@06:40:12.45PST30-Jan-18 <MAIN> >BREAK< ESP3 Gateway v0.80 for core bus
@06:40:13.38 
Configuration for koa by brent@mbari.org
/home/esp/esp2/type/auv/koa/configure.rb
@06:40:14.32 Polling Can every 10:00
@06:40:14.58 Clients may connect on TCP port 9999
@06:40:14.59 Connecting to 134.89.95.66:9999
@06:40:14.64 Waiting for espclients...
@06:40:15.07 <LRAUV> Session Begun
@06:40:17.02 -> showStatus
@06:40:19.02 -> Cmd.loadCartridge
@06:40:19.06 Powering core bus
@06:40:21.75 ArS.configure ArSconfig
@06:40:21.85 LyS1.configure LyS1config
@06:40:21.96 LyS2.configure LyS2config
@06:40:22.06 AirS.configure AirSconfig
@06:40:22.18 TV.configure TVconfig
@06:40:22.30 SP.configure SPconfig
@06:40:22.41 Sea.configure SPconfig
@06:40:22.55 SC.configure SCconfig
@06:40:22.67 PV.configure PVconfig
@06:40:22.72 All elf controllers running firmware version 4.41
@06:40:22.74 Gate.power :main,:ON,limit to 5000mA
@06:40:22.76 Gate.power :motor,:ON,limit to 5000mA
@06:40:22.85 <closeIntake> Intake.close
@06:40:22.88 <closeExhaust> Exhaust.close
@06:40:22.92 <closePB> PB.close
@06:40:23.44 <TV_home> TV.reconfigure TVconfig
@06:40:23.50 <AirS_home> AirS.reconfigure AirSconfig
@06:40:23.53 <LyS2_home> LyS2.reconfigure LyS2config
@06:40:23.57 <ArS_home> ArS.reconfigure ArSconfig
@06:40:23.60 <PV_home> PV.reconfigure PVconfig
@06:40:23.83 <LyS1_home> LyS1.reconfigure LyS1config
@06:40:24.13 <AirS_home> AirS.home.jog 0
@06:40:24.16 <TV_home> TV.home.jog 0
@06:40:24.20 <LyS2_home> LyS2.home.jog 0
@06:40:24.22 <ArS_home> ArS.home.jog 0
@06:40:24.25 <PV_home> PV.home.jog 0
@06:40:24.28 <LyS1_home> LyS1.home.jog 0
@06:40:24.91 <TV_home> TV.reconfigure HomeTV
@06:40:24.95 <AirS_home> AirS.reconfigure HomeMagSyringe
@06:40:24.98 <LyS2_home> LyS2.reconfigure HomeSyringe
@06:40:25.02 <PV_home> PV.reconfigure HomingPV
@06:40:25.06 <ArS_home> ArS.reconfigure HomeMagSyringe
@06:40:25.10 <LyS1_home> LyS1.reconfigure HomeSyringe
@06:40:25.28 <AirS_home> AirS.jog -127
@06:40:25.33 <TV_home> TV.jog -501
@06:40:25.36 <LyS2_home> LyS2.jog -123
@06:40:25.39 <PV_home> PV.jog -114
@06:40:25.42 <LyS1_home> LyS1.jog -114
@06:40:25.48 <ArS_home> ArS.jog -129
@06:40:25.82 <AirS_home> AirS.setRawPosition! -50
@06:40:25.87 AirS.seek :home
@06:40:26.00 <LyS2_home> LyS2.setRawPosition! -50
@06:40:26.02 <ArS_home> ArS.setRawPosition! -50
@06:40:26.05 <PV_home> PV.setRawPosition! -50
@06:40:26.08 <LyS1_home> LyS1.setRawPosition! -50
@06:40:26.17 <LyS2_home> LyS2.seek :home
@06:40:26.22 <ArS_home> ArS.seek :home
@06:40:26.27 <PV_home> PV.seek :home
@06:40:26.32 <LyS1_home> LyS1.seek :home
@06:40:26.53 <AirS_home> AirS.reconfigure AirSconfig
@06:40:26.61 <LyS2_home> LyS2.reconfigure LyS2config
@06:40:26.71 <ArS_home> ArS.reconfigure ArSconfig
@06:40:26.79 <PV_home> PV.reconfigure PVconfig
@06:40:26.81 <LyS1_home> LyS1.reconfigure LyS1config
@06:40:27.20 <TV_home> TV.setRawPosition! 0
@06:40:27.24 TV.seek :home
@06:40:27.33 TV.reconfigure TVconfig
@06:40:27.44 <LRAUV> TV.seek :clear
@06:40:29.07 SC.reconfigure HomeSC
@06:40:29.13 SC.home.jog 0
@06:40:29.36 Selecting Cartridge slot 6
@06:40:29.89 SC.reconfigure SCconfig
@06:40:29.95 SC.seek 6
@06:40:30.33 <LyS2> LyS2.seek :cartridge
@06:40:30.37 <PV> PV.seek :cartridge
@06:40:51.77 <LRAUV> -> Cmd.startFiltering
@06:40:51.96 <FILTERING> Duration of filtering limited to 20:00
@06:40:52.15 Priming sample loop w/100ml, bypass w/10ml
@06:40:52.17 TV.seek :bypass
@06:40:53.79 TV.seek :free
@06:40:55.45 TV.coast
@06:40:55.52 <openPB> PB.open
@06:40:55.54 <FILTERING> Exhaust.close
@06:40:56.25 Intake.open
@06:40:57.14 Sea @3.5psia
@06:40:57.17 Waiting 4 - 300s for filter pressure to stabilize +/-0.5psi
@06:41:02.72 Vacuum tare is 23% of full scale
@06:41:02.79 Sea @3.7psia
@06:41:02.81 SP.setPosition! 0ml
@06:41:02.86 SP.reconfigure SPprime
@06:41:02.92 SP.seek 10ml,1:21
@06:41:13.50 <closePB> PB.close
@06:41:13.52 <FILTERING> Exhaust.open
@06:41:14.34 Sea @4.2psia
@06:41:14.36 SP.setPosition! 0ml
@06:41:14.42 SP.seek 100ml,8:51
@06:43:17.33 Pressurizing cartridge to 26psi
@06:43:17.34 <closeIntake> Intake.close
@06:43:17.37 <closeExhaust> Exhaust.close
@06:43:18.16 <FILTERING> PB.open
@06:43:18.85 delay 2 seconds
@06:43:21.20 TV.seek :crack
@06:43:22.01 TV.seek :free
@06:43:22.80 TV.coast
@06:43:22.85 Intake.open
@06:43:23.61 delay 2 seconds
@06:43:25.63 PB.close
@06:43:26.40 Sea @4.7psia
@06:43:26.41 SP.setPosition! 0ml
@06:43:26.46 SP.reconfigure SPcharge
@06:43:26.53 SP.seek 5ml,3:46
@06:43:35.46 Cartridge pressurized to 26.1psi
@06:43:35.69 delay 3 seconds
@06:43:38.76 Cartridge at 14.0psi 3 seconds later
@06:43:38.89 TV.seek :cartridge
@06:43:40.70 TV.seek :free
@06:43:42.50 TV.coast
@06:43:42.55 Sampling 1000.0ml
@06:43:42.56 Exhaust.open
@06:43:43.37 Sea @-20.2psia
@06:43:43.39 SP.setPosition! 0ml
@06:43:43.44 SP.reconfigure SPsample
@06:43:43.51 SP.seek 1000ml,1:23:53
@06:43:44.32 Flow estimate reduced to 0.77ml/s
@06:43:44.36 Waiting up to 11 seconds for vacuum to reduce from 26.2 to 18.0psi
@06:43:44.63 <sampling> Cartridge 6 sampling 0/1000ml at 0.00ml/s with 5.1psi vacuum -9.3m deep (0.9psia)
@06:43:45.10 <FILTERING> Relieved excess vacuum in 1.4 seconds
@06:43:45.13 SP.seek 1000ml,1:23:51
@06:43:45.88 Flow estimate reduced to 0.61ml/s
@06:43:45.90 Waiting up to 11 seconds for vacuum to reduce from 26.3 to 18.0psi
@06:43:46.51 Relieved excess vacuum in 1 second
@06:43:46.54 SP.seek 1000ml,1:23:50
@06:44:44.49 <sampling> Cartridge 6 sampling 24/1000ml at 0.41ml/s with 22.0psi vacuum -20.3m deep (-15.3psia)
@06:45:44.49 Cartridge 6 sampling 48/1000ml at 0.40ml/s with 21.5psi vacuum -21.6m deep (-17.2psia)
@06:46:44.49 Cartridge 6 sampling 71/1000ml at 0.40ml/s with 22.0psi vacuum -21.1m deep (-16.5psia)
@06:47:44.49 Cartridge 6 sampling 95/1000ml at 0.39ml/s with 21.9psi vacuum -21.4m deep (-17.0psia)
@06:48:44.49 Cartridge 6 sampling 118/1000ml at 0.39ml/s with 23.3psi vacuum -20.7m deep (-15.9psia)
@06:49:44.61 Cartridge 6 sampling 140/1000ml at 0.39ml/s with 22.2psi vacuum -20.8m deep (-16.0psia)
@06:50:44.57 Cartridge 6 sampling 163/1000ml at 0.34ml/s with 19.9psi vacuum -21.3m deep (-16.8psia)
@06:51:44.49 Cartridge 6 sampling 185/1000ml at 0.37ml/s with 21.8psi vacuum -21.5m deep (-17.1psia)
@06:52:44.49 Cartridge 6 sampling 206/1000ml at 0.36ml/s with 20.2psi vacuum -21.5m deep (-17.1psia)
@06:53:44.49 Cartridge 6 sampling 227/1000ml at 0.35ml/s with 21.9psi vacuum -21.8m deep (-17.5psia)
@06:54:44.49 Cartridge 6 sampling 248/1000ml at 0.32ml/s with 21.6psi vacuum -21.2m deep (-16.6psia)
@06:55:44.49 Cartridge 6 sampling 269/1000ml at 0.36ml/s with 21.2psi vacuum -21.1m deep (-16.5psia)
@06:56:44.60 Cartridge 6 sampling 289/1000ml at 0.33ml/s with 22.1psi vacuum -21.9m deep (-17.7psia)
@06:57:44.59 Cartridge 6 sampling 309/1000ml at 0.33ml/s with 20.9psi vacuum -20.4m deep (-15.4psia)
@06:58:44.59 Cartridge 6 sampling 328/1000ml at 0.33ml/s with 21.9psi vacuum -22.2m deep (-18.2psia)
@06:59:44.59 Cartridge 6 sampling 347/1000ml at 0.32ml/s with 22.2psi vacuum -21.2m deep (-16.7psia)
@07:00:44.48 Cartridge 6 sampling 366/1000ml at 0.31ml/s with 21.3psi vacuum -20.5m deep (-15.6psia)
@07:00:52.00 <FILTERING> SP.coast
@07:00:52.07 <closeIntake> Intake.close
@07:00:52.10 <closeExhaust> Exhaust.close
@07:00:52.96 <FILTERING> TV.seek :bypass
@07:00:54.57 TV.seek :free
@07:00:56.23 TV.coast
@07:00:56.27 Cmd::Paused in FILTERING -- CartridgeTimeLimit Expired during Sample Pump move after sampling 368.4ml
@07:00:57.54 <LRAUV> -> Cmd.startProcessing
@07:00:57.73 <PROCESSING> PV.seek :reagent
@07:00:58.65 Sample loop closed. Ready to Deliver Reagents
@07:00:58.66 ArS.seek :sealed
@07:01:02.30 ArS.seek :evac
@07:01:16.25 delay 20 seconds
@07:01:36.28 ArS.seek :clear
@07:01:53.41 RNAlater soak for 10:00
@07:01:53.42 delay 10:00
@07:11:53.46 ArS.seek :tVent
@07:11:55.12 delay 1 second
@07:11:56.14 ArS.seek :evac
@07:12:12.11 delay 10 seconds
@07:12:22.14 ArS.seek :tVent
@07:12:38.10 delay 1 second
@07:12:39.13 ArS.seek :evac
@07:12:55.08 delay 10 seconds
@07:13:05.12 Sample preserved and evacuated
@07:13:06.03 <LRAUV> -> Cmd.stop
@07:13:06.39 <ArS> ArS.seek :clear
@07:13:23.64 <PV> PV.seek :clear
@07:13:23.68 <LyS2> LyS2.seek :free
@07:13:25.81 <LRAUV> Gate.power :motor,:OFF
@07:13:25.83 Gate.power :main,:OFF
@07:13:25.85 Gate.power :core,:OFF
@07:13:25.87 Safely stopped and ready to power off