@17:15:17.56PST16-Dec-25 <MAIN> 
Environmental Sample Processor built 19-Nov-25 (c389e51a)
@17:15:21.09 >BREAK< ESP3 Gateway v1.44 for core bus
@17:15:21.11 >BREAK< ESP3 Gateway v1.44 for cartridge bus
@17:15:24.20 
Configuration for koa by nadia@mbari.org 11/18/25
/home/esp/esp2/type/auv/koa/configure.rb
@17:15:24.76 Sea pressure (Abs) tare is 6% of full scale
@17:15:33.52 Polling Can every 2:00
@17:15:33.98 Clients may connect on TCP port 9999
@17:15:33.99 Connecting to 10.89.11.2:9999
@17:15:34.02 Waiting for espclients...
@17:15:34.42 <LRAUV> Session Begun
@17:15:36.33 -> showStatus
true
@17:15:38.36 -> Cmd.loadCartridge -15
@17:15:38.44 Gate.power :main,:ON,limit to 5000mA
@17:15:38.45 Gate.power :analytic1,:ON,limit to 4000mA
@17:15:38.48 Gate.power :analytic2,:ON,limit to 4000mA
@17:15:38.51 Gate.power :analytic3,:ON,limit to 4000mA
@17:15:38.56 Powering core bus
@17:15:41.28 Plunge.configure :default
@17:15:41.36 SamplePump.configure :default
@17:15:41.45 Toroid.configure :default
@17:15:41.53 Carousel.configure :default
@17:15:41.61 Abs.configure :default
@17:15:41.69 Archive.configure :default
@17:15:41.77 Air.configure :default
@17:15:41.83 Lysis1.configure :default
@17:15:41.89 Lysis2.configure :default
@17:15:41.97 PinPort.configure :default
@17:15:42.03 WARNING:  Multiple controller firmware versions in use
[:sampler0, :syringe1, :sampler1, :valve0, :ambient0, :valve1, :syringe0]=>4.93, [:carousel0]=>4.94
@17:15:42.06 Gate.power :motor,:ON,limit to 5000mA
@17:15:42.27 <Plunge_home> Plunge.home.jog 0
@17:15:42.80 <PinPort_home> PinPort.home.jog 0
@17:15:42.89 <Lysis2_home> Lysis2.home.jog 0
@17:15:42.92 <Lysis1_home> Lysis1.home.jog 0
@17:15:42.95 <Air_home> Air.home.jog 0
@17:15:42.98 <Archive_home> Archive.home.jog 0
@17:15:43.01 <Carousel_home> Carousel.home.jog 0
@17:15:43.04 <Toroid_home> Toroid.home.jog 0
@17:15:43.59 <Plunge_home> Plunge.in :homing
@17:15:43.87 Plunge.jog 1527
@17:15:43.93 <Lysis2_home> Lysis2.in :homing
@17:15:43.96 <Lysis1_home> Lysis1.in :homing
@17:15:43.99 <Air_home> Air.in :homing
@17:15:44.02 <Archive_home> Archive.in :homing
@17:15:44.04 <Toroid_home> Toroid.in :homing
@17:15:44.08 <PinPort_home> PinPort.in :homing
@17:15:44.63 <Lysis2_home> Lysis2.jog 300
@17:15:44.67 <Lysis1_home> Lysis1.jog 307
@17:15:44.76 <Air_home> Air.jog 365
@17:15:44.88 <PinPort_home> PinPort.jog -1203
@17:15:44.92 <Archive_home> Archive.jog 329
@17:15:44.94 <Toroid_home> Toroid.jog 1301
@17:15:45.33 <Lysis2_home> Lysis2.setRawPosition! 50
@17:15:45.39 Lysis2.seek :home
@17:15:45.49 <Lysis1_home> Lysis1.setRawPosition! 50
@17:15:45.51 <Plunge_home> Plunge.setRawPosition! 50
@17:15:45.60 <Lysis1_home> Lysis1.seek :home
@17:15:45.68 <Plunge_home> Plunge.seek :home
@17:15:45.79 <Air_home> Air.setRawPosition! 0
@17:15:45.82 <Archive_home> Archive.setRawPosition! 50
@17:15:45.85 <Lysis2_home> Lysis2.in :default
@17:15:46.00 <Air_home> Air.seek :home
@17:15:46.02 <Archive_home> Archive.seek :home
@17:15:46.17 <Air_home> Air.in :default
@17:15:46.20 <Plunge_home> Plunge.in :default
@17:15:46.22 <Lysis1_home> Lysis1.in :default
@17:15:46.40 <Archive_home> Archive.in :default
@17:15:46.74 <PinPort_home> PinPort.setRawPosition! 0
@17:15:46.79 PinPort.seek :home
@17:15:46.87 PinPort.in :default
@17:15:49.41 <Toroid_home> Toroid.setRawPosition! 0
@17:15:49.46 Toroid.seek :home
@17:15:49.54 Toroid.in :default
@17:15:49.60 <clearToroid> Toroid.seek :clear
@17:15:49.73 <LRAUV> PinPort.in :unlocking
@17:15:49.82 PinPort.seek :clear
@17:15:53.27 Air.seek :clear
@17:15:54.21 Lysis1.seek :clear
@17:15:55.00 Lysis2.seek :clear
@17:15:55.79 Archive.seek :clear
@17:15:56.57 Carousel.in :default
@17:15:56.68 Carousel.home.seek 13
@17:15:56.95 Selecting Cartridge 12
@17:15:57.22 Carousel.seek 12
@17:15:57.76 Carousel.reconfigure :align
@17:15:57.87 Lysis1.in :fast
@17:15:57.93 Lysis1.seek :locked
@17:15:58.01 Slide::Warning in core -- Storage Carousel (SC) reseek at 12 + 4 counts
@17:16:00.41 <Plunge> Plunge.seek :locked
@17:16:00.56 <Air> Air.in :fast
@17:16:00.61 Air.seek :locked
@17:16:01.51 <LRAUV> Carousel.reconfigure :locked
@17:16:01.65 Powering cartridge bus
@17:16:04.28 Gate.setIR 1750,5000,0,6
@17:16:04.40 Gate.setIR 0,5000,0,6
@17:16:07.47 Gate.power :cartridge,:OFF
@17:16:07.50 Mounted archive Cartridge
@17:16:07.58 Cartridge::Incompatible in LRAUV -- archive sensed when expecting lyseHoldBS_bac in slot 12
@17:16:07.60 Retry #1 of 2
@17:16:07.67 Cmd::SpareCartridge in LRAUV -- 2 spares remaining
@17:16:07.82 Gate.power :motor,:OFF
@17:16:07.84 Gate.power :analytic1,:OFF
@17:16:07.87 Gate.power :analytic2,:OFF
@17:16:07.89 Gate.power :analytic3,:OFF
@17:16:07.91 Gate.power :core,:OFF
@17:16:07.94 Gate.power :main,:OFF
@17:16:11.75 Gate.power :main,:ON,limit to 5000mA
@17:16:11.76 Gate.power :analytic1,:ON,limit to 4000mA
@17:16:11.78 Gate.power :analytic2,:ON,limit to 4000mA
@17:16:11.81 Gate.power :analytic3,:ON,limit to 4000mA
@17:16:11.88 Powering core bus
@17:16:14.85 Plunge.configure :default
@17:16:14.94 SamplePump.configure :default
@17:16:15.02 Toroid.configure :default
@17:16:15.10 Carousel.configure :locked
@17:16:15.19 Abs.configure :default
@17:16:15.26 Archive.configure :default
@17:16:15.35 Air.configure :default
@17:16:15.40 Lysis1.configure :default
@17:16:15.46 Lysis2.configure :default
@17:16:15.54 PinPort.configure :default
@17:16:15.61 WARNING:  Multiple controller firmware versions in use
[:sampler0, :syringe1, :sampler1, :valve0, :ambient0, :valve1, :syringe0]=>4.93, [:carousel0]=>4.94
@17:16:15.63 Gate.power :motor,:ON,limit to 5000mA
@17:16:15.88 <Plunge_home> Plunge.home.jog 0
@17:16:16.45 <PinPort_home> PinPort.home.jog 0
@17:16:16.50 <Lysis1_home> Lysis1.home.jog 0
@17:16:16.53 <Archive_home> Archive.home.jog 0
@17:16:16.56 <Toroid_home> Toroid.home.jog 0
@17:16:16.60 <Air_home> Air.home.jog 0
@17:16:16.63 <Carousel_home> Carousel.in :default
@17:16:16.66 <Lysis2_home> Lysis2.home.jog 0
@17:16:17.03 <Carousel_home> Carousel.home.jog 0
@17:16:17.48 <Plunge_home> Plunge.in :homing
@17:16:17.66 Plunge.jog 1520
@17:16:17.75 <Lysis2_home> Lysis2.in :homing
@17:16:17.78 <Air_home> Air.in :homing
@17:16:17.82 <PinPort_home> PinPort.in :homing
@17:16:17.86 <Archive_home> Archive.in :homing
@17:16:17.88 <Lysis1_home> Lysis1.in :homing
@17:16:17.92 <Toroid_home> Toroid.in :homing
@17:16:18.19 <PinPort_home> PinPort.jog -1188
@17:16:18.25 <Lysis2_home> Lysis2.jog 301
@17:16:18.28 <Lysis1_home> Lysis1.jog 2142
@17:16:18.32 <Archive_home> Archive.jog 328
@17:16:18.35 <Toroid_home> Toroid.jog 1307
@17:16:18.39 <Air_home> Air.jog 1193
@17:16:19.05 <Lysis2_home> Lysis2.setRawPosition! 50
@17:16:19.13 Lysis2.seek :home
@17:16:19.19 <Archive_home> Archive.setRawPosition! 50
@17:16:19.29 Archive.seek :home
@17:16:19.37 <Plunge_home> Plunge.setRawPosition! 50
@17:16:19.45 Plunge.seek :home
@17:16:19.60 <Lysis2_home> Lysis2.in :default
@17:16:19.70 <Air_home> Air.setRawPosition! 0
@17:16:19.75 <Archive_home> Archive.in :default
@17:16:19.84 <Air_home> Air.seek :home
@17:16:19.98 Air.in :default
@17:16:20.00 <Plunge_home> Plunge.in :default
@17:16:20.16 <PinPort_home> PinPort.setRawPosition! 0
@17:16:20.18 <Lysis1_home> Lysis1.setRawPosition! 50
@17:16:20.27 <PinPort_home> PinPort.seek :home
@17:16:20.32 <Lysis1_home> Lysis1.seek :home
@17:16:20.49 <PinPort_home> PinPort.in :default
@17:16:20.63 <Lysis1_home> Lysis1.in :default
@17:16:22.91 <Toroid_home> Toroid.setRawPosition! 0
@17:16:22.98 Toroid.seek :home
@17:16:23.07 Toroid.in :default
@17:16:23.14 <clearToroid> Toroid.seek :clear
@17:16:23.28 <LRAUV> PinPort.in :unlocking
@17:16:23.35 PinPort.seek :clear
@17:16:26.74 Air.seek :clear
@17:16:28.02 Lysis1.seek :clear
@17:16:28.82 Lysis2.seek :clear
@17:16:29.62 Archive.seek :clear
@17:16:30.41 Carousel.in :default
@17:16:30.53 Carousel.home.seek 12
@17:16:30.79 Selecting Cartridge 11
@17:16:31.07 Carousel.seek 11
@17:16:31.62 Carousel.reconfigure :align
@17:16:31.74 Lysis1.in :fast
@17:16:31.82 Lysis1.seek :locked
@17:16:34.31 <Plunge> Plunge.seek :locked
@17:16:34.47 <Air> Air.in :fast
@17:16:34.52 Air.seek :locked
@17:16:35.47 <LRAUV> Carousel.reconfigure :locked
@17:16:35.61 Powering cartridge bus
@17:16:42.27 Gate.power :cartridge,:OFF
@17:16:42.30 Mounted archive Cartridge
@17:16:42.39 Cartridge::Incompatible in LRAUV -- archive sensed when expecting lyseHoldBS_bac in slot 11
@17:16:42.40 Retry #2 of 2
@17:16:42.47 Cmd::SpareCartridge in LRAUV -- 1 spare remaining
@17:16:42.63 Gate.power :motor,:OFF
@17:16:42.64 Gate.power :analytic1,:OFF
@17:16:42.67 Gate.power :analytic2,:OFF
@17:16:42.70 Gate.power :analytic3,:OFF
@17:16:42.72 Gate.power :core,:OFF
@17:16:42.75 Gate.power :main,:OFF
@17:16:46.56 Gate.power :main,:ON,limit to 5000mA
@17:16:46.58 Gate.power :analytic1,:ON,limit to 4000mA
@17:16:46.60 Gate.power :analytic2,:ON,limit to 4000mA
@17:16:46.64 Gate.power :analytic3,:ON,limit to 4000mA
@17:16:46.70 Powering core bus
@17:16:49.41 Plunge.configure :default
@17:16:49.49 SamplePump.configure :default
@17:16:49.58 Toroid.configure :default
@17:16:49.65 Carousel.configure :locked
@17:16:49.74 Abs.configure :default
@17:16:49.82 Archive.configure :default
@17:16:49.90 Air.configure :default
@17:16:49.96 Lysis1.configure :default
@17:16:50.02 Lysis2.configure :default
@17:16:50.11 PinPort.configure :default
@17:16:50.17 WARNING:  Multiple controller firmware versions in use
[:sampler0, :syringe1, :sampler1, :valve0, :ambient0, :valve1, :syringe0]=>4.93, [:carousel0]=>4.94
@17:16:50.20 Gate.power :motor,:ON,limit to 5000mA
@17:16:50.48 <Plunge_home> Plunge.home.jog 0
@17:16:51.01 <Lysis2_home> Lysis2.home.jog 0
@17:16:51.11 <Air_home> Air.home.jog 0
@17:16:51.14 <Carousel_home> Carousel.in :default
@17:16:51.16 <PinPort_home> PinPort.home.jog 0
@17:16:51.20 <Lysis1_home> Lysis1.home.jog 0
@17:16:51.23 <Toroid_home> Toroid.home.jog 0
@17:16:51.26 <Archive_home> Archive.home.jog 0
@17:16:51.61 <Carousel_home> Carousel.home.jog 0
@17:16:52.06 <Plunge_home> Plunge.in :homing
@17:16:52.17 Plunge.jog 1520
@17:16:52.76 <PinPort_home> PinPort.in :homing
@17:16:52.82 <Lysis2_home> Lysis2.in :homing
@17:16:52.86 <Air_home> Air.in :homing
@17:16:52.89 <Archive_home> Archive.in :homing
@17:16:52.96 <Lysis1_home> Lysis1.in :homing
@17:16:52.98 <Toroid_home> Toroid.in :homing
@17:16:53.11 <PinPort_home> PinPort.jog -1190
@17:16:53.22 <Lysis2_home> Lysis2.jog 301
@17:16:53.27 <Air_home> Air.jog 1199
@17:16:53.32 <Lysis1_home> Lysis1.jog 2147
@17:16:53.36 <Archive_home> Archive.jog 328
@17:16:53.43 <Toroid_home> Toroid.jog 1308
@17:16:53.73 <Plunge_home> Plunge.setRawPosition! 50
@17:16:53.80 Plunge.seek :home
@17:16:54.00 <Lysis2_home> Lysis2.setRawPosition! 50
@17:16:54.09 <Plunge_home> Plunge.in :default
@17:16:54.11 <Lysis2_home> Lysis2.seek :home
@17:16:54.25 <Archive_home> Archive.setRawPosition! 50
@17:16:54.34 Archive.seek :home
@17:16:54.45 <Lysis2_home> Lysis2.in :default
@17:16:54.59 <Air_home> Air.setRawPosition! 0
@17:16:54.67 <Archive_home> Archive.in :default
@17:16:54.71 <Air_home> Air.seek :home
@17:16:54.86 Air.in :default
@17:16:54.98 <PinPort_home> PinPort.setRawPosition! 0
@17:16:55.05 PinPort.seek :home
@17:16:55.13 <Lysis1_home> Lysis1.setRawPosition! 50
@17:16:55.22 Lysis1.seek :home
@17:16:55.32 <PinPort_home> PinPort.in :default
@17:16:55.50 <Lysis1_home> Lysis1.in :default
@17:16:57.97 <Toroid_home> Toroid.setRawPosition! 0
@17:16:58.04 Toroid.seek :home
@17:16:58.12 Toroid.in :default
@17:16:58.19 <clearToroid> Toroid.seek :clear
@17:16:58.33 <LRAUV> PinPort.in :unlocking
@17:16:58.41 PinPort.seek :clear
@17:17:01.86 Air.seek :clear
@17:17:02.77 Lysis1.seek :clear
@17:17:03.57 Lysis2.seek :clear
@17:17:04.37 Archive.seek :clear
@17:17:05.17 Carousel.in :default
@17:17:05.29 Carousel.home.seek 11
@17:17:05.54 Selecting Cartridge 10
@17:17:05.82 Carousel.seek 10
@17:17:06.36 Carousel.reconfigure :align
@17:17:06.48 Lysis1.in :fast
@17:17:06.55 Lysis1.seek :locked
@17:17:06.63 Slide::Warning in core -- Storage Carousel (SC) reseek at 10 + 3 counts
@17:17:09.06 <Plunge> Plunge.seek :locked
@17:17:09.21 <Air> Air.in :fast
@17:17:09.27 Air.seek :locked
@17:17:10.18 <LRAUV> Carousel.reconfigure :locked
@17:17:10.32 Powering cartridge bus
@17:17:16.97 Gate.power :cartridge,:OFF
@17:17:17.00 Mounted archive Cartridge
@17:17:17.09 Cartridge::Incompatible in LRAUV -- archive sensed when expecting lyseHoldBS_bac in slot 10
@17:17:35.61 -> Cmd.stop
@17:17:36.13 Carousel.in :default
@17:17:36.25 Carousel.home.seek 10
@17:17:36.55 Plunge.seek :locked
@17:17:36.75 <Air> Air.in :unlocking
@17:17:36.87 Air.seek :clear
@17:17:36.92 <Lysis1> Lysis1.in :unlocking
@17:17:37.05 Lysis1.seek :clear
@17:17:38.47 <LRAUV> Gate.power :motor,:OFF
@17:17:38.49 Gate.power :analytic1,:OFF
@17:17:38.51 Gate.power :analytic2,:OFF
@17:17:38.54 Gate.power :analytic3,:OFF
@17:17:38.56 Gate.power :core,:OFF
@17:17:38.59 Gate.power :main,:OFF
@17:17:38.61 Safely stopped and ready to power off
:STOPPED