Date: Wed, 17 Feb 2021 05:01:29 -0700
Subject: Re: [sloan-25mlog 5394] 2.5m obslog 20210216 (SJD 59262)
From: "Daniel Oravetz"
I had the timestamps wrong in the UT-changeover slew, here is an updated
description with the correct timestamps:
Test slew across UT changeover
===============================
Telescope was at 121,75,00. We commanded a 'tcc track 121,30 mount /rota=0
/rotty=mount' at 23::59:54Z and the slew was in-progress during the UT
changeover. Altitude was moving (beyond) full-speed past 30 degrees and we
stopped the slew at 00:00:28Z.
In the mcp_config.js file, "max_velocity": [2.4, 1.8, 2.4 ], // deg/sec
But altitude was moving at -2.6 deg/sec (and had been accelerating) when we
stopped the telescope. In the tcc config file axelim.dat, max velocity
values are 2.0, 1.5, 2.0 deg/sec, AZ, ALT, ROT. Point being, in the
UT-changeover slew ALT was moving faster than what's allowed in the config
files and moved past the destination position.
>
>                        APACHE POINT OBSERVATORY SDSS 2.5M
>
>                                  OBSERVING LOG
>                           Tuesday February 16, 2021
>
>                                   (SJD 59262)
>
> ----  Observing Team ----
>
> Dan Oravetz
> Christian Carter
>
> ---- Observing Plan ----
>
> Tue 16 FEB 2021   59262.0   BHM (10.6 h)
>
> ---- Observing Summary ----
>
> Some 9" of snow accumulated throughout the day, the entire night was lost
> to
> snowfall, cloud cover, and humidity. BHM lost 10.6 hours. We ran more
> tests
> to try to understand the slew overshoot behavior.
>
>
> Notes:
> =====
> (1) Snow will need to be removed from the enclosure when it is safe to
> open the
>     east roller door.
>
> (2) /dev/vdd        688G  611G   77G  89% /home
>     /dev/vdc1        11T   11T  685G  94% /data
>
> (3) We shoveled the entire apron and the path to the Ops building, swept
> and
>     cleared the enclosure rails and cart bay area.
>
> (4) Summary of our overshoot tests:
>
>  - The procedure used to produce overshoots using MCP command GOTO_POS_VA
>    did not result in overshoots if the MCP command ALT MOVE 5 was
>    used instead. Additional tests are warented.
>  - The procedure we've developed to cause slews to overshoot worked in the
>    majority of cases but did not cause overshoots in every case.
>  - It seems the most reliable way to avoid an overshoot slew is to command
> a
>    slew from a Halted state.
>  - We were at times able to produce overshoots in ROT, but never in AZ.
>  - Our tests showed that accepted/unaccepted ROT fiducial errors did not
>    influence overshoot behavior.
>
> (5) Log sent at 4:25am MST.
>
>
>
> ---- Observing Log ----
>
> ============================================================================
>                                AFTERNOON CHECKOUT
> ============================================================================
>
> Lots of snow and cold again.
>
> APOGEE needed an 'APOGEE coll init' upon arrival to reset the Collimator
> status
> back to 'OK'.
>
> Ventilation will not happen anytime soon due to snow and weather. We will
> likely
> not open tonight.
>
> ============================================================================
>                                     NIGHT
> ============================================================================
>
> Test slew across UT changeover
> ===============================
> Telescope was at 121,75,00. We commanded a 'tcc track 121,30 mount /rota=0
> /rotty=mount' at 23:54Z and the slew was in-progress during the UT
> changeover.
> Altitude was moving full-speed past 30 degrees and we stopped the slew at
> 00:28Z.
>
> In the mcp_config.js file, "max_velocity": [2.4, 1.8, 2.4 ], // deg/sec
> But altitude was moving at -2.6 deg/sec (and had been accelerating) when
> we
> stopped the telescope.
> In the tcc config file axelim.dat, max velocity values are 2.0, 1.5, 2.0
> deg/sec
> AZ, ALT, ROT.
>
> STUI memory at 6958 GB.
>
> (1)
> At 121,30,00
> tcc track 121,31 mount /rota=0 /rotty=mount
> tcc axis stop
> tcc axis init
> tcc track 121,30 mount /rota=0 /rotty=mount
> "Tracking"
> SEM STEAL
> MCP GUI ==> 'Move' to 10
> ALT ended at 9 degrees and then the brake engaged
> Overshoot occurred as expected.
>
> (2)
> At 121,30,00
> 'instChange' button in Telescope Controls
> E-stop, pin, E-stop out, pin out
> 'stow' button in Telescope Controls
> SEM TAKE
> MCP GUI ==> 'Move' to 5
> ALT ended at 5 degrees
> Can we produce overshoot from Halted state? No. Healthy slew.
>
> (3)
> At 121,30,00
> tcc track 121,30 mount /rota=35 /rotty=mount
> tcc axis stop
> tcc axis init
> tcc track 121,30 mount /rota=5 /rotty=mount
> "Tracking"
> SEM STEAL
> MCP GUI ==> 'Move' to 0
> ROT ended at -30 degrees and then went out of closed loop
> Produced an overshoot in ROT axis.
>
> (4)
> At 121,90,00
> tcc track 75,90 mount /rota=0 /rotty=mount
> tcc axis stop
> tcc axis init
> tcc track 100,90 mount /rota=0 /rotty=mount
> "Tracking"
> SEM STEAL
> MCP GUI ==> 'Move' to 121
> AZ ended at 121 degrees
> Unable to produce overshoot in AZ.
>
> (5)
> At 121,90,00
> tcc track 75,90 mount /rota=0 /rotty=mount
> tcc axis stop
> tcc axis init
> tcc track 50,90 mount /rota=0 /rotty=mount
> "Tracking"
> SEM STEAL
> MCP GUI ==> 'Move' to 20
> AZ ended at 20 degrees
> Does direction matter? Still unable to produce AZ overshoot.
>
> (6) ACCEPTED ROT FIDUCIAL.
> At 121,30,00
> tcc track 121,30 mount /rota=35 /rotty=mount
> tcc axis stop
> tcc axis init
> tcc track 121,30 mount /rota=5 /rotty=mount
> "Tracking"
> SEM STEAL
> MCP GUI ==> 'Move' to 0
> ROT ended at 0 degrees and then went out of closed loop
> For some reason, same procedure now did not produce an overshoot. Unclear
> why.
> At the time we thought this was related to accepting the fiducial but we
> later
> demonstrate that having ROT fiducials read does not prevent overshoots.
>
> (7)
> Recording series of "healthy" goto5 slews to view in MCP logs
> At 121,30,0
> tcc track 121,45 /rota=0 /rotty=mount
> tcc axis stop
> tcc axis init
> Used Telescope Controls "Stow"
> STUI Goto5
> Healthy slew. Deceleration started at ALT~13
> tcc axis init
> tcc track 121,45 /rota=0 /rotty=mount
> tcc axis stop
> tcc axis init
> Used Telescope Controls "Stow"
> STUI Goto5
> Healthy slew. Deceleration started at ALT~13
> Used Telescope Controls "Stow"
>
> (8)
> Attempting to produce overshoot in AZ
> At 121,90,0, altitude pin in
> tcc track 75,90 /rota=0 /rotty=mount
> tcc axis stop
> tcc axis init
> tcc track 60,90 /rota=0 /rotty=mount
> "Tracking"
> SEM STEAL
> Arrived at AZ=50. No overshoot. Still unable to produce overshoot in AZ.
>
> Gave Sem back to TCC
> tcc track 45,90 /rota=0 /rotty=mount
> tcc axis stop
> tcc axis init
> tcc track 43,90 /rota=0 /rotty=mount
> tcc axis stop
> tcc axis init
> tcc track 40,90 /rota=0 /rotty=mount
> "Tracking"
> SEM STEAL
> AZ 'Move' button to AZ 38
> Arrived at AZ=38.
> Have not yet been able to produce an AZ overshoot.
> Operating entirely between AZ FIDs still did not overshoot.
>
> (9)
> Confirm previously seen behavior in ROT
> At 121,30,0
> tcc track 121,30 /rota=35 /rotty=mount
> ROT fiducials 15-35 read
> tcc track 121,30 /rota=5 /rotty=mount
> SEM STEAL
> MCP 'Move' Button ROT 0
> Healthy slew, no overshoot. Same as last ROT test (6).
>
> (10)
> Can we produce an overshoot in ROT between FIDs?
> at 121,30,0
> tcc track 121,30 /rota=2 /rotty=mount
> tcc axis stop
> tcc axis init
> tcc track 121,30 /rota=4 /rotty=mount
> Tracking
> SEM STEAL
> MCP 'Move' Button ROT 8
> Healthy slew.
> Did not encounter any ROT FIDs; did not overshoot.
>
> ROT is at 1351114, we set the position 1000 counts lower to introduce a
> fiducial
> error using:
>
> ROT SET_POSITION 1350114
>
> (11)
> At 121,30,00
> tcc track 121,30 mount /rota=35 /rotty=mount
> tcc axis stop
> tcc axis init
> tcc track 121,30 mount /rota=5 /rotty=mount
> "Tracking"
> SEM STEAL
> MCP GUI ==> 'Move' to 0
> ROT ended at 0 degrees. No overshoot.
> This procedure was identical to test (3) which did overshoot, and had an
> uncorrected fiducial error.
>
> (12)
> E-stop in and out
> At 121,30,00
> tcc track 121,30 mount /rota=35 /rotty=mount
> tcc axis stop
> tcc axis init
> tcc track 121,30 mount /rota=5 /rotty=mount
> "Tracking"
> SEM STEAL
> MCP GUI ==> 'Move' to 0
> ROT ended at 0 degrees
>
> (13)
> How do we get ROT to overshoot again? Power-cycled the amplifiers.
> E-stop in and out
> At 121,30,00
> tcc track 121,30 mount /rota=35 /rotty=mount
> tcc axis stop
> tcc axis init
> tcc track 121,30 mount /rota=30 /rotty=mount
> "Tracking"
> SEM STEAL
> MCP GUI ==> 'Move' to 15
> ROT ended at 15 degrees
>
> (14)
> Unable to produce overshoot in ROT. Can we still produce overshoots in
> ALT?
> At 121,30,00
> tcc track 121,31 mount /rota=0 /rotty=mount
> tcc axis stop
> tcc axis init
> tcc track 121,30 mount /rota=0 /rotty=mount
> "Tracking"
> SEM STEAL
> MCP GUI ==> 'Move' to 5
> ALT ended at 5 degrees. No overshoot.
>
> (15)
> At 121,30,00 via 'track'
> tcc track 121,31 mount /rota=0 /rotty=mount
> tcc axis stop
> tcc axis init
> tcc track 121,30 mount /rota=00 /rotty=mount
> "Tracking"
> SEM STEAL
> MCP GUI ==> 'Move' to 5
> ROT ended at 4 degrees.
> No change between tests (14) and (15), but (14) did not overshoot while
> (15) did.
>
> (16)
> At 121,30,00 with rotator fiducials automatically being accepted
> tcc track 121,30 mount /rota=35 /rotty=mount
> tcc axis stop
> tcc axis init
> tcc track 121,30 mount /rota=5 /rotty=mount
> "Tracking"
> SEM STEAL
> MCP GUI ==> 'Move' to 0
> ROT ended at -30 degrees. Overshoot.
>
> (17)
> At 121,90,00
> tcc track 75,90 mount /rota=0 /rotty=mount
> tcc axis stop
> tcc axis init
> tcc track 70,90 mount /rota=0 /rotty=mount
> "Tracking"
> SEM STEAL
> MCP GUI ==> 'Move' to 50
> AZ ended at 50 degrees. Still unable to produce AZ overshoot.
>
> (18)
> At 121,30,00 with rotator fiducials automatically being accepted
> tcc track 121,30 mount /rota=35 /rotty=mount
> tcc axis stop
> tcc axis init
> tcc track 121,30 mount /rota=5 /rotty=mount
> "Tracking"
> SEM STEAL
> MCP GUI ==> 'Move' to 0
> ROT ended at -30 degrees. Overshoot.
>
> We slewed to ALT=5 from a Halted state succeeded. The next slew to 5 was
> successful, too.
>
> (19)
> At 121,30,00
> tcc track 121,31 mount /rota=0 /rotty=mount
> tcc axis stop
> tcc axis init
> tcc track 121,30 mount /rota=0 /rotty=mount
> "Tracking"
> SEM STEAL
> MCP GUI ==> 'Move' to 5
> ALT ended at 5 degrees. No overshoot.
>
> (20)
> At 121,30,00
> tcc track 121,31 mount /rota=0 /rotty=mount
> tcc axis stop
> tcc axis init
> tcc track 121,30 mount /rota=0 /rotty=mount
> "Tracking"
> SEM STEAL
> MCP GUI ==> 'Move' to 5
> ALT ended at 4 degrees. Overshoot.
> Tests (19) and (20) are identical, but produced different results. Unclear
> why.
>
> (21)
> At 121,30,00
> tcc track 121,31 mount /rota=0 /rotty=mount
> tcc axis stop
> tcc axis init
> tcc track 121,30 mount /rota=0 /rotty=mount
> "Tracking"
> SEM STEAL
> MCP GUI ==> 'Move' to 5
> ALT ended at 4 degrees. Baseline ALT overshoot procedure for sanity check.
>
> (22)
> At 121,30,00
> tcc track 121,30 mount /rota=35 /rotty=mount
> tcc axis stop
> tcc axis init
> tcc track 121,30 mount /rota=5 /rotty=mount
> "Tracking"
> SEM STEAL
> MCP GUI ==> 'Move' to 0
> ROT ended at -30 degrees
>
> (23)
> At 121,30,00
> tcc track 121,30 mount /rota=35 /rotty=mount
> tcc axis stop
> tcc axis init
> tcc track 121,30 mount /rota=5 /rotty=mount
> tcc axis stop
> 'Halted'
> SEM TAKE
> MCP GUI ==> 'Move' to 0
> ROT ended at 0 degrees. As expected, no overshoot.
>
> (24)
> At 121,30,00
> tcc track 121,31 mount /rota=0 /rotty=mount
> tcc axis stop
> tcc axis init
> tcc track 121,30 mount /rota=0 /rotty=mount
> "Tracking"
> SEM STEAL
> MCP GUI ==> 'Move' to 5
> ALT ended at 4 degrees, overshoot.
>
> (25)
> At 121,30,00
> tcc track 121,31 mount /rota=0 /rotty=mount
> tcc axis stop
> tcc axis init
> tcc track 121,30 mount /rota=0 /rotty=mount
> "Tracking"
> SEM STEAL
> MCP GUI ==> 'ALT MOVE 5'
> ALT ended at 5 degrees, no overshoot.
>
> (26)
> At 121,30,00
> tcc track 121,31 mount /rota=0 /rotty=mount
> tcc axis stop
> tcc axis init
> tcc track 121,30 mount /rota=0 /rotty=mount
> "Tracking"
> SEM STEAL
> MCP GUI ==> 'Move' to 5
> ALT ended at 4 degrees, overshoot.
>
> (27)
> At 121,30,00
> tcc track 121,31 mount /rota=0 /rotty=mount
> tcc axis stop
> tcc axis init
> tcc track 121,30 mount /rota=0 /rotty=mount
> "Tracking"
> SEM STEAL
> MCP GUI ==> 'ALT MOVE 5'
> ALT ended at 5 degrees, no overshoot.
>
> Tests (24) - (27) were completely identical except for the command used
> during
> the MCP slew to ALT=5. In both cases when we used GOTO_POS_VA, an
> overshoot
> occured. In both cases when we used ALT MOVE 5, an overshoot did not
> occur.
>
>
> ---- BOSS Spectrograph Collimation Summary ----
>
> --- Hartmann ---
> Time   Cart     TSP1   R1    B1   Move1   B1Resid
> ================================================================================
> 11:11  2-15002A  1.2     0   0.0     0     0.0
>
>
> ---- Mirror Numbers ----
>
>
> PRIMARY:
> --------
> Scale: 1.000000
>
> MIGS		TONIGHT	NOMINAL
> Axial A:	-4.9270	-4.9280
> Axial B:	-4.6690	-4.6660
> Axial C:	-5.7760	-5.7770
> Trans D:	-4.3720	-4.3890
> Lateral E:	 0.3750	 0.3750
> Lateral F:	 0.5715	 0.5675
>
> GALILS
> Commanded:  5850 -4500 14850 28200 25200 24900
> Actual:     5850 -4500 14850 28200 25200 24900
>
> SETMIR VALUES
> PrimDesOrient: 0.0 69.89 100.0 375.3 622.11
> PrimOrient:    0.04 69.89 100.0 375.3 622.11
>
> SECONDARY:
> ----------
>
> Focus:      0.0000
> Air temp:    -8.11
> Altitude:   29.999996178438877
>
> MIGS		TONIGHT	NOMINAL
> Axial A:	-9.4450	-9.4420
> Axial B:	-9.4110	-9.4070
> Axial C:	-9.4940	-9.4960
> Trans D:	 0.0480	 0.0420
>
> GALILS
> Commanded: 4631900 4619850 4685750 -2000 -6600
> Actual:    4603898 4585650 4632257 -2000 -6600
>
> SETMIR VALUES
> SecDesOrient: 3657.0 -14.01 -2.9 12.5 114.22
> SecOrient:    3656.96 -14.01 -2.89 12.7 114.21
>
>
>
> ---- Telescope Offsets and Scale ----
>
> --- Offsets --- (arcsec)
> Time   Cart      Az     Alt  Rot    objOff       guideRot  calibOff
> guideRMS
> ================================================================================
> 11:11  2-15002A  121.0 30.1    0.0 (0.0,0.0)          0.0 ( 0, 0, 0)
> 99.999
>
>
> ---- Focus Log ----
>
> --- Focus ---
> Time   Cart      Scale  M1    M2    Focus  Az     Alt   Temp  Wind  Dir
> FWHM
> ================================================================================
> 11:11  2-15002A    0.0      0  3658     0  121.0  30.1  -8.2   13 294  2.4
>
>
> ---- Telescope Status ----
>
> Status at: 11:12Z
>
> Telescope stowed at:    121.0, 30.0, 0.0 mount
> Instrument mounted:     cartridge = 2
> Counterweights at:   450
> LN2 autofill systems:   Connected and turned on
> 180L LN2 dewar scales:  SP1 171 lbs, 21 psi
>
> ---- Software Used ----
>
>   --- Afternoon disk space ---
> /dev/vdd        688G  611G   77G  89% /home
> /dev/vdc1        11T   11T  683G  94% /data
>
> Get Versions, 02/15/21, 23:25:56
>   --- STUI software ---
> STUI          : 1.7.12
> alerts        : 2.0.1
> apo           : v1_11
> boss          : 5.0.1
> -boss.specMec : 3.0.4
> gcamera       : v2_2
> guider        : 3.9.4
> hartmann      : 1.8.0
> hub           : v4.2.4
> mcp           : 1.12-12-g222b
> -mcp.plc      : 34
> -mcp.azFiduci : v1_144
> -mcp.altFiduc : v1_144
> -mcp.rotFiduc : v1_144
> platedb       : 2.8.0
> sop           : 4.0.8
> tcc           : 1.4.0
> apogee        : not availble
> apogeecal     : not availble
> apogeeql      : v1_7_0dev
> STUIAdditions : 3.1.4
>
>   --- Other versions ---
> idlspec2d         : v5_7_12
> plate-mapper3     : NOCVS:v7_0_9
> petunia           : 2.2.2
> autoscheduler     : 1.5.4
> sdss_python_module: trunk
> mangadrp          : trunk exported
>
> ---- APOGEE Data Summary ----
>
> [observer@sdss4-hub ~]$ list_ap -m 59261 -morning
> APOGEE data list,   mjd=59261,  morning
> raw_data:  /data/apogee/utr_cdr/59261/apRaw-*.fits
> archive:  /data/apogee/archive/59261/apR-[a,b,c]-*.apz
> quickred:  /data/apogee/quickred/59261/ap2D-a-*.fits.fz
> --------------------------------------------------------------------------------
> mjd     i   UT   File/Exp  Imtype Nread A/B Dth  Ct-Plate Arch Offset
> %Flux Comm
> --------------------------------------------------------------------------------
> 59261   1 11:03  36990016    Dark   60  A  13.0   2-15002  a-b-c    -   -
> 59261   2 11:14  36990017    Dark   60  A  13.0   2-15002  a-b-c    -   -
> 59261   3 11:24  36990018    Dark   60  A  13.0   2-15002  a-b-c    -   -
> 59261   4 11:35  36990019  QuarFlat 10  A  13.0   2-15002  a-b-c    -   47
> 59261   5 11:37  36990020  QuarFlat 10  A  13.0   2-15002  a-b-c    -   47
> 59261   6 11:39  36990021  QuarFlat 10  A  13.0   2-15002  a-b-c    -   47
> 59261   7 11:40  36990022  Arc-Thar 12  A  13.0   2-15002  a-b-c -1.48  -
> 59261   8 11:43  36990023  Arc-Thar 12  A  13.0   2-15002  a-b-c -1.49  -
> 59261   9 11:45  36990024  Arc-Une  40  A  13.0   2-15002  a-b-c    -   -
> 59261  10 11:52  36990025  Arc-Une  40  A  13.0   2-15002  a-b-c    -   -
> 59261  11 11:59  36990026    Dark   30  A  13.0   2-15002  a-b-c    -   -
> 59261  12 12:05  36990027  InteFlat 30  A  13.0   2-15002  a-b-c    -    0
> 59261  13 12:10  36990028  InteFlat 30  A  13.0   2-15002  a-b-c    -    0
> 59261  14 12:15  36990029  InteFlat 30  A  13.0   2-15002  a-b-c    -    0
> 59261  15 12:21  36990030    Dark   30  A  13.0   2-15002  a-b-c    -   -
> --------------------------------------------------------------------------------
>
> ---- BOSS Data Summary ----
>
> Time   Cart     TSP1   R1    B1   Move1   B1Resid
> =================================================
> 21:15  2-15002A  0.6 -1649  -0.2  -792    -2.7
> 21:54  2-15002A  0.7  -659  -2.2    24    -2.1
>
> 21:51:47  boss exposure    4.0, file=325442
> 21:52:55  boss exposure    4.0, file=325443
> 21:54:15  sp1.motor.move= 24, 22, 21
> 21:54:16 Hartmann collimate output on cart #2
>    sp1: offset: r= -659 (In Focus);  b= -2.2 (In Focus)
>    sp1: pred. move: spAverageMove= 24
>    sp1: pred. resid: r= -683, b= -2.1, txt= OK, spTemp = 0.7
>
> 21:54:12 OBSERVER.doravetz.sop 573 hartmann i r1MeanOffset=-0.10,"In
> Focus"
> 21:54:13 OBSERVER.doravetz.sop 573 hartmann i b1MeanOffset=0.11,"In Focus"
>
> ---- Weather Log ----
>
> --- Weather ---
> Time   Cart      Temp  DP   Diff Humid Wind Dir 1umDst IRSCSig IRSCm
> ================================================================================
> 11:11  2-15002A  -8.2  -8.6  0.4    97   13 294   9999    13.8 400.0
>
>
> ---- Problems in Detail ----
>
> Slew in progress during UT changeover flew past its destination. We
> stopped it
> at 28 degrees while it was moving full speed ahead:
>
> 2021-02-16 23:59:53.241 frTCC:ALT STATUS
> 2021-02-16 23:59:53.249 toTCC:75.000035 0.000000 86393.240704 0 0.000000
> OK
> 2021-02-16 23:59:55.282 frTCC:AZ STATUS
> 2021-02-16 23:59:55.292 toTCC:120.999999 0.000000 86395.282063 0 0.000000
> OK
> 2021-02-16 23:59:55.293 frTCC:ROT STATUS
> 2021-02-16 23:59:55.305 toTCC:-0.000012 0.000000 86395.293199 0 0.000000
> OK
> 2021-02-16 23:59:55.334 frTCC:ALT STATUS
> 2021-02-16 23:59:55.342 toTCC:74.954228 -0.083000 86395.333565 0 0.000000
> OK
> 2021-02-16 23:59:57.375 frTCC:AZ STATUS
> 2021-02-16 23:59:57.386 toTCC:120.999999 0.000000 86397.374621 0 0.000000
> OK
> 2021-02-16 23:59:57.387 frTCC:ROT STATUS
> 2021-02-16 23:59:57.399 toTCC:-0.000006 0.000000 86397.387169 0 0.000000
> OK
> 2021-02-16 23:59:57.428 frTCC:ALT STATUS
> 2021-02-16 23:59:57.436 toTCC:74.606028 -0.250500 86397.427520 0 0.000000
> OK
> 2021-02-16 23:59:59.469 frTCC:AZ STATUS
> 2021-02-16 23:59:59.480 toTCC:120.999999 0.000000 86399.468529 0 0.000000
> OK
> 2021-02-16 23:59:59.481 frTCC:ROT STATUS
> 2021-02-16 23:59:59.492 toTCC:0.000000 0.000000 86399.480594 0 0.000000 OK
> 2021-02-16 23:59:59.520 frTCC:ALT STATUS
> 2021-02-16 23:59:59.530 toTCC:73.907170 -0.418000 86399.520522 0 0.000000
> OK
> 2021-02-17 00:00:01.562 frTCC:AZ STATUS
> 2021-02-17 00:00:01.573 toTCC:120.999999 0.000000 1.561681 0 0.000000 OK
> 2021-02-17 00:00:01.574 frTCC:ROT STATUS
> 2021-02-17 00:00:01.586 toTCC:0.000006 0.000000 1.574257 0 0.000000 OK
> 2021-02-17 00:00:01.615 frTCC:ALT STATUS
> 2021-02-17 00:00:01.624 toTCC:72.857482 -0.585500 1.614608 0 0.000000 OK
> 2021-02-17 00:00:03.656 frTCC:AZ STATUS
> 2021-02-17 00:00:03.667 toTCC:120.999995 0.000000 3.655606 0 0.000000 OK
> 2021-02-17 00:00:03.668 frTCC:ROT STATUS
> 2021-02-17 00:00:03.680 toTCC:0.000018 0.000000 3.667924 0 0.000000 OK
> 2021-02-17 00:00:03.709 frTCC:ALT STATUS
> 2021-02-17 00:00:03.717 toTCC:71.456962 -0.753000 3.708566 0 0.000000 OK
> 2021-02-17 00:00:05.750 frTCC:AZ STATUS
> 2021-02-17 00:00:05.761 toTCC:120.999999 0.000000 5.749574 0 0.000000 OK
> 2021-02-17 00:00:05.762 frTCC:ROT STATUS
> 2021-02-17 00:00:05.773 toTCC:0.000024 0.000000 5.761664 0 0.000000 OK
> 2021-02-17 00:00:05.801 frTCC:ALT STATUS
> 2021-02-17 00:00:05.811 toTCC:69.705423 -0.920500 5.801503 0 0.000000 OK
> 2021-02-17 00:00:07.843 frTCC:AZ STATUS
> 2021-02-17 00:00:07.855 toTCC:120.999995 0.000000 7.842627 0 0.000000 OK
> 2021-02-17 00:00:07.855 frTCC:ROT STATUS
> 2021-02-17 00:00:07.873 toTCC:0.000024 0.000000 7.855458 0 0.000000 OK
> 2021-02-17 00:00:07.896 frTCC:ALT STATUS
> 2021-02-17 00:00:07.905 toTCC:67.603412 -1.088000 7.895525 0 0.000000 OK
> 2021-02-17 00:00:09.937 frTCC:AZ STATUS
> 2021-02-17 00:00:09.948 toTCC:120.999999 0.000000 9.936622 0 0.000000 OK
> 2021-02-17 00:00:09.949 frTCC:ROT STATUS
> 2021-02-17 00:00:09.961 toTCC:0.000024 0.000000 9.949108 0 0.000000 OK
> 2021-02-17 00:00:09.990 frTCC:ALT STATUS
> 2021-02-17 00:00:09.998 toTCC:65.150346 -1.255500 9.989587 0 0.000000 OK
> 2021-02-17 00:00:12.031 frTCC:AZ STATUS
> 2021-02-17 00:00:12.042 toTCC:120.999995 0.000000 12.030650 0 0.000000 OK
> 2021-02-17 00:00:12.043 frTCC:ROT STATUS
> 2021-02-17 00:00:12.055 toTCC:0.000018 0.000000 12.042770 0 0.000000 OK
> 2021-02-17 00:00:12.084 frTCC:ALT STATUS
> 2021-02-17 00:00:12.092 toTCC:62.347015 -1.423000 12.083608 0 0.000000 OK
> 2021-02-17 00:00:14.125 frTCC:AZ STATUS
> 2021-02-17 00:00:14.136 toTCC:120.999999 0.000000 14.124535 0 0.000000 OK
> 2021-02-17 00:00:14.136 frTCC:ROT STATUS
> 2021-02-17 00:00:14.148 toTCC:0.000012 0.000000 14.136469 0 0.000000 OK
> 2021-02-17 00:00:14.176 frTCC:ALT STATUS
> 2021-02-17 00:00:14.186 toTCC:59.192587 -1.590500 14.176504 0 0.000000 OK
> 2021-02-17 00:00:16.218 frTCC:AZ STATUS
> 2021-02-17 00:00:16.229 toTCC:120.999999 0.000000 16.217568 0 0.000000 OK
> 2021-02-17 00:00:16.230 frTCC:ROT STATUS
> 2021-02-17 00:00:16.242 toTCC:0.000012 0.000000 16.230263 0 0.000000 OK
> 2021-02-17 00:00:16.271 frTCC:ALT STATUS
> 2021-02-17 00:00:16.279 toTCC:55.687634 -1.758000 16.270583 0 0.000000 OK
> 2021-02-17 00:00:18.312 frTCC:AZ STATUS
> 2021-02-17 00:00:18.323 toTCC:120.999999 0.000000 18.311637 0 0.000000 OK
> 2021-02-17 00:00:18.324 frTCC:ROT STATUS
> 2021-02-17 00:00:18.336 toTCC:0.000012 0.000000 18.324156 0 0.000000 OK
> 2021-02-17 00:00:18.364 frTCC:ALT STATUS
> 2021-02-17 00:00:18.373 toTCC:51.832072 -1.925500 18.364513 0 0.000000 OK
> 2021-02-17 00:00:20.406 frTCC:AZ STATUS
> 2021-02-17 00:00:20.417 toTCC:120.999999 0.000000 20.405686 0 0.000000 OK
> 2021-02-17 00:00:20.418 frTCC:ROT STATUS
> 2021-02-17 00:00:20.429 toTCC:0.000006 0.000000 20.417655 0 0.000000 OK
> 2021-02-17 00:00:20.457 frTCC:ALT STATUS
> 2021-02-17 00:00:20.467 toTCC:47.625752 -2.093000 20.457501 0 0.000000 OK
> 2021-02-17 00:00:22.499 frTCC:AZ STATUS
> 2021-02-17 00:00:22.511 toTCC:120.999999 0.000000 22.498612 0 0.000000 OK
> 2021-02-17 00:00:22.511 frTCC:ROT STATUS
> 2021-02-17 00:00:22.523 toTCC:0.000006 0.000000 22.511293 0 0.000000 OK
> 2021-02-17 00:00:22.551 frTCC:ALT STATUS
> 2021-02-17 00:00:22.561 toTCC:43.068618 -2.260500 22.551490 0 0.000000 OK
> 2021-02-17 00:00:24.592 frTCC:AZ STATUS
> 2021-02-17 00:00:24.604 toTCC:121.000002 0.000000 24.592524 0 0.000000 OK
> 2021-02-17 00:00:24.605 frTCC:ROT STATUS
> 2021-02-17 00:00:24.617 toTCC:0.000000 0.000000 24.604962 0 0.000000 OK
> 2021-02-17 00:00:24.646 frTCC:ALT STATUS
> 2021-02-17 00:00:24.654 toTCC:38.160869 -2.428000 24.645578 0 0.000000 OK
> 2021-02-17 00:00:26.687 frTCC:AZ STATUS
> 2021-02-17 00:00:26.698 toTCC:120.999999 0.000000 26.686636 0 0.000000 OK
> 2021-02-17 00:00:26.699 frTCC:ROT STATUS
> 2021-02-17 00:00:26.710 toTCC:0.000000 0.000000 26.698677 0 0.000000 OK
> 2021-02-17 00:00:26.738 frTCC:ALT STATUS
> 2021-02-17 00:00:26.748 toTCC:32.902474 -2.595500 26.738485 0 0.000000 OK
> 2021-02-17 00:00:28.780 frTCC:AZ STATUS
> 2021-02-17 00:00:28.792 toTCC:121.011531 0.000000 28.779573 12288 0.000000
> OK
> 2021-02-17 00:00:28.793 frTCC:ROT STATUS
> 2021-02-17 00:00:28.804 toTCC:0.000130 0.000000 28.792542 12288 0.000000
> OK
> 2021-02-17 00:00:28.833 frTCC:ALT STATUS
> 2021-02-17 00:00:28.842 toTCC:27.837680 0.000000 28.832840 12288 0.000000
> OK
> 2021-02-17 00:00:29.013 MGT: bad az amp_bad 1 0xfcfcbff3
> 2021-02-17 00:00:29.013 MGT: bad alt state ABORT_EVENT: ID_ERROR_LIMIT
> 2021-02-17 00:00:29.013 MGT: bad alt state 14
> 2021-02-17 00:00:29.013 MGT: mg->sdssdc.status.i6.il0.alt_mtr_dn_perm_in 0
> mg->sdssdc.status.i6.il0.alt_mtr_up_perm_in 0
> mg->sdssdc.status.i6.il0.alt_plc_perm_in 1
> 2021-02-17 00:00:29.013 MGT: bad alt amp; aborting
> 2021-02-17 00:00:29.014 MGT: bad rot amp, idle
> 2021-02-17 00:00:29.014 amp_mgt set brake both
> 2021-02-17 00:00:29.014 amp_mgt set altitude brake
> 2021-02-17 00:00:29.014 MGT: wait 2 sec
> 2021-02-17 00:00:29.210 altitude cmd frame break
> 2021-02-17 00:00:29.212 altitude frame_break: frames left=1
> 2021-02-17 00:00:29.213 altitude stp_frame
> 2021-02-17 00:00:29.906 tbrakes altitude controller idle
> 2021-02-17 00:00:29.910 azimuth cmd frame break
> 2021-02-17 00:00:29.912 azimuth frame_break: frames left=1
> 2021-02-17 00:00:29.913 azimuth stp_frame
> 2021-02-17 00:00:30.407 tbrakes azimuth controller idle
> 2021-02-17 00:00:30.407 tbrakes commanded both brakes on
> 2021-02-17 00:00:30.448 altitude cmd frame break
> 2021-02-17 00:00:30.448 altitude stp_frame
> 2021-02-17 00:00:30.544 tbrakes altitude controller idle
> 2021-02-17 00:00:30.544 axis altitude brake_on
>
>
> ____________________________________________________________
> Logs of Nightly APO Activities
> https://trac.sdss.org/tracmailman/browser/private/sloan-25mlog/index.html
>