version mcpVersion="$Name: v6_6_6$|Dec 23 2010|16:35:56" # MCP version mjd 55628 initialTime 1299521986 typedef enum { azimuth = 0, altitude = 1, rotator = 2, } AXIS; typedef struct { int time; int fididx; int true1; int true2; int pos1; int pos2; float deg; float alt_pos; float velocity; int encoder_error1; int encoder_error2; } ALT_FIDUCIAL; typedef struct { int time; int fididx; int true1; int true2; int pos1; int pos2; float deg; float velocity; int encoder_error1; int encoder_error2; } AZ_FIDUCIAL; typedef struct { int time; int fididx; int true1; int true2; int pos1; int pos2; float deg; int latch; float velocity; int encoder_error1; int encoder_error2; } ROT_FIDUCIAL; typedef struct { int time; AXIS axis; } DEFINE_FIDUCIALS; typedef struct { int time; AXIS axis; int encoder; int error; } SET_FIDUCIAL_ERROR; typedef struct { int time; char mcpVersion[100]; } START_FIDUCIAL; typedef struct { int time; AXIS axis; int encoder; int pos1; int error; float velocity; } UPDATE_ENCODER; typedef struct { int time; AXIS axis; int correction; } DISABLE_MS_CORRECTION; typedef struct { int time; AXIS axis; } MS_ON; typedef struct { int time; AXIS axis; } MS_OFF; typedef struct { int time; int dio316; } BAD_DIO316; ALT_FIDUCIAL 1299521986 4 15533277 15525454 15533335 15525374 59.481 -3281 349983 107 185 ALT_FIDUCIAL 1299521997 5 19418764 19408440 19418869 19408154 73.633 -6188 349983 107 185 ALT_FIDUCIAL 1299522009 6 22827712 22815156 22827722 22814604 88.594 -9261 125150 107 185 ALT_FIDUCIAL 1299535481 6 22827712 22815156 22827602 22814462 89.217 -9389 -115934 107 185 ALT_FIDUCIAL 1299535493 5 19418764 19408440 19418571 19407839 76.121 -6699 -349989 107 185 ALT_FIDUCIAL 1299535505 4 15533277 15525454 15533040 15525054 62.095 -3818 -349989 107 185 ms_off 1299543407 AZIMUTH UPDATE_ENCODER 1299543407 AZIMUTH 1 31077154 0 0 UPDATE_ENCODER 1299543407 AZIMUTH 2 31069645 0 0 ms_off 1299543409 ALTITUDE UPDATE_ENCODER 1299543409 ALTITUDE 1 7721819 107 0 UPDATE_ENCODER 1299543409 ALTITUDE 2 7719385 185 0 ms_off 1299543410 ROTATOR UPDATE_ENCODER 1299543411 ROTATOR 1 3995 0 0 UPDATE_ENCODER 1299543411 ROTATOR 2 0 0 0 ms_off 1299543418 AZIMUTH ms_off 1299543418 ALTITUDE ms_off 1299543418 ROTATOR ms_on 1299543418 AZIMUTH SET_FIDUCIAL_ERROR 1299543418 ALTITUDE 1 237 SET_FIDUCIAL_ERROR 1299543418 ALTITUDE 2 400 ms_on 1299543418 ALTITUDE ms_on 1299543418 ROTATOR ALT_FIDUCIAL 1299543451 4 15533277 15525454 15533428 15525710 58.941 -3170 385713 237 400 SET_FIDUCIAL_ERROR 1299543451 ALTITUDE 1 -151 SET_FIDUCIAL_ERROR 1299543451 ALTITUDE 2 -256 ALT_FIDUCIAL 1299543461 5 19418764 19408440 19418795 19408223 74.811 -6430 385031 86 144 SET_FIDUCIAL_ERROR 1299543461 ALTITUDE 1 -31 SET_FIDUCIAL_ERROR 1299543461 ALTITUDE 2 217 ALT_FIDUCIAL 1299543474 6 22827712 22815156 22827608 22814871 88.116 -9163 113254 55 361 SET_FIDUCIAL_ERROR 1299543474 ALTITUDE 1 104 SET_FIDUCIAL_ERROR 1299543474 ALTITUDE 2 285 ms_off 1299543481 AZIMUTH ms_off 1299543481 ALTITUDE ms_off 1299543481 ROTATOR ms_off 1299543490 AZIMUTH ms_off 1299543490 ALTITUDE ms_off 1299543491 ROTATOR ms_on 1299543491 AZIMUTH ms_on 1299543491 ALTITUDE ms_on 1299543491 ROTATOR ROT_FIDUCIAL 1299543499 -78 40188496 42590828 40618721 40000000 3.663 40188271 229847 0 0 ROT_FIDUCIAL 1299543501 77 40989328 42590828 40989124 40000000 5.857 40618721 289222 0 0 SET_FIDUCIAL_ERROR 1299543501 ROTATOR 1 204 SET_FIDUCIAL_ERROR 1299543501 ROTATOR 2 0 ROT_FIDUCIAL 1299543502 -77 40989328 42590828 41418866 40000000 8.401 40989124 334986 204 0 ROT_FIDUCIAL 1299543503 76 41790044 42590828 41790038 40000000 10.599 41418866 337778 204 0 SET_FIDUCIAL_ERROR 1299543503 ROTATOR 1 6 SET_FIDUCIAL_ERROR 1299543503 ROTATOR 2 0 ROT_FIDUCIAL 1299543505 -76 41790044 42590828 42218840 40000000 13.138 41790038 337778 210 0 ROT_FIDUCIAL 1299543506 75 42590828 42590828 42590826 40000000 15.340 42218840 337778 210 0 SET_FIDUCIAL_ERROR 1299543506 ROTATOR 1 2 SET_FIDUCIAL_ERROR 1299543506 ROTATOR 2 0 AZ_FIDUCIAL 1299543506 21 27561644 27556348 27562087 27556826 107.314 -407086 0 0 SET_FIDUCIAL_ERROR 1299543506 AZIMUTH 1 -443 SET_FIDUCIAL_ERROR 1299543506 AZIMUTH 2 -478 ROT_FIDUCIAL 1299543507 -75 42590828 42590828 43018803 40000000 17.874 42590826 337778 212 0 ROT_FIDUCIAL 1299543508 74 43391588 42590828 43391588 40000000 20.082 43018803 337778 212 0 ROT_FIDUCIAL 1299543509 -74 43391588 42590828 43818791 40000000 22.611 43391588 321513 212 0 ROT_FIDUCIAL 1299543511 73 44192380 42590828 44192383 40000000 24.823 43818791 270750 212 0 SET_FIDUCIAL_ERROR 1299543511 ROTATOR 1 -3 SET_FIDUCIAL_ERROR 1299543511 ROTATOR 2 0 ROT_FIDUCIAL 1299543512 -73 44192380 42590828 44618767 40000000 27.348 44192383 193167 209 0 ROT_FIDUCIAL 1299543515 72 44993152 42590828 44993161 40000000 29.565 44618767 76000 209 0 SET_FIDUCIAL_ERROR 1299543515 ROTATOR 1 -9 SET_FIDUCIAL_ERROR 1299543515 ROTATOR 2 0 ms_off 1299543517 ALTITUDE ms_off 1299543517 ROTATOR ms_off 1299543517 AZIMUTH ms_off 1299543528 AZIMUTH ms_off 1299543528 ALTITUDE ms_off 1299543528 ROTATOR ms_on 1299543529 AZIMUTH ms_on 1299543529 ALTITUDE ms_on 1299543529 ROTATOR ROT_FIDUCIAL 1299543536 -72 44993152 42590828 44618701 40000000 27.348 44993086 -194750 200 0 ROT_FIDUCIAL 1299543538 73 44192380 42590828 44192313 40000000 24.823 44618701 -272333 200 0 SET_FIDUCIAL_ERROR 1299543538 ROTATOR 1 67 SET_FIDUCIAL_ERROR 1299543538 ROTATOR 2 0 ROT_FIDUCIAL 1299543539 -73 44192380 42590828 43818780 40000000 22.611 44192313 -323711 267 0 AZ_FIDUCIAL 1299543540 21 27561644 27556348 27561299 27556123 107.311 409655 -443 -478 SET_FIDUCIAL_ERROR 1299543540 AZIMUTH 1 345 SET_FIDUCIAL_ERROR 1299543540 AZIMUTH 2 225 ROT_FIDUCIAL 1299543541 74 43391588 42590828 43391575 40000000 20.082 43818780 -337778 267 0 SET_FIDUCIAL_ERROR 1299543541 ROTATOR 1 13 SET_FIDUCIAL_ERROR 1299543541 ROTATOR 2 0 ROT_FIDUCIAL 1299543542 -74 43391588 42590828 43018804 40000000 17.874 43391575 -337778 280 0 ROT_FIDUCIAL 1299543543 75 42590828 42590828 42590835 40000000 15.340 43018804 -337778 280 0 SET_FIDUCIAL_ERROR 1299543543 ROTATOR 1 -7 SET_FIDUCIAL_ERROR 1299543543 ROTATOR 2 0 ROT_FIDUCIAL 1299543544 -75 42590828 42590828 42218845 40000000 13.138 42590835 -337778 273 0 ROT_FIDUCIAL 1299543545 76 41790044 42590828 41790048 40000000 10.599 42218845 -337778 273 0 SET_FIDUCIAL_ERROR 1299543545 ROTATOR 1 -4 SET_FIDUCIAL_ERROR 1299543546 ROTATOR 2 0 ROT_FIDUCIAL 1299543547 -76 41790044 42590828 41418876 40000000 8.401 41790048 -337778 269 0 AZ_FIDUCIAL 1299543547 22 31414436 31406456 31414430 31406515 122.313 513674 -98 -253 SET_FIDUCIAL_ERROR 1299543547 AZIMUTH 1 6 SET_FIDUCIAL_ERROR 1299543547 AZIMUTH 2 -59 ROT_FIDUCIAL 1299543548 77 40989328 42590828 40989344 40000000 5.858 41418876 -337778 269 0 SET_FIDUCIAL_ERROR 1299543548 ROTATOR 1 -16 SET_FIDUCIAL_ERROR 1299543548 ROTATOR 2 0 ROT_FIDUCIAL 1299543549 -77 40989328 42590828 40618916 40000000 3.665 40989344 -337778 253 0 ROT_FIDUCIAL 1299543550 78 40188496 42590828 40188501 40000000 1.116 40618916 -337778 253 0 SET_FIDUCIAL_ERROR 1299543550 ROTATOR 1 -5 SET_FIDUCIAL_ERROR 1299543550 ROTATOR 2 0 ROT_FIDUCIAL 1299543551 -78 40188496 42590828 39818645 40000000 -1.074 40188501 -337778 248 0 ROT_FIDUCIAL 1299543553 79 39387464 42590828 39387437 40000000 -3.627 39818645 -337778 248 0 SET_FIDUCIAL_ERROR 1299543553 ROTATOR 1 27 SET_FIDUCIAL_ERROR 1299543553 ROTATOR 2 0 ROT_FIDUCIAL 1299543554 -79 39387464 42590828 39018620 40000000 -5.811 39387437 -337778 275 0 ROT_FIDUCIAL 1299543555 80 38586588 42590828 38586604 40000000 -8.369 39018620 -337778 275 0 SET_FIDUCIAL_ERROR 1299543555 ROTATOR 1 -16 SET_FIDUCIAL_ERROR 1299543555 ROTATOR 2 0 AZ_FIDUCIAL 1299543556 23 35271044 35260360 35271014 35260346 137.328 309810 -92 -312 SET_FIDUCIAL_ERROR 1299543556 AZIMUTH 1 30 SET_FIDUCIAL_ERROR 1299543556 AZIMUTH 2 14 ROT_FIDUCIAL 1299543556 -80 38586588 42590828 38218591 40000000 -10.548 38586604 -337778 259 0 ROT_FIDUCIAL 1299543557 81 37785828 42590828 37785822 40000000 -13.110 38218591 -337778 259 0 SET_FIDUCIAL_ERROR 1299543557 ROTATOR 1 6 SET_FIDUCIAL_ERROR 1299543557 ROTATOR 2 0 ROT_FIDUCIAL 1299543558 -81 37785828 42590828 37418644 40000000 -15.284 37785822 -337778 265 0 ROT_FIDUCIAL 1299543560 82 36985056 42590828 36985047 40000000 -17.852 37418644 -337778 265 0 SET_FIDUCIAL_ERROR 1299543560 ROTATOR 1 9 SET_FIDUCIAL_ERROR 1299543560 ROTATOR 2 0 ROT_FIDUCIAL 1299543561 -82 36985056 42590828 36618673 40000000 -20.021 36985047 -337778 274 0 ROT_FIDUCIAL 1299543562 83 36184296 42590828 36184299 40000000 -22.593 36618673 -322535 274 0 SET_FIDUCIAL_ERROR 1299543562 ROTATOR 1 -3 SET_FIDUCIAL_ERROR 1299543562 ROTATOR 2 0 ROT_FIDUCIAL 1299543563 -83 36184296 42590828 35818691 40000000 -24.758 36184299 -271541 271 0 ROT_FIDUCIAL 1299543565 84 35383528 42590828 35383517 40000000 -27.334 35818691 -193430 271 0 SET_FIDUCIAL_ERROR 1299543565 ROTATOR 1 11 SET_FIDUCIAL_ERROR 1299543565 ROTATOR 2 0 ROT_FIDUCIAL 1299543568 -84 35383528 42590828 35018742 40000000 -29.494 35383517 -81805 282 0 ms_off 1299543571 AZIMUTH ms_off 1299543571 ALTITUDE ms_off 1299543571 ROTATOR ms_off 1299543576 AZIMUTH ms_off 1299543576 ALTITUDE ms_off 1299543576 ROTATOR ms_on 1299543577 AZIMUTH ms_on 1299543577 ALTITUDE ms_on 1299543577 ROTATOR ROT_FIDUCIAL 1299543584 84 35383528 42590828 35383533 40000000 -27.334 35018736 195278 282 0 SET_FIDUCIAL_ERROR 1299543584 ROTATOR 1 -5 SET_FIDUCIAL_ERROR 1299543584 ROTATOR 2 0 AZ_FIDUCIAL 1299543586 23 35271044 35260360 35271411 35260609 137.330 -311736 -62 -298 SET_FIDUCIAL_ERROR 1299543586 AZIMUTH 1 -367 SET_FIDUCIAL_ERROR 1299543586 AZIMUTH 2 -249 ROT_FIDUCIAL 1299543586 -84 35383528 42590828 35818734 40000000 -24.757 35383533 273653 277 0 ROT_FIDUCIAL 1299543587 83 36184296 42590828 36184340 40000000 -22.593 35818734 323519 277 0 SET_FIDUCIAL_ERROR 1299543588 ROTATOR 1 -44 SET_FIDUCIAL_ERROR 1299543588 ROTATOR 2 0 ROT_FIDUCIAL 1299543589 -83 36184296 42590828 36618673 40000000 -20.021 36184340 337778 233 0 ROT_FIDUCIAL 1299543590 82 36985056 42590828 36985057 40000000 -17.852 36618673 337778 233 0 SET_FIDUCIAL_ERROR 1299543590 ROTATOR 1 -1 SET_FIDUCIAL_ERROR 1299543590 ROTATOR 2 0 ROT_FIDUCIAL 1299543591 -82 36985056 42590828 37418654 40000000 -15.284 36985057 337778 232 0 ROT_FIDUCIAL 1299543592 81 37785828 42590828 37785837 40000000 -13.110 37418654 337778 232 0 SET_FIDUCIAL_ERROR 1299543592 ROTATOR 1 -9 SET_FIDUCIAL_ERROR 1299543592 ROTATOR 2 0 ROT_FIDUCIAL 1299543594 -81 37785828 42590828 38218602 40000000 -10.548 37785837 337778 223 0 ROT_FIDUCIAL 1299543595 80 38586588 42590828 38586594 40000000 -8.369 38218602 334064 223 0 SET_FIDUCIAL_ERROR 1299543595 ROTATOR 1 -6 SET_FIDUCIAL_ERROR 1299543595 ROTATOR 2 0 ROT_FIDUCIAL 1299543596 -80 38586588 42590828 39018609 40000000 -5.811 38586594 286846 217 0 AZ_FIDUCIAL 1299543596 22 31414436 31406456 31414416 31406394 122.313 -184601 -429 -547 SET_FIDUCIAL_ERROR 1299543596 AZIMUTH 1 20 SET_FIDUCIAL_ERROR 1299543596 AZIMUTH 2 62 ROT_FIDUCIAL 1299543597 79 39387464 42590828 39387455 40000000 -3.627 39018609 225359 217 0 SET_FIDUCIAL_ERROR 1299543597 ROTATOR 1 9 SET_FIDUCIAL_ERROR 1299543598 ROTATOR 2 0 ROT_FIDUCIAL 1299543600 -79 39387464 42590828 39818672 40000000 -1.074 39387455 121915 226 0 ms_off 1299543603 AZIMUTH ms_off 1299543603 ALTITUDE ms_off 1299543603 ROTATOR ms_off 1299543612 AZIMUTH ms_off 1299543613 ALTITUDE ms_off 1299543613 ROTATOR ms_on 1299543613 AZIMUTH ms_on 1299543613 ALTITUDE ms_on 1299543613 ROTATOR ALT_FIDUCIAL 1299543621 6 22827712 22815156 22827588 22814996 89.329 -9412 -114171 159 646 SET_FIDUCIAL_ERROR 1299543621 ALTITUDE 1 124 SET_FIDUCIAL_ERROR 1299543622 ALTITUDE 2 160 ALT_FIDUCIAL 1299543635 5 19418764 19408440 19418739 19408568 76.710 -6820 -385273 283 806 SET_FIDUCIAL_ERROR 1299543635 ALTITUDE 1 25 SET_FIDUCIAL_ERROR 1299543635 ALTITUDE 2 -128 ALT_FIDUCIAL 1299543645 4 15533277 15525454 15533248 15525650 61.190 -3632 -385714 308 678 SET_FIDUCIAL_ERROR 1299543645 ALTITUDE 1 29 SET_FIDUCIAL_ERROR 1299543645 ALTITUDE 2 -196 ms_off 1299543676 ALTITUDE ms_off 1299543676 ROTATOR ms_off 1299543676 AZIMUTH ms_off 1299544423 AZIMUTH ms_off 1299544424 ALTITUDE ms_off 1299544424 ROTATOR ms_off 1299544424 AZIMUTH ms_off 1299544424 ALTITUDE ms_off 1299544424 ROTATOR ms_off 1299582408 AZIMUTH UPDATE_ENCODER 1299582408 AZIMUTH 1 31077279 -409 0 UPDATE_ENCODER 1299582408 AZIMUTH 2 31069438 -485 0 ms_off 1299582409 ALTITUDE UPDATE_ENCODER 1299582410 ALTITUDE 1 7817122 337 0 UPDATE_ENCODER 1299582410 ALTITUDE 2 7814862 482 0 ms_off 1299582411 ROTATOR UPDATE_ENCODER 1299582411 ROTATOR 1 5028 226 0 UPDATE_ENCODER 1299582412 ROTATOR 2 0 0 0 ms_off 1299582422 AZIMUTH ms_off 1299582422 ALTITUDE ms_off 1299582422 ROTATOR ms_on 1299582423 AZIMUTH ms_on 1299582423 ALTITUDE ms_on 1299582423 ROTATOR ALT_FIDUCIAL 1299582455 4 15533277 15525454 15533637 15525832 59.067 -3196 385713 0 0 SET_FIDUCIAL_ERROR 1299582455 ALTITUDE 1 -360 SET_FIDUCIAL_ERROR 1299582455 ALTITUDE 2 -378 ALT_FIDUCIAL 1299582465 5 19418764 19408440 19418797 19408205 74.860 -6440 385079 -360 -378 SET_FIDUCIAL_ERROR 1299582465 ALTITUDE 1 -33 SET_FIDUCIAL_ERROR 1299582465 ALTITUDE 2 235 ALT_FIDUCIAL 1299582479 6 22827712 22815156 22827589 22814839 88.306 -9202 113443 -393 -143 SET_FIDUCIAL_ERROR 1299582479 ALTITUDE 1 123 SET_FIDUCIAL_ERROR 1299582479 ALTITUDE 2 317 ms_off 1299582485 ALTITUDE ms_off 1299582485 ROTATOR ms_off 1299582485 AZIMUTH ms_off 1299582612 AZIMUTH UPDATE_ENCODER 1299582612 AZIMUTH 1 31077167 0 0 UPDATE_ENCODER 1299582612 AZIMUTH 2 31069308 0 0 ms_off 1299582613 ALTITUDE UPDATE_ENCODER 1299582614 ALTITUDE 1 23142451 -270 0 UPDATE_ENCODER 1299582614 ALTITUDE 2 23129668 174 0 ms_off 1299582615 ROTATOR UPDATE_ENCODER 1299582615 ROTATOR 1 7626 0 0 UPDATE_ENCODER 1299582615 ROTATOR 2 0 0 0 ms_off 1299582625 AZIMUTH UPDATE_ENCODER 1299582625 AZIMUTH 1 31077254 0 0 UPDATE_ENCODER 1299582625 AZIMUTH 2 31069398 0 0 ms_off 1299582626 ALTITUDE UPDATE_ENCODER 1299582627 ALTITUDE 1 23142435 0 0 UPDATE_ENCODER 1299582627 ALTITUDE 2 23129677 0 0 ms_off 1299582628 ROTATOR UPDATE_ENCODER 1299582628 ROTATOR 1 -2 0 0 UPDATE_ENCODER 1299582628 ROTATOR 2 0 0 0 ms_off 1299582644 AZIMUTH UPDATE_ENCODER 1299582644 AZIMUTH 1 31077252 0 0 UPDATE_ENCODER 1299582645 AZIMUTH 2 31069398 0 0 ms_off 1299582646 ALTITUDE UPDATE_ENCODER 1299582646 ALTITUDE 1 23142385 0 0 UPDATE_ENCODER 1299582646 ALTITUDE 2 23129636 0 0 ms_off 1299582647 ROTATOR UPDATE_ENCODER 1299582647 ROTATOR 1 -2 0 0 UPDATE_ENCODER 1299582647 ROTATOR 2 0 0 0 ms_off 1299582658 AZIMUTH ms_off 1299582658 ALTITUDE ms_off 1299582658 ROTATOR ms_on 1299582658 AZIMUTH ms_on 1299582658 ALTITUDE ms_on 1299582658 ROTATOR ALT_FIDUCIAL 1299582667 6 22827712 22815156 22827687 22815129 89.280 -9402 -114300 0 0 SET_FIDUCIAL_ERROR 1299582667 ALTITUDE 1 25 SET_FIDUCIAL_ERROR 1299582667 ALTITUDE 2 27 ALT_FIDUCIAL 1299582680 5 19418764 19408440 19418747 19408590 76.247 -6725 -385302 25 27 SET_FIDUCIAL_ERROR 1299582680 ALTITUDE 1 17 SET_FIDUCIAL_ERROR 1299582680 ALTITUDE 2 -150 ALT_FIDUCIAL 1299582690 4 15533277 15525454 15533236 15525642 62.227 -3845 -385714 42 -123 SET_FIDUCIAL_ERROR 1299582690 ALTITUDE 1 41 SET_FIDUCIAL_ERROR 1299582690 ALTITUDE 2 -188 ms_off 1299582721 ROTATOR ms_off 1299582721 AZIMUTH ms_off 1299582721 ALTITUDE