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This is, of course, done at the top of each tower after setting the azimuth to 0 and waiting for things to swing into position.
After I put the numbers where I like them, I hit the Calibrate button, just to make sure. (Not sure if it has an actual use anymore)
This is also not part of the calibration itself, however you need to do this to gain access to the second floor, where the calibration device is located.
I usually type into the terminal of the base building :
1) Service (sets azimuth to 0)
2) Startrotation.
Pressing the "calibrate" buttons at the antennas is also not optional but mandatory.
Btw : There IS a description in the game. But it appears only once per savegame.
https://imgur.com/a/CNihQsu
I tend to do the entire set of antennas, regardless of how off they are, just because of how long it takes to swing them back to the service position. I figure it's better to have a longer downtime and have everything reset, than to have to keep running out to calibrate things. It's also a great time to replenish the batteries if they're running low.
OP posted this on January 24th, so i'm assuming the autocal was not a feature back in those days.
As other posters have explained, just bring the azimuth and elevation very close to "0" and then press the "calibrate" button. Once you've finished the manual and autocal gets done with 7, it will quickly finish the calibration of the other 12 antenna (took like 10 seconds for me, depends on how accurate you are win manual adjustment).