@16:09:59.02PST29-Jan-18 <MAIN> >BREAK< ESP3 Gateway v0.80 for core bus
@16:09:59.97 
Configuration for koa by brent@mbari.org
/home/esp/esp2/type/auv/koa/configure.rb
@16:10:00.85 Polling Can every 10:00
@16:10:01.12 Clients may connect on TCP port 9999
@16:10:01.13 Connecting to 134.89.95.66:9999
@16:10:01.17 Waiting for espclients...
@16:10:01.28 <LRAUV> Session Begun
@16:10:03.23 -> showStatus
@16:10:05.22 -> Cmd.loadCartridge
@16:10:05.27 Powering core bus
@16:10:07.95 ArS.configure ArSconfig
@16:10:08.05 LyS1.configure LyS1config
@16:10:08.16 LyS2.configure LyS2config
@16:10:08.26 AirS.configure AirSconfig
@16:10:08.37 TV.configure TVconfig
@16:10:08.49 SP.configure SPconfig
@16:10:08.60 Sea.configure SPconfig
@16:10:08.74 SC.configure SCconfig
@16:10:08.87 PV.configure PVconfig
@16:10:08.92 All elf controllers running firmware version 4.41
@16:10:08.94 Gate.power :main,:ON,limit to 5000mA
@16:10:08.95 Gate.power :motor,:ON,limit to 5000mA
@16:10:09.03 <closeIntake> Intake.close
@16:10:09.06 <closeExhaust> Exhaust.close
@16:10:09.09 <closePB> PB.close
@16:10:09.59 <TV_home> TV.reconfigure TVconfig
@16:10:09.61 <AirS_home> AirS.reconfigure AirSconfig
@16:10:09.64 <LyS1_home> LyS1.reconfigure LyS1config
@16:10:09.69 <PV_home> PV.reconfigure PVconfig
@16:10:09.72 <LyS2_home> LyS2.reconfigure LyS2config
@16:10:09.76 <ArS_home> ArS.reconfigure ArSconfig
@16:10:09.94 <AirS_home> AirS.home.jog 0
@16:10:10.16 <TV_home> TV.home.jog 0
@16:10:10.22 <PV_home> PV.home.jog 0
@16:10:10.25 <LyS1_home> LyS1.home.jog 0
@16:10:10.28 <ArS_home> ArS.home.jog 0
@16:10:10.31 <LyS2_home> LyS2.home.jog 0
@16:10:10.79 <TV_home> TV.reconfigure HomeTV
@16:10:10.87 <AirS_home> AirS.reconfigure HomeMagSyringe
@16:10:10.91 <PV_home> PV.reconfigure HomingPV
@16:10:11.06 <TV_home> TV.jog -498
@16:10:11.09 <AirS_home> AirS.jog -130
@16:10:11.12 <PV_home> PV.jog -120
@16:10:11.31 <LyS1_home> LyS1.reconfigure HomeSyringe
@16:10:11.34 <LyS2_home> LyS2.reconfigure HomeSyringe
@16:10:11.38 <ArS_home> ArS.reconfigure HomeMagSyringe
@16:10:11.49 <LyS1_home> LyS1.jog -117
@16:10:11.54 <LyS2_home> LyS2.jog -128
@16:10:11.58 <ArS_home> ArS.jog -129
@16:10:11.72 <PV_home> PV.setRawPosition! -50
@16:10:11.75 <AirS_home> AirS.setRawPosition! -50
@16:10:11.88 <PV_home> PV.seek :home
@16:10:11.91 <AirS_home> AirS.seek :home
@16:10:12.06 <LyS2_home> LyS2.setRawPosition! -50
@16:10:12.08 <LyS1_home> LyS1.setRawPosition! -50
@16:10:12.10 <ArS_home> ArS.setRawPosition! -50
@16:10:12.18 <LyS2_home> LyS2.seek :home
@16:10:12.25 <ArS_home> ArS.seek :home
@16:10:12.29 <LyS1_home> LyS1.seek :home
@16:10:12.47 <PV_home> PV.reconfigure PVconfig
@16:10:12.49 <AirS_home> AirS.reconfigure AirSconfig
@16:10:12.60 <LyS2_home> LyS2.reconfigure LyS2config
@16:10:12.69 <ArS_home> ArS.reconfigure ArSconfig
@16:10:12.71 <LyS1_home> LyS1.reconfigure LyS1config
@16:10:12.88 <TV_home> TV.setRawPosition! 0
@16:10:12.93 TV.seek :home
@16:10:13.01 TV.reconfigure TVconfig
@16:10:13.13 <LRAUV> TV.seek :clear
@16:10:14.74 SC.reconfigure HomeSC
@16:10:14.81 SC.home.jog 0
@16:10:15.04 Selecting Cartridge slot 22
@16:10:15.59 SC.reconfigure SCconfig
@16:10:15.65 SC.seek 22
@16:10:16.04 <LyS2> LyS2.seek :cartridge
@16:10:16.07 <PV> PV.seek :cartridge
@16:10:37.57 <LRAUV> -> Cmd.startFiltering
@16:10:37.77 <FILTERING> Duration of filtering limited to 20:00
@16:10:37.96 Priming sample loop w/100ml, bypass w/10ml
@16:10:37.97 TV.seek :bypass
@16:10:39.59 TV.seek :free
@16:10:41.25 TV.coast
@16:10:41.30 <openPB> PB.open
@16:10:41.31 <FILTERING> Exhaust.close
@16:10:42.07 Intake.open
@16:10:42.93 Sea @363.9psia
@16:10:42.95 Waiting 4 - 300s for filter pressure to stabilize +/-0.5psi
@16:10:48.48 Vacuum tare is 22% of full scale
@16:10:48.55 Sea @363.9psia
@16:10:48.56 SP.setPosition! 0ml
@16:10:48.62 SP.reconfigure SPprime
@16:10:48.68 SP.seek 10ml,1:21
@16:10:59.25 <closePB> PB.close
@16:10:59.27 <FILTERING> Exhaust.open
@16:11:00.25 Sea @364.2psia
@16:11:00.26 SP.setPosition! 0ml
@16:11:00.32 SP.seek 100ml,8:51
@16:13:05.79 Pressurizing cartridge to 26psi
@16:13:05.80 <closeIntake> Intake.close
@16:13:05.84 <closeExhaust> Exhaust.close
@16:13:06.75 <FILTERING> PB.open
@16:13:07.45 delay 2 seconds
@16:13:09.52 TV.seek :crack
@16:13:10.31 TV.seek :free
@16:13:11.12 TV.coast
@16:13:11.44 Intake.open
@16:13:12.21 delay 2 seconds
@16:13:14.23 PB.close
@16:13:14.98 Sea @364.3psia
@16:13:15.00 SP.setPosition! 0ml
@16:13:15.05 SP.reconfigure SPcharge
@16:13:15.11 SP.seek 5ml,3:46
@16:13:17.15 Cartridge pressurized to 26.8psi
@16:13:17.37 Pressure peaked at 28.0psi
@16:13:17.39 delay 3 seconds
@16:13:20.46 Cartridge at 18.6psi 3 seconds later
@16:13:20.59 TV.seek :cartridge
@16:13:22.40 TV.seek :free
@16:13:24.20 TV.coast
@16:13:24.25 Sampling 1000.0ml
@16:13:24.26 Exhaust.open
@16:13:25.18 Sea @350.1psia
@16:13:25.20 SP.setPosition! 0ml
@16:13:25.26 SP.reconfigure SPsample
@16:13:25.32 SP.seek 1000ml,1:23:53
@16:13:26.29 <sampling> Cartridge 22 sampling 0/1000ml at 0.39ml/s with 23.2psi vacuum 222.5m deep (343.7psia)
@16:14:26.30 Cartridge 22 sampling 23/1000ml at 0.38ml/s with 25.5psi vacuum 222.9m deep (344.2psia)
@16:15:26.30 Cartridge 22 sampling 46/1000ml at 0.38ml/s with 19.5psi vacuum 206.5m deep (320.0psia)
@16:16:26.30 Cartridge 22 sampling 68/1000ml at 0.36ml/s with 22.6psi vacuum 223.2m deep (344.6psia)
@16:17:26.30 Cartridge 22 sampling 91/1000ml at 0.38ml/s with 20.9psi vacuum 222.0m deep (343.0psia)
@16:18:26.30 Cartridge 22 sampling 113/1000ml at 0.38ml/s with 20.8psi vacuum 223.0m deep (344.4psia)
@16:19:26.31 Cartridge 22 sampling 135/1000ml at 0.36ml/s with 20.1psi vacuum 222.0m deep (342.9psia)
@16:20:26.30 Cartridge 22 sampling 157/1000ml at 0.37ml/s with 21.5psi vacuum 222.8m deep (344.1psia)
@16:21:26.30 Cartridge 22 sampling 180/1000ml at 0.38ml/s with 20.8psi vacuum 222.2m deep (343.2psia)
@16:22:26.30 Cartridge 22 sampling 202/1000ml at 0.36ml/s with 19.5psi vacuum 222.8m deep (344.1psia)
@16:23:26.30 Cartridge 22 sampling 224/1000ml at 0.36ml/s with 25.5psi vacuum 222.2m deep (343.2psia)
@16:24:26.30 Cartridge 22 sampling 246/1000ml at 0.35ml/s with 22.6psi vacuum 223.1m deep (344.6psia)
@16:25:26.30 Cartridge 22 sampling 268/1000ml at 0.34ml/s with 22.6psi vacuum 222.2m deep (343.2psia)
@16:26:26.30 Cartridge 22 sampling 290/1000ml at 0.37ml/s with 25.4psi vacuum 222.2m deep (343.2psia)
@16:27:26.30 Cartridge 22 sampling 312/1000ml at 0.35ml/s with 21.3psi vacuum 223.2m deep (344.7psia)
@16:28:26.30 Cartridge 22 sampling 334/1000ml at 0.37ml/s with 20.2psi vacuum 221.9m deep (342.7psia)
@16:29:26.30 Cartridge 22 sampling 356/1000ml at 0.36ml/s with 20.6psi vacuum 223.2m deep (344.6psia)
@16:30:26.30 Cartridge 22 sampling 377/1000ml at 0.34ml/s with 22.4psi vacuum 221.8m deep (342.7psia)
@16:30:37.81 <FILTERING> SP.coast
@16:30:37.87 <closeIntake> Intake.close
@16:30:37.90 <closeExhaust> Exhaust.close
@16:30:38.85 <FILTERING> TV.seek :bypass
@16:30:40.47 TV.seek :free
@16:30:42.12 TV.coast
@16:30:42.16 Cmd::Paused in FILTERING -- CartridgeTimeLimit Expired during Sample Pump move after sampling 381.6ml
@16:30:43.75 <LRAUV> -> Cmd.startProcessing
@16:30:43.95 <PROCESSING> PV.seek :reagent
@16:30:44.86 Sample loop closed. Ready to Deliver Reagents
@16:30:44.88 ArS.seek :sealed
@16:30:48.52 ArS.seek :evac
@16:31:02.48 delay 20 seconds
@16:31:22.51 ArS.seek :clear
@16:31:39.63 RNAlater soak for 10:00
@16:31:39.65 delay 10:00
@16:41:39.69 ArS.seek :tVent
@16:41:41.34 delay 1 second
@16:41:42.37 ArS.seek :evac
@16:41:58.31 delay 10 seconds
@16:42:08.34 ArS.seek :tVent
@16:42:24.28 delay 1 second
@16:42:25.31 ArS.seek :evac
@16:42:41.26 delay 10 seconds
@16:42:51.29 Sample preserved and evacuated
@16:42:52.24 <LRAUV> -> Cmd.stop
@16:42:52.61 <ArS> ArS.seek :clear
@16:43:09.85 <PV> PV.seek :clear
@16:43:09.88 <LyS2> LyS2.seek :free
@16:43:11.72 <LRAUV> Gate.power :motor,:OFF
@16:43:11.74 Gate.power :main,:OFF
@16:43:11.76 Gate.power :core,:OFF
@16:43:11.79 Safely stopped and ready to power off