Rover View of "CABBAGE PATCH"

Sequence 51210B:

• Aborted by 51310B at 12122 as planned

Sequence 51310B:

• Rover woke up on solar power at 7:05 LST
• Received all telemetry data for commands 13001 -13193 except "tech" images (due to DPT setting)
• Received all data generated by rover up to time of close of downlink.
• Overall Health is excellent.
• No unexpected errors received.
• Y accels generating spurious readings during Soil 13100, 13101, and Move 13109. Y Accel was disabled during these commands.
• Z accel working fine except for one anomalous reading during Turn L/R 13064.
• Appear to be about 0.8 meters away from intended location. Appears to be gyro/turn error of about 30 degrees. Only partially in the S0055 EOD Image.

• Science Image (Cmd_seq_num: 13143, APID: 8)
  • Missing 28 of 34 packets (Pkts 6 - 33)
  • SCET 7/17/1997 10:59:46

1. Disable auto shutdown
2. Set Modem Heat to 15 minutes; 10 minutes if following a night-time APXS)
3. Set Modem Reheat to 5 minutes.
4. Select LMRE-A power for 10 minutes just before rover wake-up
5. Set alarm based wakeup on morning of Sol 14 for 07:00 LST
6. Perform Read Memory just before last downlink session
7. Leave X accelerometer ENABLED
8. ENABLE Y accelerometer for long moves and waypoints, DISABLE for short, simple moves/turns.
9. DISABLE Z accelerometer.
10. Perform level 2 health check at the end of every traverse command
11. Perform Time Sync just prior to EOD shudown.
12. Limit image transfer after 1:00 LST (to prevent overheating)

1. (DESIRE) Leave rover on until 15:45 LST to collect late afternoon thermal data, perform health check just before shutdown.

1. Insert longer wait (10 seconds) between APXS cycle start command and APXS turn-off command (turn off devices)
2. Perform WEB heating on days of low activity (i.e. no traverses) from 12:00 (noon) to 15:00 MLST with temperature setting at 30 deg and if not performing night-time APXS (should be in runout sequences)

BATTERY STATE/USAGE

Execution:	Nominal
State:	Running
Wakeup:	Solar Power, 1997 197 SOL 13 07:05 LTST
Crit Errors:	None
Executing sequence 51310B

VEHICLE STATE: (AS OF COMMAND: 0, Auto Health (After 13193, Set Parameter) SCET: 7/17/97 12:27:48 )

Mission Phase:	Primary
Mode:	Running
Config:	Nominal
Power:	Nominal
Device Status:	Y Accel Forced Bad
	Z Accel Forced Bad
Temp (Internal):	Nominal (Warm as expected)
Temp (External):	Nominal
Temp:(Modem):	Nominal

---

   Parameter    Initial      Final     Imp EOD    Parameter       Initial  Final
---------------------------------------------------------------------------------
X Position (m)   +3.231     +2.858      3.578    LBogey (deg)    -1.52    5.68
Y Position (m)   -1.434      0.400      0.384    RBogey (deg)    -6.40   -5.28
Heading  (deg)   59.5      287.8      255.63     Diff   (deg)    -0.40    0.48

Pitch    (deg)    +2.4     +7.1  (+ Pitch -> Front down)
Roll     (deg)    -5.9      0.0  (+ Roll  -> Roll to Starboard)

ADM Pos  (deg)     0.0     0.00

LFS      (deg)     +1.3     +1.9     RFS    (deg)    0.0    -0.6
LRS      (deg)     -0.6      0.0     RRS    (deg)   -1.3    -1.3
--------------------------------------------------------------------------------

BATTERY STATE/USAGE

              Total         Battery   Remaining (Amp*hrs)
Category    Allocation      Initial    Final    *Predicted
--------------------------------------------------------------
Operations      10           6.650      6.593     6.593
Science         10           5.900      5.900     5.900
Technology      10           9.800      9.800     9.800
--------------------------------------------------------------
Total           30          22.350     22.293    22.293

* at completion of sequence 51310B.

	ADM			Bumper		Solar
	UL	UR	B	RB	LB	LR	RR	RF	LF
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	Y Accel continuing to have anomolous readings
MTM	Nominal	None
Thermal	Nominal	None
Power	Nominal	None
Telecom	Nominal	None

13064 turn_by    ( 2804,-1125) 2AB3: AZ2
13064 turn_by    ( 2804,-1125) 2214: AZ1
13068 turn_by    ( 3468,-1082) 2735: AZ1
13087 move       ( 3462,-1066) 5025: AZ1
13087 move       ( 3423, -962) 4EF8: AZ1
13109 move       ( 3399, -897) 4EA4: AY2
13109 move       ( 3393, -879) 4EB8: AY2
13109 move       ( 3389, -867) 4F1D: AY2 AZ1
13109 move       ( 3382, -847) 4F2F: AY2 AZ1
13109 move       ( 3377, -832) 4EA6: AY2
13124 move       ( 3285, -582) 4DA5: AZ1
13124 move       ( 3217, -395) 4CAC: AY0
13124 move       ( 3202, -354) 4CD1: AY0
13124 move       ( 3194, -330) 4C85: AY0
13124 move       ( 3189, -314) 4CD4: AY0 AZ1
13124 move       ( 3180, -290) 4D7B: AY0
13124 move       ( 3174, -274) 4DC4: AY0
13124 move       ( 3165, -250) 4E52: AX0 AY0
13124 move       ( 3159, -234) 4F54: ART0 AY0
13124 move       ( 3150, -210) 4FAD: LB0 ART0 AZ1
13124 move       ( 3141, -186) 5003: LB0 ART0 AY0 AZ1
13124 move       ( 3135, -171) 4FEA: LB0 ART0 AY0
13124 move       ( 3126, -148) 4FD5: AY0
13124 move       ( 3120, -132) 5063: AY0
13124 move       ( 3111, -109) 50BE: AY0
13124 move       ( 3104,  -94) 518D: ART0 AY1 AZ1
13124 move       ( 3093,  -71) 5204: ART0 AY0 AZ1
13124 move       ( 3085,  -56) 520C: ART0 AY0
13124 move       ( 3073,  -34) 523C: DIFF0 ART0 AY0 AZ1
13124 move       ( 3061,  -11) 526F: DIFF0 ART0 AY0
13124 move       ( 3053,    5) 5277: DIFF0 ART0 AY0 AZ1
13124 move       ( 3041,   28) 52A6: DIFF0 ART0 AY0
13124 move       ( 3033,   43) 5343: DIFF0 ART0 AY0 AZ1
13124 move       ( 3021,   67) 532A: DIFF0 ART0 AY0
13124 move       ( 3013,   83) 52FA: DIFF0 ART0 AY0
13124 move       ( 3001,  107) 530E: DIFF0 ART0 AY0
13124 move       ( 2993,  122) 52BB: ART0 AY0
13153 turn_by    ( 2856,  406) 5479: AZ1
13153 turn_by    ( 2856,  406) 6C4F: AZ1
13153 turn_by    ( 2856,  406) 6ECD: AY0
13153 turn_by    ( 2856,  406) 7164: AY1
13153 turn_by    ( 2856,  406) 7430: AY0
13153 turn_by    ( 2856,  406) 7AA2: AY0
13153 turn_by    ( 2856,  406) 7E37: AY0
13153 turn_by    ( 2856,  406) 8163: AY1 AZ1
13153 turn_by    ( 2856,  406) 850E: AY0
13153 turn_by    ( 2856,  406) 87DA: AY0 AZ1
13153 turn_by    ( 2856,  406) 8B6E: AY0
13153 turn_by    ( 2856,  406) 8DFB: AY0
13153 turn_by    ( 2856,  406) 93A8: AY0 AZ1
13153 turn_by    ( 2856,  406) 9654: AY0
13153 turn_by    ( 2856,  406) 9964: AY0
13153 turn_by    ( 2856,  406) AD3A: AZ1
13153 turn_by    ( 2856,  406) AFFC: AZ1
13153 turn_by    ( 2856,  406) B3DD: AZ1
13153 turn_by    ( 2856,  406) B7D4: AZ1
13153 turn_by    ( 2856,  406) BB5C: AZ1
13153 turn_by    ( 2856,  406) BD8B: AZ1
13159 turn_by    ( 2856,  406) C3DA: AZ1
13161 move       ( 2858,  400) CCAC: AZ1

DATA VOLUME SUMMARY (BY APID)

APID   #PKTS     #BYTES    #Mbits
----------------------------------
  4       37     10861     0.08689
  5       93      9792     0.07834
  6        1        60     0.00048
  7        2        80     0.00064
  8      594   1125817     9.00654
  9       72    131696     1.05357
 10        0         0     0.00000
 12       12     12840     0.10272
 23        0         0     0.00000
 24        0         0     0.00000
 25      105    192334     1.53867
 29       13      8654     0.06923
----------------------------------
         929   1492134    11.93707

NAVIGATION PERFORMANCE:

Rover starting position:
• Rover thinks: (3231, -1434,59.5)
• Driver thinks: (2804, -1125, 74,7)

Cmd #13064: Turn L/R -73 degs; completed, no errors. Z accel showed exceeding its limit.
Cmd #13066: Move 680 mm; completed, no errors.
Cmd #13068: Turn L/R 103 degs; completed, no errors.
Cmd #13076: Move 0 mm, straighten wheels; completed, no errors.
Cmd #13079: Soil mechanics experiment; completed, no errors.
Cmd #13087: Move 200 mm; completed, no errors.
Cmd #13094 thru 13101: Soil mechanic experiments; completed.
Cmd #13103 thru 13105: Run steering motors(#6,#8,#9); completed, no errors
Cmd #13109: Move 80mm; completed; error 0x903: expected, due to right front motor declared failed. Y accel read bogus data.
Cmd #13116: Move -80mm; completed, no errors.
Cmd #13124: Move 1300mm; completed, no errors.
Cmd #13126: Soil mechanics experiment; completed, no errors.
Cmd #13135: Move 125 mm; completed, no errors.
Cmd #13153: Turn L/R by 155 degs; completed, no errors.
Cmd #13159: Turn L/R by 17 degs; completed, no errors.
Cmd #13161: Move 0 mm; completed, no errors.
The rover completed all the traversal commands!
Rover currrent position:

• Rover thinks: (2858, 400, 287.8)
• Driver thinks: ???

CONSTRAINTS:

• Continue to force Z accel to BAD in move, turn, apxs deploy, and soil mechanic commands.
• Enable Z accel if using waypoint command, and set risk level = 2.
• Command health check level 2 after every vehicle motion command.

THERMAL PERFORMANCE:

• Rover Thermal Health continues to be excellent. Sol 12 evening highs and Sol 13 morning wakeup temperatures are consistent with previous days. All wakeups are in the -15 to -23 range.
• The heavy image transmit rate at end of day resulted in Power Bd, CPU Bd and Modem reaching highs above the FA limits. They were 43.7, 42.4 and 41.0 C, respectively. The temperatures were dropping by the end of downlink when image transmission had stopped.
• Therefore, the recommendation made on previous days to limit image transfer after 1:00 LST needs to be reiterated.

COMMUNICATIONS PERFORMANCE:

Telecom system performance was nominal during this sol. Our recommended strategy of early morning rover modem heating stillremains in effect. If overnight activities occur, then 10 minutes of heat and 5 minutes of reheat at wake up is recommended. If no overnight heating occurs, then 15 minutes of heat and 5 minutes of reheat is advised. Our recommendation of 10 minutes on LMRE-A for early morning operation on in order to preheat the lander modem prior to the expected rover wakeup.

SOL13 TELECOM STATISTICS


Rover Radio Temp Low = -18.6
Rover Radio Temp High = 41.0
Rover Radio Temp Avg = 14.0
LMRE Radio Temp Low = 6.4
LMRE Radio Temp High = 21.8
LMRE Radio Temp Avg = 17.2
Rx Current Low = 43.5
Rx Current High = 66.7
Rx Current Avg = 48.4
Tx Current Low = 142.1
Tx Current High = 165.3
Tx Current Avg = 156.6
LMRE Good Frames = 6956
LMRE Garbled Frames = 5709
Avg LMRE Link Quality%= 54.9
TX_CH_FRAMES = 28309
RX_CH_FRAMES = 25580
Total Frame Resends = 2729
Avg Rover Link Quality%= NaN
COM:Bad CRC Errors = 3
COM:Timeout Errors = 9765
COM:Rx Abort Errors = 63
COM:No Sync Errors = 0
COM:RX Com Errors = 5593

In planning the sequence for Sol 14, special emphasis should be given to strict adherence to the recommended heating regimen, both for the rover modem and the LMRE modem. Our goal is to get the rover modem above 25 C and preferably close to 35 C for those time periods when uncompressed image frames are being transmitted. When considering proposed traverses out behind and beyond Yogi and near Scooby-Doo, be advised that is the direction of the deepest null in the LMRE antenna pattern. Telecom does not expect any problems at the comparatively short range we are at, but we will be alert for any evidence of link degradation brought about by diminished signal strengths.

MOBILITY PERFORMANCE:

• Today the rover completed some relatively simple maneuvers including turns and moves in benign terrain. An unexpected heading variation caused the rover to traverse over a rock after the soil mechanics experiment. That rock was approximately 10 cm high where encountered by the left side running gear. Currents were low the entire day, peaking at 31 mA during soil mechanics experiments.
• Significant soil mechanics data was obtained and received. Some technology images remain on the lander.
• Final odometry reading was 15.903 m, with a net move today of 2.536 m. The wheels have seen an average of 24.6 m of travel.

POWER PERFORMANCE:

Based upon the data returned in 31 health checks between 11:30:58 TLST on SOL 12 and 12:27:48 TLDT on SOL 13 the Power Subsystem is in good health with no operational problems noted.

• None

TBD