REVISION DATE 12/25/97 H.J.MOORE, ROVER SCIENTIST Summary of Rover operations, images, and APXS analysis, soil mechanics experiment, and wheel abrasion experiment sites. Standard soil mechanics experiments include three rear and three front camera images. SOL TIME EVENT ********************************************************************* 1 03:09 Landing 1 07:19 Begin APXS background (A-1) 1 09:60 End APXS background ********************************************************************* 2 Set Vehicle Position 14:02:02 X=-0.444, Y=-0.869, Head=155.00 2 12:04 Ramp deployment 2 14:02 Rover deployment 2 14:13 Egress 2 14:13 APXS deployment (A-2) (X~ 1.89, Y~-1.95, Z~ 0.31) On cloddy soillike deposit ********************************************************************* 3 Set Vehicle Position 12:01:49 X=1.587, Y=-1.784, Head=150.99 3 10:03 Rear camera image of APXS site 3 10:18 APXS retract 3 10:30 Soil mechanics experiment using left front wheel, reverse 1/4 turn (S-1) (X=1.49, Y=-1.49, Z= 0.37) 3 12:08 Right front compressed image of tracks and lander 3 12:06 Place APXS on rock (Barnacle Bill) (A-3) 3 15:04 Start APXS on rock (X=1.30, Y=-2.45, Z= 0.18) ********************************************************************* 4 Set Vehicle Position 09:29:28 X=1.515, Y=-1.980, Head=68.42 4 09:31 APXS retract 4 09:34 Wheel abrasion experiment, 2 spins (W-1) (X=1.41, Y=-1.71, X= 0.034) 4 10:01 Rover operations, no load current, left front wheel (Pop a wheelie, T-1) (X= 1.76, Y=-1.81, Z= 0.34) 4 11:30 Traverse toward X=3.20, Y=-2.78 4 11:28 Movie of Rover traverse 4 12:02 Soil mechanics using right rear and right front wheels 3/4 turn (S-2) (X= 2.79, Y= -2.52, Z= 0.28) 4 13:22 Wheel abrasion experiment, 7 spins (W-2) (X= 3.26, Y = -2.45, Z= 0.24) 4 13:29 Left and right front mapping images of Yogi base 4 14:02 APXS deployment (A-4) (X=2.79, Y= -2.64, Z= 0.28) ********************************************************************* 5 Set Vehicle Position 09:58:33 X=3.277, Y=-2.690, Head=6.82 5 09:32 APXS retract 5 09:37 Rear camera images of APXS site (A-4) 5 10:04 Wheel abrasion experiment, 7 spins (W-3) (X= 3.26, Y = -2.45, Z= 0.24) 5 10:12 Movie of Rover operations 5 10:25 Left and right front uncompressed images of Yogi, tracks, and wheel trench 5 12:31 Left and right front uncompressed images of lander, tracks, and backsides of rocks 5 14:04 APXS Deployment (A-5) (X=3.29, Y= -2.48, Z~ 0.28) On cloddy soillike deposit 5 14:08 Rear camera images of APXS deployed ********************************************************************* 6 Set Vehicle Position 10:04:07 X=2.990, Y=-2.745, Head=188.27 6 10:17 Movie of Rover operations 6 10:38 Rear camera image of Yogi 6 10:60 Position APXS on Yogi 6 12:05 Rear camera image of Yogi (sans APXS) 6 12:18 Left and right camera uncompressed images of Cradle, tracks, and backsides of rocks 6 15:30 APXS test measurement (A-6) ********************************************************************* 7 Set Vehicle Position 10:57:51 X=4.341, Y=-3.278, Head=201.00 7 10:58 Get wheel off Yogi 7 11:15 Move 0.35 m, turn right 11.0 deg. 7 11:25 Rear camera image of APXS ********************************************************************* 8 10:57 Set Vehicle Position X=4.341, Y=-3.278, Head=201.00 8 10:37 Left camera uncompressed images of Cradle, tracks, and backsides of rocks 8 11:14 APXS Deployment (A-6) (X=4.61, Y= -2.97, Z=-0.24) 8 11:22 Rear camera image of Yogi 8 12:06 Rear camera image of APXS site ********************************************************************** No change in position 9 No activities - Rover in "safe" condition ********************************************************************* 10 Set Vehicle Position 10:00:01 X=3.633, Y=-3.647, Head=216.36 10 09:58 Movie of Rover traverse 10 10:10 Moves and turns 10 10:03 Deploy APXS 10 10:04 Position APXS on Yogi (A-7) (X= 4.58, Y=-2.91, Z=-0.18) 10 10:11 Rear camera image of APXS site 10 10:23 Left and right front camera images of rocks and Rover tracks to west ********************************************************************* 11 Set Vehicle Position X=4.335, Y=-3.242, Head=205.25 11 09:04 End APXS read - Yogi (A-7) (X= 4.58, Y=-2.91, Z=-0.18) 11 09:09 Missed move forward 0.250 m 11 09:35 Missed go to waypoint (X= 3.259, Y= 1.349) ********************************************************************* 12 Set Vehicle Position 10:35:50 X=4.335, Y=-3.242, Head=205.25 12 10:50 Movie of Rover traverse and experiment 12 10:51 Begin traverse to Scooby Doo area 12 11:36 Wheel abrasion experiment, 7 spins (W-4) (X~2.67, Y~-1.14) 12 12:02 Left and right front camera compressed images of rocks to east ********************************************************************* 13 Set Vehicle Position 10:05:25 X=2.804, Y=-1.125, Head=74.70 13 10:07 Movie of rover traverse 13 10:21 Soil mechanics experiment using both wheels in cloddy soillike deposit (S-3) (X=3.26, Y=-1.33, Z= 0.29) 13 11:36 Soil mechanics experiment using right rear wheel on Cabbage Patch (S-4) (X=3.30, Y= 0.04, Z= 0.30) 13 12:02 Left and right front camera images of Scooby Doo and Casper 13 13:14 Turn 155 degrees 13 13:17 Left and right front camera mapping images of tailings of deposits of Cabbage Patch 13 13:38 Rear camera image of Casper ********************************************************************* 14 Set Vehicle Position 10:12:36 X=3.578, Y= 0.384, Head=255.00 14 10:02 Wheel abrasion experiment, 7 spins (W-5) (X=3.58, Y= 0.38) 14 10:18 Movie of APXS deployment 14 10:27 Deploy APXS on Scooby Doo (A-8) (X=2.85, Y= 1.13, Z=0.32) 14 10:33 Left and right front camera images of Casper, Shaggy, and Rover tracks 14 11:45 Rear camera images of Scooby Doo 14 15:14 Begin APXS readings on Scooby Doo (A-8) ********************************************************************* 15 Set Vehicle Position 09:35:03 X= 3.273, Y= 1.028, Head=337.76 15 09:45 Rear camera images of Scooby Doo 15 10:12 Movie of rover operations 15 10:16 Soil mechanics experiment and test for crust or rock using 1/4 turn of right rear wheel on Scooby Doo (S-5) 15 10:19 Strip surface of Scooby Doo and draw-bar pull (S-5) (X=3.08, Y= 1.15, Z= 0.28) 15 10:31 Rear camer images of Scooby Doo 15 10:51 Deploy APXS on disturbed surface (A-9) (X=3.08, Y= 1.32, Z= 0.28) 15 10:57 Left and right front camera images of Yogi ********************************************************************* No Change in Position 16 No downlink ********************************************************************* No Change in Position 17 No activities ********************************************************************* 18 Set Vehicle Position 10:16:06 X= 3.240, Y= 0.955, Head=294.00 18 10:15 Retract APXS 18 10:26 Soil mechanics experiment using left front wheel in Cabbage Patch, full reverse spin (S-6) (X=2.55, Y=0.04, Z= 0.32) 18 10:46 Move backward 0.3 m 18 10:52 Left and right front camera mapping images of tailings of deposits of Cabbage Patch 18 11:13 Movie of Rover operations 18 11:21 Move forward 1.0 m 18 11:24 Soil mechanics experiment using left front wheel south of Yogi, full reverse spin (S-7) (X= 2.55, Y=-1.23, Z= 0.20) 18 10:46 Move backward 0.3 m 18 10:52 Left and right front camera mapping images of tailings of deposits south of Yogi 18 12:02 Wheel abrasion experiment, 7 spins (W-6) (X=2.92, Y=-0.85) 18 12:31 Rear camera image of APXS site ********************************************************************* No change in position 19 ********************************************************************* 20 Set Vehicle Position 12:32:37 X= 2.856, Y=-0.711, Head=191.84 20 12:38 No load wheel current, left front wheel, one full turn on left center wheel (Pop a wheelie, T-2) (X= 2.54, Y=-0.56, Z= 0.33) 20 12:398 Left front uncompressed image of wheel 20 12:58 Movie of Rover traverse 20 13:02 End no load wheel current (Pop a wheelie) 20 13:02 Traverse to APXS site 20 13:11 Begin APXS deploy on soil near Lamb (A-10) (X= 3.74, Y=-0.43, Z= 0.28) 20 13:12 Rear camera image of APXS site ********************************************************************* 21 Set Vehicle Position 10:07:45 X= 3.452, Y=-0.692, Head=299.00 21 10:03 End retract APXS 21 10:35 Soil mechanics, left rear wheel, 1 1/2 turns (S-8) (X=3.45, Y=-0.69) 21 10:38 Movie of Rover traverse 21 10:40 Go to waypoint (X= 2.152, Y=-1.444) 21 10:57 No load wheel current, left front wheel, 3/4 turn on left center wheel (Pop a wheelie, T-3) 21 10:58 Left camera sub-frame image of left front wheel during test 21 11:08 Turn toward (X = 3.121, Y=-2.835) 21 11:12 Left and right camera images toward Yogi 21 11:31 Go to waypoint (X=3.121, Y=-2.835) 21 11:50 Turn toward (X=2.893, X=-3.993) 21 11:54 Left and right camera images looking toward Souffle 21 12:27 Find rock at (X= 2.893, Y=-3.993) 21 12:42 Left and right camera images looking toward Souffle 21 13:15 Turn left 180 deg 21 13:19 Rear camera image of Souffle 21 14:30 Wheel abrasion experiment, 7 spins (W-7) (X=3.15, Y=Y=-2.56) ********************************************************************* 22 Set Vehicle Position 10:20:53 X= 3.318, Y=-2.602, Head=65.63 22 10:28 Movie of APXS deployment 22 10:30 Turn left 21 deg. toward Souffle 22 10:31 Start APXS deploy 22 10:32 Back-up 0.44 m 22 10:33 Deploy APXS (A-11) (X~ 3.00, Y~-3.60) 22 10:39 Rear camera image of deployed APXS 22 14:58 Start APXS (A-11) ********************************************************************* 23 No Change in Position 23 09:30 Retract APXS (APXS missed Souffle) 23 09:28 Movie of Rover traverse 23 09:36 Go to waypoint at X=2.861, Y= 1.549 23 10:00 Movie of Rover 23 10:03 Go to waypoint at X=3.731, Y= 1.171 23 11:01 Soil mechanics, right front wheel, reverse, one turn (S-9) (X= 3.42, Y=1.11, Z= 0.23 23 11:32 Left and right camera images of Soil mechanics trench 23 12:01 Go to waypoint at X=3.261, Y= 2.992 23 12:25 Left and right camera images of along Head= 50.00 23 14:30 Wheel abrasion experiment (W-8) (X=2.43, Y= 2.74, Z=0.10) ********************************************************************* 24 Set Vehicle Position 09:02:17 X= 2.694 , Y= 2.603, Head=71.50 24 09:27 Movie of Rover 24 09:34 Go to waypoint X= 3.808, Y= 4.672 24 09:54 Turn to head 180.00 24 10:03 Left and right camera images to south 24 11:24 Missed waypoint at X= 1.561, Y= 6.174 24 11:34 Aborted Soil mechanics, right rear wheel one and one-half turns 24 11:35 Left and right camera images of surface detail 24 11:41 10:20:31 surface 24 12:11 Go to waypoint X= -0.226, Y= 3.475 24 12:21 Turn toward X=-0.908, X= 2.385 24 12:25 Left and right camera images of lander 24 17:55 APXS noise test (A-12,13,14) ********************************************************************* 25 Set Vehicle Position 09:02:47 X= 0.542 , Y= 3.750, Head=270.00 25 Vehicle rotated and moved a small amount ********************************************************************* 26 Set Vehicle Position 09:02:50 X= 0.626, Y=3.837, Head=46.0 26 09:27 Movie of Rover traverse 26 09:34 Go to waypoint X= -1.096, Y= 4.466 26 10:09 Turn toward X= -0.860, Y= 2.400 and move forward 1.0 m 26 10:21 Left and right camera images of Mini-Matterhorn and lander 26 11:02 Move backward 1.0 m 26 11:02 Go to waypoint X= -2.333, Y= 3.997 -2.35, 3.9 26 11:28 Missed two waypoints 26 12:01 Left and right camera images of Pooh Bear, Squash, Mermaid, "pebbly" surface, and drift ********************************************************************* 27 Set Vehicle Position 10:02:14 X= -2.334, Y= 4.386, Head=197.00 27 10:08 Rover operations, free pebble from left front wheel by moving back 0.140 m 27 10:10 Left camera image of left front wheel and poorly sorted deposit 27 10:16 Move forward 0.350 m 27 10:18 Soil mechanics experiment, right rear wheel and one-half turns forward (S-10) (X= -2.43, Y=4.42, Z= 0.25) 27 10:30 Move forward 0.500 m 27 10:32 Soil mechanics experiment, right rear wheel and one-half turns forward (S-11) (X= -2.89, Y=4.21, Z= 0.31) 27 10:33 Movie of Rover traverse 27 10:45 Go to waypoint X= -4.089, Y= 2.22 27 11:32 Move backward 0.350 m 27 11:32 Go to waypoint X= -5.298, Y= 2.973 27 12:07 Left and right camera images of lander and Squash 27 13:13 Rear camera image of Mermaid ********************************************************************* 28 Set Vehicle Position 10:02:19 X=-5.423, Y= 2.847, Head=354.24 28 10:08 Move backward 0.20 m 28 10:09 Wheel abrasion experiment, right rear wheel forward 0.3 turns, right front wheel backward 0.3 turns, and spin right center wheel (W-9)(and T-4) (X=-5.39, Y= 2.94, Z~ 0.50) 28 10:10 Wheel abrasion, right rear wheel backward 1.2 turns, right front wheel forward 28 10:11 Deploy APXS to surface of Mermaid dune (A15) (X= -5.87, Y= 2.80, Z= 0.52) ********************************************************************* 29 Set Vehicle Position 10:07:54 X=-5.612, Y= 2.847, Head=358.20 29 10:02 Begin APXS retraction 29 10:09 Soil mechanics experiment, left rear wheel forward one and one-half turns (S12) (X=-5.64, Y= 2.55, Z= 0.51 29 10:20 Move backward 0.60 m 29 10:22 Soil mechanics experiment, right front wheel backward one turn (S-12) (X=-5.65, Y= 2.96, Z= 0.52) 29 10:23 Move backward 0.10 m 29 10:23 Soil mechanics experiment, left rear wheel forward one and one-half turns (S12) (X=-6.17, Y= 2.52, Z= 0.54) 29 10:25 Left and right camera images of two excavations in Mermaid dune, third excavation for spectral study 29 10:57 Rover never left Mermaid "dune" 29 11:31 Left and right camera images of lander, Rover tracks and Squash 29 13:12 Left and right camera images of lander, Rover tracks and Squash after small forward movement ********************************************************************* 30 No Change in Vehicle Position 30 Rover enjoyed the last day of the Extended mission basking in the Martian sun atop Mermaid "dune" and failed to show for movie ********************************************************************* 31 No Change in Vehicle Position ********************************************************************* 32 Set Vehicle Position 10:12:57 X=-6.024, Y= 2.778, Head=4.90 32 10:57 Movie of Rover traverse 32 10:57 Move forward 0.70 m 32 10:57 Turn to heading 340.00 and move 1.2 m 32 11:09 Go to waypoint X=-4.563, Y= 1.076 32 11:30 Turn to head= 294.00 32 11:31 Left and right camera images of Squid and Hassock 32 12:10 Go to waypoint X=-9.260, Y= 1.073 32 13:08 Turn toward 308.00 32 13:12 Left and right camera images of entrance to Bookshelf 32 13:06 Soil mechanics Experiment, right rear wheel, forward one and one-half turns (S-13) (X=-8.56, Y=0.09, Z=197.0) ********************************************************************* 33 Set Vehicle Position 10:14:46 X=-8.562, Y= 0.091, Head=197.00 33 10:15 Go to waypoint X=-5.373, Y=-1.075 33 11:14 Left and right camera images of lower rock garden 33 11:19 Movie of rover traverse 33 11:36 Turn to heading of 214.00 degree 33 11:39 Move forward 0.70 m 33 11:40 Missed waypoint X=-4.914, Y=-2.629 33 12:16 Missed turn to heading of 227.00 degree 33 12:20 Left and right camera images of Ender, Hassock, and lander ********************************************************************* 34 No Change in Vehicle Position No activities ********************************************************************* 35 Set Vehicle Position 12:41:46 X=-5.907, Y=-0.062, Head=341.22 35 12:43 Move backward 0.500 m 35 12:45 Move backward 1.000 m 35 12:48 Move backward 0.589 m 35 12:50 Turn left 70.00 degrees 35 12:52 Move forward 0.600 m 35 12:54 Move forward 0.600 m 35 12:59 Missed waypoint X=-6.415, Y=-1.331 35 13:19 Turn toward X=-4.592, Y=-2.666 35 13:23 Move forward 0.550 m 35 13:25 Move forward 0.550 m 35 13:27 Missed waypoint X=-4.592, Y=-2.666 35 13:37 Left and right front images of lander 35 13:59 Turn to 218.00 heading 35 14:02 Left and right front mosaic images of Wedge and Flat Top ********************************************************************* 36 Set Vehicle Position 10:16:46 X=-3.498, Y=-0.885, Head=91.95 36 11:20 Turn to heading of 193.32 36 11:25 Move forward 0.400 36 11:26 Missed waypoint X=-5.779, Y=-1379 36 11:45 Missed turn toward X=-4.810, Y=2.735 36 11:51 Left and right front images of Ender, Chimp, and Snoopy 36 12:18 Missed waypoint X=-4.810, Y=2.735 36 12:34 Left and right front mosaic images of Ender, Chimp, and Snoopy 36 13:17 Missed turn left 180.00 degrees ********************************************************************* 37 Set Vehicle Position 10:16:42 X=-3.448, Y= -0.837, Head=178.30 37 10:17:33 Move backward 0.350 m 37 10:19:01 Turn left 133.00 degrees 37 10:21:40 Move backward 0.300 m 37 10:22:49 Deploy APXS 37 10:23:22 Move backward 0.250 m 37 10:24:24 Final APXS positioning (delete if no APXS ops) (A-16) (X=-3.79, Y=-1.31, Z= 0.12) 37 10:25:03 Rear camera mosaic image of APXS-Wedge 37 10:39:00 Left and right full mosaic images looking toward lander ********************************************************************* 38 No change in position ********************************************************************* 39 Set Vehicle Position 10:12:34 X=-3.419, Y=-0.973, Head=45.67 39 10:07 Begin APXS Retraction (from A-16) 39 10:30 Movie of traverse (in S0053) 39 10:38 Move forward 0.100 m 39 10:39 Wheel abrasion experiment; tare for right center wheel, Pop-a-wheelie (T-5) right rear wheel forward 0.3 turns, right front wheel backwards 0.3 turns, and spin right center wheel (W-10) 39 10:41 Soil mechanics experiment; tare for right front wheel, Pop-a-wheelie (T-6) right center wheel forward 0.75 turns, right front wheel forward 1.0 and backwards 1.0 turns, right center wheel backward 0.75 turns (X~-3.35, Y~-0.90) 39 10:44 Turn left 40.00 degrees 39 10:45 Missed Move backward 0.500 m 39 10:47 Missed Move backward 0.500 m 39 10:49 Missed Move backward 0.500 m 39 10:50 Missed Turn toward X=-5.779, Y=-1.379 39 10:53 End of movie 39 10:54 Missed Go To Waypoint X=-5.779, Y=-1.379 39 11:13 Missed Turn toward X=-4.810, Y=-2.735 39 11:17 Left and right front mosaic images of lander 39 12:15 Missed Go To Waypoint X=-4.810, Y=-2.735 39 12:27 Missed Turn to heading of 222.00 degrees 39 12:30 Left and right front full-resolution mosaic images of lander 39 13:14 Missed Turn left 180.0 degrees 39 13:18 Missed soil mechanics experiment, left rear wheel forward 1.0 turns. ********************************************************************* 40 Set Vehicle Position 10:02:09 X=-3.398, Y=-0.862, Head=342.00 40 10:05 Missed move forward 0.450 m, left steer 18.88 degrees, right steer 8.32 degrees 40 10:07 Missed move forward 0.520 m, left steer 18.88 degrees, right steer 8.32 degrees 40 10:09 Missed move forward 0.550 m 40 10:11 Missed turn toward X=-5.289, Y=-2.226 40 10:14 Left and right front mosaic images of entrance to rock garden 40 10:38 Missed go to waypoint X=-5.245, Y=-2.794 40 11:17 Missed turn toward X=-5.684, Y=-3.447 40 12:15 Left and right front full-resolution mosaic images of Shark 40 11:17 Missed turn left 180.00 deg. 40 13:02 No data for soil mechanics experiment, left rear wheel, forward 1.5 turns ********************************************************************* 41 Set Vehicle Position 1 X=-3.398, Y=-0.862, Head=342.00 41 10:21 Move forward 0.520 m 41 10:23 Move forward 0.550 m 41 10:28 Missed go to waypoint X=-4.500, Y=-2.280 41 10:51 Missed go to waypoint X=-5.245, Y=-2.794 41 11:15 Left camera image of Shark, Flat Top, and lander 41 11:39 Missed turn left 180.00 deg. 41 11:39 No data for soil mechanics experiment, left rear wheel, forward 1.5 turns ********************************************************************* 42 Set Vehicle Position 1 X=-3.166, Y=-1.033, Head=301.04 42 10:02:34 Turn to 270.00 deg. heading 42 10:05:40 Movie of Rover operations 42 10:06:06 Move forward 0.300 m 42 10:09:00 Move forward 0.400 m 42 10:22:08 End movie 42 10:10:32 Left and right mosaic images of Flat Top and Stimpy 42 10:52:46 Turn left to 183.00 deg. 42 10:56:23 Left and right mosaic images of Wedge and Dante's View and Garden and adjacent "dune" ********************************************************************* 43 Set Vehicle Position 10:11:49 X=-2.996, Y=-1.858, Head=149.36 43 No downlink received ********************************************************************* 44 Set Vehicle Position 1 X=-2.996, Y=-1.858, Head=149.36 44 09:43 Turn to 203.00 deg. 44 09:46 Move forward 0.530 m 44 09:48 Turn to 188.00 deg. 44 09:52 Move forward 0.450 m 44 09:54 Missed waypoint X=-4.914, Y=-2.855 44 10:09 Missed turn to 221.00 deg. 44 10:12 Missed left and right camera images of Shark 44 10:49 Movie shows little or no movement by Rover 44 10:54 Missed turn turn left 180.00 deg. 44 10:54 Missed Soil mechanics experiment 44 11:02 End of movie ********************************************************************* 45 Set Vehicle Position 09:43:45 X=-3.791, Y=-1.987, Head=184.74 No downlink - Rover data lost ********************************************************************* 46 No Change in Vehicle Position 46 No activities ********************************************************************* 47 Set Vehicle Position 09:43:31 X=-3.696, Y=-1.955, Head=184.00 47 Very little downlink received. 47 10:51 End of day images show Rover did not reach Shark, but has wheels atop Wedge instead (S0056) ********************************************************************* 48 No Change in Vehicle Position 48 No activities ********************************************************************* 49 Set Vehicle Position 10:11:53 X=-4.159, Y=-2.077, Head=197.31 49 09:38 Rear camera mosaic image lost 49 10:12 Start traverse 49 10:12 Movie of rover traverse 49 10:35 Move forward 0.670 m 49 10:37 Turn right 35 deg. 49 10:38 Move forward 0.875 m 49 10:41 Left and right camera mosaic images of Shark 49 11:35 Turn left 180 deg. 49 11:38 End Traverse ********************************************************************* 50 No change in Vehicle Position 50 No uplink or downlink ********************************************************************* 51 No Change in Vehicle Position 51 No uplink or downlink ********************************************************************* 52 Set Vehicle Position 1 X=-5.350, Y=-2.892, Head= 54.90 52 09:38 Movie of Rover APXS deployment 52 10:05 Turn left 7.00 deg. 52 10:05 Deploy APXS (A-17) 52 10:08 Move backward 0.300 m 52 10:06 Move backward 0.300 m 52 10:09 Move backward 0.300 m 52 10:11 Deploy APXS (A-17) 52 10:11 Rear camera mosaic of Shark 52 14:08 Start APXS analysis of Shark (A-17) (X= -5.56, Y= -3.25, Z= -0.35) ********************************************************************* 53 Set Vehicle Position 1 X=-3.398, Y=-0.862, Head=342.00 53 09:50 Retract APXS (A-17) 53 09:50 Move forward 0.200 m 53 09:51 Wheel abrasion experiment (W-11) (and T-7) (X~-5.11, Y~-2.15) 53 09:57 Movie of Rover traverse 53 10:02 Move forward 0.500 m 53 10:04 Turn to heading 88.00 deg. 53 10:07 Move backward 0.900 m 53 10:10 Move backward 0.200 m 53 10:11 Move backward 0.200 m 53 10:12 Move backward 0.200 m 53 10:14 Rear camera mosaic of Half Dome ********************************************************************* 54 Set Vehicle Position 12:17:26 X=-4.934, Y=-3.718, Head=93.17 54 12:20 Turn left 40 deg. 54 12:22 Rear camera mosaic image ********************************************************************* 55 Set Vehicle Position 12:37:26 X=-4.934, Y=-3.718, Head=73.00 55 12:42 Move backward 0.100 m 55 12:44 Conditional Deployment of APXS 55 12:46 Deployment successful 55 12:48 Rear camera mosaic of Half Dome 55 14:08 Start 1st APXS analysis of Half Dome (A-18) (X=-4.81, Y=-3.81, Z=-0.54) ********************************************************************* 56 Set Vehicle Position 11:22:42 X=-4.934, Y=-3.718, Head=73.00 Rover battery dies in very early morning of Sol 56 56 11:33 Retract APXS 56 11:36 Turn right 16.00 degrees 56 11:41 Move backward 0.150 m 56 11:43 Conditional Deployment of APXS 56 11:44 Deployment successful 56 11:46 Rear camera mosaic of Half Dome 56 14:06 Start 2nd APXS analysis of Half Dome (A-19) (X=-4.82, Y=-4.13, Z=-0.59) ********************************************************************* 57 Vehicle Position Unchanged No rover uplink ********************************************************************* 58 Vehicle Position Unchanged Continue 2nd APXS analysis of Half Dome (A-19) ********************************************************************* 59 Vehicle Position Unchanged No rover downlink Rover in a hold communications mode all sol Navigation images show no movement since Sol 56 ********************************************************************* 60 Vehicle Position Unchanged Retracted APXS then deployed it to same location ********************************************************************* 61 Vehicle Position Unchanged ********************************************************************* 62 Vehicle Position Unchanged Continue 2nd APXS analysis of Half Dome (A-19) ********************************************************************* 63 Vehicle Position Unchanged Continue 2nd APXS analysis of Half Dome (A-19) ********************************************************************* 64 Set Vehicle Position 10:46:59 X=-4.896, Y=-3.833, Head=87.49 Complete 2nd APXS analysis of Half Dome (A-19) 64 10:47 Retract APXS 64 10:48 Movie of rover traverse 64 11:17 Move forward 0.200 m 64 11:18 Turn to 129.00 degrees heading 64 11:22 Move backward 0.400 m 64 11:23 Move backward 0.100 m 64 11:34 Deploy APXS 64 11:25 Rear camera mosaic of Moe 64 12:00 Start APXS analysis of Moe (A-20) X=-4.197, Y=-4.097, Z=-0.384 ********************************************************************* 65 Vehicle Position Unchanged APXS analysis of Moe (A-20) ********************************************************************* 66 Set Vehicle Position 11:19:57 X=-4.381, Y=-3.693, Head=130.08 Finish APXS analysis of Moe (A-20) 66 11:01 Retract APXS 66 11:02 Movie of rover traverse 66 11:20 Missed move forward 0.500 m;1253064 moved 0.020 m instead 66 11:22 Missed turn to 175.00 degrees heading 66 11:25 Missed move backward 0.800 m 66 11:27 Missed turn to 140.00 degrees heading 66 11:31 Deploy APXS 66 11:31 Missed move backward 0.400 m 66 11:32 Rear camera mosaic of Moe 66 11:59 Performed APXS measurement in atmosphere (A-21) ********************************************************************* 67 Set Vehicle Position 10:30:56 X=-4.394, Y=-3.677, Head=130.00 67 10:31 Retract APXS (A-21) 67 10:32 Movie of rover traverse 67 10:52 Move forward 0.479 m 67 10:54 Turn to 175.00 degrees heading 67 10:57 Move backward 0.800 m 67 11:00 Turn to 140.00 degrees heading 67 11:03 Deploy APXS 67 11:03 Move backward 0.400 m 67 11:04 Rear camera mosaic of Stimpy rover climbed Stimpy so that APXS sampled air (A-22) ********************************************************************* 68 Set Vehicle Position 09:38:33 X=-3.838, Y=-3.3.663, Head=140.33 68 09:58 Retract APXS 68 09:59 Move forward 0.070 m 68 10:00 Move backward 0.070 m 68 10:01 Rear camera mosaic image of APXS on Stimpy 68 10:10 Deploy APXS 68 12:00 Start APXS analysis of Stimpy (A-23) X=-3.479, Y=-3.862, Z=-0.434 ********************************************************************* 69 Vehicle Position Unchanged Continue analysis of Stimpy ********************************************************************* 70 Set Vehicle Position 10:46:26 X=-3.683, Y=-3.534, Head=137.50 70 10:46 Movie of rover operations 70 10:58 Retract APXS (from A-23) 70 10:59 Soil mechanics experiment for tare because rover climbed Stimpy and wheel appeared to be above surface. Left rear wheel 1.0 turns forward and, then, 1.0 turns backward (T-8) 70 11:01 Move forward 0.150 m 70 11:02 Turn to 251.00 degrees heading 70 11:05 Move forward 0.400 m 70 11:07 Left and right camera mosaic images of Moe 70 12:00 Move backward 0.200 m 70 12:01 Turn to 337.00 degrees heading 70 12:04 Left and right camera mosaic images of Stimpy 70 12:42 Turn to 205.00 degrees heading 70 12:45 Move forward 0.350 m ********************************************************************* 71 Set Vehicle Position 09:45:42 X=-4.240, Y=-3.770, Head=219.00 71 09:45 Movie of rover operations 71 10:51 Turn to 203.00 degrees heading 71 10:02 Left and right camera images of Half Dome 71 10:40 Turn to 120.00 degrees heading 71 10:43 Move forward 0.900 m 71 10:46 Turn to 220.00 degrees heading 71 10:49 Move forward 0.150 m 71 10:59 Left and right camera mosaic images of Shark 71 11:34 Turn to 120.00 degrees heading 71 11:37 Soil mechanics experiment. Left rear wheel 1.5 turns forward. Data lost ********************************************************************* 72 Set Vehicle Position 10:28:14 X=-4.792, Y=-2.625, Head=134.00 72 10:28 Go to waypoint X=-6.088, Y=-1.725 72 10:52 Turn toward X=-8.761, Y=-1.285 72 11:01 Left and right front images of surface 72 11:23 Move forward 2.750 m 72 11:30 Turn toward X=-9.183, Y=-2.854 72 11:34 Find rock at X=-9.183, Y=-2.854 72 12:20 Left and right camera mosaic images of Chimp ********************************************************************* 73 Vehicle Position Unchanged No uplink or downlink ********************************************************************* 74 Set Vehicle Position 09:30:58 X=-8.932, Y=-1.566, Head=254.91 74 09:31 Turn right 5.00 degrees 74 09:32 Move forward 0.450 m 74 09:33 Close imaging of Chimp from 0.25 m 74 09:33 First right image of Chimp 74 09:47 Turn left 18.00 degrees 74 09:47 Second right image of Chimp 74 10:04 Movie of rover traverse 74 10:28 Turn right 18.00 degrees 74 10:29 Move backward 0.450 m 74 10:30 Turn to heading 210.00 degrees 74 10:34 Go to waypoint at X=-11.813, Y= -3.422 74 11:22 Turn to heading 310.00 degrees 74 11:27 Soil mechanics experiment; right rear wheel 1.5 turns forward (S-14) (X=-11.50, Y=-3.01) ********************************************************************* 75 Set Vehicle Position 10:20:03 X=-11.502, Y=-3.006, Head=302.43 75 08:58 Left and right camera images of swale area and North Peak (in Sol 74 SOE) 75 10:24 Move forward 0.700 m 75 10:26 Turn to heading 220.00 degrees 75 10:29 Left and right camera images of west swale area; image is partial 75 11:25 Turn to heading 120.00 degrees, but turned to 131.04 75 11:29 Missed soil mechanics experiment; left rear wheel 1.5 turns forward ********************************************************************* 76 Set Vehicle Position 09:36:40 X=-11.228, Y=-3.087, Head=131.04 76 08:43 Left and right camera images of west swale area; image is partial 76 09:41 Left and right camera images of Twin Peaks 76 10:21 Go to waypoint X=-10.589, Y=-1.886 76 10:41 Missed waypoint X=-8.131, Y=-1.867 76 11:07 Missed turn to 25.00 deg. 76 11:10 Deploy APXS 76 11:14 Rear camera image of APXS in atmosphere 76 12:00 APXS of atmosphere (A-24) ********************************************************************* 77 Set Vehicle Position 09:30:09 X=-9.557, Y=-1.543, Head=15.00 77 07:58 APXS of atmosphere (A-24) 77 09:31 Rover operations to free pebble; left rear wheel 3/4 turns backward (X=-9.56, Y=-1.54) 77 09:45 Missed way point X=-8.131, Y=-1.867 77 10:00 Missed turn to heading 25.00 77 10:03 Deploy APXS 77 10:04 Move backward 1.000 m 77 10:07 Rear camera image (narrow strip) of APXS site 77 12:00 APXS of atmosphere (A-25) ********************************************************************* 78 Set Vehicle Position 09:29:53 X=-9.369, Y=-2.20, Head=24.00 78 07:58 APXS of atmosphere (A-25) 78 10:28 Deploy APXS 78 10:37 Rear camera image of APXS in air above Chimp 78 12:00 APXS of atmosphere (A-26) ********************************************************************* 79 Set Vehicle Position 10:34:27 X=-8.865, Y=-2.108, Head=65.10 79 08:13 APXS of atmosphere (A-26) 79 10:36 Position APXS 79 10:38 Rear camera image of APXS on Chimp 79 12:00 APXS of Chimp (A-27) (X=-9.027, Y=-2.586, Z=-0.074) ********************************************************************* 80 Vehicle Position Unchanged 80 08:13 APXS of Chimp (A-27) 80 14:21 End APXS read ********************************************************************* 81 Vehicle Position Unchanged 81 07:58 APXS of Chimp (A-27) 81 09:41 Rear camera image of APXS on Chimp RC81027 No rover movement 81 09:56 APXS of Chimp (A-27) 81 14:22 End APXS read ********************************************************************* 82 Vehicle Position Unchanged 82 08:13 APXS of Chimp (A-27) 82 No uplink; some APXS data 83 No uplink; no downlink 84 No uplink; no downlink 85 No uplink; no downlink 86 No uplink; no downlink 87 No uplink; no downlink 88 No uplink; no downlink 89 No uplink; no downlink 90 No uplink; no downlink 91 No uplink; no downlink Sol 85 PLAN (roughly) dep 85 10:36; wheelie; movie; way point -7.9, 1.0; mapping images way point -8.7, 3.2; mapping images way point -5.8, 4.3; mapping images way point -4.1, 6.5; mapping images (Sol 86) way point -5.5,11.0; mapping images (Sol 86) way point -1.3, 4.6; mapping images (Sol 86)