APXS on disturbed Soil
to the side of "SCOOBY-DOO"

Downlink:

• Performed (2) LGA downlink sessions and (1) HGA downlink session today.
• Received data for night of Sol14, morning and afternoon of Sol 15, midmorning of Sol 16 thru morning of Sol17.
• Missing ALL data from night of Sol15 and early morning of Sol 16.
• DSN configuration problems initially caused TDS to be improperly loaded. TDS was subsequently purged and reloaded.

Sequence 51410C:

• Received previously missing data from Cmd_seq_num 14122 (morning Wait) through 14279 (Clear Errors). EXCEPT FOR APXS SPECTRA.
• APXS spectra data apparently lost in beginning of pass due to signal lock problem. Will have to request for retransmit.
• Sequence aborted 1/2 hour early by Sequence 51510B at Cmd_seq_num 14122. Missed performing the 7:00 LST MAE experiment (14282).
• RF Motor Temperature Sensor:
  Readings "max'ed" out for every command after Shutdown command 14211 (20:07 LST, Sol 14) and continuing on into next sequence.
• Rover otherwise healthy.

Sequence 51510B:

• Rover woke up by alarm clock at 7:09:32 LST, Sol 15 as expected.
• RF Motor Temperature Sensor:
  • Continued giving "max'ed" out readings on the morning of Sol 16 up to ~8:30 LST.
  • After ~8:30 LST sensor appears to be working fine.
  • Vehicle shutdown during the night of Sol16, hence no readings taken
  • Readings again "max'ed" out on morning of Sol17 from time of wakeup until ~9:30 LST.
  • Above pattern of behavior could potentially be explained by a thermally indcuded failure in the external wiring and/or solder joints.
• Overall Health is excellent.
• APXS Deployment:
  • Failed to stop on contact.
  • APXS deployed to maximum position of -156 deg.
  • EOD Image (S0055) confirms that APXS is approximately 2-3 centimeters above surface.
  • EOD Image (S0055) indicates that APXS is positioned above previously disturbed area.
  • Deployment failure attributed to vehicle's forward pitch at time of deployment (-10 deg)
• Y accel:
  • During all health checks between 10:50 LST, Sol15 (10:11 SCET) and 14:02 LST, Sol 15 (13:30 SCET) sensor reading is 0.281 g (-47.7 deg pitch).
  • Several anomalous high readings just before this time period.
  • Before and after these anomalies, readings appear to be reasonable (i.e. consistent with other data.
• Z accel:
  • Several anomalous readings. Same as we have seen earlier.
• Missing LARGE chunk of telemetry data for commands 15177 - 15254 (includes all APXS spectra taken on night of Sol15).
• Sequence aborted by sequence 51710 at command 15293.

Sequence 51710B:

• Rover woke up by alarm clock at 7:50:32 LST (Sol 17).
• Received telemetry data for commands 17001 - 17025.
• Overall health is excellent.

• APXS spectra data (APID 12)
  • Cmd 14158, Sol14 Night, 199-14:04 SCET
  • Cmd 14181, Sol14 Night, 199-16:04 SCET
  • Cmd 14199, Sol14 Night, 199-18:04 SCET
  • Cmd 14238, Sol14 Night, 200-02:04 SCET
• Images:
  • Cmd 15103, APID 9 (Tech), ~200-09:53 SCET, Image only partially received
  • Cmd 15104, APID 9 (Tech), ~200-09:53 SCET, Image only partially received
  • Cmd 15105, APID 9 (Tech), ~200-09:53 SCET, Image only partially received
  • Cmd 15126, APID 25 (Ops), ~200-10:38 SCET, Image only partially received
  • Cmd 15127, APID 25 (Ops), ~200-10:38 SCET, Image only partially received
  • Cmd 15130, APID 25 (Ops), ~200-10:38 SCET, Image only partially received
• APIDs 4, 5, 6, 12
  • All commands from 15177 - 15254
  • Starting SCET: 200-13:31
  • Ending SCET: 201-12:04
• Image Command 13143 (Science Image, APID 8)
  • Missing Pkts 6-33 (28 of 34 pkts)
  • SCET 7/17/97 ~10:59:46
  • Should have been received on Sol13
  • Should have been retrasmitted on Sol14
  • Should have been retransmitted (another attempt) on Sol 15 .. did not see it on Sol17 at which time we finally received data from Sol 15.
• Image Command 14088 (Ops Image, APID 25)
  • Missing Pkt 18 (1 of 33 packets)
  • Missing Pkt 19 retransmitted and received on Sol 15 ... didn't get Pkt 18 as expected as part of this retransmit.
  • Should have orignally been received on Sol14
  • SCET 7/18/97 ~09:23:02

1. Disable auto shutdown
2. Set Modem Heat to 15 minutes; 10 minutes if following a night-time APXS)
3. Set Modem Reheat to 5 minutes.
4. Set alarm based wakeup on morning of Sol 16 for 08:00 LST
5. Perform Read Memory just before last downlink session
6. Leave X accelerometer ENABLED
7. ENABLE Y accelerometer for long moves and waypoints, DISABLE for short, simple moves/turns.
8. DISABLE Z accelerometer.

1. Take pre and post S0050 images at Low-Compression (3:1).
2. (DESIRE) Take rover images as early in the morning as possible to reduce dark noise current.
3. (DESIRE) Leave rover on until 15:45 LST to collect late afternoon thermal data, perform health check just before shutdown.

1. Perform level 2 health check at the end of every traverse command
2. Perform Time Sync just prior to EOD shudown.
3. Limit image transfer after 1:00 LST (to prevent overheating)
4. Limit each "Move Command" distance to 1 meter or less to enable gyro to be recalibrated and thereby reduce the amount of drift.
5. Insert longer wait (10 seconds) between APXS cycle start command and APXS turn-off command (turn off devices)
6. Perform WEB heating on days of low activity (i.e. no traverses) from 12:00 (noon) to 15:00 MLST with temperature setting at 30 deg and if not performing night-time APXS (should be in runout sequences)

SEQUENCE EXECUTION STATUS:

Execution:	Nominal
State:	Shutdown
Wakeup:	Alarm Clock, 1997 202 SOL 17 07:50 LTST
Crit Errors:	None
Executing sequence 51710

VEHICLE STATE: (AS OF COMMAND: 0, Auto Health Check (After command 17025 SCET: 7/21/97 13:30 )

Mission Phase:	Primary
Mode:	Shutdown
Config:	Relatively Level Terrain
	ADM Fully Deployed, No Contact
	10 deg Tilt Down
Power:	Nominal
Device Status:	Y Accel Forced Bad
	Z Accel Forced Bad
Temp (Internal):	Nominal
Temp (External):	Nominal
Temp:(Modem):	Nominal

---

   Parameter    Initial      Final     Imp EOD    Parameter       Initial  Final
---------------------------------------------------------------------------------
X Position (m)   +3.338     +3.258        ?      LBogey (deg)    -7.12    -10.40
Y Position (m)   +1.137     +1.064        ?      RBogey (deg)    -0.08    -14.48
Heading  (deg)  344.7      285.5          ?      Diff   (deg)    +1.68     +1.84

Pitch    (deg)    -1.4     +9.5  (+ Pitch -> Front down)
Roll     (deg)    +5.9     +3.5  (+ Roll  -> Roll to Starboard)

ADM Pos  (deg)  -116.48     -156.16   (Fully deployed ... NO CONTACT)

LFS      (deg)     +3.2     +0.0     RFS    (deg)   -1.3    -1.9
LRS      (deg)     -0.6     -0.6     RRS    (deg)   -1.3    -1.9
--------------------------------------------------------------------------------

BATTERY STATE/USAGE

              Total         Battery   Remaining (Amp*hrs)
Category    Allocation      Initial    Final    *Predicted
--------------------------------------------------------------
Operations      10           6.348     6.028     5.778
Science         10           5.500     5.100     5.100
Technology      10           9.650     9.650     9.650
--------------------------------------------------------------
Total           30          21.498    21.000    20.538

* at completion of sequence 51710.

	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	1	1	1	1	1	1	1	1	1
State	0	0	0	0	0	0	0	0	0

SUBSYSTEM STATUS:

S/S	Status	Comments
C&N	Nominal	Y Accel continuing to exhibit anomalous readings
MTM	Nominal	None
Thermal	Nominal	None
Power	Nominal	None
Telecom	Nominal	None

15063 turn_by    ( 3273, 1028) FE81: AY0
15063 turn_by    ( 3273, 1028) 0245: AZ1
15065 move       ( 3256, 1028) 01B7: AZ1
15068 turn_by    ( 3168, 1027) 0A0D: AZ1
15068 turn_by    ( 3168, 1027) 1120: AY0 AZ1
15070 move       ( 3127, 1008) 1092: AZ1
15072 turn_by    ( 3068,  983) 0425: AY0
15079 move       ( 3133,  988) 0286: AZ1
15079 move       ( 3203,  988) 007C: AZ1
15079 move       ( 3262,  988) 0003: AZ1
15083 move       ( 3334,  988) F465: AZ1
15083 move       ( 3206, 1028) F44F: AZ1
15085 move       ( 3123, 1049) F456: AZ1
15085 move       ( 3175, 1033) F2BC: AZ1
15085 move       ( 3188, 1029) F2BC: AZ1
15085 move       ( 3222, 1019) F317: AZ1
15085 move       ( 3261, 1007) F2F4: AZ1
15088 turn_by    ( 3298,  996) EADC: AZ1
15089 move       ( 3171, 1088) E576: AZ1
15091 move       ( 3166, 1095) E4F9: AY0
15091 move       ( 3177, 1086) E4B5: AZ1
15091 move       ( 3195, 1071) E471: AZ1
15091 move       ( 3263, 1016) E37E: AZ1
15094 turn_by    ( 3280, 1002) E2E9: AZ1
15095 move       ( 3193, 1137) D645: AZ1
15095 move       ( 3169, 1175) D64A: AZ1
15097 move       ( 3177, 1162) D5EF: AZ1
15097 move       ( 3195, 1132) D640: AZ1
15097 move       ( 3257, 1039) D9BD: AY0
15112 turn_by    ( 3269, 1022) D9A1: AY2
15112 turn_by    ( 3269, 1022) D87D: AY2
15112 turn_by    ( 3269, 1022) D508: AY2
15112 turn_by    ( 3269, 1022) D2D6: AY2 AZ1
15112 turn_by    ( 3269, 1022) D116: AY2
15112 turn_by    ( 3269, 1022) CEE9: AY2
15112 turn_by    ( 3269, 1022) CCE9: AY2 AZ1
15112 turn_by    ( 3269, 1022) CB9B: AY2
15114 move       ( 3269, 1022) CBA3: AY2 AZ1
15114 move       ( 3263, 1046) CADB: AX0 AY0
15114 move       ( 3258, 1064) CB0D: AZ1
15118 deploy_apxs ( 3258, 1064) CB0D: AY2 AZ2
15118 deploy_apxs ( 3258, 1064) CB0D: AY2 AZ2

DATA VOLUME SUMMARY (BY APID)*

APID   #PKTS     #BYTES    #Mbits
----------------------------------
  4       66     19367     0.15494
  5      203     11011     0.08809
  6       21      1260     0.01008
  7       28      1276     0.01021
  8        2      4024     0.03219
  9       78    149037     1.19230
 10        0         0     0.00000
 12        0         0     0.00000
 23        0         0     0.00000
 24        0         0     0.00000
 25      299    589604     4.71683
 29       20      7050     0.05640
----------------------------------
         717    782629     6.26103

*All data downlink on Sol INCLUDING retransmitted data.

NAVIGATION PERFORMANCE:

Not Available.

THERMAL PERFORMANCE:

Not Available.

COMMUNICATIONS PERFORMANCE:

• The Rover radio modem and LMRE radio modem can be used without restriction for upcoming sequences.

• Statistics
  • The lander has been undergoing software patches and other debugging procedures. No data was recovered on sol16. The data received today is from the sol15 runout sequence. Even so, LMRE side data was extremely sparse, with only a couple 4-6hr clusters of data over two days.
  • Rover temperature ranged from -20 C at wakeup to +30 C at end of day.
  • Overall Lander side frame counts (sparse as they are) indicate a link quality of 45% for 300 frames
  • Rover side link performance is at 86% for 8181 frames.

  Recommendations:

  • The Sequence for SOL18 is intended to transmit 2 sets of 2 uncompressed images at 1.6 Mbits for each pair. As per Jakes suggestion, rover heating will be enabled for 300 seconds at 11:00 MLST prior to transmitting, so that the transmission time will be optimized (allowing the following tight move sequence to activate on time).
  • In addition, the standard routine of heating the rover modem for 600 sec (900 if no overnight APXS), reheating 300 secs, prior to wakeup should be continued. Currenlty, there is no request to enable LMRE heating prior to wakeup.

MOBILITY PERFORMANCE:

Not Available

POWER PERFORMANCE:

Based upon the data returned in 62 health checks, covering parts of Sol 14, 15, 16, & 17, between 12:22:59 TLST on SOL 14 and 13:30:51 TLDT on SOL 17 the Power Subsystem is in good health with no operational problems noted. A short term reduction in the predicted power available, as predicted by short circuit current cell in the MAE, came at a time that it caused a failure to turn on motor heaters as the predicted power was not enough to support this load. Since this occured following a turn, it is believed that this was caused by a shadowing of the Short circuit cell by the antenna. All following health checks showed a normal predicted power for the time of day. It in not believed that this will be a problem in the future as it requires a specific orentation of the rover and a heating command at the same time.

• None