• Commands 8227 through 8234
  • Indicating mass quantities of loadsheds and resets
• Commands 8258 through 8261
  • Indicating EEPROM storage problem (errors x0103 and x0105)
  • Commands 8236 through 8257 lost due to unknown cause
• Commands 8290 through 8294
  • 'Bogus data in EEPROM' errors (x0202)
  • Health Checks indicate (apparently bogus) wake-up on alarmclock on 9/2/97 at 12:12 SCET
  • Commands 8262 through 8289 lost due to unknown cause
  • Sequence aborted at Command 8294 (and out of the Thompson loop)
• +5 Volt Regulator now indicates 'Never Power' (3.3 Volt regulator still shows NP as well)
• Telemetry indicates all three ADM contact sensors now in contact
  • Appeared in health check right before shutdown on Sol 60
  • Lots of weird data values show up in health checks at that time, including ADM angle change

Sequence 56010B:

• Sequence originally intended to run on Sol 60
• Received commands 10002 through 10068 with no missing commands
• Shutdown at 10047 skipped because it was Sol 61 when sequence was received and executed
• Telemetry still indicates all three ADM contact sensors in contact
• An S0055 EOD image was not received (not planned for)
• Sequence is quite boring, but safe

• 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

WE ARE ON A SOLAR MISSION FROM HERE ON OUT!

Operational Constraints (for Sol 62 Sequence):

1. New or changed recommendations:
   
   • Do not perform APXS (and 'hold_comm') beyond 14:30 LST
   • Disable MAE such that it is not used to determine available power, or set new power limits (recommend to ~7 watts)
   • Set Devices x25 (5V reg), x26 (3.3V reg) , x38 (LC Laser), and x2F (APXS) to 1, then perform level 3 health check (between 9:00 and 15:00 MLST).

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

Operational Constraints (General):

1. No Battery Mission
   • Limit Imaging to 09:30 to 14:30.
   • Limit Driving to 10:00 to 14:30.
   • Do not use relative waits while in hold_comm
   • Try to complete major operations by 14:30 MLST
   • When shutting down for the night command the vehicle to wakeup at 07:30 LST the next morning. This is important from a telemetry standpoint in that it will limit the degree to which our telemetry plots are scrambled.
   • The ONLY time the vehicle should be "shutdown" is at the end of the day.
   • DO NOT perform Level 3 Health Checks prior to 9:00 or after 15:00.
   • Disable battery usage for all devices.
2. It is 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.
3. Make sure sequence has as many days of runout as possible (analogous to the design of the 54910B sequence.
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.
   • Set Modem Heat to 15 minutes normall, 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) 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
   • Change HC after LoadShed Reset to Level 2 instead of Level 3.
   • DO NOT perform Level 3 Health Checks prior to 9:00 or after 15:00.
   • 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 61):

Execution:	Nominal
State:	Running
Wakeup:	Unknown, due to bogus data
Crit Errors:	Load Sheds, EEPROM write
Executing sequence 56010B

VEHICLE STATE: (AS OF COMMAND: 10053 Level 3 Health Check
SCET: 9/4/97 17:43, MLST: Sol 61 12:00 )

Mission Phase:	Primary
Mode:	Executing
Config:	Moderate roll and pitch
	APXS Deployed onto Half Dome
Power:	No Battery Mission
Device Status:	Gyro force failed
	Z accel force failed
	RFW temp. force failed
	3.3 V Reg Never Power
	5 V Reg Never Power
	LC Laser Never Power
	APXS Never Power
	Batteries Force Failed
Temp (Internal):	Nominal
Temp (External):	Nominal
Temp:(Modem):	Nominal

   Parameter     Initial      Final    IMP EOD    Parameter    Initial     Final
---------------------------------------------------------------------------------
X Position (m)   -4.934      -4.942       ?      LBogie (deg)  +16.88     +16.88
Y Position (m)   -3.876      -3.876       ?      Rbogie (deg)  -16.16     -16.24
Heading   (deg)   +89.1      +89.1        ?      Diff   (deg)  +13.36     +13.36

Pitch    (deg)    +15.5      +15.5     (+ Pitch -> Front down)
Roll     (deg)    +16.7      +16.7     (+ Roll  -> Roll to Starboard)

ADM Pos  (deg)   -101.12    -101.12     (deployed)

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

BATTERY STATE/USAGE(AS OF EOD SOL 61)

THEY'RE DEAD, JIM

	ADM			Bumper		Solar
	UL	UR	B	RB	LB	LR	RR	RF	LF
Mask	1	1	1	1	1	1	1	1	1
State	1	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 61):

S/S	Status	Comments
C&N	Nominal	Y accel Glitch, Laser & 3.3V, 5V Regulator suspect
MTM	Nominal	None
Thermal	Nominal	None
Power	Nominal	Batteries Depleted, MAE unreliable
Telecom	Nominal	None

None

DATA VOLUME SUMMARY (BY APID)*

APID   #PKTS     #BYTES    #Mbits
----------------------------------
  4       24      7217     0.05774
  5       53      2805     0.02244
  6        1        60     0.00048
  7       10      5555     0.04444
  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        0         0     0.00000
 29        0         0     0.00000
----------------------------------
          88     15637     0.12510

*All data downlinked on this Sol INCLUDING retransmitted data.

NAVIGATION PERFORMANCE:

No traverses on this Sol

THERMAL PERFORMANCE:

Report Pending

TELECOM PERFORMANCE

Telecom system performance was nominal this sol.  There are no telecom operational cnstraints for future rover operations.

The end-of-sol communication system performance for the downlink was as follows:

SOL 61 DOWNLINK TELECOM STATISTICS

Rov Radio Temp Low =    -19.3
Rov Radio Temp High =   24.9
Rov Radio Temp Avg =    0.5
LMRE Radio Temp Low =   -10.5
LMRE Radio Temp High =  19.6
LMRE Radio Temp Avg =   10.7
Rx Current Low =        0.0
Rx Current High =       46.4
Rx Current Avg =        28.8
Tx Current Low =        0.0
Tx Current High =       159.5
Tx Current Avg =        43.5
LMRE Good Frames =      596
LMRE Garbled Frames =   394
Avg LMRE Link Quality%= 60.2
TX_CH_FRAMES =  826
RX_CH_FRAMES =  699
Total Frame Resends =   127
Avg Rover Link Quality%=        84.6
COM:Bad CRC Errors =    18
COM:Timeout Errors =    50301
COM:Rx Abort Errors =   731
COM:No Sync Errors =    4
COM:RX Com Errors =     37803


In planning the sequence for Sol 62 and beyond, the revised modem heating strategy ued should be followed:

For rover wakeups on solar power, modem heating is only needed if communications is eeded  in the morning. In this situation set modem heating to 0 and reheat to 300 seconds. Also, if there are afternoon only downlink sessions, then no modem heating is required after wakeup on solar. The rover modem should be commanded in the next-day runout sequence to perform a 300 second modem reheat at wakeup. Later in the day, 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:

No traverses on this Sol

POWER PERFORMANCE:

With the exception of the battery, which was depleted on SOL 56, the remainder
of the Power Subsystem is in good health with the possible exception of the 3.3Volt switching regulator which was marked NP (never power) during the SOL 58
downlink and the 5 Volt switching regulator which was marked NP during this
downlink in what seems also to be a case of corrupted data.  Both of these
regulators are now kept off during the health checks so there is no way of
confirming if they are bad or finding if they are in fact good.  Any check of
this will need to have a reset of the NP condition which should happen in the
next few SOLs.  The power subsystem continues to operate only on solar power.
There was only this new operational problem noted in the SOL 61 telemetry.

None

TBD