@13:50:09.12PDT18-Jul-25 <MAIN> 
Environmental Sample Processor built 30-Jun-25 (6f42ecee)
@13:50:12.50 >BREAK< ESP3 Gateway boot v1.43 for core bus
@13:50:12.52 >BREAK< ESP3 Gateway boot v1.43 for cartridge bus
@13:50:15.41 
Configuration for koa by nadia@mbari.org 6/26/25
/home/esp/esp2/type/auv/koa/configure.rb
@13:50:15.96 Sea pressure (Abs) tare is 6% of full scale
@13:50:19.77 Polling Can every 2:00
@13:50:20.24 Clients may connect on TCP port 9999
@13:50:20.25 Connecting to 10.89.11.2:9999
@13:50:20.30 Waiting for espclients...
@13:50:20.61 <LRAUV> Session Begun
@13:50:22.55 -> showStatus
true
@13:50:24.57 -> Cmd.loadCartridge -15
@13:50:24.66 Gate.power :main,:ON,limit to 5000mA
@13:50:24.68 Gate.power :analytic1,:ON,limit to 4000mA
@13:50:24.70 Gate.power :analytic2,:ON,limit to 4000mA
@13:50:24.73 Gate.power :analytic3,:ON,limit to 4000mA
@13:50:24.78 Powering core bus
@13:50:27.49 Plunge.configure :default
@13:50:27.57 SamplePump.configure :default
@13:50:27.65 Toroid.configure :default
@13:50:27.72 Carousel.configure :default
@13:50:27.80 Abs.configure :default
@13:50:27.88 Archive.configure :default
@13:50:27.96 Air.configure :default
@13:50:28.02 Lysis1.configure :default
@13:50:28.08 Lysis2.configure :default
@13:50:28.16 PinPort.configure :default
@13:50:28.22 All elf controllers running firmware version 4.92
@13:50:28.25 Gate.power :motor,:ON,limit to 5000mA
@13:50:28.51 <Plunge_home> Plunge.home.jog 0
@13:50:29.04 <PinPort_home> PinPort.home.jog 0
@13:50:29.07 <Lysis1_home> Lysis1.home.jog 0
@13:50:29.11 <Air_home> Air.home.jog 0
@13:50:29.14 <Archive_home> Archive.home.jog 0
@13:50:29.16 <Carousel_home> Carousel.home.jog 0
@13:50:29.19 <Toroid_home> Toroid.home.jog 0
@13:50:29.22 <Lysis2_home> Lysis2.home.jog 0
@13:50:30.15 <Plunge_home> Plunge.in :homing
@13:50:30.46 Plunge.jog 1594
@13:50:30.51 <Lysis2_home> Lysis2.in :homing
@13:50:30.55 <Lysis1_home> Lysis1.in :homing
@13:50:30.57 <Air_home> Air.in :homing
@13:50:30.60 <Toroid_home> Toroid.in :homing
@13:50:30.63 <Archive_home> Archive.in :homing
@13:50:30.67 <PinPort_home> PinPort.in :homing
@13:50:30.86 <Lysis2_home> Lysis2.jog 306
@13:50:30.88 <Lysis1_home> Lysis1.jog 308
@13:50:31.00 <PinPort_home> PinPort.jog -1203
@13:50:31.05 <Air_home> Air.jog 362
@13:50:31.08 <Archive_home> Archive.jog 1608
@13:50:31.13 <Toroid_home> Toroid.jog 1276
@13:50:31.54 <Lysis2_home> Lysis2.setRawPosition! 50
@13:50:31.60 Lysis2.seek :home
@13:50:31.68 <Lysis1_home> Lysis1.setRawPosition! 50
@13:50:31.75 Lysis1.seek :home
@13:50:31.86 <Air_home> Air.setRawPosition! 0
@13:50:31.93 <Lysis2_home> Lysis2.in :default
@13:50:31.96 <Air_home> Air.seek :home
@13:50:32.11 <Lysis1_home> Lysis1.in :default
@13:50:32.15 <Plunge_home> Plunge.setRawPosition! 50
@13:50:32.18 <Air_home> Air.in :default
@13:50:32.29 <Plunge_home> Plunge.seek :home
@13:50:32.48 <Archive_home> Archive.setRawPosition! 50
@13:50:32.54 Archive.seek :home
@13:50:32.61 <Plunge_home> Plunge.in :default
@13:50:32.86 <Archive_home> Archive.in :default
@13:50:32.94 <PinPort_home> PinPort.setRawPosition! 0
@13:50:33.00 PinPort.seek :home
@13:50:33.08 PinPort.in :default
@13:50:35.51 <Toroid_home> Toroid.setRawPosition! 0
@13:50:35.56 Toroid.seek :home
@13:50:35.64 Toroid.in :default
@13:50:35.70 <clearToroid> Toroid.seek :clear
@13:50:35.83 <LRAUV> PinPort.in :unlocking
@13:50:35.89 PinPort.seek :clear
@13:50:39.32 Air.seek :clear
@13:50:40.22 Lysis1.seek :clear
@13:50:41.00 Lysis2.seek :clear
@13:50:41.79 Archive.seek :clear
@13:50:42.57 Carousel.in :default
@13:50:42.68 Carousel.home.seek 59
@13:50:42.94 Selecting Cartridge 58
@13:50:43.19 Carousel.seek 58
@13:50:43.38 Slide::Error in LRAUV -- Storage Carousel (SC) positionErr at 59 - 53 counts (sensed 59 - 46 counts)
@13:50:43.40 Retry #1 of 4
@13:50:43.43 Carousel.hold
@13:50:43.54 Carousel.in :default
@13:50:43.61 Carousel.home.seek 58
@13:50:44.44 Lysis1.in :fast
@13:50:44.59 Lysis1.seek :locked
@13:50:47.52 <Plunge> Plunge.seek :locked
@13:50:47.66 <Air> Air.in :fast
@13:50:47.72 Air.seek :locked
@13:50:48.65 <LRAUV> Carousel.reconfigure :locked
@13:50:48.80 Powering cartridge bus
@13:50:51.42 Gate.setIR 1750,5000,0,6
@13:50:51.55 Gate.setIR 0,5000,0,6
@13:50:51.62 PuckHeater.configure :default
@13:50:51.68 Gate.power :heat,:ON,limit to 5000mA
@13:50:52.39 Mounted lysis Cartridge board#J60003
@13:50:52.43 Using default cartridge heat loss curve for HeatingFunctionInCarousel
58
@13:51:06.08 -> Cmd.startFiltering
@13:51:06.32 <FILTERING> Preparing to filter lyseHoldBS_bac cartridge in slot 58
84.17
@13:51:06.55 <sealing> Air.in :default
@13:51:06.67 <FILTERING> Priming sample loop w/200ml, bypass w/10ml
@13:51:06.69 <sealing> Air.seek :sealed
@13:51:06.72 <FILTERING> SamplePump.setPosition! 0ml
@13:51:06.81 Bypass.open
@13:51:08.43 Intake.open
@13:51:09.34 Sea 3.7m deep (20.1psia)
@13:51:09.36 Waiting up to 20 seconds for sea pressure to stabilize +/-0.50psi
@13:51:11.96 Vacuum tare is 51% of full scale at 12C (drifted -0%)
@13:51:12.09 Abs.in :default
@13:51:12.15 Abs.hold
@13:51:12.34 SamplePump.in :start
@13:51:12.41 SamplePump.seek 10ml,1:10
@13:51:13.04 <pumpStarted> SamplePump.configure :prime
@13:51:25.22 <FILTERING> Abs.stop
@13:51:25.27 SamplePump.setPosition! 0ml
@13:51:25.32 Exhaust.open
@13:51:26.88 <closeBypass> Bypass.close
@13:51:28.51 <FILTERING> Abs.in :default
@13:51:28.57 Abs.hold
@13:51:28.68 Sea 5.1m deep (22.3psia)
@13:51:28.86 SamplePump.in :start
@13:51:28.93 SamplePump.seek 200ml,13:50
@13:51:29.55 <pumpStarted> SamplePump.configure :prime
@13:55:37.66 <FILTERING> Abs.stop
@13:55:37.74 Bypass.open
@13:55:38.57 Intake.close
@13:55:39.54 Toroid.in :hold
@13:55:39.60 Toroid.seek :crack
@13:55:42.42 Toroid.seek :cartridge
@13:55:44.54 Toroid.in :default
@13:55:44.60 Toroid.seek :clear
@13:55:48.56 Pressurizing cartridge to 26psi above 19.6psia
@13:55:48.57 SamplePump.setPosition! 0ml
@13:55:48.63 Intake.open
@13:55:49.46 Bypass.close
@13:55:50.31 Exhaust.close
@13:55:51.28 Abs.in :default
@13:55:51.34 Abs.hold
@13:55:51.52 SamplePump.in :charge
@13:55:51.59 SamplePump.seek 2.3ml,40 seconds
@13:56:01.71 Abs.stop
@13:56:01.77 Intake.close
@13:56:02.72 Pressurized cartridge with 0.448ml to 26.1psi
@13:56:02.73 Isolated @39.3psia (19.6psi)
@13:56:02.75 Verifying cartridge holds at least 0.65..0.85 of 39.3psia
@13:56:02.79 Waiting up to 20 seconds for cartridge pressure to stabilize +/-1.50psi
@13:56:07.38 Cartridge pressure fell 1% to 39.0psia
@13:56:07.46 Sampling 1000.0ml
@13:56:07.47 SamplePump.setPosition! 0ml
@13:56:07.54 Exhaust.open
@13:56:08.43 Intake.open
@13:56:09.44 Abs.in :default
@13:56:09.49 Abs.hold
@13:56:09.74 SamplePump.in :start
@13:56:09.81 SamplePump.seek 1000ml,1:07:10
@13:56:10.44 <pumpStarted> SamplePump.configure :sample
@13:56:12.82 <sampling> Cartridge 58 filtering 2/1000ml at 0.60ml/s with 19.5psi vacuum
@13:57:12.87 Cartridge 58 filtering 37/1000ml at 0.59ml/s with 23.9psi vacuum
@13:58:12.87 Cartridge 58 filtering 69/1000ml at 0.54ml/s with 21.0psi vacuum 9.1m deep (28.2psia)
@13:59:12.87 Cartridge 58 filtering 99/1000ml at 0.50ml/s with 22.3psi vacuum
@14:00:12.87 Cartridge 58 filtering 128/1000ml at 0.47ml/s with 28.9psi vacuum
@14:01:12.87 Cartridge 58 filtering 155/1000ml at 0.45ml/s with 17.7psi vacuum 6.8m deep (24.7psia)
@14:02:12.87 Cartridge 58 filtering 180/1000ml at 0.43ml/s with 17.0psi vacuum 22.1m deep (47.3psia)
@14:03:12.87 Cartridge 58 filtering 204/1000ml at 0.40ml/s with 26.1psi vacuum
@14:04:13.23 Cartridge 58 filtering 227/1000ml at 0.38ml/s with 34.0psi vacuum
@14:05:12.87 Cartridge 58 filtering 249/1000ml at 0.36ml/s with 21.3psi vacuum 14.5m deep (36.1psia)
@14:06:12.87 Cartridge 58 filtering 270/1000ml at 0.35ml/s with 31.4psi vacuum
@14:07:12.87 Cartridge 58 filtering 290/1000ml at 0.33ml/s with 21.3psi vacuum
@14:07:32.65 <LRAUV> -> Cmd.pauseFiltering
@14:07:32.76 <FILTERING> SamplePump.stop
@14:07:32.83 <closeIntake> Intake.close
@14:07:32.87 <closeExhaust> Exhaust.close
@14:07:33.09 <FILTERING> Toroid.in :hold
@14:07:33.16 Toroid.seek :bypass
@14:07:36.76 Toroid.in :default
@14:07:36.82 Toroid.seek :clear
@14:07:40.41 Abs.stop
@14:07:40.63 Cmd::Paused in FILTERING -- paused by LRAUV during Sample Pump (SP) move after sampling 0.0ml
0.0
@14:07:42.49 <LRAUV> -> Cmd.startProcessing
@14:07:42.74 Cmd::Error in LRAUV -- Will not process unknown volume filtered
@14:07:44.52 -> Cmd.stop
@14:07:44.62 Gate.power :heat,:OFF
@14:07:44.63 Gate.power :cartridge,:OFF
@14:07:44.72 Carousel.in :default
@14:07:44.83 Carousel.home.seek 58
@14:07:45.14 Plunge.seek :locked
@14:07:45.34 <Air> Air.in :unlocking
@14:07:45.46 Air.seek :clear
@14:07:45.51 <Lysis1> Lysis1.in :unlocking
@14:07:45.66 Lysis1.seek :clear
@14:07:47.12 <LRAUV> Gate.power :analytic1,:OFF
@14:07:47.14 Gate.power :analytic2,:OFF
@14:07:47.16 Gate.power :analytic3,:OFF
@14:07:47.19 Gate.power :motor,:OFF
@14:07:47.21 Gate.power :core,:OFF
@14:07:47.24 Gate.power :main,:OFF
@14:07:47.27 Safely stopped and ready to power off
:STOPPED