def unmount(segment = None, puck = None, sample = None, force=False, auto_unmount = False):
    """
    """
    print "unmount: ", segment, puck, sample, force   
    start = time.time()
    #ZACH
    is_aux = (segment == AUX_SEGMENT)
    needs_chilling = not is_aux and (not robot.is_cold())
    needs_drying = is_aux and robot.is_cold()

    if (segment is None) or (puck is None) or (sample is None):
        pos = get_setting("mounted_sample_position")
        if pos is None:
            raise Exception("Mounted sample position is not defined")
        segment, puck , sample = pos[0:1], int(pos[1]), int(pos[2:])
        print "Mounted sample position: ", segment, puck , sample
    
    #Initial checks
    print "assert valid address"
    assert_valid_address(segment, puck, sample)
    print "asser puck detected"
    assert_puck_detected(segment, puck)

    if robot.simulated:
        time.sleep(3.0)
        update_samples_info_sample_unmount(get_puck_name(segment, puck), sample)   
        set_setting("mounted_sample_position", None)
        return     

    print "assert no task"
    robot.assert_no_task()
    print "reset motion"
    robot.reset_motion()
    print "wait ready"
    robot.wait_ready()
    print "assert cleared"
    robot.assert_cleared()
    #robot.assert_in_known_point()
    print "assert homed"
    hexiposi.assert_homed()
    print "assert mount pos"
    assert_mount_position()
    print "Pass A: " , time.time() - start; start = time.time()
    set_status("Umounting: " + str(segment) + str(puck) + str(sample))

    try:
        if smart_magnet.get_supress() == True:
            smart_magnet.set_supress(False)
            time.sleep(0.2)        
    
        smart_magnet.apply_resting()
        
        if not force:            
            if smart_magnet.check_mounted(idle_time=0.5, timeout = 3.0) == False:
                raise Exception("No pin detected on gonio")        
        print "Pass B: " , time.time() - start; start = time.time()
        #Enabling
        enable_motion()
        print "Pass C: " , time.time() - start; start = time.time()

        if not is_aux:
            set_hexiposi(segment)
            print "Pass D: " , time.time() - start; start = time.time()
            if not force:        
                visual_check_hexiposi(segment)
            if needs_chilling:
                robot.move_cold()
                time.sleep(30.)
        else:
            if needs_drying:
                dry(wait_cold=-1)
        #location = robot.get_current_point()
        print "Pass E: " , time.time() - start; start = time.time()
        if not robot.is_gonio():
            robot.move_gonio()
        print "Pass F: " , time.time() - start; start = time.time()        
        #smart_magnet.set_unmount_current()

        robot.get_gonio()
        print "Pass G: " , time.time() - start; start = time.time()        
        #smart_magnet.apply_reverse()
        #smart_magnet.apply_resting()

        if is_aux:
            robot.move_aux()   
            robot.put_aux( sample)
        else:
            #TODO: Shuld check if smart magnet detection is off?
            update_samples_info_sample_unmount(get_puck_name(segment, puck), sample)      
            robot.move_dewar()        
            print "Pass H: " , time.time() - start; start = time.time()        
            robot.put_dewar(segment, puck, sample)
        print "Pass I: " , time.time() - start; start = time.time()        
        set_setting("mounted_sample_position", None)
    finally:
        if not auto_unmount:
            smart_magnet.set_default_current()
            smart_magnet.set_supress(True)