Downlink:

• (2) HGA downlink sessions were scheduled and performed today.
• Received remaining additional telemetry for evening of Sol 19 and morning of Sol 20.

• Received data for commands 18157 (14:03 LST, Sol19) thru 18174 (12:01 LST, Sol 20) ... nothing very interesting or exciting being performed.
• RF Motor Temperature Sensor continues to generate max'ed out readings
• Overall Health is excellent.
• X, Y and Z accel readings are nominal (i.e., no anomalous spikes).
• Rover woke via Alarm Clock on Sol 19 at 07:15 LST.
• Aborted by sequence 52010D at Command 18174.

• Queued about 20 minutes early. Had no adverse affect due to initial wait.
• Rover woke via Alarm Clock on Sol 19 at 07:15 LST.
• Wheelie successful. Surface strength apparently very high as indicated by extreme height reached by the left front wheel (Left Bogie reached -28.24). Results considerably different from the previous wheelie experiment.
• S0054 Image shows good view of Wheelie, however, shadows make it difficult to see the tailings generated by the left middle wheel.
• Left image intended to look at surface of left wheel during the wheelie only shows the inner back side of the wheel due to wheels extreme position.
• Move and Turn commands executed without error.
• APXS succussfully deployed to the surface. Stopped on contact with Upper Right APXS contact sensor at a position of -130.56 deg
• Rear image clearly shows the APXS on surface.
• Overall Health is excellent.
• Z Accel data included only 1 moderately anomalous reading.
• Received all data up to afternoon shutdown 20088 as expected.

NO RETRANSMITS WERE PERFORMED ON SOL 20.

MAE:
• Cmd 18122, APID 5
Command Acknowledge:
• Cmds 18109, 18111, 18113, 18118
• Should have been received on Sol 19 (i.e, represents gap in received data.)
Health Check:
• Cmd 18116, APID 4
• Should have been received on Sol 19 (i.e, represents gap in received data.)
Images:
• Cmd 15130, APID 25 (Ops)
  • ~200-10:38 SCET
  • Image only partially received, need packets 103 through 109
  • Retransmit request scheduled for Sol 19 was not performed due to concern over the correctness of the retransmit sequence that was built.
• Cmd 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
  • Should have been retransmitted (another attempt) on Sol 15 .. did not see it on Sol17 at which time we finally received data from Sol 15.
  • Retransmit request scheduled for Sol 19 was not performed due to concern over the correctness of the retransmit sequence that was built.
• Cmds 18100 to 18104 (Science Images, APID 8)
  • Command 18100 Missing Pkts 3 and 16
  • Command 18101 Missing Pkts 5 through 16
  • Command 18102 Missing Pkts 3 through 16
  • Command 18103 Missing Pkts 4 through 16
  • Command 18104 Missing Pkts 5 through 16
  • All should have been received between SCET 7/22/97 ~14:02:47 and ~14:17:18
  • Retransmit request scheduled for Sol 19 was not performed due to concern over the correctness of the retransmit sequence that was built.

1. Future runouts and low activity days should have battery heating start at 13:00 LST instead of 12:00 LST.
2. Leave X accelerometer ENABLED
3. DISABLE both the Y and Z accelerometers during all waypoints and moves to be performed on Sol 21 (assuming plan is to get to Souffle). Differential, Bogie, contact, and proximity sensors should be more than sufficient to safe the vehicle based upon analysis of the terrain images.
4. Recommend Risk Level 1, Laser drop out 3.
5. Use Web_Heat_B parameter with Max temp of 30C.

1. Waypoint Navigation:
   • Perform several PLEASE!
   • Take seperate S0055 images after each individual waypoint command.
   • Take S0050 (Rover Movie) of each individual waypoint command.
2. Take pre and post S0050 images at Low-Compression (3:1).
3. (DESIRE) Take rover images as early in the morning as possible to reduce dark noise current.
4. (DESIRE) Leave rover on until 15:45 LST to collect late afternoon thermal data, perform health check just before shutdown.

1. Terminate heating at 15:00
2. Disable auto shutdown
3. Set Modem Heat to 15 minutes; 10 minutes if following a night-time APXS)
4. Set Modem Reheat to 5 minutes.
5. Set alarm based wakeup to 08:00 LST
6. Perform Read Memory just before last downlink session
7. DISABLE RF Wheel Temperature Sensor
8. DISABLE Z accelerometer.
9. Perform Time Sync just prior to EOD shudown.
10. Always command a Level 2 Health Check before shutdown.
11. Perform level 2 health check at the end of every traverse command
12. Limit image transfer after 1:00 LST (to prevent overheating)
13. Limit each "Move Command" distance to 1 meter or less to enable gyro to be recalibrated and thereby reduce the amount of drift.
14. Insert longer wait (10 seconds) between APXS cycle start command and APXS turn-off command (turn off devices)
15. Perform WEB heating on days of low activity (i.e. no traverses) with no night-time APXS operations, and Runouts from 13:00 (noon) to 15:00 MLST.
16. Use Web_Heat_B parameter with Max temp of 30C.
17. Future soil mechanics experiments in suspected hard material should have 6 spins of 500 counts rather than 4.

SEQUENCE EXECUTION STATUS:

Execution:	Nominal
State:	Executing
Wakeup:	Alarm Clock, 1997 205 SOL 20 07:15 LTST
Crit Errors:	None
Executing sequence 52010D

VEHICLE STATE: (AS OF COMMAND: 20088, Shutdown SCET: 7/24/97 16:48 )

Mission Phase:	Primary
Mode:	Shutdown
Config:	Level Terrain/Configuration
	ADM Deployed on Soil (Upper Right Contact)
Power:	Nominal
Device Status:	Z Accel Forced Bad
	RFW Temp. sensor Forced Bad
Temp (Internal):	Nominal
Temp (External):	Nominal
Temp:(Modem):	Nominal

---

   Parameter    Initial      Final     Imp EOD    Parameter       Initial  Final
---------------------------------------------------------------------------------
X Position (m)   +3.286     +3.486     +?    LBogey (deg)     +0.08    +4.8
Y Position (m)   -0.905     -0.740     -?    RBogey (deg)     -3.12    -4.7
Heading  (deg)  214.8      219.3       +?    Diff   (deg)     +0.048   +1.12

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

ADM Pos  (deg)    -1.28    -120.56   (Deployed on Soil)

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

BATTERY STATE/USAGE

              Total         Battery   Remaining (Amp*hrs)
Category    Allocation      Initial    Final    *Predicted
--------------------------------------------------------------
Operations      10           5.667     5.607       5.507
Science         10           5.100     5.100       4.300
Technology      10           9.650     9.650       9.650
--------------------------------------------------------------
Total           30          20.417    20.357      19.457

* at completion of sequence 52010D.

	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	Nominal	None
MTM	Nominal	RF Wheel Temp Sensor H/W failure
Thermal	Nominal	None
Power	Nominal	None
Telecom	Nominal	None

20040 move       ( 3001, -745) 77DD: AZ1
20040 move       ( 3069, -761) 77EF: AZ1
20040 move       ( 3351, -827) 77F6: AZ1
20040 move       ( 3368, -831) 77C6: AZ1
20049 deploy_apxs ( 3486, -740) 9BEE: AZ2
20049 deploy_apxs ( 3486, -740) 9BEE: AZ2

DATA VOLUME SUMMARY (BY APID)*

APID   #PKTS     #BYTES    #Mbits
----------------------------------
  4       16      4710     0.03768
  5       61      9697     0.07758
  6        3       180     0.00144
  7        1        40     0.00032
  8       54     94402     0.75522
  9       25     46866     0.37493
 10        0         0     0.00000
 12        0         0     0.00000
 23        0         0     0.00000
 24        0         0     0.00000
 25        0         0     0.00000
 29        4      2257     0.01806
----------------------------------
         164    158152     1.26522

*All data downlinked on this Sol INCLUDING retransmitted data.

NAVIGATION PERFORMANCE:

ACTIVITIES:
• Vehicle initial position:
  • Rover thinks: (3286, -905, 214.8)
  • Driver thinks: (2856, -711, 191.7)

• Cmd #20026: Soil Mechanics, motor 2, 500 cnts, 3 cycles; completed, no errors Left bogey possition changed from 0.08degs to -26.4 degs, LF wheel was up in the air.
• Cmd #20027: Soil Mechanics, motor 0, 2000 cnts, 1 cycle; completed, no errors Left bogey position unchanged.
• Cmd #20033: Soil Mechanics, motor 0, -2000 cnts, 1 cycle; completed, no error Left bogey possition unchanged.
• Cmd #20034: Soil Mechanics, motor 2, -1500 cnts, 1 cycle; completed, no error Left bogey possition changed from -25.7 degs to 0.64degs.
• Cmd #20038: Turn to heading 168degs; completed (2856, -711, 167.8), no errors. Z accel showed anomalies (Zmin=0.359g, Zmax=0.391g).
• Cmd #20040: Move -525mm; completed (3368, -831, 168.4), no errors. Z accel showed anomalies (Zmin=0.344g, Zmax=0.406g).
• Cmd #20042: Turn to heading 217degs; completed (3368, -831, 217.8), no errors. Z accel showed anomalies (Zmin=0.344g, Zmax=0.391g).
• Cmd #20044: Move -145mm; completed (3486, -740, 219.3), no errors. Z accel showed anomalies (Zmin=0.344g, Zmax=0.406g)
• Cmd #20049: APXS deploy; completed, no errors. APXS deployed and stopped when APXS deploy angle was -130.56degs, upper right contact triggered.
• The rover completed all the movement commands without any errors with the Z accel was forced bad prior to all movements. Y accel didn't get any anomalous readings.
• The rover current position:
  • Rover thinks: (3486, -740, 219.3)
  • Driver thinks: ???

  CONSTRAINTS:

• Do health check level 2 after every vehicle movement including soil mechanics cmd.
• Set risk level 2 for all vehicle movements.
• Set Z accel to FORCED_BAD for all vehicle movements.

THERMAL PERFORMANCE:

• Thermal performance the last two days has been excellent. WEB heating does appear to properly replace "activity" heat and maintain proper thermal performance overnight. Three hours of heating is probably not necessary and future runouts could have battery heating from 1:00-3:00 only.
• Previously requested changes have been implemented in 52010 runout.
• Sol 18 pm Max recorded: 37.8 PWR, 37.6 CPU, 0.2 MAE
• Sol 19 am Min recorded: -25.7 WEB, -20.2 CPU, -53.6 MAE
• Sol 19 pm Max recorded: 38.3 PWR, 37.8 CPU, 0.2 MAE
• Sol 20 am Min recorded: -25.7 WEB, -19.5 CPU, -53.6 MAE

  Recommendations:

  • Future runouts and low activity days should have battery heating from 13:00 to 15:00 only LST.

COMMUNICATIONS PERFORMANCE:

The Rover Telecom Subsystem performed nominally during operations for SOL20. The Rover radio modem and LMRE radio modem can be used without restriction for upcoming sequences.

STATISTICS

• The lander has been undergoing software patches and other debugging procedure No data was recovered on sol19. The data received today is from the sol18 runout sequence and the sol20 sequence.
• Rover temperature ranged from -20 C at wakeup to +27 C at end of day.
• Rover receive and transmit currents were 46.4 and 159.5 mA respectively.
• Overall Lander side frame counts indicate a link quality of 65% for 1024 frames. The light data volume kept temperatures fairly cool.
• Rover side link performance is at 98% for 1782 frames.

RECOMMENDATIONS

• The standard recommendation of heating the rover modem for 600 sec (900 if no overnight APXS), reheating 300 secs, prior to wakeup should be continued. If large packet, time-critical, image transmissions are expected, heating the rover modem an additional 300 seconds immediately prior to image transfer is also recommended.
• Currently, there is no request to enable LMRE heating prior to wakeup.

MOBILITY PERFORMANCE:

• The Rover continued its trend of excellent mobility performance today. All motor currents were EXTREMELY low (22mA) due to the VERY limited and simp driving. No significant accelerometer spikes were observed.
• The RF temperature sensor appears to be permanently failed.
• A wheelie experiment was performed at the start of the day. The left center heel motor current reached a maximum of 28 mA during wheel raise (20026) and the left bogie pot registered a maximum angle of 28 degrees up. The center wheeldug in approximately 3 cm. Image data (companion S0054) suggests that the LC wheel may have been undera piece of crust which it pushed back a bit in the middle of the experiment. No-load currents reported during the forward (20027) and reverse (20033) spinrange from 8.9-10.4 mA.
• Daily Odometry: 0.687 m
• Total Odometry: 22.701 m
• Average Wheel Odom: 35.12 m

  Recommendations:

  • No new recommendations.

POWER PERFORMANCE:

TBD

• None