Rover Test Results (3/7/95 - 3/9/95)

Software Version -- 1.1

While the rack moving down, the Tattletale model-7 started repeating:

FORMAT 0 EXCEPTION <<<ILLEGAL INSTRUCTION>>>
SR 7BF2 PC 0009 BF86 F&V 003E

I modified the rack down loop so that it didn't print as many
test messages and the problem went away.  I think the stack may
have overflowed.

There are 262 half-turns from limit to limit switch on the rack
at approx. 1 half-turn per second.

First Deployment:
  Heading1 = 30 deg.
  Heading2 = 140 deg.
  Transit dist. = 5 meter
  The direction the Rover moved appeared roughly OK.
  The rack hit the bottom due to a depression in the bottom.

Second Deployment:
  Heading1 = 60 deg.
  Heading2 = 240 deg.
  Transit dist. = 10 meter
  Travel timeout = 90 sec
  With new lower limit switch setting the lower limit to upper limit
  time is approx. six min. with 294 half turns.
  The Rover timed out apparently due to odometer slippage.

Third Deployment: 
  Same as 2nd except transit timeout = 180 sec
  Timed out due to odometer slippage.

Fourth Deployment:
  Heading1 = 60 deg.
  Heading2 = 240 deg.
  Travel dist. = 5 meters
  Travel timeout = 180 sec.
  Timed out 1st transit at about 1 min 50 sec.

Fifth Deployment:
  Heading1 = 60 deg.
  Heading2 = 60 deg.
  Transit dist. = 1 meter
  The Rover traveled about 10 meters.  The rack came down
  OK, but the benthic chambers wouldn't penetrate the sediment.
  The rack hit the lower limit switch.
  The odometer wheel bearing appears to be full of grit and
  is difficult to turn.