@21:18:12.88PST18-Jan-18 <MAIN> >BREAK< ESP3 Gateway v0.80 for core bus
@21:18:13.77 
Configuration for koa by brent@mbari.org
/home/esp/esp2/type/auv/koa/configure.rb
@21:18:14.54 Polling Can every 10:00
@21:18:14.81 Clients may connect on TCP port 9999
@21:18:14.82 Connecting to 134.89.95.66:9999
@21:18:14.85 Waiting for espclients...
@21:18:14.92 <LRAUV> Session Begun
@21:18:16.87 -> showStatus
@21:18:18.87 -> Cmd.loadCartridge
@21:18:18.91 Powering core bus
@21:18:21.60 ArS.configure ArSconfig
@21:18:21.70 LyS1.configure LyS1config
@21:18:21.82 LyS2.configure LyS2config
@21:18:21.93 AirS.configure AirSconfig
@21:18:22.05 TV.configure TVconfig
@21:18:22.17 SP.configure SPconfig
@21:18:22.31 Sea.configure SPconfig
@21:18:22.44 SC.configure SCconfig
@21:18:22.56 PV.configure PVconfig
@21:18:22.62 All elf controllers running firmware version 4.41
@21:18:22.63 Gate.power :main,:ON,limit to 5000mA
@21:18:22.65 Gate.power :motor,:ON,limit to 5000mA
@21:18:22.73 <closeIntake> Intake.close
@21:18:22.77 <closeExhaust> Exhaust.close
@21:18:22.80 <closePB> PB.close
@21:18:23.34 <TV_home> TV.reconfigure TVconfig
@21:18:23.37 <AirS_home> AirS.reconfigure AirSconfig
@21:18:23.40 <LyS1_home> LyS1.reconfigure LyS1config
@21:18:23.44 <PV_home> PV.reconfigure PVconfig
@21:18:23.47 <LyS2_home> LyS2.reconfigure LyS2config
@21:18:23.51 <ArS_home> ArS.reconfigure ArSconfig
@21:18:23.70 <AirS_home> AirS.home.jog 0
@21:18:23.77 <TV_home> TV.home.jog 0
@21:18:23.81 <PV_home> PV.home.jog 0
@21:18:23.86 <LyS1_home> LyS1.home.jog 0
@21:18:23.89 <LyS2_home> LyS2.home.jog 0
@21:18:23.91 <ArS_home> ArS.home.jog 0
@21:18:24.52 <PV_home> PV.reconfigure HomingPV
@21:18:24.59 <AirS_home> AirS.reconfigure HomeMagSyringe
@21:18:24.68 <TV_home> TV.reconfigure HomeTV
@21:18:24.83 <AirS_home> AirS.jog -118
@21:18:24.87 <PV_home> PV.jog -107
@21:18:24.90 <TV_home> TV.jog -501
@21:18:25.07 <LyS1_home> LyS1.reconfigure HomeSyringe
@21:18:25.10 <ArS_home> ArS.reconfigure HomeMagSyringe
@21:18:25.16 <LyS2_home> LyS2.reconfigure HomeSyringe
@21:18:25.22 <LyS1_home> LyS1.jog -105
@21:18:25.34 <ArS_home> ArS.jog -119
@21:18:25.37 <LyS2_home> LyS2.jog -109
@21:18:25.50 <PV_home> PV.setRawPosition! -50
@21:18:25.52 <AirS_home> AirS.setRawPosition! -50
@21:18:25.58 <PV_home> PV.seek :home
@21:18:25.67 <AirS_home> AirS.seek :home
@21:18:25.75 <LyS1_home> LyS1.setRawPosition! -50
@21:18:25.80 LyS1.seek :home
@21:18:25.90 <LyS2_home> LyS2.setRawPosition! -50
@21:18:25.93 <PV_home> PV.reconfigure PVconfig
@21:18:25.96 <ArS_home> ArS.setRawPosition! -50
@21:18:26.04 <LyS2_home> LyS2.seek :home
@21:18:26.11 <ArS_home> ArS.seek :home
@21:18:26.22 <AirS_home> AirS.reconfigure AirSconfig
@21:18:26.25 <LyS1_home> LyS1.reconfigure LyS1config
@21:18:26.41 <LyS2_home> LyS2.reconfigure LyS2config
@21:18:26.48 <ArS_home> ArS.reconfigure ArSconfig
@21:18:26.67 <TV_home> TV.setRawPosition! 0
@21:18:26.71 TV.seek :home
@21:18:26.79 TV.reconfigure TVconfig
@21:18:26.92 <LRAUV> TV.seek :clear
@21:18:28.54 SC.reconfigure HomeSC
@21:18:28.60 SC.home.jog 0
@21:18:28.83 Selecting Cartridge slot 55
@21:18:29.37 SC.reconfigure SCconfig
@21:18:29.43 SC.seek 55
@21:18:29.81 <LyS2> LyS2.seek :cartridge
@21:18:29.85 <PV> PV.seek :cartridge
@21:18:50.42 <LRAUV> -> Cmd.startFiltering
@21:18:50.60 <FILTERING> Duration of filtering limited to 1:00:00
@21:18:50.80 Priming sample loop w/100ml, bypass w/10ml
@21:18:50.82 TV.seek :bypass
@21:18:52.44 TV.seek :free
@21:18:54.10 TV.coast
@21:18:54.14 <openPB> PB.open
@21:18:54.17 <FILTERING> Exhaust.close
@21:18:54.84 Intake.open
@21:18:55.68 Sea @5.0psia
@21:18:55.70 Waiting 4 - 300s for filter pressure to stabilize +/-0.5psi
@21:19:01.22 Vacuum tare is 22% of full scale
@21:19:01.29 Sea @4.9psia
@21:19:01.31 SP.setPosition! 0ml
@21:19:01.36 SP.reconfigure SPprime
@21:19:01.42 SP.seek 10ml,1:21
@21:19:11.99 <closePB> PB.close
@21:19:12.01 <FILTERING> Exhaust.open
@21:19:12.85 Sea @4.9psia
@21:19:12.87 SP.setPosition! 0ml
@21:19:12.93 SP.seek 100ml,8:51
@21:20:59.35 Pressurizing cartridge to 26psi
@21:20:59.36 <closeIntake> Intake.close
@21:20:59.40 <closeExhaust> Exhaust.close
@21:21:00.16 <FILTERING> PB.open
@21:21:00.84 delay 2 seconds
@21:21:02.91 TV.seek :crack
@21:21:03.70 TV.seek :free
@21:21:04.51 TV.coast
@21:21:04.55 Intake.open
@21:21:05.26 delay 2 seconds
@21:21:07.28 PB.close
@21:21:08.03 Sea @5.2psia
@21:21:08.04 SP.setPosition! 0ml
@21:21:08.09 SP.reconfigure SPcharge
@21:21:08.16 SP.seek 5ml,3:46
@21:21:14.44 Cartridge pressurized to 26.4psi
@21:21:14.67 delay 3 seconds
@21:21:17.73 Cartridge at 9.4psi 3 seconds later
@21:21:17.76 TV.seek :bypass
@21:21:19.37 TV.seek :free
@21:21:21.03 TV.coast
@21:21:21.08 Cartridge::Sampler::Error in FILTERING -- Cartridge (or plumbing) leaks
@21:21:21.10 Waiting to Resume from Checkpoint "Sample Pump pressureOutOfBounds"
@21:50:24.83 <brent> Session Begun
@21:50:31.37 -> showlog 100
@21:50:58.06 -> progress
@21:51:34.46 -> Thread[:FILTERING].resume -1
@21:51:34.48 <FILTERING> Resuming Thread after Sample Pump pressureOutOfBounds at 21:21:11
@21:51:34.56 SP.seek 5ml,3:46
@21:51:37.48 Cartridge pressurized to 26.9psi
@21:51:37.71 delay 3 seconds
@21:51:40.79 Cartridge at 13.7psi 3 seconds later
@21:51:40.93 TV.seek :cartridge
@21:51:42.75 TV.seek :free
@21:51:44.55 TV.coast
@21:51:44.61 Sampling 1000.0ml
@21:51:44.63 Exhaust.open
@21:51:45.46 Sea @-42.9psia
@21:51:45.48 SP.setPosition! 0ml
@21:51:45.55 SP.reconfigure SPsample
@21:51:45.63 SP.seek 1000ml,1:23:53
@21:51:46.57 <sampling> Cartridge 55 sampling 0/1000ml at 0.44ml/s with 22.5psi vacuum -39.0m deep (-42.9psia)
@21:52:46.58 Cartridge 55 sampling 30/1000ml at 0.52ml/s with 15.8psi vacuum -39.0m deep (-42.9psia)
@21:53:46.58 Cartridge 55 sampling 59/1000ml at 0.48ml/s with 22.3psi vacuum -39.0m deep (-42.9psia)
@21:54:46.58 Cartridge 55 sampling 89/1000ml at 0.49ml/s with 19.5psi vacuum -39.0m deep (-42.9psia)
@21:55:46.58 Cartridge 55 sampling 118/1000ml at 0.48ml/s with 20.5psi vacuum -39.0m deep (-42.9psia)
@21:56:46.58 Cartridge 55 sampling 147/1000ml at 0.48ml/s with 20.9psi vacuum -39.0m deep (-42.9psia)
@21:57:15.43 <brent> -> SPsample.vacuum
@21:57:15.46 NoMethodError in brent -- undefined method `vacuum' for #<I2C::Servo::Configuration:0x40442cd0>
@21:57:28.41 -> SP.getConfig.vacuum
@21:57:28.50 NoMethodError in brent -- undefined method `vacuum' for #<I2C::Servo::Configuration:0x4044d6c8>
@21:57:33.51 -> SP.getConfig
@21:57:46.57 <sampling> Cartridge 55 sampling 177/1000ml at 0.49ml/s with 25.0psi vacuum -39.0m deep (-42.9psia)
@21:58:00.73 <brent> -> SPsample
@21:58:46.57 <sampling> Cartridge 55 sampling 206/1000ml at 0.46ml/s with 26.2psi vacuum -39.0m deep (-42.9psia)
@21:59:16.83 <brent> -> exit
@21:59:16.84 Session Ended
@21:59:46.58 <sampling> Cartridge 55 sampling 235/1000ml at 0.47ml/s with 22.3psi vacuum -39.0m deep (-42.9psia)
@22:00:46.58 Cartridge 55 sampling 264/1000ml at 0.47ml/s with 21.4psi vacuum -39.0m deep (-42.9psia)
@22:00:52.80 <brent> Session Begun
@22:00:56.61 -> showlog 20
@22:01:23.04 -> SP.status.voltage
@22:01:46.58 <sampling> Cartridge 55 sampling 294/1000ml at 0.48ml/s with 19.3psi vacuum -39.0m deep (-42.9psia)
@22:02:46.58 Cartridge 55 sampling 323/1000ml at 0.48ml/s with 24.6psi vacuum -39.0m deep (-42.9psia)
@22:03:46.58 Cartridge 55 sampling 352/1000ml at 0.48ml/s with 21.1psi vacuum -39.0m deep (-42.9psia)
@22:04:46.58 Cartridge 55 sampling 381/1000ml at 0.50ml/s with 25.8psi vacuum -39.0m deep (-42.9psia)
@22:05:46.58 Cartridge 55 sampling 409/1000ml at 0.47ml/s with 22.2psi vacuum -39.0m deep (-42.9psia)
@22:06:46.58 Cartridge 55 sampling 438/1000ml at 0.46ml/s with 22.3psi vacuum -38.9m deep (-42.9psia)
@22:07:46.58 Cartridge 55 sampling 467/1000ml at 0.46ml/s with 22.0psi vacuum -39.0m deep (-42.9psia)
@22:08:46.57 Cartridge 55 sampling 496/1000ml at 0.47ml/s with 21.8psi vacuum -39.0m deep (-42.9psia)
@22:09:46.58 Cartridge 55 sampling 524/1000ml at 0.46ml/s with 18.3psi vacuum -39.0m deep (-42.9psia)
@22:10:46.58 Cartridge 55 sampling 553/1000ml at 0.45ml/s with 22.9psi vacuum -39.0m deep (-42.9psia)
@22:10:49.58 <brent> -> SPsample
@22:10:55.79 -> SPsample.pressGain=600
@22:11:07.39 -> SP.reconfigure
@22:11:07.40 SP.reconfigure SPsample
@22:11:19.41 -> SP.getConfig.pressGain
@22:11:31.18 -> Sampler.PSI
@22:11:46.58 <sampling> Cartridge 55 sampling 581/1000ml at 0.48ml/s with 21.1psi vacuum -39.0m deep (-42.9psia)
@22:12:46.58 Cartridge 55 sampling 610/1000ml at 0.48ml/s with 26.9psi vacuum -39.0m deep (-42.9psia)
@22:13:46.58 Cartridge 55 sampling 639/1000ml at 0.47ml/s with 24.0psi vacuum -39.0m deep (-42.9psia)
@22:14:34.12 <brent> -> Sample.PSI
@22:14:34.14 NameError in brent -- uninitialized constant Sample
@22:14:39.17 -> Sampler.PSI
@22:14:42.19 -> Sampler.PSI
@22:14:46.58 <sampling> Cartridge 55 sampling 667/1000ml at 0.47ml/s with 23.9psi vacuum -39.0m deep (-42.9psia)
@22:15:46.86 Cartridge 55 sampling 697/1000ml at 0.48ml/s with 24.4psi vacuum -38.9m deep (-42.8psia)
@22:16:46.58 Cartridge 55 sampling 727/1000ml at 0.49ml/s with 25.8psi vacuum -39.0m deep (-42.9psia)
@22:16:56.43 <brent> -> quit
@22:16:56.44 Session Ended
@22:17:46.58 <sampling> Cartridge 55 sampling 756/1000ml at 0.51ml/s with 24.1psi vacuum -39.0m deep (-42.9psia)
@22:18:06.45 <brent> Session Begun
@22:18:10.85 -> showlog 10
@22:18:46.58 <sampling> Cartridge 55 sampling 785/1000ml at 0.50ml/s with 22.4psi vacuum -39.0m deep (-42.9psia)
@22:18:50.65 <FILTERING> SP.coast
@22:18:50.74 <closeIntake> Intake.close
@22:18:50.77 <closeExhaust> Exhaust.close
@22:18:51.64 <FILTERING> TV.seek :bypass
@22:18:53.25 TV.seek :free
@22:18:54.93 TV.coast
@22:18:54.98 Cmd::Paused in FILTERING -- CartridgeTimeLimit Expired during Sample Pump move after sampling 787.4ml
@22:23:20.24 <brent> -> exit
@22:23:20.25 Session Ended
@22:25:16.20 <brent> Session Begun
@22:25:21.22 -> showlog 100
@22:25:47.21 -> Cmd.startProcessing
@22:25:47.22 Cmd::Error in brent -- Cannot process while in FILTERING_ERR state
@22:26:16.70 -> Cmd.map
@22:26:51.84 -> Cmd.process
@22:26:51.85 Cmd::Error in brent -- Cannot process while in FILTERING_ERR state
@22:28:04.46 -> Cmd.state
@22:28:30.88 -> Cmd.instance_eval {@state}
@22:28:46.33 -> Cmd.instance_eval {@state=:PAUSED}
@22:28:51.83 -> Cmd.startProcessing
@22:28:52.05 <PROCESSING> PV.seek :reagent
@22:28:52.98 Sample loop closed. Ready to Deliver Reagents
@22:28:52.99 ArS.seek :sealed
@22:28:56.66 ArS.seek :evac
@22:29:10.64 delay 20 seconds
@22:29:30.67 ArS.seek :clear
@22:29:47.81 RNAlater soak for 10:00
@22:29:47.82 delay 10:00
@22:39:47.87 ArS.seek :tVent
@22:39:49.53 delay 1 second
@22:39:50.55 ArS.seek :evac
@22:40:06.53 delay 10 seconds
@22:40:16.56 ArS.seek :tVent
@22:40:32.54 delay 1 second
@22:40:33.56 ArS.seek :evac
@22:40:49.53 delay 10 seconds
@22:40:59.56 Sample preserved and evacuated
@22:44:46.36 <brent> -> Cmd.stop
@22:44:46.72 <ArS> ArS.seek :clear
@22:45:03.98 <PV> PV.seek :clear
@22:45:04.03 <LyS2> LyS2.seek :free
@22:45:05.88 <brent> Gate.power :motor,:OFF
@22:45:05.90 Gate.power :main,:OFF
@22:45:05.92 Gate.power :core,:OFF
@22:45:05.95 Safely stopped and ready to power off
@22:45:11.78 -> quit
@22:45:11.79 Session Ended
@22:48:17.96 <brent> Session Begun
@22:48:20.53 -> can
@22:48:42.64 <LRAUV> -> Cmd.stop