Retransmit Status:

• All data except for commands 37205 through 37213 lost during start of downlink Pass 1 due to synch problems; Retransmitted later during Pass 1.

• Received commands 37125 through 37222
• Assume currently in 'wait' (37223)
• Received all four APXS spectrums; initial look indicates data may be good
• APXS deployment contact sensor state changed
  • Upper left contact sensor no longer making contact
  • APXS deployment angle reduced by 1.28 degrees
  • May indicate some serrabende slippage due to extended deployment during middle of day (relatively warm), or some mechanical relaxation of rover
  • Vehicle pitched down 8.3 degrees from 7.1 yesterday.
• Insufficient solar power error 1002 during MAE experiment (skipped) at 3:00am MLST as one would expect (is this a starlight experiment?)
• Usual phase change errors (1D02)
• Y accelerometer value returned to nominal (-0.031 g), perhaps overnight power cycling fixed it.
• Overall vehicle is in excellent health (with exception of the Y accelerometer and RFW temp. sensor).
• No new S0055 EOD taken

• Lander shutdown at night
• Did Request full retransmit of APIDs 4, 5, and 6 in additional to (automatic retransmit) APIDs 7 and 12
• Standing Request to retransmit most critical data (APID's 7, 12) 30 minutes into planned downlinks EVERY Sol due to loss of retransmit capability in Lander

Operational Constraints (Sol 39 Sequence):

1. Suggestion
   • When performing long waypoint traverses with "thread-the-needle" enabled like that performed on Sol 35, break the waypoints up such that the last segment is performed with "thread-the-needle" disabled. This way the vehicle will make sure (most likely) that it ends up in a location in which it can safely turn in place without climbing on nearby obstacles. If the vehicle stops because it can not find a path as wide as the turn circle, subsequent turn commands will be skipped ... and we may be able to avoid the situation we ran into on Sol 36.

2. New or changed recommendations:
   • In general, when using the APXS, may consider retracting the APXS after last measurement of the night so it is retracted during the day when warm and can be redeployed (by a new sequence) the next evening on the same target if data is corrupted or invalid.
   • Change morning wakeup time (via night shutdown) to 7:30 LTST.
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. HAVE S0050 IMAGES TAKEN DURING WAYPOINT COMMANDS ... ESPECIALLY WHEN DRIVING OVER ROUGH TERRAIN!
2. Ideally we (I ... Henry) would like to have seperate S0050 rover movies for each signficant waypoint command and S0055 end-of-day images after each waypoint.
3. 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.
6. (DESIRE) Perform Wheelie before start of Traverse and Soil Experiment at end of Sol's traverse when practical

1. Set modem Heat and Reheat parameters both to "0" prior to shutting down for the night if LMRE is NOT going to be turned on prior to expected rover solar wakeup of ~7:15 LST. Reset them back to 15 minutes and 5 minutes, respectively, on the morning of "runout" Sols. Disable battery usage for modem heating on runout mornings.
2. Limit Move command distances to 0.5 meters so that gyro is recalibrated more frequently ... hopefully resulting in less drift.
3. Enable hazard avoidance using sensors, contacts, and laser proximity, and perform each waypoint command only once.
4. If possible, health checks should not be skipped as a result of traversable hazards.
5. Mask all errors (except INVALID CMD) immediately prior to "Read Mem" of persistent state table. Unmask accordingly immediately afterwards.
6. Set Modem Reheat to 5 minutes and maximum modem reheat temperature 30 deg.
7. 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.
8. Terminate heating at 15:00
9. Disable auto shutdown
10. Set Modem Heat to 15 minutes; 10 minutes if following a night-time APXS
11. Perform Read Memory just before last downlink session
12. DISABLE RF Wheel Temperature Sensor
13. DISABLE Z accelerometer.
14. Perform Time Sync just prior to EOD shudown.
15. Always command a Level 2 Health Check before shutdown.
16. Perform level 2 health check at the end of every traverse command
17. Limit image transfer after 1:00 LST (to prevent overheating)
18. Limit each "Move Command" distance to 0.5 meter or less to enable gyro to be recalibrated and thereby reduce the amount of drift.
19. Insert longer wait (10 seconds) between APXS cycle start command and APXS turn-off command (turn off devices)
20. 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.
21. Use Web_Heat_B parameter with Max temp of 30C.
22. 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 with APXS extended
Wakeup:	Solar, 1997 223 SOL 38 08:07 LTST
Crit Errors:	None
Executing sequence 53710B

VEHICLE STATE: (AS OF COMMAND: 0 Auto Health Check following command 37222, Set Parameter SCET: 8/12/97 03:42:14 )

Mission Phase:	Primary
Mode:	Executing
Config:	APXS fully deployed to Soil/WEDGE
	Tilted down 8.3 degrees (to the south)
Power:	Nominal
Device Status:	Z Accelerometer Forced Bad
	Y 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 (m)   -3.420     -3.420        ?       LBogey (deg)   +0.64     +0.56
Y Position (m)   -1.290     -1.290        ?       RBogey (deg)   +7.52     +7.52
Heading  (deg)  +55.6      +55.6          ?       Diff   (deg)   -2.96     -2.88

Pitch    (deg)     +7.1       +8.3 (+ Pitch -> Front down)
Roll     (deg)     BOGUS      -4.7 (+ Roll  -> Roll to Starboard)

ADM Pos  (deg)    -111.36     -110.08 (Fully deployed)

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

BATTERY STATE/USAGE**

              Total         Battery   Remaining (Amp*hrs)
Category    Allocation    **Initial    Final    *Predicted
--------------------------------------------------------------
Operations      10           3.900     3.825      3.725
Science         10           5.380     4.880      4.880
Technology      10           7.350     7.350      7.350
--------------------------------------------------------------
Total           30          16.630    16.055     15.955

*   at completion of sequence 53710B.
**  as of end of downlink on Sol 34 (i.e., usage includes 3 Sols of activity)

	ADM			Bumper		Solar
	UL	UR	B	RB	LB	LR	RR	RF	LF
Mask	1	1	1	1	1	1	1	1	1
State	0	X	X	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	Y accel acting up again
MTM	Nominal	None
Thermal	Nominal	None
Power	Nominal	None
Telecom	Nominal	None

None

DATA VOLUME SUMMARY (BY APID)*

APID   #PKTS     #BYTES    #Mbits
----------------------------------
  4       20      5878     0.04702
  5       61      2630     0.02104
  6        5       300     0.00240
  7        6       240     0.00192
  8        0         0     0.00000
  9        0         0     0.00000
 10        0         0     0.00000
 12        8      8560     0.06848
 23        0         0     0.00000
 24        0         0     0.00000
 25        0         0     0.00000
 29        0         0     0.00000
----------------------------------
         100     17608     0.14086

*All data downlinked on this Sol INCLUDING retransmitted data.

NAVIGATION PERFORMANCE:

ACTIVITIES:

Sol38 is a run out of sol37, no navigation commands are involved.

• Vehicle initial position:
  • Rover thinks: (-3240, -1290, 55.6)
  • Driver thinks: (Not available)

  The APXS still had one contact triggered with Wedge overnight (the APXS bottom contact had no longer triggered). This probably caused by either the vehicle had been moved slightly or the APXS itself had retracted a bit due to the seripent resilient.

• The rover current position:
  • Rover thinks: (-3240, -1290, 55.6)
  • Driver thinks: (Not available)

  CONSTRAINTS:

• Plan the Move command with distance 0.500m or less to avoid gyro drift.
• 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 vehicle movements.
• Set Y accel to FORCED_BAD for RISK LEVEL = 1 vehicle movements.
• Set Y accel to OK for RISK LEVEL = 2 vehicle movements.
• IF navigation sensor outside limit bit is set to ENABLE in HAZ_AVOIDANCE parameter (to avoid navigation command errored out because of Y accel exceeds navigation limit), the following considerations should be taken in to account:
• * set command TIME OUT longer to allow the vehicle finishes up the command.

THERMAL PERFORMANCE:

Report Pending

TELECOM PERFORMANCE

Report Pending

MOBILITY PERFORMANCE:

Report Pending

POWER PERFORMANCE:

Based upon the data returned in the health checks returned during SOL 38, the Power Subsystem is in good health with no operational problems noted.

• LabView (VERSION 8) commands page continues to not appear to be indicating "gaps" in the command sequence numbers. (George Wells has been notified).

TBD