@22:11:30.52EDT29-Aug-18 <MAIN> >BREAK< ESP3 Gateway v0.99 for core bus
@22:11:30.54 >BREAK< ESP3 Gateway v0.99 for cartridge bus
@22:11:31.80 
Configuration for honu by brent@mbari.org
/home/esp/esp2/type/auv/honu/configure.rb
@22:11:33.10 Polling Can every 5:00
@22:11:33.40 Clients may connect on TCP port 9999
Connecting to 10.89.5.2:9999
@22:11:33.44 Waiting for espclients...
@22:11:33.85 <LRAUV> Session Begun
@22:11:35.79 -> showStatus
@22:11:37.79 -> Cmd.loadCartridge
@22:11:37.92 Gate.power :main,:ON,limit to 5000mA
@22:11:37.93 Gate.power :analytic1,:ON,limit to 5000mA
@22:11:37.96 Gate.power :analytic2,:ON,limit to 5000mA
@22:11:37.97 Gate.power :analytic3,:ON,limit to 5000mA
@22:11:38.11 Powering core bus
@22:11:40.42 <Probe-AMspr> SPR Module 1, FW Rev. B, FPGA Rev. C
@22:11:40.51 <LRAUV> ArS.configure ArSconfig
@22:11:40.61 LyS1.configure LyS1config
@22:11:40.73 LyS2.configure LyS2config
@22:11:40.83 AirS.configure AirSconfig
@22:11:40.95 TV.configure TVconfig
@22:11:41.07 SP.configure SPconfig
@22:11:41.19 SC.configure SCconfig
@22:11:41.31 PV.configure PVconfig
@22:11:41.42 PinPort.configure PPconfig
@22:11:41.54 Sea.configure SPconfig
@22:11:41.60 All elf controllers running firmware version 4.5
@22:11:41.62 Gate.power :motor,:ON,limit to 5000mA
@22:11:41.74 <ArS_home> ArS.reconfigure ArSconfig
@22:11:41.94 ArS.home.jog 0
@22:11:42.21 <PinPort_home> PinPort.reconfigure PPconfig
@22:11:42.26 <PV_home> PV.reconfigure PVconfig
@22:11:42.30 <AirS_home> AirS.reconfigure AirSconfig
@22:11:42.33 <LyS1_home> LyS1.reconfigure LyS1config
@22:11:42.39 <TV_home> TV.reconfigure TVconfig
@22:11:42.44 <LyS2_home> LyS2.reconfigure LyS2config
@22:11:42.63 <PinPort_home> PinPort.home.jog 0
@22:11:42.66 <AirS_home> AirS.home.jog 0
@22:11:42.69 <PV_home> PV.home.jog 0
@22:11:42.71 <LyS1_home> LyS1.home.jog 0
@22:11:42.75 <TV_home> TV.home.jog 0
@22:11:42.77 <LyS2_home> LyS2.home.jog 0
@22:11:43.23 <ArS_home> ArS.reconfigure HomeMagSyringe
@22:11:43.41 <TV_home> TV.reconfigure HomeTV
@22:11:43.47 <LyS2_home> LyS2.reconfigure HomeSyringe
@22:11:43.50 <ArS_home> ArS.jog -225
@22:11:43.55 <PinPort_home> PinPort.reconfigure HomePP
@22:11:43.57 <PV_home> PV.reconfigure HomePV
@22:11:43.60 <LyS1_home> LyS1.reconfigure HomeSyringe
@22:11:43.66 <AirS_home> AirS.reconfigure HomeMagSyringe
@22:11:43.86 <TV_home> TV.jog -545
@22:11:43.96 <LyS2_home> LyS2.jog -258
@22:11:44.00 <PinPort_home> PinPort.jog -112
@22:11:44.04 <PV_home> PV.jog -1478
@22:11:44.07 <AirS_home> AirS.jog -320
@22:11:44.12 <LyS1_home> LyS1.jog -263
@22:11:44.35 <ArS_home> ArS.setRawPosition! -50
@22:11:44.40 ArS.seek :home
@22:11:44.83 <PinPort_home> PinPort.setRawPosition! 0
@22:11:44.86 <LyS2_home> LyS2.setRawPosition! -50
@22:11:44.88 <ArS_home> ArS.reconfigure ArSconfig
@22:11:44.98 <PinPort_home> PinPort.seek :home
@22:11:45.05 <LyS2_home> LyS2.seek :home
@22:11:45.21 <PinPort_home> PinPort.reconfigure PPconfig
@22:11:45.23 <AirS_home> AirS.setRawPosition! -50
@22:11:45.26 <LyS1_home> LyS1.setRawPosition! -50
@22:11:45.37 <AirS_home> AirS.seek :home
@22:11:45.42 <LyS1_home> LyS1.seek :home
@22:11:45.58 <PV_home> PV.setRawPosition! -50
@22:11:45.59 <LyS2_home> LyS2.reconfigure LyS2config
@22:11:45.68 <PV_home> PV.seek :home
@22:11:45.81 <AirS_home> AirS.reconfigure AirSconfig
@22:11:45.84 <LyS1_home> LyS1.reconfigure LyS1config
@22:11:45.98 <TV_home> TV.setRawPosition! 0
@22:11:46.03 TV.seek :home
@22:11:46.13 <PV_home> PV.reconfigure PVconfig
@22:11:46.15 <TV_home> TV.reconfigure TVconfig
@22:11:46.42 <LRAUV> TV.seek :clear
@22:11:48.04 TV.coast
@22:11:48.09 SC.reconfigure HomeSC
@22:11:48.16 SC.home.jog 0
@22:11:48.91 SC.reconfigure SCconfig
@22:11:48.97 SC.seek 26
@22:11:49.07 Selecting Cartridge 25
@22:11:49.37 SC.seek 25
@22:11:49.87 <LyS2> LyS2.seek :locked
@22:11:49.99 <PV> PV.seek :locked
@22:11:50.13 <AirS> AirS.seek :locked
@22:11:54.21 <LRAUV> Powering cartridge bus
@22:11:56.34 Gate.setIR 1750,5000,0,6
@22:11:56.47 Gate.setIR 0,5000,0,6
@22:11:56.50 Loaded Archive Cartridge
@22:11:56.51 Gate.power :cartridge,:OFF
@22:12:16.14 -> Cmd.startFiltering
@22:12:16.37 <FILTERING> Duration of filtering limited to 1:05:00
@22:12:16.62 Priming sample loop w/100ml, bypass w/10ml
@22:12:16.70 SP.setPosition! 0ml
@22:12:16.74 <openIntake> Intake.open
@22:12:16.77 <FILTERING> Exhaust.open
@22:12:17.58 Sea @-42.9psia
@22:12:17.60 Waiting 4 - 300s for filter pressure to stabilize +/-0.5psi
@22:12:23.38 Vacuum tare is 25% of full scale
@22:12:23.40 <openPB> PB.open
@22:12:23.44 <FILTERING> Exhaust.close
@22:12:24.22 Sea @-42.9psia
@22:12:24.31 SP.reconfigure SPprime
@22:12:24.37 SP.seek 10ml,1:21
@22:12:35.22 SP.setPosition! 0ml
@22:12:35.27 <closePB> PB.close
@22:12:35.29 <FILTERING> Exhaust.open
@22:12:36.09 Sea @-42.9psia
@22:12:36.18 SP.reconfigure SPprime
@22:12:36.24 SP.seek 100ml,8:51
@22:14:29.75 Intake.close
@22:14:30.46 Pressurizing cartridge to 26psi (try #1 of 3)
@22:14:30.48 SP.setPosition! 0ml
@22:14:30.53 PB.open
@22:14:31.32 TV.seek :crack
@22:14:32.11 TV.seek :clear
@22:14:32.90 Intake.open
@22:14:34.33 PB.close
@22:14:35.07 Exhaust.close
@22:14:35.82 Sea @-42.9psia
@22:14:35.90 SP.reconfigure SPcharge
@22:14:35.97 SP.seek 2.3ml,42 seconds
@22:14:45.62 Cartridge pressurized with 0.434ml to 26.2psi
@22:14:45.85 delay 3 seconds
@22:14:48.92 Cartridge at 17.9psi 3 seconds later
@22:14:49.00 TV.seek :cartridge
@22:14:50.83 TV.seek :clear
@22:14:52.65 Sampling 1000.0ml
@22:14:52.66 SP.setPosition! 0ml
@22:14:52.70 Exhaust.open
@22:14:53.46 Sea @-42.9psia
@22:14:53.56 SP.reconfigure SPsample
@22:14:53.62 SP.seek 1000ml,1:23:53
@22:14:54.58 <sampling> Cartridge 25 sampling 0/1000ml at 0.17ml/s with 4.4psi vacuum
@22:15:54.59 Cartridge 25 sampling 16/1000ml at 0.20ml/s with 22.8psi vacuum
@22:16:06.52 <FILTERING> Flow averaged 0.26ml/s over 1:12
@22:16:06.55 Waiting up to 9 seconds for vacuum to reduce from 26.3 to 18.0psi
@22:16:07.16 Relieved excess vacuum in 2.5 seconds
@22:16:07.19 SP.seek 1000ml,1:22:21
@22:16:10.36 Flow estimate reduced to 0.21ml/s
@22:16:10.38 Waiting up to 27 seconds for vacuum to reduce from 33.5 to 18.0psi
@22:16:11.30 Relieved excess vacuum in 1 second
@22:16:11.33 SP.seek 1000ml,1:22:19
@22:16:14.06 Flow estimate reduced to 0.16ml/s
@22:16:14.08 <closeIntake> Intake.close
@22:16:14.12 <closeExhaust> Exhaust.close
@22:16:14.90 Cartridge::Sampler::Clogged in FILTERING -- Cartridge clogged
@22:16:15.00 <FILTERING> Sampled  19.2ml
@22:16:15.08 TV.seek :bypass
@22:16:16.70 TV.seek :clear
@22:16:18.97 <LRAUV> -> Cmd.startProcessing
@22:16:19.23 <PROCESSING> PV.seek :reagent
@22:16:20.06 Sample loop closed. Ready to Deliver Reagents
@22:16:20.08 ArS.seek :sealed
@22:16:24.36 ArS.seek :evac
@22:16:38.28 delay 20 seconds
@22:16:58.57 ArS.seek :clear
@22:17:16.27 RNAlater soak for 10:00
@22:27:16.29 ArS.seek :tVent
@22:27:18.86 delay 1 second
@22:27:19.89 ArS.seek :evac
@22:27:35.51 delay 10 seconds
@22:27:45.55 Sample preserved and evacuated
@22:27:46.73 <LRAUV> -> Cmd.stop
@22:27:46.88 PV.seek :locked
@22:27:47.77 PinPort.seek :clear
@22:27:47.91 <ArS> ArS.seek :clear
@22:27:48.09 <LyS2> LyS2.seek :clear
@22:27:48.22 <AirS> AirS.seek :clear
@22:28:05.66 <LRAUV> ArS.coast
@22:28:05.71 LyS1.coast
@22:28:05.76 LyS2.coast
@22:28:05.81 AirS.coast
@22:28:05.86 TV.coast
@22:28:05.91 SP.coast
@22:28:05.96 SC.coast
@22:28:06.01 PV.coast
@22:28:06.06 PinPort.coast
@22:28:06.24 Gate.power :motor,:OFF
@22:28:06.25 Gate.power :main,:OFF
@22:28:06.27 Gate.power :core,:OFF
@22:28:06.29 Gate.power :analytic1,:OFF
@22:28:06.32 Gate.power :analytic2,:OFF
@22:28:06.34 Gate.power :analytic3,:OFF
@22:28:06.36 Safely stopped and ready to power off