Retransmits Received:

• 18107, APID 5
• 18109, APID 5
• 18100, APID 8, Pkt 3
• 18111, APID 5
• 18112, APID 5, MAE
• 18113, APID 5
• 18116, APID 4
• 18118, APID 5

• Received telemetry for remainder of sequence not received on Sol 20 upto end of nominal sequence execution point (Cmd 20178).
• Sequence aborted by Sequence 52110E at command 20178.
• All (5) night-time APXS spectras received.
• Overall Health is excellent.
• Woke up via Solar Power on Sol 21 at 07:19:02 LST. Consistent with the Shutdown to 07:00 LST + 15 minutes of modem heating.

• Sequence queued on schedule.
• Received telemetry for all commands up to end of downlink period.
• APXS successfully retracted.
• Rear image of APXS site after retraction indicates that we acquired spectra of soil patch previously disturbed by rover as opposed to a virgin soil patch as was desired. Probably should have backed up farther to reach desired location.
• Both waypoint commands executed without error (at Risk Level=1). Navigation performance appears to be quite good based upon front images of "Souffle".
• Find Rock command executed successfully having properly centered on "Souffle". There is a fair chance that we could have placed the APXS on souffle in the same sequence.
• Images of Souffle are EXCEPTIONAL!
• Image of left front wheel during "wheelie" is EXCEPTIONAL. It also happens to include a great view of the lander and rear ramp.
• Y & Z accelerometer readings contain only a few grossly anomalous readings (with all the traverses we received a substantial number measurements). Otherwise they appear to be working fine.
• Soil mechanics and WAE experiments all successful.

ALL IN ALL IT WAS A PICTURE PERFECT DAY!!!!!

NO RETRANSMITS WERE PERFORMED ON SOL 20.

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 Pkt 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. If need to perform Level 3 health checks between Sol n, 20:00 LST and Sol n+1,8:00 LST, disable lasers (i.e., never power) to prevent them from being turned on. Re-enable afterwards.
2. Leave X accelerometer ENABLED
3. DISABLE both the Y and Z accelerometers during all waypoints and moves to be performed on Sol 22 assuming terrain is similar to that traveled on Sol21.
4. Recommend Risk Level 1, Laser drop out 3.

1. Waypoint Navigation:
   • Continue to perform waypoint commands.
   • 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. Heat modem for 5 minutes prior to morning transfer of images.
2. Terminate heating at 15:00
3. Disable auto shutdown
4. Set Modem Heat to 15 minutes; 10 minutes if following a night-time APXS)
5. Set Modem Reheat to 5 minutes.
6. Set alarm based wakeup to 08:00 LST
7. Perform Read Memory just before last downlink session
8. DISABLE RF Wheel Temperature Sensor
9. DISABLE Z accelerometer.
10. Perform Time Sync just prior to EOD shudown.
11. Always command a Level 2 Health Check before shutdown.
12. Perform level 2 health check at the end of every traverse command
13. Limit image transfer after 1:00 LST (to prevent overheating)
14. Limit each "Move Command" distance to 1 meter or less to enable gyro to be recalibrated and thereby reduce the amount of drift.
15. Insert longer wait (10 seconds) between APXS cycle start command and APXS turn-off command (turn off devices)
16. Perform WEB heating on days of low activity (i.e. no traverses) with no night-time APXS operations, and Runouts from 13:00 (noon) to 15:00 MLST.
17. Use Web_Heat_B parameter with Max temp of 30C.
18. 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:	Solar, 1997 206 SOL 21 07:19:02 LTST
Crit Errors:	None
Executing sequence 52110E

VEHICLE STATE: (AS OF COMMAND: 21123, Clear SCET: 7/25/97 18:01 )

Mission Phase:	Primary
Mode:	Shutdown
Config:	Bogies & Diff Nominal
	Rolled to the right 11.9 deg
	ADM Fully Retracted
Power:	Nominal
Device Status:	Y Accel Forced Bad
	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)   +3.486     +3.118     +3.318    LBogey (deg)     +4.8    -0.24
Y Position (m)   -0.740     -2.776     -2.602    RBogey (deg)     -4.7    -4.08
Heading  (deg)  219.3      +49.1      +65.63     Diff   (deg)     +1.12   -2.08

Pitch    (deg)    +1.2     +1.2  (+ Pitch -> Front down)
Roll     (deg)    +3.5    -11.9  (+ Roll  -> Roll to Starboard)

ADM Pos  (deg)  -120.56    -1.28   (Fully retracted)

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

BATTERY STATE/USAGE

              Total         Battery   Remaining (Amp*hrs)
Category    Allocation      Initial    Final    *Predicted
--------------------------------------------------------------
Operations      10           5.607       5.447    5.247
Science         10           5.100       4.300    4.300
Technology      10           9.650       9.650    9.650
--------------------------------------------------------------
Total           30          20.357      19.397   19.197

* at completion of sequence 52110E.

	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	None
MTM	Nominal	RF Wheel Temp Sensor H/W failure
Thermal	Nominal	None
Power	Nominal	None
Telecom	Nominal	None

21041 turn_by    ( 3452, -692) A7A6: AZ1
21041 turn_by    ( 3452, -692) AA34: AZ1
21057 goto       ( 3380, -793) A06E: AY0
21057 goto       ( 3231, -900) 95BC: AZ2
21057 goto       ( 3141, -947) 9475: AZ1
21057 goto       ( 3054, -997) 9527: AZ1
21057 goto       ( 2831,-1129) 9569: AZ1
21057 goto       ( 2387,-1350) 9119: AZ1
21073 goto       ( 2889,-2492) D557: AZ1
21073 goto       ( 2997,-2681) D4FF: AZ1
21075 turn_at    ( 3054,-2777) C834: AZ1
21088 find_rock  ( 3041,-2860) 96A2: AZ1
21088 find_rock  ( 3041,-2860) AE21: AZ1
21096 turn_by    ( 3114,-2781) 8321: AZ1
21096 turn_by    ( 3114,-2781) 7106: AZ1
21096 turn_by    ( 3114,-2781) 4111: AZ1
21096 turn_by    ( 3114,-2781) 298E: AY0
21096 turn_by    ( 3114,-2781) 268F: AY0
21096 turn_by    ( 3114,-2781) 23B1: AY0
21096 turn_by    ( 3114,-2781) 22CD: AY0
21098 move       ( 3118,-2776) 22EE: AY0

DATA VOLUME SUMMARY (BY APID)*

APID   #PKTS     #BYTES    #Mbits
----------------------------------
  4       48     14111     0.11289
  5      127     16948     0.13558
  6        6       360     0.00288
  7        7       280     0.00224
  8      586   1134586     9.07669
  9      156    305713     2.44570
 10        0         0     0.00000
 12       10     10700     0.08560
 23        0         0     0.00000
 24        0         0     0.00000
 25        0         0     0.00000
 29       15     17445     0.13956
----------------------------------
         955   1500143    12.00114

*All data downlinked on this Sol INCLUDING retransmitted data.

NAVIGATION PERFORMANCE:

ACTIVITIES:
• Rover initial position:
  • Rover thinks: (3486, -740, 219.3)
  • Driver thinks: (3452, -692, 229.0)

• Cmd #21041: Turn Right by 12.0degs; completed (3452, -692, 241.4), no errors. Z accel showed anomalous readings (Zmin=0.328g Zmax=0.422g)
• Cmd #21054: Soil mechanics (motor=4, cnts=500, cycles=6); completed, no errors.
• Cmd #21057: Go to waypoint (2152, -1444); completeted (2235, -1420, 203.9), no errors. Z accel showed anomalous readings (Zmin=0.312g Zmax=0.469g)
• Cmd #21061: Soil mechanics (motor=2, cnts=500, cycles=3);completed, no errors. Left bogey pot changed from 0.16degs to -26.24degs.
• Cmd #21062: Soil mechanics (motor=0, cnts=2000, cycles=1);completed, no errors. Left bogey pot unchanged (-26.24degs).
• Cmd #21064: Soil mechanics (motor=0, cnts=-2000, cycles=1);completed, no errors. Left bogey pot unchanged (-26.24degs).
• Cmd #21065: Soil mechanics (motor=2, cnts=-1500, cycles=1);completed, no errors. Left bogey pot changed from -26.24degs to -2.72degs.
• Cmd #21068: Turn toward (3121, -3835); completed (2235, -1420, 302.7), no errors. Z accel changed in between Zmin= 0.344g and Zmax=0.375g.
• Cmd #21073: Goto waypoint (3121, -2835); completed (3054, -2777, 303.5), no errors. Z accel showed anomalous readings (Zmin=0.312g Zmax=0.391g).
• Cmd #21075: Turn toward (2893, -3993); completed (3054,-2777, 261.6); completed, no errors. Z accel changed in between Zmin= 0.344g and Zmax=0.375g.
• Cmd #21088: Find rock at (2893, -3993); completed (3041, -2860, 228.7). Error 1603: advisory error, indicating the vehicle found a rock. Rover images confirmed that Souffle rock was found. Z accel showed anomalous readings (Zmin=0.344g, Zmax=0.484g).
• Cmd #21094: Move -100mm, completed (3114, -2781, 229.2), no errors. Z accel changed in between Zmin= 0.344g and Zmax=0.375g. Telemetry has not been received yet!
• Cmd #21096: Turn by -180degs, completed (3114, -2781, 48.9), no errors. Z accel showed anomalous readings (Zmin=0.312g, Zmax=0.453g). Telemetry has not been received yet!
• Cmd #21098: Move 0mm, completed, no errors. Wheel steerings were straightened. Telemetry has not been received yet!

• Vehicle end position:
  • Rover thinks: (3114, -2781, 48.9)
  • Driver thinks: ( ??? )

  CONSTRAINTS:

• Do health check level 2 after every vehicle movement.
• Set Z accel to FORCED_BAD for all vehicle movements.
• Set Y accel to FORCED_BAD for short traversals.
• Set risk level=2 in slightly rocky areas.

THERMAL PERFORMANCE:

• The internal temperatures exceeded 40 degrees today due to the large amount of image transmissions.Thermal performance today is as expected. There appears to be an anomolus reading at about 11:30 LST.
• Sol 20 pm Max recorded: 27.8 WEB, 31.7 CPU, -.6 MAE
• Sol 21 am Min recorded: -25.7 WEB, -18.7 CPU, -56.7 MAE

• Recommendations:

• Future runouts and low activity days should have battery heating from 13:00 to 15:00 LST only.

COMMUNICATIONS PERFORMANCE:

Telecom system performance was particularly good this sol, and the rover modem heating strategy recommended for this sol was thoroughly effective. A review of the data plots for this sol clearly shows a strong correlation between good rover-to-lander communication throughput and rover modem temperatures above roughly +30 C.

End-of-day communication system data shows:


End of downlink Rover Modem Temp = 33.3 C
End of downlink LMRE Temp = 18.4 C
Rover RX Current = 46.40 mA
Rover TX Current = 165.3 mA
Avg LMRE Link Quality = 58.3 % <<

In planning the sequence for Sol 22 and beyond, special emphasis should be given to strict adherence to the recommended heating regiment for the rover modem. The rover modem should be commanded to perform a 600 second modem heating at wakeup and a 300 second modem reheating prior to the transmission of large blocks of data such as images. If no overnight APXS operations are to be conducted, the wakeup rover modem heating should be extended to 900 seconds. Our goal is to get the rover modem above 25 C and preferably close to 35 C for those time periods when fully stuffed frames are being transmitted. It was pleasant to see these recommendations incorporated in the sequence uplinked for this sol. As for the LMRE modem, a review of the telemetry from previous days could not demonstrate any advantage gained by our requested early-morning LMRE heating cycle, and we are continuing our suspension of the previous recommendation to operate on LMRE-A for ten minutes prior to the expected rover wakeup time.

MOBILITY PERFORMANCE:

• The Rover continued its trend of excellent mobility performance today. All motor currents were low (29.6mA). No significant accelerometer spikes were observed.
• The RF temperature sensor appears to be permanently failed.
• Two "go to waypoint" commands were executed today as well as two "turn towardcommands. A wheelie was done after the first waypoint. The left rear wheel current reached 29.6mA during this manuever and the left bogie pot registered 26.3 degrees up.
• No-load currents reported during the forward spins range from 7.4 to 11.8 mA. Most of the readings were 10.4mA.
• The images suggest that the APXS of the soil the previous day was taken in a wheel track and not on virgin soil.
• The "find rock" command appears to have found Souffle.
• Daily Odometry: 3.312 m
• Total Odometry: 26.013 m
• Average Wheel Odom: 41.142 m

  Recommendations:

• No new recommendations.

POWER PERFORMANCE:

Based upon the data returned in the health checks returned in SOL 21, the Power Subsystem is in good health with no operational problems noted.

• Traverse message timestamps not being properly decommutate. Telemetry for sequential traverse commands is being interlaced in time.