Previous sequence 53910 will nominally be aborted at command [39180]

MISSION SEQUENCE PLANNER REPORT

SEQUENCE DESCRIPTION

• Sol 40 Scenario
• Sol 40 Long Range Plan

• Sequence 54010D (.pef file, viewable as text)
• Command-by-Command Description* (w/telemetry estimate)

• Roverview Traverse Graphic
• Roverview Traverse Graphic with Terrain Map

• Vehicle Positions:

  	X Position (m)	Y Position (m)	Heading (deg)
  At Sequence Start**	-3.398	-0.862	342
  At End of Sol 40* (predicted)	-5.245	-2.794	??

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

• Pointing for IMP Images of Rover:

  Image Type	X (m)	Y (m)	Z (m)
  S0055	-3.441	-1.319	0.25
  S0055	-3.631	-0.47	0.25
  S0055	-2.983	-2.334	0.00
  S0055	-8.038	-5.668	-0.10
  S0055	-9.088	-3.673	-0.10

  
  Request 5 stereo pairs for EOD ops imaging

• Telemetry Volume Estimates

  • Sol 40 Downlink (by APID)
    Predicted telemetry volume generated between activation of sequence 54010D from nominal start to nominal abort [40148]

    Command Range Processed: First Command:[40001] Time Executed: 1250213796 226 01:36:29 09:47:24 Final Command:[40149] Time Executed: 1250303423 227 02:30:16 10:01:13 SUMMARY BY TELEMETRY APID:

    APID	Name	Predicted #Pkts	Predicted #Mbits
    4	Health Status	27	0.06286
    5	Ops/Engr	86	0.05213
    6	Sequence Status	3	0.00094
    7	Error Reports	0	0.00000
    8	Science Imaging	204	3.01162
    9	Technology Imaging	0	0.00000
    10	Lander Imaging	0	0.00000
    12	APXS Results	0	0.00000
    23	Priority Ops/Engr.	0	0.00000
    24	Auto Imaging	0	0.00000
    25	Ops Imaging	122	1.84677
    29	Traverse Reporting	11	0.14676
    	TOTAL	453	5.12107

  • 54010D Full Sequence until Nominal Abort (by APID)
  • 54010D RAIF Comment List (comments appear as skipped commands in telemetry stream)

  • 54010D 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 39 downlink report)

Modify nominal sequence plan

Need to extricate rover from current location; suggest moving forward off of rocks

Operational Constraints (Sol 40 Sequence):

1. New or changed recommendations: None (other than getting off of rocks)
2. 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 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.

3. Change morning wakeup time (via night shutdown) to 7:30 LTST.
4. 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
5. 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. Ideally we (I ... Henry) would like to have seperate S0050 rover movies for each signficant waypoint command and S0055 end-of-day images after each waypoint.
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. In general, when using the APXS, may consider retracting the APXS after last measurement of the night so it is retracted during the day when warm and can be redeployed (by a new sequence) the next evening on the same target if data is corrupted or invalid.
2. 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.
3. Limit Move command distances to 0.5 meters so that gyro is recalibrated more frequently ... hopefully resulting in less drift.
4. Enable hazard avoidance using sensors, contacts, and laser proximity, and perform each waypoint command only once.
5. If possible, health checks should not be skipped as a result of traversable hazards.
6. Mask all errors (except INVALID CMD) immediately prior to "Read Mem" of persistent state table. Unmask accordingly immediately afterwards.
7. Set Modem Reheat to 5 minutes and maximum modem reheat temperature 30 deg.
8. 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.
9. Terminate heating at 15:00
10. Disable auto shutdown
11. Set Modem Heat to 15 minutes; 10 minutes if following a night-time APXS
12. Perform Read Memory just before last downlink session
13. DISABLE RF Wheel Temperature Sensor
14. DISABLE Z accelerometer.
15. Perform Time Sync just prior to EOD shudown.
16. Always command a Level 2 Health Check before shutdown.
17. Perform level 2 health check at the end of every traverse command
18. Limit image transfer after 1:00 LST (to prevent overheating)
19. Limit each "Move Command" distance to 0.5 meter or less to enable gyro to be recalibrated and thereby reduce the amount of drift.
20. Insert longer wait (10 seconds) between APXS cycle start command and APXS turn-off command (turn off devices)
21. 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.
22. Use Web_Heat_B parameter with Max temp of 30C.
23. 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