Retransmit Status:

Received all Sol25 retransmitted packets.

• Received commands 25501 - 25654 (i.e., all of the accelerometer test data).
• Accelerometer test data in process of being analyzed.
• Woke up via Solar at 7:22 LST, Sol 26
• Aborted by 52610B at command 25656 just a few commands earlier than the intended "end of nominal sequence execution".

• Waypoint #1 executed successfully (traverse to vacinity of Little Materhorn)
• Move upto Little Materhorn successful.
• Image of Little Materhorn with Lander in background SPECTACULAR ... Little Materhorn a bit to the left in the image.
• Waypoint #2 executed successfully (traverse to intermediate location on way to Squash.
• Waypoint #3 terminated shortly after beginning due to excessive current draw by the left front wheel.
  • Rover was in the process of arcing towards waypoint #3.
  • Response to excessive current draw was to backup slightly. Response successful ... current dropped back to normal
  • Potential cause ... jammed rock.
  • Don't know for sure if rock is still lodged between cleats
  • Laser data indicates that vehicle "saw" Pooh Bear and Piglet. However, they were not high enough to cause the vehicle to have to perform an avoidance maneuver.
  • All in all, rover did exactly what it was designed to do!!
• A number of subsequent commands skipped including all Moves, Turns, and the final Waypoint #4 ... as intended (except for the skipped Read Memory commands.
• EOD image indicates that vehicle is currently just to the north west side of Pooh Bear and Piglet.
• Overall vehicle is VERY healthy.

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.
• Command 23073
  • APID 8
  • Missing packets 23 through 35
  • SCET ~1997-07-27T16:16:06
• Command 23074
  • APID 8
  • Missing packets 27 through 53
  • SCET ~1997-07-27T16:27:08
APXS:
• Command 22645
  • APID 12
  • Missing all packets (2)
  • SCET ~1997-07-26T19:25:25.325

1. REMOVE explicit heating of modem prior to morning image transfer (superseded by maximum reheat temperature setting in "general constraints"
2. Start Sol 27 sequence with a Soil Mechanics, Wheel 0, -1200 counts (to clear rock from wheel if one is stuck between cleats. Turn to intended heading. Proceed as normal.
3. Continue to DISABLE hazard avoidance for stall conditions/hazards during Sol 27.
4. Leave X accelerometer ENABLED
5. Leave the Z accel DISABLED
6. DISABLE the Y accelerometer during waypoints and moves at risk level 1. ENABLE Y accel for waypoints and moves at risk level 2
7. Enable hazard avoidance using sensors, contacts, and laser proximity, and perform each waypoint command only once
8. If possible, health checks should not be skipped as a result of traversable hazards
9. Before beginning traverses, should back up a little (~ 10 cm) to enable lasers to detect hazards which may be very close to the front of the rover. UNMASK contact sensors for this move. May want to then move forward ~ 1 cm, with contact sensors MASKED to remove any contact that may have been made during the previous backward move. Then UNMASK all contact sensors and plan subsequent waypoints.

1. Wakeup every 2 hours during the night Sol 27. Data from auto health checks will be used to generate overnight thermal profiles.
2. 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.
3. Take pre and post S0050 images at Low-Compression (3:1).
4. (DESIRE) Take rover images as early in the morning as possible to reduce dark noise current.
5. (DESIRE) Leave rover on until 15:45 LST to collect late afternoon thermal data, perform health check just before shutdown.

1. Mask all errors (except INVALID CMD) immediately prior to "Read Mem" of persistent state table. Unmask accordingly immediately afterwards.
2. Set Modem Reheat to 5 minutes and maximum modem reheat temperature 30 deg.
3. 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.
4. Terminate heating at 15:00
5. Disable auto shutdown
6. Set Modem Heat to 15 minutes; 10 minutes if following a night-time APXS)
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:	Idle
Wakeup:	Solar, 1997 211 SOL 25 07:22:21 LTST
Crit Errors:	LF Wheel stalled, 3rd Waypoint.
Executing sequence 52610B

VEHICLE STATE: (AS OF COMMAND: 0, Health Check (During Wait command 26135) SCET: 7/30/97 20:47:54 )

Mission Phase:	Primary
Mode:	Executing
Config:	Nominal
	In process of turning (arc) to the right.
Power:	Nominal
Device Status:	Z Accelerometer Forced bad
	RFW Temp. sensor Forced Bad
	LF Wheel Motor, 1 Failure (due to wheel jam)
Temp (Internal):	Nominal
Temp (External):	Nominal
Temp:(Modem):	Nominal

---

   Parameter    Initial      Final     Imp EOD    Parameter       Initial  Final
---------------------------------------------------------------------------------
X Position (m)   +0.564     -2.349         ?       LBogey (deg)   +13.60   -2.72
Y Position (m)   +4.735     +3.938         ?       RBogey (deg)   + 6.00   -8.48
Heading  (deg)  +243.9      +214.7         ?       Diff   (deg)   + 2.48   -3.68

Pitch    (deg)    -4.7     +1.2  (+ Pitch -> Front down)
Roll     (deg)    -1.2     -5.9  (+ Roll  -> Roll to Starboard)

ADM Pos  (deg)    -1.28    -1.28  (Fully Retracted)

LFS      (deg)     +0.6     -9.6     RFS    (deg)   -1.3    -16.6
LRS      (deg)     -1.3    +11.5     RRS    (deg)   -1.3    +15.4
--------------------------------------------------------------------------------

BATTERY STATE/USAGE**

              Total         Battery   Remaining (Amp*hrs)
Category    Allocation      Initial    Final    *Predicted
--------------------------------------------------------------
Operations      10           4.585***  4.585     4.337
Science         10           5.620     5.620     5.620
Technology      10           7.534     7.534     7.534
--------------------------------------------------------------
Total           30          17.739    17.591    17.491

*** This is believed to be lower than real by about 0.4 Ahrs
     due to some change in the battery state of charge registers.
**  reflects transfer of two hours from technology to science
*   at completion of sequence 52610B.

	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

26054 turn_at    (  626, 3837) 2F1A: AZ1
26054 turn_at    (  626, 3837) 3485: AZ1
26054 turn_at    (  626, 3837) 3B09: ART0
26054 turn_at    (  626, 3837) 4F05: AZ1
26054 turn_at    (  626, 3837) 587B: AZ1
26056 goto       (  626, 3837) 71F3: AZ1
26056 goto       (  527, 3872) 7132: AZ1
26056 goto       (  475, 3892) 70C2: AZ1
26056 goto       (  136, 4024) 70F7: AZ1
26056 goto       (   66, 4050) 70F2: AZ1
26056 goto       (   -1, 4075) 7108: AZ1
26056 goto       ( -246, 4174) 705A: AZ1
26056 goto       ( -643, 4333) 7196: AZ1
26056 goto       ( -831, 4399) 7184: AZ1
26056 goto       ( -902, 4424) 7237: AZ1
26060 turn_at    (-1004, 4458) 7CFE: AZ1
26060 turn_at    (-1004, 4458) 8E05: AZ1
26060 turn_at    (-1004, 4458) B4A6: AZ1
26060 turn_at    (-1004, 4458) C2E6: AZ1
26065 move       ( -999, 4415) C33F: AY1 AZ1
26065 move       ( -935, 4023) C85C: AZ1
26065 move       ( -785, 3532) CEEC: AZ1
26082 move       ( -900, 3858) CE80: AZ1
26082 move       (-1098, 4328) D1EE: AZ1
26082 move       (-1106, 4344) D258: AY1
26084 turn_at    (-1147, 4425) BB59: AZ1
26084 turn_at    (-1147, 4425) 9E5E: AZ1
26084 turn_at    (-1147, 4425) 9B06: AZ1
26087 goto       (-1245, 4378) 913C: AZ1
26087 goto       (-1503, 4266) 8F23: AZ1
26087 goto       (-1562, 4245) 8E81: AZ1
26087 goto       (-1740, 4183) 8D3C: AZ1
26087 goto       (-1926, 4125) 8CB9: AZ1
26087 goto       (-1943, 4119) 8C4F: AZ1
26087 goto       (-1996, 4101) 8CA3: AZ1
26091 goto       (-2308, 3972) 9927: AZ1

DATA VOLUME SUMMARY (BY APID)*

APID   #PKTS     #BYTES    #Mbits
----------------------------------
  4       33      9712     0.07770
  5      216      7727     0.06182
  6        2       120     0.00096
  7        3       132     0.00106
  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       40     76689     0.61351
 25      402    784058     6.27246
 29       17     19771     0.15817
----------------------------------
         713    898209     7.18567

*All data downlinked on this Sol INCLUDING retransmitted data.

NAVIGATION PERFORMANCE:

ACTIVITIES:
• The rover goes to mini matterhorn, captures images, performs MAE, then it passes behind spock. It then goes to squash, images squash, and finally heads to Mermaid Dune.
• Vehicle initial position:
  • Rover thinks: (564, 4735, ???), (no heading data).
  • Driver thinks: (626, 3837, 46.0)

• Cmd #25508: Turn right by 10degs; completed, no anomalies.
• Cmd #25522 through #25621: call an_read() function to read Y and Z accel one after another. The data were stored in memory before sending them down. No data analysis of Y and Z channel at this point due to TDS problem resulting in no raw data (tds.tread2 file).
• Cmd #25634: Move 0mm; completed, no anomalies.
• Cmd #26054: Turn toward (-1096, 4466); completed, no anomalies.
• Cmd #26056: Goto waypoint (-1096, 4466); completed (-1004,4458) , no anomalies.
• Cmd #26060: Turn toward (-860, 2400); completed, no anomalies.
• Cmd #26065: Move 1000mm; completed, no anomalies.
• Cmd #26082: Move -1000mm; completed, no anomalies.
• Cmd #26084: Turn toward (-2333, 3997; completed, no anomalies.
• Cmd #26086: Move -70mm, completed, no anomalies.
• Cmd #26087: Goto waypoint (-2333, 3997); completed, no anomalies.
• Cmd #26090: Move -70mm, completed, no anomalies.
• Cmd #26091: Go to waypoint(-2981, 3168); incompleted, stopped at (-2349, 3938, 214.7) due to wheel stalled (high wheel motor current (208mA))which generated error 0x905. The stall diagnostic sequence took place right after the stall, which reversed the wheel direction, did release the wheel stall condition. (indication of wheel encoder changed and low motor current reading). An image was taken after this failed traverse.
• Cmd #26093: Turn toward (-4363, 3216) for imaging; skipped due to failed traverse flag generated by the above command.
• Cmd #26116: Turn toward (-3890, 2262);command was skipped.
• Cmd #26118: Move -70mm; command was skipped.
• Cmd #26119: Goto waypoint (-3890, 2262); command was skipped.
• Cmd #26123: Turn to heading -335degs; command was skipped.
• Cmd #26118: Move 0mm; command was skipped.
• The lander transmitted all yesterday rover telemetry generated by sequence #52520, which was uploaded right after the lander/rover comunication glitch.
• Today,the rover passed mini matterhorn, spock and failed to reached its destination at squash due to left front wheel stalled. Since the hazard avoidance flags were set to allow the rover to react only if sensor out of limits, contact triggered and laser/prox detection, the traverse was aborted. A failed traverse image was taken successfully. During these traversals, Z accel continued to showed anomalous readings, while Y accel only showed 2 anomalous readings.
• The rover current position:
  • Rover thinks: (-2349, 3938, 214.7)
  • Driver thinks: (????)

  CONSTRAINTS:

  • Do health check level 2 after every vehicle movement.
  • Set Z accel to FORCED_BAD for all vehicle movements.

THERMAL PERFORMANCE:

• The CPU and PWR boards are approaching a high of 35 C and will not exceed FA's.
• Sol 25 pm Max recorded: 36.0 PWR, 36.2 CPU, 8.7 MAE
• Sol 26 am Min recorded: -25.0 WEB, -20.2 CPU, -51.3 MAE
• The RF temperature sensor is still bad and remains forced failed.

  Recommendations:

  Perform wakeup every 2 hours for overnight thermal data on Sol 27 evening/Sol 28 morning. Tests 9.1 and 9.9 will be requested for Sol 28 morning.

TELECOM PERFORMANCE

The Rover Telecom Subsystem performed nominally during operations for SOL26. The Rover radio modem and LMRE radio modem can be used without restriction for upcoming sequences. An interesting feature of this sol is that although the rover temp never got above 30 C, the link quality still rose to 80 - 90 % at end of day, AFTER the temp dropped back to 25 C, although there was not much frame traffic at this time.

STATISTICS

• The rover's circumnavigation of the lander, now in it's third day, brought the rover out along a main lobe of the LMRE antenna, where the gain is within about 5 dB of maximum. Two sets of rover images, 1 near Mini- Matterhorn, and 1 near Squash, were successfully transmitted over the link.
• Rover temperature ranged from -18 C at wakeup to +30 C at 11:45 MLST.
• Rover receive and transmit currents were 46.4 and 159.5 mA respectively.
• Overall Lander side frame counts indicate a link quality of 52.5% for 4394 frames.
• Rover side link performance is at 98.9% for 6663 frames.

RECOMMENDATIONS

• The standard recommendation of rover heat/reheat for 600/300 sec (900/300 if no overnight APXS), at wakeup should be continued (with a target wakeup temperature of -10 C).
• Heating the rover modem an additional 300 seconds immediately prior to large-packet image transfers is also recommended.
• Currently, there is no request to enable LMRE heating prior to wakeup.

MOBILITY PERFORMANCE:

• The activities today included 2 1/2 of 4 Waypoints as well as several moves and turns. The first two waypoints and all moves/turns executed nominally. Waypoint command 26091 terminated due to a stalled left front wheel. Since haz_avoid was set to 11, avoidance of stalled motors was not enabled and the Rover stopped on non-traversable hazard, set the hazard flag and incremented the failure counter.
• The high current reported was 209 mA which is FULL stall (~90 in-lb). The software responded properly and reversed the wheels. Once reversed, the currents dropped to nominal levels (15 mA) and the wheel encoder started counting again. No binding rock is visible in imagery or telemetry. Possible causes for this problem are stuck pebble or jammed cleat. The mobility system is healthy.
• Two significant spikes were observed in the Y accelerometer.
• Daily Odometry: 5.560 m
• Total Odometry: 46.242 m
• Average Wheel Odom: 65.497 m

  Recommendations:

  • Start Sol 27 sequence with a Soil Mechanics, Wheel 0, -1200 counts. Turn to intended heading. Proceed as normal.
  • Consider enabling avoidance of stall hazards.

POWER PERFORMANCE:

Based upon the data returned in the health checks returned in SOL 26, the Power Subsystem is in good health with no operational problems noted.

• Large set of Read Memory commands used to implement the "accelerometer test" sequence caused a problem with the TDS. Query's which span the entire downlink period and order by SCET will fail due to "too many open files". Solution was to perform a manual query ordering on ERT. Afterwards the "byte" file (tds.out.ert) was manually reordered using "sortby" command and then manually processed to generate the usual set of data products.
• Offending TDS entry occured with ERT between 97/211-18:54:00 and 97/211-18:55:00.

TBD