FLIGHT
SOL 32 END-OF-DAY DOWNLINK STATUS REPORT

Last updated: 5 Aug 1997, 19:30 PDT, Data Controller: Howard J. Eisen

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


Rover near the entrance to the Rock
Garden after a long traverse


Looking at Rock Garden and Lander
Can you make out the 'JPL'?



SUMMARY REPORT

Retransmit Status:

Sequence 53010C: Sequence 53210B:

RETRANSMIT REQUESTS




SEQUENCE PLANNING RECOMMENDATIONS
Continue with nominal sequence plan. Operational Constraints (Sol 33 Sequence):
  1. New or changed recommendations: Change alarm clock wakeup to 8:10 LTST.
  2. Accelerometers
    • DISABLE the Y accelerometer during waypoints and moves at risk level 1
    • CAN DISABLE the Y accelerometer during moves at risk level 2 IF planned path appears 'safe'; otherwise ENABLE Y accelerometer.
    • ENABLE Y accel for waypoints at risk level 2
  3. REMOVE explicit heating of modem prior to morning image transfer (superseded by maximum reheat temperature setting in "general constraints")
  4. Leave X accelerometer ENABLED
  5. Leave the Z accel DISABLED
  6. Enable hazard avoidance using sensors, contacts, and laser proximity, and perform each waypoint command only once
  7. If possible, health checks should not be skipped as a result of traversable hazards
  8. Before beginning traverses, should back up a little (~ 10 cm) to enable lasers to detect hazards which may be very close to the front of the rover. UNMASK contact sensors for this move. May want to then move forward ~ 1 cm, with contact sensors MASKED to remove any contact that may have been made during the previous backward move. Then UNMASK all contact sensors and plan subsequent waypoints.
Engineering Requests:
  1. Waypoint Navigation:
    • Continue to perform waypoint commands.
    • Take seperate S0055 images after each individual waypoint command.
    • Take S0050 (Rover Movie) of each individual waypoint command.
  2. Take pre and post S0050 images at Low-Compression (3:1).
  3. (DESIRE) Take rover images as early in the morning as possible to reduce dark noise current.
  4. (DESIRE) Leave rover on until 15:45 LST to collect late afternoon thermal data, perform health check just before shutdown.
  5. (DESIRE) Perform Wheelie before start of Traverse and Soil Experiment at end of Sol's traverse when practical
Operational Constraints (General):
  1. Mask all errors (except INVALID CMD) immediately prior to "Read Mem" of persistent state table. Unmask accordingly immediately afterwards.
  2. Set Modem Reheat to 5 minutes and maximum modem reheat temperature 30 deg.
  3. If need to perform Level 3 health checks between Sol n, 20:00 LST and Sol n+1,8:00 LST, disable lasers (i.e., never power) to prevent them from being turned on. Re-enable afterwards.
  4. Terminate heating at 15:00
  5. Disable auto shutdown
  6. Set Modem Heat to 15 minutes; 10 minutes if following a night-time APXS
  7. Set alarm based wakeup to 08:10 LST
  8. Perform Read Memory just before last downlink session
  9. DISABLE RF Wheel Temperature Sensor
  10. DISABLE Z accelerometer.
  11. Perform Time Sync just prior to EOD shudown.
  12. Always command a Level 2 Health Check before shutdown.
  13. Perform level 2 health check at the end of every traverse command
  14. Limit image transfer after 1:00 LST (to prevent overheating)
  15. Limit each "Move Command" distance to 1 meter or less to enable gyro to be recalibrated and thereby reduce the amount of drift.
  16. Insert longer wait (10 seconds) between APXS cycle start command and APXS turn-off command (turn off devices)
  17. Perform WEB heating on days of low activity (i.e. no traverses) with no night-time APXS operations, and Runouts from 13:00 (noon) to 15:00 MLST.
  18. Use Web_Heat_B parameter with Max temp of 30C.
  19. Future soil mechanics experiments in suspected hard material should have 6 spins of 500 counts rather than 4.


SEQUENCE EXECUTION STATUS & VEHICLE STATE

SEQUENCE EXECUTION STATUS:

VEHICLE STATE: (AS OF COMMAND: 0, Following 32133, Auto Health Check SCET: 8/6/97 01:19 )

BATTERY STATE/USAGE**

SUBSYSTEM STATUS:



TRAVERSE HAZARDS (DETECTED)



TELEMETRY VOLUME



SUBSYSTEM REPORTS

NAVIGATION PERFORMANCE:

  • Vehicle initial position:

  • Cmd #32037: Move 700mm; completed, no errors. Z accel showed anomalous readings. Y accel showed reasonable readings.
  • Cmd #32039: Turn to heading 340degs; completed, no errors. Z accel showed anomalous readings. Y accel showed reasonable readings.
  • Cmd #32041: Move 1200mm; completed, no errors. Y accel performed reasonably well.
  • Cmd #32043: Turn toward target (-4563, 1076); completed, no errors. Z accel showed anomalous readings.
  • Cmd #32046: Goto waypoint (-4563, 1076); completed, no errors. Y accel performed reasonably well (Ymin=-0.047g, Ymax=0.031g).
  • Cmd #32050: Turn to heading 294degs; completed, no errors.
  • Cmd #32070: Turn toward target (-9260, 1073); completed, no errors.
  • Cmd #32073: Goto Waypoint (-9260, 1073); completed, no errors. Y accel performed reasonably well (Ymin=-0.094g, Ymax=0.094g). Z accel showed anomalous readings.
  • Cmd #32076: Turn to heading 308.0 degs; completed, no errors.
  • Cmd #32078: Move 0mm; completed, no errors.
  • Cmd #32080: Soil mechanics (motor #5, 500 cnts, 6 cycles); completed, no no errors.
  • The rover completed all the traversals as commanded and reached its destination without errors. The Y accel performed reasonably well today, it never exceeded its navigation limits. The Z accel continued to show anomalous readings throughout the traversal.
  • The rover current position:

    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.
  • IF navigation sensor outside limit bit is set to ENABLE in HAZ_AVOIDANCE parameter (to avoid navigation command errored out because of Y accel exceeds navigation limit), the following considerations should be taken in to account:
  • * set command TIME OUT longer to allow the vehicle finishes up the command.
  • * check for clearance behind the vehicle at starting position, the vehicle might back up half of the vehicle length (300mm) if hazard avoidance somehow triggers just right after the navigation command starts.

    THERMAL PERFORMANCE:

    TELECOM PERFORMANCE

    MOBILITY PERFORMANCE:

    POWER PERFORMANCE:



    TELEMETRY PROCESSING ANOMALIES


    PRESS RELEASE

    TBD

    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.