Due to communication problems with the spacecraft today, there was no downlink. Additionally, we do not know if today's sequence (52910D) was queued and accepted by the Rover.

Retransmit Status:

Received no new retransmitted packets.

• No downlink

• No downlink

• No downlink

Images:
• 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
Sol 27 and 28 Retransmit:
• Missing commands 27120 through 270165 (except for 27154); APIDs are 4, 5, and 6
• Missing commands 28001 (APIDs 5 and 6) and 28003 (APID 5)

1. Start sol 30 sequence with '29001 Abort Sequence' command so that if 52910 was already received and executed, the sol30 sequence (which should be a virtual repeat of sol29) will be rejected
2. REMOVE explicit heating of modem prior to morning image transfer (superseded by maximum reheat temperature setting in "general constraints")
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. 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. 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:	Runout of 52810
Wakeup:	TBD
Executing sequence 52810C or 52910D

VEHICLE STATE (Reflecting same status at end of sol 28): (AS OF COMMAND: 28065, Commanded Health Check SCET: 8/1/97 22:04:15 )

Mission Phase:	Primary
Mode:	Executing
Config:	APXS Deployed
	At edge of mermaid dune
Power:	Nominal
Device Status:	Z Accelerometer 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 (     -5.256     -5.622    ?       LBogey (deg)   -3.60    -3.36
Y Position (m)   +2.907     +2.868    ?       RBogey (deg)   -0.80    -0.80
Heading  (deg)   +16.6      +357.5    ?       Diff   (deg)   -3.36    -4.48

Pitch    (deg)    +1.2     +3.5  (+ Pitch -> Front down)
Roll     (deg)    +2.4     -2.4  (+ Roll  -> Roll to Starboard)

ADM Pos  (deg)    -1.28    -129.28  (Deployed on Ground)

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

BATTERY STATE/USAGE (reflecting status at end of sol 28)**

              Total         Battery   Remaining (Amp*hrs)
Category    Allocation      Initial    Final    *Predicted
--------------------------------------------------------------
Operations      10           4.437***  4.388     4.338
Science         10           5.620     5.620     5.380
Technology      10           7.534     7.434     7.434
--------------------------------------------------------------
Total           30          17.591    17.442    17.152

*** 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

TBD

DATA VOLUME SUMMARY (BY APID)*

None

*All data downlinked on this Sol INCLUDING retransmitted data.

NAVIGATION PERFORMANCE:

None

THERMAL PERFORMANCE:

None

TELECOM PERFORMANCE

None

MOBILITY PERFORMANCE:

None

POWER PERFORMANCE:

TBD