• Received telemetry for all commands up to end of downlink period.
• 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.
• Aborted by Sequence 52210B at command 21148 (Wait) ... a few minutes earlier than desired. Did not get persistant state table readout 21151 just prior to end of nominal sequence execution.

• Sequence queued several minutes early.
• Rover woke up via solar power, Sol 22, 08:18 LST. Consistent with 08:00 LST wakeup and 15 minutes of modem heating.
• First APXS deploy did NOT make contact with "Souffle". APXS deployed to -61.44 deg
• Subsequent Move command failed to execute due to a sequencing error (the ADM Driving Limit was not set to account for the fact that the ADM would be partially deployed.
• Error flags set by Move command were immediately cleared.
• Second APXS deploy command executed and again did NOT make contact. APXS left hanging in the air. Vehicle not close enough to Souffle. Final ADM position was -76.80 deg.
• EOD images and Rover Movie confirm the above situation.
• EOD iamges, Rover Movie, and Rear Science image indicate the rover is properly oriented to move backwards and deploy the APXS onto Souffle.
• Remaining portion of sequence executed without error.
• Rover overall heath is execellent.
• Sequence planner called in to create new sequence to repeat the same set of deploy and move operations but with the ADM Drive Limit properly set. Was uplinked and real-time queued around 14:00 LST.
• X, Y, and Z accelerometers continue to generate good readings!
• Sequence aborted by recovery sequence 52220B at command 22104 (Set Parameter).

• Received by rover at 7/26 19:05 SCET (15:00 LST)
• Only received data up to command 22520 (Turn on Devices) before downlink pass closed.
• Rover healthy
• Expect to use batteries (sharing with solar) to deploy APXS and move backward onto Souffle. Sequence started with only 7.0 watts of solar power available. Should not be a problem.
• X, Y, and Z accelerometers continue to generate good readings!

NO RETRANSMITS WERE PERFORMED ON SOL 22.

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. Reset APXS_DLIM before any traverse commands.
2. Leave X accelerometer ENABLED
3. DISABLE both the Y and Z accelerometers during all waypoints and moves to be performed on Sol 23 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. 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. Heat modem for 5 minutes prior to morning transfer of images.
3. Terminate heating at 15:00
4. Disable auto shutdown
5. Set Modem Heat to 15 minutes; 10 minutes if following a night-time APXS)
6. Set Modem Reheat to 5 minutes.
7. Set alarm based wakeup to 08:00 LST
8. Perform Read Memory just before last downlink session
9. DISABLE RF Wheel Temperature Sensor
10. DISABLE Z accelerometer.
11. Perform Time Sync just prior to EOD shudown.
12. Always command a Level 2 Health Check before shutdown.
13. Perform level 2 health check at the end of every traverse command
14. Limit image transfer after 1:00 LST (to prevent overheating)
15. Limit each "Move Command" distance to 1 meter or less to enable gyro to be recalibrated and thereby reduce the amount of drift.
16. Insert longer wait (10 seconds) between APXS cycle start command and APXS turn-off command (turn off devices)
17. 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.
18. Use Web_Heat_B parameter with Max temp of 30C.
19. Future soil mechanics experiments in suspected hard material should have 6 spins of 500 counts rather than 4.

SEQUENCE EXECUTION STATUS:

Execution:	Nominal
State:	Shutdown (APXS Ops)
Wakeup:	Solar, 1997 207 SOL 22 08:18:02 LTST
Crit Errors:	None
Executing sequence 52210B

VEHICLE STATE: (AS OF COMMAND: 22520, Read Mem SCET: 7/25/97 19:06 )

Mission Phase:	Primary
Mode:	Shutdown
Config:	Bogies & Diff Nominal
	Rolled to the right ~8 deg
	ADM Partially Deployed
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)   +3.118     +3.318         ?       LBogey (deg)     -0.24    -0.80
Y Position (m)   -2.776     -2.602         ?       RBogey (deg)     -4.08    +0.72
Heading  (deg)  +49.1      +87.0           ?       Diff   (deg)     -2.08    -1.68

Pitch    (deg)    +1.2     +2.4  (+ Pitch -> Front down)
Roll     (deg)   -11.9     -8.3  (+ Roll  -> Roll to Starboard)

ADM Pos  (deg)    -1.28   -75.52   (Partially Retracted ... No Contact)

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

BATTERY STATE/USAGE

              Total         Battery   Remaining (Amp*hrs)
Category    Allocation      Initial    Final    *Predicted
--------------------------------------------------------------
Operations      10           5.447    5.412      5.212
Science         10           4.300    4.300      3.500
Technology      10           9.650    9.650      9.650
--------------------------------------------------------------
Total           30          19.397   19.362     18.362

* at completion of sequence 52220B.

	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

22033 turn_by    ( 3318,-2602) 2F11: AY0 AZ1
22033 turn_by    ( 3318,-2602) 30BA: AY0
22033 turn_by    ( 3318,-2602) 330D: AY0
22033 turn_by    ( 3318,-2602) 35CD: AY0
22038 deploy_apxs ( 3318,-2602) 3DDC: AZ2
22038 deploy_apxs ( 3318,-2602) 3DDC: AZ2
22048 deploy_apxs (    0,    0) 0080: AZ2
22048 deploy_apxs (    0,    0) 0080: AZ2

DATA VOLUME SUMMARY (BY APID)

APID   #PKTS     #BYTES    #Mbits
----------------------------------
  4       25      7376     0.05901
  5       92      4263     0.03410
  6        4       240     0.00192
  7        5       212     0.00170
  8       56     96468     0.77174
  9        0         0     0.00000
 10        0         0     0.00000
 12        0         0     0.00000
 23        0         0     0.00000
 24       40     76689     0.61351
 25        0         0     0.00000
 29        2       446     0.00357
----------------------------------
         224    185694     1.48555

*All data downlinked on this Sol INCLUDING retransmitted data.

NAVIGATION PERFORMANCE:

ACTIVITIES:
• Rover initial position:
  • Rover thinks: (3118, -2776, 49.1)
  • Driver thinks: (3318, -2602, 65.0)

• Cmd #22033: Turn Right by 21.0degs; completed (3318, -2602, 87.0), no errors.
• Cmd #22038: APXS deploy to -750 counts; completed to -61.44 degrees on ADM Pot, expected error x409 due to lack of contact.
• Cmd #22042: Move command failed with errors x403 and xF07 due to sequence error failure to reset move limits on motion with ADM partially deployed.
• Cmd #22048: APXS deploy to -950 counts; completed to - 76.80 degrees on ADM pot, expected error x409 due to lack of contact.
• Uplinked a revised sequence to correct move error state so that move could take place with ADM deployed, but not received by rover prior to Cmd: #22102 shutdown command. Downlink terminated prior to rover picking up new sequence.
• Vehicle end position:
  • Rover thinks: (3318, -2602, 87.0)
  • 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:

• There appears to be another anomolus decommutation error.
• Sol 21 pm Max recorded: - WEB, - CPU, - MAE
  
• Sol 22 am Min recorded: - WEB, - CPU, - MAE
  
• Good max and min temperatures were not recorded.

  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 nominal on sol 22, and the rover modem heating strategy recommended for this sol was effective.

TELECOM STATISTICS FOR SOL 22


Rov Radio Temp Low = -12.5
Rov Radio Temp High = 34.9
Rov Radio Temp Avg = 9.4
LMRE Radio Temp Low = 4.9
LMRE Radio Temp High = 19.6
LMRE Radio Temp Avg = 15.3
Rx Current Low = 43.5
Rx Current High = 49.3
Rx Current Avg = 45.9
Tx Current Low = 150.8
Tx Current High = 159.5
Tx Current Avg = 155.2
LMRE Good Frames = 1264
LMRE Garbled Frames = 670
Avg LMRE Link Quality%= 65.4
TX_CH_FRAMES = 2174
RX_CH_FRAMES = 1662
Total Frame Resends = 512
Avg Rover Link Quality%= 76.4
COM:Bad CRC Errors = 8
COM:Timeout Errors = 16067
COM:Rx Abort Errors = 492
COM:No Sync Errors = 0
COM:RX Com Errors = 19612


In planning the sequence for Sol 23 and beyond, the continued heating plan for the rover modem should be implimented. The rovermodem 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 pe-iods when fully stuffed frames are being transmitted. Today, the first sequence needed to be aborted due to an error condition t-at was not masked, which failed to place the APXS on 'souffle'. The second sequence removed the modem heating command before im-gry because we would have been at the desired modem temperature by the time those commands were executed later in the afternoon.-We are continuing our suspension of a previous recommendation to operate on LMRE-A for ten minutes prior to the expected rover w-keup time.

MOBILITY PERFORMANCE:

• The day began by failing to move. The move command would not execute as the APXS was extended without disabling the limit. The sequence was rewritten and resent with the corrections. The new sequence did not get on board before the shutdown. Therefore there is no mobility to report.
• No motor currents to report. No accelerometer data to report.
• The RF temperature sensor is bad and has been forced failed.
• The images that were obtained indicate that the vehicle was positioned extremely well for the backup move.

• Daily Odometry: 0.0 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 22, the Power Subsystem is in good health with no operational problems noted.

• Same problem as yesterday. Sclk apparently being miss de-commutated during commands in the afternoon. Other times are ok!