@18:21:23.56EDT02-Sep-18 <MAIN> >BREAK< ESP3 Gateway v0.99 for core bus
@18:21:23.58 >BREAK< ESP3 Gateway v0.99 for cartridge bus
@18:21:24.81 
Configuration for honu by brent@mbari.org
/home/esp/esp2/type/auv/honu/configure.rb
@18:21:26.17 Polling Can every 5:00
@18:21:26.48 Clients may connect on TCP port 9999
Connecting to 10.89.5.2:9999
@18:21:26.53 Waiting for espclients...
@18:21:26.86 <LRAUV> Session Begun
@18:21:28.80 -> showStatus
@18:21:30.81 -> Cmd.loadCartridge
@18:21:30.94 Gate.power :main,:ON,limit to 5000mA
@18:21:30.96 Gate.power :analytic1,:ON,limit to 5000mA
@18:21:30.98 Gate.power :analytic2,:ON,limit to 5000mA
@18:21:31.00 Gate.power :analytic3,:ON,limit to 5000mA
@18:21:31.14 Powering core bus
@18:21:33.45 <Probe-AMspr> SPR Module 1, FW Rev. B, FPGA Rev. C
@18:21:33.54 <LRAUV> ArS.configure ArSconfig
@18:21:33.64 LyS1.configure LyS1config
@18:21:33.76 LyS2.configure LyS2config
@18:21:33.87 AirS.configure AirSconfig
@18:21:33.98 TV.configure TVconfig
@18:21:34.10 SP.configure SPconfig
@18:21:34.21 SC.configure SCconfig
@18:21:34.33 PV.configure PVconfig
@18:21:34.45 PinPort.configure PPconfig
@18:21:34.57 Sea.configure SPconfig
@18:21:34.62 All elf controllers running firmware version 4.5
@18:21:34.64 Gate.power :motor,:ON,limit to 5000mA
@18:21:34.94 <ArS_home> ArS.reconfigure ArSconfig
@18:21:35.18 <PV_home> PV.reconfigure PVconfig
@18:21:35.24 <TV_home> TV.reconfigure TVconfig
@18:21:35.27 <LyS2_home> LyS2.reconfigure LyS2config
@18:21:35.31 <ArS_home> ArS.home.jog 0
@18:21:35.34 <PinPort_home> PinPort.reconfigure PPconfig
@18:21:35.37 <AirS_home> AirS.reconfigure AirSconfig
@18:21:35.40 <LyS1_home> LyS1.reconfigure LyS1config
@18:21:35.63 <TV_home> TV.home.jog 0
@18:21:35.67 <PV_home> PV.home.jog 0
@18:21:35.70 <PinPort_home> PinPort.home.jog 0
@18:21:35.73 <LyS2_home> LyS2.home.jog 0
@18:21:35.75 <AirS_home> AirS.home.jog 0
@18:21:35.77 <LyS1_home> LyS1.home.jog 0
@18:21:36.37 <TV_home> TV.reconfigure HomeTV
@18:21:36.45 <ArS_home> ArS.reconfigure HomeMagSyringe
@18:21:36.50 <PV_home> PV.reconfigure HomePV
@18:21:36.53 <PinPort_home> PinPort.reconfigure HomePP
@18:21:36.70 <TV_home> TV.jog -549
@18:21:36.72 <ArS_home> ArS.jog -230
@18:21:36.76 <PinPort_home> PinPort.jog -111
@18:21:36.78 <PV_home> PV.jog -1474
@18:21:37.01 <LyS2_home> LyS2.reconfigure HomeSyringe
@18:21:37.02 <LyS1_home> LyS1.reconfigure HomeSyringe
@18:21:37.06 <AirS_home> AirS.reconfigure HomeMagSyringe
@18:21:37.20 <LyS1_home> LyS1.jog -266
@18:21:37.22 <LyS2_home> LyS2.jog -256
@18:21:37.25 <AirS_home> AirS.jog -316
@18:21:37.67 <PinPort_home> PinPort.setRawPosition! 0
@18:21:37.68 <ArS_home> ArS.setRawPosition! -50
@18:21:37.75 <PinPort_home> PinPort.seek :home
@18:21:37.78 <ArS_home> ArS.seek :home
@18:21:37.95 <LyS2_home> LyS2.setRawPosition! -50
@18:21:37.98 <PinPort_home> PinPort.reconfigure PPconfig
@18:21:38.00 <LyS1_home> LyS1.setRawPosition! -50
@18:21:38.16 <LyS2_home> LyS2.seek :home
@18:21:38.18 <LyS1_home> LyS1.seek :home
@18:21:38.34 <PV_home> PV.setRawPosition! -50
@18:21:38.36 <ArS_home> ArS.reconfigure ArSconfig
@18:21:38.40 <AirS_home> AirS.setRawPosition! -50
@18:21:38.48 <PV_home> PV.seek :home
@18:21:38.57 <AirS_home> AirS.seek :home
@18:21:38.71 <TV_home> TV.setRawPosition! 0
@18:21:38.74 <LyS1_home> LyS1.reconfigure LyS1config
@18:21:38.78 <LyS2_home> LyS2.reconfigure LyS2config
@18:21:38.87 <TV_home> TV.seek :home
@18:21:39.08 TV.reconfigure TVconfig
@18:21:39.10 <AirS_home> AirS.reconfigure AirSconfig
@18:21:39.14 <PV_home> PV.reconfigure PVconfig
@18:21:39.69 <LRAUV> TV.seek :clear
@18:21:41.30 TV.coast
@18:21:41.35 SC.reconfigure HomeSC
@18:21:41.41 SC.home.jog 0
@18:21:42.16 SC.reconfigure SCconfig
@18:21:42.23 SC.seek 7
@18:21:42.30 Selecting Cartridge 6
@18:21:42.58 SC.seek 6
@18:21:43.09 <LyS2> LyS2.seek :locked
@18:21:43.21 <PV> PV.seek :locked
@18:21:43.35 <AirS> AirS.seek :locked
@18:21:47.43 <LRAUV> Powering cartridge bus
@18:21:49.56 Gate.setIR 1750,5000,0,6
@18:21:49.68 Gate.setIR 0,5000,0,6
@18:21:49.71 Loaded Archive Cartridge
@18:21:49.73 Gate.power :cartridge,:OFF
@18:22:09.13 -> Cmd.startFiltering
@18:22:09.36 <FILTERING> Duration of filtering limited to 1:05:00
@18:22:09.61 Priming sample loop w/100ml, bypass w/10ml
@18:22:09.69 SP.setPosition! 0ml
@18:22:09.73 <openIntake> Intake.open
@18:22:09.76 <FILTERING> Exhaust.open
@18:22:10.60 Sea @-42.9psia
@18:22:10.62 Waiting 4 - 300s for filter pressure to stabilize +/-0.5psi
@18:22:16.40 Vacuum tare is 25% of full scale
@18:22:16.42 <openPB> PB.open
@18:22:16.46 <FILTERING> Exhaust.close
@18:22:17.25 Sea @-42.9psia
@18:22:17.34 SP.reconfigure SPprime
@18:22:17.40 SP.seek 10ml,1:21
@18:22:28.25 SP.setPosition! 0ml
@18:22:28.30 <closePB> PB.close
@18:22:28.33 <FILTERING> Exhaust.open
@18:22:29.19 Sea @-42.9psia
@18:22:29.28 SP.reconfigure SPprime
@18:22:29.35 SP.seek 100ml,8:51
@18:24:23.51 Intake.close
@18:24:24.28 Pressurizing cartridge to 26psi (try #1 of 3)
@18:24:24.30 SP.setPosition! 0ml
@18:24:24.35 PB.open
@18:24:25.13 TV.seek :crack
@18:24:25.93 TV.seek :clear
@18:24:26.72 Intake.open
@18:24:28.23 PB.close
@18:24:28.95 Exhaust.close
@18:24:29.78 Sea @-42.9psia
@18:24:29.87 SP.reconfigure SPcharge
@18:24:29.93 SP.seek 2.3ml,42 seconds
@18:24:40.00 Cartridge pressurized with 0.473ml to 26.4psi
@18:24:40.23 delay 3 seconds
@18:24:43.30 Cartridge at 24.4psi 3 seconds later
@18:24:43.38 TV.seek :cartridge
@18:24:45.21 TV.seek :clear
@18:24:47.03 Sampling 1000.0ml
@18:24:47.04 SP.setPosition! 0ml
@18:24:47.08 Exhaust.open
@18:24:47.90 Sea @-42.9psia
@18:24:47.99 SP.reconfigure SPsample
@18:24:48.06 SP.seek 1000ml,1:23:53
@18:24:49.02 <sampling> Cartridge 6 sampling 0/1000ml at 0.17ml/s with 5.4psi vacuum
@18:25:48.04 <FILTERING> Flow averaged 0.29ml/s over 54 seconds
@18:25:48.06 Waiting up to 9 seconds for vacuum to reduce from 26.4 to 18.0psi
@18:25:49.06 <sampling> Cartridge 6 sampling 16/1000ml at 0.00ml/s with 12.3psi vacuum
@18:25:49.09 <FILTERING> Relieved excess vacuum in 7.8 seconds
@18:25:49.12 SP.seek 1000ml,1:22:35
@18:25:51.90 Flow estimate reduced to 0.24ml/s
@18:25:51.92 Waiting up to 15 seconds for vacuum to reduce from 29.0 to 18.0psi
@18:25:52.84 Relieved excess vacuum in 3.6 seconds
@18:25:52.87 SP.seek 1000ml,1:22:32
@18:25:55.55 Flow estimate reduced to 0.19ml/s
@18:25:55.57 <closeIntake> Intake.close
@18:25:55.61 <closeExhaust> Exhaust.close
@18:25:56.43 Cartridge::Sampler::Clogged in FILTERING -- Cartridge clogged
@18:25:56.52 <FILTERING> Sampled  16.6ml
@18:25:56.60 TV.seek :bypass
@18:25:58.22 TV.seek :clear
@18:26:00.38 <LRAUV> -> Cmd.startProcessing
@18:26:00.89 <PROCESSING> PV.seek :reagent
@18:26:01.73 Sample loop closed. Ready to Deliver Reagents
@18:26:01.75 ArS.seek :sealed
@18:26:06.02 ArS.seek :evac
@18:26:19.94 delay 20 seconds
@18:26:39.97 ArS.seek :clear
@18:26:57.68 RNAlater soak for 10:00
@18:36:57.70 ArS.seek :tVent
@18:37:00.27 delay 1 second
@18:37:01.30 ArS.seek :evac
@18:37:16.90 delay 10 seconds
@18:37:26.94 Sample preserved and evacuated
@18:37:28.17 <LRAUV> -> Cmd.stop
@18:37:28.32 PV.seek :locked
@18:37:29.21 PinPort.seek :clear
@18:37:29.35 <ArS> ArS.seek :clear
@18:37:29.53 <LyS2> LyS2.seek :clear
@18:37:29.66 <AirS> AirS.seek :clear
@18:37:47.08 <LRAUV> ArS.coast
@18:37:47.13 LyS1.coast
@18:37:47.18 LyS2.coast
@18:37:47.23 AirS.coast
@18:37:47.28 TV.coast
@18:37:47.33 SP.coast
@18:37:47.38 SC.coast
@18:37:47.43 PV.coast
@18:37:47.48 PinPort.coast
@18:37:47.67 Gate.power :motor,:OFF
@18:37:47.68 Gate.power :main,:OFF
@18:37:47.71 Gate.power :core,:OFF
@18:37:47.73 Gate.power :analytic1,:OFF
@18:37:47.74 Gate.power :analytic2,:OFF
@18:37:47.77 Gate.power :analytic3,:OFF
@18:37:47.79 Safely stopped and ready to power off