@15:42:58.50PDT27-Apr-24 <simrapid> Simulated gateway v3.24 for core bus
@15:42:58.52 Simulated secondary gateway v3.24 for cartridge bus
@15:43:01.34 
Configuration for lrauvSIM by methane@mbari.org 1/24/23
/home/esp/esp2/type/auv/lrauvSIM/configure.rb
@15:43:01.80 Sea pressure (Abs) tare is 6% of full scale
@15:43:04.00 Polling Can every 2:00
@15:43:04.46 Clients may connect on TCP port 9999
@15:43:04.47 Connecting to 10.89.11.2:9999
@15:43:04.50 Waiting for espclients...
@15:43:04.69 <LRAUV> Session Begun
@15:43:06.63 -> showStatus
true
@15:43:08.65 -> Cmd.loadCartridge -6
@15:43:08.70 Gate.power :main,:ON
@15:43:08.73 Gate.power :analytic1,:ON
@15:43:08.75 Gate.power :analytic2,:ON
@15:43:08.77 Gate.power :analytic3,:ON
@15:43:08.80 Gate.power :core,:ON
@15:43:08.89 Archive.configure :default
@15:43:08.93 Air.configure :default
@15:43:09.01 Lysis1.configure :default
@15:43:09.08 Lysis2.configure :default
@15:43:09.15 Plunge.configure :default
@15:43:09.22 SamplePump.configure :default
@15:43:09.29 Toroid.configure :default
@15:43:09.34 Carousel.configure :default
@15:43:09.42 Pressure.configure :default
@15:43:09.50 ExtraPump.configure :default
@15:43:09.62 PinPort.configure :default
@15:43:09.76 All elf controllers running firmware version 4.79
@15:43:09.89 Gate.power :motor,:ON
@15:43:10.55 <Archive_home> Archive.home.jog 0
@15:43:10.96 <Air_home> Air.home.jog 0
@15:43:11.18 <Lysis1_home> Lysis1.home.jog 0
@15:43:11.51 <Lysis2_home> Lysis2.home.jog 0
@15:43:11.64 <Plunge_home> Plunge.home.jog 0
@15:43:11.86 <Toroid_home> Toroid.home.jog 0
@15:43:11.97 <PinPort_home> PinPort.home.jog 0
@15:43:12.03 <Carousel_home> Carousel.home.jog 0
@15:43:12.61 <PinPort_home> PinPort.setRawPosition! 0
@15:43:12.69 PinPort.in :homing
@15:43:12.75 PinPort.seek :home
@15:43:12.98 <Archive_home> Archive.setRawPosition! 50
@15:43:13.06 Archive.in :homing
@15:43:13.17 Archive.seek :home
@15:43:13.44 <Carousel_home> Carousel.setRawPosition! -53
@15:43:13.50 Carousel.in :homing
@15:43:13.58 Carousel.seek :home
@15:43:13.84 <Air_home> Air.setRawPosition! 50
@15:43:13.90 Air.in :homing
@15:43:14.01 Air.seek :home
@15:43:14.28 <Plunge_home> Plunge.setRawPosition! 50
@15:43:14.35 Plunge.in :homing
@15:43:14.44 Plunge.seek :home
@15:43:14.69 <PinPort_home> PinPort.in :default
@15:43:14.88 <Lysis1_home> Lysis1.setRawPosition! 50
@15:43:14.95 Lysis1.in :homing
@15:43:15.04 Lysis1.seek :home
@15:43:15.25 <Archive_home> Archive.in :default
@15:43:15.39 <Carousel_home> Carousel.in :default
@15:43:15.58 <Lysis2_home> Lysis2.setRawPosition! 50
@15:43:15.65 Lysis2.in :homing
@15:43:15.74 Lysis2.seek :home
@15:43:15.93 <Air_home> Air.in :default
@15:43:16.08 <Toroid_home> Toroid.setRawPosition! 0
@15:43:16.14 Toroid.in :homing
@15:43:16.22 Toroid.seek :home
@15:43:16.41 <Plunge_home> Plunge.in :default
@15:43:16.58 <Lysis1_home> Lysis1.in :default
@15:43:16.81 <Lysis2_home> Lysis2.in :default
@15:43:17.01 <Toroid_home> Toroid.in :default
@15:43:17.18 <LRAUV> Toroid.seek :clear
@15:43:18.93 Carousel.in :default
@15:43:19.11 Carousel.home.seek 1
@15:43:19.47 Selecting Cartridge 49
@15:43:20.10 Carousel.seek 49
@15:43:30.58 Lysis1.in :fast
@15:43:30.61 Lysis1.seek :locked
@15:43:33.27 <Plunge> Plunge.seek :locked
@15:43:33.47 <Air> Air.in :fast
@15:43:33.53 Air.seek :locked
@15:43:35.32 <LRAUV> Carousel.reconfigure :locked
@15:43:35.38 Carousel.jog 0
@15:43:35.69 Gate.power :cartridge,:ON
@15:43:35.83 Gate.power :cartridge,:OFF
@15:43:36.37 Mounted archive Cartridge
49
@15:43:43.41 -> Cmd.startFiltering
@15:43:43.66 <FILTERING> Preparing to filter cartridge 49
4.64
@15:43:43.96 Priming sample loop w/5ml, bypass w/1.5ml
@15:43:43.98 SamplePump.setPosition! 0ml
@15:43:44.02 Bypass.open
@15:43:44.88 Intake.open
@15:43:46.39 Sea 130.5m deep (207.6psia)
@15:43:46.43 Waiting up to 20 seconds for sea pressure to stabilize +/-0.50psi
@15:43:49.01 Vacuum tare is 37% of full scale
@15:43:49.16 <closeIntake> Intake.close
@15:43:49.24 <closeBypass> Bypass.close
@15:43:50.50 <FILTERING> Verifying toroid holds at least 0.6..0.85 of 207.6psia
@15:43:50.53 Waiting up to 40 seconds for toroid pressure to stabilize +/-1.50psi
@15:43:55.14 Bypass.open
@15:43:56.60 Intake.open
@15:43:58.87 Pressure.in :default
@15:43:58.93 Pressure.hold
@15:43:59.21 SamplePump.in :prime
@15:43:59.27 SamplePump.seek 1.5ml,35 seconds
@15:44:00.95 Pressure.stop
@15:44:00.98 SamplePump.setPosition! 0ml
@15:44:01.11 Exhaust.open
@15:44:03.15 <closeBypass> Bypass.close
@15:44:05.47 <FILTERING> Pressure.hold
@15:44:05.66 Sea 130.5m deep (207.6psia)
@15:44:05.80 SamplePump.in :prime
@15:44:05.86 SamplePump.seek 5ml,45 seconds
@15:44:10.43 Pressure.stop
@15:44:10.50 Bypass.open
@15:44:11.92 Intake.close
@15:44:13.49 Toroid.in :hold
@15:44:13.55 Toroid.seek :crack
@15:44:15.28 Toroid.seek :cartridge
@15:44:16.50 Toroid.in :default
@15:44:16.56 Toroid.seek :clear
@15:44:18.62 <closeExhaust> Exhaust.close
@15:44:18.69 <closeBypass> Bypass.close
@15:44:19.99 <FILTERING> Verifying cartridge holds at least 0.65..0.85 of 207.6psia
@15:44:20.02 Waiting up to 40 seconds for cartridge pressure to stabilize +/-1.50psi
@15:44:24.65 Sampling 10.0ml
@15:44:24.67 SamplePump.setPosition! 0ml
@15:44:24.73 Exhaust.open
@15:44:26.06 Intake.open
@15:44:27.71 Pressure.hold
@15:44:27.91 Sea 130.5m deep (207.6psia)
@15:44:28.14 SamplePump.in :sample
@15:44:28.26 SamplePump.seek 10ml,1:21
@15:44:30.75 <sampling> Cartridge 49 filtering 1/10ml at 0.42ml/s with 0.0psi vacuum 130.5m deep (207.6psia)
@15:44:52.92 <FILTERING> Pressure.stop
@15:44:53.04 <closeIntake> Intake.close
@15:44:53.11 <closeExhaust> Exhaust.close
@15:44:53.27 <FILTERING> Toroid.in :hold
@15:44:53.31 Toroid.seek :bypass
@15:44:55.07 Toroid.in :default
@15:44:55.13 Toroid.seek :clear
@15:44:56.94 Sampled  10.0ml
@15:44:58.57 <LRAUV> -> Cmd.startProcessing
30.0
@15:44:59.03 <PROCESSING> Plunge.seek :reagent
@15:44:59.92 Sample loop closed. Ready to Deliver Reagents
@15:44:59.95 Archive.seek :sealed
@15:45:04.01 Archive.seek :evac
@15:45:18.20 delay 1:00
@15:46:18.23 Archive.seek :clear
@15:46:35.88 RNAlater soak for 45 seconds
@15:47:20.91 Archive.seek :tVent
@15:47:23.44 delay 1 second
@15:47:24.46 Archive.seek :evac
@15:47:40.11 delay 10 seconds
@15:47:50.16 Sample preserved and evacuated
@15:47:51.06 <LRAUV> -> Cmd.stop
@15:47:51.22 Carousel.in :default
@15:47:51.35 Carousel.home.seek 49
@15:47:51.61 Plunge.seek :locked
@15:47:52.57 <Archive> Archive.in :unlocking
@15:47:52.67 Archive.seek :clear
@15:47:53.59 <Air> Air.in :unlocking
@15:47:53.72 Air.seek :clear
@15:47:53.98 <Lysis1> Lysis1.in :unlocking
@15:47:54.09 Lysis1.seek :clear
@15:47:57.80 <LRAUV> Gate.power :motor,:OFF
@15:47:57.84 Gate.power :core,:OFF
@15:47:57.88 Gate.power :analytic1,:OFF
@15:47:57.92 Gate.power :analytic2,:OFF
@15:47:57.97 Gate.power :analytic3,:OFF
@15:47:58.01 Gate.power :main,:OFF
@15:47:58.03 Safely stopped and ready to power off
:STOPPED