Retransmit Status:

• APID 4 retransmitted during Pass 2 in response to transfer frame lost during end of Pass 1.

• Tail end of nominal portion of sequence received.
• No errors reported.
• LMRE was on relatively early in the morning, hence we got an early time sync and the time tagging on the telemetry data did not cause as much of a mess as it did no the previous several days.
• Vehicle remained in excellent health.
• Sequence aborted at the intended time by sequence 53610B.

• First Turn command (36041) executed without errors. HOWEVER, data shows that front wheels drove up and down the corner of "Hassock" coming VERY close to an articulation hazard. Unfortunately, the left front wheel was still on "Hassock" when the turn ended (i.e., we probably should have moved backward slightly before performing this Turn and the following Move command.
• The first Move command (36045) failed very shortly after it started due to an articulation hazard. Basically, we began to climb the right edge of "Hassock" more than we already had during the previous turn.
• Vehicle is currently in an "extreme" mechanical configuration (i.e., left bogie at -28 degrees, pitched upward significantly). Need to drive backward before we do anything else.
• All subsequent Move, Turn, and Waypoint commands skipped due to hazard flag set by the first Move command.
• Noontime Mae commands skipped due to hazard flag
• In hindsight the data collected during the last 180 deg turn on Sol 35 shows that the rover was climbing up and down the corner/edge of "Hassock". Unfortunately, since the start and end configurations had all six wheels on the ground (and no errors were reported), the downlink team did look at the Turn data in detail ... we beg for forgiveness and are willing to accept "1" demerit!
• Expecting vehicle to wakeup about 1 hour early on Sol 37 since we are tilted ~10 degrees to the East.
• Data for commands 36124 - 36144 (APID 4, 5, 8) lost via transfer frame loss during end of Pass 1. APID 4 data loss detected in time for retransmit and successfully received during Pass 2. Most of the packets of images 36124, all of 36125 and the APID 5 packets were not retransmitted and are lost for good since the lander will shutdown for the night. (The Move and Turn command would have been skipped and sent APID 5 packets as opposed to APID 29).
• X and Y accels working fine. No anomalous readings.
• Overall vehicle is in excellent health (albiet in an undesireable physical configuration).

• Lander shutdown at night.
• Standing Request to retransmit most critical data (APID's 7, 12) 30 minutes into planned downlinks EVERY Sol due to loss of retransmit capability in Lander

Operational Constraints (Sol 37 Sequence):

1. Suggestion
   • When performing long waypoint traverses with "thread-the-needle" enabled like that performed on Sol 35, break the waypoints up such that the last segment is performed with "thread-the-needle" disabled. This way the vehicle will make sure (most likely) that it ends up in a location in which it can safely turn in place without climbing on near by obstacles. If the vehicle stops because it can not find a path as wide as the turn circle, subsequent turn commands will be skipped ... and we may be able to avoid the situation we ran into today.

2. New or changed recommendations:
   • Set modem Heat and Reheat parameters both to "0" prior to shutting down for the night if LMRE is NOT going to be turned on prior to expected rover solar wakeup of ~7:15 LST. Reset them back to 15 minutes and 5 minutes, respectively, on the morning of "runout" Sols. Disable battery usage for modem heating on runout days.
   • Change alarm clock wakeup to 8:00 LTST.
3. Accelerometers
   • DISABLE the Y accelerometer during waypoints and moves at risk level 1
   • CAN DISABLE the Y accelerometer during moves at risk level 2 IF planned path appears 'safe'; otherwise ENABLE Y accelerometer.
   • ENABLE Y accel for waypoints at risk level 2
   • Leave X accelerometer ENABLED
   • Leave the Z accel DISABLED
4. Before beginning traverses, should back up a little (~ 10 cm) to enable lasers to detect hazards which may be very close to the front of the rover. UNMASK contact sensors for this move. May want to then move forward ~ 1 cm, with contact sensors MASKED to remove any contact that may have been made during the previous backward move. Then UNMASK all contact sensors and plan subsequent waypoints.

1. HAVE S0050 IMAGES TAKEN DURING WAYPOINT COMMANDS ... ESPECIALLY WHEN DRIVING OVER ROUGH TERRAIN!
2. Waypoint Navigation:
   • Take seperate S0055 images after each individual waypoint command.
   • Take S0050 (Rover Movie) of each individual waypoint command.
3. Take pre and post S0050 images at Low-Compression (3:1).
4. (DESIRE) Take rover images as early in the morning as possible to reduce dark noise current.
5. (DESIRE) Leave rover on until 15:45 LST to collect late afternoon thermal data, perform health check just before shutdown.
6. (DESIRE) Perform Wheelie before start of Traverse and Soil Experiment at end of Sol's traverse when practical

1. Set modem Heat and Reheat parameters both to "0" prior to shutting down for the night if LMRE is NOT going to be turned on prior to expected rover solar wakeup of ~7:15 LST. Reset them back to 15 minutes and 5 minutes, respectively, on the morning of "runout" Sols. Disable battery usage for modem heating on runout mornings.
2. Limit Move command distances to 0.5 meters so that gyro is recalibrated more frequently ... hopefully resulting in less drift.
3. Enable hazard avoidance using sensors, contacts, and laser proximity, and perform each waypoint command only once.
4. If possible, health checks should not be skipped as a result of traversable hazards.
5. Mask all errors (except INVALID CMD) immediately prior to "Read Mem" of persistent state table. Unmask accordingly immediately afterwards.
6. Set Modem Reheat to 5 minutes and maximum modem reheat temperature 30 deg.
7. If need to perform Level 3 health checks between Sol n, 20:00 LST and Sol n+1,8:00 LST, disable lasers (i.e., never power) to prevent them from being turned on. Re-enable afterwards.
8. Terminate heating at 15:00
9. Disable auto shutdown
10. Set Modem Heat to 15 minutes; 10 minutes if following a night-time APXS
11. Perform Read Memory just before last downlink session
12. DISABLE RF Wheel Temperature Sensor
13. DISABLE Z accelerometer.
14. Perform Time Sync just prior to EOD shudown.
15. Always command a Level 2 Health Check before shutdown.
16. Perform level 2 health check at the end of every traverse command
17. Limit image transfer after 1:00 LST (to prevent overheating)
18. Limit each "Move Command" distance to 0.5 meter or less to enable gyro to be recalibrated and thereby reduce the amount of drift.
19. Insert longer wait (10 seconds) between APXS cycle start command and APXS turn-off command (turn off devices)
20. 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.
21. Use Web_Heat_B parameter with Max temp of 30C.
22. Future soil mechanics experiments in suspected hard material should have 6 spins of 500 counts rather than 4.

SEQUENCE EXECUTION STATUS:

Execution:	Nominal
State:	Idle
Wakeup:	Solar, 1997 221 SOL 36 08:34:52 LTST
Crit Errors:	36045, Articulation Hazard
Executing sequence 53610B

VEHICLE STATE: (AS OF COMMAND: 0, Auto Health Check During Wait 36154 SCET: 8/10/97 03:39:23 )

Mission Phase:	Primary
Mode:	Executing
Config:	RFW on "Hassock" (Extremely high)
	Articulation Hazard Present
	Tilted significantly to the East
Power:	Nominal
Device Status:	Z Accelerometer Forced Bad
	Y Accelerometer 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)   -4.667     -3.645        ?       LBogey (deg)   -7.12   -27.04
Y Position (m)   -2.637     -0.921        ?       RBogey (deg)   +2.24   +11.52
Heading  (deg)  +37.2     +190.9          ?       Diff   (deg)   +0.80    +1.84

Pitch    (deg)     +3.5       +9.5   (+ Pitch -> Front down)
Roll     (deg)     +0.0       +2.4   (+ Roll  -> Roll to Starboard)

ADM Pos  (deg)    -1.28      -1.28 (Retracted)

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

BATTERY STATE/USAGE**

SEE SOL 37 Downlink Report

	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	Excellent

36041 turn_to    (-3498, -885) 5CF2: AY0 AZ1
36041 turn_to    (-3498, -885) 65D8: AZ1
36041 turn_to    (-3498, -885) 6EAB: AZ1
36041 turn_to    (-3498, -885) 7121: AZ1
36041 turn_to    (-3498, -885) 720C: AY0
36041 turn_to    (-3498, -885) 734B: AY0
36041 turn_to    (-3498, -885) 7510: ART0 AY0
36041 turn_to    (-3498, -885) 7817: ART0 AY0 AZ1
36041 turn_to    (-3498, -885) 7AD8: ART0
36041 turn_to    (-3498, -885) 7D1F: ART0
36041 turn_to    (-3498, -885) 809F: LB0 ART0
36041 turn_to    (-3498, -885) 8352: LB0 ART0
36041 turn_to    (-3498, -885) 86CB: LB0 ART0 AZ1
36041 turn_to    (-3498, -885) 89D4: LB0 ART0
36045 move       (-3498, -885) 8A0E: LB0 ART1 AZ1
36045 move       (-3514, -889) 89FC: LB0 ART1
36045 move       (-3539, -895) 896A: LB0 ART1 AZ1
36045 move       (-3555, -899) 88CD: LB0 ART1
36045 move       (-3579, -905) 8874: LB0 ART1 AZ1
36045 move       (-3596, -909) 88F5: LB0 ART1 AZ1
36045 move       (-3621, -915) 8872: LB0 ART1
36045 move       (-3637, -919) 883F: LB0 ART2
36045 move       (-3645, -921) 87C3: LB0 ART2

DATA VOLUME SUMMARY (BY APID)*

APID   #PKTS     #BYTES    #Mbits
----------------------------------
  4       31      9109     0.07287
  5       88      3440     0.02752
  6        2       120     0.00096
  7        2        92     0.00074
  8      175    321802     2.57442
  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      122    230966     1.84773
 29        2      1461     0.01169
----------------------------------
         422    566990     4.53592

*All data downlinked on this Sol INCLUDING retransmitted data.

NAVIGATION PERFORMANCE:

ACTIVITIES:

Adjust the vehicle position to image the Rock Garden. Capture images at Rock Garden entrance, then move toward Shark.

• Vehicle initial position:
  • Rover thinks: (-4667, -2637, 37.2)
  • Driver thinks: (-3498, -855, 91.0)

• Cmd #36041: Turn to heading 193.32degs; completed, no errors. The rover started climbing a big obstacle during this turn. However, the articulation hazard was never triggered.
• Cmd #36045: Move distance 400mm; incompleted, Err 0xF08: Articulation hazard exceeded its limit, left bogey climbed obstacle, current left bogey angle was -27.04 degs. The rover had moved only 200mm during this traversal.
• Cmd #36049, #36054, #36059, #36063, #36096, #36102, #36130, and #36134 were skipped due to the navigation error of the above command.

  The vehicle failed the traversal on the second navigation command due an articulation hazard. The left bogey was climbing up an obstacle until it reached -27.04degs before the command was aborted. All subsequent navigation commands were skipped due to this traversal error. The Y accel showed no anomalous readings. Z accel continued to show some anomalous readings.

• The rover current position:
  • Rover thinks: (-3645, -0921, 190.9)
  • Driver thinks: (???)
  • Total driving distance of the day: 0.201m.
  • EOD odometer: 73.238m.

  CONSTRAINTS:

• Plan the Move command with distance 0.500m or less to avoid gyro drift.
• Do health check level 2 after every vehicle movement.
• Set Z accel to FORCED_BAD for all vehicle movements.
• Set Y accel to FORCED_BAD for short vehicle movements.
• Set Y accel to FORCED_BAD for RISK LEVEL = 1 vehicle movements.
• Set Y accel to OK for RISK LEVEL = 2 vehicle movements.
• IF navigation sensor outside limit bit is set to ENABLE in HAZ_AVOIDANCE parameter (to avoid navigation command errored out because of Y accel exceeds navigation limit), the following considerations should be taken in to account:
• * set command TIME OUT longer to allow the vehicle finishes up the command.
• * check for clearance behind the vehicle at starting position, the vehicle might back up half of the vehicle length (300mm).

THERMAL PERFORMANCE:

Report Pending

TELECOM PERFORMANCE

Telecom system performance was nominal this sol. The link quality was consistent with the rover modem temperature being above 30C.

The end-of-sol communication system performance for the first downlink was as follows:

Sol 36 TELECOM STATISTICS
Rov Radio Temp Low = -22.4
Rov Radio Temp High = 37.9
Rov Radio Temp Avg = 12.3
LMRE Radio Temp Low = -5.3
LMRE Radio Temp High = 19.6
LMRE Radio Temp Avg = 15.5
Rx Current Low = 43.5
Rx Current High = 66.7
Rx Current Avg = 48.2
Tx Current Low = 153.7
Tx Current High = 261.0
Tx Current Avg = 192.4
LMRE Good Frames = 3213
LMRE Garbled Frames = 4511
Avg LMRE Link Quality%= 41.6
TX_CH_FRAMES = 6306
RX_CH_FRAMES = 4728
Total Frame Resends = 1578
Avg Rover Link Quality%= 75.0
COM:Bad CRC Errors = 0
COM:Timeout Errors = 1349
COM:Rx Abort Errors = 3
COM:No Sync Errors = 0
COM:RX Com Errors = 1254

In planning the sequence for Sol 36 and beyond, the same modem heating strategy should be followed:

The rover modem should be commanded in the next-day runout sequence to perform a 600 second modem heating at wakeup. If no overnight APXS perations are to be conducted, the wakeup rover modem heating should be extended to 900 seconds. Modem reheating should be triggered by an excessive number of frame retries on the rover-to-lander link, and the reheating should continue for five minutes or until the rover modem reaches +30 C. However, if the LMRE radio is commanded OFF in the lander sequence, then the reheat to get to +30C is not needed. This requires some coordination of timing between the LMRE ON times and the rover transmissions. The sequence planners should consider the uncertainty in event completion times introduced by any required modem reheating cycles.

MOBILITY PERFORMANCE:

Report Pending

POWER PERFORMANCE:

SEE SOL 37 DOWNLINK REPORT

• LabView (VERSION 8) commands page does not appear to be indicating "gaps" in the command sequence numbers.

TBD