@09:34:05.50PDT27-Apr-24 <simrapid> Simulated gateway v3.24 for core bus
@09:34:05.51 Simulated secondary gateway v3.24 for cartridge bus
@09:34:08.29 
Configuration for lrauvSIM by methane@mbari.org 1/24/23
/home/esp/esp2/type/auv/lrauvSIM/configure.rb
@09:34:08.75 Sea pressure (Abs) tare is 6% of full scale
@09:34:10.43 Polling Can every 2:00
@09:34:10.90 Clients may connect on TCP port 9999
@09:34:10.92 Connecting to 10.89.11.2:9999
@09:34:10.95 Waiting for espclients...
@09:34:11.09 <LRAUV> Session Begun
@09:34:12.96 -> showStatus
true
@09:34:14.98 -> Cmd.loadCartridge -6
@09:34:15.02 Gate.power :main,:ON
@09:34:15.04 Gate.power :analytic1,:ON
@09:34:15.07 Gate.power :analytic2,:ON
@09:34:15.09 Gate.power :analytic3,:ON
@09:34:15.11 Gate.power :core,:ON
@09:34:15.22 Archive.configure :default
@09:34:15.27 Air.configure :default
@09:34:15.33 Lysis1.configure :default
@09:34:15.39 Lysis2.configure :default
@09:34:15.47 Plunge.configure :default
@09:34:15.53 SamplePump.configure :default
@09:34:15.61 Toroid.configure :default
@09:34:15.68 Carousel.configure :default
@09:34:15.75 Pressure.configure :default
@09:34:16.13 ExtraPump.configure :default
@09:34:16.19 PinPort.configure :default
@09:34:16.25 All elf controllers running firmware version 4.79
@09:34:16.30 Gate.power :motor,:ON
@09:34:16.57 <Archive_home> Archive.home.jog 0
@09:34:17.10 <Air_home> Air.home.jog 0
@09:34:17.46 <Lysis1_home> Lysis1.home.jog 0
@09:34:17.56 <Plunge_home> Plunge.home.jog 0
@09:34:17.80 <Lysis2_home> Lysis2.home.jog 0
@09:34:17.95 <Toroid_home> Toroid.home.jog 0
@09:34:18.02 <Carousel_home> Carousel.home.jog 0
@09:34:18.21 <PinPort_home> PinPort.home.jog 0
@09:34:18.78 <Carousel_home> Carousel.setRawPosition! -53
@09:34:18.86 Carousel.in :homing
@09:34:18.96 Carousel.seek :home
@09:34:19.27 <PinPort_home> PinPort.setRawPosition! 0
@09:34:19.32 PinPort.in :homing
@09:34:19.42 PinPort.seek :home
@09:34:19.66 <Archive_home> Archive.setRawPosition! 50
@09:34:19.73 Archive.in :homing
@09:34:19.80 Archive.seek :home
@09:34:20.10 <Air_home> Air.setRawPosition! 50
@09:34:20.18 Air.in :homing
@09:34:20.26 Air.seek :home
@09:34:20.54 <Plunge_home> Plunge.setRawPosition! 50
@09:34:20.58 Plunge.in :homing
@09:34:20.69 Plunge.seek :home
@09:34:20.95 <Carousel_home> Carousel.in :default
@09:34:21.12 <PinPort_home> PinPort.in :default
@09:34:21.32 <Lysis1_home> Lysis1.setRawPosition! 50
@09:34:21.37 Lysis1.in :homing
@09:34:21.47 Lysis1.seek :home
@09:34:21.66 <Archive_home> Archive.in :default
@09:34:21.81 <Lysis2_home> Lysis2.setRawPosition! 50
@09:34:21.86 Lysis2.in :homing
@09:34:22.00 Lysis2.seek :home
@09:34:22.18 <Air_home> Air.in :default
@09:34:22.33 <Toroid_home> Toroid.setRawPosition! 0
@09:34:22.41 Toroid.in :homing
@09:34:22.49 Toroid.seek :home
@09:34:22.66 <Plunge_home> Plunge.in :default
@09:34:22.85 <Lysis1_home> Lysis1.in :default
@09:34:23.08 <Lysis2_home> Lysis2.in :default
@09:34:23.28 <Toroid_home> Toroid.in :default
@09:34:23.45 <LRAUV> Toroid.seek :clear
@09:34:25.17 Carousel.in :default
@09:34:25.41 Carousel.home.seek 1
@09:34:25.74 Selecting Cartridge 58
@09:34:26.31 Carousel.seek 58
@09:34:38.65 Lysis1.in :fast
@09:34:38.68 Lysis1.seek :locked
@09:34:41.42 <Plunge> Plunge.seek :locked
@09:34:41.63 <Air> Air.in :fast
@09:34:41.71 Air.seek :locked
@09:34:43.43 <LRAUV> Carousel.reconfigure :locked
@09:34:43.53 Carousel.jog 0
@09:34:43.80 Gate.power :cartridge,:ON
@09:34:43.94 Gate.power :cartridge,:OFF
@09:34:44.48 Mounted archive Cartridge
58
@09:34:49.72 -> Cmd.startFiltering
@09:34:49.97 <FILTERING> Preparing to filter cartridge 58
4.64
@09:34:50.28 Priming sample loop w/5ml, bypass w/1.5ml
@09:34:50.30 SamplePump.setPosition! 0ml
@09:34:50.36 Bypass.open
@09:34:51.24 Intake.open
@09:34:52.72 Sea 130.5m deep (207.6psia)
@09:34:52.75 Waiting up to 20 seconds for sea pressure to stabilize +/-0.50psi
@09:34:55.33 Vacuum tare is 37% of full scale
@09:34:55.46 <closeIntake> Intake.close
@09:34:55.54 <closeBypass> Bypass.close
@09:34:56.81 <FILTERING> Verifying toroid holds at least 0.6..0.85 of 207.6psia
@09:34:56.84 Waiting up to 40 seconds for toroid pressure to stabilize +/-1.50psi
@09:35:01.45 Bypass.open
@09:35:02.89 Intake.open
@09:35:05.15 Pressure.in :default
@09:35:05.19 Pressure.hold
@09:35:05.46 SamplePump.in :prime
@09:35:05.55 SamplePump.seek 1.5ml,35 seconds
@09:35:07.20 Pressure.stop
@09:35:07.26 SamplePump.setPosition! 0ml
@09:35:07.39 Exhaust.open
@09:35:09.37 <closeBypass> Bypass.close
@09:35:11.70 <FILTERING> Pressure.hold
@09:35:11.87 Sea 130.5m deep (207.6psia)
@09:35:12.02 SamplePump.in :prime
@09:35:12.15 SamplePump.seek 5ml,45 seconds
@09:35:16.73 Pressure.stop
@09:35:16.80 Bypass.open
@09:35:18.23 Intake.close
@09:35:19.81 Toroid.in :hold
@09:35:19.85 Toroid.seek :crack
@09:35:21.51 Toroid.seek :cartridge
@09:35:22.71 Toroid.in :default
@09:35:22.81 Toroid.seek :clear
@09:35:24.89 <closeExhaust> Exhaust.close
@09:35:24.94 <closeBypass> Bypass.close
@09:35:26.27 <FILTERING> Verifying cartridge holds at least 0.65..0.85 of 207.6psia
@09:35:26.30 Waiting up to 40 seconds for cartridge pressure to stabilize +/-1.50psi
@09:35:30.93 Sampling 10.0ml
@09:35:30.95 SamplePump.setPosition! 0ml
@09:35:31.02 Exhaust.open
@09:35:32.34 Intake.open
@09:35:34.09 Pressure.hold
@09:35:34.27 Sea 130.5m deep (207.6psia)
@09:35:34.42 SamplePump.in :sample
@09:35:34.49 SamplePump.seek 10ml,1:21
@09:35:37.12 <sampling> Cartridge 58 filtering 1/10ml at 0.42ml/s with 0.0psi vacuum 130.5m deep (207.6psia)
@09:35:59.08 <FILTERING> Pressure.stop
@09:35:59.20 <closeIntake> Intake.close
@09:35:59.25 <closeExhaust> Exhaust.close
@09:35:59.44 <FILTERING> Toroid.in :hold
@09:35:59.48 Toroid.seek :bypass
@09:36:01.22 Toroid.in :default
@09:36:01.27 Toroid.seek :clear
@09:36:03.02 Sampled  10.0ml
@09:36:04.47 <LRAUV> -> Cmd.startProcessing
30.0
@09:36:04.92 <PROCESSING> Plunge.seek :reagent
@09:36:05.81 Sample loop closed. Ready to Deliver Reagents
@09:36:05.84 Archive.seek :sealed
@09:36:09.88 Archive.seek :evac
@09:36:24.09 delay 1:00
@09:37:24.14 Archive.seek :clear
@09:37:41.78 RNAlater soak for 45 seconds
@09:38:26.81 Archive.seek :tVent
@09:38:29.39 delay 1 second
@09:38:30.41 Archive.seek :evac
@09:38:46.05 delay 10 seconds
@09:38:56.09 Sample preserved and evacuated
@09:38:56.99 <LRAUV> -> Cmd.stop
@09:38:57.16 Carousel.in :default
@09:38:57.28 Carousel.home.seek 58
@09:38:57.53 Plunge.seek :locked
@09:38:58.48 <Archive> Archive.in :unlocking
@09:38:58.60 Archive.seek :clear
@09:38:58.72 <Air> Air.in :unlocking
@09:38:58.79 Air.seek :clear
@09:38:58.95 <Lysis1> Lysis1.in :unlocking
@09:38:59.03 Lysis1.seek :clear
@09:39:04.18 <LRAUV> Gate.power :motor,:OFF
@09:39:04.23 Gate.power :core,:OFF
@09:39:04.26 Gate.power :analytic1,:OFF
@09:39:04.29 Gate.power :analytic2,:OFF
@09:39:04.33 Gate.power :analytic3,:OFF
@09:39:04.37 Gate.power :main,:OFF
@09:39:04.40 Safely stopped and ready to power off
:STOPPED