GP-B Post-Flight AnalysisÃ¢Â€Â”Final Report - Gravity Probe B - Stanford ...

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egan transmitting, one-by-one, status monitors around the MOCbegan turning red, signaling the spacecraft had triggered itssafemodes. There is a problem on-board.During the next 20 minutes, phones rang, pagers beeped, and soon,the MOC was teeming with activity. An assessment of the safemodesthat were triggered indicated that an error—never seen before—hadoccurred in a module of the Attitude and Translation Control (ATC)computer system. The spacecraft’s GPS had registered an off-the-scalevelocity spike, which if correct, indicated that, for one brief moment,the spacecraft had traveled faster than the speed of light—or to useStar Trek terminology, it had “warped into hyperspace.” In fact, theGPS system had reported a single data point with an erroneously highvelocity, which when squared, caused a computer overflow. The ATCcomputer module took exception to this data overflow and triggered asafemode test, which in turn activated a chain reaction responsesequence.17 DECEMBER 2004—GRAVITY PROBE B MISSIONUPDATE: Day 241As we near the end of 2004, the GP-B spacecraft has been in orbit forjust under eight months and collecting science data for almost fourmonths. It remains in fine health, and all subsystems are continuing toperform well. The spacecraft is beginning to experience brief periodsof being eclipsed from sunlight by the Earth during each orbit,signaling that its recent full-sun season is waning. It is flying drag-freearound gyro #3, maintaining a constant roll rate of 0.7742 rpm (77.5seconds per revolution.) The temperature inside the dewar is holdingsteady at just under 1.82 Kelvin. Recent measurements indicate thatapproximately half of the superfluid has now been expended from thedewar. All four gyros are digitally suspended in science mode. We arenow approximately 40% of the way through the science phase of themission. The data collection process is continuing to proceedsmoothly, and the quality of the data remains excellent.A GP-B RETROSPECTIVE ON 2004Looking back, 2004 has been a year of monumental triumph for GP-B.The year began with a re-work of the Experiment Control Unit (ECU),and its subsequent reinstallation into the space vehicle.At the beginning of April, as the space vehicle was being readied forlaunch, the official GP-B pre-launch press conference was held atNASA headquarters in Washington DC. (You can view a streamingvideo of this press conference, which includes many technical detailsabout the GP-B science experiment and technology, on NASA'sKennedy Space Center ELV Web page.)Three weeks following the press conference, at 9:57 am PST on 20April 2004, a Boeing Delta II rocket carried the GP-B spacecraft,embodying over 40 years of dogged persistence in science andengineering, into a perfect orbit. That emotionally overwhelming day,culminating with the extraordinary live video of the spacecraftseparating from the second stage booster meant, as GP-B ProgramManager Gaylord Green put it, “that 10,000 things went right.” TheGP-B launch will long be remembered—not only by GP-B PrincipalInvestigator, Francis Everitt, and the GP-B team, but also bythousands of people who have been associated with GP-B in one wayor another over the years and countless others who have beenfollowing it.The MOC staff immediately scheduled several extra satellitecommunication passes so they could communicate with the spacecraftmore frequently. Then, over the ensuing 24 hours, they methodicallyworked through a series of tests and command sequences to return thespacecraft to its normal science operation mode. We initially assumedthat the GPS receiver had suffered a proton hit in the SAA region, butfurther analysis suggests that this was not the case. Rather, thisanomaly was apparently caused by one of the four accessible GPSsatellites being in the wrong position for proper GPS triangulation.The ATC system usually catches situations of this kind and disallowsthe data; but, this one slipped through the filter.The spacecraft has returned to normal operations. This incident wasnot detrimental to the GP-B experimental data. And, once again, thefact that an anomalous event occurred while the spacecraft was flyingthrough the SAA region appears to be a coincidence—or is it?The launch was the “end of the beginning” for GP-B. The ensuing 4-month IOC period demonstrated the exceptional preparedness anddedication of the GP-B team, from dealing with anomalies in orbit tospinning up the four gyros last August, which following the launch,was the second greatest milestone in the program.Now, four months into the 10-month science phase of the mission,our whole GP-B team can reflect back on the past year with anenormous sense of pride and accomplishment. And, as we lookforward to the coming year, we are keenly aware of our continuedresponsibility to see this once-in-a-lifetime experiment through to itsfinal conclusion.7 JANUARY 2005—GRAVITY PROBE B WEEKLYUPDATE: Day 262Throughout the holiday season, the GP-B spacecraft has remained inexcellent health, with all subsystems performing well and noanomalous events. The GP-B spacecraft has now completed more than3,870 orbits over 8.5 months, and on average, the four gyros have eachmade approximately one billion revolutions.494 March 2007 Appendix C — Weekly Chronicle of the GP-B Mission
The spacecraft's full-sun season has ended, and it is now experiencinglonger periods of being eclipsed from sunlight by the Earth duringeach orbit. It is flying drag-free around gyro #3, maintaining aconstant roll rate of 0.7742 rpm (77.5 seconds per revolution.) All fourgyros are digitally suspended in science mode. The temperature insidethe dewar is holding steady at 1.82 Kelvin, and it is now less than halffull of superfluid helium. We have been collecting science data for 19weeks, and we are now approximately 45% of the way through thescience phase of the mission. The data collection process is continuingto proceed smoothly, and the quality of the data remains excellent.14 JANUARY 2005—GRAVITY PROBE B WEEKLYUPDATE: Day 269The spacecraft is in excellent health, with all subsystems performingwell. The GP-B spacecraft is flying drag-free around gyro #3,maintaining a constant roll rate of 0.7742 rpm (77.5 seconds perrevolution.) All four gyros are digitally suspended in science mode.The temperature inside the dewar is holding steady at 1.82 Kelvin. Wehave been collecting science data for 20 weeks, just under halfwaythrough the science phase of the mission. The data collection processcontinues to proceed smoothly, and the quality of the data remainsexcellent.21 JANUARY 2005—GRAVITY PROBE B WEEKLYUPDATEMission Elapsed Time: 276 days (39 weeks/9 months)Current Orbit #: 4,075 as of 4:30PM PSTSpacecraft General Health: GoodRoll Rate: Normal at 0.7742 rpm (77.5 seconds per revolution)dewar Temperature: 1.82 Kelvin, holding steadyWe are in the process of recovering from the effects of 7 major solarflares that have erupted from the Sun’s surface since 15 January 2005.These flares have resulted in extremely high levels of proton radiationand two multi-bit errors (MBE) in our SRE electronics.In addition, these high levels of solar radiation saturated the GP-Btelescope detectors, causing the telescope to lose track of the guide star(IM Pegasi). We have now re-locked the telescope onto the guide star.We have determined that one of the MBEs in the SRE electronics is ina non-critical location, but the second one is in a location that is usedfor SQUID calibration.We are in the process of creating a work-around for the second MBElocation. Our science team reports that the loss of data from theseevents has been minimal, and that it will have no significant effect onthe experimental results.Gravity Probe B — Post Flight Analysis • Final Report March 2007 495
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Post Flight Analysis — Final Repo
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Signatures & ApprovalsPrepared byPu
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Table of ContentsPreface . . . . .
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6.8 Sources and References . . . .
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11 Telescope Readout Subsystem (TRE
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14 Data Collection, Processing & An
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xiv March 2007 Table of Contents
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Figure 3-4. The GP-B dewar—one of
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Figure 8-5. The Seasons of GP-B . .
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Figure 11-20. Pointing angle differ
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Figure 14-9. In the Anomaly Room, t
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xxiv March 2007
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Table 13-3. GP-B payload magnetomet
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xxviiiMarch 2007
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2 March 2007 Chapter 1 — Executiv
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facility, it was necessary to recas
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spacetime around with them as they
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After years of work and the inventi
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axis of a gyroscope rotor changes i
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Figure 1-8. Clockwise, from top lef
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“management experiment.” This w
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Attitude-Control Gyroscopes. Two pa
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Any significant deviation from “g
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established, ranging from Level 1 (
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1.14 The Broader Legacy of GP-BAt l
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24 March 2007 Chapter 2 — Overvie
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Figure 2-1. GP-B Historical Time Li
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Applied Physics Laboratory, of the
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William Fairbank once remarked: “
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In Einstein’s view, space and tim
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y a mere 1.1 inches. You can see th
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Figure 2-10. Schematic diagram of t
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Figure 2-12. Final assembly of the
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Sun Shield. The sun shield is a lon
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2.1.8 The Broader Legacy of GP-BWhe
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2.3 Spacecraft SeparationThe Solar
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Flight Anomalies.) Furthermore, a d
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Table 2-2. Weekly summary of IOC ac
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2.4.3.2 Guide Star AcquisitionAbout
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A second mass trim operation had be
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On Friday, 2 July 2004, the spin ra
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Low temperature bakeout was first p
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2.5.1.3 Lockheed Martin Team Phase-
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Monthly Highlights of the GP-B Scie
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2.6.1 Overview of the Calibration P
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Weekly Highlights of the GP-B Final
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66 March 2007 Chapter 3 — Accompl
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It was in this pristine, near-zero
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Each quartz rotor is coated with a
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Figure 3-3. Functional diagram of a
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Based on data from the on-board tel
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Ideally, the telescope should have
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Figure 3-9. Schematic diagram of st
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used. The star trackers are essenti
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Result: By using the porous plug, w
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Solution: Create a tetrahedral lapp
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Constraint 2: The exhaust tube must
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Result: The on-orbit gyroscope spin
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spacecraft's subsystems for the dur
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Constraint 3: Keep the spacecraft p
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Technology Category Specific Implem
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96 March 2007 Chapter 4 — GP-B On
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Any significant deviation from “g
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packages, one for each Ping load an
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In addition to these software packa
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Table 4-6. Features & benefits of W
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This software added considerable ef
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It is said that “an experiment is
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Table 4-10. Significant Events/Sour
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Figure 4-5. Pictorial depiction of
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Figure 4-7. Eta-Average Error Assoc
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4.4.4.2 OD Using SLR DataFigure 4-9
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4.4.5 ConclusionsFigure 4-11. Compa
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Overall, the storage issues did not
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Table 4-11. ITF equipment listEQUIP
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124 March 2007 Chapter 5 — Managi
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5.2 Overview of GP-B Anomalies in O
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Figure 5-1. Anomaly Review Team Org
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5.3.3.1 Anomaly Investigation and R
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5.3.5 Anomaly Identification and Re
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5.4.3 Risk Management ApproachThe r
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Table 5-1. Summary of Open GP-B ris
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138 March 2007 Chapter 5 — Managi
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140 March 2007 Chapter 6 — The GP
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3. Payload Integration, Testing and
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Figure 6-1. Clockwise from top left
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MSFC conducted an in-house Phase A
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It is important to note that from t
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6.3.1 Incremental PrototypingThe pe
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alignment, and act as an accelerome
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Figure 6-9. The Lockheed Martin GP-
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Furthermore, a fourth electronic sy
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positive thermal connections betwee
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astrophysics/cosmology. Many of the
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Figure 6-10. MSFC Program Managers/
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As described in Chapter 2, the flig
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6.7 Some Observations on the Manage
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168 March 2007 Chapter 6 — The GP
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170 March 2007 Chapter 7 — Attitu
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7.1.2 Vehicle ATC ModesThere are es
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The output of the pressure transduc
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Figure 7-3. Science Telescope Compo
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Figure 7-5. Pitch and Yaw Pointing
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Figure 7-7. Magnitude of the roll r
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Changing the method by which the gy
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7.3.3 Drag-Free Control SystemFigur
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7.3.3.1 DFS - PerformanceThe GP-B d
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Figure 7-15. Mass flow effects of a
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7.5.2 Successful recovery from mult
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If the vehicle control system were
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accomplish this, the ARPs are mount
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7.5.6.1 South Atlantic AnomalyProto
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Figure 7-23. Effects on telescope p
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200 March 2007 Chapter 7 — Attitu
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202 March 2007 Chapter 8 — Other
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Figure 8-2. Block Diagram of CDH co
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8.1.1.4 WATCH DOG TIMERFigure 8-4.
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of eclipses each day (approximately
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Figure 8-8. GSS1 Temperature Trends
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Figure 8-10. Forward Dewar Vacuum S
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The Gravity Probe B spacecraft has
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Figure 8-13. Forward -X Thruster Te
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gaFigure 8-15. Aft -X Thruster Temp
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Because there are only two SQUID br
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Because the specifications for SRE
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8.3.2 Critical Mission RequirementT
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Figure 8-19 is a plot of the power
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Battery Performance Summary:Figure
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Figure 8-23. Solar Array Temperatur
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8.3.10 ConclusionThe electrical pow
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8.4.1 TDRSS OperationsFigure 8-28.
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Figure 8-30. Xpndr-A STDN (green),
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Figure 8-32. Plot of TDRS AGC vs Te
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The FSW also met its subsystem leve
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Appendix E, Flight Software Applica
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Table 8-4. SCRs Addressed in On-orb
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The software and macro changes resu
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Figure 8-38 below is an excerpt fro
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Figure 8-40. A-side CCCA Single Bit
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Figure 8-43. A-side CCCA Single Bit
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When single MBEs did not result in
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256 March 2007 Chapter 9 — Gyro S
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9.1 GSS Hardware DescriptionFigure
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significantly reduces and thus pres
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9.1.11 Clock synchronizationThe aft
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Figure 9-8. Block diagram of the LQ
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direction (transverse to the space
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9.2.2.2 Spin-up SuspensionDuring sp
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Figure 9-16. Predicted and measured
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Figure 9-18. The GSS passes rotor c
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Figure 9-20. Representative drag-fr
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Table 9-1. GSS Science Mission Mode
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Table 9-3. GSW application source l
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The Design and Testing of the Gravi
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282 March 2007 Chapter 10 — SQUID
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ate uncertainty). Although we have
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All of the GP-B electronics have be
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10.3 Pre-Launch Ground-Based TestsW
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Figure 10-6. AC Magnetic Shielding
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Figure 10-8. Temperature Error of S
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Figure 10-10. Quiescent SQUID Noise
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Analog control loops on the electro
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The science support applications ru
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Table 10-7. SSW application source
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308 March 2007 Chapter 11 — Teles
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Figure 11-1. Block diagram of TRE a
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Additionally, the warm electronics
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Figure 11-3. CLL switch states duri
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Table 11-3. Dates and UTC times whe
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Figure 11-7. Low Gamma Angle Data S
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s N+w i= sign+w i++−+−w i−w i
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expression, which otherwise on a po
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Figure 11-14. Y axis, B side RMS po
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Figure 11-17. X axis, B side curren
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Figure 11-20. Pointing angle differ
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Figure 11-24. Scaled summed current
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Figure 11-26 through Figure 11-29 s
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334 March 2007 Chapter 12 — Cryog
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12.2 Temperature / pressure control
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control the space vehicle without t
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Figure 12-3. Helium flow rate predi
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helium at 1.8 K. It does not appear
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Figure 12-6. Flow meter and ATC flo
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were generally within a day or so o
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shields) and subsequent instability
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350 March 2007 Chapter 12 — Cryog
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352 March 2007 Chapter 13 — Other
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Figure 13-2. ECU-operated heaters i
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13.1.3.1 Vatterfly Valve Operations
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13.1.3.7 Payload MagnetometersThe E
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Figure 13-11. ECU performance durin
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As we entered the second month of o
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During the last month of IOC, prepa
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Figure 13-19. ECU heater activity d
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Table 13-1. Proton monitor channel
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Figure 13-21. Proton Monitor data i
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In November, 2004 there was a large
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Figure 13-28 shows a correlation th
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13.3.1 About the MagnetometersFigur
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13.3.2 Other Applications for Paylo
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Figure 13-35. GPS Antennae Field of
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Figure 13-37. Master Antenna Switch
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Figure 13-39. Time difference betwe
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13.4.6 On-Orbit ResultsThe GPS comp
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and velocity values erroneously cal
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E. G. Lightsey, C. E. Cohen, B. W.
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Figure 13-45. A Bottom View of the
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Figure 13-48. The GMA configuration
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Table 13-10. Summary for Helium Gas
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398 March 2007 Chapter 14 — Data
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a relatively slow data rate, so we
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Figure 14-4. NASA ground stations a
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electronic components to recover fr
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By a process of elimination, the GP
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A special room in the GP-B Mission
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Starting on 3 December 1725, Bradle
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seemed that aberration of starlight
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14.1.6 Telescope Dither—Correlati
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14.1.6.3 The Telescope Dither Patte
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amplifications. Thus, in addition t
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14.2.2 Independent Data Analysis Te
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monthly time scales. Though only sh
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424 March 2007 Chapter 15 — Preli
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Figure 15-2. A diagram of the GP-B
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15.4 The Two Surprises and Their Im
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Near Zeroes.) The exception that we
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Figure 15-8. A slide from the GP-B
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Figure 15-9. A poster on the effect
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electrostatic patches, located at o
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Last summer (2006), Mac Keiser devi
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440 March 2007 Chapter 15 — Preli
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442 March 2007 Chapter 16 — Lesso
Page 472 and 473: 16.1.1.3 Flight science downlink da
Page 474 and 475: Description of the GP-B experience:
Page 476 and 477: Lessons:1. Perform all tests with a
Page 480 and 481: Figure 16-1. Six interacting transl
Page 482 and 483: 16.1.3.2 Training and certification
Page 486 and 487: Below is an edited summary of six a
Page 488 and 489: 460 March 2007 Chapter 16 — Lesso
Page 490 and 491: 462 March 2007 Appendix A — Gravi
Page 492 and 493: Apogee altitude659.1 km (409.6 mile
Page 494 and 495: 466 March 2007 Chapter B — Spacec
Page 496 and 497: Gravity Probe B — Post Flight Ana
Page 498 and 499: 470 March 2007 Appendix C — Weekl
Page 500 and 501: 16 April 2004—Vehicle is Prepared
Page 502 and 503: The electrical power system is full
Page 504 and 505: 4 JUNE 2004—MISSION UPDATE: DAY 4
Page 506 and 507: SQUIDs to detect their rotation spe
Page 508 and 509: 17 JULY 2004—MISSION UPDATE: DAY
Page 510 and 511: indicate that we have reduced the t
Page 512 and 513: C.4 Science Mission Phase: 8/27/04
Page 514 and 515: • GP-B also has an independent da
Page 516 and 517: free suspension parameters to de-tu
Page 518 and 519: We have received inquiries about a
Page 520 and 521: One of the effects of geomagnetic s
Page 524 and 525: 28 JANUARY 2005—GRAVITY PROBE B M
Page 526 and 527: magnetic pole. This event triggered
Page 528 and 529: 8 APRIL 2005—GRAVITY PROBE B MISS
Page 530 and 531: On Tuesday afternoon (19-April), GP
Page 532 and 533: Norway or through the NASA space ne
Page 534 and 535: Dewar Temperature: 1.82 kelvin, hol
Page 536 and 537: visitors on a tour of the GP-B faci
Page 538 and 539: test, we are planning on running fi
Page 540 and 541: contractor at the Goddard Space Fli
Page 542 and 543: On Wednesday, we visited the star H
Page 544 and 545: Gyro Suspension System (GSS): All 4
Page 546 and 547: The helium in the dewar has now sur
Page 548 and 549: the all the spacecraft status data.
Page 550 and 551: 522 March 2007 Appendix D — Summa
Page 552 and 553: Figure D-2 below shows the distribu
Page 554 and 555: DateSeveritySubtypeTitle Descriptio
Page 556 and 557: DateSeverity24 26-Apr-04 Obs F Nois
Page 558 and 559: DateSeverity40 11-May-04 Obs T Dwel
Page 562 and 563: DateSeverity68 16-Jun-04 Medium Dec
Page 564 and 565: DateSeverity84 13-Jul-04 Obs F Slig
Page 568 and 569: DateSeverity116 26-Sep-04 Obs F SG3
Page 570 and 571: DateSeverity132 20-Dec-04 Obs F Unc
Page 572 and 573:
DateSeverity149 5-Mar-05 Obs T Few
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DateSeverity169 04-Jun-05 Obs F MBE
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DateSeverity191 04-Oct-05 Obs A GSS
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550 March 2007 Appendix E — Fligh
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ReqIDLevel 1CSCDMP DataMgmtProcessi
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ReqIDLevel 1CSCLevel2 CSC Level 3 C
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Page 586 and 587:
Page 588 and 589:
ReqIDLevel 1CSCSRM Solid StateRecor
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Page 592 and 593:
Page 594 and 595:
ReqIDLevel 1CSCSRP SafemodeResponse
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ReqIDLevel 1CSCGUP GSS Processing g
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570 March 2007 Appendix F — Acron
Page 600 and 601:
AcronymDefinitionAcronymDefinitionB
Page 602 and 603:
AcronymDefinitionAcronymDefinitionD
Page 604 and 605:
AcronymDefinitionAcronymDefinitionF
Page 606 and 607:
AcronymDefinitionIRUInertial Refere
Page 608 and 609:
AcronymDefinitionAcronymDefinitionM
Page 610 and 611:
AcronymPMPMAPMCPMEPMETPMSPMSUPNPoPO
Page 612 and 613:
AcronymSCMOSCMTSCNSCPASCPMSCRSCSASC
Page 614 and 615:
AcronymDefinitionAcronymDefinitionT
Page 616:
588 March 2007 Appendix F — Acron
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