@18:40:35.92PST29-Jan-18 <MAIN> >BREAK< ESP3 Gateway v0.80 for core bus
@18:40:36.86 
Configuration for koa by brent@mbari.org
/home/esp/esp2/type/auv/koa/configure.rb
@18:40:37.75 Polling Can every 10:00
@18:40:38.02 Clients may connect on TCP port 9999
@18:40:38.03 Connecting to 134.89.95.66:9999
@18:40:38.06 Waiting for espclients...
@18:40:38.33 <LRAUV> Session Begun
@18:40:40.27 -> showStatus
@18:40:42.26 -> Cmd.loadCartridge
@18:40:42.31 Powering core bus
@18:40:45.00 ArS.configure ArSconfig
@18:40:45.09 LyS1.configure LyS1config
@18:40:45.20 LyS2.configure LyS2config
@18:40:45.30 AirS.configure AirSconfig
@18:40:45.42 TV.configure TVconfig
@18:40:45.53 SP.configure SPconfig
@18:40:45.65 Sea.configure SPconfig
@18:40:45.78 SC.configure SCconfig
@18:40:45.90 PV.configure PVconfig
@18:40:45.95 All elf controllers running firmware version 4.41
@18:40:45.97 Gate.power :main,:ON,limit to 5000mA
@18:40:45.99 Gate.power :motor,:ON,limit to 5000mA
@18:40:46.06 <closeIntake> Intake.close
@18:40:46.10 <closeExhaust> Exhaust.close
@18:40:46.12 <closePB> PB.close
@18:40:46.64 <TV_home> TV.reconfigure TVconfig
@18:40:46.66 <AirS_home> AirS.reconfigure AirSconfig
@18:40:46.69 <LyS1_home> LyS1.reconfigure LyS1config
@18:40:46.73 <PV_home> PV.reconfigure PVconfig
@18:40:46.76 <LyS2_home> LyS2.reconfigure LyS2config
@18:40:46.81 <ArS_home> ArS.reconfigure ArSconfig
@18:40:47.25 <AirS_home> AirS.home.jog 0
@18:40:47.26 <TV_home> TV.home.jog 0
@18:40:47.30 <PV_home> PV.home.jog 0
@18:40:47.34 <LyS2_home> LyS2.home.jog 0
@18:40:47.35 <LyS1_home> LyS1.home.jog 0
@18:40:47.39 <ArS_home> ArS.home.jog 0
@18:40:47.86 <TV_home> TV.reconfigure HomeTV
@18:40:47.95 <AirS_home> AirS.reconfigure HomeMagSyringe
@18:40:47.98 <PV_home> PV.reconfigure HomingPV
@18:40:48.13 <TV_home> TV.jog -502
@18:40:48.16 <PV_home> PV.jog -118
@18:40:48.18 <AirS_home> AirS.jog -133
@18:40:48.36 <LyS1_home> LyS1.reconfigure HomeSyringe
@18:40:48.39 <LyS2_home> LyS2.reconfigure HomeSyringe
@18:40:48.44 <ArS_home> ArS.reconfigure HomeMagSyringe
@18:40:48.55 <LyS1_home> LyS1.jog -117
@18:40:48.62 <LyS2_home> LyS2.jog -131
@18:40:48.65 <ArS_home> ArS.jog -133
@18:40:48.81 <PV_home> PV.setRawPosition! -50
@18:40:48.84 <AirS_home> AirS.setRawPosition! -50
@18:40:48.91 AirS.seek :home
@18:40:48.95 <PV_home> PV.seek :home
@18:40:49.11 <LyS2_home> LyS2.setRawPosition! -50
@18:40:49.13 <LyS1_home> LyS1.setRawPosition! -50
@18:40:49.15 <ArS_home> ArS.setRawPosition! -50
@18:40:49.25 <LyS2_home> LyS2.seek :home
@18:40:49.28 <LyS1_home> LyS1.seek :home
@18:40:49.35 <ArS_home> ArS.seek :home
@18:40:49.49 <PV_home> PV.reconfigure PVconfig
@18:40:49.50 <AirS_home> AirS.reconfigure AirSconfig
@18:40:49.63 <LyS2_home> LyS2.reconfigure LyS2config
@18:40:49.73 <ArS_home> ArS.reconfigure ArSconfig
@18:40:49.74 <LyS1_home> LyS1.reconfigure LyS1config
@18:40:49.92 <TV_home> TV.setRawPosition! 0
@18:40:49.97 TV.seek :home
@18:40:50.05 TV.reconfigure TVconfig
@18:40:50.17 <LRAUV> TV.seek :clear
@18:40:51.79 SC.reconfigure HomeSC
@18:40:51.85 SC.home.jog 0
@18:40:52.08 Selecting Cartridge slot 19
@18:40:52.62 SC.reconfigure SCconfig
@18:40:52.67 SC.seek 19
@18:40:53.06 <LyS2> LyS2.seek :cartridge
@18:40:53.09 <PV> PV.seek :cartridge
@18:41:14.62 <LRAUV> -> Cmd.startFiltering
@18:41:14.82 <FILTERING> Duration of filtering limited to 20:00
@18:41:15.00 Priming sample loop w/100ml, bypass w/10ml
@18:41:15.02 TV.seek :bypass
@18:41:16.64 TV.seek :free
@18:41:18.29 TV.coast
@18:41:18.34 <openPB> PB.open
@18:41:18.35 <FILTERING> Exhaust.close
@18:41:19.11 Intake.open
@18:41:19.90 Sea @16.1psia
@18:41:19.92 Waiting 4 - 300s for filter pressure to stabilize +/-0.5psi
@18:41:25.45 Vacuum tare is 24% of full scale
@18:41:25.52 Sea @16.0psia
@18:41:25.53 SP.setPosition! 0ml
@18:41:25.59 SP.reconfigure SPprime
@18:41:25.65 SP.seek 10ml,1:21
@18:41:36.22 <closePB> PB.close
@18:41:36.24 <FILTERING> Exhaust.open
@18:41:37.09 Sea @16.0psia
@18:41:37.11 SP.setPosition! 0ml
@18:41:37.16 SP.seek 100ml,8:51
@18:43:40.96 Pressurizing cartridge to 26psi
@18:43:40.97 <closeIntake> Intake.close
@18:43:41.01 <closeExhaust> Exhaust.close
@18:43:41.82 <FILTERING> PB.open
@18:43:42.51 delay 2 seconds
@18:43:44.59 TV.seek :crack
@18:43:45.39 TV.seek :free
@18:43:46.48 TV.coast
@18:43:46.52 Intake.open
@18:43:47.27 delay 2 seconds
@18:43:49.29 PB.close
@18:43:50.05 Sea @15.6psia
@18:43:50.07 SP.setPosition! 0ml
@18:43:50.12 SP.reconfigure SPcharge
@18:43:50.19 SP.seek 5ml,3:46
@18:43:56.46 Cartridge pressurized to 26.3psi
@18:43:56.69 delay 3 seconds
@18:43:59.76 Cartridge at 21.5psi 3 seconds later
@18:43:59.89 TV.seek :cartridge
@18:44:01.71 TV.seek :free
@18:44:03.51 TV.coast
@18:44:03.56 Sampling 1000.0ml
@18:44:03.57 Exhaust.open
@18:44:04.43 Sea @-12.1psia
@18:44:04.46 SP.setPosition! 0ml
@18:44:04.51 SP.reconfigure SPsample
@18:44:04.58 SP.seek 1000ml,1:23:53
@18:44:05.55 <sampling> Cartridge 19 sampling 0/1000ml at 0.37ml/s with 21.7psi vacuum -14.4m deep (-6.6psia)
@18:45:05.56 Cartridge 19 sampling 24/1000ml at 0.39ml/s with 22.5psi vacuum -12.3m deep (-3.5psia)
@18:46:05.56 Cartridge 19 sampling 47/1000ml at 0.37ml/s with 20.2psi vacuum -13.9m deep (-5.8psia)
@18:47:05.56 Cartridge 19 sampling 69/1000ml at 0.37ml/s with 23.9psi vacuum -12.9m deep (-4.4psia)
@18:48:05.56 Cartridge 19 sampling 91/1000ml at 0.37ml/s with 19.7psi vacuum -13.9m deep (-5.8psia)
@18:49:05.56 Cartridge 19 sampling 113/1000ml at 0.37ml/s with 20.7psi vacuum -12.8m deep (-4.2psia)
@18:50:05.56 Cartridge 19 sampling 134/1000ml at 0.35ml/s with 19.9psi vacuum -14.0m deep (-6.1psia)
@18:51:05.56 Cartridge 19 sampling 155/1000ml at 0.35ml/s with 24.2psi vacuum -12.8m deep (-4.2psia)
@18:52:05.56 Cartridge 19 sampling 176/1000ml at 0.35ml/s with 23.5psi vacuum -13.6m deep (-5.3psia)
@18:53:05.56 Cartridge 19 sampling 196/1000ml at 0.33ml/s with 23.1psi vacuum -12.8m deep (-4.2psia)
@18:54:05.56 Cartridge 19 sampling 216/1000ml at 0.30ml/s with 22.1psi vacuum -14.1m deep (-6.1psia)
@18:55:05.56 Cartridge 19 sampling 235/1000ml at 0.31ml/s with 18.8psi vacuum -12.8m deep (-4.3psia)
@18:56:05.56 Cartridge 19 sampling 255/1000ml at 0.30ml/s with 19.1psi vacuum -14.0m deep (-6.1psia)
@18:57:05.56 Cartridge 19 sampling 273/1000ml at 0.29ml/s with 23.6psi vacuum -12.7m deep (-4.0psia)
@18:58:05.56 Cartridge 19 sampling 292/1000ml at 0.30ml/s with 20.7psi vacuum -13.8m deep (-5.7psia)
@18:59:05.56 Cartridge 19 sampling 310/1000ml at 0.32ml/s with 20.8psi vacuum -12.5m deep (-3.8psia)
@19:00:05.55 Cartridge 19 sampling 328/1000ml at 0.31ml/s with 21.8psi vacuum -27.4m deep (-25.7psia)
@19:01:05.56 Cartridge 19 sampling 345/1000ml at 0.31ml/s with 20.7psi vacuum -13.0m deep (-4.4psia)
@19:01:14.87 <FILTERING> SP.coast
@19:01:14.94 <closeIntake> Intake.close
@19:01:14.96 <closeExhaust> Exhaust.close
@19:01:15.82 <FILTERING> TV.seek :bypass
@19:01:17.43 TV.seek :free
@19:01:19.09 TV.coast
@19:01:19.13 Cmd::Paused in FILTERING -- CartridgeTimeLimit Expired during Sample Pump move after sampling 347.6ml
@19:01:20.39 <LRAUV> -> Cmd.startProcessing
@19:01:20.60 <PROCESSING> PV.seek :reagent
@19:01:21.51 Sample loop closed. Ready to Deliver Reagents
@19:01:21.53 ArS.seek :sealed
@19:01:25.17 ArS.seek :evac
@19:01:39.15 delay 20 seconds
@19:01:59.19 ArS.seek :clear
@19:02:16.32 RNAlater soak for 10:00
@19:02:16.33 delay 10:00
@19:12:16.36 ArS.seek :tVent
@19:12:18.00 delay 1 second
@19:12:19.03 ArS.seek :evac
@19:12:34.99 delay 10 seconds
@19:12:45.03 ArS.seek :tVent
@19:13:00.98 delay 1 second
@19:13:02.01 ArS.seek :evac
@19:13:17.96 delay 10 seconds
@19:13:28.00 Sample preserved and evacuated
@19:13:28.88 <LRAUV> -> Cmd.stop
@19:13:29.25 <ArS> ArS.seek :clear
@19:13:46.50 <PV> PV.seek :clear
@19:13:46.54 <LyS2> LyS2.seek :free
@19:13:48.37 <LRAUV> Gate.power :motor,:OFF
@19:13:48.39 Gate.power :main,:OFF
@19:13:48.42 Gate.power :core,:OFF
@19:13:48.43 Safely stopped and ready to power off