@08:23:24.83PST29-Jan-18 <MAIN> >BREAK< ESP3 Gateway v0.80 for core bus
@08:23:25.77 
Configuration for koa by brent@mbari.org
/home/esp/esp2/type/auv/koa/configure.rb
@08:23:26.64 Polling Can every 10:00
@08:23:26.91 Clients may connect on TCP port 9999
Connecting to 134.89.95.66:9999
@08:23:26.99 Waiting for espclients...
@08:23:27.42 <LRAUV> Session Begun
@08:23:29.37 -> showStatus
@08:23:31.37 -> Cmd.loadCartridge
@08:23:31.41 Powering core bus
@08:23:34.10 ArS.configure ArSconfig
@08:23:34.20 LyS1.configure LyS1config
@08:23:34.32 LyS2.configure LyS2config
@08:23:34.41 AirS.configure AirSconfig
@08:23:34.53 TV.configure TVconfig
@08:23:34.65 SP.configure SPconfig
@08:23:34.77 Sea.configure SPconfig
@08:23:34.91 SC.configure SCconfig
@08:23:35.03 PV.configure PVconfig
@08:23:35.09 All elf controllers running firmware version 4.41
@08:23:35.10 Gate.power :main,:ON,limit to 5000mA
@08:23:35.13 Gate.power :motor,:ON,limit to 5000mA
@08:23:35.20 <closeIntake> Intake.close
@08:23:35.24 <closeExhaust> Exhaust.close
@08:23:35.27 <closePB> PB.close
@08:23:35.75 <TV_home> TV.reconfigure TVconfig
@08:23:35.78 <AirS_home> AirS.reconfigure AirSconfig
@08:23:35.82 <LyS1_home> LyS1.reconfigure LyS1config
@08:23:35.85 <PV_home> PV.reconfigure PVconfig
@08:23:35.89 <ArS_home> ArS.reconfigure ArSconfig
@08:23:35.98 <LyS2_home> LyS2.reconfigure LyS2config
@08:23:36.12 <TV_home> TV.home.jog 0
@08:23:36.15 <LyS1_home> LyS1.home.jog 0
@08:23:36.19 <AirS_home> AirS.home.jog 0
@08:23:36.22 <PV_home> PV.home.jog 0
@08:23:36.46 <ArS_home> ArS.home.jog 0
@08:23:36.58 <LyS2_home> LyS2.home.jog 0
@08:23:37.05 <TV_home> TV.reconfigure HomeTV
@08:23:37.08 <AirS_home> AirS.reconfigure HomeMagSyringe
@08:23:37.12 <LyS1_home> LyS1.reconfigure HomeSyringe
@08:23:37.18 <PV_home> PV.reconfigure HomingPV
@08:23:37.35 <TV_home> TV.jog -502
@08:23:37.40 <LyS1_home> LyS1.jog -113
@08:23:37.43 <PV_home> PV.jog -116
@08:23:37.46 <AirS_home> AirS.jog -127
@08:23:37.64 <ArS_home> ArS.reconfigure HomeMagSyringe
@08:23:37.66 <LyS2_home> LyS2.reconfigure HomeSyringe
@08:23:37.77 <ArS_home> ArS.jog -129
@08:23:37.83 <LyS2_home> LyS2.jog -119
@08:23:37.99 <PV_home> PV.setRawPosition! -50
@08:23:38.01 <AirS_home> AirS.setRawPosition! -50
@08:23:38.03 <LyS1_home> LyS1.setRawPosition! -50
@08:23:38.12 <AirS_home> AirS.seek :home
@08:23:38.16 <PV_home> PV.seek :home
@08:23:38.19 <LyS1_home> LyS1.seek :home
@08:23:38.39 <LyS2_home> LyS2.setRawPosition! -50
@08:23:38.41 <ArS_home> ArS.setRawPosition! -50
@08:23:38.48 <LyS2_home> LyS2.seek :home
@08:23:38.53 <ArS_home> ArS.seek :home
@08:23:38.68 <AirS_home> AirS.reconfigure AirSconfig
@08:23:38.71 <LyS1_home> LyS1.reconfigure LyS1config
@08:23:38.74 <PV_home> PV.reconfigure PVconfig
@08:23:38.90 <ArS_home> ArS.reconfigure ArSconfig
@08:23:38.93 <LyS2_home> LyS2.reconfigure LyS2config
@08:23:39.19 <TV_home> TV.setRawPosition! 0
@08:23:39.23 TV.seek :home
@08:23:39.32 TV.reconfigure TVconfig
@08:23:39.43 <LRAUV> TV.seek :clear
@08:23:41.05 SC.reconfigure HomeSC
@08:23:41.11 SC.home.jog 0
@08:23:41.35 Selecting Cartridge slot 28
@08:23:41.89 SC.reconfigure SCconfig
@08:23:41.95 SC.seek 28
@08:23:42.33 <LyS2> LyS2.seek :cartridge
@08:23:42.37 <PV> PV.seek :cartridge
@08:24:04.12 <LRAUV> -> Cmd.startFiltering
@08:24:04.31 <FILTERING> Duration of filtering limited to 1:05:00
@08:24:04.50 Priming sample loop w/100ml, bypass w/10ml
@08:24:04.52 TV.seek :bypass
@08:24:06.14 TV.seek :free
@08:24:07.80 TV.coast
@08:24:07.84 <openPB> PB.open
@08:24:07.86 <FILTERING> Exhaust.close
@08:24:08.59 Intake.open
@08:24:09.44 Sea @23.6psia
@08:24:09.45 Waiting 4 - 300s for filter pressure to stabilize +/-0.5psi
@08:24:14.98 Vacuum tare is 23% of full scale
@08:24:15.05 Sea @23.2psia
@08:24:15.07 SP.setPosition! 0ml
@08:24:15.12 SP.reconfigure SPprime
@08:24:15.19 SP.seek 10ml,1:21
@08:24:25.77 <closePB> PB.close
@08:24:25.79 <FILTERING> Exhaust.open
@08:24:26.69 Sea @22.7psia
@08:24:26.70 SP.setPosition! 0ml
@08:24:26.76 SP.seek 100ml,8:51
@08:26:29.90 Pressurizing cartridge to 26psi
@08:26:29.91 <closeIntake> Intake.close
@08:26:29.95 <closeExhaust> Exhaust.close
@08:26:30.77 <FILTERING> PB.open
@08:26:31.49 delay 2 seconds
@08:26:33.56 TV.seek :crack
@08:26:34.35 TV.seek :free
@08:26:35.16 TV.coast
@08:26:35.20 Intake.open
@08:26:36.27 delay 2 seconds
@08:26:38.29 PB.close
@08:26:39.08 Sea @23.0psia
@08:26:39.09 SP.setPosition! 0ml
@08:26:39.14 SP.reconfigure SPcharge
@08:26:39.21 SP.seek 5ml,3:46
@08:26:44.34 Cartridge pressurized to 26.4psi
@08:26:44.56 Pressure peaked at 26.4psi
@08:26:44.57 delay 3 seconds
@08:26:47.65 Cartridge at 23.4psi 3 seconds later
@08:26:47.78 TV.seek :cartridge
@08:26:49.58 TV.seek :free
@08:26:51.38 TV.coast
@08:26:51.44 Sampling 1000.0ml
@08:26:51.45 Exhaust.open
@08:26:52.29 Sea @-5.1psia
@08:26:52.31 SP.setPosition! 0ml
@08:26:52.37 SP.reconfigure SPsample
@08:26:52.43 SP.seek 1000ml,1:23:53
@08:26:53.40 <sampling> Cartridge 28 sampling 0/1000ml at 0.40ml/s with 18.9psi vacuum -8.7m deep (1.9psia)
@08:27:53.41 Cartridge 28 sampling 25/1000ml at 0.42ml/s with 21.3psi vacuum -8.2m deep (2.5psia)
@08:28:53.41 Cartridge 28 sampling 49/1000ml at 0.40ml/s with 23.5psi vacuum -9.1m deep (1.3psia)
@08:29:53.41 Cartridge 28 sampling 73/1000ml at 0.38ml/s with 21.7psi vacuum -7.9m deep (3.1psia)
@08:30:53.41 Cartridge 28 sampling 96/1000ml at 0.36ml/s with 22.3psi vacuum -9.4m deep (0.8psia)
@08:31:53.41 Cartridge 28 sampling 119/1000ml at 0.38ml/s with 21.7psi vacuum -8.3m deep (2.4psia)
@08:32:53.41 Cartridge 28 sampling 141/1000ml at 0.39ml/s with 21.6psi vacuum -9.3m deep (0.9psia)
@08:33:53.41 Cartridge 28 sampling 164/1000ml at 0.36ml/s with 20.1psi vacuum -8.5m deep (2.2psia)
@08:34:53.41 Cartridge 28 sampling 185/1000ml at 0.36ml/s with 21.7psi vacuum -9.2m deep (1.1psia)
@08:35:53.41 Cartridge 28 sampling 207/1000ml at 0.35ml/s with 23.5psi vacuum -8.7m deep (1.8psia)
@08:36:53.41 Cartridge 28 sampling 228/1000ml at 0.34ml/s with 18.0psi vacuum -9.2m deep (1.1psia)
@08:37:53.41 Cartridge 28 sampling 248/1000ml at 0.34ml/s with 21.9psi vacuum -8.3m deep (2.5psia)
@08:38:53.41 Cartridge 28 sampling 268/1000ml at 0.33ml/s with 22.6psi vacuum -9.2m deep (1.1psia)
@08:39:53.41 Cartridge 28 sampling 288/1000ml at 0.33ml/s with 22.3psi vacuum -9.1m deep (1.2psia)
@08:40:53.41 Cartridge 28 sampling 307/1000ml at 0.32ml/s with 17.3psi vacuum -8.3m deep (2.5psia)
@08:41:53.41 Cartridge 28 sampling 326/1000ml at 0.31ml/s with 23.3psi vacuum -10.0m deep (-0.1psia)
@08:42:53.41 Cartridge 28 sampling 345/1000ml at 0.31ml/s with 21.8psi vacuum -8.8m deep (1.7psia)
@08:43:53.41 Cartridge 28 sampling 363/1000ml at 0.30ml/s with 21.2psi vacuum -9.2m deep (1.1psia)
@08:44:53.41 Cartridge 28 sampling 381/1000ml at 0.29ml/s with 21.7psi vacuum -9.3m deep (1.0psia)
@08:45:53.41 Cartridge 28 sampling 398/1000ml at 0.29ml/s with 18.2psi vacuum -9.0m deep (1.4psia)
@08:46:53.41 Cartridge 28 sampling 415/1000ml at 0.27ml/s with 19.2psi vacuum -8.8m deep (1.6psia)
@08:47:53.41 Cartridge 28 sampling 432/1000ml at 0.26ml/s with 21.9psi vacuum -9.3m deep (1.0psia)
@08:48:53.41 Cartridge 28 sampling 448/1000ml at 0.29ml/s with 19.9psi vacuum -8.8m deep (1.7psia)
@08:49:53.41 Cartridge 28 sampling 464/1000ml at 0.28ml/s with 22.9psi vacuum -10.0m deep (-0.1psia)
@08:50:53.41 Cartridge 28 sampling 480/1000ml at 0.28ml/s with 23.5psi vacuum -8.4m deep (2.3psia)
@08:51:53.41 Cartridge 28 sampling 495/1000ml at 0.27ml/s with 22.5psi vacuum -9.9m deep (0.1psia)
@08:52:53.47 Cartridge 28 sampling 510/1000ml at 0.24ml/s with 20.7psi vacuum -9.0m deep (1.3psia)
@08:53:53.41 Cartridge 28 sampling 525/1000ml at 0.25ml/s with 24.0psi vacuum -9.9m deep (-0.0psia)
@08:54:53.41 Cartridge 28 sampling 539/1000ml at 0.23ml/s with 22.5psi vacuum -9.0m deep (1.4psia)
@08:55:53.41 Cartridge 28 sampling 553/1000ml at 0.25ml/s with 22.6psi vacuum -9.5m deep (0.7psia)
@08:56:53.41 Cartridge 28 sampling 567/1000ml at 0.21ml/s with 22.2psi vacuum -17.3m deep (-10.8psia)
@08:57:53.41 Cartridge 28 sampling 580/1000ml at 0.20ml/s with 21.9psi vacuum -9.0m deep (1.4psia)
@08:58:53.41 Cartridge 28 sampling 593/1000ml at 0.21ml/s with 21.9psi vacuum -10.1m deep (-0.2psia)
@08:59:53.41 Cartridge 28 sampling 606/1000ml at 0.21ml/s with 23.5psi vacuum -8.9m deep (1.5psia)
@09:00:53.41 Cartridge 28 sampling 619/1000ml at 0.21ml/s with 22.5psi vacuum -9.6m deep (0.5psia)
@09:01:53.41 Cartridge 28 sampling 632/1000ml at 0.21ml/s with 24.8psi vacuum -9.7m deep (0.4psia)
@09:02:53.41 Cartridge 28 sampling 644/1000ml at 0.21ml/s with 24.2psi vacuum -9.4m deep (0.9psia)
@09:03:53.41 Cartridge 28 sampling 657/1000ml at 0.21ml/s with 26.2psi vacuum -9.2m deep (1.1psia)
@09:04:11.59 <FILTERING> Flow averaged 0.30ml/s over 37:12
@09:04:11.62 Waiting up to 12 seconds for vacuum to reduce from 26.4 to 18.0psi
@09:04:12.24 Relieved excess vacuum in 8.8 seconds
@09:04:12.26 SP.seek 1000ml,28:48
@09:04:53.41 <sampling> Cartridge 28 sampling 669/1000ml at 0.21ml/s with 23.7psi vacuum -9.8m deep (0.2psia)
@09:05:14.55 <FILTERING> Flow averaged 0.21ml/s over 1:02
@09:05:14.58 Waiting up to 11 seconds for vacuum to reduce from 26.2 to 18.0psi
@09:05:15.26 Relieved excess vacuum in 1.8 seconds
@09:05:15.28 SP.seek 1000ml,27:43
@09:05:19.85 Flow estimate reduced to 0.17ml/s
@09:05:19.86 <closeIntake> Intake.close
@09:05:19.90 <closeExhaust> Exhaust.close
@09:05:20.69 Cartridge::Sampler::Clogged in FILTERING -- Cartridge clogged
@09:05:20.78 <FILTERING> Sampled  674.7ml
@09:05:20.79 TV.seek :bypass
@09:05:22.41 TV.seek :free
@09:05:24.07 TV.coast
@09:05:25.16 <LRAUV> -> Cmd.startProcessing
@09:05:25.38 <PROCESSING> PV.seek :reagent
@09:05:26.30 Sample loop closed. Ready to Deliver Reagents
@09:05:26.31 ArS.seek :sealed
@09:05:29.96 ArS.seek :evac
@09:05:43.93 delay 20 seconds
@09:06:03.96 ArS.seek :clear
@09:06:21.10 RNAlater soak for 10:00
@09:06:21.11 delay 10:00
@09:16:21.14 ArS.seek :tVent
@09:16:22.80 delay 1 second
@09:16:23.82 ArS.seek :evac
@09:16:39.78 delay 10 seconds
@09:16:49.81 ArS.seek :tVent
@09:17:05.77 delay 1 second
@09:17:06.79 ArS.seek :evac
@09:17:22.76 delay 10 seconds
@09:17:32.79 Sample preserved and evacuated
@09:17:33.65 <LRAUV> -> Cmd.stop
@09:17:34.02 <ArS> ArS.seek :clear
@09:17:51.28 <PV> PV.seek :clear
@09:17:51.31 <LyS2> LyS2.seek :free
@09:17:53.15 <LRAUV> Gate.power :motor,:OFF
@09:17:53.17 Gate.power :main,:OFF
@09:17:53.19 Gate.power :core,:OFF
@09:17:53.21 Safely stopped and ready to power off