SUMMARY REPORT
Wakeup:
- Solar, Sol 4, 97/188-07:00:43 LTST
- All subsystems nominal
- ADM still in contact with rock "Barnacle Bill"
- Telemetry for commands 3103-3194 received during downlink pass 1. This includes all commands up to "end of nominal sequence execution"
- Sequence aborted by sequence 50410E as desired command.
- Rover/Lander communications link working fine throughtout the night
- No packets/data lost.
- All (6) night-time APXS spectra performed and received. (SPECTRA LOOK GREAT!)
- Actual sequence execution times track plan to within 1 minute (GREAT JOB ANDY!)
- Sequence executed nominally with no unexpected errors being reported
- Execellent night-time thermal profile obtained.
- All subsystems operating nominally.
- Power monitor reset:
- Occured at 07:00:41 LTST just after "wait" command 4010 started.
- No error flags set.
- Sequence proceeding nominally.
- Expected due to fact that solar panel very soft.
- Turn on of modem believed to have caused power to shift from solar to battery. Consistent with health check data.
- Persistent State Table Readout (Cmd_Seq_Num: 3008).
- Command Skipped
- Reason currently unknown.
- Commands 4011-4047
- Telemetry NOT RECEIVED
- Apparently in lost transfer frames during start of downlink pass 2
- WILL REQUEST FOR RETRANSMIT!
- Command 4048 - 4197:
- Received almost all messages within this range.
- Commands not received:
- 4050 Clear Errors
- 4061 Image (Only received last of 4 pkts)
- 4071 Shutdown (Reset) ... due to transfer frame loss
- 4072 Turn On Device
- 4074 Wait
- 4076 Turn
- 4077 Move
- 4128 Soil Mechanics
- 4130 Run Motor
- 4131 Run Motor
- 4132 Run Motor
- 4153 Health Check
- 4165 Generic Shutdown
- At least (1) Error Report (Laser Turn On error)
- Cmd 4197 Last command expected to be downlinked (Shutdown)
- Skipped Commands:
- 4008 Read Memory
- 4069 Wait
- Laser Turn On (Cmd_Seq_Num: 4060) FAILED.
- Due to excessive current draw.
- Resulted in setting of "device fail" and "device not available" flags.
- Error flags subsequently cleared by shutdown command.
- Center Laser "device failure counter" automatically set to "Never Power"
- Subsequent Lvl 3 Health Checks did NOT power center laser as indicated by zero current draw (As desired/expected).
- Discovered that laser current sensor limit set to accomodate only one laser on at a time. Should not have turned on two lasers at once. This was an imaging request error).
- Skipping of Wait command 4069 caused remainder of sequence to be performed approximately 35 minutes earlier than intended. Explains why Soil Experiment images (S0054) were taken after Soil Experiment instead of during it.
- Wait command 4069 was skipped because of the pending error flags set by the earlier failed laser turn on command.
- Dead Reckoning Performance (RCW Pos/Orientation - Rover Pos/Orientation):
- X (delta): -0.087 m
- Y (delta): -0.014 m
- Hdg (delta): -7.87 deg (Relatively good for ~1.8 meter traverse)
- ADM deployed on surface:
- Deployment stopped on contact with ADM Upper Right ADM contact sensor.
- EOD image verifies placement of APXS sensor head undisturbed soil patch.
- Images looking toward "Yogi" are FANTASTIC!
- First "Laser Engineering Images" incomplete (packets lost).
- Remaining 3 "Laser Engineering Images" received but lasers not on.
- S0353 (Sol 3 Soil Exp. Retake). On Target.
- S0054 (Sol 4 Soil Exp.) On Target.
- S0354 (Sol 4 Soil Exp.) On Target ... But late to our skipped wait.
- S0055 (Sol 4 EOD) On Target. GREAT! APXS clearly deployed on undisturbed soil patch.
RETRANSMIT REQUESTS
-
NONE
SEQUENCE PLANNING RECOMMENDATIONS
-
Proceed with Nominal Sequence Plan
-
Operational Constraints (For next sequence)
- Set modem heating to 10 minutes
- Set modem reheating to 5 minutes
- Heat modem for 5 minutes prior to transmission of large messages (e.g., images) IF messages being transmitted prior to 14:00 LST.
- Do NOT drive/position rover behind "YOGI" (i.e., stay on the side of YOGI facing the lander). There is an LMRE antennae NULL in the vicinity of YOGI.
- Perform Level 2 Health Checks every hour during the night to acquire night-time thermal profile.
- Do NOT perform any "Go-to-Waypoint" commands. We want to verify operation of the lasers via analysis of the "Laser Engineering Images" prior to using the lasers for navigation.
- Perform (4) Level 3 Health Checks at 8:00, 12:00, 14:00, and 16:00 LST (intended for gathering more Modem performance data/statistics).
- Reset Center Laser Device Failure Counter back to "GOOD" (Value=1) prior to performing 8:00 LST Level 3 Health Check.
- Retake "Laser Engineering Images" (New image request form to be submitted).
- Shutdown operations at 15:00 LST.
-
Operational Constraints (General)
- Read persistent state table at approximately 14:00 LST every Sol so that we get most recent state just prior to the end of the afternoon downlink.
- Disable Auto Shutdown during nominal portion of each sequence
- DO NOT power on more than one laser at a time.
- We MAY want to consider clear errors (except INVALID COMMAND flag) immediately before absolute wait commands to insure that the waits are not skipped and to maintain synchronization with lander activities.
SEQUENCE EXECUTION STATUS & VEHICLE STATE
SEQUENCE EXECUTION STATUS:
| Execution: | Nominal |
| State: | Executing |
| Wakeup: | Solar, Sol 4, 97/188-07:00:43 LTST |
| Crit Errors: | 4060, Laser Current Draw Exceeded Limit |
| Cmds Skipped: | 4008 (Read Mem) |
| 4069 (Wait) | |
| Telem Anomalies: | None |
| Last Command: | 4197, Shutdown |
-
Executing sequence 50310C.
VEHICLE STATE:
-
(AS OF COMMAND: 4197, Shutdown (for night-time apxs)
SCET: 7/8/97 06:15:55.034
TLST: Sol 4, 97/188 14:04:00
)
| Mission Phase: | Primary | |||||
| Mode: | Shutdown | |||||
| Config: | ADM Deployed on Surface | |||||
| Power: | Nominal | |||||
Device Status: | Temp (Internal): | Pwr Brd at Flight Allowable
| Temp (External: | Ambient slightly higher than expected
| Temp:(Modem): | Nominal
| |
Parameter Initial Final Parameter Initial Final
----------------------------------------------------------------
X Position (m) +1.533 +3.390 LBogey (deg) +1.44 -2.72
Y Position (m) -2.015 -2.714 RBogey (deg) +9.44 -8.96
Heading (deg) 77.0 11.5 Diff (deg) -2.96 + 0.8
Pitch (deg) 0.0 -4.7 (+ Pitch -> Front down)
Roll (deg) -4.717 -7.1 (+ Roll -> Roll to Starboard)
ADM Pos (deg) -55.04 -135.68
LFS (deg) +0.6 -0.6 RFS (deg) -1.9 +1.3
LRS (deg) 0.0 -0.6 RRS (deg) -1.9 0.0
----------------------------------------------------------------
Total Battery Remaining (Amp*hrs)
Category Allocation Initial Final *Predicted
--------------------------------------------------------------
Operations 10 9.146 8.967 8.788
Science 10 8.500 7.500 6.5
Technology 10 10.000 10.000 10.00
--------------------------------------------------------------
Total 30 27.646 26.467 25.288
* at completion of current sequence assuming nominal execution
| 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 |
SUBSYSTEM STATUS:
| S/S | Status | Comments |
|---|---|---|
| C&N | Nominal | None |
| MTM | Nominal | None |
| Thermal | Off-Nominal | Power Board slightly above flight allowables. |
| Power | Nominal | None |
| Telecom | Nominal | Rover/Lander Link Good Today |
*All data downlink on Sol INCLUDING retransmitted data.
NAVIGATION PERFORMANCE:
THERMAL PERFORMANCE:
COMMUNICATIONS PERFORMANCE:
SOL4 TELECOM STATISTICS
MOBILITY PERFORMANCE:
POWER PERFORMANCE:
No constraints to impose upon sequence planning
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.
TRAVERSE HAZARDS (DETECTED)
4077 move ( 2898,-2610) ED82: AZ1
4078 turn_to ( 3192,-2758) F0BF: AZ1
4078 turn_to ( 3192,-2758) F5F0: AZ2
4140 move ( 3395,-2711) 0899: AZ1
4140 move ( 3426,-2705) 08AD: AZ1
4140 move ( 3450,-2700) 0869: AZ1
4140 move ( 3459,-2698) 08DA: AZ1
4185 deploy_apxs ( 3390,-2714) 0831: AZ2
4185 deploy_apxs ( 3390,-2714) 0831: AZ2
TELEMETRY VOLUME
DATA VOLUME SUMMARY (BY APID) *
APID #PKTS #BYTES #Mbits
----------------------------------
4 39 11540 0.09232
5 134 15597 0.12478
6 17 1020 0.00816
7 1 40 0.00032
8 108 214888 1.71910
9 242 457033 3.65626
10 0 0 0.00000
12 12 12840 0.10272
23 0 0 0.00000
24 0 0 0.00000
25 13 12486 0.09989
29 6 2723 0.02178
----------------------------------
572 728167 5.82534
SUBSYSTEM REPORTS
C&N subsystem components essentially all performing as expected.
Thermal subsystem components all performing as nominally.
The Rover Telecom Subsystem performed very well during the days operations
for Sol 4. The following are a set of questions to consider when planning
operations sequences:
Rov Radio Temp Low = -14.8
Rov Radio Temp High = 35.6
Rov Radio Temp Avg = 14.1
Rov Radio Temp High = 35.6
Rov LMRE Radio Temp Low = 7.1
LMRE Radio Temp High = 22.6
LMRE Radio Temp Avg = 17.5
Rx Current Low = 43.5
Rx Current High = 69.6
Rx Current Avg = 56.3
Tx Current Low = 156.6
Tx Current High = 165.3
Tx Current Avg = 161.3
LMRE Good Frames = 1509
LMRE Garbled Frames = 110
Avg LMRE Link Quality%= 93.2
TX_CH_FRAMES = 4701
RX_CH_FRAMES = 4585
Total Frame Resends = 116
Avg Rover Link Quality%=97.5
COM:Bad CRC Errors = 3
COM:Timeout Errors = 3301
COM:Rx Abort Errors = 330
COM:No Sync Errors = 0
COM:RX Com Errors = 7644
Mobility subsystem components all performing as expected.
Power subsystem components all performing as expected.
TELEMETRY PROCESSING ANOMALIES
PRESS RELEASE
TBD