urn:nasa:pds:mer1_rat_raw:data:1d430291663edrc7cbd4050n0m1 1.0 MER1 RAT Raw product: 1d430291663edrc7cbd4050n0m1 1.11.1.0 Product_Observational 2019-08-07 1.0 Migrated from PDS3 to PDS4. 2013-08-20T17:05:56.247Z 2013-08-20T17:05:56.274Z 13:03:10 Mars Exploration Rover Mission urn:nasa:pds:context:investigation:mission.mars_exploration_rover data_to_investigation Mars Exploration Rover 1 Spacecraft urn:nasa:pds:context:instrument_host:spacecraft.mer1 is_instrument_host Rock Abrasion Tool Instrument urn:nasa:pds:context:instrument:rat.mer1 is_instrument Mars Planet urn:nasa:pds:context:target:planet.mars data_to_target RAT_EDR V1.0 D-22850 0039 Extended Mission 3403 1 430291663.781 430291663.808 Null Multimission Image Processing Subsystem, Jet Propulsion Lab 2512 None No Error 1 25.0000 0 170.148 0.0810000 0.250000 0.105000 26.5000 0.500000 6.28300 0.0525000 0.00000 5.00000 Seek 5.00000 Scan 0.00000 Proportional 0.00000 Derivative 0.00000 Integral 0.0510000 0.250000 Seek 0.500000 Scan 6.28300 Grind Completion 283.500 Dwell Operation 0.315000 0.00000 0.105000 22.0000 26.5000 0.00570000 Proportional 0.00000 Derivative 0.00000 Integral 10.0000 0.0510000 0.500000 0.315000 24.0000 24.0000 0.250000 d4050 1 17 -16555008 34 1 RAT SSW MER_DP 034_001_d4050-001-0017_001_0430291663-207.dat Data Product 2013-08-20T20:42:21.706Z 2013-08-20T20:42:21.706Z RAT_data processing_information_to_data_object CODMAC Level 1 to Level 2 conversion via JPL/MIPL MERTELEMPROC MERTELEMPROC V3.2 11-30-06 chronos.mer Mobility_Start Chassis Mobility Chassis Left Front Wheel Potentiometer 2.27312 Right Front Wheel Potentiometer 2.49734 Left Rear Wheel Potentiometer 2.36946 Right Rear Wheel Potentiometer 2.46832 Left Bogie Potentiometer 2.86677 Right Bogie Potentiometer 2.37140 Differential Bogie Potentiometer 2.00103 HGA_Start HGA High Gain Antenna Azimuth 2.87998 Elevation 0.0199618 IDD_Start IDD Instrument Deployment Device Preload RAT Joint 1 Azimuth-Encoder -0.118280 Joint 2 Elevation-Encoder -0.175002 Joint 3 Elbow-Encoder 1.94344 Joint 4 Wrist-Encoder 0.0199255 Joint 5 Turret-Encoder 0.0288598 Joint 1 Azimuth-Potentiometer -0.120107 Joint 2 Elevation-Potentiometer -0.183398 Joint 3 Elbow-Potentiometer 1.93588 Joint 4 Wrist-Potentiometer 0.00830145 Joint 5 Turret-Potentiometer -0.0525192 MI Switch 1 No Contact MI Switch 2 No Contact RAT Switch 1 No Contact RAT Switch 2 No Contact MB Switch 1 No Contact MB Switch 2 No Contact APXS Door Switch Closed APXS Contact Switch No Contact Azimuth Joint 1 1.00000e+30 Turret Joint 5 -8.21637 0.137336 -0.163825 0.976883 PMA_Start PMA Pancam Mast Assembly Deployed Mast -0.525488 Cambar -1.38962 Mobility_End Chassis Mobility Chassis Left Front Wheel Potentiometer 2.27312 Right Front Wheel Potentiometer 2.49734 Left Rear Wheel Potentiometer 2.36946 Right Rear Wheel Potentiometer 2.46832 Left Bogie Potentiometer 2.86677 Right Bogie Potentiometer 2.37140 Differential Bogie Potentiometer 2.00103 HGA_End HGA High Gain Antenna Azimuth 2.87998 Elevation 0.0199618 IDD_End IDD Instrument Deployment Device Preload RAT Joint 1 Azimuth-Encoder -0.118280 Joint 2 Elevation-Encoder -0.175002 Joint 3 Elbow-Encoder 1.94344 Joint 4 Wrist-Encoder 0.0199255 Joint 5 Turret-Encoder 0.0288598 Joint 1 Azimuth-Potentiometer -0.120107 Joint 2 Elevation-Potentiometer -0.183398 Joint 3 Elbow-Potentiometer 1.93588 Joint 4 Wrist-Potentiometer 0.00830145 Joint 5 Turret-Potentiometer -0.0525192 MI Switch 1 No Contact MI Switch 2 No Contact RAT Switch 1 No Contact RAT Switch 2 No Contact MB Switch 1 No Contact MB Switch 2 No Contact APXS Door Switch Closed APXS Contact Switch No Contact Azimuth Joint 1 1.00000e+30 Turret Joint 5 -8.21637 0.137336 -0.163825 0.976883 PMA_End PMA Pancam Mast Assembly Deployed Mast -0.525488 Cambar -1.38962 Rover_Frame_Start Clockwise Up Rover_Frame Site 179 Drive 183 IDD 13 PMA 21 HGA 93 telemetry -27.6725 -20.4190 -3.31137 0.584457 0.00743947 -0.107253 0.804271 Reference to Present Coarse Site_Frame Site 179 RAT_Frame_Start Clockwise Down Rat_Frame Site 179 Drive 183 IDD 13 PMA 21 HGA 93 telemetry 0.964487 -0.102576 0.298696 0.744373 -0.0898602 -0.0642567 0.658562 Reference to Present Rover_Frame Site 179 Drive 183 IDD 13 PMA 21 HGA 93 PMA_Frame_Start Clockwise Up Mast_Frame Site 179 Drive 183 IDD 13 PMA 21 HGA 93 telemetry 0.964487 -0.102576 0.298696 0.744373 -0.0898602 -0.0642567 0.658562 Reference to Present Coarse Rover_Frame Site 179 Drive 183 IDD 13 PMA 21 HGA 93 Rover_Frame_End Clockwise Up Rover_Frame Site 179 Drive 183 IDD 13 PMA 21 HGA 93 telemetry -27.6725 -20.4190 -3.31137 0.584457 0.00743947 -0.107253 0.804271 Reference to Present Coarse Site_Frame Site 179 RAT_Frame_End Clockwise Down Rat_Frame Site 179 Drive 183 IDD 13 PMA 21 HGA 93 telemetry 0.964487 -0.102576 0.298696 0.744373 -0.0898602 -0.0642567 0.658562 Reference to Present Rover_Frame Site 179 Drive 183 IDD 13 PMA 21 HGA 93 PMA_Frame_End Clockwise Up Mast_Frame Site 179 Drive 183 IDD 13 PMA 21 HGA 93 telemetry 0.964487 -0.102576 0.298696 0.744373 -0.0898602 -0.0642567 0.658562 Reference to Present Coarse Rover_Frame Site 179 Drive 183 IDD 13 PMA 21 HGA 93 Rover Motion Counter Rover_Motion_Counter Site 179 Drive 183 IDD 13 PMA 21 HGA 93 1d430291663edrc7cbd4050n0m1.dat RAT_data 2019-08-07T08:19:43.040
0 33600 PDS3
33600 1 20 0 96 sclk_seconds 1 1 UnsignedMSB4 4 second The whole number of seconds recorded by the spacecraft clock at the time the measurements were taken. sclk_subseconds 2 5 UnsignedMSB2 2 second/256 The number of subseconds recorded by the spacecraft clock at the time the measurements were taken. A subsecond is 1/256th of a second. spare 3 7 UnsignedMSB2 2 These two bytes are currently unused. rotation_motor_position 4 9 IEEE754MSBDouble 8 radian The position of the z-axis relative to its hardstop. rotation_motor_current_sensor 5 17 IEEE754MSBDouble 8 amp Rotation motor current. revolution_motor_position 6 25 IEEE754MSBDouble 8 radian The position of the z-axis relative to its hardstop. revolution_motor_current_sensor 7 33 IEEE754MSBDouble 8 amp Revolution motor current. z_motor_position 8 41 IEEE754MSBDouble 8 mm The position of the z-axis relative to its hardstop. z_motor_current_sensor 9 49 IEEE754MSBDouble 8 amp A-axis motor current. temperature_sensor 10 57 IEEE754MSBDouble 8 degree celsius Temperature reading from RAT PRT. butterfly_switch_1 11 65 UnsignedMSB4 4 count Cumulative state word for butterfly switch #1 - add 1 if the switch is in the incorrect state, add 0 if the switch is in the correct state, updated at 8Hz. butterfly_switch_2 12 69 UnsignedMSB4 4 count Cumulative state word for butterfly switch #2 - add 1 if the switch is in the incorrect state, add 0 if the switch is in the correct state, updated at 8Hz. rat_over_current_alarm 13 73 UnsignedMSB4 4 count Cumulative state word for rotate motor over current alarm - add 1 if over threshold, add 0 if not. Updated at 8Hz. z_axis_motor_controller_status 14 77 UnsignedByte 1 Z-Axis motor controller bit status. BIT 0=motor controller active BIT 1=motor turning BIT 2=motor not keeping up with commanded profile BIT 3=motor stalled BIT 4=motor H-bridge over temperature BIT 5=motor controller enable BIT 6=motor reached commanded position BIT 7=awaiting Mini-TES sync pulse (should always be 0 for RAT) revolve_motor_controller_status 15 78 UnsignedByte 1 Revolve motor controller bit status. BIT 0=motor controller active BIT 1=motor turning BIT 2=motor not keeping up with commanded profile BIT 3=motor stalled BIT 4=motor H-bridge over temperature BIT 5=motor controller enable BIT 6=motor reached commanded position BIT 7=awaiting Mini-TES sync pulse (should always be 0 for RAT) grind_motor_controller_status 16 79 UnsignedByte 1 Grind motor controller bit status. BIT 0=motor controller active BIT 1=motor turning BIT 2=motor not keeping up with commanded profile BIT 3=motor stalled BIT 4=motor H-bridge over temperature BIT 5=motor controller enable BIT 6=motor reached commanded position BIT 7=awaiting Mini-TES sync pulse (should always be 0 for RAT) spare 17 80 UnsignedByte 1 Spare field used for padding. rover_bus_voltage 18 81 IEEE754MSBDouble 8 volt Rover bus voltage. algorithm_state 19 89 UnsignedMSB4 4 n/a Describes the current state of the RAT. Valid values are: 0=INACTIVE 1=AWAITING_INACTIVE 2=DEACTIVATING 3=IDLE 4=AWAITING_IDLE 5=STOPPING 6=DIAG_REQUESTING 7=DIAG_CALIBRATING 8=DIAG_HOMING 9=DIAG_COLLECTING_CURRENT 10=DIAG_COLLECTING_VOLTAGE 11=CAL_REQUESTING 12=CAL_CALIBRATING 13=CAL_HOMING 14=CAL_COLLECTING_CURRENT 15=CAL_COLLECTING_VOLTAGE 16=SEEK_SEEKING_REQUESTING 17=SEEK_SEEKING 18=SCAN_Z_STEPPING 19=SCAN_REVOLVING 20=GRIND_REQUESTING 21=GRIND_GRINDING 22=GRIND_Z_RETRACTING 23=GRIND_Z_EXTENDING 24=GRIND_DWELLING 25=BRUSH_REQUESTING 26=BRUSH_CALIBRATING 27=BRUSH_MOVING_Z 28=BRUSH_BRUSHING 29=MOVE_REQUESTING 30=MOVE_MOVING 31=HOMING 32=NO_FAULT 33=GRIND_DUMPING_DP 34=GRIND_RESUMING anomaly_flag 20 93 UnsignedMSB4 4 n/a Describes the fault protection condition that may have ended the current command and produced an anomaly report. This is a bit mask where 1=TRUE, 0=FALSE for these bit fields: BIT 0 = HBRIDGE_Z BIT 1 = HBRIDGE_REV BIT 2 = HBRIDGE_ROT BIT 3 = OVERHEAT_Z BIT 4 = OVERHEAT_REV BIT 5 = OVERHEAT_ROT BIT 6 = CSTALL_Z BIT 7 = CSTALL_REV BIT 8 = CSTALL_ROT BIT 9 = STALL_Z BIT 10 = STALL_REV BIT 11 = STALL_ROT BIT 12 = POS_Z BIT 13 = CMAX_Z BIT 14 = CMAX_REV BIT 15 = CMAX_ROT BIT 16 = CONTACT BIT 17 = COMMAND_QUIT BIT 18 = MAXCUR - Motor Current exceeded maxcur argument. BIT 19 = ANOMALY_NOW - An anomaly has occurred in this sample. BIT 20 = ENCODER_STALL_ROT - encoder stall on the rotate motor.