@20:03:43.47PST06-Dec-25 <MAIN> 
Environmental Sample Processor built 19-Nov-25 (c389e51a)
@20:03:46.96 >BREAK< ESP3 Gateway v1.44 for core bus
@20:03:47.01 >BREAK< ESP3 Gateway v1.44 for cartridge bus
@20:03:49.91 
Configuration for koa by nadia@mbari.org 11/18/25
/home/esp/esp2/type/auv/koa/configure.rb
@20:03:50.45 Sea pressure (Abs) tare is 6% of full scale
@20:03:58.48 Polling Can every 2:00
@20:03:58.96 Clients may connect on TCP port 9999
Connecting to 10.89.11.2:9999
@20:03:59.02 Waiting for espclients...
@20:03:59.11 <LRAUV> Session Begun
@20:04:01.47 -> showStatus
true
@20:04:03.05 -> Cmd.loadCartridge
@20:04:03.13 Gate.power :main,:ON,limit to 5000mA
@20:04:03.14 Gate.power :analytic1,:ON,limit to 4000mA
@20:04:03.18 Gate.power :analytic2,:ON,limit to 4000mA
@20:04:03.20 Gate.power :analytic3,:ON,limit to 4000mA
@20:04:03.25 Powering core bus
@20:04:05.96 Plunge.configure :default
@20:04:06.04 SamplePump.configure :default
@20:04:06.12 Toroid.configure :default
@20:04:06.19 Carousel.configure :default
@20:04:06.27 Abs.configure :default
@20:04:06.35 Archive.configure :default
@20:04:06.43 Air.configure :default
@20:04:06.48 Lysis1.configure :default
@20:04:06.55 Lysis2.configure :default
@20:04:06.63 PinPort.configure :default
@20:04:06.69 WARNING:  Multiple controller firmware versions in use
[:sampler0, :syringe1, :sampler1, :valve0, :ambient0, :valve1, :syringe0]=>4.93, [:carousel0]=>4.94
@20:04:06.72 Gate.power :motor,:ON,limit to 5000mA
@20:04:06.94 <Plunge_home> Plunge.home.jog 0
@20:04:07.45 <PinPort_home> PinPort.home.jog 0
@20:04:07.49 <Lysis2_home> Lysis2.home.jog 0
@20:04:07.52 <Lysis1_home> Lysis1.home.jog 0
@20:04:07.55 <Archive_home> Archive.home.jog 0
@20:04:07.58 <Carousel_home> Carousel.home.jog 0
@20:04:07.61 <Toroid_home> Toroid.home.jog 0
@20:04:07.63 <Air_home> Air.home.jog 0
@20:04:08.23 <Plunge_home> Plunge.in :homing
@20:04:08.46 <Toroid_home> Toroid.in :homing
@20:04:08.50 <Plunge_home> Plunge.jog 1519
@20:04:08.52 <Lysis2_home> Lysis2.in :homing
@20:04:08.56 <Lysis1_home> Lysis1.in :homing
@20:04:08.58 <Air_home> Air.in :homing
@20:04:08.61 <Archive_home> Archive.in :homing
@20:04:08.63 <PinPort_home> PinPort.in :homing
@20:04:08.80 <Toroid_home> Toroid.jog 1302
@20:04:08.93 <PinPort_home> PinPort.jog -1189
@20:04:08.95 <Lysis2_home> Lysis2.jog 1610
@20:04:08.98 <Air_home> Air.jog 2719
@20:04:09.01 <Archive_home> Archive.jog 328
@20:04:09.04 <Lysis1_home> Lysis1.jog 2148
@20:04:09.76 <Archive_home> Archive.setRawPosition! 50
@20:04:09.82 Archive.seek :home
@20:04:09.99 <Plunge_home> Plunge.setRawPosition! 50
@20:04:10.04 Plunge.seek :home
@20:04:10.14 <Archive_home> Archive.in :default
@20:04:10.32 <Plunge_home> Plunge.in :default
@20:04:10.41 <Lysis2_home> Lysis2.setRawPosition! 50
@20:04:10.46 Lysis2.seek :home
@20:04:10.71 <Lysis1_home> Lysis1.setRawPosition! 50
@20:04:10.79 <Lysis2_home> Lysis2.in :default
@20:04:10.84 <Lysis1_home> Lysis1.seek :home
@20:04:10.97 <PinPort_home> PinPort.setRawPosition! 0
@20:04:11.00 <Air_home> Air.setRawPosition! 0
@20:04:11.08 <PinPort_home> PinPort.seek :home
@20:04:11.15 <Air_home> Air.seek :home
@20:04:11.28 <Lysis1_home> Lysis1.in :default
@20:04:11.31 <PinPort_home> PinPort.in :default
@20:04:11.33 <Air_home> Air.in :default
@20:04:13.42 <Toroid_home> Toroid.setRawPosition! 0
@20:04:13.47 Toroid.seek :home
@20:04:13.55 Toroid.in :default
@20:04:13.66 <clearToroid> Toroid.seek :clear
@20:04:13.79 <LRAUV> PinPort.in :unlocking
@20:04:13.86 PinPort.seek :clear
@20:04:17.31 Air.seek :clear
@20:04:18.20 Lysis1.seek :clear
@20:04:19.00 Lysis2.seek :clear
@20:04:19.79 Archive.seek :clear
@20:04:20.58 Carousel.in :default
@20:04:20.69 Carousel.home.seek 42
@20:04:20.96 Selecting Cartridge 42
@20:04:21.22 Carousel.seek 42
@20:04:21.48 Carousel.reconfigure :align
@20:04:21.59 Lysis1.in :fast
@20:04:21.66 Lysis1.seek :locked
@20:04:24.15 <Plunge> Plunge.seek :locked
@20:04:24.29 <Air> Air.in :fast
@20:04:24.35 Air.seek :locked
@20:04:25.25 <LRAUV> Carousel.reconfigure :locked
@20:04:25.39 Powering cartridge bus
@20:04:28.01 Gate.setIR 1750,5000,0,6
@20:04:28.14 Gate.setIR 0,5000,0,6
@20:04:28.21 PuckHeater.configure :default
@20:04:28.27 Gate.power :heat,:ON,limit to 5000mA
@20:04:28.46 Mounted lysis Cartridge board#J59977
@20:04:28.50 Using default cartridge heat loss curve for HeatingFunctionInCarousel
42
@20:04:43.06 -> Cmd.startFiltering
@20:04:43.30 <FILTERING> Preparing to filter lyseHoldBS_bac cartridge in slot 42
84.17
@20:04:43.53 <sealing> Air.in :default
@20:04:43.65 <FILTERING> Priming sample loop w/200ml, bypass w/10ml
@20:04:43.67 <sealing> Air.seek :sealed
@20:04:43.70 <FILTERING> SamplePump.setPosition! 0ml
@20:04:43.80 Bypass.open
@20:04:45.39 Intake.open
@20:04:46.40 Sea 34.7m deep (65.9psia)
@20:04:46.42 Waiting up to 20 seconds for sea pressure to stabilize +/-0.50psi
@20:04:49.03 Vacuum tare is 52% of full scale at 12C (drifted 1%)
@20:04:49.16 <closeIntake> Intake.close
@20:04:49.22 <closeBypass> Bypass.close
@20:04:50.47 <FILTERING> Verifying toroid holds at least 0.6..0.85 of 65.5psia
@20:04:50.50 Waiting up to 40 seconds for toroid pressure to stabilize +/-1.50psi
@20:04:55.07 Bypass.open
@20:04:55.93 Intake.open
@20:04:57.63 Abs.in :default
@20:04:57.69 Abs.hold
@20:04:57.89 SamplePump.in :start
@20:04:57.96 SamplePump.seek 10ml,1:10
@20:04:58.58 <pumpStarted> SamplePump.configure :prime
@20:05:11.61 <FILTERING> Abs.stop
@20:05:11.67 SamplePump.setPosition! 0ml
@20:05:11.73 Exhaust.open
@20:05:13.29 <closeBypass> Bypass.close
@20:05:14.93 <FILTERING> Abs.in :default
@20:05:14.99 Abs.hold
@20:05:15.11 Sea 39.0m deep (72.4psia)
@20:05:15.27 SamplePump.in :start
@20:05:15.34 SamplePump.seek 200ml,13:50
@20:05:15.97 <pumpStarted> SamplePump.configure :prime
@20:09:40.96 <FILTERING> Abs.stop
@20:09:41.03 Bypass.open
@20:09:41.85 Intake.close
@20:09:42.81 Toroid.in :hold
@20:09:42.87 Toroid.seek :crack
@20:09:45.34 Toroid.seek :cartridge
@20:09:47.46 Toroid.in :default
@20:09:47.52 Toroid.seek :clear
@20:09:51.45 <closeExhaust> Exhaust.close
@20:09:51.49 <closeBypass> Bypass.close
@20:09:52.35 <FILTERING> Verifying cartridge holds at least 0.65..0.85 of 86.9psia
@20:09:52.37 Waiting up to 40 seconds for cartridge pressure to stabilize +/-1.50psi
@20:09:56.94 Cartridge pressure fell 2% to 85.3psia
@20:09:57.02 Sampling 1000.0ml
@20:09:57.04 SamplePump.setPosition! 0ml
@20:09:57.11 Exhaust.open
@20:09:58.01 Intake.open
@20:09:59.15 Abs.in :default
@20:09:59.20 Abs.hold
@20:09:59.37 Sea 49.3m deep (87.6psia)
@20:09:59.54 SamplePump.in :start
@20:09:59.61 SamplePump.seek 1000ml,1:07:10
@20:10:00.23 <pumpStarted> SamplePump.configure :sample
@20:10:02.62 <sampling> Cartridge 42 filtering 2/1000ml at 0.51ml/s with 26.4psi vacuum 39.2m deep (72.6psia)
@20:11:02.66 Cartridge 42 filtering 36/1000ml at 0.57ml/s with 24.7psi vacuum 48.3m deep (86.1psia)
@20:12:02.66 Cartridge 42 filtering 70/1000ml at 0.57ml/s with 27.7psi vacuum 43.1m deep (78.4psia)
@20:13:02.66 Cartridge 42 filtering 104/1000ml at 0.56ml/s with 21.5psi vacuum 51.2m deep (90.3psia)
@20:14:02.66 Cartridge 42 filtering 137/1000ml at 0.56ml/s with 21.5psi vacuum 50.9m deep (89.9psia)
@20:15:02.66 Cartridge 42 filtering 171/1000ml at 0.55ml/s with 20.9psi vacuum 53.1m deep (93.1psia)
@20:16:02.71 Cartridge 42 filtering 203/1000ml at 0.55ml/s with 25.4psi vacuum 46.2m deep (82.9psia)
@20:17:02.66 Cartridge 42 filtering 236/1000ml at 0.54ml/s with 29.0psi vacuum 41.7m deep (76.4psia)
@20:18:02.66 Cartridge 42 filtering 268/1000ml at 0.54ml/s with 22.4psi vacuum 51.1m deep (90.2psia)
@20:19:02.66 Cartridge 42 filtering 300/1000ml at 0.53ml/s with 29.4psi vacuum 41.4m deep (75.9psia)
@20:20:02.66 Cartridge 42 filtering 332/1000ml at 0.53ml/s with 21.2psi vacuum 51.2m deep (90.4psia)
@20:21:02.66 Cartridge 42 filtering 363/1000ml at 0.52ml/s with 20.8psi vacuum 52.0m deep (91.5psia)
@20:22:02.67 Cartridge 42 filtering 394/1000ml at 0.51ml/s with 26.9psi vacuum 46.7m deep (83.7psia)
@20:23:02.66 Cartridge 42 filtering 425/1000ml at 0.51ml/s with 28.8psi vacuum 46.1m deep (82.8psia)
@20:24:02.67 Cartridge 42 filtering 454/1000ml at 0.50ml/s with 16.3psi vacuum 55.2m deep (96.3psia)
@20:25:02.67 Cartridge 42 filtering 484/1000ml at 0.49ml/s with 25.1psi vacuum 48.3m deep (86.1psia)
@20:26:02.67 Cartridge 42 filtering 513/1000ml at 0.48ml/s with 22.3psi vacuum 51.4m deep (90.6psia)
@20:27:02.66 Cartridge 42 filtering 541/1000ml at 0.47ml/s with 19.7psi vacuum 53.1m deep (93.2psia)
@20:28:02.67 Cartridge 42 filtering 568/1000ml at 0.46ml/s with 26.5psi vacuum 41.9m deep (76.5psia)
@20:29:02.66 Cartridge 42 filtering 595/1000ml at 0.45ml/s with 16.8psi vacuum 52.7m deep (92.6psia)
@20:30:02.67 Cartridge 42 filtering 621/1000ml at 0.44ml/s with 27.4psi vacuum 41.4m deep (75.9psia)
@20:31:02.66 Cartridge 42 filtering 646/1000ml at 0.42ml/s with 27.6psi vacuum 43.7m deep (79.2psia)
@20:32:02.67 Cartridge 42 filtering 671/1000ml at 0.42ml/s with 26.7psi vacuum 43.1m deep (78.4psia)
@20:33:02.67 Cartridge 42 filtering 696/1000ml at 0.41ml/s with 17.1psi vacuum 55.0m deep (96.0psia)
@20:34:02.67 Cartridge 42 filtering 720/1000ml at 0.40ml/s with 18.6psi vacuum 53.0m deep (93.1psia)
@20:35:02.66 Cartridge 42 filtering 743/1000ml at 0.39ml/s with 25.8psi vacuum 44.6m deep (80.6psia)
@20:36:02.67 Cartridge 42 filtering 765/1000ml at 0.38ml/s with 22.0psi vacuum 52.2m deep (91.9psia)
@20:37:03.02 Cartridge 42 filtering 787/1000ml at 0.37ml/s with 30.2psi vacuum 43.3m deep (78.7psia)
@20:38:02.67 Cartridge 42 filtering 809/1000ml at 0.36ml/s with 14.4psi vacuum 57.1m deep (99.1psia)
@20:39:02.68 Cartridge 42 filtering 829/1000ml at 0.35ml/s with 22.5psi vacuum 50.8m deep (89.8psia)
@20:40:02.66 Cartridge 42 filtering 849/1000ml at 0.33ml/s with 28.1psi vacuum 43.8m deep (79.5psia)
@20:41:02.66 Cartridge 42 filtering 869/1000ml at 0.32ml/s with 21.0psi vacuum 52.9m deep (92.9psia)
@20:42:02.66 Cartridge 42 filtering 888/1000ml at 0.32ml/s with 18.8psi vacuum 55.5m deep (96.7psia)
@20:43:02.66 Cartridge 42 filtering 906/1000ml at 0.31ml/s with 27.2psi vacuum 46.2m deep (83.0psia)
@20:44:02.66 Cartridge 42 filtering 924/1000ml at 0.30ml/s with 19.2psi vacuum 54.3m deep (94.9psia)
@20:45:02.66 Cartridge 42 filtering 941/1000ml at 0.29ml/s with 18.7psi vacuum 56.8m deep (98.7psia)
@20:46:02.66 Cartridge 42 filtering 958/1000ml at 0.28ml/s with 22.2psi vacuum 50.4m deep (89.1psia)
@20:47:02.66 Cartridge 42 filtering 974/1000ml at 0.27ml/s with 23.2psi vacuum 48.6m deep (86.5psia)
@20:48:02.66 Cartridge 42 filtering 990/1000ml at 0.26ml/s with 18.5psi vacuum 50.1m deep (88.7psia)
@20:48:42.99 <FILTERING> Abs.stop
@20:48:43.06 <closeIntake> Intake.close
@20:48:43.09 <closeExhaust> Exhaust.close
@20:48:43.30 <FILTERING> Toroid.in :hold
@20:48:43.36 Toroid.seek :bypass
@20:48:46.95 Toroid.in :default
@20:48:47.01 Toroid.seek :clear
@20:48:50.59 Sampled  1000.0ml
@20:48:52.12 <LRAUV> -> Cmd.startProcessing
60.0
@20:48:52.46 <PROCESSING> Handoff.select :waste
@20:48:52.59 Waiting up to 3:00 for Syringe to stabilize +/-0.20psi
@20:48:59.19 Syringe tare is 51% of full scale at 14C (drifted 0%)
@20:48:59.21 PinPort.in :locking
@20:48:59.28 PinPort.seek :locked
@20:49:01.72 <posArchive> Archive.in :fast
@20:49:01.77 <posLyS2> Lysis2.in :fast
@20:49:01.83 <PROCESSING> Lysis1.seek 1250uL
@20:49:01.99 <posArchive> Archive.seek :empty
@20:49:02.06 <posLyS2> Lysis2.seek :empty
@20:49:10.47 <PROCESSING> Evacuating puck with filter bubble point of 50psi
@20:49:10.49 PinPort.seek :locked
@20:49:10.58 Handoff.select :waste
@20:49:10.61 Plunge.seek :puckBottom
@20:49:11.92 Waiting up to 3:00 for Syringe to stabilize +/-0.20psi
@20:49:19.49 Air syringe pumping up to 1 strokes to reach 8psi
@20:49:19.50 Air stroke #1 of 1
@20:49:19.59 Air.in :pressurize
@20:49:19.65 Air.seek :pressurized
@20:49:24.73 -0.4psi after pressurize
@20:49:24.75 Air.in :compress
@20:49:24.82 Air.seek :evac
@20:49:31.86 -0.2psi after compress
@20:49:42.43 -0.1psi after compress (stable)
@20:49:42.44 Air.in :default
@20:49:42.51 Air.hold
@20:49:42.68 at -0.1psi Opened to waste
@20:49:42.69 Handoff.select :blocked
@20:49:42.83 Plunge.seek :puckTop
@20:49:43.72 Air syringe pumping up to 8 strokes to reach 50psi
@20:49:43.73 Air stroke #1 of 8
@20:49:43.84 Air.in :compress
@20:49:43.89 Air.seek :evac
@20:49:44.02 0.2psi after compress
@20:49:54.59 0.2psi after compress (stable)
@20:49:54.61 Air.in :gulp
@20:49:54.68 Air.seek :topVent
@20:50:01.27 -0.0psi after gulp
@20:50:06.84 0.3psi after gulp (stable)
@20:50:06.85 Air stroke #2 of 8
@20:50:06.94 Air.in :pressurize
@20:50:07.00 Air.seek :pressurized
@20:50:13.44 -0.1psi after pressurize
@20:50:13.46 Air.in :compress
@20:50:13.53 Air.seek :evac
@20:50:20.55 -0.1psi after compress
@20:50:31.13 0.3psi after compress (stable)
@20:50:31.15 Air.in :gulp
@20:50:31.22 Air.seek :topVent
@20:50:37.82 0.2psi after gulp
@20:50:43.40 0.4psi after gulp (stable)
@20:50:43.41 Air stroke #3 of 8
@20:50:43.50 Air.in :pressurize
@20:50:43.56 Air.seek :pressurized
@20:50:50.00 0.0psi after pressurize
@20:50:50.02 Air.in :compress
@20:50:50.09 Air.seek :evac
@20:50:57.12 0.0psi after compress
@20:51:07.69 0.3psi after compress (stable)
@20:51:07.71 Air.in :gulp
@20:51:07.78 Air.seek :topVent
@20:51:14.38 0.2psi after gulp
@20:51:19.95 0.4psi after gulp (stable)
@20:51:19.96 Air stroke #4 of 8
@20:51:20.05 Air.in :pressurize
@20:51:20.11 Air.seek :pressurized
@20:51:26.54 0.0psi after pressurize
@20:51:26.61 Air.in :compress
@20:51:26.68 Air.seek :evac
@20:51:34.01 -0.3psi after compress
@20:51:44.58 0.3psi after compress (stable)
@20:51:44.60 Air.in :gulp
@20:51:44.67 Air.seek :topVent
@20:51:51.25 0.0psi after gulp
@20:51:56.82 0.4psi after gulp (stable)
@20:51:56.83 Air stroke #5 of 8
@20:51:56.93 Air.in :pressurize
@20:51:56.99 Air.seek :pressurized
@20:52:03.43 -0.1psi after pressurize
@20:52:03.45 Air.in :compress
@20:52:03.52 Air.seek :evac
@20:52:10.55 0.1psi after compress
@20:52:21.12 0.4psi after compress (stable)
@20:52:21.14 Air.in :gulp
@20:52:21.21 Air.seek :topVent
@20:52:27.80 0.0psi after gulp
@20:52:33.87 0.3psi after gulp (stable)
@20:52:33.88 Air stroke #6 of 8
@20:52:33.98 Air.in :pressurize
@20:52:34.04 Air.seek :pressurized
@20:52:40.48 -0.1psi after pressurize
@20:52:40.50 Air.in :compress
@20:52:40.56 Air.seek :evac
@20:52:47.59 0.2psi after compress
@20:52:58.16 0.4psi after compress (stable)
@20:52:58.18 Air.in :gulp
@20:52:58.25 Air.seek :topVent
@20:53:04.84 0.1psi after gulp
@20:53:10.41 0.2psi after gulp (stable)
@20:53:10.42 Air stroke #7 of 8
@20:53:10.52 Air.in :pressurize
@20:53:10.57 Air.seek :pressurized
@20:53:17.01 0.1psi after pressurize
@20:53:17.03 Air.in :compress
@20:53:17.10 Air.seek :evac
@20:53:24.13 -0.1psi after compress
@20:53:34.70 0.4psi after compress (stable)
@20:53:34.72 Air.in :gulp
@20:53:34.79 Air.seek :topVent
@20:53:41.38 0.1psi after gulp
@20:53:46.95 0.3psi after gulp (stable)
@20:53:46.96 Air stroke #8 of 8
@20:53:47.05 Air.in :pressurize
@20:53:47.11 Air.seek :pressurized
@20:53:53.56 0.2psi after pressurize
@20:53:53.58 Air.in :compress
@20:53:53.65 Air.seek :evac
@20:54:00.68 0.1psi after compress
@20:54:11.25 0.4psi after compress (stable)
@20:54:11.26 Air.in :default
@20:54:11.33 Air.hold
@20:54:11.46 Handoff.select :blocked
@20:54:11.57 lysing strike 1 of 3
@20:54:11.59 Underpressure in PROCESSING -- Reached only 0.3 of 50.0psi after pumping 14214uL (MASKED)
@21:48:52.18 <LRAUV> -> Cmd.stop
@21:48:52.29 Gate.power :heat,:OFF
@21:48:52.31 Gate.power :cartridge,:OFF
@21:48:52.40 PinPort.in :unlocking
@21:48:52.45 PinPort.seek :clear
@21:48:54.87 Carousel.in :default
@21:48:54.98 Carousel.home.seek 42
@21:48:55.29 Plunge.seek :locked
@21:48:56.22 <Archive> Archive.in :unlocking
@21:48:56.30 Archive.seek :clear
@21:48:56.45 <Air> Air.in :unlocking
@21:48:56.54 Air.seek :clear
@21:48:56.65 <Lysis1> Lysis1.in :unlocking
@21:48:56.74 Lysis1.seek :clear
@21:48:56.79 <Lysis2> Lysis2.in :unlocking
@21:48:56.89 Lysis2.seek :clear
@21:49:01.64 <LRAUV> Gate.power :motor,:OFF
@21:49:01.66 Gate.power :analytic1,:OFF
@21:49:01.69 Gate.power :analytic2,:OFF
@21:49:01.71 Gate.power :analytic3,:OFF
@21:49:01.73 Gate.power :core,:OFF
@21:49:01.76 Gate.power :main,:OFF
@21:49:01.78 Safely stopped and ready to power off
:STOPPED