STATUS: COMPLETED

Previous sequence 53610 will nominally be aborted at command [36168]

MISSION SEQUENCE PLANNER REPORT

SEQUENCE DESCRIPTION

• Sol 37 Scenario
• Sol 37 Long Range Plan

• Sequence 53710C (.pef file, viewable as text)
• Command-by-Command Description* (w/telemetry estimate)

• Roverview Traverse Graphic

• Vehicle Positions:

  	X Position (m)	Y Position (m)	Heading (deg)
  At Sequence Start**	-3.448	-0.837	178.3
  At End of Sol 37* (predicted)	-3.487	-1.236	45.0

  ** Vehicle positions are in surface-fixed frame
  * at completion of planned SOL's traverse activities assuming nominal execution

• Pointing for IMP Images of Rover:
  (same as Sol 36)

  Image Type	X (m)	Y (m)	Z (m)
  S0055	-4.844	-1.171	0.522
  	-4.965	-0.010	0.522
  	-12.980	-3.466	0.522
  	-13.409	-0.416	0.522
  	-4.096	-2.945	0.522
  	-4.634	-1.907	0.522
  	-10.420	-6.959	0.522
  	-11.700	-4.395	0.522

  
  Request eight(!?) stereo pairs for EOD ops imaging

• Telemetry Volume Estimates

  • Sol 37 Downlink (by APID)
    Predicted telemetry volume generated between activation of sequence 53710C from nominal start to nominal abort [37197]

    Command Range Processed: First Command:[37001] Time Executed: 1249946596 222 23:23:09 09:33:12 Final Command:[37197] Time Executed: 1250037056 224 00:30:56 10:00:33 SUMMARY BY TELEMETRY APID:

    APID	Name	Predicted #Pkts	Predicted #Mbits
    4	Health Status	27	0.06286
    5	Ops/Engr	118	0.03690
    6	Sequence Status	11	0.00283
    7	Error Reports	0	0.00000
    8	Science Imaging	54	0.75483
    9	Technology Imaging	0	0.00000
    10	Lander Imaging	0	0.00000
    12	APXS Results	8	0.06842
    23	Priority Ops/Engr.	0	0.00000
    24	Auto Imaging	0	0.00000
    25	Ops Imaging	406	6.37134
    29	Traverse Reporting	4	0.03470
    	TOTAL	628	7.33188

  • 53710C Full Sequence until Nominal Abort (by APID)
  • 53710C RAIF Comment List (comments appear as skipped commands in telemetry stream)

  • 53710C Full Sequence Summary for PLAN-IT

SEQUENCE IMPLEMENTATION REPORT

• SEQUENCE EXECUTION ISSUES:

• SEQUENCE PLAN ASSESSMENT:
  Recommendations for Downlink Assessment Team
  1. None
  Flight Rules Waived:
  1. None
  Macros Modified:
  1. None

Incorporation of EAT Operational Constraints (this sequence)
(Copied from Sol 36 ownlink report)

Modify nominal sequence plan.
Again we recommend APXSing WEDGE or HASSOCK ... get them while we are here ... we are headed into pretty rough terrain ... with no guarantees as to how many rocks in the rock garden we can successfully get to.

Operational Constraints (Sol 37 Sequence):

1. Suggestion
   • 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 near by 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 today.

2. New or changed recommendations:
   • 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 15 minutes and 5 minutes, respectively, on the morning of "runout" Sols. Disable battery usage for modem heating on runout days.
   • Change alarm clock wakeup to 8:00 LTST.
3. Accelerometers
   • DISABLE the Y accelerometer during waypoints and moves at risk level 1
   • CAN DISABLE the Y accelerometer during moves at risk level 2 IF planned path appears 'safe'; otherwise ENABLE Y accelerometer.
   • ENABLE Y accel for waypoints at risk level 2
   • Leave X accelerometer ENABLED
   • Leave the Z accel DISABLED
4. 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.
Engineering Requests:
1. HAVE S0050 IMAGES TAKEN DURING WAYPOINT COMMANDS ... ESPECIALLY WHEN DRIVING OVER ROUGH TERRAIN!
2. Waypoint Navigation:
   • Take seperate S0055 images after each individual waypoint command.
   • Take S0050 (Rover Movie) of each individual waypoint command.
3. Take pre and post 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. 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 15 minutes and 5 minutes, respectively, on the morning of "runout" Sols. Disable battery usage for modem heating on runout mornings.
2. Limit Move command distances to 0.5 meters so that gyro is recalibrated more frequently ... hopefully resulting in less drift.
3. Enable hazard avoidance using sensors, contacts, and laser proximity, and perform each waypoint command only once.
4. If possible, health checks should not be skipped as a result of traversable hazards.
5. Mask all errors (except INVALID CMD) immediately prior to "Read Mem" of persistent state table. Unmask accordingly immediately afterwards.
6. Set Modem Reheat to 5 minutes and maximum modem reheat temperature 30 deg.
7. 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.
8. Terminate heating at 15:00
9. Disable auto shutdown
10. Set Modem Heat to 15 minutes; 10 minutes if following a night-time APXS
11. Perform Read Memory just before last downlink session
12. DISABLE RF Wheel Temperature Sensor
13. DISABLE Z accelerometer.
14. Perform Time Sync just prior to EOD shudown.
15. Always command a Level 2 Health Check before shutdown.
16. Perform level 2 health check at the end of every traverse command
17. Limit image transfer after 1:00 LST (to prevent overheating)
18. Limit each "Move Command" distance to 0.5 meter or less to enable gyro to be recalibrated and thereby reduce the amount of drift.
19. Insert longer wait (10 seconds) between APXS cycle start command and APXS turn-off command (turn off devices)
20. Perform WEB heating on days of low activity (i.e. no traverses) with no night-time APXS operations, and Runouts from 13:00 (noon) to 15:00 MLST.
21. Use Web_Heat_B parameter with Max temp of 30C.
22. Future soil mechanics experiments in suspected hard material should have 6 spins of 500 counts rather than 4.

Incorporation of Operational Constraints
1. All taken into consideration

SCIENCE/TECHNOLOGY OBJECTIVES REPORT

PRESS RELEASE