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Mars Pathfinder

Past Rover Operations

Current Rover Status
20 August, 1997
6:00 pm Pacific Daylight Time (GMT -7 hrs.)

Rover wake-up songs!

Sol 45-47

Description of Planned Rover Operations for Sol 45:

Today we drive across the Martian surface towards Shark (and hopefully far far far away from Wedge) to take its picture and see if Shark is a good target for APX analysis.

Summary of Planned Rover Activities for Sol 45:

PDT MLST Rover Acivity
21:39 09:33 Sequence 54510 MARS
21:47 09:40 Begin Traverse
21:58 09:51 Mono image of shark
00:11 12:01 Begin MAE experiment
02:15 14:01 Begin MAE experiment
20:45 Sol 46 08:02 No uplink day
00:51 Sol 46 12:01 Begin MAE experiment
23:27 Sol 47 10:01 End on nominal execution
Sol 42-43
PDT MLST Rover Acivity
19:37 10:08 Sequence 54110 MARS
19:37 10:08 Begin Daytime Ops Prep
19:39 10:10 Read persistent state table
19:39 10:10 End Daytime Ops Prep
19:39 10:10 Begin set traverse parameters
19:40 10:10 End set traverse parameters
19:40 10:10 Wait for gyro
19:45 10:15 Move AWAY from the rock
19:45 10:15 for 110 degrees
19:54 10:24 Image entrance to rock garden
20:42 11:11 Mono image of shark
21:03 11:32 End imaging
21:06 11:35 End traverse
21:07 11:35 Soil mechanics
21:08 11:37 Begin Night Ops Prep
21:10 11:38 End Night Ops Prep
21:10 11:38 LMRE off at 11:40 LST
21:33 12:01 Begin MAE experiment
21:36 12:03 End MAE experiment
23:36 14:01 Begin MAE experiment
23:36 14:01 WARNING: Confirm dust cover para
23:37 14:02 End MAE experiment
Sol 40-41
PDT MLST Rover Acivity
17:56 09:47 Sequence 53910 MARS
18:13 10:03 Begin APXS Retract
18:45 10:35 Start Center Wheelie/Soil actua
18:48 10:37 Start Right Wheelie/Soil actuat
19:25 11:13 Image entrance to rock garden
20:14 12:01 Begin MAE experiment
20:37 12:23 Turn towards Shark
20:40 12:27 Stereo image of shark
21:29 13:14 Soil mechanics

Sol 34-37

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The rover poised behind (left to right) Squid, Ender and Hassock. Next to Wedge, the Rover gets ready to place its Alpha Proton X-Ray Spectrometer (APXS).

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Taken by one of the Rover's front cameras, this closeup of Wedge reveals a rough texture. One wheel on Hassock.

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The rock field directly in front of the Rover, with Sea Cucumber in the center foreground. Placing the APXS on Wedge.

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A closeup view of the APXS on Wedge from one of the Rover cameras.

Summary of Planned Rover Activities for Sol 37:

PDT MLST Rover Acivity
16:23 09:33 Sequence 53710B
17:10 10:19 Partially deploy APX
17:12 10:21 Final positioning of APXS
17:12 10:21 APXS RC mosaic img med deploy
17:27 10:35 Rover EOD Ops imaging
18:55 12:01 Begin MAE experiment
21:00 14:02 Begin MAE experiment
21:01 14:04 Begin first afternoon APXS data
00:03 17:01 Begin APXS night ops read
02:06 19:01 Begin APXS night ops read
10:20 03:01 Begin APXS night ops read
10:20 03:02 Begin MAE experiment

Sol 33-34

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The lander, seen at the right of this image from the Sojourner Rover. A closer view of the lander as Sojourner took images of Wedge.

Sol 31-32

There were no rover activities today.

Sol 29-30

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Sojourner rolling over the Mermaid dune. Looking at the lander and tracks made in the dune.


Summary of Planned Rover Activities for Sol30:

PDT MLST Rover Acivity
12:15 10:01 Sequence 53010 MARS
12:17 10:03 Begin APXS night ops read
12:18 10:04 Begin APXS Retract
12:40 10:25 Image of soil mech/apxs site
13:44 11:28 Turn to face squid/hassock for photo
13:48 11:31 Image of hassock/squid
14:23 12:06 Begin MAE experiment
15:32 13:13 Tech image leading to bookshelf
10:51 Sol 31 08:01 LMRE off all day so hold comm
10:52 08:02 Begin MAE experiment
14:57 12:01 Begin MAE experiment
11:31 Sol 32 08:01 Begin MAE experiment

Sol 27-28

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Sojourner at the Mermaid "dune". Squash, to the right in this image from Sojourner, covered in dust and soil. The Lander is in the background.

Summary of Planned Rover Activities for Sol 28:

PDT MLST Rover Acivity
10:55 10:01 Sequence 52810 MARS
10:55 10:01 Begin Daytime Ops Prep
10:56 10:01 Heat modem up to 5 min/30C
10:57 10:03 Read persistent state table
10:58 10:03 End Daytime Ops Prep
10:58 10:03 Setup traverse parameters
11:04 10:09 Start Center Wheelie/Soil actuator tare
11:06 10:12 End Wheelie/Soil actuator tare
11:07 10:12 Begin APXS Soil Deploy
11:07 10:13 End APXS Soil Deploy
12:58 12:01 Begin MAE experiment
12:59 12:01 WARNING: Confirm dust cover para
12:59 12:02 End MAE experiment
15:02 14:01 Begin Night Ops Prep
15:03 14:02 Read persistent state table
15:03 14:02 End Night Ops Prep
18:04 16:58 Begin APXS night ops read
18:04 16:58 End APXS night ops read
20:04 18:54 Begin APXS night ops read
20:04 18:55 End APXS night ops read
01:04 23:46 Begin APXS Night Ops Prep
01:04 23:47 End APXS Night Ops Prep
04:04 02:42 Begin APXS night ops read
04:04 02:42 End APXS night ops read
09:32 08:01 Begin MAE experiment
09:32 08:01 WARNING: Confirm dust cover para
09:35 08:04 End MAE experiment
11:04 09:31 Begin Daytime Ops Prep
11:04 09:31 Read persistent state table
11:04 09:31 End Daytime Ops Prep
13:38 12:01 End Nominal Sequence

Sol 26-27

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This stereo pair of images were taken by the rover front cameras on Sol 26. The rover was facing towards the south southeast and was located 5 meters from the Pathfinder Lander. It shows a rock-strewn surface between the rover and Mermaid "dune." Mermaid, the dark, horizontal area seen betwen rocks near the horizon, is the target for the next APXS measurement. Some of the rocks in the very near field show features attributed to wind erosion. The small rock on the left shows "flutes" (streamlined depressions) and the slighly larger rock on the right shows features that appear to point up-wind (wind coming from the left rear of the rover).

Summary of Planned Rover Activities for Sol 27:

PDT MLST Rover Acivity
10:16 10:01 Sequence 52710 MARS
10:16 10:01 Begin Daytime Ops Prep
10:16 10:01 Heat modem up to 5 min/30C
10:18 10:03 Read persistent state table
10:18 10:03 End Daytime Ops Prep
10:18 10:03 Setup traverse parameters
10:18 10:04 Set laser dropout to 3
10:24 10:09 Try to clear rock off wheel
10:26 10:10 image LF wheel
10:35 10:20 Wait for S0054
10:49 10:34 Wait for S0050 and S0053
12:25 12:06 Begin MAE experiment
12:25 12:06 WARNING: Confirm dust cover para
12:26 12:07 End MAE experiment
12:26 12:07 Image squash in front
12:26 12:07 full front 3 strip left mosaic
13:00 12:41 end front mosaic
13:00 12:41 full front 3 strip right mosaic
13:34 13:14 end front mosaic
13:34 13:14 APXS RC mosaic img soil retract
13:34 13:14 rows 440 cols 421
13:56 13:35 End APXS RC mosaic image
13:56 13:36 End imaging
14:22 14:01 Begin Night Ops Prep
14:24 14:02 Read persistent state table
14:24 14:02 End Night Ops Prep
08:52 08:01 Begin MAE experiment
08:52 08:01 WARNING: Confirm dust cover para
08:55 08:03 End MAE experiment
10:24 09:31 Begin Daytime Ops Prep
10:24 09:31 Read persistent state table
10:25 09:31 End Daytime Ops Prep
12:58 12:01 End Nominal Sequence


Sol 25-26

Description of Planned Rover Operations for Sol 27:

Driving, driving, driving!

Summary of Planned Rover Activities for Sol 27:

PDT MLST Rover Acivity
06:32 07:01 Sequence 52610 MARS
07:33 08:01 Begin MAE experiment
09:05 09:31 1st waypoint
09:52 10:16 Imaging of Mini-Matterhorn
10:33 10:56 2nd waypoint
11:06 11:29 3rd waypoint
11:39 12:01 Begin MAE experiment
11:40 12:02 Imaging of Squash
12:16 12:37 4th waypoint
13:44 14:02 End Night Ops Prep
08:13 08:01 Begin MAE experiment
12:19 12:01 End Nominal Sequence

Does this sequence look a lot like yesterday's plan? Here's why:

A sequencing transmission error prevented the rover from executing its daily traverse, Jennifer Harris, Mars Pathfinder Flight Director, said. The situation was quickly corrected and the rover was able to complete an accelerometer diagnosis sequence, which involved making a 120- degree turn in place. Sojourner will complete its traverse to the rock nicknamed Mini Matterhorn (62K) tomorrow and then turn to image the lander (171K)

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The end-of-day image with the windsocks in the foreground. Piglet and Pooh Bear are just to the left and in front of the rover.

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The view from Sojourner!

Sol 24-25

Description of Planned Rover Operations for Sol 25:

Even more driving!

Summary of Planned Rover Activities for Sol 25:

PDT MLST Rover Acivity
06:23 07:31 Sequence 52510 MARS
06:54 08:01 Begin MAE experiment
08:26 09:31 1st waypoint
09:12 10:16 Imaging of Mini-Matterhorn
09:53 10:56 2nd waypoint
10:27 11:28 3rd waypoint
11:11 12:11 Begin MAE experiment
11:12 12:12 Imaging of Squash
14:46 15:45 Shutdown

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Over a small obstacle.

Sol 22-23

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On to open country.

Sol 20-21

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End of Day image taken by the IMP of Sojourner at Souffle.

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Image of "Souffle" after Sojourner autonomously navigated ~3.0 meters and centered on the rock using its onboard laser proximity sensing system.

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Sojourner in the vicinity of Lamb.

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Looking back at Yogi. Note the delicate balance! (Sol 18)

Sol 17-19

Today the Sojourner left the vicinity of Scooby-Doo travelling approximately 2 meters to the west. A soil experiment was performed at the end of the traverse and images of the site from the rover were successfully received.

Sol 15-17

The rover remains safely at the rock called Scooby Doo. Earth will rise over the Sagan Memorial Station at 8:07 p.m. PDT today July 20, and sunrise will be at 11:15 p.m. Earth set is at 9:45 a.m. July 21.

Two New Rover "Movies (17-18 July 1997)!

Sol 14

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.

Newest Rover "Movie" (16 July 1997)

Sol 12

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

Sol 11

Today the Sojourner successfully returned spectral data from the rock dubbed 'Yogi'. The Rover will remain at this vicinity until the quality of the spectrum can be confirmed. The vehicle remains in good health.

Newest Rover "Movie" (15 July 1997)!

Sol 10

Today the Sojourner was directed by the Rover Driving/Uplink team to place the Alpha Proton X-ray Spectrometer on the rock dubbed 'Yogi'. This manuever was performed successfully with two of the three APXS contact sensors active indicating a virtual bulls-eye on the target rock. The Rover remains in good health. Tomorrow's downlinked data is hoped to contain the spectral data of 'Yogi' which may possibly yield new information on the geology of Mars.

Summary of Planned Rover Activities for Sol 10:
PDT MLST Rover Acivity
20:00 07:03 Sequence 51010 MARS
22:33 09:31 APXS noise evaluation
22:34 09:33 APXS Retract
22:34 09:33 Laser image experiment
23:03 10:01 Move to APXS site on Yogi
23:14 10:11 APXS Rear Color mosaic image
23:28 10:25 full front left camera mosaic image
00:05 11:01 full front right camera mosaic image
01:06 12:01 MAE experiment
03:09 14:01 Three MAE experiments
04:43 15:31 APXS night ops read
06:14 17:00 APXS night ops read
08:04 18:47 APXS night ops read
13:04 23:39 APXS Night Ops Prep
16:04 02:34 APXS night ops read
20:38 07:01 End of Nominal Sequence

Sol 9

Commands for the next day of activities for Mars Pathfinder were not sent last night because the Pathfinder spacecraft's receiver had not been turned on in advance of the uplink session.

NASA's Deep Space Network conducts a routine frequency sweep before uplink sessions each day. The Goldstone, CA station initiated this sweep yesterday at about 1:35 p.m. PDT, when it came online. Because Pathfinder's receiver is only turned on at specific times each day to conserve power, it was not scheduled to be turned on until 1:46 p.m., an 11-minute miscalculation. Therefore the planned command link to the spacecraft was not established.

The operations team did not discover the problem until it was ready to begin its downlink session at 9:12 p.m. PDT last night. That 30-minute downlink would have been followed by a later downlink of data at 10:30 p.m. to 12:20 a.m.

The lost transmission session did not impact the mission in any way, except to delay the rover and lander activities. The operations team will retransmit the same set of sequences tonight during the 8 p.m. PDT session.

Activities planned for today will repeat the tasks not completed yesterday, including backing Sojourner down from Yogi and repositioning its science instrument against the rock. A full color panorama is also planned.

Meanwhile, all spacecraft and rover systems are performing well. Today is Sol 8 of the Mars Pathfinder mission.

Newest Rover "movie" (10 July 1997)!

Summary of Planned Rover Activities for Sol 4:

PDT MLST Rover Acivity
15:21 07:02 Sequence 50310 MARS
18:28 10:05 Read out final APXS data from night of sol 2
18:29 10:06 APXS site image
18:43 10:19 APXS Retract
18:57 10:32 Perform short soil mechanics experiment
20:30 12:03 MAE experiment
20:30 12:03 Traverse to possible APXS rock site
20:34 12:07 APXS Deploy
20:37 12:10 EOD imaging
20:48 12:21 Calibration imaging of lasers
22:33 14:03 MAE experiment
02:04 17:28 APXS night ops read
04:04 19:25 APXS night ops read
06:04 21:22 APXS night ops read
08:04 23:18 APXS night ops read
10:04 01:15 APXS night ops read
16:00 07:02 APXS night ops read


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"Six wheels on soil!" The above image was taken by the IMP camera on July 5, 1997. Sojourner's descent down the rear rover deployment ramp was successful. The microrover's seven month journey from Earth to Mars is complete. The soil beneath Sojourner (with tracks showing behind the right rear wheel) will be the first target of the Alpha Proton X-Ray Spectrometer.

Animation of the Rover rolling onto the surface of Mars!

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This is an image taken by the lander's camera of Sojourner on the afternoon of Sol 4. The APXS instrument is clearly shown deployed on the surface. During the night of Sol 4, Sojourner will acquire spectra data from the APXS which will then be used to determine the elemental composition of this particular soil patch. Rover Telecom display from Sol4 data. The telecom system worked very well on this day and its operating conditions are better understood as compared to earlier Sol's. This image depicts one of a number graphical displays used to analyze rover engineering data. This particular display shows plots of the internal and external temperatures of the rover starting on the evening of Sol3, throught the night into the morning and afternoon of Sol4. Times are indicated in Mars Local Time. The MAE temperature sensor located on the rovers solar panel gets down to -88.0 C in the early morning before sunrise. It gets colder than the other external temperature sensors because the surface to which it is mounted radiates its heat to the sky (i.e, deep space). With such a thin atmosphere the amount of raditive loss to the sky is much greater than on Earth. The internal temperature fluctuate between 40C and -22C clearly indicating how well the rover's thermal enclosure is working.

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This image depicts one of a number graphical displays used to analyze rover engineering data. This particular display contains several views of the rover (side, back, plan) in which the position of the rocker arms, bogies, APXS deployment mechanism, and state of the contact sensors is represented based upon the measured telemetry data. The particular configuration show corresponds to the configuration of the rover in the afternoon of Sol 4 after it had deployed the APXS down to the surface in preparation for acquiring soil spectra. The solid red box on the APXS sensor head indicates that it was this contact sensor that detected the presense of the surface when the mechanism was being deployed. The rover is also rolled slightly to the right (by 7.1 degrees) and pitched upward (by 4.7 degrees). The pitch and roll provide information as to the slope and contour of the surface upon which the rover is sitting. This image depicts one of a number of graphical displays used to analyze rover engineering data. This particular display contains an overhead view of the landing site. The path taken by Sojourner on its way to the rock "Yogi" is depicted. The information contained in this display is based upon the actual telemetry data acquired by Sojourner. The small jog in the middle of the trajectory corresponds to the move that Sojourner made when it approached the rock "Barnacle Bill", simply represented by the larger rectangular object. Mission analysis can zoom in an out of the actual display and play back the actual motion. This is an image taken by the rover's front right camera of the bottom portion of the rock affectionately called "Yogi". This image was taken on the afternoon of Sol 4. The rover was about 0.5 meters away from the rock when the image was taken. Numerous features on the rock and the soil are clearly visible in the image. The rock in the lower portion of the image was actually disturbed by the rover when it drove up to "Yogi". The upper edge of the rock is clearly visiable whereas in earlier images the soil flowed evenly over the upper portion of this rock. Up-close images of rocks and surface features like this are what the scientists have been longing for and can only be acquired by a vehicle which can navigate to sites of interest.

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