@10:59:21.16EDT16-Aug-19 <MAIN> >BREAK< ESP3 Gateway v0.99 for core bus
@10:59:21.18 >BREAK< ESP3 Gateway v0.99 for cartridge bus
@10:59:22.76 
Configuration for honu by brent@mbari.org 7/26/19
/home/esp/esp2/type/auv/honu/configure.rb
@10:59:25.66 Polling Can every 5:00
@10:59:25.97 Clients may connect on TCP port 9999
Connecting to 10.89.5.2:9999
@10:59:26.02 Waiting for espclients...
@10:59:26.16 <LRAUV> Session Begun
@10:59:28.51 -> showStatus
@10:59:30.13 -> Cmd.loadCartridge -4
@10:59:30.28 Gate.power :main,:ON,limit to 5000mA
@10:59:30.29 Gate.power :analytic1,:ON,limit to 5000mA
@10:59:30.31 Gate.power :analytic2,:ON,limit to 5000mA
@10:59:30.34 Gate.power :analytic3,:ON,limit to 5000mA
@10:59:30.46 Powering core bus
@10:59:32.75 <Probe-AMspr> SPR Module 1, FW Rev. B, FPGA Rev. C
@10:59:32.89 <LRAUV> Archive.configure :default
@10:59:33.01 Air.configure :default
@10:59:33.11 Lysis1.configure :default
@10:59:33.21 Lysis2.configure :default
@10:59:33.33 Plunge.configure :default
@10:59:33.45 SamplePump.configure :default
@10:59:33.57 ExtraPump.configure :default
@10:59:33.69 Toroid.configure :default
@10:59:33.81 Carousel.configure :default
@10:59:33.93 Pressure.configure :default
@10:59:34.03 PinPort.configure :default
@10:59:34.09 All elf controllers running firmware version 4.58
@10:59:34.11 Gate.power :motor,:ON,limit to 5000mA
@10:59:34.36 <Archive_home> Archive.reconfigure :default
@10:59:34.63 <Toroid_home> Toroid.reconfigure :default
@10:59:34.72 <Plunge_home> Plunge.reconfigure :default
@10:59:34.76 <Lysis1_home> Lysis1.reconfigure :default
@10:59:34.79 <PinPort_home> PinPort.reconfigure :default
@10:59:34.84 <Air_home> Air.reconfigure :default
@10:59:34.90 <Lysis2_home> Lysis2.reconfigure :default
@10:59:35.10 <Air_home> Air.home.jog 0
@10:59:35.15 <PinPort_home> PinPort.home.jog 0
@10:59:35.21 <Lysis1_home> Lysis1.home.jog 0
@10:59:35.26 <Plunge_home> Plunge.home.jog 0
@10:59:35.32 <Lysis2_home> Lysis2.home.jog 0
@10:59:35.38 <Archive_home> Archive.home.jog 0
@10:59:35.44 <Toroid_home> Toroid.home.jog 0
@10:59:35.97 Toroid.reconfigure :homing
@10:59:36.03 <Plunge_home> Plunge.reconfigure :homing
@10:59:36.08 <Lysis1_home> Lysis1.reconfigure :homing
@10:59:36.11 <PinPort_home> PinPort.reconfigure :homing
@10:59:36.16 <Air_home> Air.reconfigure :homing
@10:59:36.19 <Archive_home> Archive.reconfigure :homing
@10:59:36.24 <Lysis2_home> Lysis2.reconfigure :homing
@10:59:36.48 <Plunge_home> Plunge.jog 102
@10:59:36.54 <PinPort_home> PinPort.jog -107
@10:59:36.59 <Toroid_home> Toroid.jog 637
@10:59:36.65 <Archive_home> Archive.jog 1381
@10:59:36.70 <Air_home> Air.jog 1400
@10:59:36.77 <Lysis1_home> Lysis1.jog 1394
@10:59:36.83 <Lysis2_home> Lysis2.jog 1428
@10:59:36.91 <PinPort_home> PinPort.setRawPosition! 0
@10:59:36.93 <Plunge_home> Plunge.setRawPosition! 50
@10:59:37.00 <PinPort_home> PinPort.seek :home
@10:59:37.04 <Plunge_home> Plunge.seek :home
@10:59:37.18 <PinPort_home> PinPort.reconfigure :default
@10:59:37.38 <Plunge_home> Plunge.reconfigure :default
@10:59:37.81 <Archive_home> Archive.setRawPosition! 50
@10:59:37.86 Archive.seek :home
@10:59:37.96 <Lysis1_home> Lysis1.setRawPosition! 50
@10:59:37.97 <Air_home> Air.setRawPosition! 50
@10:59:38.05 <Lysis1_home> Lysis1.seek :home
@10:59:38.09 <Air_home> Air.seek :home
@10:59:38.24 <Lysis2_home> Lysis2.setRawPosition! 50
@10:59:38.26 <Archive_home> Archive.reconfigure :default
@10:59:38.33 <Lysis2_home> Lysis2.seek :home
@10:59:38.48 <Lysis1_home> Lysis1.reconfigure :default
@10:59:38.50 <Air_home> Air.reconfigure :default
@10:59:38.67 <Lysis2_home> Lysis2.reconfigure :default
@10:59:38.76 <Toroid_home> Toroid.setRawPosition! 0
@10:59:38.81 Toroid.seek :home
@10:59:38.91 Toroid.reconfigure :default
@10:59:39.04 <LRAUV> Toroid.seek :clear
@10:59:40.67 Carousel.reconfigure :default
@10:59:40.74 Carousel.home.jog 0
@10:59:41.24 Carousel.seek 58
@10:59:41.53 Selecting Cartridge 57
@10:59:41.76 Carousel.seek 57
@10:59:42.24 Lysis1.seek :locked
@10:59:46.38 <Plunge> Plunge.seek :locked
@10:59:46.50 <Air> Air.seek :locked
@10:59:50.63 <LRAUV> Powering cartridge bus
@10:59:52.75 Gate.setIR 1750,5000,0,6
@10:59:52.88 Gate.setIR 0,5000,0,6
@10:59:52.92 Loaded Archive Cartridge
@10:59:52.93 Gate.power :cartridge,:OFF
@11:00:08.63 -> Cmd.startFiltering
@11:00:08.86 <FILTERING> Duration of filtering limited to 2:05:00
@11:00:09.11 Priming sample loop w/100ml, bypass w/10ml
@11:00:09.12 SamplePump.setPosition! 0ml
@11:00:09.17 Bypass.open
@11:00:10.68 Intake.open
@11:00:11.51 Waiting up to 20 seconds for sea pressure to stabilize +/-0.50psi
@11:00:14.63 Vacuum tare is 52% of full scale
@11:00:14.76 Pressure.reconfigure :default
@11:00:14.82 Pressure.hold
@11:00:14.99 SamplePump.reconfigure :prime
@11:00:15.06 SamplePump.seek 10ml,1:21
@11:00:24.01 Pressure.coast
@11:00:24.06 SamplePump.setPosition! 0ml
@11:00:24.11 Exhaust.open
@11:00:25.53 <closeBypass> Bypass.close
@11:00:27.07 <FILTERING> Pressure.reconfigure :default
@11:00:27.13 Pressure.hold
@11:00:27.35 SamplePump.reconfigure :prime
@11:00:27.42 SamplePump.seek 100ml,8:51
@11:02:14.29 Pressure.coast
@11:02:14.35 Bypass.open
@11:02:15.07 Intake.close
@11:02:15.90 Toroid.reconfigure :hold
@11:02:15.96 Toroid.seek :crack
@11:02:16.76 Toroid.reconfigure :default
@11:02:16.82 Toroid.seek :clear
@11:02:18.38 Toroid.reconfigure :hold
@11:02:18.45 Toroid.seek :cartridge
@11:02:20.27 Toroid.reconfigure :default
@11:02:20.33 Toroid.seek :clear
@11:02:22.31 Pressurizing cartridge to 26psi above 12.5psia
@11:02:22.32 SamplePump.setPosition! 0ml
@11:02:22.36 Intake.open
@11:02:23.10 Bypass.close
@11:02:23.81 Exhaust.close
@11:02:24.58 Pressure.reconfigure :default
@11:02:24.63 Pressure.hold
@11:02:24.80 SamplePump.reconfigure :charge
@11:02:24.87 SamplePump.seek 2.3ml,42 seconds
@11:02:32.73 Pressure.coast
@11:02:32.78 Intake.close
@11:02:33.64 Pressurized cartridge with 0.287ml to 26.2psi
@11:02:33.65 Isolated @34.5psia (22.0psi)
@11:02:33.66 Checking for cartridge leaks from 34.5psia
@11:02:33.69 Waiting up to 20 seconds for cartridge pressure to stabilize +/-0.75psi
@11:02:38.74 Cartridge pressure fell 1% to 34.2psia
@11:02:38.82 Sampling 1000.0ml
@11:02:38.83 SamplePump.setPosition! 0ml
@11:02:38.88 Exhaust.open
@11:02:39.57 Intake.open
@11:02:40.46 Pressure.reconfigure :default
@11:02:40.52 Pressure.hold
@11:02:40.73 SamplePump.reconfigure :sample
@11:02:40.80 SamplePump.seek 1000ml,1:23:53
@11:02:43.49 <sampling> Cartridge 57 sampling 1/1000ml at 0.44ml/s with 22.2psi vacuum
@11:03:43.50 Cartridge 57 sampling 25/1000ml at 0.39ml/s with 23.4psi vacuum
@11:04:43.51 Cartridge 57 sampling 47/1000ml at 0.35ml/s with 25.0psi vacuum
@11:05:43.50 Cartridge 57 sampling 64/1000ml at 0.29ml/s with 27.3psi vacuum
@11:06:43.50 Cartridge 57 sampling 79/1000ml at 0.21ml/s with 21.0psi vacuum
@11:07:43.50 Cartridge 57 sampling 91/1000ml at 0.20ml/s with 29.1psi vacuum
@11:08:08.63 <FILTERING> Flow averaged 0.30ml/s over 5:23
@11:08:08.66 Waiting up to 25 seconds for vacuum to reduce from 32.9 to 18.0psi
@11:08:09.35 Relieved excess vacuum in 5.7 seconds
@11:08:09.38 SamplePump.seek 1000ml,1:15:50
@11:08:14.42 Flow estimate reduced to 0.24ml/s
@11:08:14.46 Waiting up to 23 seconds for vacuum to reduce from 31.9 to 18.0psi
@11:08:15.15 Relieved excess vacuum in 2.7 seconds
@11:08:15.18 SamplePump.seek 1000ml,1:15:45
@11:08:18.62 Flow estimate reduced to 0.19ml/s
@11:08:18.65 <closeIntake> Intake.close
@11:08:18.72 <closeExhaust> Exhaust.close
@11:08:18.86 <FILTERING> Toroid.reconfigure :hold
@11:08:18.94 Toroid.seek :bypass
@11:08:20.55 Toroid.reconfigure :default
@11:08:20.62 Toroid.seek :clear
@11:08:22.24 Cartridge::Sampler::Clogged in FILTERING -- Cartridge clogged
@11:08:22.26 Pressure.coast
@11:08:22.44 Sampled  98.2ml
@11:08:24.56 <LRAUV> -> Cmd.startProcessing
@11:08:24.82 <PROCESSING> Plunge.seek :reagent
@11:08:25.68 Sample loop closed. Ready to Deliver Reagents
@11:08:25.69 Archive.seek :sealed
@11:08:29.97 Archive.seek :evac
@11:08:43.92 delay 1:00
@11:09:43.94 Archive.seek :clear
@11:10:01.67 RNAlater soak for 10:00
@11:20:02.06 Archive.seek :tVent
@11:20:04.64 delay 1 second
@11:20:05.66 Archive.seek :evac
@11:20:21.29 delay 10 seconds
@11:20:31.32 Archive.seek :tVent
@11:20:46.95 delay 1 second
@11:20:47.97 Archive.seek :evac
@11:21:03.61 delay 10 seconds
@11:21:13.64 Sample preserved and evacuated
@11:21:14.56 <LRAUV> -> Cmd.stop
@11:21:14.70 Carousel.seek 57
@11:21:14.87 Plunge.seek :locked
@11:21:15.71 PinPort.seek :clear
@11:21:15.85 <Archive> Archive.seek :clear
@11:21:15.98 <Air> Air.seek :clear
@11:21:16.11 <Lysis1> Lysis1.seek :clear
@11:21:33.62 <LRAUV> Archive.coast
@11:21:33.67 Air.coast
@11:21:33.72 Lysis1.coast
@11:21:33.77 Lysis2.coast
@11:21:33.82 Plunge.coast
@11:21:33.87 SamplePump.coast
@11:21:33.92 Toroid.coast
@11:21:33.98 Carousel.coast
@11:21:34.03 PinPort.coast
@11:21:34.21 Gate.power :motor,:OFF
@11:21:34.23 Gate.power :core,:OFF
@11:21:34.25 Gate.power :analytic1,:OFF
@11:21:34.27 Gate.power :analytic2,:OFF
@11:21:34.29 Gate.power :analytic3,:OFF
@11:21:34.31 Gate.power :main,:OFF
@11:21:34.33 Safely stopped and ready to power off