@07:14:06.58PDT17-Apr-23 <MAIN> >BREAK< ESP3 Gateway v1.42 for core bus
@07:14:06.63 >BREAK< ESP3 Gateway v1.42 for cartridge bus
@07:14:09.30 
Configuration for honu by brent@mbari.org 4/12/23
/home/esp/esp2/type/auv/honu/configure.rb
@07:14:09.78 Sea pressure (Abs) tare is 6% of full scale
@07:14:14.57 Polling Can every 2:00
@07:14:15.05 Clients may connect on TCP port 9999
@07:14:15.06 Connecting to 10.89.5.2:9999
@07:14:15.11 Waiting for espclients...
@07:14:15.51 <LRAUV> Session Begun
@07:14:17.42 -> showStatus
true
@07:14:19.44 -> Cmd.loadCartridge -6
@07:14:19.50 Gate.power :main,:ON,limit to 5000mA
@07:14:19.52 Gate.power :analytic1,:ON,limit to 5000mA
@07:14:19.54 Gate.power :analytic2,:ON,limit to 5000mA
@07:14:19.58 Gate.power :analytic3,:ON,limit to 5000mA
@07:14:20.07 Powering core bus
@07:14:21.98 <Probe-AMspr> SPR Module 1, FW Rev. B, FPGA Rev. C
@07:14:22.77 <LRAUV> Archive.configure :default
@07:14:22.86 Air.configure :default
@07:14:22.93 Lysis1.configure :default
@07:14:22.99 Lysis2.configure :default
@07:14:23.09 Plunge.configure :default
@07:14:23.18 SamplePump.configure :default
@07:14:23.27 Toroid.configure :default
@07:14:23.36 Carousel.configure :default
@07:14:23.45 Pressure.configure :default
@07:14:23.53 ExtraPump.configure :default
@07:14:23.61 PinPort.configure :default
@07:14:23.68 All elf controllers running firmware version 4.83
@07:14:23.71 Gate.power :motor,:ON,limit to 5000mA
@07:14:23.94 <Archive_home> Archive.home.jog 0
@07:14:24.39 <Carousel_home> Carousel.home.jog 0
@07:14:24.44 <Toroid_home> Toroid.home.jog 0
@07:14:24.47 <Lysis1_home> Lysis1.home.jog 0
@07:14:24.51 <Lysis2_home> Lysis2.home.jog 0
@07:14:24.56 <PinPort_home> PinPort.home.jog 0
@07:14:24.61 <Plunge_home> Plunge.home.jog 0
@07:14:24.63 <Air_home> Air.home.jog 0
@07:14:25.20 <Archive_home> Archive.in :homing
@07:14:25.43 <Plunge_home> Plunge.in :homing
@07:14:25.47 <Archive_home> Archive.jog 1393
@07:14:25.51 <Toroid_home> Toroid.in :homing
@07:14:25.53 <Lysis1_home> Lysis1.in :homing
@07:14:25.57 <PinPort_home> PinPort.in :homing
@07:14:25.61 <Air_home> Air.in :homing
@07:14:25.65 <Lysis2_home> Lysis2.in :homing
@07:14:25.87 <Plunge_home> Plunge.jog 1552
@07:14:25.97 <Toroid_home> Toroid.jog 633
@07:14:26.02 <PinPort_home> PinPort.jog -105
@07:14:26.07 <Lysis2_home> Lysis2.jog 1406
@07:14:26.12 <Air_home> Air.jog 1385
@07:14:26.15 <Lysis1_home> Lysis1.jog 162
@07:14:26.40 <PinPort_home> PinPort.setRawPosition! 0
@07:14:26.45 PinPort.seek :home
@07:14:26.53 PinPort.in :default
@07:14:26.72 <Lysis1_home> Lysis1.setRawPosition! 50
@07:14:26.78 Lysis1.seek :home
@07:14:26.90 <Archive_home> Archive.setRawPosition! 50
@07:14:26.94 Archive.seek :home
@07:14:27.06 <Lysis1_home> Lysis1.in :default
@07:14:27.22 <Archive_home> Archive.in :default
@07:14:27.30 <Plunge_home> Plunge.setRawPosition! 50
@07:14:27.35 Plunge.seek :home
@07:14:27.46 <Lysis2_home> Lysis2.setRawPosition! 50
@07:14:27.48 <Air_home> Air.setRawPosition! 50
@07:14:27.56 <Lysis2_home> Lysis2.seek :home
@07:14:27.59 <Air_home> Air.seek :home
@07:14:27.74 <Plunge_home> Plunge.in :default
@07:14:27.91 <Lysis2_home> Lysis2.in :default
@07:14:27.98 <Air_home> Air.in :default
@07:14:28.35 <Toroid_home> Toroid.setRawPosition! 0
@07:14:28.41 Toroid.seek :home
@07:14:28.49 Toroid.in :default
@07:14:28.56 <LRAUV> Toroid.seek :clear
@07:14:30.18 Carousel.in :default
@07:14:30.29 Carousel.home.seek 48
@07:14:30.87 Selecting Cartridge 34
@07:14:31.24 Carousel.seek 34
@07:14:34.38 Lysis1.in :fast
@07:14:34.44 Lysis1.seek :locked
@07:14:37.05 <Plunge> Plunge.seek :locked
@07:14:37.19 <Air> Air.in :fast
@07:14:37.26 Air.seek :locked
@07:14:38.84 <LRAUV> Carousel.reconfigure :locked
@07:14:38.98 Powering cartridge bus
@07:14:41.59 Gate.setIR 1750,5000,0,6
@07:14:41.71 Gate.setIR 0,5000,0,6
@07:14:41.78 Gate.power :cartridge,:OFF
@07:14:42.31 Mounted archive Cartridge
34
@07:14:56.20 -> Cmd.startFiltering
@07:14:56.45 <FILTERING> Preparing to filter cartridge 34
92.07
@07:14:56.74 Priming sample loop w/100ml, bypass w/10ml
@07:14:56.76 SamplePump.setPosition! 0ml
@07:14:56.82 Bypass.open
@07:14:58.32 Intake.open
@07:14:59.05 Sea 8.0m deep (26.5psia)
@07:14:59.06 Waiting up to 20 seconds for sea pressure to stabilize +/-0.50psi
@07:15:01.66 Vacuum tare is 59% of full scale
@07:15:01.79 Pressure.in :default
@07:15:01.86 Pressure.hold
@07:15:02.04 SamplePump.in :prime
@07:15:02.12 SamplePump.seek 10ml,59 seconds
@07:15:10.87 Pressure.stop
@07:15:10.92 SamplePump.setPosition! 0ml
@07:15:10.98 Exhaust.open
@07:15:12.44 <closeBypass> Bypass.close
@07:15:13.96 <FILTERING> Pressure.in :default
@07:15:14.02 Pressure.hold
@07:15:14.14 Sea 8.0m deep (26.6psia)
@07:15:14.29 SamplePump.in :prime
@07:15:14.36 SamplePump.seek 100ml,5:16
@07:16:52.90 Pressure.stop
@07:16:52.97 Bypass.open
@07:16:53.66 Intake.close
@07:16:54.43 Toroid.in :hold
@07:16:54.49 Toroid.seek :crack
@07:16:56.02 Toroid.seek :cartridge
@07:16:57.52 Toroid.in :default
@07:16:57.61 Toroid.seek :clear
@07:16:59.58 Pressurizing cartridge to 26psi above 26.4psia
@07:16:59.60 SamplePump.setPosition! 0ml
@07:16:59.66 Intake.open
@07:17:00.33 Bypass.close
@07:17:01.04 Exhaust.close
@07:17:01.88 Pressure.in :default
@07:17:01.94 Pressure.hold
@07:17:02.13 SamplePump.in :charge
@07:17:02.21 SamplePump.seek 2.3ml,42 seconds
@07:17:06.14 Pressure.stop
@07:17:06.20 Intake.close
@07:17:06.99 Pressurized cartridge with 0.070ml to 26.0psi
@07:17:07.00 Isolated @49.5psia (23.1psi)
@07:17:07.01 Verifying cartridge holds at least 0.65..0.85 of 49.5psia
@07:17:07.05 Waiting up to 20 seconds for cartridge pressure to stabilize +/-1.50psi
@07:17:11.63 Cartridge pressure fell 1% to 48.8psia
@07:17:11.72 Sampling 1000.0ml in 1:25:20
@07:17:11.74 SamplePump.setPosition! 0ml
@07:17:11.80 Exhaust.open
@07:17:12.59 Intake.open
@07:17:13.41 Pressure.in :default
@07:17:13.48 Pressure.hold
@07:17:13.60 Sea 7.3m deep (25.5psia)
@07:17:13.61 Cannot pump 1.00ml/s -- Limiting to 0.86ml/s
@07:17:13.77 SamplePump.in :sample
@07:17:13.84 SamplePump.seek 1000ml,1:23:51
@07:17:16.46 <sampling> Cartridge 34 filtering 1/1000ml at 0.40ml/s with 23.7psi vacuum 7.1m deep (25.2psia)
@07:18:16.45 Cartridge 34 filtering 24/1000ml at 0.38ml/s with 23.5psi vacuum 6.3m deep (24.0psia)
@07:19:16.46 Cartridge 34 filtering 47/1000ml at 0.37ml/s with 23.0psi vacuum 6.1m deep (23.7psia)
@07:20:16.45 Cartridge 34 filtering 70/1000ml at 0.37ml/s with 24.3psi vacuum 4.3m deep (21.0psia)
@07:21:16.50 Cartridge 34 filtering 92/1000ml at 0.35ml/s with 24.2psi vacuum 5.6m deep (23.0psia)
@07:22:16.45 Cartridge 34 filtering 114/1000ml at 0.37ml/s with 24.0psi vacuum 5.7m deep (23.1psia)
@07:23:16.45 Cartridge 34 filtering 136/1000ml at 0.34ml/s with 24.4psi vacuum 5.9m deep (23.4psia)
@07:24:16.45 Cartridge 34 filtering 157/1000ml at 0.37ml/s with 26.5psi vacuum 5.1m deep (22.3psia)
@07:24:46.89 <FILTERING> Flow averaged 0.37ml/s over 7:34
@07:24:46.93 Waiting up to 18 seconds for vacuum to reduce from 30.0 to 18.0psi
@07:24:47.51 Relieved excess vacuum in .6 seconds
@07:24:47.54 SamplePump.seek 1000ml,1:09:57
@07:24:49.05 Flow estimate reduced to 0.29ml/s
@07:24:49.09 Waiting up to 1:05 for vacuum to reduce from 48.7 to 18.0psi
@07:24:49.93 Relieved excess vacuum in .9 seconds
@07:24:49.95 SamplePump.seek 1000ml,1:09:56
@07:24:51.39 Flow estimate reduced to 0.24ml/s
@07:24:51.43 Waiting up to 1:53 for vacuum to reduce from 68.2 to 18.0psi
@07:24:52.28 Relieved excess vacuum in .9 seconds
@07:24:52.30 SamplePump.seek 1000ml,1:09:55
@07:24:53.72 Flow estimate reduced to 0.19ml/s
@07:24:53.74 <closeIntake> Intake.close
@07:24:53.79 <closeExhaust> Exhaust.close
@07:24:54.04 <FILTERING> Toroid.in :hold
@07:24:54.12 Toroid.seek :bypass
@07:24:55.77 Toroid.in :default
@07:24:55.85 Toroid.seek :clear
@07:24:57.46 Cartridge::Sampler::Clogged in FILTERING -- Cartridge clogged
@07:24:57.48 Pressure.stop
@07:24:57.68 Sampled  167.4ml
@07:24:59.79 <LRAUV> -> Cmd.startProcessing
30.0
@07:25:00.23 <PROCESSING> Plunge.seek :reagent
@07:25:01.04 Sample loop closed. Ready to Deliver Reagents
@07:25:01.05 Archive.seek :sealed
@07:25:05.00 Archive.seek :evac
@07:25:08.33 Slide::Error in PROCESSING -- Archive Syringe (ArS) positionErr at 1212uL (sensed 1241uL)
@07:25:08.35 Retry #1 of 2
@07:25:08.37 Archive.hold
@07:25:08.75 Archive.in :default
@07:25:08.82 Archive.home.seek :evac
@07:25:09.81 Slide::Error in PROCESSING -- Archive Syringe (ArS) positionErr at 1145uL (sensed 1174uL)
@07:25:09.83 Retry #2 of 2
@07:25:09.85 Archive.in :default
@07:25:09.93 Archive.hold
@07:25:10.26 Archive.in :default
@07:25:10.33 Archive.home.seek :evac
@07:25:11.24 Slide::Error in PROCESSING -- IGNORED Archive Syringe (ArS) positionErr at 1089uL (sensed 1119uL)
@07:25:11.25 Archive.in :default
@07:25:11.34 Archive.hold
@07:25:11.67 Archive.in :default
@07:25:11.74 Archive.home.jog 0
@07:25:11.86 ArchiveError in PROCESSING -- 1089ul RNAlater undelivered
@07:25:11.90 Thread::ChildDied in LRAUV -- :PROCESSING
@07:25:17.58 <LRAUV> -> Cmd.stop
@07:25:17.73 Carousel.in :default
@07:25:17.84 Carousel.home.seek 34
@07:25:18.14 Plunge.seek :locked
@07:25:19.01 <Archive> Archive.in :unlocking
@07:25:19.14 Archive.seek :clear
@07:25:19.19 <Air> Air.in :unlocking
@07:25:19.35 Air.seek :clear
@07:25:19.45 <Lysis1> Lysis1.in :unlocking
@07:25:19.61 Lysis1.seek :clear
@07:25:21.96 <LRAUV> Gate.power :motor,:OFF
@07:25:21.98 Gate.power :core,:OFF
@07:25:22.00 Gate.power :analytic1,:OFF
@07:25:22.03 Gate.power :analytic2,:OFF
@07:25:22.05 Gate.power :analytic3,:OFF
@07:25:22.08 Gate.power :main,:OFF
@07:25:22.10 Safely stopped and ready to power off
:STOPPED