SUBSYSTEM REPORTS
NAVIGATION PERFORMANCE:
ACTIVITIES:
Resolve the stall condition of the right rear wheel, then place
the APXS on Stimpy.
-
Vehicle initial position:
- Rover thinks: (-3613, -3661, 139.2)
- Driver thinks: (-3838, -3661, 140.0)
-
Cmd #18032: Run APXS motor to 0; completed, no errors
-
Cmd #18037: Move forward 70mm; completed, no errors. Successfully get out
of stall condition of the right rear wheel motor.
-
Cmd #18040: Run APXS motor to -900cnts; completed; received advisory
error 0xA03, indicating APXS bottom contact was triggered.
The APXS mechanism end position was -62.72 degs.
-
Cmd #18041: Move backward 60mm; skipped due to the above error.
-
Cmd #18044: Deploy APXS to -1900cnts; received advisory error 0xA03,
bottom contact was triggered. This command was sent to
ensure the APXS formed contact with Stimpy.The APXS
mechanism end position was -70.40 degs.
The rover successfully cleared the stall condition at the right rear
wheel and deployed the APXS on Stimpy with the bottom contact triggered.
All three accels showed no anomalous readings throughout the day.
-
The rover current position:
- Rover thinks: (-3897, -3615, 140.3)
- Driver thinks: ( ??? )
- APXS mechanism deployment angle (degs): -70.40
- Total driving distance of the day (mm): 76
- Total driving distance since landing (mm): 85521
CONSTRAINTS:
- Set Z accel to FORCED_BAD for all vehicle movements.
- Set Y accel to FORCED_BAD for all vehicle movements.
- Plan the Move command with distance 0.500m or less to avoid
gyro drift.
- Do health check level 2 after every vehicle movement.
- 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:
TELECOM PERFORMANCE
Telecom system performance was very good. There are no telecom operational constrints for future rover operations.
The end-of-sol communication system performance for the downlink was as follows:
SOL 68 DOWNLINK TELECOM STATISTICS
Rov Radio Temp Low = -23.9
Rov Radio Temp High = 38.7
Rov Radio Temp Avg = 10.1
LMRE Radio Temp Low = -11.2
LMRE Radio Temp High = 19.6
LMRE Radio Temp Avg = 7.4
Rx Current Low = 43.5
Rx Current High = 49.3
Rx Current Avg = 46.8
Tx Current Low = 153.7
Tx Current High = 153.7
Tx Current Avg = 153.7
LMRE Good Frames = 1420
LMRE Garbled Frames = 122
Avg LMRE Link Quality%= 92.1
TX_CH_FRAMES = 1579
RX_CH_FRAMES = 1409
Total Frame Resends = 170
Avg Rover Link Quality%= 89.2
COM:Bad CRC Errors = 18
COM:Timeout Errors = 53381
COM:Rx Abort Errors = 763
COM:No Sync Errors = 4
COM:RX Com Errors = 39299
In planning the sequence for Sol 69 and beyond, the revised modem heating strategyused should be followed:
For rover wakeups on solar power, modem heating is only needed if communications i needed 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 of
the rover-to-lander link, and the reheating should continue for five minutes or until the rover moem 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:
Report pending
POWER PERFORMANCE:
With the exception of the battery, which was depleted on SOL 56, the remainder
of the Power Subsystem is in good health. The power subsystem continues to
operate only on solar power. There were no new operational problems noted in
the SOL 68 telemetry.
