Sol 18 EOD image
of Rover near "Lamb"

Downlink:

• (2) HGA downlink sessions were scheduled and performed today.
• Received remaining data additional telemetry for afternoon/evening of Sol 18 and morning/early afternoon of Sol 19.
• Received Sol 18 S0055 EOD which wasn't received yesterday.

• Received data for commands 18119 (14:02 LST, Sol18) thru 18156 (14:02 LST, Sol 19) ... nothing very interesting or exciting being performed.
• RF Motor Temperature Sensor:
  • Continued giving "max'ed" out readings throughout the late afternoon of Sol 18, through the night of Sol 18, and on until the last data received on the afternon of Sol 19.
  • Appears that this sensor is now permanently failed.
  • Most likely cause appears to be temperature induced failure in the wiring/solder joints.
• Overall Health is excellent.
• X, Y and Z accel readings are nominal (i.e., no anomalous spikes).
• Rover believes its heading is 215 deg whereas heading estimates based upon the S0055 EOD images indicate that it is at 192 deg ... and error of 23 deg.
• Rover's estimate of position differs from its real position (via EOD images) by appoximately 0.45 meters. This quite large amount ... more than expected.

MAE:
• Cmd 18122, APID 5
Command Acknowledge:
• Cmds 18109, 18111, 18113, 18118
• Should have been received on Sol 19 (i.e, represents gap in received data.)
Health Check:
• Cmd 18116, APID 4
• Should have been received on Sol 19 (i.e, represents gap in received data.)
Images:
• Cmd 15130, APID 25 (Ops)
  • ~200-10:38 SCET
  • Image only partially received, need packets 103 through 109
  • Retransmit request scheduled for Sol 19 was not performed due to concern over the correctness of the retransmit sequence that was built.
• Cmd 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.
  • Retransmit request scheduled for Sol 19 was not performed due to concern over the correctness of the retransmit sequence that was built.
• Cmds 18100 to 18104 (Science Images, APID 8)
  • Command 18100 Missing Pkts 3 and 16
  • Command 18101 Missing Pkts 5 through 16
  • Command 18102 Missing Pkts 3 through 16
  • Command 18103 Missing Pkts 4 through 16
  • Command 18104 Missing Pkts 5 through 16
  • All should have been received between SCET 7/22/97 ~14:02:47 and ~14:17:18
  • Retransmit request scheduled for Sol 19 was not performed due to concern over the correctness of the retransmit sequence that was built.

1. DISABLE RF Wheel Temperature Sensor
2. Disable auto shutdown
3. Set Modem Heat to 15 minutes; 10 minutes if following a night-time APXS)
4. Set Modem Reheat to 5 minutes.
5. Set alarm based wakeup on morning of Sol 21 for 08:00 LST
6. Perform Read Memory just before last downlink session
7. Leave X accelerometer ENABLED
8. ENABLE Y accelerometer for long moves and waypoints, DISABLE for short, simple moves/turns.
9. DISABLE Z accelerometer.
10. Make sure to terminate heating at 15:00, not 15:30!
11. Use Web_Heat_B parameter instead of Web_Heat_A with Max temp of 30C.
12. Always command a Level 2 Health Check before shutdown.

1. Waypoint Navigation:
   • Perform several PLEASE!
   • Take seperate S0055 images after each individual waypoint command.
   • Take S0050 (Rover Movie) of each individual waypoint command.
2. Take pre and post S0050 images at Low-Compression (3:1).
3. (DESIRE) Take rover images as early in the morning as possible to reduce dark noise current.
4. (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)
7. Future soil mechanics experiments in suspected hard material should have 6 spins of 500 counts rather than 4.

SEQUENCE EXECUTION STATUS:

Execution:	Nominal
State:	Executing
Wakeup:	Alarm Clock, 1997 204 SOL 19 07:15:52 LTST
Crit Errors:	None
Executing sequence 51810

VEHICLE STATE: (AS OF COMMAND: 18156, Read mem SCET: 7/23/97 16:09:09 )

Mission Phase:	Primary
Mode:	Executing Runout
Config:	Relatively Level Terrain
	ADM Fully Retracted
	3.5 deg both Pitch and Roll
Power:	Nominal
Device Status:	Z Accel Forced Bad
	RFW Temp. sensor Forced Bad
Temp (Internal):	Nominal
Temp (External):	Nominal
Temp:(Modem):	Nominal

---

   Parameter    Initial      Final     Imp EOD    Parameter       Initial  Final
---------------------------------------------------------------------------------
X Position (m)   +3.258     +3.286     +2.856    LBogey (deg)    -10.40    +0.08
Y Position (m)   +1.064     -0.905     -0.711    RBogey (deg)    -14.48    -3.12
Heading  (deg)  285.5      214.8     +191.84     Diff   (deg)    +1.84     +0.048

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

ADM Pos  (deg)  -156.16     -1.28   (Fully retracted)

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

BATTERY STATE/USAGE

              Total         Battery   Remaining (Amp*hrs)
Category    Allocation      Initial    Final    *Predicted
--------------------------------------------------------------
Operations      10           5.800     5.667     5.517
Science         10           5.100     5.100     5.100
Technology      10           9.650     9.650     9.650
--------------------------------------------------------------
Total           30          20.550    20.417    20.267

* at completion of sequence 51810.

	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

N/A (No move command data received)

DATA VOLUME SUMMARY (BY APID)*

APID   #PKTS     #BYTES    #Mbits
----------------------------------
  4       20      5897     0.04718
  5       23      1520     0.01216
  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
----------------------------------
          45      7517     0.06014

*All data downlinked on this Sol INCLUDING retransmitted data.

NAVIGATION PERFORMANCE:

No report generated as planned.

THERMAL PERFORMANCE:

No report generated as planned.

COMMUNICATIONS PERFORMANCE:

No report generated as planned.

MOBILITY PERFORMANCE:

No report generated as planned.

POWER PERFORMANCE:

No report generated as planned.

• None