@00:50:11.99HST02-Apr-18 <MAIN> >BREAK< ESP3 Gateway v0.80 for core bus
@00:50:12.94 
Configuration for koa by brent@mbari.org
/home/esp/esp2/type/auv/koa/configure.rb
@00:50:13.94 Polling Can every 10:00
@00:50:14.21 Clients may connect on TCP port 9999
@00:50:14.22 Connecting to 10.89.2.2:9999
@00:50:14.26 Waiting for espclients...
@00:50:14.68 <LRAUV> Session Begun
@00:50:16.62 -> showStatus
@00:50:18.62 -> Cmd.loadCartridge
@00:50:18.77 Powering core bus
@00:50:21.46 ArS.configure ArSconfig
@00:50:21.56 LyS1.configure LyS1config
@00:50:21.67 LyS2.configure LyS2config
@00:50:21.77 AirS.configure AirSconfig
@00:50:21.89 TV.configure TVconfig
@00:50:22.01 SP.configure SPconfig
@00:50:22.13 SC.configure SCconfig
@00:50:22.25 PV.configure PVconfig
@00:50:22.39 Sea.configure SPconfig
@00:50:22.45 All elf controllers running firmware version 4.42
@00:50:22.46 Gate.power :main,:ON,limit to 5000mA
@00:50:22.49 Gate.power :motor,:ON,limit to 5000mA
@00:50:22.66 <ArS_home> ArS.reconfigure ArSconfig
@00:50:22.87 ArS.home.jog 0
@00:50:23.21 <PV_home> PV.reconfigure PVconfig
@00:50:23.27 <TV_home> TV.reconfigure TVconfig
@00:50:23.31 <LyS2_home> LyS2.reconfigure LyS2config
@00:50:23.38 <LyS1_home> LyS1.reconfigure LyS1config
@00:50:23.42 <AirS_home> AirS.reconfigure AirSconfig
@00:50:23.58 <PV_home> PV.home.jog 0
@00:50:23.61 <LyS2_home> LyS2.home.jog 0
@00:50:23.66 <TV_home> TV.home.jog 0
@00:50:23.67 <AirS_home> AirS.home.jog 0
@00:50:23.72 <LyS1_home> LyS1.home.jog 0
@00:50:23.98 <ArS_home> ArS.reconfigure HomeMagSyringe
@00:50:24.22 <PV_home> PV.reconfigure HomingPV
@00:50:24.26 <TV_home> TV.reconfigure HomeTV
@00:50:24.30 <LyS2_home> LyS2.reconfigure HomeSyringe
@00:50:24.37 <ArS_home> ArS.jog -119
@00:50:24.45 <PV_home> PV.jog -775
@00:50:24.50 <LyS2_home> LyS2.jog -777
@00:50:24.53 <TV_home> TV.jog -505
@00:50:24.72 <LyS1_home> LyS1.reconfigure HomeSyringe
@00:50:24.76 <AirS_home> AirS.reconfigure HomeMagSyringe
@00:50:24.90 <LyS1_home> LyS1.jog -106
@00:50:24.94 <AirS_home> AirS.jog -111
@00:50:25.04 <ArS_home> ArS.setRawPosition! -50
@00:50:25.08 ArS.seek :home
@00:50:25.31 <LyS1_home> LyS1.setRawPosition! -50
@00:50:25.38 LyS1.seek :home
@00:50:25.49 <AirS_home> AirS.setRawPosition! -50
@00:50:25.51 <ArS_home> ArS.reconfigure ArSconfig
@00:50:25.54 <PV_home> PV.setRawPosition! -50
@00:50:25.56 <LyS2_home> LyS2.setRawPosition! -50
@00:50:25.70 <AirS_home> AirS.seek :home
@00:50:25.75 <PV_home> PV.seek :home
@00:50:25.77 <LyS2_home> LyS2.seek :home
@00:50:25.92 <LyS1_home> LyS1.reconfigure LyS1config
@00:50:26.08 <AirS_home> AirS.reconfigure AirSconfig
@00:50:26.18 <PV_home> PV.reconfigure PVconfig
@00:50:26.19 <LyS2_home> LyS2.reconfigure LyS2config
@00:50:26.33 <TV_home> TV.setRawPosition! 0
@00:50:26.38 TV.seek :home
@00:50:26.46 TV.reconfigure TVconfig
@00:50:26.58 <LRAUV> TV.seek :clear
@00:50:28.19 TV.coast
@00:50:28.25 SC.reconfigure HomeSC
@00:50:28.31 SC.home.jog 0
@00:50:28.49 Selecting Cartridge 10
@00:50:29.03 SC.reconfigure SCconfig
@00:50:29.09 SC.seek 10
@00:50:29.58 <LyS2> LyS2.seek :cartridge
@00:50:29.71 <PV> PV.seek :cartridge
@00:50:51.02 <LRAUV> -> Cmd.startFiltering
@00:50:51.20 <FILTERING> Duration of filtering limited to 1:05:00
@00:50:51.39 Priming sample loop w/100ml, bypass w/10ml
@00:50:51.47 SP.setPosition! 0ml
@00:50:51.51 <openPB> PB.open
@00:50:51.54 <FILTERING> Exhaust.close
@00:50:52.28 Intake.open
@00:50:53.13 Sea @197.6psia
@00:50:53.15 Waiting 4 - 300s for filter pressure to stabilize +/-0.5psi
@00:50:58.67 Vacuum tare is 25% of full scale
@00:50:58.74 Sea @197.8psia
@00:50:58.82 SP.reconfigure SPprime
@00:50:58.89 SP.seek 10ml,1:20
@00:51:10.30 SP.setPosition! 0ml
@00:51:10.35 <closePB> PB.close
@00:51:10.38 <FILTERING> Exhaust.open
@00:51:11.30 Sea @198.4psia
@00:51:11.38 SP.reconfigure SPprime
@00:51:11.45 SP.seek 100ml,8:50
@00:53:01.82 Pressurizing cartridge to 26psi
@00:53:01.83 Intake.close
@00:53:02.64 SP.setPosition! 0ml
@00:53:02.69 PB.open
@00:53:03.45 TV.seek :crack
@00:53:04.24 TV.seek :clear
@00:53:05.03 TV.coast
@00:53:05.08 Intake.open
@00:53:06.55 PB.close
@00:53:07.28 Exhaust.close
@00:53:08.15 Sea @198.7psia
@00:53:08.23 SP.reconfigure SPcharge
@00:53:08.30 SP.seek 7.5ml,1:09
@00:53:10.45 Cartridge pressurized with 0.019ml to 26.1psi
@00:53:10.68 Pressure peaked at 26.2psi
@00:53:10.69 delay 3 seconds
@00:53:13.77 Cartridge at 16.6psi 3 seconds later
@00:53:13.85 TV.seek :cartridge
@00:53:15.58 TV.seek :clear
@00:53:17.29 TV.coast
@00:53:17.34 Sampling 2000.0ml
@00:53:17.36 SP.setPosition! 0ml
@00:53:17.41 Exhaust.open
@00:53:18.30 Sea @176.2psia
@00:53:18.39 SP.reconfigure SPsample
@00:53:18.45 SP.seek 2000ml,2:47:07
@00:53:19.41 <sampling> Cartridge 10 sampling 0/2000ml at 0.16ml/s with 5.9psi vacuum 108.6m deep (175.2psia)
@00:54:19.42 Cartridge 10 sampling 27/2000ml at 0.44ml/s with 21.8psi vacuum 110.2m deep (177.5psia)
@00:55:19.42 Cartridge 10 sampling 53/2000ml at 0.45ml/s with 24.1psi vacuum 110.0m deep (177.3psia)
@00:56:19.42 Cartridge 10 sampling 80/2000ml at 0.44ml/s with 24.6psi vacuum 110.1m deep (177.4psia)
@00:57:19.41 Cartridge 10 sampling 106/2000ml at 0.45ml/s with 25.5psi vacuum 110.2m deep (177.6psia)
@00:58:19.42 Cartridge 10 sampling 133/2000ml at 0.42ml/s with 23.9psi vacuum 110.3m deep (177.8psia)
@00:59:19.42 Cartridge 10 sampling 159/2000ml at 0.44ml/s with 22.8psi vacuum 111.1m deep (178.9psia)
@01:00:19.42 Cartridge 10 sampling 185/2000ml at 0.45ml/s with 23.3psi vacuum 111.3m deep (179.2psia)
@01:01:19.41 Cartridge 10 sampling 212/2000ml at 0.42ml/s with 24.5psi vacuum 111.2m deep (179.0psia)
@01:02:19.41 Cartridge 10 sampling 238/2000ml at 0.44ml/s with 27.4psi vacuum 111.3m deep (179.2psia)
@01:03:19.42 Cartridge 10 sampling 264/2000ml at 0.44ml/s with 20.7psi vacuum 111.2m deep (179.1psia)
@01:04:19.42 Cartridge 10 sampling 290/2000ml at 0.43ml/s with 21.7psi vacuum 111.6m deep (179.6psia)
@01:05:19.42 Cartridge 10 sampling 317/2000ml at 0.44ml/s with 20.7psi vacuum 111.8m deep (180.0psia)
@01:06:19.42 Cartridge 10 sampling 343/2000ml at 0.43ml/s with 27.2psi vacuum 112.2m deep (180.6psia)
@01:07:19.42 Cartridge 10 sampling 369/2000ml at 0.42ml/s with 23.9psi vacuum 112.4m deep (180.9psia)
@01:08:19.42 Cartridge 10 sampling 395/2000ml at 0.42ml/s with 27.1psi vacuum 112.6m deep (181.2psia)
@01:09:19.42 Cartridge 10 sampling 420/2000ml at 0.44ml/s with 21.5psi vacuum 112.7m deep (181.3psia)
@01:10:19.41 Cartridge 10 sampling 446/2000ml at 0.44ml/s with 21.3psi vacuum 112.9m deep (181.6psia)
@01:11:19.42 Cartridge 10 sampling 472/2000ml at 0.44ml/s with 21.5psi vacuum 112.4m deep (180.8psia)
@01:12:19.42 Cartridge 10 sampling 498/2000ml at 0.41ml/s with 22.2psi vacuum 112.2m deep (180.6psia)
@01:13:19.42 Cartridge 10 sampling 524/2000ml at 0.43ml/s with 21.7psi vacuum 112.8m deep (181.4psia)
@01:14:19.42 Cartridge 10 sampling 549/2000ml at 0.43ml/s with 21.7psi vacuum 113.1m deep (181.9psia)
@01:15:19.41 Cartridge 10 sampling 575/2000ml at 0.41ml/s with 20.8psi vacuum 113.0m deep (181.7psia)
@01:16:19.42 Cartridge 10 sampling 601/2000ml at 0.44ml/s with 24.3psi vacuum 112.8m deep (181.5psia)
@01:17:19.42 Cartridge 10 sampling 626/2000ml at 0.43ml/s with 25.6psi vacuum 112.7m deep (181.3psia)
@01:18:19.42 Cartridge 10 sampling 652/2000ml at 0.44ml/s with 22.5psi vacuum 112.4m deep (180.8psia)
@01:19:19.42 Cartridge 10 sampling 677/2000ml at 0.41ml/s with 23.4psi vacuum 112.0m deep (180.2psia)
@01:20:19.42 Cartridge 10 sampling 703/2000ml at 0.41ml/s with 20.5psi vacuum 112.3m deep (180.7psia)
@01:21:19.42 Cartridge 10 sampling 728/2000ml at 0.41ml/s with 19.2psi vacuum 112.3m deep (180.7psia)
@01:22:19.42 Cartridge 10 sampling 753/2000ml at 0.40ml/s with 23.8psi vacuum 112.8m deep (181.5psia)
@01:23:19.42 Cartridge 10 sampling 779/2000ml at 0.43ml/s with 22.7psi vacuum 112.5m deep (180.9psia)
@01:24:19.67 Cartridge 10 sampling 804/2000ml at 0.43ml/s with 23.3psi vacuum 112.1m deep (180.4psia)
@01:25:19.42 Cartridge 10 sampling 829/2000ml at 0.43ml/s with 22.6psi vacuum 112.1m deep (180.4psia)
@01:26:19.42 Cartridge 10 sampling 854/2000ml at 0.41ml/s with 18.5psi vacuum 111.9m deep (180.2psia)
@01:27:19.42 Cartridge 10 sampling 879/2000ml at 0.43ml/s with 22.2psi vacuum 112.7m deep (181.3psia)
@01:28:19.42 Cartridge 10 sampling 904/2000ml at 0.43ml/s with 24.3psi vacuum 112.5m deep (181.0psia)
@01:29:19.42 Cartridge 10 sampling 929/2000ml at 0.42ml/s with 21.1psi vacuum 111.8m deep (179.9psia)
@01:30:19.42 Cartridge 10 sampling 954/2000ml at 0.40ml/s with 23.8psi vacuum 111.8m deep (180.0psia)
@01:31:19.42 Cartridge 10 sampling 979/2000ml at 0.42ml/s with 20.9psi vacuum 112.1m deep (180.5psia)
@01:32:19.42 Cartridge 10 sampling 1004/2000ml at 0.40ml/s with 18.3psi vacuum 112.4m deep (180.8psia)
@01:33:19.42 Cartridge 10 sampling 1029/2000ml at 0.42ml/s with 23.7psi vacuum 112.4m deep (180.8psia)
@01:34:19.42 Cartridge 10 sampling 1054/2000ml at 0.42ml/s with 22.5psi vacuum 112.1m deep (180.3psia)
@01:35:19.42 Cartridge 10 sampling 1079/2000ml at 0.43ml/s with 25.2psi vacuum 112.6m deep (181.1psia)
@01:36:19.42 Cartridge 10 sampling 1104/2000ml at 0.42ml/s with 25.7psi vacuum 113.0m deep (181.7psia)
@01:37:19.42 Cartridge 10 sampling 1128/2000ml at 0.42ml/s with 23.0psi vacuum 112.6m deep (181.2psia)
@01:38:19.42 Cartridge 10 sampling 1153/2000ml at 0.41ml/s with 24.7psi vacuum 112.4m deep (180.8psia)
@01:39:19.42 Cartridge 10 sampling 1178/2000ml at 0.39ml/s with 23.6psi vacuum 112.5m deep (181.0psia)
@01:40:19.42 Cartridge 10 sampling 1202/2000ml at 0.41ml/s with 22.6psi vacuum 113.0m deep (181.8psia)
@01:41:19.42 Cartridge 10 sampling 1227/2000ml at 0.42ml/s with 25.0psi vacuum 113.5m deep (182.4psia)
@01:42:19.42 Cartridge 10 sampling 1251/2000ml at 0.39ml/s with 23.5psi vacuum 112.8m deep (181.4psia)
@01:43:19.42 Cartridge 10 sampling 1276/2000ml at 0.39ml/s with 18.3psi vacuum 112.6m deep (181.1psia)
@01:44:19.42 Cartridge 10 sampling 1300/2000ml at 0.39ml/s with 20.9psi vacuum 113.2m deep (182.0psia)
@01:45:19.42 Cartridge 10 sampling 1325/2000ml at 0.40ml/s with 26.3psi vacuum 113.6m deep (182.6psia)
@01:46:19.42 Cartridge 10 sampling 1349/2000ml at 0.40ml/s with 21.3psi vacuum 113.8m deep (183.0psia)
@01:47:19.42 Cartridge 10 sampling 1374/2000ml at 0.40ml/s with 20.8psi vacuum 113.2m deep (182.1psia)
@01:48:19.42 Cartridge 10 sampling 1398/2000ml at 0.40ml/s with 21.8psi vacuum 112.8m deep (181.4psia)
@01:49:19.42 Cartridge 10 sampling 1422/2000ml at 0.39ml/s with 24.1psi vacuum 113.6m deep (182.6psia)
@01:50:19.42 Cartridge 10 sampling 1446/2000ml at 0.40ml/s with 18.9psi vacuum 113.6m deep (182.7psia)
@01:51:19.42 Cartridge 10 sampling 1471/2000ml at 0.40ml/s with 22.1psi vacuum 113.5m deep (182.5psia)
@01:52:19.42 Cartridge 10 sampling 1495/2000ml at 0.40ml/s with 21.1psi vacuum 113.1m deep (181.9psia)
@01:53:19.42 Cartridge 10 sampling 1519/2000ml at 0.38ml/s with 23.0psi vacuum 113.3m deep (182.2psia)
@01:54:19.42 Cartridge 10 sampling 1543/2000ml at 0.41ml/s with 21.6psi vacuum 113.8m deep (183.0psia)
@01:55:19.42 Cartridge 10 sampling 1567/2000ml at 0.41ml/s with 25.3psi vacuum 113.7m deep (182.8psia)
@01:55:51.25 <FILTERING> SP.coast
@01:55:51.32 <closeIntake> Intake.close
@01:55:51.37 <closeExhaust> Exhaust.close
@01:55:52.39 <FILTERING> TV.seek :bypass
@01:55:54.00 TV.seek :clear
@01:55:55.60 TV.coast
@01:55:55.66 Cmd::Paused in FILTERING -- CartridgeTimeLimit Expired during Sample Pump move after sampling 1579.7ml
@01:55:57.12 <LRAUV> -> Cmd.startProcessing
@01:55:57.33 <PROCESSING> PV.seek :reagent
@01:55:58.24 Sample loop closed. Ready to Deliver Reagents
@01:55:58.26 ArS.seek :sealed
@01:56:01.91 ArS.seek :evac
@01:56:15.86 delay 20 seconds
@01:56:35.90 ArS.seek :clear
@01:56:53.03 RNAlater soak for 10:00
@02:06:53.05 ArS.seek :tVent
@02:06:54.70 delay 1 second
@02:06:55.73 ArS.seek :evac
@02:07:11.68 delay 10 seconds
@02:07:21.72 Sample preserved and evacuated
@02:07:22.74 <LRAUV> -> Cmd.stop
@02:07:22.93 <PV> PV.seek :cartridge
@02:07:23.95 <ArS> ArS.seek :clear
@02:07:41.12 <LRAUV> ArS.coast
@02:07:41.17 LyS1.coast
@02:07:41.22 LyS2.coast
@02:07:41.27 AirS.coast
@02:07:41.32 SC.coast
@02:07:41.64 PV.coast
@02:07:41.81 Gate.power :motor,:OFF
@02:07:41.82 Gate.power :main,:OFF
@02:07:41.85 Gate.power :core,:OFF
@02:07:41.87 Safely stopped and ready to power off