APXS on Half Dome
THANK ME!

Sequence 55410C:

• Received telemetry for all commands not received yesterday (i.e., starting at 4077) up through the "end of nominal sequence execution".
• APXS spectra's of Half Dome were skipped due to lack of contact with Half Dome as intended.
• All (3) Accelerometers working fine.
• No errors reported.
• Vehicle remained healthy.
• Sequence aborted by Sequence 55510D as planned.

• Sequence queued on schedule
• First Run Motor command to deploy ADM terminated with ADM making contact (Bottom Sensor) with Half Dome!
• Subsequent Run Motor commands and interlaced health checks skipped as intended.
• APXS Deploy prematurely terminated when it detected that the APXS was already in contact. HOWEVER, the check for contact is not made immediately and the ADM was deployed an additional 8 degrees before the command was terminated. (See operational constraints below). The additional deployment apparently caused the sensor head to comply more with the surface of the rock and triggered a second contact sensors (Upper Right). We were a little surprised that 8 degrees of additional deployment didn't cause all three contact sensors to trigger ... unless the Upper Left contact sensor is not working properly? There is a concern that the added stress on the ADM may compromise the integrity of the Cerrobend. The final position of the ADM was noted to be 1.28 degrees less than the position immediately after the Deploy APXS command. However, 1.28 degrees is also 1 LSB on the telemetry data. We will see tomorrow if the ADM has actually creeped.
• All (3) Accelerometers working fine.
• Vehicle remains in excellent health.

• 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

Proceed with nominal sequence for Sol 56. Operational Constraints (for Sol 56 Sequence):

1. New or changed recommendations:
   
   • Executing the APXS Deploy command when the APXS is already in contact will cause the ADM to be deployed an additional 8-10 degrees putting a higher than normal amount of stress on the mechanism and most importantly on the Cerrobend. In the presense of warm afternoon temperatures, this added stress MAY cause the Cerrobend to creep and thereby compromise its integrity.

     It is therefore recommended that prior to executing a Deploy APXS command when the APXS may already be in contact the APXS should first be retracted by about 10 degrees to make up for the inherent 8-10 degrees of motion that will always occur during the beginning of the APXS Deploy command.

1. Perform gyro/encoder turn-in-place test 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 Sync 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 normally; 10 minutes if following a night-time APXS, 0 minutes if sequence to be queued after 12:00 LST
   • 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 55):

Execution:	Nominal
State:	Running
Wakeup:	Solar Power, SOL 55 08:04 LTST per Rover but actually 07:54:09
Crit Errors:	None
Executing sequence 55510D

VEHICLE STATE: (AS OF COMMAND: 5100 Set Error Mask
SCET: 8/29/97 15:51, MLST: Sol 55 14:02 )

Mission Phase:	Primary
Mode:	Executing
Config:	Moderate roll and pitch
	APXS Deployed onto Half Dome
Power:	Nominal
Device Status:	Gyro force failed
	Z accel force failed
	RFW temp. force failed
Temp (Internal):	Nominal
Temp (External):	Nominal
Temp:(Modem):	Nominal

   Parameter     Initial      Final    IMP EOD    Parameter    Initial     Final
---------------------------------------------------------------------------------
X Position (m)   -4.934      -4.934       ?      LBogie (deg)  +35.38     +35.76
Y Position (m)   -3.718      -3.718       ?      Rbogie (deg)  -22.16     -22.24
Heading   (deg)   +70.6     +73.0         ?      Diff   (deg)  +16.56     +17.20

Pitch    (deg)    +15.5      +15.5     (+ Pitch -> Front down)
Roll     (deg)    + 7.1      + 7.1     (+ Roll  -> Roll to Starboard)

ADM Pos  (deg)    -10.24      -92.16     (deployed)

LFS      (deg)    -43.5       -43.5              RFS    (deg)   +42.2
LRS      (deg)    +46.7       +46.7              RRS    (deg)   -48.6
--------------------------------------------------------------------------------

BATTERY STATE/USAGE(AS OF EOD SOL 55)

              Total         Battery   Remaining (Amp*hrs)
Category    Allocation      Initial    Final    *Predicted
--------------------------------------------------------------
Operations      10           TBD        TBD       TBD
Science         10           TBD        TBD       TBD
Technology      10           TBD        TBD       TBD
--------------------------------------------------------------
Total           30           TBD        TBD       TBD

*   at completion of sequence 55510D.

	ADM			Bumper		Solar
	UL	UR	B	RB	LB	LR	RR	RF	LF
Mask	1	1	1	1	1	1	1	1	1
State	0	1	1	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 55):

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

 5052 deploy_apxs (    0,  100) 0D00: LB1 RB0 DIFF2 ART2 AX0 AZ2
 5052 deploy_apxs (    0,  100) 0D00: LB1 RB0 DIFF2 ART2 AX0 AZ2

DATA VOLUME SUMMARY (BY APID)*

APID   #PKTS     #BYTES    #Mbits
----------------------------------
  4       30      8874     0.07099
  5      128      5157     0.04126
  6        7       420     0.00336
  7        8       320     0.00256
  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      111    190806     1.52645
 29        0         0     0.00000
----------------------------------
         284    205577     1.64462

*All data downlinked on this Sol INCLUDING retransmitted data.

NAVIGATION PERFORMANCE:

ACTIVITIES:

Deploy APXS further down on to Half Dome rock.

• Vehicle initial position:
  • Rover thinks: (-4934, -3718, 70.6)
  • Driver thinks: (-4934, -3718, 73.0)

• Cmd #5034: Run motor to -1900; completed, with an advisory error 0xA03. The bottom APXS contact was triggered. The APXS mechanism position angle was -84.48 degs.
• Cmd #5036, 5039, 5041, 5043 were skipped due to the above error. Missing a chance to straighten the steerings!
• Cmd #5052: Deploy APXS to -1900; completed, with an advisory error 0xA03. The upper right and the bottom contacts were triggered. The APXS was deployed further down on to the rock and the APXS mechanism position angle was -92.16 degs.

  The APXS successfully contacted with the Half Dome rock while the vehicle was still pitching down (the rear was up) and the vehicle steering position was at turn-in-place position. The second APXS deployment pushed the APXS further down, resulting in an additional contact was triggered (upper right) and the APXS mechanism deployed an additional 8 degs. This could cause the mechanism to release its strain by retracting back a bit when the ceribend slightly melts due to the rising of temperature at noon. Overall the X, Y and Z accels showed no anomalous readings today.

• The rover current position:
  • Rover thinks: (-4934, -3718, 73.0)
  • Driver thinks: (????)

  CONSTRAINTS:

  • 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 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:

Pending

TELECOM PERFORMANCE

Pending

MOBILITY PERFORMANCE:

Pending

POWER PERFORMANCE:

Pending

• None

TBD