@11:01:26.48PDT10-Apr-23 <MAIN> >BREAK< ESP3 Gateway v1.42 for core bus
@11:01:26.50 >BREAK< ESP3 Gateway v1.42 for cartridge bus
@11:01:31.21 
Configuration for mv2 3/7/23 by nadia@mbari.org
/home/esp/esp2/type/auv/mv2/configure.rb
@11:01:31.78 Sea pressure (Abs) tare is 11% of full scale
@11:01:36.04 Polling Can every 2:00
@11:01:36.52 Clients may connect on TCP port 9999
@11:01:36.53 Connecting to 10.89.11.2:9999
@11:01:36.55 Errno::ECONNREFUSED in MAIN -- Could not connect to initial client because Connection refused - connect(2)
@11:01:36.58 Waiting for espclients...
@11:03:29.48 <preston> Session Begun
@11:03:37.00 -> ESP.ready!
@11:03:37.04 Gate.power :main,:ON,limit to 5000mA
@11:03:37.06 Gate.power :analytic1,:ON,limit to 5000mA
@11:03:37.09 Gate.power :analytic2,:ON,limit to 5000mA
@11:03:37.11 Gate.power :analytic3,:ON,limit to 5000mA
@11:03:37.17 Powering core bus
@11:03:39.86 Archive.configure :default
@11:03:39.95 Air.configure :default
@11:03:40.02 Lysis1.configure :default
@11:03:40.09 Lysis2.configure :default
@11:03:40.18 Plunge.configure :default
@11:03:40.61 SamplePump.configure :default
@11:03:40.72 Toroid.configure :default
@11:03:40.81 Carousel.configure :default
@11:03:40.90 Pressure.configure :default
@11:03:40.99 ExtraPump.configure :default
@11:03:41.06 All elf controllers running firmware version 4.83
@11:03:41.09 Gate.power :motor,:ON,limit to 5000mA
@11:03:41.45 <Archive_home> Archive.home.jog 0
@11:03:41.53 <Air_home> Air.home.jog 0
@11:03:41.70 <Lysis1_home> Lysis1.home.jog 0
@11:03:41.75 <Lysis2_home> Lysis2.home.jog 0
@11:03:41.80 <Plunge_home> Plunge.home.jog 0
@11:03:41.87 <Toroid_home> Toroid.home.jog 0
@11:03:41.98 <Carousel_home> Carousel.home.jog 0
@11:03:42.32 <Toroid_home> Toroid.in :default
@11:03:42.55 Toroid.home.jog 0
@11:03:42.77 <Plunge_home> Plunge.in :homing
@11:03:42.80 <Lysis1_home> Lysis1.in :homing
@11:03:42.84 <Air_home> Air.in :homing
@11:03:42.87 <Archive_home> Archive.in :homing
@11:03:42.92 <Lysis2_home> Lysis2.in :homing
@11:03:42.98 <Toroid_home> Toroid.in :homing
@11:03:43.21 <Plunge_home> Plunge.jog 760
@11:03:43.22 <Lysis1_home> Lysis1.jog 1353
@11:03:43.28 <Air_home> Air.jog 1330
@11:03:43.31 <Toroid_home> Toroid.jog 950
@11:03:43.34 <Archive_home> Archive.jog 1350
@11:03:43.44 <Lysis2_home> Lysis2.jog 1352
@11:03:44.24 <Plunge_home> Plunge.setRawPosition! 50
@11:03:44.29 Plunge.seek :home
@11:03:44.55 <Lysis1_home> Lysis1.setRawPosition! 50
@11:03:44.63 Lysis1.seek :home
@11:03:44.67 <Plunge_home> Plunge.in :default
@11:03:44.82 <Lysis2_home> Lysis2.setRawPosition! 50
@11:03:44.84 <Air_home> Air.setRawPosition! 50
@11:03:44.87 <Archive_home> Archive.setRawPosition! 50
@11:03:44.99 <Lysis2_home> Lysis2.seek :home
@11:03:45.02 <Air_home> Air.seek :home
@11:03:45.10 <Archive_home> Archive.seek :home
@11:03:45.24 <Lysis1_home> Lysis1.in :default
@11:03:45.33 <Lysis2_home> Lysis2.in :default
@11:03:45.43 <Air_home> Air.in :default
@11:03:45.45 <Archive_home> Archive.in :default
@11:03:46.71 <Toroid_home> Toroid.setRawPosition! 0
@11:03:46.77 Toroid.seek :home
@11:03:46.86 Toroid.in :default
@11:03:46.93 <preston> Toroid.seek :clear
@11:03:47.10 Slide::Error in preston -- Toroid Valve (TV) hitLimit at begin
@11:06:13.24 -> ESP.reready!
@11:06:13.27 <Archive_home> Archive.in :default
@11:06:13.32 <Air_home> Air.in :default
@11:06:13.39 <Lysis1_home> Lysis1.in :default
@11:06:13.50 <Lysis2_home> Lysis2.in :default
@11:06:13.59 <Plunge_home> Plunge.in :default
@11:06:13.63 <Toroid_home> Toroid.in :default
@11:06:13.71 <Carousel_home> Carousel.in :default
@11:06:13.75 <Archive_home> Archive.home.jog 0
@11:06:13.87 <Air_home> Air.home.jog 0
@11:06:13.94 <Lysis1_home> Lysis1.home.jog 0
@11:06:14.06 <Lysis2_home> Lysis2.home.jog 0
@11:06:14.15 <Plunge_home> Plunge.home.jog 0
@11:06:14.22 <Toroid_home> Toroid.home.jog 0
@11:06:14.25 <Carousel_home> Carousel.home.jog 0
@11:06:14.90 <Air_home> Air.in :homing
@11:06:14.94 <Archive_home> Archive.in :homing
@11:06:14.98 <Lysis1_home> Lysis1.in :homing
@11:06:15.03 <Toroid_home> Toroid.in :default
@11:06:15.56 <Air_home> Air.jog 1329
@11:06:15.58 <Archive_home> Archive.jog 1348
@11:06:15.62 <Lysis1_home> Lysis1.jog 1350
@11:06:15.67 <Toroid_home> Toroid.home.jog 0
@11:06:15.95 Toroid.in :homing
@11:06:15.98 <Plunge_home> Plunge.in :homing
@11:06:16.01 <Lysis2_home> Lysis2.in :homing
@11:06:16.14 <Toroid_home> Toroid.jog 950
@11:06:16.21 <Lysis2_home> Lysis2.jog 1358
@11:06:16.26 <Plunge_home> Plunge.jog 307
@11:06:16.78 <Air_home> Air.setRawPosition! 50
@11:06:16.84 Air.seek :home
@11:06:16.93 <Archive_home> Archive.setRawPosition! 50
@11:06:17.00 Archive.seek :home
@11:06:17.10 <Lysis1_home> Lysis1.setRawPosition! 50
@11:06:17.12 <Plunge_home> Plunge.setRawPosition! 50
@11:06:17.21 <Lysis1_home> Lysis1.seek :home
@11:06:17.25 <Plunge_home> Plunge.seek :home
@11:06:17.41 <Air_home> Air.in :default
@11:06:17.44 <Archive_home> Archive.in :default
@11:06:17.60 <Plunge_home> Plunge.in :default
@11:06:17.63 <Lysis2_home> Lysis2.setRawPosition! 50
@11:06:17.66 <Lysis1_home> Lysis1.in :default
@11:06:17.80 <Lysis2_home> Lysis2.seek :home
@11:06:18.11 Lysis2.in :default
@11:06:19.36 <Toroid_home> Toroid.setRawPosition! 0
@11:06:19.41 Toroid.seek :home
@11:06:19.50 Toroid.in :default
@11:06:19.57 <preston> Toroid.seek :clear
@11:06:19.74 Slide::Error in preston -- Toroid Valve (TV) hitLimit at begin - 2 counts
@11:06:33.28 -> TV
@11:06:33.38 Slide::Error in preston -- Toroid Valve (TV) Not yet Homed!
@11:06:38.72 -> TV.home.jog 0
@11:06:38.74 Toroid.in :default
@11:06:38.82 Toroid.home.jog 0
@11:06:38.92 Slide::Error in preston -- Toroid Valve (TV) hitLimit at begin - 3 counts
@11:06:41.69 -> TV
@11:06:41.78 Slide::Error in preston -- Toroid Valve (TV) Not yet Homed!
@11:06:44.95 -> TV.home.jog 0
@11:06:44.97 Toroid.in :default
@11:06:45.05 Toroid.home.jog 0
@11:06:45.15 Slide::Error in preston -- Toroid Valve (TV) hitLimit at begin - 3 counts
@11:06:48.30 -> TV
@11:06:48.39 Slide::Error in preston -- Toroid Valve (TV) Not yet Homed!
@11:06:55.50 -> TV.home.jog 0
@11:06:55.52 Toroid.in :default
@11:06:55.60 Toroid.home.jog 0
@11:06:55.70 Slide::Error in preston -- Toroid Valve (TV) hitLimit at begin - 3 counts
@11:07:05.93 -> TV.xray
<Slide:Toroid
 @cfgHash={default: Toroid[:default],
  hold: Toroid[:hold],
  homing: Toroid[:homing]}
 @channel=1
 @channels=2
 @config=Toroid[:default]
 @dwarf=#<I2C::Servo:0xb6ade6d8>
 @goHome=false
 @keyHash={-615631076 => :hold,
  -615562868 => :default,
  -615478088 => :homing}
 @lastConfigAt=11:03:40.77PDT10-Apr-23
 @lastConfigSent=<I2C::Servo::Configuration:0xfdb4c3760
  updatePeriod=50
  encoder=:negative
  threshold=:off
  home=:off
  jogHome=:canceled
  homeDirection=:reverse
  thresholdOffset=0
  maxPositionErr=1500
  stopWindow=0
  gain=<PIDgain: P=2, I=17, D=27>
  acceleration=5000
  deceleration=0
  stopRate=0
  maxSpeed=500
  minSpeed=0
  maxPWM=40
  minPWM=0
  maxSettling=150
  maxCurrent=0
  stiction=0
  friction=9229
  hunt=false
  brake=false
  maxDeltaPress=10
  maxInPress=0
  maxOutPress=0
  minDeltaPress=19049
  minInPress=0
  minOutPress=0
  pressBias=0
  pressGain=0
  inputDeltaPress=false
  externalCurrent=false
  debug=false>
 @lastStatus=<I2C::Servo::Status:0xfdb4bec9c
  enabled=false
  pastRLS=false
  pastFLS=false
  pastThreshold=false
  lost=true
  home=false
  position=-23
  velocity=0
  current=0
  pwm=0
  err=0
  inPress=0
  outPress=5261
  deltaPress=20386
  voltage=16.7963024054983>
 @map=#<AxisMap:0xb69dbbb0>
 @maxDuration=10 seconds
 @name="Toroid Valve (TV)"
 @nextConfig=<I2C::Servo::Configuration:0xfdb4c3760>
 @onExtraReply=#<Proc:0xb6b3ed80@/home/esp/esp2/lib/slide.rb:34>
 @ready=true
 @slop=0
 @sortedMap=[[-950,:cartridge],
  [-930,:end],
  [-730,:crack],
  [-470,"clear"],
  [-20,:begin],
  [0,"bypassed"]]
 @template=Toroid[:default]>
@11:07:24.07 -> TV.status
<I2C::Servo::Status:0xfdb4b42f8
 enabled=false
 pastRLS=false
 pastFLS=false
 pastThreshold=false
 lost=true
 home=false
 position=-23
 velocity=0
 current=0
 pwm=0
 err=0
 inPress=0
 outPress=4346
 deltaPress=20424
 voltage=16.8159391261659>
@11:08:31.62 -> exit
@11:08:31.63 Session Ended