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The Rover Environmental Monitoring Station (REMS) instrument that is onboard NASA’s Mars Science Laboratory (MSL) Curiosity rover. REMS has been measuring surface pressure, air and ground brightness temperature, relative humidity, and UV irradiance since MSL’s landing in 2012. In Mars Year (MY) 34 (2018) a global dust storm reached Gale Crater at L(s) ~190°. REMS offers a unique opportunity to better understand the impact of a global dust storm on local environmental conditions, which complements previous observations by the Viking landers and Mars Exploration Rovers. All atmospheric variables measured by REMS are strongly affected albeit at different times. During the onset phase, the daily maximum UV radiation decreased by 90% between sols 2075 (opacity ~1) and 2085 (opacity ~8.5). The diurnal range in ground and air temperatures decreased by 35K and 56K, respectively, with also a diurnal-average decrease of ~2K and 4K respectively. The maximum relative humidity, which occurs right before sunrise, decreased to below 5%, compared with pre-storm values of up to 29%, due to the warmer air temperatures at night while the inferred water vapor abundance suggests an increase during the storm. Between sols 2085 and 2130, the typical nighttime stable inversion layer was absent near the surface as ground temperatures remained warmer than near-surface air temperatures. Finally, the frequency-domain behavior of the diurnal pressure cycle shows a strong increase in the strength of the semidiurnal and terdiurnal modes peaking after the local opacity maximum, also suggesting differences in the dust abundance inside and outside Gale.

Advective fluxes influence methane and CO soil emissions into the atmosphere on Earth and may drive trace gas emissions in the Mars atmosphere. However, their relevance in the Martian regolith has not been evaluated to date. Our regolith transport simulations show that advective fluxes can be relevant under Martian conditions and may drive the methane abundance detected by Mars Science Laboratory. Trace gas emissions would be highest in regions where winds interact with topography. Emissions in these regions may be further enhanced by time-varying pressure fields produced by diurnal thermal tides and atmospheric turbulence. Trace gases such as methane should be emitted or produced from the first layers of regolith, or quickly transported to this region from a deeper reservoir through fractured media., Vasavada, A.R.

Heterolithic, boulder-containing, pebble-strewn surfaces occur along the lower slopes of Aeolis Mons (“Mt. Sharp”) in Gale crater, Mars. They were observed in HiRISE images acquired from orbit prior to the landing of the Curiosity rover. The rover was used to investigate three of these units named Blackfoot, Brandberg, and Bimbe between sols 1099 and 1410. These unconsolidated units overlie the lower Murray formation that forms the base of Mt. Sharp, and consist of pebbles, cobbles and boulders. Blackfoot also overlies portions of the Stimson formation, which consists of eolian sandstone that is understood to significantly postdate the dominantly lacustrine deposition of the Murray formation. Blackfoot is elliptical in shape (62 × 26 m), while Brandberg is nearly circular (50 × 55 m), and Bimbe is irregular in shape, covering about ten times the area of the other two. The largest boulders are 1.5–2.5 m in size and are interpreted to be sandstones. As seen from orbit, some boulders are light-toned and others are dark-toned. Rover-based observations show that both have the same gray appearance from the ground and their apparently different albedos in orbital observations result from relatively flat sky-facing surfaces. Chemical observations show that two clasts of fine sandstone at Bimbe have similar compositions and morphologies to nine ChemCam targets observed early in the mission, near Yellowknife Bay, including the Bathurst Inlet outcrop, and to at least one target (Pyramid Hills, Sol 692) and possibly a cap rock unit just north of Hidden Valley, locations that are several kilometers apart in distance and tens of meters in elevation. These findings may suggest the earlier existence of draping strata, like the Stimson formation, that would have overlain the current surface from Bimbe to Yellowknife Bay. Compositionally these extinct strata could be related to the Siccar Point group to which the Stimson formation belongs. Dark, massive sandstone blocks at Bimbe are chemically distinct from blocks of similar morphology at Bradbury Rise, except for a single float block, Oscar (Sol 516). Conglomerates observed along a low, sinuous ridge at Bimbe consist of matrix and clasts with compositions similar to the Stimson formation, suggesting that stream beds likely existed nearly contemporaneously with the dunes that eventually formed the Stimson formation, or that they had the same source material. In either case, they represent a later pulse of fluvial activity relative to the lakes associated with the Murray formation. These three units may be local remnants of infilled impact craters (especially circular-shaped Brandberg), decayed buttes, patches of unconsolidated fluvial deposits, or residual mass-movement debris. Their incorporation of Stimson and Murray rocks, the lack of lithification, and appearance of being erosional remnants suggest that they record erosion and deposition events that post-date the exposure of the Stimson formation., With funding from the Spanish government through the "María de Maeztu Unit of Excellence" accreditation (MDM-2017-0737)

Measuring the physical properties of geological materials is important for understanding geologic history. Yet there has never been an instrument with the purpose of measuring mechanical properties of rocks sent to another planet. The Mars Science Laboratory (MSL) rover employs the Powder Acquisition Drill System (PADS), which provides direct mechanical interaction with Martian outcrops. While the objective of the drill system is not to make scientific measurements, the drill's performance is directly influenced by the mechanical properties of the rocks it drills into. We have developed a methodology that uses the drill to indicate the uniaxial compressive strengths of rocks through comparison with performance of an identically assembled drill system in terrestrial samples of comparable sedimentary class. During this investigation, we utilize engineering data collected on Mars to calculate the percussive energy needed to maintain a prescribed rate of penetration and correlate that to rock strength.

We used infrared data from the Lunar Reconnaissance Orbiter (LRO) Diviner Lunar Radiometer Experiment to globally map thermophysical properties of the Moon's regolith fines layer. Thermal conductivity varies from 7.4×10-4 W m-1 K-1 at the surface, to 3.4×10-3 W m-1 K-1 at depths of ~1 m, given density values of 1100 kg m-3 at the surface, to 1800 kg m-3 at 1-m depth. On average, the scale height of these profiles is ~7 cm, corresponding to a thermal inertia of 55 ±2 J m-2 K-1 s-1/2 at 273 K, relevant to the diurnally active near-surface layer, ~4-7 cm. The temperature-dependence of thermal conductivity and heat capacity leads to a ~2x diurnal variation in thermal inertia at the equator. On global scales, the regolith fines are remarkably uniform, implying rapid homogenization by impact gardening of this layer on timescales 100 J m-2 K-1 s-1/2) in the interiors and ejecta of Copernican-aged impact craters, and lower thermal inertia (< 50 J m-2 K-1 s-1/2) within the lunar cold spots identified by Bandfield et al. (2014). Observed trends in ejecta thermal inertia provide a potential tool for age-dating craters of previously unknown age, complementary to the approach suggested by Ghent et al. (2014). Several anomalous regions are identified in the global 128 pixels-per-degree maps presented here, including a high-thermal inertia deposit near the antipode of Tycho crater.

We report new measurements of atmospheric methane by the Curiosity rover’s Tunable Laser Spectrometer that is part of the Sample Analysis at Mars suite (TLS-SAM), finding nondetections during two daytime measurements of average value 0.05 ± 0.22 ppbv (95% confidence interval CI). These are in marked contrast with nighttime background levels of 0.52 ± 0.10 (95% CI) from four measurements taken during the same season of northern summer. This large day-night difference suggests that methane accumulates while contained near the surface at night, but drops below TLS-SAM detection limits during the day, consistent with the daytime nondetection by instruments on board the ExoMars Trace Gas Orbiter. With no evidence for methane production by the rover itself, we propose that the source is one of planetary micro-seepage. Dynamical modeling indicates that such methane release is contained within the collapsed planetary boundary layer (PBL) at night due to a combination of nocturnal inversion and convergent downslope flow winds that confine the methane inside the crater close to the point where it is released. The methane abundance is then diluted during the day through increased vertical mixing associated with a higher altitude PBL and divergent upslope flow that advects methane out of the crater region. We also report detection of a large spike of methane in June 2019 with a mean in situ value over a two-hour ingest of 20.5 ± 4 ppbv (95% CI). If near-surface production is occurring widely across Mars, it must be accompanied by a fast methane destruction or sequestration mechanism, or both.

Curiosity landed on plains to the north of Mount Sharp in August 2012. By June 2016 the rover had traversed 12.9 km to the southwest, encountering extensive strata that were deposited in a fluvial-deltaic-lacustrine system. Initial drives across sharp sandstone outcrops initiated an unacceptably high rate of punctures and cracks in the thin aluminum wheel skin structures. Initial damage was found to be related to the drive control mode of the six wheel drive actuators and the kinematics of the rocker-bogie suspension. Wheels leading a suspension pivot were forced onto sharp, immobile surfaces by the other wheels as they maintained their commanded angular velocities. Wheel damage mechanisms such as geometry-induced stress concentration cracking and low-cycle fatigue were then exacerbated. A geomorphic map was generated to assist in planning traverses that would minimize further wheel damage. A steady increase in punctures and cracks between landing and June 2016 was due in part because of drives across the sharp sandstone outcrops that could not be avoided. Wheel lifetime estimates show that with careful path planning the wheels will be operational for an additional ten kilometers or more, allowing the rover to reach key strata exposed on the slopes of Mount Sharp.

A high density of REMS wind measurements were collected in three science investigations during MSL’s Bagnold Dunes Campaign, which took place over ~80 sols around southern winter solstice (Ls~90°) and constituted the first in situ analysis of the environmental conditions, morphology, structure, and composition of an active dune field on Mars. The Wind Characterization Investigation was designed to Available online 14 December 2016 fully characterize the near-surface wind field just outside the dunes and confirmed the primarily upslope/downslope flow expected from theory and modeling of the circulation on the slopes of Aeolis Mons in this season. The basic pattern of winds is ‘upslope’ (from the northwest, heading up Aeolis Mons) during the daytime (~09:00–17:00 or 18:00) and ‘downslope’ (from the southeast, heading down Aeolis Mons) at night (~20:00 to some time before 08:00). Between these times the wind rotates largely clockwise, giving generally westerly winds mid-morning and easterly winds in the early evening. The timings of these direction changes are relatively consistent from sol to sol; however, the wind direction and speed at any given time shows considerable intersol variability. This pattern and timing is similar to predictions from the MarsWRF numerical model, run at a resolution of ~490 m in this region, although the model predicts the upslope winds to have a stronger component from the E than the W, misses a wind speed peak at ~09:00, and under-predicts the strength of daytime wind speeds by ~2–4 m/s. The Namib Dune Lee Investigation reveals ‘blocking’ of northerly winds by the dune, leaving primarily a westerly component to the daytime winds, and also shows a broadening of the 1 Hz wind speed distribution likely associated with lee turbulence. The Namib Dune Side Investigation measured primarily daytime winds at the side of the same dune, in support of aeolian change detection experiments designed to put limits on the saltation threshold, and also appears to show the influence of the dune body on the local flow, though less clearly than in the lee. Using a vertical grid with lower resolution near the surface reduces the relative strength of nighttime winds predicted by MarsWRF and produces a peak in wind speed at ~09:00, improving the match to the observed diurnal variation of wind speed, albeit with an offset in magnitude. The annual wind field predicted using this grid also provides a far better match to observations of aeolian dune morphology and motion in the Bagnold Dunes. However, the lower overall wind speeds than observed and disagreement with the observed wind direction at ~09:00 suggest that the problem has not been solved and that alternative boundary layer mixing schemes should be explored which may result in more mixing of momentum down to the near-surface from higher layers. These results demonstrate a strong need for in situ wind data to constrain the setup and assumptions used in numerical models, so that they may be used with more confidence to predict the circulation at other times and locations on Mars.

Diagenetic silica enrichment in fracture-associated halos that crosscut lacustrine and unconformably overlying aeolian sedimentary bedrock is observed on the lower north slope of Aeolis Mons in Gale crater, Mars. The diagenetic silica enrichment is colocated with detrital silica enrichment observed in the lacustrine bedrock yet extends into a considerably younger, unconformably draping aeolian sandstone, implying that diagenetic silica enrichment postdates the detrital silica enrichment. A causal connection between the detrital and diagenetic silica enrichment implies that water was present in the subsurface of Gale crater long after deposition of the lacustrine sediments and that it mobilized detrital amorphous silica and precipitated it along fractures in the overlying bedrock. Although absolute timing is uncertain, the observed diagenesis likely represents some of the most recent groundwater activity in Gale crater and suggests that the timescale of potential habitability extended considerably beyond the time that the lacustrine sediments of Aeolis Mons were deposited.

We analyze the complete set of in-situ meteorological data obtained from the Viking landers in the 1970s to today’s Curiosity rover to review our understanding of the modern near-surface climate of Mars, with focus on the dust, CO2 and H2O cycles and their impact on the radiative and thermodynamic conditions near the surface. In particular, we provide values of the highest confidence possible for atmospheric opacity, atmospheric pressure, near-surface air temperature, ground temperature, near-surface wind speed and direction, and near-surface air relative humidity and water vapor content. Then, we study the diurnal, seasonal and interannual variability of these quantities over a span of more than twenty Martian years. Finally, we propose measurements to improve our understanding of the Martian dust and H2O cycles, and discuss the potential for liquid water formation under Mars’ present day conditions and its implications for future Mars missions. Understanding the modern Martian climate is important to determine if Mars could have the conditions to support life and to prepare for future human exploration.

The orbiters, landers, and rovers that have probed the red planet over the past two decades reveal it to be chemically complex, historically watery, and suitable as a home for life.

The REMS instrument onboard the Mars Science Laboratory rover, Curiosity, has measured ground temperature nearly continuously at hourly intervals for two Mars years. Coverage of the entire diurnal cycle at 1 Hz is available every few martian days. We compare these measurements with predictions of surface atmosphere thermal models to derive the apparent thermal inertia and thermally derived albedo along the rovers traverse after accounting for the radiative effects of atmospheric water ice during fall and winter, as is necessary to match the measured seasonal trend. The REMS measurements can distinguish between active sand, other loose materials, mudstone, and sandstone based on their thermophysical properties. However, the apparent thermal inertias of bedrock dominated surfaces [approx. 350-550 J m(exp. -2) K(exp. -1 s(exp. -1/2 )] are lower than expected. We use rover imagery and the detailed shape of the diurnal ground temperature curve to explore whether lateral or vertical heterogeneity in the surface materials within the sensor footprint might explain the low inertias. We find that the bedrock component of the surface can have a thermal inertia as high as 650-1700 J m(exp. -2) K(exp. -1) s(exp. -1/2) for mudstone sites and approx. 700 J m(exp. -2) K(exp. -1) s(exp. - 1/2) for sandstone sites in models runs that include lateral and vertical mixing. Although the results of our forward modeling approach may be non-unique, they demonstrate the potential to extract information about lateral and vertical variations in thermophysical properties from temporally resolved measurements of ground temperature.

The Mars Science Laboratory (MSL) Curiosity rover completed a detailed investigation at the Kimberley waypoint within Gale crater from sols 571-634 using its full science instrument payload. From orbital images examined early in the Curiosity mission, the Kimberley region had been identified as a high-priority science target based on its clear stratigraphic relationships in a layered sedimentary sequence that had been exposed by differential erosion. Observations of the stratigraphic sequence at the Kimberley made by Curiosity are consistent with deposition in a prograding, fluvio-deltaic system during the late Noachian to early Hesperian, prior to the existence of most of Mt. Sharp. Geochemical and mineralogic analyses suggest that sediment deposition likely took place under cold conditions with relatively low water-to-rock ratios. Based on elevated K_2O abundances throughout the Kimberley formation, an alkali feldspar protolith is likely one of several igneous sources from which the sediments were derived. After deposition, the rocks underwent multiple episodes of diagenetic alteration with different aqueous chemistries and redox conditions, as evidenced by the presence of Ca-sulfate veins, Mn-oxide fracture-fills, and erosion-resistant nodules. More recently, the Kimberley has been subject to significant aeolian abrasion and removal of sediments to create modern topography that slopes away from Mt. Sharp, a process that has continued to the present day.

Numerical modeling results from the Mars Regional Atmospheric Modeling System are used to interpret the landed meteorological data from the Rover Environmental Monitoring Station onboard the Mars Science Laboratory rover Curiosity. In order to characterize seasonal changes throughout the Martian year, simulations are conducted at Ls 0, 90, 180 and 270. Two additional simulations at Ls 225 and 315 are explored to better understand the unique meteorological setting centered on Ls 270. The synergistic combination of model and observations reveals a complex meteorological environment within the crater. Seasonal planetary circulations, the thermal tide, slope flows along the topographic dichotomy, mesoscale waves, slope flows along the crater slopes and Mt. Sharp, and turbulent motions all interact in nonlinear ways to produce the observed weather. Ls 270 is shown to be an anomalous season when air within and outside the crater is well mixed by strong, flushing northerly flow and large amplitude, breaking mountain waves. At other seasons, the air in the crater is more isolated from the surrounding environment. The potential impact of the partially isolated crater air mass on the dust, water, noncondensable and methane cycles is also considered. In contrast to previous studies, the large amplitude diurnal pressure signal is attributed primarily to necessary hydrostatic adjustments associated with topography of different elevations, with contributions of less than 25% to the diurnal amplitude from the crater circulation itself. The crater circulation is shown to induce a suppressed boundary layer.

Air temperature, ground temperature, pressure, and wind speed and direction data obtained from the Rover Environmental Monitoring Station onboard the Mars Science Laboratory rover Curiosity are compared to data from the Mars Regional Atmospheric Modeling System. A full diurnal cycle at four different seasons (Ls 0, 90, 180 and 270) is investigated at the rover location within Gale crater, Mars. Model results are shown to be in good agreement with observations when considering the uncertainties in the observational data set. The good agreement provides justification for utilizing the model results to investigate the broader meteorological environment of the Gale crater region, which is described in the second, companion paper.

We use observations from the Imaging Science Subsystem on Cassini to create maps of Saturn's Northern Hemisphere (NH) from 2008 to 2015, a time period including a seasonal transition (i.e., Spring Equinox in 2009) and the 2010 giant storm. The processed maps are used to investigate vortices in the NH during the period of 2008-2015. All recorded vortices have diameters (east-west) smaller than 6000 km except for the largest vortex that developed from the 2010 giant storm. The largest vortex decreased its diameter from ~ 11000 km in 2011 to ~ 5000 km in 2015, and its average diameter is ~ 6500 km during the period of 2011-2015. The largest vortex lasts at least 4 years, which is much longer than the lifetimes of most vortices (less than 1 year). The largest vortex drifts to north, which can be explained by the beta drift effect. The number of vortices displays varying behaviors in the meridional direction, in which the 2010 giant storm significantly affects the generation and development of vortices in the middle latitudes (25°-45°N). In the higher latitudes (45°-90°N), the number of vortices also displays strong temporal variations. The solar flux and the internal heat do not directly contribute to the vortex activities, leaving the temporal variations of vortices in the higher latitudes (45°-90°N) unexplained.

After landing in Gale Crater on August 6, 2012, the Mars Science Laboratory Curiosity rover traveled across regolith-covered, rock-strewn plains that transitioned into terrains that have been variably eroded, with valleys partially filled with windblown sands, and intervening plateaus capped by well-cemented sandstones that have been fractured and shaped by wind into outcrops with numerous sharp rock surfaces. Wheel punctures and tears caused by sharp rocks while traversing the plateaus led to directing the rover to traverse in valleys where sands would cushion wheel loads. This required driving across a megaripple (windblown, sand-sized deposit covered by coarser grains) that straddles a narrow gap and several extensive megaripple deposits that accumulated in low portions of valleys. Traverses across megaripple deposits led to mobility difficulties, with sinkage values up to approximately 30% of the 0.50 m wheel diameter, resultant high compaction resistances, and rover-based slip up to 77%. Analysis of imaging and engineering data collected during traverses across megaripples for the first 710 sols (Mars days) of the mission, laboratory-based single-wheel soil experiments, full-scale rover tests at the Dumont Dunes, Mojave Desert, California, and numerical simulations show that a combination of material properties and megaripple geometries explain the high wheel sinkage and slip events. Extensive megaripple deposits have subsequently been avoided and instead traverses have been implemented across terrains covered with regolith or thin windblown sand covers and megaripples separated by bedrock exposures.

The Mars Science Laboratory (MSL) rover, Curiosity, completed its second Martian year, 1337 sols (1374 Earth days), of operation on May 11, 2016, and its third Martian year, 2006 sols (2061 Earth days), of operation on March 28, 2018. During this time the rover successfully drilled twelve full depth drill holes into the Martian surface and analyzed the recovered material using onboard instruments, giving us new insights into the potential habitability and geologic diversity of ancient Mars. During the second Martian year, four holes were drilled into the mudstones of the Murray formation: ‘Confidence Hills’ (Sol 759), ‘Mojave 2’ (Sol 882), ‘Telegraph Peak’ (908) & ‘Buckskin’ (Sol 1060); while four more holes were drilled into the sandstones of the Stimson formation: ‘Big Sky’ (Sol 1119), ‘Greenhorn’ (Sol 1137), ‘Lubango’ (Sol 1320) & ‘Okoruso’ (Sol 1332). During the third Martian year, four additional holes were drilled into the Murray formation: ‘Oudam’ (Sol 1361), ‘Marimba’ (Sol 1422), ‘Quela’ (Sol 1464) & ‘Sebina’ (Sol 1495). In this paper, we will give a brief overview of the rover sampling hardware and nominal drilling protocols, followed by a discussion of how these protocols were refined and altered early during the course of Curiosity's second year on Mars. In addition, we will describe the ‘Bonanza King’ (Sol 724) drill campaign, the mission's first ‘successful failure’, and how it influenced these changes. We will also briefly discuss the events leading up to the drill feed fault on Sol 1536, which resulted in suspension of all drill activities for the remainder of the third Martian year. Finally, we will present scientific highlights obtained from each drill site utilizing MSL's onboard instrumentation (SAM & CheMin), results enabled by the drill's ability to excavate sample at depth and transfer it to these instruments.

We use observations from the Imaging Science Subsystem on Cassini to create maps of Saturn’s Northern Hemisphere (NH) from 2008 to 2015, a time period including a seasonal transition (i.e., Spring Equinox in 2009) and the 2010 giant storm. The processed maps are used to investigate vortices in the NH during the period of 2008–2015. All recorded vortices have diameters (east-west) smaller than 6000 km except for the largest vortex that developed from the 2010 giant storm. The largest vortex decreased its diameter from ~11000 km in 2011 to ~5000 km in 2015, and its average diameter is ~6500 km during the period of 2011–2015. The largest vortex lasts at least 4 years, which is much longer than the lifetimes of most vortices (less than 1 year). The largest vortex drifts to north, which can be explained by the beta drift effect. The number of vortices displays varying behaviors in the meridional direction, in which the 2010 giant storm significantly affects the generation and development of vortices in the middle latitudes (25–45°N). In the higher latitudes (45–90°N), the number of vortices also displays strong temporal variations. The solar flux and the internal heat do not directly contribute to the vortex activities, leaving the temporal variations of vortices in the higher latitudes (45–90°N) unexplained.

Gravimetry, the precise measurement of gravitational fields, can be used to probe the internal structure of Earth and other planets. The Curiosity rover on Mars carries accelerometers normally used for navigation and attitude determination. We have recalibrated them to isolate the signature of the changing gravitational acceleration as the rover climbs through Gale crater. The subsurface rock density is inferred from the measured decrease in gravitational field strength with elevation. The density of the sedimentary rocks in Gale crater is 1680 ± 180 kilograms per cubic meter. This value is lower than expected, indicating a high porosity and constraining maximum burial depths of the rocks over their history.

We report on the first 360 sols (LS 150° to 5°), representing just over half a Martian year, of atmospheric monitoring movies acquired using the NavCam imager from the Mars Science Laboratory (MSL) Rover Curiosity. Such movies reveal faint clouds that are difficult to discern in single images. The data set acquired was divided into two different classifications depending upon the orientation and intent of the observation. Up to sol 360, 73 Zenith movies and 79 Supra-Horizon movies have been acquired and time-variable features could be discerned in 25 of each. The data set from MSL is compared to similar observations made by the Surface Stereo Imager (SSI) onboard the Phoenix Lander and suggests a much drier environment at Gale Crater (4.6°S) during this season than was observed in Green Valley (68.2°N) as would be expected based on latitude and the global water cycle. The optical depth of the variable component of clouds seen in images with features are up to 0.047 ± 0.009 with a granularity to the features observed which averages 3.8°. MCS also observes clouds during the same period of comparable optical depth at 30 and 50 km that would suggest a cloud spacing of 2.0 to 3.3 km. Multiple motions visible in atmospheric movies support the presence of two distinct layers of clouds. At Gale Crater, these clouds are likely caused by atmospheric waves given the regular spacing of features observed in many Zenith movies and decreased spacing towards the horizon in sunset movies consistent with clouds forming at a constant elevation. Reanalysis of Phoenix data in the light of the NavCam equatorial dataset suggests that clouds may have been more frequent in the earlier portion of the Phoenix mission than was previously thought.

Liquid water on equatorial Mars is inconsistent with large-scale climatic conditions. Humidity and temperature measurements by the Curiosity rover support the formation of subsurface liquid brines by hydration of perchlorates during the night.

The Navigation Cameras (Navcam) of the Mars Science Laboratory rover, Curiosity, have been used to examine two aspects of the planetary boundary layer: vertical dust distribution and dust devil frequency. The vertical distribution of dust may be obtained by using observations of the distant crater rim to derive a line-of-sight optical depth within Gale Crater and comparing this optical depth to column optical depths obtained using Mastcam observations of the solar disc. The line of sight method consistently produces lower extinctions within the crater compared to the bulk atmosphere. This suggests a relatively stable atmosphere in which dust may settle out leaving the air within the crater clearer than air above and explains the correlation in observed column opacity between the floor of Gale Crater and the higher elevation Meridiani Planum. In the case of dust devils, despite an extensive campaign only one optically thick vortex (τ = 1.5 ± 0.5 × 10−3) was observed compared to 149 pressure events >0.5 Pa observed in REMS pressure data. Correcting for temporal coverage by REMS and geographic coverage by Navcam still suggests 104 vortices should have been viewable, suggesting that most vortices are dustless. Additionally, the most intense pressure excursions observed on other landing sites (pressure drop >2.5 Pa) are lacking from the observations by the REMS instrument. Taken together, these observations are consistent with pre-landing circulation modeling of the crater showing a suppressed, shallow boundary layer. They are further consistent with geological observations of dust that suggests the northern portion of the crater is a sink for dust in the current era.

Approximately 3.5-Ga sedimentary rocks surveyed by the Mars Science Laboratory rover in Gale Crater, Mars, contain secondary mineral phases indicating aqueous alteration and release of cations from mafic minerals during sediment deposition in lakes. However, carbonate phases are not detected, and our model calculations indicate atmospheric CO2 levels at the time of sediment deposition 10s to 100s of times lower than those required by climate models to warm early Mars enough to maintain surficial water. Our results offer a ground-based reference point for the evolution of martian atmospheric CO2 and imply that other mechanisms of warming Hesperian Mars, or processes that allowed for confined hydrological activity under cold conditions, must be sought.

The successful Mars Science Laboratory entry, descent, and landing returned a wealth of in situ data that, when combined with orbiter remote sensing data and numerical modeling results, can be used to determine the state of the atmosphere. The entry atmosphere reconstruction included data from several sources: 1) temperature and pressure data from the Mars Reconnaissance Orbiter and Mars Climate Sounder instrument, 2) density derived from the Mars entry, descent, and landing instrument suite, 3) density derived from the vehicle’s inertial measurement unit and knowledge of the vehicle aerodynamics, and 4) numerical mesoscale model results. No single data set is sufficient to understand the atmospheric state along the path flown by the spacecraft. Rather, the reconstructed profile of density is pieced together from the available data, along with some assumptions and inferences. The strategy used to combine the various data sets required a clear understanding of each source’s strengths and weaknesses. The va...

Physical properties of terrains encountered by the Curiosity rover during the first 360 sols of operations have been inferred from analysis of the scour zones produced by Sky Crane Landing System engine plumes, wheel touch down dynamics, pits produced by Chemical Camera (ChemCam) laser shots, rover wheel traverses over rocks, the extent of sinkage into soils, and the magnitude and sign of rover‐based slippage during drives. Results have been integrated with morphologic, mineralogic, and thermophysical properties derived from orbital data, and Curiosity‐based measurements, to understand the nature and origin of physical properties of traversed terrains. The hummocky plains (HP) landing site and traverse locations consist of moderately to well‐consolidated bedrock of alluvial origin variably covered by slightly cohesive, hard‐packed basaltic sand and dust, with both embedded and surface‐strewn rock clasts. Rock clasts have been added through local bedrock weathering and impact ejecta emplacement and form a pavement‐like surface in which only small clasts (

We describe preliminary results from the first 100 sols of ground temperature measurements along the Mars Science Laboratory's traverse from Bradbury Landing to Rocknest in Gale. The ground temperature data show long-term increases in mean temperature that are consistent with seasonal evolution. Deviations from expected temperature trends within the diurnal cycle are observed and may be attributed to rover and environmental effects. Fits to measured diurnal temperature amplitudes using a thermal model suggest that the observed surfaces have thermal inertias in the range of 265–375 J m−2 K−1 s−1/2, which are within the range of values determined from orbital measurements and are consistent with the inertias predicted from the observed particle sizes on the uppermost surface near the rover. Ground temperatures at Gale Crater appear to warm earlier and cool later than predicted by the model, suggesting that there are multiple unaccounted for physical conditions or processes in our models. Where the Mars Science Laboratory (MSL) descent engines removed a mobile layer of dust and fine sediments from over rockier material, the diurnal temperature profile is closer to that expected for a homogeneous surface, suggesting that the mobile materials on the uppermost surface may be partially responsible for the mismatch between observed temperatures and those predicted for materials having a single thermal inertia. Models of local stratigraphy also implicate thermophysical heterogeneity at the uppermost surface as a potential contributor to the observed diurnal temperature cycle.

We provide a preliminary interpretation of the Rover Environmental Monitoring Station (REMS) pressure data from the first 100 Martian solar days (sols) of the Mars Science Laboratory mission. The pressure sensor is performing well and has revealed the existence of phenomena undetected by previous missions that include possible gravity waves excited by evening downslope flows, relatively dust-free convective vortices analogous in structure to dust devils, and signatures indicative of the circulation induced by Gale Crater and its central mound. Other more familiar phenomena are also present including the thermal tides, generated by daily insolation variations, and the CO2 cycle, driven by the condensation and sublimation of CO2 in the polar regions. The amplitude of the thermal tides is several times larger than those seen by other landers primarily because Curiosity is located where eastward and westward tidal modes constructively interfere and also because the crater circulation amplifies the tides to some extent. During the first 100 sols tidal amplitudes generally decline, which we attribute to the waning influence of the Kelvin wave. Toward the end of the 100 sol period, tidal amplitudes abruptly increased in response to a nearby regional dust storm that did not expand to global scales. Tidal phases changed abruptly during the onset of this storm suggesting a change in the interaction between eastward and westward modes. When compared to Viking Lander 2 data, the REMS daily average pressures show no evidence yet for the 1–20 Pa increase expected from the possible loss of CO2 from the south polar residual cap.

Systematic temperature mapping and high resolution images reveal a previously unrecognized class of small, fresh lunar craters. These craters are distinguished by near-crater deposits with evidence for lateral, ground-hugging transport. More distal, highly insulating surfaces surround these craters and do not show evidence of either significant deposition of new material or erosion of the substrate. The near-crater deposits can be explained by a laterally propagating granular flow created by impact in the lunar vacuum environment. Further from the source crater, at distances of ∼10–100 crater radii, the upper few to 10s of centimeters of regolith appear to have been “fluffed-up” without the accumulation of significant ejecta material. These properties appear to be common to all impacts, but quickly degrade in the lunar space weathering environment. Cratering in the vacuum environment involves a previously unrecognized set of processes that leave prominent, but ephemeral, features on the lunar surface.

Wind blowing over sand on Earth produces decimeter-wavelength ripples and hundred-meter– to kilometer-wavelength dunes: bedforms of two distinct size modes. Observations from the Mars Science Laboratory Curiosity rover and the Mars Reconnaissance Orbiter reveal that Mars hosts a third stable wind-driven bedform, with meter-scale wavelengths. These bedforms are spatially uniform in size and typically have asymmetric profiles with angle-of-repose lee slopes and sinuous crest lines, making them unlike terrestrial wind ripples. Rather, these structures resemble fluid-drag ripples, which on Earth include water-worked current ripples, but on Mars instead form by wind because of the higher kinematic viscosity of the low-density atmosphere. A reevaluation of the wind-deposited strata in the Burns formation (about 3.7 billion years old or younger) identifies potential wind-drag ripple stratification formed under a thin atmosphere.

The selection of Gale crater as the Mars Science Laboratory landing site took over five years, involved broad participation of the science community via five open workshops, and narrowed an initial >50 sites (25 by 20 km) to four finalists (Eberswalde, Gale, Holden and Mawrth) based on science and safety. Engineering constraints important to the selection included: (1) latitude (±30°) for thermal management of the rover and instruments, (2) elevation (< −1 km) for sufficient atmosphere to slow the spacecraft, (3) relief of

The Mars Science Laboratory mission aims to land a car-sized rover on Mars’ surface and operate it for at least one Mars year in order to assess whether its field area was ever capable of supporting microbial life. Here we describe the approach used to identify, characterize, and assess environmental risks to the landing and rover surface operations. Novel entry, descent, and landing approaches will be used to accurately deliver the 900-kg rover, including the ability to sense and “fly out” deviations from a best-estimate atmospheric state. A joint engineering and science team developed methods to estimate the range of potential atmospheric states at the time of arrival and to quantitatively assess the spacecraft’s performance and risk given its particular sensitivities to atmospheric conditions. Numerical models are used to calculate the atmospheric parameters, with observations used to define model cases, tune model parameters, and validate results. This joint program has resulted in a spacecraft capable of accessing, with minimal risk, the four finalist sites chosen for their scientific merit. The capability to operate the landed rover over the latitude range of candidate landing sites, and for all seasons, was verified against an analysis of surface environmental conditions described here. These results, from orbital and model data sets, also drive engineering simulations of the rover’s thermal state that are used to plan surface operations.

At 10:31 p.m. Pacific time on August 5, NASA'S Curiosity rover will begin the first direct search for habitable environments on Mars.

The process of identifying the landing site for NASA’s 2011 Mars Science Laboratory (MSL) began in 2005 by defining science objectives, related to evaluating the potential habitability of a location on Mars, and engineering parameters, such as elevation, latitude, winds, and rock abundance, to determine acceptable surface and atmospheric characteristics. Nearly 60 candidate sites were considered at a series of open workshops in the years leading up to the launch. During that period, iteration between evolving engineering constraints and the relative science potential of candidate sites led to consensus on four final sites. The final site will be selected in the Spring of 2011 by NASA’s Associate Administrator for the Science Mission Directorate. This paper serves as a record of landing site selection activities related primarily to science, an inventory of the number and variety of sites proposed, and a summary of the science potential of the highest ranking sites.

We present a novel method of constructing streamlines to derive wind speeds within jovian vortices and demonstrate its application to Oval BA for 2001 pre-reddened Cassini flyby data, 2007 post-reddened New Horizons flyby data, and 1998 Galileo data of precursor Oval DE. Our method, while automated, attempts to combine the advantages of both automated and manual cloud tracking methods. The southern maximum wind speed of Oval BA does not show significant changes between these data sets to within our measurement uncertainty. The northern maximum dries appear to have increased in strength during this time interval, tvhich likely correlates with the oval's return to a symmetric shape. We demonstrate how the use of closed streamlines can provide measurements of vorticity averaged over the encircled area with no a priori assumptions concerning oval shape. We find increased averaged interior vorticity between pre- and post-reddened Oval BA, with the precursor Oval DE occupying a middle value of vorticity between these two.

We apply an automated cloud feature tracking algorithm to estimate eddy momentum fluxes in Saturn's southern hemisphere from Cassini Imaging Science Subsystem near-infrared continuum image sequences. Voyager Saturn manually tracked images had suggested no conversion of eddy to mean flow kinetic energy, but this was based on a small sample of ∼ 10 m 2 s −2 and a clear positive correlation between eddy momentum fluxes and meridional shear of the mean zonal wind, implying that eddies supply momentum to eastward jets and remove momentum from westward jets at a rate ∼ 5 × 10 −6 m s −2 . The behavior we observe is similar to that seen on Jupiter, though with smaller eddy-mean kinetic energy conversion rates per unit mass of atmosphere ( 3.3 × 10 −5 m 2 s −3 ). We also use the appearance and rapid evolution of small bright features at continuum wavelengths, in combination with evidence from weak methane band images where possible, to diagnose the occurrence of moist convective storms on Saturn. Areal expansion rates imply updraft speeds of ∼ 1 m s −1 over the convective anvil cloud area. As on Jupiter, convection preferentially occurs in cyclonic shear regions on Saturn, but unlike Jupiter, convection is also observed in eastward jet regions. With one possible exception, the large eddy fluxes seen in the cyclonic shear latitudes do not seem to be associated with convective events.

Background: We consider the response of an icy regolith to a localized heat source using analytical and numerical models. Our motivation is to understand the implications of a landing failure in which a radioisotope power source is deposited along with terrestrial microbes within or near icy regolith, resulting in the production of liquid water and the proliferation of microbes. Method: Our 2-D numerical simulation accounts for temperature-driven phase changes between ice, liquid, and vapor, the diffusion of liquid and vapor through a porous regolith, and evaporation at the surface. Regolith thermophysical properties vary with the abundance of ice and liquid. Conclusion: We find that liquid water forms and persists for up to 100 sols in cases with the highest initial ice content. However, nearly all the locations that contain liquid are subsequently heated to temperatures that would sterilize any microbes. The exceptions occur for a fully icesaturated regolith, at depths at least 0.4 m below the surface. Liquid water never appears at the

Beebe et al. [Beebe, R.F., et al., 1980. Geophys. Res. Lett. 17, 1–4] and Ingersoll et al. [Ingersoll, A.P., et al., 1981. J. Geophys. Res. 86, 8733–8743] used images from Voyagers 1 and 2 to analyze the interaction between zonal winds and eddies in Jupiter's atmosphere. They reported a high positive correlation between Jupiter's eddy momentum flux, pu'v', and the variation of zonal velocity with latitude, du/dy. This correlation implied a surprisingly high rate of conversion of energy from eddies to zonal flow: ~1.5-3.0 Wm^(-2), a value more than 10% of Jupiter's thermal flux emission. However, Sromovsky et al. [Sromovsky, L.A., et al., 1982. J. Atmos. Sci. 39, 1413–1432] argued that possible biases in the analysis could have caused an artificially high correlation. In addition, significant differences in the derived eddy flux between datasets put into question the robustness of any one result. We return to this long-standing puzzle using images of Jupiter from the Cassini flyby of December 2000. Our method is similar to previous analyses, but utilizes an automatic feature tracker instead of the human eye. The number of velocity vectors used in this analysis is over 200,000, compared to the 14,000 vectors used by Ingersoll et al. We also find a positive correlation between u'v' and du/dy and derive a global average power per unit mass, u'v'du/dy, ranging from (7.1-12.3 x 10^(-5) Wkg^(-1). Utilizing Ingersoll et al.'s estimate of the mass per unit area involved in the transport, this would imply a rate of energy conversion of ~0.7-1.2 Wm^(-2). We discuss the implications of this result and employ several tests to demonstrate its robustness.

The Cassini Imaging Science Subsystem (ISS) and Composite Infrared Spectrometer (CIRS) reported a North Equatorial Belt (NEB) wave in Jupiter's atmosphere from optical images [Porco, C.C., and 23 colleagues, 2003. Science 299, 1541–1547] and thermal maps [Flasar, F.M., and 39 colleagues, 2004. Nature 427, 132–135], respectively. The connection between the two waves remained uncertain because the two observations were not simultaneous. Here we report on simultaneous ISS images and CIRS thermal maps that confirm that the NEB wave shown in the ISS ultraviolet (UV1) and strong methane band (MT3) images is correlated with the thermal wave in the CIRS temperature maps, with low temperatures in the CIRS maps (upwelling) corresponding to dark regions in the UV1 images (UV-absorbing particles) and bright regions in the MT3 images (high clouds and haze). The long period of the NEB wave suggests that it is a planetary (Rossby) wave. The combined observations from the ISS and CIRS are utilized to discuss the vertical and meridional propagation of the NEB wave, which offers a possible explanation for why the NEB wave is confined to specific latitudes and altitudes. Further, the ISS UV1 images reveal a circumpolar wave centered at 48.5° S (planetocentric) and probably located in the stratosphere, as suggested by the ISS and CIRS observations. The simultaneous comparison between the ISS and CIRS also implies that the large dark oval in the polar stratosphere of Jupiter discovered in the ISS UV1 images [Porco, C.C., and 23 colleagues, 2003. Science 299, 1541–1547] is the same feature as the warm regions at high northern latitudes in the CIRS 1-mbar temperature maps [Flasar, F.M., and 39 colleagues, 2004. Nature 427, 132–135]. This comparison supports a previous suggestion that the dark oval in the ISS UV1 images is linked to auroral precipitation and heating [Porco, C.C., and 23 colleagues, 2003. Science 299, 1541–1547].

The Galileo and Cassini spacecrafts have greatly enhanced the observational record of Jupiter's tropospheric dynamics, particularly through returning high spatial resolution, multi-spectral and global imaging data with episodic coverage over periods of months to years. These data, along with those from Earth-based telescopes, have revealed the stability of Jupiter's zonal jets, captured the evolution of vortices and equatorial waves, and mapped the distributions of lightning and moist convection. Because no observations of Jupiter's interior exist, a forward modelling approach has been used to relate observations at cloud level to models of shallow or deep jet structure, shallow or deep jet forcing and energy transfer between turbulence, vortices and jets. A range of observed phenomena can be reproduced in shallow models, though the Galileo probe winds and jet stability arguments hint at the presence of deep jets. Many deep models, however, fail to reproduce Jupiter-like non-zonal features (e.g. vortices). Jupiter's dynamics likely include both deep and shallow processes, requiring an integrated approach to future modelling—an important goal for the post-Galileo and Cassini era.

The Cassini Imaging Science Subsystem (ISS) began observing Saturn in early February 2004. From analysis of cloud motions through early October 2004, we report vertical wind shear in Saturn's equatorial jet and a maximum wind speed of ∼375 meters per second, a value that differs from both Hubble Space Telescope and Voyager values. We also report a particularly active narrow southern mid-latitude region in which dark ovals are observed both to merge with each other and to arise from the eruptions of large, bright storms. Bright storm eruptions are correlated with Saturn's electrostatic discharges, which are thought to originate from lightning.

Night side images of Jupiter taken by the Cassini Imaging Science Subsystem (ISS) camera with the H_α filter reveal four lightning clusters; two of them are repeated observations of the same storm. All of these flashes are associated with storm clouds seen a few hours earlier on the day side of Jupiter. Some of the clouds associated with lightning do not extend to the upper troposphere. The repeated lightning observations taken 20 hr apart show that storm clouds, whose mean lifetime is ∼4 days, are electrically active during a large fraction of their lifetime. The optical power of the lightning detected with the H_α filter compared to the clear-filter power of Galileo lightning may indicate that the H_α line in the lightning spectrum is about ten times weaker than expected, consistent with a flat spectrum having no prominent H_α line. This may suggest that lightning is generated in atmospheric layers deeper than 5 bars. This, in turn, may suggest that the water abundance of the jovian interior is more than 1 × solar. Averaged over many flashes, the most powerful Cassini lightning storm emits 0.8×10^9 W in the H_α line, which implies 4×10^(10) W of broadband optical power. This is 10 times more powerful than the most intense jovian lightning observed before by Voyager 2.

We study lightning on Jupiter and the clouds illuminated by the lightning using images taken by the Galileo orbiter. The Galileo images have a resolution of ∼25 km/pixel and are able to resolve the shape of single lightning spots, which have half widths (radii) at half the maximum intensity in the range 45–80 km. We compare the shape and width of lightning flashes in the images with simulated flashes produced by our 3D Monte Carlo light-scattering model. The model calculates Monte Carlo scattering of photons in a 3D opacity distribution. During each scattering event, light is partially absorbed. The new direction of the photon after scattering is chosen according to a Henyey–Greenstein phase function. An image from each direction is produced by accumulating photons emerging from the cloud in a small range (bins) of emission angles. The light source is modeled either as a point or a vertical line. A plane-parallel cloud layer does not always fit the data. In some cases the cloud over the light source appears to resemble cumulus clouds on Earth. Lightning is estimated to occur at least as deep as the bottom of the expected water cloud. For the six flashes studied, we find that the clouds above the lightning are optically thick (τ>5). Jovian flashes are more regular and circular than the largest terrestrial flashes observed from space. On Jupiter there is nothing equivalent to the 30–40-km horizontal flashes that are seen on Earth.

In the first 100 Martian solar days (sols) of the Mars Science Laboratory mission, the Rover Environmental Monitoring Station (REMS) measured the seasonally evolving diurnal cycles of ultraviolet radiation, atmospheric pressure, air temperature, ground temperature, relative humidity, and wind within Gale Crater on Mars. As an introduction to several REMS-based articles in this issue, we provide an overview of the design and performance of the REMS sensors and discuss our approach to mitigating some of the difficulties we encountered following landing, including the loss of one of the two wind sensors. We discuss the REMS data set in the context of other Mars Science Laboratory instruments and observations and describe how an enhanced observing strategy greatly increased the amount of REMS data returned in the first 100 sols, providing complete coverage of the diurnal cycle every 4 to 6 sols. Finally, we provide a brief overview of key science results from the first 100 sols. We found Gale to be very dry, never reaching saturation relative humidities, subject to larger diurnal surface pressure variations than seen by any previous lander on Mars, air temperatures consistent with model predictions and abundant short timescale variability, and surface temperatures responsive to changes in surface properties and suggestive of subsurface layering.

Watering the Moon About a year ago, a spent upper stage of an Atlas rocket was deliberately crashed into a crater at the south pole of the Moon, ejecting a plume of debris, dust, and vapor. The goal of this event, the Lunar Crater Observation and Sensing Satellite (LCROSS) experiment, was to search for water and other volatiles in the soil of one of the coldest places on the Moon: the permanently shadowed region within the Cabeus crater. Using ultraviolet, visible, and near-infrared spectroscopy data from accompanying craft, Colaprete et al. (p. 463 ; see the news story by Kerr ; see the cover) found evidence for the presence of water and other volatiles within the ejecta cloud. Schultz et al. (p. 468 ) monitored the different stages of the impact and the resulting plume. Gladstone et al. (p. 472 ), using an ultraviolet spectrograph onboard the Lunar Reconnaissance Orbiter (LRO), detected H 2 , CO, Ca, Hg, and Mg in the impact plume, and Hayne et al. (p. 477 ) measured the thermal signature of the impact and discovered that it had heated a 30 to 200 square-meter region from ∼40 kelvin to at least 950 kelvin. Paige et al. (p. 479) mapped cryogenic zones predictive of volatile entrapment, and Mitrofanov et al. (p. 483 ) used LRO instruments to confirm that surface temperatures in the south polar region persist even in sunlight. In all, about 155 kilograms of water vapor was emitted during the impact; meanwhile, the LRO continues to orbit the Moon, sending back a stream of data to help us understand the evolution of its complex surface structures.