@20:10:02.96PST29-Jan-18 <MAIN> >BREAK< ESP3 Gateway v0.80 for core bus
@20:10:03.90 
Configuration for koa by brent@mbari.org
/home/esp/esp2/type/auv/koa/configure.rb
@20:10:04.79 Polling Can every 10:00
@20:10:05.05 Clients may connect on TCP port 9999
@20:10:05.06 Connecting to 134.89.95.66:9999
@20:10:05.10 Waiting for espclients...
@20:10:05.37 <LRAUV> Session Begun
@20:10:07.30 -> showStatus
@20:10:09.30 -> Cmd.loadCartridge
@20:10:09.36 Powering core bus
@20:10:12.05 ArS.configure ArSconfig
@20:10:12.14 LyS1.configure LyS1config
@20:10:12.26 LyS2.configure LyS2config
@20:10:12.37 AirS.configure AirSconfig
@20:10:12.48 TV.configure TVconfig
@20:10:12.60 SP.configure SPconfig
@20:10:12.72 Sea.configure SPconfig
@20:10:12.86 SC.configure SCconfig
@20:10:12.98 PV.configure PVconfig
@20:10:13.03 All elf controllers running firmware version 4.41
@20:10:13.05 Gate.power :main,:ON,limit to 5000mA
@20:10:13.07 Gate.power :motor,:ON,limit to 5000mA
@20:10:13.14 <closeIntake> Intake.close
@20:10:13.18 <closeExhaust> Exhaust.close
@20:10:13.21 <closePB> PB.close
@20:10:13.67 <PV_home> PV.reconfigure PVconfig
@20:10:13.72 <TV_home> TV.reconfigure TVconfig
@20:10:13.78 <AirS_home> AirS.reconfigure AirSconfig
@20:10:13.81 <LyS1_home> LyS1.reconfigure LyS1config
@20:10:13.87 <LyS2_home> LyS2.reconfigure LyS2config
@20:10:13.90 <ArS_home> ArS.reconfigure ArSconfig
@20:10:14.07 <PV_home> PV.home.jog 0
@20:10:14.36 <AirS_home> AirS.home.jog 0
@20:10:14.39 <TV_home> TV.home.jog 0
@20:10:14.43 <LyS2_home> LyS2.home.jog 0
@20:10:14.48 <LyS1_home> LyS1.home.jog 0
@20:10:14.52 <ArS_home> ArS.home.jog 0
@20:10:14.93 <TV_home> TV.reconfigure HomeTV
@20:10:14.97 <AirS_home> AirS.reconfigure HomeMagSyringe
@20:10:15.03 <PV_home> PV.reconfigure HomingPV
@20:10:15.21 <TV_home> TV.jog -498
@20:10:15.24 <AirS_home> AirS.jog -127
@20:10:15.30 <PV_home> PV.jog -118
@20:10:15.46 <LyS1_home> LyS1.reconfigure HomeSyringe
@20:10:15.48 <LyS2_home> LyS2.reconfigure HomeSyringe
@20:10:15.51 <ArS_home> ArS.reconfigure HomeMagSyringe
@20:10:15.63 <LyS1_home> LyS1.jog -113
@20:10:15.67 <LyS2_home> LyS2.jog -123
@20:10:15.72 <ArS_home> ArS.jog -132
@20:10:15.93 <PV_home> PV.setRawPosition! -50
@20:10:15.95 <AirS_home> AirS.setRawPosition! -50
@20:10:16.01 <PV_home> PV.seek :home
@20:10:16.05 <AirS_home> AirS.seek :home
@20:10:16.17 <LyS1_home> LyS1.setRawPosition! -50
@20:10:16.22 LyS1.seek :home
@20:10:16.31 <LyS2_home> LyS2.setRawPosition! -50
@20:10:16.36 <ArS_home> ArS.setRawPosition! -50
@20:10:16.39 <LyS2_home> LyS2.seek :home
@20:10:16.47 <ArS_home> ArS.seek :home
@20:10:16.59 <AirS_home> AirS.reconfigure AirSconfig
@20:10:16.61 <LyS1_home> LyS1.reconfigure LyS1config
@20:10:16.65 <PV_home> PV.reconfigure PVconfig
@20:10:16.82 <ArS_home> ArS.reconfigure ArSconfig
@20:10:16.84 <LyS2_home> LyS2.reconfigure LyS2config
@20:10:16.96 <TV_home> TV.setRawPosition! 0
@20:10:17.01 TV.seek :home
@20:10:17.09 TV.reconfigure TVconfig
@20:10:17.21 <LRAUV> TV.seek :clear
@20:10:18.83 SC.reconfigure HomeSC
@20:10:18.89 SC.home.jog 0
@20:10:19.12 Selecting Cartridge slot 17
@20:10:19.67 SC.reconfigure SCconfig
@20:10:19.73 SC.seek 17
@20:10:20.11 <LyS2> LyS2.seek :cartridge
@20:10:20.15 <PV> PV.seek :cartridge
@20:10:42.05 <LRAUV> -> Cmd.startFiltering
@20:10:42.25 <FILTERING> Duration of filtering limited to 20:00
@20:10:42.44 Priming sample loop w/100ml, bypass w/10ml
@20:10:42.46 TV.seek :bypass
@20:10:44.07 TV.seek :free
@20:10:45.73 TV.coast
@20:10:45.77 Exhaust.close
@20:10:45.79 <openPB> PB.open
@20:10:46.50 <FILTERING> Intake.open
@20:10:47.32 Sea @16.3psia
@20:10:47.33 Waiting 4 - 300s for filter pressure to stabilize +/-0.5psi
@20:10:52.86 Vacuum tare is 23% of full scale
@20:10:52.93 Sea @16.5psia
@20:10:52.95 SP.setPosition! 0ml
@20:10:53.00 SP.reconfigure SPprime
@20:10:53.07 SP.seek 10ml,1:21
@20:11:03.64 <closePB> PB.close
@20:11:03.67 <FILTERING> Exhaust.open
@20:11:04.53 Sea @17.0psia
@20:11:04.55 SP.setPosition! 0ml
@20:11:04.60 SP.seek 100ml,8:51
@20:13:08.07 Pressurizing cartridge to 26psi
@20:13:08.08 <closeIntake> Intake.close
@20:13:08.12 <closeExhaust> Exhaust.close
@20:13:08.91 <FILTERING> PB.open
@20:13:09.61 delay 2 seconds
@20:13:11.69 TV.seek :crack
@20:13:12.48 TV.seek :free
@20:13:13.54 TV.coast
@20:13:13.59 Intake.open
@20:13:14.32 delay 2 seconds
@20:13:16.35 PB.close
@20:13:17.12 Sea @18.4psia
@20:13:17.13 SP.setPosition! 0ml
@20:13:17.18 SP.reconfigure SPcharge
@20:13:17.24 SP.seek 5ml,3:46
@20:13:22.63 Cartridge pressurized to 26.4psi
@20:13:22.86 Pressure peaked at 26.4psi
@20:13:22.87 delay 3 seconds
@20:13:25.94 Cartridge at 19.5psi 3 seconds later
@20:13:26.07 TV.seek :cartridge
@20:13:27.89 TV.seek :free
@20:13:29.69 TV.coast
@20:13:29.74 Sampling 1000.0ml
@20:13:29.76 Exhaust.open
@20:13:30.61 Sea @-7.7psia
@20:13:30.63 SP.setPosition! 0ml
@20:13:30.68 SP.reconfigure SPsample
@20:13:30.74 SP.seek 1000ml,1:23:53
@20:13:31.72 <sampling> Cartridge 17 sampling 0/1000ml at 0.39ml/s with 21.3psi vacuum -11.7m deep (-2.6psia)
@20:14:31.73 Cartridge 17 sampling 24/1000ml at 0.37ml/s with 23.2psi vacuum -13.2m deep (-4.9psia)
@20:15:31.73 Cartridge 17 sampling 47/1000ml at 0.39ml/s with 22.8psi vacuum -12.0m deep (-3.0psia)
@20:16:31.73 Cartridge 17 sampling 70/1000ml at 0.40ml/s with 23.4psi vacuum -13.2m deep (-4.9psia)
@20:17:31.73 Cartridge 17 sampling 92/1000ml at 0.34ml/s with 20.3psi vacuum -11.9m deep (-3.0psia)
@20:18:31.73 Cartridge 17 sampling 114/1000ml at 0.36ml/s with 23.1psi vacuum -13.2m deep (-4.8psia)
@20:19:31.73 Cartridge 17 sampling 135/1000ml at 0.36ml/s with 21.3psi vacuum -11.8m deep (-2.7psia)
@20:20:31.73 Cartridge 17 sampling 156/1000ml at 0.35ml/s with 21.1psi vacuum -13.4m deep (-5.2psia)
@20:21:31.73 Cartridge 17 sampling 177/1000ml at 0.35ml/s with 22.6psi vacuum -11.8m deep (-2.8psia)
@20:22:31.73 Cartridge 17 sampling 197/1000ml at 0.31ml/s with 23.2psi vacuum -13.4m deep (-5.1psia)
@20:23:31.73 Cartridge 17 sampling 217/1000ml at 0.35ml/s with 23.3psi vacuum -12.0m deep (-3.0psia)
@20:24:31.73 Cartridge 17 sampling 236/1000ml at 0.33ml/s with 23.0psi vacuum -27.4m deep (-25.8psia)
@20:25:31.73 Cartridge 17 sampling 256/1000ml at 0.34ml/s with 25.0psi vacuum -12.4m deep (-3.6psia)
@20:26:31.73 Cartridge 17 sampling 274/1000ml at 0.30ml/s with 18.4psi vacuum -13.2m deep (-4.8psia)
@20:27:31.73 Cartridge 17 sampling 293/1000ml at 0.31ml/s with 21.3psi vacuum -12.6m deep (-4.0psia)
@20:28:31.73 Cartridge 17 sampling 311/1000ml at 0.28ml/s with 17.7psi vacuum -13.3m deep (-5.0psia)
@20:29:31.73 Cartridge 17 sampling 328/1000ml at 0.29ml/s with 25.4psi vacuum -12.7m deep (-4.1psia)
@20:30:31.73 Cartridge 17 sampling 346/1000ml at 0.28ml/s with 23.0psi vacuum -12.9m deep (-4.3psia)
@20:30:42.29 <FILTERING> SP.coast
@20:30:42.36 <closeIntake> Intake.close
@20:30:42.39 <closeExhaust> Exhaust.close
@20:30:43.27 <FILTERING> TV.seek :bypass
@20:30:44.88 TV.seek :free
@20:30:46.54 TV.coast
@20:30:46.58 Cmd::Paused in FILTERING -- CartridgeTimeLimit Expired during Sample Pump move after sampling 348.7ml
@20:30:47.82 <LRAUV> -> Cmd.startProcessing
@20:30:48.02 <PROCESSING> PV.seek :reagent
@20:30:48.93 Sample loop closed. Ready to Deliver Reagents
@20:30:48.95 ArS.seek :sealed
@20:30:52.59 ArS.seek :evac
@20:31:06.55 delay 20 seconds
@20:31:26.59 ArS.seek :clear
@20:31:43.72 RNAlater soak for 10:00
@20:31:43.73 delay 10:00
@20:41:43.77 ArS.seek :tVent
@20:41:45.41 delay 1 second
@20:41:46.44 ArS.seek :evac
@20:42:02.37 delay 10 seconds
@20:42:12.41 ArS.seek :tVent
@20:42:28.34 delay 1 second
@20:42:29.37 ArS.seek :evac
@20:42:45.30 delay 10 seconds
@20:42:55.34 Sample preserved and evacuated
@20:42:56.31 <LRAUV> -> Cmd.stop
@20:42:56.68 <ArS> ArS.seek :clear
@20:43:13.93 <LyS2> LyS2.seek :free
@20:43:13.95 <PV> PV.seek :clear
@20:43:15.77 <LRAUV> Gate.power :motor,:OFF
@20:43:15.79 Gate.power :main,:OFF
@20:43:15.81 Gate.power :core,:OFF
@20:43:15.84 Safely stopped and ready to power off