@02:13:34.73PDT06-Jun-18 <MAIN> >BREAK< ESP3 Gateway v0.80 for core bus
@02:13:35.67 
Configuration for koa by brent@mbari.org
/home/esp/esp2/type/auv/koa/configure.rb
@02:13:36.57 Polling Can every 10:00
@02:13:36.83 Clients may connect on TCP port 9999
@02:13:36.84 Connecting to 10.89.5.2:9999
@02:13:36.88 Waiting for espclients...
@02:13:37.28 <LRAUV> Session Begun
@02:13:39.21 -> showStatus
@02:13:41.21 -> Cmd.loadCartridge
@02:13:41.35 Powering core bus
@02:13:44.04 ArS.configure ArSconfig
@02:13:44.14 LyS1.configure LyS1config
@02:13:44.26 LyS2.configure LyS2config
@02:13:44.36 AirS.configure AirSconfig
@02:13:44.48 TV.configure TVconfig
@02:13:44.60 SP.configure SPconfig
@02:13:44.72 SC.configure SCconfig
@02:13:44.84 PV.configure PVconfig
@02:13:44.98 Sea.configure SPconfig
@02:13:45.06 All elf controllers running firmware version 4.42
@02:13:45.07 Gate.power :main,:ON,limit to 5000mA
@02:13:45.10 Gate.power :motor,:ON,limit to 5000mA
@02:13:45.22 <ArS_home> ArS.reconfigure ArSconfig
@02:13:45.45 ArS.home.jog 0
@02:13:45.59 <TV_home> TV.reconfigure TVconfig
@02:13:45.66 <AirS_home> AirS.reconfigure AirSconfig
@02:13:45.69 <PV_home> PV.reconfigure PVconfig
@02:13:45.73 <LyS2_home> LyS2.reconfigure LyS2config
@02:13:45.76 <LyS1_home> LyS1.reconfigure LyS1config
@02:13:46.17 <AirS_home> AirS.home.jog 0
@02:13:46.20 <TV_home> TV.home.jog 0
@02:13:46.24 <PV_home> PV.home.jog 0
@02:13:46.26 <LyS2_home> LyS2.home.jog 0
@02:13:46.29 <LyS1_home> LyS1.home.jog 0
@02:13:46.60 <ArS_home> ArS.reconfigure HomeMagSyringe
@02:13:46.78 <AirS_home> AirS.reconfigure HomeMagSyringe
@02:13:46.88 <ArS_home> ArS.jog -139
@02:13:46.92 <TV_home> TV.reconfigure HomeTV
@02:13:46.95 <PV_home> PV.reconfigure HomingPV
@02:13:47.12 <AirS_home> AirS.jog -126
@02:13:47.15 <TV_home> TV.jog -500
@02:13:47.18 <PV_home> PV.jog -785
@02:13:47.33 <LyS1_home> LyS1.reconfigure HomeSyringe
@02:13:47.37 <LyS2_home> LyS2.reconfigure HomeSyringe
@02:13:47.46 <LyS1_home> LyS1.jog -119
@02:13:47.50 <LyS2_home> LyS2.jog -791
@02:13:47.61 <AirS_home> AirS.setRawPosition! -50
@02:13:47.63 <ArS_home> ArS.setRawPosition! -50
@02:13:47.71 ArS.seek :home
@02:13:47.74 <AirS_home> AirS.seek :home
@02:13:47.90 <LyS1_home> LyS1.setRawPosition! -50
@02:13:47.94 LyS1.seek :home
@02:13:48.07 <AirS_home> AirS.reconfigure AirSconfig
@02:13:48.09 <ArS_home> ArS.reconfigure ArSconfig
@02:13:48.22 <PV_home> PV.setRawPosition! -50
@02:13:48.24 <LyS1_home> LyS1.reconfigure LyS1config
@02:13:48.31 <PV_home> PV.seek :home
@02:13:48.41 <LyS2_home> LyS2.setRawPosition! -50
@02:13:48.46 LyS2.seek :home
@02:13:48.61 <PV_home> PV.reconfigure PVconfig
@02:13:48.74 <LyS2_home> LyS2.reconfigure LyS2config
@02:13:48.94 <TV_home> TV.setRawPosition! 0
@02:13:48.98 TV.seek :home
@02:13:49.07 TV.reconfigure TVconfig
@02:13:49.18 <LRAUV> TV.seek :clear
@02:13:50.79 TV.coast
@02:13:50.85 SC.reconfigure HomeSC
@02:13:50.90 SC.home.jog 0
@02:13:51.08 Selecting Cartridge 52
@02:13:51.64 SC.reconfigure SCconfig
@02:13:51.69 SC.seek 52
@02:13:52.19 <LyS2> LyS2.seek :cartridge
@02:13:52.32 <PV> PV.seek :cartridge
@02:14:13.62 <LRAUV> -> Cmd.startFiltering
@02:14:13.79 <FILTERING> Duration of filtering limited to 1:05:00
@02:14:13.99 Priming sample loop w/100ml, bypass w/10ml
@02:14:14.06 SP.setPosition! 0ml
@02:14:14.11 <openPB> PB.open
@02:14:14.15 <FILTERING> Exhaust.close
@02:14:14.86 Intake.open
@02:14:15.68 Sea @77.7psia
@02:14:15.69 Waiting 4 - 300s for filter pressure to stabilize +/-0.5psi
@02:14:21.23 Vacuum tare is 29% of full scale
@02:14:21.30 Sea @77.7psia
@02:14:21.38 SP.reconfigure SPprime
@02:14:21.45 SP.seek 10ml,1:20
@02:14:32.85 SP.setPosition! 0ml
@02:14:32.89 <closePB> PB.close
@02:14:32.92 <FILTERING> Exhaust.open
@02:14:33.80 Sea @78.3psia
@02:14:33.88 SP.reconfigure SPprime
@02:14:33.94 SP.seek 100ml,8:50
@02:16:24.34 Pressurizing cartridge to 26psi
@02:16:24.35 Intake.close
@02:16:25.09 SP.setPosition! 0ml
@02:16:25.13 PB.open
@02:16:25.89 TV.seek :crack
@02:16:26.68 TV.seek :clear
@02:16:27.47 TV.coast
@02:16:27.52 Intake.open
@02:16:28.90 PB.close
@02:16:29.63 Exhaust.close
@02:16:30.45 Sea @78.2psia
@02:16:30.53 SP.reconfigure SPcharge
@02:16:30.59 SP.seek 7.5ml,1:09
@02:16:34.11 Cartridge pressurized with 0.053ml to 26.3psi
@02:16:34.34 Pressure peaked at 27.7psi
@02:16:34.35 delay 3 seconds
@02:16:37.42 Cartridge at 18.5psi 3 seconds later
@02:16:37.50 TV.seek :cartridge
@02:16:39.23 TV.seek :clear
@02:16:40.95 TV.coast
@02:16:41.00 Sampling 1000.0ml
@02:16:41.02 SP.setPosition! 0ml
@02:16:41.07 Exhaust.open
@02:16:41.88 Sea @28.4psia
@02:16:41.97 SP.reconfigure SPsample
@02:16:42.03 SP.seek 1000ml,1:23:49
@02:16:42.99 <sampling> Cartridge 52 sampling 0/1000ml at 0.16ml/s with 8.8psi vacuum 21.7m deep (46.7psia)
@02:17:43.00 Cartridge 52 sampling 22/1000ml at 0.35ml/s with 24.7psi vacuum 23.5m deep (49.4psia)
@02:18:43.00 Cartridge 52 sampling 44/1000ml at 0.34ml/s with 23.5psi vacuum 23.3m deep (49.2psia)
@02:19:43.00 Cartridge 52 sampling 65/1000ml at 0.37ml/s with 21.9psi vacuum 23.6m deep (49.5psia)
@02:20:43.00 Cartridge 52 sampling 87/1000ml at 0.34ml/s with 25.0psi vacuum 23.9m deep (50.0psia)
@02:21:43.00 Cartridge 52 sampling 108/1000ml at 0.37ml/s with 21.9psi vacuum 23.5m deep (49.4psia)
@02:22:43.00 Cartridge 52 sampling 129/1000ml at 0.35ml/s with 21.8psi vacuum 23.6m deep (49.6psia)
@02:23:43.00 Cartridge 52 sampling 151/1000ml at 0.37ml/s with 22.3psi vacuum 23.6m deep (49.6psia)
@02:24:43.00 Cartridge 52 sampling 172/1000ml at 0.33ml/s with 22.1psi vacuum 23.2m deep (48.9psia)
@02:25:43.02 Cartridge 52 sampling 193/1000ml at 0.34ml/s with 24.5psi vacuum 23.9m deep (50.0psia)
@02:26:43.00 Cartridge 52 sampling 214/1000ml at 0.35ml/s with 20.5psi vacuum 23.6m deep (49.6psia)
@02:27:43.00 Cartridge 52 sampling 234/1000ml at 0.34ml/s with 22.4psi vacuum 23.9m deep (50.0psia)
@02:28:43.00 Cartridge 52 sampling 255/1000ml at 0.32ml/s with 23.6psi vacuum 23.2m deep (49.0psia)
@02:29:43.00 Cartridge 52 sampling 276/1000ml at 0.34ml/s with 20.7psi vacuum 23.4m deep (49.3psia)
@02:30:43.00 Cartridge 52 sampling 296/1000ml at 0.32ml/s with 21.7psi vacuum 23.4m deep (49.3psia)
@02:31:43.00 Cartridge 52 sampling 317/1000ml at 0.35ml/s with 22.1psi vacuum 23.5m deep (49.4psia)
@02:32:43.00 Cartridge 52 sampling 337/1000ml at 0.32ml/s with 23.6psi vacuum 23.7m deep (49.7psia)
@02:33:43.00 Cartridge 52 sampling 357/1000ml at 0.32ml/s with 22.3psi vacuum 23.5m deep (49.4psia)
@02:34:43.00 Cartridge 52 sampling 377/1000ml at 0.33ml/s with 27.2psi vacuum 23.5m deep (49.4psia)
@02:35:43.00 Cartridge 52 sampling 397/1000ml at 0.35ml/s with 25.5psi vacuum 23.8m deep (49.9psia)
@02:36:43.00 Cartridge 52 sampling 418/1000ml at 0.33ml/s with 20.7psi vacuum 23.6m deep (49.5psia)
@02:37:43.00 Cartridge 52 sampling 437/1000ml at 0.33ml/s with 21.3psi vacuum 23.8m deep (49.9psia)
@02:38:43.00 Cartridge 52 sampling 457/1000ml at 0.35ml/s with 24.0psi vacuum 23.4m deep (49.2psia)
@02:39:43.00 Cartridge 52 sampling 477/1000ml at 0.34ml/s with 22.1psi vacuum 23.4m deep (49.3psia)
@02:40:43.00 Cartridge 52 sampling 497/1000ml at 0.31ml/s with 23.7psi vacuum 23.7m deep (49.7psia)
@02:41:43.00 Cartridge 52 sampling 516/1000ml at 0.34ml/s with 24.8psi vacuum 23.3m deep (49.2psia)
@02:42:43.00 Cartridge 52 sampling 536/1000ml at 0.34ml/s with 23.5psi vacuum 23.4m deep (49.3psia)
@02:43:43.00 Cartridge 52 sampling 555/1000ml at 0.32ml/s with 23.2psi vacuum 20.0m deep (44.3psia)
@02:44:43.00 Cartridge 52 sampling 574/1000ml at 0.32ml/s with 21.8psi vacuum 18.6m deep (42.1psia)
@02:45:43.00 Cartridge 52 sampling 594/1000ml at 0.31ml/s with 21.8psi vacuum 12.6m deep (33.4psia)
@02:46:43.00 Cartridge 52 sampling 612/1000ml at 0.29ml/s with 22.0psi vacuum 3.2m deep (19.5psia)
@02:47:43.00 Cartridge 52 sampling 631/1000ml at 0.31ml/s with 26.8psi vacuum -3.1m deep (10.2psia)
@02:48:43.00 Cartridge 52 sampling 649/1000ml at 0.27ml/s with 23.5psi vacuum -6.1m deep (5.6psia)
@02:49:43.00 Cartridge 52 sampling 666/1000ml at 0.30ml/s with 23.2psi vacuum -6.1m deep (5.7psia)
@02:50:43.27 Cartridge 52 sampling 683/1000ml at 0.28ml/s with 22.7psi vacuum -6.1m deep (5.6psia)
@02:51:43.00 Cartridge 52 sampling 700/1000ml at 0.27ml/s with 22.4psi vacuum -5.7m deep (6.2psia)
@02:52:43.00 Cartridge 52 sampling 716/1000ml at 0.26ml/s with 23.1psi vacuum -6.5m deep (5.1psia)
@02:53:43.00 Cartridge 52 sampling 732/1000ml at 0.27ml/s with 26.7psi vacuum -6.0m deep (5.8psia)
@02:54:43.00 Cartridge 52 sampling 748/1000ml at 0.25ml/s with 18.8psi vacuum -6.0m deep (5.9psia)
@02:55:43.00 Cartridge 52 sampling 763/1000ml at 0.27ml/s with 23.4psi vacuum -5.9m deep (5.9psia)
@02:56:43.00 Cartridge 52 sampling 778/1000ml at 0.27ml/s with 23.4psi vacuum -5.5m deep (6.6psia)
@02:57:43.00 Cartridge 52 sampling 793/1000ml at 0.26ml/s with 23.7psi vacuum 3.7m deep (20.2psia)
@02:58:43.00 Cartridge 52 sampling 807/1000ml at 0.25ml/s with 24.0psi vacuum 16.6m deep (39.3psia)
@02:59:43.00 Cartridge 52 sampling 821/1000ml at 0.21ml/s with 21.5psi vacuum 29.4m deep (58.1psia)
@03:00:43.00 Cartridge 52 sampling 835/1000ml at 0.23ml/s with 23.5psi vacuum 43.7m deep (79.2psia)
@03:01:43.00 Cartridge 52 sampling 849/1000ml at 0.24ml/s with 20.9psi vacuum 57.3m deep (99.4psia)
@03:02:43.00 Cartridge 52 sampling 863/1000ml at 0.24ml/s with 22.5psi vacuum 72.0m deep (121.2psia)
@03:03:43.00 Cartridge 52 sampling 878/1000ml at 0.25ml/s with 23.3psi vacuum 85.3m deep (140.8psia)
@03:04:43.00 Cartridge 52 sampling 892/1000ml at 0.24ml/s with 22.7psi vacuum 99.1m deep (161.2psia)
@03:05:43.00 Cartridge 52 sampling 906/1000ml at 0.22ml/s with 22.3psi vacuum 113.1m deep (181.9psia)
@03:06:43.00 Cartridge 52 sampling 919/1000ml at 0.23ml/s with 21.3psi vacuum 100.6m deep (163.3psia)
@03:07:43.00 Cartridge 52 sampling 933/1000ml at 0.21ml/s with 22.0psi vacuum 85.1m deep (140.5psia)
@03:08:43.00 Cartridge 52 sampling 947/1000ml at 0.24ml/s with 21.9psi vacuum 69.8m deep (117.8psia)
@03:09:43.00 Cartridge 52 sampling 961/1000ml at 0.22ml/s with 22.3psi vacuum 54.9m deep (95.9psia)
@03:10:43.00 Cartridge 52 sampling 974/1000ml at 0.24ml/s with 22.9psi vacuum 39.5m deep (73.1psia)
@03:11:43.00 Cartridge 52 sampling 988/1000ml at 0.21ml/s with 22.1psi vacuum 25.5m deep (52.4psia)
@03:12:36.38 <closeIntake> Intake.close
@03:12:36.42 <closeExhaust> Exhaust.close
@03:12:37.28 <FILTERING> Sampled  1000.0ml
@03:12:37.36 TV.seek :bypass
@03:12:38.96 TV.seek :clear
@03:12:40.56 TV.coast
@03:12:41.63 <LRAUV> -> Cmd.startProcessing
@03:12:41.82 <PROCESSING> PV.seek :reagent
@03:12:42.73 Sample loop closed. Ready to Deliver Reagents
@03:12:42.74 ArS.seek :sealed
@03:12:46.39 ArS.seek :evac
@03:13:00.36 delay 20 seconds
@03:13:20.39 ArS.seek :clear
@03:13:37.53 RNAlater soak for 10:00
@03:23:37.56 ArS.seek :tVent
@03:23:39.21 delay 1 second
@03:23:40.23 ArS.seek :evac
@03:23:56.19 delay 10 seconds
@03:24:06.22 Sample preserved and evacuated
@03:24:07.18 <LRAUV> -> Cmd.stop
@03:24:07.37 <PV> PV.seek :cartridge
@03:24:08.39 <ArS> ArS.seek :clear
@03:24:25.56 <LRAUV> ArS.coast
@03:24:25.61 LyS1.coast
@03:24:25.66 LyS2.coast
@03:24:25.71 AirS.coast
@03:24:25.76 SP.coast
@03:24:25.81 SC.coast
@03:24:25.86 PV.coast
@03:24:26.03 Gate.power :motor,:OFF
@03:24:26.04 Gate.power :main,:OFF
@03:24:26.07 Gate.power :core,:OFF
@03:24:26.08 Safely stopped and ready to power off