@16:09:01.69PDT27-Apr-24 <simrapid> Simulated gateway v3.24 for core bus
@16:09:01.71 Simulated secondary gateway v3.24 for cartridge bus
@16:09:04.63 
Configuration for lrauvSIM by methane@mbari.org 1/24/23
/home/esp/esp2/type/auv/lrauvSIM/configure.rb
@16:09:05.10 Sea pressure (Abs) tare is 6% of full scale
@16:09:07.47 Polling Can every 2:00
@16:09:07.92 Clients may connect on TCP port 9999
@16:09:07.93 Connecting to 10.89.11.2:9999
@16:09:07.97 Waiting for espclients...
@16:09:08.14 <LRAUV> Session Begun
@16:09:10.09 -> showStatus
true
@16:09:12.10 -> Cmd.loadCartridge -6
@16:09:12.15 Gate.power :main,:ON
@16:09:12.18 Gate.power :analytic1,:ON
@16:09:12.20 Gate.power :analytic2,:ON
@16:09:12.22 Gate.power :analytic3,:ON
@16:09:12.25 Gate.power :core,:ON
@16:09:12.35 Archive.configure :default
@16:09:12.40 Air.configure :default
@16:09:12.47 Lysis1.configure :default
@16:09:12.62 Lysis2.configure :default
@16:09:12.76 Plunge.configure :default
@16:09:12.92 SamplePump.configure :default
@16:09:13.07 Toroid.configure :default
@16:09:13.26 Carousel.configure :default
@16:09:13.38 Pressure.configure :default
@16:09:13.52 ExtraPump.configure :default
@16:09:13.68 PinPort.configure :default
@16:09:13.82 All elf controllers running firmware version 4.79
@16:09:13.98 Gate.power :motor,:ON
@16:09:14.59 <Archive_home> Archive.home.jog 0
@16:09:15.14 <Air_home> Air.home.jog 0
@16:09:15.35 <Lysis1_home> Lysis1.home.jog 0
@16:09:15.47 <Lysis2_home> Lysis2.home.jog 0
@16:09:15.61 <Plunge_home> Plunge.home.jog 0
@16:09:15.69 <Carousel_home> Carousel.home.jog 0
@16:09:15.92 <Toroid_home> Toroid.home.jog 0
@16:09:15.98 <PinPort_home> PinPort.home.jog 0
@16:09:16.53 <Carousel_home> Carousel.setRawPosition! -53
@16:09:16.59 Carousel.in :homing
@16:09:16.69 Carousel.seek :home
@16:09:16.93 <PinPort_home> PinPort.setRawPosition! 0
@16:09:16.99 PinPort.in :homing
@16:09:17.09 PinPort.seek :home
@16:09:17.28 <Archive_home> Archive.setRawPosition! 50
@16:09:17.34 Archive.in :homing
@16:09:17.42 Archive.seek :home
@16:09:17.70 <Air_home> Air.setRawPosition! 50
@16:09:17.76 Air.in :homing
@16:09:17.88 Air.seek :home
@16:09:18.15 <Plunge_home> Plunge.setRawPosition! 50
@16:09:18.22 Plunge.in :homing
@16:09:18.32 Plunge.seek :home
@16:09:18.54 <Carousel_home> Carousel.in :default
@16:09:18.69 <PinPort_home> PinPort.in :default
@16:09:18.89 <Lysis1_home> Lysis1.setRawPosition! 50
@16:09:18.95 Lysis1.in :homing
@16:09:19.02 Lysis1.seek :home
@16:09:19.23 <Archive_home> Archive.in :default
@16:09:19.39 <Lysis2_home> Lysis2.setRawPosition! 50
@16:09:19.45 Lysis2.in :homing
@16:09:19.54 Lysis2.seek :home
@16:09:19.71 <Air_home> Air.in :default
@16:09:19.86 <Toroid_home> Toroid.setRawPosition! 0
@16:09:19.93 Toroid.in :homing
@16:09:20.04 Toroid.seek :home
@16:09:20.20 <Plunge_home> Plunge.in :default
@16:09:20.38 <Lysis1_home> Lysis1.in :default
@16:09:20.60 <Lysis2_home> Lysis2.in :default
@16:09:20.80 <Toroid_home> Toroid.in :default
@16:09:21.00 <LRAUV> Toroid.seek :clear
@16:09:22.74 Carousel.in :default
@16:09:23.10 Carousel.home.seek 1
@16:09:23.39 Selecting Cartridge 46
@16:09:23.65 Carousel.seek 46
@16:09:33.45 Lysis1.in :fast
@16:09:33.50 Lysis1.seek :locked
@16:09:36.15 <Plunge> Plunge.seek :locked
@16:09:36.25 <Air> Air.in :fast
@16:09:36.28 Air.seek :locked
@16:09:37.96 <LRAUV> Carousel.reconfigure :locked
@16:09:38.06 Carousel.jog 0
@16:09:38.38 Gate.power :cartridge,:ON
@16:09:38.52 Gate.power :cartridge,:OFF
@16:09:39.09 Mounted archive Cartridge
46
@16:09:46.86 -> Cmd.startFiltering
@16:09:47.12 <FILTERING> Preparing to filter cartridge 46
4.64
@16:09:47.41 Priming sample loop w/5ml, bypass w/1.5ml
@16:09:47.43 SamplePump.setPosition! 0ml
@16:09:47.47 Bypass.open
@16:09:48.37 Intake.open
@16:09:49.84 Sea 130.5m deep (207.6psia)
@16:09:49.92 Waiting up to 20 seconds for sea pressure to stabilize +/-0.50psi
@16:09:52.52 Vacuum tare is 37% of full scale
@16:09:52.66 <closeIntake> Intake.close
@16:09:52.74 <closeBypass> Bypass.close
@16:09:54.02 <FILTERING> Verifying toroid holds at least 0.6..0.85 of 207.6psia
@16:09:54.57 Waiting up to 40 seconds for toroid pressure to stabilize +/-1.50psi
@16:09:59.17 Bypass.open
@16:10:00.62 Intake.open
@16:10:02.89 Pressure.in :default
@16:10:02.96 Pressure.hold
@16:10:03.23 SamplePump.in :prime
@16:10:03.29 SamplePump.seek 1.5ml,35 seconds
@16:10:04.94 Pressure.stop
@16:10:04.99 SamplePump.setPosition! 0ml
@16:10:05.10 Exhaust.open
@16:10:07.15 <closeBypass> Bypass.close
@16:10:09.46 <FILTERING> Pressure.hold
@16:10:09.63 Sea 130.5m deep (207.6psia)
@16:10:09.78 SamplePump.in :prime
@16:10:09.84 SamplePump.seek 5ml,45 seconds
@16:10:14.41 Pressure.stop
@16:10:14.48 Bypass.open
@16:10:15.91 Intake.close
@16:10:17.53 Toroid.in :hold
@16:10:17.61 Toroid.seek :crack
@16:10:19.33 Toroid.seek :cartridge
@16:10:20.50 Toroid.in :default
@16:10:20.54 Toroid.seek :clear
@16:10:22.62 <closeExhaust> Exhaust.close
@16:10:22.68 <closeBypass> Bypass.close
@16:10:23.99 <FILTERING> Verifying cartridge holds at least 0.65..0.85 of 207.6psia
@16:10:24.02 Waiting up to 40 seconds for cartridge pressure to stabilize +/-1.50psi
@16:10:28.65 Sampling 10.0ml
@16:10:28.67 SamplePump.setPosition! 0ml
@16:10:28.74 Exhaust.open
@16:10:30.09 Intake.open
@16:10:31.80 Pressure.hold
@16:10:32.05 Sea 130.5m deep (207.6psia)
@16:10:32.27 SamplePump.in :sample
@16:10:32.42 SamplePump.seek 10ml,1:21
@16:10:34.79 <sampling> Cartridge 46 filtering 1/10ml at 0.42ml/s with 0.0psi vacuum 130.5m deep (207.6psia)
@16:10:57.01 <FILTERING> Pressure.stop
@16:10:57.13 <closeIntake> Intake.close
@16:10:57.22 <closeExhaust> Exhaust.close
@16:10:57.37 <FILTERING> Toroid.in :hold
@16:10:57.41 Toroid.seek :bypass
@16:10:59.18 Toroid.in :default
@16:10:59.27 Toroid.seek :clear
@16:11:01.06 Sampled  10.0ml
@16:11:02.49 <LRAUV> -> Cmd.startProcessing
30.0
@16:11:02.93 <PROCESSING> Plunge.seek :reagent
@16:11:03.83 Sample loop closed. Ready to Deliver Reagents
@16:11:03.85 Archive.seek :sealed
@16:11:07.88 Archive.seek :evac
@16:11:22.03 delay 1:00
@16:12:22.07 Archive.seek :clear
@16:12:39.75 RNAlater soak for 45 seconds
@16:13:24.78 Archive.seek :tVent
@16:13:27.31 delay 1 second
@16:13:28.34 Archive.seek :evac
@16:13:43.96 delay 10 seconds
@16:13:53.99 Sample preserved and evacuated
@16:13:54.94 <LRAUV> -> Cmd.stop
@16:13:55.10 Carousel.in :default
@16:13:55.22 Carousel.home.seek 46
@16:13:55.48 Plunge.seek :locked
@16:13:56.47 <Archive> Archive.in :unlocking
@16:13:56.66 Archive.seek :clear
@16:13:57.65 <Air> Air.in :unlocking
@16:13:57.73 Air.seek :clear
@16:13:57.96 <Lysis1> Lysis1.in :unlocking
@16:13:58.05 Lysis1.seek :clear
@16:14:02.62 <LRAUV> Gate.power :motor,:OFF
@16:14:02.67 Gate.power :core,:OFF
@16:14:02.70 Gate.power :analytic1,:OFF
@16:14:02.73 Gate.power :analytic2,:OFF
@16:14:02.84 Gate.power :analytic3,:OFF
@16:14:02.89 Gate.power :main,:OFF
@16:14:02.92 Safely stopped and ready to power off
:STOPPED