Retransmit Status:

• No retransmits requested

• No downlink due to unknown reasons; had initial signal lock, but suddenly ceased just after start of downlink
• No way to verify that that sol 43 sequence was queued or not (Manning - "low probability that it was queued")

• No downlink due to unknown reasons; had initial signal lock, but suddenly ceased just after start of downlink
• No way to verify that that sol 43 sequence was queued or not (Manning - "low probability that it was queued")

• 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

With no S0055 EOD imaging or rover telemetry and no way to verify receipt of the new sequence, no further rover uplink should be implemented until communication with Lander is restablished

Operational Constraints (for Sol 44 Sequence):

1. New or changed recommendations (will leave as was for Sol 43):
   
   • Change Rover Wakeup Time to 07:45 LST (after Solar wakeup, with minimal time clock error).
   • Shutdown and wakeup Sol 44 night at 2 hour intervals for thermal characterization (Technology Battery Allocation).
   • Do NOT move with Bogie potentiometers disabled.
2. Perform EOD Synch Clock AFTER Clear Errors so it is not skipped.
3. DON'T allow modem reheat until LMRE is on (maybe break morning wait into two)
4. Patch new value for Risk Level 2 Articulation Hazard limit OR
   Disable Differential pot when necessary to prevent/escape articulation hazard

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. 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.
   • DO NOT MOVE with bogies disabled.
   • Patch new value for Risk Level 2 Articulation Hazard limit OR
     Disable Differential pot when necessary to prevent/escape articulation hazard
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 (AS OF EOD SOL 42):

Execution:	Nominal
State:	Wait 42103
Wakeup:	Solar, 1997 228 SOL 42 08:06:07 LTST per Rover, but true wakeup was ~07:31
Crit Errors:	None
Executing sequence 54210D

VEHICLE STATE(AS OF EOD SOL 42): (AS OF COMMAND: 0 Auto Level 2 Health Check following command 42103
SCET: 8/16/97 05:40, MLST: Sol 42 12:29 )

Mission Phase:	Primary
Mode:	Executing
Config:	APXS fully retracted
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)   -3.069     -2.994        ?       LBogey (deg)  -18.48     +5.36
Y Position (m)   -1.156     -2.107        ?       RBogey (deg)  -12.16     -1.84
Heading  (deg)    291.4      182.6        ?       Diff   (deg)   -9.60     -1.84

Pitch    (deg)     -1.2       -3.5     (+ Pitch -> Front down)
Roll     (deg)    -14.3       +8.3     (+ Roll  -> Roll to Starboard)

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

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

BATTERY STATE/USAGE(AS OF EOD SOL 42)**

As of Sol 41 - update pending

              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 (AS OF EOD SOL 42):

S/S	Status	Comments
C&N	Nominal	None
MTM	Nominal	None
Thermal	Nominal	None
Power	Nominal	None
Telecom	Nominal	None

None (no Downlink)

DATA VOLUME SUMMARY (BY APID)*  


None, no downlink

  

*All data downlinked on this Sol INCLUDING retransmitted data.

NAVIGATION PERFORMANCE:

Report Pending

THERMAL PERFORMANCE:

Report Pending

TELECOM PERFORMANCE

Report pending

MOBILITY PERFORMANCE:

Report Pending

POWER PERFORMANCE:

Report pending.

• No Downlink

TBD