@14:53:56.32PDT27-Apr-24 <simrapid> Simulated gateway v3.24 for core bus
@14:53:56.34 Simulated secondary gateway v3.24 for cartridge bus
@14:53:59.10 
Configuration for lrauvSIM by methane@mbari.org 1/24/23
/home/esp/esp2/type/auv/lrauvSIM/configure.rb
@14:53:59.57 Sea pressure (Abs) tare is 6% of full scale
@14:54:01.43 Polling Can every 2:00
@14:54:02.19 Clients may connect on TCP port 9999
@14:54:02.20 Connecting to 10.89.11.2:9999
@14:54:02.24 Waiting for espclients...
@14:54:02.39 <LRAUV> Session Begun
@14:54:04.12 -> showStatus
true
@14:54:06.14 -> Cmd.loadCartridge -6
@14:54:06.18 Gate.power :main,:ON
@14:54:06.21 Gate.power :analytic1,:ON
@14:54:06.23 Gate.power :analytic2,:ON
@14:54:06.26 Gate.power :analytic3,:ON
@14:54:06.28 Gate.power :core,:ON
@14:54:06.39 Archive.configure :default
@14:54:06.44 Air.configure :default
@14:54:06.50 Lysis1.configure :default
@14:54:06.57 Lysis2.configure :default
@14:54:06.66 Plunge.configure :default
@14:54:06.73 SamplePump.configure :default
@14:54:06.80 Toroid.configure :default
@14:54:06.87 Carousel.configure :default
@14:54:06.94 Pressure.configure :default
@14:54:07.00 ExtraPump.configure :default
@14:54:07.07 PinPort.configure :default
@14:54:07.12 All elf controllers running firmware version 4.79
@14:54:07.19 Gate.power :motor,:ON
@14:54:07.46 <Archive_home> Archive.home.jog 0
@14:54:07.68 <Air_home> Air.home.jog 0
@14:54:07.76 <Lysis1_home> Lysis1.home.jog 0
@14:54:07.87 <Lysis2_home> Lysis2.home.jog 0
@14:54:07.95 <Plunge_home> Plunge.home.jog 0
@14:54:08.00 <Carousel_home> Carousel.home.jog 0
@14:54:08.11 <Toroid_home> Toroid.home.jog 0
@14:54:08.14 <PinPort_home> PinPort.home.jog 0
@14:54:08.40 <Carousel_home> Carousel.setRawPosition! -53
@14:54:08.42 Carousel.in :homing
@14:54:08.48 Carousel.seek :home
@14:54:08.60 <Archive_home> Archive.setRawPosition! 50
@14:54:08.63 Archive.in :homing
@14:54:08.67 Archive.seek :home
@14:54:08.81 <PinPort_home> PinPort.setRawPosition! 0
@14:54:08.84 PinPort.in :homing
@14:54:08.90 PinPort.seek :home
@14:54:09.01 <Air_home> Air.setRawPosition! 50
@14:54:09.04 Air.in :homing
@14:54:09.09 Air.seek :home
@14:54:09.22 <Plunge_home> Plunge.setRawPosition! 50
@14:54:09.26 Plunge.in :homing
@14:54:09.30 Plunge.seek :home
@14:54:09.48 <Lysis1_home> Lysis1.setRawPosition! 50
@14:54:09.51 Lysis1.in :homing
@14:54:09.55 Lysis1.seek :home
@14:54:09.66 <Carousel_home> Carousel.in :default
@14:54:09.74 <Archive_home> Archive.in :default
@14:54:09.80 <PinPort_home> PinPort.in :default
@14:54:09.90 <Lysis2_home> Lysis2.setRawPosition! 50
@14:54:09.93 Lysis2.in :homing
@14:54:09.97 Lysis2.seek :home
@14:54:10.08 <Toroid_home> Toroid.setRawPosition! 0
@14:54:10.11 Toroid.in :homing
@14:54:10.15 Toroid.seek :home
@14:54:10.24 <Air_home> Air.in :default
@14:54:10.29 <Plunge_home> Plunge.in :default
@14:54:10.37 <Lysis1_home> Lysis1.in :default
@14:54:10.53 <Toroid_home> Toroid.in :default
@14:54:10.71 <Lysis2_home> Lysis2.in :default
@14:54:11.03 <LRAUV> Toroid.seek :clear
@14:54:12.78 Carousel.in :default
@14:54:12.98 Carousel.home.seek 1
@14:54:13.26 Selecting Cartridge 50
@14:54:13.66 Carousel.seek 50
@14:54:24.36 Lysis1.in :fast
@14:54:24.39 Lysis1.seek :locked
@14:54:27.06 <Plunge> Plunge.seek :locked
@14:54:27.17 <Air> Air.in :fast
@14:54:27.21 Air.seek :locked
@14:54:28.85 <LRAUV> Carousel.reconfigure :locked
@14:54:28.90 Carousel.jog 0
@14:54:29.08 Gate.power :cartridge,:ON
@14:54:29.15 Gate.power :cartridge,:OFF
@14:54:29.67 Mounted archive Cartridge
50
@14:54:40.88 -> Cmd.startFiltering
@14:54:41.13 <FILTERING> Preparing to filter cartridge 50
4.64
@14:54:41.42 Priming sample loop w/5ml, bypass w/1.5ml
@14:54:41.44 SamplePump.setPosition! 0ml
@14:54:41.50 Bypass.open
@14:54:42.35 Intake.open
@14:54:43.91 Sea 130.5m deep (207.6psia)
@14:54:43.96 Waiting up to 20 seconds for sea pressure to stabilize +/-0.50psi
@14:54:46.58 Vacuum tare is 37% of full scale
@14:54:46.72 <closeIntake> Intake.close
@14:54:46.77 <closeBypass> Bypass.close
@14:54:48.07 <FILTERING> Verifying toroid holds at least 0.6..0.85 of 207.6psia
@14:54:48.10 Waiting up to 40 seconds for toroid pressure to stabilize +/-1.50psi
@14:54:52.68 Bypass.open
@14:54:54.15 Intake.open
@14:54:56.41 Pressure.in :default
@14:54:56.48 Pressure.hold
@14:54:56.73 SamplePump.in :prime
@14:54:56.79 SamplePump.seek 1.5ml,35 seconds
@14:54:58.46 Pressure.stop
@14:54:58.53 SamplePump.setPosition! 0ml
@14:54:58.64 Exhaust.open
@14:55:00.66 <closeBypass> Bypass.close
@14:55:02.98 <FILTERING> Pressure.hold
@14:55:03.17 Sea 130.5m deep (207.6psia)
@14:55:03.31 SamplePump.in :prime
@14:55:03.37 SamplePump.seek 5ml,45 seconds
@14:55:07.94 Pressure.stop
@14:55:08.01 Bypass.open
@14:55:09.43 Intake.close
@14:55:11.01 Toroid.in :hold
@14:55:11.10 Toroid.seek :crack
@14:55:12.83 Toroid.seek :cartridge
@14:55:14.02 Toroid.in :default
@14:55:14.06 Toroid.seek :clear
@14:55:16.13 <closeExhaust> Exhaust.close
@14:55:16.17 <closeBypass> Bypass.close
@14:55:17.50 <FILTERING> Verifying cartridge holds at least 0.65..0.85 of 207.6psia
@14:55:17.53 Waiting up to 40 seconds for cartridge pressure to stabilize +/-1.50psi
@14:55:22.18 Sampling 10.0ml
@14:55:22.20 SamplePump.setPosition! 0ml
@14:55:22.26 Exhaust.open
@14:55:23.58 Intake.open
@14:55:25.32 Pressure.hold
@14:55:25.55 Sea 130.5m deep (207.6psia)
@14:55:25.76 SamplePump.in :sample
@14:55:25.88 SamplePump.seek 10ml,1:21
@14:55:28.33 <sampling> Cartridge 50 filtering 1/10ml at 0.42ml/s with 0.0psi vacuum 130.5m deep (207.6psia)
@14:55:50.54 <FILTERING> Pressure.stop
@14:55:50.67 <closeIntake> Intake.close
@14:55:50.74 <closeExhaust> Exhaust.close
@14:55:50.90 <FILTERING> Toroid.in :hold
@14:55:50.96 Toroid.seek :bypass
@14:55:52.73 Toroid.in :default
@14:55:52.81 Toroid.seek :clear
@14:55:54.59 Sampled  10.0ml
@14:55:56.02 <LRAUV> -> Cmd.startProcessing
30.0
@14:55:56.48 <PROCESSING> Plunge.seek :reagent
@14:55:57.36 Sample loop closed. Ready to Deliver Reagents
@14:55:57.39 Archive.seek :sealed
@14:56:01.42 Archive.seek :evac
@14:56:15.57 delay 1:00
@14:57:15.62 Archive.seek :clear
@14:57:33.27 RNAlater soak for 45 seconds
@14:58:18.30 Archive.seek :tVent
@14:58:20.83 delay 1 second
@14:58:21.85 Archive.seek :evac
@14:58:37.50 delay 10 seconds
@14:58:47.54 Sample preserved and evacuated
@14:58:48.53 <LRAUV> -> Cmd.stop
@14:58:48.70 Carousel.in :default
@14:58:48.83 Carousel.home.seek 50
@14:58:49.08 Plunge.seek :locked
@14:58:50.09 <Archive> Archive.in :unlocking
@14:58:50.27 Archive.seek :clear
@14:58:50.47 <Air> Air.in :unlocking
@14:58:50.70 Air.seek :clear
@14:58:51.55 <Lysis1> Lysis1.in :unlocking
@14:58:51.64 Lysis1.seek :clear
@14:58:55.60 <LRAUV> Gate.power :motor,:OFF
@14:58:55.64 Gate.power :core,:OFF
@14:58:55.68 Gate.power :analytic1,:OFF
@14:58:55.73 Gate.power :analytic2,:OFF
@14:58:55.76 Gate.power :analytic3,:OFF
@14:58:55.81 Gate.power :main,:OFF
@14:58:55.83 Safely stopped and ready to power off
:STOPPED