Subject: Re: [sloan-25mlog 3065] 2.5m obslog 20160825 (SJD 57626)
From: Conor Sayres
Date: Fri, 26 Aug 2016 15:29:44 -0700
Hey Dan,
Good news, and sorry for the confusion.
When will you be homing?  I seem to remember there being timeout errors =
in the past when we tried homing mirrors, so I=92d like to watch as =
you=92re doing it.
Conor
On Aug 26, 2016, at 3:27 PM, Daniel Oravetz  =
wrote:
> Hi Conor,
>=20
> I believe we're in a functioning state. With JohnD's input last night =
we
> were able to recover from a seemingly stuck state in which we were =
unable
> to home M2 D and E at the same time. And with DanL's informative email
> today, the behavior we experienced last night makes a lot more sense.
>=20
> I would still like to re-attempt the M2 homing process tonight for my =
own
> satisfaction, and at the same time update and modify our documentation =
to
> include DanL's info about centering/homing D and E separately.
>=20
> There's still the question of the 'move' command, which you'll see in =
last
> night's log under the 'M1 home/relax' section and in DanL's email, =
which
> can use some clarification, but things do appear to be functioning.
>=20
> Dan
>=20
>=20
>> Hi Dan, Dan, and All,
>>=20
>> Sorry I=92m still catching up on email.  Going through the report =
trying to
>> understand what happened now, but would you clarify for me:
>>=20
>> Did you manage to get to a functioning state with the mirrors or are =
they
>> currently broken?
>>=20
>> Conor
>>=20
>>=20
>> On Aug 26, 2016, at 12:06 PM, Dan Long  wrote:
>>=20
>>> Hi Dan,
>>>=20
>>>   We have seen similar things when moving the primary for the
>>> mechanical collimation where things would get into a state where a
>>> move command was issued and the controller responded as if =
everything
>>> was fine, but the actual position was unchanged.  Perhaps Conor can
>>> weigh in here on why that might happen.
>>>=20
>>>  It may have something to do with seeing the warning =93Galil is =
busy
>>> executing=85 showing cached status=94.  That seems to show up during =
home
>>> commands and occasionally during move command.  When that happens on =
a
>>> move command perhaps it isn=92t actually showing the current value =
after
>>> the move.
>>>=20
>>>  As for the secondary, when we reassembled things after servicing =
the
>>> actuators, we discovered we could not center the pin assembly (the
>>> thing the secondary rides on) with the actuators in the physical
>>> position they were when they came out.  This apparently has been the
>>> case since they were last serviced in 2008, so we changed the length
>>> of one of the actuators by a turn to be able to center the pin
>>> assembly.  A side effect of this is that it was no longer possible =
to
>>> home both transverse actuators at the same time.
>>>=20
>>>  There is not enough travel in the pin assembly to allow both =
actuators
>>> to reach their limit switches at the same time.  If this is enough a
>>> headache operationally, we may address this next year by adjusting =
the
>>> limit switch and resetting the center point of travel (to do that =
now
>>> would mean redoing the secondary mechanical collimation).
>>>=20
>>>  The result is essentially what you ended up doing last night.  That =
is
>>> put D and E in the center of their travel ( zero ), then home each
>>> actuator one at a time, returning each to zero before homing the
>>> other.  I was able to get a position error of zero for each one in =
two
>>> tries (the first attempt had errors of a few hundred).  Not sure why
>>> it wasn=92t showing the updated position error last night.  All =
nines is
>>> what is shows when it hasn=92t been homed yet, or is being homed for =
the
>>> first time after being power cycled (e.g. it doesn=92t have a =
previous
>>> homed count value).
>>>=20
>>> 		Cheers,
>>>=20
>>> 		   Dan
>>>=20
>>>=20
>>> On Aug 26, 2016, at 4:18 AM, doravetz@apo.nmsu.edu wrote:
>>>=20
>>>>=20
>>>>                     APACHE POINT OBSERVATORY SDSS 2.5M
>>>>=20
>>>>                               OBSERVING LOG
>>>>                        Thursday August 25, 2016
>>>>=20
>>>>                                (SJD 57626)
>>>>=20
>>>> ----  Observing Team ----
>>>>=20
>>>> Karen Kinemuchi
>>>> Dan Oravetz
>>>> John Downey
>>>>=20
>>>> ---- Observing Summary ----
>>>>=20
>>>> Another night with uncooperative weather.
>>>>=20
>>>> We mounted and exercised the engineering camera. This included both
>>>> moving the
>>>> stage to off-axis positions and homing it. We also took some cal =
images
>>>> (dark
>>>> stack and some flats) to verify things are working. Everything =
behaved
>>>> appropriately.
>>>>=20
>>>> We homed and relaxed M1 and homed M2. We ran into a bit of =
confusion
>>>> during the
>>>> process because the 'move' command for M1 didn't appear to return =
M1 to
>>>> its
>>>> desired orientation. Additionally, while homing the D and E M2
>>>> transverse
>>>> actuators, D apparently didn't hit its limit switch during the home
>>>> command
>>>> despite a 'home' keyword indicating it had homed? See Log for
>>>> clarification and
>>>> details.
>>>>=20
>>>> ---- Observing Plan ----
>>>>=20
>>>> Thu 25 AUG 2016  57626.0   Recom   Recommissioning
>>>>=20
>>>> ---- Observing Log ----
>>>>=20
>>>> AFTERNOON CHECKOUT:
>>>> =3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D
>>>>=20
>>>> 23:27Z Started APOGEE evening cals; grabbed mirror numbers;
>>>> gcamera/guider prep
>>>> - done.
>>>>=20
>>>> BOSS bias & dark on Cart 4 using bypass "is Boss":
>>>> 23:39:46  boss exposure    0.0, file=3D225862, None
>>>> 23:41:06  boss exposure   20.0, file=3D225863, None
>>>>=20
>>>> on SoS page, warning associated with these frames:
>>>> sdR-r1-00225862.fit.gz: WARNING: r1 Amp 0 high read noise =3D  3.74
>>>> sdR-r1-00225863.fit.gz: WARNING: r1 Amp 0 high read noise =3D  3.75
>>>>=20
>>>> MaNGA bias & dark on Cart 4 using bypass "is MangaDither":
>>>> 23:45:16  boss exposure    0.0, file=3D225864, None
>>>> 23:46:36  boss exposure   20.0, file=3D225865, None
>>>>=20
>>>> DoS page does not seem to be updating, but did check by logging =
into
>>>> sdss-manga.
>>>>=20
>>>> screen -ls
>>>> There are screens on:
>>>> 	6294.manga-rundos-b2	(Detached)
>>>> 	14648.manga-rundos-r2	(Detached)
>>>> 	6261.manga-rundos-b1	(Detached)
>>>> 	6359.manga-rundos-r1	(Detached)
>>>> 	3804.dosrerun	(Detached)
>>>> 5 Sockets in /var/run/screen/S-manga.
>>>>=20
>>>> We'll wait a bit to see if anything appears on the DoS page.
>>>>=20
>>>> BOSS COLLIMATION:
>>>> 23:54:33  boss exposure    4.0, file=3D225866, None
>>>> 23:55:47  boss exposure    4.0, file=3D225867, None
>>>> 23:57:11  sp1.motor.move=3D 33, 35, 32
>>>> 23:57:15  sp2.motor.move=3D 668, 661, 661
>>>> 23:57:20 Hartmann collimate output on cart #4
>>>> sp1: offset: r=3D 0 (In Focus);  b=3D -0.2 (In Focus)
>>>> sp2: offset: r=3D 631 (In Focus);  b=3D -2.2 (In Focus)
>>>> sp1: pred. move: spAverageMove=3D 32
>>>> sp2: pred. move: spAverageMove=3D 662
>>>> sp1: pred. resid: r=3D -32, b=3D -0.1, txt=3D OK, spTemp =3D 16.8
>>>> sp2: pred. resid: r=3D -31, b=3D -0.1, txt=3D OK, spTemp =3D 16.2
>>>>=20
>>>> No blue rings adjustments.
>>>>=20
>>>> motorPosition
>>>>   sp1:   27450,   27192,   23657;
>>>>   sp2:   25907,   27369,   26795;
>>>> ----------
>>>> Median spectrographs temperatures:
>>>>   Tsp1=3D 16.8,  Tsp2=3D 16.2;
>>>>   Outside air temperature=3D 13.8;
>>>>=20
>>>> Disk space check:
>>>> df -h
>>>> Filesystem      Size  Used Avail Use% Mounted on
>>>> /dev/vda2       7.7G  5.9G  1.4G  81% /
>>>> tmpfs           3.9G     0  3.9G   0% /dev/shm
>>>> /dev/vda1       194M  128M   57M  70% /boot
>>>> /dev/vdb         19G  8.8G  9.2G  49% /exports/hub-local
>>>> /dev/vdd        688G  458G  231G  67% /home
>>>> /dev/vdc1        11T  9.0T  1.8T  84% /data
>>>>=20
>>>> BOSS arc & flat:
>>>> 00:01:34  boss exposure   25.0, file=3D225868, None
>>>> 00:05:54  boss exposure    4.0, file=3D225869, None
>>>>=20
>>>> 00:46Z Cart bay ready.  Telescope ready.
>>>>=20
>>>> NIGHT:
>>>> =3D=3D=3D=3D=3D=3D
>>>>=20
>>>> The weather was unfit to open; rain nearby and cloudy.
>>>>=20
>>>> ******************
>>>> ENGINEERING CAMERA
>>>> ******************
>>>>=20
>>>> We mounted and exercised the engineering camera. This included both
>>>> moving the
>>>> stage to off-axis positions and homing it. We also took some cal =
images
>>>> (dark
>>>> stack and some flats) to verify things are working. Everything =
behaved
>>>> appropriately.
>>>>=20
>>>> *****************
>>>> HOME AND RELAX M1
>>>> *****************
>>>>=20
>>>> We homed and relaxed M1.
>>>>=20
>>>> The documentation appears to be incomplete for the M1 homing =
procedure.
>>>> The
>>>> command sequence for homing M1 directs the user to:
>>>>=20
>>>> show status
>>>> record the mirror orientation
>>>> home the lateral links
>>>> center the lateral links
>>>> home the transverse hard point
>>>> center the transverse hard point
>>>> home the axial hard points
>>>> move original mirror orientation
>>>>=20
>>>> The mirror orientation to begin with is:
>>>>=20
>>>> PrimOrient=3D0.0,0.0,0.0,0.0,0.0,0.0
>>>>=20
>>>> After following the sequence of home and move commands (all of =
which
>>>> completed
>>>> with acceptable position errors), the M1 galils arrive at the =
following
>>>> locations:
>>>>=20
>>>> A,B,C =3D lower limit switch/home position
>>>> D,E,F =3D 0 counts
>>>>=20
>>>> The next step directs the user to move M1 to the desired =
orientation
>>>> using the
>>>> 'move' directive via the mirror controller actor. E.g., since
>>>> PrimOrient=3D0.0,0.0,0.0,0.0,0.0,0.0 to begin with, then the =
appropriate
>>>> 'move'
>>>> command should be 'move 0.0,0.0,0.0,0.0,0.0'. The *desired* =
orientation
>>>> of the
>>>> primary mirror shows the sequence of '0.0' values:
>>>>=20
>>>> PrimDesOrient=3D0.0,0.0,0.0,0.0,0.0,0.0
>>>>=20
>>>> but, the *actual* mirror orientation is:
>>>>=20
>>>> PrimOrient=3D7989.33,76.73,-69.74,-217.82,-1166.65,1.42
>>>>=20
>>>> I.e., the 'move' command did not return the mirror to its desired
>>>> orientation.
>>>>=20
>>>> The old homing procedure used to have each actuator returned to its
>>>> original
>>>> position after it was homed. When we manually command each of the
>>>> galils to move
>>>> to its original location (A=3D10450, B=3D-1100, C=3D6850, D=3D19700, =
E=3D8500,
>>>> F=3D8500),
>>>> then PrimOrient is:
>>>>=20
>>>> PrimOrient=3D-0.0,-0.0,-0.0,-0.77,0.0,0.12
>>>>=20
>>>> Did the 'move' command just not work properly or do we =
misunderstand
>>>> what should
>>>> actually happen here?
>>>>=20
>>>> *******
>>>> HOME M2
>>>> *******
>>>>=20
>>>> We ran into some complications while homing transverse actuators D =
and
>>>> E. The
>>>> 'home D,E' command complains that:
>>>>=20
>>>> XQ #HOME Failing: ?GORLIM one or more axes did not hit reverse =
limit
>>>> 0,  0,  0,
>>>> 1,  0":'
>>>>=20
>>>> I.e., actuator D did not hit its reverse limit switch. This is
>>>> confusing,
>>>> though, because the HOMED value for D as indicated in the TPM (and
>>>> probably
>>>> taken from the 'axisHomed' keyword is '1'). But if D never hit its
>>>> limit switch,
>>>> then how could it be homed? Here is the full output from the telnet
>>>> session for
>>>> the 'home D,E' command:
>>>>=20
>>>> home D,E
>>>> 0 2 > Text =3D "Homing Actuators: D, E"
>>>> 0 2 i homing=3D0,0,0,1,1
>>>> 2 2 w Text=3D"Galil is busy executing: A=3DMAXINT; B=3DMAXINT; =
C=3DMAXINT; D=3D1;
>>>> E=3D1; XQ
>>>> #HOME, showing cached status"
>>>> 2 2 i orient=3D-5759.39,1.41,-5.09,-36.37,-0.91,-8.55;
>>>> desOrient=3DNaN,NaN,NaN,NaN,NaN,NaN; desOrientAge=3Dnan;
>>>> actMount=3D-7245948.85,-7259957.33,-7261812.60,-0.00,0.00;
>>>> cmdMount=3DNaN,NaN,NaN,NaN,NaN; desEncMount=3DNaN,NaN,NaN,NaN,NaN;
>>>> modelMount=3DNaN,NaN,NaN,NaN,NaN; maxIter=3D3; homing=3D0,0,0,1,1;
>>>> axisHomed=3D1,1,1,1,1
>>>> 0 2 w state=3DHoming, 0, 3, 0.00, 0.00
>>>> 0 2 w state=3DHoming, 0, 3, 9.20, 9.20
>>>> 0 0 w Text=3D"Device Command A=3DMAXINT; B=3DMAXINT; C=3DMAXINT; =
D=3D1; E=3D1; XQ
>>>> #HOME
>>>> Failing: ?GORLIM one or more axes did not hit reverse limit  0,  0, =
 0,
>>>> 1,  0"
>>>> 0 2 f text=3D"?GORLIM one or more axes did not hit reverse limit  =
0,  0,
>>>> 0,  1,  0"
>>>> 0 0 w state=3DHoming, 0, 3, -0.08, 9.20
>>>>=20
>>>> The galil positions as indicated by TPM at this point are:
>>>>=20
>>>> D=3D-45000 E=3D-23319
>>>>=20
>>>> We tried 'home D,E' again to see if D would hit its limit, but =
instead
>>>> we
>>>> obtained the failure that neither D nor E hit reverse limit and at =
that
>>>> point
>>>> the Homed value for D and E changed to '0', respectively. We could =
not
>>>> execute
>>>> any MOVE commands (e.g., 'galil D=3D0; E=3D0; XQ#MOVE') because =
there was
>>>> an error
>>>> message that those axes could not be moved since they needed to be
>>>> homed.
>>>>=20
>>>> We consulted with JohnD and after a few unsuccessful attempts he
>>>> suggested we
>>>> try to home D and E separately. This seemed to work because 'home =
E'
>>>> completed
>>>> successfully, and having been homed, E could then be centered with
>>>> 'galil E=3D0;
>>>> XQ#MOVE). It was at this point that D then appeared to home and =
could
>>>> also be
>>>> centered. However, the position error was 99999999 and we could =
never
>>>> get around
>>>> this.
>>>>=20
>>>> If we tried to home D without first having homed ('home E') and
>>>> centered (galil
>>>> E=3D0; XQ#MOVE) E, D would never hit the limit switch. With each =
attempt,
>>>> the
>>>> galil counts would change by -45000, but the limit switch was never
>>>> hit.
>>>>=20
>>>> For instance, after the very first 'home D,E' command complains =
that D
>>>> didn't
>>>> hit the limit switch, the D and E positions were D=3D-45000 =
E=3D-23319. If
>>>> we tried
>>>> to home D by itself:
>>>>=20
>>>> home D
>>>> 0 2 > Text =3D "Homing Actuators: D"
>>>> 0 2 i homing=3D0,0,0,1,0
>>>> 2 2 w Text=3D"Galil is busy executing: A=3DMAXINT; B=3DMAXINT; =
C=3DMAXINT; D=3D1;
>>>> E=3DMAXINT; XQ #HOME, showing cached status"
>>>> 2 2 i orient=3D-5759.39,1.41,-5.09,-36.37,-0.91,-8.55;
>>>> desOrient=3DNaN,NaN,NaN,NaN,NaN,NaN; desOrientAge=3Dnan;
>>>> actMount=3D-7245948.85,-7259957.33,-7261812.60,-0.00,0.00;
>>>> cmdMount=3DNaN,NaN,NaN,NaN,NaN; desEncMount=3DNaN,NaN,NaN,NaN,NaN;
>>>> modelMount=3DNaN,NaN,NaN,NaN,NaN; maxIter=3D3; homing=3D0,0,0,1,0;
>>>> axisHomed=3D1,1,1,1,1
>>>> 0 2 w state=3DHoming, 0, 3, 0.00, 0.00
>>>> 0 2 w state=3DHoming, 0, 3, 9.20, 9.20
>>>> 0 0 w Text=3D"Device Command A=3DMAXINT; B=3DMAXINT; C=3DMAXINT; =
D=3D1; E=3DMAXINT;
>>>> XQ #HOME
>>>> Failing: ?GORLIM one or more axes did not hit reverse limit  0,  0, =
 0,
>>>> 1,  0"
>>>> 0 2 f text=3D"?GORLIM one or more axes did not hit reverse limit  =
0,  0,
>>>> 0,  1,  0"
>>>> 0 0 w state=3DHoming, 0, 3, -0.16, 9.20
>>>>=20
>>>> D=3D-90000
>>>>=20
>>>> Try again:
>>>>=20
>>>> home D
>>>> 0 2 > Text =3D "Homing Actuators: D"
>>>> 0 2 i homing=3D0,0,0,1,0
>>>> 2 2 w Text=3D"Galil is busy executing: A=3DMAXINT; B=3DMAXINT; =
C=3DMAXINT; D=3D1;
>>>> E=3DMAXINT; XQ #HOME, showing cached status"
>>>> 2 2 i orient=3D-5759.39,1.41,-5.09,-36.37,-0.91,-8.55;
>>>> desOrient=3DNaN,NaN,NaN,NaN,NaN,NaN; desOrientAge=3Dnan;
>>>> actMount=3D-7245948.85,-7259957.33,-7261812.60,-0.00,0.00;
>>>> cmdMount=3DNaN,NaN,NaN,NaN,NaN; desEncMount=3DNaN,NaN,NaN,NaN,NaN;
>>>> modelMount=3DNaN,NaN,NaN,NaN,NaN; maxIter=3D3; homing=3D0,0,0,1,0;
>>>> axisHomed=3D1,1,1,1,1
>>>> 0 2 w state=3DHoming, 0, 3, 0.00, 0.00
>>>> 0 2 w state=3DHoming, 0, 3, 9.20, 9.20
>>>> 0 0 w Text=3D"Device Command A=3DMAXINT; B=3DMAXINT; C=3DMAXINT; =
D=3D1; E=3DMAXINT;
>>>> XQ #HOME
>>>> Failing: ?GORLIM one or more axes did not hit reverse limit  0,  0, =
 0,
>>>> 1,  0"
>>>> 0 2 f text=3D"?GORLIM one or more axes did not hit reverse limit  =
0,  0,
>>>> 0,  1,  0"
>>>> 0 0 w state=3DHoming, 0, 3, -0.16, 9.20
>>>>=20
>>>> D=3D-135000
>>>>=20
>>>> And again:
>>>>=20
>>>> home D
>>>> 0 2 > Text =3D "Homing Actuators: D"
>>>> 0 2 i homing=3D0,0,0,1,0
>>>> 2 2 w Text=3D"Galil is busy executing: A=3DMAXINT; B=3DMAXINT; =
C=3DMAXINT; D=3D1;
>>>> E=3DMAXINT; XQ #HOME, showing cached status"
>>>> 2 2 i orient=3D-5759.39,1.41,-5.09,-36.37,-0.91,-8.55;
>>>> desOrient=3DNaN,NaN,NaN,NaN,NaN,NaN; desOrientAge=3Dnan;
>>>> actMount=3D-7245948.85,-7259957.33,-7261812.60,-0.00,0.00;
>>>> cmdMount=3DNaN,NaN,NaN,NaN,NaN; desEncMount=3DNaN,NaN,NaN,NaN,NaN;
>>>> modelMount=3DNaN,NaN,NaN,NaN,NaN; maxIter=3D3; homing=3D0,0,0,1,0;
>>>> axisHomed=3D1,1,1,1,1
>>>> 0 2 w state=3DHoming, 0, 3, 0.00, 0.00
>>>> 0 2 w state=3DHoming, 0, 3, 9.20, 9.20
>>>> 0 0 w Text=3D"Device Command A=3DMAXINT; B=3DMAXINT; C=3DMAXINT; =
D=3D1; E=3DMAXINT;
>>>> XQ #HOME
>>>> Failing: ?GORLIM one or more axes did not hit reverse limit  0,  0, =
 0,
>>>> 1,  0"
>>>> 0 2 f text=3D"?GORLIM one or more axes did not hit reverse limit  =
0,  0,
>>>> 0,  1,  0"
>>>> 0 0 w state=3DHoming, 0, 3, -0.08, 9.20
>>>>=20
>>>> D=3D-180000
>>>>=20
>>>> And again:
>>>>=20
>>>> home D
>>>> 0 2 > Text =3D "Homing Actuators: D"
>>>> 0 2 i homing=3D0,0,0,1,0
>>>> 2 2 w Text=3D"Galil is busy executing: A=3DMAXINT; B=3DMAXINT; =
C=3DMAXINT; D=3D1;
>>>> E=3DMAXINT; XQ #HOME, showing cached status"
>>>> 2 2 i orient=3D-5759.39,1.41,-5.09,-36.37,-0.91,-8.55;
>>>> desOrient=3DNaN,NaN,NaN,NaN,NaN,NaN; desOrientAge=3Dnan;
>>>> actMount=3D-7245948.85,-7259957.33,-7261812.60,-0.00,0.00;
>>>> cmdMount=3DNaN,NaN,NaN,NaN,NaN; desEncMount=3DNaN,NaN,NaN,NaN,NaN;
>>>> modelMount=3DNaN,NaN,NaN,NaN,NaN; maxIter=3D3; homing=3D0,0,0,1,0;
>>>> axisHomed=3D1,1,1,1,1
>>>> 0 2 w state=3DHoming, 0, 3, 0.00, 0.00
>>>> 0 2 w state=3DHoming, 0, 3, 9.20, 9.20
>>>> 0 0 w Text=3D"Device Command A=3DMAXINT; B=3DMAXINT; C=3DMAXINT; =
D=3D1; E=3DMAXINT;
>>>> XQ #HOME
>>>> Failing: ?GORLIM one or more axes did not hit reverse limit  0,  0, =
 0,
>>>> 1,  0"
>>>> 0 2 f text=3D"?GORLIM one or more axes did not hit reverse limit  =
0,  0,
>>>> 0,  1,  0"
>>>> 0 0 w state=3DHoming, 0, 3, -0.16, 9.20
>>>>=20
>>>> D=3D-225000
>>>>=20
>>>> But once we center E and then try 'home D', D appears to have hit =
the
>>>> limit switch:
>>>>=20
>>>> galil E=3D0;XQ#MOVE
>>>> 0 0 i galilReply=3D"E=3D0;XQ#MOVE"
>>>> 0 0 i galilReply=3D""
>>>> 0 0 i galilReply=3D"0000.6,  0000.6,  0000.6,  0000.0,  0004.9 max =
sec
>>>> for move"
>>>> 0 2 i state=3DDone, 0, 3, 4.90, 4.90
>>>> 0 0 i galilReply=3D""
>>>> 0 0 i galilReply=3D"-007250000, -007250000, -007250000, -000225000,
>>>> 000000000
>>>> target position"
>>>> 0 0 i galilReply=3D""
>>>> 0 0 i galilReply=3D"-007252785, -007264502, -007255929,  999999999,
>>>> 000000000
>>>> final position"
>>>> 0 2 i encMount=3D-7252785.00,-7264502.00,-7255929.00,NaN,0.00
>>>> 0 2 i orient=3DNaN,NaN,NaN,NaN,NaN,NaN; =
actMount=3DNaN,NaN,NaN,NaN,NaN;
>>>> cmdMount=3DNaN,NaN,NaN,NaN,NaN
>>>> 0 0 i galilReply=3D""
>>>> 0 0 i galilReply=3D"OK"
>>>> 0 2 :
>>>>=20
>>>> E=3D0
>>>>=20
>>>> home D
>>>> 0 2 > Text =3D "Homing Actuators: D"
>>>> 0 2 i homing=3D0,0,0,1,0
>>>> 2 2 w Text=3D"Galil is busy executing: A=3DMAXINT; B=3DMAXINT; =
C=3DMAXINT; D=3D1;
>>>> E=3DMAXINT; XQ #HOME, showing cached status"
>>>> 2 2 i orient=3DNaN,NaN,NaN,NaN,NaN,NaN;
>>>> desOrient=3DNaN,NaN,NaN,NaN,NaN,NaN;
>>>> desOrientAge=3Dnan; actMount=3DNaN,NaN,NaN,NaN,NaN;
>>>> cmdMount=3DNaN,NaN,NaN,NaN,NaN;
>>>> desEncMount=3DNaN,NaN,NaN,NaN,NaN; modelMount=3DNaN,NaN,NaN,NaN,NaN;
>>>> maxIter=3D3;
>>>> homing=3D0,0,0,1,0; axisHomed=3D1,1,1,1,1
>>>> 0 2 w state=3DHoming, 0, 3, 0.00, 0.00
>>>> 0 2 w state=3DHoming, 0, 3, 0.60, 0.60
>>>> 0 2 w state=3DHoming, 0, 3, 300.10, 300.10
>>>> 0 2 i unknownReplyKey=3D"sec to move away from home switch", =
"0000.6,
>>>> 0000.6,
>>>> 0000.6, 0001.2, 0000.0", "0000.6,  0000.6,  0000.6,  0001.2,  =
0000.0
>>>> sec to move
>>>> away from home switch"
>>>> 0 2 i UnparsedReply=3D"Finding next full step"
>>>> 0 2 i unknownReplyKey=3D"microsteps", "048", "048,  009.1 =
microsteps, sec
>>>> to find
>>>> full step"
>>>> 0 2 w state=3DHoming, 0, 3, 9.10, 9.10
>>>> 0 2 i unknownReplyKey=3D"position error", "999999999, 999999999,
>>>> 999999999,
>>>> 999999999, 999999999", "999999999,  999999999,  999999999,  =
999999999,
>>>> 999999999 position error"
>>>> 0 2 i axisHomed=3D1,1,1,1,1
>>>> 0 2 i encMount=3D-7251859.00,-7263828.00,-7256968.00,-18000.00,0.00
>>>> 0 2 i orient=3D-5761.22,-1.20,-3.36,-209.24,177.11,73.39;
>>>> actMount=3D-7251356.82,-7263312.56,-7258117.50,-18000.17,0.12;
>>>> cmdMount=3DNaN,NaN,NaN,NaN,NaN
>>>> 0 2 i GalilSoftwareVersion=3D02.01
>>>> 0 2 i GalilNAXES=3D5
>>>> 0 2 i GalilDOAUX=3D1
>>>> 0 2 i GalilMOFF=3D1
>>>> 0 2 i GalilNCORR=3D00
>>>> 0 2 i GalilWTIME=3D00.10
>>>> 0 2 i GalilENCTIME=3D00.00
>>>> 0 2 i GalilLSTIME=3D30.00
>>>> 0 2 i GalilHalfRNG=3D7250000, 7250000, 7250000, 18000, 18000
>>>> 0 2 i GalilSPD=3D000050000, 000050000, 000050000, 000005000, =
000005000
>>>> 0 2 i GalilHMSPD=3D000005000, 000005000, 000005000, 000000500, =
000000500
>>>> 0 2 i GalilACC=3D000500000, 000500000, 000500000, 000050000, =
000050000
>>>> 0 2 i GalilMAXCORR=3D001000000, 001000000, 001000000, 000000000,
>>>> 000000000
>>>> 0 2 i GalilST_FS=3D000000050, 000000050, 000000050, 000000050, =
000000050
>>>> 0 2 i GalilMARG=3D000400000, 000400000, 000400000, 000005000, =
000005000
>>>> 0 2 i GalilINDSEP=3D000000000, 000000000, 000000000, 000000000, =
000000000
>>>> 0 2 i GalilENCRES=3D-0006.2992, -0006.2992, -0006.2992, 0000.0000,
>>>> 0000.0000
>>>> 0 2 i deviceSoftwareVersion=3D01.04
>>>> 0 2 i piezoMinPos=3D-00001676.4874
>>>> 0 2 i piezoMaxPos=3D00001676.4874
>>>> 0 2 i piezoNSteps=3D00002705
>>>> 0 2 i piezoResolution=3D00000001.2400
>>>> 0 2 w state=3DHoming, 0, 3, 0.00, 0.00
>>>> 0 2 :
>>>> 0 0 w state=3DHoming, 0, 3, 0.00, 0.00
>>>>=20
>>>> D=3D-18000 and homed
>>>>=20
>>>> All told, the homed keyword is '1' for all A, B, C, D, and E, =
however
>>>> the
>>>> position error reported for D was always :
>>>>=20
>>>> 0 2 i unknownReplyKey=3D"position error", "999999999, 999999999,
>>>> 999999999,
>>>> 999999999, 999999999", "999999999,  999999999,  999999999,  =
999999999,
>>>> 999999999 position error"
>>>>=20
>>>> so we couldn't get D to report within acceptable tolerances (~150 =
or
>>>> 250 steps).
>>>>=20
>>>> We dismounted the engineering camera and remounted cart. 4. It was
>>>> raining so we
>>>> left the engineering camera on the Linde cart and left both inside =
the
>>>> enclosure.
>>>>=20
>>>> Started morning cals and called it a night.
>>>>=20
>>>> ---- Weather Log ----
>>>>=20
>>>> 				Wind	1 um	DIMM		IRSC
>>>> Time	Temp C	Dewp C	MPH	Dir	Dust	fwhm	mean	=
sigma
>>>>=20
>>>> 18:00	14.4	7.8	1.8	269.9
>>>> 18:15	15.4	8.4	7.9	261.4
>>>> 18:30	14.7	9.1	6.6	223.3
>>>> 18:45	14.3	9.2	7.1	220.7
>>>> 19:00	14.3	8.9	8.6	267.7
>>>> 19:15	14.6	9.2	7.9	241.1
>>>> 19:30	15.6	9.5	5.8	197.8
>>>> 19:45	13.1	6.5	7.0	90.7
>>>> 20:00	12.6	4.4	8.1	81.6
>>>> 20:15	12.5	2.4	10.1	66.3
>>>> 20:30	12.4	2.5	14.8	77.9
>>>> 20:45	12.7	2.7	9.2	74.9
>>>> 21:00	13.7	2.9	10.7	79.6
>>>> 21:15	15.0	3.4	4.3	100.5
>>>> 21:30	15.1	6.0	5.2	257.3
>>>> 21:45	15.3	5.1	3.0	264.5
>>>> 22:00	15.0	5.6	4.3	258.0
>>>> 22:15	15.1	3.9	0.7	123.6
>>>> 22:30	14.3	3.5	1.1	103.0
>>>> 22:45	14.4	3.5	11.0	75.1
>>>> 23:00	14.4	4.0	7.4	103.6
>>>> 23:15	13.8	4.4	8.1	88.3
>>>> 23:30	13.9	5.3	6.6	80.4
>>>> 23:45	13.5	5.5	4.7	88.8
>>>> 00:00	13.6	6.6	7.6	113.1
>>>> 00:15	13.8	6.5	5.6	89.5
>>>> 00:30	12.6	5.9	12.7	77.3
>>>> 00:45	12.1	6.0	8.2	82.5
>>>> 01:00	12.4	5.3	7.2	77.4
>>>> 01:15	12.8	3.7	0.5	146.5
>>>> 01:30	11.9	4.7	5.3	88.6
>>>> 01:45	13.1	2.5	1.0	226.3
>>>> 02:00	13.1	2.9	1.2	233.5
>>>> 02:15	13.2	3.7	4.5	255.0
>>>> 02:30	12.9	3.6	2.5	233.1
>>>> 02:45	13.3	3.3	1.0	239.7			341	=
37.50
>>>> 03:00	12.6	4.2	1.4	233.8			347	=
41.26
>>>> 03:15	13.0	2.9	4.0	192.7			359	=
39.34
>>>> 03:30	12.4	4.4	1.2	208.9			369	=
69.25
>>>> 03:45	12.3	4.8	5.1	183.2			355	=
62.41
>>>> 04:00	12.2	4.8	5.6	185.9			354	=
68.98
>>>> 04:15	12.6	4.9	3.9	156.7			353	=
55.90
>>>> 04:30	12.2	4.6	4.8	181.1			360	=
63.75
>>>> 04:45	12.3	4.4	1.8	149.6			350	=
49.76
>>>> 05:00	12.0	4.4	6.0	121.6			341	=
78.01
>>>> 05:15	11.7	4.4	4.4	164.8			349	=
71.06
>>>> 05:30	12.0	4.4	7.4	149.3			372	=
74.71
>>>> 05:45	11.8	4.3	7.1	198.8			358	=
46.21
>>>> 06:00	11.4	2.9	10.4	153.8			360	=
76.36
>>>> 06:15	11.2	3.9	10.9	165.8			377	=
57.71
>>>> 06:30	10.8	5.3	8.9	155.5			372	=
71.24
>>>> 06:45	11.5	4.9	10.2	180.6			372	=
67.32
>>>> 07:00	11.6	5.8	11.4	183.0			361	=
58.84
>>>> 07:15	11.5	5.9	10.5	183.1			382	=
69.08
>>>> 07:30	11.3	6.0	8.1	190.3			371	=
85.39
>>>> 07:45	11.3	6.0	6.9	185.6			371	=
82.45
>>>> 08:00	11.1	6.3	7.1	193.0			356	=
69.82
>>>> 08:15	11.2	6.6	7.1	184.4			353	=
49.90
>>>> 08:30	11.2	6.8	6.9	182.5			377	=
46.44
>>>> 08:45	11.3	6.7	9.1	184.1			377	=
56.17
>>>> 09:00	11.2	6.6	7.1	192.5			542	=
25.92
>>>> 09:15	10.7	6.7	5.0	186.5			533	=
5.87
>>>> 09:30	10.6	6.2	5.0	184.2			533	=
3.44
>>>> 09:45	10.8	6.2	6.7	181.8			533	=
4.88
>>>> 10:00	10.2	6.4	6.6	184.7			536	=
4.51
>>>>=20
>>>> ---- Telescope Status ----
>>>>=20
>>>> Status at: 10:12Z
>>>>=20
>>>> Telescope stowed at:    121.0, 30.0, 0.0 mount
>>>> Instrument mounted:     cartridge =3D 4
>>>> Counterweights at:      422 420 422 423
>>>> LN2 autofill systems:   Connected and turned on
>>>> 180L LN2 dewar scales:  SP1 206.60 lbs, 21.50 psi
>>>>                      SP2 230.10 lbs, 20.86 psi
>>>>=20
>>>> NOTE: Eng cam is on the Linde cart and both are inside the =
enclosure!
>>>>=20
>>>> ---- Software Used ----
>>>>=20
>>>> --- STUI software ---
>>>> STUI          : 1.7.1b4
>>>> alerts        : trunk+svn66561
>>>> apo           : trunk+svn158476M
>>>> boss          : v4_0
>>>> -boss.specMec : 3.0.4
>>>> gcamera       : v2_1
>>>> guider        : v3_4
>>>> hartmann      : v1_4_3
>>>> hub           : Tag: sdss4_v3_0
>>>> mcp           : v6_6_18
>>>> -mcp.plc      : 34
>>>> -mcp.azFiduci : v1_119
>>>> -mcp.altFiduc : v1_119
>>>> -mcp.rotFiduc : v1_119
>>>> platedb       : v2_4
>>>> sop           : v3_8_1
>>>> tcc           : 1.2.2
>>>> apogee        : not availble
>>>> apogeecal     : not availble
>>>> apogeeql      : v1_6_1
>>>> APO-local     : trunk
>>>>=20
>>>> Filesystem      Size  Used Avail Use% Mounted on
>>>> /dev/vdd        688G  458G  231G  67% /home
>>>> /dev/vdc1        11T  9.0T  1.8T  84% /data
>>>>=20
>>>> Setting up: idlspec2d                       Flavor: Linux64    =
Version:
>>>> v5_7_12
>>>> Setting up: |elodie                         Flavor: Linux64    =
Version:
>>>> v1_3
>>>> Setting up: |spinspect                      Flavor: Linux64    =
Version:
>>>> trunk
>>>> Setting up: |specflat                       Flavor: Linux64    =
Version:
>>>> v1_20
>>>> Setting up: |speclog                        Flavor: Linux64    =
Version:
>>>> trunk
>>>> Setting up: |platelist                      Flavor: Linux64    =
Version:
>>>> trunk
>>>> Setting up: |sdss_python_module             Flavor: Linux64    =
Version:
>>>> v1_6_7
>>>> Setting up: |sqlalchemy                     Flavor: Linux64    =
Version:
>>>> 0.9.7
>>>> Setting up: |psycopg2                       Flavor: Linux64    =
Version:
>>>> 2.5.3
>>>> Setting up: |idlutils                       Flavor: Linux64    =
Version:
>>>> v5_5_16
>>>> Setting up: |idl                            Flavor: Linux64    =
Version:
>>>> 7.1
>>>> Setting up: |dust                           Flavor: Linux64    =
Version:
>>>> v0_1
>>>> Setting up: |photolog                       Flavor: Linux64    =
Version:
>>>> trunk
>>>> Setting up: actorcore                       Flavor: Linux64    =
Version:
>>>> v4_0
>>>> Setting up: |opscore                        Flavor: Linux64    =
Version:
>>>> v2_4
>>>> Setting up: |external                       Flavor: Linux64    =
Version:
>>>> v1_2_0
>>>> Setting up: |actorkeys                      Flavor: Linux64    =
Version:
>>>> trunk
>>>> Setting up: |sdss3tools                     Flavor: Linux64    =
Version:
>>>> v1_7_13
>>>> Setting up: |RO                             Flavor: Linux64    =
Version:
>>>> 3.6.9
>>>>=20
>>>> --- Other versions ---
>>>> idlspec2d         : v5_7_12
>>>> plate-mapper3     : NOCVS:v6_0_7
>>>> petunia           : trunk
>>>> autoscheduler     : v7_0
>>>> sdss_python_module: v2_5
>>>> mangadrp          : trunk exported
>>>>=20
>>>> ---- Mirror Numbers ----
>>>>=20
>>>> The mirror numbers aren't necessarily useful compared to the old
>>>> NOMINAL values,
>>>> but we took them before starting home/relax just to have them for
>>>> reference.
>>>>=20
>>>> PRIMARY:
>>>> --------
>>>> Scale: 1.000000
>>>>=20
>>>> MIGS		TONIGHT	NOMINAL
>>>> Axial A:	0.119	-0.125
>>>> Axial B:	0.368	 0.112
>>>> Axial C:	0.203	-0.028
>>>> Trans D:	1.166	-1.357
>>>> Lateral E:	9.2456	10.9728
>>>> Lateral F:	14.4526	12.6111
>>>>=20
>>>> GALILS
>>>> Commanded:  10450 -1100 6850 19700 8500 8550
>>>> Actual:     10450 -1100 6850 19700 8500 8550
>>>>=20
>>>> SETMIR VALUES
>>>> PrimDesOrient: 0.0 0.0 0.0 0.0 0.0
>>>> PrimOrient:    0.0 0.0 0.0 0.0 0.0
>>>>=20
>>>> SECONDARY:
>>>> ----------
>>>> Focus:      0.0000
>>>> Air temp:   14.8
>>>> Altitude:   30.5
>>>>=20
>>>> MIGS		TONIGHT	NOMINAL
>>>> Axial A:	-7.165	-0.023
>>>> Axial B:	-6.64	-0.724
>>>> Axial C:	-1.278	-0.732
>>>> Trans D:	-0.194	-0.009
>>>>=20
>>>> GALILS
>>>> Commanded: 1574250 1523650 1555850 -8250 -15650
>>>> Actual:    1599548 1568455 1584455 -8250 -15650
>>>>=20
>>>> SETMIR VALUES
>>>> SecDesOrient: 1257.0  -2.03 -9.35 40.0  278.8
>>>> SecOrient:    1256.97 -2.03 -9.33 39.85 278.9
>>>>=20
>>>> ____________________________________________________________
>>>> Logs of Nightly APO Activities
>>>> =
https://trac.sdss.org/tracmailman/browser/private/sloan-25mlog/index.html
>>>=20
>>=20
>>=20
>=20
>=20