@10:36:37.41PDT24-May-19 <MAIN> >BREAK< ESP3 Gateway v0.99 for core bus
@10:36:37.43 >BREAK< ESP3 Gateway v0.99 for cartridge bus
@10:36:39.00 
Configuration for koa by brent@mbari.org 5/7/19
/home/esp/esp2/type/auv/koa/configure.rb
@10:36:40.57 Polling Can every 5:00
@10:36:40.90 Clients may connect on TCP port 9999
@10:36:40.91 Connecting to 10.89.5.2:9999
@10:36:40.96 Waiting for espclients...
@10:36:41.21 <LRAUV> Session Begun
@10:36:43.59 -> showStatus
@10:36:45.20 -> Cmd.loadCartridge
@10:36:45.32 Gate.power :main,:ON,limit to 5000mA
@10:36:45.33 Gate.power :analytic1,:ON,limit to 5000mA
@10:36:45.35 Gate.power :analytic2,:ON,limit to 5000mA
@10:36:45.37 Gate.power :analytic3,:ON,limit to 5000mA
@10:36:45.43 Powering core bus
@10:36:47.67 Archive.configure :default
@10:36:47.79 Air.configure :default
@10:36:47.89 Lysis1.configure :default
@10:36:47.99 Lysis2.configure :default
@10:36:48.11 Plunge.configure :default
@10:36:48.23 SamplePump.configure :default
@10:36:48.35 ExtraPump.configure :default
@10:36:48.47 Toroid.configure :default
@10:36:48.59 Carousel.configure :default
@10:36:48.72 Pressure.configure :default
@10:36:48.78 All elf controllers running firmware version 4.56
@10:36:48.80 Gate.power :motor,:ON,limit to 5000mA
@10:36:49.23 <Plunge_home> Plunge.reconfigure :default
@10:36:49.30 <Lysis2_home> Lysis2.reconfigure :default
@10:36:49.33 <Air_home> Air.reconfigure :default
@10:36:49.37 <Toroid_home> Toroid.reconfigure :default
@10:36:49.42 <Archive_home> Archive.reconfigure :default
@10:36:49.45 <Lysis1_home> Lysis1.reconfigure :default
@10:36:49.61 <Plunge_home> Plunge.home.jog 0
@10:36:49.65 <Lysis2_home> Lysis2.home.jog 0
@10:36:49.73 <Lysis1_home> Lysis1.home.jog 0
@10:36:49.78 <Air_home> Air.home.jog 0
@10:36:49.81 <Archive_home> Archive.home.jog 0
@10:36:49.84 <Toroid_home> Toroid.home.jog 0
@10:36:50.31 <Plunge_home> Plunge.reconfigure :homing
@10:36:50.34 <Lysis1_home> Lysis1.reconfigure :homing
@10:36:50.39 <Lysis2_home> Lysis2.reconfigure :homing
@10:36:50.44 <Toroid_home> Toroid.reconfigure :homing
@10:36:50.58 <Plunge_home> Plunge.jog 309
@10:36:50.64 <Lysis1_home> Lysis1.jog 1360
@10:36:50.66 <Toroid_home> Toroid.jog 613
@10:36:50.72 <Lysis2_home> Lysis2.jog 1355
@10:36:50.90 <Archive_home> Archive.reconfigure :homing
@10:36:50.92 <Air_home> Air.reconfigure :homing
@10:36:51.33 <Archive_home> Archive.jog 1357
@10:36:51.36 <Air_home> Air.jog 1351
@10:36:51.45 <Plunge_home> Plunge.setRawPosition! 50
@10:36:51.50 Plunge.seek :home
@10:36:51.78 Plunge.reconfigure :default
@10:36:51.90 <Lysis1_home> Lysis1.setRawPosition! 50
@10:36:51.95 Lysis1.seek :home
@10:36:52.03 <Lysis2_home> Lysis2.setRawPosition! 50
@10:36:52.07 Lysis2.seek :home
@10:36:52.23 <Lysis1_home> Lysis1.reconfigure :default
@10:36:52.36 <Lysis2_home> Lysis2.reconfigure :default
@10:36:52.49 <Archive_home> Archive.setRawPosition! 50
@10:36:52.54 Archive.seek :home
@10:36:52.62 <Air_home> Air.setRawPosition! 50
@10:36:52.67 Air.seek :home
@10:36:52.82 <Archive_home> Archive.reconfigure :default
@10:36:52.89 <Toroid_home> Toroid.setRawPosition! 0
@10:36:52.96 Toroid.seek :home
@10:36:53.05 Toroid.reconfigure :default
@10:36:53.07 <Air_home> Air.reconfigure :default
@10:36:53.48 <LRAUV> Toroid.seek :clear
@10:36:55.09 Carousel.reconfigure :default
@10:36:55.15 Carousel.home.jog 0
@10:36:55.64 Carousel.seek 57
@10:36:55.79 Selecting Cartridge 59
@10:36:55.98 Carousel.seek 59
@10:36:56.69 <Lysis2> Lysis2.seek :locked
@10:36:56.81 <Plunge> Plunge.seek :locked
@10:36:56.94 <Air> Air.seek :locked
@10:37:17.88 <LRAUV> -> Cmd.startFiltering
@10:37:18.11 <FILTERING> Duration of filtering limited to 2:05:00
@10:37:18.41 Priming sample loop w/100ml, bypass w/10ml
@10:37:18.42 SamplePump.setPosition! 0ml
@10:37:18.46 Bypass.open
@10:37:19.93 Intake.open
@10:37:20.62 Waiting up to 20 seconds for sea pressure to stabilize +/-0.50psi
@10:37:23.46 Vacuum tare is 36% of full scale
@10:37:23.59 Pressure.reconfigure :default
@10:37:23.64 Pressure.hold
@10:37:23.81 SamplePump.reconfigure :prime
@10:37:23.88 SamplePump.seek 10ml,1:21
@10:37:34.63 Pressure.coast
@10:37:34.68 SamplePump.setPosition! 0ml
@10:37:34.73 Exhaust.open
@10:37:36.16 <closeBypass> Bypass.close
@10:37:37.68 <FILTERING> Pressure.reconfigure :default
@10:37:37.73 Pressure.hold
@10:37:37.95 SamplePump.reconfigure :prime
@10:37:38.01 SamplePump.seek 100ml,8:51
@10:39:21.95 Pressure.coast
@10:39:22.01 Bypass.open
@10:39:22.68 Intake.close
@10:39:23.38 Toroid.reconfigure :hold
@10:39:23.44 Toroid.seek :crack
@10:39:24.24 Toroid.reconfigure :default
@10:39:24.30 Toroid.seek :clear
@10:39:25.85 Toroid.reconfigure :hold
@10:39:25.91 Toroid.seek :cartridge
@10:39:27.56 Toroid.reconfigure :default
@10:39:27.62 Toroid.seek :clear
@10:39:29.42 Pressurizing cartridge to 26psi above 16.7psia
@10:39:29.43 SamplePump.setPosition! 0ml
@10:39:29.47 Intake.open
@10:39:30.15 Bypass.close
@10:39:30.83 Exhaust.close
@10:39:31.64 Pressure.reconfigure :default
@10:39:31.69 Pressure.hold
@10:39:31.86 SamplePump.reconfigure :charge
@10:39:31.92 SamplePump.seek 2.3ml,42 seconds
@10:39:41.94 Pressure.coast
@10:39:42.04 Intake.close
@10:39:42.73 Pressurized cartridge with 0.474ml to 26.4psi
@10:39:42.74 Isolated @41.0psia (24.4psi)
@10:39:42.76 Checking for cartridge leaks from 41.0psia
@10:39:42.79 Waiting up to 20 seconds for cartridge pressure to stabilize +/-0.75psi
@10:39:47.84 Cartridge pressure fell 5% to 38.9psia
@10:39:47.92 Sampling 1000.0ml
@10:39:47.93 SamplePump.setPosition! 0ml
@10:39:47.98 Exhaust.open
@10:39:48.69 Intake.open
@10:39:49.53 Pressure.reconfigure :default
@10:39:49.96 Pressure.hold
@10:39:50.18 SamplePump.reconfigure :sample
@10:39:50.25 SamplePump.seek 1000ml,1:23:51
@10:39:52.57 <sampling> Cartridge 59 sampling 1/1000ml at 0.52ml/s with 23.3psi vacuum
@10:40:52.57 Cartridge 59 sampling 35/1000ml at 0.57ml/s with 24.0psi vacuum
@10:41:52.56 Cartridge 59 sampling 68/1000ml at 0.54ml/s with 22.6psi vacuum
@10:42:52.57 Cartridge 59 sampling 101/1000ml at 0.54ml/s with 22.7psi vacuum
@10:43:52.57 Cartridge 59 sampling 134/1000ml at 0.55ml/s with 23.8psi vacuum
@10:44:52.57 Cartridge 59 sampling 167/1000ml at 0.54ml/s with 22.2psi vacuum
@10:45:52.57 Cartridge 59 sampling 200/1000ml at 0.54ml/s with 22.2psi vacuum
@10:46:52.56 Cartridge 59 sampling 232/1000ml at 0.54ml/s with 23.4psi vacuum
@10:47:52.57 Cartridge 59 sampling 265/1000ml at 0.53ml/s with 22.3psi vacuum
@10:48:52.57 Cartridge 59 sampling 298/1000ml at 0.55ml/s with 22.4psi vacuum 1.9m deep (17.5psia)
@10:49:52.57 Cartridge 59 sampling 330/1000ml at 0.53ml/s with 22.0psi vacuum
@10:50:52.57 Cartridge 59 sampling 363/1000ml at 0.55ml/s with 23.9psi vacuum
@10:51:52.56 Cartridge 59 sampling 395/1000ml at 0.55ml/s with 22.7psi vacuum
@10:52:52.57 Cartridge 59 sampling 428/1000ml at 0.54ml/s with 24.7psi vacuum
@10:53:52.57 Cartridge 59 sampling 460/1000ml at 0.55ml/s with 24.6psi vacuum
@10:54:52.57 Cartridge 59 sampling 492/1000ml at 0.54ml/s with 23.5psi vacuum 1.7m deep (17.2psia)
@10:55:52.57 Cartridge 59 sampling 525/1000ml at 0.54ml/s with 23.4psi vacuum
@10:56:52.56 Cartridge 59 sampling 557/1000ml at 0.53ml/s with 23.3psi vacuum
@10:57:52.57 Cartridge 59 sampling 589/1000ml at 0.53ml/s with 26.1psi vacuum
@10:58:52.57 Cartridge 59 sampling 622/1000ml at 0.54ml/s with 22.7psi vacuum
@10:59:52.57 Cartridge 59 sampling 654/1000ml at 0.52ml/s with 22.6psi vacuum
@11:00:52.57 Cartridge 59 sampling 686/1000ml at 0.54ml/s with 23.7psi vacuum
@11:01:52.56 Cartridge 59 sampling 718/1000ml at 0.54ml/s with 26.9psi vacuum
@11:02:52.57 Cartridge 59 sampling 750/1000ml at 0.54ml/s with 23.8psi vacuum
@11:03:52.57 Cartridge 59 sampling 783/1000ml at 0.54ml/s with 23.2psi vacuum
@11:04:52.57 Cartridge 59 sampling 815/1000ml at 0.54ml/s with 26.3psi vacuum
@11:05:52.57 Cartridge 59 sampling 847/1000ml at 0.53ml/s with 26.1psi vacuum
@11:06:52.56 Cartridge 59 sampling 879/1000ml at 0.55ml/s with 26.8psi vacuum
@11:07:52.57 Cartridge 59 sampling 911/1000ml at 0.53ml/s with 23.2psi vacuum
@11:08:52.57 Cartridge 59 sampling 943/1000ml at 0.54ml/s with 24.0psi vacuum
@11:09:52.57 Cartridge 59 sampling 975/1000ml at 0.53ml/s with 23.1psi vacuum
@11:10:39.52 <FILTERING> Pressure.coast
@11:10:39.64 <closeIntake> Intake.close
@11:10:39.69 <closeExhaust> Exhaust.close
@11:10:39.85 <FILTERING> Toroid.reconfigure :hold
@11:10:39.91 Toroid.seek :bypass
@11:10:41.52 Toroid.reconfigure :default
@11:10:41.58 Toroid.seek :clear
@11:10:43.18 Sampled  1000.0ml
@11:10:44.74 <LRAUV> -> Cmd.startProcessing
@11:10:44.98 <PROCESSING> Plunge.seek :reagent
@11:10:45.90 Sample loop closed. Ready to Deliver Reagents
@11:10:45.91 Archive.seek :sealed
@11:10:49.55 Archive.seek :evac
@11:11:03.52 delay 20 seconds
@11:11:23.55 Archive.seek :clear
@11:11:40.67 RNAlater soak for 10:00
@11:21:40.69 Archive.seek :tVent
@11:21:42.34 delay 1 second
@11:21:43.36 Archive.seek :evac
@11:21:59.32 delay 10 seconds
@11:22:09.35 Sample preserved and evacuated
@11:22:10.50 <LRAUV> -> Cmd.stop
@11:22:10.64 Plunge.seek :locked
@11:22:11.64 <Archive> Archive.seek :clear
@11:22:11.77 <Air> Air.seek :clear
@11:22:11.96 <Lysis2> Lysis2.seek :clear
@11:22:28.80 <LRAUV> Archive.coast
@11:22:28.85 Air.coast
@11:22:28.90 Lysis1.coast
@11:22:28.95 Lysis2.coast
@11:22:29.00 Plunge.coast
@11:22:29.05 SamplePump.coast
@11:22:29.10 Toroid.coast
@11:22:29.15 Carousel.coast
@11:22:29.32 Gate.power :motor,:OFF
@11:22:29.33 Gate.power :core,:OFF
@11:22:29.36 Gate.power :analytic1,:OFF
@11:22:29.38 Gate.power :analytic2,:OFF
@11:22:29.40 Gate.power :analytic3,:OFF
@11:22:29.42 Gate.power :main,:OFF
@11:22:29.44 Safely stopped and ready to power off