } 5 3  +2 "manipulator"&3& +3 "core" & 8 +2 .tElbow.seek 2 +2 "manipulator"&/( +3 "core" ( +2 "manipulator"&7& +4 "core" & @ 8 +2 "storage"(,& +4 "core" & } 3 3  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 800 counts +2 "manipulator"&:'m +96 "core" ' + "storage"(>& +4 "core" & } 6 5   +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('' +295 "core" ' +2 "storage"(- +3 "core" -'r +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&D& +3 "core" &  8 + "storage"(& +4 "core" & } 4 2 | +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&+'M +36 "core" ' + .tElbow.hold +2 "manipulator"&8, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(G- +3 "core" -'r +2 .tSE.seek 0.19 Pucks below Top Plate +2 "storage"(4' +29 "core" ' +2 "manipulator"&% +4 "core" %Td W + "storage"((& +4 "core" & } u  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 307 counts + "manipulator"&;'Ѐ +14 "core" ' + "manipulator"&?& +4 "core" & 8 +2 "storage"(o& +3 "core" & } 4 3  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 800 counts +2 "manipulator"&<'m +31 "core" ' +2 .tSE.seek 1.19 Pucks below Top Plate + "storage"(@' +43 "core" ' +2 "manipulator"&E& +4 "core" &  8 + "manipulator"&% +4 "core" %҂  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9' ] +93 "core" ' +2 .tElbow.seek CC + "manipulator"&6( +162 "core" ( +3 "manipulator"&L& +4 "core" & | ' + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &V& +3 "core" & _ ' +2 .tForearm.seek CC + "manipulator"&'ш +99 "core" ' + .tHand.close +2 "manipulator"&M/ +62 "core" / +2 .tCC.seek :open +2 "collection"'B( +393 "core" ( + "storage"(5& +4 "core" & } 5 3  +2 "storage"(H& +3 "core" & } 8 7  +2 "manipulator"&P& +3 "core" & % +2 "manipulator"&I% +3 "core" % ћ G +2 .tForearm.seek :retract +2 "manipulator"&A' ] +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&C( +168 "core" ( + "manipulator"&Q& +5 "core" & s + "storage"(\ & +3 "core" & } O V '  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&['M +104 "core" ' +2 .tElbow.hold + "manipulator"&\\, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&^1 +63 "core" 1 +3 "manipulator"&a% +4 "core" % ^u 6 , +2 "storage"(S& +3 "core" & }   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&T'Њ +21 "core" ' + "manipulator"&F& +5 "core" & 5  + "storage"(X& +4 "core" & } L N  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 800 counts +2 "manipulator"&O'm +13 "core" ' + "storage"(`% +4 "core" % Q X W  +3 ."downElevator"SE.seek :down +3 "storage"(d'g +99 (e% +2 "core" %CW 3 +  Wa +2 "manipulator"&K% +4 "core" %n \ X +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&j' ] +102 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +1245 #t-> access 2 +3 "storage"(]% +8 "core" %o Z Y %  + "manipulator"&l% +5 "core" %  + "manipulator"&c& +4 "core" &   +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 6 +2 "storage"(J(Kq +679 "core" ( + .tSC.configure :limp +2 "storage"($(\ 1b +3 (1& +2 "core" &Kq  $ +729 #t-> access 3 +3 "storage"(t% +3 "core" %p Z Y  +2 "manipulator"&v% +4 "core" %   + "manipulator"&_& +4 "core" &  +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 7 +2 "storage"(Y([4 +196 "core" ( + .tSC.configure :limp +3 "storage"($(\ 1b +2 (g& +3 "core" &[5   , \  +1079 #t-> shuffle 3 +2 #Shuffling pucks in tube 3 of [3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'m& +3 "core" &}x\ +2 "manipulator"&n% +5 "core" %  P + "storage"(R% +4 "core" %p [ Z  + "storage"(r. +3 "core" .([4 +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 3 +2 "storage"(k(8 +675 "core" ( + .tSC.configure :limp +3 "storage"($(\ 1b +2 (z& +3 "core" &:   r + "manipulator"&f& +4 "core" & 0  +2 .tElbow.seek 3 +2 "manipulator"&U( +42 "core" ( + "manipulator"&|& +4 "core" & ( +2 "storage"(~& +3 "core" &? T W N  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 800 counts + "manipulator"&W'p +102 "core" ' + "storage"(b& +5 "core" &? X W   + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(p' +171 "Can"\ KM +133 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &? / ( c  +2 "manipulator"&y& +4 "core" &  ( + .tElbow.seek 3 +2 "manipulator"&h( +4 "core" ( + "manipulator"&Z& +4 "core" & 5 ( +2 "storage"( & +3 "core" &? K M  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"& '| +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&q/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"({'g +7 "core" & ( +2 "manipulator"&x% +4 "core" % u P +2 .tForearm.seek :retract +41 "manipulator"& ' ] +100 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +112 "core" ' + ."downElevator"SE.stop + "storage"(5 +34 "core" ( + "manipulator"&s& +4 "core" &  % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & v % +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&i'ш +103 "core" ' +2 "manipulator"&& +4 "core" & x $ +2 "manipulator"&% +4 "core" %}  +2 "collection"'u& +3 "core" &{v\ +2 "collection"'#& +6 "core" &}u \ +2 .tCC.seek :closed + "collection"'%(W8 +5 "core" &{w\ +7 &5~v\ $c +10 &S}w\ 7 +9 &|w\ L +9 &c|w\ O +10 &Kb}v\ N +9 &_|v\ N +9 &a|v\ N +10 &a|w\ N +9 & S`}u\ N +9 &"^{v\ N +10 &#b|x\ N +9 &%`}u\ N +10 &'[e}v \ N +9 &)b}v\ N +9 &*b}t\ N +10 &,a}v\ N +9 &.c_}w\ N +9 &0&`|x\ N +10 &1`|y\ N +9 &3_}x\ N +9 &5kb{u\ N +10 &7.`|u\ N +9 &8c}v\ N +10 &:d|w\ N +9 &7`}x\ N +10 &?`}x\ M +9 &A`~x\ N +10 &C|`|y\ N +9 &E?`yv\ N +9 &Gb~v\ N +10 &Hhzx\ O +9 &Jn|u\ O +9 &L>w|x\ Q +10 &M~v\ S +9 &O|x\ U +10 &Qt|v\ V +9 &S4~w\ W +9 &Ty\ X +10 &Vxe~w\ 0 +9 &W"~w\ K +9 ( +3 "collection"'#& +3 #tCollection Clamp onSpring/offSpring for 7/25 samples, on/off torque 1.60 + .Hand.open + "manipulator"&w1 +4 "core" &WJ}v\ = +60 1 + "manipulator"&% +4 "core" % ш +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&*' ] +101 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +5 "core" &\ + "manipulator"& % +4 "core" % Y P +2 "storage"(% +3 "core" %i 3 3 +2 "storage"(. +3 "core" .(8 + "storage"(&& +4 "core" &? , 1 +2 "storage"($& +3 "core" &? * 0 %  +2 "manipulator"&& +3 "core" & $ +2 "manipulator"&% +3 "core" % Y +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +165 "core" ( +2 "manipulator"&=& +4 "core" &  1 +2 "storage"()& +4 "core" &? 7 >   + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 800 counts +2 "manipulator"&-'p +109 "core" ' + "storage"(.& +4 "core" &? 4 8 (  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(0' +295 "core" ' + "storage"(- +3 "core" -'x +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ("& +3 "core" &?   + "manipulator"&& +4 "core" & 1 +2 .tElbow.seek 3 + "manipulator"&( +3 "core" ( +2 "manipulator"&2& +4 "core" & @ 1 +2 "storage"(3& +3 "core" &?  F +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&7'| +29 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&,/ +54 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(>'g +8 "core" &  1 +2 "manipulator"&% +3 "core" % { C M +2 .tForearm.seek :retract +2 "manipulator"& ' ] +104 "core" ' +2 .tElbow.seek PC +2 "manipulator"&!( +154 "core" ' + ."downElevator"SE.stop + "storage"(5 +86 "core" ( +2 "manipulator"&& +5 "core" &  ' + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &D& +3 "core" & t ' +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'E +93 "core" ' +2 "manipulator"&G& +4 "core" & ' +2 "manipulator"&% +3 "core" %9 $ +2 "processing"%(& +4 "core" &\ +2 "processing"%?& +5 "core" &\ +2 .tPC.seek :closed + "processing"%o(V +4 "core" &&\  +9 &.&\ *x +9 &d%\ > +10 &Y&\ N +9 &`&\ M +10 &`&\ M +9 &d(\ M +9 &bb&\ N +10 &%c&\ M +9 & _&\ M +9 &"b&\ M +10 &$kf&\ M +9 &&-g'\ M +10 &'b'\ N +9 &)d&\ N +9 &+s_&\ M +10 &-5e&\ M +9 &.`&\ M +9 &0a&\ N +10 &2{b%\ M +9 &4<c&\ N +10 &5g'\ N +9 &7c'\ M +9 &9c'\ N +10 &;F_&\ M +9 &=e'\ N +9 &>c&\ M +10 &@`&\ M +9 &BMe&\ M +10 &Dh&\ N +9 &Ex(\ O +9 &G'\ Q +11 &IE&\ S +8 &K%\ S +9 &L%\ S +10 &N&\ T +9 &PJ&\ T +10 &R '\ S +9 &S&\ T +9 &U}'\ 2 +10 &VZ3t&\ F +9 ( +2 "processing"%?& +4 #tProcessing Clamp onSpring/offSpring for 9/24 samples, on/off torque 1.49 + .Hand.open +2 "manipulator"&E1 +3 "core" &Vp'&\ 0 +55 1 + "manipulator"&% +4 "core" % 9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&:' ] +105 "core" ' +2 "processing"%/& +4 "core" &Vp'&\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&'% +4 "core" % r  +2 "storage"(+% +3 "core" %e   +2 "storage"(;. +3 "core" .(8 + "storage"(4& +4 "core" &?   +2 "storage"(L& +3 "manipulator"&V& +6 "core" &?   ? + & ' +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]9K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&<( +2 "storage"(8' +4 "core" ( +2 "manipulator"&M& +4 "core" & O ' + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &9& +3 "core" & ' +2 .tForearm.seek PC +2 "manipulator"&N'E +90 "core" ' +2 .tHand.close + "manipulator"&5/ +66 "core" / +2 .tPC.seek :open +2 "processing"%H( +94 "core" ' +2 "storage"(P- +3 "core" -' +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(I' +41 "core" ' +242 ( +2 "storage"(Q& +4 "core" &?  + "manipulator"&\ & +4 "core" &  + "manipulator"&% +4 "core" % 4 ^ +2 .tForearm.seek :retract +2 "manipulator"&6' ] +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&^( +267 "core" ( + "manipulator"&a& +4 "core" & .  +2 "storage"(S& +4 "core" &?    + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 800 counts +2 "manipulator"&F'p +111 "core" ' + .tHand.open + "manipulator"&X1 +60 "core" 1 +2 "storage"(`- +3 "core" -' +3 .tSE.seek -0.3 Pucks below Top Plate + "storage"(A'g +30 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.17 Pucks below Top Plate +2 "storage"(e'o +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(K- +3 "core" -'o +2 "storage"(C& +4 "core" &?\ \  v\ +2 "manipulator"&[& +3 "core" & M  +2 .tElbow.seek 3 +2 "manipulator"&T( +7 "core" ( +2 "manipulator"&@& +4 "core" & g + "storage"(O& +4 "core" &?\ \  9\ +2 .tForearm.seek 3 + 800 counts +2 "manipulator"&d'p +23 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.46 Pucks below Top Plate +2 "storage"(]' +52 "core" ' +2 "manipulator"&l& +4 "core" & ` g +2 "storage"(c& +3 "core" &? 3 5  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'P +39 "core" ' +2 .tElbow.hold + "manipulator"&1, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.27 Pucks below Top Plate +3 "storage"(t' +26 "core" ' +2 "manipulator"&v% +4 "core" %Zo s  +2 "storage"(_& +3 "core" &?  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 310 counts + "manipulator"&g'І +20 "core" ' +2 "manipulator"&J& +4 "core" & 2 g +2 "storage"(m& +4 "core" &? 2 1 N +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 800 counts +2 "manipulator"&n'p +24 "core" ' + "storage"(R% +5 "core" %~ 1 2 +2 ."downElevator"SE.seek :down +4 "storage"(r'g +99 (Y% +3 "core" %G>   K \ TY +2 "manipulator"&z% +4 "core" %Ғ k +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&f' ] +100 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 (|& +4 "core" &? 4 : h  + "collection"'~& +4 "core" &WL}u\ = +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&b% +4 "core" % H s +2 "storage"(\\% +4 "core" %n 3 4  + "storage"(j. +4 "core" .(8 + "storage"(& +4 "core" &? 3 3  +2 "storage"(& +3 "core" &? 3 3  +2 "manipulator"&y& +3 "core" & g +2 .tElbow.seek 3 +2 "manipulator"&Z( +3 "core" ( +2 "manipulator"& & +3 "core" & g +2 "storage"(q& +3 "core" &? 7 7  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 800 counts +2 "manipulator"&'p +109 "core" ' +2 "storage"(x& +4 "core" &? 3 3  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(U' +299 "core" ' + "storage"(W- +4 "core" -'y + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&p& +3 "core" & y g +2 "storage"(s& +3 "core" &?  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'P +39 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +4 "core" -'y +2 .tSE.seek 0.2 Pucks below Top Plate +2 "storage"(' +31 "core" ' + "manipulator"&u% +4 "core" %K] % +2 "storage"(h& +3 "core" &?  Z  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 295 counts +2 "manipulator"&{'w +26 "core" ' + "manipulator"& & +4 "core" & f +2 "storage"(B& +4 "core" &? 4 3  +43 .tForearm.reconfigure :tight +13 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 800 counts +2 "manipulator"&w'p +29 "core" ' +2 .tSE.seek 1.2 Pucks below Top Plate +2 "storage"(' +34 "core" ' + "manipulator"&& +4 "core" & f +2 "manipulator"& % +4 "core" %ґ  g +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' ] +100 "core" ' + .tElbow.seek CC +2 "manipulator"&#( +159 "core" ( + "manipulator"&& +5 "core" & $ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &&& +3 "core" & H $ +2 .tForearm.seek CC + "manipulator"&$'ш +92 "core" ' + .tHand.close + "manipulator"&/ +62 "core" / +2 .tCC.seek :open +2 "collection"'( +399 "core" ( + "storage"(i& +4 "core" &? 8 5 ^  +2 "storage"(=& +3 "core" &? 2 2  +2 "manipulator"&)& +3 "core" & $ +2 "manipulator"&.% +3 "core" % ё u = +2 .tForearm.seek :retract +2 "manipulator"&' ] +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&*( +169 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"("& +4 "core" &? L M [  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&'P +109 "core" ' + .tElbow.hold +2 "manipulator"&2, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&31 +62 "core" 1 +2 "manipulator"&,% +4 "core" % _k 2  + "storage"(& +4 "core" &? W  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 315 counts +2 "manipulator"&'Ћ +22 "core" ' +2 "manipulator"&& +4 "core" & a  + "storage"(-& +4 "core" &? J K =  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 800 counts +2 "manipulator"&0'p +13 "core" ' + "storage"(7% +5 "core" % N X S  +2 ."downElevator"SE.seek :down +3 "storage"('g +99 (D% +3 "core" %@T 3 3 V_ +2 "manipulator"&% +4 "core" %x b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&G' ] +102 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +667 #t-> access 3 +2 "storage"(% +4 "core" %m Z Y  +2 "manipulator"&(% +4 "core" % s + "manipulator"&>& +4 "core" &  +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 7 + "storage"( ([4 +683 "core" ( +2 .tSC.configure :limp +2 "storage"($(\ 1b +3 (}& +2 "core" &[7    +1122 #t-> access 4 +2 "storage"(E% +4 "core" %n Y [  + "manipulator"&% +5 "core" % s + "manipulator"&/& +4 "core" &  +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 1 +2 "storage"('( +990 "core" ( + .tSC.configure :limp +2 "storage"($(\ 1b +3 (+& +2 "core" &   ] +977 #t-> shuffle 4 +2 #Shuffling pucks in tube 4 of [4] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"';& +4 "core" &|x \ + "manipulator"&?% +5 "core" % s + "storage"(4% +4 "core" %o Z Z  + "storage"(V. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 4 + "storage"(L(+ +514 "core" ( +2 .tSC.configure :limp +2 "storage"($(\ 1b +3 (M& +2 "core" &+  +2 "manipulator"&9& +4 "core" &   +2 .tElbow.seek 4 + "manipulator"&( +4 "core" ( + "manipulator"&5& +4 "core" &  + "storage"(P& +4 "core" &+ Y Y # +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 800 counts + "manipulator"&!'Ҁ +93 "core" ' +2 "storage"(:& +4 "core" &+ X M # +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(o' +304 "core" ' +2 "storage"(Q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\ & +3 "core" &+ 1 ) M # + "manipulator"&& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&8( +3 "core" ( + "manipulator"&N& +4 "core" &  +2 "storage"(a& +3 "core" &+ M M s # +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&S'Ќ +26 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&._}x%\ N +9 &?`{v(\ M +9 &A`zw\ N +10 &Cu`|w)\ M +9 &E6`}v-\ N +10 &F_|v)\ N +9 &Hc}v'\ N +9 &Jxm|w2\ O +10 &L6v}w4\ P +9 &M}z/\ R +9 &Ox2\ T +10 &Qj}y5\ V +9 &S,}x8\ V +10 &T}x3\ W +9 &Vt|w'\ 'y +9 &W ~v;\ > +9 ( +3 "collection"'v& +3 #tCollection Clamp onSpring/offSpring for 7/25 samples, on/off torque 1.59 + .Hand.open +2 "manipulator"&A1 +3 "core" &W6~v2\ 8 +60 1 + "manipulator"&J% +4 "core" % у  H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&m' ] +103 "core" ' +3 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%R& +4 "core" &%\ + "manipulator"&^% +4 "core" % < , ( +2 "storage"(F% +3 "core" %b 5 3  +2 "storage"(e. +3 "core" .(+ + "storage"(Y& +4 "core" &+ 3 3 # +2 "storage"(z& +3 "core" &+ @ ? # +2 "manipulator"&d& +3 "core" & o ` +2 "manipulator"&T% +3 "core" % < x ( +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&]( +167 "core" ( + "manipulator"&& +4 "core" & y ( +2 "storage"(g& +3 "core" &+ 3 3 # +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 800 counts +2 "manipulator"&|'Ҁ +101 "core" ' +2 "storage"(~& +4 "core" &+ 8 4 Q # +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(b' +305 "core" ' +2 "storage"(\\- +3 "core" -'x +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (t& +2 "core" &+ 2 " # +2 "manipulator"&j& +4 "core" & ( + .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & H ( +2 "storage"(y& +3 "core" &+ 3 3 # +2 .tForearm.seek 4 + 300 counts +2 "manipulator"& 'Ќ +28 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&q/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&n& +2 "storage"(x'g +7 "core" & ( + "manipulator"&r% +4 "core" % Ѝ ' H +2 .tForearm.seek :retract +2 "manipulator"&1' ] +116 "core" ' +2 .tElbow.seek PC +2 "manipulator"&f( +143 "core" ' + ."downElevator"SE.stop + "storage"(5 +95 "core" ( +2 "manipulator"&W& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +2 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&s'E +98 "core" ' + "manipulator"&& +4 "core" & F  +2 "manipulator"&u% +4 "core" %@ 4 + "processing"%h& +4 "core" &\ +2 "processing"% & +5 "core" &\ +2 .tPC.seek :closed + "processing"%B(V +5 "core" &%\  +8 &.'\ *y +10 &d&\ > +9 &Z~&\ N +10 &_%\ N +9 &b&\ M +9 &c&\ M +10 &db&\ M +9 &&`&\ M +9 & c%\ M +10 &"f&\ M +9 &$le%\ M +9 &&.f$\ M +10 &'a%\ N +9 &)c%\ N +10 &+tc'\ M +9 &-6a%\ M +9 &.a%\ M +10 &0g&\ N +9 &2{e&\ N +9 &4=a&\ N +10 &6h&\ M +9 &7c&\ M +10 &9g%\ N +9 &;Fc&\ M +9 &=a$\ M +10 &>e&\ M +9 &@c&\ N +48 &BMh&\ N +11 &Dk'\ N &Ew'\ O + &G&\ Q + &IG'\ R + &K'\ S +4 &L'\ S +9 &N&\ S +10 &PK&\ T +9 &R%\ S +9 &S&\ T +10 &U{&\ 6 +9 &VP.{'\ U +9 &Vs,&\ 2 +3 ( +2 "processing"% & +2 #tProcessing Clamp onSpring/offSpring for 9/24 samples, on/off torque 1.48 +2 .Hand.open + "manipulator"&1 +57 "core" 1 + "manipulator"& % +5 "core" % 8 D  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' ] +105 "core" ' + "processing"%Z& +4 "core" &Vs*'\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&U% +4 "core" % Q / +2 "storage"(% +4 "core" %a   +2 "storage"({. +3 "core" .(+ + "storage"(& +4 "core" &+   # +2 "storage"(& +4 "manipulator"&&& +4 "core" &+   # + &  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]9K-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&w( +2 "storage"( ' +5 "core" ( + "manipulator"&& +4 "core" & U  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & >  +2 .tForearm.seek PC +2 "manipulator"&%'E +96 "core" ' + .tHand.close +2 "manipulator"&i/ +72 "core" / +2 .tPC.seek :open +2 "processing"%=( +78 "core" ' +2 "storage"()- +3 "core" -' +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(.' +41 "core" ' +258 ( + "storage"(& +5 "core" &+  ( # + "manipulator"&"& +4 "core" &  + "manipulator"&$% +4 "core" % @  +2 .tForearm.seek :retract +2 "manipulator"&#' ] +107 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&3( +264 "core" ( + "manipulator"&,& +4 "core" & Y +2 "storage"(& +3 "core" &+ 3 2 # +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 800 counts +2 "manipulator"&'Ҁ +88 "core" ' +2 .tHand.open + "manipulator"&-1 +58 "core" 1 +2 "storage"(7- +4 "core" -' +2 .tSE.seek -0.3 Pucks below Top Plate +2 "storage"('g +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.17 Pucks below Top Plate +2 "storage"(D'o +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -'o +2 "storage"(*& +4 "core" &+\ \  \ # +2 "manipulator"&& +3 "core" & Y +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" & Y +2 "storage"(0& +4 "core" &+\ \  8\ # +2 .tForearm.seek 4 + 800 counts +2 "manipulator"&'Ҁ +24 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.46 Pucks below Top Plate +2 "storage"(' +52 "core" ' +2 "manipulator"&(& +4 "core" & ` Y +2 "storage"(>& +3 "core" &+ 7 7 # +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&k'` +38 "core" ' + .tElbow.hold +2 "manipulator"&}, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.27 Pucks below Top Plate +2 "storage"(E' +20 "core" ' + "manipulator"&% +5 "core" %ah 4  + "storage"(/& +4 "core" &+ # +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 301 counts +2 "manipulator"& 'Ѝ +16 "core" ' +2 "manipulator"&+& +4 "core" & p \\ +2 "storage"(;& +3 "core" &+ 3 3 # +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 800 counts +2 "manipulator"&?'Ҁ +33 "core" ' +2 "storage"(4% +4 "core" % 5 3  +3 ."downElevator"SE.seek :down +3 "storage"(V'g +98 ('% +3 "core" %<    TY +2 "manipulator"&M% +4 "core" %Ҧ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9' ] +88 "core" ' +71 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (5& +4 "core" &+ 8 > ~ # + "collection"'P& +4 "core" &W5~w\ 8 +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&:% +4 "core" % N  +2 "storage"(2% +4 "core" %j 2 4 /  + "storage"(G. +4 "core" .(+ + "storage"(Q& +4 "core" &+ ) 2 ` # + "storage"(\ & +4 "core" &+ 2 ) _ # + "manipulator"&& +4 "core" & X \\ +2 .tElbow.seek 4 + "manipulator"&N( +4 "core" ( + "manipulator"&a& +4 "core" & A \\ +2 "storage"(<& +3 "core" &+ 2 2 # +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 800 counts +2 "manipulator"&X'Ҁ +92 "core" ' +3 "storage"(K& +4 "core" &+ 3 3 # + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(' +298 "core" ' + "storage"(!- +4 "core" -'x + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&6& +3 "core" & \\ +2 "storage"(@& +3 "core" &+ - T # +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&o'` +40 "core" ' +2 .tElbow.hold + "manipulator"&S, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(l- +2 "core" -'x +3 .tSE.seek 0.2 Pucks below Top Plate +2 "storage"(c' +39 "core" ' +2 "manipulator"&I% +4 "core" %[N + "storage"(8& +4 "core" &+ # + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 295 counts + "manipulator"&`'Ї +13 "core" ' +2 "manipulator"&C& +4 "core" & ^ ^ + "storage"(& +4 "core" &+ ) / 0 # +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 800 counts +2 "manipulator"&A'Ҁ +37 "core" ' +2 .tSE.seek 1.2 Pucks below Top Plate +2 "storage"(J' +36 "core" ' + "manipulator"&R& +5 "core" & | ^ + "manipulator"&^% +4 "core" %c /  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F' ] +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&v( +159 "core" ( + "manipulator"&e& +4 "core" &  ( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Y& +3 "core" & + ( +2 .tForearm.seek CC +2 "manipulator"&z'ш +93 "core" ' + .tHand.close + "manipulator"&d/ +52 "core" / +2 .tCC.seek :open +2 "collection"'T( +393 "core" ( +2 "storage"(O& +4 "core" &+ J L . # + "storage"(& +4 "core" &+ I I 3 # + "manipulator"&g& +3 "core" & % + "manipulator"&~% +3 "core" % ї c n +2 .tForearm.seek :retract +2 "manipulator"&[' ] +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&m( +169 "core" ( + "manipulator"&\\& +4 "core" & 6  +2 "storage"(t& +3 "core" &+ J M ? # +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&j'` +112 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&y1 +62 "core" 1 +3 "manipulator"&q% +4 "core" % bi j +2 "storage"(n& +4 "core" &+ b # + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 302 counts +2 "manipulator"&r'Ў +12 "core" ' +6 "manipulator"&]& +4 "core" &   +2 "storage"(|& +3 "core" &+ M J ? # +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 800 counts + "manipulator"&b'Ҁ +31 "core" ' +2 "storage"( % +4 "core" % Z X  +2 ."downElevator"SE.seek :down +4 "storage"(W'g +99 (p% +2 "core" %AV 5 * ? W` +40 "manipulator"&% +14 "core" %ҍ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' ] +93 "core" ' +11 ' + ."downElevator"SE.stop + "storage"(5 +1263 #t-> access 4 +2 "storage"(u% +4 "core" %p L M ^  + "manipulator"&h% +5 "core" % M  + "manipulator"&x& +4 "core" &  +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 1 + "storage"(1( +517 "core" ( +3 .tSC.configure :limp +2 "storage"($(\ 1b +3 (H& +2 "core" &   +1222 #t-> access 5 +3 "storage"(% +3 "core" %p J L ,  +2 "manipulator"& % +4 "core" % M   + "manipulator"&Z& +4 "core" &  +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 2 +2 "storage"(U( v +220 "core" ( + .tSC.configure :limp +3 "storage"($(\ 1b +2 (& +3 "core" & v N J   +1056 #t-> shuffle 5 +2 #Shuffling pucks in tube 5 of [5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'{& +4 "core" &}u+\ +2 "manipulator"& % +4 "core" % M /  + "storage"(% +4 "core" %q J J O  + "storage"(. +3 "core" .( v +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 5 + "storage"(&(; +512 "core" ( +2 .tSC.configure :limp +2 "storage"($(\ 1b +2 (& +3 "core" &;   +2 "manipulator"&& +3 "core" & H  +2 .tElbow.seek 5 +2 "manipulator"&s( +36 "core" ( + "manipulator"&i& +4 "core" & w * +2 "storage"()& +3 "core" &; 0 ' a $ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 800 counts +2 "manipulator"&f' +95 "core" ' + "storage"(& +4 "core" &; 8 K $ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(B' +303 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +4 ( & +2 "core" &; 3 3 % +2 "manipulator"&"& +5 "core" & h * +2 .tElbow.seek 5 +2 "manipulator"&$( +2 "core" ( +2 "manipulator"&%& +4 "core" & * + "storage"(,& +4 "core" &; 5 4 : % +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'$ +13 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&w/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&-& + "storage"(7'g +8 "core" & 5 * +2 "manipulator"&% +4 "core" % , +2 .tForearm.seek :retract + "manipulator"&*' ] +109 "core" ' + .tElbow.seek CC +2 "manipulator"&( +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +29 "core" ( + "manipulator"&& +4 "core" & $ { +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &0& +2 "core" &  { +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&#'ш +100 "core" ' +3 "manipulator"&(& +4 "core" & } { +2 "manipulator"&>% +3 "core" %ё ] +2 "collection"'.& +4 "core" &|v-\ +2 "collection"'& +5 "core" &}w\ +2 .tCC.seek :closed +2 "collection"'/(W8 +4 "core" &}v-\  +9 &0{}x+\ *x +9 &b}u-\ > +9 &b|}x+\ N +10 &#b}v6\ N +9 &b}v.\ N +9 &a}v,\ N +10 &i`{u5\ N +9 &,_}t<\ N +10 & c|x;\ N +9 &"`}y8\ N +9 &$s`}w<\ M +10 &&3_|u=\ N +9 &'a~wA\ N +9 &)b}w=\ N +10 &+{_|uD\ M +9 &-;`|xC\ N +10 &.^}wH\ N +9 &0`|vA\ N +9 &2c|x=\ N +10 &4D_}u?\ N +9 &6bzwB\ N +9 &7a|wE\ N +10 &9b}y<\ N +9 &;L_~w=\ N +10 &=_~v@\ M +9 &>a~v?\ N +9 &@a|vB\ N +10 &BSc}v<\ N +9 &D^~v=\ M +9 &E_{wJ\ M +10 &Gb{tG\ N +9 &IXj}vJ\ O +10 &Kn}xN\ O +9 &L{|vM\ Q +9 &N|wK\ S +10 &PN}xN\ U +9 &R }xL\ V +9 &S}vH\ W +10 &U~vJ\ N +9 &VJ}yM\ d +10 &W gxK\ > +5 ( + "collection"'& +5 #tCollection Clamp onSpring/offSpring for 7/25 samples, on/off torque 1.62 + .Hand.open +2 "manipulator"&1 +3 "core" &WK}vN\ > +54 1 + "manipulator"&+% +4 "core" % ю 1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;' ] +101 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%4& +4 "core" &&\ +2 "manipulator"&3% +4 "core" % d  + "storage"(% +4 "core" %` $ $ 9 + "storage"(D. +3 "core" .(; +2 "storage"('& +3 "core" &; 2 3 7 % +2 "storage"(M& +3 "core" &; 2 1  % +2 "manipulator"&& +4 "core" & { + "manipulator"&% +4 "core" % d f  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +152 "core" ( + "manipulator"&k& +4 "core" & v X +2 "storage"( & +4 "core" &; 2 # % + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 800 counts +2 "manipulator"&5' +95 "core" ' + "storage"(P& +5 "core" &; 2 4 ] % + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(:' +298 "core" ' +2 "storage"(2- +3 "core" -'z +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (E& +2 "core" &;   % +2 "manipulator"&G& +4 "core" & k X + .tElbow.seek 5 +2 "manipulator"&Q( +3 "core" ( + "manipulator"&\ & +4 "core" & A X +2 "storage"(& +3 "core" &; # . T % +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&a'$ +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&2b&\ M +10 &?a%\ N +9 &Ac&\ M +9 &Cwh'\ N +10 &E6t'\ O +9 &F~&\ P +10 &H&\ R +9 &Jp'\ S +9 &L2&\ S +10 &M&\ S +9 &O'\ S +9 &Qu&\ T +10 &S7&\ T +9 &T&\ F +9 &V!G&\ !e +10 &VsI%\ 3 +5 ( +2 "processing"%C& +4 #tProcessing Clamp onSpring/offSpring for 10/24 samples, on/off torque 1.49 + .Hand.open + "manipulator"&R1 +4 "core" &Vs*&\ 3 +59 1 + "manipulator"&^% +4 "core" % \\ U +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&X' ] +109 "core" ' + "processing"%N& +4 "core" &Vs*&\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" % R +2 "storage"(o% +4 "core" %j   + "storage"(`. +3 "core" .(; +2 "storage"(c& +3 "core" &;   % +2 "storage"(e& +4 "manipulator"&Y& +4 "core" &;  % + & # +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]9K-0-\ b +4 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"(A' + "manipulator"&S( +6 "core" ( + "manipulator"&d& +4 "core" & T # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &F& +3 "core" & # +2 .tForearm.seek PC +2 "manipulator"&_'E +92 "core" ' +2 .tHand.close + "manipulator"&O/ +74 "core" / +50 .tPC.seek :open +5 "processing"%( +26 "core" ' + "storage"(g- +3 "core" -' +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(~' +41 "core" ' +310 ( + "storage"(\\& +4 "core" &;  !  % +2 "manipulator"&t& +4 "core" & C " + "manipulator"&z% +4 "core" % C $ +2 .tForearm.seek :retract +2 "manipulator"&v' ] +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&y( +264 "core" ( + "manipulator"&q& +4 "core" &  n +2 "storage"(n& +4 "core" &; . " ; % +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 800 counts +2 "manipulator"&]' +92 "core" ' +2 .tHand.open + "manipulator"&|1 +54 "core" 1 +2 "storage"( - +3 "core" -' +2 .tSE.seek -0.3 Pucks below Top Plate +2 "storage"(['g +22 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.17 Pucks below Top Plate +2 "storage"(p'o +51 "core" ' +3 #tLights, camera, ACTION! + "storage"(- +4 "core" -'o +2 "storage"(m& +4 "core" &; r\ % + "manipulator"&j& +4 "core" & n +2 .tElbow.seek 5 +2 "manipulator"&r( +3 "core" ( +2 "manipulator"&J& +3 "core" & 0 n +2 "storage"(b& +4 "core" &; 1\ % +2 .tForearm.seek 5 + 800 counts +2 "manipulator"&W' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.46 Pucks below Top Plate +2 "storage"(u' +58 "core" ' + "manipulator"&h& +5 "core" & n + "storage"(x& +4 "core" &;   \\ % +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&L' +37 "core" ' +2 .tElbow.hold + "manipulator"&H, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.27 Pucks below Top Plate +2 "storage"(' +20 "core" ' + "manipulator"& % +4 "core" %f +2 "storage"(Z& +4 "core" &; Z % +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 295 counts +2 "manipulator"&' +17 "core" ' + "manipulator"&1& +4 "core" & n +2 "storage"({& +4 "core" &; 5 2 % +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 800 counts +2 "manipulator"& ' +38 "core" ' + "storage"(% +5 "core" % 6 4  +2 ."downElevator"SE.seek :down +3 "storage"('g +99 (U% +3 "core" %C   0 TY + "manipulator"&% +4 "core" % } \ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' ] +107 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (i& +4 "core" &; * 9 > % +2 "collection"')& +4 "core" &WK{x?\ > + #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" % f ( +2 "storage"(% +4 "core" %` 2 4  +2 "storage"(. +3 "core" .(; + "storage"(& +4 "core" &; 4 2 % + "storage"( & +4 "core" &; 2 2 L % +2 "manipulator"&"& +3 "core" & n +2 .tElbow.seek 5 +2 "manipulator"&%( +3 "core" ( + "manipulator"&,& +4 "core" &  n +2 "storage"(w& +3 "core" &; 5 3 % +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 800 counts +2 "manipulator"&-' +107 "core" ' +2 "storage"(& +4 "core" &; 5 5 % +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(s' +297 "core" ' +2 "storage"(f- +3 "core" -'z +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&B& +2 "core" & n +2 "storage"(& +4 "core" &; 2 %  % + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&0' +38 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"($- +3 "core" -'z +2 .tSE.seek 0.2 Pucks below Top Plate +2 "storage"((' +28 "core" ' +2 "manipulator"&>% +4 "core" %W + "storage"(.& +3 "core" &; 7 % +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 309 counts + "manipulator"&7'- +11 "core" ' + "manipulator"&*& +4 "core" & n +2 "storage"(T& +3 "core" &; 3 / I % +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 800 counts +2 "manipulator"&' +35 "core" ' +2 .tSE.seek 1.2 Pucks below Top Plate +2 "storage"(+' +43 "core" ' + "manipulator"&4& +5 "core" & n + "manipulator"&3% +4 "core" %\  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' ] +107 "core" ' + .tElbow.seek CC +2 "manipulator"&D( +161 "core" ( +2 "manipulator"&'& +4 "core" & ] # + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & # +2 .tForearm.seek CC +2 "manipulator"&M'ш +95 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tCC.seek :open +2 "collection"'( +393 "core" ( +2 "storage"(#& +4 "core" &; 2 5 % +2 "storage"(k& +3 "core" &; ; ? % +2 "manipulator"& & +3 "core" &\ - !u +2 "manipulator"&P% +3 "core" % ѕ 5 +2 .tForearm.seek :retract +7 "manipulator"&' ] +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&;( +164 "core" ( + "manipulator"&2& +5 "core" & k N + "storage"(E& +4 "core" &; @ K 5 % +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&G' +110 "core" ' + .tElbow.hold +2 "manipulator"&\ , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +62 "core" 1 +3 "manipulator"&<% +4 "core" % f b +2 "storage"(?& +3 "core" &;  % +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts +2 "manipulator"&V'4 +15 "core" ' + "manipulator"&& +4 "core" & N +2 "storage"(5& +3 "core" &; K M 6 % +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 800 counts + "manipulator"&:' +27 "core" ' + "storage"(a% +5 "core" % P W P  +2 ."downElevator"SE.seek :down +3 "storage"(!'g +99 (6% +3 "core" %WR # # V^ + "manipulator"&Q% +4 "core" %(   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&l' ] +99 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +518 #t-> access 5 +2 "storage"(I% +4 "core" %e Z Y   + "manipulator"&8% +4 "core" % r +2 "manipulator"&K& +3 "core" &  N +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 2 +2 "storage"(}( v +519 "core" ( +2 .tSC.configure :limp +2 "storage"($(\ 1b +3 (=& +2 "core" & t . % ) +765 #t-> access 6 +3 "storage"(R% +3 "core" %e N M p  +2 "manipulator"&^% +4 "core" % r - + "manipulator"&N& +4 "core" &  N + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 3 +2 "storage"((8 +197 "core" ( +2 .tSC.configure :limp +2 "storage"($(\ 1b +3 (C& +2 "core" &7   u  +638 #t-> shuffle 6 +2 #Shuffling pucks in tube 6 of [6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'o& +4 "core" &{w<\ +2 "manipulator"&`% +4 "core" % r + "storage"(c% +51 "core" %e X W p  +3 "storage"(Y. +3 "core" .(8 +2 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 6 +2 "storage"(e(Kq +507 "core" ( +2 .tSC.configure :limp +2 "storage"($(\ 1b +2 (d& +3 "core" &Kq ' $ +2 "manipulator"&F& +3 "core" & E N +2 .tElbow.seek 6 +2 "manipulator"&@( +17 "core" ( + "manipulator"&O& +5 "core" & c  + "storage"(g& +4 "core" &Kq Y X $ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 800 counts +2 "manipulator"&9'r +93 "core" ' + "storage"(X& +4 "core" &Kq U L 8 $ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(' +302 "core" ' +2 "storage"(A- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\\& +3 "core" &Kq ; G  $ +2 "manipulator"&t& +4 "core" &   +2 .tElbow.seek 6 + "manipulator"&z( +4 "core" ( + "manipulator"&_& +4 "core" & @  +2 "storage"(q& +3 "core" &Kq L J v $ +4 .tForearm.seek 6 + 300 counts + "manipulator"&n'~ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&S/ +61 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&|& + "storage"( 'g +9 "core" &  + "manipulator"&% +4 "core" % u U +2 .tForearm.seek :retract +2 "manipulator"&m' ] +106 "core" ' +2 .tElbow.seek CC +2 "manipulator"&j( +140 "core" ' + ."downElevator"SE.stop + "storage"(5 +25 "core" ( + "manipulator"&J& +11 "core" &\ m + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &b& +3 "core" &\ m +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&v'ш +87 "core" ' +2 "manipulator"&h& +5 "core" &\ r m + "manipulator"&x% +4 "core" %с F +2 "collection"' & +4 "core" &w?\ +2 "collection"'~& +4 "core" &|v=\ +2 .tCC.seek :closed +2 "collection"'Z(W8 +5 "core" &|wK\  +8 &1}v=\ *y +10 &c}uE\ > +9 &c|~vB\ N +9 &%c|vL\ N +10 &`|vD\ N +9 &`}vI\ M +9 &l`|vN\ M +10 &._}v@\ M +9 & c}wL\ N +10 &"]}wM\ N +9 &$s^|vA\ N +9 &&5^|wF\ N +10 &'`|xE\ N +9 &)b~xI\ N +9 &+{_}wJ\ N +10 &-=^{uM\ N +9 &/^}xN\ M +10 &0`~wO\ M +9 &2`|wD\ M +9 &4E]|vA\ N +10 &6]{xC\ M +9 &7`}vA\ N +9 &9c{vC\ N +10 &;M]{wB\ N +9 &=\\zwC\ M +10 &>^|x;\ N +9 &@`}y=\ M +9 &BU^|uI\ N +10 &D\\{w=\ M +9 &E`|w=\ M +9 &Gb}v:\ N +10 &IZlzw:\ O +9 &Kl|x;\ O +10 &Lz|vC\ P +9 &N}v<\ S +9 &PO|y7\ U +10 &R }w:\ V +9 &S~w;\ W +9 &U}x3\ P +10 &VA~y:\ 's +9 &WLyG\ 8 +6 ( + "collection"'~& +4 #tCollection Clamp onSpring/offSpring for 7/25 samples, on/off torque 1.63 + .Hand.open +2 "manipulator"&[1 +3 "core" &W6}y<\ 8 +61 1 + "manipulator"&1% +4 "core" % с E F +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{' ] +104 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +5 "core" &\ + "manipulator"&y% +4 "core" % C   +2 "storage"(]% +3 "core" %r 3 3  +2 "storage"(p. +3 "core" .(Kq + "storage"(U& +4 "core" &Kq 6 6 $ + "storage"(& +4 "core" &Kq 3 3 $ + "manipulator"&W& +4 "core" & y h + "manipulator"&r% +4 "core" % C J  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&u( +156 "core" ( + "manipulator"&L& +5 "core" & m h + "storage"(& +4 "core" &Kq 2 4 $ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 800 counts +2 "manipulator"&i'r +97 "core" ' +2 "storage"()& +4 "core" &Kq 3 6 $ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(' +304 "core" ' + "storage"(- +4 "core" -'z + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &Kq  $ +2 "manipulator"&& +3 "core" & h +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"& & +4 "core" & O h +2 "storage"("& +3 "core" &Kq / 1 S $ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&,'~ +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&w/ +55 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"& & +2 "storage"('g +9 "core" &  h + "manipulator"&% +4 "core" % h u +2 .tForearm.seek :retract +2 "manipulator"&H' ] +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( + "manipulator"&f& +4 "core" & / 0 +2 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +2 &B& +3 "core" & d 0 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'E +96 "core" ' +2 "manipulator"&$& +4 "core" &  0 + "manipulator"&>% +4 "core" %: K  +2 "processing"%.& +3 "core" &&\ +2 "processing"%*& +5 "core" &&\ +2 .tPC.seek :closed +2 "processing"%T(V +4 "core" &&\ +7 & ,&\ #a +10 &yX&\ 7 +9 &%\ L +9 &`'\ M +10 &Ma'\ M +9 &_&\ M +10 &`&\ M +9 &b&\ M +9 & U`$\ M +10 &"e&\ M +9 &#b&\ M +9 &%b&\ N +10 &']e&\ M +9 &) c&\ M +10 &*b%\ M +9 &,b%\ M +9 &.fb&\ M +10 &0(a%\ M +9 &1c&\ M +9 &3a&\ M +10 &5mc%\ M +9 &7/a$\ M +10 &8c&\ M +9 &:b&\ M +9 &6b$\ N +9 &?b$\ M +9 &Ac%\ M +10 &C}h'\ M +9 &E:r&\ O +10 &F&\ Q +9 &H'\ R +9 &Ju&\ S +10 &L7&\ S +9 &M&\ S +9 &O&\ T +10 &Q{'\ S +9 &S;&\ T +9 &T&\ E +10 &V!B&\ &p +9 &Vv9&\ 0 +6 ( +2 "processing"%*& +3 #tProcessing Clamp onSpring/offSpring for 10/24 samples, on/off torque 1.51 + .Hand.open + "manipulator"&41 +4 "core" &Vv('\ 0 +56 1 + "manipulator"&3% +4 "core" % 2 . ! +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&-' ] +92 "core" ' +2 "processing"%%& +4 "core" &Vv(&\ 0 + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&s% +4 "core" % M  + "storage"(0% +4 "core" %i    \ + "storage"(7. +3 "core" .(Kq +2 "storage"((& +3 "core" &Kq   ( $ +2 "storage"('& +3 "manipulator"&& +6 "core" &Kq   \ $ + & 0 +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]9K-0-\ b +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC + "manipulator"&( +4 ."raiseStack"SE.seek :beamBreak + "storage"(' +3 "core" ( +2 "manipulator"&& +3 "core" & 0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & 0 +2 .tForearm.seek PC +2 "manipulator"&/'E +95 "core" ' + .tHand.close + "manipulator"&#/ +65 "core" / +2 .tPC.seek :open +2 "processing"%k( +108 "core" ' +2 "storage"( - +3 "core" -' +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(P' +47 "core" ' +222 ( +2 "storage"(2& +4 "core" &Kq  " $ + "manipulator"&E& +4 "core" & 0 + "manipulator"&M% +4 "core" % ? $ < +2 .tForearm.seek :retract +2 "manipulator"&D' ] +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +245 "core" ( + "manipulator"&<& +5 "core" & + + "storage"(?& +4 "core" &Kq - #  $ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 800 counts +2 "manipulator"&'r +96 "core" ' + .tHand.open +2 "manipulator"&51 +54 "core" 1 +2 "storage"(a- +4 "core" -' +2 .tSE.seek -0.3 Pucks below Top Plate +2 "storage"('g +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.17 Pucks below Top Plate +2 "storage"(6'o +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(Q- +3 "core" -'o +2 "storage"(;& +4 "core" &Kq 4\ $ +2 "manipulator"&G& +3 "core" & n + +51 .tElbow.seek 6 +3 "manipulator"&V( +3 "core" ( +2 "manipulator"&+& +4 "core" & a + + "storage"(:& +4 "core" &Kq \\\ $ +2 .tForearm.seek 6 + 800 counts +2 "manipulator"&!'r +21 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.46 Pucks below Top Plate + "storage"(I' +52 "core" ' +2 "manipulator"&8& +4 "core" & + +2 "storage"(K& +3 "core" &Kq )   $ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&&'R +37 "core" ' + .tElbow.hold +3 "manipulator"&=, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.27 Pucks below Top Plate + "storage"(R' +19 "core" ' + "manipulator"&^% +5 "core" %^v ; ( + "storage"(N& +4 "core" &Kq / $ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 312 counts +2 "manipulator"&C'Њ +22 "core" ' + "manipulator"&}& +5 "core" & + + "storage"(o& +4 "core" &Kq % ' $ $ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 800 counts +2 "manipulator"&`'r +14 "core" ' +2 "storage"(c% +4 "core" % 3 2   +3 ."downElevator"SE.seek :down +3 "storage"(Y'g +98 (% +4 "core" %F   \ U[ + "manipulator"&d% +5 "core" %r 4 j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F' ] +105 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (O& +4 "core" &Kq = 4 l $ + "collection"'g& +4 "core" &W6~vA\ 8 +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&X% +4 "core" % 4  +2 "storage"(\ % +4 "core" %p 2 5  +2 "storage"(l. +3 "core" .(Kq + "storage"(A& +4 "core" &Kq - 1 $ +2 "storage"(\\& +3 "core" &Kq 2 5 $ +2 "manipulator"&t& +3 "core" & Q + +2 .tElbow.seek 6 +2 "manipulator"&_( +3 "core" ( +2 "manipulator"&q& +3 "core" & H + +2 "storage"(S& +4 "core" &Kq 2 5 $ + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 800 counts +2 "manipulator"&|'r +88 "core" ' +2 "storage"(& +4 "core" &Kq 0 ) E $ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(@' +297 "core" ' + "storage"(9- +4 "core" -'z + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & B + +2 "storage"(J& +3 "core" &Kq   $ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&b'R +35 "core" ' +2 .tElbow.hold + "manipulator"&n, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(h- +3 "core" -'z +3 .tSE.seek 0.2 Pucks below Top Plate + "storage"(x' +30 "core" ' + "manipulator"& % +5 "core" %W] T + "storage"(z& +4 "core" &Kq  o $ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 305 counts +2 "manipulator"& 'Ѓ +20 "core" ' + "manipulator"&m& +4 "core" & + +2 "storage"(& +4 "core" &Kq 2 1 j $ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 800 counts +2 "manipulator"&['r +14 "core" ' +3 .tSE.seek 1.2 Pucks below Top Plate +2 "storage"(1' +33 "core" ' +2 "manipulator"&& +4 "core" & + +2 "manipulator"&y% +4 "core" %i h +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]' ] +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&~( +152 "core" ( +2 "manipulator"&p& +4 "core" & R $ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &U& +2 "core" & W $ +2 .tForearm.seek CC +2 "manipulator"&'ш +93 "core" ' +2 .tHand.close + "manipulator"&W/ +52 "core" / +2 .tCC.seek :open + "collection"'r( +397 "core" ( + "storage"(v& +4 "core" &Kq K 9  $ +2 "storage"(L& +3 "core" &Kq F 9 q $ +2 "manipulator"&& +3 "core" & { "{ +2 "manipulator"&)% +3 "core" % ѐ M B +2 .tForearm.seek :retract +2 "manipulator"&j' ] +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&{( +159 "core" ( +2 "manipulator"&& +4 "core" & 8 X + "storage"(& +4 "core" &Kq J L d $ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&'R +108 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&"1 +53 "core" 1 +2 "manipulator"&w% +4 "core" % ]z = 2 + "storage"( & +4 "core" &Kq   $ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 311 counts + "manipulator"&'Љ +11 "core" ' +3 "manipulator"&u& +4 "core" & j X + "storage"(i& +4 "core" &Kq O T > $ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 800 counts +2 "manipulator"&'r +37 "core" ' + "storage"(,% +5 "core" % X T l  +2 ."downElevator"SE.seek :down +3 "storage"(f'g +99 (B% +3 "core" %8W 2 2 V` + "manipulator"&% +4 "core" %S |  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&$' ] +90 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +1438 #t-> access 6 +2 "storage"(>% +3 "core" %n P N '  +2 "manipulator"&.% +4 "core" % Q  + "manipulator"&& +4 "core" & X +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 3 +2 "storage"(H(8 +515 "core" ( +3 .tSC.configure :limp +2 "storage"($(\ 1b +3 (& +2 "core" &9    +1099 #t-> access 7 +3 "storage"(4% +2 "core" %p X Y  +2 "manipulator"&3% +4 "core" % Q  +2 "manipulator"&%& +3 "core" & X +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 4 +2 "storage"(s(+ +206 "core" ( + .tSC.configure :limp +3 "storage"($(\ 1b +2 (0& +3 "core" &+ d  +1358 #t-> shuffle 7 +2 #Shuffling pucks in tube 7 of [7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'7& +4 "core" &~xU\ +2 "manipulator"&(% +4 "core" % Q *  + "storage"('% +4 "core" %p L T B  + "storage"(. +3 "core" .(+ +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 7 + "storage"(*([4 +506 "core" ( + .tSC.configure :limp +2 "storage"($(\ 1b +3 (& +2 "core" &[4    +2 "manipulator"&& +4 "core" & X + .tElbow.seek 7 +2 "manipulator"&( +20 "core" ( +2 "manipulator"&#& +4 "core" & b + "storage"(& +4 "core" &[- L L  # +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 800 counts +2 "manipulator"& ' +94 "core" ' + "storage"(-& +4 "core" &[- L L a # +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(T' +303 "core" ' + "storage"(2- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (E& +2 "core" &[- 1 4 # +2 "manipulator"&M& +4 "core" & + .tElbow.seek 7 +2 "manipulator"&( +3 "core" ( + "manipulator"&/& +4 "core" & + "storage"(<& +4 "core" &[- M L I # +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&?' +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +51 "manipulator"&5& +3 "storage"(a'g +7 "core" & +2 "manipulator"&Q% +4 "core" % A + .tForearm.seek :retract +2 "manipulator"&;' ] +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&G( +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +11 "core" ( +2 "manipulator"&D& +4 "core" &  * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &+& +2 "core" & ] * +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&:'ш +107 "core" ' +2 "manipulator"&8& +4 "core" & % +2 "manipulator"&K% +4 "core" %ў + "collection"'P& +4 "core" &~vA\ +2 "collection"'& +5 "core" &|vS\ +2 .tCC.seek :closed +2 "collection"'^(W8 +4 "core" &|vW\ +7 &5}x-\ #c +10 &U{vO\ 7 +9 &|tO\ L +10 &b|xP\ N +9 &O`~vK\ N +9 &`}vW\ N +10 &b|xX\ N +9 &]}v7\ N +10 & X`|vV\ N +9 &"c}vX\ N +9 &#`{w^\ M +10 &%_|xY\ M +9 &'`azv^\ N +9 &)#a}wT\ M +10 &*a{u]\ N +9 &,^|v\\\ N +9 &.h]{x_\ N +10 &0*b|v]\ N +9 &1b}v^\ N +10 &3]|ub\ M +9 &5pa}xb\ N +9 &72]}u`\ N +10 &8`}w]\ M +9 &:`v^\ N +9 &:`|xa\ N +9 &?\\}va\ N +10 &A`|wb\ N +9 &C`}u]\ N +9 &EB\\|wb\ N +10 &G]|wa\ N +9 &He}xf\ N +9 &Jn|xc\ O +10 &LCu}vj\ P +9 &M|vk\ R +10 &O|vi\ T +9 &Qu}w[\ W +9 &S7|yd\ W +10 &T~xh\ W +9 &Vvb~x]\ 4 +9 &W }yf\ B +9 ( +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 7/25 samples, on/off torque 1.58 +2 .Hand.open + "manipulator"&N1 +4 "core" &WC~xk\ < +56 1 + "manipulator"&}% +4 "core" % ў +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&o' ] +104 "core" ' + #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%c& +4 "core" &\ +2 "manipulator"&% +3 "core" % [ +2 "storage"(% +4 "core" %` 1 3 " + "storage"(6. +3 "core" .([4 +2 "storage"(& +3 "core" &[- 2 ( 4 # +2 "storage"(d& +3 "core" &[- 1 . ' # +2 "manipulator"&!& +3 "core" & o % +2 "manipulator"&V% +3 "core" % [ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&I( +159 "core" ( +2 "manipulator"&&& +4 "core" & u + "storage"(C& +4 "core" &[- 4 2 # +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 800 counts +2 "manipulator"&O' +93 "core" ' + "storage"(g& +5 "core" &[- ( 3 # + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(X' +298 "core" ' +2 "storage"(R- +3 "core" -'{ +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\ & +2 "core" &[-   # +2 "manipulator"&l& +4 "core" & u + .tElbow.seek 7 +2 "manipulator"&A( +32 "core" ( +2 "manipulator"&\\& +4 "core" & Q h + "storage"(t& +4 "core" &[-   8 # +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&q' +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&S/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&`& + "storage"('g +6 "core" & h +2 "manipulator"&Y% +4 "core" % E 6 +2 .tForearm.seek :retract +2 "manipulator"&=' ] +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&F( +165 "core" ' + ."downElevator"SE.stop + "storage"(5 +118 "core" ( +3 "manipulator"&9& +4 "core" &/ | ] + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &/ ] +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&J'E +108 "core" ' + "manipulator"&h& +5 "core" &0 \\ + "manipulator"& % +4 "core" %A  / +2 "processing"%z& +3 "core" &\ +2 "processing"%m& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(V +4 "core" &&\  +9 &-&\ +z +9 &c'\ > +9 &\\~'\ N +10 &`&\ M +9 &`'\ M +10 &`&\ M +9 &g`&\ L +9 &&b%\ M +10 & a%\ M +9 &"c&\ M +9 &$kb"\ N +10 &&/b%\ M +9 &'b'\ M +10 &)b'\ M +9 &+u]%\ M +9 &-7`'\ M +10 &.`&\ M +9 &0a&\ M +9 &2|b&\ M +10 &4?_&\ M +9 &6c&\ M +10 &7b%\ N +9 &9c%\ M +9 &;Gb'\ M +10 &= b&\ M +9 &>b&\ M +10 &@a'\ M +9 &BOd'\ M +9 &Dj'\ N +10 &Et'\ O +9 &G'\ Q +9 &IG&\ R +10 &K&\ S +9 &L&\ S +10 &N&\ S +9 &PJ&\ T +9 &R&\ S +10 &S'\ T +9 &U~'\ 2 +9 &V[3u%\ C +9 ( +3 "processing"%m& +3 #tProcessing Clamp onSpring/offSpring for 9/24 samples, on/off torque 1.51 + .Hand.open +2 "manipulator"&1 +3 "core" &Vm.&\ 1 +58 1 +2 "manipulator"&y% +4 "core" % F * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|' ] +105 "core" ' +2 "processing"%_& +4 "core" &Vm.&\ 1 + #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&@% +4 "core" % _  +2 "storage"(b% +4 "core" %m   +2 "storage"( . +3 "core" .([4 + "storage"(x& +4 "core" &[-   # + "storage"(p& +3 "manipulator"&U& +6 "core" &[-   # + &0 \\ +2 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]9K-0-\ b +2 "manipulator"&[( +6 ."raiseStack"SE.seek :beamBreak + "storage"(n' +45 "core" ( +2 "manipulator"&W& +4 "core" &! A  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &]& +2 "core" &! ;  +2 .tForearm.seek PC +2 "manipulator"&Z'E +97 "core" ' + .tHand.close +2 "manipulator"&v/ +66 "core" / + .tPC.seek :open +2 "processing"%L( +47 "core" ' + "storage"(- +3 "core" -' +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"()' +36 "core" ' +296 ( + "storage"(& +4 "core" &[- 2 3 d # +2 "manipulator"&& +3 "core" &J g z +2 "manipulator"&% +4 "core" % ' z  + .tForearm.seek :retract +2 "manipulator"&~' ] +108 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 + "manipulator"&"( +243 "core" ( +2 "manipulator"&w& +4 "core" & V + "storage"( & +4 "core" &[- $ . D # +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 800 counts +2 "manipulator"&u' +91 "core" ' + .tHand.open + "manipulator"&i1 +52 "core" 1 +2 "storage"(,- +3 "core" -' +3 .tSE.seek -0.3 Pucks below Top Plate + "storage"(j'g +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.17 Pucks below Top Plate +2 "storage"(B'o +53 "core" ' +3 #tLights, camera, ACTION! + "storage"(- +4 "core" -'o + "storage"({& +4 "core" &[- =\ # +2 "manipulator"&& +3 "core" & V +2 .tElbow.seek 7 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&1& +4 "core" & y V +2 "storage"(& +3 "core" &[- b\ # +2 .tForearm.seek 7 + 800 counts +2 "manipulator"&f' +20 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.46 Pucks below Top Plate +2 "storage"(>' +51 "core" ' + "manipulator"&.& +4 "core" &  V +2 "storage"(& +3 "core" &[- 3 4 # +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&e'Χ +38 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.27 Pucks below Top Plate + "storage"(4' +27 "core" ' + "manipulator"&3% +4 "core" %κs }  +2 "storage"(%& +3 "core" &[-  # +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 319 counts +2 "manipulator"&0' +21 "core" ' + "manipulator"&H& +5 "core" & s V + "storage"(7& +4 "core" &[-    # +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 800 counts +2 "manipulator"&(' +20 "core" ' +2 "storage"('% +4 "core" %}  f +53 ."downElevator"SE.seek :down +3 "storage"('g +99 (s% +3 "core" %uB  U[ + "manipulator"&% +4 "core" % X  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' ] +91 "core" ' +65 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (#& +4 "core" &[- #  # +2 "collection"'& +3 "core" &WD|uT\ < +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&-% +4 "core" % R   +2 "storage"( % +4 "core" %r   +2 "storage"($. +3 "core" .([4 + "storage"(2& +4 "core" &[-  # + "storage"(E& +4 "core" &[- \  # +2 "manipulator"&M& +3 "core" & k V +2 .tElbow.seek 7 +2 "manipulator"&/( +3 "core" ( + "manipulator"&<& +4 "core" & r V +2 "storage"(& +4 "core" &[- !  # +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 800 counts +2 "manipulator"&5' +96 "core" ' + "storage"(Q& +4 "core" &[- 1 ) H # +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(' +296 "core" ' +2 "storage"( - +4 "core" -'{ + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&D& +3 "core" & V +2 "storage"(+& +4 "core" &[-    # + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&T'Χ +30 "core" ' +2 .tElbow.hold +2 "manipulator"&?, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -'{ +2 .tSE.seek 0.2 Pucks below Top Plate +2 "storage"(8' +30 "core" ' +2 "manipulator"&K% +4 "core" %θv L , + "storage"(P& +4 "core" &[- 0 # + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 317 counts +2 "manipulator"&a' +18 "core" ' +2 "manipulator"&;& +4 "core" & V +2 "storage"(r& +3 "core" &[-   # +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 800 counts +2 "manipulator"&N' +21 "core" ' +2 .tSE.seek 1.2 Pucks below Top Plate +2 "storage"(}' +36 "core" ' +2 "manipulator"&c& +4 "core" & Z V +2 "manipulator"&% +4 "core" % r  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' ] +92 "core" ' + .tElbow.seek CC +2 "manipulator"&( +153 "core" ( +6 "manipulator"&6& +5 "core" & n $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & X $ +2 .tForearm.seek CC +2 "manipulator"&d'ш +93 "core" ' + .tHand.close +2 "manipulator"&!/ +52 "core" / + .tCC.seek :open +2 "collection"'V( +394 "core" ( + "storage"(:& +4 "core" &[- / 0 # + "storage"(&& +4 "core" &[- 2 3 # + "manipulator"&C& +4 "core" & % d + "manipulator"&g% +4 "core" % ї \ +2 .tForearm.seek :retract +2 "manipulator"&G' ] +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&o( +171 "core" ( +2 "manipulator"&R& +4 "core" & + "storage"(\ & +4 "core" &[- M K g # +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&l'Χ +109 "core" ' + .tElbow.hold +2 "manipulator"&\\, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&t1 +65 "core" 1 +2 "manipulator"&S% +5 "core" % ζZ U + "storage"(`& +4 "core" &[- T # + .tForearm.force -20 +6 "manipulator"&5 +3 .tForearm.seek 7 + 315 counts + "manipulator"&Y' +11 "core" ' + "manipulator"&I& +5 "core" & + "storage"(O& +4 "core" &[- I L H # +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 800 counts + "manipulator"&X' +34 "core" ' +2 "storage"(q% +4 "core" % M M )  +2 ."downElevator"SE.seek :down +4 "storage"(9'g +99 (% +3 "core" %J % $  U] +2 "manipulator"&A% +4 "core" % + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&h' ] +91 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +661 #t-> access 7 +2 "storage"( % +3 "core" %j K K   +2 "manipulator"&z% +4 "core" % d  + "manipulator"&& +4 "core" & +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 4 +2 "storage"(=(+ +522 "core" ( + .tSC.configure :limp +2 "storage"($(\ 1b +3 (k& +2 "core" &+  +1155 "Can"\ 6;M +1314 #t-> CC.loadFlush +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'& +3 "core" &|v\ +2 "manipulator"&y& +4 "core" & + "manipulator"&_% +4 "core" % d  +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&@(-w +174 "core" ( +2 "manipulator"&b& +4 "core" &-r G + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &m& +3 "core" &-r  G +2 .tForearm.seek :garage + "manipulator"& 'π +109 "core" ' + .tHand.close + "manipulator"&x/ +54 "core" / +2 "manipulator"&U& +4 "core" &-r p ' G + "manipulator"&p% +4 "core" % ωf - + .tForearm.seek :retract +2 "manipulator"&W' ] +116 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&]( +279 "core" ( +2 "manipulator"&J& +4 "core" &  ' + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &v& +2 "core" & ' +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'ш +91 "core" ' +2 "manipulator"&F& +4 "core" &  ' + "manipulator"&|% +4 "core" %ь \\ +2 "collection"'& +3 "core" &x\ +2 "collection"'n& +5 "core" &}u\ +2 .tCC.seek :closed +2 "collection"'(W8 +3 "core" &|w\ +9 &6|u9\ #c +9 &V|w\ 7 +9 &}w\ L +10 &b|w\ N +9 &Va}x\ N +10 &`}u\ N +9 &_|x\ N +9 &_}v\ N +10 & __|x\ N +9 &""`}w\ N +9 &#e}x\ N +10 &%c~v\ M +9 &'ib}t\ M +9 &)*c~x\ N +10 &*e}u\ M +9 &,`|v\ M +10 &.pb}w\ N +9 &03cx\ M +9 &1_}w=\ M +10 &3_{vo\ M +9 &5we}v\ N +9 &7:b}v\ N +10 &8c|u\ N +9 &:c}w\ N +10 &<`|v\ N +9 &>C\\{w\ M +9 &@[|v\ N +10 &A_{v8\ M +9 &C]|v\ N +9 &EKb|x \ M +10 &G b{w&\ N +9 &Hm|z \ O +10 &J{|u\ P +9 &L@}vF\ T +9 &M}xY\ W +10 &O~wK\ W +9 &Q{}w1\ X +10 &S?}v8\ W +9 &T~wN\ X +9 &V~d}x'\ / +10 &W}w\ @ +9 ( +2 "collection"'n& +4 #tCollection Clamp onSpring/offSpring for 6/25 samples, on/off torque 1.76 + "collection"'& +5 "core" &WJ|xm\ < + &WL~x_\ < + .tHand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&Z% +4 "core" % ы ^ ~ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&w' ] +98 "core" ' +2 "collection"' & +4 "core" &WL}vL\ < +1739 #t-> CC.unloadFlush + #Garaging FlushPuck in Collection Clamp +2 "manipulator"&[& +3 "core" &  % +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&i( +40 "core" ( + "manipulator"&,& +4 "core" & M Q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & Q +2 .tForearm.seek CC +2 "manipulator"&{'ш +95 "core" ' + .tHand.close + "manipulator"&/ +62 "core" / + .tCC.seek :open +2 "collection"'1( +393 "core" ( +2 "manipulator"&& +4 "core" & Q + "manipulator"&~% +4 "core" % ђ . +2 .tForearm.seek :retract + "manipulator"&.' ] +111 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(-w +262 "core" ( + "manipulator"&)& +4 "core" &-{  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &3& +3 "core" &-{  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&%'π +105 "core" ' + .tHand.open +50 "manipulator"&j1 +54 "core" 1 + "manipulator"&H% +4 "core" % ψ\\ } : 3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&7' ] +116 "core" ' +1274 #t-> PC.loadFlush +2 #Loading FlushPuck into Processing Clamp from FlushPuck::Garage +2 "processing"%'& +3 "core" &\ +2 "manipulator"&"& +4 "core" &-{  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&u(-w +3 "core" ( + "manipulator"&B& +5 "core" &-{  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &f& +2 "core" &-{  +2 .tForearm.seek :garage +2 "manipulator"&s'π +104 "core" ' + .tHand.close + "manipulator"&/ +60 "core" / +2 "manipulator"&& +4 "core" &-{ o  + "manipulator"&>% +4 "core" % όv D * +2 .tForearm.seek :retract +2 "manipulator"&e' ] +113 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&0( +122 "core" ( + "manipulator"&#& +4 "core" & |  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&-'E +94 "core" ' +2 "manipulator"& & +4 "core" & n  + "manipulator"&4% +4 "core" %J 8 +2 "processing"%$& +3 "core" &\ +2 "processing"%2& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%E(V +4 "core" &%\  +9 &0%\ *y +9 &c&\ > +10 &a}'\ M +9 &#`%\ M +9 &`%\ M +10 &c&\ M +9 &j`&\ M +10 &+d'\ M +9 & `&\ L +9 &"b'\ M +10 &$qa%\ M +9 &&4b&\ M +9 &'a&\ M +10 &)`&\ L +9 &+y`'\ M +9 &-<`&\ M +10 &._&\ M +9 &0`&\ M +10 &2b&\ M +9 &4Da%\ M +9 &6b&\ M +10 &7b&\ M +9 &9b&\ M +9 &;Ka&\ M +10 &=a$\ M +9 &>_&\ M +10 &@`&\ M +9 &BTc'\ M +9 &Df&\ M +10 &Er&\ N +9 &G&\ Q +9 &IL%\ R +10 &K &\ S +9 &L&\ S +10 &N&\ S +9 &PP&\ S +9 &R'\ S +10 &S&\ T +9 &U%\ 5 +9 &VP-{&\ X +10 &Vw-'\ 1 +2 ( +2 "processing"%2& +3 #tProcessing Clamp onSpring/offSpring for 9/24 samples, on/off torque 1.49 + "processing"%M& +4 "core" &Vw.\ 1 +2 .tHand.open + "manipulator"&<1 +57 "core" 1 +2 "manipulator"&% +4 "core" % J # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&(' ] +96 "core" ' + "processing"%Q& +4 "core" &Vw.&\ 1 +1867 #t-> PC.unloadFlush +2 #Garaging FlushPuck in Processing Clamp + "manipulator"&& +4 "core" & [  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &   +2 .tForearm.seek PC +2 "manipulator"&D'E +91 "core" ' + .tHand.close + "manipulator"&+/ +76 "core" / +2 .tPC.seek :open + "processing"%( +392 "core" ( +2 "manipulator"&K& +4 "core" & |  + "manipulator"&P% +4 "core" % T  R + .tForearm.seek :retract +2 "manipulator"&;' ] +103 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&r(-w +137 "core" ( + "manipulator"&c& +4 "core" &- z B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &- B +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&5'π +103 "core" ' +2 .tHand.open + "manipulator"&/1 +63 "core" 1 + "manipulator"&% +4 "core" % ψp z R c +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&T' ] +99 "core" ' +2572 #t-> SC +2 "storage"(a& +3 "core" &+ J I 2  +3807 #t-> Hand.open +1263 #-> Arm.grab garage +2 "manipulator"&8& +4 "core" &- P ? +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&6(-w +29 "core" ( + "manipulator"&& +4 "core" &- p B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &N& +3 "core" &- B +2 .tForearm.seek :garage +2 "manipulator"&?'π +107 "core" ' + .tHand.close + "manipulator"&!/ +57 "core" / +599 #t-> Arm.clear + "manipulator"&& +4 "core" &- ) B + "manipulator"&^% +4 "core" % ψx  ( +2 .tForearm.seek :retract +2 "manipulator"&:' ] +119 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear + "manipulator"&&(Z +121 "core" ( + "manipulator"&C& +4 "core" &Z e + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &g& +3 "core" &Z e +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :clear + "manipulator"&R' ] +17 "core" ' + "manipulator"&\ & +4 "core" &Z e +2 "manipulator"&d% +3 "core" % q \ +345 #t-> Arm.to CC + "manipulator"&& +4 "core" &Z e + "manipulator"&t% +4 "core" % q \ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&S( +210 "core" ( + "manipulator"&`& +4 "core" &  "~ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &I& +3 "core" & - "~ +2 .tForearm.seek CC +2 "manipulator"&O'ш +88 "core" ' +2 "manipulator"&q& +4 "core" & "{ + "manipulator"&G% +4 "core" %х \\  +6163 #t-> CC.sealed +2 .CC.seek :sealed +2 "collection"'(J +324 "core" ( + "collection"'A& +4 "core" &I\ {t \ \  +1300 #t-> CC.rawPosition + "collection"'o& +3 "core" &I\ }w\ \  +2855 #t-> CC.close + "manipulator"&l& +3 "core" &\ P !t +2 "manipulator"&Y% +4 "core" %х O  +2 "collection"'}& +4 "core" &I\ |t\ \  +2 .tCC.seek :open +2 "collection"'X( +322 "core" ( +2 "collection"'9& +5 "core" &}w \ +2 .tCC.seek :closed +2 "collection"' (W8 +3 "core" &v\  +9 &2~{w\ *x +9 &b|x\ > +9 &d{|v \ N +10 &%\\{x\ N +9 &\\}u\ N +10 &]|v \ O +9 &k]}v \ N +9 &-^|v\ N +10 & \\{v\ N +9 &"_zx\ \ N +10 &$s^}v \ N +9 &&5\\|v \ N +9 &'Z{v \ N +10 &)`}v\ N +9 &+{]}v\ N +9 &-<\\}v\ O +10 &/]|x\ N +9 &0]{v\ N +9 &2]zv\ \ N +10 &4FY|x\ N +9 &6\\|v\ N +10 &7_|v\ N +9 &9`{v \ N +9 &;M]{v \ N +10 &=\\~t\ N +9 &>\\|u \ N +9 &@\\|w\ N +10 &BU]}t\ N +9 &D\\}v \ N +10 &E\\|x\ N +9 &G[~v\ N +9 &I\\f}w\ O +10 &Km|v\ P +9 &L|}u\ Q +10 &N}v\ S +9 &PP{v\ V +9 &R }w\ W +10 &S~w \ V +9 &U}v\ N +9 &VK}w\ !e +10 &W\ g}u\ ? +5 ( + "collection"'9& +5 #tCollection Clamp onSpring/offSpring for 7/25 samples, on/off torque 1.67 + "collection"'z& +4 "core" &WU~w\ ? +2 &WU}u\ ? +822 #t-> CC.rawPosition +2 "collection"'& +3 "core" &WU~w!\ ? +1572 #t-> CC.open +2 .CC.seek :open +2 "collection"'*( +397 "core" ( + "collection"'k& +4 "core" &|t\ +601 #t-> CC.close + "manipulator"&& +4 "core" &  !r +2 "manipulator"&y% +4 "core" %х   + "collection"'_& +4 "core" &|w\ +2 "collection"'b& +4 "core" &}x\ +2 .tCC.seek :closed +2 "collection"'m(W8 +4 "core" &}u\  +8 &/{|x\ *y +9 &dzv \ ? +10 &Uy|w\ O +9 &]|v\ N +10 &]|x\ N +9 &\\{v\ N +9 &^[|v\ N +10 &^}v\ O +9 & _{x\ N +9 &"Z~u \ N +10 &$f_{u\ N +9 &&']}w\ \ O +10 &'_|v\ N +9 &)a|w\ N +9 &+n]{x \ N +10 &-0]}x\ N +9 &.]}w \ N +9 &0]|t \ N +10 &2u]}w\ \ O +9 &49\\}u\ \ N +10 &5\\|w\ N +9 &7^}v\ N +9 &9~^|v\ N +10 &;@]|w\ N +9 &=\\|w\ N +9 &>\\|u\ N +10 &@\\|x\ N +9 &BI]}v\ N +10 &D \\}u\ N +9 &E\\zw\ N +9 &G_|v\ N +10 &IPe{v\ N +9 &Kj|v \ P +9 &Lv}v\ Q +10 &N}v\ S +9 &PC}w \ V +10 &Q}x\ X +9 &S{x\ W +9 &U|x\ W +10 &VE}~v\ !c +9 &Wb~x\ @ +6 ( + "collection"'b& +4 #tCollection Clamp onSpring/offSpring for 7/25 samples, on/off torque 1.63 +51 "collection"'\\& +5 "core" &WT}w\ @ + &WU}x\ @ +431 #t-> CC.rawPosition + "collection"'x& +4 "core" &WT}x\ @ +479 #t-> CC.open +2 .CC.seek :open +2 "collection"'U( +397 "core" ( + "collection"'p& +4 "core" &}u\ +4476 #t-> CC.close +2 "manipulator"&h& +3 "core" &  !r +2 "manipulator"& % +4 "core" %х   +2 "collection"'J& +4 "core" &}v\ +2 "collection"'v& +5 "core" &}x\ \ +2 .tCC.seek :closed + "collection"'@(W8 +5 "core" &|x \  +9 &0{}w\ *x +10 &c}w \ > +9 &Vy|u\ O +9 &`}w\ O +10 &`|u \ N +9 &^|x \ O +10 &_]}w \ N +9 & ]{v \ N +9 & `}u\ \ O +10 &"]}v\ N +9 &$e_}v\ O +9 &&)]}x\ N +10 &'_|y\ N +9 &)]|v\ N +10 &+o_x \ N +9 &-1]}w\ N +9 &.]|v\ N +10 &0]|u\ N +9 &2v]|w \ N +9 &48]{t\ N +10 &5_~u \ N +9 &7_|w\ N +9 &9~_}w \ N +10 &;?]}u \ O +9 &=\\|w\ N +10 &>\\|v\ N +9 &@`|w\ N +9 &BI^{v \ N +10 &D ]|w \ N +9 &E]}u \ N +10 &G_{w\ N +9 &IOe~y\ O +9 &Kk|u\ P +10 &Lx|w \ Q +9 &N{x \ T +9 &PD~v \ U +10 &R|x\ \ W +9 &S}x \ X +9 &U}z\ V +10 &V@||u \ *| +9 &WB}u \ 8 +6 ( + "collection"'v& +4 #tCollection Clamp onSpring/offSpring for 7/25 samples, on/off torque 1.65 +2 "collection"'F& +4 "core" &W6~w \ 8 + &W6}w\ 8 +2706 #t-> CC.jog 500 +2 .CC.jog 500 +2 "collection"'|* +46 "core" * +2 "collection"'& +4 "core" &Y1D{w\ > +421 #t-> CC.jog 500 +2 .CC.jog 500 +2 "collection"'W* +41 "core" * +3 "collection"'V& +4 "core" &[n}v\ M +281 #t-> CC.jog 500 +2 .CC.jog 500 +2 "collection"'* +43 "core" * + "collection"'& +4 "core" &\\Z}x \ F +472 #t-> CC.open +2 .CC.seek :open +2 "collection"'Z( +431 "core" ( +2 "collection"' & +4 "core" &|s\ +6070 #t-> CC.unloadFlush +2 "collection"'n& +3 "core" &}w"\ +2 !to:Puck::Error: mesg"-Collection Clamp not closed on FlushPuck:bt[ "@/home/esp/esp2/utils/puckmoves.rb:901:in `_updateContents!'"8/home/esp/esp2/utils/puckmoves.rb:36:in `contents='"9/home/esp/esp2/utils/puckmoves.rb:889:in `location='"6/home/esp/esp2/utils/puckmoves.rb:825:in `garage'";/home/esp/esp2/utils/puckmoves.rb:987:in `unloadFlush'"(ESP):46:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +380 #-> CC.close +2 "manipulator"&& +3 "core" &\  !r +2 "manipulator"&[% +4 "core" %х   +2 "collection"',& +3 "core" &{u\ +2 "collection"'& +5 "core" &}u\ +2 .tCC.seek :closed +2 "collection"'(W8 +4 "core" &|v\ +7 & .|v \ #b +9 &tV{u\ \ 7 +10 &|u\ L +9 &b|u \ N +9 &B_|v\ N +10 &\\|v\ N +9 &^{w \ N +9 &^|u\ N +10 & K_zv\ N +9 &" _|t\ N +10 &#_|v\ N +9 &%\\{v \ N +9 &'S^|w \ N +10 &)_zu\ N +9 &*]|u\ N +9 &,^|u \ N +10 &.\\\\|u\ N +9 &0b{w\ N +10 &1^|w \ N +9 &3\\}v\ M +9 &5c`|x\ \ N +10 &7&]{u\ N +9 &8_zw\ N +9 &:_|u\ N +10 &.]|x\ N +10 &?[|x\ N +9 &A\\|v\ N +9 &Cs`|w\ N +10 &E6\\zv\ N +9 &F`|u\ N +9 &Ha|x\ N +10 &Jxh}t\ O +9 &L7t}w\ P +10 &M}w \ R +9 &O~w\ T +10 &Qj~v\ W +9 &S,|v\ V +9 &T|y\ X +9 &V{mz \ * +10 &Ws}v \ 8 +9 ( + &W-}x\ 5 +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 7/25 samples, on/off torque 1.60 +2 "collection"']& +4 "core" &W-|x&\ 5 +257 #t-> CC.unloadFlush +2 "collection"'w& +3 "core" &W-}v \ 5 +3 #tGaraging FlushPuck in Collection Clamp + "collection"'& +4 "core" &W-{u\ \ 5 +2 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&~& +4 "core" &\  !r + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&{( +39 "core" ( +2 "manipulator"&)& +4 "core" & P 5 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &3& +3 "core" & ) 5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek CC +2 "manipulator"&i'ш +2 "core" ' +2 .tHand.close + "manipulator"&j/ +57 "core" / + .tCC.seek :open +2 "collection"'H( +394 "core" ( + "manipulator"&.& +4 "core" & 5 + "manipulator"&%% +4 "core" % х  +2 .tForearm.seek :retract +2 "manipulator"&'' ] +104 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&"(-w +272 "core" ( + "manipulator"&B& +4 "core" &-| U +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &f& +3 "core" &-| Z U +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&'π +107 "core" ' + .tHand.open + "manipulator"&1 +60 "core" 1 +2 "manipulator"&>% +4 "core" % ψM x + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' ] +118 "core" ' +185 #t-> exit +7 #mEXIT @1676052233.14PST @1676052300.98PST = =tMAIN =mMAIN_scheduler @PST1676052302.82 #"core_reset"Sent BREAK +2 #t@13459 sendCRC with ifg=0x20, ie=0x7F + #@15294 sendCRC with ifg=0x08, ie=0x5F #@37227 idle with ifg=0x84, ie=0x75 + #@37899 select with ifg=0x10, ie=0xF5 + #@38533 receive with ifg=0x10, ie=0xFD #@39168 receive with ifg=0x10, ie=0xFD + #@39802 receive with ifg=0x10, ie=0xFD #@40129 receive with ifg=0x80, ie=0xFD + #@61440 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +8 #ESP2 v3.42 I2C Gateway v3.20 for core bus +242 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +397 "Can"\ 5N5 + \ 5N5 + #tPolling Can every 10:00 +2 #Cleanly exited at 10:03:53PST10-Feb-23 +473 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  + "collection"' +2 ' +3 "core"  +2 "processing"% + % +4 "core"  +4 "collection"' 9\ +2 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ + "collection"'% +4 "core" %a}u$\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +5 "core" + + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %ٶ\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %ޠ76 b\ +2 .tSS.configure :default +3 "sampler")#.0X Hand.open + .Hand.open +2 "manipulator"&21 +23 "core" 1 +968 #t-> Arm.grab garage + "manipulator"&3& +4 "core" &-| l U +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&4(-w +3 "core" ( +2 "manipulator"&5& +4 "core" &-| x U +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &6& +3 "core" &-|  U +2 .tForearm.seek :garage +2 "manipulator"&7'π +105 "core" ' + .tHand.close + "manipulator"&8/ +52 "core" / +391 #t-> Arm.clear +3 "manipulator"&9& +3 "core" &-| 6 U +2 "manipulator"&:% +4 "core" % ό{ b 0 + .tForearm.seek :retract +2 "manipulator"&;' ] +115 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&<(Z +118 "core" ( +2 "manipulator"&=& +4 "core" &Z ` + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &>& +3 "core" &Z ` +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :clear +2 "manipulator"&?' ] +2 "core" ' +2 "manipulator"&@& +4 "core" &Z ` + "manipulator"&A% +4 "core" % g +406 #t-> Arm.to CC + "manipulator"&B& +4 "core" &Z _ +2 "manipulator"&C% +4 "core" % g +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&D( +210 "core" ( + "manipulator"&E& +4 "core" & $ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &F& +3 "core" & r $ +2 .tForearm.seek CC +2 "manipulator"&G'ш +100 "core" ' +2 "manipulator"&H& +4 "core" & B # + "manipulator"&I% +4 "core" %ы S +758 #t-> CC.close + "manipulator"&J& +4 "core" & "} +2 "manipulator"&K% +4 "core" %ы  +2 "collection"'L& +3 "core" &}u\ +2 "collection"'M& +5 "core" &~u \ +2 .tCC.seek :closed +2 "collection"'N(Y, +4 "core" &|v\  +9 &2}|x\ *x +9 &b|v\ > +10 &ax}u\ N +9 &"^}v\ N +10 &\\}v\ N +9 &Z{u\ O +9 &g\\}v\ O +10 &*\\}u\ N +9 & ]}w\ O +10 &"]}v\ O +9 &$q`}v\ N +9 &&2\\}v!\ N +10 &'Z}v\ N +9 &)[}w\ O +9 &+x\\~w\ N +10 &-:Z~v\ N +9 &.\\|w\ O +9 &0]|v\ N +10 &2Z|w\ N +9 &4CY}s\ N +10 &6]~u\ N +9 &7^}v\ N +9 &9]|x\ N +10 &;J`}u\ N +9 &= \\|u\ N +9 &>_~w\ N +10 &@\\|v\ N +9 &BR_{x\ N +10 &D[}u\ N +9 &EY}t\ N +9 &G_{u\ N +10 &IYd}u\ O +9 &Kk|s \ P +9 &Ly}v$\ Q +10 &N}w!\ S +9 &PM}w"\ V +10 &R x\ W +9 &S}w\ V +10 &Ux"\ X +9 &WO}v$\ W +9 &XI}v\ 1 +9 &XY}x\ @ +6 ( + "collection"'M& +5 #tCollection Clamp onSpring/offSpring for 8/25 samples, on/off torque 1.70 + "collection"'O& +5 "core" &XM}w\ @ + &XMu\ @ +5514 #t-> CC.open +2 .CC.seek :open +2 "collection"'P( +406 "core" ( +2 "collection"'Q& +4 "core" &}v\ +2613 #t-> CC.close +2 "manipulator"&R& +3 "core" & "| +2 "manipulator"&S% +4 "core" %ю +2 "collection"'T& +4 "core" &}u\ +2 "collection"'U& +5 "core" &{w\ +2 .tCC.seek :closed +2 "collection"'V(Y, +4 "core" &}x\ +6 & -}v\ #b +10 &wU|v\ 8 +9 &~w\ L +9 &]}v\ N +10 &H\\|u\ N +9 &\ \\}v\ N +10 &Z}v\ N +9 &Z}v\ N +9 & P`|t\ N +10 &"_{v\ N +9 &#^~u\ O +9 &%\\~u\ O +10 &'W^|v\ O +9 &)_}v\ O +10 &*]~v\ O +9 &,]~v\ N +9 &.`[|v\ N +10 &0#Z|u\ N +9 &1\\}t\ N +9 &3Y~w\ N +10 &5h^}w\ N +9 &7+Z}v\ N +10 &8_~u\ O +44 &:^|x\ O +10 &2\\{w\ N + &?Z{u\ O + &AZ}u\ N + &Cw]}v\ O +5 &E;]|v\ N +10 &F^}u\ O +9 &Ha}x\ O +10 &J}h{w\ O +9 &L;q|v\ Q +9 &M}v\ R +9 &O}w\ T +10 &Qp~v\ V +9 &S0w\ W +10 &Tx\ X +9 &V{w\ X +9 &XTw~x\ , +10 &X*~v\ ` +9 ( +2 &Y d}w\ O + "collection"'U& +3 #tCollection Clamp onSpring/offSpring for 8/25 samples, on/off torque 1.66 +2 "collection"'W& +4 "core" &Y ex\ O +876 #t-> CC.open +2 .CC.seek :open +2 "collection"'X( +410 "core" ( +2 "collection"'Y& +4 "core" &}w \ +147 #t-> CC.close +3 "manipulator"&Z& +3 "core" & I "{ +2 "manipulator"&[% +4 "core" %ю  +2 "collection"'\\& +4 "core" &v\ +2 "collection"']& +4 "core" &}v\ +2 .tCC.seek :closed +2 "collection"'^(Y, +4 "core" &|u\ +7 & .{u\ #b +9 &mV}w\ 7 +10 &}v\ L +9 &w`|u\ N +9 &9^|v\ N +10 &]}v\ N +9 &_}u\ N +9 &]|y\ N +10 & A^|w\ N +9 &"^~t\ N +10 &#\\~u\ N +9 &%\\}u\ N +9 &'I]}u\ N +10 &) `~w\ N +9 &*]}t\ N +9 &,\\|w\ N +10 &.Q[}w\ N +9 &0]|u\ N +10 &1\\|t\ N +9 &3[|v\ N +9 &5Z]{t\ N +10 &7]|u\ N +9 &8^|v\ N +9 &:]|w\ N +10 &%[|u\ N +10 &?[}u\ M +9 &A[}v\ N +9 &Ck\\|v\ N +10 &E.[}u\ M +9 &F]}w\ N +9 &H_~v\ O +10 &Joe}v\ O +9 &L-r}u\ P +10 &M}u\ R +9 &O}x\ U +9 &Qa~x\ W +10 &S"~v\ W +9 &T}w\ Y +9 &V~w\ X +10 &XDx}x\ 2 +9 &X$x\ "e +9 ( +3 "collection"']& +3 #tCollection Clamp onSpring/offSpring for 8/25 samples, on/off torque 1.67 + "collection"'_& +5 "core" &Yt~v\ Q + &Yu~v\ Q +223 #t-> CC.open +2 .CC.seek :open +2 "collection"'`( +410 "core" ( + "collection"'a& +4 "core" &|w\ +107 #t-> CC.close +2 "manipulator"&b& +4 "core" &  "{ +2 "manipulator"&c% +4 "core" %ю +2 "collection"'d& +3 "core" &w\ +2 "collection"'e& +5 "core" &|v\ +2 .tCC.seek :closed + "collection"'f(Y, +5 "core" &|w\ +7 &6}v\ #b +9 &uV|t\ 7 +9 &~}v\ L +10 &c|v\ N +9 &A`|w\ N +9 &^}w\ N +10 &_}w\ N +9 &]~u\ N +10 & J]w\ N +9 &" ^u\ N +9 &#_|u\ N +10 &%\\}u\ N +9 &'Q^}v\ N +9 &)_|v\ N +10 &*]|t\ N +9 &,]~t\ N +10 &.Y\\|v\ N +9 &0]~u\ N +9 &1]}w\ N +10 &3\\}w\ N +9 &5a]|v\ N +9 &7#]|u\ N +10 &8^~u\ O +9 &:_|x\ N +9 &,]}t\ N +9 &?[}v\ N +10 &A[}v\ N +9 &Ct]}u\ M +9 &E4[~t\ N +10 &F]|v\ N +9 &H`}t\ N +10 &Jxg}u\ O +9 &L5q}v\ P +9 &M}x\ R +10 &O~w\ U +9 &Qiv\ V +9 &S*|v\ W +10 &T}v\ W +9 &V~y\ X +10 &XLwu\ 0 +9 &X!x \ "b +9 &Yk~x\ S +3 ( + "collection"'e& +3 #tCollection Clamp onSpring/offSpring for 8/25 samples, on/off torque 1.64 +2 "collection"'g& +4 "core" &Yj~w\ S +178 #t-> CC.open +2 .CC.seek :open +2 "collection"'h( +411 "core" ( + "collection"'i& +4 "core" &|u\ +135 #t-> CC.close +2 "manipulator"&j& +3 "core" & "{ +2 "manipulator"&k% +4 "core" %ю +2 "collection"'l& +3 "core" &}u\ +2 "collection"'m& +5 "core" &}v\ +2 .tCC.seek :closed +2 "collection"'n(Y, +3 "core" &~v\  +9 &0{}u\ *x +9 &b}u\ > +9 &Ux|v\ N +10 &]}v\ O +9 &]}t\ N +9 &^~u\ N +10 &\\\\}u\ N +9 &]~v\ N +10 & ]|t\ N +9 &"[|v\ N +9 &$e\\}x\ N +10 &&(\\|u\ M +9 &']}v\ N +9 &)_}t\ N +10 &+k\\~u\ N +9 &-.\\|w\ N +10 &.\\|u\ N +9 &0\\{w\ N +9 &2v\\}w\ M +10 &46[{w\ N +9 &5[|v\ N +10 &7`|w\ N +9 &9|]|u\ N +9 &;>]|v\ N +10 &=\\|u\ N +9 &>Y|v\ N +9 &@Z~v\ N +10 &BG[}v\ N +9 &D \\|v\ N +10 &E_|x\ N +9 &G]}v\ N +9 &IMb|t\ N +10 &K h|x\ O +9 &Lv}v\ P +9 &N}v\ S +10 &PA}w\ U +9 &Q~v\ W +9 &S~v"\ V +10 &Uv$\ X +9 &W@x\ X +10 &XO}w!\ . +9 &Y~x\ R +5 ( +2 "collection"'m& +4 #tCollection Clamp onSpring/offSpring for 8/25 samples, on/off torque 1.67 +7 "collection"'o& +9 "core" &Ysv\ Q + &Ys}v\ Q +164 #t-> CC.open +2 .CC.seek :open + "collection"'p( +410 "core" ( +2 "collection"'q& +4 "core" &}y\ +117 #t-> CC.close +2 "manipulator"&r& +4 "core" & , "{ + "manipulator"&s% +5 "core" %ю + "collection"'t& +4 "core" &y\ +2 "collection"'u& +4 "core" &}u\ +2 .tCC.seek :closed +2 "collection"'v(Y, +4 "core" &|w\  +10 &0x~w\ *x +9 &c}v\ > +9 &Tw|v\ N +10 &]}t\ N +10 &]|v\ N +9 &\\u\ N +9 &\\\\|v \ N +9 &\\|v\ N +10 & ]|v\ N +9 &"_w\ N +9 &$e]~v\ N +10 &&(\\}u\ M +9 &']}v\ N +10 &)_|w\ N +9 &+m]|x\ N +9 &-0\\~v\ M +10 &.\\}w\ M +9 &0[u\ N +9 &2u_}u\ N +10 &47Y}u\ N +9 &5[|u\ M +10 &7]|y\ N +9 &9}^|v \ N +9 &;>_}u\ N +10 &=[{v\ N +9 &>]}t\ N +10 &@Y}w \ N +9 &BH\\|v\ M +9 &D \\|u\ N +10 &E_}w\ N +9 &G\\}u\ N +9 &IMbw\ N +10 &K h}v\ O +9 &Lv}w\ Q +10 &N|w\ R +9 &PA~v\ U +9 &Q~w\ W +10 &S~x\ W +9 &U~}v\ X +9 &WA~w#\ X +10 &XJy!\ 0 +9 &Y}v$\ Q +6 ( + "collection"'u& +4 #tCollection Clamp onSpring/offSpring for 8/25 samples, on/off torque 1.68 +2 "collection"'w& +4 "core" &Yhy%\ Q + &Yh~y%\ Q +771 #t-> CC.unloadFlush +2 "collection"'x& +3 "core" &Yh~w \ Q +2 #tGaraging FlushPuck in Collection Clamp +2 "collection"'y& +4 "core" &Yh~y\ Q + .tHand.open +2 "manipulator"&z1 +57 "core" 1 + "manipulator"&{& +4 "core" & "{ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&|( +33 "core" ( +2 "manipulator"&}& +4 "core" & x + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &~& +3 "core" &  x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek CC +2 "manipulator"&'ш +3 "core" ' + .tHand.close +2 "manipulator"&/ +62 "core" / +2 .tCC.seek :open +2 "collection"'( +409 "core" ( + "manipulator"&& +4 "core" & x +2 "manipulator"&% +3 "core" % ю +2 .tForearm.seek :retract +2 "manipulator"&' ] +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&(-w +278 "core" ( +2 "manipulator"& & +4 "core" &-w  A + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +2 "core" &-w d A +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"& 'π +110 "core" ' +2 .tHand.open +2 "manipulator"&1 +60 "core" 1 +2 "manipulator"&% +4 "core" % ψJ  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' ] +100 "core" ' +1668 #t-> exit +7 #mEXIT @1676052554.15PST @1676052601.99PST = =tMAIN =mMAIN_scheduler @PST1676052603.77 #"core_reset"Sent BREAK +2 #t@14236 sendCRC with ifg=0x20, ie=0x7F + #@16071 sendCRC with ifg=0x08, ie=0x5F #@44386 idle with ifg=0x84, ie=0x75 + #@45058 select with ifg=0x10, ie=0xF5 + #@45693 receive with ifg=0x10, ie=0xFD #@46327 receive with ifg=0x10, ie=0xFD + #@46961 receive with ifg=0x10, ie=0xFD #@47289 receive with ifg=0x80, ie=0xFD + #@38365 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +9 #ESP2 v3.42 I2C Gateway v3.20 for core bus +233 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +376 "Can"\ ON + \ ON* + #tPolling Can every 10:00 +2 #Cleanly exited at 10:09:14PST10-Feb-23 +373 #-> ESP.ready! +154 "sampler") +3 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% + % +4 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +3 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %a}u$\ + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +4 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +4 "core" %ٶ%\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %ޠ84 i\ +2 .tSS.configure :default +2 "sampler")#.0X  + %ޠ87 `\ +2 "manipulator"&& +4 "core" &-w A + "storage"(& +4 "core" &+ I H "\ + "storage"(% +4 "core" %k I I %\ + "collection"'& +4 "core" &}u'\ + "processing"%& +4 "core" &%\ + "collection"' +3 "core"  +2 "collection"'  +3 "core"  + "collection"'! +3 "core" @ +2 "processing"%" +5 "core"  +6 "processing"%# +8 "core" U +2 "processing"%$ +3 "core" @ +2 "processing"%% +3 "core"  + "sampler")& +3 "core"  +2 "collection"''% +4 "core" %a}v#\ + "processing"%(% +4 "core" %ٶ&\ +2 "sampler"))% +4 "core" %ޠ83 i\ + "collection"'*& +4 "core" &~w$\ +2 "processing"%+& +3 "core" &\ +2 "manipulator"&,% +4 "core" % i b  + "manipulator"&-& +5 "core" &-w ^ A +2 "storage"(.& +3 "core" &+ J K C\ +2 "storage"(/% +4 "core" %k I I *\ + "collection"'09 +3 "core" 9v +2 "processing"%19 +3 "core" 9 +1517 #t-> CC.loadFlush +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'2& +4 "core" &u"\ +2 .tHand.open + "manipulator"&31 +18 "core" 1 +2 "manipulator"&4& +4 "core" &-w A +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&5(-w +4 "core" ( + "manipulator"&6& +4 "core" &-w w A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &7& +3 "core" &-w A +2 .tForearm.seek :garage +2 "manipulator"&8'π +111 "core" ' +2 .tHand.close + "manipulator"&9/ +63 "core" / + "manipulator"&:& +5 "core" &-w ~ @ A + "manipulator"&;% +4 "core" % υ_ + .tForearm.seek :retract +2 "manipulator"&<' ] +103 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&=( +301 "core" ( +2 "manipulator"&>& +4 "core" & 5 | + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &?& +3 "core" & | +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&@'ш +95 "core" ' + "manipulator"&A& +4 "core" & ) | +2 "manipulator"&B% +4 "core" %х + "collection"'C& +4 "core" &}w!\ +2 "collection"'D& +5 "core" &}v&\ +2 .tCC.seek :closed + "collection"'E(Z +5 "core" &}u!\ +7 &6~w#\ #b +10 &qT}v"\ 7 +9 &}v\ L +9 &ya|v#\ O +10 &<^}v!\ N +9 &\\}u)\ O +10 &]}v'\ N +9 &_}u#\ N +9 & D]}v)\ N +10 &"[~v+\ N +9 &#\\}w'\ N +9 &%\\}u#\ N +10 &'K_}u-\ O +9 &)^{t%\ N +9 &*]~u.\ N +10 &,]}w'\ N +9 &.T]}u%\ N +10 &0_}v$\ O +9 &1]|u\ N +9 &3Z|u,\ N +10 &5\\a}t%\ N +9 &7`u'\ N +9 &8a|t%\ N +10 &:a}u\ N +9 &&^}v$\ N +9 &?Z|v\ N +9 &A^}v#\ N +10 &Cl\\|v\ N +9 &E/_}w!\ N +9 &F`}w%\ O +10 &Hc}u$\ O +9 &Jri~u-\ O +10 &L/s|u,\ Q +9 &M}v$\ R +9 &O|w*\ U +10 &Qc~u&\ W +9 &S$~u%\ W +10 &T|y&\ Y +9 &V}t)\ Y +9 &Xd}v$\ Y +10 &Zv~v)\ . +9 &Z}x#\ S +9 ( +2 &Zc~x'\ K + "collection"'D& +3 #tCollection Clamp onSpring/offSpring for 8/25 samples, on/off torque 1.68 +2 "collection"'F& +4 "core" &Zcx\ K +2 .tHand.open + "manipulator"&G1 +62 "core" 1 +2 "manipulator"&H% +4 "core" % х +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I' ] +93 "core" ' + "collection"'J& +4 "core" &Zd}v$\ K +667 #t-> CC.open + "collection"'K& +4 "core" &Zc}w\ K +2 !to:Puck::Error: mesg"(Collection Clamp contains FlushPuck:bt[ "4/home/esp/esp2/utils/puckmoves.rb:956:in `open'"(ESP):3:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +793 #-> CC.unloadFlush +2 #Garaging FlushPuck in Collection Clamp + "manipulator"&L& +4 "core" & | +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&M( +3 "core" ( +2 "manipulator"&N& +4 "core" & Q | + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &O& +2 "core" &  | +2 .tForearm.seek CC +2 "manipulator"&P'ш +92 "core" ' + .tHand.close + "manipulator"&Q/ +66 "core" / +2 .tCC.seek :open +2 "collection"'R( +412 "core" ( +2 "manipulator"&S& +4 "core" &  | + "manipulator"&T% +4 "core" % ъ  F +2 .tForearm.seek :retract +2 "manipulator"&U' ] +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&V(-w +275 "core" ( + "manipulator"&W& +4 "core" &-z  [ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &X& +3 "core" &-z K [ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&Y'π +109 "core" ' +3 .tHand.open +2 "manipulator"&Z1 +53 "core" 1 +2 "manipulator"&[% +4 "core" % φL }  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\\' ] +104 "core" ' +534 #t-> Hand.open +806 #-> Arm.grab garage + "manipulator"&]& +4 "core" &-z J [ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&^(-w +3 "core" ( + "manipulator"&_& +4 "core" &-z G [ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &`& +3 "core" &-z d [ +2 .tForearm.seek :garage +2 "manipulator"&a'π +107 "core" ' + .tHand.close + "manipulator"&b/ +62 "core" / +307 #t-> Arm.clear +3 "manipulator"&c& +3 "core" &-z r [ +2 "manipulator"&d% +4 "core" % ωx V % +2 .tForearm.seek :retract +2 "manipulator"&e' ] +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :clear + "manipulator"&f(Z +119 "core" ( + "manipulator"&g& +4 "core" &Z q l +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +2 "core" &Z V l +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :clear +2 "manipulator"&i' ] +11 "core" ' +2 "manipulator"&j& +4 "core" &Z l +2 "manipulator"&k% +3 "core" % i p  +282 #t-> Arm.to CC +2 "manipulator"&l& +3 "core" &Z q i +2 "manipulator"&m% +4 "core" % i  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&n( +210 "core" ( + "manipulator"&o& +4 "core" & & % +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &p& +2 "core" &  % +2 .tForearm.seek CC +2 "manipulator"&q'ш +101 "core" ' + "manipulator"&r& +4 "core" &  % +2 "manipulator"&s% +3 "core" %n W +245 #t-> CC.close +2 "manipulator"&t& +3 "core" &  % +2 "manipulator"&u% +4 "core" %n  +2 "collection"'v& +4 "core" &}u\ +2 "collection"'w& +5 "core" &~u\ +2 .tCC.seek :closed +2 "collection"'x(Z +4 "core" &}v'\ +8 &=~v0\ $d +9 &T~v3\ 7 +9 &}w1\ L +10 &a}w*\ N +9 &V\\|w0\ N +10 &]|v-\ O +9 &^}v.\ N +9 &[|v/\ N +10 & ]`}v0\ O +9 &" \\}u)\ N +9 &#a}u0\ N +10 &%^}v&\ O +9 &'f_}v*\ N +9 &)(]}u$\ N +10 &*\\~u'\ N +9 &,\\{x"\ N +10 &.m]|u!\ O +9 &00_}u\ N +9 &1`}s,\ N +10 &3^~w(\ N +9 &5v_}v(\ N +10 &78_}w'\ N +9 &8_~u"\ O +9 &:_|v'\ N +10 &<~]~w'\ N +9 &>?^|u-\ O +9 &@]{v%\ N +10 &A]}x\ N +9 &C^}w&\ N +9 &EH^~t\ N +10 &G _|w\ O +9 &Hc}w"\ O +10 &Ji}u"\ O +9 &LIs|w\ Q +9 &N}y#\ R +10 &Ov$\ T +9 &Qz|u$\ X +9 &S?~v%\ W +10 &T~v.\ X +9 &V~w&\ Y +10 &X~}x$\ Y +9 &Zh~x#\ , +9 &Zw)\ I +9 ( +3 "collection"'w& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.72 + "collection"'y& +5 "core" &Zav!\ E + &Zb}x"\ E +4156 #t-> CC.open + .CC.seek :open +2 "collection"'z( +415 "core" ( +2 "collection"'{& +4 "core" &}v\ +256 #t-> CC.close + "manipulator"&|& +4 "core" & $ +2 "manipulator"&}% +4 "core" %n C +2 "collection"'~& +3 "core" &~v\ +2 "collection"'& +5 "core" &}t \ +2 .tCC.seek :closed + "collection"'(Z +5 "core" &}w\  +8 &0y}u\ *y +10 &d|u"\ ? +9 &Zz}w\ O +9 &\\}v\ N +10 &_~v\ N +9 &]}w\ O +9 &d[}u\ N +10 &'\\}w\ N +9 & _{u\ N +10 &"]}w\ N +9 &$k^}w\ N +9 &&-]}v\ N +10 &'^}t\ N +9 &)[}w\ N +9 &+t\\}v\ N +10 &-6[u\ N +9 &.\\}v\ N +10 &0\\}u\ N +9 &2}]~v\ N +9 &4>[~v \ N +10 &6\\}w\ N +9 &7]}v\ N +9 &9]}v\ N +10 &;F\\|v\ N +9 &= \\|u\ N +10 &>\\|x\ M +9 &@\\}t\ N +9 &BO]|t\ N +10 &D\\}v\ M +9 &E[|u\ N +9 &G]|v \ N +10 &IUcw\ N +9 &Kg{w\ O +10 &Lr}w\ P +9 &N|w"\ S +9 &PI}v,\ U +10 &R}u0\ V +9 &S}x"\ V +10 &U}x \ X +9 &WI~w\ X +9 &Y}u'\ V +10 &ZF?v)\ +~ +9 &Z j}x$\ B +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.73 + "collection"'& +5 "core" &Z]}v!\ B + &Z]~u&\ B +217 #t-> CC.open +2 .CC.seek :open +2 "collection"'( +416 "core" ( +2 "collection"'& +4 "core" &}w\ +223 #t-> CC.close +2 "manipulator"&& +3 "core" & $ $ +2 "manipulator"&% +4 "core" %m  +2 "collection"' & +3 "core" &}w\ +2 "collection"' & +5 "core" &}v\ +2 .tCC.seek :closed + "collection"' (Z +5 "core" &~u!\ +7 &6}u!\ #b +9 &tT}u\ 7 +10 &|v\ L +9 &^|x\ N +9 &A^}v$\ N +10 &\\|v"\ N +9 &\\}v\ N +9 &\\}u"\ N +10 & J]|t!\ N +9 &" ]x\ N +10 &#]{u\ N +9 &%]}v\ N +9 &'R\\}v\ N +10 &)]}v\ N +9 &*\\}u\ N +9 &,]}v\ N +10 &.[[}v\ N +9 &0]~v\ N +10 &1\\}t!\ N +9 &3\\~u\ N +9 &5c]~t\ N +10 &7%\\|v"\ N +9 &8^~v!\ N +9 &:`~u!\ N +10 &-\\|v"\ N +9 &?\\{w!\ N +10 &A_}w\ N +9 &Cs[}w!\ N +10 &E6[}x\ M +9 &F]{u\ N +10 &Hb|x\ N +9 &Jwh|u\ O +9 &L7q|x!\ P +10 &M~v%\ R +9 &Ov\ U +9 &Qh}w!\ W +10 &S+}w,\ V +9 &T~w0\ X +10 &V}v,\ W +9 &Xk|v(\ Y +9 &Z\ v~w\ - +9 &Z}u%\ T +9 ( +3 "collection"' & +3 #tCollection Clamp onSpring/offSpring for 8/25 samples, on/off torque 1.64 + "collection"'& +5 "core" &Zl|z\ M + &Zk}v-\ M +262 #t-> CC.open +2 .CC.seek :open +2 "collection"'( +412 "core" ( + "collection"'& +4 "core" &}u&\ +138 #t-> CC.close + "manipulator"&& +4 "core" &  $ +2 "manipulator"&% +4 "core" %m  + "collection"'& +4 "core" &|u\ +2 "collection"'& +4 "core" &~v\ +2 .tCC.seek :closed +2 "collection"'(Z +4 "core" &}v#\  +9 &3{}y"\ *x +9 &c|u#\ > +10 &ow}u&\ N +9 &1Z}u"\ N +9 &]|w\ N +10 &[{v\ N +9 &x[}u\ N +9 &:Y}v&\ N +10 & ^}u'\ N +9 &"\\}u"\ N +10 &$\\~u"\ N +9 &&BY}t"\ N +9 &(\\~w\ N +10 &)\\|x\ N +9 &+^~u\ N +9 &-K[|u\ M +10 &/ \\}u\ N +9 &0_}w\ N +9 &2\\}u!\ M +10 &4R[~v&\ N +9 &6]|v\ N +10 &7\\{v%\ M +9 &9\\}u&\ N +9 &;Z]}w"\ N +10 &=Y|w\ N +9 &>\\}t\ M +9 &@[}v\ N +10 &Bb`|w!\ N +9 &D%Z~w#\ M +10 &E\\|x$\ M +9 &G]}v\ N +9 &Ihb}u\ N +10 &K'j}w!\ O +9 &Lt~u*\ P +10 &N}v(\ S +9 &P\\~u&\ U +9 &R~x#\ W +10 &S~u\ W +9 &Ux#\ X +9 &W]}u\ X +10 &Y~w\ Q +9 &ZKD~x\ &q +9 &Zj}x!\ K +6 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/25 samples, on/off torque 1.70 +2 "collection"'& +4 "core" &Za~u'\ K + &Za}w2\ K +929 #t-> CC.jog 500 +2 .CC.jog 500 +2 "collection"'* +33 "core" * + "collection"'& +4 "core" &\\TJ|v'\ > +191 #t-> CC.jog 500 +2 .CC.jog 500 +2 "collection"'* +41 "core" * + "collection"'& +4 "core" &^.{}u-\ T +554 #t-> CC.jog 500 +2 .CC.jog 500 +2 "collection"'* +37 "core" * + "collection"'& +4 "core" &_`}v*\ F +686 #t-> CC.jog 500 + .CC.jog 500 +2 "collection"' * +40 "core" * + "collection"'!& +4 "core" &a}u"\ ] +404 #t-> CC.open +2 .CC.seek :open +2 "collection"'"( +456 "core" ( + "collection"'#& +4 "core" &|x#\ +367 #t-> CC.close + "manipulator"&$& +4 "core" &  $ +2 "manipulator"&%% +4 "core" %i  +2 "collection"'&& +3 "core" &}u#\ +2 "collection"''& +5 "core" &|u%\ +2 .tCC.seek :closed + "collection"'((Z +4 "core" &|u\ +8 &4|v)\ $c +9 &{T~u#\ 7 +10 &}x/\ L +9 &^}w1\ N +9 &J^}u%\ N +10 &\\|u#\ M +9 &\\|u!\ N +10 &^|u\ N +9 & S_|u$\ N +9 &"\\}t%\ M +10 &#Z|t%\ N +9 &%Zv'\ N +9 &'[`|v+\ N +10 &)\\}u#\ N +9 &*]}u"\ M +10 &,\\~w-\ M +9 &.d[}u1\ M +9 &0%[~x(\ N +10 &1Z}w'\ N +9 &3Y}v%\ N +9 &5kZ}u(\ N +10 &7-[|u"\ N +9 &8]}v\ N +10 &:`}y0\ N +9 &5^}w1\ N +10 &?Y{v(\ M +9 &A\\}v1\ M +10 &C{_{t&\ N +9 &E>]{v1\ M +9 &G\\|t,\ M +10 &H`}s'\ N +9 &Je}v'\ N +9 &L?r|v*\ P +10 &M~u1\ Q +9 &O|u&\ U +9 &Qr}w,\ V +10 &S2~w.\ W +9 &T~x1\ W +10 &V~v\ W +9 &Xr}w*\ Y +9 &Zpv-\ ) +10 &Z$}v.\ L +9 ( +2 "collection"''& +4 #tCollection Clamp onSpring/offSpring for 8/25 samples, on/off torque 1.65 + "collection"')& +4 "core" &ZU~v+\ A +2 &ZT~x$\ A +433 #t-> CC.open +2 .CC.seek :open +2 "collection"'*( +415 "core" ( + "collection"'+& +4 "core" &}v3\ +169 #t-> CC.close + "manipulator"&,& +4 "core" &  $ +2 "manipulator"&-% +4 "core" %i p +2 "collection"'.& +3 "core" &}u!\ +2 "collection"'/& +5 "core" &~v"\ +2 .tCC.seek :closed + "collection"'0(Z +4 "core" &}u#\ \ +9 &0z}u*\ )w +10 &c|u/\ > +9 &Sv}x2\ N +9 &\\|x1\ N +10 &_u*\ N +9 &[|u.\ N +9 &[Y}u1\ N +10 &]}v2\ M +9 & \\~u"\ M +10 &"Y}v/\ N +9 &$dZ~x*\ M +9 &&&Y}v"\ M +10 &'\\{u/\ M +9 &)]|u(\ M +9 &+kY}x0\ N +10 &-.\\u"\ M +9 &.]~v*\ M +10 &0^}u1\ M +9 &2tY}v+\ M +9 &45Xt2\ N +10 &5Z}w1\ N +9 &7]}w2\ N +9 &9{Z|u(\ N +10 &;>Y{u/\ M +9 &=Z|v2\ M +10 &>]}u(\ M +9 &@[|x'\ M +9 &BEX}u+\ N +10 &DZ}x-\ N +9 &E\\|u&\ M +9 &G^}u&\ N +10 &ILb{v(\ N +9 &K h}x.\ O +10 &Lt}u0\ P +9 &N}x)\ R +9 &P?~w\ U +10 &Qv.\ V +9 &S}w!\ V +10 &U~}w0\ X +9 &W@~u.\ X +9 &X~u1\ Y +10 &ZQG~v0\ #j +9 &Z~~y0\ J +5 ( +2 "collection"'/& +4 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.75 + "collection"'1& +5 "core" &Zhw,\ J + &Zh}x-\ J +278 #t-> CC.open +2 .CC.seek :open +2 "collection"'2( +418 "core" ( + "collection"'3& +4 "core" &|t1\ +149 #t-> CC.close +2 "manipulator"&4& +4 "core" & Q $ +2 "manipulator"&6% +4 "core" %i \ +2 "collection"'7& +3 "core" &|u\ +2 "collection"'9& +5 "core" &}u\ +2 .tCC.seek :closed +2 "collection"':(Z +4 "core" &~u'\  +8 &0x}t0\ *y +10 &d~x1\ > +9 &Xx}u2\ N +10 &\\}s0\ N +9 &]u0\ N +9 &Y}t,\ N +10 &aY}u/\ N +9 &$\\~u2\ M +9 & \\~u(\ N +10 &"]}v2\ M +9 &$j[}v3\ M +10 &&,Z}t,\ M +47 &'_}t)\ N +13 &)]|w1\ N +3 &+q]}t&\ N +2 &-3\\|u/\ N + &.]|w1\ N + &0]}t2\ N + &2y^|u1\ N +7 &4<Y|u0\ M +9 &5Z}v2\ N +9 &7_~t2\ N +10 &9\\{v2\ M +9 &;C[{w+\ N +9 &=Y}u2\ N +10 &>Y}u0\ N +9 &@]{v2\ N +10 &BK^{w(\ N +9 &D]}v&\ M +9 &E[|w+\ M +10 &G\\|u1\ M +9 &IR_{u1\ N +9 &Kh|t0\ O +10 &Lu{w(\ P +9 &N~u/\ S +10 &PE|v0\ U +9 &R~w0\ W +9 &S}x0\ W +10 &U~t-\ X +9 &WD}w-\ X +9 &Y}v1\ W +10 &ZJA~x1\ , +9 &Zhy.\ E +6 ( + "collection"'9& +4 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.72 +2 "collection"';& +4 "core" &Zcx,\ E + &Zc~u&\ E +139 #t-> CC.open +2 .CC.seek :open +2 "collection"'( +420 "core" ( + "collection"'& +4 "core" &}u3\ +122 #t-> CC.close +2 "manipulator"&8& +4 "core" & n $ + "manipulator"&5% +5 "core" %i e + "collection"'>& +4 "core" &~v%\ +2 "collection"'?& +5 "core" &|u)\ +2 .tCC.seek :closed + "collection"'A(Z +5 "core" &}v0\ +7 &-|t3\ #b +9 &tV{u0\ 7 +10 &~}w1\ L +9 &\\}v1\ N +10 &EZ}w0\ N +9 &Z}v)\ N +9 &Y}v0\ N +10 &Z}u0\ M +9 & N\\|u1\ N +9 &"\\|x/\ M +10 &#Z}v1\ N +9 &%[}v1\ N +10 &'VY}v1\ N +9 &)\\}u2\ N +9 &*\\}w4\ N +10 &,]}w5\ N +9 &._W}v0\ M +9 &0 Z|w0\ N +10 &1\\~w4\ N +9 &3\\}v0\ N +9 &5f]}u%\ N +10 &7(]|v%\ N +9 &8_~v3\ N +10 &:\\}v0\ M +9 &0]{t,\ N +10 &?[}u2\ M +9 &AYx,\ M +10 &CwZ}u1\ M +9 &E8W~u4\ N +9 &FY|w-\ N +10 &H^|u.\ N +9 &Jzc}u0\ O +9 &L9m}w0\ P +10 &M~|u2\ Q +9 &O~w)\ U +10 &Qk}w.\ W +9 &S-~x0\ W +9 &T}w1\ X +10 &V}w1\ X +9 &Xmw1\ Y +9 &Z vw1\ + +10 &Z|w1\ V +9 ( +2 "collection"'?& +4 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.71 +6 "collection"'B& +5 "core" &Z]~x-\ J + &Z\\}w0\ J +120 #t-> CC.open +2 .CC.seek :open +2 "collection"'C( +414 "core" ( + "collection"'<& +4 "core" &}v2\ +180 #t-> CC.close +2 "manipulator"&\ & +3 "core" &  $ +2 "manipulator"&F% +4 "core" %i  +2 "collection"'G& +3 "core" &{u3\ +2 "collection"'H& +5 .tCC.seek :closed + "collection"'J(Z +3 "core" &~v4\ +7 &<|t1\ %f +9 &V}v/\ 8 +10 &}|v0\ M +9 &[|v1\ N +10 &k[}x0\ N +9 &-]}w/\ N +9 &]}u/\ N +10 &\\{v2\ N +9 & r[}v1\ N +9 &"5Y}u4\ N +10 &#]|w1\ N +9 &%]}u2\ N +10 &'{_}u3\ N +9 &)=\\~v1\ N +9 &*^|u1\ N +10 &,Y|w4\ N +9 &.W{v3\ N +9 &0FX|v0\ M +10 &2[}u3\ M +9 &3Y}v1\ M +10 &5Y~u1\ N +9 &7NY|v0\ M +9 &9\\|u+\ N +10 &:[}x3\ N +9 &<[|v2\ N +10 &>UZ}u1\ N +9 &@W~w4\ M +9 &AY}v(\ M +10 &C]{y-\ N +9 &E^\\}v1\ M +9 &GY{u1\ N +10 &H^}w-\ N +9 &Je}v#\ O +10 &L_n}v1\ P +9 &N|w,\ R +9 &Ox$\ T +10 &Q}v,\ W +9 &SR~w0\ W +9 &U~w+\ X +10 &V~u1\ W +9 &Xw2\ Z +9 &Z`w2\ 2 +10 &Z~w(\ V +9 ( + &Zh~x0\ J +2 "collection"'H& +3 #tCollection Clamp onSpring/offSpring for 8/25 samples, on/off torque 1.66 + "collection"'D& +5 "core" &Zh~u\ J +191 #t-> CC.open +2 .CC.seek :open +2 "collection"'@( +417 "core" ( +2 "collection"'K& +4 "core" &}u/\ +1656 #t-> CC.close + "manipulator"&L& +4 "core" & $ +2 "manipulator"&N% +4 "core" %i  + "collection"'O& +4 "core" &{w(\ +2 "collection"'Q& +5 "core" &w#\ +2 .tCC.seek :closed + "collection"'=(Z +5 "core" &}v1\  +8 &0y}v5\ *x +10 &c}v1\ > +9 &Ww|v.\ N +9 &]~v0\ N +10 &]}v1\ N +9 &\\}v0\ N +9 &_Z}w4\ N +10 &!]|u4\ N +9 & Z}t4\ N +10 &"Z~v2\ N +9 &$g^}v1\ N +9 &&)X~v0\ N +10 &'\\~v/\ M +9 &)^}u2\ N +9 &+o[~u1\ N +10 &-1Y~w/\ N +9 &.X}v2\ N +10 &0Y{u2\ M +9 &2xZ}v1\ M +9 &49Z|v2\ N +10 &5\\}w3\ N +9 &7_~v0\ N +9 &9\\}v1\ N +10 &;AY{u1\ N +9 &=Z}w0\ M +10 &>Z}u3\ N +9 &@]}u2\ N +9 &BI]}v2\ N +10 &D ]~u1\ N +9 &E]}v1\ N +9 &G[}w2\ N +10 &IOb{x1\ N +9 &Kg|v1\ O +10 &Ls~w1\ P +9 &N}w1\ S +9 &PC~v(\ U +10 &R}w-\ W +9 &S}x0\ W +9 &U}w+\ X +10 &WC|v+\ X +9 &Y}x#\ W +10 &ZLD}x,\ 't +9 &Zn~z*\ K +5 ( +2 "collection"'Q& +4 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.75 + "collection"'I& +5 "core" &Zl~w,\ K + &Zlv/\ K +305 #t-> CC.open +2 .CC.seek :open +2 "collection"'E( +416 "core" ( + "collection"'S& +4 "core" &{u0\ +2653 #t-> CC.close + "manipulator"&T& +4 "core" &  $ +2 "manipulator"&P% +4 "core" %i  +2 "collection"'W& +3 "core" &{u&\ +2 "collection"'X& +5 "core" &|u'\ +2 .tCC.seek :closed + "collection"'M(Z +5 "core" &}v2\  +9 &/x~w0\ *y +9 &c|x2\ > +9 &Ww|t0\ O +10 &]}u2\ N +9 &]}w3\ N +9 &\\}v5\ N +10 &`Z}x5\ N +9 &#Z}u.\ N +9 & _}u1\ N +10 &"[v0\ N +9 &$i\\}t1\ N +10 &&,Z~w3\ M +9 &'\\}s2\ N +9 &)]|v6\ N +10 &+q[}v2\ N +9 &-4Z~w5\ M +10 &.Z}x3\ N +9 &0]~v2\ N +9 &2z\\|v1\ M +10 &4;\\{u2\ N +9 &5]|v2\ N +9 &7\\}v1\ N +10 &9[}v1\ N +9 &;CZ|u0\ N +10 &=Y}u4\ N +9 &>Y|w1\ N +9 &@X|u/\ N +10 &BL[}v1\ M +9 &D [|v0\ N +9 &E^}v2\ N +10 &G]}u1\ M +9 &IPc}v+\ O +10 &Kh}u1\ O +9 &Lw|u)\ Q +9 &N|v)\ S +10 &PDv#\ V +9 &R|y*\ W +9 &S}v*\ W +10 &U}v*\ X +9 &WEx2\ X +10 &Y~x*\ Z +9 &ZYI}u&\ _ +9 &Z'~v#\ !f +10 &Z^}w%\ E +2 ( + "collection"'X& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.75 +2 "collection"'Z& +3 "core" &Zc}v\ E +288 #t-> CC.open +2 .CC.seek :open + "collection"'[( +416 "core" ( + "collection"'U& +4 "core" &v1\ +827 #t-> CC.unloadFlush + "collection"'Y& +4 "core" &}u"\ +2 !to:Puck::Error: mesg"-Collection Clamp not closed on FlushPuck:bt[ "@/home/esp/esp2/utils/puckmoves.rb:901:in `_updateContents!'"8/home/esp/esp2/utils/puckmoves.rb:36:in `contents='"9/home/esp/esp2/utils/puckmoves.rb:889:in `location='"6/home/esp/esp2/utils/puckmoves.rb:825:in `garage'";/home/esp/esp2/utils/puckmoves.rb:987:in `unloadFlush'"(ESP):35:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +946 #-> CC.close + "manipulator"&]& +4 "core" &  $ + "manipulator"&_% +5 "core" %i  + "collection"'`& +4 "core" &}v5\ +2 "collection"'b& +4 "core" &}u7\ +2 .tCC.seek :closed +2 "collection"'V(Z +5 "core" &}v2\  +9 &0y|v2\ *y +10 &d}s1\ ? +9 &Yw}t7\ O +9 &\\|u5\ N +10 &]~u,\ N +9 &_}v/\ O +10 &c[{u1\ N +9 &&[{s1\ N +9 & ]zv4\ N +10 &"]{v5\ M +9 &$k^|u/\ N +9 &&-\\}v-\ N +10 &']}v-\ N +9 &)^|u1\ N +10 &+s\\}u,\ N +9 &-6[}v4\ N +9 &.Y~u5\ N +10 &0[~w2\ N +9 &2{_|u,\ N +9 &4?[}u0\ M +10 &6Z|u2\ N +9 &7Z|u5\ N +10 &9\\{u,\ N +9 &;F[|u1\ N +9 &=Y{u3\ N +10 &>Z|u0\ M +9 &@\\}u-\ M +9 &BN\\|v0\ N +10 &D]|t,\ N +9 &EY}v/\ N +10 &G\\{t0\ N +9 &IUbt-\ N +9 &Kg}u+\ O +10 &Ly}v(\ Q +9 &N}w)\ R +9 &PH}x$\ U +10 &R}v-\ W +9 &S~u7\ W +10 &Uv)\ X +9 &WG}x)\ X +9 &Y}w.\ V +10 &ZH@}w,\ + +9 &Ze~u1\ C +5 ( +2 "collection"'b& +4 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.75 + "collection"'\\& +5 "core" &Z]~v7\ C + &Z\\w:\ C +1249 #t-> CC.unloadFlush + "collection"'c& +4 "core" &Z]~w-\ C +2 #tGaraging FlushPuck in Collection Clamp + "collection"'d& +4 "core" &Z\\}x)\ C +2 .tHand.open + "manipulator"&g1 +64 "core" 1 + "manipulator"&h& +4 "core" &  | $ +2 .tElbow.reconfigure :tight +7 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +7 "manipulator"&j( +2 "core" ( +2 "manipulator"&k& +4 "core" & |  $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &a& +3 "core" &  $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek CC +2 "manipulator"&^'ш +24 "core" ' + .tHand.close +2 "manipulator"&e/ +61 "core" / +2 .tCC.seek :open +2 "collection"'l( +415 "core" ( +2 "manipulator"&m& +4 "core" & $ + "manipulator"&o% +4 "core" % ѩ | +2 .tForearm.seek :retract +2 "manipulator"&p' ] +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&f(-w +284 "core" ( +2 "manipulator"&r& +4 "core" &-x S F + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &s& +3 "core" &-x h F +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&i'π +110 "core" ' +2 .tHand.open + "manipulator"&t1 +60 "core" 1 + "manipulator"&u% +4 "core" % ωQ | v  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&v' ] +101 "core" ' +1459 #t-> Hand.open +983 #-> Arm.grab garage +2 "manipulator"&R& +4 "core" &-x { F +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&y(-w +3 "core" ( +2 "manipulator"&w& +4 "core" &-x F + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &x& +3 "core" &-x F +2 .tForearm.seek :garage + "manipulator"&{'π +109 "core" ' + .tHand.close +2 "manipulator"&|/ +59 "core" / +342 #t-> Arm.clear +2 "manipulator"&}& +4 "core" &-x F + "manipulator"&~% +4 "core" % ϔl +2 .tForearm.seek :retract +2 "manipulator"&z' ] +104 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&(Z +119 "core" ( + "manipulator"&& +4 "core" &Z  Q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &Z  Q +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :clear +2 "manipulator"&' ] +24 "core" ' + "manipulator"&& +4 "core" &Z Q +2 "manipulator"&% +3 "core" % W +582 #t-> Arm.to PC + "manipulator"& & +4 "core" &Z D Q + "manipulator"&% +4 "core" % W ) +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&( +188 "core" ( + "manipulator"& & +4 "core" &  - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" & - +2 .tForearm.seek PC +2 "manipulator"&'E +99 "core" ' +2 "manipulator"&& +4 "core" & - + "manipulator"&% +4 "core" %Z } +374 #t-> PC.close +2 "manipulator"&& +3 "core" & - +2 "manipulator"&% +4 "core" %Z +2 "processing"%& +3 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(V +43 "core" &%\  +14 &-~#\ +z +2 &d$\ > +2 &V~$\ O + &_&\ N + &`$\ M + &_%\ M +5 &``$\ N +9 &!d%\ N +10 & `$\ M +9 &"b%\ N +9 &$ga$\ N +10 &&*b%\ N +9 &'b$\ N +9 &)_$\ N +10 &+p`"\ N +9 &-2d%\ N +10 &._$\ N +9 &0`$\ N +9 &2xb$\ N +10 &4:a"\ N +9 &5c$\ N +9 &7b%\ N +10 &9b$\ N +9 &;Ba$\ N +10 &=d%\ N +9 &>a%\ M +9 &@`#\ N +10 &BJc$\ N +9 &D f&\ N +9 &Eg%\ O +10 &Gp%\ O +9 &IJy%\ P +10 &K&\ R +9 &L$\ S +9 &N&\ S +10 &PF$\ T +9 &R\ %\ T +9 &S%\ T +10 &U}%\ 4 +9 &VR+g"\ [ +10 &V)&\ . +2 ( +2 "processing"%& +2 #tProcessing Clamp onSpring/offSpring for 9/24 samples, on/off torque 1.39 + "processing"%& +4 "core" &V'\ . +3461 #t-> PC.open +2 .PC.seek :open +2 "processing"%( +391 "core" ( +2 "processing"%& +4 "core" &\ +1443 #t-> PC.close +2 "manipulator"&& +3 "core" & O - +2 "manipulator"&% +4 "core" %Z +2 "processing"%!& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed + "processing"% (V +5 "core" &&\  +8 &-~%\ +z +9 &d%\ > +9 &W}$\ N +10 &_$\ M +9 &]$\ N +10 &_$\ N +9 &aa%\ M +9 &"b%\ N +10 & `%\ N +9 &"^$\ M +9 &$i_$\ M +10 &&+b%\ M +9 &'_$\ M +10 &)\\$\ N +9 &+p_%\ N +9 &-2_$\ N +10 &.\\$\ N +9 &0]%\ N +9 &2x]%\ N +10 &4:_$\ N +9 &5c%\ N +10 &7_%\ N +9 &9]$\ N +9 &;B^$\ N +10 &=b$\ N +9 &>_&\ M +9 &@^%\ N +10 &BI^#\ N +9 &D _$\ N +10 &Ec%\ N +9 &Gm%\ O +9 &IIu%\ Q +10 &K$\ R +9 &L%\ S +9 &N#\ S +10 &PH%\ T +9 &R $\ T +10 &S%\ U +9 &U}%\ 4 +9 &VP+j%\ [ +10 &V|($\ / +2 ( + "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 9/24 samples, on/off torque 1.39 +2 "processing"%#& +4 "core" &V|%%\ / +1049 #t-> PC.unloadFlush +2 "processing"%$& +3 "core" &V|%%\ / +2 #tGaraging FlushPuck in Processing Clamp + "processing"%%& +5 "core" &V|%\ / + .tHand.open + "manipulator"&&1 +55 "core" 1 +2 "manipulator"&"& +4 "core" & [ - +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&)( +2 "core" ( +2 "manipulator"&'& +4 "core" & - + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &(& +2 "core" & - +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek PC +2 "manipulator"&+'E +11 "core" ' +2 .tHand.close + "manipulator"&,/ +60 "core" / +2 .tPC.seek :open +2 "processing"%-( +391 "core" ( +2 "manipulator"&.& +4 "core" & - + "manipulator"&*% +4 "core" % = +2 .tForearm.seek :retract + "manipulator"&1' ] +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&/(-w +143 "core" ( + "manipulator"&0& +5 "core" &-   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &3& +3 "core" &-   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&4'π +111 "core" ' +2 .tHand.open + "manipulator"&61 +60 "core" 1 + "manipulator"&7% +4 "core" % ψK q  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&2' ] +106 "core" ' +7564 "Can"\ M &O +60001 \ K O +1759 #t-> Arm.clear + "manipulator"&;& +4 "core" &-  +2 "manipulator"&9% +4 "core" % \   + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&:(Z +130 "core" ( +2 "manipulator"&& +4 "core" &Z s  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &8& +3 "core" &Z   +2 .tForearm.seek :clear +2 "manipulator"&5' ] +27 "core" ' + "manipulator"&>& +4 "core" &Z  +2 "manipulator"&% +3 "core" % 4  +4464 #t-> Hand.open +15743 #-> Arm.to PC +2 "manipulator"&B& +4 "core" &Z  + "manipulator"&?% +4 "core" % 4  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&A( +185 "core" ( +2 "manipulator"&<& +4 "core" & *  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\ & +3 "core" &  +2 .tForearm.seek PC + "manipulator"&F'E +109 "core" ' + "manipulator"&G& +4 "core" &  +2 "manipulator"&C% +3 "core" %V  +998 #t-> Arm.clear +2 "manipulator"&D& +3 "core" &  +2 "manipulator"&H% +4 "core" %V  +2 .tForearm.seek :retract +2 "manipulator"&J' ] +89 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&K(Z +202 "core" ( + "manipulator"&L& +4 "core" &Z  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &N& +3 "core" &Z #  +2 .tForearm.seek :clear +2 "manipulator"&O' ] +4 "core" ' + "manipulator"&@& +4 "core" &Z   +2 "manipulator"&I% +4 "core" % m G  +15639 #t-> Arm.to PC +2 "manipulator"&Q& +3 "core" &Z  +2 "manipulator"&=% +4 "core" % m  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&S( +180 "core" ( +2 "manipulator"&T& +4 "core" & F + + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &P& +3 "core" & + +2 .tForearm.seek PC + "manipulator"&W'E +107 "core" ' +2 "manipulator"&E& +4 "core" &z L  + "manipulator"&Z% +4 "core" %6  +4399 #t-> Hand.close + .Hand.close +2 "manipulator"&X/ +68 "core" / +803 #t-> PC.close +2 "manipulator"&M& +4 "core" &{  + "manipulator"&U% +5 "core" % 6 + "processing"%Y& +4 "core" &\ +2 "processing"%]& +5 "core" &\ +2 .tPC.seek :closed + "processing"%_(V +5 "core" &!\  +9 &.}$\ +z +9 &e$\ ? +10 &]}#\ O +9 &"_$\ N +9 &]$\ N +10 &]#\ M +9 &h_$\ N +9 &*c$\ N +10 & b$\ N +9 &"d$\ N +10 &$p_#\ N +9 &&3_$\ M +9 &'`$\ N +10 &)`$\ M +9 &+y`$\ M +9 &-9d#\ N +10 &.^!\ N +9 &0_"\ M +10 &2b#\ N +9 &4C`$\ M +9 &6b#\ N +10 &7a#\ N +9 &9c#\ N +9 &;Ib#\ N +10 &= c$\ O +9 &>f$\ O +10 &@g"\ O +9 &BOh$\ O +9 &Dk#\ O +10 &Eu#\ P +9 &G$\ Q +9 &IK$\ S +10 &K $\ S +9 &L#\ T +10 &N#\ U +9 &PN"\ T +9 &R$\ T +10 &S#\ U +9 &U|#\ 9 +9 &VT4"\ S +10 &Vy'#\ . +2 ( +2 "processing"%]& +3 #tProcessing Clamp onSpring/offSpring for 9/24 samples, on/off torque 1.49 + "processing"%`& +4 "core" &Vy&\ . +650 #t-> Hand.open + .Hand.open +2 "manipulator"&[1 +66 "core" 1 +355 #t-> Arm.clear + "manipulator"&\\& +4 "core" &~  +2 "manipulator"&b% +4 "core" % W T +2 .tForearm.seek :retract + "manipulator"&c' ] +91 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&d(Z +181 "core" ( + "manipulator"&g& +5 "core" &Z  f + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &h& +3 "core" &Z  f + .tForearm.seek :clear +2 "manipulator"&k' ] +4 "core" ' + "manipulator"&a& +4 "core" &Z f +2 "manipulator"&e% +3 "core" % W ?  +13070 "Can"\ VPB +7626 #t-> Arm.to CC +2 "manipulator"&n& +3 "core" &Z  f +2 "manipulator"&q% +4 "core" % W   + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&V( +209 "core" ( + "manipulator"&m& +4 "core" & ! # + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &o& +3 "core" &  # +2 .tForearm.seek CC +2 "manipulator"&^'ш +94 "core" 'Ӈ +2 !to:Slide::Error\ :@axisName" Forearm: mesg"(Forearm speedErr at CC + 511 counts:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply : @tagic: @error: speedErr: @sourcei+: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi: currenti:pwmi:erri: inPressi: outPressi:deltaPressi: voltagef12.191491408934708: @type2F:@destinationi%:bt["2/home/esp/esp2/lib/slide.rb:612:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:375:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:341:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:333:in `seek'",/home/esp/esp2/lib/slide.rb:382:in `to'"0/home/esp/esp2/utils/misc.rb:92:in `extend'",/home/esp/esp2/utils/misc.rb:34:in `to'"(ESP):55:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1383 #-> Arm.clear +2 "manipulator"&r& +3 "core" & V U +2 "manipulator"&s% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&j' ] +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&t(Z +215 "core" ( +2 "manipulator"&u& +4 "core" &Z 0 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &p& +3 "core" &Z Y +2 .tForearm.seek :clear + "manipulator"&i' ] +3 "core" ' +2 "manipulator"&R& +3 "core" &Z T +2 "manipulator"&w% +4 "core" % Q ] +50287 "Can"\ QP +1215 #t-> Arm.to CC +2 "manipulator"&x& +3 "core" &Z +2 "manipulator"&|% +4 "core" % Q +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&f( +213 "core" ( +2 "manipulator"&v& +4 "core" &  "} + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &}& +3 "core" &  "} +2 .tForearm.seek CC + "manipulator"&~'ш +123 "core" ' +2 "manipulator"&& +4 "core" &$ | K + "manipulator"&% +4 "core" %ю k +15402 #t-> Arm.clear +2 "manipulator"&& +3 "core" &$ J K +2 "manipulator"&% +4 "core" %ю  +2 .tForearm.seek :retract + "manipulator"&{' ] +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&y(Z +214 "core" ( + "manipulator"&z& +4 "core" &Z  g +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &Z / g +2 .tForearm.seek :clear +2 "manipulator"&' ] +23 "core" ' + "manipulator"& & +4 "core" &Z  g +2 "manipulator"& % +3 "core" % :  +28022 #t-> Arm.to CC +2 "manipulator"&& +3 "core" &Z x g +2 "manipulator"&% +4 "core" % : v  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&( +219 "core" ( + "manipulator"&& +4 "core" &  # + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  # +2 .tForearm.seek CC + "manipulator"&'ш +114 "core" ' + "manipulator"&& +4 "core" & > r +2 "manipulator"& % +3 "core" %w & ) +6861 #t-> Hand.close + .Hand.close +2 "manipulator"&/ +709 !to:I2C::Request::Timeout: @requesto:I2C::Servo::Grip3Request : @tag0: @dontLog0:@maxDelayo:\ Delay: @_dc_obji : @channeli: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: mesg"5No Response to I2C::Servo::Grip3Request[1D:->26]:bt["3/home/esp/esp2/lib/i2c/msg.rb:317:in `process'"6/home/esp/esp2/lib/schedule.rb:179:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:456:in `step'"4/home/esp/esp2/lib/schedule.rb:205:in `process'"2/home/esp/esp2/lib/schedule.rb:223:in `start'"1/home/esp/esp2/lib/schedule.rb:222:in `loop'"2/home/esp/esp2/lib/schedule.rb:222:in `start'"-/home/esp/esp2/lib/esp.rb:211:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:111:in `load'"0/home/esp/esp2/lib/framework.rb:111:in `ld'"4/home/esp/esp2/lib/framework.rb:136:in `ldMode'""/home/esp/esp2/lib/esp.rb:342"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 + #Retry #1 of 3 + "manipulator"&/ +2 "core" / + !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[1D:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:615:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:610:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:491:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"'/home/esp/esp2/lib/schedule.rb:482 +704 !to:I2C::Request::Timeout: @requesto:I2C::Servo::Grip3Request : @tag0: @dontLog0:@maxDelayo:\ Delay: @_dc_obji : @channeli: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: mesg"5No Response to I2C::Servo::Grip3Request[18:->26]:bt["3/home/esp/esp2/lib/i2c/msg.rb:317:in `process'"6/home/esp/esp2/lib/schedule.rb:179:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:456:in `step'"4/home/esp/esp2/lib/schedule.rb:205:in `process'"2/home/esp/esp2/lib/schedule.rb:223:in `start'"1/home/esp/esp2/lib/schedule.rb:222:in `loop'"2/home/esp/esp2/lib/schedule.rb:222:in `start'"-/home/esp/esp2/lib/esp.rb:211:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:111:in `load'"0/home/esp/esp2/lib/framework.rb:111:in `ld'"4/home/esp/esp2/lib/framework.rb:136:in `ldMode'""/home/esp/esp2/lib/esp.rb:342"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 + #Retry #2 of 3 + "manipulator"&/ +2 "core" / + !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[18:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:615:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:610:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:491:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"'/home/esp/esp2/lib/schedule.rb:482 +340 !to:IRB::Abort: mesg"7Hand could not finish closing because\ User Abort!!:@checkpoint: omitted:bt["1/home/esp/esp2/lib/esp.rb:79:in `mainThread'""/home/esp/esp2/lib/esp.rb:342 +685 #-> Hand.open +2 .Hand.open + "manipulator"&1 +3 "core" / + !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[1B:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:615:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:610:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:491:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"'/home/esp/esp2/lib/schedule.rb:482 +41 1 +1159 #t-> Arm.clear +2 "manipulator"&& +3 "core" &   +2 "manipulator"&% +4 "core" %  o ! +2 .tForearm.seek :retract +2 "manipulator"&!' ] +102 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&(Z +218 "core" ( + "manipulator"&#& +4 "core" &Z 2 d +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &Z \ d +2 .tForearm.seek :clear +2 "manipulator"&$' ] +3 "core" ' +2 "manipulator"&%& +4 "core" &Z ; d + "manipulator"&&% +4 "core" % c G +3321 "Can"\ LuQn +3680 #t-> Arm.to CC + "manipulator"&"& +4 "core" &Z / d +2 "manipulator"&'% +4 "core" % c X +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&(( +214 "core" ( + "manipulator"&,& +4 "core" & 4 h +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & h +2 .tForearm.seek CC +2 "manipulator"&'ш +90 "core" ' + "manipulator"& & +4 "core" &Ԛ   +2 "manipulator"&.% +4 "core" %щ  +846 #t-> Hand.close +2 .Hand.close + "manipulator"&*/ +704 !to:I2C::Request::Timeout: @requesto:I2C::Servo::Grip3Request : @tag0: @dontLog0:@maxDelayo:\ Delay: @_dc_obji : @channeli: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: mesg"5No Response to I2C::Servo::Grip3Request[2A:->26]:bt["3/home/esp/esp2/lib/i2c/msg.rb:317:in `process'"6/home/esp/esp2/lib/schedule.rb:179:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:456:in `step'"4/home/esp/esp2/lib/schedule.rb:205:in `process'"2/home/esp/esp2/lib/schedule.rb:223:in `start'"1/home/esp/esp2/lib/schedule.rb:222:in `loop'"2/home/esp/esp2/lib/schedule.rb:222:in `start'"-/home/esp/esp2/lib/esp.rb:211:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:111:in `load'"0/home/esp/esp2/lib/framework.rb:111:in `ld'"4/home/esp/esp2/lib/framework.rb:136:in `ldMode'""/home/esp/esp2/lib/esp.rb:342"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 +2 #Retry #1 of 3 + "manipulator"&0/ +2 "core" / + !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[2A:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:615:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:610:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:491:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"'/home/esp/esp2/lib/schedule.rb:482 +263 !to:IRB::Abort: mesg"7Hand could not finish closing because\ User Abort!!:@checkpoint: omitted:bt["1/home/esp/esp2/lib/esp.rb:79:in `mainThread'""/home/esp/esp2/lib/esp.rb:342 +323 #-> Hand.open +2 .Hand.open + "manipulator"&31 +3 "core" / +60 1 +281 #t-> Arm.clear + "manipulator"&+& +4 "core" &Ԛ   +2 "manipulator"&)% +4 "core" % щ  + .tForearm.seek :retract +2 "manipulator"&6' ] +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&7(Z +207 "core" ( +2 "manipulator"&1& +4 "core" &Z   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &4& +3 "core" &Z   + .tForearm.seek :clear +2 "manipulator"&;' ] +4 "core" ' +2 "manipulator"&9& +3 "core" &Z   +2 "manipulator"&% +4 "core" % X   +415 #t-> Hand.close + .Hand.close +2 "manipulator"&8/ +57 "core" / +346 #t-> Hand.open +2 .Hand.open + "manipulator"&>1 +64 "core" 1 +14143 #t-> Arm.to CC + "manipulator"&& +4 "core" &Z   +2 "manipulator"&/% +4 "core" % X   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&2( +217 "core" ( + "manipulator"&B& +4 "core" &  $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &?& +2 "core" &  $ +2 .tForearm.seek CC +2 "manipulator"&<'ш +99 "core" ' +2 "manipulator"&\ & +4 "core" &4 > G + "manipulator"&:% +4 "core" %e  +3662 #t-> Arm.clear + "manipulator"&G& +4 "core" &4 G +2 "manipulator"&C% +4 "core" % + .tForearm.seek :retract +2 "manipulator"&5' ] +113 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&D(Z +214 "core" ( + "manipulator"&H& +4 "core" &Z  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &F& +2 "core" &Z I +2 .tForearm.seek :clear +2 "manipulator"&L' ] +3 "core" ' +2 "manipulator"&N& +3 "core" &Z  +2 "manipulator"&@% +4 "core" % O  +947 #t-> Arm.to CC +2 "manipulator"&I& +3 "core" &Z ( +2 "manipulator"&A% +4 "core" % O  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&J( +229 "core" ( + "manipulator"&Q& +4 "core" &  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &=& +3 "core" & +2 .tForearm.seek CC +2 "manipulator"&T'ш +110 "core" ' + "manipulator"&P& +4 "core" &  +2 "manipulator"&K% +3 "core" %r  S +474 #t-> Hand.close +2 .Hand.close + "manipulator"&E/ +637 !to:IRB::Abort: mesg"7Hand could not finish closing because\ User Abort!!:@checkpoint: omitted:bt["1/home/esp/esp2/lib/esp.rb:79:in `mainThread'""/home/esp/esp2/lib/esp.rb:342 +278 #-> Arm.clear + "manipulator"&Z& +4 "core" & ` +2 "manipulator"&O% +4 "core" % r . S +2 .tForearm.seek :retract + "manipulator"&X' ] +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&M(Z +210 "core" ( +2 "manipulator"&U& +4 "core" &Z = \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Y& +2 "core" &Z B \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :clear +2 "manipulator"&-' ] +2 "core" ' +2 "manipulator"&`& +4 "core" &Z \ + "manipulator"&]% +4 "core" % g r b  +2516 #t-> Arm.to CC + "manipulator"&[& +4 "core" &Z A \ +2 "manipulator"&\\% +4 "core" %  O r +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&b( +215 "core" ( +2 "manipulator"&g& +4 "core" & % + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &h& +3 "core" & { % +2 .tForearm.seek CC +2 "manipulator"&W'ш +105 "core" / + !o:I2C::UnexpectedReply: mesg"'I2C::Servo::Grip3Reply[45:26->20] :bt["=/home/esp/esp2/lib/i2c/msg.rb:615:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:610:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:491:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"'/home/esp/esp2/lib/schedule.rb:482 +3 ' + "manipulator"&a& +4 "core" &  "| + "manipulator"&e% +4 "core" %ы  +955 #t-> Hand.close +2 .Hand.close + "manipulator"&S/ +15 "core" / +1122 #t-> CC.close +2 "manipulator"&c& +4 "core" & "| + "manipulator"&n% +5 "core" %ы  + "collection"'q& +4 "core" &}t\ +2 "collection"'m& +4 "core" &|u|\ +2 .tCC.seek :closed +2 "collection"'o(Z +4 "core" &|t\  +9 &0|s\ *y +9 &c|u\ ? +9 &U{|t\ O +10 &^|u1\ O +9 &`{sy\ O +10 &]|t\ O +9 &_^{t\ N +9 &!^|sV\ N +10 & a{s\ O +9 &"^|tt\ N +9 &$f_{t\ O +10 &&(]{s\ O +9 &'`}r\ N +10 &)b{uW\ O +9 &+n^yu\ O +9 &-0b{u\ O +10 &.a}t\ O +9 &0b}sN\ O +9 &2w_{s\ N +10 &48`}u\ O +9 &5bztl\ O +9 &7^zv\ O +10 &9~a|vV\ O +9 &;?b{t\ O +10 &=]zt\ N +9 &>c}t\ O +9 &@\\|t\ O +10 &BHb{sV\ O +9 &D `|u}\ N +10 &Ec{r1\ O +9 &Gc|vL\ O +9 &ILn{t=\ P +10 &K u}s0\ Q +9 &L}tG\ R +9 &Nzt\ U +10 &P@{u\ W +9 &Qzs\ X +10 &S|t \ X +9 &U|s\ X +9 &WD|t)\ X +10 &Y|uE\ Z +9 &ZTG{u$\ "f +9 &Z~|t<\ F +6 ( +2 "collection"'m& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.79 +2 "collection"'d& +4 "core" &Zczw\ F + &Zc{u!\ F +1179 #t-> Hand.open + .Hand.open +2 "manipulator"&^1 +70 "core" 1 +345 #t-> Arm.clear +2 "manipulator"&k& +3 "core" &  "} +2 "manipulator"&r% +4 "core" % ѳ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s' ] +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&u(Z +225 "core" ( +2 "manipulator"&p& +4 "core" &Z  ^ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &R& +3 "core" &Z  ^ +2 .tForearm.seek :clear + "manipulator"&w' ] +4 "core" ' + "manipulator"&V& +4 "core" &Z  ^ + "manipulator"&j% +4 "core" % c   +23188 "Can"\ dR +2815 #t-> can.examine +3 "Can"\ dR +514 #t-> CH.status +2 "collection"'x9 +3 "core" 9~ +315 #t-> PH.status + "processing"%|9 +3 "core" 9 +17199 #t-> can.examine +3 "Can"\ eR9\ +4679 #t-> CH.status +2 "collection"'v9 +3 "core" 9 +6747 #t-> PH.status + "processing"%}9 +3 "core" 9 +6818 #t-> CH.hold "30.00", 25 +3 .CH.hold 30 seconds,25C +2 "collection"'t xxN +1542 #t-> PH.hold "30:00", 25 +3 .PH.hold 30:00,25C +2 "processing"%   h +941 #t-> CH.hold "30:00", 25 +4 .CH.hold 30:00,25C +2 "collection"'   N +5 "core" d +18385 "Can"\ hR +49349 #t-> can.examine +3 "Can"\ q SD +3351 #t-> CH.status + "collection"'i9 +3 "core" 9  +965 #t-> PH.status + "processing"%9 +3 "core" 9 i +1743 #t-> PH.hold "30:00", 25 +3 .PH.hold 30:00,25C +3 "processing"%   h +6 "core"  +2776 #t-> CH.hold "30:00", 28 +3 .CH.hold 30:00,28C +3 "collection"'~  s ) +5 "core"  +1498 #t-> PH.hold "30:00", 28 +3 .PH.hold 30:00,28C +4 "processing"%z   A +5 "core"  +274 "Can"\ m(S0 +60002 \ f$wS +28257 #t-> can.examine +3 "Can"\ &~T +3696 #t-> PH.status + "processing"% 9 +3 "core" 9j +969 #t-> CH.status + "collection"' 9 +4 "core" 9s +4887 #t-> can.examine +3 "Can"\ f'-T%s +1956 #t-> can +3 "Can"\ 'RT*Y +17185 #t-> can.status +3 "Can"\ (TUQ +2 !to:NoMethodError : mesgu:NameError::message4undefined method `status' for #: name: status: args[:bt["(ESP):99:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +915 #-> Can.status +2 !o:NoMethodError : mesg",undefined method `status' for Can:Class: name0: args0:bt[ ";/home/esp/esp2/lib/framework.rb:51:in `method_missing'"(ESP):100:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +886 #-> can.counts +3 "Can"\ s(TY + !to:NoMethodError : mesgu:NameError::message4undefined method `counts' for #: name: counts: args[:bt["(ESP):101:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +424 #-> Can +798 "Can"\ m(T\\ +2132 #t-> CH.hold "30:00", 31 +3 .CH.hold 30:00,31C +3 "collection"'   + +6 "core" ^ +996 #t-> PH.hold "30:00", 31 +3 .PH.hold 30:00,31C +3 "processing"%f   T +7 "core" J +1966 #t-> status +445 #-> can.status +3 "Can"\ )oTj + !to:NoMethodError : mesgu:NameError::message4undefined method `status' for #: name: status: args[:bt["(ESP):106:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +410 #-> can.examine +3 "Can"\ ){Tk +54020 \ w-T +29152 #t-> CH.status +2 "collection"'{9 +3 "core" 9  +921 #t-> PH.status +2 "processing"%9 +2 "core" 9  +961 #t-> Can.examine +2032 #-> CAN.examine + !o:NameError: mesg"uninitialized constant CAN: name:CAN:bt["(ESP):111:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2064 #-> CH.hold "30:00", 40 +3 .CH.hold 30:00,40C +3 "collection"'  - w +3 "core"  +752 #t-> PH.hold "30:00", 40 +3 .PH.hold 30:00,40C +3 "processing"%  g  +4 "core"  +24091 "Can"\ 3U +60002 \ 9rV +13002 #t-> CH.status + "collection"'9 +4 "core" 9,K +856 #t-> PH.status + "processing"%y9 +3 "core" 9fMO +958 #t-> can.examine +2 "Can"\ :VC +3620 #t-> PH.hold "30:00", 55 +3 .PH.hold 30:00,55C +3 "processing"%   e  +5 "core"  +999 #t-> PH.hold "30:00", 55 +4 .PH.hold 30:00,55C +2 "processing"%   e  +6 "core" ) +1131 #t-> CH.hold "30:00", 55 +4 .CH.hold 30:00,55C +2 "collection"'  V   +5 "core" { +39391 "Can"\ BCV +28869 #t-> CH.status + "collection"'9 +3 "core" 9V_\  +953 #t-> PH status +2 !o:NoMethodError : mesg"+undefined method `PH' for Object:Class: name0: args0:bt[\ ";/home/esp/esp2/lib/framework.rb:51:in `method_missing'";/home/esp/esp2/lib/framework.rb:63:in `method_missing'"(ESP):121:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +415 #-> PH.status + "processing"%9 +4 "core" 9  +1150 #t-> can.examine +3 "Can"\ FvWd +3792 #t-> CH.hold "30:00",70 +4 .CH.hold 30:00,70C +2 "collection"'  \  \ 5\ +4 "core"  +1400 #t-> PH.hold "30:00", 70 +3 .PH.hold 30:00,70C +3 "processing"%   \ O +6 "core"   +23387 "Can"\ "LWJ +46890 #t-> CH.status + "collection"'9 +4 "core" 9\  4 +810 #t-> PH.status +2 "processing"%9 +3 "core" 9 " \ +890 #t-> can.examine +3 "Can"q\ U)We +4736 #t-> PH.hold "30:00", 82 +4 .PH.hold 30:00,82C +2 "processing"%   & +5 "core"  +760 #t-> CH.hold "30:00",82 +4 .CH.hold 30:00,82C +2 "collection"'#  9 +4 "core"  U +5882 "Can"c\ SXGW +57942 #t-> can.examine +3 "Can"Y\ z[dXq +1374 #t-> CH.status +2 "collection"'9 +3 "core" 9 >\ 1 +678 "Can"Z\ zYe)Xv +370 #t-> PH.status + "processing"%%9 +3 "core" 9 \ z +2476 #t-> CH.hold "30:00", 85 +3 .CH.hold 30:00,85C +3 "collection"'&   ^ +5 "core" \ +623 #t-> PH.hold "30:00", 85 +3 .PH.hold 30:00,85C +3 "processing"%  N +6 "core" \ +56506 "Can"K\ 8qY +17713 #t-> can.examine +3 "Can"S\ BuY9/ +1056 #t-> PH.status + "processing"%!9 +3 "core" 9 K +808 #t-> CH.status + "collection"'"9 +3 "core" 9 ! +1198 #t-> PH.hold "30:00", 88 +3 .PH.hold 30:00,88C +3 "processing"%'   u +4 "core"   +558 #t-> CH.hold "30:00", 88 +4 .CH.hold 30:00,88C +3 "collection"',   ` +6 "core"  E +38635 "Can"M\ I}Y +25311 #t-> CH.status + "collection"'9 +3 "core" 9 K +892 #t-> PH.status +2 "processing"%9 +3 "core" 9 \ 9 +1291 #t-> can.examine +3 "Can"L\ J2Y +8249 #t-> Thermal.coast +45 .CH.coast +2 "collection"' +2 "core"  +2 .tPH.coast +2 "processing"%. +5 "core"  +2755 #t-> exit +6 #mEXIT @1676064396.17PST @1676065336.71PST = =tMAIN =mMAIN_scheduler @PST1676065338.60 #"core_reset"Sent BREAK +2 #t@19428 select with ifg=0x10, ie=0xF5 + #@20086 receive with ifg=0x10, ie=0xFD #@20722 receive with ifg=0x10, ie=0xFD + #@21377 receive with ifg=0x10, ie=0xFD + #@22015 receive with ifg=0x10, ie=0xFD #@22662 receive with ifg=0x10, ie=0xFD + #@23309 receive with ifg=0x10, ie=0xFD + #@23639 receive with ifg=0x80, ie=0xFD #@2365 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +9 #ESP2 v3.42 I2C Gateway v3.20 for core bus +247 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +405 "Can"D\ dZ + D\ dZ #tPolling Can every 10:00 +2 #Cleanly exited at 13:26:36PST10-Feb-23 +2450 #-> Thermal.calibrate +3 "Can"B\ bZ +251 #t-> CH +155 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %a \ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +5 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %ٶ \ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %ޠII >\ +2 .tSS.configure :default +3 "sampler")#.0X PH +2 "processing"%9 +3 "core" 9D| +415 #t-> CH +2 "collection"'9 +3 "core" 9< +2791 #t-> can.examine +3 "Can"B\ c\ [ +376 #t-> CH + "collection"'9 +3 "core" 9 9 +308 #t-> PH +2 "processing"%9 +3 "core" 9,t +2657 #t-> exit +6 #mEXIT @1676065447.57PST @1676072288.81PST = =tMAIN =mMAIN_scheduler @PST1676072290.61 #"core_reset"Sent BREAK +2 #t@14664 receive with ifg=0x10, ie=0xFD + #@15299 receive with ifg=0x10, ie=0xFD #@15955 receive with ifg=0x10, ie=0xFD + #@16593 receive with ifg=0x10, ie=0xFD + #@17239 receive with ifg=0x10, ie=0xFD #@17886 receive with ifg=0x10, ie=0xFD + #@18532 receive with ifg=0x10, ie=0xFD #@18863 receive with ifg=0x80, ie=0xFD + #@55022 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +9 #ESP2 v3.42 I2C Gateway v3.20 for core bus +236 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +380 "Can"$\ eaq + $\ eaq #tPolling Can every 10:00 +2 #Cleanly exited at 13:44:07PST10-Feb-23 +1158 #-> ESP.configure +154 "sampler") +2 ) + "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +3 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %a@;\ + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +3 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %ٶ\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %ޠB@ S\ +2 .tSS.configure :default +2 "sampler")#.0X Thermal.calibrate +3 "Can"%\ d#a +4 "collection"'9 +2 "core" 9 +2 "processing"%9 +3 "core" 9 +6299 #t-> CH + "collection"'9 +3 "core" 9 +251 #t-> PH + "processing"%9 +3 "core" 9 +28258 #t-> CH + "collection"'9 +3 "core" 9 +156 #t-> PH + "processing"%9 +3 "core" 9 +4989 #t-> CH.hold "30:00", 28 +3 .CH.hold 30:00,28C +3 "collection"'   / +603 #t-> PH.hold "30:00", 28 +2 .PH.hold 30:00,28C +4 "processing"%   M +16338 "Can"(\ q?bPe +39785 #t-> CH +2 "collection"'9 +3 "core" 9 +305 #t-> PH +2 "processing"%9 +3 "core" 9 +4841 #t-> CH.hold "30:00", 55 +4 .CH.hold 30:00,55C +3 "collection"'    2 +3 "core"  +470 #t-> PH.hold "30:00", 55 +3 .PH.hold 30:00,55C +3 "processing"%!  9  +6 "core"  +14569 "Can"4\ dbe +44713 #t-> CH +2 "collection"'"9 +3 "core" 9r W +223 #t-> PH +2 "processing"%#9 +3 "core" 9 9 M +898 #t-> CH.hold "30:00", 85 +3 .CH.hold 30:00,85C +3 "collection"'$   g +6 "core"  +386 #t-> PH.hold "30:00", 85 +3 .PH.hold 30:00,85C +3 "processing"%%  P  +6 "core"  +13748 "Can"-\ T"c|e +46596 #t-> CH + "collection"'&9 +4 "core" 9 J ~ +176 #t-> PH +2 "processing"%'9 +3 "core" 9R v +492 #t-> PH + "processing"%(9 +3 "core" 9P  +267 #t-> CH + "collection"')9 +3 "core" 9 J +12453 "Can"(\ u^#de +187 #t-> Thermal.coast + .CH.coast +2 "collection"'* +3 "core"  + .tPH.coast +2 "processing"%+ +5 "core"  +378 #t-> exit +6 #mEXIT @1676074702.67PST @1676076192.79PST = =tMAIN =mMAIN_scheduler @PST1676076194.64 #"core_reset"Sent BREAK +2 #t@17325 select with ifg=0x10, ie=0xF5 + #@17983 receive with ifg=0x10, ie=0xFD #@18623 receive with ifg=0x10, ie=0xFD + #@19283 receive with ifg=0x10, ie=0xFD + #@19920 receive with ifg=0x10, ie=0xFD #@20569 receive with ifg=0x10, ie=0xFD + #@21217 receive with ifg=0x10, ie=0xFD #@21547 receive with ifg=0x80, ie=0xFD + #@23111 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +8 #ESP2 v3.42 I2C Gateway v3.20 for core bus +238 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +386 "Can"1\ `en + 1\ `en! + #tPolling Can every 10:00 +2 #Cleanly exited at 16:18:22PST10-Feb-23 +590 #-> ESP.ready! +155 "sampler") + ) +3 "core"  + "collection"' +2 ' +3 "core"  +2 "processing"% + % +4 "core"  +4 "collection"' 9\ + ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %a\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +3 "core" + + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %ٶ!\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %ޠD@ L\ +2 .tSS.configure :default +3 "sampler")#.0X CC.open +2 .CC.seek :open +2 "collection"'2( +414 "core" ( +2 "collection"'3& +4 "core" &z\ +2167 #t-> PC.open +2 .PC.seek :open +2 "processing"%4( +391 "core" ( +2 "processing"%5& +4 "core" &\ +14350 #t-> exit +6 #mEXIT @1676076388.83PST @1676325743.51PST = =mMAIN_scheduler =tMAIN @PST1676325745.35 #"core_reset"Sent BREAK +2 #t@6318 receive with ifg=0x10, ie=0xFD #@6957 receive with ifg=0x10, ie=0xFD + #@7615 receive with ifg=0x10, ie=0xFD + #@8254 receive with ifg=0x10, ie=0xFD + #@8903 receive with ifg=0x10, ie=0xFD #@9551 receive with ifg=0x10, ie=0xFD + #@10200 receive with ifg=0x10, ie=0xFD #@10526 receive with ifg=0x80, ie=0xFD + #@36728 idle with ifg=0x00, ie=0x75 #ESP2 v3.42 I2C Gateway v3.20 +9 #ESP2 v3.42 I2C Gateway v3.20 for core bus +242 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +388 "Can"x\ K#Y<$ + x\ K#Y<$- + #tPolling Can every 10:00 +2 #Cleanly exited at 16:46:28PST10-Feb-23 +473 #-> ESP.ready! +154 "sampler") +2 ) +3 "core"  +3 "collection"' +2 ' +3 "core"  +2 "processing"% + % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +3 "collection"'% +2 "core" %ac^\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +4 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %ٶ\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %ޠ*' \ +2 .tSS.configure :default +2 "sampler")#.0X Hand.open +3 .Hand.open +2 "manipulator"&21 +16 "core" 1 +327 #t-> Arm.clear + "manipulator"&3& +4 "core" &Z  ^ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&4(Z +4 "core" ( + "manipulator"&5& +4 "core" &Z s _ ^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &6& +3 "core" &Z - ^ +2 .tForearm.seek :clear +2 "manipulator"&7' ] +3 "core" ' + "manipulator"&8& +4 "core" &Z  ^ +2 "manipulator"&9% +3 "core" % c   +15238 #t-> Arm.to PC + "manipulator"&:& +4 "core" &Z  ^ +2 "manipulator"&;% +4 "core" % c /  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&<( +185 "core" ( + "manipulator"&=& +4 "core" &  U +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &>& +3 "core" & i +2 .tForearm.seek PC +2 "manipulator"&?'E +93 "core" ' + "manipulator"&@& +4 "core" & +2 "manipulator"&A% +4 "core" %$  +580 #t-> Hand.close + .Hand.close +2 "manipulator"&B/ +65 "core" / +509 #t-> PC.close +2 "manipulator"&C& +3 "core" & h - +2 "manipulator"&D% +4 "core" % | ~ +2 "processing"%E& +3 "core" &/\ +2 "processing"%F& +5 "core" &/\ +2 .tPC.seek :closed +2 "processing"%G(V +4 "core" &.\ +6 & 3.\ $c +10 &uV.\ 7 +9 &~/\ L +9 &b/\ N +10 &Af0\ N +9 &c0\ N +9 &c/\ N +10 &a0\ O +9 & Hc.\ O +10 &"\ g/\ O +9 &#c/\ O +9 &%e/\ N +10 &'Qg/\ N +9 &)d0\ N +9 &*b0\ N +10 &,g/\ N +9 &.Yg/\ N +9 &0e.\ O +10 &1f/\ O +9 &3e1\ N +10 &5ae0\ N +9 &7#g/\ N +9 &8h/\ N +10 &:c.\ N +9 &*j/\ O +10 &?j/\ N +9 &Aj/\ O +10 &Cpl/\ O +9 &E.u.\ P +9 &F}/\ Q +10 &H0\ S +9 &Ji/\ T +10 &L)0\ T +9 &M0\ T +9 &O/\ U +10 &Qn0\ U +9 &S..\ U +9 &T/\ L +10 &V$K/\ ` +9 &Vz\ K/\ 2 +6 ( + "processing"%F& +4 #tProcessing Clamp onSpring/offSpring for 10/24 samples, on/off torque 1.45 + "processing"%H& +5 "core" &Vz+/\ 2 + &Vz+/\ 2 +657 #t-> Hand.open +2 .Hand.open +2 "manipulator"&I1 +62 "core" 1 +285 #t-> Arm.clear +2 "manipulator"&J& +3 "core" &  - +2 "manipulator"&K% +4 "core" % Z 1 +2 .tForearm.seek :retract + "manipulator"&L' ] +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&M(Z +201 "core" ( + "manipulator"&N& +4 "core" &Z L $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &O& +3 "core" &Z  $ +2 .tForearm.seek :clear +2 "manipulator"&P' ] +3 "core" ' + "manipulator"&Q& +4 "core" &Z  * $ + "manipulator"&R% +4 "core" % f   +23742 #t-> Arm.to CC +2 "manipulator"&S& +4 "core" &Z [ "} +2 "manipulator"&T% +4 "core" % f A  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&U( +217 "core" ( + "manipulator"&V& +5 "core" & m & + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +2 "core" & Z & +2 .tForearm.seek CC +2 "manipulator"&X'ш +95 "core" ' + "manipulator"&Y& +4 "core" &: L +2 "manipulator"&Z% +3 "core" %э+ G { +5849 #t-> Hand.close +2 .Hand.close + "manipulator"&[/ +704 !to:I2C::Request::Timeout: @requesto:I2C::Servo::Grip3Request : @tag0: @dontLog0:@maxDelayo:\ Delay: @_dc_obji : @channeli: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: mesg"5No Response to I2C::Servo::Grip3Request[5B:->26]:bt["3/home/esp/esp2/lib/i2c/msg.rb:317:in `process'"6/home/esp/esp2/lib/schedule.rb:179:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:456:in `step'"4/home/esp/esp2/lib/schedule.rb:205:in `process'"2/home/esp/esp2/lib/schedule.rb:223:in `start'"1/home/esp/esp2/lib/schedule.rb:222:in `loop'"2/home/esp/esp2/lib/schedule.rb:222:in `start'"-/home/esp/esp2/lib/esp.rb:211:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:111:in `load'"0/home/esp/esp2/lib/framework.rb:111:in `ld'"4/home/esp/esp2/lib/framework.rb:136:in `ldMode'""/home/esp/esp2/lib/esp.rb:342"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 +7 #Retry #1 of 3 + "manipulator"&\\/ +2 "core" / + !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[5B:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:615:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:610:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:491:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"'/home/esp/esp2/lib/schedule.rb:482 +703 !to:I2C::Request::Timeout: @requesto:I2C::Servo::Grip3Request : @tag0: @dontLog0:@maxDelayo:\ Delay: @_dc_obji : @channeli: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: mesg"5No Response to I2C::Servo::Grip3Request[5C:->26]:bt["3/home/esp/esp2/lib/i2c/msg.rb:317:in `process'"6/home/esp/esp2/lib/schedule.rb:179:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:456:in `step'"4/home/esp/esp2/lib/schedule.rb:205:in `process'"2/home/esp/esp2/lib/schedule.rb:223:in `start'"1/home/esp/esp2/lib/schedule.rb:222:in `loop'"2/home/esp/esp2/lib/schedule.rb:222:in `start'"-/home/esp/esp2/lib/esp.rb:211:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:111:in `load'"0/home/esp/esp2/lib/framework.rb:111:in `ld'"4/home/esp/esp2/lib/framework.rb:136:in `ldMode'""/home/esp/esp2/lib/esp.rb:342"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 +2 #Retry #2 of 3 + "manipulator"&]/ +2 "core" / +2 !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[5C:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:615:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:610:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:491:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"'/home/esp/esp2/lib/schedule.rb:482 +703 !to:I2C::Request::Timeout: @requesto:I2C::Servo::Grip3Request : @tag0: @dontLog0:@maxDelayo:\ Delay: @_dc_obji : @channeli: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: mesg"5No Response to I2C::Servo::Grip3Request[5D:->26]:bt["3/home/esp/esp2/lib/i2c/msg.rb:317:in `process'"6/home/esp/esp2/lib/schedule.rb:179:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:456:in `step'"4/home/esp/esp2/lib/schedule.rb:205:in `process'"2/home/esp/esp2/lib/schedule.rb:223:in `start'"1/home/esp/esp2/lib/schedule.rb:222:in `loop'"2/home/esp/esp2/lib/schedule.rb:222:in `start'"-/home/esp/esp2/lib/esp.rb:211:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:111:in `load'"0/home/esp/esp2/lib/framework.rb:111:in `ld'"4/home/esp/esp2/lib/framework.rb:136:in `ldMode'""/home/esp/esp2/lib/esp.rb:342"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 + #Retry #3 of 3 + "manipulator"&^/ +2 "core" / + !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[5D:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:615:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:610:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:491:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"'/home/esp/esp2/lib/schedule.rb:482 +704 !to:I2C::Request::Timeout : @requesto:I2C::Servo::Grip3Request : @tag0: @dontLog0:@maxDelayo:\ Delay: @_dc_obji : @channeli: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: mesg"[Hand could not finish closing because\ No Response to I2C::Servo::Grip3Request[5E:->26]:@checkpoint: omitted:bt["3/home/esp/esp2/lib/i2c/msg.rb:317:in `process'"6/home/esp/esp2/lib/schedule.rb:179:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:456:in `step'"4/home/esp/esp2/lib/schedule.rb:205:in `process'"2/home/esp/esp2/lib/schedule.rb:223:in `start'"1/home/esp/esp2/lib/schedule.rb:222:in `loop'"2/home/esp/esp2/lib/schedule.rb:222:in `start'"-/home/esp/esp2/lib/esp.rb:211:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:111:in `load'"0/home/esp/esp2/lib/framework.rb:111:in `ld'"4/home/esp/esp2/lib/framework.rb:136:in `ldMode'""/home/esp/esp2/lib/esp.rb:342"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 +476 #-> Hand.open +2 .Hand.open + "manipulator"&_1 +3 "core" / + !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[5E:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:615:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:610:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:491:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"'/home/esp/esp2/lib/schedule.rb:482 +703 !to:I2C::Request::Timeout: @requesto: I2C::Servo::Release3Request : @tag0: @dontLog0:@maxDelayo:\ Delay: @_dc_obji : @channeli: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: mesg"8No Response to I2C::Servo::Release3Request[5F:->26]:bt["3/home/esp/esp2/lib/i2c/msg.rb:317:in `process'"6/home/esp/esp2/lib/schedule.rb:179:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:456:in `step'"4/home/esp/esp2/lib/schedule.rb:205:in `process'"2/home/esp/esp2/lib/schedule.rb:223:in `start'"1/home/esp/esp2/lib/schedule.rb:222:in `loop'"2/home/esp/esp2/lib/schedule.rb:222:in `start'"-/home/esp/esp2/lib/esp.rb:211:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:111:in `load'"0/home/esp/esp2/lib/framework.rb:111:in `ld'"4/home/esp/esp2/lib/framework.rb:136:in `ldMode'""/home/esp/esp2/lib/esp.rb:342"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 +2 #Retry #1 of 3 + "manipulator"&`1 +2 "core" 1 + !o:I2C::UnexpectedReply: mesg"1I2C::Servo::Release3Reply[5F:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:615:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:610:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:491:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"'/home/esp/esp2/lib/schedule.rb:482 +123 !to:IRB::Abort: mesg"7Hand could not finish opening because\ User Abort!!:@checkpoint: omitted:bt["1/home/esp/esp2/lib/esp.rb:79:in `mainThread'""/home/esp/esp2/lib/esp.rb:342 +516 #-> Hand.open + .Hand.open +2 "manipulator"&a1 +3 "core" 1 +702 !to:I2C::Request::Timeout: @requesto: I2C::Servo::Release3Request : @tag0: @dontLog0:@maxDelayo:\ Delay: @_dc_obji : @channeli: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: mesg"8No Response to I2C::Servo::Release3Request[61:->26]:bt["3/home/esp/esp2/lib/i2c/msg.rb:317:in `process'"6/home/esp/esp2/lib/schedule.rb:179:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:456:in `step'"4/home/esp/esp2/lib/schedule.rb:205:in `process'"2/home/esp/esp2/lib/schedule.rb:223:in `start'"1/home/esp/esp2/lib/schedule.rb:222:in `loop'"2/home/esp/esp2/lib/schedule.rb:222:in `start'"-/home/esp/esp2/lib/esp.rb:211:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:111:in `load'"0/home/esp/esp2/lib/framework.rb:111:in `ld'"4/home/esp/esp2/lib/framework.rb:136:in `ldMode'""/home/esp/esp2/lib/esp.rb:342"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 +2 #Retry #1 of 3 + "manipulator"&b1 +3 "core" 1 + !o:I2C::UnexpectedReply: mesg"1I2C::Servo::Release3Reply[61:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:615:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:610:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:491:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"'/home/esp/esp2/lib/schedule.rb:482 +700 !to:I2C::Request::Timeout: @requesto: I2C::Servo::Release3Request : @tag0: @dontLog0:@maxDelayo:\ Delay: @_dc_obji : @channeli: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: mesg"8No Response to I2C::Servo::Release3Request[62:->26]:bt["3/home/esp/esp2/lib/i2c/msg.rb:317:in `process'"6/home/esp/esp2/lib/schedule.rb:179:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:456:in `step'"4/home/esp/esp2/lib/schedule.rb:205:in `process'"2/home/esp/esp2/lib/schedule.rb:223:in `start'"1/home/esp/esp2/lib/schedule.rb:222:in `loop'"2/home/esp/esp2/lib/schedule.rb:222:in `start'"-/home/esp/esp2/lib/esp.rb:211:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:111:in `load'"0/home/esp/esp2/lib/framework.rb:111:in `ld'"4/home/esp/esp2/lib/framework.rb:136:in `ldMode'""/home/esp/esp2/lib/esp.rb:342"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 + #Retry #2 of 3 + "manipulator"&c1 +3 "core" 1 + !o:I2C::UnexpectedReply: mesg"1I2C::Servo::Release3Reply[62:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:615:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:610:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:491:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"'/home/esp/esp2/lib/schedule.rb:482 +423 "Can"{\ g&Y% +280 !to:I2C::Request::Timeout: @requesto: I2C::Servo::Release3Request : @tag0: @dontLog0:@maxDelayo:\ Delay: @_dc_obji : @channeli: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: mesg"8No Response to I2C::Servo::Release3Request[63:->26]:bt["3/home/esp/esp2/lib/i2c/msg.rb:317:in `process'"6/home/esp/esp2/lib/schedule.rb:179:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:456:in `step'"4/home/esp/esp2/lib/schedule.rb:205:in `process'"2/home/esp/esp2/lib/schedule.rb:223:in `start'"1/home/esp/esp2/lib/schedule.rb:222:in `loop'"2/home/esp/esp2/lib/schedule.rb:222:in `start'"-/home/esp/esp2/lib/esp.rb:211:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:111:in `load'"0/home/esp/esp2/lib/framework.rb:111:in `ld'"4/home/esp/esp2/lib/framework.rb:136:in `ldMode'""/home/esp/esp2/lib/esp.rb:342"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 + #Retry #3 of 3 + "manipulator"&d1 +2 "core" 1 + !o:I2C::UnexpectedReply: mesg"1I2C::Servo::Release3Reply[63:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:615:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:610:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:491:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"'/home/esp/esp2/lib/schedule.rb:482 +705 !to:I2C::Request::Timeout : @requesto: I2C::Servo::Release3Request : @tag0: @dontLog0:@maxDelayo:\ Delay: @_dc_obji : @channeli: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: mesg"^Hand could not finish opening because\ No Response to I2C::Servo::Release3Request[64:->26]:@checkpoint: omitted:bt["3/home/esp/esp2/lib/i2c/msg.rb:317:in `process'"6/home/esp/esp2/lib/schedule.rb:179:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:456:in `step'"4/home/esp/esp2/lib/schedule.rb:205:in `process'"2/home/esp/esp2/lib/schedule.rb:223:in `start'"1/home/esp/esp2/lib/schedule.rb:222:in `loop'"2/home/esp/esp2/lib/schedule.rb:222:in `start'"-/home/esp/esp2/lib/esp.rb:211:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:111:in `load'"0/home/esp/esp2/lib/framework.rb:111:in `ld'"4/home/esp/esp2/lib/framework.rb:136:in `ldMode'""/home/esp/esp2/lib/esp.rb:342"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 +2957 #-> Hand.close +2 .Hand.close + "manipulator"&e/ +3 "core" 1 + !o:I2C::UnexpectedReply: mesg"1I2C::Servo::Release3Reply[64:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:615:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:610:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:491:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"'/home/esp/esp2/lib/schedule.rb:482 +703 !to:I2C::Request::Timeout: @requesto:I2C::Servo::Grip3Request : @tag0: @dontLog0:@maxDelayo:\ Delay: @_dc_obji : @channeli: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: mesg"5No Response to I2C::Servo::Grip3Request[65:->26]:bt["3/home/esp/esp2/lib/i2c/msg.rb:317:in `process'"6/home/esp/esp2/lib/schedule.rb:179:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:456:in `step'"4/home/esp/esp2/lib/schedule.rb:205:in `process'"2/home/esp/esp2/lib/schedule.rb:223:in `start'"1/home/esp/esp2/lib/schedule.rb:222:in `loop'"2/home/esp/esp2/lib/schedule.rb:222:in `start'"-/home/esp/esp2/lib/esp.rb:211:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:111:in `load'"0/home/esp/esp2/lib/framework.rb:111:in `ld'"4/home/esp/esp2/lib/framework.rb:136:in `ldMode'""/home/esp/esp2/lib/esp.rb:342"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 + #Retry #1 of 3 + "manipulator"&f/ +2 "core" / + !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[65:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:615:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:610:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:491:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"'/home/esp/esp2/lib/schedule.rb:482 +85 !to:IRB::Abort: mesg"7Hand could not finish closing because\ User Abort!!:@checkpoint: omitted:bt["1/home/esp/esp2/lib/esp.rb:79:in `mainThread'""/home/esp/esp2/lib/esp.rb:342 +15057 #-> MainThread.exception +9198 #-> MainThread.progress +2807 #-> Hand.coast +2 !o:NoMethodError : mesgu:NameError::message.undefined method `coast' for Hand:Gripper: name:\ coast: args[:bt["(ESP):16:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'":0 +2737 #-> trouble +4915 #-> MainThread.checkpoint +3466 #-> Hand.open + .Hand.open + "manipulator"&g1 +3 "core" / + !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[66:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:615:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:610:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:491:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"'/home/esp/esp2/lib/schedule.rb:482 +51 1 +1242 #t-> Arm.clear +2 "manipulator"&h& +3 "core" &M  9 +2 "manipulator"&i% +4 "core" %   C + .tForearm.seek :retract +2 "manipulator"&j' ] +106 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&k(Z +215 "core" ( +2 "manipulator"&l& +4 "core" &Z _ Z + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &m& +3 "core" &Z O Z +2 .tForearm.seek :clear +2 "manipulator"&n' ] +3 "core" ' + "manipulator"&o& +4 "core" &Z Z + "manipulator"&p% +4 "core" % q  +15239 #t-> Hand.close + .Hand.close +2 "manipulator"&q/ +53 "core" / +104 "Can"\ T*EZh% +159 #t-> Hand.open +2 .Hand.open + "manipulator"&r1 +59 "core" 1 +9745 #t-> Arm.to CC +2 "manipulator"&s& +4 "core" &Z  Z + "manipulator"&t% +4 "core" % q  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&u( +223 "core" ( + "manipulator"&v& +4 "core" & % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &w& +3 "core" &  % +2 .tForearm.seek CC +2 "manipulator"&x'ш +112 "core" ' + "manipulator"&y& +4 "core" &( : ^ +2 "manipulator"&z% +3 "core" %q  g +1076 #t-> Hand.close +2 .Hand.close + "manipulator"&{/ +704 !to:I2C::Request::Timeout: @requesto:I2C::Servo::Grip3Request : @tag0: @dontLog0:@maxDelayo:\ Delay: @_dc_obji : @channeli: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: mesg"5No Response to I2C::Servo::Grip3Request[7B:->26]:bt["3/home/esp/esp2/lib/i2c/msg.rb:317:in `process'"6/home/esp/esp2/lib/schedule.rb:179:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:456:in `step'"4/home/esp/esp2/lib/schedule.rb:205:in `process'"2/home/esp/esp2/lib/schedule.rb:223:in `start'"1/home/esp/esp2/lib/schedule.rb:222:in `loop'"2/home/esp/esp2/lib/schedule.rb:222:in `start'"-/home/esp/esp2/lib/esp.rb:211:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:111:in `load'"0/home/esp/esp2/lib/framework.rb:111:in `ld'"4/home/esp/esp2/lib/framework.rb:136:in `ldMode'""/home/esp/esp2/lib/esp.rb:342"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 +2 #Retry #1 of 3 + "manipulator"&|/ +2 "core" / +2 !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[7B:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:615:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:610:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:491:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"'/home/esp/esp2/lib/schedule.rb:482 +254 !to:IRB::Abort: mesg"7Hand could not finish closing because\ User Abort!!:@checkpoint: omitted:bt["1/home/esp/esp2/lib/esp.rb:79:in `mainThread'""/home/esp/esp2/lib/esp.rb:342 +371 #-> Hand.open +2 .Hand.open + "manipulator"&}1 +3 "core" / +26 1 +3125 #t-> Hand.close + .Hand.close +2 "manipulator"&~/ +704 !to:I2C::Request::Timeout: @requesto:I2C::Servo::Grip3Request : @tag0: @dontLog0:@maxDelayo:\ Delay: @_dc_obji : @channeli: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: mesg"5No Response to I2C::Servo::Grip3Request[7E:->26]:bt["3/home/esp/esp2/lib/i2c/msg.rb:317:in `process'"6/home/esp/esp2/lib/schedule.rb:179:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:456:in `step'"4/home/esp/esp2/lib/schedule.rb:205:in `process'"2/home/esp/esp2/lib/schedule.rb:223:in `start'"1/home/esp/esp2/lib/schedule.rb:222:in `loop'"2/home/esp/esp2/lib/schedule.rb:222:in `start'"-/home/esp/esp2/lib/esp.rb:211:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:111:in `load'"0/home/esp/esp2/lib/framework.rb:111:in `ld'"4/home/esp/esp2/lib/framework.rb:136:in `ldMode'""/home/esp/esp2/lib/esp.rb:342"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 + #Retry #1 of 3 + "manipulator"&/ +2 "core" / + !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[7E:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:615:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:610:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:491:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"'/home/esp/esp2/lib/schedule.rb:482 +108 !to:IRB::Abort: mesg"7Hand could not finish closing because\ User Abort!!:@checkpoint: omitted:bt["1/home/esp/esp2/lib/esp.rb:79:in `mainThread'""/home/esp/esp2/lib/esp.rb:342 +194 #-> Hand.open + .Hand.open +2 "manipulator"&1 +2 "core" / +56 1 +5587 #t-> Hand.close + .Hand.close + "manipulator"&/ +704 !to:I2C::Request::Timeout: @requesto:I2C::Servo::Grip3Request : @tag0: @dontLog0:@maxDelayo:\ Delay: @_dc_obji : @channeli: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: mesg"5No Response to I2C::Servo::Grip3Request[02:->26]:bt["3/home/esp/esp2/lib/i2c/msg.rb:317:in `process'"6/home/esp/esp2/lib/schedule.rb:179:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:456:in `step'"4/home/esp/esp2/lib/schedule.rb:205:in `process'"2/home/esp/esp2/lib/schedule.rb:223:in `start'"1/home/esp/esp2/lib/schedule.rb:222:in `loop'"2/home/esp/esp2/lib/schedule.rb:222:in `start'"-/home/esp/esp2/lib/esp.rb:211:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:111:in `load'"0/home/esp/esp2/lib/framework.rb:111:in `ld'"4/home/esp/esp2/lib/framework.rb:136:in `ldMode'""/home/esp/esp2/lib/esp.rb:342"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 +2 #Retry #1 of 3 + "manipulator"&/ +3 "core" / + !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[02:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:615:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:610:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:491:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"'/home/esp/esp2/lib/schedule.rb:482 +60 !to:IRB::Abort: mesg"7Hand could not finish closing because\ User Abort!!:@checkpoint: omitted:bt["1/home/esp/esp2/lib/esp.rb:79:in `mainThread'""/home/esp/esp2/lib/esp.rb:342 +297 #-> Hand.open + .Hand.open +2 "manipulator"&1 +2 "core" / +51 1 +11580 #t-> Hand.close + .Hand.close +2 "manipulator"&/ +703 !to:I2C::Request::Timeout: @requesto:I2C::Servo::Grip3Request : @tag0: @dontLog0:@maxDelayo:\ Delay: @_dc_obji : @channeli: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: mesg"5No Response to I2C::Servo::Grip3Request[06:->26]:bt["3/home/esp/esp2/lib/i2c/msg.rb:317:in `process'"6/home/esp/esp2/lib/schedule.rb:179:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:456:in `step'"4/home/esp/esp2/lib/schedule.rb:205:in `process'"2/home/esp/esp2/lib/schedule.rb:223:in `start'"1/home/esp/esp2/lib/schedule.rb:222:in `loop'"2/home/esp/esp2/lib/schedule.rb:222:in `start'"-/home/esp/esp2/lib/esp.rb:211:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:111:in `load'"0/home/esp/esp2/lib/framework.rb:111:in `ld'"4/home/esp/esp2/lib/framework.rb:136:in `ldMode'""/home/esp/esp2/lib/esp.rb:342"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 +2 #Retry #1 of 3 + "manipulator"&/ +2 "core" / + !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[06:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:615:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:610:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:491:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"'/home/esp/esp2/lib/schedule.rb:482 +64 !to:IRB::Abort: mesg"7Hand could not finish closing because\ User Abort!!:@checkpoint: omitted:bt["1/home/esp/esp2/lib/esp.rb:79:in `mainThread'""/home/esp/esp2/lib/esp.rb:342 +320 #-> Hand.open +2 .Hand.open + "manipulator"& 1 +2 "core" / +69 1 +2483 #t-> Hand.close + .Hand.close +2 "manipulator"& / +76 "core" / +1071 #t-> CC.close + "manipulator"& & +4 "core" & % +2 "manipulator"&% +4 "core" % C z + "collection"'& +4 "core" &fbA\ +2 "collection"'& +4 "core" &e`C\ +2 .tCC.seek :closed +2 "collection"'(Z +5 "core" &e^E\ +6 & 6f`J\ $d +10 &tTe_G\ 8 +9 &}e`E\ L +9 &zhc_G\ P +10 &<cfa>\ P +9 &cf`G\ O +10 &be^C\ P +9 &be_?\ O +9 & Dce]B\ P +10 &"`g^A\ O +9 &#ed^B\ O +9 &%be`G\ O +10 &'Mad^J\ O +9 &)gf]@\ O +10 &*_g`A\ O +9 &,bf^F\ O +9 &.Vbe^C\ O +10 &0cd_H\ O +9 &1ec^G\ O +10 &3bd_E\ P +9 &5]cd_I\ O +9 &7dfaE\ O +10 &8ed_E\ P +9 &:df`E\ P +9 &%ke`G\ P +9 &?rf^?\ Q +9 &Axe`J\ Q +10 &CagaF\ T +9 &Ef_F\ U +10 &FgaF\ X +9 &HhbC\ Y +9 &JZg`F\ Y +10 &Lg`E\ Y +9 &Mfa>\ Z +9 &OhcE\ Z +10 &Q]gbD\ Z +9 &SgaC\ Z +10 &TibE\ Z +9 &VgaE\ [ +10 &X`hbG\ \\ +9 &ZxgbE\ 0 +9 &ZgbF\ \\ +10 ( + &ZsgcF\ P + "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/26 samples, on/off torque 2.01 +2 "collection"'& +4 "core" &Zrhc/\ P +679 #t-> Hand.open +2 .Hand.open +2 "manipulator"&1 +703 !to:I2C::Request::Timeout: @requesto: I2C::Servo::Release3Request : @tag0: @dontLog0:@maxDelayo:\ Delay: @_dc_obji : @channeli: @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: mesg"8No Response to I2C::Servo::Release3Request[16:->26]:bt["3/home/esp/esp2/lib/i2c/msg.rb:317:in `process'"6/home/esp/esp2/lib/schedule.rb:179:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:456:in `step'"4/home/esp/esp2/lib/schedule.rb:205:in `process'"2/home/esp/esp2/lib/schedule.rb:223:in `start'"1/home/esp/esp2/lib/schedule.rb:222:in `loop'"2/home/esp/esp2/lib/schedule.rb:222:in `start'"-/home/esp/esp2/lib/esp.rb:211:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:111:in `load'"0/home/esp/esp2/lib/framework.rb:111:in `ld'"4/home/esp/esp2/lib/framework.rb:136:in `ldMode'""/home/esp/esp2/lib/esp.rb:342"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 +2 #Retry #1 of 3 + "manipulator"&1 +3 "core" 1 + !o:I2C::UnexpectedReply: mesg"1I2C::Servo::Release3Reply[16:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:615:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:610:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:491:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"'/home/esp/esp2/lib/schedule.rb:482 +152 !to:IRB::Abort: mesg"7Hand could not finish opening because\ User Abort!!:@checkpoint: omitted:bt["1/home/esp/esp2/lib/esp.rb:79:in `mainThread'""/home/esp/esp2/lib/esp.rb:342 +485 #-> Hand +473 #-> Hand.close + .Hand.close + "manipulator"&/ +3 "core" 1 + !o:I2C::UnexpectedReply: mesg"1I2C::Servo::Release3Reply[19:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:615:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:610:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:491:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"'/home/esp/esp2/lib/schedule.rb:482 +394 !to:IRB::Abort: mesg"7Hand could not finish closing because\ User Abort!!:@checkpoint: omitted:bt["1/home/esp/esp2/lib/esp.rb:79:in `mainThread'""/home/esp/esp2/lib/esp.rb:342 +349 #-> Hand.open + .Hand.open +2 "manipulator"&1 +3 "core" / !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[17:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:615:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:610:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:491:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"'/home/esp/esp2/lib/schedule.rb:482 +192 !to:IRB::Abort: mesg"7Hand could not finish opening because\ User Abort!!:@checkpoint: omitted:bt["1/home/esp/esp2/lib/esp.rb:79:in `mainThread'""/home/esp/esp2/lib/esp.rb:342 +2974 #-> exit +6 #mEXIT @1676327421.61PST @1676327643.50PST = =tMAIN =mMAIN_scheduler @PST1676327645.41 #"core_reset"Sent BREAK +2 #t@10283 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.42 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.42 I2C Gateway v3.20 for core bus +245 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +407 "Can"\ V2 + \ V2 + #tPolling Can every 10:00 +3 #Cleanly exited at 14:30:21PST13-Feb-23 +7335 #-> ESP.configure +3 #Powering core bus +555 .Gate.power :raw,:ON +2 "sampler") +17 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +3 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" %gaM\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %&\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %2/\ +2 .tSS.configure :default +2 "sampler")#.0X ESP.ready! +2 "collection"'% +3 "processing"%% +4 "core" %g`k\ + "manipulator"&% +5 ."rdySampler"Intake.select :close +5 .Exhaust.select :close + .CTV.dial :air +2 "collection"'  +4 "core" %.\ +2 % r +2 ."rdyProcessing"PSV.dial :air +3 ."rdySampler"CSV.dial :waste1 +2 "manipulator"&% + "processing"%  +4 "collection"' +5 "core" % a +  + +3 ."rdyProcessing"PS.reconfigure :default +3 ."rdySampler"SSV.dial :spit,avoiding: :exhaust +3 .tForearm.reconfigure :loose +3 "processing"%#A d`xb + "sampler") +4 "manipulator"&#@2^d^b +2 ."rdyProcessing"PS.home.seek 0ml +6 .tForearm.home.seek :retract +3 "processing"%'ٸ +2 "manipulator"&' ] +4 "core"  + "sampler") +3 "core"  +2 "sampler")  +5 "core" +2 ."readyCS"CS.reconfigure :fast +3 ."rdySampler"SS.reconfigure :default +4 "collection"'#d @b +2 "sampler")#.0X CC.home.to :home +2 .CC.reconfigure :default +3 "collection"'$x2 ^22b + .tCC.home.seek :home +2 "collection"'( +520 "core" ( + "collection"'& +4 "core" & e^H\ +611 #t-> ESP.ready! +2 "collection"'% +4 "core" %]g_J\  +2 "processing"% % +2 "sampler")!% +3 "manipulator"&"% +9 "core" %ٸ%\ +2 %ޙ,) \ % # : +2 "manipulator"&#% +4 "core" % L : +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&$' ] +153 "core" ' + ."closeHand"Hand.close +4 .tElbow.jog 1500 +2 "manipulator"&%/ + &&* +28 "core" / +34 * + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 .tElbow.home.seek :clear + "manipulator"&'(Z +566 "core" ( +2 "storage"((& +4 "core" &   + .tSE.reconfigure :default +3 "storage"(#K-0-\ b +2 .tSE.home.seek :down + "storage"()'g +66 "core" ' +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.home.seek :initial +2 "storage"(*([4 +1447 "core" ( + .tSC.configure :limp +2 "storage"($(\ 1b +3 "manipulator"&+& +2 "core" &Z $ x +3 .tForearm.seek :retract +2 "manipulator"&,' ] +17 "core" ' +2 .tElbow.seek :hammer +2 "manipulator"&-( +112 "core" ( +2 "manipulator"&.& +4 "core" & * P +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek retracted +2 "manipulator"&/' ] +3 "core" ' +2 "manipulator"&0% +4 "core" % W !  +2 "processing"%1& +4 "collection"'2& +4 "core" &-\ + & eaS\ +2 ."openPC"PC.reconfigure :default +3 "processing"%$x2 ^22b +2 ."openPC"PC.home.seek :open +2 "processing"%3( +673 "core" ( +2 "collection"'4 +4 "core" @ + "processing"%5 +3 "core" U +2 "processing"%6 +3 "core" @ +2 "processing"%7 +3 "core"  + "collection"'8% +4 "core" %]f`~\  +2 "processing"%9% +3 "core" %ٸ$\ +2 "sampler"):% +4 "core" %ޙ-) \ +2 "collection"';& +3 "core" & g`y\ +2 "processing"%<& +4 "core" &v$\  + "manipulator"&=% +4 "core" % W Y  + "manipulator"&>& +4 "core" & ] P +2 "storage"(?& +4 "core" &[1 h g " + "storage"(@% +4 "core" %e h ^  + "collection"'A9 +3 "core" 90 +2 "processing"%B9 +3 "core" 9> +1149 #t-> Hand.open +2 .Hand.open + "manipulator"&C1 +55 "core" 1 +265 #t-> Arm.clear +2 "manipulator"&D& +3 "core" & @ P +2 "manipulator"&E% +4 "core" % W   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear +2 "manipulator"&F(Z +116 "core" ( + "manipulator"&G& +4 "core" &Z  ~ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &H& +4 "core" &Z  ~ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :clear +2 "manipulator"&I' ] +2 "core" ' +2 "manipulator"&J& +4 "core" &Z F ~ + "manipulator"&K% +4 "core" % W A  +469 #t-> Arm.to PC +2 "manipulator"&L& +3 "core" &Z  ~ +2 "manipulator"&M% +4 "core" % W   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&N( +218 "core" ( +2 "manipulator"&O& +3 "core" &   %  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &P& +3 "core" &    +2 .tForearm.seek PC +2 "manipulator"&Q'E +106 "core" ' + "manipulator"&R& +4 "core" & -  + "manipulator"&S% +4 "core" %A   +405 #t-> Hand.close +2 .Hand.close + "manipulator"&T/ +178 "core" / +463 #t-> PC.close + "manipulator"&U& +4 "core" &O ' o +2 "manipulator"&V% +4 "core" % A E  +2 "processing"%W& +3 "core" &v-\  +3 "processing"%X& +4 "core" &v/\  +2 .tPC.seek :closed +2 "processing"%Y(V +3 "core" &v/\  +9 &P-\ %i +9 &fY/\ 9 +9 &/\ M +10 &g0\ M +49 &Kd/\ M & _/\ M + &b,\ M + &b/\ M + & Rb/\ M +4 &"e0\ M +9 &#c.\ M +10 &%d-\ M +9 &'Yd/\ M +9 &)c/\ M +10 &*e/\ M +9 &,b/\ M +10 &.ba0\ M +9 &0$b/\ M +9 &1e.\ M +10 &3g/\ M +9 &5id-\ M +9 &7+h/\ M +10 &8g/\ M +9 &:e/\ M +10 &4e/\ M +9 &?d/\ M +10 &Ag/\ M +9 &Cyc.\ M +9 &E9p.\ N +10 &Fs.\ O +9 &H/\ Q +10 &Js/\ R +9 &L4/\ R +9 &M.\ T +10 &O.\ T +9 &Qv.\ T +9 &S7/\ T +10 &T/\ F +9 &V"F/\ !e +10 &Vt?-\ 1 +5 ( + "processing"%X& +5 #tProcessing Clamp onSpring/offSpring for 10/24 samples, on/off torque 1.42 + "processing"%Z& +4 "core" &Vt//\ 1 +2 &Vt/0\ 1 +227 #t-> Hand.open + .Hand.open +2 "manipulator"&[1 +63 "core" 1 +342 #t-> Arm.clear + "manipulator"&\\& +4 "core" &[  c +2 "manipulator"&]% +4 "core" % Ѭ  + .tForearm.seek :retract +2 "manipulator"&^' ] +105 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :clear + "manipulator"&_(Z +207 "core" ( +2 "manipulator"&`& +4 "core" &Z  9  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &a& +3 "core" &Z 0  +2 .tForearm.seek :clear + "manipulator"&b' ] +17 "core" ' + "manipulator"&c& +4 "core" &Z  X  +2 "manipulator"&d% +4 "core" % W =  +5719 #t-> Arm.to CC +2 "manipulator"&e& +3 "core" &Z   +2 "manipulator"&f% +4 "core" % W R  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&g( +218 "core" ( + "manipulator"&h& +4 "core" & . # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &i& +3 "core" & h # +2 .tForearm.seek CC +2 "manipulator"&j'ш +93 "core" ' + "manipulator"&k& +4 "core" & O # +2 "manipulator"&l% +3 "core" %і Y  +523 #t-> Hand.close + .Hand.close +2 "manipulator"&m/ +75 "core" / +642 #t-> CC.close +2 "manipulator"&n& +3 "core" & # +2 "manipulator"&o% +4 "core" % і t  +2 "collection"'p& +3 "core" & ga6\ +2 .tCC.seek :open +2 "collection"'q( +139 "core" ( +2 "collection"'r& +6 "core" &uf^X\  +2 .tCC.seek :closed + "collection"'s(Z +4 "core" &ug`5\  +8 &Ofa4\ &k +9 &dYg]5\ : +9 &g]5\ N +10 &ag_1\ N +9 &Ecf]6\ N +9 &ee]6\ N +10 &bf_4\ O +9 &`e`7\ N +9 & Lbh^5\ O +10 &"af`3\ N +9 &#eg_6\ N +10 &%`g`6\ O +9 &'Tbf^8\ O +9 &)be^6\ N +10 &*]g^2\ N +9 &,^g^5\ N +9 &.\\bf]8\ O +10 &0`e`4\ O +9 &1cg_4\ N +10 &3bg`2\ O +9 &5eei_5\ N +9 &7'eg`7\ N +10 &8ae`3\ N +9 &:_f_0\ N +10 &.dg`0\ O +9 &?afa)\ N +10 &A`e`-\ N +9 &Cuef^%\ N +9 &E5lg],\ O +10 &Frf_4\ P +9 &Hf_-\ Q +9 &Jnh_.\ T +10 &L)f`'\ V +9 &Mh`)\ V +10 &Of`(\ W +9 &Qjgb'\ X +9 &S,h`(\ X +10 &Tha'\ Y +9 &Vha)\ Y +10 &Xkfa'\ Z +9 &Z wf_(\ - +9 &Zia-\ V +9 ( +2 "collection"'r& +4 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.93 + "collection"'t& +5 "core" &Zrf`)\ O + &Zrh]$\ O +409 #t-> Hand.open + .Hand.open +2 "manipulator"&u1 +61 "core" 1 +452 #t-> Arm.clear +2 "manipulator"&v& +3 "core" & f "~ +2 "manipulator"&w% +4 "core" % ъ  +2 .tForearm.seek :retract +2 "manipulator"&x' ] +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :clear + "manipulator"&y(Z +220 "core" ( +2 "manipulator"&z& +4 "core" &Z o + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &{& +2 "core" &Z \\ +2 .tForearm.seek :clear +2 "manipulator"&|' ] +3 "core" ' +2 "manipulator"&}& +3 "core" &Z F +2 "manipulator"&~% +4 "core" % T `  +25371 "Can"\ Pɍ +59808 #t-> can.instance_eval{@temperature} +3 "Can"|\ P{_ +191 z\ O}_ +2977 #t-> PH.status +2 "processing"%9 +3 "core" 9< +307 #t-> CH.status + "collection"'9 +3 "core" 9. +4869 #t-> PH.hold "30:00", 25 +3 .PH.hold 30:00,25C +3 "processing"%  " y +508 #t-> CH.hold "30:00", 25 +4 .CH.hold 30:00,25C +2 "collection"'   Y +51320 "Can"~\ Y  +16419 #t-> can.instance_eval{@temperature} +3 "Can"\ x\  +287 #t-> PH.status + "processing"%9 +3 "core" 9!s\  +193 #t-> CH.status +2 "collection"'9 +3 "core" 9Z\  +594 #t-> PH.hold "30:00", 28 +3 .PH.hold 30:00,28C +3 "processing"%   N +4 "core" \ +372 #t-> CH.hold "30:00", 28 +3 .CH.hold 30:00,28C +2 "collection"'   / +5 "core" \ +42105 "Can"|\ j? +25625 #t-> can.instance_eval{@temperature} +4 "Can"z\ \ ˞ +207 #t-> PH.status + "processing"%9 +3 "core" 9\  +212 #t-> CH.status + "collection"' 9 +3 "core" 9s\  +564 #t-> PH.hold "30:00", 31 +4 .PH.hold 30:00,31C +2 "processing"%\  ' ~ +4 "core" \ +341 #t-> CH.hold "30:00", 31 +3 .CH.hold 30:00,31C +3 "collection"'   Q +4 "core" \ +33021 "Can"{\ s! +33914 #t-> can.instance_eval{@temperature} +4 "Can"\ vW +201 #t-> PH.status +2 "processing"% 9 +3 "core" 9%\  +172 #t-> CH.status + "collection"' 9 +3 "core" 9\  +604 #t-> PH.hold "30:00", 40 +3 .PH.hold 30:00,40C +3 "processing"%   W +6 "core" \ +383 #t-> CH.hold "30:00", 40 +3 .CH.hold 30:00,40C +3 "collection"'  s   +6 "core" \ +24690 "Can"\ E +28164 #t-> can.instance_eval{@temperature} +3 "Can"\ $ +194 #t-> PH.status + "processing"%9 +3 "core" 9Z +176 #t-> CH.status + "collection"'9 +3 "core" 9tR +441 #t-> PH.hold "30:00", 55 +3 .PH.hold 30:00,55C +3 "processing"%  :  +6 "core" t +318 #t-> CH.hold "30:00", 55 +4 .CH.hold 30:00,55C +2 "collection"'    4 +7 "core" q +30673 "Can"\ "M +35362 #t-> can.instance_eval{@temperature} +3 "Can"\ ' +209 #t-> PH.status + "processing"%9 +3 "core" 9 <w\ h +187 #t-> CH.status + "collection"'9 +3 "core" 91\ b +613 #t-> PH.hold "30:00", 70 +4 .PH.hold 30:00,70C +2 "processing"%   o  +4 "core" \ +350 #t-> CH.hold "30:00", 70 +3 .CH.hold 30:00,70C +2 "collection"'  N \ +4 "core" \ +23251 "Can"\ iw/' +60002 \ :Fy +28141 #t-> can.instance_eval{@temperature} +3 "Can"\ ? +193 #t-> PH.status + "processing"%9 +3 "core" 9  +158 #t-> CH.status + "collection"'9 +3 "core" 9 Nw +507 #t-> PH.hold "30:00", 82 +3 .PH.hold 30:00,82C +3 "processing"%   y' +6 "core"  +381 #t-> CH.hold "30:00", 82 +3 .CH.hold 30:00,82C +3 "collection"'  ? +6 "core"  +30587 "Can"\ DF +23875 #t-> can.instance_eval{@temperature} +3 "Can"\ FKLK> +189 #t-> PH.status + "processing"%9 +3 "core" 9 X +170 #t-> CH.status +2 "collection"'"9 +3 "core" 9 < +626 #t-> PH.hold "30:00", 88 +3 .PH.hold 30:00,88C +3 "processing"%   ~+ +7 "core"  +285 #t-> CH.hold "30:00", 88 +3 .CH.hold 30:00,88C +3 "collection"'!  8  +6 "core"  +34451 #t-> PH.hold "30:00", 85 +3 .PH.hold 30:00,85C +3 "processing"%#  R  +7 "core" o +297 #t-> CH.hold "30:00", 85 +3 .CH.hold 30:00,85C +3 "collection"'%   i +4 "core" o +49 "Can"\ lUm +60002 \ yLa ; +3078 #t-> can.instance_eval{@temperature} +3 "Can"\ wHaC@ +339 #t-> PH.status + "processing"%&9 +3 "core" 9O{  +218 #t-> CH.status +2 "collection"'(9 +3 "core" 9 & +536 #t-> PH.coast +2 .PH.coast +2 "processing"%+ +3 "core" \  + "processing"%.9 +4 "core" 9S{ +309 #t-> CH.coast + .CH.coast +2 "collection"'0 +3 "core" \  +2 "collection"'19 +3 "core" 9 ( +55487 "Can"\ Kdsэ +17832 #t-> PH + "processing"%29 +3 "core" 9W +267 #t-> CH +2 "collection"'$9 +3 "core" 9" +669 #t-> exit +6 #mEXIT @1676335645.05PST @1676335654.26PST = =tMAIN =mMAIN_scheduler @PST1676335656.18 #"core_reset"Sent BREAK +2 #t@31674 receive with ifg=0x10, ie=0xFD + #@32313 receive with ifg=0x10, ie=0xFD #@33086 receive with ifg=0x10, ie=0xFD + #@33677 receive with ifg=0x10, ie=0xFD + #@34323 receive with ifg=0x10, ie=0xFD #@34968 receive with ifg=0x10, ie=0xFD + #@35563 receive with ifg=0x10, ie=0xFD + #@35899 receive with ifg=0x80, ie=0xFD #@27360 idle with ifg=0x00, ie=0x75 + #ESP2 v3.42 I2C Gateway v3.20 +9 #ESP2 v3.42 I2C Gateway v3.20 for core bus +252 #Configuration for friday 11/9/22 by iengstrom@mclanelabs.com\ /home/esp/esp2/type/shallow/friday/configure.rb\ +403 "Can"\ Lea + \ Lea #tPolling Can every 10:00 +3 #Cleanly exited at 16:47:25PST13-Feb-23 +5364 #-> PH +154 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +3 "collection"'% +3 "core" %]u\  +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +3 "core" + + .tCS.configure :default +3 "collection"'#P d@b +3 "processing"%% +3 "core" %ٸ/\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %ޙ98 m\ + .tSS.configure :default +3 "sampler")#.0X CH +2 "collection"'9 +3 "core" 9 +12024 #t-> Thermal.calibrate +3 "Can"\ \\f]4] +4 "collection"'9 +2 "core" 9 +2 "processing"%9 +4 "core" 9 +20246 #t-> ESP.configure +154 "sampler") +2 ) + "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +3 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %]&\  +2 .tCS.hold +2 "collection"'+ +3 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"% % +3 "core" %ٸ\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")!% +2 "core" %ޙ77 u\ +2 .tSS.hold +2 "sampler")"+ +90 "core" + +2 .tSS.configure :default +2 "sampler")#.0X PH +2 "processing"%19 +3 "core" 9u +1237 #t-> PH.hold "30:00", 28 +3 .PH.hold 30:00,28C +3 "processing"%2   I +533 #t-> CH.hold "30:00", 28 +3 .CH.hold 30:00,28C +3 "collection"'3   8 +18028 "Can"\ xh +6269 #t-> PH.hold "30:00", 55 +3 .PH.hold 30:00,55C +3 "processing"%4   d +6 "core"  +192 #t-> CH.hold "30:00", 55 +3 .CH.hold 30:00,55C +3 "collection"'5   i  +6 "core"  +53516 "Can"\ r 0 +2589 #t-> CH.coast + .CH.coast +2 "collection"'6 +3 "core"  + "collection"'79 +4 "core" 9A +355 #t-> PH.coast + .PH.coast +2 "processing"%8 +3 "core"  + "processing"%99 +4 "core" 9Y +57036 "Can"\ Zvq +60002 \ Zy\ \\ +60002 \ Z|\ +60002 \ Z; +60002 \ Z  +60002 \ Z +60002 ~\ Z J +60002 |\ ZK +60001 z\ Zv +60002 y\ Z +60002 x\ Z +60002 y\ ZZ8 +60002 w\ Z +60002 w\ Zd +60002 v\ Z% +60002 t\ Zi +60002 s\ Z& +60002 s\ Z +60002 r\ Z4R +60002 r\ [x +60002 p\ Z~ +60002 q\ [ +60002 r\ [F +60002 p\ [@ +60002 p\ Z +60001 o\ [l +60002 o\ [X +60002 n\ ZΜ +60002 m\ [. +60004 m\ \\% +60000 m\ ZjZ +60002 l\ [ۯ +60002 m\ [ +60002 l\ [7 +60002 j\ Z| +60002 j\ ZH +60002 j\ [ +60002 j\ [It +60002 i\ Z \ +60002 g\ Z +60002 h\ Z!6 @PST1676362063.09 g\ ZZ! +60002 h\ Z"b +60002 g\ [" +60002 f\ Z(# +60002 e\ Z l$$ +60001 d\ [ $ +60002 f\ [%P +60002 d\ [8% +60002 d\ Z{&| +60002 c\ [' +60002 c\ Z' +60002 c\ Z F(> +60002 c\ Z#( +60002 b\ Z&)j +60002 c\ [** +60002 b\ Z-T* +60002 a\ [0+, +60002 `\ [3+ +60002 `\ Z7,X +60002 `\ [:b, +60002 ^\ Z=- +60002 _\ [@. +60001 ^\ ZD-. +60002 _\ ZGp/F +60003 ^\ ZJ/ +60002 z^\ [M0r +60002 z]\ ZQ;1 +60002 y\\\ ZT1 +60001 x]\ ZW24 +60002 u\\\ Z[2 +60002 z\\\ Z^J3` +60002 }\\\ Za3 +60002 [\ Zd4 +60002 \\\ Zh5" +60002 [\ ZkX5 +60002 \\\ Zn6N +60002 [\ [q6 +60002 [\ [u#7z +60002 Z\ [xg8 +60003 [\ \\{8 +60001 Z\ Z~9< +60002 Z\ Z19 +60002 Z\ Zu:h +60002 Z\ Z: +60002 Z\ Z; +60002 Z\ Z@<* +60002 Y\ [< +60002 Z\ b=V +60002 Z\ \\4= +60002 [\ a> +60002 ^\ a%? +60002 c\ a? +60002 }d\ a2@D +60002 }h\ a@ +60001 zk\ a?Ap +60002 bm\ aB +60002 Ho\ bJB +60002 1q\ bC2 +60002 #t\ aUC +60002 u\ aD^ +60002  v\ b`D +60002 w\ aE +60002 x\ ajF +60002 z\ aF +60002 {\ atGL +60002 x\ ]G +60002 w\ afHx +60001 y\ aI +60002 y\ aiI +45572 #t-> CC.open +2 .CC.seek :open +2 "collection"':( +415 "core" ( + "collection"';& +4 "core" &KC\ +1793 #t-> PC.open +2 .PC.seek :open +2 "processing"%<( +390 "core" ( +2 "processing"%=& +4 "core" &2\ +11813 "Can"z\ GJ: +2663 #t-> exit +6 #mEXIT @1676403491.13PST