SUBSYSTEM REPORTS
NAVIGATION PERFORMANCE:
ACTIVITIES:
Retract APXS, move to Moe and place APXS on Moe.
-
Vehicle initial position:
- Rover thinks: (-4934, -3860, 89.2)
- Driver thinks: (-4942, -3876, 89.1)
-
Cmd #8165: Run motor to 0; completed, no errors. Retract the APXS
-
Cmd #8175, 8177, 8179 were skipped due to insufficient power to drive
all wheels. This is due to the insufficient power of the solar
pannel caused by vehicle articulation position.
-
Cmd #8186: Run motor to -1413; completed, warning error 0x0A03
was reported. Deployed the APXS back to where it was.
The final APXS position was -101.12 degs and the upper
right and bottom were triggered.
-
Cmd #8187: Run motor to -500; skipped. It was deployed successfully
in cmd# 8186.
-
Cmd #8188: Move -100 mm; skipped due to the general failure flag
set in command # 8186.
-
Cmd #8190: Deploy to -1910; skipped due to the general failure flag
set in command # 8186.
The rover retracted the APXS, but didn't move to Moe as expected due
to insufficient power. It ended up deployed the APXS mechanism back
to where it was on Half Dome.
-
The rover current position:
- Rover thinks: (-4942, -3876, 89.1)
- Driver thinks: (????)
CONSTRAINTS:
- If risk level 2 is set, then the articulation hazard is disable
(i.e. driving at your all risk!!!).
- Plan the Move command with distance 0.500m or less to avoid
gyro drift.
- 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 short 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).
THERMAL PERFORMANCE:
Thermal Performance is Nominal.
TELECOM PERFORMANCE
Telecom system performance was nominal this sol. There are no telecom operational cnstraints for future rover operations.
The end-of-sol communication system performance for the downlink was as follows:
SOL 60 DOWNLINK TELECOM STATISTICS
Rov Radio Temp Low = -26.2
Rov Radio Temp High = 32.6
Rov Radio Temp Avg = -5.3
LMRE Radio Temp Low = -10.5
LMRE Radio Temp High = 19.6
LMRE Radio Temp Avg = 9.7
Rx Current Low = 43.5
Rx Current High = 63.8
Rx Current Avg = 45.8
Tx Current Low = 0.0
Tx Current High = 400.2
Tx Current Avg = 53.7
LMRE Good Frames = 542
LMRE Garbled Frames = 533
Avg LMRE Link Quality%= 50.4
TX_CH_FRAMES = 867
RX_CH_FRAMES = 624
Total Frame Resends = 243
Avg Rover Link Quality%= 72.0
COM:Bad CRC Errors = 0
COM:Timeout Errors = 206
COM:Rx Abort Errors = 3
COM:No Sync Errors = 1
COM:RX Com Errors = 111
In planning the sequence for Sol 61 and beyond, the revised modem heating strategy ued should be followed:
For rover wakeups on solar power, modem heating is only needed if communications is eeded in the morning. In this situation set modem heating to 0 and reheat to 300 seconds. Also, if there are afternoon only downlink sessions, then no modem heating is required after wakeup on solar. The rover modem should be commanded in the next-day runout sequence to perform a 300 second modem reheat at wakeup. Later in the day, 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. However, if the LMRE radio is off, then the reheat to get to +30C is not needed. This requires some coordination of timing between the LMRE ON times and the rover transmissions. The sequence planners should consider the uncertainty in event completion times introduced by any required modem reheating cycles.
MOBILITY PERFORMANCE:
No movemement today
- Daily Odometry: 0.0 m
- Total Odometry: 82.990 m
- Average Wheel Travel: 116.9 m
POWER PERFORMANCE:
With the exception of the battery, which was depleted on SOL 56, the remainder
of the Power Subsystem is in good health with the possible exception of the 3.3
Volt switching regulator which was marked NP (never power) during the SOL 58
downlink. This keeps it off during the health checks so there is no way of
confirming that it is bad or finding if it is in fact good. Any check of this
will need to have a reset of the NP condition which should happen in the next
few SOLs. The power subsystem continues to operate only on solar power.
There were no new operational problems noted in the SOL 60 telemetry.
