@13:17:11.26EDT31-Aug-18 <MAIN> >BREAK< ESP3 Gateway v0.99 for core bus
@13:17:11.28 >BREAK< ESP3 Gateway v0.99 for cartridge bus
@13:17:12.53 
Configuration for honu by brent@mbari.org
/home/esp/esp2/type/auv/honu/configure.rb
@13:17:13.85 Polling Can every 5:00
@13:17:14.15 Clients may connect on TCP port 9999
@13:17:14.16 Connecting to 10.89.5.2:9999
@13:17:14.20 Waiting for espclients...
@13:17:14.64 <LRAUV> Session Begun
@13:17:16.58 -> showStatus
@13:17:18.58 -> Cmd.loadCartridge
@13:17:18.71 Gate.power :main,:ON,limit to 5000mA
@13:17:18.72 Gate.power :analytic1,:ON,limit to 5000mA
@13:17:18.75 Gate.power :analytic2,:ON,limit to 5000mA
@13:17:18.76 Gate.power :analytic3,:ON,limit to 5000mA
@13:17:18.91 Powering core bus
@13:17:21.21 <Probe-AMspr> SPR Module 1, FW Rev. B, FPGA Rev. C
@13:17:21.29 <LRAUV> ArS.configure ArSconfig
@13:17:21.39 LyS1.configure LyS1config
@13:17:21.51 LyS2.configure LyS2config
@13:17:21.62 AirS.configure AirSconfig
@13:17:21.73 TV.configure TVconfig
@13:17:21.85 SP.configure SPconfig
@13:17:21.97 SC.configure SCconfig
@13:17:22.09 PV.configure PVconfig
@13:17:22.21 PinPort.configure PPconfig
@13:17:22.33 Sea.configure SPconfig
@13:17:22.38 All elf controllers running firmware version 4.5
@13:17:22.40 Gate.power :motor,:ON,limit to 5000mA
@13:17:22.52 <ArS_home> ArS.reconfigure ArSconfig
@13:17:22.83 ArS.home.jog 0
@13:17:23.02 <PinPort_home> PinPort.reconfigure PPconfig
@13:17:23.05 <PV_home> PV.reconfigure PVconfig
@13:17:23.08 <AirS_home> AirS.reconfigure AirSconfig
@13:17:23.11 <LyS1_home> LyS1.reconfigure LyS1config
@13:17:23.16 <TV_home> TV.reconfigure TVconfig
@13:17:23.19 <LyS2_home> LyS2.reconfigure LyS2config
@13:17:23.37 <PinPort_home> PinPort.home.jog 0
@13:17:23.42 <PV_home> PV.home.jog 0
@13:17:23.44 <AirS_home> AirS.home.jog 0
@13:17:23.48 <LyS1_home> LyS1.home.jog 0
@13:17:23.53 <TV_home> TV.home.jog 0
@13:17:23.56 <LyS2_home> LyS2.home.jog 0
@13:17:24.19 <TV_home> TV.reconfigure HomeTV
@13:17:24.23 <LyS2_home> LyS2.reconfigure HomeSyringe
@13:17:24.26 <PV_home> PV.reconfigure HomePV
@13:17:24.31 <LyS1_home> LyS1.reconfigure HomeSyringe
@13:17:24.33 <PinPort_home> PinPort.reconfigure HomePP
@13:17:24.36 <AirS_home> AirS.reconfigure HomeMagSyringe
@13:17:24.41 <ArS_home> ArS.reconfigure HomeMagSyringe
@13:17:24.63 <LyS2_home> LyS2.jog -259
@13:17:24.66 <TV_home> TV.jog -548
@13:17:24.68 <PV_home> PV.jog -1477
@13:17:24.72 <LyS1_home> LyS1.jog -262
@13:17:24.75 <PinPort_home> PinPort.jog -110
@13:17:24.78 <AirS_home> AirS.jog -316
@13:17:24.81 <ArS_home> ArS.jog -241
@13:17:25.37 <PinPort_home> PinPort.setRawPosition! 0
@13:17:25.69 PinPort.seek :home
@13:17:25.79 <AirS_home> AirS.setRawPosition! -50
@13:17:25.83 <LyS1_home> LyS1.setRawPosition! -50
@13:17:25.85 <ArS_home> ArS.setRawPosition! -50
@13:17:25.87 <LyS2_home> LyS2.setRawPosition! -50
@13:17:25.90 <PinPort_home> PinPort.reconfigure PPconfig
@13:17:26.04 <AirS_home> AirS.seek :home
@13:17:26.13 <LyS2_home> LyS2.seek :home
@13:17:26.18 <ArS_home> ArS.seek :home
@13:17:26.20 <LyS1_home> LyS1.seek :home
@13:17:26.43 <PV_home> PV.setRawPosition! -50
@13:17:26.48 PV.seek :home
@13:17:26.59 <AirS_home> AirS.reconfigure AirSconfig
@13:17:26.70 <LyS2_home> LyS2.reconfigure LyS2config
@13:17:26.72 <LyS1_home> LyS1.reconfigure LyS1config
@13:17:26.76 <ArS_home> ArS.reconfigure ArSconfig
@13:17:26.93 <PV_home> PV.reconfigure PVconfig
@13:17:26.95 <TV_home> TV.setRawPosition! 0
@13:17:27.05 TV.seek :home
@13:17:27.16 TV.reconfigure TVconfig
@13:17:27.40 <LRAUV> TV.seek :clear
@13:17:29.02 TV.coast
@13:17:29.08 SC.reconfigure HomeSC
@13:17:29.14 SC.home.jog 0
@13:17:29.88 SC.reconfigure SCconfig
@13:17:29.94 SC.seek 18
@13:17:30.04 Selecting Cartridge 17
@13:17:30.34 SC.seek 17
@13:17:30.85 <LyS2> LyS2.seek :locked
@13:17:30.98 <PV> PV.seek :locked
@13:17:31.11 <AirS> AirS.seek :locked
@13:17:35.19 <LRAUV> Powering cartridge bus
@13:17:37.31 Gate.setIR 1750,5000,0,6
@13:17:37.43 Gate.setIR 0,5000,0,6
@13:17:37.47 Loaded Archive Cartridge
@13:17:37.48 Gate.power :cartridge,:OFF
@13:17:56.92 -> Cmd.startFiltering
@13:17:57.15 <FILTERING> Duration of filtering limited to 1:05:00
@13:17:57.40 Priming sample loop w/100ml, bypass w/10ml
@13:17:57.48 SP.setPosition! 0ml
@13:17:57.52 <openIntake> Intake.open
@13:17:57.56 <FILTERING> Exhaust.open
@13:17:58.44 Sea @-42.9psia
@13:17:58.45 Waiting 4 - 300s for filter pressure to stabilize +/-0.5psi
@13:18:03.99 Vacuum tare is 24% of full scale
@13:18:04.01 <openPB> PB.open
@13:18:04.05 <FILTERING> Exhaust.close
@13:18:04.83 Sea @-42.9psia
@13:18:04.92 SP.reconfigure SPprime
@13:18:04.98 SP.seek 10ml,1:21
@13:18:15.83 SP.setPosition! 0ml
@13:18:15.88 <closePB> PB.close
@13:18:15.90 <FILTERING> Exhaust.open
@13:18:16.72 Sea @-42.9psia
@13:18:16.80 SP.reconfigure SPprime
@13:18:16.87 SP.seek 100ml,8:51
@13:20:10.56 Intake.close
@13:20:11.30 Pressurizing cartridge to 26psi (try #1 of 3)
@13:20:11.31 SP.setPosition! 0ml
@13:20:11.37 PB.open
@13:20:12.17 TV.seek :crack
@13:20:12.97 TV.seek :clear
@13:20:13.76 Intake.open
@13:20:15.21 PB.close
@13:20:15.94 Exhaust.close
@13:20:16.70 Sea @-42.9psia
@13:20:16.79 SP.reconfigure SPcharge
@13:20:16.85 SP.seek 2.3ml,42 seconds
@13:20:25.28 Cartridge pressurized with 0.331ml to 27.1psi
@13:20:25.51 delay 3 seconds
@13:20:28.58 Cartridge at 22.0psi 3 seconds later
@13:20:28.66 TV.seek :cartridge
@13:20:30.49 TV.seek :clear
@13:20:32.30 Sampling 1000.0ml
@13:20:32.32 SP.setPosition! 0ml
@13:20:32.37 Exhaust.open
@13:20:33.12 Sea @-42.9psia
@13:20:33.21 SP.reconfigure SPsample
@13:20:33.28 SP.seek 1000ml,1:23:53
@13:20:34.23 <sampling> Cartridge 17 sampling 0/1000ml at 0.17ml/s with 6.1psi vacuum
@13:21:34.24 Cartridge 17 sampling 23/1000ml at 0.35ml/s with 24.0psi vacuum
@13:22:34.23 Cartridge 17 sampling 45/1000ml at 0.31ml/s with 21.8psi vacuum
@13:23:34.24 Cartridge 17 sampling 64/1000ml at 0.32ml/s with 25.8psi vacuum
@13:24:34.24 Cartridge 17 sampling 82/1000ml at 0.25ml/s with 20.6psi vacuum
@13:25:34.24 Cartridge 17 sampling 99/1000ml at 0.29ml/s with 19.8psi vacuum
@13:26:34.24 Cartridge 17 sampling 114/1000ml at 0.29ml/s with 24.5psi vacuum
@13:27:34.23 Cartridge 17 sampling 128/1000ml at 0.24ml/s with 26.1psi vacuum
@13:28:34.24 Cartridge 17 sampling 141/1000ml at 0.24ml/s with 24.1psi vacuum
@13:29:34.24 Cartridge 17 sampling 154/1000ml at 0.20ml/s with 24.3psi vacuum
@13:30:34.24 Cartridge 17 sampling 166/1000ml at 0.20ml/s with 26.3psi vacuum
@13:30:43.05 <FILTERING> Flow averaged 0.28ml/s over 10:02
@13:30:43.07 Waiting up to 13 seconds for vacuum to reduce from 28.0 to 18.0psi
@13:30:43.69 Relieved excess vacuum in 9.4 seconds
@13:30:43.71 SP.seek 1000ml,1:09:54
@13:31:14.22 Flow averaged 0.26ml/s over 24 seconds
@13:31:14.25 Waiting up to 23 seconds for vacuum to reduce from 32.0 to 18.0psi
@13:31:15.13 Relieved excess vacuum in 8.3 seconds
@13:31:15.16 SP.seek 1000ml,1:09:24
@13:31:23.63 Flow estimate reduced to 0.21ml/s
@13:31:23.65 Waiting up to 22 seconds for vacuum to reduce from 31.7 to 18.0psi
@13:31:24.27 Relieved excess vacuum in 6 seconds
@13:31:24.30 SP.seek 1000ml,1:09:16
@13:31:31.23 Flow estimate reduced to 0.17ml/s
@13:31:31.24 <closeIntake> Intake.close
@13:31:31.28 <closeExhaust> Exhaust.close
@13:31:32.06 Cartridge::Sampler::Clogged in FILTERING -- Cartridge clogged
@13:31:32.16 <FILTERING> Sampled  176.6ml
@13:31:32.24 TV.seek :bypass
@13:31:33.86 TV.seek :clear
@13:31:36.12 <LRAUV> -> Cmd.startProcessing
@13:31:36.38 <PROCESSING> PV.seek :reagent
@13:31:37.23 Sample loop closed. Ready to Deliver Reagents
@13:31:37.25 ArS.seek :sealed
@13:31:41.53 ArS.seek :evac
@13:31:55.45 delay 20 seconds
@13:32:15.48 ArS.seek :clear
@13:32:33.20 RNAlater soak for 10:00
@13:42:33.22 ArS.seek :tVent
@13:42:35.79 delay 1 second
@13:42:36.82 ArS.seek :evac
@13:42:52.43 delay 10 seconds
@13:43:02.47 Sample preserved and evacuated
@13:43:03.46 <LRAUV> -> Cmd.stop
@13:43:03.61 PV.seek :locked
@13:43:04.50 PinPort.seek :clear
@13:43:04.64 <ArS> ArS.seek :clear
@13:43:04.83 <LyS2> LyS2.seek :clear
@13:43:04.97 <AirS> AirS.seek :clear
@13:43:22.37 <LRAUV> ArS.coast
@13:43:22.42 LyS1.coast
@13:43:22.47 LyS2.coast
@13:43:22.52 AirS.coast
@13:43:22.57 TV.coast
@13:43:22.62 SP.coast
@13:43:22.67 SC.coast
@13:43:22.72 PV.coast
@13:43:22.77 PinPort.coast
@13:43:22.94 Gate.power :motor,:OFF
@13:43:22.96 Gate.power :main,:OFF
@13:43:22.98 Gate.power :core,:OFF
@13:43:23.00 Gate.power :analytic1,:OFF
@13:43:23.02 Gate.power :analytic2,:OFF
@13:43:23.05 Gate.power :analytic3,:OFF
@13:43:23.06 Safely stopped and ready to power off