@11:26:21.68PDT27-Apr-24 <simrapid> Simulated gateway v3.24 for core bus
@11:26:21.70 Simulated secondary gateway v3.24 for cartridge bus
@11:26:24.59 
Configuration for lrauvSIM by methane@mbari.org 1/24/23
/home/esp/esp2/type/auv/lrauvSIM/configure.rb
@11:26:25.06 Sea pressure (Abs) tare is 6% of full scale
@11:26:26.92 Polling Can every 2:00
@11:26:27.39 Clients may connect on TCP port 9999
@11:26:27.40 Connecting to 10.89.11.2:9999
@11:26:27.43 Waiting for espclients...
@11:26:27.65 <LRAUV> Session Begun
@11:26:29.57 -> showStatus
true
@11:26:31.60 -> Cmd.loadCartridge -6
@11:26:31.65 Gate.power :main,:ON
@11:26:31.68 Gate.power :analytic1,:ON
@11:26:31.71 Gate.power :analytic2,:ON
@11:26:31.73 Gate.power :analytic3,:ON
@11:26:31.75 Gate.power :core,:ON
@11:26:31.86 Archive.configure :default
@11:26:31.91 Air.configure :default
@11:26:31.99 Lysis1.configure :default
@11:26:32.33 Lysis2.configure :default
@11:26:32.40 Plunge.configure :default
@11:26:32.49 SamplePump.configure :default
@11:26:32.59 Toroid.configure :default
@11:26:32.74 Carousel.configure :default
@11:26:32.88 Pressure.configure :default
@11:26:33.02 ExtraPump.configure :default
@11:26:33.14 PinPort.configure :default
@11:26:33.32 All elf controllers running firmware version 4.79
@11:26:33.43 Gate.power :motor,:ON
@11:26:34.06 <Archive_home> Archive.home.jog 0
@11:26:34.55 <Air_home> Air.home.jog 0
@11:26:34.94 <Lysis1_home> Lysis1.home.jog 0
@11:26:35.00 <Lysis2_home> Lysis2.home.jog 0
@11:26:35.27 <Plunge_home> Plunge.home.jog 0
@11:26:35.33 <Carousel_home> Carousel.home.jog 0
@11:26:35.40 <Toroid_home> Toroid.home.jog 0
@11:26:35.67 <PinPort_home> PinPort.home.jog 0
@11:26:36.17 <Carousel_home> Carousel.setRawPosition! -53
@11:26:36.25 Carousel.in :homing
@11:26:36.34 Carousel.seek :home
@11:26:36.62 <PinPort_home> PinPort.setRawPosition! 0
@11:26:36.68 PinPort.in :homing
@11:26:36.76 PinPort.seek :home
@11:26:36.98 <Archive_home> Archive.setRawPosition! 50
@11:26:37.03 Archive.in :homing
@11:26:37.13 Archive.seek :home
@11:26:37.41 <Air_home> Air.setRawPosition! 50
@11:26:37.46 Air.in :homing
@11:26:37.56 Air.seek :home
@11:26:37.84 <Plunge_home> Plunge.setRawPosition! 50
@11:26:37.90 Plunge.in :homing
@11:26:37.99 Plunge.seek :home
@11:26:38.26 <Carousel_home> Carousel.in :default
@11:26:38.42 <PinPort_home> PinPort.in :default
@11:26:38.62 <Lysis1_home> Lysis1.setRawPosition! 50
@11:26:38.70 Lysis1.in :homing
@11:26:38.80 Lysis1.seek :home
@11:26:38.96 <Archive_home> Archive.in :default
@11:26:39.10 <Lysis2_home> Lysis2.setRawPosition! 50
@11:26:39.16 Lysis2.in :homing
@11:26:39.24 Lysis2.seek :home
@11:26:39.42 <Air_home> Air.in :default
@11:26:39.57 <Toroid_home> Toroid.setRawPosition! 0
@11:26:39.62 Toroid.in :homing
@11:26:39.76 Toroid.seek :home
@11:26:39.95 <Plunge_home> Plunge.in :default
@11:26:40.14 <Lysis1_home> Lysis1.in :default
@11:26:40.36 <Lysis2_home> Lysis2.in :default
@11:26:40.56 <Toroid_home> Toroid.in :default
@11:26:40.74 <LRAUV> Toroid.seek :clear
@11:26:42.46 Carousel.in :default
@11:26:42.80 Carousel.home.seek 1
@11:26:43.15 Selecting Cartridge 55
@11:26:43.50 Carousel.seek 55
@11:26:55.16 Lysis1.in :fast
@11:26:55.19 Lysis1.seek :locked
@11:26:57.92 <Plunge> Plunge.seek :locked
@11:26:58.14 <Air> Air.in :fast
@11:26:58.22 Air.seek :locked
@11:26:59.96 <LRAUV> Carousel.reconfigure :locked
@11:27:00.05 Carousel.jog 0
@11:27:00.34 Gate.power :cartridge,:ON
@11:27:00.47 Gate.power :cartridge,:OFF
@11:27:00.99 Mounted archive Cartridge
55
@11:27:06.34 -> Cmd.startFiltering
@11:27:06.59 <FILTERING> Preparing to filter cartridge 55
4.64
@11:27:06.89 Priming sample loop w/5ml, bypass w/1.5ml
@11:27:06.92 SamplePump.setPosition! 0ml
@11:27:06.95 Bypass.open
@11:27:07.81 Intake.open
@11:27:09.33 Sea 130.5m deep (207.6psia)
@11:27:09.36 Waiting up to 20 seconds for sea pressure to stabilize +/-0.50psi
@11:27:12.01 Vacuum tare is 37% of full scale
@11:27:12.16 <closeIntake> Intake.close
@11:27:12.21 <closeBypass> Bypass.close
@11:27:13.44 <FILTERING> Verifying toroid holds at least 0.6..0.85 of 207.6psia
@11:27:13.47 Waiting up to 40 seconds for toroid pressure to stabilize +/-1.50psi
@11:27:18.08 Bypass.open
@11:27:19.52 Intake.open
@11:27:21.81 Pressure.in :default
@11:27:21.86 Pressure.hold
@11:27:22.13 SamplePump.in :prime
@11:27:22.20 SamplePump.seek 1.5ml,35 seconds
@11:27:23.85 Pressure.stop
@11:27:23.94 SamplePump.setPosition! 0ml
@11:27:24.06 Exhaust.open
@11:27:26.06 <closeBypass> Bypass.close
@11:27:28.39 <FILTERING> Pressure.hold
@11:27:28.61 Sea 130.5m deep (207.6psia)
@11:27:28.76 SamplePump.in :prime
@11:27:28.84 SamplePump.seek 5ml,45 seconds
@11:27:33.39 Pressure.stop
@11:27:33.46 Bypass.open
@11:27:34.89 Intake.close
@11:27:36.46 Toroid.in :hold
@11:27:36.50 Toroid.seek :crack
@11:27:38.18 Toroid.seek :cartridge
@11:27:39.41 Toroid.in :default
@11:27:39.54 Toroid.seek :clear
@11:27:41.60 <closeExhaust> Exhaust.close
@11:27:41.66 <closeBypass> Bypass.close
@11:27:42.97 <FILTERING> Verifying cartridge holds at least 0.65..0.85 of 207.6psia
@11:27:43.00 Waiting up to 40 seconds for cartridge pressure to stabilize +/-1.50psi
@11:27:47.65 Sampling 10.0ml
@11:27:47.67 SamplePump.setPosition! 0ml
@11:27:47.74 Exhaust.open
@11:27:49.06 Intake.open
@11:27:50.71 Pressure.hold
@11:27:50.88 Sea 130.5m deep (207.6psia)
@11:27:51.04 SamplePump.in :sample
@11:27:51.12 SamplePump.seek 10ml,1:21
@11:27:53.74 <sampling> Cartridge 55 filtering 1/10ml at 0.42ml/s with 0.0psi vacuum 130.5m deep (207.6psia)
@11:28:15.71 <FILTERING> Pressure.stop
@11:28:15.84 <closeIntake> Intake.close
@11:28:15.92 <closeExhaust> Exhaust.close
@11:28:16.08 <FILTERING> Toroid.in :hold
@11:28:16.14 Toroid.seek :bypass
@11:28:17.89 Toroid.in :default
@11:28:17.95 Toroid.seek :clear
@11:28:19.67 Sampled  10.0ml
@11:28:21.08 <LRAUV> -> Cmd.startProcessing
30.0
@11:28:21.58 <PROCESSING> Plunge.seek :reagent
@11:28:22.47 Sample loop closed. Ready to Deliver Reagents
@11:28:22.50 Archive.seek :sealed
@11:28:26.54 Archive.seek :evac
@11:28:40.75 delay 1:00
@11:29:40.80 Archive.seek :clear
@11:29:58.45 RNAlater soak for 45 seconds
@11:30:43.49 Archive.seek :tVent
@11:30:46.02 delay 1 second
@11:30:47.05 Archive.seek :evac
@11:31:02.68 delay 10 seconds
@11:31:12.74 Sample preserved and evacuated
@11:31:14.01 <LRAUV> -> Cmd.stop
@11:31:14.17 Carousel.in :default
@11:31:14.31 Carousel.home.seek 55
@11:31:14.56 Plunge.seek :locked
@11:31:15.50 <Archive> Archive.in :unlocking
@11:31:15.60 Archive.seek :clear
@11:31:15.75 <Air> Air.in :unlocking
@11:31:15.84 Air.seek :clear
@11:31:16.00 <Lysis1> Lysis1.in :unlocking
@11:31:16.08 Lysis1.seek :clear
@11:31:20.72 <LRAUV> Gate.power :motor,:OFF
@11:31:20.77 Gate.power :core,:OFF
@11:31:20.80 Gate.power :analytic1,:OFF
@11:31:20.84 Gate.power :analytic2,:OFF
@11:31:20.89 Gate.power :analytic3,:OFF
@11:31:20.93 Gate.power :main,:OFF
@11:31:20.95 Safely stopped and ready to power off
:STOPPED