Snippets

Carlos Rueda ESPComponent testing with LRAUV and ESP simulators

Updated by Carlos Rueda

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-# ESPComponent/ESP testing with simulators on bufflehead and tethyscode:
+# ESPComponent<->ESP testing with simulators on tethyscode and bufflehead
 
 # Preparations
 
Updated by Carlos Rueda

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 Right away launch the ESP simulator and you will see interaction activity on both sides:
 
-**Note**: `exit` issued above once 1st sample is completed, to prepare and then (manually again) re-launch `esp` (same command) for the 2nd sample per the tethyscode output captured below.
+**Note**: `exit` issued at the ESP prompt below once 1st sample is completed, to prepare and then (manually again) re-launch `esp` (same command) for the 2nd sample per the tethyscode output captured below.
 
 
 ```
Updated by Carlos Rueda

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 -rw-rw-r-- 1 carueda carueda 240 Aug 12 11:05 Science.cfg
 ```
 
-In particular, `Config/sim/carueda/Science.cfg`:
+In particular, `Config/sim/carueda/Science.cfg` has the following:
 
 
     ESPComponent.loadAtStartup          = 1 bool;
     ESPComponent.debug                  = 1 bool;
     ESPComponent.poTimeout              = 30 second;
 
+    ESPComponent.upsyncTimeout          = 10 second;
+    ESPComponent.upsync                 = "rsync -azPq --timeout=60 carueda@bufflehead:'/var/log/carueda/simrapid.* /var/log/carueda/*.spr' /home/carueda/lrauv-application/ESPlogs";
 
 **Note**:
 
 - Port 9998 on tethyscode is where the ESPComponent will listen as a server and wait for the ESP to connect. 
-  (This port has been opened so it is accessible from bufflehead.)
-  
-- Alternatively, instead of having the LRAUV running as the server waiting for the ESP, you can set:
+  (This port was opened so it is accessible from bufflehead.)
+
+- Created the `ESPlogs` subdir for the rsync command above, as well as added my tethyscode ssh pub key to bufflehead.
+
+- Alternatively (but much less frequently used), instead of having the LRAUV running as the server waiting for the ESP, you can set:
 
           ESPComponent.espServerHost    = "bufflehead:7777"
 
 
 Right away launch the ESP simulator and you will see interaction activity on both sides:
 
+**Note**: `exit` issued above once 1st sample is completed, to prepare and then (manually again) re-launch `esp` (same command) for the 2nd sample per the tethyscode output captured below.
+
+
 ```
 carueda@bufflehead:~/esp2$ ESPclient=tethyscode:9998 ESPcmdPort=7777 esp
 
-@11:58:07.91PDT12-Aug-20 <simrapid> Simulated gateway v3.24 for core bus
+@13:39:00.94PDT12-Aug-20 <simrapid> Simulated gateway v3.24 for core bus
 Simulated secondary gateway v3.24 for cartridge bus
-@11:58:08.03
+@13:39:01.06
 Configuration for honu by brent@mbari.org 3/11/20
 /home/carueda/esp2/type/auv/honu/configure.rb
-@11:58:08.10 Polling Can every 2:00
+@13:39:01.13 Polling Can every 2:00
 Clients may connect on TCP port 7777
+@13:39:01.14 Connecting to tethyscode:9998
+@13:39:01.16 <LRAUV> Session Begun
+@13:39:03.56 -> showStatus
+@13:39:05.16 -> Cmd.loadCartridge -4
+Gate.power :main,:ON
+Gate.power :analytic1,:ON
+Gate.power :analytic2,:ON
+@13:39:05.17 Gate.power :analytic3,:ON
+Gate.power :core,:ON
+@13:39:05.18 Archive.configure :default
+@13:39:05.19 Air.configure :default
+Lysis1.configure :default
+@13:39:05.20 Lysis2.configure :default
+Plunge.configure :default
+@13:39:05.21 SamplePump.configure :default
+ExtraPump.configure :default
+@13:39:05.22 Toroid.configure :default
+Carousel.configure :default
+@13:39:05.23 Pressure.configure :default
+PinPort.configure :default
+All elf controllers running firmware version 4.99
+@13:39:05.24 Gate.power :motor,:ON
+@13:39:05.25 <Archive_home> Archive.reconfigure :default
+@13:39:05.26 Archive.home.jog 0
+<Air_home> Air.reconfigure :default
+@13:39:05.27 Air.home.jog 0
+<Lysis1_home> Lysis1.reconfigure :default
+@13:39:05.28 <Lysis2_home> Lysis2.reconfigure :default
+<Lysis1_home> Lysis1.home.jog 0
+<Plunge_home> Plunge.reconfigure :default
+<Lysis2_home> Lysis2.home.jog 0
+@13:39:05.29 <PinPort_home> PinPort.reconfigure :default
+<Plunge_home> Plunge.home.jog 0
+<Toroid_home> Toroid.reconfigure :default
+@13:39:05.30 <PinPort_home> PinPort.home.jog 0
+<Toroid_home> Toroid.home.jog 0
+@13:39:05.34 <Archive_home> Archive.setRawPosition! 50
+Archive.reconfigure :homing
+@13:39:05.35 Archive.seek :home
+<Air_home> Air.setRawPosition! 50
+Air.reconfigure :homing
+@13:39:05.36 Air.seek :home
+@13:39:05.37 <Plunge_home> Plunge.setRawPosition! 50
+Plunge.reconfigure :homing
+Plunge.seek :home
+@13:39:05.38 <PinPort_home> PinPort.setRawPosition! 0
+PinPort.reconfigure :homing
+@13:39:05.39 PinPort.seek :home
+@13:39:05.40 <Lysis1_home> Lysis1.setRawPosition! 50
+Lysis1.reconfigure :homing
+Lysis1.seek :home
+@13:39:05.41 <Lysis2_home> Lysis2.setRawPosition! 50
+Lysis2.reconfigure :homing
+@13:39:05.42 Lysis2.seek :home
+@13:39:05.43 <Toroid_home> Toroid.setRawPosition! 0
+Toroid.reconfigure :homing
+Toroid.seek :home
+@13:39:05.46 <PinPort_home> PinPort.reconfigure :default
+@13:39:05.50 <Toroid_home> Toroid.reconfigure :default
+@13:39:05.62 <Archive_home> Archive.reconfigure :default
+@13:39:05.63 <Air_home> Air.reconfigure :default
+@13:39:05.65 <Plunge_home> Plunge.reconfigure :default
+@13:39:05.68 <Lysis1_home> Lysis1.reconfigure :default
+@13:39:05.69 <Lysis2_home> Lysis2.reconfigure :default
+@13:39:05.95 <LRAUV> Toroid.seek :clear
+@13:39:07.56 Carousel.reconfigure :default
+@13:39:07.57 Carousel.home.jog 0
+@13:39:07.64 Carousel.setRawPosition! -53
+Carousel.reconfigure :homing
+Carousel.seek :home
+@13:39:07.95 Carousel.reconfigure :default
+@13:39:08.20 Carousel.seek 1
+@13:39:08.27 Selecting Cartridge 58
+@13:39:08.28 Carousel.seek 58
+@13:39:20.13 Gate.power :heat,:OFF
+@13:39:20.14 Gate.power :cartridge,:OFF
+Lysis1.seek :locked
+@13:39:24.21 <Plunge> Plunge.seek :locked
+@13:39:24.22 <Air> Air.seek :locked
+@13:39:28.28 <LRAUV> Gate.power :cartridge,:ON
+@13:39:28.29 Gate.power :cartridge,:OFF
+Gate.power :cartridge,:OFF
+@13:39:28.79 Mounted archive Cartridge
+@13:39:41.97 -> Cmd.startFiltering
+@13:39:41.98 <FILTERING> Duration of filtering limited to 2:05:00
+@13:39:41.99 Priming sample loop w/5ml, bypass w/1.5ml
+SamplePump.setPosition! 0ml
+Bypass.open
+@13:39:42.70 Intake.open
+@13:39:44.20 Sea 5.7m deep (23.1psia)
+Waiting up to 20 seconds for sea pressure to stabilize +/-0.50psi
+@13:39:46.72 Vacuum tare is 10% of full scale
+Pressure.reconfigure :default
+@13:39:46.73 Pressure.hold
+@13:39:46.81 SamplePump.reconfigure :prime
+SamplePump.seek 1.5ml,38 seconds
+@13:39:48.58 Pressure.coast
+SamplePump.setPosition! 0ml
+Exhaust.open
+@13:39:50.78 <closeBypass> Bypass.close
+@13:39:52.99 <FILTERING> Pressure.hold
+@13:39:53.06 Sea 5.7m deep (23.1psia)
+SamplePump.reconfigure :prime
+@13:39:53.07 SamplePump.seek 5ml,56 seconds
+@13:39:57.80 Pressure.coast
+Bypass.open
+@13:39:59.30 Intake.close
+@13:40:00.80 Toroid.reconfigure :hold
+Toroid.seek :crack
+@13:40:01.60 Toroid.reconfigure :default
+Toroid.seek :clear
+@13:40:03.11 Toroid.reconfigure :hold
+Toroid.seek :cartridge
+@13:40:04.92 Toroid.reconfigure :default
+Toroid.seek :clear
+@13:40:06.75 Pressurizing cartridge to 26psi above 23.1psia
+SamplePump.setPosition! 0ml
+Intake.open
+@13:40:08.24 Bypass.close
+@13:40:09.74 Exhaust.close
+@13:40:11.24 Pressure.hold
+@13:40:11.35 SamplePump.reconfigure :charge
+SamplePump.seek 0.2ml,32 seconds
+@13:40:11.96 Pressure.coast
+Sampling 10.0ml
+SamplePump.setPosition! 0ml
+@13:40:11.97 Exhaust.open
+@13:40:13.46 Pressure.hold
+@13:40:13.54 Sea 5.7m deep (23.1psia)
+SamplePump.reconfigure :sample
+SamplePump.seek 10ml,1:21
+@13:40:16.47 <sampling> Cartridge 58 sampling 2/10ml at 0.83ml/s with 0.0psi vacuum 5.7m deep (23.1psia)
+@13:40:26.51 <FILTERING> Pressure.coast
+<closeIntake> Intake.close
+<closeExhaust> Exhaust.close
+@13:40:26.52 <FILTERING> Toroid.reconfigure :hold
+Toroid.seek :bypass
+@13:40:28.14 Toroid.reconfigure :default
+Toroid.seek :clear
+@13:40:29.75 Sampled  10.0ml
+@13:40:31.18 <LRAUV> -> Cmd.startProcessing
+@13:40:31.19 <PROCESSING> Plunge.seek :reagent
+@13:40:32.03 Sample loop closed. Ready to Deliver Reagents
+Archive.seek :sealed
+@13:40:36.30 Archive.seek :evac
+@13:40:50.28 delay 1:00
+@13:41:50.29 Archive.seek :clear
+@13:42:08.05 RNAlater soak for 45 seconds
+@13:42:53.06 Archive.seek :tVent
+@13:42:55.64 delay 1 second
+@13:42:56.64 Archive.seek :evac
+@13:43:12.31 delay 10 seconds
+@13:43:22.32 Archive.seek :tVent
+@13:43:37.99 delay 1 second
+@13:43:38.99 Archive.seek :evac
+@13:43:54.66 delay 10 seconds
+@13:44:04.66 Sample preserved and evacuated
+@13:44:05.63 <LRAUV> -> Cmd.stop
+@13:44:05.64 Gate.power :heat,:OFF
+Gate.power :cartridge,:OFF
+Carousel.seek 58
+@13:44:05.72 Plunge.seek :locked
+@13:44:06.55 PinPort.seek :clear
+@13:44:06.62 <Archive> Archive.seek :clear
+@13:44:06.63 <Air> Air.seek :clear
+@13:44:06.65 <Lysis1> Lysis1.seek :clear
+@13:44:24.39 <LRAUV> Archive.coast
+Air.coast
+@13:44:24.40 Lysis1.coast
+Lysis2.coast
+Plunge.coast
+SamplePump.coast
+Toroid.coast
+@13:44:24.41 Carousel.coast
+PinPort.coast
+@13:44:24.42 Gate.power :heat,:OFF
+@13:44:24.43 Gate.power :cartridge,:OFF
+@13:44:24.48 Gate.power :motor,:OFF
+Gate.power :core,:OFF
+Gate.power :analytic1,:OFF
+Gate.power :analytic2,:OFF
+Gate.power :analytic3,:OFF
+@13:44:24.49 Gate.power :main,:OFF
+Safely stopped and ready to power off
+@13:49:33.31 Session Ended
+@13:49:52.00 <simrapid> -> exit
+carueda@bufflehead:~/esp2$ ESPclient=tethyscode:9998 ESPcmdPort=7777 esp
+@13:59:19.17PDT12-Aug-20 <simrapid> Simulated gateway v3.24 for core bus
+Simulated secondary gateway v3.24 for cartridge bus
+@13:59:19.29
+Configuration for honu by brent@mbari.org 3/11/20
+/home/carueda/esp2/type/auv/honu/configure.rb
+@13:59:19.36 Polling Can every 2:00
+@13:59:19.37 Clients may connect on TCP port 7777
 Connecting to tethyscode:9998
-@11:58:08.26 <LRAUV> Session Begun
-@11:58:10.65 -> showStatus
-@11:58:12.25 -> Cmd.loadCartridge -4
-@11:58:12.26 Gate.power :main,:ON
+@13:59:19.49 <LRAUV> Session Begun
+@13:59:21.49 -> showStatus
+@13:59:23.49 -> Cmd.loadCartridge -4
+Gate.power :main,:ON
 Gate.power :analytic1,:ON
 Gate.power :analytic2,:ON
 Gate.power :analytic3,:ON
 Gate.power :core,:ON
-@11:58:12.27 Archive.configure :default
-Air.configure :default
-@11:58:12.28 Lysis1.configure :default
-Lysis2.configure :default
-@11:58:12.29 Plunge.configure :default
-SamplePump.configure :default
-@11:58:12.30 ExtraPump.configure :default
-Toroid.configure :default
-@11:58:12.31 Carousel.configure :default
-Pressure.configure :default
-@11:58:12.32 PinPort.configure :default
-All elf controllers running firmware version 4.99
+@13:59:23.50 Archive.configure :default
+@13:59:23.51 Air.configure :default
+Lysis1.configure :default
+@13:59:23.52 Lysis2.configure :default
+Plunge.configure :default
+@13:59:23.53 SamplePump.configure :default
+ExtraPump.configure :default
+@13:59:23.54 Toroid.configure :default
+Carousel.configure :default
+@13:59:23.55 Pressure.configure :default
+PinPort.configure :default
+@13:59:23.56 All elf controllers running firmware version 4.99
 Gate.power :motor,:ON
-@11:58:12.33 <Archive_home> Archive.reconfigure :default
-@11:58:12.34 Archive.home.jog 0
-@11:58:12.35 <Air_home> Air.reconfigure :default
-Air.home.jog 0
-@11:58:12.36 <Lysis1_home> Lysis1.reconfigure :default
-<Lysis2_home> Lysis2.reconfigure :default
+@13:59:23.57 <Archive_home> Archive.reconfigure :default
+@13:59:23.58 Archive.home.jog 0
+<Air_home> Air.reconfigure :default
+@13:59:23.59 Air.home.jog 0
+<Lysis1_home> Lysis1.reconfigure :default
+@13:59:23.60 <Lysis2_home> Lysis2.reconfigure :default
 <Lysis1_home> Lysis1.home.jog 0
-@11:58:12.37 <Plunge_home> Plunge.reconfigure :default
 <Lysis2_home> Lysis2.home.jog 0
+@13:59:23.61 <Plunge_home> Plunge.reconfigure :default
 <PinPort_home> PinPort.reconfigure :default
 <Plunge_home> Plunge.home.jog 0
-@11:58:12.38 <Toroid_home> Toroid.reconfigure :default
-<PinPort_home> PinPort.home.jog 0
+<Toroid_home> Toroid.reconfigure :default
+@13:59:23.62 <PinPort_home> PinPort.home.jog 0
 <Toroid_home> Toroid.home.jog 0
-@11:58:12.42 <Archive_home> Archive.setRawPosition! 50
-@11:58:12.43 Archive.reconfigure :homing
-Archive.seek :home
-@11:58:12.44 <Air_home> Air.setRawPosition! 50
-Air.reconfigure :homing
+@13:59:23.66 <Archive_home> Archive.setRawPosition! 50
+Archive.reconfigure :homing
+@13:59:23.67 Archive.seek :home
+<Air_home> Air.setRawPosition! 50
+@13:59:23.68 Air.reconfigure :homing
 Air.seek :home
-@11:58:12.45 <Plunge_home> Plunge.setRawPosition! 50
+@13:59:23.69 <Plunge_home> Plunge.setRawPosition! 50
 Plunge.reconfigure :homing
-@11:58:12.46 Plunge.seek :home
+@13:59:23.70 Plunge.seek :home
 <PinPort_home> PinPort.setRawPosition! 0
-@11:58:12.47 PinPort.reconfigure :homing
+@13:59:23.71 PinPort.reconfigure :homing
 PinPort.seek :home
-@11:58:12.48 <Lysis1_home> Lysis1.setRawPosition! 50
+@13:59:23.72 <Lysis1_home> Lysis1.setRawPosition! 50
 Lysis1.reconfigure :homing
-Lysis1.seek :home
-@11:58:12.49 <Lysis2_home> Lysis2.setRawPosition! 50
+@13:59:23.73 Lysis1.seek :home
+@13:59:23.74 <Lysis2_home> Lysis2.setRawPosition! 50
 Lysis2.reconfigure :homing
-@11:58:12.50 Lysis2.seek :home
-@11:58:12.51 <Toroid_home> Toroid.setRawPosition! 0
+Lysis2.seek :home
+@13:59:23.75 <Toroid_home> Toroid.setRawPosition! 0
 Toroid.reconfigure :homing
-Toroid.seek :home
-@11:58:12.54 <PinPort_home> PinPort.reconfigure :default
-@11:58:12.58 <Toroid_home> Toroid.reconfigure :default
-@11:58:12.70 <Archive_home> Archive.reconfigure :default
-@11:58:12.72 <Air_home> Air.reconfigure :default
-@11:58:12.73 <Plunge_home> Plunge.reconfigure :default
-@11:58:12.76 <Lysis1_home> Lysis1.reconfigure :default
-@11:58:12.77 <Lysis2_home> Lysis2.reconfigure :default
-@11:58:13.03 <LRAUV> Toroid.seek :clear
-@11:58:14.64 Carousel.reconfigure :default
-@11:58:14.65 Carousel.home.jog 0
-@11:58:14.72 Carousel.setRawPosition! -53
+@13:59:23.76 Toroid.seek :home
+@13:59:23.78 <PinPort_home> PinPort.reconfigure :default
+@13:59:23.83 <Toroid_home> Toroid.reconfigure :default
+@13:59:23.94 <Archive_home> Archive.reconfigure :default
+@13:59:23.96 <Air_home> Air.reconfigure :default
+@13:59:23.97 <Plunge_home> Plunge.reconfigure :default
+@13:59:24.00 <Lysis1_home> Lysis1.reconfigure :default
+@13:59:24.02 <Lysis2_home> Lysis2.reconfigure :default
+@13:59:24.27 <LRAUV> Toroid.seek :clear
+@13:59:25.89 Carousel.reconfigure :default
+Carousel.home.jog 0
+@13:59:25.97 Carousel.setRawPosition! -53
 Carousel.reconfigure :homing
 Carousel.seek :home
-@11:58:15.03 Carousel.reconfigure :default
-@11:58:15.28 Carousel.seek 1
-@11:58:15.35 Selecting Cartridge 60
-@11:58:15.36 Carousel.seek 60
-@11:58:27.63 Gate.power :heat,:OFF
+@13:59:26.27 Carousel.reconfigure :default
+@13:59:26.53 Carousel.seek 1
+@13:59:26.60 Selecting Cartridge 57
+@13:59:26.61 Carousel.seek 57
+@13:59:38.25 Gate.power :heat,:OFF
 Gate.power :cartridge,:OFF
-Lysis1.seek :locked
-@11:58:31.70 <Plunge> Plunge.seek :locked
+@13:59:38.26 Lysis1.seek :locked
+@13:59:42.33 <Plunge> Plunge.seek :locked
 <Air> Air.seek :locked
-@11:58:35.77 <LRAUV> Gate.power :cartridge,:ON
+@13:59:46.40 <LRAUV> Gate.power :cartridge,:ON
 Gate.power :cartridge,:OFF
 Gate.power :cartridge,:OFF
-@11:58:36.28 Mounted archive Cartridge
-@11:58:49.06 -> Cmd.startFiltering
-@11:58:49.07 <FILTERING> Duration of filtering limited to 2:05:00
-@11:58:49.08 Priming sample loop w/5ml, bypass w/1.5ml
+@13:59:46.90 Mounted archive Cartridge
+@14:00:00.30 -> Cmd.startFiltering
+@14:00:00.31 <FILTERING> Duration of filtering limited to 2:05:00
+@14:00:00.32 Priming sample loop w/5ml, bypass w/1.5ml
 SamplePump.setPosition! 0ml
 Bypass.open
-@11:58:49.99 Intake.open
-@11:58:51.49 Sea 5.7m deep (23.1psia)
-@11:58:51.50 Waiting up to 20 seconds for sea pressure to stabilize +/-0.50psi
-@11:58:54.01 Vacuum tare is 10% of full scale
-@11:58:54.02 Pressure.reconfigure :default
+@14:00:01.03 Intake.open
+@14:00:02.53 Sea 5.7m deep (23.1psia)
+Waiting up to 20 seconds for sea pressure to stabilize +/-0.50psi
+@14:00:05.05 Vacuum tare is 10% of full scale
+@14:00:05.06 Pressure.reconfigure :default
 Pressure.hold
-@11:58:54.09 SamplePump.reconfigure :prime
-@11:58:54.10 SamplePump.seek 1.5ml,38 seconds
-@11:58:55.87 Pressure.coast
+@14:00:05.14 SamplePump.reconfigure :prime
+SamplePump.seek 1.5ml,38 seconds
+@14:00:06.91 Pressure.coast
 SamplePump.setPosition! 0ml
-Exhaust.open
-@11:58:58.07 <closeBypass> Bypass.close
-@11:59:00.27 <FILTERING> Pressure.hold
-@11:59:00.34 Sea 5.7m deep (23.1psia)
-@11:59:00.35 SamplePump.reconfigure :prime
+@14:00:06.92 Exhaust.open
+@14:00:09.11 <closeBypass> Bypass.close
+@14:00:11.32 <FILTERING> Pressure.hold
+@14:00:11.39 Sea 5.7m deep (23.1psia)
+@14:00:11.40 SamplePump.reconfigure :prime
 SamplePump.seek 5ml,56 seconds
-@11:59:05.08 Pressure.coast
-@11:59:05.09 Bypass.open
-@11:59:06.58 Intake.close
-@11:59:08.08 Toroid.reconfigure :hold
-@11:59:08.09 Toroid.seek :crack
-@11:59:08.88 Toroid.reconfigure :default
-@11:59:08.89 Toroid.seek :clear
-@11:59:10.39 Toroid.reconfigure :hold
+@14:00:16.14 Pressure.coast
+Bypass.open
+@14:00:17.63 Intake.close
+@14:00:19.14 Toroid.reconfigure :hold
+Toroid.seek :crack
+@14:00:19.94 Toroid.reconfigure :default
+Toroid.seek :clear
+@14:00:21.44 Toroid.reconfigure :hold
 Toroid.seek :cartridge
-@11:59:12.21 Toroid.reconfigure :default
+@14:00:23.26 Toroid.reconfigure :default
 Toroid.seek :clear
-@11:59:14.03 Pressurizing cartridge to 26psi above 23.1psia
+@14:00:25.08 Pressurizing cartridge to 26psi above 23.1psia
 SamplePump.setPosition! 0ml
 Intake.open
-@11:59:15.52 Bypass.close
-@11:59:17.02 Exhaust.close
-@11:59:18.52 Pressure.hold
-@11:59:18.60 SamplePump.reconfigure :charge
-@11:59:18.64 SamplePump.seek 0.2ml,32 seconds
-@11:59:19.24 Pressure.coast
-@11:59:19.25 Sampling 10.0ml
+@14:00:26.57 Bypass.close
+@14:00:28.07 Exhaust.close
+@14:00:29.62 Pressure.hold
+@14:00:29.69 SamplePump.reconfigure :charge
+SamplePump.seek 0.2ml,32 seconds
+@14:00:30.29 Pressure.coast
+@14:00:30.30 Sampling 10.0ml
 SamplePump.setPosition! 0ml
 Exhaust.open
-@11:59:20.75 Pressure.hold
-@11:59:20.82 Sea 5.7m deep (23.1psia)
+@14:00:31.80 Pressure.hold
+@14:00:31.88 Sea 5.7m deep (23.1psia)
 SamplePump.reconfigure :sample
-@11:59:20.83 SamplePump.seek 10ml,1:21
-@11:59:23.75 <sampling> Cartridge 60 sampling 2/10ml at 0.83ml/s with 0.0psi vacuum 5.7m deep (23.1psia)
-@11:59:33.79 <FILTERING> Pressure.coast
+@14:00:31.89 SamplePump.seek 10ml,1:21
+@14:00:34.81 <sampling> Cartridge 57 sampling 2/10ml at 0.83ml/s with 0.0psi vacuum 5.7m deep (23.1psia)
+@14:00:44.85 <FILTERING> Pressure.coast
 <closeIntake> Intake.close
-@11:59:33.80 <closeExhaust> Exhaust.close
+@14:00:44.86 <closeExhaust> Exhaust.close
 <FILTERING> Toroid.reconfigure :hold
 Toroid.seek :bypass
-@11:59:35.42 Toroid.reconfigure :default
+@14:00:46.48 Toroid.reconfigure :default
 Toroid.seek :clear
-@11:59:37.04 Sampled  10.0ml
-@11:59:38.27 <LRAUV> -> Cmd.startProcessing
-@11:59:38.28 <PROCESSING> Plunge.seek :reagent
-@11:59:39.12 Sample loop closed. Ready to Deliver Reagents
+@14:00:48.10 Sampled  10.0ml
+@14:00:49.51 <LRAUV> -> Cmd.startProcessing
+@14:00:49.53 <PROCESSING> Plunge.seek :reagent
+@14:00:50.37 Sample loop closed. Ready to Deliver Reagents
 Archive.seek :sealed
-@11:59:43.39 Archive.seek :evac
-@11:59:57.37 delay 1:00
-@12:00:57.38 Archive.seek :clear
-@12:01:15.15 RNAlater soak for 45 seconds
-@12:02:00.15 Archive.seek :tVent
-@12:02:02.73 delay 1 second
-@12:02:03.73 Archive.seek :evac
-@12:02:19.40 delay 10 seconds
-@12:02:29.41 Archive.seek :tVent
-@12:02:45.08 delay 1 second
-@12:02:46.08 Archive.seek :evac
-@12:03:01.75 delay 10 seconds
-@12:03:11.76 Sample preserved and evacuated
-@12:03:12.73 <LRAUV> -> Cmd.stop
+@14:00:54.64 Archive.seek :evac
+@14:01:08.61 delay 1:00
+@14:02:08.62 Archive.seek :clear
+@14:02:26.39 RNAlater soak for 45 seconds
+@14:03:11.40 Archive.seek :tVent
+@14:03:13.98 delay 1 second
+@14:03:14.98 Archive.seek :evac
+@14:03:30.65 delay 10 seconds
+@14:03:40.65 Archive.seek :tVent
+@14:03:56.32 delay 1 second
+@14:03:57.32 Archive.seek :evac
+@14:04:12.99 delay 10 seconds
+@14:04:23.00 Sample preserved and evacuated
+@14:04:23.96 <LRAUV> -> Cmd.stop
 Gate.power :heat,:OFF
-@12:03:12.74 Gate.power :cartridge,:OFF
-Carousel.seek 60
-@12:03:12.81 Plunge.seek :locked
-@12:03:13.65 PinPort.seek :clear
-@12:03:13.72 <Archive> Archive.seek :clear
-<Air> Air.seek :clear
-@12:03:13.74 <Lysis1> Lysis1.seek :clear
-@12:03:31.49 <LRAUV> Archive.coast
+Gate.power :cartridge,:OFF
+Carousel.seek 57
+@14:04:24.04 Plunge.seek :locked
+@14:04:24.87 PinPort.seek :clear
+@14:04:24.95 <Archive> Archive.seek :clear
+@14:04:24.96 <Air> Air.seek :clear
+@14:04:24.98 <Lysis1> Lysis1.seek :clear
+@14:04:42.72 <LRAUV> Archive.coast
 Air.coast
-Lysis1.coast
+@14:04:42.73 Lysis1.coast
 Lysis2.coast
-@12:03:31.50 Plunge.coast
+Plunge.coast
 SamplePump.coast
 Toroid.coast
-Carousel.coast
+@14:04:42.74 Carousel.coast
 PinPort.coast
-@12:03:31.52 Gate.power :heat,:OFF
-Gate.power :cartridge,:OFF
-@12:03:31.57 Gate.power :motor,:OFF
-@12:03:31.58 Gate.power :core,:OFF
+@14:04:42.75 Gate.power :heat,:OFF
+@14:04:42.76 Gate.power :cartridge,:OFF
+@14:04:42.81 Gate.power :motor,:OFF
+Gate.power :core,:OFF
 Gate.power :analytic1,:OFF
 Gate.power :analytic2,:OFF
 Gate.power :analytic3,:OFF
-Gate.power :main,:OFF
+@14:04:42.82 Gate.power :main,:OFF
 Safely stopped and ready to power off
-@12:08:40.42 Session Ended
-@12:11:13.62 <simrapid> -> exit
-ESPhonu:001:0->
+@14:09:51.63 Session Ended
+@14:24:48.05 <simrapid> -> exit
 ```
 
-Note: `exit` after 1st sample completed, to prepare and then re-launch for the 2nd sample as signaled from the tethyscode output captured below.
-
 
 ## On tethyscode:
 
 ```
+...
+[carueda@tethyscode lrauv-application]$ ESPCOMPONENT_MANUAL_ESP=1 bin/LRAUV -r -x    "load Maintenance/sample.xml;set sample.NumberOfSamples 2 count;set sample.Depth 1 centimeter;set sample.WaitBeforeSample 3 second;set sample:SampleAtDepth.TargetDepth 1 centimeter;run"
 Writer for level Courier will be LZMA encoded.
 Writer for level Express will be LZMA encoded.
 Writer for level Priority will not be LZMA encoded.
 Writer for level Normal will not be LZMA encoded.
-2020-08-12T18:53:24.749Z,1597258404.749 [SyncHandler](INFO): Protected caller Thread ID is 106471
-2020-08-12T18:53:24.749Z,1597258404.749 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 106472
-2020-08-12T18:53:24.749Z,1597258404.749 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 106473
-2020-08-12T18:53:24.750Z,1597258404.750 [logger ThreadHandler](INFO): Protected caller Thread ID is 106474
-2020-08-12T18:53:24.750Z,1597258404.750 [Supervisor](INFO): Looking for Config files in directory: Config/
-2020-08-12T18:53:24.750Z,1597258404.750 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
-2020-08-12T18:53:24.754Z,1597258404.754 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
-2020-08-12T18:53:24.759Z,1597258404.759 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
-2020-08-12T18:53:24.764Z,1597258404.764 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
-tethyscode>2020-08-12T18:53:24.770Z,1597258404.770 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
-2020-08-12T18:53:24.773Z,1597258404.773 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
-2020-08-12T18:53:24.776Z,1597258404.776 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
-2020-08-12T18:53:24.780Z,1597258404.780 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
-2020-08-12T18:53:24.785Z,1597258404.785 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
-2020-08-12T18:53:24.788Z,1597258404.788 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
-2020-08-12T18:53:24.791Z,1597258404.791 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
-2020-08-12T18:53:24.795Z,1597258404.795 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
-2020-08-12T18:53:24.798Z,1597258404.798 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
-2020-08-12T18:53:24.802Z,1597258404.802 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
-2020-08-12T18:53:24.805Z,1597258404.805 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
-2020-08-12T18:53:24.812Z,1597258404.812 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
-2020-08-12T18:53:24.816Z,1597258404.816 [Supervisor](INFO): Looking for Config files in directory: Config/tethyscode/
-2020-08-12T18:53:24.816Z,1597258404.816 [Supervisor](INFO): Looking for Config files in directory: Config/tethyscode/carueda/
-2020-08-12T18:53:24.816Z,1597258404.816 [Supervisor](INFO): Looking for Config files in directory: Config/sim/
-2020-08-12T18:53:24.816Z,1597258404.816 [Supervisor](INFO): Opening Config file at: Config/sim/secure.cfg
-2020-08-12T18:53:24.818Z,1597258404.818 [Supervisor](INFO): Opening Config file at: Config/sim/Science.cfg
-2020-08-12T18:53:24.821Z,1597258404.821 [Supervisor](INFO): Opening Config file at: Config/sim/Simulator.cfg
-2020-08-12T18:53:24.824Z,1597258404.824 [Supervisor](INFO): Opening Config file at: Config/sim/vehicle.cfg
-2020-08-12T18:53:24.827Z,1597258404.827 [Supervisor](INFO): Opening Config file at: Config/sim/Servo.cfg
-2020-08-12T18:53:24.830Z,1597258404.830 [Supervisor](INFO): Opening Config file at: Config/sim/Sensor.cfg
-2020-08-12T18:53:24.833Z,1597258404.833 [Supervisor](INFO): Opening Config file at: Config/sim/Derivation.cfg
-2020-08-12T18:53:24.836Z,1597258404.836 [Supervisor](INFO): Looking for Config files in directory: Config/sim/carueda/
-2020-08-12T18:53:24.836Z,1597258404.836 [Supervisor](INFO): Opening Config file at: Config/sim/carueda/secure.cfg
-2020-08-12T18:53:24.839Z,1597258404.839 [Supervisor](INFO): Opening Config file at: Config/sim/carueda/Science.cfg
-2020-08-12T18:53:24.842Z,1597258404.842 [Supervisor](INFO): Opening Config file at: Config/sim/carueda/vehicle.cfg
-2020-08-12T18:53:24.844Z,1597258404.844 [Supervisor](INFO): Opening Config file at: Config/sim/carueda/Sensor.cfg
-2020-08-12T18:53:24.847Z,1597258404.847 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
-2020-08-12T18:53:24.853Z,1597258404.853 [ESPComponent](ERROR): Could not open device '/dev/loadA6' at ESPComponent.loadControl
-2020-08-12T18:53:24.873Z,1597258404.873 [ESPComponent](ERROR): Could not open device '/dev/loadA7' at ESPComponent.loadControl2
-2020-08-12T18:53:24.895Z,1597258404.895 [ESPComponent](IMPORTANT): ESPCOMPONENT_MANUAL_ESP INDICATED.
-2020-08-12T18:53:24.897Z,1597258404.897 [WetLabsBB2FL](INFO): created writer for : mass_concentration_of_chlorophyll_in_sea_water
-2020-08-12T18:53:24.898Z,1597258404.898 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 106556
-2020-08-12T18:53:24.911Z,1597258404.911 [AHRS_M2](INFO): created writer for : platform_orientation
-2020-08-12T18:53:24.911Z,1597258404.911 [AHRS_M2](INFO): created writer for : platform_magnetic_orientation
-2020-08-12T18:53:24.911Z,1597258404.911 [AHRS_M2](INFO): created writer for : platform_pitch_angle
-2020-08-12T18:53:24.911Z,1597258404.911 [AHRS_M2](INFO): created writer for : platform_roll_angle
-2020-08-12T18:53:24.914Z,1597258404.914 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 106557
-2020-08-12T18:53:24.915Z,1597258404.915 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/voltage_now
-2020-08-12T18:53:24.915Z,1597258404.915 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/current_now
-2020-08-12T18:53:24.915Z,1597258404.915 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/charge_now
-2020-08-12T18:53:24.915Z,1597258404.915 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/charge_full
-2020-08-12T18:53:24.915Z,1597258404.915 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/voltage_now
-2020-08-12T18:53:24.915Z,1597258404.915 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/current_now
-2020-08-12T18:53:24.915Z,1597258404.915 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/charge_now
-2020-08-12T18:53:24.915Z,1597258404.915 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/charge_full
-2020-08-12T18:53:24.916Z,1597258404.916 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 106558
-2020-08-12T18:53:24.916Z,1597258404.916 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 106559
-2020-08-12T18:53:24.924Z,1597258404.924 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 106560
-2020-08-12T18:53:24.924Z,1597258404.924 [Supervisor](INFO): Main Thread ID is 106470
-2020-08-12T18:53:24.924Z,1597258404.924 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 106566
-2020-08-12T18:53:24.925Z,1597258404.925 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 106568
-2020-08-12T18:53:24.925Z,1597258404.925 [logger ThreadHandler](INFO): Handler Thread ID is 106564
-2020-08-12T18:53:24.927Z,1597258404.927 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 106565
-2020-08-12T18:53:24.927Z,1597258404.927 [Onboard ThreadHandler](INFO): Handler Thread ID is 106567
-2020-08-12T18:53:24.927Z,1597258404.927 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 106569
-2020-08-12T18:53:24.927Z,1597258404.927 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
-2020-08-12T18:53:24.927Z,1597258404.927 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
-2020-08-12T18:53:24.927Z,1597258404.927 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
-2020-08-12T18:53:24.927Z,1597258404.927 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
-2020-08-12T18:53:24.927Z,1597258404.927 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
-2020-08-12T18:53:24.927Z,1597258404.927 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
-2020-08-12T18:53:24.927Z,1597258404.927 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
-2020-08-12T18:53:24.927Z,1597258404.927 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
-2020-08-12T18:53:24.927Z,1597258404.927 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
-2020-08-12T18:53:24.927Z,1597258404.927 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
-2020-08-12T18:53:24.927Z,1597258404.927 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
-2020-08-12T18:53:24.927Z,1597258404.927 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
-2020-08-12T18:53:24.927Z,1597258404.927 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
-2020-08-12T18:53:24.927Z,1597258404.927 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
-2020-08-12T18:53:24.927Z,1597258404.927 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
-2020-08-12T18:53:24.927Z,1597258404.927 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
-2020-08-12T18:53:24.930Z,1597258404.930 [CommandLine ThreadHandler](INFO): Handler Thread ID is 106561
-2020-08-12T18:53:24.930Z,1597258404.930 [CommandLine ThreadHandler](INFO): Handler Thread ID is 106563
-2020-08-12T18:53:24.933Z,1597258404.933 [controlThread ThreadHandler](INFO): Handler Thread ID is 106562
-2020-08-12T18:53:24.934Z,1597258404.934 [ExternalSim](INFO): ExternalSim initializing...
-2020-08-12T18:53:24.951Z,1597258404.951 [SBIT](INFO): Initialize SBIT Component.
-2020-08-12T18:53:24.951Z,1597258404.951 [SBIT](IMPORTANT): git: 2020-07-23-4-gf73e8ad
-2020-08-12T18:53:24.951Z,1597258404.951 [SBIT](INFO): git hash: f73e8ad95b55d34bdb49d5e5edbbb75e6888861e
-2020-08-12T18:53:24.951Z,1597258404.951 [SBIT](INFO): Kernel Reporting Different Release From Configuration.
+2020-08-12T20:34:22.848Z,1597264462.848 [SyncHandler](INFO): Protected caller Thread ID is 106985
+2020-08-12T20:34:22.848Z,1597264462.848 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 106986
+2020-08-12T20:34:22.848Z,1597264462.848 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 106987
+2020-08-12T20:34:22.848Z,1597264462.848 [logger ThreadHandler](INFO): Protected caller Thread ID is 106988
+2020-08-12T20:34:22.848Z,1597264462.848 [Supervisor](INFO): Looking for Config files in directory: Config/
+2020-08-12T20:34:22.849Z,1597264462.849 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
+2020-08-12T20:34:22.853Z,1597264462.853 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
+2020-08-12T20:34:22.858Z,1597264462.858 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
+2020-08-12T20:34:22.864Z,1597264462.864 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
+tethyscode>2020-08-12T20:34:22.869Z,1597264462.869 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
+2020-08-12T20:34:22.873Z,1597264462.873 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
+2020-08-12T20:34:22.876Z,1597264462.876 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
+2020-08-12T20:34:22.880Z,1597264462.880 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
+2020-08-12T20:34:22.884Z,1597264462.884 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
+2020-08-12T20:34:22.887Z,1597264462.887 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
+2020-08-12T20:34:22.890Z,1597264462.890 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
+2020-08-12T20:34:22.894Z,1597264462.894 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
+2020-08-12T20:34:22.898Z,1597264462.898 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
+2020-08-12T20:34:22.901Z,1597264462.901 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
+2020-08-12T20:34:22.904Z,1597264462.904 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
+2020-08-12T20:34:22.911Z,1597264462.911 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
+2020-08-12T20:34:22.915Z,1597264462.915 [Supervisor](INFO): Looking for Config files in directory: Config/tethyscode/
+2020-08-12T20:34:22.915Z,1597264462.915 [Supervisor](INFO): Looking for Config files in directory: Config/tethyscode/carueda/
+2020-08-12T20:34:22.915Z,1597264462.915 [Supervisor](INFO): Looking for Config files in directory: Config/sim/
+2020-08-12T20:34:22.915Z,1597264462.915 [Supervisor](INFO): Opening Config file at: Config/sim/secure.cfg
+2020-08-12T20:34:22.918Z,1597264462.918 [Supervisor](INFO): Opening Config file at: Config/sim/Science.cfg
+2020-08-12T20:34:22.921Z,1597264462.921 [Supervisor](INFO): Opening Config file at: Config/sim/Simulator.cfg
+2020-08-12T20:34:22.923Z,1597264462.923 [Supervisor](INFO): Opening Config file at: Config/sim/vehicle.cfg
+2020-08-12T20:34:22.926Z,1597264462.926 [Supervisor](INFO): Opening Config file at: Config/sim/Servo.cfg
+2020-08-12T20:34:22.929Z,1597264462.929 [Supervisor](INFO): Opening Config file at: Config/sim/Sensor.cfg
+2020-08-12T20:34:22.932Z,1597264462.932 [Supervisor](INFO): Opening Config file at: Config/sim/Derivation.cfg
+2020-08-12T20:34:22.935Z,1597264462.935 [Supervisor](INFO): Looking for Config files in directory: Config/sim/carueda/
+2020-08-12T20:34:22.935Z,1597264462.935 [Supervisor](INFO): Opening Config file at: Config/sim/carueda/secure.cfg
+2020-08-12T20:34:22.937Z,1597264462.937 [Supervisor](INFO): Opening Config file at: Config/sim/carueda/Science.cfg
+2020-08-12T20:34:22.938Z,1597264462.938 [Config/Science](ERROR): Could not parse value: The
+2020-08-12T20:34:22.940Z,1597264462.940 [Supervisor](INFO): Opening Config file at: Config/sim/carueda/vehicle.cfg
+2020-08-12T20:34:22.943Z,1597264462.943 [Supervisor](INFO): Opening Config file at: Config/sim/carueda/Sensor.cfg
+2020-08-12T20:34:22.946Z,1597264462.946 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
+2020-08-12T20:34:22.951Z,1597264462.951 [ESPComponent](ERROR): Could not open device '/dev/loadA6' at ESPComponent.loadControl
+2020-08-12T20:34:22.971Z,1597264462.971 [ESPComponent](ERROR): Could not open device '/dev/loadA7' at ESPComponent.loadControl2
+2020-08-12T20:34:22.992Z,1597264462.992 [ESPComponent](IMPORTANT): ESPCOMPONENT_MANUAL_ESP INDICATED.
+2020-08-12T20:34:22.994Z,1597264462.994 [WetLabsBB2FL](INFO): created writer for : mass_concentration_of_chlorophyll_in_sea_water
+2020-08-12T20:34:22.995Z,1597264462.995 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 107070
+2020-08-12T20:34:23.008Z,1597264463.008 [AHRS_M2](INFO): created writer for : platform_orientation
+2020-08-12T20:34:23.008Z,1597264463.008 [AHRS_M2](INFO): created writer for : platform_magnetic_orientation
+2020-08-12T20:34:23.008Z,1597264463.008 [AHRS_M2](INFO): created writer for : platform_pitch_angle
+2020-08-12T20:34:23.008Z,1597264463.008 [AHRS_M2](INFO): created writer for : platform_roll_angle
+2020-08-12T20:34:23.010Z,1597264463.010 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 107071
+2020-08-12T20:34:23.011Z,1597264463.011 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/voltage_now
+2020-08-12T20:34:23.011Z,1597264463.011 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/current_now
+2020-08-12T20:34:23.011Z,1597264463.011 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/charge_now
+2020-08-12T20:34:23.011Z,1597264463.011 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/charge_full
+2020-08-12T20:34:23.011Z,1597264463.011 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/voltage_now
+2020-08-12T20:34:23.011Z,1597264463.011 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/current_now
+2020-08-12T20:34:23.011Z,1597264463.011 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/charge_now
+2020-08-12T20:34:23.011Z,1597264463.011 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/charge_full
+2020-08-12T20:34:23.011Z,1597264463.011 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 107072
+2020-08-12T20:34:23.012Z,1597264463.012 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 107073
+2020-08-12T20:34:23.020Z,1597264463.020 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 107074
+2020-08-12T20:34:23.021Z,1597264463.021 [Supervisor](INFO): Main Thread ID is 106984
+2020-08-12T20:34:23.021Z,1597264463.021 [Onboard ThreadHandler](INFO): Handler Thread ID is 107081
+2020-08-12T20:34:23.021Z,1597264463.021 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 107083
+2020-08-12T20:34:23.021Z,1597264463.021 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
+2020-08-12T20:34:23.021Z,1597264463.021 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
+2020-08-12T20:34:23.021Z,1597264463.021 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
+2020-08-12T20:34:23.021Z,1597264463.021 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
+2020-08-12T20:34:23.021Z,1597264463.021 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
+2020-08-12T20:34:23.021Z,1597264463.021 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
+2020-08-12T20:34:23.021Z,1597264463.021 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
+2020-08-12T20:34:23.021Z,1597264463.021 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
+2020-08-12T20:34:23.021Z,1597264463.021 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
+2020-08-12T20:34:23.021Z,1597264463.021 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
+2020-08-12T20:34:23.021Z,1597264463.021 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
+2020-08-12T20:34:23.021Z,1597264463.021 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
+2020-08-12T20:34:23.021Z,1597264463.021 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
+2020-08-12T20:34:23.021Z,1597264463.021 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
+2020-08-12T20:34:23.021Z,1597264463.021 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
+2020-08-12T20:34:23.021Z,1597264463.021 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
+2020-08-12T20:34:23.024Z,1597264463.024 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 107079
+2020-08-12T20:34:23.024Z,1597264463.024 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 107080
+2020-08-12T20:34:23.024Z,1597264463.024 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 107082
+2020-08-12T20:34:23.025Z,1597264463.025 [controlThread ThreadHandler](INFO): Handler Thread ID is 107076
+2020-08-12T20:34:23.025Z,1597264463.025 [logger ThreadHandler](INFO): Handler Thread ID is 107078
+2020-08-12T20:34:23.025Z,1597264463.025 [CommandLine ThreadHandler](INFO): Handler Thread ID is 107075
+2020-08-12T20:34:23.025Z,1597264463.025 [ExternalSim](INFO): ExternalSim initializing...
+2020-08-12T20:34:23.032Z,1597264463.032 [SBIT](INFO): Initialize SBIT Component.
+2020-08-12T20:34:23.032Z,1597264463.032 [SBIT](IMPORTANT): git: 2020-07-23-4-gf73e8ad
+2020-08-12T20:34:23.032Z,1597264463.032 [SBIT](INFO): git hash: f73e8ad95b55d34bdb49d5e5edbbb75e6888861e
+2020-08-12T20:34:23.032Z,1597264463.032 [SBIT](INFO): Kernel Reporting Different Release From Configuration.
 Kernel Expected: 2.6.32-45-generic-pae
 Kernel Reported: 2.6.32-754.29.1.el6.x86_64
-2020-08-12T18:53:24.951Z,1597258404.951 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
+2020-08-12T20:34:23.032Z,1597264463.032 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
 Kernel Expected: #102-Ubuntu SMP Wed Jan 2 22:10:16 UTC 2013
 Kernel Reported: #1 SMP Mon Apr 27 15:30:33 UTC 2020
-2020-08-12T18:53:24.951Z,1597258404.951 [SBIT](INFO): Beginning SBIT in 20.000000 seconds.
-2020-08-12T18:53:24.951Z,1597258404.951 [IBIT](INFO): Initialize IBIT Component.
-tethyscode>load Maintenance2020-08-12T18:53:24.975Z,1597258404.975 [CommandLine](IMPORTANT): got command load ./Missions/Maintenance/sample.xml
-2020-08-12T18:53:24.975Z,1597258404.975 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/sample.xml
-2020-08-12T18:53:24.976Z,1597258404.976 [MissionManager](INFO): DefineArg sample.MissionTimeout = 90.000000 min
-2020-08-12T18:53:24.976Z,1597258404.976 [MissionManager](INFO): DefineArg sample.Depth = 7.000000 m
-2020-08-12T18:53:24.976Z,1597258404.976 [MissionManager](INFO): DefineArg sample.CartridgeType = -4.000000 count
-2020-08-12T18:53:24.976Z,1597258404.976 [MissionManager](INFO): DefineArg sample.NumberOfSamples = 1.000000 count
-2020-08-12T18:53:24.976Z,1597258404.976 [MissionManager](INFO): DefineArg sample.WaitBeforeSample = 3.000000 min
-2020-08-12T18:53:24.976Z,1597258404.976 [MissionManager](INFO): Inserting Stack: Missions/Insert/SampleAtDepth.xml
-2020-08-12T18:53:24.977Z,1597258404.977 [MissionManager](INFO): DefineArg sample:SampleAtDepth.TargetDepth = 5.000000 m
-2020-08-12T18:53:24.977Z,1597258404.977 [MissionManager](INFO): DefineArg sample:SampleAtDepth.SettleTime = 10.000000 s
-2020-08-12T18:53:24.977Z,1597258404.977 [MissionManager](INFO): DefineArg sample:SampleAtDepth.MaxWaitNotReachingDepth = 3.000000 h
-2020-08-12T18:53:24.977Z,1597258404.977 [MissionManager](INFO): DefineArg sample:SampleAtDepth.RotateOnly = 0.000000 bool
-2020-08-12T18:53:24.977Z,1597258404.977 [MissionManager](INFO): DefineArg sample:SampleAtDepth.UseCANONSampler = 0.000000 bool
-2020-08-12T18:53:24.977Z,1597258404.977 [MissionManager](INFO): DefineArg sample:SampleAtDepth.UseESP = 1.000000 bool
-2020-08-12T18:53:24.977Z,1597258404.977 [MissionManager](INFO): DefineArg sample:SampleAtDepth.ESPCartridgeType = nan count
-2020-08-12T18:53:24.977Z,1597258404.977 [MissionManager](INFO): DefineArg sample:SampleAtDepth.CANONSamplerTriggerTimeout = 1.000000 min
-2020-08-12T18:53:24.977Z,1597258404.977 [MissionManager](INFO): DefineArg sample:SampleAtDepth.CANONSamplerTimeout = 6.000000 min
-2020-08-12T18:53:24.977Z,1597258404.977 [MissionManager](INFO): DefineArg sample:SampleAtDepth.BuoyancyNeutral = 500.000024 cc
-2020-08-12T18:53:24.977Z,1597258404.977 [MissionManager](ERROR): Slate does not contain CTD_NeilBrown.bin_mean_sea_water_temperature
-2020-08-12T18:53:24.977Z,1597258404.977 [MissionManager](ERROR): Slate does not contain celsius
-2020-08-12T18:53:24.977Z,1597258404.977 [MissionManager](ERROR): Slate does not contain CTD_Seabird.bin_mean_sea_water_temperature
-2020-08-12T18:53:24.978Z,1597258404.978 [MissionManager](ERROR): Slate does not contain celsius
-2020-08-12T18:53:24.978Z,1597258404.978 [CommandLine](IMPORTANT): Loaded ./Missions/Maintenance/sample.xml
-2020-08-12T18:53:24.981Z,1597258404.981 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
-2020-08-12T18:53:24.981Z,1597258404.981 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
-2020-08-12T18:53:24.982Z,1597258404.982 [MissionManager](INFO): Loading Mission: Missions/Default.xml
-2020-08-12T18:53:24.982Z,1597258404.982 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
+2020-08-12T20:34:23.032Z,1597264463.032 [SBIT](INFO): Beginning SBIT in 20.000000 seconds.
+2020-08-12T20:34:23.032Z,1597264463.032 [IBIT](INFO): Initialize IBIT Component.
+2020-08-12T20:34:23.033Z,1597264463.033 [CommandLine ThreadHandler](INFO): Handler Thread ID is 107077
+2020-08-12T20:34:23.062Z,1597264463.062 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
+2020-08-12T20:34:23.062Z,1597264463.062 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
+2020-08-12T20:34:23.062Z,1597264463.062 [MissionManager](INFO): Loading Mission: Missions/Default.xml
+2020-08-12T20:34:23.062Z,1597264463.062 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
+tethyscode>load Maintenance2020-08-12T20:34:23.072Z,1597264463.072 [CommandLine](IMPORTANT): got command load ./Missions/Maintenance/sample.xml
+2020-08-12T20:34:23.072Z,1597264463.072 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/sample.xml
+2020-08-12T20:34:23.072Z,1597264463.072 [MissionManager](INFO): DefineArg sample.MissionTimeout = 90.000000 min
+2020-08-12T20:34:23.072Z,1597264463.072 [MissionManager](INFO): DefineArg sample.Depth = 7.000000 m
+2020-08-12T20:34:23.072Z,1597264463.072 [MissionManager](INFO): DefineArg sample.CartridgeType = -4.000000 count
+2020-08-12T20:34:23.072Z,1597264463.072 [MissionManager](INFO): DefineArg sample.NumberOfSamples = 1.000000 count
+2020-08-12T20:34:23.072Z,1597264463.072 [MissionManager](INFO): DefineArg sample.WaitBeforeSample = 3.000000 min
+2020-08-12T20:34:23.072Z,1597264463.072 [MissionManager](INFO): Inserting Stack: Missions/Insert/SampleAtDepth.xml
+2020-08-12T20:34:23.073Z,1597264463.073 [MissionManager](INFO): DefineArg sample:SampleAtDepth.TargetDepth = 5.000000 m
+2020-08-12T20:34:23.073Z,1597264463.073 [MissionManager](INFO): DefineArg sample:SampleAtDepth.SettleTime = 10.000000 s
+2020-08-12T20:34:23.073Z,1597264463.073 [MissionManager](INFO): DefineArg sample:SampleAtDepth.MaxWaitNotReachingDepth = 3.000000 h
+2020-08-12T20:34:23.073Z,1597264463.073 [MissionManager](INFO): DefineArg sample:SampleAtDepth.RotateOnly = 0.000000 bool
+2020-08-12T20:34:23.073Z,1597264463.073 [MissionManager](INFO): DefineArg sample:SampleAtDepth.UseCANONSampler = 0.000000 bool
+2020-08-12T20:34:23.073Z,1597264463.073 [MissionManager](INFO): DefineArg sample:SampleAtDepth.UseESP = 1.000000 bool
+2020-08-12T20:34:23.073Z,1597264463.073 [MissionManager](INFO): DefineArg sample:SampleAtDepth.ESPCartridgeType = nan count
+2020-08-12T20:34:23.073Z,1597264463.073 [MissionManager](INFO): DefineArg sample:SampleAtDepth.CANONSamplerTriggerTimeout = 1.000000 min
+2020-08-12T20:34:23.073Z,1597264463.073 [MissionManager](INFO): DefineArg sample:SampleAtDepth.CANONSamplerTimeout = 6.000000 min
+2020-08-12T20:34:23.073Z,1597264463.073 [MissionManager](INFO): DefineArg sample:SampleAtDepth.BuoyancyNeutral = 500.000024 cc
+2020-08-12T20:34:23.073Z,1597264463.073 [MissionManager](ERROR): Slate does not contain CTD_NeilBrown.bin_mean_sea_water_temperature
+2020-08-12T20:34:23.073Z,1597264463.073 [MissionManager](ERROR): Slate does not contain celsius
+2020-08-12T20:34:23.073Z,1597264463.073 [MissionManager](ERROR): Slate does not contain CTD_Seabird.bin_mean_sea_water_temperature
+2020-08-12T20:34:23.073Z,1597264463.073 [MissionManager](ERROR): Slate does not contain celsius
+2020-08-12T20:34:23.073Z,1597264463.073 [CommandLine](IMPORTANT): Loaded ./Missions/Maintenance/sample.xml
 tethyscode>set sample.NumberOfSamples 2 count;set sample.Depth 1 centimeter;set sample.WaitBeforeSample 3 second;set sample:SampleAtDepth.TargetDepth 1 centimeter;run
-2020-08-12T18:53:25.030Z,1597258405.030 [CommandLine](IMPORTANT): got command set sample.NumberOfSamples 2.000000 count
-2020-08-12T18:53:25.030Z,1597258405.030 [CommandLine](IMPORTANT): got command set sample.Depth 1.000000 centimeter
-2020-08-12T18:53:25.030Z,1597258405.030 [CommandLine](IMPORTANT): got command set sample.WaitBeforeSample 3.000000 second
-2020-08-12T18:53:25.030Z,1597258405.030 [CommandLine](IMPORTANT): got command set sample:SampleAtDepth.TargetDepth 1.000000 centimeter
-2020-08-12T18:53:25.030Z,1597258405.030 [CommandLine](IMPORTANT): got command run
-2020-08-12T18:53:25.031Z,1597258405.031 [CommandLine](IMPORTANT): Running
-2020-08-12T18:53:28.925Z,1597258408.925 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.000125
-2020-08-12T18:53:29.925Z,1597258409.925 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
-2020-08-12T18:53:30.926Z,1597258410.926 [DataOverHttps](INFO): Radio surface powered ON.
-2020-08-12T18:53:45.395Z,1597258425.395 [SBIT](IMPORTANT): Beginning Startup BIT
-2020-08-12T18:53:59.399Z,1597258439.399 [NAL9602](INFO): GPS fix at 20200812T185359: (36.803404, -121.822207)
-2020-08-12T18:54:00.598Z,1597258440.598 [NAL9602](INFO): No messages in MT queue
-2020-08-12T18:54:31.008Z,1597258471.008 [NAL9602](INFO): Not Powering down - fast GPS
-2020-08-12T18:54:39.011Z,1597258479.011 [SBIT](IMPORTANT): SBIT PASSED
-2020-08-12T18:54:39.011Z,1597258479.011 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
-2020-08-12T18:54:39.011Z,1597258479.011 [SBIT](IMPORTANT): No configSet variables persisted
-2020-08-12T18:54:39.411Z,1597258479.411 [MissionManager](IMPORTANT): Started mission Startup
-2020-08-12T18:54:39.411Z,1597258479.411 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
-2020-08-12T18:54:44.212Z,1597258484.212 [NAL9602](INFO): GPS fix at 20200812T185444: (36.803409, -121.822216)
-2020-08-12T18:54:45.411Z,1597258485.411 [NAL9602](INFO): No messages in MT queue
-2020-08-12T18:54:47.941Z,1597258487.941 [DataOverHttps](INFO): Sending 328 bytes from file Logs/20200812T183714/Courier0004.lzma
-2020-08-12T18:54:48.941Z,1597258488.941 [DataOverHttps](INFO): Moved sent file to Logs/20200812T183714/Courier0004.lzma.bak
-2020-08-12T18:54:48.941Z,1597258488.941 [DataOverHttps](INFO): SBD MOMSN=12487440
-2020-08-12T18:54:57.942Z,1597258497.942 [DataOverHttps](INFO): Sending 214 bytes from file Logs/20200812T185324/Courier0000.lzma
-2020-08-12T18:54:58.942Z,1597258498.942 [DataOverHttps](INFO): Moved sent file to Logs/20200812T185324/Courier0000.lzma.bak
-2020-08-12T18:54:58.942Z,1597258498.942 [DataOverHttps](INFO): SBD MOMSN=12487444
-2020-08-12T18:55:07.943Z,1597258507.943 [DataOverHttps](INFO): Sending 175 bytes from file Logs/20200812T083346/Express0005.lzma
-2020-08-12T18:55:08.943Z,1597258508.943 [DataOverHttps](INFO): Moved sent file to Logs/20200812T083346/Express0005.lzma.bak
-2020-08-12T18:55:08.943Z,1597258508.943 [DataOverHttps](INFO): SBD MOMSN=12487448
-2020-08-12T18:55:15.818Z,1597258515.818 [NAL9602](INFO): Not Powering down - fast GPS
-2020-08-12T18:55:17.944Z,1597258517.944 [DataOverHttps](INFO): Sending 580 bytes from file Logs/20200812T083353/Express0001.lzma
-2020-08-12T18:55:18.944Z,1597258518.944 [DataOverHttps](INFO): Moved sent file to Logs/20200812T083353/Express0001.lzma.bak
-2020-08-12T18:55:18.944Z,1597258518.944 [DataOverHttps](INFO): SBD MOMSN=12487453
-2020-08-12T18:55:27.945Z,1597258527.945 [DataOverHttps](INFO): Sending 130 bytes from file Logs/20200812T083353/Express0005.lzma
-2020-08-12T18:55:28.944Z,1597258528.944 [DataOverHttps](INFO): Moved sent file to Logs/20200812T083353/Express0005.lzma.bak
-2020-08-12T18:55:28.944Z,1597258528.944 [DataOverHttps](INFO): SBD MOMSN=12487465
-2020-08-12T18:55:37.946Z,1597258537.946 [DataOverHttps](INFO): Sending 584 bytes from file Logs/20200812T083428/Express0001.lzma
-2020-08-12T18:55:38.945Z,1597258538.945 [DataOverHttps](INFO): Moved sent file to Logs/20200812T083428/Express0001.lzma.bak
-2020-08-12T18:55:38.945Z,1597258538.945 [DataOverHttps](INFO): SBD MOMSN=12487470
-2020-08-12T18:55:44.225Z,1597258544.225 [Startup:StartupSatComms:B](INFO): Timed out from 2020-08-12T18:54:44.2Z
-2020-08-12T18:55:44.226Z,1597258544.226 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
-2020-08-12T18:55:44.226Z,1597258544.226 [Startup](INFO): Completed Startup
-2020-08-12T18:55:44.226Z,1597258544.226 [MissionManager](INFO): Startup is completed.
-2020-08-12T18:55:44.226Z,1597258544.226 [MissionManager](INFO): Uninitializing Mission Startup
-2020-08-12T18:55:44.624Z,1597258544.624 [MissionManager](IMPORTANT): Started mission sample
-2020-08-12T18:55:44.624Z,1597258544.624 [sample:A.AbortSample](INFO): Initializing AbortSample.
-2020-08-12T18:55:45.827Z,1597258545.827 [sample:SampleAtDepth:ApproachDepth:A](INFO): Moving to 0.010000 m
-2020-08-12T18:55:47.946Z,1597258547.946 [DataOverHttps](INFO): Sending 646 bytes from file Logs/20200812T083428/Express0005.lzma
-2020-08-12T18:55:48.946Z,1597258548.946 [DataOverHttps](INFO): Moved sent file to Logs/20200812T083428/Express0005.lzma.bak
-2020-08-12T18:55:48.946Z,1597258548.946 [DataOverHttps](INFO): SBD MOMSN=12487482
-2020-08-12T18:57:55.456Z,1597258675.456 [sample:SampleAtDepth:ApproachDepth](INFO): Completed sample:SampleAtDepth:ApproachDepth
-2020-08-12T18:57:55.856Z,1597258675.856 [sample:SampleAtDepth:SampleWrapper:B](IMPORTANT): At 0.012371 m , settling for 0.050000 min
-2020-08-12T18:57:59.457Z,1597258679.457 [sample:SampleAtDepth:SampleWrapper:C.Wait](INFO): Done Waiting.
-2020-08-12T18:57:59.857Z,1597258679.857 [sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge:A.ESPCartridgeSelect](INFO): Initializing ESPCartridgeSelect.
-2020-08-12T18:58:00.257Z,1597258680.257 [sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge:A.ESPCartridgeSelect](INFO): Issuing request for ESP cartridge type: -4.
-2020-08-12T18:58:00.257Z,1597258680.257 [sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge:A.ESPCartridgeSelect](INFO): Uninitializing ESPCartridgeSelect.
-2020-08-12T18:58:00.257Z,1597258680.257 [sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge](INFO): Completed sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge
-2020-08-12T18:58:01.456Z,1597258681.456 [ESPComponent](IMPORTANT): Setting regex for ESP Log summary: 'Selecting Cartridge|Sampled|Error|Underpressure|Overpressure|Fail|Retry|Cmd::|Sampler::'
-2020-08-12T18:58:01.456Z,1597258681.456 [ESPComponent](INFO): compiled regex: "Selecting Cartridge|Sampled|Error|Underpressure|Overpressure|Fail|Retry|Cmd::|Sampler::"
-2020-08-12T18:58:01.856Z,1597258681.856 [ESPComponent](IMPORTANT): powerUpESP IGNORED because manualEsp_
-2020-08-12T18:58:01.856Z,1597258681.856 [ESPComponent](IMPORTANT): Waiting for ESP to connect (timeout=30.0000)
-2020-08-12T18:58:08.658Z,1597258688.658 [ESPComponent](IMPORTANT): ESP has connected as client
-2020-08-12T18:58:09.458Z,1597258689.458 [ESPComponent](IMPORTANT): [sample #1] Setting cartridge argument to -4
-2020-08-12T18:58:09.458Z,1597258689.458 [ESPComponent](IMPORTANT): [sample #1] ESP sampling sequence starting. Sampling state: S_WAITING_INITIAL_PROMPT
-2020-08-12T18:58:09.859Z,1597258689.859 [sample:SampleAtDepth:SampleWrapper:SampleESP:C](ERROR): data element is not active.
-2020-08-12T18:58:09.859Z,1597258689.859 [sample:SampleAtDepth:SampleWrapper:SampleESP:C](IMPORTANT): ESP sampling at 0.189350 m inwater with nan ug/l chlorophyll fluorescence.
-2020-08-12T18:58:10.658Z,1597258690.658 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_PREPARING_SHOW_LOG
-2020-08-12T18:58:11.058Z,1597258691.058 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_PREPARING_SHOW_STATUS
-2020-08-12T18:58:12.658Z,1597258692.658 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_LOADING_CARTRIDGE
-2020-08-12T18:58:49.467Z,1597258729.467 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_WAITING_FOR_PRIMING (@60,archiveHiBiomass_bac)
-2020-08-12T18:58:51.067Z,1597258731.067 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_PRIMING (@5.0)
-2020-08-12T18:58:51.867Z,1597258731.867 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_WAITING_FOR_FILTERING (@5.0)
-2020-08-12T18:59:22.274Z,1597258762.274 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_FILTERING (@0.0)
-2020-08-12T18:59:22.674Z,1597258762.674 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_WAITING_FOR_PAUSED (@0.0)
-2020-08-12T18:59:38.277Z,1597258778.277 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_PAUSED (@10.0)
-2020-08-12T18:59:38.677Z,1597258778.677 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_PROCESSING (@10.0)
-2020-08-12T18:59:41.078Z,1597258781.078 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_WAITING_FOR_PROCESSED (@60,archiveHiBiomass_bac)
-2020-08-12T19:03:13.136Z,1597258993.136 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_STOPPING (@60,archiveHiBiomass_bac)
-2020-08-12T19:03:39.941Z,1597259019.941 [ESPComponent](IMPORTANT): Syncing ESP logs with command: rsync -azPq --timeout=60 esp@esp:'/var/log/esp/real /var/log/esp/real.out /var/log/esp/real.slot /var/log/esp/*.spr' /LRAUV/ESPlogs &
-2020-08-12T19:03:39.947Z,1597259019.947 [ESPComponent](INFO): closing pipe.
-tethyscode>ssh: Could not resolve hostname esp: Name or service not known
-rsync: connection unexpectedly closed (0 bytes received so far) [receiver]
-rsync error: error in rsync protocol data stream (code 12) at io.c(600) [receiver=3.0.6]
-2020-08-12T19:03:40.342Z,1597259020.342 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_STOPPED
-2020-08-12T19:08:40.026Z,1597259320.026 [ESPComponent](IMPORTANT): [sample #1] ESP sampling sequence completed normally.
-2020-08-12T19:08:40.027Z,1597259320.027 [sample:SampleAtDepth:SampleWrapper:SampleESP](INFO): Completed sample:SampleAtDepth:SampleWrapper:SampleESP
-2020-08-12T19:08:40.027Z,1597259320.027 [sample:SampleAtDepth:SampleWrapper](INFO): Completed sample:SampleAtDepth:SampleWrapper
-2020-08-12T19:08:40.027Z,1597259320.027 [sample:SampleAtDepth](INFO): Completed sample:SampleAtDepth
-2020-08-12T19:08:40.426Z,1597259320.426 [ESPComponent](IMPORTANT): [sample #1] ESP log summary report (2 messages):
-@11:58:15.35 Selecting Cartridge 60
-@11:59:37.04 Sampled  10.0ml
+2020-08-12T20:34:23.133Z,1597264463.133 [CommandLine](IMPORTANT): got command set sample.NumberOfSamples 2.000000 count
+2020-08-12T20:34:23.133Z,1597264463.133 [CommandLine](IMPORTANT): got command set sample.Depth 1.000000 centimeter
+2020-08-12T20:34:23.134Z,1597264463.134 [CommandLine](IMPORTANT): got command set sample.WaitBeforeSample 3.000000 second
+2020-08-12T20:34:23.134Z,1597264463.134 [CommandLine](IMPORTANT): got command set sample:SampleAtDepth.TargetDepth 1.000000 centimeter
+2020-08-12T20:34:23.134Z,1597264463.134 [CommandLine](IMPORTANT): got command run
+2020-08-12T20:34:23.134Z,1597264463.134 [CommandLine](IMPORTANT): Running
+2020-08-12T20:34:27.025Z,1597264467.025 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.000142
+2020-08-12T20:34:28.025Z,1597264468.025 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
+2020-08-12T20:34:29.025Z,1597264469.025 [DataOverHttps](INFO): Radio surface powered ON.
+2020-08-12T20:34:43.470Z,1597264483.470 [SBIT](IMPORTANT): Beginning Startup BIT
+2020-08-12T20:34:57.473Z,1597264497.473 [NAL9602](INFO): GPS fix at 20200812T203457: (36.803404, -121.822207)
+2020-08-12T20:34:58.673Z,1597264498.673 [NAL9602](INFO): No messages in MT queue
+2020-08-12T20:35:29.094Z,1597264529.094 [NAL9602](INFO): Not Powering down - fast GPS
+2020-08-12T20:35:37.096Z,1597264537.096 [SBIT](IMPORTANT): SBIT PASSED
+2020-08-12T20:35:37.096Z,1597264537.096 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
+2020-08-12T20:35:37.096Z,1597264537.096 [SBIT](IMPORTANT): No configSet variables persisted
+2020-08-12T20:35:37.496Z,1597264537.496 [MissionManager](IMPORTANT): Started mission Startup
+2020-08-12T20:35:37.496Z,1597264537.496 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
+2020-08-12T20:35:42.296Z,1597264542.296 [NAL9602](INFO): GPS fix at 20200812T203542: (36.803409, -121.822216)
+2020-08-12T20:35:43.497Z,1597264543.497 [NAL9602](INFO): No messages in MT queue
+2020-08-12T20:35:46.037Z,1597264546.037 [DataOverHttps](INFO): Sending 213 bytes from file Logs/20200812T203422/Courier0000.lzma
+2020-08-12T20:35:47.036Z,1597264547.036 [DataOverHttps](INFO): Moved sent file to Logs/20200812T203422/Courier0000.lzma.bak
+2020-08-12T20:35:47.036Z,1597264547.036 [DataOverHttps](INFO): SBD MOMSN=12488619
+2020-08-12T20:35:56.038Z,1597264556.038 [DataOverHttps](INFO): Sending 664 bytes from file Logs/20200812T183714/Express0001.lzma
+2020-08-12T20:35:57.037Z,1597264557.037 [DataOverHttps](INFO): Moved sent file to Logs/20200812T183714/Express0001.lzma.bak
+2020-08-12T20:35:57.037Z,1597264557.037 [DataOverHttps](INFO): SBD MOMSN=12488623
+2020-08-12T20:36:06.038Z,1597264566.038 [DataOverHttps](INFO): Sending 901 bytes from file Logs/20200812T183714/Express0005.lzma
+2020-08-12T20:36:07.038Z,1597264567.038 [DataOverHttps](INFO): Moved sent file to Logs/20200812T183714/Express0005.lzma.bak
+2020-08-12T20:36:07.038Z,1597264567.038 [DataOverHttps](INFO): SBD MOMSN=12488641
+2020-08-12T20:36:13.904Z,1597264573.904 [NAL9602](INFO): Not Powering down - fast GPS
+2020-08-12T20:36:16.042Z,1597264576.042 [DataOverHttps](INFO): Sending 104 bytes from file Logs/20200812T183714/Express0008.lzma
+2020-08-12T20:36:17.042Z,1597264577.042 [DataOverHttps](INFO): Moved sent file to Logs/20200812T183714/Express0008.lzma.bak
+2020-08-12T20:36:17.042Z,1597264577.042 [DataOverHttps](INFO): SBD MOMSN=12488665
+2020-08-12T20:36:26.044Z,1597264586.044 [DataOverHttps](INFO): Sending 663 bytes from file Logs/20200812T185324/Express0001.lzma
+2020-08-12T20:36:27.044Z,1597264587.044 [DataOverHttps](INFO): Moved sent file to Logs/20200812T185324/Express0001.lzma.bak
+2020-08-12T20:36:27.044Z,1597264587.044 [DataOverHttps](INFO): SBD MOMSN=12488669
+2020-08-12T20:36:36.045Z,1597264596.045 [DataOverHttps](INFO): Sending 1303 bytes from file Logs/20200812T185324/Express0005.lzma
+2020-08-12T20:36:37.045Z,1597264597.045 [DataOverHttps](INFO): Moved sent file to Logs/20200812T185324/Express0005.lzma.bak
+2020-08-12T20:36:37.045Z,1597264597.045 [DataOverHttps](INFO): SBD MOMSN=12488687
+2020-08-12T20:36:42.311Z,1597264602.311 [Startup:StartupSatComms:B](INFO): Timed out from 2020-08-12T20:35:42.3Z
+2020-08-12T20:36:42.311Z,1597264602.311 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
+2020-08-12T20:36:42.311Z,1597264602.311 [Startup](INFO): Completed Startup
+2020-08-12T20:36:42.311Z,1597264602.311 [MissionManager](INFO): Startup is completed.
+2020-08-12T20:36:42.311Z,1597264602.311 [MissionManager](INFO): Uninitializing Mission Startup
+2020-08-12T20:36:42.711Z,1597264602.711 [MissionManager](IMPORTANT): Started mission sample
+2020-08-12T20:36:42.711Z,1597264602.711 [sample:A.AbortSample](INFO): Initializing AbortSample.
+2020-08-12T20:36:43.913Z,1597264603.913 [sample:SampleAtDepth:ApproachDepth:A](INFO): Moving to 0.010000 m
+2020-08-12T20:36:46.046Z,1597264606.046 [DataOverHttps](INFO): Sending 125 bytes from file Logs/20200812T185324/Express0008.lzma
+2020-08-12T20:36:47.046Z,1597264607.046 [DataOverHttps](INFO): Moved sent file to Logs/20200812T185324/Express0008.lzma.bak
+2020-08-12T20:36:47.046Z,1597264607.046 [DataOverHttps](INFO): SBD MOMSN=12488740
+2020-08-12T20:38:53.561Z,1597264733.561 [sample:SampleAtDepth:ApproachDepth](INFO): Completed sample:SampleAtDepth:ApproachDepth
+2020-08-12T20:38:53.961Z,1597264733.961 [sample:SampleAtDepth:SampleWrapper:B](IMPORTANT): At 0.012480 m , settling for 0.050000 min
+2020-08-12T20:38:57.561Z,1597264737.561 [sample:SampleAtDepth:SampleWrapper:C.Wait](INFO): Done Waiting.
+2020-08-12T20:38:57.961Z,1597264737.961 [sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge:A.ESPCartridgeSelect](INFO): Initializing ESPCartridgeSelect.
+2020-08-12T20:38:58.361Z,1597264738.361 [sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge:A.ESPCartridgeSelect](INFO): Issuing request for ESP cartridge type: -4.
+2020-08-12T20:38:58.361Z,1597264738.361 [sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge:A.ESPCartridgeSelect](INFO): Uninitializing ESPCartridgeSelect.
+2020-08-12T20:38:58.361Z,1597264738.361 [sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge](INFO): Completed sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge
+2020-08-12T20:38:59.560Z,1597264739.560 [ESPComponent](IMPORTANT): Setting regex for ESP Log summary: 'Selecting Cartridge|Sampled|Error|Underpressure|Overpressure|Fail|Retry|Cmd::|Sampler::'
+2020-08-12T20:38:59.561Z,1597264739.561 [ESPComponent](INFO): compiled regex: "Selecting Cartridge|Sampled|Error|Underpressure|Overpressure|Fail|Retry|Cmd::|Sampler::"
+2020-08-12T20:38:59.960Z,1597264739.960 [ESPComponent](IMPORTANT): powerUpESP IGNORED because manualEsp_
+2020-08-12T20:38:59.960Z,1597264739.960 [ESPComponent](IMPORTANT): Waiting for ESP to connect (timeout=30.0000)
+2020-08-12T20:39:01.561Z,1597264741.561 [ESPComponent](IMPORTANT): ESP has connected as client
+2020-08-12T20:39:02.362Z,1597264742.362 [ESPComponent](IMPORTANT): [sample #1] Setting cartridge argument to -4
+2020-08-12T20:39:02.362Z,1597264742.362 [ESPComponent](IMPORTANT): [sample #1] ESP sampling sequence starting. Sampling state: S_WAITING_INITIAL_PROMPT
+2020-08-12T20:39:02.762Z,1597264742.762 [sample:SampleAtDepth:SampleWrapper:SampleESP:C](ERROR): data element is not active.
+2020-08-12T20:39:02.762Z,1597264742.762 [sample:SampleAtDepth:SampleWrapper:SampleESP:C](IMPORTANT): ESP sampling at 0.092633 m inwater with nan ug/l chlorophyll fluorescence.
+2020-08-12T20:39:03.561Z,1597264743.561 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_PREPARING_SHOW_LOG
+2020-08-12T20:39:03.961Z,1597264743.961 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_PREPARING_SHOW_STATUS
+2020-08-12T20:39:05.562Z,1597264745.562 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_LOADING_CARTRIDGE
+2020-08-12T20:39:42.372Z,1597264782.372 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_WAITING_FOR_PRIMING (@58,archiveHiBiomass_bac)
+2020-08-12T20:39:43.972Z,1597264783.972 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_PRIMING (@5.0)
+2020-08-12T20:39:44.772Z,1597264784.772 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_WAITING_FOR_FILTERING (@5.0)
+2020-08-12T20:40:15.179Z,1597264815.179 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_FILTERING (@0.0)
+2020-08-12T20:40:15.580Z,1597264815.580 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_WAITING_FOR_PAUSED (@0.0)
+2020-08-12T20:40:31.183Z,1597264831.183 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_PAUSED (@10.0)
+2020-08-12T20:40:31.583Z,1597264831.583 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_PROCESSING (@10.0)
+2020-08-12T20:40:33.983Z,1597264833.983 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_WAITING_FOR_PROCESSED (@58,archiveHiBiomass_bac)
+2020-08-12T20:44:06.038Z,1597265046.038 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_STOPPING (@58,archiveHiBiomass_bac)
+2020-08-12T20:44:32.844Z,1597265072.844 [ESPComponent](IMPORTANT): Syncing ESP logs with command: rsync -azPq --timeout=60 carueda@bufflehead:'/var/log/carueda/simrapid.* /var/log/carueda/*.spr' /home/carueda/lrauv-application/ESPlogs &
+2020-08-12T20:44:32.846Z,1597265072.846 [ESPComponent](INFO): closing pipe.
+2020-08-12T20:44:33.246Z,1597265073.246 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_STOPPED
+2020-08-12T20:49:32.914Z,1597265372.914 [ESPComponent](IMPORTANT): [sample #1] ESP sampling sequence completed normally.
+2020-08-12T20:49:32.916Z,1597265372.916 [sample:SampleAtDepth:SampleWrapper:SampleESP](INFO): Completed sample:SampleAtDepth:SampleWrapper:SampleESP
+2020-08-12T20:49:32.916Z,1597265372.916 [sample:SampleAtDepth:SampleWrapper](INFO): Completed sample:SampleAtDepth:SampleWrapper
+2020-08-12T20:49:32.916Z,1597265372.916 [sample:SampleAtDepth](INFO): Completed sample:SampleAtDepth
+2020-08-12T20:49:33.314Z,1597265373.314 [ESPComponent](IMPORTANT): [sample #1] ESP log summary report (2 messages):
+@13:39:08.27 Selecting Cartridge 58
+@13:40:29.75 Sampled  10.0ml
 
-2020-08-12T19:08:40.426Z,1597259320.426 [ESPComponent](IMPORTANT): powerDownESP IGNORED because manualEsp_
-2020-08-12T19:08:40.427Z,1597259320.427 [sample:SampleRepeater:Sample](INFO): Completed sample:SampleRepeater:Sample
-2020-08-12T19:08:40.428Z,1597259320.428 [sample:SampleRepeater](INFO): Completed sample:SampleRepeater
-2020-08-12T19:08:40.428Z,1597259320.428 [sample:SampleRepeater](INFO): Running loop #2
-2020-08-12T19:08:40.827Z,1597259320.827 [sample:SampleAtDepth:ApproachDepth:A](INFO): Moving to 0.010000 m
-2020-08-12T19:18:18.969Z,1597259898.969 [sample:SampleAtDepth:ApproachDepth](INFO): Completed sample:SampleAtDepth:ApproachDepth
-2020-08-12T19:18:19.367Z,1597259899.367 [sample:SampleAtDepth:SampleWrapper:B](IMPORTANT): At 0.008993 m , settling for 0.050000 min
-2020-08-12T19:18:22.968Z,1597259902.968 [sample:SampleAtDepth:SampleWrapper:C.Wait](INFO): Done Waiting.
-2020-08-12T19:18:23.368Z,1597259903.368 [sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge:A.ESPCartridgeSelect](INFO): Initializing ESPCartridgeSelect.
-2020-08-12T19:18:23.768Z,1597259903.768 [sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge:A.ESPCartridgeSelect](INFO): Issuing request for ESP cartridge type: -4.
-2020-08-12T19:18:23.768Z,1597259903.768 [sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge:A.ESPCartridgeSelect](INFO): Uninitializing ESPCartridgeSelect.
-2020-08-12T19:18:23.768Z,1597259903.768 [sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge](INFO): Completed sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge
-2020-08-12T19:18:25.368Z,1597259905.368 [ESPComponent](IMPORTANT): powerUpESP IGNORED because manualEsp_
-2020-08-12T19:18:25.368Z,1597259905.368 [ESPComponent](IMPORTANT): Waiting for ESP to connect (timeout=30.0000)
-2020-08-12T19:18:28.568Z,1597259908.568 [ESPComponent](IMPORTANT): ESP has connected as client
-2020-08-12T19:18:29.369Z,1597259909.369 [ESPComponent](IMPORTANT): [sample #2] Setting cartridge argument to -4
-2020-08-12T19:18:29.369Z,1597259909.369 [ESPComponent](IMPORTANT): [sample #2] ESP sampling sequence starting. Sampling state: S_WAITING_INITIAL_PROMPT
-2020-08-12T19:18:29.769Z,1597259909.769 [sample:SampleAtDepth:SampleWrapper:SampleESP:C](ERROR): data element is not active.
-2020-08-12T19:18:29.769Z,1597259909.769 [sample:SampleAtDepth:SampleWrapper:SampleESP:C](IMPORTANT): ESP sampling at 0.001501 m inwater with nan ug/l chlorophyll fluorescence.
-2020-08-12T19:18:30.169Z,1597259910.169 [ESPComponent](IMPORTANT): [sample #2] ESP sampling state: S_PREPARING_SHOW_LOG
-2020-08-12T19:18:30.569Z,1597259910.569 [ESPComponent](IMPORTANT): [sample #2] ESP sampling state: S_PREPARING_SHOW_STATUS
-2020-08-12T19:18:32.569Z,1597259912.569 [ESPComponent](IMPORTANT): [sample #2] ESP sampling state: S_LOADING_CARTRIDGE
-2020-08-12T19:19:09.377Z,1597259949.377 [ESPComponent](IMPORTANT): [sample #2] ESP sampling state: S_WAITING_FOR_PRIMING (@59,archiveHiBiomass_bac)
-2020-08-12T19:19:10.977Z,1597259950.977 [ESPComponent](IMPORTANT): [sample #2] ESP sampling state: S_PRIMING (@5.0)
-2020-08-12T19:19:11.777Z,1597259951.777 [ESPComponent](IMPORTANT): [sample #2] ESP sampling state: S_WAITING_FOR_FILTERING (@5.0)
-2020-08-12T19:19:42.183Z,1597259982.183 [ESPComponent](IMPORTANT): [sample #2] ESP sampling state: S_FILTERING (@0.0)
-2020-08-12T19:19:42.583Z,1597259982.583 [ESPComponent](IMPORTANT): [sample #2] ESP sampling state: S_WAITING_FOR_PAUSED (@0.0)
-2020-08-12T19:19:58.187Z,1597259998.187 [ESPComponent](IMPORTANT): [sample #2] ESP sampling state: S_PAUSED (@10.0)
-2020-08-12T19:19:58.587Z,1597259998.587 [ESPComponent](IMPORTANT): [sample #2] ESP sampling state: S_PROCESSING (@10.0)
-2020-08-12T19:20:00.987Z,1597260000.987 [ESPComponent](IMPORTANT): [sample #2] ESP sampling state: S_WAITING_FOR_PROCESSED (@59,archiveHiBiomass_bac)
-2020-08-12T19:23:33.049Z,1597260213.049 [ESPComponent](IMPORTANT): [sample #2] ESP sampling state: S_STOPPING (@59,archiveHiBiomass_bac)
-2020-08-12T19:23:59.855Z,1597260239.855 [ESPComponent](IMPORTANT): Syncing ESP logs with command: rsync -azPq --timeout=60 esp@esp:'/var/log/esp/real /var/log/esp/real.out /var/log/esp/real.slot /var/log/esp/*.spr' /LRAUV/ESPlogs &
-2020-08-12T19:23:59.862Z,1597260239.862 [ESPComponent](INFO): closing pipe.
-tethyscode>ssh: Could not resolve hostname esp: Name or service not known
-rsync: connection unexpectedly closed (0 bytes received so far) [receiver]
-rsync error: error in rsync protocol data stream (code 12) at io.c(600) [receiver=3.0.6]
-2020-08-12T19:24:00.255Z,1597260240.255 [ESPComponent](IMPORTANT): [sample #2] ESP sampling state: S_STOPPED
-2020-08-12T19:28:59.919Z,1597260539.919 [ESPComponent](IMPORTANT): [sample #2] ESP sampling sequence completed normally.
-2020-08-12T19:28:59.920Z,1597260539.920 [sample:SampleAtDepth:SampleWrapper:SampleESP](INFO): Completed sample:SampleAtDepth:SampleWrapper:SampleESP
-2020-08-12T19:28:59.920Z,1597260539.920 [sample:SampleAtDepth:SampleWrapper](INFO): Completed sample:SampleAtDepth:SampleWrapper
-2020-08-12T19:28:59.920Z,1597260539.920 [sample:SampleAtDepth](INFO): Completed sample:SampleAtDepth
-2020-08-12T19:29:00.319Z,1597260540.319 [ESPComponent](IMPORTANT): [sample #2] ESP log summary report (2 messages):
-@12:18:35.26 Selecting Cartridge 59
-@12:19:56.75 Sampled  10.0ml
+2020-08-12T20:49:33.314Z,1597265373.314 [ESPComponent](IMPORTANT): powerDownESP IGNORED because manualEsp_
+2020-08-12T20:49:33.316Z,1597265373.316 [sample:SampleRepeater:Sample](INFO): Completed sample:SampleRepeater:Sample
+2020-08-12T20:49:33.316Z,1597265373.316 [sample:SampleRepeater](INFO): Completed sample:SampleRepeater
+2020-08-12T20:49:33.316Z,1597265373.316 [sample:SampleRepeater](INFO): Running loop #2
+2020-08-12T20:49:33.715Z,1597265373.715 [sample:SampleAtDepth:ApproachDepth:A](INFO): Moving to 0.010000 m
+2020-08-12T20:59:11.891Z,1597265951.891 [sample:SampleAtDepth:ApproachDepth](INFO): Completed sample:SampleAtDepth:ApproachDepth
+2020-08-12T20:59:12.291Z,1597265952.291 [sample:SampleAtDepth:SampleWrapper:B](IMPORTANT): At 0.008833 m , settling for 0.050000 min
+2020-08-12T20:59:15.892Z,1597265955.892 [sample:SampleAtDepth:SampleWrapper:C.Wait](INFO): Done Waiting.
+2020-08-12T20:59:16.293Z,1597265956.293 [sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge:A.ESPCartridgeSelect](INFO): Initializing ESPCartridgeSelect.
+2020-08-12T20:59:16.692Z,1597265956.692 [sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge:A.ESPCartridgeSelect](INFO): Issuing request for ESP cartridge type: -4.
+2020-08-12T20:59:16.692Z,1597265956.692 [sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge:A.ESPCartridgeSelect](INFO): Uninitializing ESPCartridgeSelect.
+2020-08-12T20:59:16.692Z,1597265956.692 [sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge](INFO): Completed sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge
+2020-08-12T20:59:18.292Z,1597265958.292 [ESPComponent](IMPORTANT): powerUpESP IGNORED because manualEsp_
+2020-08-12T20:59:18.292Z,1597265958.292 [ESPComponent](IMPORTANT): Waiting for ESP to connect (timeout=30.0000)
+2020-08-12T20:59:19.892Z,1597265959.892 [ESPComponent](IMPORTANT): ESP has connected as client
+2020-08-12T20:59:20.693Z,1597265960.693 [ESPComponent](IMPORTANT): [sample #2] Setting cartridge argument to -4
+2020-08-12T20:59:20.693Z,1597265960.693 [ESPComponent](IMPORTANT): [sample #2] ESP sampling sequence starting. Sampling state: S_WAITING_INITIAL_PROMPT
+2020-08-12T20:59:21.093Z,1597265961.093 [sample:SampleAtDepth:SampleWrapper:SampleESP:C](ERROR): data element is not active.
+2020-08-12T20:59:21.093Z,1597265961.093 [sample:SampleAtDepth:SampleWrapper:SampleESP:C](IMPORTANT): ESP sampling at 0.000588 m inwater with nan ug/l chlorophyll fluorescence.
+2020-08-12T20:59:21.492Z,1597265961.492 [ESPComponent](IMPORTANT): [sample #2] ESP sampling state: S_PREPARING_SHOW_LOG
+2020-08-12T20:59:21.892Z,1597265961.892 [ESPComponent](IMPORTANT): [sample #2] ESP sampling state: S_PREPARING_SHOW_STATUS
+2020-08-12T20:59:23.892Z,1597265963.892 [ESPComponent](IMPORTANT): [sample #2] ESP sampling state: S_LOADING_CARTRIDGE
+2020-08-12T21:00:00.700Z,1597266000.700 [ESPComponent](IMPORTANT): [sample #2] ESP sampling state: S_WAITING_FOR_PRIMING (@57,archiveHiBiomass_bac)
+2020-08-12T21:00:02.301Z,1597266002.301 [ESPComponent](IMPORTANT): [sample #2] ESP sampling state: S_PRIMING (@5.0)
+2020-08-12T21:00:03.101Z,1597266003.101 [ESPComponent](IMPORTANT): [sample #2] ESP sampling state: S_WAITING_FOR_FILTERING (@5.0)
+2020-08-12T21:00:33.511Z,1597266033.511 [ESPComponent](IMPORTANT): [sample #2] ESP sampling state: S_FILTERING (@0.0)
+2020-08-12T21:00:33.911Z,1597266033.911 [ESPComponent](IMPORTANT): [sample #2] ESP sampling state: S_WAITING_FOR_PAUSED (@0.0)
+2020-08-12T21:00:49.514Z,1597266049.514 [ESPComponent](IMPORTANT): [sample #2] ESP sampling state: S_PAUSED (@10.0)
+2020-08-12T21:00:49.914Z,1597266049.914 [ESPComponent](IMPORTANT): [sample #2] ESP sampling state: S_PROCESSING (@10.0)
+2020-08-12T21:00:52.315Z,1597266052.315 [ESPComponent](IMPORTANT): [sample #2] ESP sampling state: S_WAITING_FOR_PROCESSED (@57,archiveHiBiomass_bac)
+2020-08-12T21:04:24.361Z,1597266264.361 [ESPComponent](IMPORTANT): [sample #2] ESP sampling state: S_STOPPING (@57,archiveHiBiomass_bac)
+2020-08-12T21:04:51.167Z,1597266291.167 [ESPComponent](IMPORTANT): Syncing ESP logs with command: rsync -azPq --timeout=60 carueda@bufflehead:'/var/log/carueda/simrapid.* /var/log/carueda/*.spr' /home/carueda/lrauv-application/ESPlogs &
+2020-08-12T21:04:51.171Z,1597266291.171 [ESPComponent](INFO): closing pipe.
+2020-08-12T21:04:51.568Z,1597266291.568 [ESPComponent](IMPORTANT): [sample #2] ESP sampling state: S_STOPPED
+2020-08-12T21:09:51.236Z,1597266591.236 [ESPComponent](IMPORTANT): [sample #2] ESP sampling sequence completed normally.
+2020-08-12T21:09:51.237Z,1597266591.237 [sample:SampleAtDepth:SampleWrapper:SampleESP](INFO): Completed sample:SampleAtDepth:SampleWrapper:SampleESP
+2020-08-12T21:09:51.237Z,1597266591.237 [sample:SampleAtDepth:SampleWrapper](INFO): Completed sample:SampleAtDepth:SampleWrapper
+2020-08-12T21:09:51.237Z,1597266591.237 [sample:SampleAtDepth](INFO): Completed sample:SampleAtDepth
+2020-08-12T21:09:51.636Z,1597266591.636 [ESPComponent](IMPORTANT): [sample #2] ESP log summary report (2 messages):
+@13:59:26.60 Selecting Cartridge 57
+@14:00:48.10 Sampled  10.0ml
 
-2020-08-12T19:29:00.319Z,1597260540.319 [ESPComponent](IMPORTANT): powerDownESP IGNORED because manualEsp_
-2020-08-12T19:29:00.321Z,1597260540.321 [sample:SampleRepeater:Sample](INFO): Completed sample:SampleRepeater:Sample
-2020-08-12T19:29:00.321Z,1597260540.321 [sample:SampleRepeater](INFO): Completed sample:SampleRepeater
-2020-08-12T19:29:00.321Z,1597260540.321 [sample](INFO): Completed sample
-2020-08-12T19:29:00.321Z,1597260540.321 [MissionManager](INFO): sample is completed.
-2020-08-12T19:29:00.321Z,1597260540.321 [MissionManager](INFO): Uninitializing Mission sample
-2020-08-12T19:29:00.321Z,1597260540.321 [sample:A.AbortSample](INFO): Uninitializing AbortSample.
+2020-08-12T21:09:51.636Z,1597266591.636 [ESPComponent](IMPORTANT): powerDownESP IGNORED because manualEsp_
+2020-08-12T21:09:51.637Z,1597266591.637 [sample:SampleRepeater:Sample](INFO): Completed sample:SampleRepeater:Sample
+2020-08-12T21:09:51.637Z,1597266591.637 [sample:SampleRepeater](INFO): Completed sample:SampleRepeater
+2020-08-12T21:09:51.637Z,1597266591.637 [sample](INFO): Completed sample
+2020-08-12T21:09:51.637Z,1597266591.637 [MissionManager](INFO): sample is completed.
 ...
 ```
 
 
 Below are the contents of the `ESP.log` file as captured by the LRAUV. 
 
-Note, it shows all ESP streams due to my local config entry `ESPComponent.debug = 1 bool;`:
+Note, it shows all ESP streams due to my local config having `ESPComponent.debug = 1 bool`:
 
 ```
 [carueda@tethyscode lrauv-application]$ cat Logs/latest/ESP.log
-##-- file opened 2020-08-12T18:58:09.458Z
+
+##-- file opened 2020-08-12T20:39:02.361Z
 <unknown> LRAUV
 <unknown> \200
  <prompt> \200
  <prompt> \204
-    <log> @11:58:10.65 -> showStatus
+    <log> @13:39:03.56 -> showStatus
     <log> \201
  <result> true\200
  <prompt> \204
-    <log> @11:58:12.25 -> Cmd.loadCartridge -4
+    <log> @13:39:05.16 -> Cmd.loadCartridge -4
     <log> \207
  <status> STOPPED-->IDLE
  <status> \204
-    <log> @11:58:12.26 Gate.power :main,:ON
+    <log> Gate.power :main,:ON
     <log> Gate.power :analytic1,:ON
     <log> Gate.power :analytic2,:ON
-    <log> Gate.power :analytic3,:ON
+    <log> @13:39:05.17 Gate.power :analytic3,:ON
     <log> Gate.power :core,:ON
-    <log> @11:58:12.27 Archive.configure :default
-    <log> Air.configure :default
-    <log> @11:58:12.28 Lysis1.configure :default
-    <log> Lysis2.configure :default
-    <log> @11:58:12.29 Plunge.configure :default
-    <log> SamplePump.configure :default
-    <log> @11:58:12.30 ExtraPump.configure :default
-    <log> Toroid.configure :default
-    <log> @11:58:12.31 Carousel.configure :default
-    <log> Pressure.configure :default
-    <log> @11:58:12.32 PinPort.configure :default
+    <log> @13:39:05.18 Archive.configure :default
+    <log> @13:39:05.19 Air.configure :default
+    <log> Lysis1.configure :default
+    <log> @13:39:05.20 Lysis2.configure :default
+    <log> Plunge.configure :default
+    <log> @13:39:05.21 SamplePump.configure :default
+    <log> ExtraPump.configure :default
+    <log> @13:39:05.22 Toroid.configure :default
+    <log> Carousel.configure :default
+    <log> @13:39:05.23 Pressure.configure :default
+    <log> PinPort.configure :default
     <log> All elf controllers running firmware version 4.99
-    <log> Gate.power :motor,:ON
-    <log> @11:58:12.33 <Archive_home> Archive.reconfigure :default
-    <log> @11:58:12.34 Archive.home.jog 0
-    <log> @11:58:12.35 <Air_home> Air.reconfigure :default
-    <log> Air.home.jog 0
-    <log> @11:58:12.36 <Lysis1_home> Lysis1.reconfigure :default
-    <log> <Lysis2_home> Lysis2.reconfigure :default
+    <log> @13:39:05.24 Gate.power :motor,:ON
+    <log> @13:39:05.25 <Archive_home> Archive.reconfigure :default
+    <log> @13:39:05.26 Archive.home.jog 0
+    <log> <Air_home> Air.reconfigure :default
+    <log> @13:39:05.27 Air.home.jog 0
+    <log> <Lysis1_home> Lysis1.reconfigure :default
+    <log> @13:39:05.28 <Lysis2_home> Lysis2.reconfigure :default
     <log> <Lysis1_home> Lysis1.home.jog 0
-    <log> @11:58:12.37 <Plunge_home> Plunge.reconfigure :default
+    <log> <Plunge_home> Plunge.reconfigure :default
     <log> <Lysis2_home> Lysis2.home.jog 0
-    <log> <PinPort_home> PinPort.reconfigure :default
+    <log> @13:39:05.29 <PinPort_home> PinPort.reconfigure :default
     <log> <Plunge_home> Plunge.home.jog 0
-    <log> @11:58:12.38 <Toroid_home> Toroid.reconfigure :default
-    <log> <PinPort_home> PinPort.home.jog 0
+    <log> <Toroid_home> Toroid.reconfigure :default
+    <log> @13:39:05.30 <PinPort_home> PinPort.home.jog 0
     <log> <Toroid_home> Toroid.home.jog 0
-    <log> @11:58:12.42 <Archive_home> Archive.setRawPosition! 50
-    <log> @11:58:12.43 Archive.reconfigure :homing
-    <log> Archive.seek :home
-    <log> @11:58:12.44 <Air_home> Air.setRawPosition! 50
+    <log> @13:39:05.34 <Archive_home> Archive.setRawPosition! 50
+    <log> Archive.reconfigure :homing
+    <log> @13:39:05.35 Archive.seek :home
+    <log> <Air_home> Air.setRawPosition! 50
     <log> Air.reconfigure :homing
-    <log> Air.seek :home
-    <log> @11:58:12.45 <Plunge_home> Plunge.setRawPosition! 50
+    <log> @13:39:05.36 Air.seek :home
+    <log> @13:39:05.37 <Plunge_home> Plunge.setRawPosition! 50
     <log> Plunge.reconfigure :homing
-    <log> @11:58:12.46 Plunge.seek :home
-    <log> <PinPort_home> PinPort.setRawPosition! 0
-    <log> @11:58:12.47 PinPort.reconfigure :homing
-    <log> PinPort.seek :home
-    <log> @11:58:12.48 <Lysis1_home> Lysis1.setRawPosition! 50
+    <log> Plunge.seek :home
+    <log> @13:39:05.38 <PinPort_home> PinPort.setRawPosition! 0
+    <log> PinPort.reconfigure :homing
+    <log> @13:39:05.39 PinPort.seek :home
+    <log> @13:39:05.40 <Lysis1_home> Lysis1.setRawPosition! 50
     <log> Lysis1.reconfigure :homing
     <log> Lysis1.seek :home
-    <log> @11:58:12.49 <Lysis2_home> Lysis2.setRawPosition! 50
+    <log> @13:39:05.41 <Lysis2_home> Lysis2.setRawPosition! 50
     <log> Lysis2.reconfigure :homing
-    <log> @11:58:12.50 Lysis2.seek :home
-    <log> @11:58:12.51 <Toroid_home> Toroid.setRawPosition! 0
+    <log> @13:39:05.42 Lysis2.seek :home
+    <log> @13:39:05.43 <Toroid_home> Toroid.setRawPosition! 0
     <log> Toroid.reconfigure :homing
     <log> Toroid.seek :home
-    <log> @11:58:12.54 <PinPort_home> PinPort.reconfigure :default
-    <log> @11:58:12.58 <Toroid_home> Toroid.reconfigure :default
-    <log> @11:58:12.70 <Archive_home> Archive.reconfigure :default
-    <log> @11:58:12.72 <Air_home> Air.reconfigure :default
-    <log> @11:58:12.73 <Plunge_home> Plunge.reconfigure :default
-    <log> @11:58:12.76 <Lysis1_home> Lysis1.reconfigure :default
-    <log> @11:58:12.77 <Lysis2_home> Lysis2.reconfigure :default
-    <log> @11:58:13.03 <LRAUV> Toroid.seek :clear
-    <log> @11:58:14.64 Carousel.reconfigure :default
-    <log> @11:58:14.65 Carousel.home.jog 0
-    <log> @11:58:14.72 Carousel.setRawPosition! -53
+    <log> @13:39:05.46 <PinPort_home> PinPort.reconfigure :default
+    <log> @13:39:05.50 <Toroid_home> Toroid.reconfigure :default
+    <log> @13:39:05.62 <Archive_home> Archive.reconfigure :default
+    <log> @13:39:05.63 <Air_home> Air.reconfigure :default
+    <log> @13:39:05.65 <Plunge_home> Plunge.reconfigure :default
+    <log> @13:39:05.68 <Lysis1_home> Lysis1.reconfigure :default
+    <log> @13:39:05.69 <Lysis2_home> Lysis2.reconfigure :default
+    <log> @13:39:05.95 <LRAUV> Toroid.seek :clear
+    <log> @13:39:07.56 Carousel.reconfigure :default
+    <log> @13:39:07.57 Carousel.home.jog 0
+    <log> @13:39:07.64 Carousel.setRawPosition! -53
     <log> Carousel.reconfigure :homing
     <log> Carousel.seek :home
-    <log> @11:58:15.03 Carousel.reconfigure :default
-    <log> @11:58:15.28 Carousel.seek 1
+    <log> @13:39:07.95 Carousel.reconfigure :default
+    <log> @13:39:08.20 Carousel.seek 1
     <log> \207
  <status> IDLE-->LOADING
- <status> LOADING-->LOADING@60,archiveHiBiomass_bac
+ <status> LOADING-->LOADING@58,archiveHiBiomass_bac
  <status> \204
-    <log> @11:58:15.35 Selecting Cartridge 60
-    <log> @11:58:15.36 Carousel.seek 60
-    <log> @11:58:27.63 Gate.power :heat,:OFF
-    <log> Gate.power :cartridge,:OFF
+    <log> @13:39:08.27 Selecting Cartridge 58
+    <log> @13:39:08.28 Carousel.seek 58
+    <log> @13:39:20.13 Gate.power :heat,:OFF
+    <log> @13:39:20.14 Gate.power :cartridge,:OFF
     <log> Lysis1.seek :locked
-    <log> @11:58:31.70 <Plunge> Plunge.seek :locked
-    <log> <Air> Air.seek :locked
-    <log> @11:58:35.77 <LRAUV> Gate.power :cartridge,:ON
-    <log> Gate.power :cartridge,:OFF
+    <log> @13:39:24.21 <Plunge> Plunge.seek :locked
+    <log> @13:39:24.22 <Air> Air.seek :locked
+    <log> @13:39:28.28 <LRAUV> Gate.power :cartridge,:ON
+    <log> @13:39:28.29 Gate.power :cartridge,:OFF
     <log> Gate.power :cartridge,:OFF
-    <log> @11:58:36.28 Mounted archive Cartridge
+    <log> @13:39:28.79 Mounted archive Cartridge
     <log> \207
- <status> LOADING-->READY@60,archiveHiBiomass_bac
+ <status> LOADING-->READY@58,archiveHiBiomass_bac
  <status> \201
- <result> 60\200
+ <result> 58\200
  <prompt> \204
-    <log> @11:58:49.06 -> Cmd.startFiltering
+    <log> @13:39:41.97 -> Cmd.startFiltering
     <log> \207
  <status> READY-->PRIMING@5.0
  <status> \201
  <result> :FILTERING\200
  <prompt> \204
-    <log> @11:58:49.07 <FILTERING> Duration of filtering limited to 2:05:00
-    <log> @11:58:49.08 Priming sample loop w/5ml, bypass w/1.5ml
+    <log> @13:39:41.98 <FILTERING> Duration of filtering limited to 2:05:00
+    <log> @13:39:41.99 Priming sample loop w/5ml, bypass w/1.5ml
     <log> SamplePump.setPosition! 0ml
     <log> Bypass.open
-    <log> @11:58:49.99 Intake.open
-    <log> @11:58:51.49 Sea 5.7m deep (23.1psia)
-    <log> @11:58:51.50 Waiting up to 20 seconds for sea pressure to stabilize +/-0.50psi
-    <log> @11:58:54.01 Vacuum tare is 10% of full scale
-    <log> @11:58:54.02 Pressure.reconfigure :default
-    <log> Pressure.hold
-    <log> @11:58:54.09 SamplePump.reconfigure :prime
-    <log> @11:58:54.10 SamplePump.seek 1.5ml,38 seconds
-    <log> @11:58:55.87 Pressure.coast
+    <log> @13:39:42.70 Intake.open
+    <log> @13:39:44.20 Sea 5.7m deep (23.1psia)
+    <log> Waiting up to 20 seconds for sea pressure to stabilize +/-0.50psi
+    <log> @13:39:46.72 Vacuum tare is 10% of full scale
+    <log> Pressure.reconfigure :default
+    <log> @13:39:46.73 Pressure.hold
+    <log> @13:39:46.81 SamplePump.reconfigure :prime
+    <log> SamplePump.seek 1.5ml,38 seconds
+    <log> @13:39:48.58 Pressure.coast
     <log> SamplePump.setPosition! 0ml
     <log> Exhaust.open
-    <log> @11:58:58.07 <closeBypass> Bypass.close
-    <log> @11:59:00.27 <FILTERING> Pressure.hold
-    <log> @11:59:00.34 Sea 5.7m deep (23.1psia)
-    <log> @11:59:00.35 SamplePump.reconfigure :prime
-    <log> SamplePump.seek 5ml,56 seconds
-    <log> @11:59:05.08 Pressure.coast
-    <log> @11:59:05.09 Bypass.open
-    <log> @11:59:06.58 Intake.close
-    <log> @11:59:08.08 Toroid.reconfigure :hold
-    <log> @11:59:08.09 Toroid.seek :crack
-    <log> @11:59:08.88 Toroid.reconfigure :default
-    <log> @11:59:08.89 Toroid.seek :clear
-    <log> @11:59:10.39 Toroid.reconfigure :hold
+    <log> @13:39:50.78 <closeBypass> Bypass.close
+    <log> @13:39:52.99 <FILTERING> Pressure.hold
+    <log> @13:39:53.06 Sea 5.7m deep (23.1psia)
+    <log> SamplePump.reconfigure :prime
+    <log> @13:39:53.07 SamplePump.seek 5ml,56 seconds
+    <log> @13:39:57.80 Pressure.coast
+    <log> Bypass.open
+    <log> @13:39:59.30 Intake.close
+    <log> @13:40:00.80 Toroid.reconfigure :hold
+    <log> Toroid.seek :crack
+    <log> @13:40:01.60 Toroid.reconfigure :default
+    <log> Toroid.seek :clear
+    <log> @13:40:03.11 Toroid.reconfigure :hold
     <log> Toroid.seek :cartridge
-    <log> @11:59:12.21 Toroid.reconfigure :default
+    <log> @13:40:04.92 Toroid.reconfigure :default
     <log> Toroid.seek :clear
-    <log> @11:59:14.03 Pressurizing cartridge to 26psi above 23.1psia
+    <log> @13:40:06.75 Pressurizing cartridge to 26psi above 23.1psia
     <log> SamplePump.setPosition! 0ml
     <log> Intake.open
-    <log> @11:59:15.52 Bypass.close
-    <log> @11:59:17.02 Exhaust.close
-    <log> @11:59:18.52 Pressure.hold
-    <log> @11:59:18.60 SamplePump.reconfigure :charge
-    <log> @11:59:18.64 SamplePump.seek 0.2ml,32 seconds
-    <log> @11:59:19.24 Pressure.coast
-    <log> @11:59:19.25 Sampling 10.0ml
+    <log> @13:40:08.24 Bypass.close
+    <log> @13:40:09.74 Exhaust.close
+    <log> @13:40:11.24 Pressure.hold
+    <log> @13:40:11.35 SamplePump.reconfigure :charge
+    <log> SamplePump.seek 0.2ml,32 seconds
+    <log> @13:40:11.96 Pressure.coast
+    <log> Sampling 10.0ml
     <log> SamplePump.setPosition! 0ml
-    <log> Exhaust.open
+    <log> @13:40:11.97 Exhaust.open
     <log> \207
  <status> PRIMING-->FILTERING@0.0
  <status> \204
-    <log> @11:59:20.75 Pressure.hold
-    <log> @11:59:20.82 Sea 5.7m deep (23.1psia)
+    <log> @13:40:13.46 Pressure.hold
+    <log> @13:40:13.54 Sea 5.7m deep (23.1psia)
     <log> SamplePump.reconfigure :sample
-    <log> @11:59:20.83 SamplePump.seek 10ml,1:21
-    <log> @11:59:23.75 <sampling> Cartridge 60 sampling 2/10ml at 0.83ml/s with 0.0psi vacuum 5.7m deep (23.1psia)
-    <log> @11:59:33.79 <FILTERING> Pressure.coast
+    <log> SamplePump.seek 10ml,1:21
+    <log> @13:40:16.47 <sampling> Cartridge 58 sampling 2/10ml at 0.83ml/s with 0.0psi vacuum 5.7m deep (23.1psia)
+    <log> @13:40:26.51 <FILTERING> Pressure.coast
     <log> <closeIntake> Intake.close
-    <log> @11:59:33.80 <closeExhaust> Exhaust.close
-    <log> <FILTERING> Toroid.reconfigure :hold
+    <log> <closeExhaust> Exhaust.close
+    <log> @13:40:26.52 <FILTERING> Toroid.reconfigure :hold
     <log> Toroid.seek :bypass
-    <log> @11:59:35.42 Toroid.reconfigure :default
+    <log> @13:40:28.14 Toroid.reconfigure :default
     <log> Toroid.seek :clear
-    <log> @11:59:37.04 Sampled  10.0ml
+    <log> @13:40:29.75 Sampled  10.0ml
     <log> \207
  <status> FILTERING-->PAUSED@10.0
  <status> \204
-    <log> @11:59:38.27 <LRAUV> -> Cmd.startProcessing
+    <log> @13:40:31.18 <LRAUV> -> Cmd.startProcessing
     <log> \207
- <status> PAUSED-->PROCESSING@60,archiveHiBiomass_bac
+ <status> PAUSED-->PROCESSING@58,archiveHiBiomass_bac
  <status> \201
  <result> :PROCESSING\200
  <prompt> \204
-    <log> @11:59:38.28 <PROCESSING> Plunge.seek :reagent
-    <log> @11:59:39.12 Sample loop closed. Ready to Deliver Reagents
+    <log> @13:40:31.19 <PROCESSING> Plunge.seek :reagent
+    <log> @13:40:32.03 Sample loop closed. Ready to Deliver Reagents
     <log> Archive.seek :sealed
-    <log> @11:59:43.39 Archive.seek :evac
-    <log> @11:59:57.37 delay 1:00
-    <log> @12:00:57.38 Archive.seek :clear
-    <log> @12:01:15.15 RNAlater soak for 45 seconds
-    <log> @12:02:00.15 Archive.seek :tVent
-    <log> @12:02:02.73 delay 1 second
-    <log> @12:02:03.73 Archive.seek :evac
-    <log> @12:02:19.40 delay 10 seconds
-    <log> @12:02:29.41 Archive.seek :tVent
-    <log> @12:02:45.08 delay 1 second
-    <log> @12:02:46.08 Archive.seek :evac
-    <log> @12:03:01.75 delay 10 seconds
-    <log> @12:03:11.76 Sample preserved and evacuated
+    <log> @13:40:36.30 Archive.seek :evac
+    <log> @13:40:50.28 delay 1:00
+    <log> @13:41:50.29 Archive.seek :clear
+    <log> @13:42:08.05 RNAlater soak for 45 seconds
+    <log> @13:42:53.06 Archive.seek :tVent
+    <log> @13:42:55.64 delay 1 second
+    <log> @13:42:56.64 Archive.seek :evac
+    <log> @13:43:12.31 delay 10 seconds
+    <log> @13:43:22.32 Archive.seek :tVent
+    <log> @13:43:37.99 delay 1 second
+    <log> @13:43:38.99 Archive.seek :evac
+    <log> @13:43:54.66 delay 10 seconds
+    <log> @13:44:04.66 Sample preserved and evacuated
     <log> \207
- <status> PROCESSING-->PROCESSED@60,archiveHiBiomass_bac
+ <status> PROCESSING-->PROCESSED@58,archiveHiBiomass_bac
  <status> \204
-    <log> @12:03:12.73 <LRAUV> -> Cmd.stop
-    <log> Gate.power :heat,:OFF
-    <log> @12:03:12.74 Gate.power :cartridge,:OFF
-    <log> Carousel.seek 60
-    <log> @12:03:12.81 Plunge.seek :locked
-    <log> @12:03:13.65 PinPort.seek :clear
-    <log> @12:03:13.72 <Archive> Archive.seek :clear
-    <log> <Air> Air.seek :clear
-    <log> @12:03:13.74 <Lysis1> Lysis1.seek :clear
-    <log> @12:03:31.49 <LRAUV> Archive.coast
+    <log> @13:44:05.63 <LRAUV> -> Cmd.stop
+    <log> @13:44:05.64 Gate.power :heat,:OFF
+    <log> Gate.power :cartridge,:OFF
+    <log> Carousel.seek 58
+    <log> @13:44:05.72 Plunge.seek :locked
+    <log> @13:44:06.55 PinPort.seek :clear
+    <log> @13:44:06.62 <Archive> Archive.seek :clear
+    <log> @13:44:06.63 <Air> Air.seek :clear
+    <log> @13:44:06.65 <Lysis1> Lysis1.seek :clear
+    <log> @13:44:24.39 <LRAUV> Archive.coast
     <log> Air.coast
-    <log> Lysis1.coast
+    <log> @13:44:24.40 Lysis1.coast
     <log> Lysis2.coast
-    <log> @12:03:31.50 Plunge.coast
+    <log> Plunge.coast
     <log> SamplePump.coast
     <log> Toroid.coast
-    <log> Carousel.coast
+    <log> @13:44:24.41 Carousel.coast
     <log> PinPort.coast
-    <log> @12:03:31.52 Gate.power :heat,:OFF
-    <log> Gate.power :cartridge,:OFF
-    <log> @12:03:31.57 Gate.power :motor,:OFF
-    <log> @12:03:31.58 Gate.power :core,:OFF
+    <log> @13:44:24.42 Gate.power :heat,:OFF
+    <log> @13:44:24.43 Gate.power :cartridge,:OFF
+    <log> @13:44:24.48 Gate.power :motor,:OFF
+    <log> Gate.power :core,:OFF
     <log> Gate.power :analytic1,:OFF
     <log> Gate.power :analytic2,:OFF
     <log> Gate.power :analytic3,:OFF
-    <log> Gate.power :main,:OFF
+    <log> @13:44:24.49 Gate.power :main,:OFF
     <log> Safely stopped and ready to power off
     <log> \207
  <status> PROCESSED-->STOPPED
  <status> \201
  <result> :STOPPED\200
  <prompt> 7777
-##-- file closed 2020-08-12T19:18:29.368Z
+##-- file closed 2020-08-12T20:59:20.692Z
 
-##-- file opened 2020-08-12T19:18:29.369Z
+##-- file opened 2020-08-12T20:59:20.692Z
  <prompt> LRAUV
  <prompt> \200
  <prompt> \200
  <prompt> \204
-    <log> @12:18:30.16 -> showStatus
+    <log> @13:59:21.49 -> showStatus
     <log> \201
  <result> true\200
  <prompt> \204
-    <log> @12:18:32.16 -> Cmd.loadCartridge -4
+    <log> @13:59:23.49 -> Cmd.loadCartridge -4
     <log> \207
  <status> STOPPED-->IDLE
  <status> \204
-    <log> @12:18:32.17 Gate.power :main,:ON
+    <log> Gate.power :main,:ON
     <log> Gate.power :analytic1,:ON
     <log> Gate.power :analytic2,:ON
     <log> Gate.power :analytic3,:ON
     <log> Gate.power :core,:ON
-    <log> @12:18:32.18 Archive.configure :default
-    <log> Air.configure :default
-    <log> @12:18:32.19 Lysis1.configure :default
-    <log> Lysis2.configure :default
-    <log> @12:18:32.20 Plunge.configure :default
-    <log> SamplePump.configure :default
-    <log> @12:18:32.21 ExtraPump.configure :default
-    <log> Toroid.configure :default
-    <log> @12:18:32.22 Carousel.configure :default
-    <log> Pressure.configure :default
-    <log> @12:18:32.23 PinPort.configure :default
-    <log> All elf controllers running firmware version 4.99
+    <log> @13:59:23.50 Archive.configure :default
+    <log> @13:59:23.51 Air.configure :default
+    <log> Lysis1.configure :default
+    <log> @13:59:23.52 Lysis2.configure :default
+    <log> Plunge.configure :default
+    <log> @13:59:23.53 SamplePump.configure :default
+    <log> ExtraPump.configure :default
+    <log> @13:59:23.54 Toroid.configure :default
+    <log> Carousel.configure :default
+    <log> @13:59:23.55 Pressure.configure :default
+    <log> PinPort.configure :default
+    <log> @13:59:23.56 All elf controllers running firmware version 4.99
     <log> Gate.power :motor,:ON
-    <log> @12:18:32.24 <Archive_home> Archive.reconfigure :default
-    <log> @12:18:32.25 <Air_home> Air.reconfigure :default
-    <log> @12:18:32.26 <Archive_home> Archive.home.jog 0
-    <log> <Air_home> Air.home.jog 0
-    <log> @12:18:32.27 <Lysis1_home> Lysis1.reconfigure :default
-    <log> <Lysis2_home> Lysis2.reconfigure :default
+    <log> @13:59:23.57 <Archive_home> Archive.reconfigure :default
+    <log> @13:59:23.58 Archive.home.jog 0
+    <log> <Air_home> Air.reconfigure :default
+    <log> @13:59:23.59 Air.home.jog 0
+    <log> <Lysis1_home> Lysis1.reconfigure :default
+    <log> @13:59:23.60 <Lysis2_home> Lysis2.reconfigure :default
     <log> <Lysis1_home> Lysis1.home.jog 0
-    <log> @12:18:32.28 <Plunge_home> Plunge.reconfigure :default
     <log> <Lysis2_home> Lysis2.home.jog 0
+    <log> @13:59:23.61 <Plunge_home> Plunge.reconfigure :default
     <log> <PinPort_home> PinPort.reconfigure :default
     <log> <Plunge_home> Plunge.home.jog 0
-    <log> @12:18:32.29 <Toroid_home> Toroid.reconfigure :default
-    <log> <PinPort_home> PinPort.home.jog 0
+    <log> <Toroid_home> Toroid.reconfigure :default
+    <log> @13:59:23.62 <PinPort_home> PinPort.home.jog 0
     <log> <Toroid_home> Toroid.home.jog 0
-    <log> @12:18:32.34 <Archive_home> Archive.setRawPosition! 50
+    <log> @13:59:23.66 <Archive_home> Archive.setRawPosition! 50
     <log> Archive.reconfigure :homing
-    <log> Archive.seek :home
-    <log> @12:18:32.35 <Air_home> Air.setRawPosition! 50
-    <log> Air.reconfigure :homing
+    <log> @13:59:23.67 Archive.seek :home
+    <log> <Air_home> Air.setRawPosition! 50
+    <log> @13:59:23.68 Air.reconfigure :homing
     <log> Air.seek :home
-    <log> @12:18:32.36 <Plunge_home> Plunge.setRawPosition! 50
+    <log> @13:59:23.69 <Plunge_home> Plunge.setRawPosition! 50
     <log> Plunge.reconfigure :homing
-    <log> @12:18:32.37 Plunge.seek :home
-    <log> @12:18:32.38 <PinPort_home> PinPort.setRawPosition! 0
-    <log> PinPort.reconfigure :homing
+    <log> @13:59:23.70 Plunge.seek :home
+    <log> <PinPort_home> PinPort.setRawPosition! 0
+    <log> @13:59:23.71 PinPort.reconfigure :homing
     <log> PinPort.seek :home
-    <log> @12:18:32.39 <Lysis1_home> Lysis1.setRawPosition! 50
+    <log> @13:59:23.72 <Lysis1_home> Lysis1.setRawPosition! 50
     <log> Lysis1.reconfigure :homing
-    <log> @12:18:32.40 Lysis1.seek :home
-    <log> <Lysis2_home> Lysis2.setRawPosition! 50
-    <log> @12:18:32.41 Lysis2.reconfigure :homing
+    <log> @13:59:23.73 Lysis1.seek :home
+    <log> @13:59:23.74 <Lysis2_home> Lysis2.setRawPosition! 50
+    <log> Lysis2.reconfigure :homing
     <log> Lysis2.seek :home
-    <log> @12:18:32.42 <Toroid_home> Toroid.setRawPosition! 0
+    <log> @13:59:23.75 <Toroid_home> Toroid.setRawPosition! 0
     <log> Toroid.reconfigure :homing
-    <log> Toroid.seek :home
-    <log> @12:18:32.45 <PinPort_home> PinPort.reconfigure :default
-    <log> @12:18:32.50 <Toroid_home> Toroid.reconfigure :default
-    <log> @12:18:32.62 <Archive_home> Archive.reconfigure :default
-    <log> @12:18:32.63 <Air_home> Air.reconfigure :default
-    <log> @12:18:32.64 <Plunge_home> Plunge.reconfigure :default
-    <log> @12:18:32.67 <Lysis1_home> Lysis1.reconfigure :default
-    <log> @12:18:32.69 <Lysis2_home> Lysis2.reconfigure :default
-    <log> @12:18:32.94 <LRAUV> Toroid.seek :clear
-    <log> @12:18:34.56 Carousel.reconfigure :default
+    <log> @13:59:23.76 Toroid.seek :home
+    <log> @13:59:23.78 <PinPort_home> PinPort.reconfigure :default
+    <log> @13:59:23.83 <Toroid_home> Toroid.reconfigure :default
+    <log> @13:59:23.94 <Archive_home> Archive.reconfigure :default
+    <log> @13:59:23.96 <Air_home> Air.reconfigure :default
+    <log> @13:59:23.97 <Plunge_home> Plunge.reconfigure :default
+    <log> @13:59:24.00 <Lysis1_home> Lysis1.reconfigure :default
+    <log> @13:59:24.02 <Lysis2_home> Lysis2.reconfigure :default
+    <log> @13:59:24.27 <LRAUV> Toroid.seek :clear
+    <log> @13:59:25.89 Carousel.reconfigure :default
     <log> Carousel.home.jog 0
-    <log> @12:18:34.63 Carousel.setRawPosition! -53
+    <log> @13:59:25.97 Carousel.setRawPosition! -53
     <log> Carousel.reconfigure :homing
-    <log> @12:18:34.64 Carousel.seek :home
-    <log> @12:18:34.94 Carousel.reconfigure :default
-    <log> @12:18:35.19 Carousel.seek 1
+    <log> Carousel.seek :home
+    <log> @13:59:26.27 Carousel.reconfigure :default
+    <log> @13:59:26.53 Carousel.seek 1
     <log> \207
  <status> IDLE-->LOADING
- <status> LOADING-->LOADING@59,archiveHiBiomass_bac
+ <status> LOADING-->LOADING@57,archiveHiBiomass_bac
  <status> \204
-    <log> @12:18:35.26 Selecting Cartridge 59
-    <log> @12:18:35.27 Carousel.seek 59
-    <log> @12:18:47.33 Gate.power :heat,:OFF
+    <log> @13:59:26.60 Selecting Cartridge 57
+    <log> @13:59:26.61 Carousel.seek 57
+    <log> @13:59:38.25 Gate.power :heat,:OFF
     <log> Gate.power :cartridge,:OFF
-    <log> @12:18:47.34 Lysis1.seek :locked
-    <log> @12:18:51.41 <Plunge> Plunge.seek :locked
+    <log> @13:59:38.26 Lysis1.seek :locked
+    <log> @13:59:42.33 <Plunge> Plunge.seek :locked
     <log> <Air> Air.seek :locked
-    <log> @12:18:55.48 <LRAUV> Gate.power :cartridge,:ON
-    <log> @12:18:55.49 Gate.power :cartridge,:OFF
+    <log> @13:59:46.40 <LRAUV> Gate.power :cartridge,:ON
+    <log> Gate.power :cartridge,:OFF
     <log> Gate.power :cartridge,:OFF
-    <log> @12:18:55.99 Mounted archive Cartridge
+    <log> @13:59:46.90 Mounted archive Cartridge
     <log> \207
- <status> LOADING-->READY@59,archiveHiBiomass_bac
+ <status> LOADING-->READY@57,archiveHiBiomass_bac
  <status> \201
- <result> 59\200
+ <result> 57\200
  <prompt> \204
-    <log> @12:19:08.97 -> Cmd.startFiltering
+    <log> @14:00:00.30 -> Cmd.startFiltering
     <log> \207
  <status> READY-->PRIMING@5.0
  <status> \201
  <result> :FILTERING\200
  <prompt> \204
-    <log> @12:19:08.98 <FILTERING> Duration of filtering limited to 2:05:00
-    <log> @12:19:08.99 Priming sample loop w/5ml, bypass w/1.5ml
+    <log> @14:00:00.31 <FILTERING> Duration of filtering limited to 2:05:00
+    <log> @14:00:00.32 Priming sample loop w/5ml, bypass w/1.5ml
     <log> SamplePump.setPosition! 0ml
     <log> Bypass.open
-    <log> @12:19:09.71 Intake.open
-    <log> @12:19:11.21 Sea 5.7m deep (23.1psia)
+    <log> @14:00:01.03 Intake.open
+    <log> @14:00:02.53 Sea 5.7m deep (23.1psia)
     <log> Waiting up to 20 seconds for sea pressure to stabilize +/-0.50psi
-    <log> @12:19:13.73 Vacuum tare is 10% of full scale
-    <log> Pressure.reconfigure :default
+    <log> @14:00:05.05 Vacuum tare is 10% of full scale
+    <log> @14:00:05.06 Pressure.reconfigure :default
     <log> Pressure.hold
-    <log> @12:19:13.81 SamplePump.reconfigure :prime
+    <log> @14:00:05.14 SamplePump.reconfigure :prime
     <log> SamplePump.seek 1.5ml,38 seconds
-    <log> @12:19:15.58 Pressure.coast
+    <log> @14:00:06.91 Pressure.coast
     <log> SamplePump.setPosition! 0ml
-    <log> @12:19:15.59 Exhaust.open
-    <log> @12:19:17.78 <closeBypass> Bypass.close
-    <log> @12:19:19.98 <FILTERING> Pressure.hold
-    <log> @12:19:20.05 Sea 5.7m deep (23.1psia)
-    <log> @12:19:20.06 SamplePump.reconfigure :prime
+    <log> @14:00:06.92 Exhaust.open
+    <log> @14:00:09.11 <closeBypass> Bypass.close
+    <log> @14:00:11.32 <FILTERING> Pressure.hold
+    <log> @14:00:11.39 Sea 5.7m deep (23.1psia)
+    <log> @14:00:11.40 SamplePump.reconfigure :prime
     <log> SamplePump.seek 5ml,56 seconds
-    <log> @12:19:24.80 Pressure.coast
+    <log> @14:00:16.14 Pressure.coast
     <log> Bypass.open
-    <log> @12:19:26.30 Intake.close
-    <log> @12:19:27.80 Toroid.reconfigure :hold
+    <log> @14:00:17.63 Intake.close
+    <log> @14:00:19.14 Toroid.reconfigure :hold
     <log> Toroid.seek :crack
-    <log> @12:19:28.60 Toroid.reconfigure :default
+    <log> @14:00:19.94 Toroid.reconfigure :default
     <log> Toroid.seek :clear
-    <log> @12:19:30.10 Toroid.reconfigure :hold
-    <log> @12:19:30.11 Toroid.seek :cartridge
-    <log> @12:19:31.92 Toroid.reconfigure :default
+    <log> @14:00:21.44 Toroid.reconfigure :hold
+    <log> Toroid.seek :cartridge
+    <log> @14:00:23.26 Toroid.reconfigure :default
     <log> Toroid.seek :clear
-    <log> @12:19:33.74 Pressurizing cartridge to 26psi above 23.1psia
+    <log> @14:00:25.08 Pressurizing cartridge to 26psi above 23.1psia
     <log> SamplePump.setPosition! 0ml
     <log> Intake.open
-    <log> @12:19:35.23 Bypass.close
-    <log> @12:19:36.73 Exhaust.close
-    <log> @12:19:38.24 Pressure.hold
-    <log> @12:19:38.35 SamplePump.reconfigure :charge
+    <log> @14:00:26.57 Bypass.close
+    <log> @14:00:28.07 Exhaust.close
+    <log> @14:00:29.62 Pressure.hold
+    <log> @14:00:29.69 SamplePump.reconfigure :charge
     <log> SamplePump.seek 0.2ml,32 seconds
-    <log> @12:19:38.95 Pressure.coast
-    <log> @12:19:38.96 Sampling 10.0ml
+    <log> @14:00:30.29 Pressure.coast
+    <log> @14:00:30.30 Sampling 10.0ml
     <log> SamplePump.setPosition! 0ml
     <log> Exhaust.open
     <log> \207
  <status> PRIMING-->FILTERING@0.0
  <status> \204
-    <log> @12:19:40.46 Pressure.hold
-    <log> @12:19:40.53 Sea 5.7m deep (23.1psia)
-    <log> @12:19:40.54 SamplePump.reconfigure :sample
-    <log> SamplePump.seek 10ml,1:21
-    <log> @12:19:43.46 <sampling> Cartridge 59 sampling 2/10ml at 0.83ml/s with 0.0psi vacuum 5.7m deep (23.1psia)
-    <log> @12:19:53.50 <FILTERING> Pressure.coast
+    <log> @14:00:31.80 Pressure.hold
+    <log> @14:00:31.88 Sea 5.7m deep (23.1psia)
+    <log> SamplePump.reconfigure :sample
+    <log> @14:00:31.89 SamplePump.seek 10ml,1:21
+    <log> @14:00:34.81 <sampling> Cartridge 57 sampling 2/10ml at 0.83ml/s with 0.0psi vacuum 5.7m deep (23.1psia)
+    <log> @14:00:44.85 <FILTERING> Pressure.coast
     <log> <closeIntake> Intake.close
-    <log> @12:19:53.51 <closeExhaust> Exhaust.close
+    <log> @14:00:44.86 <closeExhaust> Exhaust.close
     <log> <FILTERING> Toroid.reconfigure :hold
     <log> Toroid.seek :bypass
-    <log> @12:19:55.13 Toroid.reconfigure :default
+    <log> @14:00:46.48 Toroid.reconfigure :default
     <log> Toroid.seek :clear
-    <log> @12:19:56.75 Sampled  10.0ml
+    <log> @14:00:48.10 Sampled  10.0ml
     <log> \207
  <status> FILTERING-->PAUSED@10.0
  <status> \204
-    <log> @12:19:58.18 <LRAUV> -> Cmd.startProcessing
+    <log> @14:00:49.51 <LRAUV> -> Cmd.startProcessing
     <log> \207
- <status> PAUSED-->PROCESSING@59,archiveHiBiomass_bac
+ <status> PAUSED-->PROCESSING@57,archiveHiBiomass_bac
  <status> \201
  <result> :PROCESSING\200
  <prompt> \204
-    <log> @12:19:58.19 <PROCESSING> Plunge.seek :reagent
-    <log> @12:19:59.03 Sample loop closed. Ready to Deliver Reagents
+    <log> @14:00:49.53 <PROCESSING> Plunge.seek :reagent
+    <log> @14:00:50.37 Sample loop closed. Ready to Deliver Reagents
     <log> Archive.seek :sealed
-    <log> @12:20:03.30 Archive.seek :evac
-    <log> @12:20:17.28 delay 1:00
-    <log> @12:21:17.29 Archive.seek :clear
-    <log> @12:21:35.06 RNAlater soak for 45 seconds
-    <log> @12:22:20.06 Archive.seek :tVent
-    <log> @12:22:22.64 delay 1 second
-    <log> @12:22:23.64 Archive.seek :evac
-    <log> @12:22:39.31 delay 10 seconds
-    <log> @12:22:49.32 Archive.seek :tVent
-    <log> @12:23:04.99 delay 1 second
-    <log> @12:23:05.99 Archive.seek :evac
-    <log> @12:23:21.66 delay 10 seconds
-    <log> @12:23:31.67 Sample preserved and evacuated
+    <log> @14:00:54.64 Archive.seek :evac
+    <log> @14:01:08.61 delay 1:00
+    <log> @14:02:08.62 Archive.seek :clear
+    <log> @14:02:26.39 RNAlater soak for 45 seconds
+    <log> @14:03:11.40 Archive.seek :tVent
+    <log> @14:03:13.98 delay 1 second
+    <log> @14:03:14.98 Archive.seek :evac
+    <log> @14:03:30.65 delay 10 seconds
+    <log> @14:03:40.65 Archive.seek :tVent
+    <log> @14:03:56.32 delay 1 second
+    <log> @14:03:57.32 Archive.seek :evac
+    <log> @14:04:12.99 delay 10 seconds
+    <log> @14:04:23.00 Sample preserved and evacuated
     <log> \207
- <status> PROCESSING-->PROCESSED@59,archiveHiBiomass_bac
+ <status> PROCESSING-->PROCESSED@57,archiveHiBiomass_bac
  <status> \204
-    <log> @12:23:32.64 <LRAUV> -> Cmd.stop
-    <log> @12:23:32.65 Gate.power :heat,:OFF
+    <log> @14:04:23.96 <LRAUV> -> Cmd.stop
+    <log> Gate.power :heat,:OFF
     <log> Gate.power :cartridge,:OFF
-    <log> Carousel.seek 59
-    <log> @12:23:32.72 Plunge.seek :locked
-    <log> @12:23:33.56 PinPort.seek :clear
-    <log> @12:23:33.63 <Archive> Archive.seek :clear
-    <log> @12:23:33.64 <Air> Air.seek :clear
-    <log> @12:23:33.65 <Lysis1> Lysis1.seek :clear
-    <log> @12:23:51.40 <LRAUV> Archive.coast
+    <log> Carousel.seek 57
+    <log> @14:04:24.04 Plunge.seek :locked
+    <log> @14:04:24.87 PinPort.seek :clear
+    <log> @14:04:24.95 <Archive> Archive.seek :clear
+    <log> @14:04:24.96 <Air> Air.seek :clear
+    <log> @14:04:24.98 <Lysis1> Lysis1.seek :clear
+    <log> @14:04:42.72 <LRAUV> Archive.coast
     <log> Air.coast
-    <log> @12:23:51.41 Lysis1.coast
+    <log> @14:04:42.73 Lysis1.coast
     <log> Lysis2.coast
     <log> Plunge.coast
     <log> SamplePump.coast
     <log> Toroid.coast
-    <log> Carousel.coast
-    <log> @12:23:51.42 PinPort.coast
-    <log> @12:23:51.43 Gate.power :heat,:OFF
-    <log> Gate.power :cartridge,:OFF
-    <log> @12:23:51.49 Gate.power :motor,:OFF
+    <log> @14:04:42.74 Carousel.coast
+    <log> PinPort.coast
+    <log> @14:04:42.75 Gate.power :heat,:OFF
+    <log> @14:04:42.76 Gate.power :cartridge,:OFF
+    <log> @14:04:42.81 Gate.power :motor,:OFF
     <log> Gate.power :core,:OFF
     <log> Gate.power :analytic1,:OFF
     <log> Gate.power :analytic2,:OFF
     <log> Gate.power :analytic3,:OFF
-    <log> Gate.power :main,:OFF
+    <log> @14:04:42.82 Gate.power :main,:OFF
     <log> Safely stopped and ready to power off
     <log> \207
  <status> PROCESSED-->STOPPED
  <status> \201
  <result> :STOPPED\200
-##-- file closed 2020-08-12T19:39:00.862Z
+##-- file closed 2020-08-12T21:33:13.994Z
 ```
Updated by Carlos Rueda

File snippet.markdown Modified

  • Ignore whitespace
  • Hide word diff
-# ESPComponent/ESP testing with simulators on bufflehead and tethyssim:
-
-**Note**: the config parameter `ESPComponent.simulateHardware` is false for these tests: the ESP simulator 
-is still an external process and the ESPComponent interacts with it as if it were a real ESP.
+# ESPComponent/ESP testing with simulators on bufflehead and tethyscode:
 
 # Preparations
 
 ## On bufflehead
 
-Using [trackSlots branch](https://github.com/MBARI-ESP/ESP2Gscript/tree/trackSlots) of the ESP software (commit cf51a340f91 / Tue Apr 30 10:07:49 2019 -0700).
+Using [ESP master branch](https://github.com/MBARI-ESP/ESP2Gscript/) per Brent.
 
 As usual I have the code under carueda's account on bufflehead:
 
-```
-   $ cd esp2
-   $ . ESPenv auv honu
-   $ ESPmode=simreal
-```
+    $ cd esp2
+    $ git pull origin master
+    $ . ESPenv auv honu
+    $ ESPmode=simrapid
 
-### Tweak in ESP code to expedite the tests
+> I created a special mode analogous to simreal called simrapid.
+> If you replace simreal with simrapid in your existing instructions, you should get the accelerated sim.
+> No more need to tweak the source code.
 
-If not already `true`, edit `type/auv/initialize.rb` to set `rapid = true`.
 
->I've checked in a version that also reduced the processing time from 10:00 to 45 seconds when rapid = true
+### ESP simulator with available "dry" cartridges. 
 
 
-### ESP simulator with available "dry" cartridges. 
+    $ esp
+  
+    -> slots spare: 10
+    -> slots All => [:dry, :archiveHiBiomass_bac]
 
-```
-     -> slots spare: 10
-     -> slots All => [:dry, :archive_bac]
-```
+**Note**:
 
-`:archive_bac` is convenient for the test to complete quicker than with lyse-n-go.
+- `archiveHiBiomass_bac` is the default ESP cartridge type code in the the mission used below, `Maintenance/sample.xml`
+- An "archive" type is very convenient for the test to complete quicker than with an "lyse-n-go"
 
 ### Exit the ESP simulator for what follows
 
 Then, in this bufflehead session, prepare the following command but **do not launch it yet**:
 
 ```
-  $ ESPclient=tethyssim:9998 ESPcmdPort=7777 esp
+  $ ESPclient=tethyscode:9998 ESPcmdPort=7777 esp
 ```
 
 This prepares the subsequent execution of the ESP system once the socket server (see below)
 is running on the simulated vehicle.
 
 
-## On tethyssim:
+## On tethyscode:
 
-Using `Missions/Maintenance/sample.xml` for this testing. 
-Parameters that can be adjusted for testing convenience, for example `Depth = 1`, `NumberOfSamples = 2`.
+Under ~carueda/lrauv-application I have a copy of the latest nightly build as of 2020-08-12.
 
-Here's my local relevant configuration, in `Config/sim/carueda/Science.cfg`:
+There, as usual, I have populated the following under Config/sim/carueda/ to override relevant configs for the **sim** vehicle:
 
 ```
-   ESPComponent.loadAtStartup          = 1 bool;
-   ESPComponent.simulateHardware       = 0 bool;
-   
-   ESPComponent.socketServerPort       = 9998 count; 
-
-   ESPComponent.debug                  = 1 bool;
-   ESPComponent.poTimeout              = 30 second;
+[carueda@tethyscode lrauv-application]$ ls -lrt Config/sim/carueda/
+total 16
+-rw-rw-r-- 1 carueda carueda  22 Aug 12 11:01 vehicle.cfg
+-rw-rw-r-- 1 carueda carueda 163 Aug 12 11:01 Sensor.cfg
+-rw-rw-r-- 1 carueda carueda 700 Aug 12 11:03 secure.cfg
+-rw-rw-r-- 1 carueda carueda 240 Aug 12 11:05 Science.cfg
 ```
 
+In particular, `Config/sim/carueda/Science.cfg`:
+
+
+    ESPComponent.loadAtStartup          = 1 bool;
+    ESPComponent.simulateHardware       = 0 bool;
+    ESPComponent.socketServerPort       = 9998 count; 
+    ESPComponent.debug                  = 1 bool;
+    ESPComponent.poTimeout              = 30 second;
+
+
 **Note**:
 
-- Port 9998 on tethyssim is where the ESPComponent will listen and wait for the ESP to connect. 
+- Port 9998 on tethyscode is where the ESPComponent will listen as a server and wait for the ESP to connect. 
   (This port has been opened so it is accessible from bufflehead.)
   
 - Alternatively, instead of having the LRAUV running as the server waiting for the ESP, you can set:
 
-```
-    ESPComponent.espServerHost    = "bufflehead:7777"
-```
+          ESPComponent.espServerHost    = "bufflehead:7777"
 
-  in `Config/sim/carueda/Science.cfg`
-  and immediately run the ESP command above. In this case, the LRAUV will connect to the ESP.
+    in `Config/sim/carueda/Science.cfg`
+    and immediately run the ESP command above. In this case, the LRAUV would immediately connect to the already running ESP server.
   
 
 # Running the mission:
 
-## On tethyssim
+## On tethyscode
 
 Make sure `SimDaemon` is running; if not already:
-```
-[carueda@tethyssim lrauv-application]$ bin/SimDaemon
-```
+
+    [carueda@tethyscode lrauv-application]$ bin/SimDaemon
+
+Using `Maintenance/sample.xml` for the testing. 
+
+Parameters that can be adjusted for testing convenience are, for example `Depth = 1`, `NumberOfSamples = 2`.
 
 We need to tell the ESPComponent that we are running the ESP manually, so we set the `ESPCOMPONENT_MANUAL_ESP` environment variable for this purpose:
-```
-[carueda@tethyssim lrauv-application]$ ESPCOMPONENT_MANUAL_ESP=1 bin/LRAUV -r -x \
-   "load Maintenance/sample.xml;set sample.NumberOfSamples 2 count;set sample.Depth 1 centimeter;set sample.WaitBeforeSample 3 second;set sample:SampleAtDepth.TargetDepth 1 centimeter;run"
-```
 
-If running the LRAUV as server (for LRAUV-ESP interaction purposes),
-wait until **`[ESPComponent](IMPORTANT): Waiting for ESP to connect`** shows up on the output:
+    [carueda@tethyscode lrauv-application]$ ESPCOMPONENT_MANUAL_ESP=1 bin/LRAUV -r -x \
+         "load Maintenance/sample.xml;set sample.NumberOfSamples 2 count;set sample.Depth 1 centimeter;set sample.WaitBeforeSample 3 second;set sample:SampleAtDepth.TargetDepth 1 centimeter;run"
+
+
+Wait for the following line in the output (it may take a few minutes):
+
+    ...
+    ... [ESPComponent](IMPORTANT): Waiting for ESP to connect (timeout=30.0000)
 
-```
-...
-... [ESPComponent](IMPORTANT): Waiting for ESP to connect (timeout=30.0000)       <<<<<<<<<<<<<  HERE <<<<<<<<<<<<<<
-```
 
 ## on bufflehead
 
-Right away launch the ESP simulator on the bufflehead session:
+Right away launch the ESP simulator and you will see interaction activity on both sides:
 
 ```
-carueda@bufflehead:~/esp2$ ESPclient=tethyssim:9998 ESPcmdPort=7777 esp
-@16:08:41.45PDT30-Apr-19 <simreal> Simulated gateway v3.24 for core bus
-@16:08:41.46 Simulated secondary gateway v3.24 for cartridge bus
-@16:08:41.53
-Configuration for honu by brent@mbari.org 4/4/19
+carueda@bufflehead:~/esp2$ ESPclient=tethyscode:9998 ESPcmdPort=7777 esp
+
+@11:58:07.91PDT12-Aug-20 <simrapid> Simulated gateway v3.24 for core bus
+Simulated secondary gateway v3.24 for cartridge bus
+@11:58:08.03
+Configuration for honu by brent@mbari.org 3/11/20
 /home/carueda/esp2/type/auv/honu/configure.rb
-@16:08:41.60 Polling Can every 5:00
+@11:58:08.10 Polling Can every 2:00
 Clients may connect on TCP port 7777
-Connecting to tethyssim:9998
-@16:08:41.78 <LRAUV> Session Begun
-@16:08:44.18 -> showStatus
-@16:08:45.78 -> Cmd.loadCartridge :archive
-Gate.power :main,:ON
+Connecting to tethyscode:9998
+@11:58:08.26 <LRAUV> Session Begun
+@11:58:10.65 -> showStatus
+@11:58:12.25 -> Cmd.loadCartridge -4
+@11:58:12.26 Gate.power :main,:ON
 Gate.power :analytic1,:ON
 Gate.power :analytic2,:ON
-@16:08:45.79 Gate.power :analytic3,:ON
+Gate.power :analytic3,:ON
 Gate.power :core,:ON
-@16:08:45.80 Archive.configure :default
-@16:08:45.81 Air.configure :default
-@16:08:45.82 Lysis1.configure :default
+@11:58:12.27 Archive.configure :default
+Air.configure :default
+@11:58:12.28 Lysis1.configure :default
 Lysis2.configure :default
-@16:08:45.83 Plunge.configure :default
-@16:08:45.84 SamplePump.configure :default
-@16:08:45.85 ExtraPump.configure :default
-@16:08:45.86 Toroid.configure :default
-Carousel.configure :default
-@16:08:45.87 Pressure.configure :default
-PinPort.configure :default
+@11:58:12.29 Plunge.configure :default
+SamplePump.configure :default
+@11:58:12.30 ExtraPump.configure :default
+Toroid.configure :default
+@11:58:12.31 Carousel.configure :default
+Pressure.configure :default
+@11:58:12.32 PinPort.configure :default
 All elf controllers running firmware version 4.99
-@16:08:45.88 Gate.power :motor,:ON
-@16:08:45.89 <Archive_home> Archive.reconfigure :default
-@16:08:45.90 Archive.home.jog 0
-<Air_home> Air.reconfigure :default
-@16:08:45.91 Air.home.jog 0
-<Lysis1_home> Lysis1.reconfigure :default
+Gate.power :motor,:ON
+@11:58:12.33 <Archive_home> Archive.reconfigure :default
+@11:58:12.34 Archive.home.jog 0
+@11:58:12.35 <Air_home> Air.reconfigure :default
+Air.home.jog 0
+@11:58:12.36 <Lysis1_home> Lysis1.reconfigure :default
 <Lysis2_home> Lysis2.reconfigure :default
-@16:08:45.92 <Lysis1_home> Lysis1.home.jog 0
-<Plunge_home> Plunge.reconfigure :default
+<Lysis1_home> Lysis1.home.jog 0
+@11:58:12.37 <Plunge_home> Plunge.reconfigure :default
 <Lysis2_home> Lysis2.home.jog 0
 <PinPort_home> PinPort.reconfigure :default
-@16:08:45.93 <Plunge_home> Plunge.home.jog 0
-<Toroid_home> Toroid.reconfigure :default
+<Plunge_home> Plunge.home.jog 0
+@11:58:12.38 <Toroid_home> Toroid.reconfigure :default
 <PinPort_home> PinPort.home.jog 0
-@16:08:45.94 <Toroid_home> Toroid.home.jog 0
-@16:08:45.98 <Archive_home> Archive.setRawPosition! 50
-Archive.reconfigure :homing
+<Toroid_home> Toroid.home.jog 0
+@11:58:12.42 <Archive_home> Archive.setRawPosition! 50
+@11:58:12.43 Archive.reconfigure :homing
 Archive.seek :home
-@16:08:45.99 <Air_home> Air.setRawPosition! 50
+@11:58:12.44 <Air_home> Air.setRawPosition! 50
 Air.reconfigure :homing
-@16:08:46.00 Air.seek :home
-@16:08:46.01 <Plunge_home> Plunge.setRawPosition! 50
+Air.seek :home
+@11:58:12.45 <Plunge_home> Plunge.setRawPosition! 50
 Plunge.reconfigure :homing
-Plunge.seek :home
-@16:08:46.02 <PinPort_home> PinPort.setRawPosition! 0
-PinPort.reconfigure :homing
-@16:08:46.03 PinPort.seek :home
-<Lysis1_home> Lysis1.setRawPosition! 50
-@16:08:46.04 Lysis1.reconfigure :homing
+@11:58:12.46 Plunge.seek :home
+<PinPort_home> PinPort.setRawPosition! 0
+@11:58:12.47 PinPort.reconfigure :homing
+PinPort.seek :home
+@11:58:12.48 <Lysis1_home> Lysis1.setRawPosition! 50
+Lysis1.reconfigure :homing
 Lysis1.seek :home
-@16:08:46.05 <Lysis2_home> Lysis2.setRawPosition! 50
+@11:58:12.49 <Lysis2_home> Lysis2.setRawPosition! 50
 Lysis2.reconfigure :homing
-@16:08:46.06 Lysis2.seek :home
-@16:08:46.07 <Toroid_home> Toroid.setRawPosition! 0
+@11:58:12.50 Lysis2.seek :home
+@11:58:12.51 <Toroid_home> Toroid.setRawPosition! 0
 Toroid.reconfigure :homing
 Toroid.seek :home
-@16:08:46.10 <PinPort_home> PinPort.reconfigure :default
-@16:08:46.14 <Toroid_home> Toroid.reconfigure :default
-@16:08:46.26 <Archive_home> Archive.reconfigure :default
-@16:08:46.27 <Air_home> Air.reconfigure :default
-@16:08:46.29 <Plunge_home> Plunge.reconfigure :default
-@16:08:46.32 <Lysis1_home> Lysis1.reconfigure :default
-@16:08:46.33 <Lysis2_home> Lysis2.reconfigure :default
-@16:08:46.59 <LRAUV> Toroid.seek :clear
-@16:08:48.20 Carousel.reconfigure :default
-Carousel.home.jog 0
-@16:08:48.28 Carousel.setRawPosition! -53
+@11:58:12.54 <PinPort_home> PinPort.reconfigure :default
+@11:58:12.58 <Toroid_home> Toroid.reconfigure :default
+@11:58:12.70 <Archive_home> Archive.reconfigure :default
+@11:58:12.72 <Air_home> Air.reconfigure :default
+@11:58:12.73 <Plunge_home> Plunge.reconfigure :default
+@11:58:12.76 <Lysis1_home> Lysis1.reconfigure :default
+@11:58:12.77 <Lysis2_home> Lysis2.reconfigure :default
+@11:58:13.03 <LRAUV> Toroid.seek :clear
+@11:58:14.64 Carousel.reconfigure :default
+@11:58:14.65 Carousel.home.jog 0
+@11:58:14.72 Carousel.setRawPosition! -53
 Carousel.reconfigure :homing
 Carousel.seek :home
-@16:08:48.58 Carousel.reconfigure :default
-@16:08:48.84 Carousel.seek 1
-@16:08:48.91 Selecting Cartridge 59
-@16:08:48.92 Carousel.seek 59
-@16:09:00.98 <Lysis2> Lysis2.seek :locked
-@16:09:00.99 <Plunge> Plunge.seek :locked
-@16:09:01.00 <Air> Air.seek :locked
-@16:09:05.07 <LRAUV> Gate.power :cartridge,:ON
-Loaded Archive Cartridge
+@11:58:15.03 Carousel.reconfigure :default
+@11:58:15.28 Carousel.seek 1
+@11:58:15.35 Selecting Cartridge 60
+@11:58:15.36 Carousel.seek 60
+@11:58:27.63 Gate.power :heat,:OFF
+Gate.power :cartridge,:OFF
+Lysis1.seek :locked
+@11:58:31.70 <Plunge> Plunge.seek :locked
+<Air> Air.seek :locked
+@11:58:35.77 <LRAUV> Gate.power :cartridge,:ON
 Gate.power :cartridge,:OFF
-@16:09:21.38 -> Cmd.startFiltering 10
-@16:09:21.39 <FILTERING> Duration of filtering limited to 2:05:00
-@16:09:21.40 Priming sample loop w/100ml, bypass w/10ml
+Gate.power :cartridge,:OFF
+@11:58:36.28 Mounted archive Cartridge
+@11:58:49.06 -> Cmd.startFiltering
+@11:58:49.07 <FILTERING> Duration of filtering limited to 2:05:00
+@11:58:49.08 Priming sample loop w/5ml, bypass w/1.5ml
 SamplePump.setPosition! 0ml
 Bypass.open
-@16:09:22.11 Intake.open
-@16:09:23.61 Sea 5.7m deep (23.1psia)
-Waiting up to 20 seconds for sea pressure to stabilize +/-0.50psi
-@16:09:26.13 Vacuum tare is 10% of full scale
-Pressure.reconfigure :default
-@16:09:26.14 Pressure.hold
-@16:09:26.21 SamplePump.reconfigure :prime
-SamplePump.seek 10ml,1:21
-@16:09:35.18 Pressure.coast
-@16:09:35.19 SamplePump.setPosition! 0ml
+@11:58:49.99 Intake.open
+@11:58:51.49 Sea 5.7m deep (23.1psia)
+@11:58:51.50 Waiting up to 20 seconds for sea pressure to stabilize +/-0.50psi
+@11:58:54.01 Vacuum tare is 10% of full scale
+@11:58:54.02 Pressure.reconfigure :default
+Pressure.hold
+@11:58:54.09 SamplePump.reconfigure :prime
+@11:58:54.10 SamplePump.seek 1.5ml,38 seconds
+@11:58:55.87 Pressure.coast
+SamplePump.setPosition! 0ml
 Exhaust.open
-@16:09:37.38 <closeBypass> Bypass.close
-@16:09:39.58 <FILTERING> Pressure.hold
-@16:09:39.65 Sea 5.7m deep (23.1psia)
-@16:09:39.66 SamplePump.reconfigure :prime
-SamplePump.seek 100ml,8:51
-@16:11:04.84 Pressure.coast
-Bypass.open
-@16:11:06.34 Intake.close
-@16:11:07.84 Toroid.reconfigure :hold
-Toroid.seek :crack
-@16:11:08.64 Toroid.reconfigure :default
-Toroid.seek :clear
-@16:11:10.14 Toroid.reconfigure :hold
-@16:11:10.15 Toroid.seek :cartridge
-@16:11:11.96 Toroid.reconfigure :default
+@11:58:58.07 <closeBypass> Bypass.close
+@11:59:00.27 <FILTERING> Pressure.hold
+@11:59:00.34 Sea 5.7m deep (23.1psia)
+@11:59:00.35 SamplePump.reconfigure :prime
+SamplePump.seek 5ml,56 seconds
+@11:59:05.08 Pressure.coast
+@11:59:05.09 Bypass.open
+@11:59:06.58 Intake.close
+@11:59:08.08 Toroid.reconfigure :hold
+@11:59:08.09 Toroid.seek :crack
+@11:59:08.88 Toroid.reconfigure :default
+@11:59:08.89 Toroid.seek :clear
+@11:59:10.39 Toroid.reconfigure :hold
+Toroid.seek :cartridge
+@11:59:12.21 Toroid.reconfigure :default
 Toroid.seek :clear
-@16:11:13.78 Pressurizing cartridge to 26psi above 23.1psia
+@11:59:14.03 Pressurizing cartridge to 26psi above 23.1psia
 SamplePump.setPosition! 0ml
 Intake.open
-@16:11:15.27 Bypass.close
-@16:11:16.77 Exhaust.close
-@16:11:18.28 Pressure.hold
-@16:11:18.35 SamplePump.reconfigure :charge
-SamplePump.seek 2.3ml,42 seconds
-@16:11:20.23 Pressure.coast
-Sampling 10.0ml
+@11:59:15.52 Bypass.close
+@11:59:17.02 Exhaust.close
+@11:59:18.52 Pressure.hold
+@11:59:18.60 SamplePump.reconfigure :charge
+@11:59:18.64 SamplePump.seek 0.2ml,32 seconds
+@11:59:19.24 Pressure.coast
+@11:59:19.25 Sampling 10.0ml
 SamplePump.setPosition! 0ml
-@16:11:20.24 Exhaust.open
-@16:11:21.73 Pressure.hold
-@16:11:21.81 Sea 5.7m deep (23.1psia)
+Exhaust.open
+@11:59:20.75 Pressure.hold
+@11:59:20.82 Sea 5.7m deep (23.1psia)
 SamplePump.reconfigure :sample
-SamplePump.seek 10ml,1:21
-@16:11:24.74 <sampling> Cartridge 59 sampling 2/10ml at 0.83ml/s with 0.0psi vacuum 5.7m deep (23.1psia)
-@16:11:34.78 <FILTERING> Pressure.coast
+@11:59:20.83 SamplePump.seek 10ml,1:21
+@11:59:23.75 <sampling> Cartridge 60 sampling 2/10ml at 0.83ml/s with 0.0psi vacuum 5.7m deep (23.1psia)
+@11:59:33.79 <FILTERING> Pressure.coast
 <closeIntake> Intake.close
-<closeExhaust> Exhaust.close
-@16:11:34.79 <FILTERING> Toroid.reconfigure :hold
+@11:59:33.80 <closeExhaust> Exhaust.close
+<FILTERING> Toroid.reconfigure :hold
 Toroid.seek :bypass
-@16:11:36.41 Toroid.reconfigure :default
+@11:59:35.42 Toroid.reconfigure :default
 Toroid.seek :clear
-@16:11:38.02 Sampled  10.0ml
-@16:11:39.40 <LRAUV> -> Cmd.startProcessing
-@16:11:39.41 <PROCESSING> Plunge.seek :reagent
-@16:11:40.25 Sample loop closed. Ready to Deliver Reagents
+@11:59:37.04 Sampled  10.0ml
+@11:59:38.27 <LRAUV> -> Cmd.startProcessing
+@11:59:38.28 <PROCESSING> Plunge.seek :reagent
+@11:59:39.12 Sample loop closed. Ready to Deliver Reagents
 Archive.seek :sealed
-@16:11:44.52 Archive.seek :evac
-@16:11:58.50 delay 20 seconds
-@16:12:18.51 Archive.seek :clear
-@16:12:36.28 RNAlater soak for 45 seconds
-@16:13:21.28 Archive.seek :tVent
-@16:13:23.86 delay 1 second
-@16:13:24.86 Archive.seek :evac
-@16:13:40.53 delay 10 seconds
-@16:13:50.54 Sample preserved and evacuated
-@16:13:51.42 <LRAUV> -> Cmd.stop
-@16:13:51.43 Plunge.seek :locked
-@16:13:52.27 PinPort.seek :clear
-@16:13:52.34 <Archive> Archive.seek :clear
+@11:59:43.39 Archive.seek :evac
+@11:59:57.37 delay 1:00
+@12:00:57.38 Archive.seek :clear
+@12:01:15.15 RNAlater soak for 45 seconds
+@12:02:00.15 Archive.seek :tVent
+@12:02:02.73 delay 1 second
+@12:02:03.73 Archive.seek :evac
+@12:02:19.40 delay 10 seconds
+@12:02:29.41 Archive.seek :tVent
+@12:02:45.08 delay 1 second
+@12:02:46.08 Archive.seek :evac
+@12:03:01.75 delay 10 seconds
+@12:03:11.76 Sample preserved and evacuated
+@12:03:12.73 <LRAUV> -> Cmd.stop
+Gate.power :heat,:OFF
+@12:03:12.74 Gate.power :cartridge,:OFF
+Carousel.seek 60
+@12:03:12.81 Plunge.seek :locked
+@12:03:13.65 PinPort.seek :clear
+@12:03:13.72 <Archive> Archive.seek :clear
 <Air> Air.seek :clear
-@16:13:52.36 <Lysis2> Lysis2.seek :clear
-@16:14:10.11 <LRAUV> Archive.coast
+@12:03:13.74 <Lysis1> Lysis1.seek :clear
+@12:03:31.49 <LRAUV> Archive.coast
 Air.coast
 Lysis1.coast
 Lysis2.coast
-Plunge.coast
-@16:14:10.12 SamplePump.coast
+@12:03:31.50 Plunge.coast
+SamplePump.coast
 Toroid.coast
 Carousel.coast
 PinPort.coast
-@16:14:10.19 Gate.power :motor,:OFF
-Gate.power :core,:OFF
+@12:03:31.52 Gate.power :heat,:OFF
+Gate.power :cartridge,:OFF
+@12:03:31.57 Gate.power :motor,:OFF
+@12:03:31.58 Gate.power :core,:OFF
 Gate.power :analytic1,:OFF
 Gate.power :analytic2,:OFF
-@16:14:10.20 Gate.power :analytic3,:OFF
+Gate.power :analytic3,:OFF
 Gate.power :main,:OFF
 Safely stopped and ready to power off
-@16:14:18.23 Session Ended
+@12:08:40.42 Session Ended
+@12:11:13.62 <simrapid> -> exit
+ESPhonu:001:0->
 ```
 
-## On tethyssim:
+Note: `exit` after 1st sample completed, to prepare and then re-launch for the 2nd sample as signaled from the tethyscode output captured below.
+
+
+## On tethyscode:
 
 ```
-2019-04-30T23:08:42.213Z,1556665722.213 [ESPComponent](IMPORTANT): ESP has connected as client
-2019-04-30T23:08:43.013Z,1556665723.013 [ESPComponent](IMPORTANT): [sample #1] Setting cartridge argument to :archive
-2019-04-30T23:08:43.013Z,1556665723.013 [ESPComponent](IMPORTANT): [sample #1] ESP sampling sequence starting. Sampling state: S_WAITING_INITIAL_PROMPT
-2019-04-30T23:08:43.414Z,1556665723.414 [sample:SampleAtDepth:SampleWrapper:SampleESP:C](ERROR): data element is not active.
-2019-04-30T23:08:43.414Z,1556665723.414 [sample:SampleAtDepth:SampleWrapper:SampleESP:C](ERROR): data element is not active.
-2019-04-30T23:08:43.414Z,1556665723.414 [sample:SampleAtDepth:SampleWrapper:SampleESP:C](IMPORTANT): ESP sampling at 0.152651 m in nan degC water with nan ug/l chlorophyll fluorescence.
-2019-04-30T23:08:44.213Z,1556665724.213 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_PREPARING_SHOW_LOG
-2019-04-30T23:08:44.613Z,1556665724.613 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_PREPARING_SHOW_STATUS
-2019-04-30T23:08:46.213Z,1556665726.213 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_LOADING_CARTRIDGE
-2019-04-30T23:09:21.819Z,1556665761.819 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_WAITING_FOR_PRIMING (@59,archive)
-2019-04-30T23:09:23.419Z,1556665763.419 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_PRIMING (@100.0)
-2019-04-30T23:09:24.219Z,1556665764.219 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_WAITING_FOR_FILTERING (@100.0)
-2019-04-30T23:11:23.038Z,1556665883.038 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_FILTERING (@0.0)
-2019-04-30T23:11:23.438Z,1556665883.438 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_WAITING_FOR_PAUSED (@0.0)
-2019-04-30T23:11:39.440Z,1556665899.440 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_PAUSED (@10.0)
-2019-04-30T23:11:39.840Z,1556665899.840 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_PROCESSING (@10.0)
-2019-04-30T23:11:42.241Z,1556665902.241 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_WAITING_FOR_PROCESSED (@59,archive)
-2019-04-30T23:13:51.860Z,1556666031.860 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_STOPPING (@59,archive)
-2019-04-30T23:14:17.864Z,1556666057.864 [ESPComponent](IMPORTANT): [sample #1] ESP sampling sequence completed normally.
-2019-04-30T23:14:17.865Z,1556666057.865 [sample:SampleAtDepth:SampleWrapper:SampleESP](INFO): Completed sample:SampleAtDepth:SampleWrapper:SampleESP
-2019-04-30T23:14:17.865Z,1556666057.865 [sample:SampleAtDepth:SampleWrapper](INFO): Completed sample:SampleAtDepth:SampleWrapper
-2019-04-30T23:14:17.865Z,1556666057.865 [sample:SampleAtDepth](INFO): Completed sample:SampleAtDepth
-2019-04-30T23:14:18.264Z,1556666058.264 [ESPComponent](IMPORTANT): [sample #1] ESP log summary report (2 messages):
-@16:08:48.91 Selecting Cartridge 59
-@16:11:38.02 Sampled  10.0ml
-
-2019-04-30T23:14:18.264Z,1556666058.264 [ESPComponent](IMPORTANT): powerDownESP IGNORED because manualEsp_
-2019-04-30T23:14:18.265Z,1556666058.265 [sample:SampleRepeater:Sample](INFO): Completed sample:SampleRepeater:Sample
-2019-04-30T23:14:18.265Z,1556666058.265 [sample:SampleRepeater](INFO): Completed sample:SampleRepeater
-2019-04-30T23:14:18.265Z,1556666058.265 [sample](INFO): Completed sample
-2019-04-30T23:14:18.265Z,1556666058.265 [MissionManager](INFO): sample is completed.
+Writer for level Courier will be LZMA encoded.
+Writer for level Express will be LZMA encoded.
+Writer for level Priority will not be LZMA encoded.
+Writer for level Normal will not be LZMA encoded.
+2020-08-12T18:53:24.749Z,1597258404.749 [SyncHandler](INFO): Protected caller Thread ID is 106471
+2020-08-12T18:53:24.749Z,1597258404.749 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 106472
+2020-08-12T18:53:24.749Z,1597258404.749 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 106473
+2020-08-12T18:53:24.750Z,1597258404.750 [logger ThreadHandler](INFO): Protected caller Thread ID is 106474
+2020-08-12T18:53:24.750Z,1597258404.750 [Supervisor](INFO): Looking for Config files in directory: Config/
+2020-08-12T18:53:24.750Z,1597258404.750 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
+2020-08-12T18:53:24.754Z,1597258404.754 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
+2020-08-12T18:53:24.759Z,1597258404.759 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
+2020-08-12T18:53:24.764Z,1597258404.764 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
+tethyscode>2020-08-12T18:53:24.770Z,1597258404.770 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
+2020-08-12T18:53:24.773Z,1597258404.773 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
+2020-08-12T18:53:24.776Z,1597258404.776 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
+2020-08-12T18:53:24.780Z,1597258404.780 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
+2020-08-12T18:53:24.785Z,1597258404.785 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
+2020-08-12T18:53:24.788Z,1597258404.788 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
+2020-08-12T18:53:24.791Z,1597258404.791 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
+2020-08-12T18:53:24.795Z,1597258404.795 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
+2020-08-12T18:53:24.798Z,1597258404.798 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
+2020-08-12T18:53:24.802Z,1597258404.802 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
+2020-08-12T18:53:24.805Z,1597258404.805 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
+2020-08-12T18:53:24.812Z,1597258404.812 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
+2020-08-12T18:53:24.816Z,1597258404.816 [Supervisor](INFO): Looking for Config files in directory: Config/tethyscode/
+2020-08-12T18:53:24.816Z,1597258404.816 [Supervisor](INFO): Looking for Config files in directory: Config/tethyscode/carueda/
+2020-08-12T18:53:24.816Z,1597258404.816 [Supervisor](INFO): Looking for Config files in directory: Config/sim/
+2020-08-12T18:53:24.816Z,1597258404.816 [Supervisor](INFO): Opening Config file at: Config/sim/secure.cfg
+2020-08-12T18:53:24.818Z,1597258404.818 [Supervisor](INFO): Opening Config file at: Config/sim/Science.cfg
+2020-08-12T18:53:24.821Z,1597258404.821 [Supervisor](INFO): Opening Config file at: Config/sim/Simulator.cfg
+2020-08-12T18:53:24.824Z,1597258404.824 [Supervisor](INFO): Opening Config file at: Config/sim/vehicle.cfg
+2020-08-12T18:53:24.827Z,1597258404.827 [Supervisor](INFO): Opening Config file at: Config/sim/Servo.cfg
+2020-08-12T18:53:24.830Z,1597258404.830 [Supervisor](INFO): Opening Config file at: Config/sim/Sensor.cfg
+2020-08-12T18:53:24.833Z,1597258404.833 [Supervisor](INFO): Opening Config file at: Config/sim/Derivation.cfg
+2020-08-12T18:53:24.836Z,1597258404.836 [Supervisor](INFO): Looking for Config files in directory: Config/sim/carueda/
+2020-08-12T18:53:24.836Z,1597258404.836 [Supervisor](INFO): Opening Config file at: Config/sim/carueda/secure.cfg
+2020-08-12T18:53:24.839Z,1597258404.839 [Supervisor](INFO): Opening Config file at: Config/sim/carueda/Science.cfg
+2020-08-12T18:53:24.842Z,1597258404.842 [Supervisor](INFO): Opening Config file at: Config/sim/carueda/vehicle.cfg
+2020-08-12T18:53:24.844Z,1597258404.844 [Supervisor](INFO): Opening Config file at: Config/sim/carueda/Sensor.cfg
+2020-08-12T18:53:24.847Z,1597258404.847 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
+2020-08-12T18:53:24.853Z,1597258404.853 [ESPComponent](ERROR): Could not open device '/dev/loadA6' at ESPComponent.loadControl
+2020-08-12T18:53:24.873Z,1597258404.873 [ESPComponent](ERROR): Could not open device '/dev/loadA7' at ESPComponent.loadControl2
+2020-08-12T18:53:24.895Z,1597258404.895 [ESPComponent](IMPORTANT): ESPCOMPONENT_MANUAL_ESP INDICATED.
+2020-08-12T18:53:24.897Z,1597258404.897 [WetLabsBB2FL](INFO): created writer for : mass_concentration_of_chlorophyll_in_sea_water
+2020-08-12T18:53:24.898Z,1597258404.898 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 106556
+2020-08-12T18:53:24.911Z,1597258404.911 [AHRS_M2](INFO): created writer for : platform_orientation
+2020-08-12T18:53:24.911Z,1597258404.911 [AHRS_M2](INFO): created writer for : platform_magnetic_orientation
+2020-08-12T18:53:24.911Z,1597258404.911 [AHRS_M2](INFO): created writer for : platform_pitch_angle
+2020-08-12T18:53:24.911Z,1597258404.911 [AHRS_M2](INFO): created writer for : platform_roll_angle
+2020-08-12T18:53:24.914Z,1597258404.914 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 106557
+2020-08-12T18:53:24.915Z,1597258404.915 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/voltage_now
+2020-08-12T18:53:24.915Z,1597258404.915 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/current_now
+2020-08-12T18:53:24.915Z,1597258404.915 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/charge_now
+2020-08-12T18:53:24.915Z,1597258404.915 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/charge_full
+2020-08-12T18:53:24.915Z,1597258404.915 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/voltage_now
+2020-08-12T18:53:24.915Z,1597258404.915 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/current_now
+2020-08-12T18:53:24.915Z,1597258404.915 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/charge_now
+2020-08-12T18:53:24.915Z,1597258404.915 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/charge_full
+2020-08-12T18:53:24.916Z,1597258404.916 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 106558
+2020-08-12T18:53:24.916Z,1597258404.916 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 106559
+2020-08-12T18:53:24.924Z,1597258404.924 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 106560
+2020-08-12T18:53:24.924Z,1597258404.924 [Supervisor](INFO): Main Thread ID is 106470
+2020-08-12T18:53:24.924Z,1597258404.924 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 106566
+2020-08-12T18:53:24.925Z,1597258404.925 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 106568
+2020-08-12T18:53:24.925Z,1597258404.925 [logger ThreadHandler](INFO): Handler Thread ID is 106564
+2020-08-12T18:53:24.927Z,1597258404.927 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 106565
+2020-08-12T18:53:24.927Z,1597258404.927 [Onboard ThreadHandler](INFO): Handler Thread ID is 106567
+2020-08-12T18:53:24.927Z,1597258404.927 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 106569
+2020-08-12T18:53:24.927Z,1597258404.927 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
+2020-08-12T18:53:24.927Z,1597258404.927 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
+2020-08-12T18:53:24.927Z,1597258404.927 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
+2020-08-12T18:53:24.927Z,1597258404.927 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
+2020-08-12T18:53:24.927Z,1597258404.927 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
+2020-08-12T18:53:24.927Z,1597258404.927 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
+2020-08-12T18:53:24.927Z,1597258404.927 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
+2020-08-12T18:53:24.927Z,1597258404.927 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
+2020-08-12T18:53:24.927Z,1597258404.927 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
+2020-08-12T18:53:24.927Z,1597258404.927 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
+2020-08-12T18:53:24.927Z,1597258404.927 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
+2020-08-12T18:53:24.927Z,1597258404.927 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
+2020-08-12T18:53:24.927Z,1597258404.927 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
+2020-08-12T18:53:24.927Z,1597258404.927 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
+2020-08-12T18:53:24.927Z,1597258404.927 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
+2020-08-12T18:53:24.927Z,1597258404.927 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
+2020-08-12T18:53:24.930Z,1597258404.930 [CommandLine ThreadHandler](INFO): Handler Thread ID is 106561
+2020-08-12T18:53:24.930Z,1597258404.930 [CommandLine ThreadHandler](INFO): Handler Thread ID is 106563
+2020-08-12T18:53:24.933Z,1597258404.933 [controlThread ThreadHandler](INFO): Handler Thread ID is 106562
+2020-08-12T18:53:24.934Z,1597258404.934 [ExternalSim](INFO): ExternalSim initializing...
+2020-08-12T18:53:24.951Z,1597258404.951 [SBIT](INFO): Initialize SBIT Component.
+2020-08-12T18:53:24.951Z,1597258404.951 [SBIT](IMPORTANT): git: 2020-07-23-4-gf73e8ad
+2020-08-12T18:53:24.951Z,1597258404.951 [SBIT](INFO): git hash: f73e8ad95b55d34bdb49d5e5edbbb75e6888861e
+2020-08-12T18:53:24.951Z,1597258404.951 [SBIT](INFO): Kernel Reporting Different Release From Configuration.
+Kernel Expected: 2.6.32-45-generic-pae
+Kernel Reported: 2.6.32-754.29.1.el6.x86_64
+2020-08-12T18:53:24.951Z,1597258404.951 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
+Kernel Expected: #102-Ubuntu SMP Wed Jan 2 22:10:16 UTC 2013
+Kernel Reported: #1 SMP Mon Apr 27 15:30:33 UTC 2020
+2020-08-12T18:53:24.951Z,1597258404.951 [SBIT](INFO): Beginning SBIT in 20.000000 seconds.
+2020-08-12T18:53:24.951Z,1597258404.951 [IBIT](INFO): Initialize IBIT Component.
+tethyscode>load Maintenance2020-08-12T18:53:24.975Z,1597258404.975 [CommandLine](IMPORTANT): got command load ./Missions/Maintenance/sample.xml
+2020-08-12T18:53:24.975Z,1597258404.975 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/sample.xml
+2020-08-12T18:53:24.976Z,1597258404.976 [MissionManager](INFO): DefineArg sample.MissionTimeout = 90.000000 min
+2020-08-12T18:53:24.976Z,1597258404.976 [MissionManager](INFO): DefineArg sample.Depth = 7.000000 m
+2020-08-12T18:53:24.976Z,1597258404.976 [MissionManager](INFO): DefineArg sample.CartridgeType = -4.000000 count
+2020-08-12T18:53:24.976Z,1597258404.976 [MissionManager](INFO): DefineArg sample.NumberOfSamples = 1.000000 count
+2020-08-12T18:53:24.976Z,1597258404.976 [MissionManager](INFO): DefineArg sample.WaitBeforeSample = 3.000000 min
+2020-08-12T18:53:24.976Z,1597258404.976 [MissionManager](INFO): Inserting Stack: Missions/Insert/SampleAtDepth.xml
+2020-08-12T18:53:24.977Z,1597258404.977 [MissionManager](INFO): DefineArg sample:SampleAtDepth.TargetDepth = 5.000000 m
+2020-08-12T18:53:24.977Z,1597258404.977 [MissionManager](INFO): DefineArg sample:SampleAtDepth.SettleTime = 10.000000 s
+2020-08-12T18:53:24.977Z,1597258404.977 [MissionManager](INFO): DefineArg sample:SampleAtDepth.MaxWaitNotReachingDepth = 3.000000 h
+2020-08-12T18:53:24.977Z,1597258404.977 [MissionManager](INFO): DefineArg sample:SampleAtDepth.RotateOnly = 0.000000 bool
+2020-08-12T18:53:24.977Z,1597258404.977 [MissionManager](INFO): DefineArg sample:SampleAtDepth.UseCANONSampler = 0.000000 bool
+2020-08-12T18:53:24.977Z,1597258404.977 [MissionManager](INFO): DefineArg sample:SampleAtDepth.UseESP = 1.000000 bool
+2020-08-12T18:53:24.977Z,1597258404.977 [MissionManager](INFO): DefineArg sample:SampleAtDepth.ESPCartridgeType = nan count
+2020-08-12T18:53:24.977Z,1597258404.977 [MissionManager](INFO): DefineArg sample:SampleAtDepth.CANONSamplerTriggerTimeout = 1.000000 min
+2020-08-12T18:53:24.977Z,1597258404.977 [MissionManager](INFO): DefineArg sample:SampleAtDepth.CANONSamplerTimeout = 6.000000 min
+2020-08-12T18:53:24.977Z,1597258404.977 [MissionManager](INFO): DefineArg sample:SampleAtDepth.BuoyancyNeutral = 500.000024 cc
+2020-08-12T18:53:24.977Z,1597258404.977 [MissionManager](ERROR): Slate does not contain CTD_NeilBrown.bin_mean_sea_water_temperature
+2020-08-12T18:53:24.977Z,1597258404.977 [MissionManager](ERROR): Slate does not contain celsius
+2020-08-12T18:53:24.977Z,1597258404.977 [MissionManager](ERROR): Slate does not contain CTD_Seabird.bin_mean_sea_water_temperature
+2020-08-12T18:53:24.978Z,1597258404.978 [MissionManager](ERROR): Slate does not contain celsius
+2020-08-12T18:53:24.978Z,1597258404.978 [CommandLine](IMPORTANT): Loaded ./Missions/Maintenance/sample.xml
+2020-08-12T18:53:24.981Z,1597258404.981 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
+2020-08-12T18:53:24.981Z,1597258404.981 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
+2020-08-12T18:53:24.982Z,1597258404.982 [MissionManager](INFO): Loading Mission: Missions/Default.xml
+2020-08-12T18:53:24.982Z,1597258404.982 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
+tethyscode>set sample.NumberOfSamples 2 count;set sample.Depth 1 centimeter;set sample.WaitBeforeSample 3 second;set sample:SampleAtDepth.TargetDepth 1 centimeter;run
+2020-08-12T18:53:25.030Z,1597258405.030 [CommandLine](IMPORTANT): got command set sample.NumberOfSamples 2.000000 count
+2020-08-12T18:53:25.030Z,1597258405.030 [CommandLine](IMPORTANT): got command set sample.Depth 1.000000 centimeter
+2020-08-12T18:53:25.030Z,1597258405.030 [CommandLine](IMPORTANT): got command set sample.WaitBeforeSample 3.000000 second
+2020-08-12T18:53:25.030Z,1597258405.030 [CommandLine](IMPORTANT): got command set sample:SampleAtDepth.TargetDepth 1.000000 centimeter
+2020-08-12T18:53:25.030Z,1597258405.030 [CommandLine](IMPORTANT): got command run
+2020-08-12T18:53:25.031Z,1597258405.031 [CommandLine](IMPORTANT): Running
+2020-08-12T18:53:28.925Z,1597258408.925 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.000125
+2020-08-12T18:53:29.925Z,1597258409.925 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
+2020-08-12T18:53:30.926Z,1597258410.926 [DataOverHttps](INFO): Radio surface powered ON.
+2020-08-12T18:53:45.395Z,1597258425.395 [SBIT](IMPORTANT): Beginning Startup BIT
+2020-08-12T18:53:59.399Z,1597258439.399 [NAL9602](INFO): GPS fix at 20200812T185359: (36.803404, -121.822207)
+2020-08-12T18:54:00.598Z,1597258440.598 [NAL9602](INFO): No messages in MT queue
+2020-08-12T18:54:31.008Z,1597258471.008 [NAL9602](INFO): Not Powering down - fast GPS
+2020-08-12T18:54:39.011Z,1597258479.011 [SBIT](IMPORTANT): SBIT PASSED
+2020-08-12T18:54:39.011Z,1597258479.011 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
+2020-08-12T18:54:39.011Z,1597258479.011 [SBIT](IMPORTANT): No configSet variables persisted
+2020-08-12T18:54:39.411Z,1597258479.411 [MissionManager](IMPORTANT): Started mission Startup
+2020-08-12T18:54:39.411Z,1597258479.411 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
+2020-08-12T18:54:44.212Z,1597258484.212 [NAL9602](INFO): GPS fix at 20200812T185444: (36.803409, -121.822216)
+2020-08-12T18:54:45.411Z,1597258485.411 [NAL9602](INFO): No messages in MT queue
+2020-08-12T18:54:47.941Z,1597258487.941 [DataOverHttps](INFO): Sending 328 bytes from file Logs/20200812T183714/Courier0004.lzma
+2020-08-12T18:54:48.941Z,1597258488.941 [DataOverHttps](INFO): Moved sent file to Logs/20200812T183714/Courier0004.lzma.bak
+2020-08-12T18:54:48.941Z,1597258488.941 [DataOverHttps](INFO): SBD MOMSN=12487440
+2020-08-12T18:54:57.942Z,1597258497.942 [DataOverHttps](INFO): Sending 214 bytes from file Logs/20200812T185324/Courier0000.lzma
+2020-08-12T18:54:58.942Z,1597258498.942 [DataOverHttps](INFO): Moved sent file to Logs/20200812T185324/Courier0000.lzma.bak
+2020-08-12T18:54:58.942Z,1597258498.942 [DataOverHttps](INFO): SBD MOMSN=12487444
+2020-08-12T18:55:07.943Z,1597258507.943 [DataOverHttps](INFO): Sending 175 bytes from file Logs/20200812T083346/Express0005.lzma
+2020-08-12T18:55:08.943Z,1597258508.943 [DataOverHttps](INFO): Moved sent file to Logs/20200812T083346/Express0005.lzma.bak
+2020-08-12T18:55:08.943Z,1597258508.943 [DataOverHttps](INFO): SBD MOMSN=12487448
+2020-08-12T18:55:15.818Z,1597258515.818 [NAL9602](INFO): Not Powering down - fast GPS
+2020-08-12T18:55:17.944Z,1597258517.944 [DataOverHttps](INFO): Sending 580 bytes from file Logs/20200812T083353/Express0001.lzma
+2020-08-12T18:55:18.944Z,1597258518.944 [DataOverHttps](INFO): Moved sent file to Logs/20200812T083353/Express0001.lzma.bak
+2020-08-12T18:55:18.944Z,1597258518.944 [DataOverHttps](INFO): SBD MOMSN=12487453
+2020-08-12T18:55:27.945Z,1597258527.945 [DataOverHttps](INFO): Sending 130 bytes from file Logs/20200812T083353/Express0005.lzma
+2020-08-12T18:55:28.944Z,1597258528.944 [DataOverHttps](INFO): Moved sent file to Logs/20200812T083353/Express0005.lzma.bak
+2020-08-12T18:55:28.944Z,1597258528.944 [DataOverHttps](INFO): SBD MOMSN=12487465
+2020-08-12T18:55:37.946Z,1597258537.946 [DataOverHttps](INFO): Sending 584 bytes from file Logs/20200812T083428/Express0001.lzma
+2020-08-12T18:55:38.945Z,1597258538.945 [DataOverHttps](INFO): Moved sent file to Logs/20200812T083428/Express0001.lzma.bak
+2020-08-12T18:55:38.945Z,1597258538.945 [DataOverHttps](INFO): SBD MOMSN=12487470
+2020-08-12T18:55:44.225Z,1597258544.225 [Startup:StartupSatComms:B](INFO): Timed out from 2020-08-12T18:54:44.2Z
+2020-08-12T18:55:44.226Z,1597258544.226 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
+2020-08-12T18:55:44.226Z,1597258544.226 [Startup](INFO): Completed Startup
+2020-08-12T18:55:44.226Z,1597258544.226 [MissionManager](INFO): Startup is completed.
+2020-08-12T18:55:44.226Z,1597258544.226 [MissionManager](INFO): Uninitializing Mission Startup
+2020-08-12T18:55:44.624Z,1597258544.624 [MissionManager](IMPORTANT): Started mission sample
+2020-08-12T18:55:44.624Z,1597258544.624 [sample:A.AbortSample](INFO): Initializing AbortSample.
+2020-08-12T18:55:45.827Z,1597258545.827 [sample:SampleAtDepth:ApproachDepth:A](INFO): Moving to 0.010000 m
+2020-08-12T18:55:47.946Z,1597258547.946 [DataOverHttps](INFO): Sending 646 bytes from file Logs/20200812T083428/Express0005.lzma
+2020-08-12T18:55:48.946Z,1597258548.946 [DataOverHttps](INFO): Moved sent file to Logs/20200812T083428/Express0005.lzma.bak
+2020-08-12T18:55:48.946Z,1597258548.946 [DataOverHttps](INFO): SBD MOMSN=12487482
+2020-08-12T18:57:55.456Z,1597258675.456 [sample:SampleAtDepth:ApproachDepth](INFO): Completed sample:SampleAtDepth:ApproachDepth
+2020-08-12T18:57:55.856Z,1597258675.856 [sample:SampleAtDepth:SampleWrapper:B](IMPORTANT): At 0.012371 m , settling for 0.050000 min
+2020-08-12T18:57:59.457Z,1597258679.457 [sample:SampleAtDepth:SampleWrapper:C.Wait](INFO): Done Waiting.
+2020-08-12T18:57:59.857Z,1597258679.857 [sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge:A.ESPCartridgeSelect](INFO): Initializing ESPCartridgeSelect.
+2020-08-12T18:58:00.257Z,1597258680.257 [sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge:A.ESPCartridgeSelect](INFO): Issuing request for ESP cartridge type: -4.
+2020-08-12T18:58:00.257Z,1597258680.257 [sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge:A.ESPCartridgeSelect](INFO): Uninitializing ESPCartridgeSelect.
+2020-08-12T18:58:00.257Z,1597258680.257 [sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge](INFO): Completed sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge
+2020-08-12T18:58:01.456Z,1597258681.456 [ESPComponent](IMPORTANT): Setting regex for ESP Log summary: 'Selecting Cartridge|Sampled|Error|Underpressure|Overpressure|Fail|Retry|Cmd::|Sampler::'
+2020-08-12T18:58:01.456Z,1597258681.456 [ESPComponent](INFO): compiled regex: "Selecting Cartridge|Sampled|Error|Underpressure|Overpressure|Fail|Retry|Cmd::|Sampler::"
+2020-08-12T18:58:01.856Z,1597258681.856 [ESPComponent](IMPORTANT): powerUpESP IGNORED because manualEsp_
+2020-08-12T18:58:01.856Z,1597258681.856 [ESPComponent](IMPORTANT): Waiting for ESP to connect (timeout=30.0000)
+2020-08-12T18:58:08.658Z,1597258688.658 [ESPComponent](IMPORTANT): ESP has connected as client
+2020-08-12T18:58:09.458Z,1597258689.458 [ESPComponent](IMPORTANT): [sample #1] Setting cartridge argument to -4
+2020-08-12T18:58:09.458Z,1597258689.458 [ESPComponent](IMPORTANT): [sample #1] ESP sampling sequence starting. Sampling state: S_WAITING_INITIAL_PROMPT
+2020-08-12T18:58:09.859Z,1597258689.859 [sample:SampleAtDepth:SampleWrapper:SampleESP:C](ERROR): data element is not active.
+2020-08-12T18:58:09.859Z,1597258689.859 [sample:SampleAtDepth:SampleWrapper:SampleESP:C](IMPORTANT): ESP sampling at 0.189350 m inwater with nan ug/l chlorophyll fluorescence.
+2020-08-12T18:58:10.658Z,1597258690.658 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_PREPARING_SHOW_LOG
+2020-08-12T18:58:11.058Z,1597258691.058 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_PREPARING_SHOW_STATUS
+2020-08-12T18:58:12.658Z,1597258692.658 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_LOADING_CARTRIDGE
+2020-08-12T18:58:49.467Z,1597258729.467 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_WAITING_FOR_PRIMING (@60,archiveHiBiomass_bac)
+2020-08-12T18:58:51.067Z,1597258731.067 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_PRIMING (@5.0)
+2020-08-12T18:58:51.867Z,1597258731.867 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_WAITING_FOR_FILTERING (@5.0)
+2020-08-12T18:59:22.274Z,1597258762.274 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_FILTERING (@0.0)
+2020-08-12T18:59:22.674Z,1597258762.674 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_WAITING_FOR_PAUSED (@0.0)
+2020-08-12T18:59:38.277Z,1597258778.277 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_PAUSED (@10.0)
+2020-08-12T18:59:38.677Z,1597258778.677 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_PROCESSING (@10.0)
+2020-08-12T18:59:41.078Z,1597258781.078 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_WAITING_FOR_PROCESSED (@60,archiveHiBiomass_bac)
+2020-08-12T19:03:13.136Z,1597258993.136 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_STOPPING (@60,archiveHiBiomass_bac)
+2020-08-12T19:03:39.941Z,1597259019.941 [ESPComponent](IMPORTANT): Syncing ESP logs with command: rsync -azPq --timeout=60 esp@esp:'/var/log/esp/real /var/log/esp/real.out /var/log/esp/real.slot /var/log/esp/*.spr' /LRAUV/ESPlogs &
+2020-08-12T19:03:39.947Z,1597259019.947 [ESPComponent](INFO): closing pipe.
+tethyscode>ssh: Could not resolve hostname esp: Name or service not known
+rsync: connection unexpectedly closed (0 bytes received so far) [receiver]
+rsync error: error in rsync protocol data stream (code 12) at io.c(600) [receiver=3.0.6]
+2020-08-12T19:03:40.342Z,1597259020.342 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_STOPPED
+2020-08-12T19:08:40.026Z,1597259320.026 [ESPComponent](IMPORTANT): [sample #1] ESP sampling sequence completed normally.
+2020-08-12T19:08:40.027Z,1597259320.027 [sample:SampleAtDepth:SampleWrapper:SampleESP](INFO): Completed sample:SampleAtDepth:SampleWrapper:SampleESP
+2020-08-12T19:08:40.027Z,1597259320.027 [sample:SampleAtDepth:SampleWrapper](INFO): Completed sample:SampleAtDepth:SampleWrapper
+2020-08-12T19:08:40.027Z,1597259320.027 [sample:SampleAtDepth](INFO): Completed sample:SampleAtDepth
+2020-08-12T19:08:40.426Z,1597259320.426 [ESPComponent](IMPORTANT): [sample #1] ESP log summary report (2 messages):
+@11:58:15.35 Selecting Cartridge 60
+@11:59:37.04 Sampled  10.0ml
+
+2020-08-12T19:08:40.426Z,1597259320.426 [ESPComponent](IMPORTANT): powerDownESP IGNORED because manualEsp_
+2020-08-12T19:08:40.427Z,1597259320.427 [sample:SampleRepeater:Sample](INFO): Completed sample:SampleRepeater:Sample
+2020-08-12T19:08:40.428Z,1597259320.428 [sample:SampleRepeater](INFO): Completed sample:SampleRepeater
+2020-08-12T19:08:40.428Z,1597259320.428 [sample:SampleRepeater](INFO): Running loop #2
+2020-08-12T19:08:40.827Z,1597259320.827 [sample:SampleAtDepth:ApproachDepth:A](INFO): Moving to 0.010000 m
+2020-08-12T19:18:18.969Z,1597259898.969 [sample:SampleAtDepth:ApproachDepth](INFO): Completed sample:SampleAtDepth:ApproachDepth
+2020-08-12T19:18:19.367Z,1597259899.367 [sample:SampleAtDepth:SampleWrapper:B](IMPORTANT): At 0.008993 m , settling for 0.050000 min
+2020-08-12T19:18:22.968Z,1597259902.968 [sample:SampleAtDepth:SampleWrapper:C.Wait](INFO): Done Waiting.
+2020-08-12T19:18:23.368Z,1597259903.368 [sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge:A.ESPCartridgeSelect](INFO): Initializing ESPCartridgeSelect.
+2020-08-12T19:18:23.768Z,1597259903.768 [sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge:A.ESPCartridgeSelect](INFO): Issuing request for ESP cartridge type: -4.
+2020-08-12T19:18:23.768Z,1597259903.768 [sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge:A.ESPCartridgeSelect](INFO): Uninitializing ESPCartridgeSelect.
+2020-08-12T19:18:23.768Z,1597259903.768 [sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge](INFO): Completed sample:SampleAtDepth:SampleWrapper:SampleESP:SelectESPCartridge
+2020-08-12T19:18:25.368Z,1597259905.368 [ESPComponent](IMPORTANT): powerUpESP IGNORED because manualEsp_
+2020-08-12T19:18:25.368Z,1597259905.368 [ESPComponent](IMPORTANT): Waiting for ESP to connect (timeout=30.0000)
+2020-08-12T19:18:28.568Z,1597259908.568 [ESPComponent](IMPORTANT): ESP has connected as client
+2020-08-12T19:18:29.369Z,1597259909.369 [ESPComponent](IMPORTANT): [sample #2] Setting cartridge argument to -4
+2020-08-12T19:18:29.369Z,1597259909.369 [ESPComponent](IMPORTANT): [sample #2] ESP sampling sequence starting. Sampling state: S_WAITING_INITIAL_PROMPT
+2020-08-12T19:18:29.769Z,1597259909.769 [sample:SampleAtDepth:SampleWrapper:SampleESP:C](ERROR): data element is not active.
+2020-08-12T19:18:29.769Z,1597259909.769 [sample:SampleAtDepth:SampleWrapper:SampleESP:C](IMPORTANT): ESP sampling at 0.001501 m inwater with nan ug/l chlorophyll fluorescence.
+2020-08-12T19:18:30.169Z,1597259910.169 [ESPComponent](IMPORTANT): [sample #2] ESP sampling state: S_PREPARING_SHOW_LOG
+2020-08-12T19:18:30.569Z,1597259910.569 [ESPComponent](IMPORTANT): [sample #2] ESP sampling state: S_PREPARING_SHOW_STATUS
+2020-08-12T19:18:32.569Z,1597259912.569 [ESPComponent](IMPORTANT): [sample #2] ESP sampling state: S_LOADING_CARTRIDGE
+2020-08-12T19:19:09.377Z,1597259949.377 [ESPComponent](IMPORTANT): [sample #2] ESP sampling state: S_WAITING_FOR_PRIMING (@59,archiveHiBiomass_bac)
+2020-08-12T19:19:10.977Z,1597259950.977 [ESPComponent](IMPORTANT): [sample #2] ESP sampling state: S_PRIMING (@5.0)
+2020-08-12T19:19:11.777Z,1597259951.777 [ESPComponent](IMPORTANT): [sample #2] ESP sampling state: S_WAITING_FOR_FILTERING (@5.0)
+2020-08-12T19:19:42.183Z,1597259982.183 [ESPComponent](IMPORTANT): [sample #2] ESP sampling state: S_FILTERING (@0.0)
+2020-08-12T19:19:42.583Z,1597259982.583 [ESPComponent](IMPORTANT): [sample #2] ESP sampling state: S_WAITING_FOR_PAUSED (@0.0)
+2020-08-12T19:19:58.187Z,1597259998.187 [ESPComponent](IMPORTANT): [sample #2] ESP sampling state: S_PAUSED (@10.0)
+2020-08-12T19:19:58.587Z,1597259998.587 [ESPComponent](IMPORTANT): [sample #2] ESP sampling state: S_PROCESSING (@10.0)
+2020-08-12T19:20:00.987Z,1597260000.987 [ESPComponent](IMPORTANT): [sample #2] ESP sampling state: S_WAITING_FOR_PROCESSED (@59,archiveHiBiomass_bac)
+2020-08-12T19:23:33.049Z,1597260213.049 [ESPComponent](IMPORTANT): [sample #2] ESP sampling state: S_STOPPING (@59,archiveHiBiomass_bac)
+2020-08-12T19:23:59.855Z,1597260239.855 [ESPComponent](IMPORTANT): Syncing ESP logs with command: rsync -azPq --timeout=60 esp@esp:'/var/log/esp/real /var/log/esp/real.out /var/log/esp/real.slot /var/log/esp/*.spr' /LRAUV/ESPlogs &
+2020-08-12T19:23:59.862Z,1597260239.862 [ESPComponent](INFO): closing pipe.
+tethyscode>ssh: Could not resolve hostname esp: Name or service not known
+rsync: connection unexpectedly closed (0 bytes received so far) [receiver]
+rsync error: error in rsync protocol data stream (code 12) at io.c(600) [receiver=3.0.6]
+2020-08-12T19:24:00.255Z,1597260240.255 [ESPComponent](IMPORTANT): [sample #2] ESP sampling state: S_STOPPED
+2020-08-12T19:28:59.919Z,1597260539.919 [ESPComponent](IMPORTANT): [sample #2] ESP sampling sequence completed normally.
+2020-08-12T19:28:59.920Z,1597260539.920 [sample:SampleAtDepth:SampleWrapper:SampleESP](INFO): Completed sample:SampleAtDepth:SampleWrapper:SampleESP
+2020-08-12T19:28:59.920Z,1597260539.920 [sample:SampleAtDepth:SampleWrapper](INFO): Completed sample:SampleAtDepth:SampleWrapper
+2020-08-12T19:28:59.920Z,1597260539.920 [sample:SampleAtDepth](INFO): Completed sample:SampleAtDepth
+2020-08-12T19:29:00.319Z,1597260540.319 [ESPComponent](IMPORTANT): [sample #2] ESP log summary report (2 messages):
+@12:18:35.26 Selecting Cartridge 59
+@12:19:56.75 Sampled  10.0ml
+
+2020-08-12T19:29:00.319Z,1597260540.319 [ESPComponent](IMPORTANT): powerDownESP IGNORED because manualEsp_
+2020-08-12T19:29:00.321Z,1597260540.321 [sample:SampleRepeater:Sample](INFO): Completed sample:SampleRepeater:Sample
+2020-08-12T19:29:00.321Z,1597260540.321 [sample:SampleRepeater](INFO): Completed sample:SampleRepeater
+2020-08-12T19:29:00.321Z,1597260540.321 [sample](INFO): Completed sample
+2020-08-12T19:29:00.321Z,1597260540.321 [MissionManager](INFO): sample is completed.
+2020-08-12T19:29:00.321Z,1597260540.321 [MissionManager](INFO): Uninitializing Mission sample
+2020-08-12T19:29:00.321Z,1597260540.321 [sample:A.AbortSample](INFO): Uninitializing AbortSample.
 ...
 ```
 
-### Captured ESP.log on vehicle side
+### Captured ESP.log on vehicle side (tethyscode)
 
 Below are the contents of the `ESP.log` file as captured by the LRAUV. 
 
 Note, it shows all ESP streams due to my local config entry `ESPComponent.debug = 1 bool;`:
 
 ```
-tethyssim>
-[carueda@tethyssim lrauv-application]$ cat Logs/latest/ESP.log
-##-- file opened 2019-04-30T23:08:43.013Z
+[carueda@tethyscode lrauv-application]$ cat Logs/latest/ESP.log
+##-- file opened 2020-08-12T18:58:09.458Z
 <unknown> LRAUV
 <unknown> \200
  <prompt> \200
  <prompt> \204
-    <log> @16:08:44.18 -> showStatus
+    <log> @11:58:10.65 -> showStatus
     <log> \201
  <result> true\200
  <prompt> \204
-    <log> @16:08:45.78 -> Cmd.loadCartridge :archive
+    <log> @11:58:12.25 -> Cmd.loadCartridge -4
     <log> \207
  <status> STOPPED-->IDLE
  <status> \204
-    <log> Gate.power :main,:ON
+    <log> @11:58:12.26 Gate.power :main,:ON
     <log> Gate.power :analytic1,:ON
     <log> Gate.power :analytic2,:ON
-    <log> @16:08:45.79 Gate.power :analytic3,:ON
+    <log> Gate.power :analytic3,:ON
     <log> Gate.power :core,:ON
-    <log> @16:08:45.80 Archive.configure :default
-    <log> @16:08:45.81 Air.configure :default
-    <log> @16:08:45.82 Lysis1.configure :default
+    <log> @11:58:12.27 Archive.configure :default
+    <log> Air.configure :default
+    <log> @11:58:12.28 Lysis1.configure :default
     <log> Lysis2.configure :default
-    <log> @16:08:45.83 Plunge.configure :default
-    <log> @16:08:45.84 SamplePump.configure :default
-    <log> @16:08:45.85 ExtraPump.configure :default
-    <log> @16:08:45.86 Toroid.configure :default
-    <log> Carousel.configure :default
-    <log> @16:08:45.87 Pressure.configure :default
-    <log> PinPort.configure :default
+    <log> @11:58:12.29 Plunge.configure :default
+    <log> SamplePump.configure :default
+    <log> @11:58:12.30 ExtraPump.configure :default
+    <log> Toroid.configure :default
+    <log> @11:58:12.31 Carousel.configure :default
+    <log> Pressure.configure :default
+    <log> @11:58:12.32 PinPort.configure :default
     <log> All elf controllers running firmware version 4.99
-    <log> @16:08:45.88 Gate.power :motor,:ON
-    <log> @16:08:45.89 <Archive_home> Archive.reconfigure :default
-    <log> @16:08:45.90 Archive.home.jog 0
-    <log> <Air_home> Air.reconfigure :default
-    <log> @16:08:45.91 Air.home.jog 0
-    <log> <Lysis1_home> Lysis1.reconfigure :default
+    <log> Gate.power :motor,:ON
+    <log> @11:58:12.33 <Archive_home> Archive.reconfigure :default
+    <log> @11:58:12.34 Archive.home.jog 0
+    <log> @11:58:12.35 <Air_home> Air.reconfigure :default
+    <log> Air.home.jog 0
+    <log> @11:58:12.36 <Lysis1_home> Lysis1.reconfigure :default
     <log> <Lysis2_home> Lysis2.reconfigure :default
-    <log> @16:08:45.92 <Lysis1_home> Lysis1.home.jog 0
-    <log> <Plunge_home> Plunge.reconfigure :default
+    <log> <Lysis1_home> Lysis1.home.jog 0
+    <log> @11:58:12.37 <Plunge_home> Plunge.reconfigure :default
     <log> <Lysis2_home> Lysis2.home.jog 0
     <log> <PinPort_home> PinPort.reconfigure :default
-    <log> @16:08:45.93 <Plunge_home> Plunge.home.jog 0
-    <log> <Toroid_home> Toroid.reconfigure :default
+    <log> <Plunge_home> Plunge.home.jog 0
+    <log> @11:58:12.38 <Toroid_home> Toroid.reconfigure :default
     <log> <PinPort_home> PinPort.home.jog 0
-    <log> @16:08:45.94 <Toroid_home> Toroid.home.jog 0
-    <log> @16:08:45.98 <Archive_home> Archive.setRawPosition! 50
-    <log> Archive.reconfigure :homing
+    <log> <Toroid_home> Toroid.home.jog 0
+    <log> @11:58:12.42 <Archive_home> Archive.setRawPosition! 50
+    <log> @11:58:12.43 Archive.reconfigure :homing
     <log> Archive.seek :home
-    <log> @16:08:45.99 <Air_home> Air.setRawPosition! 50
+    <log> @11:58:12.44 <Air_home> Air.setRawPosition! 50
     <log> Air.reconfigure :homing
-    <log> @16:08:46.00 Air.seek :home
-    <log> @16:08:46.01 <Plunge_home> Plunge.setRawPosition! 50
+    <log> Air.seek :home
+    <log> @11:58:12.45 <Plunge_home> Plunge.setRawPosition! 50
     <log> Plunge.reconfigure :homing
-    <log> Plunge.seek :home
-    <log> @16:08:46.02 <PinPort_home> PinPort.setRawPosition! 0
-    <log> PinPort.reconfigure :homing
-    <log> @16:08:46.03 PinPort.seek :home
-    <log> <Lysis1_home> Lysis1.setRawPosition! 50
-    <log> @16:08:46.04 Lysis1.reconfigure :homing
+    <log> @11:58:12.46 Plunge.seek :home
+    <log> <PinPort_home> PinPort.setRawPosition! 0
+    <log> @11:58:12.47 PinPort.reconfigure :homing
+    <log> PinPort.seek :home
+    <log> @11:58:12.48 <Lysis1_home> Lysis1.setRawPosition! 50
+    <log> Lysis1.reconfigure :homing
     <log> Lysis1.seek :home
-    <log> @16:08:46.05 <Lysis2_home> Lysis2.setRawPosition! 50
+    <log> @11:58:12.49 <Lysis2_home> Lysis2.setRawPosition! 50
     <log> Lysis2.reconfigure :homing
-    <log> @16:08:46.06 Lysis2.seek :home
-    <log> @16:08:46.07 <Toroid_home> Toroid.setRawPosition! 0
+    <log> @11:58:12.50 Lysis2.seek :home
+    <log> @11:58:12.51 <Toroid_home> Toroid.setRawPosition! 0
     <log> Toroid.reconfigure :homing
     <log> Toroid.seek :home
-    <log> @16:08:46.10 <PinPort_home> PinPort.reconfigure :default
-    <log> @16:08:46.14 <Toroid_home> Toroid.reconfigure :default
-    <log> @16:08:46.26 <Archive_home> Archive.reconfigure :default
-    <log> @16:08:46.27 <Air_home> Air.reconfigure :default
-    <log> @16:08:46.29 <Plunge_home> Plunge.reconfigure :default
-    <log> @16:08:46.32 <Lysis1_home> Lysis1.reconfigure :default
-    <log> @16:08:46.33 <Lysis2_home> Lysis2.reconfigure :default
-    <log> @16:08:46.59 <LRAUV> Toroid.seek :clear
-    <log> @16:08:48.20 Carousel.reconfigure :default
-    <log> Carousel.home.jog 0
-    <log> @16:08:48.28 Carousel.setRawPosition! -53
+    <log> @11:58:12.54 <PinPort_home> PinPort.reconfigure :default
+    <log> @11:58:12.58 <Toroid_home> Toroid.reconfigure :default
+    <log> @11:58:12.70 <Archive_home> Archive.reconfigure :default
+    <log> @11:58:12.72 <Air_home> Air.reconfigure :default
+    <log> @11:58:12.73 <Plunge_home> Plunge.reconfigure :default
+    <log> @11:58:12.76 <Lysis1_home> Lysis1.reconfigure :default
+    <log> @11:58:12.77 <Lysis2_home> Lysis2.reconfigure :default
+    <log> @11:58:13.03 <LRAUV> Toroid.seek :clear
+    <log> @11:58:14.64 Carousel.reconfigure :default
+    <log> @11:58:14.65 Carousel.home.jog 0
+    <log> @11:58:14.72 Carousel.setRawPosition! -53
     <log> Carousel.reconfigure :homing
     <log> Carousel.seek :home
-    <log> @16:08:48.58 Carousel.reconfigure :default
-    <log> @16:08:48.84 Carousel.seek 1
+    <log> @11:58:15.03 Carousel.reconfigure :default
+    <log> @11:58:15.28 Carousel.seek 1
+    <log> \207
+ <status> IDLE-->LOADING
+ <status> LOADING-->LOADING@60,archiveHiBiomass_bac
+ <status> \204
+    <log> @11:58:15.35 Selecting Cartridge 60
+    <log> @11:58:15.36 Carousel.seek 60
+    <log> @11:58:27.63 Gate.power :heat,:OFF
+    <log> Gate.power :cartridge,:OFF
+    <log> Lysis1.seek :locked
+    <log> @11:58:31.70 <Plunge> Plunge.seek :locked
+    <log> <Air> Air.seek :locked
+    <log> @11:58:35.77 <LRAUV> Gate.power :cartridge,:ON
+    <log> Gate.power :cartridge,:OFF
+    <log> Gate.power :cartridge,:OFF
+    <log> @11:58:36.28 Mounted archive Cartridge
+    <log> \207
+ <status> LOADING-->READY@60,archiveHiBiomass_bac
+ <status> \201
+ <result> 60\200
+ <prompt> \204
+    <log> @11:58:49.06 -> Cmd.startFiltering
+    <log> \207
+ <status> READY-->PRIMING@5.0
+ <status> \201
+ <result> :FILTERING\200
+ <prompt> \204
+    <log> @11:58:49.07 <FILTERING> Duration of filtering limited to 2:05:00
+    <log> @11:58:49.08 Priming sample loop w/5ml, bypass w/1.5ml
+    <log> SamplePump.setPosition! 0ml
+    <log> Bypass.open
+    <log> @11:58:49.99 Intake.open
+    <log> @11:58:51.49 Sea 5.7m deep (23.1psia)
+    <log> @11:58:51.50 Waiting up to 20 seconds for sea pressure to stabilize +/-0.50psi
+    <log> @11:58:54.01 Vacuum tare is 10% of full scale
+    <log> @11:58:54.02 Pressure.reconfigure :default
+    <log> Pressure.hold
+    <log> @11:58:54.09 SamplePump.reconfigure :prime
+    <log> @11:58:54.10 SamplePump.seek 1.5ml,38 seconds
+    <log> @11:58:55.87 Pressure.coast
+    <log> SamplePump.setPosition! 0ml
+    <log> Exhaust.open
+    <log> @11:58:58.07 <closeBypass> Bypass.close
+    <log> @11:59:00.27 <FILTERING> Pressure.hold
+    <log> @11:59:00.34 Sea 5.7m deep (23.1psia)
+    <log> @11:59:00.35 SamplePump.reconfigure :prime
+    <log> SamplePump.seek 5ml,56 seconds
+    <log> @11:59:05.08 Pressure.coast
+    <log> @11:59:05.09 Bypass.open
+    <log> @11:59:06.58 Intake.close
+    <log> @11:59:08.08 Toroid.reconfigure :hold
+    <log> @11:59:08.09 Toroid.seek :crack
+    <log> @11:59:08.88 Toroid.reconfigure :default
+    <log> @11:59:08.89 Toroid.seek :clear
+    <log> @11:59:10.39 Toroid.reconfigure :hold
+    <log> Toroid.seek :cartridge
+    <log> @11:59:12.21 Toroid.reconfigure :default
+    <log> Toroid.seek :clear
+    <log> @11:59:14.03 Pressurizing cartridge to 26psi above 23.1psia
+    <log> SamplePump.setPosition! 0ml
+    <log> Intake.open
+    <log> @11:59:15.52 Bypass.close
+    <log> @11:59:17.02 Exhaust.close
+    <log> @11:59:18.52 Pressure.hold
+    <log> @11:59:18.60 SamplePump.reconfigure :charge
+    <log> @11:59:18.64 SamplePump.seek 0.2ml,32 seconds
+    <log> @11:59:19.24 Pressure.coast
+    <log> @11:59:19.25 Sampling 10.0ml
+    <log> SamplePump.setPosition! 0ml
+    <log> Exhaust.open
+    <log> \207
+ <status> PRIMING-->FILTERING@0.0
+ <status> \204
+    <log> @11:59:20.75 Pressure.hold
+    <log> @11:59:20.82 Sea 5.7m deep (23.1psia)
+    <log> SamplePump.reconfigure :sample
+    <log> @11:59:20.83 SamplePump.seek 10ml,1:21
+    <log> @11:59:23.75 <sampling> Cartridge 60 sampling 2/10ml at 0.83ml/s with 0.0psi vacuum 5.7m deep (23.1psia)
+    <log> @11:59:33.79 <FILTERING> Pressure.coast
+    <log> <closeIntake> Intake.close
+    <log> @11:59:33.80 <closeExhaust> Exhaust.close
+    <log> <FILTERING> Toroid.reconfigure :hold
+    <log> Toroid.seek :bypass
+    <log> @11:59:35.42 Toroid.reconfigure :default
+    <log> Toroid.seek :clear
+    <log> @11:59:37.04 Sampled  10.0ml
+    <log> \207
+ <status> FILTERING-->PAUSED@10.0
+ <status> \204
+    <log> @11:59:38.27 <LRAUV> -> Cmd.startProcessing
+    <log> \207
+ <status> PAUSED-->PROCESSING@60,archiveHiBiomass_bac
+ <status> \201
+ <result> :PROCESSING\200
+ <prompt> \204
+    <log> @11:59:38.28 <PROCESSING> Plunge.seek :reagent
+    <log> @11:59:39.12 Sample loop closed. Ready to Deliver Reagents
+    <log> Archive.seek :sealed
+    <log> @11:59:43.39 Archive.seek :evac
+    <log> @11:59:57.37 delay 1:00
+    <log> @12:00:57.38 Archive.seek :clear
+    <log> @12:01:15.15 RNAlater soak for 45 seconds
+    <log> @12:02:00.15 Archive.seek :tVent
+    <log> @12:02:02.73 delay 1 second
+    <log> @12:02:03.73 Archive.seek :evac
+    <log> @12:02:19.40 delay 10 seconds
+    <log> @12:02:29.41 Archive.seek :tVent
+    <log> @12:02:45.08 delay 1 second
+    <log> @12:02:46.08 Archive.seek :evac
+    <log> @12:03:01.75 delay 10 seconds
+    <log> @12:03:11.76 Sample preserved and evacuated
+    <log> \207
+ <status> PROCESSING-->PROCESSED@60,archiveHiBiomass_bac
+ <status> \204
+    <log> @12:03:12.73 <LRAUV> -> Cmd.stop
+    <log> Gate.power :heat,:OFF
+    <log> @12:03:12.74 Gate.power :cartridge,:OFF
+    <log> Carousel.seek 60
+    <log> @12:03:12.81 Plunge.seek :locked
+    <log> @12:03:13.65 PinPort.seek :clear
+    <log> @12:03:13.72 <Archive> Archive.seek :clear
+    <log> <Air> Air.seek :clear
+    <log> @12:03:13.74 <Lysis1> Lysis1.seek :clear
+    <log> @12:03:31.49 <LRAUV> Archive.coast
+    <log> Air.coast
+    <log> Lysis1.coast
+    <log> Lysis2.coast
+    <log> @12:03:31.50 Plunge.coast
+    <log> SamplePump.coast
+    <log> Toroid.coast
+    <log> Carousel.coast
+    <log> PinPort.coast
+    <log> @12:03:31.52 Gate.power :heat,:OFF
+    <log> Gate.power :cartridge,:OFF
+    <log> @12:03:31.57 Gate.power :motor,:OFF
+    <log> @12:03:31.58 Gate.power :core,:OFF
+    <log> Gate.power :analytic1,:OFF
+    <log> Gate.power :analytic2,:OFF
+    <log> Gate.power :analytic3,:OFF
+    <log> Gate.power :main,:OFF
+    <log> Safely stopped and ready to power off
+    <log> \207
+ <status> PROCESSED-->STOPPED
+ <status> \201
+ <result> :STOPPED\200
+ <prompt> 7777
+##-- file closed 2020-08-12T19:18:29.368Z
+
+##-- file opened 2020-08-12T19:18:29.369Z
+ <prompt> LRAUV
+ <prompt> \200
+ <prompt> \200
+ <prompt> \204
+    <log> @12:18:30.16 -> showStatus
+    <log> \201
+ <result> true\200
+ <prompt> \204
+    <log> @12:18:32.16 -> Cmd.loadCartridge -4
+    <log> \207
+ <status> STOPPED-->IDLE
+ <status> \204
+    <log> @12:18:32.17 Gate.power :main,:ON
+    <log> Gate.power :analytic1,:ON
+    <log> Gate.power :analytic2,:ON
+    <log> Gate.power :analytic3,:ON
+    <log> Gate.power :core,:ON
+    <log> @12:18:32.18 Archive.configure :default
+    <log> Air.configure :default
+    <log> @12:18:32.19 Lysis1.configure :default
+    <log> Lysis2.configure :default
+    <log> @12:18:32.20 Plunge.configure :default
+    <log> SamplePump.configure :default
+    <log> @12:18:32.21 ExtraPump.configure :default
+    <log> Toroid.configure :default
+    <log> @12:18:32.22 Carousel.configure :default
+    <log> Pressure.configure :default
+    <log> @12:18:32.23 PinPort.configure :default
+    <log> All elf controllers running firmware version 4.99
+    <log> Gate.power :motor,:ON
+    <log> @12:18:32.24 <Archive_home> Archive.reconfigure :default
+    <log> @12:18:32.25 <Air_home> Air.reconfigure :default
+    <log> @12:18:32.26 <Archive_home> Archive.home.jog 0
+    <log> <Air_home> Air.home.jog 0
+    <log> @12:18:32.27 <Lysis1_home> Lysis1.reconfigure :default
+    <log> <Lysis2_home> Lysis2.reconfigure :default
+    <log> <Lysis1_home> Lysis1.home.jog 0
+    <log> @12:18:32.28 <Plunge_home> Plunge.reconfigure :default
+    <log> <Lysis2_home> Lysis2.home.jog 0
+    <log> <PinPort_home> PinPort.reconfigure :default
+    <log> <Plunge_home> Plunge.home.jog 0
+    <log> @12:18:32.29 <Toroid_home> Toroid.reconfigure :default
+    <log> <PinPort_home> PinPort.home.jog 0
+    <log> <Toroid_home> Toroid.home.jog 0
+    <log> @12:18:32.34 <Archive_home> Archive.setRawPosition! 50
+    <log> Archive.reconfigure :homing
+    <log> Archive.seek :home
+    <log> @12:18:32.35 <Air_home> Air.setRawPosition! 50
+    <log> Air.reconfigure :homing
+    <log> Air.seek :home
+    <log> @12:18:32.36 <Plunge_home> Plunge.setRawPosition! 50
+    <log> Plunge.reconfigure :homing
+    <log> @12:18:32.37 Plunge.seek :home
+    <log> @12:18:32.38 <PinPort_home> PinPort.setRawPosition! 0
+    <log> PinPort.reconfigure :homing
+    <log> PinPort.seek :home
+    <log> @12:18:32.39 <Lysis1_home> Lysis1.setRawPosition! 50
+    <log> Lysis1.reconfigure :homing
+    <log> @12:18:32.40 Lysis1.seek :home
+    <log> <Lysis2_home> Lysis2.setRawPosition! 50
+    <log> @12:18:32.41 Lysis2.reconfigure :homing
+    <log> Lysis2.seek :home
+    <log> @12:18:32.42 <Toroid_home> Toroid.setRawPosition! 0
+    <log> Toroid.reconfigure :homing
+    <log> Toroid.seek :home
+    <log> @12:18:32.45 <PinPort_home> PinPort.reconfigure :default
+    <log> @12:18:32.50 <Toroid_home> Toroid.reconfigure :default
+    <log> @12:18:32.62 <Archive_home> Archive.reconfigure :default
+    <log> @12:18:32.63 <Air_home> Air.reconfigure :default
+    <log> @12:18:32.64 <Plunge_home> Plunge.reconfigure :default
+    <log> @12:18:32.67 <Lysis1_home> Lysis1.reconfigure :default
+    <log> @12:18:32.69 <Lysis2_home> Lysis2.reconfigure :default
+    <log> @12:18:32.94 <LRAUV> Toroid.seek :clear
+    <log> @12:18:34.56 Carousel.reconfigure :default
+    <log> Carousel.home.jog 0
+    <log> @12:18:34.63 Carousel.setRawPosition! -53
+    <log> Carousel.reconfigure :homing
+    <log> @12:18:34.64 Carousel.seek :home
+    <log> @12:18:34.94 Carousel.reconfigure :default
+    <log> @12:18:35.19 Carousel.seek 1
     <log> \207
  <status> IDLE-->LOADING
- <status> LOADING-->LOADING@59,archive
+ <status> LOADING-->LOADING@59,archiveHiBiomass_bac
  <status> \204
-    <log> @16:08:48.91 Selecting Cartridge 59
-    <log> @16:08:48.92 Carousel.seek 59
-    <log> @16:09:00.98 <Lysis2> Lysis2.seek :locked
-    <log> @16:09:00.99 <Plunge> Plunge.seek :locked
-    <log> @16:09:01.00 <Air> Air.seek :locked
-    <log> @16:09:05.07 <LRAUV> Gate.power :cartridge,:ON
-    <log> Loaded Archive Cartridge
+    <log> @12:18:35.26 Selecting Cartridge 59
+    <log> @12:18:35.27 Carousel.seek 59
+    <log> @12:18:47.33 Gate.power :heat,:OFF
+    <log> Gate.power :cartridge,:OFF
+    <log> @12:18:47.34 Lysis1.seek :locked
+    <log> @12:18:51.41 <Plunge> Plunge.seek :locked
+    <log> <Air> Air.seek :locked
+    <log> @12:18:55.48 <LRAUV> Gate.power :cartridge,:ON
+    <log> @12:18:55.49 Gate.power :cartridge,:OFF
     <log> Gate.power :cartridge,:OFF
+    <log> @12:18:55.99 Mounted archive Cartridge
     <log> \207
- <status> LOADING-->READY@59,archive
+ <status> LOADING-->READY@59,archiveHiBiomass_bac
  <status> \201
  <result> 59\200
  <prompt> \204
-    <log> @16:09:21.38 -> Cmd.startFiltering 10
+    <log> @12:19:08.97 -> Cmd.startFiltering
     <log> \207
- <status> READY-->PRIMING@100.0
+ <status> READY-->PRIMING@5.0
  <status> \201
  <result> :FILTERING\200
  <prompt> \204
-    <log> @16:09:21.39 <FILTERING> Duration of filtering limited to 2:05:00
-    <log> @16:09:21.40 Priming sample loop w/100ml, bypass w/10ml
+    <log> @12:19:08.98 <FILTERING> Duration of filtering limited to 2:05:00
+    <log> @12:19:08.99 Priming sample loop w/5ml, bypass w/1.5ml
     <log> SamplePump.setPosition! 0ml
     <log> Bypass.open
-    <log> @16:09:22.11 Intake.open
-    <log> @16:09:23.61 Sea 5.7m deep (23.1psia)
+    <log> @12:19:09.71 Intake.open
+    <log> @12:19:11.21 Sea 5.7m deep (23.1psia)
     <log> Waiting up to 20 seconds for sea pressure to stabilize +/-0.50psi
-    <log> @16:09:26.13 Vacuum tare is 10% of full scale
+    <log> @12:19:13.73 Vacuum tare is 10% of full scale
     <log> Pressure.reconfigure :default
-    <log> @16:09:26.14 Pressure.hold
-    <log> @16:09:26.21 SamplePump.reconfigure :prime
-    <log> SamplePump.seek 10ml,1:21
-    <log> @16:09:35.18 Pressure.coast
-    <log> @16:09:35.19 SamplePump.setPosition! 0ml
-    <log> Exhaust.open
-    <log> @16:09:37.38 <closeBypass> Bypass.close
-    <log> @16:09:39.58 <FILTERING> Pressure.hold
-    <log> @16:09:39.65 Sea 5.7m deep (23.1psia)
-    <log> @16:09:39.66 SamplePump.reconfigure :prime
-    <log> SamplePump.seek 100ml,8:51
-    <log> @16:11:04.84 Pressure.coast
+    <log> Pressure.hold
+    <log> @12:19:13.81 SamplePump.reconfigure :prime
+    <log> SamplePump.seek 1.5ml,38 seconds
+    <log> @12:19:15.58 Pressure.coast
+    <log> SamplePump.setPosition! 0ml
+    <log> @12:19:15.59 Exhaust.open
+    <log> @12:19:17.78 <closeBypass> Bypass.close
+    <log> @12:19:19.98 <FILTERING> Pressure.hold
+    <log> @12:19:20.05 Sea 5.7m deep (23.1psia)
+    <log> @12:19:20.06 SamplePump.reconfigure :prime
+    <log> SamplePump.seek 5ml,56 seconds
+    <log> @12:19:24.80 Pressure.coast
     <log> Bypass.open
-    <log> @16:11:06.34 Intake.close
-    <log> @16:11:07.84 Toroid.reconfigure :hold
+    <log> @12:19:26.30 Intake.close
+    <log> @12:19:27.80 Toroid.reconfigure :hold
     <log> Toroid.seek :crack
-    <log> @16:11:08.64 Toroid.reconfigure :default
+    <log> @12:19:28.60 Toroid.reconfigure :default
     <log> Toroid.seek :clear
-    <log> @16:11:10.14 Toroid.reconfigure :hold
-    <log> @16:11:10.15 Toroid.seek :cartridge
-    <log> @16:11:11.96 Toroid.reconfigure :default
+    <log> @12:19:30.10 Toroid.reconfigure :hold
+    <log> @12:19:30.11 Toroid.seek :cartridge
+    <log> @12:19:31.92 Toroid.reconfigure :default
     <log> Toroid.seek :clear
-    <log> @16:11:13.78 Pressurizing cartridge to 26psi above 23.1psia
+    <log> @12:19:33.74 Pressurizing cartridge to 26psi above 23.1psia
     <log> SamplePump.setPosition! 0ml
     <log> Intake.open
-    <log> @16:11:15.27 Bypass.close
-    <log> @16:11:16.77 Exhaust.close
-    <log> @16:11:18.28 Pressure.hold
-    <log> @16:11:18.35 SamplePump.reconfigure :charge
-    <log> SamplePump.seek 2.3ml,42 seconds
-    <log> @16:11:20.23 Pressure.coast
-    <log> Sampling 10.0ml
+    <log> @12:19:35.23 Bypass.close
+    <log> @12:19:36.73 Exhaust.close
+    <log> @12:19:38.24 Pressure.hold
+    <log> @12:19:38.35 SamplePump.reconfigure :charge
+    <log> SamplePump.seek 0.2ml,32 seconds
+    <log> @12:19:38.95 Pressure.coast
+    <log> @12:19:38.96 Sampling 10.0ml
     <log> SamplePump.setPosition! 0ml
-    <log> @16:11:20.24 Exhaust.open
+    <log> Exhaust.open
     <log> \207
  <status> PRIMING-->FILTERING@0.0
  <status> \204
-    <log> @16:11:21.73 Pressure.hold
-    <log> @16:11:21.81 Sea 5.7m deep (23.1psia)
-    <log> SamplePump.reconfigure :sample
+    <log> @12:19:40.46 Pressure.hold
+    <log> @12:19:40.53 Sea 5.7m deep (23.1psia)
+    <log> @12:19:40.54 SamplePump.reconfigure :sample
     <log> SamplePump.seek 10ml,1:21
-    <log> @16:11:24.74 <sampling> Cartridge 59 sampling 2/10ml at 0.83ml/s with 0.0psi vacuum 5.7m deep (23.1psia)
-    <log> @16:11:34.78 <FILTERING> Pressure.coast
+    <log> @12:19:43.46 <sampling> Cartridge 59 sampling 2/10ml at 0.83ml/s with 0.0psi vacuum 5.7m deep (23.1psia)
+    <log> @12:19:53.50 <FILTERING> Pressure.coast
     <log> <closeIntake> Intake.close
-    <log> <closeExhaust> Exhaust.close
-    <log> @16:11:34.79 <FILTERING> Toroid.reconfigure :hold
+    <log> @12:19:53.51 <closeExhaust> Exhaust.close
+    <log> <FILTERING> Toroid.reconfigure :hold
     <log> Toroid.seek :bypass
-    <log> @16:11:36.41 Toroid.reconfigure :default
+    <log> @12:19:55.13 Toroid.reconfigure :default
     <log> Toroid.seek :clear
-    <log> @16:11:38.02 Sampled  10.0ml
+    <log> @12:19:56.75 Sampled  10.0ml
     <log> \207
  <status> FILTERING-->PAUSED@10.0
  <status> \204
-    <log> @16:11:39.40 <LRAUV> -> Cmd.startProcessing
+    <log> @12:19:58.18 <LRAUV> -> Cmd.startProcessing
     <log> \207
- <status> PAUSED-->PROCESSING@59,archive
+ <status> PAUSED-->PROCESSING@59,archiveHiBiomass_bac
  <status> \201
  <result> :PROCESSING\200
  <prompt> \204
-    <log> @16:11:39.41 <PROCESSING> Plunge.seek :reagent
-    <log> @16:11:40.25 Sample loop closed. Ready to Deliver Reagents
+    <log> @12:19:58.19 <PROCESSING> Plunge.seek :reagent
+    <log> @12:19:59.03 Sample loop closed. Ready to Deliver Reagents
     <log> Archive.seek :sealed
-    <log> @16:11:44.52 Archive.seek :evac
-    <log> @16:11:58.50 delay 20 seconds
-    <log> @16:12:18.51 Archive.seek :clear
-    <log> @16:12:36.28 RNAlater soak for 45 seconds
-    <log> @16:13:21.28 Archive.seek :tVent
-    <log> @16:13:23.86 delay 1 second
-    <log> @16:13:24.86 Archive.seek :evac
-    <log> @16:13:40.53 delay 10 seconds
-    <log> @16:13:50.54 Sample preserved and evacuated
+    <log> @12:20:03.30 Archive.seek :evac
+    <log> @12:20:17.28 delay 1:00
+    <log> @12:21:17.29 Archive.seek :clear
+    <log> @12:21:35.06 RNAlater soak for 45 seconds
+    <log> @12:22:20.06 Archive.seek :tVent
+    <log> @12:22:22.64 delay 1 second
+    <log> @12:22:23.64 Archive.seek :evac
+    <log> @12:22:39.31 delay 10 seconds
+    <log> @12:22:49.32 Archive.seek :tVent
+    <log> @12:23:04.99 delay 1 second
+    <log> @12:23:05.99 Archive.seek :evac
+    <log> @12:23:21.66 delay 10 seconds
+    <log> @12:23:31.67 Sample preserved and evacuated
     <log> \207
- <status> PROCESSING-->PROCESSED@59,archive
+ <status> PROCESSING-->PROCESSED@59,archiveHiBiomass_bac
  <status> \204
-    <log> @16:13:51.42 <LRAUV> -> Cmd.stop
-    <log> @16:13:51.43 Plunge.seek :locked
-    <log> @16:13:52.27 PinPort.seek :clear
-    <log> @16:13:52.34 <Archive> Archive.seek :clear
-    <log> <Air> Air.seek :clear
-    <log> @16:13:52.36 <Lysis2> Lysis2.seek :clear
-    <log> @16:14:10.11 <LRAUV> Archive.coast
+    <log> @12:23:32.64 <LRAUV> -> Cmd.stop
+    <log> @12:23:32.65 Gate.power :heat,:OFF
+    <log> Gate.power :cartridge,:OFF
+    <log> Carousel.seek 59
+    <log> @12:23:32.72 Plunge.seek :locked
+    <log> @12:23:33.56 PinPort.seek :clear
+    <log> @12:23:33.63 <Archive> Archive.seek :clear
+    <log> @12:23:33.64 <Air> Air.seek :clear
+    <log> @12:23:33.65 <Lysis1> Lysis1.seek :clear
+    <log> @12:23:51.40 <LRAUV> Archive.coast
     <log> Air.coast
-    <log> Lysis1.coast
+    <log> @12:23:51.41 Lysis1.coast
     <log> Lysis2.coast
     <log> Plunge.coast
-    <log> @16:14:10.12 SamplePump.coast
+    <log> SamplePump.coast
     <log> Toroid.coast
     <log> Carousel.coast
-    <log> PinPort.coast
-    <log> @16:14:10.19 Gate.power :motor,:OFF
+    <log> @12:23:51.42 PinPort.coast
+    <log> @12:23:51.43 Gate.power :heat,:OFF
+    <log> Gate.power :cartridge,:OFF
+    <log> @12:23:51.49 Gate.power :motor,:OFF
     <log> Gate.power :core,:OFF
     <log> Gate.power :analytic1,:OFF
     <log> Gate.power :analytic2,:OFF
-    <log> @16:14:10.20 Gate.power :analytic3,:OFF
+    <log> Gate.power :analytic3,:OFF
     <log> Gate.power :main,:OFF
     <log> Safely stopped and ready to power off
     <log> \207
  <status> PROCESSED-->STOPPED
  <status> \201
  <result> :STOPPED\200
-##-- file closed 2019-04-30T23:19:32.721Z
+##-- file closed 2020-08-12T19:39:00.862Z
 ```
Updated by Carlos Rueda

File snippet.markdown Modified

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 >I've checked in a version that also reduced the processing time from 10:00 to 45 seconds when rapid = true
 
 
-### Optional: Tweak in ESP to simulate an error while processing
-
-(NOTE: not exercised for a long while -- may need adjustment.)
-
-In utils/auv/cmd.rb, add the line indicated:
-
-```ruby
-def processCartridge cartNum
-  ArS.jog 20000   # add this line
-  archiveEvacAUV
-end
-```
-
-
-
 ### ESP simulator with available "dry" cartridges. 
 
-#### Variations
-
-Due to differences across branches, some misc notes from emails, etc.:
-
-> Pull the latest code and set up as follows:
-> 
->       -> Cartridge.load!  All=>:dry; Cartridge.identify; Cartridge.dry :archive
-> 
-> Cartridge.identify tests all loaded cartridges and changes their type from :generic to :lysis or :archive.
-> The result is a list of all the dry archive cartridges.
-> 
-> Once all the cartridges' types are known, you make simply:
-> 
->       ->  Cmd.loadCartridge   :archive
-> 
-> to process the next dry archive cartridge.
-> 
-> The way we worked out last week relied on the fact that the simulator currently assumes all odd numbered slots contain an archive cartridge.  This method works regardless of how the simulator allocates cartridge types.
-> 
-> But, it does rely on features in the trackSlots branch.
-> 
-> For the newCfg branch:
-> 
->            -> Cmd.load! All.select{|slotNum|slotNum.odd?}=>:dry 
-> 
-> This loads only the archive (odd numbered) cartridges such that,
-> Note that this will also work with the trackSlots branch, but you need to use:
-> 
->        -> Cartridge.load! All.select{|slotNum|slotNum.odd?}=>:dry
-> 
-> - brent
-
-
-For example (as used in this test), with all odd numbered cartridges set to `:archive`:
-
 ```
-carueda@bufflehead:~/esp2$ esp
-...
-ESPhonu:001:0-> Cartridge.load! All.select{|x| x.odd?} => :archive
+     -> slots spare: 10
+     -> slots All => [:dry, :archive_bac]
 ```
 
->... every even numbered cartridge in simulation is processed as a Lyse-n-go, which take longer.
-
-That's why we prefer the **:archive** type as set above.
+`:archive_bac` is convenient for the test to complete quicker than with lyse-n-go.
 
 ### Exit the ESP simulator for what follows
 
    ESPComponent.simulateHardware       = 0 bool;
    
    ESPComponent.socketServerPort       = 9998 count; 
+
    ESPComponent.debug                  = 1 bool;
    ESPComponent.poTimeout              = 30 second;
 ```
 
-**Note**: Port 9998 on tethyssim is where the ESPComponent will listen and wait for the ESP to connect. 
-(This port has been opened so it is accessible from bufflehead.)
-
+**Note**:
 
-### Optional: Tweaks in LRAUV code to expedite the tests
+- Port 9998 on tethyssim is where the ESPComponent will listen and wait for the ESP to connect. 
+  (This port has been opened so it is accessible from bufflehead.)
+  
+- Alternatively, instead of having the LRAUV running as the server waiting for the ESP, you can set:
 
-`vi Source/scienceModule/ESPClient.cpp` to use, in method `ESPClient::advanceInteraction()`:
-
-```
-issueCommand( "Cmd.startProcessing 10", processResultTimeout_, processCompleteTimeout_ );
 ```
-    
-instead of
-    
+    ESPComponent.espServerHost    = "bufflehead:7777"
 ```
-issueCommand( "Cmd.startProcessing", processResultTimeout_, processCompleteTimeout_ );
-```
-
-Re-build LRAUV if any changes done above: `make`
 
+  in `Config/sim/carueda/Science.cfg`
+  and immediately run the ESP command above. In this case, the LRAUV will connect to the ESP.
+  
 
 # Running the mission:
 
 ## On tethyssim
 
-Make sure `SimDaemon` is running; if not:
+Make sure `SimDaemon` is running; if not already:
 ```
 [carueda@tethyssim lrauv-application]$ bin/SimDaemon
 ```
 We need to tell the ESPComponent that we are running the ESP manually, so we set the `ESPCOMPONENT_MANUAL_ESP` environment variable for this purpose:
 ```
 [carueda@tethyssim lrauv-application]$ ESPCOMPONENT_MANUAL_ESP=1 bin/LRAUV -r -x \
-   "load Maintenance/sample.xml;set sample.Depth 1 centimeter;set sample.WaitBeforeSample 3 second;set sample:SampleAtDepth.TargetDepth 1 centimeter;run"
+   "load Maintenance/sample.xml;set sample.NumberOfSamples 2 count;set sample.Depth 1 centimeter;set sample.WaitBeforeSample 3 second;set sample:SampleAtDepth.TargetDepth 1 centimeter;run"
 ```
 
-Wait until **`[ESPComponent](IMPORTANT): Waiting for ESP to connect`** shows up on the output:
+If running the LRAUV as server (for LRAUV-ESP interaction purposes),
+wait until **`[ESPComponent](IMPORTANT): Waiting for ESP to connect`** shows up on the output:
 
 ```
 ...
-2019-04-30T23:06:20.192Z,1556665580.192 [MissionManager](IMPORTANT): Started mission sample
-2019-04-30T23:06:20.992Z,1556665580.992 [sample:SampleAtDepth:ApproachDepth:A](INFO): Moving to 0.010000 m
-2019-04-30T23:08:30.611Z,1556665710.611 [sample:SampleAtDepth:ApproachDepth](INFO): Completed sample:SampleAtDepth:ApproachDepth
-2019-04-30T23:08:31.011Z,1556665711.011 [sample:SampleAtDepth:SampleWrapper:B](IMPORTANT): At 0.011770 m , settling for 0.050000 min
-2019-04-30T23:08:34.612Z,1556665714.612 [sample:SampleAtDepth:SampleWrapper:C.Wait](INFO): Done Waiting.
-2019-04-30T23:08:36.612Z,1556665716.612 [ESPComponent](IMPORTANT): Setting regex for ESP Log summary: 'Selecting Cartridge|Sampled|Error|Fail|Retry|Cmd::|Sampler::'
-2019-04-30T23:08:36.612Z,1556665716.612 [ESPComponent](INFO): compiled regex: "Selecting Cartridge|Sampled|Error|Fail|Retry|Cmd::|Sampler::"
-2019-04-30T23:08:37.012Z,1556665717.012 [ESPComponent](IMPORTANT): powerUpESP IGNORED because manualEsp_
-2019-04-30T23:08:37.012Z,1556665717.012 [ESPComponent](IMPORTANT): Waiting for ESP to connect (timeout=30.0000)       <<<<<<<<<<<<<  HERE <<<<<<<<<<<<<<
+... [ESPComponent](IMPORTANT): Waiting for ESP to connect (timeout=30.0000)       <<<<<<<<<<<<<  HERE <<<<<<<<<<<<<<
 ```
 
 ## on bufflehead
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