APXS on "SCOOBY-DOO"

Sequence 51310B:

• Received "Tech" images (Soil Experiment) not received on Sol13
• Aborted by sequence 51410C at Wait command 13197 as planned

Sequence 51410C:

• Rover woke up by alarm clock at 7:09 LST. Had intended to wakeup on solar power.
• Overall Health is excellent.
• No unexpected errors received.
• APXS deployed "perfectly on to "Scooby-Doo" as confirmed by rover imagery, lander imagery (S0055), and APXS contact sensors (Upper Right Contact). Rover Movie (S0050) also shows picture perfect deployment. (Congratulations Rover Driver!)
• Received all telemetry data for commands 14001 - 14121.
• Received all data generated by rover up to time of close of downlink.
• X accel data appears to contain (3) slightly anomalous/noisy readings of the entire Sol.
• Y accel data contained (4) spurious/noisy readings over the entire Sol. The readings, while higher than they should be were not outrageously large as was seen earlier in the mission. Y accel was disabled during move commands.
• Z accel showed several anomalous reading which correspond to extreme tilt angles. Z accel was disabled during move commands.

• Image Command 13143 (Science Image, APID 8)
  • Missing Pkts 6-33 (28 of 34 pkts)
  • SCET 7/17/97 ~10:59:46
  • Should have been received on Sol13
  • Should have been retrasmitted on Sol14
• Image Command 14088 (Ops Image, APID 25)
  • Missing Pkts 18 & 19 (2 of 33 packets)
  • Should have been received on Sol14
  • SCET 7/18/97 ~09:23:02

1. Disable auto shutdown
2. Set Modem Heat to 15 minutes; 10 minutes if following a night-time APXS)
3. Set Modem Reheat to 5 minutes.
4. Select LMRE-A power for 10 minutes just before rover wake-up
5. Set alarm based wakeup on morning of Sol 15 for 07:30 LST
6. Perform Read Memory just before last downlink session
7. Leave X accelerometer ENABLED
8. ENABLE Y accelerometer for long moves and waypoints, DISABLE for short, simple moves/turns.
9. DISABLE Z accelerometer.
10. Perform level 2 health check at the end of every traverse command
11. Perform Time Sync just prior to EOD shudown.
12. Limit image transfer after 1:00 LST (to prevent overheating)

1. (DESIRE) Take rover images as early in the morning as possible to reduce dark noise current.
2. (DESIRE) Leave rover on until 15:45 LST to collect late afternoon thermal data, perform health check just before shutdown.
3. Low Compression (3:1) Rover mono images pre and post S0050 not taken today. Please include this image request on future moves.
4. S0056 track images not taken today. Please continue to request.

1. Limit each "Move Command" distance to 1 meter or less to enable gyro to be recalibrated and thereby reduce the amount of drift.
2. Insert longer wait (10 seconds) between APXS cycle start command and APXS turn-off command (turn off devices)
3. 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 and if not performing night-time APXS (should be in runout sequences)

SEQUENCE EXECUTION STATUS:

Execution:	Nominal
State:	Running
Wakeup:	Alarm Clock, 1997 199 SOL 14 07:09 LTST
Crit Errors:	None
Executing sequence 51410C

VEHICLE STATE: (AS OF COMMAND: 0, Auto Health (After 14121, Clear) SCET: 7/18/97 11:52:55 )

Mission Phase:	Primary
Mode:	Running
Config:	Level Terrain
	ADM Deployed on Surface
	Kinematics nominal
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)   +2.858     +3.338     +3.273      LBogey (deg)     5.68     -7.12
Y Position (m)    0.400      1.137     +1.028      RBogey (deg)    -5.28     -0.08
Heading  (deg)  287.8      344.7       337.76      Diff   (deg)     0.48     +1.68

Pitch    (deg)    +7.1     -2.4  (+ Pitch -> Front down)
Roll     (deg)     0.0      5.9  (+ Roll  -> Roll to Starboard)

ADM Pos  (deg)     0.0     -116.48   (On surface ... essentially ground level)

LFS      (deg)     +1.9     +3.2     RFS    (deg)   -0.6    -1.3
LRS      (deg)      0.0     -0.6     RRS    (deg)   -1.3    -1.3
--------------------------------------------------------------------------------

BATTERY STATE/USAGE

              Total         Battery   Remaining (Amp*hrs)
Category    Allocation      Initial    Final    *Predicted
--------------------------------------------------------------
Operations      10           6.593      6.465     6.300
Science         10           5.900      5.900     5.900
Technology      10           9.800      9.800     9.800
--------------------------------------------------------------
Total           30          22.293     22.165    22.000

* at completion of sequence 51410C.

	ADM			Bumper		Solar
	UL	UR	B	RB	LB	LR	RR	RF	LF
Mask	1	1	1	1	1	1	1	1	1
State	0	1	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	Nominal	Y Accel continuing to exhibit anomalous readings although not as severe as in the past
		Z Accel continuing to exhibit anomalous behavior
MTM	Nominal	None
Thermal	Nominal	None
Power	Nominal	None
Telecom	Nominal	None

14067 move       ( 3588,  425) B501: AY0
14067 move       ( 3629,  595) B45D: AZ1
14067 move       ( 3680,  808) B61F: AZ1
14067 move       ( 3686,  833) B696: AZ1
14067 move       ( 3706,  919) B865: AZ1
14069 turn_to    ( 3726, 1007) C721: AZ1
14069 turn_to    ( 3726, 1007) D69D: AZ1
14069 turn_to    ( 3726, 1007) DB9E: AZ1
14069 turn_to    ( 3726, 1007) DE90: AZ1
14069 turn_to    ( 3726, 1007) E749: AX0
14069 turn_to    ( 3726, 1007) EAB5: AX0 AZ1
14069 turn_to    ( 3726, 1007) EDC3: AZ1
14069 turn_to    ( 3726, 1007) F1BA: AX0 AZ1
14069 turn_to    ( 3726, 1007) F261: AX0
14071 move       ( 3701, 1016) F29B: AX0
14071 move       ( 3423, 1112) F3F5: AZ1
14071 move       ( 3406, 1117) F40A: AX0 AY1
14071 move       ( 3363, 1130) F460: AZ1
14071 move       ( 3338, 1137) F504: AZ1
14078 deploy_apxs ( 3338, 1137) F528: AZ2
14078 deploy_apxs ( 3338, 1137) F528: AZ2

DATA VOLUME SUMMARY (BY APID) *

APID   #PKTS     #BYTES    #Mbits
----------------------------------
  4       25      7338     0.05870
  5       59      5008     0.04006
  6        2       120     0.00096
  7        1        40     0.00032
  8      102    188348     1.50678
  9      170    325337     2.60270
 10        0         0     0.00000
 12        0         0     0.00000
 23        0         0     0.00000
 24        0         0     0.00000
 25      400    762110     6.09688
 29        3      2769     0.02215
----------------------------------
         762   1291070    10.32856

*All data downlink on Sol INCLUDING retransmitted data.

NAVIGATION PERFORMANCE:

ACTIVITIES:
• Rover starting position:
  • Rover thinks: (2858, 400, 287.8)
  • Driver thinks: (3578, 384, 255.0)
• Cmd #14067: Move -645mm; completed, no errors. Z accel varied from 0.281g to 0.422g; not acceptable range.
• Cmd #14069: Turn to heading 340 degs; completed, no errors. Z accel varied from 0.281g to 0469g; not acceptable range.
• Cmd #14071: Move -410mm; completed, no errors. Z accel varied from 0.266g to 0.406g; not acceptable range.
• Cmd #14078: APXS deploy; completed, no errors. Upper right contact triggered.
• Rover end position:
  • Rover thinks: (3338, 1137, 344.7)
  • Driver thinks: (???)

CONSTRAINTS:

• Declare Z accel to FORCED_BAD during move, turn, and position APXS commands.
• Declare Z accel to OK, set risk level = 2 during waypoint commands.
• Send 2 waypoint commands back to back for every destination.The first one with the settings are as follows: - Z accel device = OK - risk level = 2 and the 2nd waypoint command with the following settings: - Z accel device = BAD - risk level 1 or 2 depending on the driver judgement. This will ensure the vehicle completes the waypoint and reaches its destination.
• Add health check level 2 in between navigation commands to get the min/max of accels during the traversal.
• Plan the MOVE command with distance 1000mm or less at a time to avoid gyro drift problem.

THERMAL PERFORMANCE:

• Rover overnight temperatures were slightly warmer than previous night on batteries and slightly colder on boards and modem. This is due to lack of nighttime operations.
• Sol 14 mid-day temperatures are 5-15 degrees colder than the same times on Sol 13. Furthermore, Sol 14 has no late day imaging. Therefore, internal board temperatures will peak in the low 30's today. Tonight's APXS will provide additional nighttime heating so wakeup temperatures on Sol 15 will be a few degrees above today.
• MAE temperatures predicts (assuming no movement)- 10:00 LST: -8C, 12:00 LST: +5C, 2:00 LST: +9C
• Recommendations remain the same as previous Sols.

COMMUNICATIONS PERFORMANCE:

• The Rover Telecom Subsystem performed nominally during operations for SOL 14. The Rover radio modem and LMRE radio modem can be used without restriction for upcoming sequences.

  Statistics:

• Rover temperature ranged from -20 C at wakeup to a peak of 22 C at end of day. Rover temp was fairly cool today (we didn't hit the ideal range of 25 to 35C) probably because of a low frame count (only about 3400 as opposed to 7000 yesterday) and low rover movement.
• Overall Lander side frame counts indicate a link quality of 64% for 3400 frames. Instantaneous quality achieved
• Rover side link performance is at 99.9% for 5651 frames.
• The Sequence for SOL 15 is intended to continue heating the rover modem for 600 sec (900 if no APXS), reheating 300 secs, prior to wakeup. LMRE power should also be switched to A-side (ie heating) for 600 seconds prior to rover wakeup, then back to B-side for normal operations.

MOBILITY PERFORMANCE:

Continued excellent mobility performance. The Rover encountered several small to medium obstacles along the way (7-10 cm rocks) with little apparent slippage. Currents were low as usual, with a maximum of 31 mA. APXS deploy command terminated in a Upper Right Contact at -116 degrees. This corresponds to a height of approximately 30 mm above the wheel level.
Daily Odometry: 1.075 m Total Odometry: 16.978 m Average Wheel Travel: 26.770 m

Sol 13 Soil Mechanics images were received today completing the data set.

Recommendations:

• Low Compression (3:1) Rover mono images pre and post S0050 not taken today. Please include this image request on future moves.
• S0056 track images not taken today. Please continue to request.

POWER PERFORMANCE:

Based upon the data returned in 22 health checks between 12:57:53 TLST on SOL 13 and 11:22:50 TLDT on SOL 14 the Power Subsystem is in good health with no operational problems noted. Some reduction in the predicted power available at solar noon had been noted in the past few SOLs. This has ben confirmed by the Lander Power analyst who reported that the ASI MET had reported a change in the TAU that accounts for the reduction noted in the rover short circuit current cell on the MAE.

• None

It was a picture perfect day today on Mars as the Sojourner microrover repositined itself directly over the rock (or possibly a Soil Patch) known as "Scooby-Doo" and deployed the APXS instrument to its surface. The placement of the APXS instrument head was picture perfect. Images taken by Sojourner's front cameras showing the rock/feature known as "Casper" were exceptional. Sojourner will spend the night on Scooby-Doo collecting several APXS spectra before moving on to her next activity.