FLIGHT
SOL 24 END-OF-DAY DOWNLINK STATUS REPORT

Last updated: 28 July 1997, 13:00 PST, Data Controller: Allen Sirota

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


Rover drives over rock, no problem!



SUMMARY REPORT

Sequence 52310D: Sequence 52410D:

RETRANSMIT REQUESTS

NO RETRANSMITS WERE PERFORMED ON SOL 24.




SEQUENCE PLANNING RECOMMENDATIONS
Proceed with nominal sequence planning Operational Constraints (Sol 25 Sequence):
  1. Reset APXS_DLIM before any traverse commands.
  2. Leave X accelerometer ENABLED
  3. Leave the Z accel DISABLED
  4. DISABLE the Y accelerometer during waypoints and moves at risk level 1, or enable Y accel at risk level 2
  5. Recommend Risk Level 1, Laser drop out 3.
  6. Enable hazard avoidance using sensors, contacts, and laser proximity, and perform each waypoint command only once
  7. Increase waypoint timeouts
  8. If possible, health checks should not be skipped as a result of traversable hazards
  9. Before beginning traverses, should back up a little to detect hazards which may be very close to the rover
Engineering Requests:
  1. Retake Lander image on morning of Sol 25 before moving
  2. 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.
  3. Take pre and post 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.
Operational Constraints (General):
  1. Set Modem Reheat to 5 minutes to 30 deg (upon failed communication)
  2. 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.
  3. Heat modem for 5 minutes prior to morning transfer of images.
  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 08:00 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: 24122, Clear SCET: 7/27/97 19:21 )

BATTERY STATE/USAGE**

SUBSYSTEM STATUS:



TRAVERSE HAZARDS (DETECTED)



TELEMETRY VOLUME



SUBSYSTEM REPORTS

NAVIGATION PERFORMANCE:

THERMAL PERFORMANCE: 


The CPU and PWR boards were hovering right below +40C at end of data Sol 24.
Thermal performance is consistent with previous Sols.

Sol 23 pm Max recorded: 41.4 PWR, 40.8 CPU, 11.0 MAE
Sol 24 am Min recorded: -25.0 WEB, -19.5 CPU, -55.2 MAE (at wakeup)


Recommendations:
No new recommendations.

TELECOM STATISTICS FOR SOL23 


To be submitted 7/29/97

MOBILITY PERFORMANCE: 


The activities today included several moves, turns and three waypoints.  Move
24036 and turn 24038 were performed correctly (although we are not sure why
since the next waypoint has the rover immediately turning to the original
heading).  During Waypoint 24041, an artculation hazard terminated the command
short of the destination.  The error mask was set to ignore such hazards and
the waypoint was completed.  The mask was reset often which prevented all
mobility commands and commanded health checks except for the repeats of
the second 24069 and third 24096 waypoints.  These performed nominally
but ran out of time.

Soil data received was totally corrupt.  Soil command should not have executed
due to existing error condition.

Currents were generally nominal in the 15-35 mA range.  During the Turn 24038,
a current spike of 96 mA, which corresponds to over 40 in-lb!!  Since the entire
rover weighs 9 lb on Mars, we must have caught a cleat or tried to pry two rocks
apart.


Daily Odometry:  7.581 m
Total Odometry: 40.675 m
Average Wheel Odom: 58.059 m

Recommendations:
DO NOT run at risk level 2 without accelerometers.  Since the concern is
intermittent accel spikes, the GO TO WAYPOINT command can be repeated but
we should continue to leave accelerometers enabled.

POWER PERFORMANCE: 

Based upon the data returned in the health checks returned in SOL 24,
the Power Subsystem is in good health with no operational problems noted.


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.