Sequence 50810A:

• Received telemetry for commands 8131 - 8145.
• Shutdowns 8132 and 8135 skipped ... expected since earlier wait 8117 skipped thereby moving up the execution of the sequence by 1 1/2 hours relative to planned/predicted execution times.
• Seqeuence aborted by sequence 50910B during Wait 8145 at 8:50 LST, Sol 9 (97/194-04:08 UTC)
• Sequence NOT aborted by sequence 50820A as intended.
• Real-time queue of sequence 50820A performed at 00:00 UTC the previous evening apparently didn't make it to the S/C or was not executed by the S/C. Lander personnel investigating.

Sequence 50820A:

• NEVER received by rover because rover had shutdown 1 1/2 hours early on evening of Sol 8. Real-time command to queue it had been sent on evening of Sol 8. Rover didn't get it when it woke up on morning of Sol 8 because lander deleted it on morning of Sol 9, per our request, prior to rover wakeup on Sol 9.
• Actually good that sequence 50820A was not executed since it would have performed a useless APXS of the Air and wasted battery.

Sequence 50910B:

• Queued on schedule:
• Received telemetry for commands 9001-90014.
• Vehicle healthy
• No change in thermal state despite having gone through a "cold" night (i.e., APXS not left running on battery).
• X, Y, and Z accelerometer readings during health checks are all normal.
• It is thought that the lander was not running the LMRE modem while the remaining commands, 9015-9018 would have executed. 9018 is a mission wait which would be in effect throughout the remainder of the downlink period.

• ALL APID 5 packets transmitted on Sol8 and Sol 9
• APXS Results (APID 12): 4019 (Should have been received Sol5, Pass 2)
• Image (APID 25): 5525
  • Second occurance of this command from second running of sequence 50520
  • Missing packets 52 thru 68 of image
  • Packet 51 SCET: 1997-07-10T06:44:18:448
  • Packet 59 SCET: 1997-07-10T06:46:22:449
• Image (APID 8): 6119
  • Missing packet 1
  • Packet 0 SCET: 1997-07-10T05:38:49:439
  • Packet 2 SCET: 1997-07-10T05:38:58:439
• Image (APID 9): 8068
  • Missing packets 43-117
  • Should have been received on Sol 8
• Image (APID 8): 8106
  • Missing packets 12-16
  • Should have been received on Sol 8
• Images (APID 8): 8107, 8108, 8109
  • Not received at all.
  • May be buffered on Lander
  • Should have been received on Sol 8.

Operational Constraints

1. Reset error mask accordingly ... currently ALL errors are masked.
2. Disable auto shutdown (to limit battery usage).
3. Set Modem Heat to 10 minutes.
4. Set Modem Reheat to 5 minutes.
5. Set alarm based wakeup on morning of Sol 9 for 05:45 LST.
6. set alarm based wakeup on morning of Sol 10 (and beyond if necessary) for 06:50 LST.
7. Don't "Turn-in-Place" in current configuration/geometry due to position of rock relative to left front wheel. Move backward a minimum of 25 cm before peroforming a turn.
8. Perform Read Memory at 13:30 LST
9. Force Fail Z accelerometer
10. Force Fail Y accelerometer
11. Do NOT change X accelerometer failure counter (i.e., leave enabled)
12. Do NOT attempt to Deploy APXS to surface if fail to make contact with YOGI during Position APXS command
13. If Position APXS command fails to terminate on contact structure sequence such that subsequent APXS night mode is skipped thereby minimizing use of battery for night-time APXS operations.
14. Disable Auto-Heat WEB
15. Move EOD shutdown to 16:00 LST.
16. Perform Time Sync just prior to EOD shudown.
17. Request that EOD imp image include current rover position (just in case we have a problem getting off the rocks were are currently on.

Engineering Request

1. Execute (3) "Read Analog Channel c At Gain g" commands in the late morning before the end of the last Sol 10 downlink session.
2. First read "Z accel" analog channel (c=0x6b, g=0x06) 100 times
3. Second read "Y accel" analog channel (c=0x6a, g=0x06) 100 times
4. Third read "X accel" analog channel (c=0x69, g=0x06) 100 times
5. If above cannot all be accomodated prioritize according to above order and, if necessary, reduce number of samples from 100 to as low as 20. Any lower than 20 is useless.

Operational Constraints (General)

SEQUENCE EXECUTION STATUS:

Execution:	Off-Nominal, Did not receive 50820A
State:	Executing
Wakeup:	Solar, 1997 194 SOL 9 06:48:11 LTST
Crit Errors:	None

Executing sequence 50910B.

VEHICLE STATE: (AS OF COMMAND: 9014, Set Parameter SCET: 7/14/97 04:10:42 )

Mission Phase:	Primary
Mode:	Running
Config:	LF, RF, RC wheels on rocks
	Large tilt to South East (almost all roll)
	Twice as far away from YOGI as intended (same location prior Sol)
	APXS partially deployed.
	No Contacts
Power:	Nominal
Device Status:	Y Accel Forced Bad
	Z Accel suspect
Temp (Internal):	Nominal ("Cold" night had little effect)
Temp (External):	Nominal
Temp:(Modem):	Nominal ("Cold" night had little effect)

---

   Parameter    Initial    Final    Parameter     Initial  Final
----------------------------------------------------------------
X Position (m)   +4.727     ?   LBogey (deg)    -18.00      ?
Y Position (m)   -3.280     ?   RBogey (deg)    -0.72       ?
Heading  (deg)  221.4       ?   Diff   (deg)    -11.28      ?

Pitch    (deg)    +13.1     ?  (+ Pitch -> Front down)
Roll     (deg)    -1.2*     ?  (+ Roll  -> Roll to Starboard)

ADM Pos  (deg)     -152.32   -32.0

LFS      (deg)     -41.6     ?     RFS    (deg)   +41.0   ?
LRS      (deg)     +48.0     ?     RRS    (deg)   -48.0   ?
----------------------------------------------------------------

* potentially suspect due to Y accel failure ? Don't really know due unintended running of sequence 50710.

BATTERY STATE/USAGE

              Total           Battery Remaining (Amp*hrs)
Category    Allocation      Initial    Final    *Predicted
--------------------------------------------------------------
Operations      10           7.433      7.390     7.390
Science         10           6.200      6.200     5.400
Technology      10           9.800      9.800     9.800
--------------------------------------------------------------
Total           30          23.433     23.390    23.390

* at completion of sequence 50910B.

	ADM			Bumper		Solar
	UL	UR	B	RB	LB	LR	RR	RF	LF
Mask	1	1	1	1	1	1	1	1	1
State	0	0	0	0	0	0	0	0	0

	ERROR FLAGS
	Skip	GenFail	InvalidCmd	WEB_Hot	NoPwr	NonTrav	DevNA	DevFail	Timeout
Mask	0	0	0	0	0	0	0	0	0
State	0	0	0	0	0	0	0	0	0

SUBSYSTEM STATUS:

S/S	Status	Comments
C&N	Off-Nominal	Suspect Y and Z accels
MTM	Nominal	None
Thermal	Nominal	None
Power	Nominal	None
Telecom	Nominal	None

N/A

DATA VOLUME SUMMARY (BY APID) *

APID   #PKTS     #BYTES    #Mbits
----------------------------------
  4        8      2374     0.01899
  5       21      1400     0.01120
  6        1        60     0.00048
  7        1        40     0.00032
  8        0         0     0.00000
  9        0         0     0.00000
 10        0         0     0.00000
 12        0         0     0.00000
 23        0         0     0.00000
 24        0         0     0.00000
 25        0         0     0.00000
 29        0         0     0.00000
----------------------------------
          31      3874     0.03099

*All data downlink on Sol INCLUDING retransmitted data.

NAVIGATION PERFORMANCE:

• The rover woke up on solar power following shutdown command 8131 at 2:05:59 SCET time (6:43 am MLST), and an automatic health check showed all accelerometers reading normally with a 21 degree roll to the southeast as expected. An error report of mission phase change, as we have seen on many previous days, occurred 3 minutes later based on an accelerometer reading of FFFF. Sequence 50810 terminated at 8147 with a sequence abort at 4:08 SCET time, starting sequence 50910. A level 3 health check at 4:10 SCET time (sequence 9005) showed no anomalies, including no anomooulous accelerometer readings on either the Y or Z axes (which had given anomolous readings previously). The last communication in the downlink was command 9014, a set parameter.
• It is thought that the lander was not running the LMRE modem while the remaining commands, 9015-9018 would have executed. 9018 is a mission wait which would be in effect throughout the remainder of the downlink period.

THERMAL PERFORMANCE:

All S/S components performed normally

COMMUNICATIONS PERFORMANCE:

All Subsystem components performing normally

• The limited telecom system performance which was reported this sol was poor, consistent with our hypothesis that episodes of poor communications system throughput are caused by a frequency offset between the rover transmitter and the lander receiver which is minimized by heating the rover modem.
• End-of-downlink communication system data shows:
  • 
    End of downlink Rover Modem Temp = -7.9 C
    End of downlink LMRE Temp = 18.1 C
    Rover RX Current = 43.50 mA
    Rover TX Current = 147.9 mA
    LMRE Good Frames = 11
    LMRE Garbled Frames = 1
    Avg LMRE Link Quality = 73.1 % <<
    TX_CH_FRAMES = 1254
    RX_CH_FRAMES = 76
    Avg Rover Link Quality = 6.1 % <<
• It is important for the lander sequence to operate on LMRE-A (the side with the heater) for ten minutes just prior to the expected rover awakening time, followed by a handover to LMRE-B (sans heater) for the balance of the day. It is unclear from the limited data recorded today whether the lander sequence planners are following this recommendation or not, and the importance of this housekeeping measure should be loudly impressed upon them.

MOBILITY PERFORMANCE:

All subsystem components performing normally

POWER PERFORMANCE:

Based upon the data returned in 8 health checks between 6:46:49 and 8:45:49 TLST the Power Subsystem is in good health with no operational problems noted.

• Error in channel database resulting in several accelerometer conversions errors has been identified. New CPT file built. Must be installed into MPF GDS system to take affect during OPS.
• Skipped shutdowns reported as "UNKNOWN"
• Command Acknowledge messages error flags R-4090 need to be replicated into common "end error flag" channel R-0009.
• Interpretation of "Hazard Level Indicators" is not clearly understood.

TBD