@19:24:47.87PST29-Jan-18 <MAIN> >BREAK< ESP3 Gateway v0.80 for core bus
@19:24:48.81 
Configuration for koa by brent@mbari.org
/home/esp/esp2/type/auv/koa/configure.rb
@19:24:49.70 Polling Can every 10:00
@19:24:49.97 Clients may connect on TCP port 9999
@19:24:49.98 Connecting to 134.89.95.66:9999
@19:24:50.02 Waiting for espclients...
@19:24:50.26 <LRAUV> Session Begun
@19:24:52.19 -> showStatus
@19:24:54.19 -> Cmd.loadCartridge
@19:24:54.24 Powering core bus
@19:24:56.93 ArS.configure ArSconfig
@19:24:57.02 LyS1.configure LyS1config
@19:24:57.14 LyS2.configure LyS2config
@19:24:57.25 AirS.configure AirSconfig
@19:24:57.37 TV.configure TVconfig
@19:24:57.48 SP.configure SPconfig
@19:24:57.61 Sea.configure SPconfig
@19:24:57.74 SC.configure SCconfig
@19:24:57.86 PV.configure PVconfig
@19:24:57.92 All elf controllers running firmware version 4.41
@19:24:57.94 Gate.power :main,:ON,limit to 5000mA
@19:24:57.96 Gate.power :motor,:ON,limit to 5000mA
@19:24:58.04 <closeIntake> Intake.close
@19:24:58.07 <closeExhaust> Exhaust.close
@19:24:58.11 <closePB> PB.close
@19:24:58.58 <TV_home> TV.reconfigure TVconfig
@19:24:58.63 <AirS_home> AirS.reconfigure AirSconfig
@19:24:58.66 <PV_home> PV.reconfigure PVconfig
@19:24:58.71 <LyS2_home> LyS2.reconfigure LyS2config
@19:24:58.74 <LyS1_home> LyS1.reconfigure LyS1config
@19:24:58.81 <ArS_home> ArS.reconfigure ArSconfig
@19:24:59.22 <TV_home> TV.home.jog 0
@19:24:59.25 <AirS_home> AirS.home.jog 0
@19:24:59.27 <PV_home> PV.home.jog 0
@19:24:59.30 <LyS2_home> LyS2.home.jog 0
@19:24:59.33 <LyS1_home> LyS1.home.jog 0
@19:24:59.36 <ArS_home> ArS.home.jog 0
@19:24:59.77 <TV_home> TV.reconfigure HomeTV
@19:24:59.89 <AirS_home> AirS.reconfigure HomeMagSyringe
@19:24:59.92 <PV_home> PV.reconfigure HomingPV
@19:25:00.07 <TV_home> TV.jog -498
@19:25:00.10 <PV_home> PV.jog -118
@19:25:00.13 <AirS_home> AirS.jog -129
@19:25:00.33 <LyS1_home> LyS1.reconfigure HomeSyringe
@19:25:00.35 <LyS2_home> LyS2.reconfigure HomeSyringe
@19:25:00.38 <ArS_home> ArS.reconfigure HomeMagSyringe
@19:25:00.50 <LyS2_home> LyS2.jog -126
@19:25:00.52 <LyS1_home> LyS1.jog -117
@19:25:00.59 <ArS_home> ArS.jog -130
@19:25:00.71 <PV_home> PV.setRawPosition! -50
@19:25:00.74 <AirS_home> AirS.setRawPosition! -50
@19:25:00.86 <PV_home> PV.seek :home
@19:25:00.90 <AirS_home> AirS.seek :home
@19:25:01.04 <LyS2_home> LyS2.setRawPosition! -50
@19:25:01.06 <LyS1_home> LyS1.setRawPosition! -50
@19:25:01.08 <ArS_home> ArS.setRawPosition! -50
@19:25:01.16 <LyS2_home> LyS2.seek :home
@19:25:01.24 <LyS1_home> LyS1.seek :home
@19:25:01.27 <ArS_home> ArS.seek :home
@19:25:01.43 <PV_home> PV.reconfigure PVconfig
@19:25:01.44 <AirS_home> AirS.reconfigure AirSconfig
@19:25:01.61 <LyS2_home> LyS2.reconfigure LyS2config
@19:25:01.69 <LyS1_home> LyS1.reconfigure LyS1config
@19:25:01.70 <ArS_home> ArS.reconfigure ArSconfig
@19:25:01.86 <TV_home> TV.setRawPosition! 0
@19:25:01.91 TV.seek :home
@19:25:01.99 TV.reconfigure TVconfig
@19:25:02.11 <LRAUV> TV.seek :clear
@19:25:03.73 SC.reconfigure HomeSC
@19:25:03.79 SC.home.jog 0
@19:25:04.02 Selecting Cartridge slot 18
@19:25:04.58 SC.reconfigure SCconfig
@19:25:04.63 SC.seek 18
@19:25:05.01 <LyS2> LyS2.seek :cartridge
@19:25:05.04 <PV> PV.seek :cartridge
@19:25:26.94 <LRAUV> -> Cmd.startFiltering
@19:25:27.14 <FILTERING> Duration of filtering limited to 20:00
@19:25:27.33 Priming sample loop w/100ml, bypass w/10ml
@19:25:27.35 TV.seek :bypass
@19:25:28.96 TV.seek :free
@19:25:30.62 TV.coast
@19:25:30.66 <openPB> PB.open
@19:25:30.68 <FILTERING> Exhaust.close
@19:25:31.38 Intake.open
@19:25:32.20 Sea @17.3psia
@19:25:32.22 Waiting 4 - 300s for filter pressure to stabilize +/-0.5psi
@19:25:37.75 Vacuum tare is 23% of full scale
@19:25:37.82 Sea @0.2psia
@19:25:37.83 SP.setPosition! 0ml
@19:25:37.89 SP.reconfigure SPprime
@19:25:37.95 SP.seek 10ml,1:21
@19:25:48.52 <closePB> PB.close
@19:25:48.54 <FILTERING> Exhaust.open
@19:25:49.41 Sea @17.6psia
@19:25:49.43 SP.setPosition! 0ml
@19:25:49.48 SP.seek 100ml,8:51
@19:27:53.21 Pressurizing cartridge to 26psi
@19:27:53.23 <closeIntake> Intake.close
@19:27:53.25 <closeExhaust> Exhaust.close
@19:27:54.06 <FILTERING> PB.open
@19:27:54.74 delay 2 seconds
@19:27:56.81 TV.seek :crack
@19:27:57.60 TV.seek :free
@19:27:58.40 TV.coast
@19:27:58.72 Intake.open
@19:27:59.44 delay 2 seconds
@19:28:01.46 PB.close
@19:28:02.22 Sea @18.0psia
@19:28:02.24 SP.setPosition! 0ml
@19:28:02.29 SP.reconfigure SPcharge
@19:28:02.35 SP.seek 5ml,3:46
@19:28:08.09 Cartridge pressurized to 26.2psi
@19:28:08.31 Pressure peaked at 26.3psi
@19:28:08.33 delay 3 seconds
@19:28:11.40 Cartridge at 24.5psi 3 seconds later
@19:28:11.53 TV.seek :cartridge
@19:28:13.35 TV.seek :free
@19:28:15.15 TV.coast
@19:28:15.20 Sampling 1000.0ml
@19:28:15.21 Exhaust.open
@19:28:16.03 Sea @-9.9psia
@19:28:16.05 SP.setPosition! 0ml
@19:28:16.11 SP.reconfigure SPsample
@19:28:16.17 SP.seek 1000ml,1:23:53
@19:28:17.15 <sampling> Cartridge 18 sampling 0/1000ml at 0.40ml/s with 23.6psi vacuum -12.3m deep (-3.5psia)
@19:29:17.16 Cartridge 18 sampling 24/1000ml at 0.40ml/s with 21.3psi vacuum -12.8m deep (-4.2psia)
@19:30:17.16 Cartridge 18 sampling 47/1000ml at 0.38ml/s with 21.7psi vacuum -12.7m deep (-4.1psia)
@19:31:17.16 Cartridge 18 sampling 70/1000ml at 0.35ml/s with 23.7psi vacuum -12.4m deep (-3.6psia)
@19:32:17.15 Cartridge 18 sampling 92/1000ml at 0.37ml/s with 24.0psi vacuum -13.1m deep (-4.7psia)
@19:33:17.15 Cartridge 18 sampling 114/1000ml at 0.37ml/s with 23.0psi vacuum -12.0m deep (-3.0psia)
@19:34:17.15 Cartridge 18 sampling 135/1000ml at 0.36ml/s with 24.6psi vacuum -13.7m deep (-5.6psia)
@19:35:17.16 Cartridge 18 sampling 156/1000ml at 0.33ml/s with 23.3psi vacuum -12.4m deep (-3.6psia)
@19:36:17.15 Cartridge 18 sampling 177/1000ml at 0.34ml/s with 25.1psi vacuum -13.3m deep (-4.9psia)
@19:37:17.15 Cartridge 18 sampling 198/1000ml at 0.32ml/s with 20.0psi vacuum -13.0m deep (-4.6psia)
@19:38:17.15 Cartridge 18 sampling 217/1000ml at 0.31ml/s with 19.0psi vacuum -24.6m deep (-21.6psia)
@19:39:17.15 Cartridge 18 sampling 237/1000ml at 0.33ml/s with 23.3psi vacuum -13.4m deep (-5.2psia)
@19:40:17.16 Cartridge 18 sampling 256/1000ml at 0.31ml/s with 20.1psi vacuum -12.1m deep (-3.3psia)
@19:41:17.15 Cartridge 18 sampling 275/1000ml at 0.31ml/s with 19.9psi vacuum -13.5m deep (-5.3psia)
@19:42:17.15 Cartridge 18 sampling 294/1000ml at 0.30ml/s with 22.9psi vacuum -25.2m deep (-22.6psia)
@19:43:17.15 Cartridge 18 sampling 312/1000ml at 0.31ml/s with 21.1psi vacuum -13.4m deep (-5.0psia)
@19:44:17.15 Cartridge 18 sampling 329/1000ml at 0.30ml/s with 24.3psi vacuum -12.7m deep (-4.0psia)
@19:45:17.15 Cartridge 18 sampling 347/1000ml at 0.31ml/s with 24.7psi vacuum -12.9m deep (-4.4psia)
@19:45:27.19 <FILTERING> SP.coast
@19:45:27.26 <closeIntake> Intake.close
@19:45:27.28 <closeExhaust> Exhaust.close
@19:45:28.16 <FILTERING> TV.seek :bypass
@19:45:29.78 TV.seek :free
@19:45:31.44 TV.coast
@19:45:31.48 Cmd::Paused in FILTERING -- CartridgeTimeLimit Expired during Sample Pump move after sampling 349.7ml
@19:45:32.71 <LRAUV> -> Cmd.startProcessing
@19:45:32.91 <PROCESSING> PV.seek :reagent
@19:45:33.82 Sample loop closed. Ready to Deliver Reagents
@19:45:33.84 ArS.seek :sealed
@19:45:37.48 ArS.seek :evac
@19:45:51.45 delay 20 seconds
@19:46:11.48 ArS.seek :clear
@19:46:28.60 RNAlater soak for 10:00
@19:46:28.62 delay 10:00
@19:56:28.66 ArS.seek :tVent
@19:56:30.30 delay 1 second
@19:56:31.33 ArS.seek :evac
@19:56:47.27 delay 10 seconds
@19:56:57.31 ArS.seek :tVent
@19:57:13.25 delay 1 second
@19:57:14.28 ArS.seek :evac
@19:57:30.22 delay 10 seconds
@19:57:40.26 Sample preserved and evacuated
@19:57:41.20 <LRAUV> -> Cmd.stop
@19:57:41.57 <ArS> ArS.seek :clear
@19:57:58.81 <LyS2> LyS2.seek :free
@19:57:58.83 <PV> PV.seek :clear
@19:58:00.64 <LRAUV> Gate.power :motor,:OFF
@19:58:00.67 Gate.power :main,:OFF
@19:58:00.68 Gate.power :core,:OFF
@19:58:00.71 Safely stopped and ready to power off