@08:59:38.72PDT27-Apr-24 <simrapid> Simulated gateway v3.24 for core bus
@08:59:38.74 Simulated secondary gateway v3.24 for cartridge bus
@08:59:41.65 
Configuration for lrauvSIM by methane@mbari.org 1/24/23
/home/esp/esp2/type/auv/lrauvSIM/configure.rb
@08:59:42.13 Sea pressure (Abs) tare is 6% of full scale
@08:59:43.90 Polling Can every 2:00
@08:59:44.37 Clients may connect on TCP port 9999
Connecting to 10.89.11.2:9999
@08:59:44.41 Waiting for espclients...
@08:59:44.82 <LRAUV> Session Begun
@08:59:47.18 -> showStatus
true
@08:59:48.79 -> Cmd.loadCartridge -6
@08:59:48.84 Gate.power :main,:ON
@08:59:48.86 Gate.power :analytic1,:ON
@08:59:48.89 Gate.power :analytic2,:ON
@08:59:48.91 Gate.power :analytic3,:ON
@08:59:48.93 Gate.power :core,:ON
@08:59:49.04 Archive.configure :default
@08:59:49.07 Air.configure :default
@08:59:49.16 Lysis1.configure :default
@08:59:49.22 Lysis2.configure :default
@08:59:49.28 Plunge.configure :default
@08:59:49.36 SamplePump.configure :default
@08:59:49.44 Toroid.configure :default
@08:59:49.54 Carousel.configure :default
@08:59:49.69 Pressure.configure :default
@08:59:49.86 ExtraPump.configure :default
@08:59:50.00 PinPort.configure :default
@08:59:50.90 All elf controllers running firmware version 4.79
@08:59:51.00 Gate.power :motor,:ON
@08:59:51.76 <Archive_home> Archive.home.jog 0
@08:59:51.89 <Air_home> Air.home.jog 0
@08:59:52.47 <Lysis1_home> Lysis1.home.jog 0
@08:59:52.55 <Lysis2_home> Lysis2.home.jog 0
@08:59:52.70 <Plunge_home> Plunge.home.jog 0
@08:59:52.81 <Carousel_home> Carousel.home.jog 0
@08:59:52.98 <Toroid_home> Toroid.home.jog 0
@08:59:53.12 <PinPort_home> PinPort.home.jog 0
@08:59:53.66 <Carousel_home> Carousel.setRawPosition! -53
@08:59:53.71 Carousel.in :homing
@08:59:53.81 Carousel.seek :home
@08:59:54.09 <PinPort_home> PinPort.setRawPosition! 0
@08:59:54.14 PinPort.in :homing
@08:59:54.24 PinPort.seek :home
@08:59:54.48 <Archive_home> Archive.setRawPosition! 50
@08:59:54.54 Archive.in :homing
@08:59:54.62 Archive.seek :home
@08:59:54.88 <Air_home> Air.setRawPosition! 50
@08:59:54.94 Air.in :homing
@08:59:55.07 Air.seek :home
@08:59:55.34 <Plunge_home> Plunge.setRawPosition! 50
@08:59:55.40 Plunge.in :homing
@08:59:55.48 Plunge.seek :home
@08:59:55.77 <Carousel_home> Carousel.in :default
@08:59:55.94 <PinPort_home> PinPort.in :default
@08:59:56.14 <Lysis1_home> Lysis1.setRawPosition! 50
@08:59:56.21 Lysis1.in :homing
@08:59:56.30 Lysis1.seek :home
@08:59:56.46 <Archive_home> Archive.in :default
@08:59:56.62 <Lysis2_home> Lysis2.setRawPosition! 50
@08:59:56.68 Lysis2.in :homing
@08:59:56.76 Lysis2.seek :home
@08:59:56.93 <Air_home> Air.in :default
@08:59:57.09 <Toroid_home> Toroid.setRawPosition! 0
@08:59:57.16 Toroid.in :homing
@08:59:57.25 Toroid.seek :home
@08:59:57.42 <Plunge_home> Plunge.in :default
@08:59:57.62 <Lysis1_home> Lysis1.in :default
@08:59:57.88 <Lysis2_home> Lysis2.in :default
@08:59:58.20 <Toroid_home> Toroid.in :default
@08:59:58.41 <LRAUV> Toroid.seek :clear
@09:00:00.13 Carousel.in :default
@09:00:00.33 Carousel.home.seek 1
@09:00:00.55 Selecting Cartridge 59
@09:00:00.74 Carousel.seek 59
@09:00:13.23 Lysis1.in :fast
@09:00:13.26 Lysis1.seek :locked
@09:00:16.08 <Plunge> Plunge.seek :locked
@09:00:16.49 <Air> Air.in :fast
@09:00:16.57 Air.seek :locked
@09:00:18.33 <LRAUV> Carousel.reconfigure :locked
@09:00:18.46 Carousel.jog 0
@09:00:18.98 Gate.power :cartridge,:ON
@09:00:19.23 Gate.power :cartridge,:OFF
@09:00:19.78 Mounted archive Cartridge
59
@09:00:23.53 -> Cmd.startFiltering
@09:00:23.80 <FILTERING> Preparing to filter cartridge 59
4.64
@09:00:24.12 Priming sample loop w/5ml, bypass w/1.5ml
@09:00:24.14 SamplePump.setPosition! 0ml
@09:00:24.21 Bypass.open
@09:00:25.11 Intake.open
@09:00:26.57 Sea 130.5m deep (207.6psia)
@09:00:26.60 Waiting up to 20 seconds for sea pressure to stabilize +/-0.50psi
@09:00:29.20 Vacuum tare is 37% of full scale
@09:00:29.35 <closeIntake> Intake.close
@09:00:29.43 <closeBypass> Bypass.close
@09:00:30.68 <FILTERING> Verifying toroid holds at least 0.6..0.85 of 207.6psia
@09:00:30.71 Waiting up to 40 seconds for toroid pressure to stabilize +/-1.50psi
@09:00:35.33 Bypass.open
@09:00:36.75 Intake.open
@09:00:39.01 Pressure.in :default
@09:00:39.05 Pressure.hold
@09:00:39.33 SamplePump.in :prime
@09:00:39.39 SamplePump.seek 1.5ml,35 seconds
@09:00:41.05 Pressure.stop
@09:00:41.09 SamplePump.setPosition! 0ml
@09:00:41.24 Exhaust.open
@09:00:43.26 <closeBypass> Bypass.close
@09:00:45.58 <FILTERING> Pressure.hold
@09:00:45.75 Sea 130.5m deep (207.6psia)
@09:00:45.90 SamplePump.in :prime
@09:00:45.98 SamplePump.seek 5ml,45 seconds
@09:00:50.54 Pressure.stop
@09:00:50.61 Bypass.open
@09:00:52.03 Intake.close
@09:00:53.61 Toroid.in :hold
@09:00:53.67 Toroid.seek :crack
@09:00:55.33 Toroid.seek :cartridge
@09:00:56.60 Toroid.in :default
@09:00:56.64 Toroid.seek :clear
@09:00:58.72 <closeExhaust> Exhaust.close
@09:00:58.77 <closeBypass> Bypass.close
@09:01:00.08 <FILTERING> Verifying cartridge holds at least 0.65..0.85 of 207.6psia
@09:01:00.11 Waiting up to 40 seconds for cartridge pressure to stabilize +/-1.50psi
@09:01:04.74 Sampling 10.0ml
@09:01:04.76 SamplePump.setPosition! 0ml
@09:01:04.82 Exhaust.open
@09:01:06.16 Intake.open
@09:01:08.01 Pressure.hold
@09:01:08.18 Sea 130.5m deep (207.6psia)
@09:01:08.35 SamplePump.in :sample
@09:01:08.46 SamplePump.seek 10ml,1:21
@09:01:10.97 <sampling> Cartridge 59 filtering 1/10ml at 0.42ml/s with 0.0psi vacuum 130.5m deep (207.6psia)
@09:01:33.14 <FILTERING> Pressure.stop
@09:01:33.32 <closeIntake> Intake.close
@09:01:33.36 <closeExhaust> Exhaust.close
@09:01:33.54 <FILTERING> Toroid.in :hold
@09:01:33.59 Toroid.seek :bypass
@09:01:35.34 Toroid.in :default
@09:01:35.38 Toroid.seek :clear
@09:01:37.11 Sampled  10.0ml
@09:01:38.68 <LRAUV> -> Cmd.startProcessing
30.0
@09:01:39.14 <PROCESSING> Plunge.seek :reagent
@09:01:40.04 Sample loop closed. Ready to Deliver Reagents
@09:01:40.07 Archive.seek :sealed
@09:01:44.10 Archive.seek :evac
@09:01:58.28 delay 1:00
@09:02:58.31 Archive.seek :clear
@09:03:15.98 RNAlater soak for 45 seconds
@09:04:01.01 Archive.seek :tVent
@09:04:03.54 delay 1 second
@09:04:04.56 Archive.seek :evac
@09:04:20.21 delay 10 seconds
@09:04:30.26 Sample preserved and evacuated
@09:04:31.20 <LRAUV> -> Cmd.stop
@09:04:31.36 Carousel.in :default
@09:04:31.50 Carousel.home.seek 59
@09:04:31.76 Plunge.seek :locked
@09:04:32.71 <Archive> Archive.in :unlocking
@09:04:32.81 Archive.seek :clear
@09:04:33.04 <Air> Air.in :unlocking
@09:04:33.16 Air.seek :clear
@09:04:33.42 <Lysis1> Lysis1.in :unlocking
@09:04:33.56 Lysis1.seek :clear
@09:04:38.45 <LRAUV> Gate.power :motor,:OFF
@09:04:38.50 Gate.power :core,:OFF
@09:04:38.53 Gate.power :analytic1,:OFF
@09:04:38.57 Gate.power :analytic2,:OFF
@09:04:38.62 Gate.power :analytic3,:OFF
@09:04:38.65 Gate.power :main,:OFF
@09:04:38.67 Safely stopped and ready to power off
:STOPPED