@15:55:56.40PDT27-Apr-24 <simrapid> Simulated gateway v3.24 for core bus
@15:55:56.41 Simulated secondary gateway v3.24 for cartridge bus
@15:55:59.22 
Configuration for lrauvSIM by methane@mbari.org 1/24/23
/home/esp/esp2/type/auv/lrauvSIM/configure.rb
@15:55:59.71 Sea pressure (Abs) tare is 6% of full scale
@15:56:01.95 Polling Can every 2:00
@15:56:02.41 Clients may connect on TCP port 9999
Connecting to 10.89.11.2:9999
@15:56:02.45 Waiting for espclients...
@15:56:02.55 <LRAUV> Session Begun
@15:56:04.51 -> showStatus
true
@15:56:06.51 -> Cmd.loadCartridge -6
@15:56:06.56 Gate.power :main,:ON
@15:56:06.58 Gate.power :analytic1,:ON
@15:56:06.60 Gate.power :analytic2,:ON
@15:56:06.62 Gate.power :analytic3,:ON
@15:56:06.64 Gate.power :core,:ON
@15:56:06.76 Archive.configure :default
@15:56:06.81 Air.configure :default
@15:56:06.86 Lysis1.configure :default
@15:56:06.92 Lysis2.configure :default
@15:56:07.00 Plunge.configure :default
@15:56:07.07 SamplePump.configure :default
@15:56:07.14 Toroid.configure :default
@15:56:07.20 Carousel.configure :default
@15:56:07.28 Pressure.configure :default
@15:56:07.35 ExtraPump.configure :default
@15:56:07.41 PinPort.configure :default
@15:56:07.52 All elf controllers running firmware version 4.79
@15:56:07.62 Gate.power :motor,:ON
@15:56:08.30 <Archive_home> Archive.home.jog 0
@15:56:08.63 <Air_home> Air.home.jog 0
@15:56:08.91 <Lysis1_home> Lysis1.home.jog 0
@15:56:09.28 <Lysis2_home> Lysis2.home.jog 0
@15:56:09.43 <Plunge_home> Plunge.home.jog 0
@15:56:09.49 <Carousel_home> Carousel.home.jog 0
@15:56:09.76 <PinPort_home> PinPort.home.jog 0
@15:56:09.91 <Toroid_home> Toroid.home.jog 0
@15:56:10.40 <Carousel_home> Carousel.setRawPosition! -53
@15:56:10.45 Carousel.in :homing
@15:56:10.59 Carousel.seek :home
@15:56:10.86 <PinPort_home> PinPort.setRawPosition! 0
@15:56:10.95 PinPort.in :homing
@15:56:11.00 PinPort.seek :home
@15:56:11.27 <Archive_home> Archive.setRawPosition! 50
@15:56:11.31 Archive.in :homing
@15:56:11.42 Archive.seek :home
@15:56:11.67 <Air_home> Air.setRawPosition! 50
@15:56:11.74 Air.in :homing
@15:56:11.81 Air.seek :home
@15:56:12.08 <Plunge_home> Plunge.setRawPosition! 50
@15:56:12.15 Plunge.in :homing
@15:56:12.25 Plunge.seek :home
@15:56:12.49 <Carousel_home> Carousel.in :default
@15:56:12.66 <PinPort_home> PinPort.in :default
@15:56:12.85 <Lysis1_home> Lysis1.setRawPosition! 50
@15:56:12.92 Lysis1.in :homing
@15:56:13.00 Lysis1.seek :home
@15:56:13.18 <Archive_home> Archive.in :default
@15:56:13.34 <Lysis2_home> Lysis2.setRawPosition! 50
@15:56:13.42 Lysis2.in :homing
@15:56:13.51 Lysis2.seek :home
@15:56:13.69 <Air_home> Air.in :default
@15:56:13.84 <Toroid_home> Toroid.setRawPosition! 0
@15:56:13.90 Toroid.in :homing
@15:56:13.97 Toroid.seek :home
@15:56:14.16 <Plunge_home> Plunge.in :default
@15:56:14.36 <Lysis1_home> Lysis1.in :default
@15:56:14.59 <Lysis2_home> Lysis2.in :default
@15:56:14.80 <Toroid_home> Toroid.in :default
@15:56:14.97 <LRAUV> Toroid.seek :clear
@15:56:16.71 Carousel.in :default
@15:56:16.96 Carousel.home.seek 1
@15:56:17.32 Selecting Cartridge 48
@15:56:17.94 Carousel.seek 48
@15:56:28.21 Lysis1.in :fast
@15:56:28.25 Lysis1.seek :locked
@15:56:30.91 <Plunge> Plunge.seek :locked
@15:56:31.01 <Air> Air.in :fast
@15:56:31.04 Air.seek :locked
@15:56:32.72 <LRAUV> Carousel.reconfigure :locked
@15:56:32.82 Carousel.jog 0
@15:56:33.11 Gate.power :cartridge,:ON
@15:56:33.26 Gate.power :cartridge,:OFF
@15:56:33.80 Mounted archive Cartridge
48
@15:56:41.26 -> Cmd.startFiltering
@15:56:41.51 <FILTERING> Preparing to filter cartridge 48
4.64
@15:56:41.85 Priming sample loop w/5ml, bypass w/1.5ml
@15:56:41.88 SamplePump.setPosition! 0ml
@15:56:41.93 Bypass.open
@15:56:42.78 Intake.open
@15:56:44.29 Sea 130.5m deep (207.6psia)
@15:56:44.33 Waiting up to 20 seconds for sea pressure to stabilize +/-0.50psi
@15:56:46.91 Vacuum tare is 37% of full scale
@15:56:47.06 <closeIntake> Intake.close
@15:56:47.12 <closeBypass> Bypass.close
@15:56:48.39 <FILTERING> Verifying toroid holds at least 0.6..0.85 of 207.6psia
@15:56:48.43 Waiting up to 40 seconds for toroid pressure to stabilize +/-1.50psi
@15:56:53.03 Bypass.open
@15:56:54.48 Intake.open
@15:56:56.75 Pressure.in :default
@15:56:56.80 Pressure.hold
@15:56:57.10 SamplePump.in :prime
@15:56:57.18 SamplePump.seek 1.5ml,35 seconds
@15:56:58.84 Pressure.stop
@15:56:58.92 SamplePump.setPosition! 0ml
@15:56:59.00 Exhaust.open
@15:57:01.02 <closeBypass> Bypass.close
@15:57:03.35 <FILTERING> Pressure.hold
@15:57:03.53 Sea 130.5m deep (207.6psia)
@15:57:03.69 SamplePump.in :prime
@15:57:03.76 SamplePump.seek 5ml,45 seconds
@15:57:08.34 Pressure.stop
@15:57:08.42 Bypass.open
@15:57:09.84 Intake.close
@15:57:11.41 Toroid.in :hold
@15:57:11.47 Toroid.seek :crack
@15:57:13.12 Toroid.seek :cartridge
@15:57:14.30 Toroid.in :default
@15:57:14.34 Toroid.seek :clear
@15:57:16.40 <closeExhaust> Exhaust.close
@15:57:16.47 <closeBypass> Bypass.close
@15:57:17.78 <FILTERING> Verifying cartridge holds at least 0.65..0.85 of 207.6psia
@15:57:17.80 Waiting up to 40 seconds for cartridge pressure to stabilize +/-1.50psi
@15:57:22.43 Sampling 10.0ml
@15:57:22.45 SamplePump.setPosition! 0ml
@15:57:22.52 Exhaust.open
@15:57:23.85 Intake.open
@15:57:25.59 Pressure.hold
@15:57:25.85 Sea 130.5m deep (207.6psia)
@15:57:26.07 SamplePump.in :sample
@15:57:26.20 SamplePump.seek 10ml,1:21
@15:57:28.57 <sampling> Cartridge 48 filtering 1/10ml at 0.42ml/s with 0.0psi vacuum 130.5m deep (207.6psia)
@15:57:50.85 <FILTERING> Pressure.stop
@15:57:50.97 <closeIntake> Intake.close
@15:57:51.02 <closeExhaust> Exhaust.close
@15:57:51.21 <FILTERING> Toroid.in :hold
@15:57:51.29 Toroid.seek :bypass
@15:57:53.04 Toroid.in :default
@15:57:53.13 Toroid.seek :clear
@15:57:54.91 Sampled  10.0ml
@15:57:56.41 <LRAUV> -> Cmd.startProcessing
30.0
@15:57:56.89 <PROCESSING> Plunge.seek :reagent
@15:57:57.77 Sample loop closed. Ready to Deliver Reagents
@15:57:57.79 Archive.seek :sealed
@15:58:01.82 Archive.seek :evac
@15:58:15.96 delay 1:00
@15:59:16.00 Archive.seek :clear
@15:59:33.68 RNAlater soak for 45 seconds
@16:00:18.71 Archive.seek :tVent
@16:00:21.23 delay 1 second
@16:00:22.26 Archive.seek :evac
@16:00:37.88 delay 10 seconds
@16:00:47.92 Sample preserved and evacuated
@16:00:48.92 <LRAUV> -> Cmd.stop
@16:00:49.08 Carousel.in :default
@16:00:49.21 Carousel.home.seek 48
@16:00:49.46 Plunge.seek :locked
@16:00:50.48 <Archive> Archive.in :unlocking
@16:00:50.67 Archive.seek :clear
@16:00:51.66 <Air> Air.in :unlocking
@16:00:51.78 Air.seek :clear
@16:00:52.02 <Lysis1> Lysis1.in :unlocking
@16:00:52.13 Lysis1.seek :clear
@16:00:56.75 <LRAUV> Gate.power :motor,:OFF
@16:00:56.80 Gate.power :core,:OFF
@16:00:56.83 Gate.power :analytic1,:OFF
@16:00:56.87 Gate.power :analytic2,:OFF
@16:00:56.90 Gate.power :analytic3,:OFF
@16:00:56.94 Gate.power :main,:OFF
@16:00:56.96 Safely stopped and ready to power off
:STOPPED