SUBSYSTEM REPORTS
NAVIGATION PERFORMANCE:
ACTIVITIES:
Retract APXS, and go to Stimpy for APXSing.
-
Vehicle initial position:
- Rover thinks: (-4576, -4041, 129.5)
- Driver thinks: (-4381, -3693, 130.1)
-
Cmd # 16034: Run APXS motor to 0; completed, no errors.
-
Cmd # 16044: Move forward 500mm; incompleted, error 0xF01: Y accel exceeded
its navigation limit. The Y accel showed anomalous readings
when it first powered up yesterday with an extreme positive
value (~44 degs roll). When it was powered up today it showed
a negative extreme value. The value got change to positive
extreme value when the vehicle started its movement. The vehicle
moved only less than 20mm before it stopped.
All subsequent navigation and APXS motor commands were skipped due to
the Y accel anomalous readings. The Y accel showed anomalous readings
throughout the sequence. The Z accel showed some anomalous readings too,
only the X accel readings remain valid.
-
The rover current position:
- Rover thinks: (-4392, -4680, 130.1)
- Driver thinks: (???)
CONSTRAINTS:
- Set Z accel to FORCED_BAD for all vehicle movements.
- Set Y accel to FORCED_BAD for all vehicle movements.
- 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.
- 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:
Nominal Thermal Performance
TELECOM PERFORMANCE
Telecom system performance was low this Sol because of the rover configuration reltive to the lander.
The rover UHF antenna is facing the lander LMRE antenna while looking over the rover solar panel.
A survey of the rover antenna patterns shows a noticeable null while radiating in this direction.
This configuration and the resulting scattering and multi-path accounts the telecom degradation.
There are no telecom operational constraints for future rover operations.
The end-of-sol communication system performance for the downlink was as follows:
SOL 66 DOWNLINK TELECOM STATISTICS
Rov Radio Temp Low = -4.8
Rov Radio Temp High = 34.1
Rov Radio Temp Avg = 18.0
LMRE Radio Temp Low = -10.5
LMRE Radio Temp High = 19.6
LMRE Radio Temp Avg = 12.7
Rx Current Low = 49.3
Rx Current High = 49.3
Rx Current Avg = 49.3
Tx Current Low = N/A
Tx Current High = N/A
Tx Current Avg = 0.0
LMRE Good Frames = 816
LMRE Garbled Frames = 1027
Avg LMRE Link Quality%= 44.3
TX_CH_FRAMES = 678
RX_CH_FRAMES = 672
Total Frame Resends = 6
Avg Rover Link Quality%= 99.1
COM:Bad CRC Errors = 18
COM:Timeout Errors = 53033
COM:Rx Abort Errors = 756
COM:No Sync Errors = 4
COM:RX Com Errors = 38945
In planning the sequence for Sol 67 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 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:
Mobility Subsystem continues to appear healthy.
- VERY LITTLE movement today
- Daily Odometry: 0.210 m
- Total Odometry: 83.737 m
- Average Wheel Travel: 118.1 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. The power subsystem continues to
operate only on solar power. There were no new operational problems noted in
the SOL 66 telemetry.