@23:13:40.87PDT29-May-19 <MAIN> >BREAK< ESP3 Gateway v0.99 for core bus
@23:13:40.89 >BREAK< ESP3 Gateway v0.99 for cartridge bus
@23:13:42.45 
Configuration for koa by brent@mbari.org 5/7/19
/home/esp/esp2/type/auv/koa/configure.rb
@23:13:44.14 Polling Can every 5:00
@23:13:44.43 Clients may connect on TCP port 9999
@23:13:44.44 Connecting to 10.89.5.2:9999
@23:13:44.48 Waiting for espclients...
@23:13:44.72 <LRAUV> Session Begun
@23:13:46.70 -> showStatus
@23:13:48.72 -> Cmd.loadCartridge
@23:13:48.84 Gate.power :main,:ON,limit to 5000mA
@23:13:48.85 Gate.power :analytic1,:ON,limit to 5000mA
@23:13:48.88 Gate.power :analytic2,:ON,limit to 5000mA
@23:13:48.90 Gate.power :analytic3,:ON,limit to 5000mA
@23:13:48.96 Powering core bus
@23:13:51.19 Archive.configure :default
@23:13:51.31 Air.configure :default
@23:13:51.41 Lysis1.configure :default
@23:13:51.51 Lysis2.configure :default
@23:13:51.63 Plunge.configure :default
@23:13:51.76 SamplePump.configure :default
@23:13:51.88 ExtraPump.configure :default
@23:13:52.00 Toroid.configure :default
@23:13:52.12 Carousel.configure :default
@23:13:52.24 Pressure.configure :default
@23:13:52.30 All elf controllers running firmware version 4.56
@23:13:52.32 Gate.power :motor,:ON,limit to 5000mA
@23:13:52.43 <Archive_home> Archive.reconfigure :default
@23:13:52.69 Archive.home.jog 0
@23:13:52.86 <Plunge_home> Plunge.reconfigure :default
@23:13:52.93 <Lysis2_home> Lysis2.reconfigure :default
@23:13:52.96 <Air_home> Air.reconfigure :default
@23:13:53.00 <Toroid_home> Toroid.reconfigure :default
@23:13:53.08 <Lysis1_home> Lysis1.reconfigure :default
@23:13:53.22 <Plunge_home> Plunge.home.jog 0
@23:13:53.27 <Lysis2_home> Lysis2.home.jog 0
@23:13:53.30 <Lysis1_home> Lysis1.home.jog 0
@23:13:53.32 <Toroid_home> Toroid.home.jog 0
@23:13:53.35 <Air_home> Air.home.jog 0
@23:13:53.67 <Archive_home> Archive.reconfigure :homing
@23:13:53.86 <Toroid_home> Toroid.reconfigure :homing
@23:13:53.93 <Plunge_home> Plunge.reconfigure :homing
@23:13:53.99 <Lysis1_home> Lysis1.reconfigure :homing
@23:13:54.04 <Archive_home> Archive.jog 150
@23:13:54.09 <Lysis2_home> Lysis2.reconfigure :homing
@23:13:54.19 <Toroid_home> Toroid.jog 613
@23:13:54.27 <Plunge_home> Plunge.jog 855
@23:13:54.61 <Lysis1_home> Lysis1.jog 1359
@23:13:54.64 <Lysis2_home> Lysis2.jog 1368
@23:13:54.78 <Archive_home> Archive.setRawPosition! 50
@23:13:54.80 <Air_home> Air.reconfigure :homing
@23:13:54.89 <Archive_home> Archive.seek :home
@23:13:54.92 <Air_home> Air.jog 1366
@23:13:55.22 <Archive_home> Archive.reconfigure :default
@23:13:55.53 <Plunge_home> Plunge.setRawPosition! 50
@23:13:55.57 Plunge.seek :home
@23:13:55.80 <Lysis1_home> Lysis1.setRawPosition! 50
@23:13:55.86 Lysis1.seek :home
@23:13:55.95 <Plunge_home> Plunge.reconfigure :default
@23:13:55.98 <Lysis2_home> Lysis2.setRawPosition! 50
@23:13:56.06 Lysis2.seek :home
@23:13:56.16 <Air_home> Air.setRawPosition! 50
@23:13:56.18 <Lysis1_home> Lysis1.reconfigure :default
@23:13:56.25 <Air_home> Air.seek :home
@23:13:56.36 <Lysis2_home> Lysis2.reconfigure :default
@23:13:56.56 <Air_home> Air.reconfigure :default
@23:13:56.64 <Toroid_home> Toroid.setRawPosition! 0
@23:13:56.69 Toroid.seek :home
@23:13:56.78 Toroid.reconfigure :default
@23:13:56.96 <LRAUV> Toroid.seek :clear
@23:13:58.58 Carousel.reconfigure :default
@23:13:58.65 Carousel.home.jog 0
@23:13:59.13 Carousel.seek 56
@23:13:59.26 Selecting Cartridge 55
@23:13:59.46 Carousel.seek 55
@23:13:59.97 <Lysis2> Lysis2.seek :locked
@23:14:00.10 <Plunge> Plunge.seek :locked
@23:14:00.23 <Air> Air.seek :locked
@23:14:21.39 <LRAUV> -> Cmd.startFiltering
@23:14:21.61 <FILTERING> Duration of filtering limited to 2:05:00
@23:14:21.92 Priming sample loop w/100ml, bypass w/10ml
@23:14:21.93 SamplePump.setPosition! 0ml
@23:14:21.97 Bypass.open
@23:14:23.41 Intake.open
@23:14:24.13 Sea 30.0m deep (59.0psia)
@23:14:24.15 Waiting up to 20 seconds for sea pressure to stabilize +/-0.50psi
@23:14:27.00 Vacuum tare is 37% of full scale
@23:14:27.13 <closeIntake> Intake.close
@23:14:27.20 <closeBypass> Bypass.close
@23:14:27.89 <FILTERING> Checking for toroid leaks from 58.7psia
@23:14:27.92 Waiting up to 40 seconds for toroid pressure to stabilize +/-0.75psi
@23:14:40.12 Toroid pressure rose 19% to 70.1psia
@23:14:40.13 Bypass.open
@23:14:40.83 Intake.open
@23:14:42.28 Pressure.reconfigure :default
@23:14:42.34 Pressure.hold
@23:14:42.52 SamplePump.reconfigure :prime
@23:14:42.58 SamplePump.seek 10ml,1:21
@23:14:53.33 Pressure.coast
@23:14:53.38 SamplePump.setPosition! 0ml
@23:14:53.43 Exhaust.open
@23:14:54.83 <closeBypass> Bypass.close
@23:14:56.35 <FILTERING> Pressure.reconfigure :default
@23:14:56.41 Pressure.hold
@23:14:56.52 Sea 25.9m deep (53.0psia)
@23:14:56.65 SamplePump.reconfigure :prime
@23:14:56.72 SamplePump.seek 100ml,8:51
@23:16:40.56 Pressure.coast
@23:16:40.62 Bypass.open
@23:16:41.31 Intake.close
@23:16:42.06 Toroid.reconfigure :hold
@23:16:42.12 Toroid.seek :crack
@23:16:42.91 Toroid.reconfigure :default
@23:16:42.97 Toroid.seek :clear
@23:16:44.52 Toroid.reconfigure :hold
@23:16:44.58 Toroid.seek :cartridge
@23:16:46.22 Toroid.reconfigure :default
@23:16:46.28 Toroid.seek :clear
@23:16:48.43 <closeExhaust> Exhaust.close
@23:16:48.48 <closeBypass> Bypass.close
@23:16:49.22 <FILTERING> Checking for cartridge leaks from 59.3psia
@23:16:49.24 Waiting up to 40 seconds for cartridge pressure to stabilize +/-0.75psi
@23:16:54.33 Sampling 1000.0ml
@23:16:54.35 SamplePump.setPosition! 0ml
@23:16:54.40 Exhaust.open
@23:16:55.10 Intake.open
@23:16:55.87 Pressure.reconfigure :default
@23:16:55.93 Pressure.hold
@23:16:56.04 Sea 30.8m deep (60.2psia)
@23:16:56.18 SamplePump.reconfigure :sample
@23:16:56.25 SamplePump.seek 1000ml,1:23:51
@23:16:58.90 <sampling> Cartridge 55 sampling 1/1000ml at 0.43ml/s with 22.7psi vacuum 29.6m deep (58.5psia)
@23:17:58.91 Cartridge 55 sampling 26/1000ml at 0.40ml/s with 24.5psi vacuum 26.5m deep (53.9psia)
@23:18:58.91 Cartridge 55 sampling 52/1000ml at 0.40ml/s with 25.7psi vacuum 24.8m deep (51.3psia)
@23:19:58.91 Cartridge 55 sampling 77/1000ml at 0.42ml/s with 24.4psi vacuum 23.5m deep (49.4psia)
@23:20:58.91 Cartridge 55 sampling 102/1000ml at 0.42ml/s with 22.1psi vacuum 26.4m deep (53.7psia)
@23:21:58.91 Cartridge 55 sampling 127/1000ml at 0.42ml/s with 22.7psi vacuum 28.9m deep (57.5psia)
@23:22:58.91 Cartridge 55 sampling 152/1000ml at 0.41ml/s with 23.0psi vacuum 28.7m deep (57.1psia)
@23:23:58.91 Cartridge 55 sampling 176/1000ml at 0.42ml/s with 24.4psi vacuum 30.6m deep (59.9psia)
@23:24:58.91 Cartridge 55 sampling 201/1000ml at 0.41ml/s with 23.0psi vacuum 28.0m deep (56.1psia)
@23:25:58.91 Cartridge 55 sampling 225/1000ml at 0.41ml/s with 23.4psi vacuum 24.8m deep (51.3psia)
@23:26:58.91 Cartridge 55 sampling 249/1000ml at 0.41ml/s with 24.4psi vacuum 24.7m deep (51.2psia)
@23:27:58.91 Cartridge 55 sampling 274/1000ml at 0.41ml/s with 23.9psi vacuum 24.8m deep (51.3psia)
@23:28:58.91 Cartridge 55 sampling 298/1000ml at 0.40ml/s with 22.0psi vacuum 28.1m deep (56.2psia)
@23:29:58.91 Cartridge 55 sampling 322/1000ml at 0.40ml/s with 23.4psi vacuum 28.3m deep (56.6psia)
@23:30:58.91 Cartridge 55 sampling 345/1000ml at 0.40ml/s with 24.9psi vacuum 28.7m deep (57.2psia)
@23:31:58.91 Cartridge 55 sampling 369/1000ml at 0.40ml/s with 26.7psi vacuum 24.8m deep (51.3psia)
@23:32:58.91 Cartridge 55 sampling 393/1000ml at 0.37ml/s with 23.8psi vacuum 21.2m deep (46.1psia)
@23:33:58.91 Cartridge 55 sampling 416/1000ml at 0.40ml/s with 23.7psi vacuum 24.4m deep (50.8psia)
@23:34:58.91 Cartridge 55 sampling 440/1000ml at 0.40ml/s with 23.9psi vacuum 26.2m deep (53.4psia)
@23:35:58.91 Cartridge 55 sampling 463/1000ml at 0.37ml/s with 24.4psi vacuum 25.8m deep (52.8psia)
@23:36:58.91 Cartridge 55 sampling 486/1000ml at 0.39ml/s with 24.9psi vacuum 30.3m deep (59.5psia)
@23:37:58.96 Cartridge 55 sampling 509/1000ml at 0.39ml/s with 24.9psi vacuum 27.1m deep (54.8psia)
@23:38:58.91 Cartridge 55 sampling 532/1000ml at 0.39ml/s with 24.7psi vacuum 28.5m deep (56.8psia)
@23:39:58.91 Cartridge 55 sampling 555/1000ml at 0.38ml/s with 27.4psi vacuum 25.4m deep (52.2psia)
@23:40:58.91 Cartridge 55 sampling 578/1000ml at 0.39ml/s with 23.0psi vacuum 24.4m deep (50.7psia)
@23:41:58.91 Cartridge 55 sampling 601/1000ml at 0.38ml/s with 26.2psi vacuum 21.8m deep (47.0psia)
@23:42:58.91 Cartridge 55 sampling 624/1000ml at 0.38ml/s with 23.8psi vacuum 25.3m deep (52.1psia)
@23:43:58.91 Cartridge 55 sampling 647/1000ml at 0.38ml/s with 27.5psi vacuum 27.2m deep (54.8psia)
@23:44:58.91 Cartridge 55 sampling 669/1000ml at 0.36ml/s with 23.8psi vacuum 26.6m deep (54.0psia)
@23:45:58.91 Cartridge 55 sampling 692/1000ml at 0.36ml/s with 21.3psi vacuum 28.7m deep (57.1psia)
@23:46:58.91 Cartridge 55 sampling 714/1000ml at 0.36ml/s with 26.7psi vacuum 26.7m deep (54.1psia)
@23:47:58.91 Cartridge 55 sampling 736/1000ml at 0.37ml/s with 23.5psi vacuum 25.3m deep (52.1psia)
@23:48:58.91 Cartridge 55 sampling 758/1000ml at 0.37ml/s with 24.3psi vacuum 23.8m deep (49.8psia)
@23:49:58.91 Cartridge 55 sampling 780/1000ml at 0.38ml/s with 24.4psi vacuum 24.7m deep (51.2psia)
@23:50:58.91 Cartridge 55 sampling 802/1000ml at 0.37ml/s with 27.0psi vacuum 26.6m deep (54.0psia)
@23:51:58.91 Cartridge 55 sampling 824/1000ml at 0.35ml/s with 22.2psi vacuum 27.2m deep (54.8psia)
@23:52:58.91 Cartridge 55 sampling 846/1000ml at 0.34ml/s with 26.9psi vacuum 27.5m deep (55.4psia)
@23:53:58.91 Cartridge 55 sampling 868/1000ml at 0.36ml/s with 23.4psi vacuum 27.7m deep (55.6psia)
@23:54:58.91 Cartridge 55 sampling 889/1000ml at 0.36ml/s with 22.2psi vacuum 27.4m deep (55.2psia)
@23:55:58.91 Cartridge 55 sampling 911/1000ml at 0.36ml/s with 22.7psi vacuum 24.7m deep (51.1psia)
@23:56:58.91 Cartridge 55 sampling 932/1000ml at 0.34ml/s with 24.5psi vacuum 23.5m deep (49.4psia)
@23:57:58.91 Cartridge 55 sampling 953/1000ml at 0.35ml/s with 19.3psi vacuum 28.9m deep (57.5psia)
@23:58:58.91 Cartridge 55 sampling 974/1000ml at 0.33ml/s with 24.1psi vacuum 27.9m deep (56.0psia)
@23:59:58.91 Cartridge 55 sampling 996/1000ml at 0.35ml/s with 21.7psi vacuum 31.0m deep (60.5psia)
@00:00:11.69PDT30-May-19 <FILTERING> Pressure.coast
@00:00:11.80 <closeIntake> Intake.close
@00:00:11.84 <closeExhaust> Exhaust.close
@00:00:11.99 <FILTERING> Toroid.reconfigure :hold
@00:00:12.05 Toroid.seek :bypass
@00:00:13.66 Toroid.reconfigure :default
@00:00:13.72 Toroid.seek :clear
@00:00:15.32 Sampled  1000.0ml
@00:00:16.67 <LRAUV> -> Cmd.startProcessing
@00:00:16.91 <PROCESSING> Plunge.seek :reagent
@00:00:17.84 Sample loop closed. Ready to Deliver Reagents
@00:00:17.85 Archive.seek :sealed
@00:00:21.50 Archive.seek :evac
@00:00:35.47 delay 20 seconds
@00:00:55.50 Archive.seek :clear
@00:01:12.64 RNAlater soak for 10:00
@00:11:12.67 Archive.seek :tVent
@00:11:14.33 delay 1 second
@00:11:15.35 Archive.seek :evac
@00:11:31.31 delay 10 seconds
@00:11:41.34 Sample preserved and evacuated
@00:11:42.44 <LRAUV> -> Cmd.stop
@00:11:42.95 Plunge.seek :locked
@00:11:43.96 <Archive> Archive.seek :clear
@00:11:44.09 <Air> Air.seek :clear
@00:11:44.27 <Lysis2> Lysis2.seek :clear
@00:12:01.14 <LRAUV> Archive.coast
@00:12:01.19 Air.coast
@00:12:01.24 Lysis1.coast
@00:12:01.29 Lysis2.coast
@00:12:01.34 Plunge.coast
@00:12:01.39 SamplePump.coast
@00:12:01.44 Toroid.coast
@00:12:01.49 Carousel.coast
@00:12:01.67 Gate.power :motor,:OFF
@00:12:01.68 Gate.power :core,:OFF
@00:12:01.71 Gate.power :analytic1,:OFF
@00:12:01.73 Gate.power :analytic2,:OFF
@00:12:01.75 Gate.power :analytic3,:OFF
@00:12:01.77 Gate.power :main,:OFF
@00:12:01.79 Safely stopped and ready to power off