@19:31:05.64PST06-Dec-25 <MAIN> 
Environmental Sample Processor built 19-Nov-25 (c389e51a)
@19:31:09.15 >BREAK< ESP3 Gateway v1.44 for core bus
@19:31:09.17 >BREAK< ESP3 Gateway v1.44 for cartridge bus
@19:31:12.25 
Configuration for koa by nadia@mbari.org 11/18/25
/home/esp/esp2/type/auv/koa/configure.rb
@19:31:12.79 Sea pressure (Abs) tare is 6% of full scale
@19:31:20.76 Polling Can every 2:00
@19:31:21.22 Clients may connect on TCP port 9999
@19:31:21.23 Connecting to 10.89.11.2:9999
@19:31:21.27 Waiting for espclients...
@19:31:21.38 <LRAUV> Session Begun
@19:31:23.26 -> showStatus
true
@19:31:25.28 -> Cmd.loadCartridge
@19:31:25.35 Gate.power :main,:ON,limit to 5000mA
@19:31:25.37 Gate.power :analytic1,:ON,limit to 4000mA
@19:31:25.40 Gate.power :analytic2,:ON,limit to 4000mA
@19:31:25.43 Gate.power :analytic3,:ON,limit to 4000mA
@19:31:25.48 Powering core bus
@19:31:28.18 Plunge.configure :default
@19:31:28.26 SamplePump.configure :default
@19:31:28.34 Toroid.configure :default
@19:31:28.43 Carousel.configure :default
@19:31:28.51 Abs.configure :default
@19:31:28.59 Archive.configure :default
@19:31:28.67 Air.configure :default
@19:31:28.73 Lysis1.configure :default
@19:31:28.78 Lysis2.configure :default
@19:31:28.85 PinPort.configure :default
@19:31:28.91 WARNING:  Multiple controller firmware versions in use
[:sampler0, :syringe1, :sampler1, :valve0, :ambient0, :valve1, :syringe0]=>4.93, [:carousel0]=>4.94
@19:31:28.93 Gate.power :motor,:ON,limit to 5000mA
@19:31:29.13 <Plunge_home> Plunge.home.jog 0
@19:31:29.67 <Lysis2_home> Lysis2.home.jog 0
@19:31:29.69 <Lysis1_home> Lysis1.home.jog 0
@19:31:29.74 <Air_home> Air.home.jog 0
@19:31:29.77 <Archive_home> Archive.home.jog 0
@19:31:29.79 <Carousel_home> Carousel.home.jog 0
@19:31:29.82 <PinPort_home> PinPort.home.jog 0
@19:31:29.85 <Toroid_home> Toroid.home.jog 0
@19:31:30.39 <Plunge_home> Plunge.in :homing
@19:31:30.68 <Toroid_home> Toroid.in :homing
@19:31:30.73 <Plunge_home> Plunge.jog 1528
@19:31:30.76 <Lysis2_home> Lysis2.in :homing
@19:31:30.79 <Lysis1_home> Lysis1.in :homing
@19:31:30.81 <Air_home> Air.in :homing
@19:31:30.84 <Archive_home> Archive.in :homing
@19:31:30.88 <PinPort_home> PinPort.in :homing
@19:31:31.06 <Toroid_home> Toroid.jog 1307
@19:31:31.16 <PinPort_home> PinPort.jog -1202
@19:31:31.19 <Lysis2_home> Lysis2.jog 302
@19:31:31.23 <Air_home> Air.jog 363
@19:31:31.26 <Archive_home> Archive.jog 319
@19:31:31.29 <Lysis1_home> Lysis1.jog 305
@19:31:31.97 <Lysis2_home> Lysis2.setRawPosition! 50
@19:31:32.04 Lysis2.seek :home
@19:31:32.13 <Lysis1_home> Lysis1.setRawPosition! 50
@19:31:32.16 <Archive_home> Archive.setRawPosition! 50
@19:31:32.20 <Air_home> Air.setRawPosition! 0
@19:31:32.32 <Lysis1_home> Lysis1.seek :home
@19:31:32.38 <Air_home> Air.seek :home
@19:31:32.41 <Archive_home> Archive.seek :home
@19:31:32.60 <Lysis2_home> Lysis2.in :default
@19:31:32.63 <Air_home> Air.in :default
@19:31:32.66 <Plunge_home> Plunge.setRawPosition! 50
@19:31:32.81 Plunge.seek :home
@19:31:32.89 <Lysis1_home> Lysis1.in :default
@19:31:32.92 <Archive_home> Archive.in :default
@19:31:33.05 <PinPort_home> PinPort.setRawPosition! 0
@19:31:33.10 PinPort.seek :home
@19:31:33.21 <Plunge_home> Plunge.in :default
@19:31:33.23 <PinPort_home> PinPort.in :default
@19:31:36.06 <Toroid_home> Toroid.setRawPosition! 0
@19:31:36.11 Toroid.seek :home
@19:31:36.19 Toroid.in :default
@19:31:36.31 <clearToroid> Toroid.seek :clear
@19:31:36.44 <LRAUV> PinPort.in :unlocking
@19:31:36.52 PinPort.seek :clear
@19:31:39.97 Air.seek :clear
@19:31:40.88 Lysis1.seek :clear
@19:31:41.66 Lysis2.seek :clear
@19:31:42.45 Archive.seek :clear
@19:31:43.24 Carousel.in :default
@19:31:43.35 Carousel.home.seek 45
@19:31:43.62 Selecting Cartridge 44
@19:31:43.87 Carousel.seek 44
@19:31:44.41 Carousel.reconfigure :align
@19:31:44.53 Lysis1.in :fast
@19:31:44.60 Lysis1.seek :locked
@19:31:47.08 <Plunge> Plunge.seek :locked
@19:31:47.22 <Air> Air.in :fast
@19:31:47.28 Air.seek :locked
@19:31:48.19 <LRAUV> Carousel.reconfigure :locked
@19:31:48.32 Powering cartridge bus
@19:31:50.95 Gate.setIR 1750,5000,0,6
@19:31:51.07 Gate.setIR 0,5000,0,6
@19:31:51.14 PuckHeater.configure :default
@19:31:51.21 Gate.power :heat,:ON,limit to 5000mA
@19:31:51.39 Mounted lysis Cartridge board#J60001
@19:31:51.43 Using default cartridge heat loss curve for HeatingFunctionInCarousel
44
@19:32:05.27 -> Cmd.startFiltering
@19:32:05.52 <FILTERING> Preparing to filter lyseHoldBS_bac cartridge in slot 44
84.17
@19:32:05.72 <sealing> Air.in :default
@19:32:05.84 <FILTERING> Priming sample loop w/200ml, bypass w/10ml
@19:32:05.86 <sealing> Air.seek :sealed
@19:32:05.89 <FILTERING> SamplePump.setPosition! 0ml
@19:32:05.99 Bypass.open
@19:32:07.56 Intake.open
@19:32:08.63 Sea 12.3m deep (32.8psia)
@19:32:08.66 Waiting up to 20 seconds for sea pressure to stabilize +/-0.50psi
@19:32:11.26 Vacuum tare is 52% of full scale at 12C (drifted 1%)
@19:32:11.39 Abs.in :default
@19:32:11.45 Abs.hold
@19:32:12.02 SamplePump.in :start
@19:32:12.09 SamplePump.seek 10ml,1:10
@19:32:12.71 <pumpStarted> SamplePump.configure :prime
@19:32:25.74 <FILTERING> Abs.stop
@19:32:25.80 SamplePump.setPosition! 0ml
@19:32:25.86 Exhaust.open
@19:32:27.46 <closeBypass> Bypass.close
@19:32:29.11 <FILTERING> Abs.in :default
@19:32:29.16 Abs.hold
@19:32:29.28 Sea 10.1m deep (29.6psia)
@19:32:29.44 SamplePump.in :start
@19:32:29.51 SamplePump.seek 200ml,13:50
@19:32:30.14 <pumpStarted> SamplePump.configure :prime
@19:36:55.18 <FILTERING> Abs.stop
@19:36:55.25 Bypass.open
@19:36:56.04 Intake.close
@19:36:56.93 Toroid.in :hold
@19:36:56.99 Toroid.seek :crack
@19:36:59.46 Toroid.seek :cartridge
@19:37:01.58 Toroid.in :default
@19:37:01.64 Toroid.seek :clear
@19:37:05.58 Pressurizing cartridge to 26psi above 14.7psia
@19:37:05.59 SamplePump.setPosition! 0ml
@19:37:05.64 Intake.open
@19:37:06.58 Bypass.close
@19:37:07.42 Exhaust.close
@19:37:08.27 Abs.in :default
@19:37:08.33 Abs.hold
@19:37:08.51 SamplePump.in :charge
@19:37:08.57 SamplePump.seek 2.3ml,40 seconds
@19:37:22.09 Abs.stop
@19:37:22.15 Intake.close
@19:37:23.19 Pressurized cartridge with 0.725ml to 26.4psi
@19:37:23.21 Isolated @36.0psia (21.3psi)
@19:37:23.23 Verifying cartridge holds at least 0.65..0.85 of 36.0psia
@19:37:23.27 Waiting up to 20 seconds for cartridge pressure to stabilize +/-1.50psi
@19:37:35.87 Cartridge pressure fell 25% to 26.8psia
@19:37:35.99 Toroid.in :hold
@19:37:36.05 Toroid.seek :bypass
@19:37:39.64 Toroid.in :default
@19:37:39.70 Toroid.seek :clear
@19:37:43.35 Cartridge::Sampler::PossibleLeak in FILTERING -- Retained only 26.8psia
@19:37:43.37 Retry #1 of 2
@19:37:43.41 Cmd::SpareCartridge in FILTERING -- 2 spares remaining
@19:37:43.47 Selecting Cartridge 43
@19:37:43.64 Gate.power :heat,:OFF
@19:37:43.66 Gate.power :cartridge,:OFF
@19:37:43.74 Carousel.in :default
@19:37:43.87 Carousel.home.seek 44
@19:37:44.24 <Air> Air.in :unlocking
@19:37:44.34 Air.seek :clear
@19:37:45.92 <Lysis1> Lysis1.in :unlocking
@19:37:46.05 Lysis1.seek :clear
@19:37:46.10 <Plunge> Plunge.in :unlocking
@19:37:46.22 Plunge.seek :clear
@19:37:47.39 <FILTERING> Carousel.seek 43
@19:37:47.94 Carousel.reconfigure :align
@19:37:48.06 Lysis1.in :fast
@19:37:48.13 Lysis1.seek :locked
@19:37:50.61 <Plunge> Plunge.in :default
@19:37:50.69 Plunge.seek :locked
@19:37:50.82 <Air> Air.in :fast
@19:37:50.88 Air.seek :locked
@19:37:51.84 <FILTERING> Carousel.reconfigure :locked
@19:37:51.97 Powering cartridge bus
@19:37:54.60 Gate.setIR 1750,5000,0,6
@19:37:54.72 Gate.setIR 0,5000,0,6
@19:37:54.79 PuckHeater.configure :default
@19:37:54.86 Gate.power :heat,:ON,limit to 5000mA
@19:37:55.01 Mounted lysis Cartridge board#J59953
@19:37:55.05 Using default cartridge heat loss curve for HeatingFunctionInCarousel
@19:37:55.65 <sealing> Air.in :default
@19:37:55.79 <FILTERING> Priming sample loop w/20ml
@19:37:55.81 <sealing> Air.seek :sealed
@19:37:55.84 <FILTERING> SamplePump.setPosition! 0ml
@19:37:55.95 Bypass.open
@19:37:57.59 Exhaust.open
@19:37:59.18 <closeBypass> Bypass.close
@19:37:59.21 <FILTERING> Intake.open
@19:38:01.06 Abs.in :default
@19:38:01.12 Abs.hold
@19:38:01.38 SamplePump.in :start
@19:38:01.45 SamplePump.seek 20ml,1:50
@19:38:02.07 <pumpStarted> SamplePump.configure :prime
@19:38:04.58 <FILTERING> SamplePump.stop
@19:38:04.64 <closeIntake> Intake.close
@19:38:04.69 <closeExhaust> Exhaust.close
@19:38:05.64 <FILTERING> Abs.stop
@19:38:05.83 Cartridge::Sampler::Leaky in FILTERING -- Serious Leak or Stall -- 0.75ml/s made only -0.1psi vacuum after 2.1ml
@19:38:05.85 Retry #2 of 2
@19:38:05.92 Selecting Cartridge 42
@19:38:06.10 Gate.power :heat,:OFF
@19:38:06.12 Gate.power :cartridge,:OFF
@19:38:06.20 Carousel.in :default
@19:38:06.32 Carousel.home.seek 43
@19:38:06.69 <Air> Air.in :unlocking
@19:38:06.82 Air.seek :clear
@19:38:08.37 <Lysis1> Lysis1.in :unlocking
@19:38:08.47 Lysis1.seek :clear
@19:38:08.59 <Plunge> Plunge.in :unlocking
@19:38:08.66 Plunge.seek :clear
@19:38:09.79 <FILTERING> Carousel.seek 42
@19:38:10.34 Carousel.reconfigure :align
@19:38:10.45 Lysis1.in :fast
@19:38:10.52 Lysis1.seek :locked
@19:38:13.01 <Plunge> Plunge.in :default
@19:38:13.10 Plunge.seek :locked
@19:38:13.22 <Air> Air.in :fast
@19:38:13.28 Air.seek :locked
@19:38:14.23 <FILTERING> Carousel.reconfigure :locked
@19:38:14.38 Powering cartridge bus
@19:38:17.00 Gate.setIR 1750,5000,0,6
@19:38:17.12 Gate.setIR 0,5000,0,6
@19:38:17.19 PuckHeater.configure :default
@19:38:17.26 Gate.power :heat,:ON,limit to 5000mA
@19:38:17.78 Mounted lysis Cartridge board#J59977
@19:38:17.82 Using default cartridge heat loss curve for HeatingFunctionInCarousel
@19:38:18.05 <sealing> Air.in :default
@19:38:18.15 Air.seek :sealed
@19:38:18.24 <FILTERING> Priming sample loop w/20ml
@19:38:18.26 SamplePump.setPosition! 0ml
@19:38:18.31 Bypass.open
@19:38:19.97 Exhaust.open
@19:38:21.56 <closeBypass> Bypass.close
@19:38:21.61 <FILTERING> Intake.open
@19:38:23.40 Abs.in :default
@19:38:23.47 Abs.hold
@19:38:23.74 SamplePump.in :start
@19:38:23.81 SamplePump.seek 20ml,1:50
@19:38:24.43 <pumpStarted> SamplePump.configure :prime