Mars Pathfinder Rover Telemetry Dictionary Rev C

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Mars Pathfinder Rover Telemetry Dictionary
MARS ROVER DFM 94-033 (Rev C)
Last Updated 4/18/97 (HWS)

1. OVERVIEW

This document describes the format of telemetry messages sent by the rover. Each message consists of one or more packets, and is associated with one uplink command (with a few exceptions that are generated autonomously).

Packet formats are designed to allow high-level routing and grouping of data without detailed packet parsing or external knowledge. Packet data uses fixed formats to allow extracting data when some packets from a message are missing, or when the contents of packets are partially garbled.

Messages contain sufficient data, along with knowledge of the associated commands, for interpreting command results. In particular, data from other telemetry messages should not be needed (since they may be routed differently). Data from the command is not duplicated unless it may have been overridden by the rover.

1.1 Headers

Data types:
	U8	unsigned 8-bit
	I8	signed (integer) 8-bit
	U16	unsigned 16-bit
	I16	signed 16-bit
	U32	unsigned 32-bit
	I32	signed 32-bit


All packets start with:

CCSDS primary header (6 bytes):
	U8		08 (constant flags)
	U8		APID
	U16		packet sequence number + grouping flags
	U16		data length

APID: used for routing packets
Packet sequence number: consistent with CCSDS format, there is a separate packet sequence number for each APID. The packet sequence number starts at zero and is incremented with each packet sent for the duration of the mission, with rollover if necessary.
Grouping flags: always 11 (no segmentation)
Data length: (number of bytes-1) for rest of packet after primary header

CCSDS/MESUR secondary header (9 bytes):
	U32		CCSDS coarse time (seconds since 1/1/58)
	U8		CCSDS fine time
	U16		message packet number
	U16		command sequence number

Time: time when packet was formatted for output, probably later than the time of data collection. Normal rover software sets the fine time byte to zero; rover lite sets it to one.
Message packet number: number of packet within message (starting at 0 for each message); most significant bit is set to 1 for last (or only) packet of message
Command sequence: number from corresponding uplink command (zero for autonomously generated messages)

The APID used for "command results" packets may be changed from the default 5 to 23 for high-priority command results, by setting a software parameter. The APID for image packets is supplied in the corresponding image command (or is the fixed value 24 for rover autonomous images).

The first data byte of packets for APID 5 and 23 (normal and high-priority command results), as well as APID 29 (traverse report) is the associated command code.

Rev C Changes:

CCSDS fine time is no longer always zero. The fine time value is zero if standard rover software is running, but is set to 1 if Rover Lite is active.

1.2 Data Formats

Primary/secondary header data is most-significant byte first (according to CCSDS standard); remaining data is least-significant byte first (native 8085 byte order). Signed data uses two's complement notation.

Ordering of devices (motors, steering pots, etc.) is left-to-right, front-to-back (left front, right front, etc.).

Position

X = mm north of lander reference
Y = mm east of lander reference
heading = BAMs clockwise from lander north (BAM = Binary Angle Measurement; 216 BAMs = 1 revolution)

Attitude
- X/Y inclination = arcsine(accel / G) (where G = 1g on Earth, 0.38g on Mars)
- Z tilt = arccosine(accel / G)
- X accelerometer sensitive direction is aligned with +X (forward) axis, and indicates pitch (positive is front lower).
- Y accelerometer sensitive direction is aligned with -Y (right) axis, and indicates roll (positive is left side lower).
- Z accelerometer sensitive direction is aligned with +Z (down) axis.
- Bogey/differential angle = reading * 0.08 degrees (I16 value).
- Bogey pots read positive with front wheels lower than center wheels.
- Differential reads positive with left side lower.
- Steering/APXS mechanism angle = reading * 0.08 degrees (I16 value).
- Steering angle = reading * 0.64 degrees (I8 value).
- APXS mechanism angle = reading * 1.28 degrees (I8 value).
- Steering pots read positive when wheel is turned counterclockwise (as viewed from above).
- APXS pot reads positive when retracted, negative when deployed.
Time
- Long = U32 seconds (same as CCSDS time)
- Short = U16 seconds (LS bytes of long time)
- Tiny = U16 centons (secs/256)
Temperature
- Temperature is a non-linear function of resistance measurement.
- 1109 ohms = -110 degrees C; 2609 ohms = 75 degrees C.
- Bridge resistance = 1859 + (reading * 0.381) ohms (I16 value).
- Bridge resistance = 1859 + (reading * 6.1) ohms (I8 value).
- The temperature is nearly linear in the region of interest:
  - Degrees C = 2.4855 * (ohms/20) - 248.16
  - For I16 values: Degrees C = (raw reading/21.1199) - 17.1328
  - For I8 values: Degrees C = (0.7581 * raw reading) - 17.1328
- Where all 13 sensors are reported, they are:
```
	0     =     left front motor
	1     =     right front motor
	2     =     WEB wall
	3     =     modem
	4     =     left front CCD
	5     =     right front CCD
	6     =     rear CCD
	7     =     battery A
	8     =     battery B
	9     =     battery C
	10    =     CPU electronics board
	11    =     power electronics board
	12    =     material adherence experiment
```

Current

Motor current = reading * 1.48 mA (U8)

Power supply currents (U8 values):

	0 = A battery,		current = reading * 2.03 mA
	1 = B battery,		current = reading * 2.03 mA
	2 = C battery,		current = reading * 2.03 mA
	3 = solar array,	current = reading * 4.92 mA
	4 = 12V converter,  	current = reading * 2.03 mA
	5 = 9V converter,	current = reading * 2.90 mA
	6 = 5V converter,	current = reading * 2.03 mA
	7 = 5V regulator,	current = reading * 2.90 mA
	8 = 3.3V regulator, 	current = reading * 1.45 mA

Heater current = reading * 4.88 mA (U8)

Voltage

Power supply voltages (U8 values):

	0 = motor/heater bus, 	voltage = reading * 78.08 mV
	1 = core bus,		voltage = reading * 78.08 mV
	2 = +12V converter, 	voltage = reading * 78.08 mV
	3 = -12V converter,   	voltage = reading * -78.08 mV
	4 = +9V converter,	voltage = reading * 78.08 mV
	5 = +5V converter,	voltage = reading * 39.04 mV
	6 = +5V regulator,	voltage = reading * 39.04 mV
	7 = -5V inverter,	voltage = reading * -78.08 mV
	8 = +3.3V regulator,  	voltage = reading * 19.52 mV
	9 = MAE open solar cell, voltage = reading * 19.52 mV

MAE solar cell open voltage = reading * 2.44 mV (I16)
Calibration ground voltage = reading * 9.76 mV (I8)
MAE shorted solar cell voltage = reading * 0.15 mV (I16)
MAE shorted solar cell current = reading * 0.0075 mA (I16)
WAE shorted solar cell voltage = reading * 0.15 mV (I16 at 16X gain)
WAE shorted solar cell voltage = reading * 0.076 mV (I16 at 32X gain)
+5V calibration reference = reading * 29.30 mV (U8)
-5V calibration reference = reading * -29.30 mV (U8)

Device failure counts

These indicate the number of consecutive failures of a device. Bits 3 and 4 are used as flags to indicate other failure conditions.

Range of values is 0 to 31:

	0     =     forced to "okay" state by command
	1     =     no failures
	2     =     one failure
	3     =     two failures
	4     =     three or more failures, apparently bad
	5     =     forced to "failed" state by command

	8 and/or 16 may be added to the above values if the following bits are set:
		8 (bit 3 set) = do not even think about turning on
			this device (apparently shorted)
		16 (bit 4 set) = device is unusable because
			12V (analog input) has failed

Device IDs are:
- 0 = X accelerometer
- 1 = Y accelerometer
- 2 = Z accelerometer
- 3 = left bogey pot
- 4 = right bogey pot
- 5 = differential pot
- 6-18 = temperature sensors (see above)
- 19-24 = wheel motors (LF, RF, LC, RC, LR, RR)
- 25-28 = steering motors (LF, RF, LR, RR)
- 29 = APXS deployment motor
- 30-32 = batteries (A, B, C)
- 33 = solar panel
- 34 = +/-12V converter
- 35 = 9V converter
- 36 = 5V converter
- 37 = 5V regulator
- 38 = 3.3V regulator
- 39-42 = steering pots (LF, RF, LR, RR)
- 43 = APXS mechanism pot
- 44 = MAE cell voltage sensor (open solar)
- 45 = MAE cell current sensor (shorted)
- 46 = WAE shorted cell
- 47 = APXS
- 48 = modem
- 49-54 = heaters (APXS motor, steering motors, left motors, right motors, modem, WEB)
- 55-59 = laser stripe generators (L, LC, C, RC, R)
- 60 = turn rate sensor
- 61-63 = CCDs (LF, RF, R)
- 64 = MAE QCM
- 65 = MAE dust cover
- 66 = current limiter bypass
- 67 = APXS failsafe
- 68-73 = wheel encoders (LF, RF, LC, RC, LR, RR)
- 74 = APXS contact sensors
- 75 = body contact sensors
- 76 = load shed
- 77 = timestamp
- 78 = alarm clock
- 79 = watchdog

Error state flags

Bits 0-14 are taken from the current error state; a set bit indicates a detected error.

Bit 15 indicates that the current command was skipped due to an unmasked existing error condition.

	bit 0   =   timeout
	bit 1   =   device failure
	bit 2   =   device not available
	bit 3   =   nontraversable hazard
	bit 4   =   insufficient power
	bit 5   =   overtemperature
	bit 6   =   invalid command
	bit 7   =   general command failure
	bit 15  =   command skipped

Communication counters

These 16-bit counters are not reset during the mission, although they wraparound to zero after 65536 counts. The individual counters are (see rover/lander ICD for details):

	0   =   unknown error code
	1   =   timeout
	2   =   short frame
	3   =   bad CRC
	4   =   no sync
	5   =   bad FID
	6   =   bad FNUM
	7   =   no command data
	8   =   expected session start
	9   =   software error
	10  =   overflow
	11  =   received abort
	12  =   modem latchup detected

Contact sensors

	bit 00   =   solar panel right front
	bit 01   =   solar panel left front
	bit 02   =   solar panel left rear
	bit 03   =   solar panel right rear
	bit 04   =   bumper right front
	bit 05 (not used)
	bit 06   =   bumper left front
	bit 0  (not used)
	bit 08   =   APXS 1
	bit 09   =   APXS 2
	bit 10   =   APXS 3
	bit 11-14 (not used)
	bit 15   =   "unknown" (received interrupt but
		     no latch was set)

Encoders/Odometers
- Encoder values are the latest readings of the 8-bit hardware counters, indicating one count per motor shaft revolution (0.02 mm of wheel travel in either direction). Odometer values are 32-bit software accumulators of encoder count changes. There is one odometer per wheel and one averaged accumulator.
Differential QCM frequency
- frequency = reading * 1.9073486 Hz (I16)
Battery power used (amp-seconds)

Rev C Changes:

Units for "battery power used" corrected to amp-seconds
Inclination definitions changed:
- X/Y inclination = arcsine(accel / G) (where G = 1g on Earth, 0.38g on Mars)
- Z tilt = arccosine(accel / G)
- Alignment of accelerometer sensitive axes defined.
Modification of bogey/differential angle computation algorithm and directionality.
Modification of steering angle computation algorithm
Modification of APXS mechanism angle computation algorithm and directionality.
Modification of 3.3V regulator current computation algorithm
Modification of MAE solar cell current and voltage computation definitions
Modification of WAE shorted solar cell voltage computation definitions
Modification of +5V calibration reference computation definition
Modification of -5V calibration reference computation definition
MAE cell voltage sensor description clarified
MAE cell current sensor description clarified
WEBheater added to heater device list
Contact sensor bit assignments changed
Encoders/Odometers: Value for wheel travel per motor shaft revolution is now 0.02 mm
Units for battery power used changed to mA-seconds

2/25/97: Removed obsolete DMD page column.

2. IMAGE DATA

This message contains data from a region of an image captured on one of the rover's CCDs. The first packet of the message describes the vehicle state at the time of image capture. The camera ID and region boundaries from the corresponding "capture image" command are also included, to simplify the interface to external image processing.

The remaining packets contain a two-byte field indicating image width in pixels (allowing data to be correctly positioned even if packets are missing), followed by image data.

For uncompressed images, the data are raw image pixels (gray levels from 0=black to 255=white) in scanline order (first row left-to-right, next row left-to-right, etc.). All but the last packet of the message fill the available 1983 bytes, regardless of row boundaries.

For compressed images, the high-order bit of the width field is set. Data packets contain compressed image blocks (bitmask, mean, and deviation) encoding 16-pixel by 4-row sections into 13-byte blocks, stored in scanline order (first 4-row strip left-to-right, next strip left-to-right, etc.). All but the last packet of the message contain 152 blocks (the maximum whole number that fit in the available 1983 bytes), regardless of strip boundaries.

Primary header (APID = 8 [science image], 9 [technology image], 10 [lander engineering image], 24 [autonomous image], 25 [operations image])

data type name	ch_id	size	grp	subgrp	com?	unq id	telemetry description
Secondary header
	H-0061	U16			1	E-3501	cmd seq number

data type name	ch_id	size	com?	unq id	telemetry description
Data (first packet of message):
image	R-0500	I32	0	R-2590	rover X position (mm)
image	R-0501	I32	0	R-2591	rover Y position (mm)
image	R-0502	U16	0	R-2593	rvr heading (BAMs)
image	R-0506	I16	0	R-3926	accel X (start)
image	R-0507	I16	0	R-3927	accel Y (start)
image	R-0801	I16	0		CCD Temperature
image	R-0802	U16	0		Exposure Duration (msec)
image	R-0803	U8	0		Camera ID: 0=left 1=right 2=rear
image	R-0804	U16	0		Starting row
image	R-0805	U16	0		Starting column
image	R-0806	U16	0		Ending row
image	R-0807	U16	0		Ending column
.
Remaining data in packets, uncompressed images)
image	*	U16			bit 0-14: no. pixels/row (1-768) bit 15: 0=uncompressed
image	*	U8[n]			(n) raw pixel values (0-255)
.
Remaining data in packets, compressed images)
image	*	U16			bit 0-14: no. pixels/row (1-768) bit 15: 1=uncompressed
(n compressed image blocks:)
image	*	U16[4]			bitmasks
image	*	U8			bi 2-7: mean[0] bit 0-1: lsbs log2(variance[0])
image	*	U8			bit 2-7: mean[1] bit 0-1: msbs log2(variance[0])
image	*	U8			bit 2-7: mean[2] bit 0-1: lsbs log2(variance[1])
image	*	U8			bit 2-7: mean[3] bit 0-1: msbs log2(variance[1])
image	*	U8			bit 4-7: log2(variance[3]) bit 0-3: log2(variance[2])

* These elements are NOT channelized.

Rev C Changes:

3/07/97: Added channel R-3501 for unique command sequence number.
3/05/97: Added unique channels R-2590, R-2591, R-2593, R-3926, R-3927.
2/25/97: Formatted table and entered channel numbers/names

3. SOIL EXPERIMENT (WHEEL SPIN) RESULTS

This message contains vehicle sensor data captured during one "spin cycle" of a soil mechanics wheel spin experiment. Each packet but the last contains as many complete sample sets as will fit.

Primary header (APID = 5 [command results])

data type name	ch_id	size	grp	subgrp	com?	unq id	telemetry description
Secondary header
	H-0061	U16			1	E-2601	cmd seq number

data type name	ch_id	size	grp	subgrp	com?	unq id	telemetry description
Data (first packet of a cycle):
soil_exp	R-0004	U8	0	0	1	R-2304	command code (soil exp = 12)
soil_exp	R-0500	I32	1	0	1	R-2560	rover X position (mm)
soil_exp	R-0501	I32	2	0	1	R-2561	rover Y position (mm)
soil_exp	R-0502	U16	3	0	1	R-2562	rvr heading (BAMs)
soil_exp	R-0008	U8	4	0	0		cycle number (0-99)
soil_exp	R-0700	U16	5	0	0		start: time (short)
soil_exp	R-0007	U16	6	0	1	R-2607	err state flags (start)
soil_exp	R-0506	I16	7	0	1	R-3806	accel X (start)
soil_exp	R-0507	I16	8	0	1	R-3807	accel Y (start)
soil_exp	R-0140	I16	9	0	0		LFmtr temperature (start)
soil_exp	R-0143	I16	10	0	0		RFmtr temperature (start)
soil_exp	R-1350	I16	11	0	0		steer pot position (motor under test) (start)
soil_exp	R-0701	U16	12	0	0		time (short) (end)
soil_exp	R-0009	U16	13	0	1	R-2609	err state flags (end)
soil_exp	R-0606	I16	14	0	1	R-3626	accel X (end)
soil_exp	R-0607	I16	15	0	1	R-3627	accel Y (end)
soil_exp	R-0141	I16	16	0	0		LFmtr temperature (end)
soil_exp	R-0144	I16	17	0	0		RFmtr temperature (end)
soil_exp	R-1351	I16	18	0	0		steer pot position (motor under test) (end)
.
Remaining data in packet = n sets of samples at approx 0.1-sec intervals:
soil_exp	R-0702	U16	19	1	0		time (tiny)
soil_exp	R-1352	U8	19	2	0		encder count (motor under test)
soil_exp	R-0320	U8	19	3	0		mtr current (motor under test)
soil_exp	R-1330	I16	19	4	1	R-2730	L bogey pot (left)
soil_exp	R-1331	I16	19	5	1	R-2731	R bogey pot (right)
soil_exp	R-1312	I16	19	6	1	R-3712	differ. pot (differential)
.
Data (remaining packets of a cycle):
soil_exp	R-0004	U8	0	0	1	R-2304	command code = 12
soil_exp	R-0008	U8	4	0	0		cycle number (0-99)
n sets of samples as above

Rev C Changes:

2/25/97: Deleted obsolete DMD page column.
Reassignment of channels R-0140 and R-0141 as temperatures for the left-front wheel motor (previously these were temperatures for the motor under test)
Addition of channels R-0143 and R-0144 as temperatures for the right-front wheel motor
Modification of channel group assignments to accommodate the additional channels

4. ROVER HEALTH/STATUS DATA

This single-packet message contains the raw sensor data and diagnostic results (in the form of device failure counts) resulting from a health check (either commanded, or an automatic periodic/wakeup check). For higher levels of health check, additional data is included in the packet.

Note data type name usage:

rvr_eng_0	health check levels 0-1
rvr_eng_2	health check level 2
rvr_eng_3	health check levels 3-5

For health check levels 0-5:

Primary header (APID = 4 [general health & status])

data type name	ch_id	size	grp	subgrp	com?	unq id	telemetry description
Secondary header
	H-0061	U16			1	E-2201	cmd seq number

data type name	ch_id	size	grp	com?	unq id	telemetry description
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-0011	U8	0	0		check level (health check level (0-5))
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-0500	I32	1	1	R-2520	rover X position (mm)
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-0501	I32	2	1	R-2521	rover Y position (mm)
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-0502	U16	3	1	R-2522	rvr heading (BAMs)
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-0007	U16	4	1	R-2207	err state flags (start of health check)
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-0009	U16	5	1	R-2209	err state flags (end of health check)
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-0010	U8	6	0		mission phase (derived)
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-0012	U32	7	0		startup time (last startup) (long)
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-0013	U8	8	0		startup cause (last startup): 0 = solar power coldstart 1 = GSE/lander power coldstart 2 = alarm clock coldstart 3 = commanded reset 4 = alarm clock reset 5 = watchdog reset 6 = power monitor reset
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-0509	U32	9	1	R-2529	avg odometry (average accumulated odometer count)
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-0526	I8	10	1	R-2626	accel X
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-0527	I8	11	1	R-2627	accel Y
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-0528	I8	12	1	R-2628	accel Z
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-1330	I16	13	1	R-2430	L bogey pot (left)
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-1331	I16	14	1	R-2431	R bogey pot (right)
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-1312	I16	15	1	R-3412	diff. pot (differential)
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-0512	I8	16	0		turn sensor integrator drift
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-1306	I8	17	1	R-3406	LF steer pot (left front steering pot)
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-1307	I8	18	1	R-3407	RF steer pot (right front steering pot)
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-1308	I8	19	1	R-3408	LR steer pot (left rear steering pot)
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-1309	I8	20	1	R-3409	RR steer pot (right rear steering pot)
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-1313	I8	21	1	R-2413	ADM pot (APXS deployment pot)
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-0511	U16	22	1	R-2611	contact sensor state
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-0120	I8	23	1	R-3220	LF mtr temp (temperature sensor 0: left front motor)
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-0121	I8	24	1	R-3221	RF mtr temp (temperature sensor 1: right front motor)
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-0122	I8	25	1	R-3222	WEB wall temp (temperature sensor 2)
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-0123	I8	26	1	R-3223	modem temp (temperature sensor 3)
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-0124	I8	27	1	R-3224	LF CCD temp (temperature sensor 4: left front CCD)
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-0125	I8	28	1	R-3225	RF CCD temp (temperature sensor 5: right front CCD)
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-0126	I8	29	1	R-3226	CLR CCD temp (temperature sensor 6: rear CCD)
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-0127	I8	30	1	R-3227	Bat A temp (temperature sensor 7: battery A)
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-0128	I8	31	1	R-3228	Bat B temp (temperature sensor 8: battery B)
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-0129	I8	32	1	R-3229	Bat C temp (temperature sensor 9: battery C)
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-0130	I8	33	1	R-3230	CPU brd temp (temperature sensor 10: CPU electronics board)
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-0131	I8	34	1	R-3231	PWR brd temp (temperature sensor 11: power electronics board)
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-0132	I8	35	1	R-3232	MAE temp (temperature sensor 12)
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-0200	U8	36	1	R-2700	Bat A cur (power supply current sensor 0*: battery A)
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-0201	U8	37	1	R-2701	Bat B cur (power supply current sensor 1*: battery B)
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-0202	U8	38	1	R-2702	Bat C cur (power supply current sensor 2*: battery C)
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-0203	U8	39	1	R-2703	solar cur (power supply current sensor 3*: solar array)
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-0204	U8	40	1	R-2704	12V con cur (power supply current sensor 4*: 12V converter)
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-0205	U8	41	1	R-2705	9V con cur (power supply current sensor 5*: 9V converter)
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-0206	U8	42	1	R-2706	5V con cur (power supply current sensor 6*: 5V converter)
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-0207	U8	43	1	R-2707	5V reg cur (power supply current sensor 7*: 5V regulator)
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-0208	U8	44	1	R-2708	3.3V reg cur (power supply current sensor 8*: 3.3V regulator)
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-0400	U8	45	1	R-2900	mtr/htr volt (power supply voltage sensor 0*: motor/heater bus)
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-0401	U8	46	1	R-2901	corebus volt (power supply voltage sensor 1*: core bus)
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-0402	U8	47	1	R-2902	+12Vcon volt (power supply voltage sensor 2*: +12V converter)
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-0403	U8	48	1	R-2903	-12Vcon volt (power supply voltage sensor 3*: -12V converter)
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-0404	U8	49	1	R-2904	+9V con volt (power supply voltage sensor 4*: +9V converter)
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-0405	U8	50	1	R-2905	+5V con volt (power supply voltage sensor 5*: +5V converter)
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-0406	U8	51	1	R-2906	+5V reg volt (power supply voltage sensor 6*: +5V regulator)
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-0407	U8	52	1	R-2907	-5V inv volt (power supply voltage sensor 7*: -5V inverter)
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-0408	U8	53	1	R-2908	+3.3Vreg volt (power supply voltage sensor 8*: +3.3V regulator)
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-0409	U8	54	1	R-2909	MAE opn volt (power supply voltage sensor 9*: MAE open solar cell)
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-0020	U16	55	1	R-2220	TX com frame (transmitted comm frame count)
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-0021	U16	56	1	R-2221	RX com frame (received comm frame count)
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-0022	U16	57	0		RX com err (received comm error count)
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-0513	U16	58	0		Bat A used (battery power A used)
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-0514	U16	59	0		Bat B used (battery power B used)
rvr_eng_0, rvr_eng_2, rvr_eng_3	R-0515	U16	60	0		Bat C used (battery power C used)

*no switchable loads active; +9V converter read with modem selected and in standby.

For health check levels 2-5 add the following data:

data type name	ch_id	size	grp	subgrp	com?	telemetry description
rvr_eng_2, rvr_eng_3	R-0420	I8	61	0	0	A/D ground reference
rvr_eng_2, rvr_eng_3	R-0421	U8	62	0	0	-5V A/D reference level
rvr_eng_2, rvr_eng_3	R-0422	U8	63	0	0	+5V A/D reference level
rvr_eng_2, rvr_eng_3	R-0650	U32	64	0	0	LF odom (left front wheel odometer counts)
rvr_eng_2, rvr_eng_3	R-0651	U32	65	0	0	RF odom (right front wheel odometer counts)
rvr_eng_2, rvr_eng_3	R-0652	U32	66	0	0	aLM odom (left middle wheel odometer counts)
rvr_eng_2, rvr_eng_3	R-0653	U32	67	0	0	RM odom (right middle wheel odometer counts)
rvr_eng_2, rvr_eng_3	R-0654	U32	68	0	0	LR odom (left rear wheel odometer counts)
rvr_eng_2, rvr_eng_3	R-0655	U32	69	0	0	RR odom (right rear wheel odometer counts)
rvr_eng_2, rvr_eng_3	R-0024	U16	70	0	0	com:UnknwnErrorCode (detected comm error counts type 0)
rvr_eng_2, rvr_eng_3	R-0025	U16	71	0	0	com:timeout (detected comm error counts type 1)
rvr_eng_2, rvr_eng_3	R-0026	U16	72	0	0	com:short frame (detected comm error counts type 2)
rvr_eng_2, rvr_eng_3	R-0027	U16	73	0	0	com:bad CRC (detected comm error counts type 3)
rvr_eng_2, rvr_eng_3	R-0028	U16	74	0	0	com: no sync (detected comm error counts type 4)
rvr_eng_2, rvr_eng_3	R-0029	U16	75	0	0	com: bad FID (detected comm error counts type 5)
rvr_eng_2, rvr_eng_3	R-0030	U16	76	0	0	com:bad FNUM (detected comm error counts type 6)
rvr_eng_2, rvr_eng_3	R-0031	U16	77	0	0	com:NoCmdData (detected comm error counts type 7: no command data)
rvr_eng_2, rvr_eng_3	R-0032	U16	78	0	0	com:ExSesStrt (detected comm error counts type 8: expected session start)
rvr_eng_2, rvr_eng_3	R-0033	U16	79	0	0	com: SW err (detected comm error counts type 9: software error )
rvr_eng_2, rvr_eng_3	R-0034	U16	80	0	0	com:Overflow (detected comm error counts type 10)
rvr_eng_2, rvr_eng_3	R-0035	U16	81	0	0	com:RX abort (detected comm error counts type 11: received abort)
rvr_eng_2, rvr_eng_3	R-0036	U16	82	0	0	com: Latchup (detected comm error counts type 12: modem latchup detected)
Failure Counts for all devices (82 devices):
rvr_eng_2, rvr_eng_3	R-4001	U8	83	0	0	X accel FC (dev 0)
rvr_eng_2, rvr_eng_3	R-4002	U8	84	0	0	Y accel FC (dev 1)
rvr_eng_2, rvr_eng_3	R-4003	U8	85	0	0	Z accel FC (dev 2)
rvr_eng_2, rvr_eng_3	R-4004	U8	86	0	0	aLbogeypot FC (dev 3)
rvr_eng_2, rvr_eng_3	R-4005	U8	87	0	0	Rbogeypot FC (dev 4)
rvr_eng_2, rvr_eng_3	R-4006	U8	88	0	0	diff pot FC (dev 5)
rvr_eng_2, rvr_eng_3	R-4007	U8	89	0	0	LFmtrtemp FC (dev 6)
rvr_eng_2, rvr_eng_3	R-4008	U8	90	0	0	RFmtrtemp FC (dev 7)
rvr_eng_2, rvr_eng_3	R-4009	U8	91	0	0	WEB temp FC (dev 8)
rvr_eng_2, rvr_eng_3	R-4010	U8	92	0	0	modemtemp FC (dev 9)

rvr_eng_2, rvr_eng_3	R-4011	U8	93	0	0	LFCCDtemp FC (dev 10)
rvr_eng_2, rvr_eng_3	R-4012	U8	94	0	0	RFCCDtemp FC (dev 11)
rvr_eng_2, rvr_eng_3	R-4013	U8	95	0	0	R CCDtemp FC (dev 12)
rvr_eng_2, rvr_eng_3	R-4014	U8	96	0	0	BattAtemp FC (dev 13)
rvr_eng_2, rvr_eng_3	R-4015	U8	97	0	0	BattBtemp FC (dev 14)
rvr_eng_2, rvr_eng_3	R-4016	U8	98	0	0	BattCtemp FC (dev 15)
rvr_eng_2, rvr_eng_3	R-4017	U8	99	0	0	CPUtemp FC (dev 16)
rvr_eng_2, rvr_eng_3	R-4018	U8	100	0	0	PWRtemp FC (dev 17)
rvr_eng_2, rvr_eng_3	R-4019	U8	101	0	0	MAEtemp FC (dev 18)
rvr_eng_2, rvr_eng_3	R-4020	U8	102	0	0	LF Wmotor FC (dev 19)

rvr_eng_2, rvr_eng_3	R-4021	U8	103	0	0	RF Wmotor FC (dev 20)
rvr_eng_2, rvr_eng_3	R-4022	U8	104	0	0	LC Wmotor FC (dev 21)
rvr_eng_2, rvr_eng_3	R-4023	U8	105	0	0	RC Wmotor FC (dev 22)
rvr_eng_2, rvr_eng_3	R-4024	U8	106	0	0	LR Wmotor FC (dev 23)
rvr_eng_2, rvr_eng_3	R-4025	U8	107	0	0	RR Wmotor FC (dev 24)
rvr_eng_2, rvr_eng_3	R-4026	U8	108	0	0	LF Smotor FC (dev 25)
rvr_eng_2, rvr_eng_3	R-4027	U8	109	0	0	RF Smotor FC (dev 26)
rvr_eng_2, rvr_eng_3	R-4028	U8	110	0	0	LR Smotor FC (dev 27)
rvr_eng_2, rvr_eng_3	R-4029	U8	111	0	0	RR Smotor FC (dev 28)
rvr_eng_2, rvr_eng_3	R-4030	U8	112	0	0	ADM motor FC (dev 29)

rvr_eng_2, rvr_eng_3	R-4031	U8	113	0	0	battery A FC (dev 30)
rvr_eng_2, rvr_eng_3	R-4032	U8	114	0	0	battery B FC (dev 31)
rvr_eng_2, rvr_eng_3	R-4033	U8	115	0	0	battery C FC (dev 32)
rvr_eng_2, rvr_eng_3	R-4034	U8	116	0	0	solar FC (dev 33)
rvr_eng_2, rvr_eng_3	R-4035	U8	117	0	0	12V conv FC (dev 34)
rvr_eng_2, rvr_eng_3	R-4036	U8	118	0	0	9V conv FC (dev 35)
rvr_eng_2, rvr_eng_3	R-4037	U8	119	0	0	5V conv FC (dev 36)
rvr_eng_2, rvr_eng_3	R-4038	U8	120	0	0	5V reg FC (dev 37)<
rvr_eng_2, rvr_eng_3	R-4039	U8	121	0	0	3V reg FC (dev 38)
rvr_eng_2, rvr_eng_3	R-4040	U8	122	0	0	LF pot FC (dev 39)

rvr_eng_2, rvr_eng_3	R-4041	U8	123	0	0	RF pot FC (dev 40)
rvr_eng_2, rvr_eng_3	R-4042	U8	124	0	0	LR pot FC (dev 41)
rvr_eng_2, rvr_eng_3	R-4043	U8	125	0	0	RR pot FC (dev 42)
rvr_eng_2, rvr_eng_3	R-4044	U8	126	0	0	APXS pot FC (dev 43)
rvr_eng_2, rvr_eng_3	R-4045	U8	127	0	0	EMAEshort FC (dev 44)
rvr_eng_2, rvr_eng_3	R-4046	U8	128	0	0	IMAEshort FC (dev 45)
rvr_eng_2, rvr_eng_3	R-4047	U8	129	0	0	IWAEshort FC (dev 46)
rvr_eng_2, rvr_eng_3	R-4048	U8	130	0	0	APXS FC (dev 47)
rvr_eng_2, rvr_eng_3	R-4049	U8	131	0	0	modem FC (dev 48)
rvr_eng_2, rvr_eng_3	R-4050	U8	132	0	0	ADMmtrHTR FC (dev 49)

rvr_eng_2, rvr_eng_3	R-4051	U8	133	0	0	Smtr HTRs FC (dev 50)
rvr_eng_2, rvr_eng_3	R-4052	U8	134	0	0	aLWmtrHTRs FC (dev 51)
rvr_eng_2, rvr_eng_3	R-4053	U8	135	0	0	RWmtrHTRs FC (dev 52)
rvr_eng_2, rvr_eng_3	R-4054	U8	136	0	0	WEB HTR FC (dev 53)
rvr_eng_2, rvr_eng_3	R-4055	U8	137	0	0	modem HTR FC (dev 54)
rvr_eng_2, rvr_eng_3	R-4056	U8	138	0	0	L laser FC (dev 55)
rvr_eng_2, rvr_eng_3	R-4057	U8	139	0	0	LC laser FC (dev 56)
rvr_eng_2, rvr_eng_3	R-4058	U8	140	0	0	C laser FC (dev 57)
rvr_eng_2, rvr_eng_3	R-4059	U8	141	0	0	RC laser FC (dev 58)
rvr_eng_2, rvr_eng_3	R-4060	U8	142	0	0	R laser FC (dev 59)

rvr_eng_2, rvr_eng_3	R-4061	U8	143	0	0	turnrate FC (dev 60)
rvr_eng_2, rvr_eng_3	R-4062	U8	144	0	0	LF CCD FC (dev 61)
rvr_eng_2, rvr_eng_3	R-4063	U8	145	0	0	RF CCD FC (dev 62)
rvr_eng_2, rvr_eng_3	R-4064	U8	146	0	0	rear CCD FC (dev 63)
rvr_eng_2, rvr_eng_3	R-4065	U8	147	0	0	MAE QCM FC (dev 64)
rvr_eng_2, rvr_eng_3	R-4066	U8	148	0	0	MAE cover FC (dev 65)
rvr_eng_2, rvr_eng_3	R-4067	U8	149	0	0	bypass FC (dev 66)
rvr_eng_2, rvr_eng_3	R-4068	U8	150	0	0	fail safe FC (dev 67) (APXS fail safe)
rvr_eng_2, rvr_eng_3	R-4069	U8	151	0	0	LFencoder FC (dev 68)
rvr_eng_2, rvr_eng_3	R-4070	U8	152	0	0	RFencoder FC (dev 69)

rvr_eng_2, rvr_eng_3	R-4071	U8	153	0	0	LCencoder FC (dev 70)
rvr_eng_2, rvr_eng_3	R-4072	U8	154	0	0	RCencoder FC (dev 71)
rvr_eng_2, rvr_eng_3	R-4073	U8	155	0	0	LRencoder FC (dev 72)
rvr_eng_2, rvr_eng_3	R-4074	U8	156	0	0	RRencoder FC(dev 73)
rvr_eng_2, rvr_eng_3	R-4075	U8	157	0	0	ADMcontactFC (dev 74) (APXS contact)
rvr_eng_2, rvr_eng_3	R-4076	U8	158	0	0	bumpers FC (dev 75) (body contact)
rvr_eng_2, rvr_eng_3	R-4077	U8	159	0	0	load shed FC (dev 76)
rvr_eng_2, rvr_eng_3	R-4078	U8	160	0	0	timestamp FC (dev 77)
rvr_eng_2, rvr_eng_3	R-4079	U8	161	0	0	alrmclock FC (dev 78)
rvr_eng_2, rvr_eng_3	R-4080	U8	162	0	0	watch dog FC (dev 79)

rvr_eng_2, rvr_eng_3	R-4081	U8	163	0	0	dev 80 FC: SPARE
rvr_eng_2, rvr_eng_3	R-0325	U8	164	0	0	MAE Shorted Cell Curr
During last traverse:
rvr_eng_2, rvr_eng_3	R-0530	I8	173	0	0	accel X min
rvr_eng_2, rvr_eng_3	R-0533	I8	174	0	0	accel X max
rvr_eng_2, rvr_eng_3	R-0531	I8	175	0	0	accel Y min
rvr_eng_2, rvr_eng_3	R-0534	I8	176	0	0	accel Y max
rvr_eng_2, rvr_eng_3	R-0532	I8	177	0	0	accel Z min
rvr_eng_2, rvr_eng_3	R-0535	I8	178	0	0	accel Z max
rvr_eng_2, rvr_eng_3	R-1335	I16	179	0	0	Lbogypot min
rvr_eng_2, rvr_eng_3	R-1337	I16	180	0	0	Lbogypot max
rvr_eng_2, rvr_eng_3	R-1336	I16	181	0	0	Rbogypot min
rvr_eng_2, rvr_eng_3	R-1338	I16	182	0	0	Rbogypot max
rvr_eng_2, rvr_eng_3	R-1339	I16	183	0	0	diff pot min
rvr_eng_2, rvr_eng_3	R-1340	I16	184	0	0	diff pot max
rvr_eng_2, rvr_eng_3	R-0135	I8	185	0	0	LFW temp min (left front wheel motor temp min)
rvr_eng_2, rvr_eng_3	R-0137	I8	186	0	0	LFW temp max (left front wheel motor temp max)
rvr_eng_2, rvr_eng_3	R-0136	I8	187	0	0	RFW temp min (right front wheel motor temp min)
rvr_eng_2, rvr_eng_3	R-0138	I8	188	0	0	RFW temp max (right front wheel motor temp max)
Average during last traverse (or during level 4 or 5 active tests):
rvr_eng_2, rvr_eng_3	R-0330	U8	189	0	0	LFW cur avg (left front wheel motor current average)
rvr_eng_2, rvr_eng_3	R-0331	U8	190	0	0	RFW cur avg (right front wheel motor current average)
rvr_eng_2, rvr_eng_3	R-0332	U8	191	0	0	LCW cur avg (left center wheel motor current average)
rvr_eng_2, rvr_eng_3	R-0333	U8	192	0	0	RCW cur avg (right center wheel motor current average)
rvr_eng_2, rvr_eng_3	R-0334	U8	193	0	0	LRW cur avg (left rear wheel motor current average)
rvr_eng_2, rvr_eng_3	R-0335	U8	194	0	0	RRW cur avg (right rear wheel motor current average)
rvr_eng_2, rvr_eng_3	R-0336	U8	195	0	0	LFS cur avg (left front steering motor current average)
rvr_eng_2, rvr_eng_3	R-0337	U8	196	0	0	RFS cur avg (right front steering motor current average)
rvr_eng_2, rvr_eng_3	R-0338	U8	197	0	0	LRS cur avg (left rear steering motor current average)
rvr_eng_2, rvr_eng_3	R-0339	U8	198	0	0	RRS cur avg (right rear steering motor current average)
rvr_eng_2, rvr_eng_3	R-0340	U8	199	0	0	ADM cur avg (APXS motor current average)

Maximum during last traverse (or during level 4 or 5 active tests):
rvr_eng_2, rvr_eng_3	R-0341	U8	200	0	0	LFW cur max (left front wheel motor current max)
rvr_eng_2, rvr_eng_3	R-0342	U8	201	0	0	RFW cur max (right front wheel motor current max)
rvr_eng_2, rvr_eng_3	R-0343	U8	202	0	0	aLCW cur max (left center wheel motor current max)
rvr_eng_2, rvr_eng_3	R-0344	U8	203	0	0	RCW cur max (right center wheel motor current max)
rvr_eng_2, rvr_eng_3	R-0345	U8	204	0	0	LRW cur max (left rear wheel motor current max)
rvr_eng_2, rvr_eng_3	R-0346	U8	205	0	0	RRW cur max (right rear wheel motor current max)
rvr_eng_2, rvr_eng_3	R-0347	U8	206	0	0	LFS cur max (left front steering motor current max)
rvr_eng_2, rvr_eng_3	R-0348	U8	207	0	0	RFS cur max (right front steering motor current max)
rvr_eng_2, rvr_eng_3	R-0349	U8	208	0	0	LRS cur max (left rear steering motor current max)
rvr_eng_2, rvr_eng_3	R-0350	U8	209	0	0	RRS cur max (right rear steering motor current max)
rvr_eng_2, rvr_eng_3	R-0351	U8	210	0	0	ADM cur max (APXS motor current max)

For health check levels 3-5 add the following data:

data type name	ch_id	size	grp	telemetry description
rvr_eng_3	R-0220	U8	211	modem TX cur (modem current/transmit) (9V)
rvr_eng_3	R-0221	U8	212	APXS current (idle unless collection is active) (9V)
rvr_eng_3	R-0222	U8	213	L laser current (left) (3.3V)
rvr_eng_3	R-0223	U8	214	LC laser current (left center) (3.3V)
rvr_eng_3	R-0224	U8	215	C laser current (center) (3.3V)
rvr_eng_3	R-0225	U8	216	RC laser current (right center) (3.3V)
rvr_eng_3	R-0226	U8	217	R laser current (right) (3.3V)
rvr_eng_3	R-0227	U8	218	CCD current (12V)
rvr_eng_3	R-0228	U8	219	accel current (12V)
rvr_eng_3	R-0229	U8	220	gyro current (5V)
rvr_eng_3	R-0209	U8	221	MAE QCM current (5V)
rvr_eng_3	R-0230	U8	222	LED current (contact/encoder) (5V)
rvr_eng_3	R-0231	U8	223	ADMmtrHTRcur (APXS motor heater current) (motor/heater bus current)
rvr_eng_3	R-0232	U8	224	SmtrHTRcur (steering motor heater current) (motor/heater bus current)
rvr_eng_3	R-0233	U8	225	LWmtrHTRcur (left wheel motor heater current) (motor/heater bus current)
rvr_eng_3	R-0234	U8	226	RWmtrHTRcur (right wheel motor heater current) (motor/heater bus current)
rvr_eng_3	R-0235	U8	227	WEB HTR current (motor/heater bus current)
rvr_eng_3	R-0236	U8	228	modemHTR current
rvr_eng_3	R-0324	U8	229	DustCoverCur (MAE dust cover current) (5V)

Rev C Changes:

3/05/97: "dev 81 FC: SPARE" previously decomm'ed into R-4082. Vehicle S/W now uses this "spare" telemetry element to transmit MAE Shorted Cell Current. Current value now decomm'ed into channel R-0325.
2/25/97: Deleted obsolete DMD page column
Redundant channel (R-4083) for SPARE device failure count (device 82) removed
'alarm clock reset' and 'commanded reset' values swapped in definition of 'cause of last startup' telemetry
Definitions of A/D reference levels (ground, -5V, +5V) modified from I8[3] to I8, U8, U8
82 device failure counts now defined
Laser current description changed from 'direct' to 3.3V
Motor heater set definitions added to telemetry description (channels R-231 to R-234)
WEB heater channel assignment changed to channel R-235
Modem heater telemetry description modified

5. TRAVERSE DATA

This message is generated as a result of any command resulting in wheel motion (go to waypoint, move, turn, unstow, find rock, position APXS). It consists of one or more packets containing sets of sensor/state data sampled periodically during the traverse (as many complete sets as fit into a packet). The sample recording rate is adjustable by parameter. If a low sample rate is used and the traverse does not complete nominally, the last 10 minutes of traverse data are provided at a high rate (about 10 seconds per sample). The sample set format varies depending on the command code. The last packet also has the final error state flags.

Note data type name usage:

traverse	MOVE, TURN, UNSTOW commands
trav2	GO TO WAYPOINT, FIND ROCK commands
trav3	POSITION APXS command

Primary header (APID = 29 [traverse report])

data type name	ch_id	size	grp	subgrp	com?	unq id	telemetry description
Secondary header
	H-0061	U16			1	E-2501	cmd seq number

data type name	ch_id	size	grp	subgrp	com?	unq id	telemetry description
traverse, trav2, trav3	R-0004	U8	0	0	1	R-2204	command code = 8, 9, 10, 11, 13, 19, 20
traverse, trav2, trav3	R-0500	I32	1	0	1	R-2550	rvr X position (mm) (start)
traverse, trav2, trav3	R-0501	I32	2	0	1	R-2551	rvr Y position (mm) (start)
traverse, trav2, trav3	R-0502	U16	3	0	1	R-2552	rvr heading (BAMs) (start)
traverse, trav2, trav3	R-0007	U16	4	0	1	R-2507	error state flags (start)
traverse, trav2, trav3	R-0509	U32	5	0	1	R-2539	avg odom (accumulated average odometer count) (start)	bL20, bF5
traverse, trav2, trav3	R-0511	U16	6	0	1	R-2811	contact sensor state (start)

traverse, trav2, trav3	R-0120	I8	7	0	1	R-3420	LFmtr temp (temperature sensor 0: left front motor) (start)
traverse, trav2, trav3	R-0121	I8	8	0	1	R-3421	RFmtr temp (temperature sensor 1: right front motor) (start)
traverse, trav2, trav3	R-0122	I8	9	0	1	R-3422	WEB temp (temperature sensor 2: WEB wall) (start)
traverse, trav2, trav3	R-0123	I8	10	0	1	R-3423	modem temp (temperature sensor 3: modem) (start)
traverse, trav2, trav3	R-0124	I8	11	0	1	R-3424	LFCCD temp (temperature sensor 4: left front CCD) (start)
traverse, trav2, trav3	R-0125	I8	12	0	1	R-3425	RFCCD temp (temperature sensor 5: right front CCD) (start)
traverse, trav2, trav3	R-0126	I8	13	0	1	R-3426	RCCD temp (temperature sensor 6: rear CCD) (start)
traverse, trav2, trav3	R-0127	I8	14	0	1	R-3427	Bat A temp (temperature sensor 7: battery A) (start)
traverse, trav2, trav3	R-0128	I8	15	0	1	R-3428	Bat B temp (temperature sensor 8: battery B) (start)
traverse, trav2, trav3	R-0129	I8	16	0	1	R-3429	Bat C temp (temperature sensor 9: battery C) (start)
traverse, trav2, trav3	R-0130	I8	17	0	1	R-3430	CPU temp (temperature sensor 10: CPU electronics board) (start)
traverse, trav2, trav3	R-0131	I8	18	0	1	R-3431	PWR temp (temperature sensor 11: power electronics board) (start)
traverse, trav2, trav3	R-0132	I8	19	0	1	R-3432	MAE temp (temperature sensor 12: MAE) (start)
traverse, trav2, trav3	R-0200	U8	20	0	1	R-2800	bat A cur (power supply current sensor 0: battery A) (start)
traverse, trav2, trav3	R-0201	U8	21	0	1	R-2801	bat B cur (power supply current sensor 1: battery B) (start)
traverse, trav2, trav3	R-0202	U8	22	0	1	R-2802	bat C cur (power supply current sensor 2: battery C) (start)
traverse, trav2, trav3	R-0203	U8	23	0	1	R-2803	solar cur (power supply current sensor 3: solar array) (start)
traverse, trav2, trav3	R-0204	U8	24	0	1	R-2804	12Vcon cur (power supply current sensor 4: 12V converter) (start)
traverse, trav2, trav3	R-0205	U8	25	0	1	R-2805	9V con cur (power supply current sensor 5: 9V converter) (start)
traverse, trav2, trav3	R-0206	U8	26	0	1	R-2806	5V con cur (power supply current sensor 6: 5V converter) (start)
traverse, trav2, trav3	R-0207	U8	27	0	1	R-2807	5V reg cur (power supply current sensor 7: 5V regulator) (start)
traverse, trav2, trav3	R-0208	U8	28	0	1	R-2808	3.3Vreg cur (power supply current sensor 8: 3.3V regulator) (start)
traverse, trav2, trav3	R-0400	U8	29	0	1	R-3000	mtrHTR V (power supply voltage sensor 0: motor/heater bus) (start)
traverse, trav2, trav3	R-0401	U8	30	0	1	R-3001	corbus V (power supply voltage sensor 1: core bus) (start)
traverse, trav2, trav3	R-0402	U8	31	0	1	R-3002	+12V con V (power supply voltage sensor 2: +12V converter) (start)
traverse, trav2, trav3	R-0403	U8	32	0	1	R-3003	-12V con V (power supply voltage sensor 3: -12V converter) (start)
traverse, trav2, trav3	R-0404	U8	33	0	1	R-3004	+9V con V (power supply voltage sensor 4: +9V converter) (start)
traverse, trav2, trav3	R-0405	U8	34	0	1	R-3005	+5V con V (power supply voltage sensor 5: +5V converter) (start)
traverse, trav2, trav3	R-0406	U8	35	0	1	R-3006	+5V reg V (power supply voltage sensor 6: +5V regulator) (start)
traverse, trav2, trav3	R-0407	U8	36	0	1	R-3007	-5V inv V (power supply voltage sensor 7: -5V inverter) (start)
traverse, trav2, trav3	R-0408	U8	37	0	1	R-3008	+3.3Vreg V (power supply voltage sensor 8: +3.3V regulator) (start)
traverse, trav2, trav3	R-0409	U8	38	0	1	R-3009	MAEopncelV (power supply voltage sensor 9: MAE open solar cell) (start)


Remaining data in first packet = n sets of samples:
traverse, trav2, trav3	R-0706	U16	39	1	0		time (tiny)
traverse, trav2, trav3	R-0503	U16	39	2	0		X pos LSword
traverse, trav2, trav3	R-0504	U16	39	3	0		Y pos LSword
traverse, trav2, trav3	R-0505	U16	39	4	0		rvr heading (BAMs)
traverse, trav2, trav3	R-1306	I8	39	5	1	R-3506	LF steer pot (left front)
traverse, trav2, trav3	R-1307	I8	39	6	1	R-3507	RF steer pot (right front)
traverse, trav2, trav3	R-1308	I8	39	7	1	R-3508	LR steer pot (left rear)
traverse, trav2, trav3	R-1309	I8	39	8	1	R-3509	RR steer pot (right rear)
traverse, trav2, trav3	R-0526	I8	39	9	1	R-2726	accel X
traverse, trav2, trav3	R-0527	I8	39	10	1	R-2727	accel Y
traverse, trav2, trav3	R-0528	I8	39	11	1	R-2728	accel Z
traverse, trav2, trav3	R-1330	I16	39	12	1	R-2630	L bogey pot (left)
traverse, trav2, trav3	R-1331	I16	39	13	1	R-2631	R bogey pot (right)
traverse, trav2, trav3	R-1312	I16	39	14	1	R-3612	diff pot (differential)
traverse, trav2, trav3	R-0120	I8	39	15	0		LF mtr temp (temperature sensor 0: left front motor)
traverse, trav2, trav3	R-0121	I8	39	16	0		RF mtr temp (temperature sensor 1: right front motor)
traverse, trav2, trav3	R-1300	U8	39	17	0		LFW encoder (left front motor encoder counts)
traverse, trav2, trav3	R-1301	U8	39	18	0		RFW encoder (right front motor encoder counts)
traverse, trav2, trav3	R-1302	U8	39	19	0		LMW encoder (left middle motor encoder counts)
traverse, trav2, trav3	R-1303	U8	39	20	0		RMW encoder (right middle motor encoder counts)
traverse, trav2, trav3	R-1304	U8	39	21	0		LRW encoder (left rear motor encoder counts)
traverse, trav2, trav3	R-1305	U8	39	22	0		RRW encoder (right rear motor encoder counts)
traverse, trav2, trav3	R-0300	U8	39	23	0		LFW cur (left front motor current)
traverse, trav2, trav3	R-0301	U8	39	24	0		RFW cur (right front motor current)
traverse, trav2, trav3	R-0302	U8	39	25	0		LMW cur (left middle motor current)
traverse, trav2, trav3	R-0303	U8	39	26	0	R-2303	RMW cur (right middle motor current)
traverse, trav2, trav3	R-0304	U8	39	27	0		LRW cur (left rear motor current)
traverse, trav2, trav3	R-0305	U8	39	28	0		RRW cur (right rear motor current)

For "goto waypoint" and "find rock" commands:
trav2	R-1400	I8	39	29	0		01laser spot offset from nominal
trav2	R-1401	I8	39	30	0		02laser spot offset from nominal
trav2	R-1402	I8	39	31	0		03laser spot offset from nominal
trav2	R-1403	I8	39	32	0		04laser spot offset from nominal
trav2	R-1404	I8	39	33	0		05laser spot offset from nominal
trav2	R-1405	I8	39	34	0		06laser spot offset from nominal
trav2	R-1406	I8	39	35	0		07laser spot offset from nominal
trav2	R-1407	I8	39	36	0		08laser spot offset from nominal
trav2	R-1408	I8	39	37	0		09laser spot offset from nominal
trav2	R-1409	I8	39	38	0		10laser spot offset from nominal
trav2	R-1410	I8	39	39	0		11laser spot offset from nominal
trav2	R-1411	I8	39	40	0		12laser spot offset from nominal
trav2	R-1412	I8	39	41	0		13laser spot offset from nominal
trav2	R-1413	I8	39	42	0		14laser spot offset from nominal
trav2	R-1414	I8	39	43	0		15laser spot offset from nominal
trav2	R-1415	I8	39	44	0		16laser spot offset from nominal
trav2	R-1416	I8	39	45	0		17laser spot offset from nominal
trav2	R-1417	I8	39	46	0		18laser spot offset from nominal
trav2	R-1418	I8	39	47	0		19laser spot offset from nominal
trav2	R-1419	I8	39	48	0		20laser spot offset from nominal

For "position APXS" command:
trav3	R-0517	U16	39	29	0	R-0511	contact sensor state (APXS)

Data (remaining packets):
traverse, trav2, trav3	R-0004	U8	0	0	1	R-2204	command code
N SETS OF SAMPLES AS ABOVE

Final state at end of last packet:
traverse, trav2, trav3	R-0009	U16	40	0	1	R-2509	error state flags
traverse, trav2, trav3	R-4091	U16	41	0	1	R-0511	contact sensor state
traverse, trav2, trav3	R-4092	U8	42	0	0		nav hazard flags

Rev C Changes:

4/04/97: Added channel R-0511 as the unique channel for the contact state reported during each sample for the position APXS command whos common channel continues to be R-0517. Note that R-0511 is actually a previously defined common channel. Its use here as a unique channel is being done to workaround issues associated with the design of the decom algorithm ccsds_tlm and limitations in CCL.
4/04/97: Added channel R-0511 as the unique channel for the contact state reported at the end of traverse message. Note that R-0511 is actually a previously defined common channel. Its use here as a unique channel is being done to workaround issues associated with the design of the decom algorithm ccsds_tlm and limitations in CCL. The common channel for this particular contact value is now R-4091.
4/04/97: Added unique channel R-2303
3/03/97: Added unique channel R-2303
2/25/97: Deleted obsolete DMD page column.
Corrected channel definition error in "Remaining Data" section of first packet:
- R-120 replaces R-123 as left front motor temperature channel
- R-121 replaces R-124 as right front motor temperature channel
Replaced U8 heading telemetry with full U16 heading telemetry in BAMs in 'remaining data' telemetry in first packet
Increased number of I8 laser spot offsets from 15 to 20 in 'goto waypoint' and 'find rock' command telemetry
Deleted U8 proximity hazard indicator in 'goto waypoint' and 'find rock' command telemetry
Added U16 contact sensor state (at end of last packet)
Added U8 navigation hazard flags (at end of last packet)
Added channel definition information for new contact sensor state and navigation hazard flags fields

6. MATERIAL ADHERENCE RESULTS

This message contains the results of a material adherence (dust cover and QCM) experiment.

Primary header (APID = 5 [command results])

data type name	ch_id	size	grp	subgrp	com?	unq id	telemetry description
Secondary header
	H-0061	U16			1	E-2701	cmd seq number

data type name	ch_id	size	grp	com?	unq id	telemetry description
mat_adh	R-0004	U8	0	1	R-2404	command code (material adherence = 23)
mat_adh	R-0500	I32	1	1	R-2570	rover X position (mm)
mat_adh	R-0501	I32	2	1	R-2571	rover Y position (mm)
mat_adh	R-0502	U16	3	1	R-2572	rvr heading (BAMs)
mat_adh	R-0506	I16	4	1	R-3906	accel X
mat_adh	R-0507	I16	5	1	R-3907	accel Y
mat_adh	R-0007	U16	6	1	R-2617	error state flags (start)
mat_adh	R-0009	U16	7	1	R-2709	error state flags (final)
mat_adh	R-0109	I16	8	0		closed temp (solar panel temperature [closed])
mat_adh	R-0142	I16	9	0		open temp (solar panel temperature [open])
mat_adh	R-0321	I16	10	0		closed cur (MAE shorted cell current/cover closed) (start)
mat_adh	R-0322	I16	11	0		MAE open cur (MAE shorted cell current/cover open)
mat_adh	R-0323	I16	12	0		closed cur (MAE shorted cell current/cover closed) (final)
mat_adh	R-0412	I16	13	0		opencellvolt (open solar cell voltage)
mat_adh	R-1500	U16	14	0		dif QCM freq (differential QCM frequency)

Rev C Changes:

2/25/97: Deleted obsolete DMD page column.
Channel R-1500 (differential QCM frequency) was incorrectly identified in the Telemetry Dictionary as an I16 value. This was corrected to U16.

7. WHEEL ABRASION RESULTS

This message contains the results of a wheel abrasion experiment.

Primary header (APID = 5 [command results])

data type name	ch_id	size	grp	subgrp	com?	unq id	telemetry description
Secondary header
	H-0061	U16			1	E-2801	cmd seq number

data type name	ch_id	size	grp	subgrp	com?	unq id	telemetry description
wheel	R-0004	U8	0	0	1	R-2505	command code (wheel abrasion = 25)
wheel	R-0047	U8	1	0	0		gain (commanded gain) (0 = low, 1 = high)
wheel	R-0500	I32	2	0	1	R-2580	rover X position (mm)
wheel	R-0501	I32	3	0	1	R-2581	rover Y position (mm)
wheel	R-0502	U16	4	0	1	R-2582	rvr heading (BAMs)
wheel	R-0506	I16	5	0	1	R-3916	accel X
wheel	R-0507	I16	6	0	1	R-3917	accel Y
wheel	R-1341	I16	7	0	0		Lbogey pot (left) (start)
wheel	R-1342	I16	8	0	0		Rbogey pot (right) (start)
wheel	R-1343	I16	9	0	0		diff pot (differential pot) (start)
wheel	R-0007	U16	10	0	1	R-2717	error state flags (start)
wheel	R-0009	U16	11	0	1	R-2719	error state flags (final)
wheel	R-0510	U32	12	0	0		total odom (total odometer count for test wheel) (start)
.
250 sets of samples taken during wheel spinning (every 16 encoder counts):
wheel	R-1303	U8	13	1	0	R-3302	wheel encoder counter
wheel	R-0303	U8	13	2	0	R-3303	wheel mtr current
wheel	R-0411	I16	13	3	0		shrtcell vlt (WAE shorted solar cell voltage)

Rev C Changes:

3/03/97: Added unique channels R-3302 & R-3303
2/25/97: Deleted obsolete DMD page column.
Channel R-1303 replaces channel R-1301. Previous channel caused wheel encoder data from right front wheel generated in traverse telemetry message to be intermixed with WAE telemetry from right center wheel.
Channel R-0303 replaces channel R-0301. Previous channel caused wheel motor current data from right front wheel generated in traverse telemetry message to be intermixed with WAE telemetry from right center wheel.

8. SUN HEADING CALIBRATION RESULTS

This message indicates the results of a sun-finding heading recalibration request.

Primary header (APID = 5 [command results])

data type name	ch_id	size	grp	subgrp	com?	unq id	telemetry description
Secondary header
	H-0061	U16			1	E-2901	cmd seq number

data type name	ch_id	size	grp	com?	unq id	telemetry description
sun	R-0004	U8	0	1	R-2605	command code (sun heading calibration = 33)
sun	R-0502	U16	1	1	R-2592	rvr heading at image capture (BAMs) (before recalibration)
sun	R-1501	U16	2	0		pixel column of sun center

Rev C Changes:

2/25/97: Deleted obsolete DMD page column.

9. PORT INPUT RESULTS

This message returns the results of the diagnostic command to directly read I/O ports.

Primary header (APID = 5 [command results])

data type name	ch_id	size	grp	subgrp	com?	unq id	telemetry description
Secondary header
	H-0061	U16			1	E-3001	cmd seq number

data type name	ch_id	size	grp	subgrp	com?	unq id	telemetry description
port	R-0004	U8	0	0	1	R-2615	command code (port input = 41)
port	R-1600	U8 [n]	1	1	0		port input values (n values)

Rev C Changes:

2/25/97: Deleted obsolete DMD page column.

10. MEMORY READBACK RESULTS

This message returns the results of the diagnostic command to directly read memory contents.

Primary header (APID = 5 [command results])

data type name	ch_id	size	grp	subgrp	com?	unq id	telemetry description
Secondary header
	H-0061	U16			1	E-3101	cmd seq number

data type name	ch_id	size	grp	subgrp	com?	unq id	telemetry description
mem_readback	R-0004	U8	0	0	1	R-2715	command code (memory readback = 40)
mem_readback	R-3991	U8[n]	1	1	0		memory contents (n values)

Rev C Changes:

2/25/97: Deleted obsolete DMD page column.

11. MEMORY TEST RESULTS

This message returns the results of the diagnostic command to test a region of memory.

Primary header (APID = 5 [command results])

data type name	ch_id	size	grp	subgrp	com?	unq id	telemetry description
Secondary header
	H-0061	U16			1	E-3201	cmd seq number

data type name	ch_id	size	grp	subgrp	com?	unq id	telemetry description
mem_test	R-0004	U8	0	0	1	R-2815	command code (memory test = 42)
n (0 to 100) sets of error data:
mem_test	R-0060	U16	1	1	0		failed address
mem_test	R-0061	U8	1	2	0		failed location contents

Rev C Changes:

2/25/97: Deleted obsolete DMD page column.

12. SEQUENCE STATUS REPORT

This message is generated by the following events, providing a summary of command sequence processing and the current rover state:

"End of sequence" command execution (normal completion of a command sequence)
"Abort" command (requested termination of an active command sequence)
Shutdown action (commanded or automatic)
Receipt of a rejected sequence (duplicate or overflow)
Flushing of sequence buffer after unparseable command

Primary header (APID = 6 [sequence execution report])

data type name	ch_id	size	grp	subgrp	com?	unq id	telemetry description
Secondary header
	H-0061	U16			1	E-2101	cmd seq number

data type name	ch_id	size	grp	com?	unq id	telemetry description
rvr_seqexec	R-0050	U16	0	0		time at start (short)
rvr_seqexec	R-0052	U16	1	0		first seqnum (first command sequence number in sequence)
rvr_seqexec	R-0007	U16	2	1	R-2107	error state flags (start)
rvr_seqexec	R-0051	U16	3	0		time at completion (short)
rvr_seqexec	R-0054	U8	4	0		completion type: 1=normal end, 2=abort, 3=shutdown, 4=rejected, 5=flushed
rvr_seqexec	R-0053	U16	5	0		last seqnum (last command sequence number in sequence)
rvr_seqexec	R-0009	U16	6	1	R-2109	error state flags (final)
rvr_seqexec	R-0055	U16	7	0		num executed (number of commands executed (not skipped))
rvr_seqexec	R-0020	U16	8	1	R-2120	TX com frame (transmitted comm frame count)
rvr_seqexec	R-0021	U16	9	1	R-2121	RX com frame (received comm frame count)
rvr_seqexec	R-0500	I32	10	1	R-2510	rvr X position (mm) (final)
rvr_seqexec	R-0501	I32	11	1	R-2511	rvr Y position (mm) (final)
rvr_seqexec	R-0502	U16	12	1	R-2512	rvr heading (BAMs) (final)
rvr_seqexec	R-0509	U32	13	1	R-2519	avg odmtry (accumulated average odometer count (final))

Rev C Changes:

2/25/97: Deleted obsolete DMD page column.

13. ERROR REPORT

This message is sent at the end of any command that generates errors above the current error reporting threshold, and contains encoded error information. If more errors were detected than fit in the allocated packet, the overflow flag is set (only the initial errors are saved).

Primary header (APID = 7 [rover critical state])

data type name	ch_id	size	grp	subgrp	com?	unq id	telemetry description
Secondary header
	H-0061	U16			1	E-3301	cmd seq number

data type name	ch_id	size	grp	subgrp	com?	telemetry description
rvr_crit	R-0040	U8	0	0	0	overflow (0=all errors included, 1=overflowed)
n (1 to 50) sets of error messages:

rvr_crit	R-0041	U16	1	1	0	time (short)
rvr_crit	R-0042	U16	1	2	0	error code
rvr_crit	R-0043	I16	1	3	0	associated data (meaning depends on error)
rvr_crit	R-0044	I16	1	4	0	associated data (meaning depends on error)
rvr_crit	R-0045	I16	1	5	0	associated data (meaning depends on error)
rvr_crit	R-0046	I16	1	6	0	associated data (meaning depends on error)

Rev C Changes:

2/25/97: Deleted obsolete DMD page column.

14. APXS RESULTS

This message contains spectrum data returned by the APXS, split into two packets.

Primary header (APID = 12 [APXS data])

data type name	ch_id	size	grp	subgrp	com?	unq id	telemetry description
Secondary header
	H-0061	U16			1	E-2301	cmd seq number

data type name	ch_id	size	grp	subgrp	com?	unq id	telemetry description
First packet data:
apx	R-0500	I32	0	0	1	R-2530	rover X position (mm)
apx	R-0501	I32	1	0	1	R-2531	rover Y position (mm)
apx	R-0502	U16	2	0	1	R-2532	rvr heading (BAMs)
apx	R-0506	I16	3	0	1	R-3606	accel X
apx	R-0507	I16	4	0	1	R-3607	accel Y
apx	R-0007	U16	5	0	1	R-2307	error state flags (start)
apx	R-0009	U16	6	0	1	R-2309	error state flags (final)
apx	R-0511	U16	7	0	1	R-2711	contact sensor state
apx	R-0120	I8	8	0	1	R-3320	LFmtr temp (temperature sensor 0: left front motor)
apx	R-0121	I8	9	0	1	R-3321	RFmtr temp (temperature sensor 1: right front motor)
apx	R-0122	I8	10	0	1	R-3322	WEBwall temp (temperature sensor 2: WEB wall)
apx	R-0123	I8	11	0	1	R-3323	modem temp (temperature sensor 3: modem)
apx	R-0124	I8	12	0	1	R-3324	LF CCD temp (temperature sensor 4: left front CCD)
apx	R-0125	I8	13	0	1	R-3325	RF CCD temp (temperature sensor 5: right front CCD)
apx	R-0126	I8	14	0	1	R-3326	CLR CCD temp (temperature sensor 6: rear CCD)
apx	R-0127	I8	15	0	1	R-3327	Bat A temp (temperature sensor 7: battery A)
apx	R-0128	I8	16	0	1	R-3328	Bat B temp (temperature sensor 8: battery B)
apx	R-0129	I8	17	0	1	R-3329	Bat C temp (temperature sensor 9: battery C)
apx	R-0130	I8	18	0	1	R-3330	CPU brd temp (temperature sensor 10: CPU electronics board)
apx	R-0131	I8	19	0	1	R-3331	PWR brd temp (temperature sensor 11: power electronics board)
apx	R-0132	I8	20	0	1	R-3332	MAE temp (temperature sensor 12: MAE)
apx	R-0205	U8	21	0	0		9V con cur (9V converter current)
apx	R-0408	U8	22	0	0		9V con volt (9V converter voltage)
apx	R-1313	I8	23	0	1	R-2513	ADM angle (APXS mechanism angle)
apx	R-0023	U16	24	0	0		APXS comm err (APXS communication error count)
apx	R-3100	U16[256]	25	1	0		alpha spectrum counts (256 values)
apx	R-3101	U16[256]	25	2	0		proton spectrum counts (256 values)
.
Second packet data:
apx	R-3102	U16[256]	25	3	0		x-ray spectrum counts (256 values)
apx	R-3103	U16[256]	25	4	0		background spectrum counts (256 values)

Rev C Changes:

2/25/97: Deleted obsolete DMD page column.
2/25/97: 9V converter current channel was R-0404. Changed to R-0408.
2/25/97: Fixed "size" column for spectra elements.

15. APXS DEPLOYMENT RESULTS

This message contains the results of an APXS deploy command.

Primary header (APID = 5 [command results])

data type name	ch_id	size	grp	subgrp	com?	unq id	telemetry description
Secondary header
	H-0061	U16			1	E-2401	cmd seq number

data type name	ch_id	size	grp	subgrp	com?	unq id	telemetry description
apxs_deploy	R-0004	U8	0	0	1	R-2104	command code = 21
apxs_deploy	R-0500	I32	1	0	1	R-2540	rover X position (mm)
apxs_deploy	R-0501	I32	2	0	1	R-2541	rover Y position (mm)
apxs_deploy	R-0502	U16	3	0	1	R-2542	rvr heading (BAMs)
.
apxs_deploy	R-0703	U16	4	0	0		starting time (short)
apxs_deploy	R-0007	U16	5	0	1	R-2407	error state flags (start)
apxs_deploy	R-0506	I16	6	0	1	R-3706	accel X (start)
apxs_deploy	R-0507	I16	7	0	1	R-3707	accel Y (start)
apxs_deploy	R-1330	I16	8	0	1	R-3530	Lbogey pot (left) (start)
apxs_deploy	R-1331	I16	9	0	1	R-3531	Rbogey pot (right) (start)
apxs_deploy	R-1312	I16	10	0	1	R-3512	diff pot (differential pot) (start)
.
apxs_deploy	R-0704	U16	11	0	0		ending time (short)
apxs_deploy	R-0009	U16	12	0	1	R-2409	error state flags (end)
apxs_deploy	R-0606	I16	13	0	1	R-3616	accel X (end)
apxs_deploy	R-0607	I16	14	0	1	R-3617	accel Y (end)
apxs_deploy	R-1332	I16	15	0	0		Lbogey pot (left) (end)
apxs_deploy	R-1333	I16	16	0	0		Rbogey pot (right) (end)
apxs_deploy	R-1334	I16	17	0	0		diff pot (differential pot) (end)
Remaining data = n sets of samples at ~1 sec intervals
apxs_deploy	R-0705	U16	18	1	0		time (tiny)
apxs_deploy	R-1313	I8	18	2	1	R-2613	ADM angle (APXS mechanism angle)
apxs_deploy	R-0310	U8	18	3	0		ADM mtr current
apxs_deploy	R-0511	U16	18	4	1	R-2911	contact sensor state

Rev C Changes:

2/25/97: Deleted obsolete DMD page column.

16. ANALOG INPUT RESULTS

This message returns the results of the diagnostic command to directly read analog channels.

Primary header (APID = 5 [command results])

data type name	ch_id	size	grp	subgrp	com?	unq id	telemetry description
Secondary header
	H-0061	U16			1	E-3401	cmd seq number

data type name	ch_id	size	grp	subgrp	com?	unq id	telemetry description
analog	R-0004	U8	0	0	1	R-2915	command code = 24
.
Remaining data = n analog values:
analog	R-3990	I16[n]	1	1	0		analog values (smoothed)

Rev C Changes:

2/25/97: Deleted obsolete DMD page column.

17. COMMAND ACKNOWLEDGE

This message confirms execution of a command that would otherwise not generate any telemetry data. Generation of these messages is controlled by parameter {CMD_ACK}.

This message is also used to indicate skipped execution of a command due to invalid command or unmasked error conditions, regardless of the {CMD_ACK} setting. Skipped execution is indicated by the MS bit of the error state flags.

Primary header (APID = 5 [command results])

data type name	ch_id	size	grp	subgrp	com?	unq id	telemetry description
Secondary header
	H-0061	U16			0		cmd seq number

data type name	ch_id	size	grp	subgrp	com?	unq id	telemetry description
cmd_ack	R-0004	U8	0	0	1	R-3015	command code of source command + 128
cmd_ack	R-4090	U16	1	0	0		error state flags (final)

Rev C Changes:

2/25/97: Deleted obsolete DMD page column.

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mishkin@robotics.jpl.nasa.gov

All information on this site, including text and images describing the Rover, is copyright © 1996, Jet Propulsion Laboratory, California Institute of Technology and the National Aeronautics and Space Administration.