Rover performing WAE Experiment
after leaving "YOGI"

Sequence 51010C:

• Downlink data started from command 10253
• Received telemetry for commands 10253 to 10264 with no missing commands
• Vehicle healthy
• No critical errors, one advisory message indicating attempted phase change (1D02), which is expected with accels forced bad
• Received retransmit packets for command 10060

Sequence 51210B:

• Downlink data started from command 12001
• Received telemetry for commands 12001 to 12122 with no missing commands
• Vehicle healthy
• Performed traverses successfully including waypoint command (12051) with accels enabled
• Skipped second waypoint command (12055) as a result of successful first waypoint command
• EOD imp image (S0055) and Rover movie (S0050) downlinked
• Performed two WAE sequences
• Performed 2 MAE experiments

• 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
• Health Check Level 3 (APID 4): 10162
  • All packets between SCET: 1997-07-14T10:19:20 and SCET: 1997-07-14T10:21:44

Proceed with nominal sequence

Operational Constraints

1. Insert longer wait (10 seconds) between APXS cycle start command and APXS turn-off command (turn off devices)
2. Disable auto shutdown (to limit battery usage)
3. Set Modem Heat to 10 minutes.
4. Set Modem Reheat to 5 minutes.
5. Select LMRE-A power for ten minutes just before rover wake-up
6. Set alarm based wakeup on morning of Sol 13 for 07:00 LST
7. Perform Read Memory just before last downlink session on sol 13
8. If traversing at risk level 2, all accels can be enabled
9. If traversing at risk level 0 or 1, force bad Z accel
10. Perform level 2 health check between traverse commands
11. Do NOT change X accelerometer failure counter (i.e., leave enabled)
12. Disable Auto-Heat WEB
13. Perform Time Sync just prior to EOD shudown.
14. No WEB heating required overnight

Engineering Request

1. Leave rover on until 15:45 LST to collect late afternoon thermal data, perform health check just before shutdown

Operational Constraints (General)

1. Perform WEB heating on days of low activity (i.e. no traverses) from 12:00 (noon) to 15:00 MLST with temperature setting at 30 deg (should be in runout sequences)

SEQUENCE EXECUTION STATUS:

Execution:	Nominal
State:	Shutdown
Wakeup:	Alarm Clock, 1997 197 SOL 12 07:09 LTST
Crit Errors:	None

• Executing sequence 51210B.

VEHICLE STATE: (AS OF COMMAND: 12122, Shutdown SCET: 7/16/97 11:31:24 )

Mission Phase:	Primary
Mode:	Shutdown
Config:	Nominal
	No contact sensors active
Power:	Nominal
Device Status:	Y Accel Forced Bad
	Z Accel Forced Bad
Temp (Internal):	Nominal
Temp (External):	Nominal
Temp:(Modem):	Nominal

---

   Parameter    Initial      Final     Imp EOD    Parameter       Initial  Final
---------------------------------------------------------------------------------
X Position (m)   +4.373     +3.231     +2.804     LBogey (deg)    -0.96     -1.52
Y Position (m)   -3.397     -1.434     -1.125     RBogey (deg)    -2.00     -6.40
Heading  (deg)   212.5       59.5        74.7     Diff   (deg)    -1.44     -0.40

Pitch    (deg)    +4.7     +2.4  (+ Pitch -> Front down)
Roll     (deg)    +8.3     -5.9  (+ Roll  -> Roll to Starboard)

ADM Pos  (deg)     -48.64   0.00

LFS      (deg)     -0.6     +1.3     RFS    (deg)   -0.6     0.0
LRS      (deg)     -0.6     -0.6     RRS    (deg)   -1.9    -1.3
--------------------------------------------------------------------------------

BATTERY STATE/USAGE

              Total         Battery   Remaining (Amp*hrs)
Category    Allocation      Initial    Final    *Predicted
--------------------------------------------------------------
Operations      10           6.892      6.650     6.450
Science         10           5.900      5.900     5.900
Technology      10           9.800      9.800     9.800
--------------------------------------------------------------
Total           30          22.592     22.350    22.150

* at completion of sequence 51210B.

	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	Nominal	None
MTM	Nominal	None
Thermal	Nominal	None
Power	Nominal	None
Telecom	Nominal	None

12042 turn_by    ( 4115,-3356) 8FEE: AZ1
12042 turn_by    ( 4115,-3356) 77A0: RB0 ART0
12042 turn_by    ( 4115,-3356) 74CF: RB0 ART0 AZ1
12042 turn_by    ( 4115,-3356) 7228: RB0 ART0
12042 turn_by    ( 4115,-3356) 6F64: RB0 ART0
12042 turn_by    ( 4115,-3356) 6DB5: RB0 ART0
12044 move       ( 4115,-3356) 6DD6: RB0 ART0
12044 move       ( 4099,-3349) 6DF9: RB0 ART0
12044 move       ( 4084,-3342) 6DD1: RB0 ART0
12044 move       ( 4061,-3330) 6DE8: ART0
12044 move       ( 4001,-3301) 6EF6: AZ1
12044 move       ( 3962,-3286) 6FEC: AZ1
12044 move       ( 3924,-3271) 70A7: AX0 AZ1
12044 move       ( 3908,-3265) 7089: AX0 AZ1
12044 move       ( 3885,-3256) 701F: RB0 ART0 AX0 AZ1
12044 move       ( 3870,-3250) 70B4: RB0 ART0 AX0 AZ1
12044 move       ( 3847,-3241) 7087: ART0 AX0 AZ1
12044 move       ( 3808,-3226) 7091: AZ1
12044 move       ( 3600,-3148) 7151: AZ2
12044 move       ( 3173,-2989) 70FF: AZ1
12044 move       ( 3053,-2944) 70EA: AZ1
12044 move       ( 2910,-2890) 7154: AZ1
12047 turn_at    ( 2456,-2723) 67BD: AZ1
12047 turn_at    ( 2456,-2723) 64D5: AZ1
12047 turn_at    ( 2456,-2723) 3E3B: AZ1
12047 turn_at    ( 2456,-2723) 30EC: AZ1
12051 goto       ( 2461,-2715) 2A14: AY1 AZ2

DATA VOLUME SUMMARY (BY APID)*

APID   #PKTS     #BYTES    #Mbits
----------------------------------
  4       33      9693     0.07754
  5       71      5399     0.04319
  6        3       180     0.00144
  7        1        40     0.00032
  8        0         0     0.00000
  9        0         0     0.00000
 10        0         0     0.00000
 12        0         0     0.00000
 23        0         0     0.00000
 24        0         0     0.00000
 25      147    255446     2.04357
 29       10     10895     0.08716
----------------------------------
         265    281653     2.25322

*All data downlink on Sol INCLUDING retransmitted data.

NAVIGATION PERFORMANCE:

Vehicle position at the begining of Sol12:

       - Rover thinks:  (4373, -3397, 212,5)
       - Driver thinks: (4335, -3242, 205.0)

#12036: Move 250mm; completed; see pitch( high (16.7degs), also right bogey
pitched up high as -21.36 degs too! Y & Z accels are nominal

#12037: Run APXS motor to 0; completed, no errors; Y & Z accels are nominal

#12042: Turn left by -52.degs; completed, no errors; Y & Z accels are nominal

#12044: Move 1800mm; completed, no errors; Z accel min=0.266g and max=0.469g
(= 45.7degs tilt). Z accel showed anomoleous readings, but the traverse
continued until the end of the command since the software never got 3
consecutive bad readings.

#12047: Turn toward (3259, -1349); completed, no errors; Y & Z accels are
 nominal

#12051: Go waypoint (3259, -1349); completed; no errors; Z accel showed
tilt max=38.6 degs. The traversal continued until the rover reached its
designated destination.

#12055: Go waypoint (3259, -1349); skipped due to the completion of
command 12051.

#12057: Turn to heading 60 degs; completed, no errors. Y & Z accels were
in within limit, no out of bound values were recorded.

Vehicle position at the end of Sol12:

       - Rover thinks:  (3231, -1434, 59.5)
       - Driver thinks: (2804,  1125, 74.7)

CONSTRAINTS:

- Since Z accel continued to show erroneous readings, it should be
declare BAD in all move and turn commands. It should be declared OK, and
set risk level to 2 before any driving using goto waypoint commands.
Double waypoint commands back to back are needed to ensure the vehicle
reached the destination. Declaring Z accel to OK and set risk level to
2  before the first waypoint command. Clear error, then declaring the Z accel
to FORCED_BAD before the second waypoint command aiming at the same
destination.

THERMAL PERFORMANCE:

• The Rover continues to be in excellent thermal health. Daily variations inside the WEB can be easily correlated to heating and APXS activity. External variations correspond directly to attitude relative to Solar insolation direction.
• It is interesting to note that while during Night 10 the Rear CCD was warmer than the front, suggesting effects of the thermal inertia of Yogi, that effect is absent on Night 11 despite the rover position remaining constant. This may be due to the effect the Rover shadow had on the rock.
• Thermal planning constraints as enumerated in the Sol 11 downlink report were not adhered to by the uplink team. These same constraints are in place. WEB heating to +30 C from 12:00 to 15:00 LST when not driving/imaging extensively and in ALL runouts.

COMMUNICATIONS PERFORMANCE:

Telecom system performance was fair during this sol in accordance with our hypohesis that poor communications system throughput is caused by a frequency offset between the roer transmitter and the LMRE receiver which is minimized by raising the temperature of the rover modem. Our recommended strategy of early morning rover modem heating and of additional rover modem heaing prior to the transmission of large image packets was not followed by those coding the Sol 12rover sequence. Additionally, no evidence is available to Rover Telecom that the lander sequenc followed our recommendation for early morning operation on LMRE-A in order to preheat the lader modem prior to the expected rover wakeup. It is indeed fortunate that the resulting communicaion system throughput was as good as it was and that it was sufficient to accomplish the activities o this sol.

Preliminary end-of-day communication system data shows:


End of day Rover Modem Temp = 25.7 C
End of day LMRE Temp = 17.7 C
Rover RX Current = 49.30 mA
Rover TX Current = 159.5 mA
LMRE Good Frames = 464
LMRE Garbled Frames = 706
Avg LMRE Link Quality = 44.3 % <<
TX_CH_FRAMES = 5134
RX_CH_FRAMES = 3417
Avg Rover Link Quality = 66.6 % <<
COM:Bad CRC Errors = 6
COM:Timeout Error Count = 13347
COM:Rx Abort Count = 404
COM:No Sync Errors = 0
COM:RX Com Errors = 11414

In planning the sequence for Sol 13, special emphasis should be given to strictadherence to the recommended heating regimens, both for the rover modem and the LMRE modem. Therover modem should be commanded to perform a 600 second modem heating at wakeup and a 300 scond modem reheating prior to the transmission of large blocks of data such as images. Ou goal is to get the rover modem above 25 C and preferably close to 35 C for those time periods when fullystuffed frames are being transmitted. As for the LMRE, operation on LMRE-A (the side with the heater) fr ten minutes just prior to the expected rover awakening time, followed by a handover to LMRE-B (sans heter) for the balance of the day, will serve to solidify link performance by bringing the lander modem u in temperature towards a target of 20 C..

When considering proposed traverses out behind and beyond Yogi, be advised thatis the direction of the deepest null in the LMRE antenna pattern. Telecom does not expect any problemsat the comparatively short range we are at, but we will be alert for any evidence of link degradatio brought about by diminished signal strengths.

MOBILITY PERFORMANCE:

• The Rover Mobility Subsystem hardware performed well today in executing the maneuver from Yogi to the soil mechanics site. All motor currents are low and no anomolies are evident. Z accelerometer behavior is still suspect as the Rover read inconsistently high tilt during a move (cmd 12044) and a tilt of 40 degrees over a traverse of mostly flat ground (cmd 12051).
• No Constraints on operations for Sol 13.
• The Mobility element is very disappointed that its requested Soil Mechanics Experiment and Tare measurements were dropped from the Sol 12 sequence.

POWER PERFORMANCE:

Based upon the data returned in 31 health checks between 07:52:01 TLST on SOL 11 and 11:30:58 TLDT on SOL 12. The Power Subsystem is in good health with no operational problems noted.

• None

Today the Sojourner traversed from Yogi to a prospective soil experiment site after successfully acquiring a spectrum from Yogi.