@05:55:58.23PST30-Jan-18 <MAIN> >BREAK< ESP3 Gateway v0.80 for core bus
@05:55:59.19 
Configuration for koa by brent@mbari.org
/home/esp/esp2/type/auv/koa/configure.rb
@05:56:00.11 Polling Can every 10:00
@05:56:00.38 Clients may connect on TCP port 9999
@05:56:00.39 Connecting to 134.89.95.66:9999
@05:56:00.43 Waiting for espclients...
@05:56:00.77 <LRAUV> Session Begun
@05:56:02.72 -> showStatus
@05:56:04.72 -> Cmd.loadCartridge
@05:56:04.81 Powering core bus
@05:56:07.52 ArS.configure ArSconfig
@05:56:07.62 LyS1.configure LyS1config
@05:56:07.74 LyS2.configure LyS2config
@05:56:07.84 AirS.configure AirSconfig
@05:56:07.96 TV.configure TVconfig
@05:56:08.07 SP.configure SPconfig
@05:56:08.19 Sea.configure SPconfig
@05:56:08.32 SC.configure SCconfig
@05:56:08.44 PV.configure PVconfig
@05:56:08.49 All elf controllers running firmware version 4.41
@05:56:08.51 Gate.power :main,:ON,limit to 5000mA
@05:56:08.53 Gate.power :motor,:ON,limit to 5000mA
@05:56:08.60 <closeIntake> Intake.close
@05:56:08.64 <closeExhaust> Exhaust.close
@05:56:08.67 <closePB> PB.close
@05:56:09.21 <TV_home> TV.reconfigure TVconfig
@05:56:09.23 <AirS_home> AirS.reconfigure AirSconfig
@05:56:09.26 <LyS1_home> LyS1.reconfigure LyS1config
@05:56:09.32 <PV_home> PV.reconfigure PVconfig
@05:56:09.34 <LyS2_home> LyS2.reconfigure LyS2config
@05:56:09.61 <ArS_home> ArS.reconfigure ArSconfig
@05:56:09.79 <AirS_home> AirS.home.jog 0
@05:56:09.82 <PV_home> PV.home.jog 0
@05:56:09.84 <TV_home> TV.home.jog 0
@05:56:09.88 <LyS1_home> LyS1.home.jog 0
@05:56:09.92 <LyS2_home> LyS2.home.jog 0
@05:56:10.02 <ArS_home> ArS.home.jog 0
@05:56:10.49 <PV_home> PV.reconfigure HomingPV
@05:56:10.53 <TV_home> TV.reconfigure HomeTV
@05:56:10.57 <AirS_home> AirS.reconfigure HomeMagSyringe
@05:56:10.62 <LyS1_home> LyS1.reconfigure HomeSyringe
@05:56:10.79 <PV_home> PV.jog -113
@05:56:10.83 <TV_home> TV.jog -502
@05:56:10.86 <AirS_home> AirS.jog -127
@05:56:10.89 <LyS1_home> LyS1.jog -116
@05:56:11.10 <LyS2_home> LyS2.reconfigure HomeSyringe
@05:56:11.11 <ArS_home> ArS.reconfigure HomeMagSyringe
@05:56:11.20 <LyS2_home> LyS2.jog -127
@05:56:11.23 <ArS_home> ArS.jog -129
@05:56:11.38 <PV_home> PV.setRawPosition! -50
@05:56:11.40 <AirS_home> AirS.setRawPosition! -50
@05:56:11.42 <LyS1_home> LyS1.setRawPosition! -50
@05:56:11.51 <PV_home> PV.seek :home
@05:56:11.56 <LyS1_home> LyS1.seek :home
@05:56:11.60 <AirS_home> AirS.seek :home
@05:56:11.80 <ArS_home> ArS.setRawPosition! -50
@05:56:11.81 <LyS2_home> LyS2.setRawPosition! -50
@05:56:11.90 <ArS_home> ArS.seek :home
@05:56:11.94 <LyS2_home> LyS2.seek :home
@05:56:12.11 <PV_home> PV.reconfigure PVconfig
@05:56:12.12 <AirS_home> AirS.reconfigure AirSconfig
@05:56:12.15 <LyS1_home> LyS1.reconfigure LyS1config
@05:56:12.33 <LyS2_home> LyS2.reconfigure LyS2config
@05:56:12.34 <ArS_home> ArS.reconfigure ArSconfig
@05:56:12.66 <TV_home> TV.setRawPosition! 0
@05:56:12.71 TV.seek :home
@05:56:12.79 TV.reconfigure TVconfig
@05:56:12.91 <LRAUV> TV.seek :clear
@05:56:14.53 SC.reconfigure HomeSC
@05:56:14.59 SC.home.jog 0
@05:56:14.82 Selecting Cartridge slot 7
@05:56:15.37 SC.reconfigure SCconfig
@05:56:15.43 SC.seek 7
@05:56:15.80 <LyS2> LyS2.seek :cartridge
@05:56:15.84 <PV> PV.seek :cartridge
@05:56:37.47 <LRAUV> -> Cmd.startFiltering
@05:56:37.65 <FILTERING> Duration of filtering limited to 20:00
@05:56:37.85 Priming sample loop w/100ml, bypass w/10ml
@05:56:37.86 TV.seek :bypass
@05:56:39.48 TV.seek :free
@05:56:41.19 TV.coast
@05:56:41.22 <openPB> PB.open
@05:56:41.26 <FILTERING> Exhaust.close
@05:56:41.93 Intake.open
@05:56:42.74 Sea @-3.0psia
@05:56:42.76 Waiting 4 - 300s for filter pressure to stabilize +/-0.5psi
@05:56:48.29 Vacuum tare is 23% of full scale
@05:56:48.36 Sea @4.9psia
@05:56:48.38 SP.setPosition! 0ml
@05:56:48.43 SP.reconfigure SPprime
@05:56:48.50 SP.seek 10ml,1:21
@05:56:59.06 <closePB> PB.close
@05:56:59.09 <FILTERING> Exhaust.open
@05:56:59.93 Sea @4.9psia
@05:56:59.95 SP.setPosition! 0ml
@05:57:00.01 SP.seek 100ml,8:51
@05:59:03.13 Pressurizing cartridge to 26psi
@05:59:03.14 <closeIntake> Intake.close
@05:59:03.18 <closeExhaust> Exhaust.close
@05:59:03.97 <FILTERING> PB.open
@05:59:04.91 delay 2 seconds
@05:59:07.04 TV.seek :crack
@05:59:07.86 TV.seek :free
@05:59:08.65 TV.coast
@05:59:08.70 Intake.open
@05:59:09.43 delay 2 seconds
@05:59:11.45 PB.close
@05:59:12.19 Sea @3.7psia
@05:59:12.20 SP.setPosition! 0ml
@05:59:12.25 SP.reconfigure SPcharge
@05:59:12.32 SP.seek 5ml,3:46
@05:59:23.82 Cartridge pressurized to 26.2psi
@05:59:24.05 delay 3 seconds
@05:59:27.12 Cartridge at 24.1psi 3 seconds later
@05:59:27.25 TV.seek :cartridge
@05:59:29.08 TV.seek :free
@05:59:30.88 TV.coast
@05:59:30.93 Sampling 1000.0ml
@05:59:30.94 Exhaust.open
@05:59:31.74 Sea @-20.0psia
@05:59:31.76 SP.setPosition! 0ml
@05:59:31.81 SP.reconfigure SPsample
@05:59:31.87 SP.seek 1000ml,1:23:53
@05:59:32.85 <sampling> Cartridge 7 sampling 0/1000ml at 0.40ml/s with 23.5psi vacuum -21.4m deep (-16.9psia)
@06:00:32.86 Cartridge 7 sampling 24/1000ml at 0.40ml/s with 22.2psi vacuum -21.4m deep (-17.0psia)
@06:01:32.86 Cartridge 7 sampling 47/1000ml at 0.39ml/s with 22.3psi vacuum -20.5m deep (-15.7psia)
@06:02:32.86 Cartridge 7 sampling 70/1000ml at 0.37ml/s with 23.7psi vacuum -21.9m deep (-17.7psia)
@06:03:32.86 Cartridge 7 sampling 92/1000ml at 0.36ml/s with 20.0psi vacuum -21.1m deep (-16.5psia)
@06:04:32.86 Cartridge 7 sampling 114/1000ml at 0.36ml/s with 20.2psi vacuum -21.6m deep (-17.2psia)
@06:05:32.86 Cartridge 7 sampling 136/1000ml at 0.33ml/s with 22.8psi vacuum -21.4m deep (-16.9psia)
@06:06:32.85 Cartridge 7 sampling 157/1000ml at 0.35ml/s with 21.7psi vacuum -21.3m deep (-16.8psia)
@06:07:32.86 Cartridge 7 sampling 178/1000ml at 0.32ml/s with 23.0psi vacuum -21.4m deep (-16.9psia)
@06:08:32.86 Cartridge 7 sampling 199/1000ml at 0.33ml/s with 19.7psi vacuum -21.6m deep (-17.2psia)
@06:09:32.86 Cartridge 7 sampling 219/1000ml at 0.32ml/s with 18.9psi vacuum -21.3m deep (-16.7psia)
@06:10:32.86 Cartridge 7 sampling 238/1000ml at 0.31ml/s with 23.8psi vacuum -22.2m deep (-18.2psia)
@06:11:32.86 Cartridge 7 sampling 258/1000ml at 0.31ml/s with 22.8psi vacuum -20.8m deep (-16.0psia)
@06:12:32.86 Cartridge 7 sampling 277/1000ml at 0.30ml/s with 23.8psi vacuum -22.0m deep (-17.8psia)
@06:13:32.86 Cartridge 7 sampling 295/1000ml at 0.31ml/s with 19.5psi vacuum -21.3m deep (-16.8psia)
@06:14:32.86 Cartridge 7 sampling 313/1000ml at 0.31ml/s with 20.0psi vacuum -31.1m deep (-31.3psia)
@06:15:32.86 Cartridge 7 sampling 331/1000ml at 0.28ml/s with 19.2psi vacuum -22.1m deep (-17.9psia)
@06:16:32.85 Cartridge 7 sampling 349/1000ml at 0.31ml/s with 23.4psi vacuum -21.2m deep (-16.7psia)
@06:16:37.70 <FILTERING> SP.coast
@06:16:37.78 <closeIntake> Intake.close
@06:16:37.81 <closeExhaust> Exhaust.close
@06:16:38.65 <FILTERING> TV.seek :bypass
@06:16:40.26 TV.seek :free
@06:16:41.92 TV.coast
@06:16:41.96 Cmd::Paused in FILTERING -- CartridgeTimeLimit Expired during Sample Pump move after sampling 350.1ml
@06:16:43.24 <LRAUV> -> Cmd.startProcessing
@06:16:43.44 <PROCESSING> PV.seek :reagent
@06:16:44.36 Sample loop closed. Ready to Deliver Reagents
@06:16:44.37 ArS.seek :sealed
@06:16:48.02 ArS.seek :evac
@06:17:01.98 delay 20 seconds
@06:17:22.01 ArS.seek :clear
@06:17:39.14 RNAlater soak for 10:00
@06:17:39.15 delay 10:00
@06:27:39.19 ArS.seek :tVent
@06:27:40.83 delay 1 second
@06:27:41.86 ArS.seek :evac
@06:27:57.81 delay 10 seconds
@06:28:07.85 ArS.seek :tVent
@06:28:23.81 delay 1 second
@06:28:24.84 ArS.seek :evac
@06:28:40.78 delay 10 seconds
@06:28:50.81 Sample preserved and evacuated
@06:28:51.73 <LRAUV> -> Cmd.stop
@06:28:52.12 <ArS> ArS.seek :clear
@06:29:09.39 <LyS2> LyS2.seek :free
@06:29:09.42 <PV> PV.seek :clear
@06:29:11.23 <LRAUV> Gate.power :motor,:OFF
@06:29:11.25 Gate.power :main,:OFF
@06:29:11.27 Gate.power :core,:OFF
@06:29:11.29 Safely stopped and ready to power off