We got Chimp!

Sequence 57810A:

• Received telemetry for commands 28103 through 28142, when sequence was aborted as planned by sequence 57910B.
• Commands 28063 through 28101 lost due to DSN problems except for retransmit of APIDs 7,12.
• ALL APXS spectra (of air) were received.

• Y accel drifting by almost 12 degrees while Rover stationary.
• X accel shows 6.1 degree change overnight with no corresponding change in other kinematics suggesting X accel drift.

Sequence 57910B:

• Received commands 29002 through 29036.
• Position APXS command successful.
• Only 22 of 48 packets received in rear camera image (not available via FEI). APXS in contact with rock.
• Downlink cut off prematurely due to DSN problems. All IMP images lost.
• Commands 29038 through 29044 probably lost.
• Rover's overall health remains good.

• 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 80 Sequence):

1. New or changed recommendations:
   
   • Request Lossless S0055 for Sol 81 planning.
   • Stay put and soak up some X-Rays!
2. For Sol 81, perhaps get a forward image before leaving.

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 79):

Execution:	Nominal
State:	Running
Wakeup:	? MLST
Crit Errors:	None
Executing sequence 57910B

VEHICLE STATE: (AS OF COMMAND: Auto HC following 29036
SCET: 9/23/97 04:22, MLST: Sol 79 10:48 )

Mission Phase:	Primary
Mode:	Nominal
Config:	APXS positioned on Chimp
Device Status:	Gyro forced okay, Never Power
	Y accel force failed
	Z accel force failed
	RFW temp. force failed
	Batteries Force Failed
Temp (Internal):	Nominal
Temp (External):	Nominal
Temp:(Modem):	Nominal

   Parameter     Initial      Final    IMP EOD    Parameter    Initial     Final
---------------------------------------------------------------------------------
X Position (m)    -8.865     -8.961       ?     LBogie (deg)   +32.64 	  +11.68
Y Position (m)    -2.108     -2.331       ?     Rbogie (deg)   +12.08     +28.32
Heading   (deg)    +65.1      +65.1       ?     Diff   (deg)   + 6.00      -1.68

Pitch    (deg)     +8.3         1.2   (+ Pitch -> Front down)
Roll     (deg)     -5.9         0.0   (+ Roll  -> Roll to Starboard)

ADM Pos  (deg)   -65.56      -65.28    (Partially Deployed)

LFS      (deg)     +0.6        +1.9             RFS    (deg)    -2.6        -3.8
LRS      (deg)     -1.3        -1.3             RRS    (deg)    -0.6        +0.6
--------------------------------------------------------------------------------

BATTERY STATE/USAGE(AS OF EOD SOL 79)

BATTERIES DEPLETED