@14:00:16.34PDT16-Aug-18 <MAIN> >BREAK< ESP3 Gateway v0.99 for core bus
@14:00:16.36 >BREAK< ESP3 Gateway v0.99 for cartridge bus
@14:00:18.02 
Configuration for koa by brent@mbari.org
/home/esp/esp2/type/auv/koa/configure.rb
@14:00:20.27 Polling Can every 5:00
@14:00:21.04 Clients may connect on TCP port 9999
@14:00:21.05 Connecting to 10.89.6.2:9999
@14:00:21.10 Waiting for espclients...
@14:00:23.77 <LRAUV> Session Begun
@14:00:25.66 -> showStatus
@14:00:27.66 -> Cmd.loadCartridge
@14:00:27.82 Gate.power :main,:ON,limit to 5000mA
@14:00:27.84 Gate.power :analytic1,:ON,limit to 5000mA
@14:00:27.87 Gate.power :analytic2,:ON,limit to 5000mA
@14:00:27.90 Gate.power :analytic3,:ON,limit to 5000mA
@14:00:27.98 Powering core bus
@14:00:30.19 ArS.configure ArSconfig
@14:00:30.33 LyS1.configure LyS1config
@14:00:30.50 LyS2.configure LyS2config
@14:00:30.62 AirS.configure AirSconfig
@14:00:30.79 TV.configure TVconfig
@14:00:30.96 SP.configure SPconfig
@14:00:31.12 SC.configure SCconfig
@14:00:31.29 PV.configure PVconfig
@14:00:31.47 Sea.configure SPconfig
@14:00:31.55 All elf controllers running firmware version 4.5
@14:00:31.57 Gate.power :motor,:ON,limit to 5000mA
@14:00:31.75 <ArS_home> ArS.reconfigure ArSconfig
@14:00:32.20 <LyS2_home> LyS2.reconfigure LyS2config
@14:00:32.23 <LyS1_home> LyS1.reconfigure LyS1config
@14:00:32.27 <TV_home> TV.reconfigure TVconfig
@14:00:32.34 <AirS_home> AirS.reconfigure AirSconfig
@14:00:32.38 <ArS_home> ArS.home.jog 0
@14:00:32.42 <PV_home> PV.reconfigure PVconfig
@14:00:32.72 <LyS1_home> LyS1.home.jog 0
@14:00:32.75 <TV_home> TV.home.jog 0
@14:00:32.79 <LyS2_home> LyS2.home.jog 0
@14:00:32.83 <AirS_home> AirS.home.jog 0
@14:00:32.87 <PV_home> PV.home.jog 0
@14:00:33.69 PV.reconfigure HomingPV
@14:00:33.72 <TV_home> TV.reconfigure HomeTV
@14:00:33.78 <LyS2_home> LyS2.reconfigure HomeSyringe
@14:00:33.83 <LyS1_home> LyS1.reconfigure HomeSyringe
@14:00:33.88 <ArS_home> ArS.reconfigure HomeMagSyringe
@14:00:33.92 <AirS_home> AirS.reconfigure HomeMagSyringe
@14:00:34.22 <PV_home> PV.jog -769
@14:00:34.25 <TV_home> TV.jog -536
@14:00:34.30 <LyS2_home> LyS2.jog -95
@14:00:34.34 <LyS1_home> LyS1.jog -99
@14:00:34.38 <ArS_home> ArS.jog -121
@14:00:34.42 <AirS_home> AirS.jog -114
@14:00:34.90 <LyS2_home> LyS2.setRawPosition! -50
@14:00:35.00 LyS2.seek :home
@14:00:35.14 <AirS_home> AirS.setRawPosition! -50
@14:00:35.16 <LyS1_home> LyS1.setRawPosition! -50
@14:00:35.19 <ArS_home> ArS.setRawPosition! -50
@14:00:35.35 <AirS_home> AirS.seek :home
@14:00:35.40 <LyS1_home> LyS1.seek :home
@14:00:35.48 <ArS_home> ArS.seek :home
@14:00:35.66 <LyS2_home> LyS2.reconfigure LyS2config
@14:00:35.69 <PV_home> PV.setRawPosition! -50
@14:00:35.84 PV.seek :home
@14:00:35.97 <AirS_home> AirS.reconfigure AirSconfig
@14:00:36.00 <LyS1_home> LyS1.reconfigure LyS1config
@14:00:36.04 <ArS_home> ArS.reconfigure ArSconfig
@14:00:36.25 <PV_home> PV.reconfigure PVconfig
@14:00:36.38 <TV_home> TV.setRawPosition! 0
@14:00:36.44 TV.seek :home
@14:00:36.55 TV.reconfigure TVconfig
@14:00:36.74 <LRAUV> TV.seek :clear
@14:00:38.67 TV.coast
@14:00:38.74 SC.reconfigure HomeSC
@14:00:38.83 SC.home.jog 0
@14:00:39.62 SC.reconfigure SCconfig
@14:00:39.70 SC.seek 59
@14:00:39.84 Selecting Cartridge 58
@14:00:40.20 SC.seek 58
@14:00:40.78 <LyS2> LyS2.seek :locked
@14:00:40.96 <PV> PV.seek :locked
@14:00:41.14 <AirS> AirS.seek :locked
@14:01:00.46 <LRAUV> -> Cmd.startFiltering
@14:01:00.77 <FILTERING> Duration of filtering limited to 1:05:00
@14:01:01.13 Priming sample loop w/100ml, bypass w/10ml
@14:01:01.24 SP.setPosition! 0ml
@14:01:01.30 <openIntake> Intake.open
@14:01:01.34 <FILTERING> Exhaust.open
@14:01:02.25 Sea @42.8psia
@14:01:02.28 Waiting 4 - 300s for filter pressure to stabilize +/-0.5psi
@14:01:08.02 Vacuum tare is 29% of full scale
@14:01:08.04 <openPB> PB.open
@14:01:08.07 <FILTERING> Exhaust.close
@14:01:08.97 Sea @42.6psia
@14:01:09.09 SP.reconfigure SPprime
@14:01:09.17 SP.seek 10ml,1:20
@14:01:20.61 SP.setPosition! 0ml
@14:01:20.67 <closePB> PB.close
@14:01:20.71 <FILTERING> Exhaust.open
@14:01:21.60 Sea @42.7psia
@14:01:21.71 SP.reconfigure SPprime
@14:01:21.79 SP.seek 100ml,8:50
@14:03:12.25 Intake.close
@14:03:13.05 Pressurizing cartridge to 26psi (try #1 of 3)
@14:03:13.06 SP.setPosition! 0ml
@14:03:13.14 PB.open
@14:03:13.93 TV.seek :crack
@14:03:14.75 TV.seek :clear
@14:03:15.57 Intake.open
@14:03:17.05 PB.close
@14:03:17.80 Exhaust.close
@14:03:18.63 Sea @42.8psia
@14:03:18.75 SP.reconfigure SPcharge
@14:03:18.83 SP.seek 2.3ml,42 seconds
@14:03:23.49 Cartridge pressurized with 0.092ml to 26.1psi
@14:03:23.76 Pressure peaked at 28.3psi
@14:03:23.79 delay 3 seconds
@14:03:26.89 Cartridge at 18.8psi 3 seconds later
@14:03:27.00 TV.seek :cartridge
@14:03:28.76 TV.seek :clear
@14:03:30.52 Sampling 1000.0ml
@14:03:30.89 SP.setPosition! 0ml
@14:03:30.96 Exhaust.open
@14:03:31.78 Sea @-42.9psia
@14:03:31.90 SP.reconfigure SPsample
@14:03:31.98 SP.seek 1000ml,1:23:49
@14:03:32.94 <sampling> Cartridge 58 sampling 0/1000ml at 0.15ml/s with 2.4psi vacuum
@14:04:32.93 Cartridge 58 sampling 40/1000ml at 0.67ml/s with 15.3psi vacuum -28.4m deep (-27.3psia)
@14:05:32.95 Cartridge 58 sampling 81/1000ml at 0.69ml/s with 25.9psi vacuum -28.4m deep (-27.3psia)
@14:06:32.94 Cartridge 58 sampling 122/1000ml at 0.66ml/s with 18.1psi vacuum -28.1m deep (-26.8psia)
@14:07:32.95 Cartridge 58 sampling 163/1000ml at 0.66ml/s with 14.9psi vacuum -28.1m deep (-26.9psia)
@14:08:32.95 Cartridge 58 sampling 204/1000ml at 0.68ml/s with 25.3psi vacuum -28.8m deep (-27.9psia)
@14:09:32.96 Cartridge 58 sampling 245/1000ml at 0.68ml/s with 17.9psi vacuum -28.6m deep (-27.5psia)
@14:10:32.94 Cartridge 58 sampling 286/1000ml at 0.67ml/s with 15.5psi vacuum -28.3m deep (-27.1psia)
@14:11:32.95 Cartridge 58 sampling 327/1000ml at 0.69ml/s with 23.1psi vacuum -27.6m deep (-26.1psia)
@14:12:32.95 Cartridge 58 sampling 368/1000ml at 0.68ml/s with 27.0psi vacuum -27.3m deep (-25.6psia)
@14:13:32.95 Cartridge 58 sampling 410/1000ml at 0.69ml/s with 20.4psi vacuum -27.9m deep (-26.5psia)
@14:14:32.95 Cartridge 58 sampling 451/1000ml at 0.67ml/s with 16.2psi vacuum -27.4m deep (-25.8psia)
@14:15:32.94 Cartridge 58 sampling 492/1000ml at 0.67ml/s with 25.2psi vacuum -27.6m deep (-26.1psia)
@14:16:32.95 Cartridge 58 sampling 533/1000ml at 0.68ml/s with 22.2psi vacuum -28.3m deep (-27.1psia)
@14:17:32.96 Cartridge 58 sampling 574/1000ml at 0.68ml/s with 23.9psi vacuum -27.3m deep (-25.7psia)
@14:18:32.94 Cartridge 58 sampling 615/1000ml at 0.68ml/s with 26.6psi vacuum -27.7m deep (-26.2psia)
@14:19:32.95 Cartridge 58 sampling 657/1000ml at 0.69ml/s with 24.5psi vacuum -27.8m deep (-26.3psia)
@14:20:32.94 Cartridge 58 sampling 698/1000ml at 0.70ml/s with 24.1psi vacuum -27.5m deep (-25.9psia)
@14:21:32.95 Cartridge 58 sampling 739/1000ml at 0.69ml/s with 23.9psi vacuum -27.7m deep (-26.2psia)
@14:22:32.95 Cartridge 58 sampling 781/1000ml at 0.68ml/s with 19.0psi vacuum -27.5m deep (-25.9psia)
@14:23:32.95 Cartridge 58 sampling 822/1000ml at 0.68ml/s with 22.3psi vacuum -27.5m deep (-25.9psia)
@14:24:32.95 Cartridge 58 sampling 863/1000ml at 0.69ml/s with 23.6psi vacuum -28.7m deep (-27.8psia)
@14:25:32.94 Cartridge 58 sampling 905/1000ml at 0.69ml/s with 22.9psi vacuum -31.4m deep (-31.8psia)
@14:26:32.95 Cartridge 58 sampling 946/1000ml at 0.69ml/s with 22.1psi vacuum -27.7m deep (-26.2psia)
@14:27:32.95 Cartridge 58 sampling 988/1000ml at 0.68ml/s with 22.5psi vacuum -27.5m deep (-26.0psia)
@14:27:50.36 <closeIntake> Intake.close
@14:27:50.40 <closeExhaust> Exhaust.close
@14:27:51.24 <FILTERING> Sampled  1000.1ml
@14:27:51.35 TV.seek :bypass
@14:27:52.99 TV.seek :clear
@14:27:55.33 <LRAUV> -> Cmd.startProcessing
@14:27:55.70 <PROCESSING> PV.seek :reagent
@14:27:56.65 Sample loop closed. Ready to Deliver Reagents
@14:27:56.68 ArS.seek :sealed
@14:28:00.35 ArS.seek :evac
@14:28:14.36 delay 20 seconds
@14:28:34.40 ArS.seek :clear
@14:28:51.55 RNAlater soak for 10:00
@14:38:51.59 ArS.seek :tVent
@14:38:53.28 delay 1 second
@14:38:54.31 ArS.seek :evac
@14:39:10.29 delay 10 seconds
@14:39:20.33 Sample preserved and evacuated
@14:39:21.76 <LRAUV> -> Cmd.stop
@14:39:21.95 PV.seek :locked
@14:39:23.03 <ArS> ArS.seek :clear
@14:39:23.30 <LyS2> LyS2.seek :clear
@14:39:23.47 <AirS> AirS.seek :clear
@14:39:40.21 <LRAUV> ArS.coast
@14:39:40.29 LyS1.coast
@14:39:40.36 LyS2.coast
@14:39:40.43 AirS.coast
@14:39:40.50 TV.coast
@14:39:40.57 SP.coast
@14:39:40.63 SC.coast
@14:39:40.77 PV.coast
@14:39:41.00 Gate.power :motor,:OFF
@14:39:41.02 Gate.power :main,:OFF
@14:39:41.04 Gate.power :core,:OFF
@14:39:41.08 Gate.power :analytic1,:OFF
@14:39:41.11 Gate.power :analytic2,:OFF
@14:39:41.14 Gate.power :analytic3,:OFF
@14:39:41.17 Safely stopped and ready to power off