@07:02:57.86PDT21-Apr-23 <MAIN> >BREAK< ESP3 Gateway v1.42 for core bus
@07:02:57.90 >BREAK< ESP3 Gateway v1.42 for cartridge bus
@07:03:00.48 
Configuration for honu by brent@mbari.org 4/12/23
/home/esp/esp2/type/auv/honu/configure.rb
@07:03:00.94 Sea pressure (Abs) tare is 6% of full scale
@07:03:06.48 Polling Can every 2:00
@07:03:06.99 Clients may connect on TCP port 9999
@07:03:07.02 Connecting to 10.89.5.2:9999
@07:03:07.05 Waiting for espclients...
@07:03:07.24 <LRAUV> Session Begun
@07:03:09.19 -> showStatus
true
@07:03:11.21 -> Cmd.loadCartridge -6
@07:03:11.27 Gate.power :main,:ON,limit to 5000mA
@07:03:11.29 Gate.power :analytic1,:ON,limit to 5000mA
@07:03:11.32 Gate.power :analytic2,:ON,limit to 5000mA
@07:03:11.34 Gate.power :analytic3,:ON,limit to 5000mA
@07:03:11.48 Powering core bus
@07:03:13.75 <Probe-AMspr> SPR Module 1, FW Rev. B, FPGA Rev. C
@07:03:14.19 <LRAUV> Archive.configure :default
@07:03:14.29 Air.configure :default
@07:03:14.36 Lysis1.configure :default
@07:03:14.42 Lysis2.configure :default
@07:03:14.51 Plunge.configure :default
@07:03:14.60 SamplePump.configure :default
@07:03:14.69 Toroid.configure :default
@07:03:14.78 Carousel.configure :default
@07:03:14.87 Pressure.configure :default
@07:03:14.97 ExtraPump.configure :default
@07:03:15.03 PinPort.configure :default
@07:03:15.11 All elf controllers running firmware version 4.83
@07:03:15.14 Gate.power :motor,:ON,limit to 5000mA
@07:03:15.32 <Archive_home> Archive.home.jog 0
@07:03:15.77 <PinPort_home> PinPort.home.jog 0
@07:03:15.87 <Carousel_home> Carousel.home.jog 0
@07:03:15.90 <Toroid_home> Toroid.home.jog 0
@07:03:15.92 <Lysis1_home> Lysis1.home.jog 0
@07:03:15.96 <Plunge_home> Plunge.home.jog 0
@07:03:16.01 <Lysis2_home> Lysis2.home.jog 0
@07:03:16.03 <Air_home> Air.home.jog 0
@07:03:16.58 <Archive_home> Archive.in :homing
@07:03:16.86 Archive.jog 1392
@07:03:16.91 <Toroid_home> Toroid.in :homing
@07:03:16.94 <Plunge_home> Plunge.in :homing
@07:03:16.98 <Lysis2_home> Lysis2.in :homing
@07:03:17.02 <Lysis1_home> Lysis1.in :homing
@07:03:17.06 <Air_home> Air.in :homing
@07:03:17.09 <PinPort_home> PinPort.in :homing
@07:03:17.34 <Toroid_home> Toroid.jog 615
@07:03:17.42 <Lysis2_home> Lysis2.jog 1404
@07:03:17.46 <Lysis1_home> Lysis1.jog 159
@07:03:17.50 <Plunge_home> Plunge.jog 1549
@07:03:17.53 <Air_home> Air.jog 1374
@07:03:17.56 <PinPort_home> PinPort.jog -105
@07:03:17.96 PinPort.setRawPosition! 0
@07:03:18.01 PinPort.seek :home
@07:03:18.10 <Lysis1_home> Lysis1.setRawPosition! 50
@07:03:18.13 <PinPort_home> PinPort.in :default
@07:03:18.24 <Lysis1_home> Lysis1.seek :home
@07:03:18.32 <Archive_home> Archive.setRawPosition! 50
@07:03:18.37 Archive.seek :home
@07:03:18.51 <Lysis1_home> Lysis1.in :default
@07:03:18.65 <Archive_home> Archive.in :default
@07:03:19.13 <Plunge_home> Plunge.setRawPosition! 50
@07:03:19.15 <Lysis2_home> Lysis2.setRawPosition! 50
@07:03:19.17 <Air_home> Air.setRawPosition! 50
@07:03:19.27 <Plunge_home> Plunge.seek :home
@07:03:19.35 <Air_home> Air.seek :home
@07:03:19.40 <Lysis2_home> Lysis2.seek :home
@07:03:19.59 <Plunge_home> Plunge.in :default
@07:03:19.68 <Air_home> Air.in :default
@07:03:19.77 <Lysis2_home> Lysis2.in :default
@07:03:27.66 I2C::Request::Timeout in Toroid_home -- No Response to I2C::Servo::RelMove3Request[1A:->44] while jogging Toroid Valve (TV)
@07:03:27.70 <LRAUV> Toroid.in :default
@07:03:27.78 I2C::NodeOffline in LRAUV -- Toroid Valve (TV) valve0 Not Responding
@07:03:27.80 Retry #1 of 2
@07:03:27.97 Gate.power :motor,:OFF
@07:03:28.03 Gate.power :core,:OFF
@07:03:28.07 Gate.power :analytic1,:OFF
@07:03:28.10 Gate.power :analytic2,:OFF
@07:03:28.12 Gate.power :analytic3,:OFF
@07:03:28.15 Gate.power :main,:OFF
@07:03:31.87 Gate.power :main,:ON,limit to 5000mA
@07:03:31.89 Gate.power :analytic1,:ON,limit to 5000mA
@07:03:31.92 Gate.power :analytic2,:ON,limit to 5000mA
@07:03:31.95 Gate.power :analytic3,:ON,limit to 5000mA
@07:03:32.03 Powering core bus
@07:03:34.38 <Probe-AMspr> SPR Module 1, FW Rev. B, FPGA Rev. C
@07:03:34.74 <LRAUV> Archive.configure :default
@07:03:34.84 Air.configure :default
@07:03:34.94 Lysis1.configure :default
@07:03:35.01 Lysis2.configure :default
@07:03:35.11 Plunge.configure :default
@07:03:35.21 SamplePump.configure :default
@07:03:35.31 Toroid.configure :default
@07:03:35.41 Carousel.configure :default
@07:03:35.51 Pressure.configure :default
@07:03:35.61 ExtraPump.configure :default
@07:03:35.69 PinPort.configure :default
@07:03:35.77 All elf controllers running firmware version 4.83
@07:03:35.80 Gate.power :motor,:ON,limit to 5000mA
@07:03:36.18 <Archive_home> Archive.home.jog 0
@07:03:36.71 <Carousel_home> Carousel.home.jog 0
@07:03:36.75 <Toroid_home> Toroid.home.jog 0
@07:03:36.79 <Plunge_home> Plunge.home.jog 0
@07:03:36.82 <Lysis2_home> Lysis2.home.jog 0
@07:03:36.86 <Lysis1_home> Lysis1.home.jog 0
@07:03:36.91 <Air_home> Air.home.jog 0
@07:03:36.94 <PinPort_home> PinPort.home.jog 0
@07:03:37.70 <Archive_home> Archive.in :homing
@07:03:37.92 Archive.jog 1387
@07:03:38.03 <Toroid_home> Toroid.in :homing
@07:03:38.07 <Plunge_home> Plunge.in :homing
@07:03:38.11 <Lysis2_home> Lysis2.in :homing
@07:03:38.16 <Air_home> Air.in :homing
@07:03:38.21 <PinPort_home> PinPort.in :homing
@07:03:38.25 <Lysis1_home> Lysis1.in :homing
@07:03:38.53 <Toroid_home> Toroid.jog 223
@07:03:38.57 <Plunge_home> Plunge.jog 385
@07:03:38.61 <Lysis2_home> Lysis2.jog 1405
@07:03:38.64 <PinPort_home> PinPort.jog -105
@07:03:38.68 <Air_home> Air.jog 1376
@07:03:38.79 <Lysis1_home> Lysis1.jog 157
@07:03:39.16 <PinPort_home> PinPort.setRawPosition! 0
@07:03:39.23 PinPort.seek :home
@07:03:39.33 PinPort.in :default
@07:03:39.44 <Lysis1_home> Lysis1.setRawPosition! 50
@07:03:39.54 <Archive_home> Archive.setRawPosition! 50
@07:03:39.58 <Plunge_home> Plunge.setRawPosition! 50
@07:03:39.66 <Lysis1_home> Lysis1.seek :home
@07:03:39.73 <Archive_home> Archive.seek :home
@07:03:39.82 <Plunge_home> Plunge.seek :home
@07:03:40.02 <Toroid_home> Toroid.setRawPosition! 0
@07:03:40.10 Toroid.seek :home
@07:03:40.63 Toroid.in :default
@07:03:40.69 <Plunge_home> Plunge.in :default
@07:03:40.73 <Lysis2_home> Lysis2.setRawPosition! 50
@07:03:40.77 <Air_home> Air.setRawPosition! 50
@07:03:40.79 <Archive_home> Archive.in :default
@07:03:40.83 <Lysis1_home> Lysis1.in :default
@07:03:41.12 <Lysis2_home> Lysis2.seek :home
@07:03:41.16 <Air_home> Air.seek :home
@07:03:41.49 <Lysis2_home> Lysis2.in :default
@07:03:41.58 <Air_home> Air.in :default
@07:03:41.94 <LRAUV> Toroid.seek :clear
@07:03:43.55 Carousel.in :default
@07:03:43.70 Carousel.home.seek 23
@07:03:43.96 Selecting Cartridge 12
@07:03:44.29 Carousel.seek 12
@07:03:46.82 Lysis1.in :fast
@07:03:46.89 Lysis1.seek :locked
@07:03:49.48 <Plunge> Plunge.seek :locked
@07:03:49.63 <Air> Air.in :fast
@07:03:49.69 Air.seek :locked
@07:03:51.27 <LRAUV> Carousel.reconfigure :locked
@07:03:51.42 Powering cartridge bus
@07:03:54.03 Gate.setIR 1750,5000,0,6
@07:03:54.15 Gate.setIR 0,5000,0,6
@07:03:54.22 Gate.power :cartridge,:OFF
@07:03:54.76 Mounted archive Cartridge
12
@07:04:15.85 -> Cmd.startFiltering
@07:04:16.11 <FILTERING> Preparing to filter cartridge 12
92.07
@07:04:16.38 Priming sample loop w/100ml, bypass w/10ml
@07:04:16.40 SamplePump.setPosition! 0ml
@07:04:16.46 Bypass.open
@07:04:17.96 Intake.open
@07:04:18.73 Sea 16.2m deep (38.7psia)
@07:04:18.74 Waiting up to 20 seconds for sea pressure to stabilize +/-0.50psi
@07:04:21.33 Vacuum tare is 60% of full scale
@07:04:21.47 <closeIntake> Intake.close
@07:04:21.54 <closeBypass> Bypass.close
@07:04:22.26 <FILTERING> Verifying toroid holds at least 0.6..0.85 of 38.7psia
@07:04:22.28 Waiting up to 40 seconds for toroid pressure to stabilize +/-1.50psi
@07:04:26.86 Toroid pressure fell 8% to 35.5psia
@07:04:26.87 Bypass.open
@07:04:27.95 Intake.open
@07:04:29.36 Pressure.in :default
@07:04:29.43 Pressure.hold
@07:04:29.62 SamplePump.in :prime
@07:04:29.70 SamplePump.seek 10ml,59 seconds
@07:04:38.47 Pressure.stop
@07:04:38.52 SamplePump.setPosition! 0ml
@07:04:38.58 Exhaust.open
@07:04:40.03 <closeBypass> Bypass.close
@07:04:41.53 <FILTERING> Pressure.in :default
@07:04:41.59 Pressure.hold
@07:04:41.76 Sea 16.2m deep (38.7psia)
@07:04:41.91 SamplePump.in :prime
@07:04:41.99 SamplePump.seek 100ml,5:16
@07:06:19.88 Pressure.stop
@07:06:19.96 Bypass.open
@07:06:20.64 Intake.close
@07:06:21.38 Toroid.in :hold
@07:06:21.45 Toroid.seek :crack
@07:06:23.22 Toroid.seek :cartridge
@07:06:24.33 Toroid.in :default
@07:06:24.39 Toroid.seek :clear
@07:06:26.37 <closeExhaust> Exhaust.close
@07:06:26.41 <closeBypass> Bypass.close
@07:06:27.17 <FILTERING> Verifying cartridge holds at least 0.65..0.85 of 39.4psia
@07:06:27.19 Waiting up to 40 seconds for cartridge pressure to stabilize +/-1.50psi
@07:06:31.84 Sampling 1000.0ml in 1:30:34.285714
@07:06:31.85 SamplePump.setPosition! 0ml
@07:06:31.92 Exhaust.open
@07:06:32.69 Intake.open
@07:06:33.50 Pressure.in :default
@07:06:33.57 Pressure.hold
@07:06:33.69 Sea 16.4m deep (38.9psia)
@07:06:33.70 Cannot pump 1.00ml/s -- Limiting to 0.86ml/s
@07:06:33.86 SamplePump.in :sample
@07:06:33.94 SamplePump.seek 1000ml,1:23:51
@07:06:36.53 <sampling> Cartridge 12 filtering 1/1000ml at 0.38ml/s with 22.5psi vacuum 16.2m deep (38.6psia)
@07:07:36.54 Cartridge 12 filtering 25/1000ml at 0.38ml/s with 24.4psi vacuum 14.8m deep (36.5psia)
@07:08:36.54 Cartridge 12 filtering 48/1000ml at 0.38ml/s with 25.3psi vacuum 14.1m deep (35.5psia)
@07:09:36.94 Cartridge 12 filtering 72/1000ml at 0.39ml/s with 24.0psi vacuum 16.4m deep (38.9psia)
@07:10:36.54 Cartridge 12 filtering 95/1000ml at 0.38ml/s with 26.1psi vacuum 14.8m deep (36.6psia)
@07:11:36.54 Cartridge 12 filtering 117/1000ml at 0.37ml/s with 22.5psi vacuum 15.9m deep (38.2psia)
@07:12:36.54 Cartridge 12 filtering 140/1000ml at 0.38ml/s with 24.9psi vacuum 14.8m deep (36.6psia)
@07:13:36.54 Cartridge 12 filtering 162/1000ml at 0.36ml/s with 22.7psi vacuum 17.0m deep (39.8psia)
@07:14:36.54 Cartridge 12 filtering 184/1000ml at 0.35ml/s with 24.4psi vacuum 14.9m deep (36.7psia)
@07:15:36.54 Cartridge 12 filtering 206/1000ml at 0.34ml/s with 23.1psi vacuum 15.1m deep (37.0psia)
@07:16:36.54 Cartridge 12 filtering 227/1000ml at 0.35ml/s with 24.0psi vacuum 14.8m deep (36.6psia)
@07:17:36.54 Cartridge 12 filtering 248/1000ml at 0.35ml/s with 23.0psi vacuum 17.3m deep (40.2psia)
@07:18:36.54 Cartridge 12 filtering 269/1000ml at 0.36ml/s with 27.0psi vacuum 14.9m deep (36.7psia)
@07:19:36.54 Cartridge 12 filtering 290/1000ml at 0.34ml/s with 26.1psi vacuum 13.6m deep (34.8psia)
@07:20:36.54 Cartridge 12 filtering 311/1000ml at 0.33ml/s with 24.7psi vacuum 12.9m deep (33.8psia)
@07:21:36.59 Cartridge 12 filtering 331/1000ml at 0.32ml/s with 24.4psi vacuum 12.7m deep (33.4psia)
@07:22:36.54 Cartridge 12 filtering 351/1000ml at 0.33ml/s with 24.6psi vacuum 14.2m deep (35.7psia)
@07:23:36.54 Cartridge 12 filtering 371/1000ml at 0.32ml/s with 26.0psi vacuum 14.4m deep (36.0psia)
@07:24:36.54 Cartridge 12 filtering 391/1000ml at 0.32ml/s with 25.7psi vacuum 14.8m deep (36.5psia)
@07:25:36.54 Cartridge 12 filtering 410/1000ml at 0.33ml/s with 20.8psi vacuum 15.2m deep (37.1psia)
@07:26:36.54 Cartridge 12 filtering 430/1000ml at 0.32ml/s with 21.7psi vacuum 13.3m deep (34.4psia)
@07:27:36.54 Cartridge 12 filtering 449/1000ml at 0.33ml/s with 28.0psi vacuum 14.3m deep (35.9psia)
@07:28:36.54 Cartridge 12 filtering 468/1000ml at 0.34ml/s with 23.1psi vacuum 17.7m deep (40.8psia)
@07:29:36.54 Cartridge 12 filtering 487/1000ml at 0.33ml/s with 27.4psi vacuum 14.4m deep (36.0psia)
@07:30:36.54 Cartridge 12 filtering 505/1000ml at 0.30ml/s with 24.0psi vacuum 14.0m deep (35.4psia)
@07:31:36.54 Cartridge 12 filtering 524/1000ml at 0.31ml/s with 23.9psi vacuum 15.3m deep (37.3psia)
@07:32:36.54 Cartridge 12 filtering 542/1000ml at 0.29ml/s with 26.0psi vacuum 11.3m deep (31.4psia)
@07:33:36.54 Cartridge 12 filtering 560/1000ml at 0.29ml/s with 22.1psi vacuum 15.3m deep (37.3psia)
@07:34:36.54 Cartridge 12 filtering 578/1000ml at 0.32ml/s with 24.8psi vacuum 16.8m deep (39.6psia)
@07:35:36.54 Cartridge 12 filtering 596/1000ml at 0.31ml/s with 28.4psi vacuum 13.7m deep (34.9psia)
@07:36:36.54 Cartridge 12 filtering 614/1000ml at 0.30ml/s with 19.6psi vacuum 16.0m deep (38.3psia)
@07:37:36.54 Cartridge 12 filtering 631/1000ml at 0.31ml/s with 22.7psi vacuum 18.1m deep (41.4psia)
@07:38:36.54 Cartridge 12 filtering 649/1000ml at 0.29ml/s with 25.4psi vacuum 13.5m deep (34.6psia)
@07:39:36.54 Cartridge 12 filtering 666/1000ml at 0.27ml/s with 24.5psi vacuum 12.3m deep (32.9psia)
@07:40:36.54 Cartridge 12 filtering 683/1000ml at 0.31ml/s with 23.1psi vacuum 16.5m deep (39.1psia)
@07:41:36.54 Cartridge 12 filtering 700/1000ml at 0.27ml/s with 23.6psi vacuum 14.1m deep (35.5psia)
@07:42:36.54 Cartridge 12 filtering 717/1000ml at 0.27ml/s with 23.2psi vacuum 16.9m deep (39.7psia)
@07:43:36.54 Cartridge 12 filtering 734/1000ml at 0.27ml/s with 25.7psi vacuum 11.0m deep (30.9psia)
@07:44:36.54 Cartridge 12 filtering 750/1000ml at 0.27ml/s with 23.2psi vacuum 13.5m deep (34.7psia)
@07:45:36.54 Cartridge 12 filtering 767/1000ml at 0.28ml/s with 24.3psi vacuum 15.1m deep (37.1psia)
@07:46:36.84 Cartridge 12 filtering 783/1000ml at 0.27ml/s with 21.2psi vacuum 16.4m deep (38.9psia)
@07:47:36.54 Cartridge 12 filtering 800/1000ml at 0.29ml/s with 21.8psi vacuum 17.4m deep (40.4psia)
@07:48:36.54 Cartridge 12 filtering 816/1000ml at 0.27ml/s with 19.6psi vacuum 16.0m deep (38.3psia)
@07:49:36.54 Cartridge 12 filtering 832/1000ml at 0.25ml/s with 22.0psi vacuum 13.7m deep (35.0psia)
@07:50:36.54 Cartridge 12 filtering 848/1000ml at 0.27ml/s with 25.0psi vacuum 14.8m deep (36.6psia)
@07:51:36.54 Cartridge 12 filtering 864/1000ml at 0.26ml/s with 24.9psi vacuum 12.8m deep (33.7psia)
@07:52:36.54 Cartridge 12 filtering 879/1000ml at 0.25ml/s with 23.8psi vacuum 14.6m deep (36.2psia)
@07:53:36.54 Cartridge 12 filtering 895/1000ml at 0.24ml/s with 24.2psi vacuum 11.6m deep (31.9psia)
@07:54:36.54 Cartridge 12 filtering 910/1000ml at 0.26ml/s with 25.7psi vacuum 15.5m deep (37.7psia)
@07:55:36.54 Cartridge 12 filtering 926/1000ml at 0.26ml/s with 21.8psi vacuum 12.6m deep (33.3psia)
@07:56:36.54 Cartridge 12 filtering 941/1000ml at 0.27ml/s with 24.8psi vacuum 14.2m deep (35.7psia)
@07:57:36.54 Cartridge 12 filtering 956/1000ml at 0.25ml/s with 24.1psi vacuum 13.2m deep (34.2psia)
@07:58:36.54 Cartridge 12 filtering 971/1000ml at 0.25ml/s with 23.4psi vacuum 15.2m deep (37.2psia)
@07:59:36.54 Cartridge 12 filtering 986/1000ml at 0.25ml/s with 21.5psi vacuum 15.6m deep (37.8psia)
@08:00:31.85 <FILTERING> Pressure.stop
@08:00:31.97 <closeIntake> Intake.close
@08:00:32.01 <closeExhaust> Exhaust.close
@08:00:32.24 <FILTERING> Toroid.in :hold
@08:00:32.31 Toroid.seek :bypass
@08:00:33.93 Toroid.in :default
@08:00:34.01 Toroid.seek :clear
@08:00:35.62 Sampled  1000.0ml
@08:00:37.14 <LRAUV> -> Cmd.startProcessing
30.0
@08:00:37.58 <PROCESSING> Plunge.seek :reagent
@08:00:38.38 Sample loop closed. Ready to Deliver Reagents
@08:00:38.40 Archive.seek :sealed
@08:00:42.34 Archive.seek :evac
@08:00:56.45 delay 1:00
@08:01:56.48 Archive.seek :clear
@08:02:14.00 RNAlater soak for 10:00
@08:12:14.03 Archive.seek :tVent
@08:12:16.48 delay 1 second
@08:12:17.50 Archive.seek :evac
@08:12:33.03 delay 10 seconds
@08:12:43.06 Sample preserved and evacuated
@08:12:43.98 <LRAUV> -> Cmd.stop
@08:12:44.14 Carousel.in :default
@08:12:44.25 Carousel.home.seek 12
@08:12:44.55 Plunge.seek :locked
@08:12:45.43 <Archive> Archive.in :unlocking
@08:12:45.56 Archive.seek :clear
@08:12:45.61 <Air> Air.in :unlocking
@08:12:45.78 Air.seek :clear
@08:12:45.87 <Lysis1> Lysis1.in :unlocking
@08:12:46.42 Lysis1.seek :clear
@08:12:50.21 <LRAUV> Gate.power :motor,:OFF
@08:12:50.23 Gate.power :core,:OFF
@08:12:50.25 Gate.power :analytic1,:OFF
@08:12:50.27 Gate.power :analytic2,:OFF
@08:12:50.29 Gate.power :analytic3,:OFF
@08:12:50.32 Gate.power :main,:OFF
@08:12:50.34 Safely stopped and ready to power off
:STOPPED