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Flight software updates are among the hardest andmost dangerous activities for the Mars Science Laboratory(MSL) Curiosity team. While danger is often mitigated bybackups, fallback strategies, and incremental installation withground-in-the-loop cycles which provide a safety net for theinstallation process, the software update described in this paperwas unable to use many of the common practices due to thenature of the fault addressed by the update. The MSL rover(landed August 2012) encountered a problem with one of itscomputer’s non-volatile storage chips in 2019, requiring a swapto its backup computer and an urgent software upgrade calledR-Hope. R-Hope, a lifeboat to be used in the event of primarycomputer issues, was written, tested, and sent to the rover inlightning speed of just 19 months. Multi-mission and teamcoordination allowed the 49 flight software image files to beuplinked to the rover over a 6-week period, using multiple pathsand backup options for speedy delivery. In the end, the RHopesoftware upgrade returned the computer to operation asa backup flight computer. The flight software transition wasdesigned to impact science return as little as possible, and installationplans included science activities for the majority of MSLinstruments. This paper describes the uplink and installationcampaigns for R-Hope, and discusses the notable lessons learnedby the operations team.

The Perseverance rover represents NASA’s latest achievement in Mars exploration. Landing successfully on 18 Feb 2021, the rover’s transmitted data during its entry, descent, and landing (EDL) were captured by the Mars Reconnaissance Orbiter (MRO) and the Mars Atmosphere and Volatile Evolution (MAVEN) orbiter. This data, broadcast in near-realtime to the world, allowed everyone to share in the excitement (and “terror”) of the day. The images returned thereafter included the first images of the new landing site, video of the landing itself taken from a variety of vantage points, and eventually the historic images of the first powered flight on another planet. Behind the scenes, the return of that data to Earth was accomplished via Mars orbiters operated by NASA and ESA, using three different ground tracking networks. Considered together, this Mars Relay Network (MRN) enabled the successful, timely, and unobtrusive return of the rover’s data. This paper describes the preparations taken by the participants of the MRN in anticipation of the arrival of Perseverance at Mars. These were not only focused on successfully acquiring the rover’s critical event telemetry during its EDL, but also on readying the network to return the rover’s data on an ongoing basis as it pursued its mission objectives. Included is a brief description of the MRN, which represents a highly successful international collaboration and continues as critical infrastructure for NASA’s and ESA’s ongoing Mars exploration. Also summarized are the activities performed prior to EDL, including landing site reconnaissance and mission test and training activities; those activities performed on EDL day, especially the recording, return, and processing of the rover’s critical event telemetry; and those activities that are now being performed on an ongoing basis during the rover’s surface operations, including an outline of the planning processes that enable relay services. Finally, a description of the performance of the network to-date on behalf of the Perseverance rover is given, summarizing the success of the network to provide support to both it and other spacecraft on the surface of Mars.

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Examples of how toolset selection criteria and capabilities havehelped or hindered MSL planning will be presented. Ongoingimprovements to MSL toolsets and processes, as well as to sharedrelay tools such as Mars Relay Operations Service (MaROS) andGeneral Telecom Predictor (GTP) are also discussed in this paper.

We present results from the two radio occultations of the Cassini spacecraft by Titan in 2006, which probed mid-southern latitudes. Three of the ingress and egress soundings occurred within a narrow latitude range, 31.34 deg S near the surface, and the fourth at 52.8 deg S. Temperature - altitude profiles for all four occultation soundings are presented, and compared with the results of the Voyager 1 radio occultation (Lindal et al., 1983), the HASI instrument on the Huygens descent probe (Fulchignoni et al., 2005), and Cassini CIRS results (Flasar et al., 2005; Achterberg et al., 2008b). Sources of error in the retrieved temperature - altitude profiles are also discussed, and a major contribution is from spacecraft velocity errors in the reconstructed ephemeris. These can be reduced by using CIRS data at 300 km to make along-track adjustments of the spacecraft timing. The occultation soundings indicate that the temperatures just above the surface at 31-34 deg S are about 93 K, while that at 53 deg S is about 1 K colder. At the tropopause, the temperatures at the lower latitudes are all about 70 K, while the 53 deg S profile is again 1 K colder. The temperature lapse rate in the lowest 2 km for the two ingress (dawn) profiles at 31 and 33 deg S lie along a dry adiabat except within approximately 200m of the surface, where a small stable inversion occurs. This could be explained by turbulent mixing with low viscosity near the surface. The egress profile near 34 deg S shows a more complex structure in the lowest 2 km, while the egress profile at 53 deg S is more stable.

The Galileo orbiter has provided radio occultation measurements of the electron density profiles of the plasma surrounding lo and Europa. There have been six occultations of Io, providing twelve electron density profiles at various locations relative to the ram direction of the impinging particles of the Jupiter magnetosphere on Io, and eight profiles on Europa. The two satellites were found to have very different plasma environments, with Io having a proper ionosphere produced on top of an endogenous SO2 atmosphere by magnetospheric particle precipitation and solar EUV, while Europa has a tenuous plasma environment produced by the same mechanisms from an oxygen atmosphere itself also produced by sputtering of water ice from its surface by impinging magnetospheric particles. In both cases the observed electron density profiles are highly asymmetrical, with a compressed profile on the ram side, and an extended one on the wake side. The presence of several measurements for each satellite at different ram-to-wake directions provided data for estimating an approximate distribution of ionization from the ram direction to the wake direction.

The Galileo orbiter has provided radio occultation measurements of the electron density profiles of the plasma surrounding Io and Europa. There have been six occultations of Io, providing twelve electron density profiles at various locations relative to the ram direction of the impinging particles of the Jupiter magnetosphere on Io, and eight profiles on Europa. The two satellites were found to have very different plasma environments, with Io having a proper ionosphere produced on top of an endogenous SO2 atmosphere by magnetospheric particle precipitation and solar EUV, while Europa has a tenuous plasma environment produced by the same mechanisms from an oxygen atmosphere itself also produced by sputtering of water ice from its surface by impinging magnetospheric particles. In both cases the observed electron density profiles are highly asymmetrical, with a compressed profile on the ram side, and an extended one on the wake side. The presence of several measurements for each satellite at different ram-to-wake directions provided data for estimating an approximate distribution of ionization from the ram direction to the wake direction, which were compared with the results of MHD simulations.

This paper studies, by computer simulations, the performance of deep space telemetry signals that employ PCM/PM/NRZ modulation technique under the separate and combined effects of an unbalanced data stream, data asymmetry, and band-limited channel. The study is based on measuring the Symbol Error Rate (SER) performance and comparing the results to the theoretical results presented in previous reports [1,2]. Only the effects of imperfect carrier tracking due to an imperfect data stream are considered.