Rover taking a bite out of Shark
Our quest has ended!

Operational Constraints (for Sol 53 Sequence):

1. New or changed recommendations:
   
   • None

1. Perform gyro/encoder turn-in-place test at when feasible
2. HAVE S0050 IMAGES TAKEN DURING WAYPOINT COMMANDS ... ESPECIALLY WHEN DRIVING OVER ROUGH TERRAIN!
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. Make sure sequence has as many days of runout as possible (analogous to the design of the 54910B sequence.
2. Perform EOD Synch Clock AFTER Clear Errors so it is not skipped.
3. Change morning wakeup time (via night shutdown) to 8:00 LTST.
4. 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
5. 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)
6. Traverses
   • Do NOT move with Bogie potentiometers disabled.
     
   • 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.
7. 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.
8. Mask all errors (except INVALID CMD) immediately prior to "Read Mem" of persistent state table. Unmask accordingly immediately afterwards.
9. Perform Read Memory just before last downlink session
10. Perform Sync Clock just prior to EOD shudown (or LMRE off) after Clear Errors.
11. Disable auto shutdown
12. DISABLE RF Wheel Temperature Sensor
13. Insert longer wait (10 seconds) between APXS cycle start command and APXS turn-off command (turn off devices) .
14. Future soil mechanics experiments in suspected hard material should have 6 spins of 500 counts rather than 4.

SEQUENCE EXECUTION STATUS (EOD Sol 52):

Execution:	Nominal
State:	Nominal, APXS on Shark
Wakeup:	Solar Power, SOL 52 08:10:23 LTST per Rover but actually ~07:30
Crit Errors:	None
Executing sequence 55210B

VEHICLE STATE: (AS OF COMMAND: 0 (Auto Health Check after command 2091)
SCET: 8/26/97 13:34, MLST: Sol 52 13:44 )

Mission Phase:	Primary
Mode:	Executing
Config:	Nominal
Power:	Nominal
Device Status:	Nominal, with gyro, Z accel, and RFW temp. sensor disabled
	MAE data degraded as it appears cover is not opening fully
Temp (Internal):	Nominal
Temp (External):	Nominal
Temp:(Modem):	Nominal

   Parameter     Initial      Final    IMP EOD    Parameter    Initial     Final
---------------------------------------------------------------------------------
X Position (m)   -5.350      -5.434       ?      LBogie (deg)  +15.76     +15.76
Y Position (m)   -2.892      -3.041       ?      Rbogie (deg)   +0.56      -7.44
Heading   (deg)   +54.0       +62.1       ?      Diff   (deg)   -0.80      +4.24

Pitch    (deg)     +2.4        +2.4     (+ Pitch -> Front down)
Roll     (deg)     -9.5        -9.5     (+ Roll  -> Roll to Starboard)

ADM Pos  (deg)    -1.28      -65.28     (partially deployed)

LFS      (deg)     +1.9        +2.6              RFS    (deg)   -0.6         -0.6
LRS      (deg)     +0.0        +0.6              RRS    (deg)   -1.9         -1.9
--------------------------------------------------------------------------------

BATTERY STATE/USAGE(AS OF EOD SOL 52) - Covers Sol 51 & Sol 52

              Total         Battery   Remaining (Amp*hrs)
Category    Allocation      Initial    Final    *Predicted
--------------------------------------------------------------
Operations      10           2.754     2.631      2.531
Science         10           4.880     4.880      4.880
Technology      10           7.280     7.280      7.260
--------------------------------------------------------------
Total           30          14.914    14.791     14.271

*   at completion of sequence 55210B.

	ADM			Bumper		Solar
	UL	UR	B	RB	LB	LR	RR	RF	LF
Mask	1	1	1	1	1	1	1	1	1
State	1	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 52):

S/S	Status	Comments
C&N	Nominal	None
MTM	Nominal	None
Thermal	Nominal	None
Power	Nominal	Sol 52 MAE data appears unusable
Telecom	Nominal	None

 2032 turn_by    (-5350,-2892) 27B7: AY0
 2032 turn_by    (-5350,-2892) 2A7F: AY0
 2036 move       (-5362,-2914) 2C27: AZ1
 2036 move       (-5374,-2935) 2C27: AY0
 2036 move       (-5414,-3006) 2C27: AX1 AY1
 2036 move       (-5426,-3027) 2C27: AZ1
 2051 deploy_apxs (    0,  400) 0000: AZ2
 2051 deploy_apxs (    0,  400) 0000: AZ2

DATA VOLUME SUMMARY (BY APID)

APID   #PKTS     #BYTES    #Mbits
----------------------------------
  4       27      7941     0.06353
  5       92      4077     0.03262
  6        3       180     0.00144
  7        4       172     0.00138
  8       53     92390     0.73912
  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        2       586     0.00469
----------------------------------
         181    105346     0.84277

*All data downlinked on this Sol INCLUDING retransmitted data.

NAVIGATION PERFORMANCE:

ACTIVITIES:

Partially deploy APXS and backing up to place APXS on Shark. Perform APXS night operation.

• Vehicle initial position:
  • Rover thinks: (-5321, -2957, 52.7)
  • Driver thinks: (-5350, -2892, 54.9)

• Cmd #2032: Turn right by 7 degs; completed, no errors.
• Cmd #2035: Run APXS motor to -750cnts; completed, no errors. No end position was recorded.
• Cmd #2056: Move -200mm; Incompleted, showed error 0xA03: contact interrupt by upper left contact. This indicated that APXS mechanism had contacted with Shark.

  Commands #2038, #2039, #2041, #2042, #2043, #2045, #2046, and #2047 were skipped due to the above error.

• Cmd #2051: APXS deploy to -1200 cnts; incompleted, showed warning error 0xA03: contact interrupt. The APXS mechanism was placed on Shark with the APXS angle was -66.56 degs. This command was carried out after the clear error was performed.

  The vehicle position was adjusted a little bit and the APXS deploy command was performed successfully. All subsequent motion commands were skipped due to the error caused by the upper left contact interrupt. However, the last APXS deploy was carried out successfully by a previous clear error command to ensure the APXS mechanism firmly docking onto Shark. The Z accel showed some anomalous readings, the X and Y accels showed normal readings.

• The rover current position:
  • Rover thinks: (-5434, -3041, 62.1)
  • Driver thinks: (????)

  CONSTRAINTS:

  • If the gyro is disable, odometry will be used to calculate the rover heading during turn-in-place. Consiquently, goto way point commands will not perform arch turns toward destination, however it will use turn-in-place to adjust its heading while driving toward waypoint destinations. Also, there will be no heading adjustment in the move commands.
  • If risk level 2 is set, then the articulation hazard is disable (i.e. driving at your all risk!!!).
  • 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:

Low activity day, nominal thermal performance.

• Nice Afternoon Battery Heating!

• Sol 50 pm Max recorded: 36.0 PWR, 35.5 CPU, 7.1 MAE
• Sol 51 am Min recorded: -29.6 WEB, -23.3 CPU, -60.6 MAE
• Sol 51 pm Max recorded: 35.3 PWR, 35.5 CPU, 6.4 MAE
• Sol 52 am Min recorded: -28.8 WEB, -21.7 CPU, -58.2 MAE

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

TELECOM PERFORMANCE

Telecom system performance was nominal this sol. The rover was stationary in front of Shark rock, yet the LMRE link quality data looks choppy in that it swings between approximately 40% and 75% for most of the day. This may correlate with HGA tracking, since the rover modem was thermally flat during that time. The end-of-sol communication system performance for the downlink was as follows:

SOL 52 DOWNLINK TELECOM STATISTICS	

Rov Radio Temp Low =	-23.9
Rov Radio Temp High =	24.9
Rov Radio Temp Avg =	8.7
LMRE Radio Temp Low =	-9.0
LMRE Radio Temp High =	19.6
LMRE Radio Temp Avg =	11.8
Rx Current Low =	43.5
Rx Current High =	52.2
Rx Current Avg =	46.9
Tx Current Low =	150.8
Tx Current High =	188.5
Tx Current Avg =	169.7
LMRE Good Frames =	1167
LMRE Garbled Frames =	329
Avg LMRE Link Quality%=	78.0
TX_CH_FRAMES =	1112
RX_CH_FRAMES =	1095
Total Frame Resends =	17
Avg Rover Link Quality%=	98.5
COM:Bad CRC Errors =	15
COM:Timeout Errors =	43573
COM:Rx Abort Errors =	700
COM:No Sync Errors =	0
COM:RX Com Errors =	35809

In planning the sequence for Sol 53 and beyond, the revised modem heating strategy used should be followed: The rover modem should be commanded in the next-day runout sequence to perform a 600 second modem heating at wakeup. If no overnight APXS operations are to be conducted, the wakeup rover modem heating should be extended to 900 seconds. Modem reheating should be triggered by an excessive number of frame retries on the rover-to-lander link, and the reheating should continue for five minutes or until the rover modem reaches +30 C. However, if the LMRE radio is off, then the reheat to get to +30C is not needed. This requires some coordination of timing between the LMRE ON times and the rover transmissions. The sequence planners should consider the uncertainty in event completion times introduced by any required modem reheating cycles.

MOBILITY PERFORMANCE:

After another ambitious mobility day, all is healthy.
• Daily Odometry: 0.177 m
• Total Odometry: 80.578 m
• Average Wheel Travel: 113.9 m

POWER PERFORMANCE:

Based upon the data returned in the health checks returned for SOL 51 & 52, the Power Subsystem is in good health with no operational problems noted. The MAE sequence data continue to show that the MAE open and closed readings are not enough different that it is providing good data. It is believed that the MAE movable cover glass is not being moved enough to uncover the short circuit cell completely. It does, however seem to be temperature dependent as the difference is greater, indicating greaater cover glass opening, when the MAE temperature is greater. The data for SOL 52 show that when the WEB heating was conducted late and the rover is tilted so that the maximum power is at 11:18 and not at noon, the total power used by the rover is greater than the predicted power available by as much as 1.5 Watts. This indicates that the predicted power available is not as great as the actual power and one can expect to be able to use more power than is predicted as available by as much as 1.5 Watts.

• Rear image 2060 fragmented

TBD