@22:51:51.37PST29-Jan-18 <MAIN> >BREAK< ESP3 Gateway v0.80 for core bus
@22:51:52.26 
Configuration for koa by brent@mbari.org
/home/esp/esp2/type/auv/koa/configure.rb
@22:51:53.17 Polling Can every 10:00
@22:51:53.44 Clients may connect on TCP port 9999
@22:51:53.46 Connecting to 134.89.95.66:9999
@22:51:53.50 Waiting for espclients...
@22:51:53.82 <LRAUV> Session Begun
@22:51:56.46 -> showStatus
@22:51:58.06 -> Cmd.loadCartridge
@22:51:58.11 Powering core bus
@22:52:00.80 ArS.configure ArSconfig
@22:52:00.89 LyS1.configure LyS1config
@22:52:01.07 LyS2.configure LyS2config
@22:52:01.17 AirS.configure AirSconfig
@22:52:01.29 TV.configure TVconfig
@22:52:01.40 SP.configure SPconfig
@22:52:01.52 Sea.configure SPconfig
@22:52:01.65 SC.configure SCconfig
@22:52:01.77 PV.configure PVconfig
@22:52:01.83 All elf controllers running firmware version 4.41
@22:52:01.84 Gate.power :main,:ON,limit to 5000mA
@22:52:01.86 Gate.power :motor,:ON,limit to 5000mA
@22:52:01.95 <closeIntake> Intake.close
@22:52:01.99 <closeExhaust> Exhaust.close
@22:52:02.02 <closePB> PB.close
@22:52:02.51 <TV_home> TV.reconfigure TVconfig
@22:52:02.54 <AirS_home> AirS.reconfigure AirSconfig
@22:52:02.57 <LyS1_home> LyS1.reconfigure LyS1config
@22:52:02.60 <PV_home> PV.reconfigure PVconfig
@22:52:02.64 <LyS2_home> LyS2.reconfigure LyS2config
@22:52:02.67 <ArS_home> ArS.reconfigure ArSconfig
@22:52:02.86 <TV_home> TV.home.jog 0
@22:52:02.89 <LyS1_home> LyS1.home.jog 0
@22:52:02.92 <AirS_home> AirS.home.jog 0
@22:52:03.16 <PV_home> PV.home.jog 0
@22:52:03.18 <LyS2_home> LyS2.home.jog 0
@22:52:03.25 <ArS_home> ArS.home.jog 0
@22:52:03.67 <TV_home> TV.reconfigure HomeTV
@22:52:03.73 <AirS_home> AirS.reconfigure HomeMagSyringe
@22:52:03.80 <LyS1_home> LyS1.reconfigure HomeSyringe
@22:52:03.84 <PV_home> PV.reconfigure HomingPV
@22:52:03.99 <TV_home> TV.jog -502
@22:52:04.03 <AirS_home> AirS.jog -127
@22:52:04.06 <PV_home> PV.jog -114
@22:52:04.09 <LyS1_home> LyS1.jog -112
@22:52:04.28 <LyS2_home> LyS2.reconfigure HomeSyringe
@22:52:04.30 <ArS_home> ArS.reconfigure HomeMagSyringe
@22:52:04.39 ArS.jog -129
@22:52:04.41 <LyS2_home> LyS2.jog -121
@22:52:04.55 <AirS_home> AirS.setRawPosition! -50
@22:52:04.57 <PV_home> PV.setRawPosition! -50
@22:52:04.66 <AirS_home> AirS.seek :home
@22:52:04.68 <PV_home> PV.seek :home
@22:52:04.79 <LyS1_home> LyS1.setRawPosition! -50
@22:52:04.85 LyS1.seek :home
@22:52:04.93 <LyS2_home> LyS2.setRawPosition! -50
@22:52:04.95 <ArS_home> ArS.setRawPosition! -50
@22:52:05.05 ArS.seek :home
@22:52:05.07 <LyS2_home> LyS2.seek :home
@22:52:05.23 <PV_home> PV.reconfigure PVconfig
@22:52:05.25 <AirS_home> AirS.reconfigure AirSconfig
@22:52:05.28 <LyS1_home> LyS1.reconfigure LyS1config
@22:52:05.45 <ArS_home> ArS.reconfigure ArSconfig
@22:52:05.47 <LyS2_home> LyS2.reconfigure LyS2config
@22:52:05.86 <TV_home> TV.setRawPosition! 0
@22:52:05.91 TV.seek :home
@22:52:05.99 TV.reconfigure TVconfig
@22:52:06.11 <LRAUV> TV.seek :clear
@22:52:07.73 SC.reconfigure HomeSC
@22:52:07.80 SC.home.jog 0
@22:52:08.05 Selecting Cartridge slot 16
@22:52:08.59 SC.reconfigure SCconfig
@22:52:08.64 SC.seek 16
@22:52:09.05 <LyS2> LyS2.seek :cartridge
@22:52:09.10 <PV> PV.seek :cartridge
@22:52:30.81 <LRAUV> -> Cmd.startFiltering
@22:52:31.00 <FILTERING> Duration of filtering limited to 20:00
@22:52:31.19 Priming sample loop w/100ml, bypass w/10ml
@22:52:31.21 TV.seek :bypass
@22:52:32.82 TV.seek :free
@22:52:34.48 TV.coast
@22:52:34.52 <openPB> PB.open
@22:52:34.54 <FILTERING> Exhaust.close
@22:52:35.25 Intake.open
@22:52:36.06 Sea @19.0psia
@22:52:36.07 Waiting 4 - 300s for filter pressure to stabilize +/-0.5psi
@22:52:41.60 Vacuum tare is 23% of full scale
@22:52:41.67 Sea @18.8psia
@22:52:41.68 SP.setPosition! 0ml
@22:52:41.74 SP.reconfigure SPprime
@22:52:41.80 SP.seek 10ml,1:21
@22:52:52.38 <closePB> PB.close
@22:52:52.40 <FILTERING> Exhaust.open
@22:52:53.26 Sea @18.2psia
@22:52:53.27 SP.setPosition! 0ml
@22:52:53.33 SP.seek 100ml,8:51
@22:54:56.62 Pressurizing cartridge to 26psi
@22:54:56.66 <closeIntake> Intake.close
@22:54:56.74 <closeExhaust> Exhaust.close
@22:54:57.58 <FILTERING> PB.open
@22:54:58.27 delay 2 seconds
@22:55:00.34 TV.seek :crack
@22:55:01.13 TV.seek :free
@22:55:01.93 TV.coast
@22:55:01.97 Intake.open
@22:55:02.73 delay 2 seconds
@22:55:05.03 PB.close
@22:55:05.78 Sea @17.6psia
@22:55:05.80 SP.setPosition! 0ml
@22:55:05.91 SP.reconfigure SPcharge
@22:55:05.97 SP.seek 5ml,3:46
@22:55:11.40 Cartridge pressurized to 26.2psi
@22:55:11.62 Pressure peaked at 26.3psi
@22:55:11.64 delay 3 seconds
@22:55:14.71 Cartridge at 20.0psi 3 seconds later
@22:55:14.84 TV.seek :cartridge
@22:55:16.65 TV.seek :free
@22:55:18.45 TV.coast
@22:55:18.50 Sampling 1000.0ml
@22:55:18.51 Exhaust.open
@22:55:19.31 Sea @-10.3psia
@22:55:19.33 SP.setPosition! 0ml
@22:55:19.39 SP.reconfigure SPsample
@22:55:19.45 SP.seek 1000ml,1:23:53
@22:55:20.53 <sampling> Cartridge 16 sampling 0/1000ml at 0.42ml/s with 19.9psi vacuum -13.4m deep (-5.1psia)
@22:56:20.55 Cartridge 16 sampling 25/1000ml at 0.42ml/s with 23.0psi vacuum -12.0m deep (-3.1psia)
@22:57:20.55 Cartridge 16 sampling 49/1000ml at 0.37ml/s with 22.6psi vacuum -12.8m deep (-4.2psia)
@22:58:20.43 Cartridge 16 sampling 72/1000ml at 0.37ml/s with 19.2psi vacuum -13.0m deep (-4.5psia)
@22:59:20.43 Cartridge 16 sampling 95/1000ml at 0.36ml/s with 23.4psi vacuum -11.7m deep (-2.6psia)
@23:00:20.43 Cartridge 16 sampling 117/1000ml at 0.37ml/s with 20.9psi vacuum -13.5m deep (-5.2psia)
@23:01:20.43 Cartridge 16 sampling 140/1000ml at 0.36ml/s with 17.7psi vacuum -11.7m deep (-2.5psia)
@23:02:20.43 Cartridge 16 sampling 161/1000ml at 0.38ml/s with 24.3psi vacuum -13.3m deep (-4.9psia)
@23:03:20.54 Cartridge 16 sampling 183/1000ml at 0.37ml/s with 24.6psi vacuum -12.2m deep (-3.4psia)
@23:04:20.54 Cartridge 16 sampling 204/1000ml at 0.32ml/s with 18.2psi vacuum -13.2m deep (-4.8psia)
@23:05:20.43 Cartridge 16 sampling 224/1000ml at 0.33ml/s with 20.7psi vacuum -12.2m deep (-3.3psia)
@23:06:20.43 Cartridge 16 sampling 244/1000ml at 0.33ml/s with 25.3psi vacuum -12.9m deep (-4.4psia)
@23:07:20.43 Cartridge 16 sampling 264/1000ml at 0.31ml/s with 22.2psi vacuum -12.4m deep (-3.7psia)
@23:08:20.43 Cartridge 16 sampling 284/1000ml at 0.30ml/s with 22.7psi vacuum -13.0m deep (-4.5psia)
@23:09:20.43 Cartridge 16 sampling 303/1000ml at 0.33ml/s with 24.8psi vacuum -13.2m deep (-4.8psia)
@23:10:20.56 Cartridge 16 sampling 322/1000ml at 0.30ml/s with 19.5psi vacuum -12.2m deep (-3.4psia)
@23:11:20.53 Cartridge 16 sampling 340/1000ml at 0.31ml/s with 17.7psi vacuum -13.1m deep (-4.6psia)
@23:12:20.54 Cartridge 16 sampling 358/1000ml at 0.29ml/s with 19.5psi vacuum -12.8m deep (-4.2psia)
@23:12:31.05 <FILTERING> SP.coast
@23:12:31.11 <closeIntake> Intake.close
@23:12:31.14 <closeExhaust> Exhaust.close
@23:12:32.16 <FILTERING> TV.seek :bypass
@23:12:33.81 TV.seek :free
@23:12:35.46 TV.coast
@23:12:35.50 Cmd::Paused in FILTERING -- CartridgeTimeLimit Expired during Sample Pump move after sampling 361.1ml
@23:12:36.95 <LRAUV> -> Cmd.startProcessing
@23:12:37.15 <PROCESSING> PV.seek :reagent
@23:12:38.06 Sample loop closed. Ready to Deliver Reagents
@23:12:38.08 ArS.seek :sealed
@23:12:41.72 ArS.seek :evac
@23:12:55.69 delay 20 seconds
@23:13:15.73 ArS.seek :clear
@23:13:32.86 RNAlater soak for 10:00
@23:13:32.88 delay 10:00
@23:23:32.92 ArS.seek :tVent
@23:23:34.56 delay 1 second
@23:23:35.59 ArS.seek :evac
@23:23:51.53 delay 10 seconds
@23:24:01.57 ArS.seek :tVent
@23:24:17.51 delay 1 second
@23:24:18.54 ArS.seek :evac
@23:24:34.48 delay 10 seconds
@23:24:44.52 Sample preserved and evacuated
@23:24:45.45 <LRAUV> -> Cmd.stop
@23:24:45.82 <ArS> ArS.seek :clear
@23:25:03.07 <LyS2> LyS2.seek :free
@23:25:03.10 <PV> PV.seek :clear
@23:25:04.91 <LRAUV> Gate.power :motor,:OFF
@23:25:04.94 Gate.power :main,:OFF
@23:25:04.96 Gate.power :core,:OFF
@23:25:04.98 Safely stopped and ready to power off