Sequence 57510A:

• Received telemetry for commands 25058 - 25090, with exception of 25070 and 25071.
• Sequence aborted by sequence 57610C one command prior to "end of nominal sequence execution".
• Heat modem command 25074 errored out due to insufficient power available. Not totally unexpected since command was performed at ~8:30 LST. The following Set Parameter command (tbuf_mode = 2) was skipped.
• Appears to be a TDS problem with images taken behind bookcase. Essentially all packets are reportedly received on earth but images have significant gaps. Will have to investigate.
• Overall rover health is excellent

Sequence 57610C:

• Sequence queued 22 minutes late due to error DSN antennae slew parameter settings.
• All Move, Turn, and Waypoint commands executed just fine up to the second Waypoing command (26039).
• Waypoint command 26039 errored out about 1/2 meter (out of 2.5 meters) shy of its intended goal due to detection of a stall condition on the Left Rear Wheel. Based upon the rover's kinematic configuration and location of the rover in the EOD images we most likely picked up a small rock in the cleats of the Left Rear Wheel. kMotor current data does not absolutely confirm whether or not the automatic reversal of this wheel cleared the rock from the wheel.
• Subsequent Turn, APXS deployment, and Move commands were skipped.
• All telemetry received up to point at which LMRE turned off (Command 26065).
• Rover is in relatively benign configuration (i.e., little tilt, bogies and differential close to zero position.
• Rover's overall health remains excellent.

• 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 (for Sol 77 Sequence):

1. New or changed recommendations:
   
   • Run Left Rear Wheel in reverse ~ 3/4 of a turn to clear rock from cleats.
   • Reset vehicle position/orientation and rerun sequence 57610C again (as a new sequence) starting at waypoint command 26039 prefaced by the usual resetting of parameters.

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
   • Do not perform APXS (and 'hold_comm') beyond 14:30 LST
   • Do not turn on APXS when heating expected as limiter reaction time may not be fast enough to prevent loadshed.
   • 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
   • Do not heat and run APXS at the same time
   • 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 12:30 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 RF Wheel Temperature Sensor
12. Insert longer wait (10 seconds) between APXS cycle start command and APXS turn-off command (turn off devices)
13. Future soil mechanics experiments in suspected hard material should have 6 spins of 500 counts rather than 4.

SEQUENCE EXECUTION STATUS (EOD Sol 76):

Execution:	Nominal
State:	Running
Wakeup:	7:52:14 MLST
Crit Errors:	None ... other than the usual
Executing sequence 57610C

VEHICLE STATE: (AS OF COMMAND: 26065, Read Memory
SCET: 9/20/97 02:44, MLST: Sol 76 11:08 )

Mission Phase:	Primary
Mode:	Nominal
Config:	Benign (i.e., little tilt, wheels all level)
	To the Left of Chimp
	Pebble potentially in LRW cleats
Device Status:	Gyro forced okay, Never Power
	Y accel force failed
	Z accel force failed
	RFW temp. force failed
	Batteries Force Failed
	LRW 1 Failure
Temp (Internal):	Nominal
Temp (External):	Nominal
Temp:(Modem):	Nominal

   Parameter     Initial      Final    IMP EOD    Parameter    Initial     Final
---------------------------------------------------------------------------------
X Position (m)  -11.948      -9.631       ?      LBogie (deg)  + 7.92     - 6.24
Y Position (m)   -3.505      -1.953       ?      Rbogie (deg)  - 4.24     - 0.56
Heading   (deg)  +227.6      +1.6         ?      Diff   (deg)  - 1.76     - 2.08

Pitch    (deg)    - 4.7      + 2.4     (+ Pitch -> Front down)
Roll     (deg)    - 2.4      - 7.1     (+ Roll  -> Roll to Starboard)

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

LFS      (deg)     +0.6       +1.3              RFS    (deg)     0.0       -1.9
LRS      (deg)      0.0       -0.6              RRS    (deg)    -1.9       -0.6
--------------------------------------------------------------------------------

BATTERY STATE/USAGE(AS OF EOD SOL 76)

BATTERIES DEPLETED