Sequence 50910B:

• Received telemetry for commands 9018 - 9035.
• Sequence aborted by sequence 51010C during Shutdown 9036 at 7:54 LST, Sol 10 (97/195-02:52 UTC)
• Vehicle Healthy
• No critical errors; two advisory messages for attempted mission phase change due to Z accel disabled

Sequence 51010C:

• Queued on schedule:
• Received telemetry for commands 10001-10130 with some missing commands, all images (10060, 10101 to 10106).
• Vehicle healthy
• No error reports, rover executed sequence without problem.
• S0055 image shows APXS deployed on Yogi.
• X, Y, and Z accelerometer readings during health checks and traverses are all normal.
• Downlink session interrupted about one hour early due to inferred Lander reset.
• Laser stripe shows up in all test images (10052,53,54,57,58,59,63,64,65,66)

• No receipt of retransmit packets, continue to request following data:
• ALL APID 5 packets transmitted on Sol8 and Sol 9
• 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.

• New packets missing on sol 10 pass are:
• Image 10052 missing packet 7, SCET 1997-07-14T05:51:19.29
• Image 10059 missing packet 4, SCET 1997-07-14T05:55:08.294
• Image 10060 missing packets 0, SCET 197-07-14T05:55:37.294
• Image 10065 missing packets 1, SCET 1997-07-14T05:56:53.294
• Image 10119 missing packets 2 through 28, SCET 1997-07-14T07:13:46.306

Require verification of APXS spectrum before removing APXS off Yogi; will need go/no-go decision to choose between redoing APXS or moving on to new target

Operational Constraints

1. Disable auto shutdown (to limit battery usage).
2. Set Modem Heat to 10 minutes.
3. Set Modem Reheat to 5 minutes.
4. Set alarm based wakeup on morning of Sol 10 for 07:00 LST
5. Perform Read Memory at 11:00 LST
6. Force Fail Z accelerometer
7. Force Fail Y accelerometer
8. Do NOT change X accelerometer failure counter (i.e., leave enabled)
9. Disable Auto-Heat WEB
10. EOD shutdown will depend upon Lander activities, notably the presidential pan
11. Perform Time Sync just prior to EOD shudown.
12. No WEB heating required overnight

Engineering Request

1. None

Operational Constraints (General)

No Motor heating required if moving after 9:00 MLST

SEQUENCE EXECUTION STATUS:

Execution:	Nominal
State:	Executing
Wakeup:	Alarm Clock, 1997 195 SOL 10 09:43 LTST
Crit Errors:	None

Executing sequence 51010C.

VEHICLE STATE: (AS OF COMMAND: 10130, Turn off devices SCET: 7/14/97 05:44 )

Mission Phase:	Primary
Mode:	Running
Config:	APXS on Yogi
	Contacts on upper left and bottom (APXS)
Power:	Nominal
Device Status:	Y Accel Forced Bad
	Z Accel Forced Bad
Temp (Internal):	Nominal
Temp (External):	Nominal
Temp:(Modem):	Nominal

---

   Parameter    Initial    Final    Parameter     Initial  Final
----------------------------------------------------------------
X Position (m)   +4.727     +4.373   LBogey (deg)    -18.00    -0.88
Y Position (m)   -3.280     -3.397   RBogey (deg)    -0.72     -1.92
Heading  (deg)  221.4       212.5   Diff   (deg)    -11.28     -1.52

Pitch    (deg)    +13.1     4.7  (+ Pitch -> Front down)
Roll     (deg)    -1.2*     8.3  (+ Roll  -> Roll to Starboard)

ADM Pos  (deg)     -152.32   -48.64

LFS      (deg)     -41.6     -0.6     RFS    (deg)   +41.0   -0.6
LRS      (deg)     +48.0     -0.6     RRS    (deg)   -48.0   -1.9
----------------------------------------------------------------

* potentially suspect due to Y accel failure ? Don't really know due unintended running of sequence 50710.

BATTERY STATE/USAGE

              Total           Battery Remaining (Amp*hrs)
Category    Allocation      Initial    Final    *Predicted
--------------------------------------------------------------
Operations      10           7.390      7.200     7.200
Science         10           6.200      6.200     6.200
Technology      10           9.800      9.800     9.800
--------------------------------------------------------------
Total           30          23.433     23.390    23.390

* at completion of sequence 51010B.

	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	0	0	0	0	0	0	0	0	0
State	0	0	0	0	0	0	0	0	0

SUBSYSTEM STATUS:

S/S	Status	Comments
C&N	Off-Nominal	Suspect Y and Z accels
MTM	Nominal	None
Thermal	Nominal	None
Power	Nominal	None
Telecom	Nominal	None

10085 move       ( 3633,-3647) 99E3: ART0 AY1 AZ1
10085 move       ( 3647,-3636) 99F4: ART0 AY1 AZ2
10085 move       ( 3661,-3626) 99CE: ART0 AY1 AZ1
10085 move       ( 3681,-3611) 9A78: AY1 AZ1
10085 move       ( 3695,-3601) 9A8F: AY1 AZ1
10085 move       ( 3715,-3586) 9AC9: AY1 AZ1
10085 move       ( 3728,-3576) 9B2A: AY1 AZ1
10085 move       ( 3748,-3560) 9B9E: AY1 AZ1
10085 move       ( 3761,-3550) 9C8E: AY1 AZ1
10085 move       ( 3780,-3534) 9D9D: AY0
10085 move       ( 3794,-3522) 9E6C: ART0
10086 turn_by    ( 3794,-3522) 9E3C: ART0 AZ1
10086 turn_by    ( 3794,-3522) 9CD7: ART0
10086 turn_by    ( 3794,-3522) 9A9B: RB0 ART0 AY0 AZ1
10086 turn_by    ( 3794,-3522) 982A: RB0 ART0 AY0
10086 turn_by    ( 3794,-3522) 9544: RB0 ART0 AY0
10086 turn_by    ( 3794,-3522) 92C9: RB0 ART0 AY0
10086 turn_by    ( 3794,-3522) 9088: RB0 ART0 AY0
10086 turn_by    ( 3794,-3522) 8E05: RB0 ART0 AZ1
10086 turn_by    ( 3794,-3522) 85DC: AY0 AZ1
10086 turn_by    ( 3794,-3522) 8308: AY0
10086 turn_by    ( 3794,-3522) 7FD9: AY0 AZ1
10086 turn_by    ( 3794,-3522) 7D84: AZ1
10087 move       ( 3812,-3524) 7C09: AZ1
10087 move       ( 3855,-3529) 7C10: AZ1
10087 move       ( 3965,-3542) 7A85: AZ1
10087 move       ( 3982,-3544) 7AAE: AZ1
10087 move       ( 4008,-3547) 7AAE: AZ1
10087 move       ( 4050,-3552) 7B14: AZ1
10088 turn_by    ( 4136,-3562) 80AF: AZ1
10088 turn_by    ( 4136,-3562) 83EB: AZ1
10088 turn_by    ( 4136,-3562) 9276: AZ1
10091 posn_apxs  ( 4186,-3526) 9899: AZ1
10091 posn_apxs  ( 4242,-3486) 980E: AZ1
10091 posn_apxs  ( 4292,-3452) 97B3: AZ1

DATA VOLUME SUMMARY (BY APID)

APID   #PKTS     #BYTES    #Mbits
----------------------------------
  4       16      4729     0.03783
  5       82      3430     0.02744
  6        4       240     0.00192
  7        3       120     0.00096
  8        0         0     0.00000
  9        0         0     0.00000
 10        0         0     0.00000
 12        2      2140     0.01712
 23        0         0     0.00000
 24        0         0     0.00000
 25      430    786389     6.29111
 29        5      2858     0.02286
----------------------------------
         542    799906     6.39925

NAVIGATION PERFORMANCE:

Start Position:

Vehicle starting position: (4092, -3318, 209.5)
Operator thinks vehicle is at (3633, -3647, 216.0)

Error in position 459mm in X, 329mm in Y, and 7.5 deg in heading.

Final Position:

Vehicle final position: (4373, -3397, 212.5)

Commands:


#10085 Move -200mm; completed, no errors; end position (3794, -3522, 222.8
#10086 Turn left -47 degs; completed, no errors; end position (3794, -3522, 175.3)
#10087 Move -340mm; completed, no errors; end position (4136, -3562, 174.4)
#10088 Turn right 40 degs; completed, no errors, end position (4373, -3397,212.5)
#10091 Position APXS successfully put the APXS on Yogi with 2 APXS contact triggered.

All X,Y, and Z accels data during traversing and in read channel data are norma. Health check data are also shown these accels are healthy.

CONSTRAINTS:

• - Y and Z accels are still FORCED BAD
• - Retract APXS sequence: Move away from Yogi for 20 cm before fully retract the APXS mechanism then drive away.
• - Use risk level 1 for driving if using the move command and Y, Z acces are FORCED BAD
• - Use risk level 2 for driving if using the go waypoint command and Y,Zaccels are declared OK.
• - Clear errors before put the APXS on ground (just in case the driving gets errors from the accels, the measurement is still performed!)

THERMAL PERFORMANCE:

All S/S components performed normally

COMMUNICATIONS PERFORMANCE:

All Subsystem components performing normally

Telecom system performance was acceptable throughout this Sol. The lander downlnk suddenly failed after the receipt of command 10130 at 07:34:16 TLST. All images were received by the lander and 110 packets are buffered in its memory.

End-of-day communication system data shows:


Rov Radio Temp Low =-14.8
Rov Radio Temp High =34.9
Rov Radio Temp Avg =14.6
LMRE Radio Temp Low =4.2
LMRE Radio Temp High =22.6
LMRE Radio Temp Avg =15.0
Rx Current Low =43.5
Rx Current High =66.7
Rx Current Avg =48.8
Tx Current Low =147.9
Tx Current High =266.8
Tx Current Avg =191.4
LMRE Good Frames =1889
LMRE Garbled Frames =966
Avg LMRE Link Quality% =66.2
TX_CH_FRAMES =8090
RX_CH_FRAMES =5318
Total Frame Resends =2772
Avg Rover Link Quality% =65.7
COM:Bad CRC Errors =0
COM:Timeout Errors =2374
COM:Rx Abort Errors =16
COM:No Sync Errors =0
COM:RX Com Errors =436

In planning the sequence for Sol 11, special emphasis should be given to the iregular circumstances of the shutdown-state of the rover at the end of day. If all overnight activities on the rover have been suspended such that the rover is expected to be very cold at dawn, at least a ten minute commanded rover modem heating is recommended followed by a 5 minute reheat. As for the LMRE, operation on LMRE-A (the side with the heater) for ten minutes just prior to the expected rover awakening time followed by a handover to LMRE-B (sans heater) for the balance of the day, just as was proposed for previous Sols, is recommended.

Telecom does not expect any problems at the comparatively short range we are at but we will be alert for any evidence of link degradation brought about by diminished signal strengths.

MOBILITY PERFORMANCE:

All subsystem components performing normally

POWER PERFORMANCE:

Based upon the data returned in 16 health checks between 10:42:46 TLST on SOL 9 and 11:39:15 TLDT on SOL 10 The Power Subsystemis in good health with no operqtional problems noted. A single battery only level 3 health check verified the fact that the current being drawn from the batteries with the APXS on in night mode is 0.081 Amps.

• A number of image commands did not come through the real time feed for DMD or Labview but appeared when the database was queried.

Today the Sojourner was directed by the Rover Driving/Uplink team to place the Alpha Proton X-ray Spectrometer on the rock dubbed 'Yogi'. This manuever was performed successfully with two of the three APXS contact sensors active indicating a virtual bulls-eye on the target rock. The Rover remains in good health. Tomorrow's downlinked data is hoped to contain the spectral data of 'Yogi' which may possibly yield new information on the geology of Mars.