@19:38:40.43PST07-Dec-25 <MAIN> 
Environmental Sample Processor built 19-Nov-25 (c389e51a)
@19:38:43.92 >BREAK< ESP3 Gateway v1.44 for core bus
@19:38:43.94 >BREAK< ESP3 Gateway v1.44 for cartridge bus
@19:38:46.95 
Configuration for koa by nadia@mbari.org 11/18/25
/home/esp/esp2/type/auv/koa/configure.rb
@19:38:47.49 Sea pressure (Abs) tare is 6% of full scale
@19:38:55.53 Polling Can every 2:00
@19:38:56.00 Clients may connect on TCP port 9999
@19:38:56.01 Connecting to 10.89.11.2:9999
@19:38:56.04 Waiting for espclients...
@19:38:56.19 <LRAUV> Session Begun
@19:38:58.13 -> showStatus
true
@19:39:00.13 -> Cmd.loadCartridge -15
@19:39:00.21 Gate.power :main,:ON,limit to 5000mA
@19:39:00.23 Gate.power :analytic1,:ON,limit to 4000mA
@19:39:00.25 Gate.power :analytic2,:ON,limit to 4000mA
@19:39:00.28 Gate.power :analytic3,:ON,limit to 4000mA
@19:39:00.33 Powering core bus
@19:39:03.08 Plunge.configure :default
@19:39:03.16 SamplePump.configure :default
@19:39:03.24 Toroid.configure :default
@19:39:03.32 Carousel.configure :default
@19:39:03.40 Abs.configure :default
@19:39:03.48 Archive.configure :default
@19:39:03.55 Air.configure :default
@19:39:03.61 Lysis1.configure :default
@19:39:03.66 Lysis2.configure :default
@19:39:03.74 PinPort.configure :default
@19:39:03.80 WARNING:  Multiple controller firmware versions in use
[:sampler0, :syringe1, :sampler1, :valve0, :ambient0, :valve1, :syringe0]=>4.93, [:carousel0]=>4.94
@19:39:03.82 Gate.power :motor,:ON,limit to 5000mA
@19:39:03.95 <Plunge_home> Plunge.home.jog 0
@19:39:04.52 <Toroid_home> Toroid.home.jog 0
@19:39:04.56 <PinPort_home> PinPort.home.jog 0
@19:39:04.59 <Lysis2_home> Lysis2.home.jog 0
@19:39:04.62 <Air_home> Air.home.jog 0
@19:39:04.65 <Archive_home> Archive.home.jog 0
@19:39:04.68 <Carousel_home> Carousel.home.jog 0
@19:39:04.70 <Lysis1_home> Lysis1.home.jog 0
@19:39:05.29 <Plunge_home> Plunge.in :homing
@19:39:05.54 <PinPort_home> PinPort.in :homing
@19:39:05.58 <Lysis2_home> Lysis2.in :homing
@19:39:05.62 <Lysis1_home> Lysis1.in :homing
@19:39:05.64 <Air_home> Air.in :homing
@19:39:05.68 <Archive_home> Archive.in :homing
@19:39:05.71 <Plunge_home> Plunge.jog 1523
@19:39:05.76 <Toroid_home> Toroid.in :homing
@19:39:05.97 <PinPort_home> PinPort.jog -1203
@19:39:06.04 <Lysis2_home> Lysis2.jog 300
@19:39:06.08 <Lysis1_home> Lysis1.jog 304
@19:39:06.11 <Air_home> Air.jog 357
@19:39:06.15 <Archive_home> Archive.jog 321
@19:39:06.19 <Toroid_home> Toroid.jog 1301
@19:39:06.82 <Lysis2_home> Lysis2.setRawPosition! 50
@19:39:06.88 Lysis2.seek :home
@19:39:06.98 <Lysis1_home> Lysis1.setRawPosition! 50
@19:39:07.01 <Archive_home> Archive.setRawPosition! 50
@19:39:07.07 <Air_home> Air.setRawPosition! 0
@19:39:07.11 <Lysis1_home> Lysis1.seek :home
@19:39:07.22 <Archive_home> Archive.seek :home
@19:39:07.31 <Air_home> Air.seek :home
@19:39:07.43 <Lysis2_home> Lysis2.in :default
@19:39:07.47 <Air_home> Air.in :default
@19:39:07.49 <Plunge_home> Plunge.setRawPosition! 50
@19:39:07.64 Plunge.seek :home
@19:39:07.74 <Lysis1_home> Lysis1.in :default
@19:39:08.06 <Archive_home> Archive.in :default
@19:39:08.20 <PinPort_home> PinPort.setRawPosition! 0
@19:39:08.22 <Plunge_home> Plunge.in :default
@19:39:08.31 <PinPort_home> PinPort.seek :home
@19:39:08.41 PinPort.in :default
@19:39:10.66 <Toroid_home> Toroid.setRawPosition! 0
@19:39:10.71 Toroid.seek :home
@19:39:10.79 Toroid.in :default
@19:39:10.86 <clearToroid> Toroid.seek :clear
@19:39:10.99 <LRAUV> PinPort.in :unlocking
@19:39:11.05 PinPort.seek :clear
@19:39:14.49 Air.seek :clear
@19:39:15.39 Lysis1.seek :clear
@19:39:16.18 Lysis2.seek :clear
@19:39:16.96 Archive.seek :clear
@19:39:17.75 Carousel.in :default
@19:39:17.86 Carousel.home.seek 37
@19:39:18.13 Selecting Cartridge 36
@19:39:18.38 Carousel.seek 36
@19:39:18.93 Carousel.reconfigure :align
@19:39:19.03 Lysis1.in :fast
@19:39:19.10 Lysis1.seek :locked
@19:39:21.60 <Plunge> Plunge.seek :locked
@19:39:21.74 <Air> Air.in :fast
@19:39:21.80 Air.seek :locked
@19:39:22.71 <LRAUV> Carousel.reconfigure :locked
@19:39:22.86 Powering cartridge bus
@19:39:25.48 Gate.setIR 1750,5000,0,6
@19:39:25.61 Gate.setIR 0,5000,0,6
@19:39:25.69 PuckHeater.configure :default
@19:39:25.75 Gate.power :heat,:ON,limit to 5000mA
@19:39:25.94 Mounted lysis Cartridge board#J59976
@19:39:25.97 Using default cartridge heat loss curve for HeatingFunctionInCarousel
36
@19:39:40.15 -> Cmd.startFiltering
@19:39:40.39 <FILTERING> Preparing to filter lyseHoldBS_bac cartridge in slot 36
84.17
@19:39:40.62 <sealing> Air.in :default
@19:39:40.73 Air.seek :sealed
@19:39:40.81 <FILTERING> Priming sample loop w/200ml, bypass w/10ml
@19:39:40.82 SamplePump.setPosition! 0ml
@19:39:40.87 Bypass.open
@19:39:42.46 Intake.open
@19:39:43.52 Sea 43.2m deep (78.5psia)
@19:39:43.54 Waiting up to 20 seconds for sea pressure to stabilize +/-0.50psi
@19:39:46.15 Vacuum tare is 52% of full scale at 12C (drifted 1%)
@19:39:46.28 <closeIntake> Intake.close
@19:39:46.34 <closeBypass> Bypass.close
@19:39:47.22 <FILTERING> Verifying toroid holds at least 0.6..0.85 of 78.4psia
@19:39:47.23 Waiting up to 40 seconds for toroid pressure to stabilize +/-1.50psi
@19:39:51.82 Toroid pressure fell 1% to 77.9psia
@19:39:51.83 Bypass.open
@19:39:52.68 Intake.open
@19:39:54.42 Abs.in :default
@19:39:54.48 Abs.hold
@19:39:54.68 SamplePump.in :start
@19:39:54.75 SamplePump.seek 10ml,1:10
@19:39:55.37 <pumpStarted> SamplePump.configure :prime
@19:40:08.40 <FILTERING> Abs.stop
@19:40:08.45 SamplePump.setPosition! 0ml
@19:40:08.51 Exhaust.open
@19:40:10.04 <closeBypass> Bypass.close
@19:40:11.68 <FILTERING> Abs.in :default
@19:40:11.73 Abs.hold
@19:40:11.84 Sea 44.8m deep (80.9psia)
@19:40:12.01 SamplePump.in :start
@19:40:12.08 SamplePump.seek 200ml,13:50
@19:40:12.71 <pumpStarted> SamplePump.configure :prime
@19:44:37.71 <FILTERING> Abs.stop
@19:44:37.79 Bypass.open
@19:44:38.63 Intake.close
@19:44:39.62 Toroid.in :hold
@19:44:39.68 Toroid.seek :crack
@19:44:42.15 Toroid.seek :cartridge
@19:44:44.27 Toroid.in :default
@19:44:44.33 Toroid.seek :clear
@19:44:48.25 <closeExhaust> Exhaust.close
@19:44:48.30 <closeBypass> Bypass.close
@19:44:49.17 <FILTERING> Verifying cartridge holds at least 0.65..0.85 of 80.9psia
@19:44:49.19 Waiting up to 40 seconds for cartridge pressure to stabilize +/-1.50psi
@19:44:53.76 Cartridge pressure fell 2% to 79.6psia
@19:44:53.85 Sampling 1000.0ml
@19:44:53.86 SamplePump.setPosition! 0ml
@19:44:53.93 Exhaust.open
@19:44:54.85 Intake.open
@19:44:56.01 Abs.in :default
@19:44:56.07 Abs.hold
@19:44:56.19 Sea 44.6m deep (80.6psia)
@19:44:56.36 SamplePump.in :start
@19:44:56.43 SamplePump.seek 1000ml,1:07:10
@19:44:57.06 <pumpStarted> SamplePump.configure :sample
@19:44:59.44 <sampling> Cartridge 36 filtering 2/1000ml at 0.53ml/s with 24.7psi vacuum 41.0m deep (75.3psia)
@19:45:59.49 Cartridge 36 filtering 35/1000ml at 0.56ml/s with 25.8psi vacuum 46.6m deep (83.6psia)
@19:46:59.49 Cartridge 36 filtering 68/1000ml at 0.55ml/s with 26.1psi vacuum 36.0m deep (67.9psia)
@19:47:59.49 Cartridge 36 filtering 101/1000ml at 0.55ml/s with 24.4psi vacuum 45.7m deep (82.3psia)
@19:48:59.48 Cartridge 36 filtering 134/1000ml at 0.55ml/s with 24.6psi vacuum 41.4m deep (75.9psia)
@19:49:59.49 Cartridge 36 filtering 166/1000ml at 0.54ml/s with 26.2psi vacuum 42.7m deep (77.7psia)
@19:50:59.48 Cartridge 36 filtering 199/1000ml at 0.54ml/s with 21.3psi vacuum 47.3m deep (84.6psia)
@19:51:59.49 Cartridge 36 filtering 231/1000ml at 0.54ml/s with 24.8psi vacuum 35.9m deep (67.7psia)
@19:52:59.48 Cartridge 36 filtering 263/1000ml at 0.53ml/s with 25.6psi vacuum 45.7m deep (82.2psia)
@19:53:59.49 Cartridge 36 filtering 295/1000ml at 0.53ml/s with 18.1psi vacuum 50.5m deep (89.4psia)
@19:54:59.48 Cartridge 36 filtering 327/1000ml at 0.53ml/s with 24.9psi vacuum 43.0m deep (78.3psia)
@19:55:59.48 Cartridge 36 filtering 359/1000ml at 0.53ml/s with 20.6psi vacuum 47.2m deep (84.4psia)
@19:56:59.48 Cartridge 36 filtering 390/1000ml at 0.53ml/s with 27.0psi vacuum 39.6m deep (73.2psia)
@19:57:59.48 Cartridge 36 filtering 421/1000ml at 0.52ml/s with 20.8psi vacuum 46.7m deep (83.7psia)
@19:58:59.49 Cartridge 36 filtering 453/1000ml at 0.52ml/s with 23.5psi vacuum 37.6m deep (70.3psia)
@19:59:59.49 Cartridge 36 filtering 484/1000ml at 0.52ml/s with 22.3psi vacuum 44.5m deep (80.5psia)
@20:00:59.49 Cartridge 36 filtering 514/1000ml at 0.51ml/s with 23.1psi vacuum 41.2m deep (75.6psia)
@20:01:59.49 Cartridge 36 filtering 545/1000ml at 0.51ml/s with 28.4psi vacuum 38.5m deep (71.6psia)
@20:02:59.48 Cartridge 36 filtering 576/1000ml at 0.51ml/s with 29.3psi vacuum 38.7m deep (71.8psia)
@20:03:59.49 Cartridge 36 filtering 606/1000ml at 0.51ml/s with 22.9psi vacuum 47.1m deep (84.3psia)
@20:04:59.48 Cartridge 36 filtering 636/1000ml at 0.50ml/s with 23.0psi vacuum 45.5m deep (81.9psia)
@20:05:59.49 Cartridge 36 filtering 666/1000ml at 0.50ml/s with 27.7psi vacuum 36.7m deep (68.9psia)
@20:06:59.49 Cartridge 36 filtering 696/1000ml at 0.50ml/s with 24.7psi vacuum 46.2m deep (83.0psia)
@20:07:59.49 Cartridge 36 filtering 726/1000ml at 0.49ml/s with 19.2psi vacuum 47.6m deep (85.0psia)
@20:08:59.86 Cartridge 36 filtering 755/1000ml at 0.49ml/s with 16.3psi vacuum 48.0m deep (85.6psia)
@20:09:59.49 Cartridge 36 filtering 784/1000ml at 0.49ml/s with 26.3psi vacuum 40.6m deep (74.6psia)
@20:10:59.48 Cartridge 36 filtering 813/1000ml at 0.48ml/s with 10.8psi vacuum 56.7m deep (98.5psia)
@20:11:59.49 Cartridge 36 filtering 842/1000ml at 0.48ml/s with 14.0psi vacuum 53.8m deep (94.3psia)
@20:12:59.48 Cartridge 36 filtering 870/1000ml at 0.48ml/s with 27.7psi vacuum 38.7m deep (71.9psia)
@20:13:59.49 Cartridge 36 filtering 899/1000ml at 0.47ml/s with 28.0psi vacuum 39.4m deep (73.0psia)
@20:14:59.49 Cartridge 36 filtering 927/1000ml at 0.46ml/s with 14.9psi vacuum 54.2m deep (94.7psia)
@20:15:59.49 Cartridge 36 filtering 954/1000ml at 0.46ml/s with 21.4psi vacuum 40.4m deep (74.4psia)
@20:16:59.48 Cartridge 36 filtering 981/1000ml at 0.46ml/s with 21.4psi vacuum 39.5m deep (73.1psia)
@20:17:40.38 <FILTERING> Abs.stop
@20:17:40.45 <closeIntake> Intake.close
@20:17:40.53 <closeExhaust> Exhaust.close
@20:17:40.67 <FILTERING> Toroid.in :hold
@20:17:40.73 Toroid.seek :bypass
@20:17:44.33 Toroid.in :default
@20:17:44.39 Toroid.seek :clear
@20:17:47.97 Sampled  1000.0ml
@20:17:49.53 <LRAUV> -> Cmd.startProcessing
60.0
@20:17:49.87 <PROCESSING> Handoff.select :waste
@20:17:49.99 Waiting up to 3:00 for Syringe to stabilize +/-0.20psi
@20:17:56.59 Syringe tare is 52% of full scale at 14C (drifted 1%)
@20:17:56.61 PinPort.in :locking
@20:17:56.68 PinPort.seek :locked
@20:17:59.12 <posArchive> Archive.in :fast
@20:17:59.17 <posLyS2> Lysis2.in :fast
@20:17:59.24 <PROCESSING> Lysis1.seek 1250uL
@20:17:59.33 <posArchive> Archive.seek :empty
@20:17:59.39 <posLyS2> Lysis2.seek :empty
@20:18:07.80 <PROCESSING> Evacuating puck with filter bubble point of 50psi
@20:18:07.82 PinPort.seek :locked
@20:18:07.91 Handoff.select :waste
@20:18:07.93 Plunge.seek :puckBottom
@20:18:09.24 Waiting up to 3:00 for Syringe to stabilize +/-0.20psi
@20:18:19.82 Air syringe pumping up to 1 strokes to reach 8psi
@20:18:19.83 Air stroke #1 of 1
@20:18:19.92 Air.in :pressurize
@20:18:19.98 Air.seek :pressurized
@20:18:25.04 -0.4psi after pressurize
@20:18:25.06 Air.in :compress
@20:18:25.13 Air.seek :evac
@20:18:32.16 0.8psi after compress
@20:18:42.73 -0.1psi after compress (stable)
@20:18:42.75 Air.in :default
@20:18:42.81 Air.hold
@20:18:42.99 at -0.2psi Opened to waste
@20:18:43.00 Handoff.select :blocked
@20:18:43.14 Plunge.seek :puckTop
@20:18:44.03 Air syringe pumping up to 8 strokes to reach 50psi
@20:18:44.04 Air stroke #1 of 8
@20:18:44.13 Air.in :compress
@20:18:44.19 Air.seek :evac
@20:18:44.31 8.2psi after compress
@20:18:54.89 8.8psi after compress (stable)
@20:18:54.90 Air.in :gulp
@20:18:54.98 Air.seek :topVent
@20:19:01.57 8.7psi after gulp
@20:19:07.14 8.9psi after gulp (stable)
@20:19:07.15 Air stroke #2 of 8
@20:19:07.30 Air.in :pressurize
@20:19:07.36 Air.seek :pressurized
@20:19:13.80 8.5psi after pressurize
@20:19:13.81 Air.in :compress
@20:19:13.89 Air.seek :evac
@20:19:20.91 22.1psi after compress
@20:19:34.48 27.0psi after compress (stable)
@20:19:34.49 Air.in :gulp
@20:19:34.57 Air.seek :topVent
@20:19:41.16 26.7psi after gulp
@20:19:58.23 27.0psi after gulp (stable)
@20:19:58.24 Air stroke #3 of 8
@20:19:58.34 Air.in :pressurize
@20:19:58.40 Air.seek :pressurized
@20:20:04.83 26.8psi after pressurize
@20:20:04.85 Air.in :compress
@20:20:04.92 Air.seek :evac
@20:20:11.95 37.4psi after compress
@20:20:24.51 42.3psi after compress (stable)
@20:20:24.53 Air.in :gulp
@20:20:24.60 Air.seek :topVent
@20:20:31.19 42.3psi after gulp
@20:20:36.76 42.5psi after gulp (stable)
@20:20:36.77 Air stroke #4 of 8
@20:20:36.86 Air.in :pressurize
@20:20:36.92 Air.seek :pressurized
@20:20:43.36 42.1psi after pressurize
@20:20:43.38 Air.in :compress
@20:20:43.44 Air.seek :evac
@20:20:50.48 Reached 50.5 of 50.0psi after pumping 7105uL (4.00 strokes)
@20:20:50.50 Air.in :default
@20:20:50.56 Air.hold
@20:20:50.64 Plunge.seek :puckBottom
@20:20:51.55 delay 3 seconds
@20:20:54.56 Handoff.select :waste
@20:20:54.69 Waiting up to 3:00 for Syringe to stabilize +/-0.20psi
@20:21:14.76 delay 1:00
@20:22:14.79 Handoff.select :blocked
@20:22:14.92 Waiting up to 3:00 for Syringe to stabilize +/-1.50psi
@20:22:37.49 Handoff.select :waste
@20:22:37.61 1.2psi at evacEnd
@20:22:37.62 Handoff.select :blocked
@20:22:37.76 Plunge.seek :puckTop
@20:22:38.65 Air.in :fast
@20:22:38.71 Air.seek :topVent
@20:22:45.36 Waiting up to 3:00 for Syringe to stabilize +/-0.30psi
@20:22:51.93 Stable @15.2psi after Handoff blocked
@20:22:51.95 Air syringe pumping up to 8 strokes to reach 35psi
@20:22:51.96 Air stroke #1 of 8
@20:22:52.07 Air.in :pressurize
@20:22:52.13 Air.seek :pressurized
@20:22:58.55 15.0psi after pressurize
@20:22:58.57 Air.in :compress
@20:22:58.64 Air.seek :evac
@20:23:05.67 24.6psi after compress
@20:23:18.11 27.9psi after compress (stable)
@20:23:18.12 Air.in :gulp
@20:23:18.20 Air.seek :topVent
@20:23:24.80 27.7psi after gulp
@20:23:30.36 27.9psi after gulp (stable)
@20:23:30.38 Air stroke #2 of 8
@20:23:30.47 Air.in :pressurize
@20:23:30.53 Air.seek :pressurized
@20:23:37.00 27.8psi after pressurize
@20:23:37.02 Air.in :compress
@20:23:37.09 Air.seek :evac
@20:23:44.07 Reached 35.3 of 35.0psi after pumping 3550uL (2.00 strokes)
@20:23:44.09 Air.in :default
@20:23:44.15 Air.hold
@20:23:44.23 Plunge.seek :puckBottom
@20:23:45.12 delay 3 seconds
@20:23:48.14 Handoff.select :waste
@20:23:48.26 Waiting up to 3:00 for Syringe to stabilize +/-0.20psi
@20:23:54.84 delay 1:00
@20:24:54.85 Handoff.select :blocked
@20:24:54.98 Waiting up to 3:00 for Syringe to stabilize +/-1.50psi
@20:25:17.56 Handoff.select :waste
@20:25:17.68 1.6psi at evacEnd
@20:25:17.70 Plunge.seek :pTop
@20:25:18.60 delay 5 seconds
@20:25:23.62 Air.in :glide
@20:25:23.67 Air.seek :fullVent
@20:25:25.53 delay 2 seconds
@20:25:27.55 Plunge.seek :pBottom
@20:25:28.44 Seawater evacuated, Pressure above/below filter released.
@20:25:28.45 Plunge.seek :locked
@20:25:29.77 Handoff.select :waste
@20:25:29.86 Lysis1.in :slow
@20:25:29.91 Lysis1.seek 950uL
@20:25:44.09 delay 5 seconds
@20:25:49.11 Handoff.select :blocked
@20:25:49.23 Plunge.seek :puckTop
@20:25:50.15 Lysis1.seek 350uL
@20:26:18.34 delay 3 seconds
@20:26:21.42 Air.in mix with 2.32937 parts Lysis1
@20:26:21.93 <Airmixer> Air.seek :evac
@20:26:21.99 <PROCESSING> Lysis1.seek 190uL
@20:26:29.76 Air.in :fast
@20:26:29.82 Air.seek :full
@20:26:36.46 Lysis1.seek :empty
@20:26:45.59 Lysis Buffer Delivered. Plunge Valve (PV) at puckTop Syringe pressure @18.8psi
@20:26:45.61 Plunge.seek :puckBottom
@20:26:46.60 Lysis Buffer Delivered. Plunge Valve (PV) at puckBottom Syringe pressure @14.7psi
@20:26:46.62 Polling Can every 2:00
@20:26:47.18 PuckHeater.configure :default #ambient 14.2C
@20:26:47.33 lysing strike 1 of 3
@20:26:47.36 I2C::NodeOffline in PROCESSING -- Cartridge Not Responding while reading Puck Heater's status (MASKED)
@21:17:49.61 <LRAUV> -> Cmd.stop
@21:17:49.72 Gate.power :heat,:OFF
@21:17:49.74 Gate.power :cartridge,:OFF
@21:17:49.83 PinPort.in :unlocking
@21:17:49.89 PinPort.seek :clear
@21:17:52.32 Carousel.in :default
@21:17:52.43 Carousel.home.seek 36
@21:17:52.73 Plunge.seek :locked
@21:17:54.09 <Archive> Archive.in :unlocking
@21:17:54.18 Archive.seek :clear
@21:17:54.30 <Air> Air.in :unlocking
@21:17:54.41 Air.seek :clear
@21:17:54.52 <Lysis1> Lysis1.in :unlocking
@21:17:54.61 Lysis1.seek :clear
@21:17:54.74 <Lysis2> Lysis2.in :unlocking
@21:17:54.82 Lysis2.seek :clear
@21:17:59.56 <LRAUV> Gate.power :motor,:OFF
@21:17:59.58 Gate.power :analytic1,:OFF
@21:17:59.61 Gate.power :analytic2,:OFF
@21:17:59.63 Gate.power :analytic3,:OFF
@21:17:59.66 Gate.power :core,:OFF
@21:17:59.68 Gate.power :main,:OFF
@21:17:59.71 Safely stopped and ready to power off
:STOPPED