@13:32:49.08EDT04-Sep-18 <MAIN> >BREAK< ESP3 Gateway v0.99 for core bus
@13:32:49.09 >BREAK< ESP3 Gateway v0.99 for cartridge bus
@13:32:50.33 
Configuration for honu by brent@mbari.org
/home/esp/esp2/type/auv/honu/configure.rb
@13:32:51.74 Polling Can every 5:00
@13:32:52.04 Clients may connect on TCP port 9999
@13:32:52.06 Connecting to 10.89.5.2:9999
@13:32:52.10 Waiting for espclients...
@13:32:52.19 <LRAUV> Session Begun
@13:32:54.56 -> showStatus
@13:32:56.20 -> Cmd.loadCartridge
@13:32:56.32 Gate.power :main,:ON,limit to 5000mA
@13:32:56.34 Gate.power :analytic1,:ON,limit to 5000mA
@13:32:56.36 Gate.power :analytic2,:ON,limit to 5000mA
@13:32:56.38 Gate.power :analytic3,:ON,limit to 5000mA
@13:32:56.52 Powering core bus
@13:32:58.83 <Probe-AMspr> SPR Module 1, FW Rev. B, FPGA Rev. C
@13:32:58.99 <LRAUV> ArS.configure ArSconfig
@13:32:59.09 LyS1.configure LyS1config
@13:32:59.20 LyS2.configure LyS2config
@13:32:59.31 AirS.configure AirSconfig
@13:32:59.43 TV.configure TVconfig
@13:32:59.55 SP.configure SPconfig
@13:32:59.66 SC.configure SCconfig
@13:32:59.78 PV.configure PVconfig
@13:32:59.90 PinPort.configure PPconfig
@13:33:00.02 Sea.configure SPconfig
@13:33:00.08 All elf controllers running firmware version 4.5
@13:33:00.10 Gate.power :motor,:ON,limit to 5000mA
@13:33:00.28 <ArS_home> ArS.reconfigure ArSconfig
@13:33:00.34 <LyS1_home> LyS1.reconfigure LyS1config
@13:33:00.62 <ArS_home> ArS.home.jog 0
@13:33:00.64 <LyS1_home> LyS1.home.jog 0
@13:33:00.82 <PinPort_home> PinPort.reconfigure PPconfig
@13:33:00.85 <PV_home> PV.reconfigure PVconfig
@13:33:00.89 <AirS_home> AirS.reconfigure AirSconfig
@13:33:00.93 <LyS2_home> LyS2.reconfigure LyS2config
@13:33:00.97 <TV_home> TV.reconfigure TVconfig
@13:33:01.13 <PinPort_home> PinPort.home.jog 0
@13:33:01.18 <AirS_home> AirS.home.jog 0
@13:33:01.21 <TV_home> TV.home.jog 0
@13:33:01.22 <LyS2_home> LyS2.home.jog 0
@13:33:01.26 <PV_home> PV.home.jog 0
@13:33:01.96 <LyS2_home> LyS2.reconfigure HomeSyringe
@13:33:01.98 <LyS1_home> LyS1.reconfigure HomeSyringe
@13:33:02.02 <PV_home> PV.reconfigure HomePV
@13:33:02.05 <TV_home> TV.reconfigure HomeTV
@13:33:02.09 <AirS_home> AirS.reconfigure HomeMagSyringe
@13:33:02.14 <ArS_home> ArS.reconfigure HomeMagSyringe
@13:33:02.17 <PinPort_home> PinPort.reconfigure HomePP
@13:33:02.39 <LyS1_home> LyS1.jog -266
@13:33:02.43 <LyS2_home> LyS2.jog -260
@13:33:02.46 <TV_home> TV.jog -545
@13:33:02.49 <PV_home> PV.jog -1473
@13:33:02.51 <ArS_home> ArS.jog -237
@13:33:02.55 <PinPort_home> PinPort.jog -111
@13:33:02.58 <AirS_home> AirS.jog -318
@13:33:03.14 <LyS1_home> LyS1.setRawPosition! -50
@13:33:03.19 LyS1.seek :home
@13:33:03.28 <LyS2_home> LyS2.setRawPosition! -50
@13:33:03.34 LyS2.seek :home
@13:33:03.43 <PinPort_home> PinPort.setRawPosition! 0
@13:33:03.49 PinPort.seek :home
@13:33:03.62 <AirS_home> AirS.setRawPosition! -50
@13:33:03.64 <LyS1_home> LyS1.reconfigure LyS1config
@13:33:03.66 <ArS_home> ArS.setRawPosition! -50
@13:33:03.69 <PinPort_home> PinPort.reconfigure PPconfig
@13:33:03.83 <AirS_home> AirS.seek :home
@13:33:03.87 <ArS_home> ArS.seek :home
@13:33:04.07 <LyS2_home> LyS2.reconfigure LyS2config
@13:33:04.14 <PV_home> PV.setRawPosition! -50
@13:33:04.20 PV.seek :home
@13:33:04.31 <ArS_home> ArS.reconfigure ArSconfig
@13:33:04.33 <AirS_home> AirS.reconfigure AirSconfig
@13:33:04.52 <PV_home> PV.reconfigure PVconfig
@13:33:04.59 <TV_home> TV.setRawPosition! 0
@13:33:04.65 TV.seek :home
@13:33:04.76 Slide::Error in LRAUV -- Plunge Valve positionErr at clear (actually locked - 240 counts)
@13:33:04.79 <LRAUV> Retry #1 of 2
@13:33:04.82 <TV_home> TV.reconfigure TVconfig
@13:33:04.85 <LRAUV> ArS.coast
@13:33:04.93 LyS1.coast
@13:33:05.01 LyS2.coast
@13:33:05.08 AirS.coast
@13:33:05.14 TV.coast
@13:33:05.20 PV.coast
@13:33:05.25 PinPort.coast
@13:33:05.41 Slide::Error in LRAUV -- Toroid Valve positionErr at bypassed (actually clear - 185 counts) while reading Sample Pump's status
@13:33:05.50 Gate.power :motor,:OFF
@13:33:05.51 Gate.power :main,:OFF
@13:33:05.53 Gate.power :core,:OFF
@13:33:05.55 Gate.power :analytic1,:OFF
@13:33:05.57 Gate.power :analytic2,:OFF
@13:33:05.60 Gate.power :analytic3,:OFF
@13:33:05.73 Gate.power :main,:ON,limit to 5000mA
@13:33:05.74 Gate.power :analytic1,:ON,limit to 5000mA
@13:33:05.76 Gate.power :analytic2,:ON,limit to 5000mA
@13:33:05.79 Gate.power :analytic3,:ON,limit to 5000mA
@13:33:06.58 Powering core bus
@13:33:08.22 <Probe-AMspr> SPR Module 1, FW Rev. B, FPGA Rev. C
@13:33:08.82 <LRAUV> ArS.configure ArSconfig
@13:33:08.92 LyS1.configure LyS1config
@13:33:09.04 LyS2.configure LyS2config
@13:33:09.14 AirS.configure AirSconfig
@13:33:09.26 TV.configure TVconfig
@13:33:09.38 SP.configure SPconfig
@13:33:09.50 SC.configure SCconfig
@13:33:09.62 PV.configure PVconfig
@13:33:09.74 PinPort.configure PPconfig
@13:33:09.86 Sea.configure SPconfig
@13:33:10.16 All elf controllers running firmware version 4.5
@13:33:10.18 Gate.power :motor,:ON,limit to 5000mA
@13:33:10.37 <ArS_home> ArS.reconfigure ArSconfig
@13:33:10.62 ArS.home.jog 0
@13:33:10.80 <PV_home> PV.reconfigure PVconfig
@13:33:10.83 <TV_home> TV.reconfigure TVconfig
@13:33:10.86 <LyS2_home> LyS2.reconfigure LyS2config
@13:33:10.90 <LyS1_home> LyS1.reconfigure LyS1config
@13:33:10.94 <PinPort_home> PinPort.reconfigure PPconfig
@13:33:10.97 <AirS_home> AirS.reconfigure AirSconfig
@13:33:11.16 <TV_home> TV.home.jog 0
@13:33:11.22 <PV_home> PV.home.jog 0
@13:33:11.26 <LyS2_home> LyS2.home.jog 0
@13:33:11.30 <LyS1_home> LyS1.home.jog 0
@13:33:11.33 <AirS_home> AirS.home.jog 0
@13:33:11.38 <PinPort_home> PinPort.home.jog 0
@13:33:11.79 <ArS_home> ArS.reconfigure HomeMagSyringe
@13:33:12.04 <PinPort_home> PinPort.reconfigure HomePP
@13:33:12.06 <PV_home> PV.reconfigure HomePV
@13:33:12.09 <TV_home> TV.reconfigure HomeTV
@13:33:12.12 <LyS2_home> LyS2.reconfigure HomeSyringe
@13:33:12.16 <ArS_home> ArS.jog -229
@13:33:12.33 <PinPort_home> PinPort.jog -108
@13:33:12.35 <PV_home> PV.jog -1299
@13:33:12.38 <TV_home> TV.jog -369
@13:33:12.42 <LyS2_home> LyS2.jog -229
@13:33:12.63 <AirS_home> AirS.reconfigure HomeMagSyringe
@13:33:12.65 <LyS1_home> LyS1.reconfigure HomeSyringe
@13:33:12.76 LyS1.jog -237
@13:33:12.78 <AirS_home> AirS.jog -287
@13:33:12.92 <PinPort_home> PinPort.setRawPosition! 0
@13:33:12.94 <ArS_home> ArS.setRawPosition! -50
@13:33:13.02 <PinPort_home> PinPort.seek :home
@13:33:13.08 <ArS_home> ArS.seek :home
@13:33:13.20 <LyS2_home> LyS2.setRawPosition! -50
@13:33:13.22 <PinPort_home> PinPort.reconfigure PPconfig
@13:33:13.32 <LyS2_home> LyS2.seek :home
@13:33:13.44 <LyS1_home> LyS1.setRawPosition! -50
@13:33:13.46 <AirS_home> AirS.setRawPosition! -50
@13:33:13.50 <ArS_home> ArS.reconfigure ArSconfig
@13:33:13.58 <LyS1_home> LyS1.seek :home
@13:33:13.65 <AirS_home> AirS.seek :home
@13:33:13.83 <TV_home> TV.setRawPosition! 0
@13:33:13.85 <PV_home> PV.setRawPosition! -50
@13:33:13.88 <LyS2_home> LyS2.reconfigure LyS2config
@13:33:14.01 <TV_home> TV.seek :home
@13:33:14.05 <PV_home> PV.seek :home
@13:33:14.26 <AirS_home> AirS.reconfigure AirSconfig
@13:33:14.28 <LyS1_home> LyS1.reconfigure LyS1config
@13:33:14.32 <TV_home> TV.reconfigure TVconfig
@13:33:14.51 <PV_home> PV.reconfigure PVconfig
@13:33:14.95 <LRAUV> TV.seek :clear
@13:33:16.57 TV.coast
@13:33:16.63 SC.reconfigure HomeSC
@13:33:16.69 SC.home.jog 0
@13:33:17.46 SC.reconfigure SCconfig
@13:33:17.52 SC.seek 3
@13:33:17.66 Selecting Cartridge 2
@13:33:17.97 SC.seek 2
@13:33:18.48 <LyS2> LyS2.seek :locked
@13:33:18.61 <PV> PV.seek :locked
@13:33:18.74 <AirS> AirS.seek :locked
@13:33:22.82 <LRAUV> Powering cartridge bus
@13:33:24.95 Gate.setIR 1750,5000,0,6
@13:33:25.08 Gate.setIR 0,5000,0,6
@13:33:25.11 Loaded Archive Cartridge
@13:33:25.12 Gate.power :cartridge,:OFF
@13:34:10.12 -> Cmd.startFiltering
@13:34:10.35 <FILTERING> Duration of filtering limited to 1:05:00
@13:34:10.60 Priming sample loop w/100ml, bypass w/10ml
@13:34:10.67 SP.setPosition! 0ml
@13:34:10.72 <openIntake> Intake.open
@13:34:10.74 <FILTERING> Exhaust.open
@13:34:11.63 Sea @-42.9psia
@13:34:11.64 Waiting 4 - 300s for filter pressure to stabilize +/-0.5psi
@13:34:17.16 Vacuum tare is 24% of full scale
@13:34:17.18 <openPB> PB.open
@13:34:17.22 <FILTERING> Exhaust.close
@13:34:18.05 Sea @-42.9psia
@13:34:18.14 SP.reconfigure SPprime
@13:34:18.21 SP.seek 10ml,1:21
@13:34:29.07 SP.setPosition! 0ml
@13:34:29.12 <closePB> PB.close
@13:34:29.15 <FILTERING> Exhaust.open
@13:34:29.99 Sea @-42.9psia
@13:34:30.08 SP.reconfigure SPprime
@13:34:30.14 SP.seek 100ml,8:51
@13:36:24.33 Intake.close
@13:36:25.11 Pressurizing cartridge to 26psi (try #1 of 3)
@13:36:25.12 SP.setPosition! 0ml
@13:36:25.17 PB.open
@13:36:25.94 TV.seek :crack
@13:36:26.73 TV.seek :clear
@13:36:27.52 Intake.open
@13:36:29.02 PB.close
@13:36:29.75 Exhaust.close
@13:36:30.53 Sea @-42.9psia
@13:36:30.87 SP.reconfigure SPcharge
@13:36:30.94 SP.seek 2.3ml,42 seconds
@13:36:42.62 Cartridge pressurized with 0.639ml to 27.4psi
@13:36:42.99 delay 3 seconds
@13:36:46.06 Cartridge at 23.5psi 3 seconds later
@13:36:46.14 TV.seek :cartridge
@13:36:47.96 TV.seek :clear
@13:36:49.78 Sampling 1000.0ml
@13:36:49.79 SP.setPosition! 0ml
@13:36:49.84 Exhaust.open
@13:36:50.62 Sea @-42.9psia
@13:36:50.71 SP.reconfigure SPsample
@13:36:50.78 SP.seek 1000ml,1:23:53
@13:36:51.73 <sampling> Cartridge 2 sampling 0/1000ml at 0.16ml/s with 7.3psi vacuum
@13:37:51.73 Cartridge 2 sampling 22/1000ml at 0.36ml/s with 22.1psi vacuum
@13:38:51.74 Cartridge 2 sampling 44/1000ml at 0.37ml/s with 22.1psi vacuum
@13:39:51.74 Cartridge 2 sampling 66/1000ml at 0.35ml/s with 22.0psi vacuum
@13:40:51.74 Cartridge 2 sampling 88/1000ml at 0.36ml/s with 24.2psi vacuum
@13:41:51.74 Cartridge 2 sampling 110/1000ml at 0.38ml/s with 23.6psi vacuum
@13:42:51.73 Cartridge 2 sampling 132/1000ml at 0.38ml/s with 22.8psi vacuum
@13:43:51.74 Cartridge 2 sampling 154/1000ml at 0.38ml/s with 24.4psi vacuum
@13:44:51.74 Cartridge 2 sampling 176/1000ml at 0.36ml/s with 21.9psi vacuum
@13:45:51.74 Cartridge 2 sampling 199/1000ml at 0.35ml/s with 24.4psi vacuum
@13:46:51.74 Cartridge 2 sampling 221/1000ml at 0.35ml/s with 23.9psi vacuum
@13:47:51.74 Cartridge 2 sampling 243/1000ml at 0.36ml/s with 21.8psi vacuum
@13:48:51.74 Cartridge 2 sampling 266/1000ml at 0.39ml/s with 22.5psi vacuum
@13:49:51.74 Cartridge 2 sampling 288/1000ml at 0.36ml/s with 24.8psi vacuum
@13:50:51.74 Cartridge 2 sampling 311/1000ml at 0.39ml/s with 22.5psi vacuum
@13:51:51.74 Cartridge 2 sampling 333/1000ml at 0.36ml/s with 21.8psi vacuum
@13:52:51.74 Cartridge 2 sampling 356/1000ml at 0.36ml/s with 24.9psi vacuum
@13:53:51.74 Cartridge 2 sampling 379/1000ml at 0.38ml/s with 24.9psi vacuum
@13:54:51.74 Cartridge 2 sampling 401/1000ml at 0.40ml/s with 23.3psi vacuum
@13:55:51.74 Cartridge 2 sampling 424/1000ml at 0.39ml/s with 22.5psi vacuum
@13:56:51.73 Cartridge 2 sampling 446/1000ml at 0.40ml/s with 22.7psi vacuum
@13:57:51.74 Cartridge 2 sampling 469/1000ml at 0.36ml/s with 25.0psi vacuum
@13:58:51.74 Cartridge 2 sampling 492/1000ml at 0.37ml/s with 21.3psi vacuum
@13:59:51.74 Cartridge 2 sampling 515/1000ml at 0.40ml/s with 23.5psi vacuum
@14:00:51.74 Cartridge 2 sampling 538/1000ml at 0.36ml/s with 25.2psi vacuum
@14:01:51.74 Cartridge 2 sampling 560/1000ml at 0.39ml/s with 21.3psi vacuum
@14:02:51.74 Cartridge 2 sampling 583/1000ml at 0.37ml/s with 25.2psi vacuum
@14:03:51.74 Cartridge 2 sampling 606/1000ml at 0.39ml/s with 20.9psi vacuum
@14:04:52.00 Cartridge 2 sampling 629/1000ml at 0.35ml/s with 22.5psi vacuum
@14:05:51.74 Cartridge 2 sampling 652/1000ml at 0.35ml/s with 21.3psi vacuum
@14:06:51.74 Cartridge 2 sampling 674/1000ml at 0.41ml/s with 22.6psi vacuum
@14:07:51.74 Cartridge 2 sampling 697/1000ml at 0.36ml/s with 25.4psi vacuum
@14:08:51.74 Cartridge 2 sampling 720/1000ml at 0.37ml/s with 20.7psi vacuum
@14:09:51.74 Cartridge 2 sampling 743/1000ml at 0.41ml/s with 22.6psi vacuum
@14:10:51.74 Cartridge 2 sampling 765/1000ml at 0.39ml/s with 26.0psi vacuum
@14:11:51.74 Cartridge 2 sampling 788/1000ml at 0.34ml/s with 22.4psi vacuum
@14:12:51.74 Cartridge 2 sampling 811/1000ml at 0.37ml/s with 20.5psi vacuum
@14:13:51.74 Cartridge 2 sampling 834/1000ml at 0.39ml/s with 20.9psi vacuum
@14:14:51.74 Cartridge 2 sampling 856/1000ml at 0.40ml/s with 21.0psi vacuum
@14:15:51.74 Cartridge 2 sampling 879/1000ml at 0.36ml/s with 20.0psi vacuum
@14:16:51.74 Cartridge 2 sampling 901/1000ml at 0.34ml/s with 25.4psi vacuum
@14:17:51.74 Cartridge 2 sampling 924/1000ml at 0.40ml/s with 24.7psi vacuum
@14:18:51.74 Cartridge 2 sampling 946/1000ml at 0.38ml/s with 20.6psi vacuum
@14:19:51.74 Cartridge 2 sampling 969/1000ml at 0.35ml/s with 25.5psi vacuum
@14:20:51.74 Cartridge 2 sampling 991/1000ml at 0.38ml/s with 20.5psi vacuum
@14:21:14.54 <closeIntake> Intake.close
@14:21:14.60 <closeExhaust> Exhaust.close
@14:21:15.35 <FILTERING> Sampled  1000.0ml
@14:21:15.43 TV.seek :bypass
@14:21:17.05 TV.seek :clear
@14:21:19.14 <LRAUV> -> Cmd.startProcessing
@14:21:19.38 <PROCESSING> PV.seek :reagent
@14:21:20.24 Sample loop closed. Ready to Deliver Reagents
@14:21:20.26 ArS.seek :sealed
@14:21:24.52 ArS.seek :evac
@14:21:38.44 delay 20 seconds
@14:21:58.48 ArS.seek :clear
@14:22:16.19 RNAlater soak for 10:00
@14:32:16.21 ArS.seek :tVent
@14:32:18.78 delay 1 second
@14:32:19.81 ArS.seek :evac
@14:32:35.41 delay 10 seconds
@14:32:45.44 Sample preserved and evacuated
@14:32:46.56 <LRAUV> -> Cmd.stop
@14:32:46.70 PV.seek :locked
@14:32:47.58 PinPort.seek :clear
@14:32:47.72 <ArS> ArS.seek :clear
@14:32:47.91 <LyS2> LyS2.seek :clear
@14:32:48.05 <AirS> AirS.seek :clear
@14:33:05.43 <LRAUV> ArS.coast
@14:33:05.48 LyS1.coast
@14:33:05.53 LyS2.coast
@14:33:05.58 AirS.coast
@14:33:05.63 TV.coast
@14:33:05.68 SP.coast
@14:33:05.99 SC.coast
@14:33:06.04 PV.coast
@14:33:06.10 PinPort.coast
@14:33:06.28 Gate.power :motor,:OFF
@14:33:06.29 Gate.power :main,:OFF
@14:33:06.32 Gate.power :core,:OFF
@14:33:06.34 Gate.power :analytic1,:OFF
@14:33:06.36 Gate.power :analytic2,:OFF
@14:33:06.38 Gate.power :analytic3,:OFF
@14:33:06.40 Safely stopped and ready to power off