Background:

• Lander Sequence 801 Loaded Morning Sol 8
• Rover Sequence 50810 Loaded into Lander EEPROM Morning Sol 8
• Rover Sequence 50820 Loaded into Lander EEPROM Morning Sol 8
• Lander Sequence 801 Activated
  • Sequence 801 order of events:
    • Queued 50810
    • Turned ON Modem B
    • Activate several peripheral lander sequences
    • Perform LGA "Blip:
    • Configure for later HGA downlink
    • Etc.
• Blip occurred on schedule
  • Confirms that:
    • Lander 801 sequence received
    • Rover 50810 & 50820 sequences received by lander
    • Modem B ON
    • 50810 queued
    • Peripheral sequences activated.
• Pass 2 HGA DID NOT OCCUR!
  • Initial Hypothesis:
    • Sequence 801 never activated
    • High Gain Antennae improperly pointed
    • Lander Reset
• Lander Uplink Team built test sequence to:
  • LGA 5 minute "Blip"
• Test sequence would NOT be executed if Lander Sequence 801 was running.
• Possible results of test sequence exeuction:
  • If received "Blip" --- Sequence 801 not running confirming that S/C Reset
  • If didnot receive "Blip" --- Sequence 801 running & High Gain Antennae mis-pointed.
• WE GOT "Blip"!
• Rover colder than usual becuase didn't perform APXS on night of Sol 7
• Concerned that rover may not be able to successfully communicate with lander until later in morning/day.
• Due to Temp concern don't know for sure if 50810 queued by Sequence 801 actually received by Rover
• Decided to Re-queue 50810 via Real-Time Command
  • Re-queue radiated at 05:14 UTC
  • Received by lander at 05:25 UTC
  • Real-Time command "Turn on Modem B" radiated at 05:16 UTC
  • Real-Time command "Turn on Modem B" received by lander at 05:27 UTC

Sequence 50710E:

• Lander uplink team claimed that this sequence was not received by lander on morning of Sol 7.
• Lander uplink team claimed that the second real-time command loading and re-queueing of this sequence on afternoon of Sol7 was not received by lander on Sol 7 ... or ever.
• WELL ... the second real-time queueing of 50710 DID get to the lander and the rover!
• Sequence 50710 aborted Sequence 50620 during command 60333 (Wait) which was the intended "End of Nominal Sequence Execution" for sequence 50620.
• Sequence 50710 started approximately 2 1/2 hours later than it was originally intended to start causing on shutdown to be skipped.
• Partial retraction of APXS, move backward off of YOGI, full retraction of APXS, additional move backward, and clockwise turn by ~11 degrees all SUCCESSFUL.
• Didn't receive telemetry for commands 7101-7109 (an imaging sequence) ... still on lander ... be believe.
• First command out of missing imaging sequence indicates that the one of the commands in the imaging sequence was INVALID ... setting the INVALID COMMAND error flag.
  • Verified that RASF didn't have an error in this portion of sequence (via comparision with same portion of sequence in sequence 50810).
  • Only plausible explanation at this point in time is that rover experienced a bit flip in the command sequence buffer.
• INVALID COMMAND error flag caused the "Position APXS" (intended to place APXS on YOGI) to be skipped.
• Sequence aborted after command 7129 by sequence 50810.

Sequence 50720E:

• Sequence 50720 NEVER queued.

Sequence 50810A:

• Started at scheduled time (7:06 LST, Sol 8).
• Shutdown at 8015 skipped because automatic modem heating for 10 minutes during initial wakeup moved out execution of sequence by ~10 minutes.
• Rover re-performed the APXS retract, move backward, APXS retract, move backward, turn clockwise by 11 deg sub-sequence already performed by sequence 50710 ... hence we are twice as far from YOGI as intended and over turned by 11 degrees.
• Position APXS failed while moving backward when Z accel execeeded sensor limit ... suspect failure in Z accel similar to Y accel problem.
• Wait 8117 skipped ... went on to Shutdown at command 8130.
• NOTE: this sequence reset rover position & heading assuming that sequence 50710 was never executed. Since 50710 did get queued and executed, the set rover position & heading command in 50810 was incorrect and the position and heading information reported by commands in 50810 are also incorrect.

Sequence 50820A:

• Sequence Real-Time Queue command radiated at 97/193-07:00:00 UTC, 45 minutes before downlink ended.
• Downlink ended before we could get confirmation that sequence 50820 received by rover.

• APXS Results (APID 12): 4019 (Should have been received Sol5, Pass 2)
• Image (APID 25): 5525
  • Second occurance of this command from second running of sequence 50520
  • Missing packets 52 thru 68 of image
  • Packet 51 SCET: 1997-07-10T06:44:18:448
  • Packet 59 SCET: 1997-07-10T06:46:22:449
• Image (APID 8): 6119
  • Missing packet 1
  • Packet 0 SCET: 1997-07-10T05:38:49:439
  • Packet 2 SCET: 1997-07-10T05:38:58:439
• Image (APID 9): 8068
  • Missing packets 43-117
  • Should have been received on Sol 8
• Image (APID 8): 8106
  • Missing packets 12-16
  • Should have been received on Sol 8
• Images (APID 8): 8107, 8108, 8109
  • Not received at all.
  • May be buffered on Lander
  • Should have been received on Sol 8.

Generate multi-sol safing sequence

Operational Constraints

1. Enable auto shutdown (to limit battery usage)
2. Move alarm based wakeup to 05:45 LST (every sol) to account for adverse tilt.
3. Perform Level 3 Health check and persistent state table readout at 07:00 LST and 13:30 LST (every sol)
4. Do NOT perform night-time health checks
5. Set Modem Heat to 10 minutes
6. Set Modem Reheat to 5 minutes
7. Move up daily Shutdowns to 15:30 LST to account for adverse Tilt.
8. Auto heat WEB to maximum of 35C between 12:00 LST - 15:00 LST.
9. Sync clock at 15:00 LST
10. Enable "other devices" to use batteries.
11. Perform Level 3 health check at 18:00 LST on Sol 9 only.

Operational Constraints (General)

MUST REMEMBER TO UNMASK ALL ERRORS WHEN BUILDING NEXT "REAL SEQUENCE"

SEQUENCE EXECUTION STATUS:

Execution:	Off-Nominal, unexpectedly ran 50710
State:	Executing
Wakeup:	Sol 7, ?
	Sol 8, ?
Crit Errors:	8114, Z accel exceeded sensor limit

Executing sequence 50810A.

VEHICLE STATE: (AS OF COMMAND: 8130, Shutdown SCET: 7/12/97 06:49 TLST: ???? )

Mission Phase:	Primary
Mode:	Shutdown
Config:	LF, RF, RC wheels on rocks
	Large tilt to South East (almost all roll)
	Twice as far away from YOGI as intended.
	APXS partially deployed.
	No contacts
Power:	Nominal
Device Status:	Y Accel Forced Bad
Temp (Internal):	Nominal ... as predicted
Temp (External:	Nominal ... as predicted
Temp:(Modem):	Nominal

---

   Parameter    Initial    Final    Parameter     Initial  Final
----------------------------------------------------------------
X Position (m)   +4.727     ?   LBogey (deg)    -18.00      ?
Y Position (m)   -3.280     ?   RBogey (deg)    -0.72       ?
Heading  (deg)  221.4       ?   Diff   (deg)    -11.28      ?

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

ADM Pos  (deg)     -152.32   -32.0

LFS      (deg)     -41.6     ?     RFS    (deg)   +41.0   ?
LRS      (deg)     +48.0     ?     RRS    (deg)   -48.0   ?
----------------------------------------------------------------

* potentially suspect due to Y accel failure

BATTERY STATE/USAGE

              Total           Battery Remaining (Amp*hrs)
Category    Allocation      Initial    Final    *Predicted
--------------------------------------------------------------
Operations      10           7.932      7.433     7.433
Science         10           6.200      6.200     5.400
Technology      10          10.000      9.800     9.800
--------------------------------------------------------------
Total           30          24.132     23.433    22.633

* at completion of sequence 50820 ... if in fact queued and on rover.

	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	Z Accel sporatic failure
MTM	Nominal	None
Thermal	Nominal	None
Power	Nominal	None
Telecom	Nominal	None

 7089 move       ( 4341,-3278) 8EBA: DIFF0 ART1 AZ1
 7089 move       ( 4316,-3287) 8D9C: ART0 AX1 AZ1
 7095 move       ( 4066,-3388) 914A: AZ1
 7095 move       ( 3988,-3427) 9221: AZ1
 7095 move       ( 3926,-3459) 9468: AZ1
 7095 move       ( 3911,-3467) 9577: AY0 AZ1
 7095 move       ( 3889,-3480) 96B3: AY0
 7095 move       ( 3875,-3490) 96F7: AY0
 7095 move       ( 3854,-3505) 97F9: AY0
 7095 move       ( 3831,-3521) 9857: AY0
 7096 turn_by    ( 3831,-3521) 990B: ART0 AY0
 7096 turn_by    ( 3831,-3521) 9BC8: ART0 AY0
 7096 turn_by    ( 3831,-3521) 9E5A: AY0
 8089 move       ( 4341,-3278) 8ECC: AZ1
 8089 move       ( 4324,-3285) 8EBC: AY0
 8089 move       ( 4284,-3300) 8E69: AY0
 8089 move       ( 4260,-3309) 8E78: AY0 AZ1
 8089 move       ( 4244,-3315) 8E31: AY0 AZ1
 8089 move       ( 4196,-3333) 8DE5: AY0 AZ1
 8089 move       ( 4180,-3339) 8DF5: AY0 AZ1
 8089 move       ( 4156,-3348) 8E41: AY0
 8089 move       ( 4147,-3351) 8DE6: AY0
 8095 move       ( 4147,-3351) 8DC5: AY0
 8095 move       ( 4122,-3360) 8E44: AY0
 8095 move       ( 4106,-3366) 8E90: AY0
 8095 move       ( 4082,-3375) 8E02: AY0 AZ1
 8095 move       ( 4057,-3384) 8DB3: AZ1
 8095 move       ( 4041,-3390) 8D64: AY0
 8095 move       ( 4017,-3399) 8D04: AY0
 8095 move       ( 3975,-3414) 8CB3: AY0
 8095 move       ( 3959,-3420) 8D09: AY0 AZ1
 8095 move       ( 3935,-3429) 8D85: AZ1
 8095 move       ( 3894,-3444) 8D3E: AY0 AZ1
 8095 move       ( 3878,-3450) 8CBB: AY0 AZ1
 8095 move       ( 3854,-3459) 8CD9: AY0 AZ1
 8095 move       ( 3838,-3464) 8C35: AY0
 8095 move       ( 3813,-3472) 8B6D: ART0 AY0 AZ1
 8096 turn_by    ( 3813,-3472) 8BA5: ART0
 8096 turn_by    ( 3813,-3472) 8D2A: ART0 AY1 AZ1
 8096 turn_by    ( 3813,-3472) 8FB0: LB0 ART0 AY0 AZ1
 8096 turn_by    ( 3813,-3472) 92F6: LB0 ART0 AY0 AZ1
 8096 turn_by    ( 3813,-3472) 934C: LB0 ART0 AY0 AZ1
 8114 posn_apxs  ( 3838,-3459) 93F3: AY0
 8114 posn_apxs  ( 3853,-3451) 93B4: AY0
 8114 posn_apxs  ( 3875,-3439) 93B9: AY0 AZ1
 8114 posn_apxs  ( 3890,-3431) 938E: AY1
 8114 posn_apxs  ( 3913,-3419) 943D: RB0 ART0 AZ1
 8114 posn_apxs  ( 3928,-3411) 9489: RB0 ART0 AY0 AZ1
 8114 posn_apxs  ( 3951,-3399) 9514: RB0 ART0 AY0
 8114 posn_apxs  ( 3966,-3391) 9595: RB0 ART0 AZ1
 8114 posn_apxs  ( 3989,-3377) 9604: RB0 DIFF0 ART0
 8114 posn_apxs  ( 4004,-3368) 962F: DIFF0 ART0 AY0 AZ1
 8114 posn_apxs  ( 4026,-3355) 9623: ART0 AY0 AZ1
 8114 posn_apxs  ( 4041,-3346) 947C: ART0 AY0
 8114 posn_apxs  ( 4063,-3334) 9476: ART0 AY1 AZ1
 8114 posn_apxs  ( 4078,-3326) 948B: ART0 AY1 AZ1
 8114 posn_apxs  ( 4092,-3318) 9502: ART0 AY1 AZ1

DATA VOLUME SUMMARY (BY APID)

APID   #PKTS     #BYTES    #Mbits
----------------------------------
  4       65     14722     0.11778
  5      151      5300     0.04240
  6       19      1140     0.00912
  7       19       772     0.00618
  8       46     84790     0.67832
  9       43     84558     0.67646
 10        0         0     0.00000
 12        0         0     0.00000
 23        0         0     0.00000
 24       40     76689     0.61351
 25        0         0     0.00000
 29        7      3448     0.02758
----------------------------------
         390    271419     2.17135

*All data downlink on Sol INCLUDING retransmitted data.

NAVIGATION PERFORMANCE:

• Cmd 60301 - 60336: Run off sequence no navigation commands.
• SEQ 50710:
  • Cmd 7001 - 7131: Sol7 sequence: Retract APXS a bit, move fwd, then retract the APXS further. This will get the rover off Yogi!
  • 7075: Set current position and heading:
    • Vehicle think: (4727, -3280, 221.4)
    • Driver think: (4341, -3278, 201.0)
  • 7181: Run APXS motor to -1400 ; completed
  • 7189: Move +200mm; current position: (4147, -3352, 203.9); completed
  • 7093: Run APXS motor to -400; completed
  • 7095: Move +350mm; current position (3831, -3521, 214.2); completed
  • 7096: Turn by +11degs; current position (3831, -3521, 225.4); completed
  • 7111: Set parm tbuf_mode =2; ERF_BADCMD (0x40) was set; no error code as expected!! Further investigation is needed to determine the cause of the errorflag got set. None coding or logic error were found in the code. It was suspected that there was a bit flip in the received command, such that it caused the software to declare CMD_INVALID, resulting in the error flag set to ERF_BADCMD.
  • 7113: Set parm auto_image = 4; ERF_BADCMD was set as the result of the above cmd 7111; skipped!!!
  • 7114: Position APXS was skipped due to above error flag BADCMD (0x8040)
  • 7117 (wait), 7120 (healthcheck) and 7122 (read mem) was skipped with the reason as in 7113.
• SEQ 50810
  • Cmd 8001 - 8130: It was a repeat of sequence #50710 with some thermal test added on.
  • 8075: Set position to (4341, -3278, 201), but currently rover was at (3831, -3521, 225.4). This command was performed while the vehicle was in difference position already due to seq #70710.
  • 8081: Run APXS motor to -1400; completed
  • 8089: Move the rover 200mm; completed
  • 8093: Run APXS motor to -400; completed
  • 8095: Move the rover 350mm, completed
  • 8096: Turn by 11degs; completed
  • 8114: Position APXS; Err F01: Z accel exceeded its limit (0.225g reading, limit is 0.35 < z < 0.37). Possible vehicle had a sudden change in its position/orientation ?? or anther Z accel failure. Need more downlink data to analize the device.
  • 8117, 8118 and 8119 were skipped due to the error flag set in the command 8114.

THERMAL PERFORMANCE:

All S/S components performed normally

• Two nights without APXS heating and one in the shadow of Yogi have taken their toll on the thermal condition. Inside temperatures dropped approximately 10 degrees C on the night after Sol 6 and held at about that level Sol 7. It is not expected that the rover will drop much below this state, resulting in lows for the modem and boards of ~ -33 C.

  Recommendations:

• While the thermal state is most likely stable at this time, the plan to upload a multi-sol safing sequence requires a conservative approach to thermal control. Use software thermostatic control to bring the Battery PRT's to +35C from 12-3 pm LST each day.

COMMUNICATIONS PERFORMANCE:

All Subsystem components performing normally

• As near as can be determined, the Rover Telecom Subsystem performed nominally during the operations for SOL8. The Rover radio modem and LMRE radio modem can be used without restriction for upcoming sequences.
• Statistics:
  • The Lander has been experiencing resets that have aborted several downlink attempts. The last downlink was on SOL6. Because of the large data volume buffered on the spacecraft, no Lander side data on link performance could be obtained. It should arrive tomorrow (i.e. later today).
  • Rover temperature dropped to -20 C prior to wakeup on SOL7, -17C on SOL8. Peak temperatures reached +30 on SOL7, +20 on SOL8, but given the sparseness of SOL8 data, this is only a partial statistic.
  • No Lander side frame counts were available.
  • On the rover side, during the single downlink session from 12:05pm to 12:45 am,a total of 6049 frames were transmitted, 2822 frames received. ROver link performance was thus about 46.7%, due primarily to an LMRE power down state from 07:50 to 09:30 or so MLST.

Recommendations:
• For the brief telecom session tomorrow are to heat the modem for 600 seconds, reheat 500 secs, prior to use.

MOBILITY PERFORMANCE:

All subsystem components performing normally

• The rover was in the precarious position of barely clinging to Yogi with the rear left wheel at the end of Sol 6. Command 7089 on Sol 7 moved the rover away from Yogi and back onto soil. The reaminder of the 50710 sequence contained a move and turn which were executed nominally. The Position APXS command was skipped due to an error in the previous imaging sequence.
• The 50810 sequence was a repeat of the above so a move forward was performed which put the rover on "The Dice". In particular, the turn command 8096 was done with the middle left wheel on the largest of these rocks. The Position APXS command 8114 was started. The rover backed up approximately 320 mm before the command terminated in a Z accelerometer reading which corresponds to a tilt of 53 degreees! The EOD S0055 image corresponds to the last recorded telemetry for the vehicle orientation.
• The rover is currently positioned with the front left wheel outside edge resting approximately 6 cm above the surface on the largest rock. The front right wheel is mostly off the small rock behind it. The right center wheel is on a rock keeping it approximately 7 cm off the surface. These rocks may be on the order of 10-15 cm tall. None of the wheels are currently centered on these rocks.

  Recommendations:

• The rover is over several rocks which could represent a hang-up hazard. Extreme caution should be utilized (along with Sol 6 S0055 images) in determining the best path off. Minimize steering on these rocks for that will most likely decrease ground clearance.

POWER PERFORMANCE:

All of the Power Subsystem elements are in good health and operating normally.

• The predicted solar power available, derived from the MAE Isc cell output and temperature, was affected by the south-westword tilt that the rover was placed in by the traverse in SOL 6. The maximum output was reduced and the down slope ran later as the tilt was to the south west. This returned to the levels observed in previous SOL's on SOL 7 thus indicating the degradation was due to the tilt. The tilt following SOL 8 is similar to that following SOL 6 but to the south east. It will cause the solar array to have a similar reduction of its maximum mid-day power. In this case however the wake-up will be early and its afternoon power will drop off earlier.

• Incorrect conversions for several Accelerometer channels:
• Skipped shutdowns reported as "UNKNOWN"
• Command Acknowledge messages error flags R-4090 need to be replicated into common "end error flag" channel R-0009.
• Interpretation of "Hazard Level Indicators" is not clearly understood.

TBD