@15:17:04.89PDT05-Sep-18 <MAIN> >BREAK< ESP3 Gateway v0.99 for core bus
@15:17:04.91 >BREAK< ESP3 Gateway v0.99 for cartridge bus
@15:17:06.13 
Configuration for koa by brent@mbari.org
/home/esp/esp2/type/auv/koa/configure.rb
@15:17:07.22 Polling Can every 5:00
@15:17:07.52 Clients may connect on TCP port 9999
@15:17:07.53 Connecting to 10.89.6.2:9999
@15:17:07.57 Waiting for espclients...
@15:17:07.86 <LRAUV> Session Begun
@15:17:09.77 -> showStatus
@15:17:11.77 -> Cmd.loadCartridge
@15:17:11.89 Gate.power :main,:ON,limit to 5000mA
@15:17:11.91 Gate.power :analytic1,:ON,limit to 5000mA
@15:17:11.93 Gate.power :analytic2,:ON,limit to 5000mA
@15:17:11.95 Gate.power :analytic3,:ON,limit to 5000mA
@15:17:12.01 Powering core bus
@15:17:14.18 ArS.configure ArSconfig
@15:17:14.28 LyS1.configure LyS1config
@15:17:14.39 LyS2.configure LyS2config
@15:17:14.49 AirS.configure AirSconfig
@15:17:14.61 TV.configure TVconfig
@15:17:14.73 SP.configure SPconfig
@15:17:14.86 SC.configure SCconfig
@15:17:14.98 PV.configure PVconfig
@15:17:15.12 Sea.configure SPconfig
@15:17:15.18 All elf controllers running firmware version 4.5
@15:17:15.20 Gate.power :motor,:ON,limit to 5000mA
@15:17:15.29 <ArS_home> ArS.reconfigure ArSconfig
@15:17:15.54 ArS.home.jog 0
@15:17:15.69 <TV_home> TV.reconfigure TVconfig
@15:17:15.74 <AirS_home> AirS.reconfigure AirSconfig
@15:17:15.77 <LyS1_home> LyS1.reconfigure LyS1config
@15:17:15.81 <PV_home> PV.reconfigure PVconfig
@15:17:15.87 <LyS2_home> LyS2.reconfigure LyS2config
@15:17:16.04 <AirS_home> AirS.home.jog 0
@15:17:16.09 <TV_home> TV.home.jog 0
@15:17:16.11 <PV_home> PV.home.jog 0
@15:17:16.14 <LyS2_home> LyS2.home.jog 0
@15:17:16.17 <LyS1_home> LyS1.home.jog 0
@15:17:16.43 <ArS_home> ArS.reconfigure HomeMagSyringe
@15:17:16.66 <AirS_home> AirS.reconfigure HomeMagSyringe
@15:17:16.72 <ArS_home> ArS.jog -122
@15:17:16.76 <TV_home> TV.reconfigure HomeTV
@15:17:16.79 <PV_home> PV.reconfigure HomingPV
@15:17:16.94 <AirS_home> AirS.jog -114
@15:17:17.00 <PV_home> PV.jog -117
@15:17:17.04 <TV_home> TV.jog -544
@15:17:17.22 <LyS1_home> LyS1.reconfigure HomeSyringe
@15:17:17.25 <LyS2_home> LyS2.reconfigure HomeSyringe
@15:17:17.35 <LyS1_home> LyS1.jog -106
@15:17:17.36 <LyS2_home> LyS2.jog -101
@15:17:17.49 <AirS_home> AirS.setRawPosition! -50
@15:17:17.52 <ArS_home> ArS.setRawPosition! -50
@15:17:17.58 <AirS_home> AirS.seek :home
@15:17:17.62 <ArS_home> ArS.seek :home
@15:17:17.78 <LyS2_home> LyS2.setRawPosition! -50
@15:17:17.80 <LyS1_home> LyS1.setRawPosition! -50
@15:17:17.83 <PV_home> PV.setRawPosition! -50
@15:17:17.91 <LyS2_home> LyS2.seek :home
@15:17:17.95 <LyS1_home> LyS1.seek :home
@15:17:18.05 <PV_home> PV.seek :home
@15:17:18.18 <ArS_home> ArS.reconfigure ArSconfig
@15:17:18.21 <AirS_home> AirS.reconfigure AirSconfig
@15:17:18.39 <LyS2_home> LyS2.reconfigure LyS2config
@15:17:18.41 <LyS1_home> LyS1.reconfigure LyS1config
@15:17:18.53 <PV_home> PV.reconfigure PVconfig
@15:17:18.95 <TV_home> TV.setRawPosition! 0
@15:17:19.00 TV.seek :home
@15:17:19.09 TV.reconfigure TVconfig
@15:17:19.44 <LRAUV> TV.seek :clear
@15:17:21.05 TV.coast
@15:17:21.10 SC.reconfigure HomeSC
@15:17:21.16 SC.home.jog 0
@15:17:21.92 SC.reconfigure SCconfig
@15:17:21.98 SC.seek 60
@15:17:22.06 Selecting Cartridge 59
@15:17:22.31 SC.seek 59
@15:17:22.82 <LyS2> LyS2.seek :locked
@15:17:22.94 <PV> PV.seek :locked
@15:17:23.07 <AirS> AirS.seek :locked
@15:17:44.57 <LRAUV> -> Cmd.startFiltering
@15:17:44.79 <FILTERING> Duration of filtering limited to 1:05:00
@15:17:45.04 Priming sample loop w/100ml, bypass w/10ml
@15:17:45.12 SP.setPosition! 0ml
@15:17:45.16 <openIntake> Intake.open
@15:17:45.18 <FILTERING> Exhaust.open
@15:17:46.02 Sea @41.2psia
@15:17:46.04 Waiting 4 - 300s for filter pressure to stabilize +/-0.5psi
@15:17:51.57 Vacuum tare is 30% of full scale
@15:17:51.58 <openPB> PB.open
@15:17:51.61 <FILTERING> Exhaust.close
@15:17:52.43 Sea @41.2psia
@15:17:52.52 SP.reconfigure SPprime
@15:17:52.59 SP.seek 10ml,1:20
@15:18:04.00 SP.setPosition! 0ml
@15:18:04.05 <closePB> PB.close
@15:18:04.07 <FILTERING> Exhaust.open
@15:18:04.91 Sea @41.2psia
@15:18:04.99 SP.reconfigure SPprime
@15:18:05.05 SP.seek 100ml,8:50
@15:19:55.46 Intake.close
@15:19:56.19 Pressurizing cartridge to 26psi (try #1 of 3)
@15:19:56.20 SP.setPosition! 0ml
@15:19:56.25 PB.open
@15:19:56.99 TV.seek :crack
@15:19:57.78 TV.seek :clear
@15:19:58.58 Intake.open
@15:20:00.06 PB.close
@15:20:00.78 Exhaust.close
@15:20:01.57 Sea @41.4psia
@15:20:01.65 SP.reconfigure SPcharge
@15:20:01.71 SP.seek 2.3ml,42 seconds
@15:20:11.46 Cartridge pressurized with 0.421ml to 26.3psi
@15:20:11.70 delay 3 seconds
@15:20:14.77 Cartridge at 20.3psi 3 seconds later
@15:20:14.85 TV.seek :cartridge
@15:20:16.58 TV.seek :clear
@15:20:18.31 Sampling 1000.0ml
@15:20:18.32 SP.setPosition! 0ml
@15:20:18.37 Exhaust.open
@15:20:19.16 Sea @-30.9psia
@15:20:19.26 SP.reconfigure SPsample
@15:20:19.33 SP.seek 1000ml,1:23:49
@15:20:20.28 <sampling> Cartridge 59 sampling 0/1000ml at 0.16ml/s with 5.5psi vacuum -13.2m deep (-4.8psia)
@15:21:20.28 Cartridge 59 sampling 29/1000ml at 0.48ml/s with 24.8psi vacuum -8.5m deep (2.2psia)
@15:22:20.28 Cartridge 59 sampling 58/1000ml at 0.49ml/s with 23.4psi vacuum -9.0m deep (1.4psia)
@15:23:20.28 Cartridge 59 sampling 88/1000ml at 0.49ml/s with 23.9psi vacuum -9.0m deep (1.3psia)
@15:24:20.28 Cartridge 59 sampling 117/1000ml at 0.48ml/s with 24.8psi vacuum -8.5m deep (2.2psia)
@15:25:20.28 Cartridge 59 sampling 146/1000ml at 0.47ml/s with 25.8psi vacuum -8.7m deep (1.8psia)
@15:26:20.28 Cartridge 59 sampling 175/1000ml at 0.48ml/s with 23.4psi vacuum -8.4m deep (2.4psia)
@15:27:20.28 Cartridge 59 sampling 204/1000ml at 0.49ml/s with 23.0psi vacuum -8.5m deep (2.1psia)
@15:28:20.28 Cartridge 59 sampling 233/1000ml at 0.49ml/s with 22.3psi vacuum -9.1m deep (1.2psia)
@15:29:20.28 Cartridge 59 sampling 262/1000ml at 0.48ml/s with 24.3psi vacuum -8.3m deep (2.4psia)
@15:30:20.28 Cartridge 59 sampling 291/1000ml at 0.50ml/s with 24.0psi vacuum -8.9m deep (1.5psia)
@15:31:20.28 Cartridge 59 sampling 321/1000ml at 0.50ml/s with 26.4psi vacuum -8.5m deep (2.1psia)
@15:32:20.28 Cartridge 59 sampling 350/1000ml at 0.47ml/s with 26.4psi vacuum -8.7m deep (1.9psia)
@15:33:20.28 Cartridge 59 sampling 379/1000ml at 0.47ml/s with 26.4psi vacuum -8.6m deep (2.0psia)
@15:34:20.28 Cartridge 59 sampling 409/1000ml at 0.50ml/s with 21.6psi vacuum -8.6m deep (2.0psia)
@15:35:20.28 Cartridge 59 sampling 438/1000ml at 0.50ml/s with 24.0psi vacuum -8.8m deep (1.7psia)
@15:36:20.28 Cartridge 59 sampling 467/1000ml at 0.47ml/s with 16.5psi vacuum -9.1m deep (1.3psia)
@15:37:20.28 Cartridge 59 sampling 497/1000ml at 0.50ml/s with 17.6psi vacuum -9.0m deep (1.3psia)
@15:38:20.28 Cartridge 59 sampling 526/1000ml at 0.50ml/s with 23.5psi vacuum -8.8m deep (1.7psia)
@15:39:20.28 Cartridge 59 sampling 556/1000ml at 0.48ml/s with 26.1psi vacuum -8.5m deep (2.1psia)
@15:40:20.28 Cartridge 59 sampling 585/1000ml at 0.49ml/s with 20.2psi vacuum -9.2m deep (1.1psia)
@15:41:20.28 Cartridge 59 sampling 614/1000ml at 0.50ml/s with 22.0psi vacuum -8.1m deep (2.7psia)
@15:42:20.28 Cartridge 59 sampling 644/1000ml at 0.49ml/s with 21.1psi vacuum -9.2m deep (1.1psia)
@15:43:20.28 Cartridge 59 sampling 673/1000ml at 0.50ml/s with 24.9psi vacuum -8.3m deep (2.4psia)
@15:44:20.28 Cartridge 59 sampling 702/1000ml at 0.47ml/s with 16.1psi vacuum -8.3m deep (2.4psia)
@15:45:20.28 Cartridge 59 sampling 731/1000ml at 0.50ml/s with 22.5psi vacuum -8.1m deep (2.8psia)
@15:46:20.28 Cartridge 59 sampling 760/1000ml at 0.49ml/s with 24.5psi vacuum -8.1m deep (2.7psia)
@15:47:20.28 Cartridge 59 sampling 789/1000ml at 0.46ml/s with 25.9psi vacuum -9.1m deep (1.2psia)
@15:48:20.28 Cartridge 59 sampling 819/1000ml at 0.46ml/s with 23.3psi vacuum -8.3m deep (2.4psia)
@15:49:20.28 Cartridge 59 sampling 848/1000ml at 0.47ml/s with 12.2psi vacuum -8.4m deep (2.3psia)
@15:50:20.28 Cartridge 59 sampling 878/1000ml at 0.49ml/s with 26.4psi vacuum -7.9m deep (3.0psia)
@15:51:20.28 Cartridge 59 sampling 907/1000ml at 0.49ml/s with 22.4psi vacuum -9.1m deep (1.3psia)
@15:52:20.28 Cartridge 59 sampling 937/1000ml at 0.50ml/s with 24.6psi vacuum -9.1m deep (1.2psia)
@15:53:20.28 Cartridge 59 sampling 966/1000ml at 0.50ml/s with 23.5psi vacuum -8.0m deep (2.8psia)
@15:54:20.28 Cartridge 59 sampling 995/1000ml at 0.50ml/s with 17.4psi vacuum -8.5m deep (2.1psia)
@15:54:30.41 <closeIntake> Intake.close
@15:54:30.44 <closeExhaust> Exhaust.close
@15:54:31.23 <FILTERING> Sampled  1000.1ml
@15:54:31.32 TV.seek :bypass
@15:54:32.93 TV.seek :clear
@15:54:35.06 <LRAUV> -> Cmd.startProcessing
@15:54:35.31 <PROCESSING> PV.seek :reagent
@15:54:36.24 Sample loop closed. Ready to Deliver Reagents
@15:54:36.26 ArS.seek :sealed
@15:54:39.90 ArS.seek :evac
@15:54:53.85 delay 20 seconds
@15:55:13.89 ArS.seek :clear
@15:55:31.01 RNAlater soak for 10:00
@16:05:31.04 ArS.seek :tVent
@16:05:32.68 delay 1 second
@16:05:33.71 ArS.seek :evac
@16:05:49.65 delay 10 seconds
@16:05:59.69 Sample preserved and evacuated
@16:06:00.86 <LRAUV> -> Cmd.stop
@16:06:01.00 PV.seek :locked
@16:06:02.01 <ArS> ArS.seek :clear
@16:06:02.19 <LyS2> LyS2.seek :clear
@16:06:02.32 <AirS> AirS.seek :clear
@16:06:19.17 <LRAUV> ArS.coast
@16:06:19.22 LyS1.coast
@16:06:19.27 LyS2.coast
@16:06:19.32 AirS.coast
@16:06:19.37 TV.coast
@16:06:19.42 SP.coast
@16:06:19.47 SC.coast
@16:06:19.52 PV.coast
@16:06:19.69 Gate.power :motor,:OFF
@16:06:19.71 Gate.power :main,:OFF
@16:06:19.73 Gate.power :core,:OFF
@16:06:19.75 Gate.power :analytic1,:OFF
@16:06:19.77 Gate.power :analytic2,:OFF
@16:06:19.79 Gate.power :analytic3,:OFF
@16:06:19.81 Safely stopped and ready to power off