Retransmit Status:

• All data appears to be received, so no retransmits requested

• Received commands 37223 through 37244 (seq abort)

• Received commands 39001 through 39171
• LMRE turned off during execution of command 39174 (wait) so no more data was forthcoming after 14:40 LST
• Performed inital move (39048) and turn (39068) successfully
• Performed soil mechanics and WAE experiments, although 'wheelie's are difficult to verify in S0053
• Severe articulation hazard encountered during move command 39072, causing the remaining traverse commands to be skipped
  • Successfully retargeted S0055 EOD image at Rover final position
  • Left middle wheel is apparently elevated (can see rock under left side of rover in EOD) with left bogie at 40 deg (cannot see left bogie in EOD image)
  • Just as well erred out there (before backwards move completed), looks like some really big rocks right behind the rover
  • Right middle and rear wheels appear to be on another rock
• Overall vehicle is in excellent health (with exception of the Y accelerometer and RFW temp. sensor).

• Lander shutdown at night
• No retransmits necessary for Sol 39
• 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 40 Sequence):

1. New or changed recommendations: None (other than getting off of rocks)
2. 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.

3. Change morning wakeup time (via night shutdown) to 7:30 LTST.
4. 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
5. 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. 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.
2. 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.
3. Limit Move command distances to 0.5 meters so that gyro is recalibrated more frequently ... hopefully resulting in less drift.
4. Enable hazard avoidance using sensors, contacts, and laser proximity, and perform each waypoint command only once.
5. If possible, health checks should not be skipped as a result of traversable hazards.
6. Mask all errors (except INVALID CMD) immediately prior to "Read Mem" of persistent state table. Unmask accordingly immediately afterwards.
7. Set Modem Reheat to 5 minutes and maximum modem reheat temperature 30 deg.
8. 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.
9. Terminate heating at 15:00
10. Disable auto shutdown
11. Set Modem Heat to 15 minutes; 10 minutes if following a night-time APXS
12. Perform Read Memory just before last downlink session
13. DISABLE RF Wheel Temperature Sensor
14. DISABLE Z accelerometer.
15. Perform Time Sync just prior to EOD shudown.
16. Always command a Level 2 Health Check before shutdown.
17. Perform level 2 health check at the end of every traverse command
18. Limit image transfer after 1:00 LST (to prevent overheating)
19. Limit each "Move Command" distance to 0.5 meter or less to enable gyro to be recalibrated and thereby reduce the amount of drift.
20. Insert longer wait (10 seconds) between APXS cycle start command and APXS turn-off command (turn off devices)
21. 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.
22. Use Web_Heat_B parameter with Max temp of 30C.
23. Future soil mechanics experiments in suspected hard material should have 6 spins of 500 counts rather than 4.

SEQUENCE EXECUTION STATUS:

Execution:	Nominal
State:	Wait
Wakeup:	Solar, 1997 224 SOL 39 08:20 LTST
Crit Errors:	F08, F07 : Articulation Hazard
Executing sequence 53910C

VEHICLE STATE: (AS OF COMMAND: 0 Auto Health Check following command 39171, Sync Clock SCET: 8/13/97 05:54 )

Mission Phase:	Primary
Mode:	Executing
Config:	APXS fully retracted
	Articulation hazard (left bogie > 40 deg)
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     -3.540        ?       LBogey (deg)   +0.56     +40.08
Y Position (m)   -1.290     -0.911        ?       RBogey (deg)   +7.52     +10.40
Heading  (deg)  +55.6       +0.6          ?       Diff   (deg)   -2.88      +7.28

Pitch    (deg)     +8.3       -3.5 (+ Pitch -> Front down)
Roll     (deg)     -4.7       -7.1 (+ Roll  -> Roll to Starboard)

ADM Pos  (deg)    -110.08     -1.28 (Fully retracted)

LFS      (deg)     +1.3       +1.9     RFS    (deg)   -1.9    -2.6
LRS      (deg)      0.0        0.0     RRS    (deg)   -1.9    -1.3
--------------------------------------------------------------------------------

BATTERY STATE/USAGE**

              Total         Battery   Remaining (Amp*hrs)
Category    Allocation      Initial    Final    *Predicted
--------------------------------------------------------------
Operations      10           3.825     3.732      3.632
Science         10           4.880     4.880      4.880
Technology      10           7.350     7.350      7.350
--------------------------------------------------------------
Total           30          16.055    15.962     15.862

*   at completion of sequence 53910C.

	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	None
Thermal	Nominal	None
Power	Nominal	None
Telecom	Nominal	None

39048 move       (-3419, -973) 2063: AX0 AZ2
39068 turn_by    (-3347, -900) 132B: AY0 AZ1
39068 turn_by    (-3347, -900) 0FD8: AY0
39068 turn_by    (-3347, -900) 07E5: AY0
39068 turn_by    (-3347, -900) 054E: AY1
39072 move       (-3347, -900) 0551: AY0
39072 move       (-3373, -903) 04F5: AY0
39072 move       (-3390, -905) 0393: AY0
39072 move       (-3432, -909) 026D: LB0 ART0
39072 move       (-3457, -910) 02F6: LB0 ART1 AX0 AY2
39072 move       (-3474, -911) 01E0: LB0 ART0 AZ1
39072 move       (-3498, -911) 018A: ART0
39072 move       (-3515, -911) 00C4: LB0 ART0
39072 move       (-3540, -911) 00B8: LB1 ART2
39072 move       (-3540, -911) 0076: LB1 ART2 AZ1

DATA VOLUME SUMMARY (BY APID)*

APID   #PKTS     #BYTES    #Mbits
----------------------------------
  4       38     11153     0.08922
  5      121     14042     0.11234
  6        2       120     0.00096
  7        8       332     0.00266
  8      204    376656     3.01325
  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      122    230966     1.84773
 29        3      1264     0.01011
----------------------------------
         506    643093     5.14474

*All data downlinked on this Sol INCLUDING retransmitted data.

NAVIGATION PERFORMANCE:

ACTIVITIES:

Retract APXS, drive off Wedge, perform soil mechanic WAE wheel and right front wheel. Back off from Hassack, Wedge, and turn around then go to waypoint to Rock Garden entrance, then image Rock Garden. Go to waypoint toward Shark, then image Shark. Turn around with APXS facing Shark, then perform soil mechanic left rear wheel.

• Vehicle initial position:
  • Rover thinks: (-3420, -1290, 55.6)
  • Driver thinks: (-3419, -973, 45.0)

• Cmd #39048: Move 100mm; completed, no errors.
• Cmd #39053, 39054, 39056, 39057, 39062, 39063, 39064: Soil mechanic experiments; completed, no errors.
• Cmd #39068: Turn left by 40degs; completed, no errors. The left bogey angle was about 20degs, indicating that the center left wheel was climbing a rock.
• Cmd #39072: Move -500mm; incompleted, the command was aborted due to an articulation hazard. The left bogey continued to increase the pitch angle, indicating that the left center wheel was climbing a rock. Eventually, the motion was stopped when the bogey angle reached 39.92degs.

  All subsequent navigation commands were skipped due to the above navigation errors, and the rover never accomplished its task for the day. The Y showed some anomalous readings (up to 0.227g).

• The rover current position:
  • Rover thinks: (-3540, 911, 0.6)
  • Driver thinks: (??)

  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 39, the Power Subsystem is in good health with no operational problems noted.

• Soil mechanics command 39163 improperly decommutated
• LabView (VERSION 8) commands page continues to not appear to be indicating "gaps" in the command sequence numbers. (George Wells has been notified).

TBD