Look at our acrobatics!
Rear Left wheel is high up on Tigger.

• Lander shutdown at night - No retransmits possible
• 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 42 Sequence):

1. New or changed recommendations:
   
   • Disable differential to eliminate articulation hazard during initial move off obstacle.
     It appears that backing straight and then arcing left again should clear the obstacle.
     Be careful of Tigger.
   • Perform Synch Clock AFTER Clear Errors so it is not skipped.
   • Change Rover Wakeup Time to 07:45 LTST.
   • DON'T allow modem reheat until LMRE is on.
   • Set Web_Heat_A parameter to +40C and leave it there all the time.

1. Shutdown and wakeup Sol 42 night for thermal characterization at 2 hour intervals.
2. HAVE S0050 IMAGES TAKEN DURING WAYPOINT COMMANDS ... ESPECIALLY WHEN DRIVING OVER ROUGH TERRAIN!
3. 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.
4. S0050 images at Low-Compression (3:1).
5. (DESIRE) Take rover images as early in the morning as possible to reduce dark noise current.
6. (DESIRE) Leave rover on until 15:45 LST to collect late afternoon thermal data, perform health check just before shutdown.
7. (DESIRE) Perform Wheelie before start of Traverse and Soil Experiment at end of Sol's traverse when practical

1. Change morning wakeup time (via night shutdown) to 7:45 LTST.
2. Accelerometers
   • DISABLE the Y accelerometer during moves and waypoints at risk level 1
   • CAN DISABLE the Y accelerometer during moves at risk level 2 ONLY IF planned path appears 'safe'; otherwise ENABLE Y accelerometer.
   • ALWAYS ENABLE Y accel for waypoints at risk level 2
   • Leave X accelerometer ENABLED
   • Leave Z accelerometer DISABLED
3. Heating
   • 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 normal values on the morning of "runout" Sols. Disable battery usage for modem heating on runout mornings.
   • Set Modem Heat to 15 minutes; 10 minutes if following a night-time APXS
   • Set Modem Reheat to 5 minutes and maximum modem reheat temperature 30 deg
   • Enable Modem Heat and Reheat only when LMRE is ON.
   • Perform WEB heating on days of low activity (i.e. no traverses) with no night-time APXS operations and Runouts.
   • Use Web_Heat_B parameter with Max temp of +30C from 13:00 to 15:00 when WEB heating.
   • Set Web_Heat_B parameter to -30C (-273) when not heating.
   • Always leave Web_Heat_A parameter at +40C (1197).
   • Limit image transfer after 1:00 LST (to prevent overheating)
4. Traverses
   • Enable hazard avoidance using sensors, contacts, and laser proximity, and perform each waypoint command only once.
   • Limit each "Move Command" distance to 0.5 meter or less to enable gyro to be recalibrated and thereby reduce the amount of drift.
   • 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.
   • 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.
5. Health Checks
   • 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.
   • Always command a Level 2 Health Check before shutdown.
   • Perform level 2 health check at the end of every traverse command
   • 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. Perform Read Memory just before last downlink session
8. Perform Sync Clock just prior to EOD shudown (or LMRE off) after Clear Errors.
9. Disable auto shutdown
10. DISABLE RF Wheel Temperature Sensor
11. Insert longer wait (10 seconds) between APXS cycle start command and APXS turn-off command (turn off devices) .
12. 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 40085
Wakeup:	Solar, 1997 227 SOL 41 08:10:40 LTST per Rover, but true wakeup was 7:40
Crit Errors:	F08 Articulation Hazard (Error Cleared)
Executing sequence 54110B

VEHICLE STATE: (AS OF COMMAND: 40079 Level 3 Health Check
SCET: 8/15/97 03:55, LTST: Sol 41 11:25 )

Mission Phase:	Primary
Mode:	Executing
Config:	APXS fully retracted
	Articulation hazard
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 (m)   -3.540     -3.069        ?       LBogey (deg)  +40.08     -18.48
Y Position (m)   -0.911     -1.156        ?       RBogey (deg)  +10.40     -12.16
Heading  (deg)   +0.6       +291.4        ?       Diff   (deg)   +7.28      -9.60

Pitch    (deg)     -3.5       -1.2 (+ Pitch -> Front down)
Roll     (deg)     -7.1      -14.3 (+ Roll  -> Roll to Starboard)

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

LFS      (deg)     +1.9      +46.1     RFS    (deg)   -2.6   +22.4
LRS      (deg)      0.0      -46.7     RRS    (deg)   -1.3   -22.4
--------------------------------------------------------------------------------

BATTERY STATE/USAGE**

              Total         Battery   Remaining (Amp*hrs)
Category    Allocation      Initial    Final    *Predicted
--------------------------------------------------------------
Operations      10           3.678     3.595      3.495
Science         10           4.880     4.880      4.880
Technology      10           7.350     7.350      7.350
--------------------------------------------------------------
Total           30          15.908    15.825     15.725

*   at completion of sequence 54110B.

	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

40035 move       (-3398, -862) F329: LB0 ART1
40035 move       (-3379, -868) F3C6: LB0 ART0 AY1
40035 move       (-3349, -878) F0F7: AZ1
40035 move       (-3337, -882) EF8F: AZ1
40035 move       (-3319, -890) EF7E: AY0
40035 move       (-3301, -898) EF07: AZ1
40035 move       (-3290, -904) EDE7: AY0
40035 move       (-3273, -913) EC27: AY0 AZ1
40035 move       (-3234, -937) E67A: AY0 AZ1
40035 move       (-3203, -961) E24E: AZ1
40035 move       (-3193, -970) E10F: AY0
40035 move       (-3179, -984) DFA2: AY0
40035 move       (-3171, -993) DEA0: AY0
40035 move       (-3159,-1006) DDC1: AY0
40035 move       (-3151,-1016) DCBC: AY0
40035 move       (-3127,-1046) D969: ART0 AY0
40035 move       (-3120,-1057) D751: AY0
40035 move       (-3113,-1068) D545: AY0
40040 move       (-3113,-1068) D4D3: AY0
40040 move       (-3104,-1085) D3B3: AY0
40040 move       (-3095,-1101) D29C: ART0 AY1
40040 move       (-3089,-1112) D21B: LB0 ART0 AY1 AZ1
40040 move       (-3081,-1129) D1C0: LB0 ART0 AY0 AZ1
40040 move       (-3075,-1140) D102: DIFF0 ART1 AY0 AZ1
40040 move       (-3069,-1156) CF3F: DIFF0 ART2 AY0

DATA VOLUME SUMMARY (BY APID)*

APID   #PKTS     #BYTES    #Mbits
----------------------------------
  4       21      6189     0.04951
  5       68      3195     0.02556
  6        2       120     0.00096
  7        2        92     0.00074
  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      120    236827     1.89462
 29        2      1216     0.00973
----------------------------------
         215    247639     1.98111

*All data downlinked on this Sol INCLUDING retransmitted data.

NAVIGATION PERFORMANCE:

ACTIVITIES:

Avoid obstacles encountered on sol39 by move around the obstacle, then go to waypoint to Rock Garden entrance, and image Rock Garden. Go to waypoint toward Shark, then image Shark. Turn around with APXS facing Shark, and perform soil mechanic left rear wheel.

• Vehicle initial position:
  • Rover thinks: (-3540, -911, 0.6)
  • Driver thinks: (-3398, -862, 342.0)

• Cmd #40035: Move (450, 590, 260), moves while turning left with inner steerings were set at 18.8degs, and outer steerings were set at 8.32degs. Completed, no errors.
• Cmd #40040: Move (520,590, 260), moves while turning left with inner steerings were set at 18.8degs, and outer steerings were set at 8.32degs). Incompleted, the vehicle encountered articulation hazard after the 15 seconds of moving. The rover bogey positions at the time of the abort were: left = -18.64degs, right = -12.24degs and differential = -9.68degs.

  All subsequent navigation commands were skipped. During the traversal, the Z accel continued to show anomalous readings while the Y accel showed nominal readings. The gyro showed a 19 degrees drift during the previous traversal on sol39.

• The rover current position:
  • Rover thinks: (-3069, -1156, 291.4)
  • 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.
    • Check for clearance behind the vehicle at starting position, the vehicle might back up half of the vehicle length (300mm).

THERMAL PERFORMANCE:

• Today was unfortunately a low activity day.

• Sol 40 pm Max recorded: 38.3 PWR, 37.0 CPU, 5.6 MAE
• Sol 41 am Min recorded: -29.6 WEB, -22.5 CPU, -68.2 MAE

• The RF temperature sensor is still bad and remains forced failed.

TELECOM PERFORMANCE

Report Pending

MOBILITY PERFORMANCE:

• Limited Driving Today. LRW saw almost 39 mA while the Rover was climbing on rocks in Move 40040.
  - The mobility system is healthy.
  
  
• Daily Odometry: 0.585 m
• Total Odometry: 75.054 m
• Average Wheel Odom: 105.5 m <- Warranty has expired!
  
  
• Recommendations:
  - Consider enabling avoidance of stall hazards.

POWER PERFORMANCE:

Based upon the data returned in the health checks returned during SOL 41, the Power Subsystem is in good health with no operational problems noted.

• Ximg unable to handle missing image packet.

TBD