Data Controller Report Template

FLIGHT
SOL 3 END-OF-DAY DOWNLINK STATUS REPORT

Last updated: 7 July 1997, 05:00 am PST, Data Controller: Henry W. Stone and Allen R. Sirota

Summary Report
Retransmit Requests
Sequence Planning Recommendations & Constraints
Sequence Execution Status
Telemetry Volume
Traverse Hazards (Detected)
Subsystem Reports
Telemetry Processing Anomalies
Press Release

SUMMARY REPORT

Wakeup:

Solar, Sol 3, 97/187-07:05:27 LTST
All subsystems nominal

Sequence 50250V:

Received telemetry for all commands in sequence starting at command 2680 (where we left off with yesterday) through end of nominal sequence execution (command 2791)
Rover performed an Auto Shutdown at 19:08 LST on Sol2 due to the fact that is was no longer on solar power and the auto shutdown time had passed.
- The auto shutdown process normally takes about 2 minutes and normally we would already shutdown as started performing a night-time APXS.
- Unfortunately, the rover was still in the process of transmitting previously buffered data and the Auto Shutdown caused us to shutdown until the morning of Sol3 as opposed to executing the command shutdown of several hours for an intermediate APXS spectra.
As a result of the Auto Shutdown only two different APXS spectra were obtained
- First spectra integration time: ~3 hours
- Second spectra integration time: ~15 hours.
- First spectra slightly noisy due to initial temperature of sensor head
- Second spectra looks great ... another mission success.
As a result of the Auto Shutdown we did not perform any night-time health checks and hence have not yet been able to get a night-time thermal profile.
Sequence executed nominally with no unexpected errors being reported
Sequence 50250V was successfully aborted by sequence 50310C at the desired point in the sequence.

Sequence 50310C:

Sequence queued on time.
Telemetry for commands 3001-3009 received during downlink pass 1.
Telemetry for commands 3010-3102 received during downlink pass 2.
All rover telemetry data collected by rover upto the time of the end of downlink pass 2 received.
Move command used to back into the rock "Barnacle Bill" stopped on contact with the ADM upper right contact sensor as intended.
Dead Reckoning Performance (RCW Pos/Hdg - Rover Pos/Hdg):
- X: -0.018 m
- Y: +0.035 m
- Hdg: -9.0
Only 1.6 degrees of gyro drift occurred during ramp egress.
Several commands skipped due to presense of "non-traversable" error flag trigered when move command stopped on contact. While the APXS Deploy command was skipped as desired several Set Parameter commands, Laser Turn on command, and Wait command were also skipped. Error Mask should have been set to mask "non-traversable" errors.
"Laser Engineering Images":
- Command to turn on lasers skipped due to earlier error flag which was not clear and/or masked.
- Images data all zeros (as of yet unexplained). Even if exposure was incorrect we should have seen some dark current noise.
Rear Image of APXS Deployed on Soil:
- Composed of 5 subimages (stripes).
- First 2 subimages received without any loss
- Third subimages only received first 6 of 9 packets
- Forth subimage not received at all
- Fifth subimage only received last 6 packets of 9.
- Total loss of 15 packets of image data.
- Portion of image received looks great. APXS sensor head clearly in view.
Rover image of lander:
- Exceptional (mission success!)
- Center of lander to the right edge of image.
- High gain antennae, portion of base petal, north facing petal and associated airbag material all contained within image.
- Lower portion of image contains rover wheel tracks during turn to rock.
Sequence executed nominally (with the exception of the several skipped commands) with no unexpected errors being reported
No other packet/data loss aside from Rear Image

IMP Imaging:

S0053 and S0054 images (Soil Experiment Images):
- Mis-pointed to the left of the rover. Later verified that IMP parameters not updated prior to acquisition of these images.
S0055 images (Rover EOD images):
- FANTASTIC!
- Rover dead in center of image.
- APXS sensor head clearly shown deployed against rock (Barnacle Bill).
- Wae wheel clean (i.e., can see individual center strips)

RETRANSMIT REQUESTS

NONE

SEQUENCE PLANNING RECOMMENATIONS

Proceed with Nominal Sequence Plan

Operational Constraints (For next sequence)

Disable Auto Shutdown until point of "end of nominal sequence execution"
Set modem heating to 5 minutes
Set modem reheating to 5 minutes
Retake "Laser Engineering Images" (Image request form to be submitted).
Clear errors prior to turning on lasers for "Laser Engineering Images"
Re-execute Set Parameter (ADM_DLIM = -100) previously skipped.
Perform Level 2 Health Checks every hour during the night to acquire thermal profile data previously lost/missed.
Mask contact sensors prior to retraction of ADM (just a reminder).

Operational Constraints (General)

Read persistent state table at approximately 14:00 LST every Sol so that we get its most recent state just prior to the end of the afternoon downlink.

SEQUENCE EXECUTION STATUS & VEHICLE STATE

SEQUENCE EXECUTION STATUS:

Execution:	Nominal
State:	Executing
Wakeup:	Alarm Clock, Sol 3, 97/187-07:05:27 LTST
Crit Errors:	None (advisory ones only)
Cmds Skipped:	3075, 3077, 3078, 3081, 3087, 3094, 3095
Telem Anomalies:	None
Last Command:	3102, Clear

Executing sequence 50310C.

VEHICLE STATE:

(AS OF COMMAND: 3101, Health Check SCET: 7/7/97 06:08:30.959, TLST: Sol 3, 97/187 14:34:13 )


Mission Phase:	Primary
Mode:	Running
Config:	ADM on Rock (Barnacle Bill)
Power:	Nominal
Device Status:	All devices GOOD
Temp (Internal):	Nominal
Temp (External:	Nominal
Temp:(Modem):	Nominal

   Parameter    Initial    Final    Parameter     Initial  Final
----------------------------------------------------------------
X Position (m)   +0.596   +1.533   LBogey (deg)    -6.56     1.44
Y Position (m)   -1.338   -2.015   RBogey (deg)    +2.80     9.44
Heading  (deg)  157.0     77.0     Diff   (deg)     -0.48   -2.96

Pitch    (deg)    -26.9     ?   (+ Pitch -> Front down)
Roll     (deg)     +0.0     ?   (+ Roll  -> Roll to Starboard)

ADM Pos  (deg)     -1.28   -55.04

LFS      (deg)     -0.6     +0.6     RFS    (deg)    0.6   -1.9
LRS      (deg)     +1.9      0.0     RRS    (deg)   -1.9   -1.9
----------------------------------------------------------------

BATTERY STATE/USAGE

              Total           Battery Remaining (Amp*hrs)
Category    Allocation      Initial    Final    *Predicted
--------------------------------------------------------------
Operations      10            ?         ?	   ?
Science         10            ?         ?	   ?
Technology      10            ?         ?	   ?
Reserve          6            ?         ?	   ?
--------------------------------------------------------------
Total           36            ?         ?          ?

* at completion of current sequence assuming nominal execution
** anomalous value due to previously noted A/D initialization problem.  Affected all subsequent battery usage calculations.

ADM Bumper Solar
UL UR B RB LB LR RR RF LF
Mask 1 1 1 1 1 1 1 1 1
State 0 1 0 0 0 0 0 0 0

	ADM	Bumper	Solar
UL	UR	B	RB	LB	LR	RR	RF	LF
Mask	1	1	1	1	1	1	1	1	1
State	0	1	0	0	0	0	0	0	0

ERROR FLAGS
Skip GenFail InvalidCmd WEB_Hot NoPwr NonTrav DevNA DevFail Timeout
Mask 1 1 1 1 1 1 1 1 1
State 0 0 0 0 0 0 0 0 0

	ERROR FLAGS
Skip	GenFail	InvalidCmd	WEB_Hot	NoPwr	NonTrav	DevNA	DevFail	Timeout
Mask	1	1	1	1	1	1	1	1	1
State	0	0	0	0	0	0	0	0	0

SUBSYSTEM STATUS:

S/S	Status	Comments
C&N	Nominal	None
MTM	Nominal	None
Power	Nominal	None
Telecom	Nominal	Rover/Lander Link Good Today

TRAVERSE HAZARDS (DETECTED)

 2680 move       (  596,-1338) 6FA2: AX1 AZ1
 2680 move       (  618,-1347) 6F77: AX1 AZ1
 2680 move       (  639,-1356) 6F4F: AX1 AZ1
 2680 move       (  662,-1365) 6F3D: AX1 AZ1
 2680 move       (  683,-1374) 6F33: AX1
 2680 move       (  697,-1380) 6F21: AX1 AZ1
 2680 move       (  720,-1389) 6F0B: AX0 AZ1
 2680 move       (  742,-1399) 6E40: AX0 AZ1
 2680 move       (  764,-1410) 6D9E: AX0
 2680 move       (  786,-1420) 6DD1: AX0 AZ1
 2680 move       (  801,-1427) 6DCC: AX0 AZ1
 2680 move       (  908,-1482) 6DF4: ART0
 2680 move       (  931,-1494) 6DB2: RB0 ART0
 2680 move       (  954,-1506) 6E0B: RB0 ART0
 2680 move       (  977,-1518) 6E26: RB0 ART0
 2680 move       ( 1105,-1585) 6CD1: AZ1
 2680 move       ( 1189,-1629) 6D10: AZ2
 2680 move       ( 1462,-1773) 6B75: AZ1
 2680 move       ( 1484,-1785) 6AEF: AZ1
 2680 move       ( 1527,-1809) 69CC: AZ1
 2680 move       ( 1535,-1814) 698A: AZ1
 2690 deploy_apxs ( 1535,-1814) 698A: AZ2
 2690 deploy_apxs ( 1535,-1814) 698A: AZ2
 3064 turn_to    ( 1587,-1784) 4E7A: AZ1
 3064 turn_to    ( 1587,-1784) 4763: AY0
 3064 turn_to    ( 1587,-1784) 454F: AZ1
 3064 turn_to    ( 1587,-1784) 4026: AZ1
 3064 turn_to    ( 1587,-1784) 3DB2: AZ1
 3064 turn_to    ( 1587,-1784) 3A4E: AZ1
 3068 deploy_apxs ( 1587,-1784) 37FE: AZ2
 3068 deploy_apxs ( 1587,-1784) 37FE: AZ2
 3073 move       ( 1583,-1802) 37FE: AZ1
 3073 move       ( 1567,-1870) 3580: AZ1
 3073 move       ( 1547,-1955) 35EF: AZ1

TELEMETRY VOLUME

TELEMETRY VOLUME SUMMARY:

DATA VOLUME SUMMARY (BY APID)*

APID   #PKTS     #BYTES    #Mbits
----------------------------------
  4       24      7046     0.05637
  5      139      5933     0.04746
  6        7       420     0.00336
  7        2        92     0.00074
  8       39     69011     0.55209
  9        0         0     0.00000
 10        0         0     0.00000
 12       11     11751     0.09401
 23        0         0     0.00000
 24        0         0     0.00000
 25       56     92654     0.74123
 29        3      3084     0.02467
----------------------------------
         281    189991     1.51993

*All data downlink on Sol INCLUDING retransmitted data.

SUBSYSTEM REPORTS

NAVIGATION PERFORMANCE:

C&N subsystem components essentially all performing as expected.

Only 1.6 degrees of gyro drift after egress down ramp.
9.0 deg of gyro drift after turning towards and moving to rock "Barnacle Bill"
Right camera engineering images (small stripes) intended to be taken with lasers on contained no data (all zeros). Cause is as of yet unknown.
Dead Reckoning Error (based upon EOD image)
- X (delta): -18 mm
- Y (delta): 35 mm
- Hdg (delta): -9 deg
ADM successfully deployed/positioned against rock. Backward move terminated on contact with Upper Right ADM contact sensor.
EOD images (S0055) clearly show APXS sensor head positioned perfectly against rock surface.
Constraints:
- Mask contact sensors prior to retraction of APXS
- Re-execute skipped command which sets APXS_DLIM to -100
- Read the persistent state table every day around 14:00 LST (just prior to end of late afternoon downlink).
- Repeat "Laser engineering" images performed on Sol3.
- Clear errors prior to turning on lasers when repeating "Laser engineering" images (i.e., to prevent earlier error from skipping the turn on device command).
- Disable Auto Shutdown do insure that auto shutdown is not performed if we have data stored on rover at EOD.

THERMAL PERFORMANCE:

Thermal subsystem components all performing as expected.

Constraints/Requests:
- Perform Health Checks (Lvl 2) once per hour so that a thermal characterization can be obtained.

COMMUNICATIONS PERFORMANCE:

Performance on Sol3 was very good (the best yet).

Rover/Lander communications started failing around 14:00 LST on Sol2. Lander data indicates that rover continued to try to communicate with the lander for another 20 minutes (trying every 10 seconds or so) until the rover executed a shutdown command at which point lander no longer heard from rover.
Rover woke up later in the evening of Sol2 and successfully transferred some of its buffered telemetry data to the lander.
Rover performed an auto shutdown around 19:00 LST and remained asleep for approximately 15 hours.
Rover/Lander comm in the morning and throughout Sol3 upto end of downlink 14:00 LST proceeded without "locking up".
One rear image was lost and several packets from two other rear images were lost. Total of 15 packets missing.
Constraints/Desirements:
- Modem Heating: 5 minutes (same as Sol2)
- Modem Reheating: 5 minutes (same as Sol2)

MOBILITY PERFORMANCE:

Mobility subsystem components all performing as expected.

No constraints to impose upon sequence planning.

POWER PERFORMANCE:

Power subsystem components all performing as expected.

Battery usage data will have to monitored manually due to initial A/D readings all being "FF".
No constraints to impose upon sequence planning.

TELEMETRY PROCESSING ANOMALIES

Running LabView version 3.0 until version 4.0 can be reviewed by George Wells.

PRESS RELEASE

To Be Completed

Web Page Authors: Henry W. Stone and Allen.R.Sirota

All information on this site, including text and images describing the Rover is copyright © 1997, Jet Propulsion Laboratory, California Institute of Technology and the National Aeronautics and Space Administration.

FLIGHT SOL 3 END-OF-DAY DOWNLINK STATUS REPORT

FLIGHT
SOL 3 END-OF-DAY DOWNLINK STATUS REPORT