@11:43:13.86PST25-Jan-18 <MAIN> >BREAK< ESP3 Gateway v0.80 for core bus
@11:43:14.80 
Configuration for koa by brent@mbari.org
/home/esp/esp2/type/auv/koa/configure.rb
@11:43:15.61 Polling Can every 10:00
@11:43:15.88 Clients may connect on TCP port 9999
Connecting to 134.89.95.66:9999
@11:43:15.92 Waiting for espclients...
@11:43:16.01 <LRAUV> Session Begun
@11:43:17.95 -> showStatus
@11:43:19.95 -> Cmd.loadCartridge
@11:43:19.99 Powering core bus
@11:43:22.68 ArS.configure ArSconfig
@11:43:22.78 LyS1.configure LyS1config
@11:43:22.89 LyS2.configure LyS2config
@11:43:23.00 AirS.configure AirSconfig
@11:43:23.11 TV.configure TVconfig
@11:43:23.23 SP.configure SPconfig
@11:43:23.34 Sea.configure SPconfig
@11:43:23.48 SC.configure SCconfig
@11:43:23.59 PV.configure PVconfig
@11:43:23.65 All elf controllers running firmware version 4.41
@11:43:23.66 Gate.power :main,:ON,limit to 5000mA
@11:43:23.68 Gate.power :motor,:ON,limit to 5000mA
@11:43:23.76 <closeIntake> Intake.close
@11:43:23.80 <closeExhaust> Exhaust.close
@11:43:23.83 <closePB> PB.close
@11:43:24.33 <PV_home> PV.reconfigure PVconfig
@11:43:24.36 <TV_home> TV.reconfigure TVconfig
@11:43:24.39 <LyS2_home> LyS2.reconfigure LyS2config
@11:43:24.43 <ArS_home> ArS.reconfigure ArSconfig
@11:43:24.47 <AirS_home> AirS.reconfigure AirSconfig
@11:43:24.50 <LyS1_home> LyS1.reconfigure LyS1config
@11:43:24.67 <TV_home> TV.home.jog 0
@11:43:24.71 <LyS2_home> LyS2.home.jog 0
@11:43:24.74 <PV_home> PV.home.jog 0
@11:43:24.77 <AirS_home> AirS.home.jog 0
@11:43:24.81 <LyS1_home> LyS1.home.jog 0
@11:43:24.84 <ArS_home> ArS.home.jog 0
@11:43:25.51 <PV_home> PV.reconfigure HomingPV
@11:43:25.56 <TV_home> TV.reconfigure HomeTV
@11:43:25.62 <LyS2_home> LyS2.reconfigure HomeSyringe
@11:43:25.80 <PV_home> PV.jog -116
@11:43:25.84 <TV_home> TV.jog -502
@11:43:25.91 <LyS2_home> LyS2.jog -125
@11:43:26.04 <LyS1_home> LyS1.reconfigure HomeSyringe
@11:43:26.07 <ArS_home> ArS.reconfigure HomeMagSyringe
@11:43:26.10 <AirS_home> AirS.reconfigure HomeMagSyringe
@11:43:26.21 <ArS_home> ArS.jog -133
@11:43:26.26 <LyS1_home> LyS1.jog -117
@11:43:26.28 <AirS_home> AirS.jog -128
@11:43:26.42 <PV_home> PV.setRawPosition! -50
@11:43:26.44 <LyS2_home> LyS2.setRawPosition! -50
@11:43:26.50 <PV_home> PV.seek :home
@11:43:26.54 <LyS2_home> LyS2.seek :home
@11:43:26.74 <LyS1_home> LyS1.setRawPosition! -50
@11:43:26.78 <ArS_home> ArS.setRawPosition! -50
@11:43:26.90 <LyS1_home> LyS1.seek :home
@11:43:26.95 <ArS_home> ArS.seek :home
@11:43:27.09 <AirS_home> AirS.setRawPosition! -50
@11:43:27.12 <PV_home> PV.reconfigure PVconfig
@11:43:27.15 <LyS2_home> LyS2.reconfigure LyS2config
@11:43:27.20 <AirS_home> AirS.seek :home
@11:43:27.36 <LyS1_home> LyS1.reconfigure LyS1config
@11:43:27.39 <ArS_home> ArS.reconfigure ArSconfig
@11:43:27.57 <AirS_home> AirS.reconfigure AirSconfig
@11:43:27.64 <TV_home> TV.setRawPosition! 0
@11:43:27.69 TV.seek :home
@11:43:27.77 TV.reconfigure TVconfig
@11:43:27.89 <LRAUV> TV.seek :clear
@11:43:29.51 SC.reconfigure HomeSC
@11:43:29.57 SC.home.jog 0
@11:43:29.81 Selecting Cartridge slot 50
@11:43:30.34 SC.reconfigure SCconfig
@11:43:30.40 SC.seek 50
@11:43:30.79 <LyS2> LyS2.seek :cartridge
@11:43:30.81 <PV> PV.seek :cartridge
@11:43:52.30 <LRAUV> -> Cmd.startFiltering
@11:43:52.48 <FILTERING> Duration of filtering limited to 1:05:00
@11:43:52.68 Priming sample loop w/100ml, bypass w/10ml
@11:43:52.69 TV.seek :bypass
@11:43:54.31 TV.seek :free
@11:43:55.97 TV.coast
@11:43:56.01 <openPB> PB.open
@11:43:56.03 <FILTERING> Exhaust.close
@11:43:56.74 Intake.open
@11:43:57.53 Sea @12.8psia
@11:43:57.55 Waiting 4 - 300s for filter pressure to stabilize +/-0.5psi
@11:44:03.07 Vacuum tare is 23% of full scale
@11:44:03.14 Sea @12.6psia
@11:44:03.16 SP.setPosition! 0ml
@11:44:03.21 SP.reconfigure SPprime
@11:44:03.28 SP.seek 10ml,1:21
@11:44:13.85 <closePB> PB.close
@11:44:13.87 <FILTERING> Exhaust.open
@11:44:14.72 Sea @12.4psia
@11:44:14.73 SP.setPosition! 0ml
@11:44:14.79 SP.seek 100ml,8:51
@11:46:21.99 Pressurizing cartridge to 26psi
@11:46:22.00 <closeIntake> Intake.close
@11:46:22.04 <closeExhaust> Exhaust.close
@11:46:22.81 <FILTERING> PB.open
@11:46:23.49 delay 2 seconds
@11:46:25.56 TV.seek :crack
@11:46:26.36 TV.seek :free
@11:46:27.17 TV.coast
@11:46:27.21 Intake.open
@11:46:27.98 delay 2 seconds
@11:46:30.00 PB.close
@11:46:30.75 Sea @13.9psia
@11:46:30.76 SP.setPosition! 0ml
@11:46:31.03 SP.reconfigure SPcharge
@11:46:31.15 SP.seek 5ml,3:46
@11:46:37.77 Cartridge pressurized to 26.2psi
@11:46:38.01 delay 3 seconds
@11:46:41.08 Cartridge at 21.4psi 3 seconds later
@11:46:41.21 TV.seek :cartridge
@11:46:43.02 TV.seek :free
@11:46:44.83 TV.coast
@11:46:44.88 Sampling 1000.0ml
@11:46:44.89 Exhaust.open
@11:46:45.68 Sea @-14.1psia
@11:46:45.70 SP.setPosition! 0ml
@11:46:45.75 SP.reconfigure SPsample
@11:46:45.82 SP.seek 1000ml,1:23:53
@11:46:46.80 <sampling> Cartridge 50 sampling 0/1000ml at 0.36ml/s with 21.5psi vacuum -17.5m deep (-11.2psia)
@11:47:46.80 Cartridge 50 sampling 23/1000ml at 0.36ml/s with 23.5psi vacuum -19.0m deep (-13.3psia)
@11:48:46.80 Cartridge 50 sampling 45/1000ml at 0.37ml/s with 24.5psi vacuum -18.5m deep (-12.6psia)
@11:49:46.80 Cartridge 50 sampling 67/1000ml at 0.35ml/s with 18.3psi vacuum -18.8m deep (-13.1psia)
@11:50:46.80 Cartridge 50 sampling 89/1000ml at 0.37ml/s with 22.7psi vacuum -18.3m deep (-12.3psia)
@11:51:46.80 Cartridge 50 sampling 111/1000ml at 0.37ml/s with 24.4psi vacuum -18.1m deep (-12.0psia)
@11:52:46.80 Cartridge 50 sampling 132/1000ml at 0.37ml/s with 21.5psi vacuum -19.0m deep (-13.4psia)
@11:53:46.79 Cartridge 50 sampling 154/1000ml at 0.34ml/s with 18.4psi vacuum -18.0m deep (-11.9psia)
@11:54:46.80 Cartridge 50 sampling 175/1000ml at 0.37ml/s with 24.1psi vacuum -19.1m deep (-13.5psia)
@11:55:46.80 Cartridge 50 sampling 196/1000ml at 0.33ml/s with 23.3psi vacuum -18.0m deep (-11.9psia)
@11:56:46.80 Cartridge 50 sampling 217/1000ml at 0.32ml/s with 23.4psi vacuum -18.9m deep (-13.2psia)
@11:57:46.80 Cartridge 50 sampling 237/1000ml at 0.34ml/s with 24.2psi vacuum -18.2m deep (-12.2psia)
@11:58:46.80 Cartridge 50 sampling 257/1000ml at 0.35ml/s with 20.8psi vacuum -18.3m deep (-12.4psia)
@11:59:46.80 Cartridge 50 sampling 278/1000ml at 0.33ml/s with 23.6psi vacuum -34.6m deep (-36.4psia)
@12:00:46.80 Cartridge 50 sampling 298/1000ml at 0.32ml/s with 17.8psi vacuum -18.1m deep (-12.0psia)
@12:01:46.80 Cartridge 50 sampling 317/1000ml at 0.33ml/s with 19.7psi vacuum -19.3m deep (-13.8psia)
@12:02:46.80 Cartridge 50 sampling 337/1000ml at 0.32ml/s with 19.4psi vacuum -18.7m deep (-12.9psia)
@12:03:46.79 Cartridge 50 sampling 356/1000ml at 0.32ml/s with 23.1psi vacuum -18.6m deep (-12.8psia)
@12:04:46.80 Cartridge 50 sampling 376/1000ml at 0.33ml/s with 23.0psi vacuum -18.7m deep (-13.0psia)
@12:05:46.80 Cartridge 50 sampling 395/1000ml at 0.31ml/s with 23.6psi vacuum -18.6m deep (-12.8psia)
@12:06:46.80 Cartridge 50 sampling 414/1000ml at 0.32ml/s with 20.9psi vacuum -18.8m deep (-13.2psia)
@12:07:46.80 Cartridge 50 sampling 432/1000ml at 0.32ml/s with 21.2psi vacuum -18.3m deep (-12.3psia)
@12:08:46.80 Cartridge 50 sampling 451/1000ml at 0.32ml/s with 20.8psi vacuum -19.3m deep (-13.8psia)
@12:09:46.80 Cartridge 50 sampling 469/1000ml at 0.31ml/s with 21.6psi vacuum -18.0m deep (-12.0psia)
@12:10:46.80 Cartridge 50 sampling 487/1000ml at 0.30ml/s with 18.7psi vacuum -18.9m deep (-13.3psia)
@12:11:46.80 Cartridge 50 sampling 505/1000ml at 0.28ml/s with 21.8psi vacuum -19.4m deep (-13.9psia)
@12:12:46.80 Cartridge 50 sampling 523/1000ml at 0.28ml/s with 25.5psi vacuum -18.2m deep (-12.3psia)
@12:13:46.79 Cartridge 50 sampling 541/1000ml at 0.31ml/s with 21.2psi vacuum -19.3m deep (-13.9psia)
@12:14:46.80 Cartridge 50 sampling 558/1000ml at 0.27ml/s with 20.3psi vacuum -18.9m deep (-13.2psia)
@12:15:46.80 Cartridge 50 sampling 576/1000ml at 0.29ml/s with 24.6psi vacuum -18.9m deep (-13.2psia)
@12:16:46.80 Cartridge 50 sampling 593/1000ml at 0.31ml/s with 21.6psi vacuum -34.9m deep (-36.9psia)
@12:17:46.80 Cartridge 50 sampling 610/1000ml at 0.28ml/s with 19.1psi vacuum -19.1m deep (-13.5psia)
@12:18:46.80 Cartridge 50 sampling 627/1000ml at 0.27ml/s with 23.7psi vacuum -19.0m deep (-13.4psia)
@12:19:46.80 Cartridge 50 sampling 644/1000ml at 0.26ml/s with 22.8psi vacuum -18.4m deep (-12.6psia)
@12:20:46.80 Cartridge 50 sampling 660/1000ml at 0.26ml/s with 25.1psi vacuum -19.3m deep (-13.9psia)
@12:21:46.80 Cartridge 50 sampling 677/1000ml at 0.26ml/s with 24.0psi vacuum -18.3m deep (-12.4psia)
@12:22:46.80 Cartridge 50 sampling 693/1000ml at 0.25ml/s with 22.0psi vacuum -19.0m deep (-13.4psia)
@12:23:46.79 Cartridge 50 sampling 709/1000ml at 0.26ml/s with 18.9psi vacuum -19.0m deep (-13.4psia)
@12:24:46.80 Cartridge 50 sampling 725/1000ml at 0.30ml/s with 22.5psi vacuum -18.8m deep (-13.1psia)
@12:25:46.80 Cartridge 50 sampling 741/1000ml at 0.24ml/s with 21.7psi vacuum -19.3m deep (-13.9psia)
@12:26:46.80 Cartridge 50 sampling 757/1000ml at 0.28ml/s with 22.4psi vacuum -18.0m deep (-11.8psia)
@12:27:46.80 Cartridge 50 sampling 772/1000ml at 0.24ml/s with 21.0psi vacuum -19.4m deep (-13.9psia)
@12:28:46.80 Cartridge 50 sampling 788/1000ml at 0.24ml/s with 21.3psi vacuum -18.7m deep (-13.0psia)
@12:29:46.80 Cartridge 50 sampling 803/1000ml at 0.25ml/s with 21.3psi vacuum -18.6m deep (-12.9psia)
@12:30:46.86 Cartridge 50 sampling 818/1000ml at 0.24ml/s with 20.0psi vacuum -19.5m deep (-14.1psia)
@12:31:46.80 Cartridge 50 sampling 833/1000ml at 0.27ml/s with 22.2psi vacuum -19.0m deep (-13.4psia)
@12:32:46.80 Cartridge 50 sampling 848/1000ml at 0.22ml/s with 21.0psi vacuum -19.2m deep (-13.6psia)
@12:33:46.79 Cartridge 50 sampling 863/1000ml at 0.26ml/s with 24.1psi vacuum -19.0m deep (-13.3psia)
@12:34:46.80 Cartridge 50 sampling 878/1000ml at 0.27ml/s with 22.0psi vacuum -19.0m deep (-13.4psia)
@12:35:46.80 Cartridge 50 sampling 892/1000ml at 0.26ml/s with 22.0psi vacuum -19.2m deep (-13.7psia)
@12:36:46.80 Cartridge 50 sampling 906/1000ml at 0.21ml/s with 21.8psi vacuum -19.1m deep (-13.5psia)
@12:37:46.80 Cartridge 50 sampling 921/1000ml at 0.25ml/s with 22.6psi vacuum -19.6m deep (-14.3psia)
@12:38:46.80 Cartridge 50 sampling 935/1000ml at 0.22ml/s with 20.5psi vacuum -18.8m deep (-13.1psia)
@12:39:46.80 Cartridge 50 sampling 949/1000ml at 0.22ml/s with 20.9psi vacuum -19.4m deep (-14.0psia)
@12:40:46.80 Cartridge 50 sampling 963/1000ml at 0.25ml/s with 22.9psi vacuum -19.0m deep (-13.3psia)
@12:41:46.80 Cartridge 50 sampling 977/1000ml at 0.21ml/s with 21.0psi vacuum -18.8m deep (-13.0psia)
@12:42:46.80 Cartridge 50 sampling 990/1000ml at 0.21ml/s with 24.2psi vacuum -19.5m deep (-14.1psia)
@12:43:29.12 <closeIntake> Intake.close
@12:43:29.16 <closeExhaust> Exhaust.close
@12:43:30.00 <FILTERING> Sampled  1000.0ml
@12:43:30.01 TV.seek :bypass
@12:43:31.63 TV.seek :free
@12:43:33.29 TV.coast
@12:43:34.32 <LRAUV> -> Cmd.startProcessing
@12:43:34.53 <PROCESSING> PV.seek :reagent
@12:43:35.44 Sample loop closed. Ready to Deliver Reagents
@12:43:35.46 ArS.seek :sealed
@12:43:39.10 ArS.seek :evac
@12:43:53.07 delay 20 seconds
@12:44:13.10 ArS.seek :clear
@12:44:30.22 RNAlater soak for 10:00
@12:44:30.23 delay 10:00
@12:54:30.27 ArS.seek :tVent
@12:54:31.91 delay 1 second
@12:54:32.94 ArS.seek :evac
@12:54:48.88 delay 10 seconds
@12:54:58.91 ArS.seek :tVent
@12:55:14.86 delay 1 second
@12:55:15.89 ArS.seek :evac
@12:55:31.84 delay 10 seconds
@12:55:41.87 Sample preserved and evacuated
@12:55:42.82 <LRAUV> -> Cmd.stop
@12:55:43.18 <ArS> ArS.seek :clear
@12:56:00.42 <PV> PV.seek :clear
@12:56:00.45 <LyS2> LyS2.seek :free
@12:56:02.28 <LRAUV> Gate.power :motor,:OFF
@12:56:02.30 Gate.power :main,:OFF
@12:56:02.32 Gate.power :core,:OFF
@12:56:02.34 Safely stopped and ready to power off