FLIGHT
SOL 37 END-OF-DAY DOWNLINK STATUS REPORT

Last updated: 10 Aug 1997, 21:30 PDT, Data Controller: Henry W. Stone

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


"APXSing WEDGE"


"APXS on bottom edge of WEDGE"



SUMMARY REPORT

Retransmit Status:

Sequence 53610B: Sequence 53710B:

RETRANSMIT REQUESTS




SEQUENCE PLANNING RECOMMENDATIONS
Modify nominal sequence plan.

Consider retracting APXS, backing up closer to WEDGE, redeploying the APXS, and taking a second set of APXS measurements of the upper portion of WEDGE which has less soil on it ... I know its boring but what the heck!

Operational Constraints (Sol 38 Sequence):

  1. Suggestion
    • When performing long waypoint traverses with "thread-the-needle" enabled like that performed on Sol 35, break the waypoints up such that the last segment is performed with "thread-the-needle" disabled. This way the vehicle will make sure (most likely) that it ends up in a location in which it can safely turn in place without climbing on near by obstacles. If the vehicle stops because it can not find a path as wide as the turn circle, subsequent turn commands will be skipped ... and we may be able to avoid the situation we ran into on Sol 36.

  2. New or changed recommendations:
    • Change morning wakeup time (via night shutdown to 7:30 LTST.
  3. 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
    • Leave X accelerometer ENABLED
    • Leave the Z accel DISABLED
  4. 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. HAVE S0050 IMAGES TAKEN DURING WAYPOINT COMMANDS ... ESPECIALLY WHEN DRIVING OVER ROUGH TERRAIN!
  2. Ideally we (I ... Henry) would like to have seperate S0050 rover movies for each signficant waypoint command and S0055 end-of-day images after each waypoint.
  3. S0050 images at Low-Compression (3:1).
  4. (DESIRE) Take rover images as early in the morning as possible to reduce dark noise current.
  5. (DESIRE) Leave rover on until 15:45 LST to collect late afternoon thermal data, perform health check just before shutdown.
  6. (DESIRE) Perform Wheelie before start of Traverse and Soil Experiment at end of Sol's traverse when practical
Operational Constraints (General):
  1. Set modem Heat and Reheat parameters both to "0" prior to shutting down for the night if LMRE is NOT going to be turned on prior to expected rover solar wakeup of ~7:15 LST. Reset them back to 15 minutes and 5 minutes, respectively, on the morning of "runout" Sols. Disable battery usage for modem heating on runout mornings.
  2. Limit Move command distances to 0.5 meters so that gyro is recalibrated more frequently ... hopefully resulting in less drift.
  3. Enable hazard avoidance using sensors, contacts, and laser proximity, and perform each waypoint command only once.
  4. If possible, health checks should not be skipped as a result of traversable hazards.
  5. Mask all errors (except INVALID CMD) immediately prior to "Read Mem" of persistent state table. Unmask accordingly immediately afterwards.
  6. Set Modem Reheat to 5 minutes and maximum modem reheat temperature 30 deg.
  7. 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.
  8. Terminate heating at 15:00
  9. Disable auto shutdown
  10. Set Modem Heat to 15 minutes; 10 minutes if following a night-time APXS
  11. Perform Read Memory just before last downlink session
  12. DISABLE RF Wheel Temperature Sensor
  13. DISABLE Z accelerometer.
  14. Perform Time Sync just prior to EOD shudown.
  15. Always command a Level 2 Health Check before shutdown.
  16. Perform level 2 health check at the end of every traverse command
  17. Limit image transfer after 1:00 LST (to prevent overheating)
  18. Limit each "Move Command" distance to 0.5 meter or less to enable gyro to be recalibrated and thereby reduce the amount of drift.
  19. Insert longer wait (10 seconds) between APXS cycle start command and APXS turn-off command (turn off devices)
  20. 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.
  21. Use Web_Heat_B parameter with Max temp of 30C.
  22. 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: 37124, Set Parameter SCET: 8/11/97 04:01:56 )

BATTERY STATE/USAGE**

SUBSYSTEM STATUS:



TRAVERSE HAZARDS (DETECTED)



TELEMETRY VOLUME



SUBSYSTEM REPORTS

NAVIGATION PERFORMANCE:

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.