@22:38:43.58PDT23-Mar-23 <simrapid> Simulated gateway v3.24 for core bus
@22:38:43.60 Simulated secondary gateway v3.24 for cartridge bus
@22:38:46.36 
Configuration for lrauvSIM by methane@mbari.org 1/24/23
/home/esp/esp2/type/auv/lrauvSIM/configure.rb
@22:38:46.82 Sea pressure (Abs) tare is 6% of full scale
@22:38:48.46 Polling Can every 2:00
@22:38:48.92 Clients may connect on TCP port 9999
@22:38:48.93 Connecting to 10.89.5.2:9999
@22:38:48.97 Waiting for espclients...
@22:38:49.34 <LRAUV> Session Begun
@22:38:51.59 -> showStatus
true
@22:38:53.21 -> Cmd.loadCartridge -6
@22:38:53.26 Gate.power :main,:ON
@22:38:53.28 Gate.power :analytic1,:ON
@22:38:53.30 Gate.power :analytic2,:ON
@22:38:53.32 Gate.power :analytic3,:ON
@22:38:53.34 Gate.power :core,:ON
@22:38:53.46 Archive.configure :default
@22:38:53.51 Air.configure :default
@22:38:53.57 Lysis1.configure :default
@22:38:53.64 Lysis2.configure :default
@22:38:53.69 Plunge.configure :default
@22:38:53.77 SamplePump.configure :default
@22:38:53.85 Toroid.configure :default
@22:38:53.90 Carousel.configure :default
@22:38:53.98 Pressure.configure :default
@22:38:54.05 ExtraPump.configure :default
@22:38:54.12 PinPort.configure :default
@22:38:54.17 All elf controllers running firmware version 4.79
@22:38:54.24 Gate.power :motor,:ON
@22:38:54.91 <Archive_home> Archive.home.jog 0
@22:38:55.69 <Air_home> Air.home.jog 0
@22:38:55.80 <Lysis2_home> Lysis2.home.jog 0
@22:38:56.06 <Plunge_home> Plunge.home.jog 0
@22:38:56.21 <Toroid_home> Toroid.home.jog 0
@22:38:56.38 <Carousel_home> Carousel.home.jog 0
@22:38:56.49 <PinPort_home> PinPort.home.jog 0
@22:38:56.78 <Lysis1_home> Lysis1.home.jog 0
@22:38:57.29 <Carousel_home> Carousel.setRawPosition! -53
@22:38:57.33 Carousel.in :homing
@22:38:57.43 Carousel.seek :home
@22:38:57.69 <PinPort_home> PinPort.setRawPosition! 0
@22:38:57.77 PinPort.in :homing
@22:38:57.83 PinPort.seek :home
@22:38:58.06 <Archive_home> Archive.setRawPosition! 50
@22:38:58.13 Archive.in :homing
@22:38:58.22 Archive.seek :home
@22:38:58.53 <Air_home> Air.setRawPosition! 50
@22:38:58.61 Air.in :homing
@22:38:58.71 Air.seek :home
@22:38:58.98 <Plunge_home> Plunge.setRawPosition! 50
@22:38:59.03 Plunge.in :homing
@22:38:59.14 Plunge.seek :home
@22:38:59.40 <Carousel_home> Carousel.in :default
@22:38:59.57 <PinPort_home> PinPort.in :default
@22:38:59.77 <Lysis1_home> Lysis1.setRawPosition! 50
@22:38:59.81 Lysis1.in :homing
@22:38:59.91 Lysis1.seek :home
@22:39:00.07 <Archive_home> Archive.in :default
@22:39:00.23 <Lysis2_home> Lysis2.setRawPosition! 50
@22:39:00.31 Lysis2.in :homing
@22:39:00.41 Lysis2.seek :home
@22:39:00.57 <Air_home> Air.in :default
@22:39:00.73 <Toroid_home> Toroid.setRawPosition! 0
@22:39:00.79 Toroid.in :homing
@22:39:00.89 Toroid.seek :home
@22:39:01.05 <Plunge_home> Plunge.in :default
@22:39:01.23 <Lysis1_home> Lysis1.in :default
@22:39:01.45 <Lysis2_home> Lysis2.in :default
@22:39:01.65 <Toroid_home> Toroid.in :default
@22:39:01.83 <LRAUV> Toroid.seek :clear
@22:39:03.54 Carousel.in :default
@22:39:03.82 Carousel.home.seek 1
@22:39:04.11 Selecting Cartridge 60
@22:39:04.69 Carousel.seek 60
@22:39:17.47 Lysis1.in :fast
@22:39:17.50 Lysis1.seek :locked
@22:39:20.25 <Plunge> Plunge.seek :locked
@22:39:20.56 <Air> Air.in :fast
@22:39:20.67 Air.seek :locked
@22:39:22.47 <LRAUV> Carousel.reconfigure :locked
@22:39:22.55 Carousel.jog 0
@22:39:22.83 Gate.power :cartridge,:ON
@22:39:22.97 Gate.power :cartridge,:OFF
@22:39:23.51 Mounted archive Cartridge
60
@22:39:27.95 -> Cmd.startFiltering
@22:39:28.21 <FILTERING> Preparing to filter cartridge 60
4.64
@22:39:28.52 Priming sample loop w/5ml, bypass w/1.5ml
@22:39:28.54 SamplePump.setPosition! 0ml
@22:39:28.60 Bypass.open
@22:39:29.44 Intake.open
@22:39:30.96 Sea 130.5m deep (207.6psia)
@22:39:30.99 Waiting up to 20 seconds for sea pressure to stabilize +/-0.50psi
@22:39:33.60 Vacuum tare is 37% of full scale
@22:39:33.81 <closeIntake> Intake.close
@22:39:33.86 <closeBypass> Bypass.close
@22:39:35.06 <FILTERING> Verifying toroid holds at least 0.6..0.85 of 207.6psia
@22:39:35.09 Waiting up to 40 seconds for toroid pressure to stabilize +/-1.50psi
@22:39:39.71 Bypass.open
@22:39:41.17 Intake.open
@22:39:43.90 Pressure.in :default
@22:39:43.94 Pressure.hold
@22:39:44.26 SamplePump.in :prime
@22:39:44.33 SamplePump.seek 1.5ml,35 seconds
@22:39:45.99 Pressure.stop
@22:39:46.07 SamplePump.setPosition! 0ml
@22:39:46.16 Exhaust.open
@22:39:48.21 <closeBypass> Bypass.close
@22:39:50.55 <FILTERING> Pressure.hold
@22:39:50.72 Sea 130.5m deep (207.6psia)
@22:39:50.86 SamplePump.in :prime
@22:39:50.92 SamplePump.seek 5ml,45 seconds
@22:39:55.50 Pressure.stop
@22:39:55.57 Bypass.open
@22:39:57.00 Intake.close
@22:39:58.57 Toroid.in :hold
@22:39:58.62 Toroid.seek :crack
@22:40:00.28 Toroid.seek :cartridge
@22:40:01.49 Toroid.in :default
@22:40:01.54 Toroid.seek :clear
@22:40:03.60 <closeExhaust> Exhaust.close
@22:40:03.68 <closeBypass> Bypass.close
@22:40:04.96 <FILTERING> Verifying cartridge holds at least 0.65..0.85 of 207.6psia
@22:40:04.99 Waiting up to 40 seconds for cartridge pressure to stabilize +/-1.50psi
@22:40:09.64 Sampling 10.0ml
@22:40:09.65 SamplePump.setPosition! 0ml
@22:40:09.72 Exhaust.open
@22:40:11.09 Intake.open
@22:40:12.69 Pressure.hold
@22:40:12.85 Sea 130.5m deep (207.6psia)
@22:40:13.06 SamplePump.in :sample
@22:40:13.15 SamplePump.seek 10ml,1:21
@22:40:15.73 <sampling> Cartridge 60 filtering 1/10ml at 0.42ml/s with 0.0psi vacuum 130.5m deep (207.6psia)
@22:40:37.82 <FILTERING> Pressure.stop
@22:40:37.94 <closeIntake> Intake.close
@22:40:38.03 <closeExhaust> Exhaust.close
@22:40:38.19 <FILTERING> Toroid.in :hold
@22:40:38.24 Toroid.seek :bypass
@22:40:39.99 Toroid.in :default
@22:40:40.05 Toroid.seek :clear
@22:40:41.81 Sampled  10.0ml
@22:40:43.10 <LRAUV> -> Cmd.startProcessing
30.0
@22:40:43.58 <PROCESSING> Plunge.seek :reagent
@22:40:44.47 Sample loop closed. Ready to Deliver Reagents
@22:40:44.49 Archive.seek :sealed
@22:40:48.54 Archive.seek :evac
@22:41:02.70 delay 1:00
@22:42:02.75 Archive.seek :clear
@22:42:20.43 RNAlater soak for 45 seconds
@22:43:05.46 Archive.seek :tVent
@22:43:07.99 delay 1 second
@22:43:09.01 Archive.seek :evac
@22:43:24.67 delay 10 seconds
@22:43:34.71 Sample preserved and evacuated
@22:43:35.63 <LRAUV> -> Cmd.stop
@22:43:35.79 Carousel.in :default
@22:43:35.91 Carousel.home.seek 60
@22:43:36.18 Plunge.seek :locked
@22:43:37.12 <Archive> Archive.in :unlocking
@22:43:37.25 Archive.seek :clear
@22:43:37.35 <Air> Air.in :unlocking
@22:43:37.46 Air.seek :clear
@22:43:37.64 <Lysis1> Lysis1.in :unlocking
@22:43:37.68 Lysis1.seek :clear
@22:43:42.98 <LRAUV> Gate.power :motor,:OFF
@22:43:43.03 Gate.power :core,:OFF
@22:43:43.06 Gate.power :analytic1,:OFF
@22:43:43.11 Gate.power :analytic2,:OFF
@22:43:43.15 Gate.power :analytic3,:OFF
@22:43:43.19 Gate.power :main,:OFF
@22:43:43.22 Safely stopped and ready to power off
:STOPPED