Let me climb! Sojourner on rocks
behind Ender, Hassock and Squid

Retransmit Status:

• No Retrasmits Requested

• Received commands 33096 through 33118 during Pass 1.
• Rover reports 8:33 first Health Check (8:18 wakeup).
• Lots of modem reheat in the morning - probably because LMRE is OFF before 10:00 LST.
• LMRE off by end of Pass 1
• Rover is behind ENDER (behind HASSOCK)
• Lander Imaging
  • S0055 received in Pass 2 via RTC.

• Rover AGAIN reports two auto-health checks with data clearly inconsistent (thermal)
• 53110C sequence abort time inconsistent with cmd_ack from 32001 abort.
• Post 8:00 wakeups every day since Sol 31 - none prior
• No LMRE on at wakeup since Sol 31
• Morning MAE data for Sol 33 inconsistent with reported time
  Therefore, Rover clock appears to be running ~ 1 hr fast overnight
  Sol36 sequence contains LMRE on 7:30-8:00 LST Sol 36 to allow Sync Clock as a test.

• No lost packets.
• Lander shutdown at night.
• Request retransmit most critical data (APID's 7, 12) 30 minutes into planned downlinks EVERY Sol due to loss of retransmit capability in Lander

1. New or changed recommendations:
   1. Change modem heat/reheat parameters at LMRE ON time.
   2. Change alarm clock wakeup to 8:30 LTST to allow for clock drift.
      
   3. Remember to wait for S0050.
2. Sequence questions:
   • Why no MAE in runout of 53310B?
   • Why Haz_Avoid not avoiding sensor out of limit and too close to lander (per Persistent State table)?
3. Accelerometers
   • DISABLE the Y accelerometer during waypoints and moves at risk level 1
   • CAN DISABLE the Y accelerometer during moves at risk level 2 IF planned path appears 'safe'; otherwise ENABLE Y accelerometer.
   • ENABLE Y accel for waypoints at risk level 2
   • Leave X accelerometer ENABLED
   • Leave the Z accel DISABLED
4. 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.
5. (DESIRE) Perform Wheelie before start of Traverse and Soil Experiment at end of Sol's traverse when practical

1. Enable hazard avoidance using sensors, contacts, and laser proximity, and perform each waypoint command only once
2. If possible, health checks should not be skipped as a result of traversable hazards
3. Mask all errors (except INVALID CMD) immediately prior to "Read Mem" of persistent state table. Unmask accordingly immediately afterwards.
4. Set Modem Reheat to 5 minutes and maximum modem reheat temperature 30 deg.
5. 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.
6. Terminate heating at 15:00
7. Disable auto shutdown
8. Set Modem Heat to 15 minutes; 10 minutes if following a night-time APXS
9. Set alarm based wakeup to 08:10 LST
10. Perform Read Memory just before last downlink session
11. DISABLE RF Wheel Temperature Sensor
12. DISABLE Z accelerometer.
13. Perform Time Sync just prior to EOD shudown.
14. Always command a Level 2 Health Check before shutdown.
15. Perform level 2 health check at the end of every traverse command
16. Limit image transfer after 1:00 LST (to prevent overheating)
17. Limit each "Move Command" distance to 1 meter or less to enable gyro to be recalibrated and thereby reduce the amount of drift.
18. Insert longer wait (10 seconds) between APXS cycle start command and APXS turn-off command (turn off devices)
19. 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.
20. Use Web_Heat_B parameter with Max temp of 30C.
21. 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 219 SOL 34 08:33:38 LTST
Crit Errors:	None
Executing sequence 53310B

VEHICLE STATE: (AS OF COMMAND: 0, Following 33118, Auto Health Check SCET: 8/8/97 01:09:00 )

Mission Phase:	Primary
Mode:	Executing
Config:	APXS Retracted
	near rock garden
Power:	Nominal
Device Status:	Z Accelerometer Forced bad
	Y Accelerometer Good
	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)   -5.719     -5.719        ?       LBogey (deg)   +4.00     +4.00
Y Position (m)   -1.232     -1.232        ?       RBogey (deg)  -10.00    -10.00
Heading  (deg)   +313.4     +313.4        ?       Diff   (deg)  +11.68    +11.76

Pitch    (deg)     -3.5       -3.5   (+ Pitch -> Front down)
Roll     (deg)     -8.3       -7.1   (+ Roll  -> Roll to Starboard)

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

LFS      (deg)     -0.6       -0.6     RFS    (deg)   -0.6    -0.6
LRS      (deg)      0.0        0.0     RRS    (deg)    0.6     0.6
--------------------------------------------------------------------------------

BATTERY STATE/USAGE**

SOL 33 DATA LATEST AVAILABLE

              Total         Battery   Remaining (Amp*hrs)
Category    Allocation      Initial    Final    *Predicted
--------------------------------------------------------------
Operations      10           4.182**   4.126     4.026
Science         10           5.380     5.380     5.380
Technology      10           7.350     7.350     7.350
--------------------------------------------------------------
Total           30          16.912    16.856    16.756

*** 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 53310B.

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

No traverse

DATA VOLUME SUMMARY (BY APID)*

APID   #PKTS     #BYTES    #Mbits
----------------------------------
  4       20      5859     0.04687
  5       15       835     0.00668
  6        1        60     0.00048
  7        2        80     0.00064
  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
----------------------------------
          38      6834     0.05467

*All data downlinked on this Sol INCLUDING retransmitted data.

NAVIGATION PERFORMANCE:

• No traverse - see Sol 33.

THERMAL PERFORMANCE:

• Rover no-op day.
• Sol 33 pm Max recorded: 43.7 PWR, 43.1 CPU, 7.1 MAE
• Sol 34 am Min recorded: -24.2 WEB, -17.9 CPU, -62.9 MAE
• The RF temperature sensor is still bad and remains forced failed.

  Recommendations:

  No new recommendations

TELECOM PERFORMANCE

No report for Sol 34 available

MOBILITY PERFORMANCE:

• No Traverse
  
• Daily Odometry: 0 m
• Total Odometry: 65.263 m
• Average Wheel Odom: 90.570 m - The Warranty is ALMOST up!

  Recommendations:

  • Consider enabling avoidance of stall hazards.

POWER PERFORMANCE:

Based upon the data returned in the health checks returned during SOL 33, the Power Subsystem is in good health with no operational problems noted.

• None

TBD