@15:28:33.70PDT02-Jun-22 <MAIN> >BREAK< ESP3 Gateway v1.12 for core bus
@15:28:33.72 >BREAK< ESP3 Gateway v1.12 for cartridge bus
@15:28:36.32 
Configuration for honu by methane@mbari.org 3/16/22
/home/esp/esp2/type/auv/honu/configure.rb
@15:28:48.24 Polling Can every 2:00
@15:28:48.70 Clients may connect on TCP port 9999
Connecting to 10.89.5.2:9999
@15:28:48.74 Waiting for espclients...
@15:28:49.17 <LRAUV> Session Begun
@15:28:51.52 -> showStatus
true
@15:28:53.13 -> Cmd.loadCartridge -6
@15:28:53.20 Gate.power :main,:ON,limit to 5000mA
@15:28:53.22 Gate.power :analytic1,:ON,limit to 5000mA
@15:28:53.24 Gate.power :analytic2,:ON,limit to 5000mA
@15:28:53.26 Gate.power :analytic3,:ON,limit to 5000mA
@15:28:53.41 Powering core bus
@15:28:55.67 <Probe-AMspr> SPR Module 1, FW Rev. B, FPGA Rev. C
@15:28:56.13 <LRAUV> Archive.configure :default
@15:28:56.25 Air.configure :default
@15:28:56.37 Lysis1.configure :default
@15:28:56.59 Lysis2.configure :default
@15:28:56.83 Plunge.configure :default
@15:28:57.13 SamplePump.configure :default
@15:28:57.45 Toroid.configure :default
@15:28:57.77 Carousel.configure :default
@15:28:57.96 Pressure.configure :default
@15:28:58.08 ExtraPump.configure :default
@15:28:58.18 PinPort.configure :default
@15:28:58.24 All elf controllers running firmware version 4.79
@15:28:58.27 Gate.power :motor,:ON,limit to 5000mA
@15:28:58.45 <Archive_home> Archive.in :default
@15:28:58.71 Archive.home.jog 0
@15:28:58.85 <Toroid_home> Toroid.in :default
@15:28:58.93 <Plunge_home> Plunge.in :default
@15:28:58.97 <Lysis1_home> Lysis1.in :default
@15:28:59.03 <Air_home> Air.in :default
@15:28:59.08 <PinPort_home> PinPort.in :default
@15:28:59.12 <Lysis2_home> Lysis2.in :default
@15:28:59.30 <Toroid_home> Toroid.home.jog 0
@15:28:59.35 <Lysis1_home> Lysis1.home.jog 0
@15:28:59.37 <Plunge_home> Plunge.home.jog 0
@15:28:59.40 <Air_home> Air.home.jog 0
@15:28:59.42 <PinPort_home> PinPort.home.jog 0
@15:28:59.45 <Lysis2_home> Lysis2.home.jog 0
@15:28:59.99 <Archive_home> Archive.in :homing
@15:29:00.19 <Toroid_home> Toroid.in :homing
@15:29:00.23 <Plunge_home> Plunge.in :homing
@15:29:00.26 <Archive_home> Archive.jog 1391
@15:29:00.30 <PinPort_home> PinPort.in :homing
@15:29:00.34 <Lysis1_home> Lysis1.in :homing
@15:29:00.37 <Air_home> Air.in :homing
@15:29:00.41 <Lysis2_home> Lysis2.in :homing
@15:29:00.59 <Plunge_home> Plunge.jog 1555
@15:29:00.67 <Toroid_home> Toroid.jog 627
@15:29:00.71 <Lysis2_home> Lysis2.jog 1393
@15:29:00.74 <Lysis1_home> Lysis1.jog 1380
@15:29:00.77 <Air_home> Air.jog 1389
@15:29:00.80 <PinPort_home> PinPort.jog -107
@15:29:01.16 PinPort.setRawPosition! 0
@15:29:01.21 PinPort.seek :home
@15:29:01.30 PinPort.in :default
@15:29:01.64 <Archive_home> Archive.setRawPosition! 50
@15:29:01.69 Archive.seek :home
@15:29:01.97 Archive.in :default
@15:29:02.09 <Plunge_home> Plunge.setRawPosition! 50
@15:29:02.12 <Lysis2_home> Lysis2.setRawPosition! 50
@15:29:02.14 <Lysis1_home> Lysis1.setRawPosition! 50
@15:29:02.18 <Air_home> Air.setRawPosition! 50
@15:29:02.27 <Plunge_home> Plunge.seek :home
@15:29:02.36 <Lysis2_home> Lysis2.seek :home
@15:29:02.38 <Air_home> Air.seek :home
@15:29:02.41 <Lysis1_home> Lysis1.seek :home
@15:29:02.70 <Plunge_home> Plunge.in :default
@15:29:02.82 <Lysis2_home> Lysis2.in :default
@15:29:02.85 <Lysis1_home> Lysis1.in :default
@15:29:02.88 <Air_home> Air.in :default
@15:29:03.06 <Toroid_home> Toroid.setRawPosition! 0
@15:29:03.10 Toroid.seek :home
@15:29:03.21 Toroid.in :default
@15:29:03.36 <LRAUV> Toroid.seek :clear
@15:29:04.97 Carousel.in :default
@15:29:05.03 Carousel.home.jog 0
@15:29:05.51 Carousel.in :default
@15:29:05.57 Carousel.seek 31
@15:29:05.74 Selecting Cartridge 30
@15:29:05.99 Carousel.seek 30
@15:29:06.86 Lysis1.in :fast
@15:29:06.92 Lysis1.seek :locked
@15:29:09.53 <Plunge> Plunge.seek :locked
@15:29:09.66 <Air> Air.in :fast
@15:29:09.73 Air.seek :locked
@15:29:12.18 <LRAUV> Powering cartridge bus
@15:29:14.78 Gate.setIR 1750,5000,0,6
@15:29:14.90 Gate.setIR 0,5000,0,6
@15:29:14.96 Gate.power :cartridge,:OFF
@15:29:15.49 Mounted archive Cartridge
30
@15:29:32.75 -> Cmd.startFiltering
@15:29:32.99 <FILTERING> Preparing to filter cartridge 30
92.07
@15:29:33.26 Priming sample loop w/100ml, bypass w/10ml
@15:29:33.28 SamplePump.setPosition! 0ml
@15:29:33.33 Bypass.open
@15:29:34.80 Intake.open
@15:29:35.52 Sea 2.8m deep (18.8psia)
@15:29:35.54 Waiting up to 20 seconds for sea pressure to stabilize +/-0.50psi
@15:29:38.10 Vacuum tare is 54% of full scale
@15:29:38.23 Pressure.in :default
@15:29:38.29 Pressure.hold
@15:29:38.47 SamplePump.in :prime
@15:29:38.54 SamplePump.seek 10ml,59 seconds
@15:29:47.15 Pressure.stop
@15:29:47.20 SamplePump.setPosition! 0ml
@15:29:47.27 Exhaust.open
@15:29:48.73 <closeBypass> Bypass.close
@15:29:50.26 <FILTERING> Pressure.in :default
@15:29:50.32 Pressure.hold
@15:29:50.44 Sea 2.8m deep (18.8psia)
@15:29:50.58 SamplePump.in :prime
@15:29:50.65 SamplePump.seek 100ml,5:16
@15:31:23.45 Pressure.stop
@15:31:23.51 Bypass.open
@15:31:24.20 Intake.close
@15:31:24.91 Toroid.in :hold
@15:31:24.97 Toroid.seek :crack
@15:31:26.50 Toroid.seek :cartridge
@15:31:27.59 Toroid.in :default
@15:31:27.65 Toroid.seek :clear
@15:31:29.62 Pressurizing cartridge to 26psi above 18.9psia
@15:31:29.63 SamplePump.setPosition! 0ml
@15:31:29.69 Intake.open
@15:31:30.36 Bypass.close
@15:31:31.04 Exhaust.close
@15:31:31.87 Pressure.in :default
@15:31:31.93 Pressure.hold
@15:31:32.11 SamplePump.in :charge
@15:31:32.17 SamplePump.seek 2.3ml,42 seconds
@15:31:41.04 Pressure.stop
@15:31:41.10 Intake.close
@15:31:41.81 Pressurized cartridge with 0.377ml to 27.0psi
@15:31:41.83 Isolated @42.8psia (23.9psi)
@15:31:41.84 Verifying cartridge holds at least 0.65..0.85 of 42.8psia
@15:31:41.88 Waiting up to 20 seconds for cartridge pressure to stabilize +/-1.50psi
@15:31:46.52 Sampling 1000.0ml
@15:31:46.54 SamplePump.setPosition! 0ml
@15:31:46.60 Exhaust.open
@15:31:47.36 Intake.open
@15:31:48.12 Pressure.in :default
@15:31:48.18 Pressure.hold
@15:31:48.30 Sea 2.9m deep (19.0psia)
@15:31:48.44 SamplePump.in :sample
@15:31:48.51 SamplePump.seek 1000ml,1:23:48
@15:31:51.15 <sampling> Cartridge 30 filtering 1/1000ml at 0.45ml/s with 20.7psi vacuum 2.6m deep (18.6psia)
@15:32:51.16 Cartridge 30 filtering 28/1000ml at 0.47ml/s with 24.2psi vacuum 2.1m deep (17.8psia)
@15:33:51.16 Cartridge 30 filtering 54/1000ml at 0.45ml/s with 25.7psi vacuum 3.5m deep (19.8psia)
@15:34:51.15 Cartridge 30 filtering 79/1000ml at 0.39ml/s with 23.2psi vacuum 2.9m deep (19.0psia)
@15:35:51.16 Cartridge 30 filtering 103/1000ml at 0.40ml/s with 25.6psi vacuum 3.5m deep (19.8psia)
@15:36:51.15 Cartridge 30 filtering 126/1000ml at 0.38ml/s with 26.8psi vacuum 3.4m deep (19.8psia)
@15:37:51.16 Cartridge 30 filtering 148/1000ml at 0.36ml/s with 25.0psi vacuum 3.3m deep (19.5psia)
@15:38:51.15 Cartridge 30 filtering 169/1000ml at 0.32ml/s with 23.7psi vacuum 2.6m deep (18.6psia)
@15:39:51.16 Cartridge 30 filtering 189/1000ml at 0.33ml/s with 24.9psi vacuum 2.5m deep (18.4psia)
@15:40:51.15 Cartridge 30 filtering 209/1000ml at 0.30ml/s with 21.4psi vacuum 3.1m deep (19.2psia)
@15:41:51.16 Cartridge 30 filtering 227/1000ml at 0.29ml/s with 23.2psi vacuum 3.1m deep (19.3psia)
@15:42:51.15 Cartridge 30 filtering 245/1000ml at 0.31ml/s with 21.5psi vacuum 3.8m deep (20.2psia)
@15:43:51.16 Cartridge 30 filtering 262/1000ml at 0.28ml/s with 24.2psi vacuum 4.1m deep (20.8psia)
@15:44:51.15 Cartridge 30 filtering 279/1000ml at 0.30ml/s with 24.4psi vacuum 3.7m deep (20.1psia)
@15:45:51.16 Cartridge 30 filtering 294/1000ml at 0.24ml/s with 21.9psi vacuum 2.1m deep (17.8psia)
@15:46:51.15 Cartridge 30 filtering 309/1000ml at 0.27ml/s with 26.2psi vacuum 3.2m deep (19.5psia)
@15:47:51.16 Cartridge 30 filtering 323/1000ml at 0.23ml/s with 25.7psi vacuum 2.8m deep (18.8psia)
@15:48:51.15 Cartridge 30 filtering 337/1000ml at 0.25ml/s with 24.0psi vacuum 2.5m deep (18.3psia)
@15:49:51.16 Cartridge 30 filtering 350/1000ml at 0.20ml/s with 23.6psi vacuum 2.4m deep (18.2psia)
@15:50:51.15 Cartridge 30 filtering 363/1000ml at 0.20ml/s with 23.1psi vacuum 3.2m deep (19.4psia)
@15:51:51.17 Cartridge 30 filtering 375/1000ml at 0.20ml/s with 25.6psi vacuum 3.7m deep (20.2psia)
@15:52:09.56 <FILTERING> Flow averaged 0.31ml/s over 20:22
@15:52:09.59 Waiting up to 13 seconds for vacuum to reduce from 28.0 to 18.0psi
@15:52:10.17 Relieved excess vacuum in .6 seconds
@15:52:10.19 SamplePump.seek 1000ml,52:16
@15:52:51.16 <sampling> Cartridge 30 filtering 387/1000ml at 0.20ml/s with 25.7psi vacuum 2.1m deep (17.7psia)
@15:52:54.15 <FILTERING> Flow averaged 0.20ml/s over 44 seconds
@15:52:54.18 Waiting up to 9 seconds for vacuum to reduce from 26.4 to 18.0psi
@15:52:54.75 Relieved excess vacuum in .6 seconds
@15:52:54.78 SamplePump.seek 1000ml,51:32
@15:53:01.52 Flow estimate reduced to 0.16ml/s
@15:53:01.54 <closeIntake> Intake.close
@15:53:01.59 <closeExhaust> Exhaust.close
@15:53:01.79 <FILTERING> Toroid.in :hold
@15:53:01.86 Toroid.seek :bypass
@15:53:03.47 Toroid.in :default
@15:53:03.54 Toroid.seek :clear
@15:53:05.14 Cartridge::Sampler::Clogged in FILTERING -- Cartridge clogged
@15:53:05.16 Pressure.stop
@15:53:05.34 Sampled  388.8ml
@15:53:07.40 <LRAUV> -> Cmd.startProcessing
30.0
@15:53:08.22 <PROCESSING> Plunge.seek :reagent
@15:53:09.02 Sample loop closed. Ready to Deliver Reagents
@15:53:09.03 Archive.seek :sealed
@15:53:12.97 Archive.seek :evac
@15:53:27.01 delay 1:00
@15:54:27.04 Archive.seek :clear
@15:54:44.52 RNAlater soak for 10:00
@16:04:44.55 Archive.seek :tVent
@16:04:46.99 delay 1 second
@16:04:48.01 Archive.seek :evac
@16:05:03.51 delay 10 seconds
@16:05:13.54 Sample preserved and evacuated
@16:05:14.63 <LRAUV> -> Cmd.stop
@16:05:14.78 Carousel.seek 30
@16:05:14.96 Plunge.seek :locked
@16:05:15.88 <Archive> Archive.in :unlocking
@16:05:16.01 <Air> Air.in :unlocking
@16:05:16.05 <Archive> Archive.seek :clear
@16:05:16.20 <Air> Air.seek :clear
@16:05:16.24 <Lysis1> Lysis1.in :unlocking
@16:05:16.41 Lysis1.seek :clear
@16:05:20.21 <LRAUV> Gate.power :motor,:OFF
@16:05:20.23 Gate.power :core,:OFF
@16:05:20.25 Gate.power :analytic1,:OFF
@16:05:20.28 Gate.power :analytic2,:OFF
@16:05:20.30 Gate.power :analytic3,:OFF
@16:05:20.32 Gate.power :main,:OFF
@16:05:20.34 Safely stopped and ready to power off
:STOPPED