@11:59:06.44PDT27-Apr-24 <simrapid> Simulated gateway v3.24 for core bus
@11:59:06.46 Simulated secondary gateway v3.24 for cartridge bus
@11:59:09.23 
Configuration for lrauvSIM by methane@mbari.org 1/24/23
/home/esp/esp2/type/auv/lrauvSIM/configure.rb
@11:59:09.69 Sea pressure (Abs) tare is 6% of full scale
@11:59:11.47 Polling Can every 2:00
@11:59:11.93 Clients may connect on TCP port 9999
@11:59:11.94 Connecting to 10.89.11.2:9999
@11:59:11.97 Waiting for espclients...
@11:59:12.33 <LRAUV> Session Begun
@11:59:14.21 -> showStatus
true
@11:59:16.24 -> Cmd.loadCartridge -6
@11:59:16.28 Gate.power :main,:ON
@11:59:16.31 Gate.power :analytic1,:ON
@11:59:16.33 Gate.power :analytic2,:ON
@11:59:16.35 Gate.power :analytic3,:ON
@11:59:16.38 Gate.power :core,:ON
@11:59:16.80 Archive.configure :default
@11:59:16.84 Air.configure :default
@11:59:16.91 Lysis1.configure :default
@11:59:16.96 Lysis2.configure :default
@11:59:17.04 Plunge.configure :default
@11:59:17.11 SamplePump.configure :default
@11:59:17.18 Toroid.configure :default
@11:59:17.25 Carousel.configure :default
@11:59:17.32 Pressure.configure :default
@11:59:17.39 ExtraPump.configure :default
@11:59:17.46 PinPort.configure :default
@11:59:17.57 All elf controllers running firmware version 4.79
@11:59:17.65 Gate.power :motor,:ON
@11:59:18.22 <Archive_home> Archive.home.jog 0
@11:59:18.35 <Air_home> Air.home.jog 0
@11:59:19.13 <Lysis1_home> Lysis1.home.jog 0
@11:59:19.29 <Lysis2_home> Lysis2.home.jog 0
@11:59:19.43 <Plunge_home> Plunge.home.jog 0
@11:59:19.57 <Carousel_home> Carousel.home.jog 0
@11:59:19.77 <Toroid_home> Toroid.home.jog 0
@11:59:19.91 <PinPort_home> PinPort.home.jog 0
@11:59:20.46 <Carousel_home> Carousel.setRawPosition! -53
@11:59:20.54 Carousel.in :homing
@11:59:20.63 Carousel.seek :home
@11:59:20.89 <PinPort_home> PinPort.setRawPosition! 0
@11:59:20.96 PinPort.in :homing
@11:59:21.03 PinPort.seek :home
@11:59:21.30 <Archive_home> Archive.setRawPosition! 50
@11:59:21.37 Archive.in :homing
@11:59:21.43 Archive.seek :home
@11:59:21.69 <Air_home> Air.setRawPosition! 50
@11:59:21.75 Air.in :homing
@11:59:21.87 Air.seek :home
@11:59:22.17 <Plunge_home> Plunge.setRawPosition! 50
@11:59:22.23 Plunge.in :homing
@11:59:22.33 Plunge.seek :home
@11:59:22.59 <Carousel_home> Carousel.in :default
@11:59:22.76 <PinPort_home> PinPort.in :default
@11:59:22.95 <Lysis1_home> Lysis1.setRawPosition! 50
@11:59:23.01 Lysis1.in :homing
@11:59:23.10 Lysis1.seek :home
@11:59:23.29 <Archive_home> Archive.in :default
@11:59:23.42 <Lysis2_home> Lysis2.setRawPosition! 50
@11:59:23.48 Lysis2.in :homing
@11:59:23.60 Lysis2.seek :home
@11:59:23.76 <Air_home> Air.in :default
@11:59:23.92 <Toroid_home> Toroid.setRawPosition! 0
@11:59:23.98 Toroid.in :homing
@11:59:24.05 Toroid.seek :home
@11:59:24.25 <Plunge_home> Plunge.in :default
@11:59:24.43 <Lysis1_home> Lysis1.in :default
@11:59:24.66 <Lysis2_home> Lysis2.in :default
@11:59:24.86 <Toroid_home> Toroid.in :default
@11:59:25.03 <LRAUV> Toroid.seek :clear
@11:59:26.77 Carousel.in :default
@11:59:26.98 Carousel.home.seek 1
@11:59:27.36 Selecting Cartridge 54
@11:59:27.96 Carousel.seek 54
@11:59:39.43 Lysis1.in :fast
@11:59:39.48 Lysis1.seek :locked
@11:59:42.19 <Plunge> Plunge.seek :locked
@11:59:42.40 <Air> Air.in :fast
@11:59:42.48 Air.seek :locked
@11:59:44.27 <LRAUV> Carousel.reconfigure :locked
@11:59:44.42 Carousel.jog 0
@11:59:44.72 Gate.power :cartridge,:ON
@11:59:44.90 Gate.power :cartridge,:OFF
@11:59:45.44 Mounted archive Cartridge
54
@11:59:51.01 -> Cmd.startFiltering
@11:59:51.26 <FILTERING> Preparing to filter cartridge 54
4.64
@11:59:51.57 Priming sample loop w/5ml, bypass w/1.5ml
@11:59:51.59 SamplePump.setPosition! 0ml
@11:59:51.61 Bypass.open
@11:59:52.51 Intake.open
@11:59:54.01 Sea 130.5m deep (207.6psia)
@11:59:54.05 Waiting up to 20 seconds for sea pressure to stabilize +/-0.50psi
@11:59:56.68 Vacuum tare is 37% of full scale
@11:59:56.86 <closeIntake> Intake.close
@11:59:56.94 <closeBypass> Bypass.close
@11:59:58.12 <FILTERING> Verifying toroid holds at least 0.6..0.85 of 207.6psia
@11:59:58.16 Waiting up to 40 seconds for toroid pressure to stabilize +/-1.50psi
@12:00:02.84 Bypass.open
@12:00:04.20 Intake.open
@12:00:06.47 Pressure.in :default
@12:00:06.51 Pressure.hold
@12:00:06.81 SamplePump.in :prime
@12:00:06.89 SamplePump.seek 1.5ml,35 seconds
@12:00:08.52 Pressure.stop
@12:00:08.60 SamplePump.setPosition! 0ml
@12:00:08.69 Exhaust.open
@12:00:10.73 <closeBypass> Bypass.close
@12:00:13.05 <FILTERING> Pressure.hold
@12:00:13.27 Sea 130.5m deep (207.6psia)
@12:00:13.42 SamplePump.in :prime
@12:00:13.48 SamplePump.seek 5ml,45 seconds
@12:00:18.07 Pressure.stop
@12:00:18.14 Bypass.open
@12:00:19.56 Intake.close
@12:00:21.13 Toroid.in :hold
@12:00:21.19 Toroid.seek :crack
@12:00:22.86 Toroid.seek :cartridge
@12:00:24.11 Toroid.in :default
@12:00:24.20 Toroid.seek :clear
@12:00:26.26 <closeExhaust> Exhaust.close
@12:00:26.35 <closeBypass> Bypass.close
@12:00:27.62 <FILTERING> Verifying cartridge holds at least 0.65..0.85 of 207.6psia
@12:00:27.65 Waiting up to 40 seconds for cartridge pressure to stabilize +/-1.50psi
@12:00:32.29 Sampling 10.0ml
@12:00:32.31 SamplePump.setPosition! 0ml
@12:00:32.37 Exhaust.open
@12:00:33.70 Intake.open
@12:00:35.38 Pressure.hold
@12:00:35.55 Sea 130.5m deep (207.6psia)
@12:00:35.72 SamplePump.in :sample
@12:00:35.79 SamplePump.seek 10ml,1:21
@12:00:38.43 <sampling> Cartridge 54 filtering 1/10ml at 0.42ml/s with 0.0psi vacuum 130.5m deep (207.6psia)
@12:01:00.40 <FILTERING> Pressure.stop
@12:01:00.52 <closeIntake> Intake.close
@12:01:00.59 <closeExhaust> Exhaust.close
@12:01:00.77 <FILTERING> Toroid.in :hold
@12:01:00.83 Toroid.seek :bypass
@12:01:02.58 Toroid.in :default
@12:01:02.63 Toroid.seek :clear
@12:01:04.36 Sampled  10.0ml
@12:01:05.74 <LRAUV> -> Cmd.startProcessing
30.0
@12:01:06.19 <PROCESSING> Plunge.seek :reagent
@12:01:07.09 Sample loop closed. Ready to Deliver Reagents
@12:01:07.12 Archive.seek :sealed
@12:01:11.16 Archive.seek :evac
@12:01:25.36 delay 1:00
@12:02:25.41 Archive.seek :clear
@12:02:43.06 RNAlater soak for 45 seconds
@12:03:28.10 Archive.seek :tVent
@12:03:30.68 delay 1 second
@12:03:31.71 Archive.seek :evac
@12:03:47.36 delay 10 seconds
@12:03:57.40 Sample preserved and evacuated
@12:03:58.66 <LRAUV> -> Cmd.stop
@12:03:58.82 Carousel.in :default
@12:03:58.95 Carousel.home.seek 54
@12:03:59.20 Plunge.seek :locked
@12:04:00.17 <Archive> Archive.in :unlocking
@12:04:00.26 Archive.seek :clear
@12:04:00.42 <Air> Air.in :unlocking
@12:04:00.50 Air.seek :clear
@12:04:00.66 <Lysis1> Lysis1.in :unlocking
@12:04:00.76 Lysis1.seek :clear
@12:04:05.38 <LRAUV> Gate.power :motor,:OFF
@12:04:05.44 Gate.power :core,:OFF
@12:04:05.48 Gate.power :analytic1,:OFF
@12:04:05.52 Gate.power :analytic2,:OFF
@12:04:05.56 Gate.power :analytic3,:OFF
@12:04:05.60 Gate.power :main,:OFF
@12:04:05.63 Safely stopped and ready to power off
:STOPPED