@09:46:20.02HST21-Mar-18 <MAIN> >BREAK< ESP3 Gateway v0.80 for core bus
@09:46:20.97 
Configuration for koa by brent@mbari.org
/home/esp/esp2/type/auv/koa/configure.rb
@09:46:21.95 Polling Can every 10:00
@09:46:22.22 Clients may connect on TCP port 9999
Connecting to 10.89.2.2:9999
@09:46:22.25 Waiting for espclients...
@09:46:22.65 <LRAUV> Session Begun
@09:46:24.61 -> showStatus
@09:46:26.61 -> Cmd.loadCartridge
@09:46:26.75 Powering core bus
@09:46:29.44 ArS.configure ArSconfig
@09:46:29.54 LyS1.configure LyS1config
@09:46:29.65 LyS2.configure LyS2config
@09:46:29.75 AirS.configure AirSconfig
@09:46:29.87 TV.configure TVconfig
@09:46:29.99 SP.configure SPconfig
@09:46:30.11 SC.configure SCconfig
@09:46:30.26 PV.configure PVconfig
@09:46:30.40 Sea.configure SPconfig
@09:46:30.46 All elf controllers running firmware version 4.42
@09:46:30.47 Gate.power :main,:ON,limit to 5000mA
@09:46:30.49 Gate.power :motor,:ON,limit to 5000mA
@09:46:30.65 <ArS_home> ArS.reconfigure ArSconfig
@09:46:30.94 <TV_home> TV.reconfigure TVconfig
@09:46:31.20 <AirS_home> AirS.reconfigure AirSconfig
@09:46:31.23 <LyS1_home> LyS1.reconfigure LyS1config
@09:46:31.29 <PV_home> PV.reconfigure PVconfig
@09:46:31.31 <ArS_home> ArS.home.jog 0
@09:46:31.35 <LyS2_home> LyS2.reconfigure LyS2config
@09:46:31.51 <AirS_home> AirS.home.jog 0
@09:46:31.55 <TV_home> TV.home.jog 0
@09:46:31.58 <LyS1_home> LyS1.home.jog 0
@09:46:31.62 <PV_home> PV.home.jog 0
@09:46:31.65 <LyS2_home> LyS2.home.jog 0
@09:46:32.23 <AirS_home> AirS.reconfigure HomeMagSyringe
@09:46:32.27 <LyS2_home> LyS2.reconfigure HomeSyringe
@09:46:32.30 <PV_home> PV.reconfigure HomingPV
@09:46:32.34 <TV_home> TV.reconfigure HomeTV
@09:46:32.37 <LyS1_home> LyS1.reconfigure HomeSyringe
@09:46:32.42 <ArS_home> ArS.reconfigure HomeMagSyringe
@09:46:32.60 <AirS_home> AirS.jog -119
@09:46:32.65 <LyS2_home> LyS2.jog -785
@09:46:32.68 <TV_home> TV.jog -508
@09:46:32.70 <PV_home> PV.jog -780
@09:46:32.75 <LyS1_home> LyS1.jog -113
@09:46:32.81 <ArS_home> ArS.jog -130
@09:46:33.25 <AirS_home> AirS.setRawPosition! -50
@09:46:33.29 AirS.seek :home
@09:46:33.39 <ArS_home> ArS.setRawPosition! -50
@09:46:33.41 <LyS1_home> LyS1.setRawPosition! -50
@09:46:33.50 <ArS_home> ArS.seek :home
@09:46:33.53 <LyS1_home> LyS1.seek :home
@09:46:33.65 <AirS_home> AirS.reconfigure AirSconfig
@09:46:33.76 <LyS2_home> LyS2.setRawPosition! -50
@09:46:33.82 LyS2.seek :home
@09:46:33.92 <PV_home> PV.setRawPosition! -50
@09:46:33.95 <LyS1_home> LyS1.reconfigure LyS1config
@09:46:33.97 <ArS_home> ArS.reconfigure ArSconfig
@09:46:34.08 <PV_home> PV.seek :home
@09:46:34.17 <LyS2_home> LyS2.reconfigure LyS2config
@09:46:34.38 <PV_home> PV.reconfigure PVconfig
@09:46:34.65 <TV_home> TV.setRawPosition! 0
@09:46:34.69 TV.seek :home
@09:46:34.78 TV.reconfigure TVconfig
@09:46:34.90 <LRAUV> TV.seek :clear
@09:46:36.51 TV.coast
@09:46:36.57 SC.reconfigure HomeSC
@09:46:36.63 SC.home.jog 0
@09:46:36.82 Selecting Cartridge 21
@09:46:37.36 SC.reconfigure SCconfig
@09:46:37.42 SC.seek 21
@09:46:37.91 <LyS2> LyS2.seek :cartridge
@09:46:38.04 <PV> PV.seek :cartridge
@09:46:59.01 <LRAUV> -> Cmd.startFiltering
@09:46:59.19 <FILTERING> Duration of filtering limited to 1:05:00
@09:46:59.38 Priming sample loop w/100ml, bypass w/10ml
@09:46:59.46 SP.setPosition! 0ml
@09:46:59.50 <openPB> PB.open
@09:46:59.54 <FILTERING> Exhaust.close
@09:47:00.21 Intake.open
@09:47:01.07 Sea @115.4psia
@09:47:01.08 Waiting 4 - 300s for filter pressure to stabilize +/-0.5psi
@09:47:06.61 Vacuum tare is 26% of full scale
@09:47:06.68 Sea @115.2psia
@09:47:06.76 SP.reconfigure SPprime
@09:47:06.83 SP.seek 10ml,1:20
@09:47:18.25 SP.setPosition! 0ml
@09:47:18.29 <closePB> PB.close
@09:47:18.32 <FILTERING> Exhaust.open
@09:47:19.43 Sea @115.2psia
@09:47:19.51 SP.reconfigure SPprime
@09:47:19.58 SP.seek 100ml,8:50
@09:49:09.94 Pressurizing cartridge to 26psi
@09:49:09.95 Intake.close
@09:49:10.75 SP.setPosition! 0ml
@09:49:10.79 PB.open
@09:49:11.53 TV.seek :crack
@09:49:12.33 TV.seek :clear
@09:49:13.12 TV.coast
@09:49:13.17 Intake.open
@09:49:14.63 PB.close
@09:49:15.34 Exhaust.close
@09:49:16.17 Sea @116.0psia
@09:49:16.25 SP.reconfigure SPcharge
@09:49:16.31 SP.seek 7.5ml,1:09
@09:49:19.32 Cartridge pressurized with 0.038ml to 26.2psi
@09:49:19.54 Pressure peaked at 26.5psi
@09:49:19.55 delay 3 seconds
@09:49:22.62 Cartridge at 17.8psi 3 seconds later
@09:49:22.71 TV.seek :cartridge
@09:49:24.42 TV.seek :clear
@09:49:26.14 TV.coast
@09:49:26.19 Sampling 2000.0ml
@09:49:26.21 SP.setPosition! 0ml
@09:49:26.26 Exhaust.open
@09:49:27.12 Sea @92.6psia
@09:49:27.21 SP.reconfigure SPsample
@09:49:27.28 SP.seek 2000ml,2:47:07
@09:49:28.23 <sampling> Cartridge 21 sampling 0/2000ml at 0.16ml/s with 6.3psi vacuum 52.8m deep (92.7psia)
@09:50:28.24 Cartridge 21 sampling 26/2000ml at 0.42ml/s with 23.3psi vacuum 55.1m deep (96.1psia)
@09:51:28.24 Cartridge 21 sampling 53/2000ml at 0.45ml/s with 22.6psi vacuum 54.4m deep (95.1psia)
@09:52:28.24 Cartridge 21 sampling 79/2000ml at 0.45ml/s with 23.7psi vacuum 55.3m deep (96.5psia)
@09:53:28.24 Cartridge 21 sampling 106/2000ml at 0.43ml/s with 19.6psi vacuum 54.7m deep (95.6psia)
@09:54:28.24 Cartridge 21 sampling 132/2000ml at 0.45ml/s with 22.7psi vacuum 54.7m deep (95.5psia)
@09:55:28.24 Cartridge 21 sampling 158/2000ml at 0.43ml/s with 20.5psi vacuum 55.1m deep (96.1psia)
@09:56:28.24 Cartridge 21 sampling 185/2000ml at 0.44ml/s with 23.8psi vacuum 54.7m deep (95.5psia)
@09:57:28.24 Cartridge 21 sampling 211/2000ml at 0.43ml/s with 23.5psi vacuum 55.3m deep (96.5psia)
@09:58:28.24 Cartridge 21 sampling 237/2000ml at 0.44ml/s with 24.5psi vacuum 55.1m deep (96.2psia)
@09:59:28.24 Cartridge 21 sampling 264/2000ml at 0.45ml/s with 22.2psi vacuum 55.2m deep (96.3psia)
@10:00:28.24 Cartridge 21 sampling 290/2000ml at 0.42ml/s with 26.5psi vacuum 54.7m deep (95.5psia)
@10:01:28.24 Cartridge 21 sampling 316/2000ml at 0.45ml/s with 24.4psi vacuum 55.7m deep (97.0psia)
@10:02:28.24 Cartridge 21 sampling 342/2000ml at 0.43ml/s with 22.7psi vacuum 54.4m deep (95.1psia)
@10:03:28.24 Cartridge 21 sampling 368/2000ml at 0.43ml/s with 21.3psi vacuum 55.7m deep (97.0psia)
@10:04:28.24 Cartridge 21 sampling 394/2000ml at 0.43ml/s with 24.4psi vacuum 49.8m deep (88.3psia)
@10:05:28.24 Cartridge 21 sampling 420/2000ml at 0.43ml/s with 21.9psi vacuum 54.9m deep (95.9psia)
@10:06:28.24 Cartridge 21 sampling 446/2000ml at 0.44ml/s with 22.4psi vacuum 55.1m deep (96.2psia)
@10:07:28.24 Cartridge 21 sampling 471/2000ml at 0.41ml/s with 23.0psi vacuum 54.4m deep (95.2psia)
@10:08:28.24 Cartridge 21 sampling 497/2000ml at 0.42ml/s with 18.9psi vacuum 55.2m deep (96.3psia)
@10:09:28.24 Cartridge 21 sampling 523/2000ml at 0.41ml/s with 21.4psi vacuum 54.5m deep (95.3psia)
@10:10:28.24 Cartridge 21 sampling 548/2000ml at 0.43ml/s with 26.0psi vacuum 55.1m deep (96.1psia)
@10:11:28.24 Cartridge 21 sampling 574/2000ml at 0.42ml/s with 24.8psi vacuum 55.7m deep (97.0psia)
@10:12:28.24 Cartridge 21 sampling 599/2000ml at 0.43ml/s with 21.9psi vacuum 54.5m deep (95.3psia)
@10:13:28.24 Cartridge 21 sampling 625/2000ml at 0.41ml/s with 25.2psi vacuum 55.3m deep (96.4psia)
@10:14:28.24 Cartridge 21 sampling 650/2000ml at 0.42ml/s with 27.4psi vacuum 55.5m deep (96.7psia)
@10:15:28.24 Cartridge 21 sampling 675/2000ml at 0.42ml/s with 20.9psi vacuum 54.9m deep (95.8psia)
@10:16:28.24 Cartridge 21 sampling 701/2000ml at 0.41ml/s with 18.6psi vacuum 54.4m deep (95.1psia)
@10:17:28.24 Cartridge 21 sampling 726/2000ml at 0.42ml/s with 22.5psi vacuum 55.5m deep (96.6psia)
@10:18:28.24 Cartridge 21 sampling 751/2000ml at 0.41ml/s with 21.4psi vacuum 54.2m deep (94.9psia)
@10:19:28.24 Cartridge 21 sampling 776/2000ml at 0.42ml/s with 23.6psi vacuum 55.2m deep (96.3psia)
@10:20:28.51 Cartridge 21 sampling 801/2000ml at 0.41ml/s with 22.0psi vacuum 54.6m deep (95.4psia)
@10:21:28.24 Cartridge 21 sampling 826/2000ml at 0.42ml/s with 22.8psi vacuum 55.3m deep (96.4psia)
@10:22:28.24 Cartridge 21 sampling 851/2000ml at 0.40ml/s with 22.5psi vacuum 54.3m deep (94.9psia)
@10:23:28.24 Cartridge 21 sampling 876/2000ml at 0.41ml/s with 21.5psi vacuum 54.7m deep (95.6psia)
@10:24:28.24 Cartridge 21 sampling 900/2000ml at 0.40ml/s with 18.8psi vacuum 42.1m deep (76.9psia)
@10:25:28.24 Cartridge 21 sampling 925/2000ml at 0.40ml/s with 26.8psi vacuum 55.9m deep (97.3psia)
@10:26:28.24 Cartridge 21 sampling 950/2000ml at 0.41ml/s with 23.6psi vacuum 54.4m deep (95.1psia)
@10:27:28.24 Cartridge 21 sampling 974/2000ml at 0.42ml/s with 22.8psi vacuum 55.2m deep (96.3psia)
@10:28:28.24 Cartridge 21 sampling 999/2000ml at 0.39ml/s with 23.7psi vacuum 55.3m deep (96.4psia)
@10:29:28.24 Cartridge 21 sampling 1023/2000ml at 0.39ml/s with 25.8psi vacuum 54.8m deep (95.7psia)
@10:30:28.24 Cartridge 21 sampling 1048/2000ml at 0.41ml/s with 22.3psi vacuum 54.5m deep (95.3psia)
@10:31:28.24 Cartridge 21 sampling 1072/2000ml at 0.41ml/s with 21.6psi vacuum 55.4m deep (96.5psia)
@10:32:28.24 Cartridge 21 sampling 1096/2000ml at 0.40ml/s with 24.6psi vacuum 54.6m deep (95.4psia)
@10:33:28.24 Cartridge 21 sampling 1121/2000ml at 0.41ml/s with 22.9psi vacuum 55.0m deep (95.9psia)
@10:34:28.24 Cartridge 21 sampling 1145/2000ml at 0.40ml/s with 21.9psi vacuum 55.1m deep (96.1psia)
@10:35:28.24 Cartridge 21 sampling 1169/2000ml at 0.40ml/s with 24.4psi vacuum 54.5m deep (95.3psia)
@10:36:28.24 Cartridge 21 sampling 1193/2000ml at 0.38ml/s with 23.2psi vacuum 54.7m deep (95.5psia)
@10:37:28.24 Cartridge 21 sampling 1217/2000ml at 0.40ml/s with 23.5psi vacuum 55.4m deep (96.5psia)
@10:38:28.24 Cartridge 21 sampling 1241/2000ml at 0.40ml/s with 20.8psi vacuum 54.9m deep (95.8psia)
@10:39:28.24 Cartridge 21 sampling 1265/2000ml at 0.40ml/s with 20.6psi vacuum 54.4m deep (95.1psia)
@10:40:28.24 Cartridge 21 sampling 1288/2000ml at 0.40ml/s with 25.6psi vacuum 55.3m deep (96.4psia)
@10:41:28.24 Cartridge 21 sampling 1312/2000ml at 0.38ml/s with 23.6psi vacuum 55.5m deep (96.7psia)
@10:42:28.24 Cartridge 21 sampling 1336/2000ml at 0.39ml/s with 22.8psi vacuum 54.8m deep (95.6psia)
@10:43:28.24 Cartridge 21 sampling 1359/2000ml at 0.40ml/s with 22.6psi vacuum 55.5m deep (96.7psia)
@10:44:28.24 Cartridge 21 sampling 1383/2000ml at 0.40ml/s with 22.8psi vacuum 54.5m deep (95.3psia)
@10:45:28.24 Cartridge 21 sampling 1407/2000ml at 0.39ml/s with 22.6psi vacuum 54.7m deep (95.6psia)
@10:46:28.24 Cartridge 21 sampling 1430/2000ml at 0.39ml/s with 22.0psi vacuum 55.0m deep (95.9psia)
@10:47:28.24 Cartridge 21 sampling 1453/2000ml at 0.40ml/s with 23.0psi vacuum 54.5m deep (95.2psia)
@10:48:28.24 Cartridge 21 sampling 1477/2000ml at 0.37ml/s with 23.6psi vacuum 55.0m deep (96.0psia)
@10:49:28.24 Cartridge 21 sampling 1500/2000ml at 0.37ml/s with 20.6psi vacuum 55.4m deep (96.5psia)
@10:50:28.24 Cartridge 21 sampling 1523/2000ml at 0.37ml/s with 23.4psi vacuum 54.5m deep (95.2psia)
@10:51:28.24 Cartridge 21 sampling 1547/2000ml at 0.40ml/s with 22.2psi vacuum 55.3m deep (96.4psia)
@10:51:59.24 <FILTERING> SP.coast
@10:51:59.31 <closeIntake> Intake.close
@10:51:59.37 <closeExhaust> Exhaust.close
@10:52:00.28 <FILTERING> TV.seek :bypass
@10:52:01.90 TV.seek :clear
@10:52:03.50 TV.coast
@10:52:03.56 Cmd::Paused in FILTERING -- CartridgeTimeLimit Expired during Sample Pump move after sampling 1558.5ml
@10:52:04.96 <LRAUV> -> Cmd.startProcessing
@10:52:05.14 <PROCESSING> PV.seek :reagent
@10:52:06.06 Sample loop closed. Ready to Deliver Reagents
@10:52:06.07 ArS.seek :sealed
@10:52:09.72 ArS.seek :evac
@10:52:23.68 delay 20 seconds
@10:52:43.71 ArS.seek :clear
@10:53:00.84 RNAlater soak for 10:00
@11:03:00.86 ArS.seek :tVent
@11:03:02.51 delay 1 second
@11:03:03.53 ArS.seek :evac
@11:03:19.49 delay 10 seconds
@11:03:29.52 Sample preserved and evacuated
@11:03:30.58 <LRAUV> -> Cmd.stop
@11:03:30.77 <PV> PV.seek :cartridge
@11:03:31.79 <ArS> ArS.seek :clear
@11:03:48.95 <LRAUV> ArS.coast
@11:03:49.00 LyS1.coast
@11:03:49.05 LyS2.coast
@11:03:49.10 AirS.coast
@11:03:49.42 SC.coast
@11:03:49.47 PV.coast
@11:03:49.64 Gate.power :motor,:OFF
@11:03:49.65 Gate.power :main,:OFF
@11:03:49.68 Gate.power :core,:OFF
@11:03:49.70 Safely stopped and ready to power off