Sequence for Digging a Trench with FIDO

1. Take images of the surroundings.

Acquire a Navcam panorama in front of the rover to get a detailed view of the surroundings.

Acquire Front and Rear Hazcam images in order to spot local hazards that the Navcam might have missed.

Acquire 16 Infrared Point Spectrometer measurements in a 4 by 4 array spread across the area in front of the rover.

2. Decide on a location for the trench.

Inspect the Navcam and Hazcam images, as well as the IPS data, to choose a location for trenching. A good trenching location provides a clear patch of soil with at least one meter of room for the rover to safely back up and collect images once the trench has been dug.

3. Move the rover to the trenching location.

If necessary, command FIDO to rotate and face the trenching location.

Take front and rear Hazcam images to document position and ensure that there are no obstacles.

Drive forward to the trench location.

4. Dig the trench.

Take front and rear Hazcam images to document location.

Spin left front wheel for 400 cm reverse drive equivalent.

5. Return to the original position.

Drive backward to the original location.

6. Collect Infrared Point Spectrometer data.

Point mast cameras at trench.

Take 6 Infrared Point Spectrometer measurements in a line across the trench.

Take Nvcam and Pancam images for each IPS measurements to establish context.

7. Repeat trench sequence.

If trench is not deep enough, repeat steps 3 through 6.

8. Collect Microscopic Imager data.

Approach the trench.

Rotate so that rover arm faces the trench.

Acquire Front Hazcam images to ensure that there are no obstacles.

Extend arm and position it in the trench.

Document arm location with Front Hazcam images.

Take Microscopic Imager measurements.