@10:52:53.90PDT27-Apr-24 <simrapid> Simulated gateway v3.24 for core bus
@10:52:53.91 Simulated secondary gateway v3.24 for cartridge bus
@10:52:56.88 
Configuration for lrauvSIM by methane@mbari.org 1/24/23
/home/esp/esp2/type/auv/lrauvSIM/configure.rb
@10:52:57.36 Sea pressure (Abs) tare is 6% of full scale
@10:52:59.27 Polling Can every 2:00
@10:52:59.73 Clients may connect on TCP port 9999
@10:52:59.74 Connecting to 10.89.11.2:9999
@10:52:59.77 Waiting for espclients...
@10:52:59.99 <LRAUV> Session Begun
@10:53:01.93 -> showStatus
true
@10:53:03.95 -> Cmd.loadCartridge -6
@10:53:03.99 Gate.power :main,:ON
@10:53:04.01 Gate.power :analytic1,:ON
@10:53:04.04 Gate.power :analytic2,:ON
@10:53:04.06 Gate.power :analytic3,:ON
@10:53:04.08 Gate.power :core,:ON
@10:53:04.19 Archive.configure :default
@10:53:04.24 Air.configure :default
@10:53:04.30 Lysis1.configure :default
@10:53:04.38 Lysis2.configure :default
@10:53:04.45 Plunge.configure :default
@10:53:05.23 SamplePump.configure :default
@10:53:05.39 Toroid.configure :default
@10:53:05.51 Carousel.configure :default
@10:53:05.68 Pressure.configure :default
@10:53:05.86 ExtraPump.configure :default
@10:53:06.03 PinPort.configure :default
@10:53:06.17 All elf controllers running firmware version 4.79
@10:53:06.28 Gate.power :motor,:ON
@10:53:06.85 <Archive_home> Archive.home.jog 0
@10:53:07.20 <Air_home> Air.home.jog 0
@10:53:07.72 <Lysis1_home> Lysis1.home.jog 0
@10:53:07.87 <Lysis2_home> Lysis2.home.jog 0
@10:53:07.97 <Plunge_home> Plunge.home.jog 0
@10:53:08.21 <Toroid_home> Toroid.home.jog 0
@10:53:08.31 <Carousel_home> Carousel.home.jog 0
@10:53:08.45 <PinPort_home> PinPort.home.jog 0
@10:53:08.95 <Carousel_home> Carousel.setRawPosition! -53
@10:53:09.01 Carousel.in :homing
@10:53:09.13 Carousel.seek :home
@10:53:09.38 <PinPort_home> PinPort.setRawPosition! 0
@10:53:09.44 PinPort.in :homing
@10:53:09.54 PinPort.seek :home
@10:53:09.78 <Archive_home> Archive.setRawPosition! 50
@10:53:09.84 Archive.in :homing
@10:53:09.94 Archive.seek :home
@10:53:10.22 <Air_home> Air.setRawPosition! 50
@10:53:10.28 Air.in :homing
@10:53:10.36 Air.seek :home
@10:53:10.64 <Plunge_home> Plunge.setRawPosition! 50
@10:53:10.67 Plunge.in :homing
@10:53:10.80 Plunge.seek :home
@10:53:11.04 <Carousel_home> Carousel.in :default
@10:53:11.20 <PinPort_home> PinPort.in :default
@10:53:11.40 <Lysis1_home> Lysis1.setRawPosition! 50
@10:53:11.46 Lysis1.in :homing
@10:53:11.54 Lysis1.seek :home
@10:53:11.74 <Archive_home> Archive.in :default
@10:53:11.90 <Lysis2_home> Lysis2.setRawPosition! 50
@10:53:11.97 Lysis2.in :homing
@10:53:12.07 Lysis2.seek :home
@10:53:12.23 <Air_home> Air.in :default
@10:53:12.39 <Toroid_home> Toroid.setRawPosition! 0
@10:53:12.45 Toroid.in :homing
@10:53:12.55 Toroid.seek :home
@10:53:12.73 <Plunge_home> Plunge.in :default
@10:53:12.99 <Lysis1_home> Lysis1.in :default
@10:53:13.33 <Lysis2_home> Lysis2.in :default
@10:53:13.60 <Toroid_home> Toroid.in :default
@10:53:13.94 <LRAUV> Toroid.seek :clear
@10:53:15.63 Carousel.in :default
@10:53:15.73 Carousel.home.seek 1
@10:53:15.90 Selecting Cartridge 56
@10:53:16.09 Carousel.seek 56
@10:53:27.95 Lysis1.in :fast
@10:53:28.00 Lysis1.seek :locked
@10:53:30.81 <Plunge> Plunge.seek :locked
@10:53:31.06 <Air> Air.in :fast
@10:53:31.13 Air.seek :locked
@10:53:33.01 <LRAUV> Carousel.reconfigure :locked
@10:53:33.09 Carousel.jog 0
@10:53:33.36 Gate.power :cartridge,:ON
@10:53:33.53 Gate.power :cartridge,:OFF
@10:53:34.09 Mounted archive Cartridge
56
@10:53:38.69 -> Cmd.startFiltering
@10:53:38.97 <FILTERING> Preparing to filter cartridge 56
4.64
@10:53:39.28 Priming sample loop w/5ml, bypass w/1.5ml
@10:53:39.29 SamplePump.setPosition! 0ml
@10:53:39.35 Bypass.open
@10:53:40.19 Intake.open
@10:53:41.71 Sea 130.5m deep (207.6psia)
@10:53:41.74 Waiting up to 20 seconds for sea pressure to stabilize +/-0.50psi
@10:53:44.33 Vacuum tare is 37% of full scale
@10:53:44.47 <closeIntake> Intake.close
@10:53:44.52 <closeBypass> Bypass.close
@10:53:45.81 <FILTERING> Verifying toroid holds at least 0.6..0.85 of 207.6psia
@10:53:45.85 Waiting up to 40 seconds for toroid pressure to stabilize +/-1.50psi
@10:53:50.48 Bypass.open
@10:53:51.90 Intake.open
@10:53:54.16 Pressure.in :default
@10:53:54.21 Pressure.hold
@10:53:54.48 SamplePump.in :prime
@10:53:54.55 SamplePump.seek 1.5ml,35 seconds
@10:53:56.22 Pressure.stop
@10:53:56.31 SamplePump.setPosition! 0ml
@10:53:56.38 Exhaust.open
@10:53:58.44 <closeBypass> Bypass.close
@10:54:00.76 <FILTERING> Pressure.hold
@10:54:00.94 Sea 130.5m deep (207.6psia)
@10:54:01.08 SamplePump.in :prime
@10:54:01.15 SamplePump.seek 5ml,45 seconds
@10:54:05.78 Pressure.stop
@10:54:05.86 Bypass.open
@10:54:07.22 Intake.close
@10:54:08.80 Toroid.in :hold
@10:54:08.89 Toroid.seek :crack
@10:54:10.53 Toroid.seek :cartridge
@10:54:11.75 Toroid.in :default
@10:54:11.80 Toroid.seek :clear
@10:54:13.87 <closeExhaust> Exhaust.close
@10:54:13.95 <closeBypass> Bypass.close
@10:54:15.24 <FILTERING> Verifying cartridge holds at least 0.65..0.85 of 207.6psia
@10:54:15.27 Waiting up to 40 seconds for cartridge pressure to stabilize +/-1.50psi
@10:54:19.91 Sampling 10.0ml
@10:54:19.93 SamplePump.setPosition! 0ml
@10:54:20.00 Exhaust.open
@10:54:21.33 Intake.open
@10:54:22.98 Pressure.hold
@10:54:23.17 Sea 130.5m deep (207.6psia)
@10:54:23.32 SamplePump.in :sample
@10:54:23.39 SamplePump.seek 10ml,1:21
@10:54:26.03 <sampling> Cartridge 56 filtering 1/10ml at 0.42ml/s with 0.0psi vacuum 130.5m deep (207.6psia)
@10:54:48.04 <FILTERING> Pressure.stop
@10:54:48.18 <closeIntake> Intake.close
@10:54:48.22 <closeExhaust> Exhaust.close
@10:54:48.42 <FILTERING> Toroid.in :hold
@10:54:48.49 Toroid.seek :bypass
@10:54:50.22 Toroid.in :default
@10:54:50.26 Toroid.seek :clear
@10:54:52.00 Sampled  10.0ml
@10:54:53.44 <LRAUV> -> Cmd.startProcessing
30.0
@10:54:53.89 <PROCESSING> Plunge.seek :reagent
@10:54:54.79 Sample loop closed. Ready to Deliver Reagents
@10:54:54.81 Archive.seek :sealed
@10:54:58.89 Archive.seek :evac
@10:55:13.09 delay 1:00
@10:56:13.16 Archive.seek :clear
@10:56:30.81 RNAlater soak for 45 seconds
@10:57:15.84 Archive.seek :tVent
@10:57:18.39 delay 1 second
@10:57:19.41 Archive.seek :evac
@10:57:35.07 delay 10 seconds
@10:57:45.11 Sample preserved and evacuated
@10:57:46.37 <LRAUV> -> Cmd.stop
@10:57:46.54 Carousel.in :default
@10:57:46.67 Carousel.home.seek 56
@10:57:46.92 Plunge.seek :locked
@10:57:47.87 <Archive> Archive.in :unlocking
@10:57:47.99 Archive.seek :clear
@10:57:48.11 <Air> Air.in :unlocking
@10:57:48.18 Air.seek :clear
@10:57:48.48 <Lysis1> Lysis1.in :unlocking
@10:57:48.58 Lysis1.seek :clear
@10:57:53.52 <LRAUV> Gate.power :motor,:OFF
@10:57:53.57 Gate.power :core,:OFF
@10:57:53.61 Gate.power :analytic1,:OFF
@10:57:53.65 Gate.power :analytic2,:OFF
@10:57:53.69 Gate.power :analytic3,:OFF
@10:57:53.73 Gate.power :main,:OFF
@10:57:53.76 Safely stopped and ready to power off
:STOPPED