@14:34:59.93PST27-Jan-18 <MAIN> >BREAK< ESP3 Gateway v0.80 for core bus
@14:35:00.87 
Configuration for koa by brent@mbari.org
/home/esp/esp2/type/auv/koa/configure.rb
@14:35:01.70 Polling Can every 10:00
@14:35:01.97 Clients may connect on TCP port 9999
@14:35:01.98 Connecting to 134.89.95.66:9999
@14:35:02.02 Waiting for espclients...
@14:35:02.43 <LRAUV> Session Begun
@14:35:04.36 -> showStatus
@14:35:06.36 -> Cmd.loadCartridge
@14:35:06.41 Powering core bus
@14:35:09.10 ArS.configure ArSconfig
@14:35:09.20 LyS1.configure LyS1config
@14:35:09.32 LyS2.configure LyS2config
@14:35:09.41 AirS.configure AirSconfig
@14:35:09.53 TV.configure TVconfig
@14:35:09.64 SP.configure SPconfig
@14:35:09.76 Sea.configure SPconfig
@14:35:09.91 SC.configure SCconfig
@14:35:10.03 PV.configure PVconfig
@14:35:10.09 All elf controllers running firmware version 4.41
@14:35:10.10 Gate.power :main,:ON,limit to 5000mA
@14:35:10.12 Gate.power :motor,:ON,limit to 5000mA
@14:35:10.21 <closeIntake> Intake.close
@14:35:10.27 <closePB> PB.close
@14:35:10.29 <closeExhaust> Exhaust.close
@14:35:10.75 <TV_home> TV.reconfigure TVconfig
@14:35:10.77 <AirS_home> AirS.reconfigure AirSconfig
@14:35:10.81 <LyS1_home> LyS1.reconfigure LyS1config
@14:35:10.85 <PV_home> PV.reconfigure PVconfig
@14:35:10.88 <ArS_home> ArS.reconfigure ArSconfig
@14:35:10.98 <LyS2_home> LyS2.reconfigure LyS2config
@14:35:11.11 <TV_home> TV.home.jog 0
@14:35:11.16 <LyS1_home> LyS1.home.jog 0
@14:35:11.19 <AirS_home> AirS.home.jog 0
@14:35:11.22 <PV_home> PV.home.jog 0
@14:35:11.26 <ArS_home> ArS.home.jog 0
@14:35:11.49 <LyS2_home> LyS2.home.jog 0
@14:35:11.99 <TV_home> TV.reconfigure HomeTV
@14:35:12.05 <AirS_home> AirS.reconfigure HomeMagSyringe
@14:35:12.11 <PV_home> PV.reconfigure HomingPV
@14:35:12.16 <LyS1_home> LyS1.reconfigure HomeSyringe
@14:35:12.34 <TV_home> TV.jog -497
@14:35:12.36 <AirS_home> AirS.jog -127
@14:35:12.40 <PV_home> PV.jog -116
@14:35:12.42 <LyS1_home> LyS1.jog -114
@14:35:12.61 <LyS2_home> LyS2.reconfigure HomeSyringe
@14:35:12.63 <ArS_home> ArS.reconfigure HomeMagSyringe
@14:35:12.73 ArS.jog -131
@14:35:12.77 <LyS2_home> LyS2.jog -123
@14:35:12.96 <AirS_home> AirS.setRawPosition! -50
@14:35:12.98 <PV_home> PV.setRawPosition! -50
@14:35:13.00 <LyS1_home> LyS1.setRawPosition! -50
@14:35:13.08 <AirS_home> AirS.seek :home
@14:35:13.13 <LyS1_home> LyS1.seek :home
@14:35:13.18 <PV_home> PV.seek :home
@14:35:13.37 <LyS2_home> LyS2.setRawPosition! -50
@14:35:13.38 <ArS_home> ArS.setRawPosition! -50
@14:35:13.44 <LyS2_home> LyS2.seek :home
@14:35:13.48 <ArS_home> ArS.seek :home
@14:35:13.63 <PV_home> PV.reconfigure PVconfig
@14:35:13.66 <LyS1_home> LyS1.reconfigure LyS1config
@14:35:13.70 <AirS_home> AirS.reconfigure AirSconfig
@14:35:13.87 <LyS2_home> LyS2.reconfigure LyS2config
@14:35:13.89 <ArS_home> ArS.reconfigure ArSconfig
@14:35:14.14 <TV_home> TV.setRawPosition! 0
@14:35:14.19 TV.seek :home
@14:35:14.27 TV.reconfigure TVconfig
@14:35:14.39 <LRAUV> TV.seek :clear
@14:35:16.01 SC.reconfigure HomeSC
@14:35:16.07 SC.home.jog 0
@14:35:16.29 Selecting Cartridge slot 40
@14:35:16.84 SC.reconfigure SCconfig
@14:35:16.90 SC.seek 40
@14:35:17.28 <LyS2> LyS2.seek :cartridge
@14:35:17.32 <PV> PV.seek :cartridge
@14:35:39.11 <LRAUV> -> Cmd.startFiltering
@14:35:39.31 <FILTERING> Duration of filtering limited to 1:05:00
@14:35:39.50 Priming sample loop w/100ml, bypass w/10ml
@14:35:39.51 TV.seek :bypass
@14:35:41.13 TV.seek :free
@14:35:42.78 TV.coast
@14:35:42.83 <openPB> PB.open
@14:35:42.85 <FILTERING> Exhaust.close
@14:35:43.53 Intake.open
@14:35:44.32 Sea @12.9psia
@14:35:44.33 Waiting 4 - 300s for filter pressure to stabilize +/-0.5psi
@14:35:49.86 Vacuum tare is 23% of full scale
@14:35:49.93 Sea @12.7psia
@14:35:49.95 SP.setPosition! 0ml
@14:35:50.00 SP.reconfigure SPprime
@14:35:50.06 SP.seek 10ml,1:21
@14:36:00.62 <closePB> PB.close
@14:36:00.64 <FILTERING> Exhaust.open
@14:36:01.49 Sea @12.4psia
@14:36:01.51 SP.setPosition! 0ml
@14:36:01.57 SP.seek 100ml,8:51
@14:38:05.60 Pressurizing cartridge to 26psi
@14:38:05.61 <closeIntake> Intake.close
@14:38:05.65 <closeExhaust> Exhaust.close
@14:38:06.42 <FILTERING> PB.open
@14:38:07.12 delay 2 seconds
@14:38:09.20 TV.seek :crack
@14:38:09.99 TV.seek :free
@14:38:10.80 TV.coast
@14:38:10.84 Intake.open
@14:38:11.86 delay 2 seconds
@14:38:13.89 PB.close
@14:38:14.67 Sea @12.6psia
@14:38:14.69 SP.setPosition! 0ml
@14:38:14.75 SP.reconfigure SPcharge
@14:38:14.81 SP.seek 5ml,3:46
@14:38:22.89 Cartridge pressurized to 26.1psi
@14:38:23.12 delay 3 seconds
@14:38:26.19 Cartridge at 23.7psi 3 seconds later
@14:38:26.32 TV.seek :cartridge
@14:38:28.14 TV.seek :free
@14:38:29.94 TV.coast
@14:38:29.99 Sampling 1000.0ml
@14:38:30.00 Exhaust.open
@14:38:30.81 Sea @-14.9psia
@14:38:30.83 SP.setPosition! 0ml
@14:38:30.88 SP.reconfigure SPsample
@14:38:30.95 SP.seek 1000ml,1:23:53
@14:38:31.92 <sampling> Cartridge 40 sampling 0/1000ml at 0.43ml/s with 23.6psi vacuum -16.6m deep (-9.8psia)
@14:39:31.93 Cartridge 40 sampling 25/1000ml at 0.39ml/s with 23.6psi vacuum -17.3m deep (-10.8psia)
@14:40:31.93 Cartridge 40 sampling 48/1000ml at 0.39ml/s with 22.7psi vacuum -16.7m deep (-10.0psia)
@14:41:31.93 Cartridge 40 sampling 71/1000ml at 0.37ml/s with 20.4psi vacuum -17.5m deep (-11.2psia)
@14:42:31.93 Cartridge 40 sampling 94/1000ml at 0.35ml/s with 19.8psi vacuum -17.1m deep (-10.5psia)
@14:43:31.93 Cartridge 40 sampling 116/1000ml at 0.37ml/s with 20.8psi vacuum -17.0m deep (-10.5psia)
@14:44:31.93 Cartridge 40 sampling 137/1000ml at 0.36ml/s with 21.5psi vacuum -17.2m deep (-10.6psia)
@14:45:31.93 Cartridge 40 sampling 158/1000ml at 0.34ml/s with 24.6psi vacuum -17.7m deep (-11.4psia)
@14:46:31.93 Cartridge 40 sampling 178/1000ml at 0.33ml/s with 24.3psi vacuum -16.9m deep (-10.3psia)
@14:47:31.93 Cartridge 40 sampling 198/1000ml at 0.34ml/s with 20.8psi vacuum -17.5m deep (-11.2psia)
@14:48:31.93 Cartridge 40 sampling 217/1000ml at 0.31ml/s with 23.9psi vacuum -17.3m deep (-10.9psia)
@14:49:31.93 Cartridge 40 sampling 236/1000ml at 0.28ml/s with 23.0psi vacuum -17.1m deep (-10.6psia)
@14:50:31.93 Cartridge 40 sampling 254/1000ml at 0.29ml/s with 25.6psi vacuum -17.7m deep (-11.4psia)
@14:51:31.93 Cartridge 40 sampling 272/1000ml at 0.31ml/s with 21.4psi vacuum -30.9m deep (-30.9psia)
@14:52:31.93 Cartridge 40 sampling 289/1000ml at 0.26ml/s with 20.2psi vacuum -18.5m deep (-12.6psia)
@14:53:31.93 Cartridge 40 sampling 305/1000ml at 0.27ml/s with 25.6psi vacuum -17.2m deep (-10.8psia)
@14:54:31.93 Cartridge 40 sampling 322/1000ml at 0.29ml/s with 22.3psi vacuum -17.9m deep (-11.7psia)
@14:55:31.93 Cartridge 40 sampling 337/1000ml at 0.27ml/s with 19.7psi vacuum -17.6m deep (-11.3psia)
@14:56:31.93 Cartridge 40 sampling 353/1000ml at 0.24ml/s with 21.7psi vacuum -18.0m deep (-11.9psia)
@14:57:31.93 Cartridge 40 sampling 368/1000ml at 0.25ml/s with 19.1psi vacuum -17.2m deep (-10.7psia)
@14:58:31.93 Cartridge 40 sampling 382/1000ml at 0.26ml/s with 22.8psi vacuum -18.2m deep (-12.2psia)
@14:59:31.93 Cartridge 40 sampling 396/1000ml at 0.22ml/s with 19.3psi vacuum -17.8m deep (-11.6psia)
@15:00:31.93 Cartridge 40 sampling 410/1000ml at 0.23ml/s with 22.2psi vacuum -17.6m deep (-11.3psia)
@15:01:31.93 Cartridge 40 sampling 423/1000ml at 0.23ml/s with 19.5psi vacuum -18.4m deep (-12.4psia)
@15:02:31.93 Cartridge 40 sampling 436/1000ml at 0.22ml/s with 21.5psi vacuum -17.0m deep (-10.4psia)
@15:03:31.93 Cartridge 40 sampling 449/1000ml at 0.21ml/s with 23.2psi vacuum -18.5m deep (-12.7psia)
@15:04:31.93 Cartridge 40 sampling 461/1000ml at 0.22ml/s with 23.1psi vacuum -17.6m deep (-11.3psia)
@15:05:31.93 Cartridge 40 sampling 474/1000ml at 0.21ml/s with 26.4psi vacuum -17.9m deep (-11.8psia)
@15:05:47.20 <FILTERING> Flow averaged 0.29ml/s over 27:12
@15:05:47.22 Waiting up to 11 seconds for vacuum to reduce from 26.3 to 18.0psi
@15:05:47.84 Relieved excess vacuum in 5.9 seconds
@15:05:47.87 SP.seek 1000ml,44:07
@15:06:21.19 Flow averaged 0.21ml/s over 34 seconds
@15:06:21.21 Waiting up to 12 seconds for vacuum to reduce from 26.4 to 18.0psi
@15:06:21.83 Relieved excess vacuum in .9 seconds
@15:06:21.86 SP.seek 1000ml,43:31
@15:06:31.93 <sampling> Cartridge 40 sampling 486/1000ml at 0.20ml/s with 24.7psi vacuum -18.3m deep (-12.3psia)
@15:06:40.17 <FILTERING> Flow averaged 0.38ml/s over 11 seconds
@15:06:40.20 Waiting up to 11 seconds for vacuum to reduce from 26.3 to 18.0psi
@15:06:40.81 Relieved excess vacuum in 8.9 seconds
@15:06:40.84 SP.seek 1000ml,43:12
@15:07:17.65 Flow averaged 0.23ml/s over 34 seconds
@15:07:17.67 Waiting up to 12 seconds for vacuum to reduce from 26.7 to 18.0psi
@15:07:18.29 Relieved excess vacuum in 4.4 seconds
@15:07:18.32 SP.seek 1000ml,42:34
@15:07:21.36 Flow estimate reduced to 0.19ml/s
@15:07:21.38 <closeIntake> Intake.close
@15:07:21.41 <closeExhaust> Exhaust.close
@15:07:22.19 Cartridge::Sampler::Clogged in FILTERING -- Cartridge clogged
@15:07:22.27 <FILTERING> Sampled  496.2ml
@15:07:22.29 TV.seek :bypass
@15:07:23.91 TV.seek :free
@15:07:25.57 TV.coast
@15:07:26.62 <LRAUV> -> Cmd.startProcessing
@15:07:27.09 <PROCESSING> PV.seek :reagent
@15:07:28.00 Sample loop closed. Ready to Deliver Reagents
@15:07:28.02 ArS.seek :sealed
@15:07:31.67 ArS.seek :evac
@15:07:45.63 delay 20 seconds
@15:08:05.67 ArS.seek :clear
@15:08:22.80 RNAlater soak for 10:00
@15:08:22.81 delay 10:00
@15:18:22.84 ArS.seek :tVent
@15:18:24.49 delay 1 second
@15:18:25.52 ArS.seek :evac
@15:18:41.47 delay 10 seconds
@15:18:51.51 ArS.seek :tVent
@15:19:07.46 delay 1 second
@15:19:08.49 ArS.seek :evac
@15:19:24.44 delay 10 seconds
@15:19:34.48 Sample preserved and evacuated
@15:19:35.52 <LRAUV> -> Cmd.stop
@15:19:35.90 <ArS> ArS.seek :clear
@15:19:53.16 <LyS2> LyS2.seek :free
@15:19:53.19 <PV> PV.seek :clear
@15:19:55.01 <LRAUV> Gate.power :motor,:OFF
@15:19:55.03 Gate.power :main,:OFF
@15:19:55.05 Gate.power :core,:OFF
@15:19:55.07 Safely stopped and ready to power off