@20:36:29.73PDT10-Apr-23 <MAIN> >BREAK< ESP3 Gateway v1.42 for core bus
@20:36:29.77 >BREAK< ESP3 Gateway v1.42 for cartridge bus
@20:36:32.41 
Configuration for honu by methane@mbari.org 1/24/23
/home/esp/esp2/type/auv/honu/configure.rb
@20:36:32.94 Sea pressure (Abs) tare is 6% of full scale
@20:36:37.05 Polling Can every 2:00
@20:36:37.51 Clients may connect on TCP port 9999
@20:36:37.53 Connecting to 10.89.5.2:9999
@20:36:37.58 Waiting for espclients...
@20:36:38.02 <LRAUV> Session Begun
@20:36:39.95 -> showStatus
true
@20:36:41.97 -> Cmd.loadCartridge -6
@20:36:42.04 Gate.power :main,:ON,limit to 5000mA
@20:36:42.05 Gate.power :analytic1,:ON,limit to 5000mA
@20:36:42.08 Gate.power :analytic2,:ON,limit to 5000mA
@20:36:42.11 Gate.power :analytic3,:ON,limit to 5000mA
@20:36:42.24 Powering core bus
@20:36:44.51 <Probe-AMspr> SPR Module 1, FW Rev. B, FPGA Rev. C
@20:36:44.93 <LRAUV> Archive.configure :default
@20:36:45.02 Air.configure :default
@20:36:45.09 Lysis1.configure :default
@20:36:45.21 Lysis2.configure :default
@20:36:45.29 Plunge.configure :default
@20:36:45.38 SamplePump.configure :default
@20:36:45.47 Toroid.configure :default
@20:36:45.57 Carousel.configure :default
@20:36:45.66 Pressure.configure :default
@20:36:45.75 ExtraPump.configure :default
@20:36:45.82 PinPort.configure :default
@20:36:45.88 All elf controllers running firmware version 4.83
@20:36:45.91 Gate.power :motor,:ON,limit to 5000mA
@20:36:46.13 <Archive_home> Archive.home.jog 0
@20:36:47.01 <Carousel_home> Carousel.home.jog 0
@20:36:47.04 <Toroid_home> Toroid.home.jog 0
@20:36:47.09 <Lysis1_home> Lysis1.home.jog 0
@20:36:47.13 <Plunge_home> Plunge.home.jog 0
@20:36:47.18 <Lysis2_home> Lysis2.home.jog 0
@20:36:47.21 <PinPort_home> PinPort.home.jog 0
@20:36:47.25 <Air_home> Air.home.jog 0
@20:36:47.80 <Archive_home> Archive.in :homing
@20:36:48.06 Archive.jog 1392
@20:36:48.11 <Toroid_home> Toroid.in :homing
@20:36:48.14 <Plunge_home> Plunge.in :homing
@20:36:48.18 <Lysis2_home> Lysis2.in :homing
@20:36:48.22 <Lysis1_home> Lysis1.in :homing
@20:36:48.27 <Air_home> Air.in :homing
@20:36:48.31 <PinPort_home> PinPort.in :homing
@20:36:48.50 <Toroid_home> Toroid.jog 618
@20:36:48.54 <Plunge_home> Plunge.jog 1551
@20:36:48.61 <Lysis2_home> Lysis2.jog 1399
@20:36:48.67 <Lysis1_home> Lysis1.jog 1394
@20:36:48.72 <Air_home> Air.jog 1380
@20:36:48.78 <PinPort_home> PinPort.jog -106
@20:36:49.12 PinPort.setRawPosition! 0
@20:36:49.18 PinPort.seek :home
@20:36:49.26 PinPort.in :default
@20:36:49.50 <Archive_home> Archive.setRawPosition! 50
@20:36:49.57 Archive.seek :home
@20:36:49.85 Archive.in :default
@20:36:49.98 <Lysis2_home> Lysis2.setRawPosition! 50
@20:36:50.05 Lysis2.seek :home
@20:36:50.15 <Air_home> Air.setRawPosition! 50
@20:36:50.18 <Lysis1_home> Lysis1.setRawPosition! 50
@20:36:50.22 <Plunge_home> Plunge.setRawPosition! 50
@20:36:50.30 <Air_home> Air.seek :home
@20:36:50.37 <Plunge_home> Plunge.seek :home
@20:36:50.47 <Lysis1_home> Lysis1.seek :home
@20:36:50.63 <Lysis2_home> Lysis2.in :default
@20:36:50.73 <Air_home> Air.in :default
@20:36:50.83 <Plunge_home> Plunge.in :default
@20:36:50.87 <Toroid_home> Toroid.setRawPosition! 0
@20:36:50.98 Toroid.seek :home
@20:36:51.01 <Lysis1_home> Lysis1.in :default
@20:36:51.15 <Toroid_home> Toroid.in :default
@20:36:51.40 <LRAUV> Toroid.seek :clear
@20:36:53.02 Carousel.in :default
@20:36:53.13 Carousel.home.seek 45
@20:36:53.39 Selecting Cartridge 44
@20:36:53.67 Carousel.seek 44
@20:36:54.15 Lysis1.in :fast
@20:36:54.22 Lysis1.seek :locked
@20:36:56.82 <Plunge> Plunge.seek :locked
@20:36:56.95 <Air> Air.in :fast
@20:36:57.02 Air.seek :locked
@20:36:58.60 <LRAUV> Carousel.reconfigure :locked
@20:36:58.74 Powering cartridge bus
@20:37:01.35 Gate.setIR 1750,5000,0,6
@20:37:01.47 Gate.setIR 0,5000,0,6
@20:37:01.88 Gate.power :cartridge,:OFF
@20:37:02.45 Mounted archive Cartridge
44
@20:37:18.73 -> Cmd.startFiltering
@20:37:18.99 <FILTERING> Preparing to filter cartridge 44
92.07
@20:37:19.27 Priming sample loop w/100ml, bypass w/10ml
@20:37:19.28 SamplePump.setPosition! 0ml
@20:37:19.35 Bypass.open
@20:37:20.82 Intake.open
@20:37:21.28 Sea 6.0m deep (23.5psia)
@20:37:21.31 Waiting up to 20 seconds for sea pressure to stabilize +/-0.50psi
@20:37:23.90 Vacuum tare is 59% of full scale
@20:37:24.04 Pressure.in :default
@20:37:24.11 Pressure.hold
@20:37:24.29 SamplePump.in :prime
@20:37:24.37 SamplePump.seek 10ml,59 seconds
@20:37:33.12 Pressure.stop
@20:37:33.18 SamplePump.setPosition! 0ml
@20:37:33.22 Exhaust.open
@20:37:34.66 <closeBypass> Bypass.close
@20:37:36.14 <FILTERING> Pressure.in :default
@20:37:36.21 Pressure.hold
@20:37:36.34 Sea 6.0m deep (23.6psia)
@20:37:36.48 SamplePump.in :prime
@20:37:36.55 SamplePump.seek 100ml,5:16
@20:39:14.48 Pressure.stop
@20:39:14.56 Bypass.open
@20:39:15.21 Intake.close
@20:39:16.00 Toroid.in :hold
@20:39:16.06 Toroid.seek :crack
@20:39:17.60 Toroid.seek :cartridge
@20:39:18.71 Toroid.in :default
@20:39:18.78 Toroid.seek :clear
@20:39:20.74 Pressurizing cartridge to 26psi above 23.9psia
@20:39:20.76 SamplePump.setPosition! 0ml
@20:39:20.82 Intake.open
@20:39:21.48 Bypass.close
@20:39:22.15 Exhaust.close
@20:39:22.95 Pressure.in :default
@20:39:23.01 Pressure.hold
@20:39:23.20 SamplePump.in :charge
@20:39:23.28 SamplePump.seek 2.3ml,42 seconds
@20:39:29.11 Pressure.stop
@20:39:29.17 Intake.close
@20:39:29.73 Pressurized cartridge with 0.158ml to 26.6psi
@20:39:29.74 Isolated @47.5psia (23.6psi)
@20:39:29.77 Verifying cartridge holds at least 0.65..0.85 of 47.5psia
@20:39:29.80 Waiting up to 20 seconds for cartridge pressure to stabilize +/-1.50psi
@20:39:34.40 Cartridge pressure fell 1% to 47.2psia
@20:39:34.49 Sampling 1000.0ml in 1:25:20
@20:39:34.50 SamplePump.setPosition! 0ml
@20:39:34.56 Exhaust.open
@20:39:35.27 Intake.open
@20:39:36.11 Pressure.in :default
@20:39:36.18 Pressure.hold
@20:39:36.31 Sea 8.0m deep (26.5psia)
@20:39:36.32 Cannot pump 1.00ml/s -- Limiting to 0.86ml/s
@20:39:36.48 SamplePump.in :sample
@20:39:36.56 SamplePump.seek 1000ml,1:23:51
@20:39:38.39 Flow estimate reduced to 0.69ml/s
@20:39:38.44 Waiting up to 34 seconds for vacuum to reduce from 36.5 to 18.0psi
@20:39:39.15 <sampling> Cartridge 44 filtering 0/1000ml at 0.00ml/s with 6.4psi vacuum 4.7m deep (21.7psia)
@20:39:39.28 <FILTERING> Relieved excess vacuum in .9 seconds
@20:39:39.31 SamplePump.seek 1000ml,1:23:49
@20:39:41.15 Flow estimate reduced to 0.55ml/s
@20:39:41.20 Waiting up to 19 seconds for vacuum to reduce from 30.2 to 18.0psi
@20:39:42.03 Relieved excess vacuum in .9 seconds
@20:39:42.06 SamplePump.seek 1000ml,1:23:47
@20:39:43.90 Flow estimate reduced to 0.44ml/s
@20:39:43.94 Waiting up to 16 seconds for vacuum to reduce from 29.4 to 18.0psi
@20:39:44.77 Relieved excess vacuum in .9 seconds
@20:39:44.80 SamplePump.seek 1000ml,1:23:46
@20:39:46.64 Flow estimate reduced to 0.35ml/s
@20:39:46.68 Waiting up to 18 seconds for vacuum to reduce from 30.1 to 18.0psi
@20:39:47.52 Relieved excess vacuum in .9 seconds
@20:39:47.54 SamplePump.seek 1000ml,1:23:44
@20:39:49.33 Flow estimate reduced to 0.28ml/s
@20:39:49.38 Waiting up to 18 seconds for vacuum to reduce from 29.9 to 18.0psi
@20:39:50.22 Relieved excess vacuum in .9 seconds
@20:39:50.25 SamplePump.seek 1000ml,1:23:42
@20:39:52.07 Flow estimate reduced to 0.23ml/s
@20:39:52.11 Waiting up to 17 seconds for vacuum to reduce from 29.5 to 18.0psi
@20:39:52.69 Relieved excess vacuum in .6 seconds
@20:39:52.72 SamplePump.seek 1000ml,1:23:41
@20:39:54.95 Flow estimate reduced to 0.18ml/s
@20:39:54.97 <closeIntake> Intake.close
@20:39:55.02 <closeExhaust> Exhaust.close
@20:39:55.27 <FILTERING> Toroid.in :hold
@20:39:55.35 Toroid.seek :bypass
@20:39:56.99 Toroid.in :default
@20:39:57.07 Toroid.seek :clear
@20:39:58.69 Cartridge::Sampler::Clogged in FILTERING -- Cartridge clogged
@20:39:58.71 Pressure.stop
@20:39:58.91 Sampled  2.3ml
@20:40:01.14 <LRAUV> -> Cmd.startProcessing
30.0
@20:40:01.57 <PROCESSING> Plunge.seek :reagent
@20:40:02.38 Sample loop closed. Ready to Deliver Reagents
@20:40:02.40 Archive.seek :sealed
@20:40:06.35 Archive.seek :evac
@20:40:20.40 delay 1:00
@20:41:20.43 Archive.seek :clear
@20:41:37.95 RNAlater soak for 10:00
@20:51:37.98 Archive.seek :tVent
@20:51:40.42 delay 1 second
@20:51:41.44 Archive.seek :evac
@20:51:56.98 delay 10 seconds
@20:52:07.01 Sample preserved and evacuated
@20:52:07.97 <LRAUV> -> Cmd.stop
@20:52:08.12 Carousel.in :default
@20:52:08.23 Carousel.home.seek 44
@20:52:08.53 Plunge.seek :locked
@20:52:09.39 <Archive> Archive.in :unlocking
@20:52:09.54 <Air> Air.in :unlocking
@20:52:09.58 <Archive> Archive.seek :clear
@20:52:09.75 <Air> Air.seek :clear
@20:52:09.79 <Lysis1> Lysis1.in :unlocking
@20:52:09.94 Lysis1.seek :clear
@20:52:14.15 <LRAUV> Gate.power :motor,:OFF
@20:52:14.22 Gate.power :core,:OFF
@20:52:14.24 Gate.power :analytic1,:OFF
@20:52:14.27 Gate.power :analytic2,:OFF
@20:52:14.29 Gate.power :analytic3,:OFF
@20:52:14.31 Gate.power :main,:OFF
@20:52:14.33 Safely stopped and ready to power off
:STOPPED