SUBSYSTEM REPORTS
NAVIGATION PERFORMANCE:
ACTIVITIES:
Back up vehicle 200mm, perform wheelie test (i.e. soil mechanics and WAE
tests), and then deploy APXS on Mermaid Dune, and perform APXS measurement
overnight.
-
Vehicle initial position:
- Rover thinks: (-5256, 2907, 16.6)
- Driver thinks: (-5423, 2847, 354.0)
-
Cmd #28034: Move -200mm, completed, no downlink data received. Health check
data indicated the vehicle had moved to new location (-5622,
2868, 357.5) and the odometer had changed about 200mm. There
is no error reported for this command. The reason for this
missing telemetry was due to the sync up problem between the
the lander and DSN the first 10 minutes of the downlink session.
-
Cmd #28038, #28039, #28041, and #28042: Soil mechanics experiments; completed
no errors.
-
Cmd #28040: WAE experiment; completed, no anomalies.
-
Cmd #28050: Deploy APXS to -1980 counts; completed, no errors. Upper right
APXS contact triggered, deployment angle = 128.0 degs.
-
The rover drove backward 200mm and then performed soil mechanics, WAE
experiments and finally deployed the APXS on the ground successfully.
A number of telemetry did not received due to the sync up problem
between the lander and DSN at the first 10 minutes of the downlink session.
All accels showed no anomalies since there was only a very short move of
the vehicle today.
-
The rover current position:
- Rover thinks: (-5622, 2868, 357.5)
- Driver thinks: (???)
CONSTRAINTS:
- Do health check level 2 after every vehicle movement.
- Set Z accel to FORCED_BAD for all vehicle movements.
- Set Y accel to FORCED_BAD for RISK LEVEL = 1 vehicle movements.
- Set Y accel to OK for RISK LEVEL = 2 vehicle movements.
THERMAL PERFORMANCE:
-
The CPU and PWR boards are approaching a high of 31 C and will not exceed FA's.
-
Sol 27 pm Max recorded: 36.8 PWR, 37.0 CPU, 4.8 MAE
-
Sol 28 am Min recorded: -16.6 WEB, -13.4 CPU, -79.8 MAE
-
The RF temperature sensor is still bad and remains forced failed.
Recommendations:
TELECOM PERFORMANCE
Telecom system performance was nominal this Sol, and the revised rover modem heating stratey recommended for this
Sol was effective. The data volume today was very low, the DSN failed to acquire lock at the beginning of the first
downlink and 10 minutes of rover data was not received. This data will be requested for retransmit on Sol 29. This
partially accounts for the short time span on the LMRE data.
STATISTICS
Rov Radio Temp Low = -9.4
Rov Radio Temp High = 29.5
Rov Radio Temp Avg = 9.5
LMRE Radio Temp Low = 20.4
LMRE Radio Temp High = 21.1
LMRE Radio Temp Avg = 20.6
Rx Current Low = 43.5
Rx Current High = 69.6
Rx Current Avg = 50.8
Tx Current Low = 147.9
Tx Current High = 159.5
Tx Current Avg = 152.7
LMRE Good Frames = 402
LMRE Garbled Frames = 355
Avg LMRE Link Quality%= 53.1
TX_CH_FRAMES = 1108
RX_CH_FRAMES = 774
Total Frame Resends = 334
Avg Rover Link Quality%= 69.9
COM:Bad CRC Errors = 0
COM:Timeout Errors = 283
COM:Rx Abort Errors = 4
COM:No Sync Errors = 0
COM:RX Com Errors = 79
RECOMMENDATIONS
In planning the sequence for Sol 29 and beyond, the revised modem heating strategy used tody (Sol 28) should be followed:
The rover modem should be commanded in the next-day runout sequence to perform a 600 secondmodem heating at wakeup.
If no overnight APXS operations are to be conducted, the wakeup rover modem heating should be extended to 900 seconds.
Modem reheating should be triggered by an excessive number of frame retries on the rover-to-lander link, and the reheating
should continue for five minutes or until the rover modem reaches +30 C. The sequence planners should consider the uncertainty
in event completion times introduced by any required modem reheating cycles.
We are continuing our suspension of the previous recommendation to operate on LMRE-A for te minutes prior to the expected rover wakeup time.
MOBILITY PERFORMANCE:
-
The activities today were very modest. The rover backed up 200mm and
deployed the APXS. A middle wheel "wheelie" was performed before the
deploy. All commands were executed without error. The motor currents
were all in the 20-25mA range.
-
The APXS deployed -129.28 degrees and contacted on the upper-right
contact sensor.
-
If the RC wheel came off the ground, it was only by very little. It is
very diffucult to determine if it came off at all. There is activity
on the R bogie, but not much motion. The wheel current is about 8.9mA
during that activity.
-
The mobility system is healthy.
-
Daily Odometry: 0.206 m
-
Total Odometry: 051.106 m
-
Average Wheel Odom: 72.303 m
Recommendations:
- Consider enabling avoidance of stall hazards.
POWER PERFORMANCE:
Based upon the data returned in the health checks returned in SOL 28,
the Power Subsystem is in good health with no operational problems noted.
