SpaceX Falcon 9 historic landing thread (1st landing attempt & most recent missions)

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Exploding gases are compressible, and a light weight rocket stage is weak compared to a massive barge hull........

On the other hand, water is not compressible and a steel barge hull can buckle if wacked or suspended by 30 foot seas.......

I'm pretty sure the flat, long, and wide barge is designed to heave minimally in a moderate sea so the could be a lot of water sitting on the large flat deck. 30' of water column is close to 1 ton per square foot, and there is a lot of square feet. The bending forces generate by the barge buoyancy and the water column loading must be in the millions of pounds......

Bob
 
"The sea is so great and my boat is so small" A quick tour of big seas on YouTube will show that in some seas, even aircraft carriers are small.

From what I saw on the earlier "Rapid Unscheduled Disassembly event" aftermath, most of the machinery on deck is in containers close to the deck, which will get beat to heck by breaking seas. The wings to each side that extend the landing platform are also very likely to get beat up. I can't see the Facebook video, so I can't tell if it's hull damage or just equipment bolted to the deck. 20-30 foot seas are a big deal, though, especially for a barge this size.

Barges break loose from tugs on a regular basis. If the barge was designed well, the tow line or shackles would break before the padeyes that attach the tow line to the barge. Of course, if they break the tow line and the emergency tow line, they have to get someone on board to attach a new tow line. That is not a maneuver to be done lightly any time and certainly not in heavy seas if you value life and limb. If the barge wasn't being blown toward shore, they could just follow it and wait for better weather. If it was headed for shore, lowering a person from a helicopter is probably the safest way on board.
 
Barges break loose from tugs on a regular basis. If the barge was designed well, the tow line or shackles would break before the padeyes that attach the tow line to the barge. Of course, if they break the tow line and the emergency tow line, they have to get someone on board to attach a new tow line. That is not a maneuver to be done lightly any time and certainly not in heavy seas if you value life and limb. If the barge wasn't being blown toward shore, they could just follow it and wait for better weather.

That is apparently what they did. Waited for the weather to get better before trying to engage the emergency towline (nice sunny blue sky day). Which would at least partly if not fully explain why it took so long to get back to port. Of course it also may have drifted farther away from port during the wait.

- George Gassaway
 
Next landing attempt will be the CRS-6 launch, no earlier than April 8th.

A couple of fun images. First one, made by an unknown artist on Jan 10th, when the first landing attempt failed and all that was known was that the Falcon had crashed into the ASDS barge (pics and video came days later).

WOJF7gN.jpg


The second one, inspired by the track record of the ASDS barge for getting damaged on the two trips it has made so far .....

7nXJmFG.jpg


Anyone who does not get it, the reference is from "The Mister Bill Show" short clips on SNL in the late 1970's. BAD (usually violent) things always happened to Mister Bill......

Wiki: https://snl.wikia.com/wiki/Mr._Bill

Youtube example episode:
[video=youtube;b3E_WARspaU]https://www.youtube.com/watch?v=b3E_WARspaU[/video]

- George Gassaway
 
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Just found this, posted Feb 11th. A photo tweeted by Musk. A frame from the Feb 10th flight that landed in water because the weather was too rough to land on the ASDS barge:

"Landing on a stormy sea"

B9nUaKjIMAAPR55.jpg


One of the deployed grid fins is visible at the 11 o'clock position, and part of another at the far right edge.

Strange.... the grid fins look as though they are in sunlight and shadow. It was about sunset where it landed... but if there was some sunlight the odd thing is that there would be the storm and yet the setting sun peeking thru underneath the cloudbase.
 
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Strange.... the grid fins look as though they are in sunlight and shadow. It was about sunset where it landed... but if there was some sunlight the odd thing is that there would be the storm and yet the setting sun peeking thru underneath the cloudbase.

If SpaceX wants to observer the grid fins during the interesting phase between reentry burn and the final landing burn - in other words: without a running engine - while launching at night, they would have to provide some sort of illumination or use some kind of night vision capable camera system. The latter doesn't seem to be the case, because it's a color video. An onboard light source, depending on where it is mounted, might explain the pattern. This is, of course, baseless speculation on my part (but hey, it's fun...).

Reinhard
 
If SpaceX wants to observer the grid fins during the interesting phase between reentry burn and the final landing burn - in other words: without a running engine - while launching at night, they would have to provide some sort of illumination or use some kind of night vision capable camera system. The latter doesn't seem to be the case, because it's a color video. An onboard light source, depending on where it is mounted, might explain the pattern. This is, of course, baseless speculation on my part (but hey, it's fun...).

Reinhard

Does not seem like they are doing anything special. Indeed, a few people commented on the apparent interlacing of frames, indicating old technology in use. Though that might not be the camera as much as the way the video was either transmitted or stored. And old tech does not mean not worth using, the onboard videos are more for technical R&D review than cinematic art (thought it is awesome when both are done together. imagine once these are operational if they flew an imax camera.....).

Since it was not quite sunset when it took off, and seems there was some sun at landing, then on this flight there should have been a great view of the grid fins doing their thing during re-entry and the steered descent to the landing spot (water, no barge in this case). Well, a great view by the camera, if it did not get obscured by ice/moisture as has happened before, and not known if the video signals were received and recorded during that whole time, or not. Obviously no physical recorded file from onboard, because even if it had such (and SpaceX does not tend to say much about such things so nobody publicly knows), it would be on the bottom of the ocean. And if such video does exist, well, like I just said, SpaceX releases very little. But if they had it all and if it went well, it would be a big PR plus if they released it.

- George Gassaway
 
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Hookay….. next SpaceX attempt to successfully land a Falcon-9 first stage on the ASDS (Landing Barge) is currently set for Monday, April 13th, as 4:33 PM EDT.

SpaceX is targeting Monday, April 13 to launch the next commercial resupply services mission to the International Space Station. Launch of the Falcon 9 rocket and Dragon spacecraft is targeted for approximately 4:33 p.m. EDT from Space Launch Complex 40 at Cape Canaveral Air Force Station in Florida. NASA Television coverage will begin at 3:30 p.m.

A Monday launch will result in the Dragon spacecraft arriving at the space station Wednesday, April 15. Expedition 43 Flight Engineer Samantha Cristoforetti of ESA (European Space Agency) will use the station's 57.7-foot robotic arm to reach out and capture Dragon at approximately 7:14 a.m. Flight Engineer Terry Virts of NASA will support Cristoforetti as they operate from the station's cupola. NASA TV coverage of grapple will begin at 5 a.m. Coverage of Dragon's installation to the Earth-facing port of the Harmony module will begin at 9:15 a.m.

If the launch does not occur on Monday, the next launch opportunity would be at approximately 4:10 p.m. Tuesday, April 14.

The mission is CRS-6, an ISS resupply mission. It will happen in daylight, so there ought to be some good video…. whatever happens (Which I'm hoping is a safe landing on the barge. Only fools would think another crash landing would be "kewl").

There is a nice blog that includes some interesting videos and pictures of the ASDS (Named "Just Read The Instructions"), shot by a multicopter.

https://timdoddphotography.com/blog/asds

He has some good info. But he implies that the upgrades to the bow thrusters at the corners will keep the ASDS more stable in pitch and roll. That's not possible, it would need to have a secondary tilting deck structure built above the deck, with hydraulic-powered gimbals to keep the landing deck more "flat". It seems that either that is not necessary or not practical (what does the US NAVY do for landing jets on carriers when there are storms with 30 knot winds and 30 foot waves? They don't, the cost of a carrier that could allow for that would be astronomical. They simply do not let a mission take off when landing weather would be that bad. But SpaceX didn't have that option….though I won't be surprised if future contracts gives them the right to cancel a launch if the landing weather would be too bad). What the thrusters do is provide thrust fore-aft and left-right to try to keep the barge positioned correctly on the GPS coordinates that the Falcon stage is programmed to land at.

When the ASDS went out to sea in February for a landing attempt that was scrubbed due to 30 foot seas, it took quite a pounding from the waves. One thruster destroyed, and various physical damage. So they have taken the opportunity to reinforce it, make other improvements, and upgrade the thruster units and other hardware.

The gif and other images are from that blog, plus a video:

IMG_2393.gif


Space-X-aerial-0096-web.jpg


Space-X-aerial-0080-web1.jpg


[video=youtube;tl1d_pNRYOw]https://www.youtube.com/watch?v=tl1d_pNRYOw[/video]
 
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But he implies that the upgrades to the bow thrusters at the corners will keep the ASDS more stable in pitch and roll. That's not possible,

It's not clear to me from the pictures what kind of thrusters they are using. They are most likely Z-drives, which are basically a propeller on a stick that can rotate 360 degrees. If that's the case, then you're right, they can't damp down roll and pitch with the drives. If SpaceX went spendier and put in Voith Schneider drives, they could. (https://en.wikipedia.org/wiki/Voith_Schneider_Propeller). Voith units can change thrust and direction nearly instantaneously, so they can use the force and moment from the drive to reduce roll. Z-drives have to spool up the engine and rotate the drive, so they can't react as quickly.

Also hoping for a successful recovery.
 
It's using azimuth thrusters made by Thrustmaster. A quote taken from this ASDS landing barge wiki:
https://en.wikipedia.org/wiki/Autonomous_spaceport_drone_ship

This autonomous vessel is capable of precision positioning to within 3 meters (9.8*ft) even under storm conditions[13] using GPS position information[20] and four diesel-powered azimuth thrusters.[21] In addition to the autonomous operating mode, the ship may also betelerobotically controlled.[2]
The azimuth thrusters are hydraulic propulsion outdrive units with modular diesel-hydraulic-drive power units and a modular controller all manufactured by Thrustmaster, a marine equipment manufacturer.[10]


image2-655x312.jpg


Generic video by Thrustmaster is below(installation on the ASDS is basically similar but different details. For one it is an unmanned vessel most of the time, especially at the most critical time). While the video shows it maneuvering away from dockside, the ASDS is towed out to sea by an ocean-going tug. It only uses the thrusters when it reaches its destination, to maintain position. It seems that last week the ASDS was towed a few miles out past the coastline and released to test out the new thruster system to hold GPS position, apparently working well, then was towed back to port.

[video=youtube;vakuLeX2xlc]https://www.youtube.com/watch?v=vakuLeX2xlc[/video]
 
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That camera view from the July test flight looked uncannily like a keychain camera view from a model rocket. Well, except the absolutely no roll and that fact that the rocket stopped, then went back down. :)

Uh oh, our first "hoaxer." ;)
 
I assume this rocket will have more hydraulic fluid for the grid fins. I consider the last attempt a near success, and with enough hydraulic fluid and a more stable barge, I think they have a good shot at tit this time.
 
The attempt you refer to was in January when it ran out of hydraulic fluid (open loop) that steer the grid fins up front and drifted too far out before the engines ignited for landing. So it was so far off horizontally (maybe 100 meters) that the extreme maneuvering to land caused it to crash into the barge.

But there was a second attempt in February. 50% more hydraulic fluid. Due to a big storm, the attempt to land on the barge was waved off, and the barge moved away. The stage itself did "land" into the ocean, reported as being within 10 meters of the programed coordinates (pretty good for 30 mph winds). So if it had been calmer and the barge was there it would have probably succeeded. Go back to page 11, message 317.

The two flights since then flew payloads so heavy that there was not enough fuel available to do landings.

Rumor not confirmed yet is that in June or so the Air Force might approve RTLS landings at what used to be LC-13. So when that is approved, SpaceX can try to do a "land landing" there when they launch a payload light enough to allow for the extra fuel needed to do an RTLS flyback (needs more fuel than landing on the ASDS barge obviously). Those won't have "landing weather" problems because if weather is too bad to land it will be too bad to launch 11-12 minutes or so earlier.

- George Gassaway
 
Rumor not confirmed yet is that in June or so the Air Force might approve RTLS landings at what used to be LC-13. So when that is approved, SpaceX can try to do a "land landing" there when they launch a payload light enough to allow for the extra fuel needed to do an RTLS flyback (needs more fuel than landing on the ASDS barge obviously). Those won't have "landing weather" problems because if weather is too bad to land it will be too bad to launch 11-12 minutes or so earlier.

- George Gassaway

If it was me, I wouldn't give official approval to land "on land" until they had at least a couple successful landings on the barge.
 
If it was me, I wouldn't give official approval to land "on land" until they had at least a couple successful landings on the barge.

I see the sea landings as a big hurdle to overcome due to the dynamic forces at play, and as others have pointed out in previous discussions there is likely a higher probability of success with a Terra firma landing (sounds much better than land landing). So it's a bit of a double edged sword water landing is safer (maybe yes maybe no) but more difficult to achieve. How much land would they have to fly over to reach the proposed landing site and what is the population?
 
I see the sea landings as a big hurdle to overcome due to the dynamic forces at play, and as others have pointed out in previous discussions there is likely a higher probability of success with a Terra firma landing (sounds much better than land landing). So it's a bit of a double edged sword water landing is safer (maybe yes maybe no) but more difficult to achieve. How much land would they have to fly over to reach the proposed landing site and what is the population?

I agree, the ocean landings on the relatively tiny area of the barge are much harder than the huge area of LC-13, with its large main landing pad AND four alternate landing pads it can direct itself towards if it is going to miss the center main pad by too much.

As for the land it flies over........ it comes in over the ocean, then crosses the beach (which will be closed) and the LC-13 landing zone is right there, nothing else to fly over coming in. It would only fly over something if it was badly off course and came in too far to the North or South (into LC-12 or south, or LC-14 or north), or if it overshot LC-13 and was coming in "hot" to the west of LC-13.

The overshoot is highly unlikely due to the maneuvers performed, which basically tends to make it undershoot a lot, then maneuvers to undershoot less, and maneuvers to undershoot less, and so on, so it keeps correcting the undershoot to try to get into position to land at the landing spot. That way, if control was lost at any point, it would not be possible to overshoot.

So the main tihng it needs to do for safety of the surrounding area.... is to demonstrate with the ocean landings that its margin of error is smaller than the LC-13 landing zone. After all, if it lands 20 meters to the side of the ASDS landing barge with a slow vertical descent into the water, it's a "failure to land safely on the barge", while for an RTLS landing the same slow descent "miss" of the center of the main landing pad would mean a safe landing and would be celebrated as a massive success (with a minor distance error)!

BTW - Unless they have modified the software for landing on the ASDS, then if it was off by say 30 meters at say 100 meters up, it would once again do a kamikaze "crash into barge" maneuver like it did in January when the hydraulic fluid for the gird fins ran out. I personally think that would be massively stupid for the software not to have a "safe landing priority" mode to land vertically with zero horizontal velocity many meters from the barge, rather than blindly veer over hard and build up a horizontal velocity towards the barge that it could never recover from to land safely as happened the first attempt (it does not have the thrust OR the fuel for significant horizontal maneuvering and cannot "hover" It lands with gallons left). The only reason for allowing the software to stupidly crash it into the barge again would be if the commander of CCAFS, who is key to getting permission for RTLS, is looking for the stage to land as close as possible even if it crashes, rather than demonstrating SAFE landings that miss the barge but would be WELL inside of the landing zone of LC-13 if it was an RTLS landing onto dry land.

Also, BTW - I expect that for the RTLS landings at LC-13, they WILL have the landing software give priority to landing safely, if it is INSIDE the LC-13 landing zone, even if it slowly descended vertically to land 30 meters off from the center of the main landing pad, that still would be a safe landing. It would have no reason to risk a crash landing to try to land dead-center like it tried to do with the January ASDS landing

- George Gassaway
 
Still on for 4:33 PM EDT Monday afternoon:

via SpaceX:
https://www.facebook.com/SpaceX/pho...563831.353851465130/10155849472580131/?type=1
Just Read the Instructions now on location in the Atlantic in advance of tomorrow's launch, targeted for 4:33pm ET. Since our last landing attempt, the drone ship has been upgraded to tolerate more powerful ocean swells, however weather at the landing site is looking significantly better this time.

After Dragon and Falcon 9’s second stage are on their way to orbit, the first stage will execute a controlled reentry through Earth’s atmosphere, targeting touchdown on an autonomous spaceport drone ship approximately nine minutes after launch.

3C3PDbo.jpg
 
My son's track practice is over at 5:00. He'd better not be done early.

BTW - There is no launch "window". It either launches at 4:33 PM EDT or it's scrubbed for the day. Landing approximately 4:43 PM

About 1.5 hour to go.

Check into the SpaceX live webcam and also the NASA channel.

Realize though that the landing part will NOT be shown live, as officially this is all about the NASA CRS-6 mission to ISS. But pay attention for any excitement on the SpaceX feed about 10 mins after liftoff. Maybe even an accidental glimpse on a control room monitor.

If successful, there ought to be pics quickly, and video likely by tonight.

- George Gassaway
 
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