Wakeup:

• Alarm Clock, 1997 191 SOL 6 06:56:49 LTST
• All subsystems nominal
• ADM deployed, still in contact with soil.
• Wheels configured for Turn-Place.
• Vehicle essentially level.
• Overnight external minimum -85C ... same as previous night ... as expected.
• Overnight internal minimum temperatures warmer than previous night and warmer than expected. Continued trend could lead to reduction in activities.

• Received missing data for commands 5133 (MAE) and 5134 (Clear Errors) in Pass 2 (LGA)

• Night-time portion (i.e, 5 APXS spectrum) executed nominally
• Aborted at 5661 (Shutdown) by sequence 50610E ... (2) commands earlier than expected. Luckily .. by design I am sure ... apxs_night=0 command repeated be aborting sequence.
• Commands 5526-5588 received in Pass 2.
• Commands 5589-5561 received in Pass 3.

• Position APXS command intended to place APXS on side of rock "YOGI" failed due to articulation hazard (left bogie at -22 degrees).
• Rover not oriented properly causing left rear wheel to contact and drive up face of rock.
• Vehicle left significantly pitched up.
• Subsequent attempt to Deploy APXS to surface also failed due to lack of contact with surface. ADM final position -152 degrees.
• Auto image generated by Deploy APXS failure. Image shows APXS sensor head in air above surface.
• S0050 (Rover Movie) images clearly confirmed that left rear wheel on "YOGI".
• Notified at 11:30 pm PDT that lander had accidentally requeued sequence 50210D.
• Sequence prematurely aborted at command 6126 (Image) by sequence 50210D.
• Sequence 50210D accidentally queued. Apparently Sol 5 lander sequence was modified to replace rover sequence 50510 with rover sequence 50610. Unfortunately, the sequence 50210D queued in the original lander sequence was not deleted. Need to review lander sequences carefully.
• Generated an abort sequence (50620) with a new runout to prevent execution of 50210 and its associated night-time APXS commands.
• Y Accelerometer:
  • Generating numerous anamolous readings.
  • Did not adversely affect sequence since it was "forced bad" in the sequence.
  • Caused health check to generate mission phase change error (benigh ... still in Primary Phase).
  • Analysis of accelerometer currents before and after failure event during crabbing manuever indicate no perceptible change in accel current draw.
• Timing on/for "Rover Movie" was PERFECT!
• Commands 6001-6031 received in Pass 2.
• Commands 6032-6126 received in Pass 3.

• APXS_DLIM setting prevented Turn (5532) from being fully executed. The wheels were however rotated to a Turn-in-place configuration. Was concerned that turn would cause left rear wheel to "fall" of rock and potentially result in damage to left rear corner of solar panel ... or APXS which was deployed. If APXS had impacted surface may also have resulted in contamination of sensor head.
• Second S0055 (EOD) image confirmed that left rear wheel was now barely hanging on to the rock YOGI ... by just a cleat. Vehicle in precarious state.
• Waits and shutdowns in sequence skipped due to outstanding errors and rover time being past old shutdown times.
• Number of images retaken.
• Sequence aborted at command (5703, Hlt Check) by emergency abort sequence 50620A.

• Queued at 00:50 am PDT (w/o OWLT), active at 01:00 am PDT
• Received confirmation of execution upto command 60314 (Shutdown)
• Key Persistent State Table Parameters:
  • Risk Level: 4
  • APXS DLIM: -41.0
  • TBUF_MODE: EEPROM
  • APXS Night: DISABLED
  • Error Mask: 0xFF
  • X Pos: 4.727 meters
  • Y Pos: -3.280 meters
  • Heading: -138.6 deg
  • Y Accel FC: Forced Bad

IMP Imaging:

• S0050 (Rover Movie):
  • Perfectly timed
  • Confirmed left rear wheel on rock "Yogi"
• S0055 (EOD)
  • On Target
  • Shows left rear wheel turned inward and hanging on rock "Yogi" by just a cleat.

• APXS Results (APID 12): 4019 (Should have been received Sol5, Pass 2)

Modify Nominal Sequence Plan

Operational Constraints (For next sequence)

1. Set modem heating to 10 minutes during morning wakeup
2. Set modem reheating to 0 minutes
3. Heat modem for 5 minutes prior to transmission of large messages (e.g., images) IF messages being transmitted prior to 13:00 LST.
4. Do NOT drive/position rover behind "YOGI" (i.e., stay on the side of YOGI facing the lander). There is an LMRE antennae NULL in the vicinity of YOGI.
5. Perform Level 2 Health Checks every hour during the night to acquire night-time thermal profile.
6. Shutdown operations at 15:00 LST.
7. Don't move vehicle before 11:00 LST.
8. ADM retraction/safing sequence
   1. Risk Level 2
   2. Retract ADM to -1413 counts
   3. Move Forward
   4. Risk Level 1
   5. Retract ADM to fully retracted position
   6. Turn (to face Yogi)
   7. Deploy APXS
   8. Position APXS

Operational Constraints (General)

1. Sol 7: Perform afternoon read of persistent state table 13:30 LST.
2. Sol 8 and beyond (until further notice): Perform afternoon read of persistent state table 12:00 LST.
3. Sol 9: Perform afternoon read of persistent state table 13:30 LST.
4. Sol : Perform afternoon read of persistent state table 13:30 LST.
5. Disable Auto Shutdown during nominal portion of each sequence

SEQUENCE EXECUTION STATUS:

Execution:	Off-Nominal, Failed to place APXS on "Yogi"
State:	Executing
Wakeup:	Alarm Clock, 1997 191 SOL 6 06:56:49 LTST
Crit Errors:	6084, Deploy APXS
	6087, Position APXS
	6089, Deploy APXS
	6097, Health Check
	5532, Turn By
Cmds Skipped:	5534, Wait
	5538, Set Parameter
	5539, MAE
	5544, Set Parameter
	5545, MAE
	5548, Wait
	5551, Set Parameter
	5552, MAE
	5556, Set Parameter
	5557, Deploy APXS
	5560, Health Check
	5562, Read Memory
Telem Anomalies:	Skipped shutdowns labeled "Unknown"
	Sol 6, Pass 4 Xfer loss (Retransmitted)
Last Command:	60314, Shutdown

• Executing sequence 50620D.

VEHICLE STATE: (AS OF COMMAND: 60314, Shutdown SCET: 7/10/97 08:03:37 )

Mission Phase:	Primary
Mode:	Shutdown
Config:	ADM Deployed but not in contact
	Rear of vehicle pitched up
	Left rear wheel on rock "YOGI"
Power:	Nominal
Device Status:	Y Accel Forced Bad
Temp (Internal):	Pwr Brd at Flight Allowable
Temp (External:	Ambient slightly higher than expected
Temp:(Modem):	Nominal

---

   Parameter    Initial    Final    Parameter     Initial  Final
----------------------------------------------------------------
X Position (m)   +3.074   +4.727   LBogey (deg)    -1.52   -18.00
Y Position (m)   -2.698   -3.280   RBogey (deg)    -1.12   - 0.72
Heading  (deg)  190.7    221.4     Diff   (deg)    -0.96   -11.28

Pitch    (deg)    +3.5     +13.1  (+ Pitch -> Front down)
Roll     (deg)    +2.4     -1.2 * (+ Roll  -> Roll to Starboard)

ADM Pos  (deg)     -134.4   -152.32

LFS      (deg)     -41.6     -41.6     RFS    (deg)   +42.2   +41.0
LRS      (deg)     +47.4     +48.0     RRS    (deg)   -48.6   -48.0
----------------------------------------------------------------

* potentially suspect due to Y accel failure

BATTERY STATE/USAGE

              Total           Battery Remaining (Amp*hrs)
Category    Allocation      Initial    Final    *Predicted
--------------------------------------------------------------
Operations      10            8.586      7.932     7.532
Science         10            6.840      6.200     6.200
Technology      10           10.000     10.000     9.800
--------------------------------------------------------------
Total           30           25.426     24.132    23.532

* at completion of current sequence assuming nominal execution

	ADM			Bumper		Solar
	UL	UR	B	RB	LB	LR	RR	RF	LF
Mask	1	1	1	1	1	1	1	1	1
State	0	0	0	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:

S/S	Status	Comments
C&N	Off-Nominal	Y Accel erradict.
MTM	Nominal	None
Thermal	Nominal	Power Board slightly above flight allowables ... same as yesterday.
Power	Nominal	None
Telecom	Nominal	None

 4045 turn_to    ( 1552,-1881) 2452: AZ1
 4076 turn_at    ( 1552,-1881) 1F05: AZ1
 4076 turn_at    ( 1552,-1881) 139C: AZ1
 4076 turn_at    ( 1552,-1881) F21A: AY0
 4076 turn_at    ( 1552,-1881) ED95: AZ1
 4077 move       ( 1606,-1912) EA36: AZ1
 4077 move       ( 1714,-1981) E8AE: AZ1
 4077 move       ( 1737,-1995) E909: LB0 ART0
 4077 move       ( 1752,-2004) E95D: LB0 ART0
 4077 move       ( 1774,-2017) E98A: LB0 ART0
 4077 move       ( 1827,-2049) E953: AX0
 4077 move       ( 1849,-2062) E9CC: AY0
 4077 move       ( 1909,-2095) EB76: LB0 ART0 AZ1
 4077 move       ( 1924,-2103) EBA6: LB0 ART0
 4077 move       ( 1947,-2115) EB91: LB0 ART0 AZ1
 4077 move       ( 1962,-2123) EBE3: LB0 ART0
 4077 move       ( 1984,-2135) EC1A: LB0 ART0 AY0
 4077 move       ( 1999,-2143) EC48: LB0 ART0 AY0
 4077 move       ( 2022,-2155) ECA3: LB0 ART0 AY0
 4077 move       ( 2037,-2163) ED42: ART0 AY0
 4077 move       ( 2060,-2175) ED21: AY0
 4077 move       ( 2083,-2186) ECB7: AY0
 4077 move       ( 2099,-2194) EC30: AY0
 4077 move       ( 2122,-2206) ECAC: ART0 AY0
 4077 move       ( 2137,-2214) ECBC: ART0 AY0 AZ1
 4077 move       ( 2160,-2226) EC89: DIFF0 ART0 AY0
 4077 move       ( 2176,-2234) ECAC: DIFF0 ART0 AY0
 4077 move       ( 2199,-2246) ECDD: DIFF0 ART0 AY0 AZ1
 4077 move       ( 2214,-2254) ECCB: DIFF0 ART0 AY0
 4077 move       ( 2237,-2266) ECF6: DIFF0 ART0 AY0
 4077 move       ( 2253,-2274) ED03: DIFF0 ART0 AY0
 4077 move       ( 2276,-2286) EC89: DIFF0 ART0 AY0
 4077 move       ( 2299,-2298) EC54: AY1 AZ2
 6063 move       ( 3056,-2769) 7265: AZ1
 6063 move       ( 3155,-2805) 7241: AZ1
 6063 move       ( 3237,-2835) 7280: AZ1
 6063 move       ( 3261,-2844) 7294: AZ1
 6063 move       ( 3425,-2904) 7220: AZ1
 6063 move       ( 3686,-2999) 72FF: AZ1
 6063 move       ( 3794,-3032) 737D: AX0
 6064 turn_to    ( 3827,-3044) 7216: AY0
 6064 turn_to    ( 3827,-3044) 708B: AY2
 6064 turn_to    ( 3827,-3044) 6E1F: AY2
 6064 turn_to    ( 3827,-3044) 6B9F: AY0 AZ1
 6064 turn_to    ( 3827,-3044) 68E2: AZ1
 6064 turn_to    ( 3827,-3044) 6578: AY0
 6064 turn_to    ( 3827,-3044) 62CD: AY2
 6064 turn_to    ( 3827,-3044) 604F: AY1
 6064 turn_to    ( 3827,-3044) 5DBF: AY2
 6064 turn_to    ( 3827,-3044) 5AC3: AY2
 6064 turn_to    ( 3827,-3044) 58E5: AY2
 6065 move       ( 3827,-3044) 589E: AY2 AZ1
 6065 move       ( 3842,-3065) 587B: AY2
 6065 move       ( 3852,-3080) 586E: AY1
 6065 move       ( 3867,-3102) 587B: AY2
 6065 move       ( 3877,-3116) 5864: AY0
 6065 move       ( 3892,-3137) 5869: AY2
 6065 move       ( 3902,-3152) 5864: AY2
 6065 move       ( 3917,-3174) 5876: AY2
 6065 move       ( 3927,-3188) 5841: AY1 AZ1
 6065 move       ( 3942,-3209) 58A6: AY2
 6065 move       ( 3952,-3223) 585C: AY2
 6065 move       ( 3967,-3244) 5871: AY1
 6065 move       ( 3977,-3258) 5869: AY1
 6065 move       ( 3992,-3279) 5882: AY1
 6065 move       ( 4002,-3293) 5899: AY2
 6065 move       ( 4017,-3314) 58A0: AY1
 6065 move       ( 4027,-3328) 58A5: AY2
 6065 move       ( 4042,-3349) 5854: AY2
 6065 move       ( 4052,-3363) 58AF: AY2
 6065 move       ( 4077,-3398) 58AA: AY1
 6065 move       ( 4100,-3434) 5766: AY2
 6065 move       ( 4114,-3455) 577B: AY1
 6065 move       ( 4123,-3469) 576E: AX0 AZ1
 6065 move       ( 4136,-3490) 5769: AX0
 6065 move       ( 4145,-3504) 5740: AX0 AY1 AZ2
 6065 move       ( 4159,-3525) 5740: AX0 AZ1
 6065 move       ( 4172,-3546) 572E: AX0 AY2 AZ1
 6065 move       ( 4181,-3560) 5763: AX0 AY0 AZ1
 6065 move       ( 4195,-3581) 576E: AX0 AY1 AZ1
 6065 move       ( 4205,-3595) 57E2: AX0 AY2 AZ1
 6065 move       ( 4219,-3615) 5875: AX0 AY1 AZ1
 6065 move       ( 4229,-3629) 589B: AX0 AY2
 6065 move       ( 4254,-3664) 58A8: AY2
 6065 move       ( 4259,-3671) 588A: AY2
 6066 turn_to    ( 4259,-3671) 592C: AY2
 6066 turn_to    ( 4259,-3671) 5B51: AY0
 6066 turn_to    ( 4259,-3671) 5DC8: AY2 AZ1
 6066 turn_to    ( 4259,-3671) 60BD: AY2
 6066 turn_to    ( 4259,-3671) 6338: AX0 AY2
 6066 turn_to    ( 4259,-3671) 66C2: AY2
 6066 turn_to    ( 4259,-3671) 694D: AY2
 6066 turn_to    ( 4259,-3671) 6C3D: AY1
 6066 turn_to    ( 4259,-3671) 6EDC: AY2
 6066 turn_to    ( 4259,-3671) 71C9: AY2
 6066 turn_to    ( 4259,-3671) 770C: AY2
 6066 turn_to    ( 4259,-3671) 7C29: AY2
 6066 turn_to    ( 4259,-3671) 7F2A: AY2
 6066 turn_to    ( 4259,-3671) 84DC: ART0 AY2
 6066 turn_to    ( 4259,-3671) 8878: ART0 AZ1
 6066 turn_to    ( 4259,-3671) 8AA7: ART0 AY2
 6066 turn_to    ( 4259,-3671) 8D8D: ART0 AY2
 6066 turn_to    ( 4259,-3671) 90B7: AY2
 6066 turn_to    ( 4259,-3671) 9349: AY2
 6066 turn_to    ( 4259,-3671) 9634: AY2
 6066 turn_to    ( 4259,-3671) 99A7: AZ1
 6066 turn_to    ( 4259,-3671) 9CD8: AY2
 6066 turn_to    ( 4259,-3671) 9F1C: AY1
 6084 deploy_apxs ( 4259,-3671) 9F1C: AY2 AZ2
 6084 deploy_apxs ( 4259,-3671) 9F1C: AY2 AZ2
 6087 posn_apxs  ( 4259,-3671) 9EEC: AY2
 6087 posn_apxs  ( 4272,-3659) 9E54: AY2 AZ1
 6087 posn_apxs  ( 4292,-3641) 9E93: AY0 AZ1
 6087 posn_apxs  ( 4304,-3629) 9E51: AY2
 6087 posn_apxs  ( 4322,-3612) 9E38: AY2 AZ1
 6087 posn_apxs  ( 4335,-3601) 9E66: AY2
 6087 posn_apxs  ( 4354,-3583) 9E40: AZ1
 6087 posn_apxs  ( 4366,-3571) 9E27: AY2
 6087 posn_apxs  ( 4385,-3554) 9D80: AY1 AZ1
 6087 posn_apxs  ( 4398,-3543) 9D46: AY2
 6087 posn_apxs  ( 4418,-3526) 9D3E: AY2
 6087 posn_apxs  ( 4431,-3514) 9CD9: AY2
 6087 posn_apxs  ( 4463,-3486) 9B8E: AY2
 6087 posn_apxs  ( 4484,-3470) 9B0A: AY0
 6087 posn_apxs  ( 4498,-3460) 9B07: AY1
 6087 posn_apxs  ( 4532,-3434) 9AB6: AY2 AZ1
 6087 posn_apxs  ( 4553,-3419) 9A9D: AY2 AZ1
 6087 posn_apxs  ( 4620,-3369) 9AA0: AY2 AZ1
 6087 posn_apxs  ( 4640,-3354) 9B44: AY0 AZ1
 6087 posn_apxs  ( 4653,-3343) 9C02: ART0 AY2
 6087 posn_apxs  ( 4673,-3327) 9C4E: DIFF0 ART0 AY2 AZ1
 6087 posn_apxs  ( 4686,-3317) 9C58: DIFF0 ART0 AX0 AY1
 6087 posn_apxs  ( 4704,-3302) 9D8A: DIFF0 ART1 AY1 AZ1
 6087 posn_apxs  ( 4716,-3291) 9D80: LB0 DIFF0 ART2 AX0 AY2 AZ1
 6087 posn_apxs  ( 4727,-3280) 9D6E: LB0 DIFF1 ART2 AX0 AY2 AZ1
 6089 deploy_apxs (    0,    0) 0000: LB0 DIFF1 ART2 AX0 AY2 AZ2
 6089 deploy_apxs (    0,    0) 0000: LB0 DIFF1 ART2 AX0 AZ2

DATA VOLUME SUMMARY (BY APID) *

APID   #PKTS     #BYTES    #Mbits
----------------------------------
  4       37     10937     0.08750
  5      237      9268     0.07414
  6       19      1140     0.00912
  7        7       304     0.00243
  8      304    544119     4.35295
  9        0         0     0.00000
 10        0         0     0.00000
 12       26     27820     0.22256
 23        0         0     0.00000
 24       80    153378     1.22702
 25      462    880694     7.04555
 29       10      9425     0.07540
----------------------------------
        1182   1637085    13.09668

*All data downlink on Sol INCLUDING retransmitted data.

NAVIGATION PERFORMANCE:

C&N subsystem components all performing as expected with exception of Y Accel:

1. Cmd #6097: At rover woke up the error x1D02 was reported. The failed Yaccel had caused the mission phase to be set to 4 although it is currently in 4.
2. Cmds #6062 though #6066: turn & move commands were completed with no errors were reported. However the Y accel readings were changing eratically (as high as ~0.35 g). Although these readings are very high, these commands were completed successfully since the Y accel never had 3 consecutive readings exceeding its safety limits.
3. Cmd #6084: Deploy APXS to prepare for docking to Yogi. Error #409: reached destination without contact. This is an expected error.
4. Cmd #6087: Position APXS to dock Yogi. However, the rear of the vehicle was not centered to Yogi due to gyro drift during the turn-in-place. This resulting in the left rear wheel climbed up on Yogi. The command was terminated due to error #F08. The rover encountered articulation hazard with the pitch = 14.0 degs, roll = 46 degs, and tilt = 22 degs.
5. Cmd #6089: Deloy APXS again to ensure it contacts with Yogi. Avisory error #409 again was reported.
6. The sequence was aborted at command # 6127 and yesterday sequence number 50520D was accidentally uploaded.
7. Cmd #5532: Turn to heading 190.0 degs, was partially executed. The 4 steering wheels were turned to the turn-in-place position. However, the rest of the command was errored out due to the position of the APXS mechanism exceeded its safty driving limit (apxs_tlim parameter).
8. The following commands were skipped due to the ERF_GENERAL flag was set after the failure of turning in command #5532:
   
   5534: Wait
   5538: Set parameter
   5539: MAE
   5544: Set parameter
   5548: Wait
   5551: Set parameter
   5552: MAE
   5556: Set parm
   5557: APXS deploy
   5560: Health (C)
   5562: Read Mem

Recommendations (Proposed sequence for tomorrow):

• A partially APXS retract
• Set risk level to 2.
• Set apxs_dlim to the new limit ( > -113 degs ?) to enable the vehicle driving.
• Move forward straight 5cm
• Retract APXS to 0.
• Set new apxs_dlim.
• Set risk level to 1
• Adjust the vehicle position to align the APXS with rock by turning in place. Driver has to measure the turning angle!!
• Then repeat the docking sequence from yesterday.

THERMAL PERFORMANCE:

Thermal subsystem components all performing as nominally

• Rover internal temperatures continued to rise today, in part due to the excessive imaging.
• CPU and Power Board temperatures reached highs of 42.2 and 41.6 degrees Celsius, respectively, at 14:30 LST. These highs represent a temporary bulge caused by the transmission of a large sum of imaging data. Image transfer after 1:00 pm LST should be limited, if possible in the future.
• It is my belief that the current exceedence of FA temperature limits by 2C for approximately 1 hr/day is not a problem if it continues at that level. It should be noted that the warmer internal nighttime conditions for those boards results in a daily variation of under 60C which should yield a very long thermal cycle lifetime.

Recommendations:

• Internal and External heating tests should be performed twice on Sol 7 to provide more thermal diagnostic information.
• Since Sol 7 morning will be in the shadow of Yogi and APXS night operations will not be performed, it is likely that the Rover will end the day a few degrees below FA limits.

COMMUNICATIONS PERFORMANCE:

• Telecom system performance was good throughout this sol, further confirming our hypothesis tha previous episodes of poor communications system throughput were caused by frequency drift in te rover transmitter brought about by low temperatures at the rover modem. Our strategy of early mornig Heater commands appears to be successfully raising both the LMRE and rover radio temperatures, thus peparing the hardware for successful comm sessions throughout the day.
• Preliminary end-of-day communication system data shows:
  
  End of day Rover Modem Temp = 35.6 C
  End of day LMRE Temp = 22.1 C
  Rover RX Current = 49.30 mA
  Rover TX Current = 162.4 mA
  LMRE Good Frames = 5535
  LMRE Garbled Frames = 1218
  Avg LMRE Link Quality = 82.0 % <<
  TX_CH_FRAMES = 43295
  RX_CH_FRAMES = 38114
  Avg Rover Link Quality = 96.4 % <<
  COM:Bad CRC Errors = 4
  COM:Timeout Errors = 3593
  COM:Rx Abort Errors = 364
  COM:No Sync Errors = 0
  COM:RX Com Errors = 9223
  
  
• In planning the sequence for Sol 7, special emphasis should be given to the irregular circumstnces of the shutdown-state of the rover at the end of day. If all overnight activities on the rover have een suspended such that the rover is expected to be very cold at dawn, at least a ten minute commanded rovermodem heating is recommended. As for the LMRE, operation on LMRE-A (the side with the heater) for tn minutes just prior to the expected rover awakening time followed by a handover to LMRE-B (sansheater) for the balance of the day, just as was proposed for Sol 6, is recommended.
• When considering proposed traverses out behind and beyond Yogi, be advised that is the directin of the deepest null in the LMRE antenna pattern. Telecom does not expect any problems at the compara-ively short range we are at, but we will be alert for any evidence of link degradation brought about-by diminished signal strengths.

MOBILITY PERFORMANCE:

Mobility subsystem components all performing as expected.

• Rover mobility performed well today. The Rover backed into Yogi raising the left rear wheel approximately one wheel diameter at 04:16 UTC. Images in the Rover movie (S0050) were taken at that time. The Position APXS command 6087 terminated due to an articulation hazard, primarily from the left bogie at -22 degrees (up). The front right wheel experienced torque loads less than half stall, demonstrating the margin in the system.
• The Deploy APXS command 6089 resulted in the APXS below the nominal plane of the wheels but not in contact with Yogi.
• Upon receipt of command 5532, Sojourner steered wheels to prepare to turn before terminating the command due to the deployed ADM. The Rover pitch decreased by 2 degrees during this maneuver. No forward motion (away from Yogi) observed in images taken around 7:00 UTC.
• As this command was terminated in an error, it did not update internal registers and the following Health Check did not report average and max steering and drive currents.
• The rover has now traversed a net path length of 7.5 meters. The wheels have seen an average of 12.1 meters of wear!! The difference is due to turning.
• No WAE or Soil Experiments were commanded today.

Recommendations:

• The rover is perched precariously on Yogi with a significant load on the rim of only one wheel. Wheels should be restraightened before any motion is undertaken. ADM should be partially retracted before moving. Initial motion should be directly away from Yogi to allow the Rover to drive down the rock face.

POWER PERFORMANCE:

Power subsystem components all performing as expected.

• The Power Subsystem measurements have shown consistant sol to sol data that indicate no degradation due to its operation on the surface of MARS.
• The internal WEB power temperatures have increased from sol to sol. This is not a problem for the batteries as their temperatures are still well below the flight allowables. The power board end of a sol's activity temperature of 41.4 C is however above the flight limits but well below the test temperature used for the power components qualification test of 85 C. Therefore there is no concern by power about this higher temperature. All of the other temperature measurements are normal.
• The end of sol 6 solar panel tilt, of 13.1 degrees to the south west, will prevent a solar wake-up till about 1 hour after the normal time. Therefore the entire rover will be on battery for about the first hour of morning operation as the alarm clock is set to the normal solar wake-up time.
• No constraints to impose upon sequence planning

• Data Controller's instance of LabView died unexpectedly. Had to restart.
• LabView: Torque conversion from current is wrong.
• Add Tilt to Navigation VI (after Roll Low).
• EU conversions for Soil Mechanics Accel Hi channels in error.

TBD