SUMMARY REPORT
Sequence 52510:
- Received telemetry for commands 24124 (Wait) up through command 24188.
- Rover shutdown via command 24184 (until 8:00 LST)
- Shutdown command acknowledge sent when shutdown command STARTED!
- Cmd Seq Pointer left pointing to 24184 (since shutdown hadn't technically completed).
- Woke up on Solar.
- Heated modem for 15 minutes
- Performed time sync.
- Performed auto health check
- Transmitted auto health check
- Checked for abort ... nothing on lander (wasn't queued yet).
- Automatically executed an abort check.
- Caused warm reboot when tried to turn on modem transmitter.
- Power Monitor Reset (warm reboot)
- Did not reheat modem (per design).
- Realized that next command (still at 24184) was shutdown so it skipped it (as per design to prevent commanded shutdown's from being performed immediately after an auto shutdown.
- Performed auto health check which reported the power monitor reset
- Generated skipped message for 24184.
- Advanced command pointer to point to command 24185
- Generated Error messages which report the current command sequence number (in this case 24185).
- Executed 24185 (Set Parameter)
- Executed 24186 (Wait) ... command pointer advanced to 24188 (the next command in the command buffer.
- Checked for lander for abort sequence.
- Lander acknowledged that it had a sequence queued.
- Rover pulls over FIRST part of sequence only (does not acknowledge receipt of sequence to lander.
- Rover checks first command for ABORT.
- Rover finds ABORT as first command.
- Transmits abort message with sequence ID 24188.
- Aborts 52410 sequence by deleting it from the command queue.
- Rover attempts to pull entire new sequence over.
- Lander, however, has just turned on LMRE power (redundant since already on) causing the lander to flush the rover command sequence queue.
- Rover is told that no sequence is available.
- Rover remained in idle mode, not executing a sequence, just performing auto health checks until received sequence 52520 later in the afternoon.
- Queued and received by rover as evidenced by change in rover orientation in IMP EOD images.
- Essentially no rover telemetry received due to extensive loss of data during start of 2-nd HGA downlink. Only a few auto health checks received after basic accelerometer test sequence executed. Data to be retransmitted on Sol 26.
- Last health check data indicates that rover is HEALTHY!
RETRANSMIT REQUESTS
NO RETRANSMITS WERE PERFORMED ON SOL 25.
-
All packets with APID 4, 5, 6, 7, 29 lost on Sol 25, HGA pass 2!!!
- Cmd 15130, APID 25 (Ops)
- ~200-10:38 SCET
- Image only partially received, need packets 103 through 109
- Retransmit request scheduled for Sol 19 was not performed due to concern over the correctness of the retransmit sequence that was built.
- Cmd 13143 (Science Image, APID 8)
- Missing Pkts 6-33 (28 of 34 pkts)
- SCET 7/17/97 ~10:59:46
- Should have been received on Sol13
- Should have been retrasmitted on Sol14
- Should have been retransmitted (another attempt) on Sol 15 .. did not see it on Sol17 at which time we finally received data from Sol 15.
- Retransmit request scheduled for Sol 19 was not performed due to concern over the correctness of the retransmit sequence that was built.
- Cmds 18100 to 18104 (Science Images, APID 8)
- Command 18100 Missing Pkt 16
- Command 18101 Missing Pkts 5 through 16
- Command 18102 Missing Pkts 3 through 16
- Command 18103 Missing Pkts 4 through 16
- Command 18104 Missing Pkts 5 through 16
- All should have been received between SCET 7/22/97 ~14:02:47 and ~14:17:18
- Retransmit request scheduled for Sol 19 was not performed due to concern over the correctness of the retransmit sequence that was built.
- Command 23073
- APID 8
- Missing packets 23 through 35
- SCET ~1997-07-27T16:16:06
- Command 23074
- APID 8
- Missing packets 27 through 53
- SCET ~1997-07-27T16:27:08
- Command 22645
- APID 12
- Missing all packets (2)
- SCET ~1997-07-26T19:25:25.325
SEQUENCE PLANNING RECOMMENDATIONS
Modify 52510 sequence to account for change in vehicle orientation and to update wait times and resend. Operational Constraints (Sol 26 Sequence):
- Leave X accelerometer ENABLED
- Leave the Z accel DISABLED
- DISABLE the Y accelerometer during waypoints and moves at risk level 1, or enable Y accel at risk level 2
- Recommend Risk Level 1, Laser drop out 3.
- Enable hazard avoidance using sensors, contacts, and laser proximity, and perform each waypoint command only once
- Increase waypoint timeouts
- If possible, health checks should not be skipped as a result of traversable hazards
- 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.
- Retake image of lander on morning of Sol 26 before moving.
- 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.
- Take pre and post S0050 images at Low-Compression (3:1).
- (DESIRE) Take rover images as early in the morning as possible to reduce dark noise current.
- (DESIRE) Leave rover on until 15:45 LST to collect late afternoon thermal data, perform health check just before shutdown.
- Mask all errors (except INVALID CMD) immediately prior to "Read Mem" of persistent state table. Unmask accordingly immediately afterwards.
- Set Modem Reheat to 5 minutes to 30 deg (upon failed communication)
- 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.
- Heat modem for 5 minutes prior to morning transfer of images.
- Terminate heating at 15:00
- Disable auto shutdown
- Set Modem Heat to 15 minutes; 10 minutes if following a night-time APXS)
- Set alarm based wakeup to 08:00 LST
- Perform Read Memory just before last downlink session
- DISABLE RF Wheel Temperature Sensor
- DISABLE Z accelerometer.
- Perform Time Sync just prior to EOD shudown.
- Always command a Level 2 Health Check before shutdown.
- Perform level 2 health check at the end of every traverse command
- Limit image transfer after 1:00 LST (to prevent overheating)
- Limit each "Move Command" distance to 1 meter or less to enable gyro to be recalibrated and thereby reduce the amount of drift.
- Insert longer wait (10 seconds) between APXS cycle start command and APXS turn-off command (turn off devices)
- 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.
- Use Web_Heat_B parameter with Max temp of 30C.
- 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:
| Execution: | Off-Nominal (PwrMonReset, Sequence 52510 abort received but not the sequence itself). |
| State: | Idle |
| Wakeup: | Solar, 1997 210 SOL 24 07:16 LTST |
| Crit Errors: | Power Monitor Reset (Warm reboot) |
| Executing sequence 52520 |
VEHICLE STATE: (AS OF COMMAND: 0, Health Check (During Wait command 25646) SCET: 7/29/97 20:13:02 )
| Mission Phase: | Primary |
| Mode: | Executing |
| Config: | Nominal |
| Power: | Nominal |
| Device Status: | Y Accel Forced Bad |
| Z Accel Forced Bad | |
| RFW Temp. sensor Forced Bad | |
| Temp (Internal): | Nominal |
| Temp (External): | Nominal |
| Temp:(Modem): | Nominal |
Parameter Initial Final Imp EOD Parameter Initial Final
---------------------------------------------------------------------------------
X Position (m) +0.567 +0.564 ? LBogey (deg) +10.72 +13.60
Y Position (m) +4.742 +4.735 ? RBogey (deg) +1.76 + 6.00
Heading (deg) +232.6 +243.9 ? Diff (deg) -0.88 + 2.48
Pitch (deg) -4.7 -4.7 (+ Pitch -> Front down)
Roll (deg) -1.2 -1.2 (+ Roll -> Roll to Starboard)
ADM Pos (deg) -1.28 -1.28 (Fully Retracted)
LFS (deg) +0.6 +0.6 RFS (deg) -1.3 -1.3
LRS (deg) -1.3 -1.3 RRS (deg) -1.3 -1.3
--------------------------------------------------------------------------------
BATTERY STATE/USAGE**
Total Battery Remaining (Amp*hrs)
Category Allocation Initial Final *Predicted
--------------------------------------------------------------
Operations 10 5.118 4.585*** 4.485
Science 10 5.700 5.620 5.620
Technology 10 7.534 7.534 7.534
--------------------------------------------------------------
Total 30 18.352 17.739 17.639
*** This is believed to be lower than real by about 0.4 Ahrs
due to some change in the battery state of charge registers.
** reflects transfer of two hours from technology to science
* at completion of sequence 52410D.
| ADM | Bumper | Solar | |||||||
|---|---|---|---|---|---|---|---|---|---|
| UL | UR | B | RB | LB | LR | RR | RF | LF | |
| Mask | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 |
| State | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
| ERROR FLAGS | |||||||||
|---|---|---|---|---|---|---|---|---|---|
| Skip | GenFail | InvalidCmd | WEB_Hot | NoPwr | NonTrav | DevNA | DevFail | Timeout | |
| Mask | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 |
| State | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
SUBSYSTEM STATUS:
| S/S | Status | Comments |
|---|---|---|
| C&N | Nominal | None |
| MTM | Nominal | RF Wheel Temp Sensor H/W failure |
| Thermal | Nominal | None |
| Power | Nominal | None |
| Telecom | Nominal | None |
*All data downlinked on this Sol INCLUDING retransmitted data.
NAVIGATION PERFORMANCE:
No downlink navigation telemetry was received during today session due
to the command timing mismatch between the lander and the rover(See the
previous sections for explanation). However, sequence #52520 was
uploaded to the rover in time and was executed but no rover downlink
telemetry was received. The lander EOD images showed that the rover
performed accel test.
CONSTRAINTS:
THERMAL PERFORMANCE:
Recommendations:
TELECOM PERFORMANCE
TELECOM STATISTICS FOR SOL 25
In planning the sequence for Sol 26 and beyond, the continued heating plan for the rover modem should be implemented. The rovermodem should be commanded to perform a 600 second modem heating at wakeup and a 300 second modem reheating prior to the transmission of large blocks of data such as images. If no overnight APXS operations are to be conducted, the wakeup rover modem heating -should be extended to 900 seconds. Our goal is to get the rover modem above 25 C and preferably close to 35 C for those time pe-iods when fully stuffed frames are being transmitted. Today, the first sequence 52510 did not get uploaded to the rover so the t-st to see how effective the transmission of the retake images for Sol 25 was not accomplished. That exercise will be repeated fo- Sol 26. A test will be run in the MPF test-bed to determine what the clock and cone angles are for the HGA when it is obstructi-g the LMRE antenna. This will assist us in understanding lander HGA configuration changes that may affect link quality. We are c-ntinuing our suspension of a previous recommendation to operate on LMRE-A for ten minutes prior to the expected rover wakeup tim-.
MOBILITY PERFORMANCE:
Recommendations:
POWER PERFORMANCE:
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.
TRAVERSE HAZARDS (DETECTED)
None
TELEMETRY VOLUME
DATA VOLUME SUMMARY (BY APID) *
APID #PKTS #BYTES #Mbits
----------------------------------
4 22 6424 0.05139
5 62 1860 0.01488
6 8 480 0.00384
7 8 332 0.00266
8 0 0 0.00000
9 0 0 0.00000
10 0 0 0.00000
12 8 8560 0.06848
23 0 0 0.00000
24 0 0 0.00000
25 0 0 0.00000
29 0 0 0.00000
----------------------------------
108 17656 0.14125
SUBSYSTEM REPORTS
ACTIVITIES:
Another day of nominal thermal performance. Since no afternoon
imaging was performed, boards are cool.
Sol 24 pm Max recorded: 42.2 PWR, 40.8 CPU, 9.4 MAE
Sol 25 am Min recorded: -25.0 WEB, -19.5 CPU, -79.0 MAE
No new recommendations.
Telecom system performance was nominal on Sol 25, and the rover modem heating strategy recommended for this Sol was effective fo the morning wakeup.
Rov Radio Temp Low = -14.8R
Rov Radio Temp High = 36.4
Rov Radio Temp Avg = 9.7
LMRE Radio Temp Low = 2.7
LMRE Radio Temp High = 19.6
LMRE Radio Temp Avg = 14.5
Rx Current Low = 43.5
Rx Current High = 69.6
Rx Current Avg = 50.6
Tx Current Low = NaN
Tx Current High = NaN
Tx Current Avg = 0.0
LMRE Good Frames = 2118
LMRE Garbled Frames = 3785
Avg LMRE Link Quality%= 35.9
TX_CH_FRAMES = 3371
RX_CH_FRAMES = 2626
Total Frame Resends = 745
Avg Rover Link Quality%= 77.9
COM:Bad CRC Errors = 8
COM:Timeout Errors = 16550
COM:Rx Abort Errors = 589
COM:No Sync Errors = 0
COM:RX Com Errors = 25193
The accelerometer test was performed today and resulted in a net rover
turn right of 120 degrees. No data is available from that sequence other than
the initial 10 degree right turn as recorded in the auto health check near EOD.
No traverse data received.
Daily Odometry: 7.581 m
Total Odometry: 40.675 m
Average Wheel Odom: 58.059 m
No new recommendations.
None Submitted.
TELEMETRY PROCESSING ANOMALIES
PRESS RELEASE