ROVER SEQUENCE MACROS


Updated 6/30/97



TRAVERSE MACROS


Macro 1.5 Forward Left Crabbing at 50 Degrees

Macro Title: 1.5 Forward Left Crabbing at 50 Degrees
Description: This macro performs a crabbing maneuver useful in moving away from an obstacle unusually close to the right side of the rover.
Command sequence: [1]:[ROVER] 1.5.1 Forward left crabbing at 50 degrees

[2]: Clear Errors (191)

[3]: [ROVER] 1.5.0 Set steering to 50 degrees

[4]: Run Motor 6 (left front steer) to 622

[5]: Run Motor 7 (right front steer) to 622

[6]: Run Motor 8 (left rear steer) to 622

[7]: Run Motor 9 (right rear steer) to 622

[8]: [ROVER] 1.5.0 Move forward 50 cm w/disabled steering

[9]: Move (distance: 500 mm)

[10]: Move (distance: 0 mm)

[11]: Clear Errors (191)

[12]:[ROVER] 1.5.9 End crabbing

Usage notes:
Planet: Earth/Mars
Vehicle: SIM/FUR
Warnings:
Execution time:
Telemetry volume: 2100 bytes
Additional information:




Macro 1.6 Forward Right Crabbing at 50 Degrees

Macro Title: 1.6 Forward Right Crabbing at 50 Degrees
Description: This macro performs a crabbing maneuver useful in moving away from an obstacle unusually close to the left side of the rover.
Command sequence: [1]:[ROVER] 1.6.1 Forward right crabbing at 50 degrees

[2]: Clear Errors (191)

[3]: [ROVER] 1.6.0 Set steering to 50 degrees

[4]: Run Motor 6 (left front steer) to -622

[5]: Run Motor 7 (right front steer) to -622

[6]: Run Motor 8 (left rear steer) to -622

[7]: Run Motor 9 (right rear steer) to -622

[8]: [ROVER] 1.6.0 Move forward 50 cm w/disabled steering

[9]: Move (distance: 500 mm)

[10]: Move (distance: 0 mm)

[11]: Clear Errors (191)

[12]:[ROVER] 1.6.9 End crabbing

Usage notes:
Planet: Earth/Mars
Vehicle: SIM/FUR
Warnings:
Execution time:
Telemetry volume: 2100 bytes
Additional information:



Macro 1.7 Backward Left Crabbing at 50 Degrees

Macro Title: 1.7 Backward Left Crabbing at 50 Degrees
Description: This macro performs a crabbing maneuver useful in moving away from an obstacle unusually close to the right side of the rover.
Command sequence: [1]:[ROVER] 1.7.1 Backward left crabbing at 50 degrees

[2]: Clear Errors (191)

[3]: [ROVER] 1.7.0 Set steering to 50 degrees

[4]: Run Motor 6 (left front steer) to -622

[5]: Run Motor 7 (right front steer) to -622

[6]: Run Motor 8 (left rear steer) to -622

[7]: Run Motor 9 (right rear steer) to -622

[8]: [ROVER] 1.7.0 Move backward 50 cm w/disabled steering

[9]: Move (distance: -500 mm)

[10]: Move (distance: 0 mm)

[11]: Clear Errors (191)

[12]:[ROVER] 1.7.9 End crabbing

Usage notes:
Planet: Earth/Mars
Vehicle: SIM/FUR
Warnings:
Execution time:
Telemetry volume: 2100 bytes
Additional information:



Macro 1.8 Backward Right Crabbing at 50 Degrees

Macro Title: 1.8 Backward Right Crabbing at 50 Degrees
Description: This macro performs a crabbing maneuver useful in moving away from an obstacle unusually close to the left side of the rover.
Command sequence: [1]:[ROVER] 1.8.1 Backward right crabbing at 50 degrees

[2]: Clear Errors (191)

[3]: [ROVER] 1.8.0 Set steering to 50 degrees

[4]: Run Motor 6 (left front steer) to 622

[5]: Run Motor 7 (right front steer) to 622

[6]: Run Motor 8 (left rear steer) to 622

[7]: Run Motor 9 (right rear steer) to 622

[8]: [ROVER] 1.8.0 Move backward 50 cm w/disabled steering

[9]: Move (distance: -500 mm)

[10]: Move (distance: 0 mm)

[11]: Clear Errors (191)

[12]:[ROVER] 1.8.9 End crabbing

Usage notes:
Planet: Earth/Mars
Vehicle: SIM/FUR
Warnings:
Execution time:
Telemetry volume: 2100 bytes
Additional information:



Macro 1.9 Set Dropout Limit to 3

Macro Title: 1.9 Set Dropout Limit to 3
Description: This macro sets the allowable number of laser dropouts during hazard detection to three, to prevent interpretation of normal dropouts as a hazard.
Command sequence: [1]:[ROVER] 1.9.2 Set dropout limit to three

[2]:Generic: set parm dropout limit (Generic)

Usage notes:
Planet: Earth/Mars
Vehicle: SIM/FUR
Warnings:
Execution time:
Telemetry volume: 2100 bytes
Additional information:




MAE MACROS


Macro 2.1 MAE Experiment (baseline)

Macro Title: 2.1 MAE Experiment (baseline)
Description: This macro performs the baseline MAE experiment.
Command sequence: [1]:[ROVER] 2.1.1 Begin MAE experiment

[2]: Clear Errors (183)

[3]: [ROVER] 2.1.4 WARNING: Confirm dust cover parameter

[4]: Set Parameter: dust_cvr to 800

[5]: MAE

[6]: Clear Errors (183)

[7]:[ROVER] 2.1.9 End MAE experiment

Usage notes: The dust_cvr parameter value must be verified each time the macro is used. The parameter value is temperature dependent; an incorrect value may result in permanent damage to the dust cover mechanism. Flight rule requires that the dust cover parameter be set immediately before performing the MAE command.
Planet: Earth/Mars
Vehicle: SIM/FUR
Warnings: The parameter value is temperature dependent; an incorrect value may result in permanent damage to the dust cover mechanism.
Execution time:
Telemetry volume: 146 bytes (1168 bits)
Additional information:



WAE MACROS


Macro 3.1 WAE Experiment (baseline)

Macro Title: 3.1 WAE Experiment (baseline)
Description: This macro performs the baseline WAE experiment.
Command sequence: [1]:[ROVER] 3.1.1 Begin WAE experiment

[2]: Clear Errors (183)

[3]: WAE experiment (gain: 0)

[4]: Health Check (level 2)

[5]: Run Motor 3 (right center drive) to -6000

[6]: WAE experiment (gain: 0)

[7]: Health Check (level 2)

[8]: Clear Errors (183)

[9]:[ROVER] 3.1.9 End WAE experiment

Usage notes:
Planet: Earth/Mars
Vehicle: SIM/FUR
Warnings:
Execution time:
Telemetry volume: 140.7Kbytes (17592 bits)
Additional information:




IMAGING MACROS


Macro 4.1 End of Day Operations Imaging (Earth)

Macro Title: 4.1 End-of-Day Operations Imaging
Description: This macro performs baseline rover end-of-day operations imaging. The right camera image is exposed in several strips to compensate for dark current effects at Earth ambient temperatures.
Command sequence:

[1]:[ROVER] 4.1.1 Begin EOD imaging (earth)

[2]: Image (left,auto,ops,comp:yes,r250-r490,c0-c768,shift=2)

[3]: Image (left,reuse,ops,comp:yes,r10-r250,c0-c768,shift=2)

[4]: Image (right,auto,ops,comp:yes,r250-r298,c0-c768,shift=2)

[5]: Image (right,reuse,ops,comp:yes,r10-r58,c0-c768,shift=2)

[6]: Image (right,reuse,ops,comp:yes,r58-r106,c0-c768,shift=2)

[7]: Image (right,reuse,ops,comp:yes,r106-r154,c0-c768,shift=2)

[8]: Image (right,reuse,ops,comp:yes,r154-r202,c0-c768,shift=2)

[9]: Image (right,reuse,ops,comp:yes,r202-r250,c0-c768,shift=2)

[10]: Image (right,reuse,ops,comp:yes,r298-r346,c0-c768,shift=2)

[11]: Image (right,reuse,ops,comp:yes,r346-r394,c0-c768,shift=2)

[12]: Image (right,reuse,ops,comp:yes,r394-r442,c0-c768,shift=2)

[13]: Image (right,reuse,ops,comp:yes,r442-r490,c0-c768,shift=2)

[14]:[ROVER] 4.1.9 End EOD imaging (earth)

Usage notes:
Planet: Earth
Vehicle: SIM
Warnings:
Execution time:
Telemetry volume: 152.6Kbytes (1,220,640 bits)
Additional information:



Macro 4.2 End of Day Operations Imaging (Mars)

Macro Title: 4.2 End-of-Day Operations Imaging (Mars ambient)
Description: This macro performs baseline rover end-of-day operations imaging, assuming Mars ambient temperatures.
Command sequence:

[1]:[ROVER] 4.2.1 Begin EOD imaging (Mars)

[2]: Image (left,auto,ops,comp:yes,r250-r490,c0-c768,shift=2)

[3]: Image (left,reuse,ops,comp:yes,r10-r250,c0-c768,shift=2)

[4]: Image (right,auto,ops,comp:yes,r250-r490,c0-c768,shift=2)

[5]: Image (right,reuse,ops,comp:yes,r10-r250,c0-c768,shift=2)

[6]:[ROVER] 4.2.9 End EOD imaging (Mars)

Usage notes:
Planet: Mars
Vehicle: FUR
Warnings:
Execution time:
Telemetry volume: 152.1Kbytes (1,216,800 bits)
Additional information:




Macro 4.5 Surface Mapping Image with Front Left Camera (FUR)

Macro Title: 4.5 Surface Mapping Image with Front Left Camera (FUR)
Description: After positioning the rover in azimuth, this macro can be used to image the surfaces hidden from the IMP and combined with the corresponding right front image taken from the same rover position for stereo viewing ad stereometric measurements.
Command sequence:

[1]:[ROVER] 4.5.2 Surface mapping FL image (FUR)

[2]:Image (left,auto,science,comp:no,r96-r375,c193-c576,s2)

Usage notes:
Planet: Mars
Vehicle: FUR
Warnings:
Execution time:
Telemetry volume: 108.4Kbytes (0.867 Mbits)
Additional information:




Macro 4.6 Surface Mapping Image with Front Right Camera (FUR)

Macro Title: 4.6 Surface Mapping Image with Front Right Camera (FUR)
Description: After positioning the rover in azimuth, this macro can be used to image the surfaces hidden from the IMP and combined with the corresponding left front image taken from the same rover position for stereo viewing ad stereometric measurements.
Command sequence:

[1]:[ROVER] 4.6.2 Surface mapping FR image (FUR)

[2]:Image (right,auto,science,comp:no,r96-r375,c193-c576,s2)

Usage notes:
Planet: Mars
Vehicle: FUR
Warnings:
Execution time:
Telemetry volume: 108.4Kbytes (0.867 Mbits)
Additional information:



SOIL MECHANICS MACROS


Macro 5.01 Soil Mechanics Experiment (SIM)

Macro Title: 5.01 Soil Mechanics Experiment (SIM)
Description: This macro is an outdated version of the baseline soil mechanics experiment. It is designated for SIM use only because the embedded imaging assumes a rear B&W camera and Earth ambient temperatures.
Command sequence:

[1]:[ROVER] 5.01.1 Begin soil mechanics experiment (SIM)
[2]: Health Check (level 2)
[3]: Image (rear,auto,tech,comp:no,r50-r100,c250-c400,shift=2)
[4]: Image (rear,reuse,tech,comp:no,r100-r150,c250-c400,shift=2)
[5]: Image (rear,reuse,tech,comp:no,r150-r200,c250-c400,shift=2)
[6]: Image (rear,reuse,tech,comp:no,r200-r250,c250-c400,shift=2)
[7]: Soil Mechanics (motor:5, counts:500, cycles:4)
[8]: Health Check (level 2)
[9]: Image (rear,auto,tech,comp:no,r50-r100,c0-c400,shift=2)
[10]: Image (rear,reuse,tech,comp:no,r100-r150,c0-c400,shift=2)
[11]: Image (rear,reuse,tech,comp:no,r150-r200,c0-c400,shift=2)
[12]: Image (rear,reuse,tech,comp:no,r200-r250,c0-c400,shift=2)
[13]: Move (distance: 200 mm)
[14]: Image (rear,auto,tech,comp:no,r50-r100,c0-c474,shift=2)
[15]: Image (rear,reuse,tech,comp:no,r100-r150,c0-c474,shift=2)
[16]: Image (rear,reuse,tech,comp:no,r150-r200,c0-c474,shift=2)
[17]: Image (rear,reuse,tech,comp:no,r200-r250,c0-c474,shift=2)
[18]: Health Check (level 2)
[19]: Soil Mechanics (motor:1, counts:500, cycles:4)
[20]: Health Check (level 2)
[21]: [ROVER] 5.01.0 Wait for IMP imaging
[22]: Wait 10 Minutes (Relative)
[23]: Run Motor 6 (left front steer) to 500
[24]: Run Motor 8 (left rear steer) to -500
[25]: Run Motor 9 (right rear steer) to -250
[26]: Image (right,auto,tech,comp:no,r238-r252,c400-c768,shift=2)
[27]: Image (right,reuse,tech,comp:no,r252-r300,c400-c768,shift=2)
[28]: Image (right,reuse,tech,comp:no,r300-r348,c400-c768,shift=2)
[29]: Image (right,reuse,tech,comp:no,r348-r396,c400-c768,shift=2)
[30]: Image (right,reuse,tech,comp:no,r396-r444,c400-c768,shift=2)
[31]: Image (right,reuse,tech,comp:no,r444-r488,c400-c768,shift=2)
[32]: Set Device 20 to 8
[33]: [ROVER] 5.01.8 Expect ERROR due to failed motor
[34]: Move (distance: 80 mm)
[35]: Health Check (level 2)
[36]: Image (left,auto,tech,comp:no,r252-r488,c474-c764,shift=2)
[37]: Image (right,auto,tech,comp:no,r252-r300,c400-c768,shift=2)
[38]: Image (right,reuse,tech,comp:no,r300-r348,c400-c768,shift=2)
[39]: Image (right,reuse,tech,comp:no,r348-r396,c400-c768,shift=2)
[40]: Image (right,reuse,tech,comp:no,r396-r444,c400-c768,shift=2)
[41]: Image (right,reuse,tech,comp:no,r444-r488,c400-c768,shift=2)
[42]: Set Device 20 to 1
[43]: Move (distance: -80 mm)
[44]: Clear Errors (247)
[45]: Health Check (level 2)
[46]:[ROVER] 5.01.9 End soil mechanics experiment (SIM

Usage notes:
Planet: Earth
Vehicle: SIM
Warnings:
Execution time:
Telemetry volume: 468Kbytes (3,744,296 bits)
Additional information:



Macro 5.04 Baseline Soil Mechanics Experiment (SIM)

Macro Title: 5.04 Baseline Soil Mechanics Experiment (SIM)
Description: This macro performs the baseline soil mechanics experiment. It is designated for SIM use only because the embedded imaging assumes a rear B&W camera and Earth ambient temperatures.
Command sequence:

[1]:[ROVER] 5.04.1 Begin soil mechanics experiment (SIM)
[2]: Move (distance: 0 mm)
[3]: Health Check (level 2)
[4]: Image (rear,auto,tech,comp:no,r50-r100,c220-c400,s2)
[5]: Image (rear,auto,tech,comp:no,r100-r150,c220-c400,s2)
[6]: Image (rear,auto,tech,comp:no,r150-r200,c220-c400,s2)
[7]: Image (rear,auto,tech,comp:no,r200-r275,c220-c400,s2)
[8]: Soil Mechanics (motor:5, counts:500, cycles:4)
[9]: Health Check (level 2)
[10]: [ROVER] 5.04.0 Rear image after dig
[11]: Image (rear,auto,tech,comp:no,r50-r100,c0-c200,s2)
[12]: Image (rear,auto,tech,comp:no,r50-r100,c200-c435,s2)
[13]: Image (rear,reuse,tech,comp:no,r100-r150,c0-c200,s2)
[14]: Image (rear,reuse,tech,comp:no,r100-r150,c200-c435,s2)
[15]: Image (rear,reuse,tech,comp:no,r150-r200,c0-c200,s2)
[16]: Image (rear,reuse,tech,comp:no,r150-r200,c200-c435,s2)
[17]: Image (rear,reuse,tech,comp:no,r200-r250,c0-c200,s2)
[18]: Image (rear,reuse,tech,comp:no,r200-r250,c200-c435,s2)
[19]: [ROVER] 5.04.0 Wait for S0054 IMP imaging
[20]: Wait (Relative)
[21]: Move (distance: 200 mm)
[22]: [ROVER] 5.04.0 Image after exiting dig
[23]: Image (rear,auto,tech,comp:no,r50-r100,c0-c240,s2)
[24]: Image (rear,auto,tech,comp:no,r50-r100,c240-c474,s2)
[25]: Image (rear,reuse,tech,comp:no,r100-r150,c0-c240,s2)
[26]: Image (rear,reuse,tech,comp:no,r100-r150,c240-c474,s2)
[27]: Image (rear,reuse,tech,comp:no,r150-r200,c0-c240,s2)
[28]: Image (rear,reuse,tech,comp:no,r150-r200,c240-c474,s2)
[29]: Image (rear,reuse,tech,comp:no,r200-r250,c0-c240,s2)
[30]: Image (rear,reuse,tech,comp:no,r200-r250,c240-c474,s2)
[31]: Health Check (level 2)
[32]: Soil Mechanics (motor:1, counts:500, cycles:1)
[33]: Soil Mechanics (motor:3, counts:-15, cycles:1)
[34]: Soil Mechanics (motor:1, counts:500, cycles:1)
[35]: Soil Mechanics (motor:3, counts:-15, cycles:1)
[36]: Soil Mechanics (motor:1, counts:500, cycles:1)
[37]: Soil Mechanics (motor:3, counts:-15, cycles:1)
[38]: Soil Mechanics (motor:1, counts:500, cycles:1)
[39]: Soil Mechanics (motor:3, counts:-15, cycles:1)
[40]: Health Check (level 2)
[41]: Run Motor 6 (left front steer) to 500
[42]: Run Motor 8 (left rear steer) to -500
[43]: Run Motor 9 (right rear steer) to -250
[44]: Image (right,auto,tech,comp:no,r230-r280,c400-c718,s2)
[45]: Image (right,reuse,tech,comp:no,r250-r300,c400-c718,s2)
[46]: Image (right,reuse,tech,comp:no,r300-r350,c400-c718,s2)
[47]: Image (right,reuse,tech,comp:no,r350-r400,c400-c718,s2)
[48]: Set Device 20 to 8
[49]: [ROVER] 5.04.8 Expect ERROR due to failed motor
[50]: Move (distance: 80 mm)
[51]: Health Check (level 2)
[52]: [ROVER] 5.04.0 Wait for S0053 IMP imaging
[53]: Wait (Relative)
[54]: Image (left,auto,tech,comp:no,r252-r488,c474-c764,s2)
[55]: Image (right,auto,tech,comp:no,r158-r252,c400-c718,s2)
[56]: Image (right,auto,tech,comp:no,r252-r300,c400-c718,s2)
[57]: Image (right,reuse,tech,comp:no,r300-r348,c400-c718,s2)
[58]: Image (right,reuse,tech,comp:no,r348-r396,c400-c718,s2)
[59]: Image (right,reuse,tech,comp:no,r396-r444,c400-c718,s2)
[60]: Image (right,reuse,tech,comp:no,r444-r488,c400-c718,s2)
[61]: Set Device 20 to 1
[62]: Move (distance: -80 mm)
[63]: Clear Errors (247)
[64]: Health Check (level 2)
[65]:[ROVER] 5.04.9 End soil mechanics experiment (SIM)

Usage notes:
Planet: Earth
Vehicle: SIM
Warnings:
Execution time:
Telemetry volume:
Additional information:



Macro 5.05 Baseline Soil Mechanics Experiment (FUR)

Macro Title: 5.05 Baseline Soil Mechanics Experiment (FUR)
Description: This macro performs the baseline FUR soil mechanics experiment. It is designated for FUR use only because the embedded imaging assumes a rear color camera and Mars ambient temperatures.
Command sequence:

[1]:[ROVER] 5.05.1 Soil mechanics experiment (FUR)
[2]: Move (distance: 0 mm)
[3]: Health Check (level 2)
[4]: Image (rear,auto,tech,comp:no,r50-r275,c220-c400,s1)
[5]: Soil Mechanics (motor:5, counts:500, cycles:4)
[6]: Health Check (level 2)
[7]: [ROVER] 5.05.0 Rear image after dig
[8]: Image (rear,auto,tech,comp:no,r50-r250,c0-c145,s1)
[9]: Image (rear,auto,tech,comp:no,r50-r250,c145-c290,s1)
[10]: Image (rear,auto,tech,comp:no,r50-r250,c290-c435,s1)
[11]: [ROVER] 5.05.0 Wait for S0054 IMP imaging
[12]: Wait 10 minutes (Relative)
[13]: Move (distance: 200 mm)
[14]: [ROVER] 5.05.0 Image after exiting dig
[15]: Image (rear,auto,tech,comp:no,r50-r250,c0-c118,s1)
[16]: Image (rear,auto,tech,comp:no,r50-r250,c118-c273,s1)
[17]: Image (rear,auto,tech,comp:no,r50-r250,c273-c356,s1)
[18]: Image (rear,auto,tech,comp:no,r50-r250,c356-c474,s1)
[19]: Health Check (level 2)
[20]: Soil Mechanics (motor:1, counts:500, cycles:1)
[21]: Soil Mechanics (motor:3, counts:-15, cycles:1)
[22]: Soil Mechanics (motor:1, counts:500, cycles:1)
[23]: Soil Mechanics (motor:3, counts:-15, cycles:1)
[24]: Soil Mechanics (motor:1, counts:500, cycles:1)
[25]: Soil Mechanics (motor:3, counts:-15, cycles:1)
[26]: Soil Mechanics (motor:1, counts:500, cycles:1)
[27]: Soil Mechanics (motor:3, counts:-15, cycles:1)
[28]: Health Check (level 2)
[29]: Run Motor 6 (left front steer) to 500
[30]: Run Motor 8 (left rear steer) to -500
[31]: Run Motor 9 (right rear steer) to -250
[32]: Image (right,auto,tech,comp:no,r230-r400,c400-c718,s2)
[33]: Set Device 20 to 8
[34]: [ROVER] 5.05.8 Expect ERROR due to failed motor
[35]: Move (distance: 80 mm)
[36]: Health Check (level 2)
[37]: [ROVER] 5.05.0 Wait for S0053 IMP imaging
[38]: Wait 10 minutes (Relative)
[39]: Image (left,auto,tech,comp:no,r252-r488,c474-c764,s2)
[40]: Image (right,auto,tech,comp:no,r158-r488,c400-c718,s2)
[41]: Set Device 20 to 1
[42]: Move (distance: -80 mm)
[43]: Clear Errors (247)
[44]: Health Check (level 2)
[45]:[ROVER] 5.05.9 End soil mechanics experiment (FUR)

Usage notes:
Planet: Mars
Vehicle: FUR
Warnings:
Execution time:
Telemetry volume:
Additional information:



Macro 5.07 Baseline Left Soil Mechanics Experiment (FUR)

Macro Title: 5.07 Baseline Left Soil Mechanics Experiment (FUR)
Description: This macro performs an alternate baseline FUR soil mechanics experiment. The wheel push segment of the experiment is performed on the rover's left side, rather than the right, in case this proves to be a better side for IMP imaging. The macro is designated for FUR use only because the embedded imaging assumes a rear color camera and Mars ambient temperatures.
Command sequence:

[1]:[ROVER] 5.07.1 Soil mech left experiment (FUR)
[2]: Move (distance: 0 mm)
[3]: Health Check (level 2)
[4]: Image (rear,auto,tech,comp:no,r50-r275,c220-c400,s1)
[5]: Soil Mechanics (motor:5, counts:500, cycles:4)
[6]: Health Check (level 2)
[7]: [ROVER] 5.07.0 Rear image after dig
[8]: Image (rear,auto,tech,comp:no,r50-r250,c0-c145,s1)
[9]: Image (rear,auto,tech,comp:no,r50-r250,c145-c290,s1)
[10]: Image (rear,auto,tech,comp:no,r50-r250,c290-c435,s1)
[11]: [ROVER] 5.07.0 Wait for S0054 IMP imaging
[12]: Wait 10 minutes (Relative)
[13]: Move (distance: 200 mm)
[14]: [ROVER] 5.07.0 Image after exiting dig
[15]: Image (rear,auto,tech,comp:no,r50-r250,c0-c118,s1)
[16]: Image (rear,auto,tech,comp:no,r50-r250,c118-c273,s1)
[17]: Image (rear,auto,tech,comp:no,r50-r250,c273-c356,s1)
[18]: Image (rear,auto,tech,comp:no,r50-r250,c356-c474,s1)
[19]: Health Check (level 2)
[20]: Soil Mechanics (motor:0, counts:500, cycles:1)
[21]: Soil Mechanics (motor:2, counts:-22, cycles:1)
[22]: Soil Mechanics (motor:0, counts:500, cycles:1)
[23]: Soil Mechanics (motor:2, counts:-22, cycles:1)
[24]: Soil Mechanics (motor:0, counts:500, cycles:1)
[25]: Soil Mechanics (motor:2, counts:-22, cycles:1)
[26]: Soil Mechanics (motor:0, counts:500, cycles:1)
[27]: Soil Mechanics (motor:2, counts:-22, cycles:1)
[28]: Health Check (level 2)
[29]: Run Motor 7 (right front steer) to -500
[30]: Run Motor 9 (right rear steer) to 500
[31]: Run Motor 8 (left rear steer) to 250
[32]: Image (left,auto,tech,comp:no,r230-r400,c50-c368,s2)
[33]: Set Device 19 to 8
[34]: [ROVER] 5.07.8 Expect ERROR due to failed motor
[35]: Move (distance: 80 mm)
[36]: Health Check (level 2)
[37]: [ROVER] 5.07.0 Wait for S0053 IMP imaging
[38]: Wait 10 minutes (Relative)
[39]: Image (left,auto,tech,comp:no,r158-r488,c40-c370,s2)
[40]: Image (right,auto,tech,comp:no,r252-r488,c5-c295,s2)
[41]: Set Device 19 to 1
[42]: Move (distance: -80 mm)
[43]: Clear Errors (247)
[44]: Health Check (level 2)
[45]:[ROVER] 5.07.9 End soil mechanics experiment (FUR)

Usage notes:
Planet: Mars
Vehicle: FUR
Warnings:
Execution time:
Telemetry volume:
Additional information:



Macro 5.08 Left Side Soft Soil Mechanics Experiment (FUR)

Macro Title: 5.08 Left Side Soft Soil Mechanics Experiment (FUR)
Description: This macro performs an alternate FUR soil mechanics experiment. This macro is intended to be used when the rover is operating in soft soil. The wheel push segment of the experiment is performed on the rover's left side, rather than the right, in case this proves to be a better side for IMP imaging. The macro is designated for FUR use only because the embedded imaging assumes a rear color camera and Mars ambient temperatures.
Command sequence:

[1]:[ROVER] 5.08.1 Soft soil mech left experiment (FUR)
[2]: Move (distance: 0 mm)
[3]: Health Check (level 2)
[4]: Image (rear,auto,tech,comp:no,r50-r275,c220-c400,s1)
[5]: Soil Mechanics (motor:5, counts:250, cycles:4)
[6]: Health Check (level 2)
[7]: [ROVER] 5.08.0 Rear image after dig
[8]: Image (rear,auto,tech,comp:no,r50-r250,c0-c145,s1)
[9]: Image (rear,auto,tech,comp:no,r50-r250,c145-c290,s1)
[10]: Image (rear,auto,tech,comp:no,r50-r250,c290-c435,s1)
[11]: [ROVER] 5.08.0 Wait for S0054 IMP imaging
[12]: Wait 10 minutes (Relative)
[13]: Move (distance: 200 mm)
[14]: [ROVER] 5.08.0 Image after exiting dig
[15]: Image (rear,auto,tech,comp:no,r50-r250,c0-c118,s1)
[16]: Image (rear,auto,tech,comp:no,r50-r250,c118-c273,s1)
[17]: Image (rear,auto,tech,comp:no,r50-r250,c273-c356,s1)
[18]: Image (rear,auto,tech,comp:no,r50-r250,c356-c474,s1)
[19]: Health Check (level 2)
[20]: Soil Mechanics (motor:0, counts:250, cycles:1)
[21]: Soil Mechanics (motor:2, counts:-7, cycles:1)
[22]: Soil Mechanics (motor:0, counts:250, cycles:1)
[23]: Soil Mechanics (motor:2, counts:-7, cycles:1)
[24]: Soil Mechanics (motor:0, counts:250, cycles:1)
[25]: Soil Mechanics (motor:2, counts:-7, cycles:1)
[26]: Soil Mechanics (motor:0, counts:250, cycles:1)
[27]: Soil Mechanics (motor:2, counts:-7, cycles:1)
[28]: Health Check (level 2)
[29]: Run Motor 7 (right front steer) to -500
[30]: Run Motor 9 (right rear steer) to 500
[31]: Run Motor 8 (left rear steer) to 250
[32]: Image (left,auto,tech,comp:no,r230-r400,c50-c368,s2)
[33]: Set Device 19 to 8
[34]: [ROVER] 5.08.8 Expect ERROR due to failed motor
[35]: Move (distance: 80 mm)
[36]: Health Check (level 2)
[37]: [ROVER] 5.07.0 Wait for S0053 IMP imaging
[38]: Wait 10 minutes (Relative)
[39]: Image (left,auto,tech,comp:no,r158-r488,c40-c370,s2)
[40]: Image (right,auto,tech,comp:no,r252-r488,c5-c295,s2)
[41]: Set Device 19 to 1
[42]: Move (distance: -80 mm)
[43]: Clear Errors (247)
[44]: Health Check (level 2)
[45]:[ROVER] 5.08.9 End soil mechanics experiment (FUR)

Usage notes:
Planet: Mars
Vehicle: FUR
Warnings:
Execution time:
Telemetry volume:
Additional information:



Macro 5.09 Soft Soil Mechanics Experiment (FUR)

Macro Title: 5.09 Soft Soil Mechanics Experiment (FUR)
Description: This macro performs an alternate FUR soil mechanics experiment. Wheel counts for all soil mechanics commands have been reduced to avoid burying rover wheels deeply into the soil. The macro is designated for FUR use only because the embedded imaging assumes a rear color camera and Mars ambient temperatures.
Command sequence:

[1]:[ROVER] 5.09.1 Soft Soil mechanics experiment (FUR)
[2]: Move (distance: 0 mm)
[3]: Health Check (level 2)
[4]: Image (rear,auto,tech,comp:no,r50-r275,c220-c400,s1)
[5]: Soil Mechanics (motor:5, counts:250, cycles:4)
[6]: Health Check (level 2)
[7]: [ROVER] 5.09.0 Rear image after dig
[8]: Image (rear,auto,tech,comp:no,r50-r250,c0-c145,s1)
[9]: Image (rear,auto,tech,comp:no,r50-r250,c145-c290,s1)
[10]: Image (rear,auto,tech,comp:no,r50-r250,c290-c435,s1)
[11]: [ROVER] 5.09.0 Wait for S0054 IMP imaging
[12]: Wait 10 minutes (Relative)
[13]: Move (distance: 200 mm)
[14]: [ROVER] 5.09.0 Image after exiting dig
[15]: Image (rear,auto,tech,comp:no,r50-r250,c0-c118,s1)
[16]: Image (rear,auto,tech,comp:no,r50-r250,c118-c273,s1)
[17]: Image (rear,auto,tech,comp:no,r50-r250,c273-c356,s1)
[18]: Image (rear,auto,tech,comp:no,r50-r250,c356-c474,s1)
[19]: Health Check (level 2)
[20]: Soil Mechanics (motor:1, counts:250, cycles:1)
[21]: Soil Mechanics (motor:3, counts:-7, cycles:1)
[22]: Soil Mechanics (motor:1, counts:250, cycles:1)
[23]: Soil Mechanics (motor:3, counts:-7, cycles:1)
[24]: Soil Mechanics (motor:1, counts:250, cycles:1)
[25]: Soil Mechanics (motor:3, counts:-7, cycles:1)
[26]: Soil Mechanics (motor:1, counts:250, cycles:1)
[27]: Soil Mechanics (motor:3, counts:-7, cycles:1)
[28]: Health Check (level 2)
[29]: Run Motor 6 (left front steer) to 500
[30]: Run Motor 8 (left rear steer) to -500
[31]: Run Motor 9 (right rear steer) to -250
[32]: Image (right,auto,tech,comp:no,r230-r400,c400-c718,s2)
[33]: Set Device 20 to 8
[34]: [ROVER] 5.09.8 Expect ERROR due to failed motor
[35]: Move (distance: 80 mm)
[36]: Health Check (level 2)
[37]: [ROVER] 5.09.0 Wait for S0053 IMP imaging
[38]: Wait 10 minutes (Relative)
[39]: Image (left,auto,tech,comp:no,r252-r488,c474-c764,s2)
[40]: Image (right,auto,tech,comp:no,r158-r488,c400-c718,s2)
[41]: Set Device 20 to 1
[42]: Move (distance: -80 mm)
[43]: Clear Errors (247)
[44]: Health Check (level 2)
[45]:[ROVER] 5.09.9 End soil mechanics experiment (FUR)

Usage notes:
Planet: Mars
Vehicle: FUR
Warnings:
Execution time: 80 minutes
Telemetry volume: 3.71 Mbits
Additional information:




Macro 5.10 Wheelie/Soil Actuator Tare Measurement

Macro Title: 5.10 Wheelie/Soil Actuator Tare Measurement
Description:
Command sequence:

[1]:[ROVER] 5.10.1 Start Wheelie/Soil actuator tare measurement

[2]: Clear Errors (247)

[3]: Soil Mechanics (motor:2, counts:500, cycles:3)

[4]: Soil Mechanics (motor:0, counts:2000, cycles:1)

[5]: Soil Mechanics (motor:0, counts:-2000, cycles:1)

[6]: Soil Mechanics (motor:2, counts:-1500, cycles:1)

[7]: Clear Errors (247)

[8]:[ROVER] 5.10.9 End Wheelie/Soil actuator tare measurement

Usage notes:
Planet: Earth
Vehicle: SIM
Warnings:
Execution time:
Telemetry volume: 7538 bytes (60,304 bits)
Additional information:





Macro 5.11 Strip Surface and Draw-Bar Pull

Macro Title: 5.11 Strip Surface and Draw-Bar Pull
Description:
Command sequence:

[1]:[ROVER] 5.11.1 Strip surface and draw-bar pull
[2]: Error Report (placeholder)
[2]: Move (distance: 40 mm)
[3]: Health Check (level 2)
[4]: Set Device 24 to 8
[5]: Move (distance: 200 mm)
[6]: [ROVER] 5.11.8 Expect ERROR due to failed motor
[7]: Turn Left/Right (by -10.00 degrees)
[8]: Set Device 24 to 1
[9]: Move (distance: -203 mm)
[10]: Turn Left/Right (by 10.00 degrees)
[11]: Set Device 24 to 8
[12]: Move (distance: 200 mm)
[13]: [ROVER] 5.11.8 Expect ERROR due to failed motor
[14]: Turn Left/Right (by -10.00 degrees)
[15]: Set Device 24 to 1
[16]: Move (distance: -203 mm)
[17]: Turn Left/Right (by 10.00 degrees)
[18]: Set Device 24 to 8
[19]: Move (distance: 200 mm)
[20]: [ROVER] 5.11.8 Expect ERROR due to failed motor
[21]: Turn Left/Right (by -10.00 degrees)
[22]: Set Device 24 to 1
[23]: Move (distance: -203 mm)
[24]: Turn Left/Right (by 10.00 degrees)
[25]: Set Device 24 to 8
[26]: Move (distance: 200 mm)
[27]: [ROVER] 5.11.8 Expect ERROR due to failed motor
[28]: Turn Left/Right (by -10.00 degrees)
[29]: Set Device 24 to 1
[30]: Move (distance: 0 mm)
[31]: Image (rear,auto,tech,comp:no,r1-r490,c100-c200,s1)
[32]: Image (rear,auto,tech,comp:no,r1-r490,c200-c300,s1)
[33]: Image (rear,auto,tech,comp:no,r1-r490,c300-c400,s1)
[34]: [ROVER] 5.11.0 Wait for S0054 IMP imaging
[35]: Wait 10 minutes (Relative)
[36]: [ROVER] 5.11.0 Nominal end draw-bar pull experiment
[37]: [ROVER] 5.11.0 Optional APXS placement follows. Delete previous imaging by rover if using this option.
[38]: Turn Left/Right (by -20.00 degrees)
[39]: Move (distance: -40 mm)
[40]: Set Parameter: contact_mask to 1887
[41]: Deploy APXS (-1980 counts)
[42]: Clear Errors (255)
[43]: Health Check (level 2)
[44]:[ROVER] 5.11.9 End draw-bar pull experiment

Usage notes:
Planet: Mars
Vehicle: FUR
Warnings:
Execution time: 35 minutes
Telemetry volume: 165Kbytes (1.319 Mbits)
Additional information:



APXS IMAGING MACROS


Macro 6.1 Image Tall Rock with Front Left Camera

Macro Title: 6.1 Image Tall Rock with Front Left Camera
Description: After a find rock, this macro can be used to image a tall rock with the front left camera before the rover turns around for final APXS placement
Command sequence:

[1]:[ROVER] 6.1.2 APXS FL image tall pre-deploy (M)

[2]:Image (left,auto,science,comp:no,r40-r383,c184-c724,shift=2)

Usage notes:
Planet: Mars
Vehicle: FUR
Warnings:
Execution time:
Telemetry volume: 187.9Kbytes (1,503,240 bits)
Additional information:





Macro 6.2 Image Medium Rock with Front Left Camera

Macro Title: 6.2 Image Medium Rock with Front Left Camera
Description: After a find rock, this macro can be used to image a medium rock with the front left camera before the rover turns around for final APXS placement
Command sequence:

[1]:[ROVER] 6.2.2 APXS FL image med pre-deploy FUR

[2]:Image (left,auto,science,comp:no,r83-r426,c184-c724,shift=2)

Usage notes:
Planet: Mars
Vehicle: FUR
Warnings:
Execution time:
Telemetry volume: 187.9Kbytes (1,503,240 bits)
Additional information:




Macro 6.3 Image Soil with Front Left Camera (FUR)

Macro Title: 6.3 Image Soil with Front Left Camera (FUR)
Description: After a find rock, this macro can be used to image an APXS soil site with the front left camera before the rover turns around for final APXS placement
Command sequence:

[1]:[ROVER] 6.3.2 APXS FL image soil pre-deploy (FUR)

[2]:Image (left,auto,science,comp:no,r181-r490,c154-c754,shift=2)

Usage notes:
Planet: Mars
Vehicle: FUR
Warnings:
Execution time:
Telemetry volume: 188.1Kbytes (1,504,680 bits)
Additional information:




Macro 6.4 Image Tall Rock with Front Right Camera (FUR)

Macro Title: 6.4 Image Tall Rock with Front Right Camera (FUR)
Description: After a find rock, this macro can be used to image an APXS tall rock site with the front right camera before the rover turns around for final APXS placement
Command sequence:

[1]:[ROVER] 6.4.2 APXS FR image tall pre-deploy (FUR)

[2]:Image (right,auto,science,comp:no,r40-r383,c44-c584,shift=2)

Usage notes:
Planet: Earth
Vehicle: SIM
Warnings:
Execution time:
Telemetry volume: 187.9Kbytes (1,503,240 bits)
Additional information:



Macro 6.5 Image Medium Rock with Front Right Camera (FUR)

Macro Title: 6.5 Image Medium Rock with Front Right Camera (FUR)
Description: After a find rock, this macro can be used to image an APXS medium rock site with the front right camera before the rover turns around for final APXS placement
Command sequence:

[1]:[ROVER] 6.5.2 APXS FR image med pre-deploy (FUR)

[2]:Image (right,auto,science,comp:no,r83-r426,c44-c584,shift=2)

Usage notes:
Planet: Mars
Vehicle: FUR
Warnings:
Execution time:
Telemetry volume: 187.9Kbytes (1,503,240 bits)
Additional information:



Macro 6.6 Image Soil with Front Right Camera (FUR)

Macro Title: 6.6 Image Soil with Front Right Camera (FUR)
Description: After a find rock, this macro can be used to image an APXS soil site with the front right camera before the rover turns around for final APXS placement
Command sequence:

[1]:[ROVER] 6.6.2 APXS FR image soil pre-deploy (FUR)

[2]:Image (right,auto,science,comp:no,r181-r490,c14-c614,shift=2)

Usage notes:
Planet: Mars
Vehicle: FUR
Warnings:
Execution time:
Telemetry volume: 188.1Kbytes (1,504,680 bits)
Additional information:




Macro 6.10 Image Tall Rock with Rear Camera ADM_Deployed (Earth)

Macro Title: 6.10 Image Tall Rock with Rear Camera ADM_Deployed (Earth)
Description: This macro captures the appropriate image of a tall rock after the APXS has been deployed onto its surface. The shift factor used is appropriate for the SIM rear camera.
Command sequence:

[1]:[ROVER] 6.10.2 APXS RC image tall deploy (E)

[2]:Image (rear,auto,science,comp:no,r248-r490,c374-c757,shift=2)

Usage notes:
Planet: Earth
Vehicle: SIM
Warnings:
Execution time:
Telemetry volume: 94.1Kbytes (752,448 bits)
Additional information:




Macro 6.11 Image Tall Rock with Rear Camera ADM-Retracted (Earth)

Macro Title: 6.11 Image Tall Rock with Rear Camera ADM-Retracted (Earth)
Description: This macro captures the appropriate image of a tall rock either before the APXS has been deployed or after the APXS has been retracted from its surface. The shift factor used is appropriate for the SIM rear camera.
Command sequence:

[1]:[ROVER] 6.11.2 APXS RC image tall retract (E)

[2]:Image (rear,auto,science,comp:no,r46-r490,c340-c757,shift=2)

Usage notes:
Planet: Earth
Vehicle: SIM
Warnings:
Execution time:
Telemetry volume: 187.8Kbytes (1,502,664 bits)
Additional information:




Macro 6.12 Image Medium Rock with Rear Camera ADM-Deployed (Earth)

Macro Title: 6.12 Image Medium Rock with Rear Camera ADM-Deployed (Earth)
Description: This macro captures the appropriate image of a medium rock after the APXS has been deployed onto its surface. The shift factor used is appropriate for the SIM rear camera.
Command sequence:

[1]:[ROVER] 6.12.2 APXS RC image med deploy (E)

[2]:Image (rear,auto,science,comp:no,r248-r490,c300-c683,shift=2)

Usage notes:
Planet: Earth
Vehicle: SIM
Warnings:
Execution time:
Telemetry volume: 94.1Kbytes (752,448 bits)
Additional information:




Macro 6.13 Image Medium Rock with Rear Camera ADM-Retracted (Earth)

Macro Title: 6.13 Image Medium Rock with Rear Camera ADM-Retracted (Earth)
Description: This macro captures the appropriate image of a medium rock either before the APXS has been deployed or after the APXS has been retracted from its surface. The shift factor used is appropriate for the SIM rear camera.
Command sequence:

[1]:[ROVER] 6.13.2 APXS RC image med retract (E)

[2]:Image (rear,auto,science,comp:no,r46-r490,c266-c683,shift=2)

Usage notes:
Planet: Earth
Vehicle: SIM
Warnings:
Execution time:
Telemetry volume: 187.8Kbytes (1,502,664 bits)
Additional information:




Macro 6.14 Image Soil with Rear Camera ADM-Deployed (Earth)

Macro Title: 6.14 Image Soil with Rear Camera ADM-Deployed (Earth)
Description: This macro captures the appropriate image of soil after the APXS has been deployed onto its surface. The shift factor used is appropriate for the SIM rear camera.
Command sequence:

[1]:[ROVER] 6.14.2 APXS RC image soil deploy (E)

[2]:Image (rear,auto,science,comp:no,r248-r490,c167-c550,shift=2)

Usage notes:
Planet: Earth
Vehicle: SIM
Warnings:
Execution time:
Telemetry volume: 94.1Kbytes (752,448 bits)
Additional information:




Macro 6.15 Image Soil with Rear Camera ADM-Retracted (Earth)

Macro Title: 6.15 Image Soil with Rear Camera ADM-Retracted (Earth)
Description: This macro captures the appropriate image of soil either before the APXS has been deployed or after the APXS has been retracted from its surface. The shift factor used is appropriate for the SIM rear camera.
Command sequence:

[1]:[ROVER] 6.15.2 APXS RC image soil retract (E)

[2]:Image (rear,auto,science,comp:no,r50-r490,c129-c550,shift=2)

Usage notes:
Planet: Earth
Vehicle: SIM
Warnings:
Execution time:
Telemetry volume: 187.9 Kbytes (1,503,400 bits)
Additional information:




Macro 6.30 Image Tall Rock with Rear Camera ADM-Deployed (FUR)

Macro Title: 6.30 Image Tall Rock with Rear Camera ADM-Deployed (FUR)
Description: This macro captures the appropriate image of a tall rock after the APXS has been deployed onto its surface. The shift factor used is appropriate for the FUR color rear camera.
Command sequence:

[1]:[ROVER] 6.30.2 APXS RC image tall deploy (FUR)

[2]:Image (rear,auto,science,comp:no,r248-r490,c374-c757,shift=1)

Usage notes:
Planet: Mars
Vehicle: FUR
Warnings:
Execution time:
Telemetry volume: 94.1Kbytes (752,448 bits)
Additional information:




Macro 6.31 Image Tall Rock with Rear Camera ADM-Retracted (FUR)

Macro Title: 6.31 Image Tall Rock with Rear Camera ADM-Retracted (FUR)
Description: This macro captures the appropriate image of a tall rock either before the APXS has been deployed or after the APXS has been retracted from its surface. The shift factor used is appropriate for the FUR color rear camera.
Command sequence:

[1]:[ROVER] 6.31.2 APXS RC image tall retract (FUR)

[2]:Image (rear,auto,science,comp:no,r46-r490,c340-c757,shift=1)

Usage notes:
Planet: Mars
Vehicle: FUR
Warnings:
Execution time:
Telemetry volume: 187.8Kbytes (1,502,664 bits)
Additional information:




Macro 6.32 Image Medium Rock with Rear Camera ADM-Deployed (FUR)

Macro Title: 6.32 Image Medium Rock with Rear Camera ADM-Deployed (FUR)
Description: This macro captures the appropriate image of a medium rock after the APXS has been deployed to its surface. The shift factor used is appropriate for the FUR color rear camera.
Command sequence:

[1]:[ROVER] 6.32.2 APXS RC image med deploy (FUR)

[2]:Image (rear,auto,science,comp:no,r248-r490,c300-c683,shift=1)

Usage notes:
Planet: Mars
Vehicle: FUR
Warnings:
Execution time:
Telemetry volume: 94.1Kbytes (752,448 bits)
Additional information:




Macro 6.33 Image Medium Rock with Rear Camera ADM-Retracted (FUR)

Macro Title: 6.33 Image Medium Rock with Rear Camera ADM-Retracted (FUR)
Description: This macro captures the appropriate image of a medium rock either before the APXS has been deployed or after the APXS has been retracted from its surface. The shift factor used is appropriate for the FUR color rear camera.
Command sequence:

[1]:[ROVER] 6.33.2 APXS RC image med retract (FUR)

[2]:Image (rear,auto,science,comp:no,r46-r490,c266-c683,shift=1)

Usage notes:
Planet: Mars
Vehicle: FUR
Warnings:
Execution time:
Telemetry volume: 187.8Kbytes (1,502,664 bits)
Additional information:




Macro 6.34 Image Soil with Rear Camera ADM-Deployed (FUR)

Macro Title: 6.34 Image Soil with Rear Camera ADM-Deployed (FUR)
Description: This macro captures the appropriate image of a soil site after the APXS has been deployed to its surface. The shift factor used is appropriate for the FUR color rear camera.
Command sequence:

[1]:[ROVER] 6.34.2 APXS RC image soil deploy (FUR)

[2]:Image (rear,auto,science,comp:no,r248-r490,c167-c550,shift=1)

Usage notes:
Planet: Mars
Vehicle: FUR
Warnings:
Execution time:
Telemetry volume: 94.1Kbytes (752,448 bits)
Additional information:




Macro 6.35 Image Soil with Rear Camera ADM-Retracted (FUR)

Macro Title: 6.35 Image Soil with Rear Camera ADM-Retracted (FUR)
Description: This macro captures the appropriate image of a soil site either before the APXS has been deployed or after the APXS has been retracted from its surface. The shift factor used is appropriate for the FUR color rear camera.
Command sequence:

[1]:[ROVER] 6.35.2 APXS RC image soil retract (FUR)

[2]:Image (rear,auto,science,comp:no,r50-r490,c129-c550,shift=1)

Usage notes:
Planet: Mars
Vehicle: FUR
Warnings:
Execution time:
Telemetry volume: 187.9Kbytes (1,503,400 bits)
Additional information:




Macro 6.40 Strip Image Tall Rock with Rear Camera ADM-Deployed (SIM)

Macro Title: 6.40 Strip Image Tall Rock with Rear Camera ADM-Deployed (SIM)
Description: This macro captures the appropriate image of a tall rock site after the APXS has been deployed to its surface. The image is divided into strips to provide useful images at Earth ambient temperatures. The shift factor used is appropriate for the SIM rear camera.
Command sequence:

[1]:[ROVER] 6.40.1 APXS RC strip image tall deploy (SIM)

[2]: [ROVER] 6.40.0 rows 242 cols 383

[3]: Image (rear,auto,science,comp:no,r248-r328,c374-c757,s2)

[4]: Image (rear,auto,science,comp:no,r328-r408,c374-c757,s2)

[5]: Image (rear,auto,science,comp:no,r408-r490,c374-c757,s2)

[6]:[ROVER] 6.40.9 End APXS RC strip image

Usage notes:
Planet: Earth
Vehicle: SIM
Warnings:
Execution time:
Telemetry volume: 94.1Kbytes (753,512 bits)
Additional information:




Macro 6.41 Strip Image Tall Rock with Rear Camera ADM-Retracted (SIM)

Macro Title: 6.41 Strip Image Tall Rock with Rear Camera ADM-Retracted (SIM)
Description: This macro captures the appropriate image of a tall rock site either before the APXS has been deployed or after the APXS has been retracted from its surface. The image is divided into strips to provide useful images at Earth ambient temperatures. The shift factor used is appropriate for the SIM rear camera.
Command sequence:

[1]:[ROVER] 6.41.1 APXS RC strip image tall retract (SIM)

[2]: [ROVER] 6.41.0 rows 444 cols 417

[3]: Image (rear,auto,science,comp:no,r46-r126,c340-c757,s2)

[4]: Image (rear,auto,science,comp:no,r126-r206,c340-c757,s2)

[5]: Image (rear,auto,science,comp:no,r206-r286,c340-c757,s2)

[6]: Image (rear,auto,science,comp:no,r286-r366,c340-c757,s2)

[7]: Image (rear,auto,science,comp:no,r366-r446,c340-c757,s2)

[8]: Image (rear,auto,science,comp:no,r446-r490,c340-c757,s2)

[9]:[ROVER] 6.41.9 End APXS RC strip image

Usage notes:
Planet: Earth
Vehicle: SIM
Warnings:
Execution time:
Telemetry volume: 188.1Kbytes (1,505,056 bits)
Additional information:




Macro 6.42 Strip Image Medium Rock with Rear Camera ADM-Deployed (SIM)

Macro Title: 6.42 Strip Image Medium Rock with Rear Camera ADM-Deployed (SIM)
Description: This macro captures the appropriate image of a medium rock site after the APXS has been deployed to its surface. The image is divided into strips to provide useful images at Earth ambient temperatures. The shift factor used is appropriate for the SIM rear camera.
Command sequence:

[1]:[ROVER] 6.42.1 APXS RC strip image med deploy (SIM)

[2]: [ROVER] 6.42.0 rows 242 cols 383

[3]: Image (rear,auto,science,comp:no,r248-r328,c300-c683,s2)

[4]: Image (rear,auto,science,comp:no,r328-r408,c300-c683,s2)

[5]: Image (rear,auto,science,comp:no,r408-r490,c300-c683,s2)

[6]:[ROVER] 6.42.9 End APXS RC strip image

Usage notes:
Planet: Earth
Vehicle: SIM
Warnings:
Execution time:
Telemetry volume: 94.1Kbytes (753,512 bits)
Additional information:




Macro 6.43 Strip Image Medium Rock with Rear Camera ADM-Retracted (SIM)

Macro Title: 6.43 Strip Image Medium Rock with Rear Camera ADM-Retracted (SIM)
Description: This macro captures the appropriate image of a medium rock site either before the APXS has been deployed or after the APXS has been retracted from its surface. The image is divided into strips to provide useful images at Earth ambient temperatures. The shift factor used is appropriate for the SIM rear camera.
Command sequence:

[1]:[ROVER] 6.43.1 APXS RC strip image med retract (S

[2]: [ROVER] 6.43.0 rows 444 cols 417

[3]: Image (rear,auto,science,comp:no,r46-r126,c266-c683,s2)

[4]: Image (rear,auto,science,comp:no,r126-r206,c266-c683,s2)

[5]: Image (rear,auto,science,comp:no,r206-r286,c266-c683,s2)

[6]: Image (rear,auto,science,comp:no,r286-r366,c266-c683,s2)

[7]: Image (rear,auto,science,comp:no,r366-r446,c266-c683,s2)

[8]: Image (rear,auto,science,comp:no,r446-r490,c266-c683,s2)

[9]:[ROVER] 6.43.9 End APXS RC strip image

Usage notes:
Planet: Earth
Vehicle: SIM
Warnings:
Execution time:
Telemetry volume: 188.1Kbytes (1,505,056 bits)
Additional information:




Macro 6.44 Strip Image Soil with Rear Camera ADM-Deployed (SIM)

Macro Title: 6.44 Strip Image Soil with Rear Camera ADM-Deployed (SIM)
Description: This macro captures the appropriate image of a soil site after the APXS has been deployed to its surface. The image is divided into strips to provide useful images at Earth ambient temperatures. The shift factor used is appropriate for the SIM rear camera.
Command sequence:

[1]:[ROVER] 6.44.1 APXS RC strip image soil deploy (SIM)

[2]: [ROVER] 6.44.0 rows 242 cols 383

[3]: Image (rear,auto,science,comp:no,r248-r328,c167-c550,s2)

[4]: Image (rear,auto,science,comp:no,r328-r408,c167-c550,s2)

[5]: Image (rear,auto,science,comp:no,r408-r490,c167-c550,s2)

[6]:[ROVER] 6.44.9 End APXS RC strip image

Usage notes:
Planet: Earth
Vehicle: SIM
Warnings:
Execution time:
Telemetry volume: 94.1Kbytes (753,512 bits)
Additional information:




Macro 6.45 Strip Image Soil with Rear Camera ADM-Retracted (SIM)

Macro Title: 6.45 Strip Image Soil with Rear Camera ADM-Retracted (SIM)
Description: This macro captures the appropriate image of a soil site either before the APXS has been deployed or after the APXS has been retracted from its surface. The image is divided into strips to provide useful images at Earth ambient temperatures. The shift factor used is appropriate for the SIM rear camera.
Command sequence:

[1]:[ROVER] 6.45.1 APXS RC strip image soil retract (SIM)

[2]: [ROVER] 6.45.0 rows 440 cols 421

[3]: Image (rear,auto,science,comp:no,r50-r126,c129-c550,s2)

[4]: Image (rear,auto,science,comp:no,r126-r206,c129-c550,s2)

[5]: Image (rear,auto,science,comp:no,r206-r286,c129-c550,s2)

[6]: Image (rear,auto,science,comp:no,r286-r366,c129-c550,s2)

[7]: Image (rear,auto,science,comp:no,r366-r446,c129-c550,s2)

[8]: Image (rear,auto,science,comp:no,r446-r490,c129-c550,s2)

[9]:[ROVER] 6.45.9 End APXS RC strip image

Usage notes:
Planet: Earth
Vehicle: SIM
Warnings:
Execution time:
Telemetry volume: 188.2Kbytes (1,505,776 bits)
Additional information:




Macro 6.51 Mosaic Image Tall Rock with Front Left Camera (FUR)

Macro Title: 6.51 Mosaic Image Tall Rock with Front Left Camera (FUR)
Description: This macro captures an image of a tall rock site with the front left camera after completion of a 'Find Rock' command, before the rover turns in place to face the ADM towards the rock.
Command sequence:

[1]:[ROVER] 6.51.1 APXS FL mosaic img tall retract (FUR)

[2]: [ROVER] 6.51.0 rows 343 cols 540

[3]: Image (left,auto,science,comp:no,r40-r211,c184-c364,s2)

[4]: Image (left,auto,science,comp:no,r40-r211,c364-c544,s2)

[5]: Image (left,auto,science,comp:no,r40-r211,c544-c724,s2)

[6]: Image (left,auto,science,comp:no,r211-r383,c184-c364,s2)

[7]: Image (left,auto,science,comp:no,r211-r383,c364-c544,s2)

[8]: Image (left,auto,science,comp:no,r211-r383,c544-c724,s2)

[9]:[ROVER] 6.51.9 End APXS FL mosaic image

Usage notes:
Planet: Mars
Vehicle: FUR
Warnings:
Execution time:
Telemetry volume:
Additional information:




Macro 6.52 Mosaic Image Medium Rock with Front Left Camera (FUR)

Macro Title: 6.52 Mosaic Image Medium Rock with Front Left Camera (FUR)
Description: This macro captures an image of a medium height rock site with the front left camera after completion of a 'Find Rock' command, before the rover turns in place to face the ADM towards the rock.
Command sequence:

[1]:[ROVER] 6.52.1 APXS FL mosaic img med retract (FUR)

[2]: [ROVER] 6.52.0 rows 343 cols 540

[3]: Image (left,auto,science,comp:no,r83-r254,c184-c364,s2)

[4]: Image (left,auto,science,comp:no,r83-r254,c364-c544,s2)

[5]: Image (left,auto,science,comp:no,r83-r254,c544-c724,s2)

[6]: Image (left,auto,science,comp:no,r254-r426,c184-c364,s2)

[7]: Image (left,auto,science,comp:no,r254-r426,c364-c544,s2)

[8]: Image (left,auto,science,comp:no,r254-r426,c544-c724,s2)

[9]:[ROVER] 6.52.9 End APXS FL mosaic image

Usage notes:
Planet: Mars
Vehicle: FUR
Warnings:
Execution time:
Telemetry volume:
Additional information:




Macro 6.53 Mosaic Image Soil with Front Left Camera (FUR)

Macro Title: 6.53 Mosaic Image Soil with Front Left Camera (FUR)
Description: This macro captures an image of a soil site with the front left camera after completion of a 'Find Rock' command, before the rover turns in place to face the ADM towards the rock.
Command sequence:

[1]:[ROVER] 6.53.1 APXS FL mosaic img soil retract (FUR)

[2]: [ROVER] 6.53.0 rows 309 cols 600

[3]: Image (left,auto,science,comp:no,r181-r335,c154-c354,s2)

[4]: Image (left,auto,science,comp:no,r181-r335,c354-c554,s2)

[5]: Image (left,auto,science,comp:no,r181-r335,c554-c754,s2)

[6]: Image (left,auto,science,comp:no,r335-r490,c154-c354,s2)

[7]: Image (left,auto,science,comp:no,r335-r490,c354-c554,s2)

[8]: Image (left,auto,science,comp:no,r335-r490,c554-c754,s2)

[9]:[ROVER] 6.53.9 End APXS FL mosaic image

Usage notes:
Planet: Mars
Vehicle: FUR
Warnings:
Execution time:
Telemetry volume:
Additional information:




Macro 6.54 Mosaic Image Tall Rock with Front Right Camera (FUR)

Macro Title: 6.54 Mosaic Image Tall Rock with Front Right Camera (FUR)
Description: This macro captures an image of a tall rock site with the front right camera after completion of a 'Find Rock' command, before the rover turns in place to face the ADM towards the rock.
Command sequence:

[1]:[ROVER] 6.54.1 APXS FR mosaic img tall retract (FUR)

[2]: [ROVER] 6.54.0 rows 343 cols 540

[3]: Image (right,auto,science,comp:no,r40-r211,c44-c224,s2)

[4]: Image (right,auto,science,comp:no,r40-r211,c224-c404,s2)

[5]: Image (right,auto,science,comp:no,r40-r211,c404-c584,s2)

[6]: Image (right,auto,science,comp:no,r211-r383,c44-c224,s2)

[7]: Image (right,auto,science,comp:no,r211-r383,c224-c404,s2)

[8]: Image (right,auto,science,comp:no,r211-r383,c404-c584,s2)

[9]:[ROVER] 6.54.9 End APXS FR mosaic image

Usage notes:
Planet: Mars
Vehicle: FUR
Warnings:
Execution time:
Telemetry volume:
Additional information:




Macro 6.55 Mosaic Image Medium Rock with Front Right Camera (FUR)

Macro Title: 6.55 Mosaic Image Medium Rock with Front Right Camera (FUR)
Description: This macro captures an image of a medium height rock site with the front right camera after completion of a 'Find Rock' command, before the rover turns in place to face the ADM towards the rock.
Command sequence:

[1]:[ROVER] 6.55.1 APXS FR mosaic img med retract (FU

[2]: [ROVER] 6.55.0 rows 343 cols 540

[3]: Image (right,auto,science,comp:no,r83-r254,c44-c224,s2)

[4]: Image (right,auto,science,comp:no,r83-r254,c224-c404,s2)

[5]: Image (right,auto,science,comp:no,r83-r254,c404-c584,s2)

[6]: Image (right,auto,science,comp:no,r254-r426,c44-c224,s2)

[7]: Image (right,auto,science,comp:no,r254-r426,c224-c404,s2)

[8]: Image (right,auto,science,comp:no,r254-r426,c404-c584,s2)

[9]:[ROVER] 6.55.9 End APXS FR mosaic image

Usage notes:
Planet: Mars
Vehicle: FUR
Warnings:
Execution time:
Telemetry volume:
Additional information:




Macro 6.56 Mosaic Image Soil with Front Right Camera (FUR)

Macro Title: 6.56 Mosaic Image Soil with Front Right Camera (FUR)
Description: This macro captures an image of a soil site with the front right camera after completion of a 'Find Rock' command, before the rover turns in place to face the ADM towards the rock.
Command sequence:

[1]:[ROVER] 6.56.1 APXS FR mosaic img soil retract (F

[2]: [ROVER] 6.56.0 rows 309 cols 600

[3]: Image (right,auto,science,comp:no,r181-r335,c14-c214,s2)

[4]: Image (right,auto,science,comp:no,r181-r335,c214-c414,s2)

[5]: Image (right,auto,science,comp:no,r181-r335,c414-c614,s2)

[6]: Image (right,auto,science,comp:no,r335-r490,c14-c214,s2)

[7]: Image (right,auto,science,comp:no,r335-r490,c214-c414,s2)

[8]: Image (right,auto,science,comp:no,r335-r490,c414-c614,s2)

[9]:[ROVER] 6.56.9 End APXS FR mosaic image

Usage notes:
Planet: Mars
Vehicle: FUR
Warnings:
Execution time:
Telemetry volume:
Additional information:




Macro 6.71 Mosaic Image Tall Rock with Rear Camera, APXS Deployed (FUR)

Macro Title: 6.71 Mosaic Image Tall Rock with Rear Camera (FUR)
Description: This macro captures an image of a tall rock site with the rear camera after the APXS head has been deployed onto its surface.
Command sequence:

[1]:[ROVER] 6.71.1 APXS RC mosaic img tall deploy (FUR)

[2]: [ROVER] 6.71.0 rows 242 cols 383

[3]: Image (rear,auto,science,comp:no,r248-r369,c374-c501,s1)

[4]: Image (rear,auto,science,comp:no,r248-r369,c501-c629,s1)

[5]: Image (rear,auto,science,comp:no,r248-r369,c629-c757,s1)

[6]: Image (rear,auto,science,comp:no,r369-r490,c374-c501,s1)

[7]: Image (rear,auto,science,comp:no,r369-r490,c501-c629,s1)

[8]: Image (rear,auto,science,comp:no,r369-r490,c629-c757,s1)

[9]:[ROVER] 6.71.9 End APXS RC mosaic image

Usage notes:
Planet: Mars
Vehicle: FUR
Warnings:
Execution time:
Telemetry volume:
Additional information:




Macro 6.72 Mosaic Image Tall Rock with Rear Camera, APXS Retracted (FUR)

Macro Title: 6.72 Mosaic Image Tall Rock with Rear Camera (FUR)
Description: This macro captures an image of a tall rock site with the rear camera with the APXS head retracted from its surface.
Command sequence:

[1]:[ROVER] 6.72.1 APXS RC mosaic img tall retract (FUR)

[2]: [ROVER] 6.72.0 rows 444 cols 417

[3]: Image (rear,auto,science,comp:no,r46-r194,c340-c548,s1)

[4]: Image (rear,auto,science,comp:no,r194-r342,c340-c548,s1)

[5]: Image (rear,auto,science,comp:no,r342-r490,c340-c548,s1)

[6]: Image (rear,auto,science,comp:no,r46-r194,c548-c757,s1)

[7]: Image (rear,auto,science,comp:no,r194-r342,c548-c757,s1)

[8]: Image (rear,auto,science,comp:no,r342-r490,c548-c757,s1)

[9]:[ROVER] 6.72.9 End APXS RC mosaic image

Usage notes:
Planet: Mars
Vehicle: FUR
Warnings:
Execution time:
Telemetry volume:
Additional information:




Macro 6.73 Mosaic Image Medium Rock with Rear Camera, APXS Deployed (FUR)

Macro Title: 6.73 Mosaic Image Medium Rock with Rear Camera, APXS Deployed (FUR)
Description: This macro captures an appropriate image of a medium rock site with the rear camera with the APXS head deployed onto its surface.
Command sequence:

[1]:[ROVER] 6.73.1 APXS RC mosaic img med deploy (FUR)

[2]: [ROVER] 6.73.0 rows 242 cols 383

[3]: Image (rear,auto,science,comp:no,r248-r369,c300-c427,s1)

[4]: Image (rear,auto,science,comp:no,r248-r369,c427-c555,s1)

[5]: Image (rear,auto,science,comp:no,r248-r369,c555-c683,s1)

[6]: Image (rear,auto,science,comp:no,r369-r490,c300-c427,s1)

[7]: Image (rear,auto,science,comp:no,r369-r490,c427-c555,s1)

[8]: Image (rear,auto,science,comp:no,r369-r490,c555-c683,s1)

[9]:[ROVER] 6.73.9 End APXS RC mosaic image

Usage notes:
Planet: Mars
Vehicle: FUR
Warnings:
Execution time:
Telemetry volume:
Additional information:




Macro 6.74 Mosaic Image Medium Rock with Rear Camera, APXS Retracted (FUR)

Macro Title: 6.74 Mosaic Image Medium Rock with Rear Camera, APXS Retracted (FUR)
Description: This macro captures an appropriate image of a medium rock site with the rear camera with the APXS head retracted.
Command sequence:

[1]:[ROVER] 6.74.1 APXS RC mosaic img med retract (FU

[2]: [ROVER] 6.74.0 rows 444 cols 417

[3]: Image (rear,auto,science,comp:no,r46-r194,c266-c474,s1)

[4]: Image (rear,auto,science,comp:no,r194-r342,c266-c474,s1)

[5]: Image (rear,auto,science,comp:no,r342-r490,c266-c474,s1)

[6]: Image (rear,auto,science,comp:no,r46-r194,c474-c683,s1)

[7]: Image (rear,auto,science,comp:no,r194-r342,c474-c683,s1)

[8]: Image (rear,auto,science,comp:no,r342-r490,c474-c683,s1)

[9]:[ROVER] 6.74.9 End APXS RC mosaic image

Usage notes:
Planet: Mars
Vehicle: FUR
Warnings:
Execution time:
Telemetry volume:
Additional information:




Macro 6.75 Mosaic Image Soil Site with Rear Camera, APXS Deployed (FUR)

Macro Title: 6.75 Mosaic Image Soil Site with Rear Camera, APXS Deployed (FUR)
Description: This macro captures an appropriate image of a soil site with the rear camera with the APXS head deployed.
Command sequence:

[1]:[ROVER] 6.75.1 APXS RC mosaic img soil deploy (FU

[2]: [ROVER] 6.75.0 rows 242 cols 383

[3]: Image (rear,auto,science,comp:no,r248-r369,c167-c294,s1)

[4]: Image (rear,auto,science,comp:no,r248-r369,c294-c422,s1)

[5]: Image (rear,auto,science,comp:no,r248-r369,c422-c550,s1)

[6]: Image (rear,auto,science,comp:no,r369-r490,c167-c294,s1)

[7]: Image (rear,auto,science,comp:no,r369-r490,c294-c422,s1)

[8]: Image (rear,auto,science,comp:no,r369-r490,c422-c550,s1)

[9]:[ROVER] 6.75.9 End APXS RC mosaic image

Usage notes:
Planet: Mars
Vehicle: FUR
Warnings:
Execution time:
Telemetry volume:
Additional information:




Macro 6.76 Mosaic Image Soil Site with Rear Camera, APXS Retracted (FUR)

Macro Title: 6.76 Mosaic Image Soil Site with Rear Camera, APXS Retracted (FUR)
Description: This macro captures an appropriate image of a soil site with the rear camera with the APXS head retracted.
Command sequence:

[1]:[ROVER] 6.76.1 APXS RC mosaic img soil retract (FUR)

[2]: [ROVER] 6.76.0 rows 440 cols 421

[3]: Image (rear,auto,science,comp:no,r50-r196,c129-c340,s1)

[4]: Image (rear,auto,science,comp:no,r196-r343,c129-c340,s1)

[5]: Image (rear,auto,science,comp:no,r343-r490,c129-c340,s1)

[6]: Image (rear,auto,science,comp:no,r50-r196,c340-c550,s1)

[7]: Image (rear,auto,science,comp:no,r196-r343,c340-c550,s1)

[8]: Image (rear,auto,science,comp:no,r343-r490,c340-c550,s1)

[9]:[ROVER] 6.76.9 End APXS RC mosaic image

Usage notes:
Planet: Mars
Vehicle: FUR
Warnings:
Execution time:
Telemetry volume:
Additional information:



APXS INSTRUMENT OPERATION MACROS


Macro 8.1 APXS Night Operations Read

Macro Title: 8.1 APXS Night Operations Read
Description: This macro reads out the APXS overnight. It assumes that APXS_NIGHT is set, so that the APXS collects data whenever the rover is shutdown, and that the APXS is off whenever the rover is awake.
Command sequence:

[1]:[ROVER] 8.1.1 Begin APXS night ops read

[2]: Set Parameter: hold_comm to 1

[3]: Send APXS Command (RESET)

[4]: Wait 1 Second (Relative)

[5]: Send APXS Command (TX_START)

[6]: Turn Off Devices (128)

[7]: Clear Errors (255)

[8]: Set Parameter: hold_comm to 0

[9]:[ROVER] 8.1.9 End APXS night ops read

Usage notes:
Planet: Earth/Mars
Vehicle: SIM/FUR
Warnings:
Execution time:
Telemetry volume: 2,603 bytes (20,824 bits)
Additional information:



MISCELLANEOUS MACROS


Macro 9.1 WEB Thermal Test

Macro Title: 9.1 Thermal Test
Description: This macro performs a thermal test by operating the WEB heater for three minutes, then observing WEB temperatures for the next 10 minutes.
Command sequence:

[1]:[ROVER] 9.1.1 Start Thermal Test

[2]: Set Error Mask (96)

[3]: Health Check (level 2)

[4]: Heat WEB heater for 3 Minutes

[5]: Health Check (level 0)

[6]: Wait 55 Seconds (Relative)

[7]: Health Check (level 0)

[8]: Wait 55 Seconds (Relative)

[9]: Health Check (level 0)

[10]: Wait 55 Seconds (Relative)

[11]: Health Check (level 0)

[12]: Wait 55 Seconds (Relative)

[13]: Health Check (level 0)

[14]: Wait 55 Seconds (Relative)

[15]: Health Check (level 0)

[16]: Wait 5 Minutes (Relative)

[17]: Health Check (level 2)

[18]: Set Error Mask (255)

[19]: Clear Errors (183)

[20]:[ROVER] 9.1.9 End Thermal Test

Usage notes:
Planet: Earth/Mars
Vehicle: SIM/FUR
Warnings:
Execution time:
Telemetry volume: 1,544 bytes (12,352 bits)
Additional information:




Macro 9.2 Read Persistent State Table

Macro Title: 9.2 Read Persistent State Table
Description: This macro reads the appropriate area in memory containing the rover's persistent state table.
Command sequence:

[1]:[ROVER] 9.2.2 Read persistent state table

[2]:Read Memory (memory segment:0, start address:5212hex, number of bytes:387)

Usage notes:
Planet: Earth/Mars
Vehicle: SIM/FUR
Warnings:
Execution time:
Telemetry volume: 414 bytes (3,312 bits)
Additional information:




Macro 9.3 Rover Reset

Macro Title: 9.3 Rover Reset
Description: This macro performs a "SHUTDOWN 0" command, reseting the rover without putting the rover to sleep.
Command sequence:

[1]:[ROVER] 9.3.2 Reset Rover without shutdown

[2]:Generic (shutdown 0)

Usage notes:
Planet: Earth/Mars
Vehicle: SIM/FUR
Warnings:
Execution time:
Telemetry volume: 59 bytes (472 bits)
Additional information:




Macro 9.4 Night Operations Prep

Macro Title: 9.4 Night Operations Prep
Description: This macro sets appropriate parameters in preparation for overnight rover operations.
Command sequence:

[1]:[ROVER] 9.4.1 Begin Night Ops Prep

[2]: Health Check (level 3)

[3]: [ROVER] 9.2.2 Read persistent state table

[4]: Read Memory

[5]: Clear Errors (255)

[6]: Set Parameter: batt_usage to 41

[7]: Set Parameter: modem_heat to 0

[8]: Set Parameter: modem_reheat to 0

[9]: Synch Clock

[10]:[ROVER] 9.4.9 End Night Ops Prep

Usage notes:
Planet: Earth/Mars
Vehicle: SIM/FUR
Warnings:
Execution time:
Telemetry volume:
Additional information:




Macro 9.5 Daytime Operations Prep

Macro Title: 9.5 Daytime Operations Prep
Description: This macro sets appropriate parameters after initial morning wakeup in preparation for daytime rover operations.
Command sequence:

[1]:[ROVER] 9.5.1 Begin Daytime Ops Prep

[2]: Set Parameter: batt_usage to 57

[3]: Health Check (level 3)

[4]: [ROVER] 9.2.2 Read persistent state table

[5]: Read Memory

[6]: Clear Errors (255)

[7]: Synch Clock

[8]:[ROVER] 9.5.9 End Daytime Ops Prep

Usage notes:
Planet: Earth/Mars
Vehicle: SIM/FUR
Warnings:
Execution time:
Telemetry volume:
Additional information:




Macro 9.9 External Thermal Characterization Test

Macro Title: 9.9 External Thermal Characterization Test
Description: This macro performs a thermal test by operating the right motor heater circuit for three minutes, then observing temperatures for the next 10 minutes.
Command sequence:

[1]:[ROVER] 9.9.1 Start Thermal Test

[2]: Set Error Mask (96)

[3]: Health Check (level 2)

[4]: Heat left motors for 3 Minutes

[5]: Health Check (level 0)

[6]: Wait 55 Seconds (Relative)

[7]: Health Check (level 0)

[8]: Wait 55 Seconds (Relative)

[9]: Health Check (level 0)

[10]: Wait 55 Seconds (Relative)

[11]: Health Check (level 0)

[12]: Wait 55 Seconds (Relative)

[13]: Health Check (level 0)

[14]: Wait 55 Seconds (Relative)

[15]: Health Check (level 0)

[16]: Wait 5 Minutes (Relative)

[17]: Health Check (level 2)

[18]: Set Error Mask (255)

[19]: Clear Errors (183)

[20]:[ROVER] 9.9.9 End Thermal Test

Usage notes:
Planet: Earth/Mars
Vehicle: SIM/FUR
Warnings:
Execution time:
Telemetry volume: 1,544 bytes (12,352 bits)
Additional information: