@00:27:18.29PST30-Jan-18 <MAIN> >BREAK< ESP3 Gateway v0.80 for core bus
@00:27:19.24 
Configuration for koa by brent@mbari.org
/home/esp/esp2/type/auv/koa/configure.rb
@00:27:20.15 Polling Can every 10:00
@00:27:20.42 Clients may connect on TCP port 9999
@00:27:20.43 Connecting to 134.89.95.66:9999
@00:27:20.47 Waiting for espclients...
@00:27:20.68 <LRAUV> Session Begun
@00:27:22.62 -> showStatus
@00:27:24.61 -> Cmd.loadCartridge
@00:27:24.70 Powering core bus
@00:27:27.40 ArS.configure ArSconfig
@00:27:27.50 LyS1.configure LyS1config
@00:27:27.61 LyS2.configure LyS2config
@00:27:27.71 AirS.configure AirSconfig
@00:27:27.83 TV.configure TVconfig
@00:27:27.95 SP.configure SPconfig
@00:27:28.07 Sea.configure SPconfig
@00:27:28.21 SC.configure SCconfig
@00:27:28.33 PV.configure PVconfig
@00:27:28.39 All elf controllers running firmware version 4.41
@00:27:28.40 Gate.power :main,:ON,limit to 5000mA
@00:27:28.42 Gate.power :motor,:ON,limit to 5000mA
@00:27:28.51 <closeIntake> Intake.close
@00:27:28.54 <closeExhaust> Exhaust.close
@00:27:28.57 <closePB> PB.close
@00:27:29.06 <TV_home> TV.reconfigure TVconfig
@00:27:29.12 <AirS_home> AirS.reconfigure AirSconfig
@00:27:29.15 <LyS1_home> LyS1.reconfigure LyS1config
@00:27:29.18 <PV_home> PV.reconfigure PVconfig
@00:27:29.22 <ArS_home> ArS.reconfigure ArSconfig
@00:27:29.26 <LyS2_home> LyS2.reconfigure LyS2config
@00:27:29.67 <TV_home> TV.home.jog 0
@00:27:29.72 <LyS1_home> LyS1.home.jog 0
@00:27:29.74 <AirS_home> AirS.home.jog 0
@00:27:29.77 <PV_home> PV.home.jog 0
@00:27:29.80 <LyS2_home> LyS2.home.jog 0
@00:27:29.83 <ArS_home> ArS.home.jog 0
@00:27:30.34 <TV_home> TV.reconfigure HomeTV
@00:27:30.41 <AirS_home> AirS.reconfigure HomeMagSyringe
@00:27:30.49 <PV_home> PV.reconfigure HomingPV
@00:27:30.54 <LyS1_home> LyS1.reconfigure HomeSyringe
@00:27:30.68 <TV_home> TV.jog -502
@00:27:30.72 <PV_home> PV.jog -117
@00:27:30.75 <AirS_home> AirS.jog -127
@00:27:30.78 <LyS1_home> LyS1.jog -112
@00:27:30.97 <ArS_home> ArS.reconfigure HomeMagSyringe
@00:27:30.99 <LyS2_home> LyS2.reconfigure HomeSyringe
@00:27:31.09 LyS2.jog -120
@00:27:31.12 <ArS_home> ArS.jog -129
@00:27:31.25 <PV_home> PV.setRawPosition! -50
@00:27:31.26 <LyS1_home> LyS1.setRawPosition! -50
@00:27:31.33 <PV_home> PV.seek :home
@00:27:31.42 <LyS1_home> LyS1.seek :home
@00:27:31.50 <AirS_home> AirS.setRawPosition! -50
@00:27:31.55 AirS.seek :home
@00:27:31.65 <PV_home> PV.reconfigure PVconfig
@00:27:31.69 <LyS2_home> LyS2.setRawPosition! -50
@00:27:31.71 <ArS_home> ArS.setRawPosition! -50
@00:27:31.83 ArS.seek :home
@00:27:31.86 <LyS2_home> LyS2.seek :home
@00:27:31.98 <LyS1_home> LyS1.reconfigure LyS1config
@00:27:32.00 <AirS_home> AirS.reconfigure AirSconfig
@00:27:32.16 <ArS_home> ArS.reconfigure ArSconfig
@00:27:32.23 <LyS2_home> LyS2.reconfigure LyS2config
@00:27:32.51 <TV_home> TV.setRawPosition! 0
@00:27:32.55 TV.seek :home
@00:27:32.63 TV.reconfigure TVconfig
@00:27:32.76 <LRAUV> TV.seek :clear
@00:27:34.38 SC.reconfigure HomeSC
@00:27:34.44 SC.home.jog 0
@00:27:34.66 Selecting Cartridge slot 14
@00:27:35.22 SC.reconfigure SCconfig
@00:27:35.28 SC.seek 14
@00:27:35.66 <LyS2> LyS2.seek :cartridge
@00:27:35.70 <PV> PV.seek :cartridge
@00:27:57.36 <LRAUV> -> Cmd.startFiltering
@00:27:57.55 <FILTERING> Duration of filtering limited to 20:00
@00:27:57.74 Priming sample loop w/100ml, bypass w/10ml
@00:27:57.75 TV.seek :bypass
@00:27:59.36 TV.seek :free
@00:28:01.06 TV.coast
@00:28:01.10 <openPB> PB.open
@00:28:01.13 <FILTERING> Exhaust.close
@00:28:01.85 Intake.open
@00:28:02.72 Sea @76.2psia
@00:28:02.73 Waiting 4 - 300s for filter pressure to stabilize +/-0.5psi
@00:28:08.26 Vacuum tare is 23% of full scale
@00:28:08.33 Sea @76.6psia
@00:28:08.35 SP.setPosition! 0ml
@00:28:08.40 SP.reconfigure SPprime
@00:28:08.47 SP.seek 10ml,1:21
@00:28:19.05 <closePB> PB.close
@00:28:19.07 <FILTERING> Exhaust.open
@00:28:19.96 Sea @76.8psia
@00:28:19.98 SP.setPosition! 0ml
@00:28:20.04 SP.seek 100ml,8:51
@00:30:23.32 Pressurizing cartridge to 26psi
@00:30:23.36 <closeExhaust> Exhaust.close
@00:30:23.42 <closeIntake> Intake.close
@00:30:24.33 <FILTERING> PB.open
@00:30:25.05 delay 2 seconds
@00:30:27.12 TV.seek :crack
@00:30:28.22 TV.seek :free
@00:30:29.01 TV.coast
@00:30:29.06 Intake.open
@00:30:29.81 delay 2 seconds
@00:30:31.83 PB.close
@00:30:32.58 Sea @76.5psia
@00:30:32.59 SP.setPosition! 0ml
@00:30:32.64 SP.reconfigure SPcharge
@00:30:32.71 SP.seek 5ml,3:46
@00:30:35.42 Cartridge pressurized to 26.5psi
@00:30:35.68 Pressure peaked at 27.4psi
@00:30:35.73 delay 3 seconds
@00:30:38.82 Cartridge at 23.6psi 3 seconds later
@00:30:38.95 TV.seek :cartridge
@00:30:40.76 TV.seek :free
@00:30:42.56 TV.coast
@00:30:42.61 Sampling 1000.0ml
@00:30:42.62 Exhaust.open
@00:30:43.44 Sea @52.7psia
@00:30:43.46 SP.setPosition! 0ml
@00:30:43.51 SP.reconfigure SPsample
@00:30:43.58 SP.seek 1000ml,1:23:53
@00:30:44.56 <sampling> Cartridge 14 sampling 0/1000ml at 0.39ml/s with 24.0psi vacuum 27.0m deep (54.6psia)
@00:31:44.56 Cartridge 14 sampling 25/1000ml at 0.41ml/s with 24.8psi vacuum 26.0m deep (53.2psia)
@00:32:44.56 Cartridge 14 sampling 49/1000ml at 0.40ml/s with 23.9psi vacuum 27.4m deep (55.2psia)
@00:33:44.56 Cartridge 14 sampling 73/1000ml at 0.39ml/s with 19.8psi vacuum 25.8m deep (52.8psia)
@00:34:44.56 Cartridge 14 sampling 97/1000ml at 0.39ml/s with 23.6psi vacuum 27.5m deep (55.3psia)
@00:35:44.56 Cartridge 14 sampling 120/1000ml at 0.40ml/s with 20.0psi vacuum 25.9m deep (52.9psia)
@00:36:44.56 Cartridge 14 sampling 144/1000ml at 0.39ml/s with 22.3psi vacuum 26.8m deep (54.3psia)
@00:37:44.56 Cartridge 14 sampling 168/1000ml at 0.39ml/s with 21.5psi vacuum 26.3m deep (53.6psia)
@00:38:44.56 Cartridge 14 sampling 191/1000ml at 0.39ml/s with 20.1psi vacuum 26.6m deep (54.1psia)
@00:39:44.56 Cartridge 14 sampling 215/1000ml at 0.40ml/s with 22.3psi vacuum 25.9m deep (53.0psia)
@00:40:44.56 Cartridge 14 sampling 238/1000ml at 0.40ml/s with 21.0psi vacuum 27.2m deep (54.9psia)
@00:41:44.56 Cartridge 14 sampling 262/1000ml at 0.37ml/s with 22.4psi vacuum 26.0m deep (53.2psia)
@00:42:44.56 Cartridge 14 sampling 285/1000ml at 0.36ml/s with 22.7psi vacuum 26.2m deep (53.4psia)
@00:43:44.56 Cartridge 14 sampling 308/1000ml at 0.39ml/s with 20.9psi vacuum 26.8m deep (54.3psia)
@00:44:44.56 Cartridge 14 sampling 331/1000ml at 0.39ml/s with 21.2psi vacuum 26.2m deep (53.4psia)
@00:45:44.56 Cartridge 14 sampling 354/1000ml at 0.38ml/s with 23.0psi vacuum 26.9m deep (54.5psia)
@00:46:44.56 Cartridge 14 sampling 377/1000ml at 0.39ml/s with 24.0psi vacuum 26.2m deep (53.4psia)
@00:47:44.56 Cartridge 14 sampling 400/1000ml at 0.39ml/s with 20.8psi vacuum 27.6m deep (55.5psia)
@00:47:57.59 <FILTERING> SP.coast
@00:47:57.66 <closeIntake> Intake.close
@00:47:57.69 <closeExhaust> Exhaust.close
@00:47:58.57 <FILTERING> TV.seek :bypass
@00:48:00.18 TV.seek :free
@00:48:01.85 TV.coast
@00:48:01.88 Cmd::Paused in FILTERING -- CartridgeTimeLimit Expired during Sample Pump move after sampling 405.4ml
@00:48:03.15 <LRAUV> -> Cmd.startProcessing
@00:48:03.54 <PROCESSING> PV.seek :reagent
@00:48:04.45 Sample loop closed. Ready to Deliver Reagents
@00:48:04.46 ArS.seek :sealed
@00:48:08.11 ArS.seek :evac
@00:48:22.08 delay 20 seconds
@00:48:42.11 ArS.seek :clear
@00:48:59.23 RNAlater soak for 10:00
@00:48:59.24 delay 10:00
@00:58:59.27 ArS.seek :tVent
@00:59:00.92 delay 1 second
@00:59:01.94 ArS.seek :evac
@00:59:17.89 delay 10 seconds
@00:59:27.91 ArS.seek :tVent
@00:59:43.86 delay 1 second
@00:59:44.88 ArS.seek :evac
@01:00:00.84 delay 10 seconds
@01:00:10.86 Sample preserved and evacuated
@01:00:12.03 <LRAUV> -> Cmd.stop
@01:00:12.83 <ArS> ArS.seek :clear
@01:00:30.08 <PV> PV.seek :clear
@01:00:30.12 <LyS2> LyS2.seek :free
@01:00:31.97 <LRAUV> Gate.power :motor,:OFF
@01:00:31.99 Gate.power :main,:OFF
@01:00:32.01 Gate.power :core,:OFF
@01:00:32.03 Safely stopped and ready to power off