@12:29:26.82PDT29-May-19 <MAIN> >BREAK< ESP3 Gateway v0.99 for core bus
@12:29:26.84 >BREAK< ESP3 Gateway v0.99 for cartridge bus
@12:29:28.41 
Configuration for koa by brent@mbari.org 5/7/19
/home/esp/esp2/type/auv/koa/configure.rb
@12:29:30.10 Polling Can every 5:00
@12:29:30.39 Clients may connect on TCP port 9999
@12:29:30.40 Connecting to 10.89.5.2:9999
@12:29:30.45 Waiting for espclients...
@12:29:30.64 <LRAUV> Session Begun
@12:29:33.01 -> showStatus
@12:29:34.62 -> Cmd.loadCartridge
@12:29:34.74 Gate.power :main,:ON,limit to 5000mA
@12:29:34.76 Gate.power :analytic1,:ON,limit to 5000mA
@12:29:34.79 Gate.power :analytic2,:ON,limit to 5000mA
@12:29:34.82 Gate.power :analytic3,:ON,limit to 5000mA
@12:29:34.87 Powering core bus
@12:29:37.11 Archive.configure :default
@12:29:37.23 Air.configure :default
@12:29:37.33 Lysis1.configure :default
@12:29:37.43 Lysis2.configure :default
@12:29:37.54 Plunge.configure :default
@12:29:37.66 SamplePump.configure :default
@12:29:37.78 ExtraPump.configure :default
@12:29:37.90 Toroid.configure :default
@12:29:38.02 Carousel.configure :default
@12:29:38.14 Pressure.configure :default
@12:29:38.20 All elf controllers running firmware version 4.56
@12:29:38.23 Gate.power :motor,:ON,limit to 5000mA
@12:29:38.59 <Lysis1_home> Lysis1.reconfigure :default
@12:29:38.61 <Air_home> Air.reconfigure :default
@12:29:38.65 <Archive_home> Archive.reconfigure :default
@12:29:38.77 <Air_home> Air.home.jog 0
@12:29:38.81 <Lysis1_home> Lysis1.home.jog 0
@12:29:38.83 <Archive_home> Archive.home.jog 0
@12:29:39.01 <Toroid_home> Toroid.reconfigure :default
@12:29:39.06 <Plunge_home> Plunge.reconfigure :default
@12:29:39.13 <Lysis2_home> Lysis2.reconfigure :default
@12:29:39.23 <Plunge_home> Plunge.home.jog 0
@12:29:39.26 <Toroid_home> Toroid.home.jog 0
@12:29:39.29 <Lysis2_home> Lysis2.home.jog 0
@12:29:39.51 <Air_home> Air.reconfigure :homing
@12:29:39.72 Air.jog 1353
@12:29:39.78 <Lysis1_home> Lysis1.reconfigure :homing
@12:29:39.82 <Archive_home> Archive.reconfigure :homing
@12:29:39.95 Archive.jog 1348
@12:29:39.97 <Lysis1_home> Lysis1.jog 1364
@12:29:40.12 <Toroid_home> Toroid.reconfigure :homing
@12:29:40.15 <Plunge_home> Plunge.reconfigure :homing
@12:29:40.18 <Lysis2_home> Lysis2.reconfigure :homing
@12:29:40.55 <Toroid_home> Toroid.jog 625
@12:29:40.58 <Plunge_home> Plunge.jog 310
@12:29:40.61 <Lysis2_home> Lysis2.jog 1351
@12:29:40.98 <Air_home> Air.setRawPosition! 50
@12:29:41.02 Air.seek :home
@12:29:41.21 <Lysis1_home> Lysis1.setRawPosition! 50
@12:29:41.24 <Archive_home> Archive.setRawPosition! 50
@12:29:41.31 <Lysis1_home> Lysis1.seek :home
@12:29:41.34 <Archive_home> Archive.seek :home
@12:29:41.47 <Plunge_home> Plunge.setRawPosition! 50
@12:29:41.49 <Air_home> Air.reconfigure :default
@12:29:41.56 <Plunge_home> Plunge.seek :home
@12:29:41.68 <Lysis1_home> Lysis1.reconfigure :default
@12:29:41.71 <Archive_home> Archive.reconfigure :default
@12:29:41.81 <Lysis2_home> Lysis2.setRawPosition! 50
@12:29:41.87 Lysis2.seek :home
@12:29:41.95 <Plunge_home> Plunge.reconfigure :default
@12:29:42.16 <Lysis2_home> Lysis2.reconfigure :default
@12:29:42.75 <Toroid_home> Toroid.setRawPosition! 0
@12:29:42.79 Toroid.seek :home
@12:29:42.88 Toroid.reconfigure :default
@12:29:43.01 <LRAUV> Toroid.seek :clear
@12:29:44.62 Carousel.reconfigure :default
@12:29:44.68 Carousel.home.jog 0
@12:29:45.17 Carousel.seek 59
@12:29:45.50 Selecting Cartridge 58
@12:29:45.69 Carousel.seek 58
@12:29:46.19 <Lysis2> Lysis2.seek :locked
@12:29:46.32 <Plunge> Plunge.seek :locked
@12:29:46.44 <Air> Air.seek :locked
@12:30:07.30 <LRAUV> -> Cmd.startFiltering
@12:30:07.52 <FILTERING> Duration of filtering limited to 2:05:00
@12:30:07.81 Priming sample loop w/100ml, bypass w/10ml
@12:30:07.83 SamplePump.setPosition! 0ml
@12:30:07.87 Bypass.open
@12:30:09.34 Intake.open
@12:30:10.08 Sea 32.1m deep (62.1psia)
@12:30:10.09 Waiting up to 20 seconds for sea pressure to stabilize +/-0.50psi
@12:30:12.94 Vacuum tare is 37% of full scale
@12:30:13.07 <closeIntake> Intake.close
@12:30:13.12 <closeBypass> Bypass.close
@12:30:13.84 <FILTERING> Checking for toroid leaks from 61.6psia
@12:30:13.87 Waiting up to 40 seconds for toroid pressure to stabilize +/-0.75psi
@12:30:18.92 Toroid pressure rose 1% to 62.1psia
@12:30:18.93 Bypass.open
@12:30:19.63 Intake.open
@12:30:21.10 Pressure.reconfigure :default
@12:30:21.16 Pressure.hold
@12:30:21.33 SamplePump.reconfigure :prime
@12:30:21.39 SamplePump.seek 10ml,1:21
@12:30:32.15 Pressure.coast
@12:30:32.20 SamplePump.setPosition! 0ml
@12:30:32.25 Exhaust.open
@12:30:33.70 <closeBypass> Bypass.close
@12:30:35.19 <FILTERING> Pressure.reconfigure :default
@12:30:35.25 Pressure.hold
@12:30:35.36 Sea 35.3m deep (66.9psia)
@12:30:35.49 SamplePump.reconfigure :prime
@12:30:35.55 SamplePump.seek 100ml,8:51
@12:32:19.40 Pressure.coast
@12:32:19.45 Bypass.open
@12:32:20.14 Intake.close
@12:32:20.89 Toroid.reconfigure :hold
@12:32:20.95 Toroid.seek :crack
@12:32:21.75 Toroid.reconfigure :default
@12:32:21.81 Toroid.seek :clear
@12:32:23.36 Toroid.reconfigure :hold
@12:32:23.41 Toroid.seek :cartridge
@12:32:25.06 Toroid.reconfigure :default
@12:32:25.12 Toroid.seek :clear
@12:32:26.91 <closeExhaust> Exhaust.close
@12:32:26.96 <closeBypass> Bypass.close
@12:32:27.69 <FILTERING> Checking for cartridge leaks from 63.6psia
@12:32:27.70 Waiting up to 40 seconds for cartridge pressure to stabilize +/-0.75psi
@12:32:32.80 Sampling 1000.0ml
@12:32:32.81 SamplePump.setPosition! 0ml
@12:32:32.86 Exhaust.open
@12:32:33.92 Intake.open
@12:32:34.72 Pressure.reconfigure :default
@12:32:34.77 Pressure.hold
@12:32:34.88 Sea 34.1m deep (65.1psia)
@12:32:35.02 SamplePump.reconfigure :sample
@12:32:35.08 SamplePump.seek 1000ml,1:23:51
@12:32:37.75 <sampling> Cartridge 58 sampling 1/1000ml at 0.43ml/s with 26.7psi vacuum 31.9m deep (61.8psia)
@12:33:37.76 Cartridge 58 sampling 27/1000ml at 0.43ml/s with 22.2psi vacuum 29.8m deep (58.7psia)
@12:34:37.76 Cartridge 58 sampling 52/1000ml at 0.41ml/s with 21.4psi vacuum 27.9m deep (55.9psia)
@12:35:37.76 Cartridge 58 sampling 78/1000ml at 0.42ml/s with 22.1psi vacuum 28.7m deep (57.1psia)
@12:36:37.76 Cartridge 58 sampling 103/1000ml at 0.41ml/s with 23.8psi vacuum 31.2m deep (60.8psia)
@12:37:37.76 Cartridge 58 sampling 128/1000ml at 0.41ml/s with 22.3psi vacuum 32.9m deep (63.3psia)
@12:38:37.76 Cartridge 58 sampling 152/1000ml at 0.39ml/s with 21.7psi vacuum 29.9m deep (58.9psia)
@12:39:37.76 Cartridge 58 sampling 177/1000ml at 0.41ml/s with 24.6psi vacuum 28.9m deep (57.4psia)
@12:40:37.76 Cartridge 58 sampling 201/1000ml at 0.41ml/s with 23.5psi vacuum 31.1m deep (60.6psia)
@12:41:37.76 Cartridge 58 sampling 225/1000ml at 0.41ml/s with 23.8psi vacuum 33.3m deep (63.9psia)
@12:42:37.76 Cartridge 58 sampling 249/1000ml at 0.40ml/s with 22.9psi vacuum 33.2m deep (63.8psia)
@12:43:37.76 Cartridge 58 sampling 273/1000ml at 0.38ml/s with 25.8psi vacuum 32.2m deep (62.3psia)
@12:44:37.76 Cartridge 58 sampling 297/1000ml at 0.38ml/s with 25.9psi vacuum 32.0m deep (62.0psia)
@12:45:37.76 Cartridge 58 sampling 321/1000ml at 0.39ml/s with 24.1psi vacuum 32.7m deep (63.0psia)
@12:46:37.76 Cartridge 58 sampling 344/1000ml at 0.39ml/s with 25.3psi vacuum 29.8m deep (58.8psia)
@12:47:37.76 Cartridge 58 sampling 367/1000ml at 0.38ml/s with 27.5psi vacuum 27.1m deep (54.8psia)
@12:48:37.76 Cartridge 58 sampling 390/1000ml at 0.38ml/s with 27.5psi vacuum 29.7m deep (58.5psia)
@12:49:37.76 Cartridge 58 sampling 413/1000ml at 0.38ml/s with 25.4psi vacuum 33.2m deep (63.7psia)
@12:50:37.76 Cartridge 58 sampling 436/1000ml at 0.38ml/s with 25.4psi vacuum 30.9m deep (60.4psia)
@12:51:37.76 Cartridge 58 sampling 459/1000ml at 0.39ml/s with 23.4psi vacuum 31.4m deep (61.0psia)
@12:52:37.76 Cartridge 58 sampling 481/1000ml at 0.38ml/s with 26.0psi vacuum 29.5m deep (58.3psia)
@12:53:37.76 Cartridge 58 sampling 504/1000ml at 0.37ml/s with 24.4psi vacuum 29.8m deep (58.7psia)
@12:54:37.76 Cartridge 58 sampling 526/1000ml at 0.37ml/s with 25.1psi vacuum 32.4m deep (62.6psia)
@12:55:37.76 Cartridge 58 sampling 548/1000ml at 0.34ml/s with 24.9psi vacuum 32.0m deep (62.0psia)
@12:56:37.76 Cartridge 58 sampling 569/1000ml at 0.37ml/s with 24.0psi vacuum 29.6m deep (58.4psia)
@12:57:37.76 Cartridge 58 sampling 591/1000ml at 0.36ml/s with 23.7psi vacuum 29.2m deep (57.8psia)
@12:58:37.76 Cartridge 58 sampling 612/1000ml at 0.33ml/s with 24.9psi vacuum 27.1m deep (54.7psia)
@12:59:37.76 Cartridge 58 sampling 633/1000ml at 0.36ml/s with 23.6psi vacuum 29.6m deep (58.4psia)
@13:00:37.76 Cartridge 58 sampling 654/1000ml at 0.35ml/s with 23.5psi vacuum 31.8m deep (61.7psia)
@13:01:37.76 Cartridge 58 sampling 675/1000ml at 0.32ml/s with 24.1psi vacuum 31.2m deep (60.9psia)
@13:02:37.76 Cartridge 58 sampling 695/1000ml at 0.36ml/s with 25.1psi vacuum 33.5m deep (64.2psia)
@13:03:37.76 Cartridge 58 sampling 716/1000ml at 0.32ml/s with 20.5psi vacuum 34.0m deep (64.9psia)
@13:04:37.76 Cartridge 58 sampling 736/1000ml at 0.32ml/s with 23.6psi vacuum 28.5m deep (56.8psia)
@13:05:37.76 Cartridge 58 sampling 756/1000ml at 0.34ml/s with 22.7psi vacuum 29.1m deep (57.7psia)
@13:06:37.76 Cartridge 58 sampling 776/1000ml at 0.33ml/s with 22.7psi vacuum 29.0m deep (57.6psia)
@13:07:37.76 Cartridge 58 sampling 795/1000ml at 0.33ml/s with 24.8psi vacuum 32.8m deep (63.2psia)
@13:08:37.76 Cartridge 58 sampling 815/1000ml at 0.33ml/s with 22.9psi vacuum 34.1m deep (65.1psia)
@13:09:37.76 Cartridge 58 sampling 834/1000ml at 0.33ml/s with 25.2psi vacuum 32.3m deep (62.4psia)
@13:10:37.76 Cartridge 58 sampling 853/1000ml at 0.31ml/s with 20.5psi vacuum 33.4m deep (64.0psia)
@13:11:37.76 Cartridge 58 sampling 872/1000ml at 0.30ml/s with 23.2psi vacuum 31.2m deep (60.8psia)
@13:12:37.76 Cartridge 58 sampling 891/1000ml at 0.32ml/s with 24.4psi vacuum 30.9m deep (60.4psia)
@13:13:37.76 Cartridge 58 sampling 909/1000ml at 0.31ml/s with 23.7psi vacuum 28.8m deep (57.3psia)
@13:14:37.76 Cartridge 58 sampling 928/1000ml at 0.31ml/s with 22.1psi vacuum 31.0m deep (60.5psia)
@13:15:37.76 Cartridge 58 sampling 946/1000ml at 0.31ml/s with 23.8psi vacuum 33.5m deep (64.2psia)
@13:16:37.76 Cartridge 58 sampling 965/1000ml at 0.31ml/s with 23.0psi vacuum 34.0m deep (65.0psia)
@13:17:37.76 Cartridge 58 sampling 983/1000ml at 0.31ml/s with 23.7psi vacuum 31.1m deep (60.7psia)
@13:18:34.11 <FILTERING> Pressure.coast
@13:18:34.23 <closeIntake> Intake.close
@13:18:34.30 <closeExhaust> Exhaust.close
@13:18:34.43 <FILTERING> Toroid.reconfigure :hold
@13:18:34.49 Toroid.seek :bypass
@13:18:36.10 Toroid.reconfigure :default
@13:18:36.16 Toroid.seek :clear
@13:18:37.77 Sampled  1000.0ml
@13:18:39.10 <LRAUV> -> Cmd.startProcessing
@13:18:39.35 <PROCESSING> Plunge.seek :reagent
@13:18:40.26 Sample loop closed. Ready to Deliver Reagents
@13:18:40.27 Archive.seek :sealed
@13:18:43.92 Archive.seek :evac
@13:18:57.89 delay 20 seconds
@13:19:17.92 Archive.seek :clear
@13:19:35.05 RNAlater soak for 10:00
@13:29:35.07 Archive.seek :tVent
@13:29:36.73 delay 1 second
@13:29:37.75 Archive.seek :evac
@13:29:53.71 delay 10 seconds
@13:30:03.74 Sample preserved and evacuated
@13:30:04.88 <LRAUV> -> Cmd.stop
@13:30:05.02 Plunge.seek :locked
@13:30:06.03 <Archive> Archive.seek :clear
@13:30:06.15 <Air> Air.seek :clear
@13:30:06.71 <Lysis2> Lysis2.seek :clear
@13:30:23.20 <LRAUV> Archive.coast
@13:30:23.25 Air.coast
@13:30:23.30 Lysis1.coast
@13:30:23.35 Lysis2.coast
@13:30:23.40 Plunge.coast
@13:30:23.46 SamplePump.coast
@13:30:23.50 Toroid.coast
@13:30:23.55 Carousel.coast
@13:30:23.73 Gate.power :motor,:OFF
@13:30:23.75 Gate.power :core,:OFF
@13:30:23.77 Gate.power :analytic1,:OFF
@13:30:23.79 Gate.power :analytic2,:OFF
@13:30:23.81 Gate.power :analytic3,:OFF
@13:30:23.83 Gate.power :main,:OFF
@13:30:23.85 Safely stopped and ready to power off