@13:01:41.68PDT27-Apr-24 <simrapid> Simulated gateway v3.24 for core bus
@13:01:41.70 Simulated secondary gateway v3.24 for cartridge bus
@13:01:44.59 
Configuration for lrauvSIM by methane@mbari.org 1/24/23
/home/esp/esp2/type/auv/lrauvSIM/configure.rb
@13:01:45.05 Sea pressure (Abs) tare is 6% of full scale
@13:01:46.95 Polling Can every 2:00
@13:01:47.41 Clients may connect on TCP port 9999
@13:01:47.42 Connecting to 10.89.11.2:9999
@13:01:47.46 Waiting for espclients...
@13:01:47.70 <LRAUV> Session Begun
@13:01:49.64 -> showStatus
true
@13:01:51.68 -> Cmd.loadCartridge -6
@13:01:51.73 Gate.power :main,:ON
@13:01:51.75 Gate.power :analytic1,:ON
@13:01:51.77 Gate.power :analytic2,:ON
@13:01:51.79 Gate.power :analytic3,:ON
@13:01:51.82 Gate.power :core,:ON
@13:01:52.26 Archive.configure :default
@13:01:52.30 Air.configure :default
@13:01:52.37 Lysis1.configure :default
@13:01:52.43 Lysis2.configure :default
@13:01:52.54 Plunge.configure :default
@13:01:52.70 SamplePump.configure :default
@13:01:52.84 Toroid.configure :default
@13:01:52.97 Carousel.configure :default
@13:01:53.11 Pressure.configure :default
@13:01:53.30 ExtraPump.configure :default
@13:01:53.44 PinPort.configure :default
@13:01:53.59 All elf controllers running firmware version 4.79
@13:01:53.73 Gate.power :motor,:ON
@13:01:54.69 <Archive_home> Archive.home.jog 0
@13:01:54.89 <Air_home> Air.home.jog 0
@13:01:55.20 <Lysis1_home> Lysis1.home.jog 0
@13:01:55.31 <Lysis2_home> Lysis2.home.jog 0
@13:01:55.63 <Plunge_home> Plunge.home.jog 0
@13:01:55.72 <Toroid_home> Toroid.home.jog 0
@13:01:55.77 <Carousel_home> Carousel.home.jog 0
@13:01:55.89 <PinPort_home> PinPort.home.jog 0
@13:01:56.48 <Carousel_home> Carousel.setRawPosition! -53
@13:01:56.55 Carousel.in :homing
@13:01:56.65 Carousel.seek :home
@13:01:56.86 <Archive_home> Archive.setRawPosition! 50
@13:01:56.92 Archive.in :homing
@13:01:57.02 Archive.seek :home
@13:01:57.29 <PinPort_home> PinPort.setRawPosition! 0
@13:01:57.35 PinPort.in :homing
@13:01:57.45 PinPort.seek :home
@13:01:57.74 <Air_home> Air.setRawPosition! 50
@13:01:57.79 Air.in :homing
@13:01:57.88 Air.seek :home
@13:01:58.17 <Plunge_home> Plunge.setRawPosition! 50
@13:01:58.25 Plunge.in :homing
@13:01:58.33 Plunge.seek :home
@13:01:58.58 <Carousel_home> Carousel.in :default
@13:01:58.78 <Lysis1_home> Lysis1.setRawPosition! 50
@13:01:58.85 Lysis1.in :homing
@13:01:58.94 Lysis1.seek :home
@13:01:59.13 <Archive_home> Archive.in :default
@13:01:59.26 <PinPort_home> PinPort.in :default
@13:01:59.46 <Lysis2_home> Lysis2.setRawPosition! 50
@13:01:59.52 Lysis2.in :homing
@13:01:59.60 Lysis2.seek :home
@13:01:59.78 <Air_home> Air.in :default
@13:01:59.94 <Toroid_home> Toroid.setRawPosition! 0
@13:02:00.01 Toroid.in :homing
@13:02:00.07 Toroid.seek :home
@13:02:00.27 <Plunge_home> Plunge.in :default
@13:02:00.46 <Lysis1_home> Lysis1.in :default
@13:02:00.69 <Lysis2_home> Lysis2.in :default
@13:02:00.95 <Toroid_home> Toroid.in :default
@13:02:01.24 <LRAUV> Toroid.seek :clear
@13:02:03.00 Carousel.in :default
@13:02:03.26 Carousel.home.seek 1
@13:02:03.48 Selecting Cartridge 52
@13:02:03.67 Carousel.seek 52
@13:02:14.71 Lysis1.in :fast
@13:02:14.74 Lysis1.seek :locked
@13:02:17.51 <Plunge> Plunge.seek :locked
@13:02:17.73 <Air> Air.in :fast
@13:02:17.81 Air.seek :locked
@13:02:19.59 <LRAUV> Carousel.reconfigure :locked
@13:02:19.71 Carousel.jog 0
@13:02:20.01 Gate.power :cartridge,:ON
@13:02:20.17 Gate.power :cartridge,:OFF
@13:02:20.72 Mounted archive Cartridge
52
@13:02:26.41 -> Cmd.startFiltering
@13:02:26.67 <FILTERING> Preparing to filter cartridge 52
4.64
@13:02:26.96 Priming sample loop w/5ml, bypass w/1.5ml
@13:02:26.99 SamplePump.setPosition! 0ml
@13:02:27.03 Bypass.open
@13:02:27.95 Intake.open
@13:02:29.41 Sea 130.5m deep (207.6psia)
@13:02:29.44 Waiting up to 20 seconds for sea pressure to stabilize +/-0.50psi
@13:02:32.08 Vacuum tare is 37% of full scale
@13:02:32.24 <closeIntake> Intake.close
@13:02:32.33 <closeBypass> Bypass.close
@13:02:33.51 <FILTERING> Verifying toroid holds at least 0.6..0.85 of 207.6psia
@13:02:33.54 Waiting up to 40 seconds for toroid pressure to stabilize +/-1.50psi
@13:02:38.17 Bypass.open
@13:02:39.60 Intake.open
@13:02:41.86 Pressure.in :default
@13:02:41.92 Pressure.hold
@13:02:42.18 SamplePump.in :prime
@13:02:42.26 SamplePump.seek 1.5ml,35 seconds
@13:02:43.92 Pressure.stop
@13:02:44.00 SamplePump.setPosition! 0ml
@13:02:44.12 Exhaust.open
@13:02:46.13 <closeBypass> Bypass.close
@13:02:48.45 <FILTERING> Pressure.hold
@13:02:48.63 Sea 130.5m deep (207.6psia)
@13:02:48.78 SamplePump.in :prime
@13:02:48.90 SamplePump.seek 5ml,45 seconds
@13:02:53.48 Pressure.stop
@13:02:53.55 Bypass.open
@13:02:54.97 Intake.close
@13:02:56.55 Toroid.in :hold
@13:02:56.60 Toroid.seek :crack
@13:02:58.26 Toroid.seek :cartridge
@13:02:59.50 Toroid.in :default
@13:02:59.56 Toroid.seek :clear
@13:03:01.66 <closeExhaust> Exhaust.close
@13:03:01.74 <closeBypass> Bypass.close
@13:03:03.02 <FILTERING> Verifying cartridge holds at least 0.65..0.85 of 207.6psia
@13:03:03.05 Waiting up to 40 seconds for cartridge pressure to stabilize +/-1.50psi
@13:03:07.70 Sampling 10.0ml
@13:03:07.73 SamplePump.setPosition! 0ml
@13:03:07.79 Exhaust.open
@13:03:09.10 Intake.open
@13:03:10.75 Pressure.hold
@13:03:10.93 Sea 130.5m deep (207.6psia)
@13:03:11.08 SamplePump.in :sample
@13:03:11.16 SamplePump.seek 10ml,1:21
@13:03:13.78 <sampling> Cartridge 52 filtering 1/10ml at 0.42ml/s with 0.0psi vacuum 130.5m deep (207.6psia)
@13:03:35.77 <FILTERING> Pressure.stop
@13:03:35.90 <closeIntake> Intake.close
@13:03:35.95 <closeExhaust> Exhaust.close
@13:03:36.16 <FILTERING> Toroid.in :hold
@13:03:36.22 Toroid.seek :bypass
@13:03:37.96 Toroid.in :default
@13:03:38.01 Toroid.seek :clear
@13:03:39.76 Sampled  10.0ml
@13:03:41.16 <LRAUV> -> Cmd.startProcessing
30.0
@13:03:41.62 <PROCESSING> Plunge.seek :reagent
@13:03:42.51 Sample loop closed. Ready to Deliver Reagents
@13:03:42.54 Archive.seek :sealed
@13:03:46.59 Archive.seek :evac
@13:04:00.80 delay 1:00
@13:05:00.86 Archive.seek :clear
@13:05:18.50 RNAlater soak for 45 seconds
@13:06:03.53 Archive.seek :tVent
@13:06:06.10 delay 1 second
@13:06:07.13 Archive.seek :evac
@13:06:22.80 delay 10 seconds
@13:06:32.85 Sample preserved and evacuated
@13:06:34.07 <LRAUV> -> Cmd.stop
@13:06:34.25 Carousel.in :default
@13:06:34.38 Carousel.home.seek 52
@13:06:34.62 Plunge.seek :locked
@13:06:35.58 <Archive> Archive.in :unlocking
@13:06:35.68 Archive.seek :clear
@13:06:35.85 <Air> Air.in :unlocking
@13:06:35.91 Air.seek :clear
@13:06:36.07 <Lysis1> Lysis1.in :unlocking
@13:06:36.91 Lysis1.seek :clear
@13:06:40.83 <LRAUV> Gate.power :motor,:OFF
@13:06:40.87 Gate.power :core,:OFF
@13:06:40.91 Gate.power :analytic1,:OFF
@13:06:40.95 Gate.power :analytic2,:OFF
@13:06:40.99 Gate.power :analytic3,:OFF
@13:06:41.03 Gate.power :main,:OFF
@13:06:41.05 Safely stopped and ready to power off
:STOPPED