@20:24:16.28EDT29-Aug-18 <MAIN> >BREAK< ESP3 Gateway v0.99 for core bus
@20:24:16.30 >BREAK< ESP3 Gateway v0.99 for cartridge bus
@20:24:17.55 
Configuration for honu by brent@mbari.org
/home/esp/esp2/type/auv/honu/configure.rb
@20:24:18.84 Polling Can every 5:00
@20:24:19.14 Clients may connect on TCP port 9999
@20:24:19.15 Connecting to 10.89.5.2:9999
@20:24:19.19 Waiting for espclients...
@20:24:19.40 <LRAUV> Session Begun
@20:24:21.26 -> showStatus
@20:24:23.25 -> Cmd.loadCartridge
@20:24:23.37 Gate.power :main,:ON,limit to 5000mA
@20:24:23.39 Gate.power :analytic1,:ON,limit to 5000mA
@20:24:23.41 Gate.power :analytic2,:ON,limit to 5000mA
@20:24:23.43 Gate.power :analytic3,:ON,limit to 5000mA
@20:24:23.57 Powering core bus
@20:24:25.88 <Probe-AMspr> SPR Module 1, FW Rev. B, FPGA Rev. C
@20:24:25.98 <LRAUV> ArS.configure ArSconfig
@20:24:26.08 LyS1.configure LyS1config
@20:24:26.20 LyS2.configure LyS2config
@20:24:26.32 AirS.configure AirSconfig
@20:24:26.44 TV.configure TVconfig
@20:24:26.56 SP.configure SPconfig
@20:24:26.68 SC.configure SCconfig
@20:24:26.79 PV.configure PVconfig
@20:24:26.91 PinPort.configure PPconfig
@20:24:27.04 Sea.configure SPconfig
@20:24:27.09 All elf controllers running firmware version 4.5
@20:24:27.11 Gate.power :motor,:ON,limit to 5000mA
@20:24:27.38 <LyS1_home> LyS1.reconfigure LyS1config
@20:24:27.48 <ArS_home> ArS.reconfigure ArSconfig
@20:24:27.63 ArS.home.jog 0
@20:24:27.65 <LyS1_home> LyS1.home.jog 0
@20:24:27.84 <PV_home> PV.reconfigure PVconfig
@20:24:27.90 <TV_home> TV.reconfigure TVconfig
@20:24:27.94 <LyS2_home> LyS2.reconfigure LyS2config
@20:24:27.99 <PinPort_home> PinPort.reconfigure PPconfig
@20:24:28.09 <AirS_home> AirS.reconfigure AirSconfig
@20:24:28.20 <PV_home> PV.home.jog 0
@20:24:28.25 <LyS2_home> LyS2.home.jog 0
@20:24:28.29 <PinPort_home> PinPort.home.jog 0
@20:24:28.32 <TV_home> TV.home.jog 0
@20:24:28.45 <AirS_home> AirS.home.jog 0
@20:24:28.73 <ArS_home> ArS.reconfigure HomeMagSyringe
@20:24:28.78 <LyS1_home> LyS1.reconfigure HomeSyringe
@20:24:28.92 <ArS_home> ArS.jog -234
@20:24:28.94 <LyS1_home> LyS1.jog -262
@20:24:29.11 <PV_home> PV.reconfigure HomePV
@20:24:29.16 <AirS_home> AirS.reconfigure HomeMagSyringe
@20:24:29.20 <LyS2_home> LyS2.reconfigure HomeSyringe
@20:24:29.23 <PinPort_home> PinPort.reconfigure HomePP
@20:24:29.27 <TV_home> TV.reconfigure HomeTV
@20:24:29.43 <PV_home> PV.jog -1474
@20:24:29.47 <LyS2_home> LyS2.jog -257
@20:24:29.51 <PinPort_home> PinPort.jog -111
@20:24:29.54 <AirS_home> AirS.jog -313
@20:24:29.57 <TV_home> TV.jog -541
@20:24:29.77 <LyS1_home> LyS1.setRawPosition! -50
@20:24:29.79 <ArS_home> ArS.setRawPosition! -50
@20:24:29.86 <LyS1_home> LyS1.seek :home
@20:24:29.95 <ArS_home> ArS.seek :home
@20:24:30.35 <AirS_home> AirS.setRawPosition! -50
@20:24:30.38 <PinPort_home> PinPort.setRawPosition! 0
@20:24:30.40 <LyS2_home> LyS2.setRawPosition! -50
@20:24:30.50 <AirS_home> AirS.seek :home
@20:24:30.58 <PinPort_home> PinPort.seek :home
@20:24:30.61 <LyS2_home> LyS2.seek :home
@20:24:30.84 <PV_home> PV.setRawPosition! -50
@20:24:30.87 <ArS_home> ArS.reconfigure ArSconfig
@20:24:30.89 <PinPort_home> PinPort.reconfigure PPconfig
@20:24:30.93 <LyS1_home> LyS1.reconfigure LyS1config
@20:24:31.07 <PV_home> PV.seek :home
@20:24:31.23 <AirS_home> AirS.reconfigure AirSconfig
@20:24:31.26 <LyS2_home> LyS2.reconfigure LyS2config
@20:24:31.43 <PV_home> PV.reconfigure PVconfig
@20:24:31.54 <TV_home> TV.setRawPosition! 0
@20:24:31.58 TV.seek :home
@20:24:31.68 TV.reconfigure TVconfig
@20:24:31.83 <LRAUV> TV.seek :clear
@20:24:33.45 TV.coast
@20:24:33.50 SC.reconfigure HomeSC
@20:24:33.57 SC.home.jog 0
@20:24:34.32 SC.reconfigure SCconfig
@20:24:34.38 SC.seek 28
@20:24:34.45 Selecting Cartridge 27
@20:24:34.75 SC.seek 27
@20:24:35.26 <LyS2> LyS2.seek :locked
@20:24:35.38 <PV> PV.seek :locked
@20:24:35.52 <AirS> AirS.seek :locked
@20:24:39.59 <LRAUV> Powering cartridge bus
@20:24:41.72 Gate.setIR 1750,5000,0,6
@20:24:41.84 Gate.setIR 0,5000,0,6
@20:24:41.88 Loaded Archive Cartridge
@20:24:41.89 Gate.power :cartridge,:OFF
@20:25:01.59 -> Cmd.startFiltering
@20:25:01.83 <FILTERING> Duration of filtering limited to 1:05:00
@20:25:02.08 Priming sample loop w/100ml, bypass w/10ml
@20:25:02.16 SP.setPosition! 0ml
@20:25:02.20 <openIntake> Intake.open
@20:25:02.22 <FILTERING> Exhaust.open
@20:25:03.08 Sea @-42.9psia
@20:25:03.10 Waiting 4 - 300s for filter pressure to stabilize +/-0.5psi
@20:25:08.89 Vacuum tare is 24% of full scale
@20:25:08.90 <openPB> PB.open
@20:25:08.93 <FILTERING> Exhaust.close
@20:25:09.76 Sea @-42.9psia
@20:25:09.84 SP.reconfigure SPprime
@20:25:09.91 SP.seek 10ml,1:21
@20:25:20.76 SP.setPosition! 0ml
@20:25:20.81 <closePB> PB.close
@20:25:20.83 <FILTERING> Exhaust.open
@20:25:21.65 Sea @-42.9psia
@20:25:21.73 SP.reconfigure SPprime
@20:25:21.80 SP.seek 100ml,8:51
@20:27:15.43 Intake.close
@20:27:16.18 Pressurizing cartridge to 26psi (try #1 of 3)
@20:27:16.19 SP.setPosition! 0ml
@20:27:16.25 PB.open
@20:27:17.02 TV.seek :crack
@20:27:17.82 TV.seek :clear
@20:27:18.62 Intake.open
@20:27:20.08 PB.close
@20:27:20.79 Exhaust.close
@20:27:21.58 Sea @-42.9psia
@20:27:21.66 SP.reconfigure SPcharge
@20:27:21.73 SP.seek 2.3ml,42 seconds
@20:27:32.58 Cartridge pressurized with 0.551ml to 26.6psi
@20:27:32.96 delay 3 seconds
@20:27:36.03 Cartridge at 22.5psi 3 seconds later
@20:27:36.11 TV.seek :cartridge
@20:27:37.93 TV.seek :clear
@20:27:39.75 Sampling 1000.0ml
@20:27:39.76 SP.setPosition! 0ml
@20:27:39.81 Exhaust.open
@20:27:40.59 Sea @-42.9psia
@20:27:40.68 SP.reconfigure SPsample
@20:27:40.75 SP.seek 1000ml,1:23:53
@20:27:41.70 <sampling> Cartridge 27 sampling 0/1000ml at 0.17ml/s with 7.6psi vacuum
@20:28:41.71 Cartridge 27 sampling 15/1000ml at 0.20ml/s with 24.8psi vacuum
@20:28:58.28 <FILTERING> Flow averaged 0.26ml/s over 1:12
@20:28:58.30 Waiting up to 8 seconds for vacuum to reduce from 26.2 to 18.0psi
@20:28:59.23 Relieved excess vacuum in 7.4 seconds
@20:28:59.25 SP.seek 1000ml,1:22:20
@20:29:03.09 Flow estimate reduced to 0.21ml/s
@20:29:03.11 Waiting up to 13 seconds for vacuum to reduce from 28.0 to 18.0psi
@20:29:04.04 Relieved excess vacuum in 1.7 seconds
@20:29:04.06 SP.seek 1000ml,1:22:17
@20:29:07.43 Flow estimate reduced to 0.17ml/s
@20:29:07.44 <closeIntake> Intake.close
@20:29:07.49 <closeExhaust> Exhaust.close
@20:29:08.28 Cartridge::Sampler::Clogged in FILTERING -- Cartridge clogged
@20:29:08.38 <FILTERING> Sampled  19.8ml
@20:29:08.47 TV.seek :bypass
@20:29:10.08 TV.seek :clear
@20:29:12.41 <LRAUV> -> Cmd.startProcessing
@20:29:12.66 <PROCESSING> PV.seek :reagent
@20:29:13.54 Sample loop closed. Ready to Deliver Reagents
@20:29:13.55 ArS.seek :sealed
@20:29:17.82 ArS.seek :evac
@20:29:31.75 delay 20 seconds
@20:29:51.79 ArS.seek :clear
@20:30:09.49 RNAlater soak for 10:00
@20:40:09.52 ArS.seek :tVent
@20:40:12.08 delay 1 second
@20:40:13.11 ArS.seek :evac
@20:40:28.73 delay 10 seconds
@20:40:38.76 Sample preserved and evacuated
@20:40:39.77 <LRAUV> -> Cmd.stop
@20:40:39.92 PV.seek :locked
@20:40:40.81 PinPort.seek :clear
@20:40:40.95 <ArS> ArS.seek :clear
@20:40:41.13 <LyS2> LyS2.seek :clear
@20:40:41.27 <AirS> AirS.seek :clear
@20:40:58.70 <LRAUV> ArS.coast
@20:40:58.75 LyS1.coast
@20:40:58.80 LyS2.coast
@20:40:58.85 AirS.coast
@20:40:58.90 TV.coast
@20:40:58.95 SP.coast
@20:40:59.00 SC.coast
@20:40:59.05 PV.coast
@20:40:59.10 PinPort.coast
@20:40:59.28 Gate.power :motor,:OFF
@20:40:59.30 Gate.power :main,:OFF
@20:40:59.32 Gate.power :core,:OFF
@20:40:59.34 Gate.power :analytic1,:OFF
@20:40:59.36 Gate.power :analytic2,:OFF
@20:40:59.38 Gate.power :analytic3,:OFF
@20:40:59.40 Safely stopped and ready to power off