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TPTCSOOF_071106

Goals:
- Measure elevation acceleration feed forward coeefficients by recording constant acceleration motion at five different rates (+ and -)
- Enable friction compensation and repeat the azimuth measurements from October 11.

Anticipated commands:
- switch to Az/El coordinates in the Antenna Cleo screen (control window, top pulldown) followed by "update" "move-to"
- on titania:
  - bash
  - source /home/gbt/gbt.bash
  - cd /home/groups/ptcs/obs/procs
  - glish -l setTrajectory.g

First block: began at 20:00 UT. Tim and Todd present. Donna is the operator.

elevation tests: 
   setTrajectory(44, 45, 0.0, +0.3, 0.0, -0.05, 2*0.3/0.05)  ended at 20:13 UT   motor fault, but scan continued
   setTrajectory(44, 45, 0.0, +0.3, 0.0, -0.04, 2*0.3/0.04)           20:15       "
   setTrajectory(44, 45, 0.0, +0.3, 0.0, -0.03, 2*0.3/0.03)                       "
   setTrajectory(44, 45, 0.0, +0.29, 0.0, -0.02, 2*0.29/0.02)                    motor fault and scan aborted partway through

Motor controller failure. Tim and John are looking at it. Closing down tests at 20:30. We did not do any of the scan listed below.

Second block:
- began at 00:20 UT 07Nov07. Joe, John and Todd present. Operator is David Rose.
- Elevation only half-speed available. Snow flurries. T=0.3 C, wind=3m/s
- initially with no friction compensation enabled -- jumpers were left in by daycrew

   setTrajectory(244, 45, 0.0, +0.15, 0.0, -0.05, 0.3/0.05)   completed
   setTrajectory(244, 45, 0.0, +0.15, 0.0, -0.04, 0.3/0.04)   completed
   setTrajectory(244, 45, 0.0, +0.15, 0.0, -0.03, 0.3/0.03)   completed around 00:45 UT                    
   setTrajectory(244, 45, 0.0, +0.15, 0.0, -0.02, 0.3/0.02)   completed at 00:49
   setTrajectory(244, 45, 0.0, +0.15, 0.0, -0.01, 0.3/0.01)   completed at 00:50
   setTrajectory(244, 45, 0.0, -0.15, 0.0,  0.05, 0.3/0.05)   completed at 00:51
   setTrajectory(244, 45, 0.0, -0.15, 0.0,  0.04, 0.3/0.04)   completed at 00:51
   setTrajectory(244, 45, 0.0, -0.15, 0.0,  0.03, 0.3/0.03)   completed at 00:52   
   setTrajectory(244, 45, 0.0, -0.15, 0.0,  0.02, 0.3/0.02)   completed at 00:53
   setTrajectory(244, 45, 0.0, -0.15, 0.0,  0.01, 0.3/0.01)                00:55
   setTrajectory(244, 45, 0.0, -0.15, 0.0,  0.005, 0.3/0.005)              00:56
   setTrajectory(244, 45, 0.0, +0.15, 0.0, -0.005, 0.3/0.005)              00:58
   after each command, issue:  ant.start();

John and Joe drove down to servo room to enable friction compensation

Now see if it is working:
   setTrajectory(240, 50, +0.55, 0.0, -0.01, 0.0, 2*0.55/0.01)  completed at 21:18, gbtlogview shows action on Spare7 and Spare8
                                             John noticed that torque is out-of-ordinary on an azimuth motor, making adjustments?
   setTrajectory(240, 50, -0.55, 0.0, +0.01, 0.0, 2*0.55/0.01)  completed at 21:23
   repeat scan (after more work by John)  21:35
   setTrajectory(240, 50, -0.55, 0.0, +0.01, 0.0, 2*0.55/0.01)   Fatal error
   run again with half the acceleration
   setTrajectory(240, 50, -0.55, 0.0, +0.005, 0.0, 2*0.55/0.005)

We have motors disabled on both axes (motor 8 azimuth is running rough), so servo testing is not the best thing to do tonight. Az 2 and 4 are out, as are El 3 and 5 (toward the end). Will finish up by doing some CCB nods w/friction comp. T=0.3C, wind=2.0m/s

       Source     Az  El
scan 1 2225-0457  221 37    failed to see source.  Something wrong with setup

[02:57:00] Warning: Configuration complete but inconsistencies were found between the M&C system and the configuration tool. Verify the configuration 
[02:57:00] (manager,    parameter,   expected value,  actual value )
[02:57:00] ('LO1', 'loPowerLevel', '-110', '-2.19')
[02:57:00] ('LO1', 'autoSetLOPowerLevel', '0', '1')
[02:57:02] sigma_n = (15.72/0.600000)*(0.000000/sqrt(0.600000*0.050000))
[02:57:02] source : 2225-0457

Giving up on nods with receiver data. Try enabling the tanh() factor and record some scans.

azimuth tests:
   setTrajectory(240, 35, +0.55, 0.0, -0.01, 0.0, 2*0.55/0.01)  start at 02:17
   setTrajectory(240, 35, -0.55, 0.0, +0.01, 0.0, 2*0.55/0.01)  start at 02:20
   ccbnods (at current encoder location)  scan 6 
   ccbnods                                scan 7 start at 02:27
   End at 22:30

-- ToddHunter - 05 Nov 2007

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