@01:29:12.89PDT12-Sep-18 <MAIN> >BREAK< ESP3 Gateway v0.99 for core bus
@01:29:12.91 >BREAK< ESP3 Gateway v0.99 for cartridge bus
@01:29:14.14 
Configuration for koa by brent@mbari.org
/home/esp/esp2/type/auv/koa/configure.rb
@01:29:15.43 Polling Can every 5:00
@01:29:15.86 Clients may connect on TCP port 9999
@01:29:15.87 Connecting to 10.89.6.2:9999
@01:29:15.93 Waiting for espclients...
@01:29:16.26 <LRAUV> Session Begun
@01:29:18.14 -> showStatus
@01:29:20.14 -> Cmd.loadCartridge
@01:29:20.27 Gate.power :main,:ON,limit to 5000mA
@01:29:20.28 Gate.power :analytic1,:ON,limit to 5000mA
@01:29:20.30 Gate.power :analytic2,:ON,limit to 5000mA
@01:29:20.32 Gate.power :analytic3,:ON,limit to 5000mA
@01:29:20.38 Powering core bus
@01:29:22.56 ArS.configure ArSconfig
@01:29:22.66 LyS1.configure LyS1config
@01:29:22.78 LyS2.configure LyS2config
@01:29:22.88 AirS.configure AirSconfig
@01:29:22.99 TV.configure TVconfig
@01:29:23.11 SP.configure SPconfig
@01:29:23.24 SC.configure SCconfig
@01:29:23.35 PV.configure PVconfig
@01:29:23.49 Sea.configure SPconfig
@01:29:23.55 All elf controllers running firmware version 4.5
@01:29:23.56 Gate.power :motor,:ON,limit to 5000mA
@01:29:24.01 <AirS_home> AirS.reconfigure AirSconfig
@01:29:24.06 <LyS2_home> LyS2.reconfigure LyS2config
@01:29:24.09 <ArS_home> ArS.reconfigure ArSconfig
@01:29:24.12 <TV_home> TV.reconfigure TVconfig
@01:29:24.18 <PV_home> PV.reconfigure PVconfig
@01:29:24.21 <LyS1_home> LyS1.reconfigure LyS1config
@01:29:24.39 <AirS_home> AirS.home.jog 0
@01:29:24.44 <ArS_home> ArS.home.jog 0
@01:29:24.47 <PV_home> PV.home.jog 0
@01:29:24.50 <TV_home> TV.home.jog 0
@01:29:24.53 <LyS1_home> LyS1.home.jog 0
@01:29:24.58 <LyS2_home> LyS2.home.jog 0
@01:29:25.05 <PV_home> PV.reconfigure HomingPV
@01:29:25.07 <TV_home> TV.reconfigure HomeTV
@01:29:25.14 <ArS_home> ArS.reconfigure HomeMagSyringe
@01:29:25.18 <AirS_home> AirS.reconfigure HomeMagSyringe
@01:29:25.33 <TV_home> TV.jog -540
@01:29:25.37 <PV_home> PV.jog -782
@01:29:25.41 <ArS_home> ArS.jog -88
@01:29:25.44 <AirS_home> AirS.jog -124
@01:29:25.64 <LyS1_home> LyS1.reconfigure HomeSyringe
@01:29:25.66 <LyS2_home> LyS2.reconfigure HomeSyringe
@01:29:25.75 <LyS1_home> LyS1.jog -119
@01:29:25.78 <LyS2_home> LyS2.jog -113
@01:29:25.91 <ArS_home> ArS.setRawPosition! -50
@01:29:25.96 ArS.seek :home
@01:29:26.03 <AirS_home> AirS.setRawPosition! -50
@01:29:26.08 AirS.seek :home
@01:29:26.21 <LyS2_home> LyS2.setRawPosition! -50
@01:29:26.23 <LyS1_home> LyS1.setRawPosition! -50
@01:29:26.30 <LyS2_home> LyS2.seek :home
@01:29:26.41 <LyS1_home> LyS1.seek :home
@01:29:26.53 <PV_home> PV.setRawPosition! -50
@01:29:26.55 <AirS_home> AirS.reconfigure AirSconfig
@01:29:26.57 <ArS_home> ArS.reconfigure ArSconfig
@01:29:26.70 <PV_home> PV.seek :home
@01:29:27.08 <LyS1_home> LyS1.reconfigure LyS1config
@01:29:27.14 <LyS2_home> LyS2.reconfigure LyS2config
@01:29:27.26 <PV_home> PV.reconfigure PVconfig
@01:29:27.35 <TV_home> TV.setRawPosition! 0
@01:29:27.40 TV.seek :home
@01:29:27.49 TV.reconfigure TVconfig
@01:29:27.70 <LRAUV> TV.seek :clear
@01:29:29.32 TV.coast
@01:29:29.37 SC.reconfigure HomeSC
@01:29:29.44 SC.home.jog 0
@01:29:30.20 SC.reconfigure SCconfig
@01:29:30.26 SC.seek 19
@01:29:30.35 Selecting Cartridge 18
@01:29:30.60 SC.seek 18
@01:29:31.10 <LyS2> LyS2.seek :locked
@01:29:31.23 <PV> PV.seek :locked
@01:29:31.36 <AirS> AirS.seek :locked
@01:29:52.94 <LRAUV> -> Cmd.startFiltering
@01:29:53.17 <FILTERING> Duration of filtering limited to 1:05:00
@01:29:53.42 Priming sample loop w/100ml, bypass w/10ml
@01:29:53.50 SP.setPosition! 0ml
@01:29:53.54 <openIntake> Intake.open
@01:29:53.57 <FILTERING> Exhaust.open
@01:29:54.45 Sea @83.5psia
@01:29:54.47 Waiting 4 - 300s for filter pressure to stabilize +/-0.5psi
@01:29:59.99 Vacuum tare is 30% of full scale
@01:30:00.00 <openPB> PB.open
@01:30:00.05 <FILTERING> Exhaust.close
@01:30:00.90 Sea @83.7psia
@01:30:00.99 SP.reconfigure SPprime
@01:30:01.06 SP.seek 10ml,1:20
@01:30:12.46 SP.setPosition! 0ml
@01:30:12.51 <closePB> PB.close
@01:30:12.53 <FILTERING> Exhaust.open
@01:30:13.38 Sea @83.7psia
@01:30:13.46 SP.reconfigure SPprime
@01:30:13.53 SP.seek 100ml,8:50
@01:32:03.83 Intake.close
@01:32:04.60 Pressurizing cartridge to 26psi (try #1 of 3)
@01:32:04.61 SP.setPosition! 0ml
@01:32:04.66 PB.open
@01:32:05.43 TV.seek :crack
@01:32:06.22 TV.seek :clear
@01:32:07.02 Intake.open
@01:32:08.49 PB.close
@01:32:09.23 Exhaust.close
@01:32:10.04 Sea @83.7psia
@01:32:10.38 SP.reconfigure SPcharge
@01:32:10.47 SP.seek 2.3ml,42 seconds
@01:32:14.19 Cartridge pressurized with 0.058ml to 26.4psi
@01:32:14.42 Pressure peaked at 26.9psi
@01:32:14.44 delay 3 seconds
@01:32:17.51 Cartridge at 25.3psi 3 seconds later
@01:32:17.59 TV.seek :cartridge
@01:32:19.31 TV.seek :clear
@01:32:21.04 Sampling 1000.0ml
@01:32:21.05 SP.setPosition! 0ml
@01:32:21.10 Exhaust.open
@01:32:21.92 Sea @61.3psia
@01:32:22.01 SP.reconfigure SPsample
@01:32:22.08 SP.seek 1000ml,1:23:49
@01:32:23.03 <sampling> Cartridge 18 sampling 0/1000ml at 0.16ml/s with 7.2psi vacuum 32.6m deep (62.8psia)
@01:33:23.04 Cartridge 18 sampling 23/1000ml at 0.36ml/s with 23.1psi vacuum 33.6m deep (64.4psia)
@01:34:23.04 Cartridge 18 sampling 45/1000ml at 0.39ml/s with 23.9psi vacuum 33.6m deep (64.3psia)
@01:35:23.04 Cartridge 18 sampling 68/1000ml at 0.36ml/s with 25.5psi vacuum 33.5m deep (64.2psia)
@01:36:23.04 Cartridge 18 sampling 90/1000ml at 0.37ml/s with 24.1psi vacuum 33.9m deep (64.8psia)
@01:37:23.04 Cartridge 18 sampling 112/1000ml at 0.38ml/s with 25.2psi vacuum 34.4m deep (65.5psia)
@01:38:23.05 Cartridge 18 sampling 134/1000ml at 0.37ml/s with 25.0psi vacuum 34.8m deep (66.2psia)
@01:39:23.04 Cartridge 18 sampling 155/1000ml at 0.37ml/s with 22.5psi vacuum 34.9m deep (66.3psia)
@01:40:23.04 Cartridge 18 sampling 177/1000ml at 0.34ml/s with 18.5psi vacuum 35.2m deep (66.7psia)
@01:41:23.04 Cartridge 18 sampling 198/1000ml at 0.34ml/s with 22.2psi vacuum 35.5m deep (67.2psia)
@01:42:23.04 Cartridge 18 sampling 220/1000ml at 0.35ml/s with 24.3psi vacuum 36.1m deep (68.0psia)
@01:43:23.04 Cartridge 18 sampling 241/1000ml at 0.35ml/s with 23.8psi vacuum 36.5m deep (68.7psia)
@01:44:23.04 Cartridge 18 sampling 262/1000ml at 0.33ml/s with 21.6psi vacuum 37.0m deep (69.4psia)
@01:45:23.04 Cartridge 18 sampling 283/1000ml at 0.35ml/s with 21.5psi vacuum 37.4m deep (69.9psia)
@01:46:23.04 Cartridge 18 sampling 304/1000ml at 0.33ml/s with 26.3psi vacuum 37.9m deep (70.7psia)
@01:47:23.04 Cartridge 18 sampling 324/1000ml at 0.34ml/s with 21.2psi vacuum 37.9m deep (70.6psia)
@01:48:23.04 Cartridge 18 sampling 345/1000ml at 0.32ml/s with 23.0psi vacuum 38.2m deep (71.1psia)
@01:49:23.04 Cartridge 18 sampling 365/1000ml at 0.34ml/s with 25.7psi vacuum 38.2m deep (71.2psia)
@01:50:23.04 Cartridge 18 sampling 385/1000ml at 0.35ml/s with 22.0psi vacuum 37.7m deep (70.4psia)
@01:51:23.04 Cartridge 18 sampling 405/1000ml at 0.34ml/s with 22.7psi vacuum 37.4m deep (70.0psia)
@01:52:23.04 Cartridge 18 sampling 425/1000ml at 0.34ml/s with 22.6psi vacuum 37.3m deep (69.8psia)
@01:53:23.04 Cartridge 18 sampling 445/1000ml at 0.33ml/s with 21.0psi vacuum 37.1m deep (69.5psia)
@01:54:23.04 Cartridge 18 sampling 465/1000ml at 0.32ml/s with 20.7psi vacuum 36.9m deep (69.2psia)
@01:55:23.04 Cartridge 18 sampling 484/1000ml at 0.33ml/s with 22.8psi vacuum 36.9m deep (69.2psia)
@01:56:23.04 Cartridge 18 sampling 504/1000ml at 0.34ml/s with 24.2psi vacuum 37.6m deep (70.2psia)
@01:57:23.04 Cartridge 18 sampling 523/1000ml at 0.32ml/s with 23.6psi vacuum 37.7m deep (70.5psia)
@01:58:23.11 Cartridge 18 sampling 542/1000ml at 0.33ml/s with 25.7psi vacuum 37.7m deep (70.4psia)
@01:59:23.04 Cartridge 18 sampling 561/1000ml at 0.32ml/s with 22.6psi vacuum 37.6m deep (70.3psia)
@02:00:23.04 Cartridge 18 sampling 580/1000ml at 0.30ml/s with 18.5psi vacuum 37.2m deep (69.7psia)
@02:01:23.04 Cartridge 18 sampling 598/1000ml at 0.29ml/s with 20.5psi vacuum 37.4m deep (69.9psia)
@02:02:23.30 Cartridge 18 sampling 617/1000ml at 0.30ml/s with 27.0psi vacuum 37.6m deep (70.3psia)
@02:03:23.04 Cartridge 18 sampling 636/1000ml at 0.31ml/s with 22.8psi vacuum 37.6m deep (70.3psia)
@02:04:23.04 Cartridge 18 sampling 654/1000ml at 0.32ml/s with 25.0psi vacuum 37.7m deep (70.4psia)
@02:05:23.04 Cartridge 18 sampling 672/1000ml at 0.30ml/s with 24.3psi vacuum 37.9m deep (70.7psia)
@02:06:23.04 Cartridge 18 sampling 690/1000ml at 0.32ml/s with 23.0psi vacuum 38.6m deep (71.8psia)
@02:07:23.04 Cartridge 18 sampling 708/1000ml at 0.29ml/s with 20.8psi vacuum 38.9m deep (72.3psia)
@02:08:23.05 Cartridge 18 sampling 726/1000ml at 0.29ml/s with 22.2psi vacuum 39.3m deep (72.7psia)
@02:09:23.04 Cartridge 18 sampling 743/1000ml at 0.29ml/s with 27.1psi vacuum 39.3m deep (72.7psia)
@02:10:23.04 Cartridge 18 sampling 761/1000ml at 0.30ml/s with 22.4psi vacuum 39.1m deep (72.5psia)
@02:11:23.04 Cartridge 18 sampling 778/1000ml at 0.29ml/s with 20.3psi vacuum 38.8m deep (72.0psia)
@02:12:23.04 Cartridge 18 sampling 795/1000ml at 0.27ml/s with 21.5psi vacuum 38.1m deep (70.9psia)
@02:13:23.04 Cartridge 18 sampling 813/1000ml at 0.28ml/s with 24.0psi vacuum 38.0m deep (70.8psia)
@02:14:23.04 Cartridge 18 sampling 829/1000ml at 0.28ml/s with 20.5psi vacuum 38.4m deep (71.5psia)
@02:15:23.04 Cartridge 18 sampling 846/1000ml at 0.30ml/s with 23.6psi vacuum 38.9m deep (72.1psia)
@02:16:23.04 Cartridge 18 sampling 863/1000ml at 0.28ml/s with 22.0psi vacuum 39.1m deep (72.4psia)
@02:17:23.04 Cartridge 18 sampling 880/1000ml at 0.28ml/s with 22.4psi vacuum 39.0m deep (72.3psia)
@02:18:23.04 Cartridge 18 sampling 896/1000ml at 0.30ml/s with 24.4psi vacuum 38.9m deep (72.1psia)
@02:19:23.04 Cartridge 18 sampling 913/1000ml at 0.27ml/s with 22.0psi vacuum 38.2m deep (71.1psia)
@02:20:23.04 Cartridge 18 sampling 929/1000ml at 0.26ml/s with 21.3psi vacuum 37.6m deep (70.3psia)
@02:21:23.04 Cartridge 18 sampling 945/1000ml at 0.25ml/s with 22.5psi vacuum 37.4m deep (69.9psia)
@02:22:23.04 Cartridge 18 sampling 961/1000ml at 0.25ml/s with 21.5psi vacuum 36.7m deep (69.0psia)
@02:23:23.04 Cartridge 18 sampling 977/1000ml at 0.28ml/s with 25.7psi vacuum 36.2m deep (68.1psia)
@02:24:23.04 Cartridge 18 sampling 993/1000ml at 0.26ml/s with 19.0psi vacuum 35.9m deep (67.8psia)
@02:24:50.81 <closeIntake> Intake.close
@02:24:50.84 <closeExhaust> Exhaust.close
@02:24:51.65 <FILTERING> Sampled  1000.0ml
@02:24:51.74 TV.seek :bypass
@02:24:53.34 TV.seek :clear
@02:24:55.42 <LRAUV> -> Cmd.startProcessing
@02:24:55.66 <PROCESSING> PV.seek :reagent
@02:24:56.58 Sample loop closed. Ready to Deliver Reagents
@02:24:56.60 ArS.seek :sealed
@02:25:00.24 ArS.seek :evac
@02:25:14.21 delay 20 seconds
@02:25:34.25 ArS.seek :clear
@02:25:51.37 RNAlater soak for 10:00
@02:35:51.41 ArS.seek :tVent
@02:35:53.06 delay 1 second
@02:35:54.09 ArS.seek :evac
@02:36:10.04 delay 10 seconds
@02:36:20.08 Sample preserved and evacuated
@02:36:21.14 <LRAUV> -> Cmd.stop
@02:36:21.28 PV.seek :locked
@02:36:22.30 <ArS> ArS.seek :clear
@02:36:22.48 <LyS2> LyS2.seek :clear
@02:36:22.86 <AirS> AirS.seek :clear
@02:36:39.47 <LRAUV> ArS.coast
@02:36:39.52 LyS1.coast
@02:36:39.57 LyS2.coast
@02:36:39.62 AirS.coast
@02:36:39.67 TV.coast
@02:36:39.72 SP.coast
@02:36:39.77 SC.coast
@02:36:39.82 PV.coast
@02:36:39.99 Gate.power :motor,:OFF
@02:36:40.01 Gate.power :main,:OFF
@02:36:40.03 Gate.power :core,:OFF
@02:36:40.05 Gate.power :analytic1,:OFF
@02:36:40.07 Gate.power :analytic2,:OFF
@02:36:40.09 Gate.power :analytic3,:OFF
@02:36:40.11 Safely stopped and ready to power off