• Change Summary

• Indexing Convention for Sequence Macros

• Sequence Macros: Indexed by Macro Number

• Sequence Macros: Organized by Category
  • APXS Imaging
  • APXS Instrument Operation
  • APXS Positioning
  • Imaging
  • MAE Experiment
  • WAE Experiment
  • Soil Mechanics Experiment
  • Traverse Operations
  • Miscellaneous

• Added Macros 1.5. 1.6, 1.7, and 1.8: These macros perform rover crabbing maneuvers to move safely away from hazards that preclude turn-in-place maneuvers.
• Added Macro 1.9: Sets laser dropout limit to three in support of waypoint navigation.
• Modified Macro 5.11: Changed rover backup for optional APXS positioning to 40 mm from 80 mm.

• Added Macros 4.5 and 4.6: These macros capture single images (left and right respectively) with the rover forward cameras. The subimages include only the calibrated and stereo overlapping regions of the cameras. Use of the two macros in succession should generate sufficient data for local terrain reconstruction.
• Added Macro 5.08: This macro carries out a left side soft-soil soil mechanics experiment for better IMP imaging and soft soil conditions.
• Added Macro 5.11: This macro causes the rover to strip the surface under the rover, and perform a draw-bar pull experiment.
• Added Macros 9.04 and 9.05: These macros perform nominal functions in preparation for night and daytime operations by the rover.
• Added Macro 9.09: This macro is used for thermal characterization using the right motor heaters.

• Added Macros 5.07, 5.09: These macros provide for variations to the baseline soil mechanics experiment for better IMP imaging and soft soil conditions.
• Modified Macro 3.1: Added health checks after WAE commands in WAE experiment.
• Modified Macros 5.04, 5.05: Added MOVE 0 command to straighten rover wheels before start of soil mechanics activities; also corrected image APID error to replace inadvertent science image with proper technology image.
• Modified Macro 9.1 to bracket thermal test with level 2 HEALTH CHECK commands.

• Added Macros 5.04, 5.05, 6.51, 6.52, 6.53, 6.54, 6.55, 6.56, 6.71, 6.72, 6.73, 6.74, 6.75, 6.76
• Modified Macros 6.40, 6.41, 6.42, 6.43, 6.44, 6.45: all image captures in these macros now use auto exposure (second and subsequent images in each macro previously reused exposure from first image capture).

• NEW DOCUMENT

Return to Contents

Class is a number from 0 to 9 representing the major classification of the macro, as specified below:

Number simply distinguishes among the various macros within a particular class.

Raif comments within macros append a third index to the end of the macro index to identify the comment type. As a result, all macro-related raif comments begin with a three field index (e.g., 5.1.9). The meaning of the third field is defined as follows:

• 1.5 Forward left crabbing at 50 degrees
  
  
• 1.6 Forward right crabbing at 50 degrees
  
  
• 1.7 Backward left crabbing at 50 degrees
  
  
• 1.8 Backward right crabbing at 50 degrees
  
  
• 1.9 Set laser dropout limit to three
  
  
• 2.1 MAE experiment (baseline)
  
  
• 3.1 WAE experiment (baseline)
  
  
• 4.1 EOD imaging (earth)
  
  
• 4.2 EOD imaging (Mars)
  
  
• 4.5 Surface Mapping Image with Front Left Camera (FUR)
  
  
• 4.6 Surface Mapping Image with Front Right Camera (FUR)
  
  
• 5.01 Soil Mechanics Experiment (SIM) (OLD)
  
  
• 5.04 Baseline Soil Mechanics Experiment (SIM)
  
  
• 5.05 Baseline Soil Mechanics Experiment (FUR)
  
  
• 5.07 Baseline Left Soil Mechanics Experiment (FUR)
  
  
• 5.08 Soft Soil/Left Side Soil Mechanics Experiment (FUR)
  
  
• 5.09 Soft Soil Mechanics Experiment (FUR)
  
  
• 5.10 Wheelie/Soil actuator tare measurement
  
  
• 5.11 Strip Surface and Draw-Bar Pull (FUR)
  
  
• 6.1 APXS FL image tall pre-deploy (FUR)
  
  
• 6.2 APXS FL image med pre-deploy FUR
  
  
• 6.3 APXS FL image soil pre-deploy (FUR)
  
  
• 6.4 APXS FR image tall pre-deploy (FUR)
  
  
• 6.5 APXS FR image med pre-deploy (FUR)
  
  
• 6.6 APXS FR image soil pre-deploy (FUR)
  
  
• 6.10 APXS RC image tall deploy (Earth)
  
  
• 6.11 APXS RC image tall retract (Earth)
  
  
• 6.12 APXS RC image med deploy (Earth)
  
  
• 6.13 APXS RC image med retract (Earth)
  
  
• 6.14 APXS RC image soil deploy (Earth)
  
  
• 6.15 APXS RC image soil retract (Earth)
  
  
• 6.30 APXS RC image tall deploy (FUR)
  
  
• 6.31 APXS RC image tall retract (FUR)
  
  
• 6.32 APXS RC image med deploy (FUR)
  
  
• 6.33 APXS RC image med retract (FUR)
  
  
• 6.34 APXS RC image soil deploy (FUR)
  
  
• 6.35 APXS RC image soil retract (FUR)
  
  
• 6.40 APXS RC strip image tall deploy (SIM)
  
  
• 6.41 APXS RC strip image tall retract (SIM)
  
  
• 6.42 APXS RC strip image med deploy (SIM)
  
  
• 6.43 APXS RC strip image med retract (SIM)
  
  
• 6.44 APXS RC strip image soil deploy (SIM)
  
  
• 6.45 APXS RC strip image soil retract
  
  
• 6.51 APXS FL Mosaic image tall rock (FUR)
  
  
• 6.52 APXS FL Mosaic image medium rock (FUR)
  
  
• 6.53 APXS FL mosaic image soil (FUR)
  
  
• 6.54 APXS FR mosaic image tall rock (FUR)
  
  
• 6.55 APXS FR mosaic image medium rock (FUR)
  
  
• 6.56 APXS FR mosaic image soil (FUR)
  
  
• 6.71 APXS RC mosaic image tall rock deployed (FUR)
  
  
• 6.72 APXS RC mosaic image tall rock retract (FUR)
  
  
• 6.73 APXS RC mosaic image medium rock deployed (FUR)
  
  
• 6.74 APXS RC mosaic image medium rock retract (FUR)
  
  
• 6.75 APXS RC mosaic image soil deployed (FUR)
  
  
• 6.76 APXS RC mosaic image soil retract (FUR)
  
  
• 8.1 APXS night ops read
  
  
• 9.1 Internal Thermal Characterization Test
  
  
• 9.2 Read persistent state table
  
  
• 9.3 Reset Rover without shutdown
  
  
• 9.4 Night Operations Prep
  
  
• 9.5 Daytime Operations Prep
  
  
• 9.9 External Thermal Characterization Test
  
  

Web Page Author: Andrew H. Mishkin

All information on this site, including text and images describing the Rover is copyright © 1997, Jet Propulsion Laboratory, California Institute of Technology and the National Aeronautics and Space Administration.