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The Curiosity rover has analyzed abundant light-toned fracture-fill material within the Yellowknife Bay sedimentary deposits. The ChemCam instrument, coupled with Mastcam and ChemCam/Remote Micro Imager images, was able to demonstrate that these fracture fills consist of calcium sulfate veins, many of which appear to be hydrated at a level expected for gypsum and bassanite. Anhydrite is locally present and is found in a location characterized by a nodular texture. An intricate assemblage of veins crosses the sediments, which were likely formed by precipitation from fluids circulating through fractures. The presence of veins throughout the entire similar to 5 m thick Yellowknife Bay sediments suggests that this process occurred well after sedimentation and cementation/lithification of those sediments. The sulfur-rich fluids may have originated in previously precipitated sulfate-rich layers, either before the deposition of the Sheepbed mudstones or from unrelated units such as the sulfates at the base of Mount Sharp. The occurrence of these veins after the episodes of deposition of fluvial sediments at the surface suggests persistent aqueous activity in relatively nonacidic conditions.

The Comet Astrobiology Exploration Sample Return (CAESAR) mission is one of two finalists selected by NASA for Phase A study in the New Frontiers program. CAESAR will acquire a minimum of 80 grams of material from the surface of comet 67P/Churuyumov-Gerasimenko and return it to Earth for laboratory analysis. CAESAR preserves much of the science of a cryogenic sample return by retaining volatiles in a dedicated reservoir securely separated from the solid sample. Comet 67P was selected based on its favorable orbital geometry and the risk reduction and scientific context provided by the ESA (European Space Agency)'s Rosetta mission. CAESAR's objectives are to understand the origins of the Solar System starting materials and how these components came together to form planets and give rise to life. We also seek to resolve the conflicting views of comet origins arising from the Stardust and Rosetta missions. While the greater than 1 micron solids returned by Stardust originated in the hot, inner solar nebula, measurements by Rosetta suggest 67P volatiles formed at cryogenic temperatures and remained unchanged for billions of years. This dichotomy provides the rationale for returning both solid and gaseous samples.

The first four rocks examined by the Mars Science Laboratory Alpha Particle X-ray Spectrometer indicate that Curiosity landed in a lithologically diverse region of Mars. These rocks, collectively dubbed the Bradbury assemblage, were studied along an eastward traverse (sols 46–102). Compositions range from Na- and Al-rich mugearite Jake_Matijevic to Fe-, Mg-, and Zn-rich alkali-rich basalt/hawaiite Bathurst_Inlet and span nearly the entire range in FeO* and MnO of the data sets from previous Martian missions and Martian meteorites. The Bradbury assemblage is also enriched in K and moderately volatile metals (Zn and Ge). These elements do not correlate with Cl or S, suggesting that they are associated with the rocks themselves and not with salt-rich coatings. Three out of the four Bradbury rocks plot along a line in elemental variation diagrams, suggesting mixing between Al-rich and Fe-rich components. ChemCam analyses give insight to their degree of chemical heterogeneity and grain size. Variations in trace elements detected by ChemCam suggest chemical weathering (Li) and concentration in mineral phases (e.g., Rb and Sr in feldspars). We interpret the Bradbury assemblage to be broadly volcanic and/or volcaniclastic, derived either from near the Gale crater rim and transported by the Peace Vallis fan network, or from a local volcanic source within Gale Crater. High Fe and Fe/Mn in Et_Then likely reflect secondary precipitation of Fe^(3+) oxides as a cement or rind. The K-rich signature of the Bradbury assemblage, if igneous in origin, may have formed by small degrees of partial melting of metasomatized mantle.

Over the last ~3 years in Gusev Crater, Mars, the Spirit rover observed coherent variations in color, mineralogy, and geochemistry across Home Plate, an ~80 m-diameter outcrop of basaltic tephra. Observations of Home Plate from orbit and from the summit of Husband Hill reveal clear differences in visible/near-infrared (VNIR) colors between its eastern and western regions that are consistent with mineralogical compositions indicated by Mössbauer spectrometer (MB) and by Miniature Thermal Emission Spectrometer (Mini-TES). Pyroxene and magnetite dominate the east side, while olivine, nanophase Fe oxide (npOx) and glass are more abundant on the western side. Alpha Particle X-Ray Spectrometer (APXS) observations reveal that eastern Home Plate has higher Si/Mg, Al, Zn, Ni, and K, while Cl and Br are higher in the west. We propose that these variations are the result of two distinct alteration regimes that may or may not be temporally related: a localized, higher temperature recrystallization and alteration of the east side of Home Plate and lower temperature alteration of the western side that produced npOx.

The sizes and shapes of six icy saturnian satellites have been measured from Cassini Imaging Science Subsystem (ISS) data, employing limb coordinates and stereogrammetric control points. Mimas, Enceladus, Tethys, Dione and Rhea are well described by triaxial ellipsoids; Iapetus is best represented by an oblate spheroid. All satellites appear to have approached relaxed, equilibrium shapes at some point in their evolution, but all support at least 300 m of global-wavelength topography. The shape of Enceladus is most consistent with a homogeneous interior. If Enceladus is differentiated, its shape and apparent relaxation require either lateral inhomogeneities in an icy mantle and/or an irregularly shaped core. Iapetus supports a fossil bulge of over 30 km, and provides a benchmark for impact modification of shapes after global relaxation. Satellites such as Mimas that have smoother limbs than Iapetus, and are expected to have higher impact rates, must have relaxed after the shape of Iapetus was frozen.

Downward-looking spectra of the martian surface from the Miniature Thermal Emission spectrometer (Mini-TES), onboard each of the two Mars Exploration Rovers, are modeled in order to retrieve surface and near-surface atmospheric temperatures. By fitting the observed radiance in the vicinity of the 15-μm CO 2 absorption feature, the surface temperature and the near-surface atmospheric temperature, approximately 1.1 m above the surface, are determined. The temperatures from the first 180 sols (martian days) of each surface mission are used to characterize the diurnal dependence of temperatures. The near-surface atmospheric temperatures are consistently 20 K cooler than the surface temperatures in the warmest part of each sol, which is 1300–1400 LTST (local true solar time) depending on the location. Seasonal cooling trends are seen in the data by displaying the temperatures as a function of sol. Long ground stares, 8.5 min in duration, show as much as 8 K fluctuation in the near-surface atmospheric temperatures during the early afternoon hours when the near-surface atmosphere is unstable.

Iron-rich spherules (>90% Fe2O3 from electron microprobe analyses) approx.10-100 microns in diameter are found within sulfate-rich rocks formed by aqueous, acid-sulfate alteration of basaltic tephra on Mauna Kea volcano, Hawaii. Although some spherules are nearly pure Fe, most have two concentric compositional zones, with the core having a higher Fe/Al ratio than the rim. Oxide totals less than 100% (93-99%) suggest structural H2O and/or /OH. The transmission Moessbauer spectrum of a spherule-rich separate is dominated by a hematite (alpha-Fe2O3) sextet whose peaks are skewed toward zero velocity. Skewing is consistent with Al(3+) for Fe(3+) substitution and structural H2O and/or /OH. The grey color of the spherules implies specular hematite. Whole-rock powder X-ray diffraction spectra are dominated by peaks from smectite and the hydroxy sulfate mineral natroalunite as alteration products and plagioclase feldspar that was present in the precursor basaltic tephra. Whether spherule formation proceeded directly from basaltic material in one event (dissolution of basaltic material and precipitation of hematite spherules) or whether spherule formation required more than one event (formation of Fe-bearing sulfate rock and subsequent hydrolysis to hematite) is not currently constrained. By analogy, a formation pathway for the hematite spherules in sulfate-rich outcrops at Meridiani Planum on Mars (the Burns formation) is aqueous alteration of basaltic precursor material under acid-sulfate conditions. Although hydrothermal conditions are present on Mauna Kea, such conditions may not be required for spherule formation on Mars if the time interval for hydrolysis at lower temperatures is sufficiently long.

The cover shows part of the Larry's Lookout panorama, seen from the Mars Exploration Rover (MER) Spirit during its drive up Husband Hill: the summit is about 200 metres from the rover. Six papers this week report in detail on the MER mission. An Analysis compares predictions used to select a landing site with the conditions actually encountered. This ‘ground truth’ will be invaluable for interpreting future remote-sensing data. Surface chemistry suggests that the upper layer of soil may contain 1% meteoritic material. MER provides a unique glimpse of solar transits of the moons Phobos and Deimos. Rover Opportunity examined wind-related processes, and spectroscopy indicates a dry origin for atmospheric dust. Features from within the Gusev crater give more information on the role of liquid water in Mars's past. An accompanying News and Views puts the MER data in context. The ubiquitous atmospheric dust on Mars is well mixed by periodic global dust storms, and such dust carries information about the environment in which it once formed and hence about the history of water on Mars1. The Mars Exploration Rovers have permanent magnets to collect atmospheric dust for investigation by instruments on the rovers2,3. Here we report results from Mossbauer spectroscopy and X-ray fluorescence of dust particles captured from the martian atmosphere by the magnets. The dust on the magnets contains magnetite and olivine; this indicates a basaltic origin of the dust and shows that magnetite, not maghemite, is the mineral mainly responsible for the magnetic properties of the dust. Furthermore, the dust on the magnets contains some ferric oxides, probably including nanocrystalline phases, so some alteration or oxidation of the basaltic dust seems to have occurred. The presence of olivine indicates that liquid water did not play a dominant role in the processes that formed the atmospheric dust.

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.

Using the Gamma-Ray Spectrometer on the Mars Odyssey, we have identified two regions near the poles that are enriched in hydrogen. The data indicate the presence of a subsurface layer enriched in hydrogen overlain by a hydrogen-poor layer. The thickness of the upper layer decreases with decreasing distance to the pole, ranging from a column density of about 150 grams per square centimeter at –42° latitude to about 40 grams per square centimeter at –77°. The hydrogen-rich regions correlate with regions of predicted ice stability. We suggest that the host of the hydrogen in the subsurface layer is ice, which constitutes 35 ± 15% of the layer by weight.

— The near-Earth asteroid rendezvous (NEAR) mission carried x-ray/gamma-ray spectrometers and multi-spectral imager/near-infrared spectrometer instrument packages which gave complementary information on the chemistry and mineralogy, respectively, of the target asteroid 433 Eros. Synthesis of these two data sets provides information not available from either alone, including the abundance of non-mafic silicates, metal and sulfide minerals. We have utilized four techniques to synthesize these data sets. Venn diagrams, which examine overlapping features in two data sets, suggest that the best match for 433 Eros is an ordinary chondrite, altered at the surface of the asteroid, or perhaps a primitive achondrite derived from material mineralogically similar to these chondrites. Normalized element distributions preclude FeO-rich pyroxenes and suggest that the x-ray and gamma-ray data can be reconciled with a common silicate mineralogy by inclusion of varying amounts of metal. Normative mineralogy cannot be applied to these data sets owing to uncertainties in oxygen abundance and lack of any constraints on the abundance of sodium. Matrix inversion for simultaneous solution of mineral abundances yields reasonable results for the x-ray-derived bulk composition, but seems to confirm the inconsistency between mineral compositions and orthopyroxene/clinopyroxene ratios. A unique solution does not seem possible in synthesizing these multiple data sets. Future missions including a lander to fully characterize regolith distribution and sample return would resolve the types of problems faced in synthesizing the NEAR data.

— The near-Earth asteroid rendezvous (NEAR)-Shoemaker remote-sensing x-ray/gamma-ray spectrometer (XGRS) completed more than a year of operation in orbit and on the surface of 433 Eros. Elemental compositions for a number of regions on the surface of Eros have been derived from analyses of the characteristic x-ray and gamma-ray emission spectra. The NEAR XGRS detection system was included as part of the interplanetary network (IPN) for the detection and localization of gamma-ray bursts (GRBs). Preliminary results for both the elemental composition of the surface of Eros and the detection of GRBs have been obtained. In addition to the science results, the design and operation of the NEAR XGRS is considered. Significant information important for the design of future remote sensing XGRS systems has been obtained and evaluated. We focus on four factors that became particularly critical during NEAR: (1) overall spacecraft design, (2) selection of materials, (3) increase of the signal-to-noise ratio and (4) knowledge of the incident solar x-ray spectrum.

An X-ray and Gamma-Ray Spectrometer (XGRS) is on board the Near Earth Asteroid Rendezvous (NEAR) spacecraft to determine the elemental composition of the surface of the asteroid 433 Eros. The Eros asteroid is highly oblate and irregular in shape. As a result, analysis methodologies are in many ways a divergence from comparable techniques. Complex temporal, spatial and instrument performance relationships must be accounted for during the analysis process. Field of view and asteroid surface geometry measurements must be modeled and then combined with real measurements of solar, spectral and instrument calibration information to derive scientific results. NEAR is currently orbiting 433 Eros and is in the initial phases of its primary data integration and mapping phases. Initial results have been obtained and bulk chemistry assessments have been obtained through specialized background assessment and data reduction techniques.

The Mars Descent Imager, or MARDI, experiment on the Mars Polar Lander (MPL) consists of a camera characterized by small physical size and mass (∼6×6×12 cm, including baffle

The X-Ray spectrometer onboard the Near Earth Asteroid Rendezvous spacecraft will measure X-rays from the surface of 433 Eros in the energy region 0.7–10 keV. Detection of characteristic Kα line emissions from Mg, Al, Si, Ca, Ti, and Fe will allow the determination of surface abundances of these geologically important elements. Spatial resolution as fine as 3 km will be possible for those elements where counting statistics are not a limiting factor. These measurements will make it possible to relate Eros to known classes of meteorites and reveal geological processes that occurred on Eros. The calibration measurements and analysis procedures presented here are necessary for the reduction and analysis of the X-ray data to be collected during one year of orbital operations at Eros.

In 1997, the COmet Nucleus TOUR (CONTOUR) was selected byNASA for a new start as part of the Discovery line. In this paper, we review the status of the mission, the mission timeline and the instruments to be flown. Detail is given of the science goals and how they are to be accomplished.

The X-ray/gamma-ray spectrometer (XGRS) instrument onboard the Near Earth Asteroid Rendezvous (NEAR) spacecraft will map asteroid 433 Eros in the 0.2 keV to 10 MeV energy region. Measurements of the discrete line X-ray and gamma-ray emissions in this energy domain can be used to obtain both qualitative and quantitative elemental composition maps of the asteroid surface. The NEAR X-ray/gamma-ray spectrometer (XGRS) was turned on for the first time during the week of 7 April 1996. Rendezvous with Eros 433 is expected during December 1998. Observations of solar X-ray spectra during both quiescent and active periods have been made. A gamma-ray transient detection system has been implemented and about three gamma-ray transient events a week have been observed which are associated with either gamma-ray bursts or solar flares.

The NEAR Earth Asteroid Rendezvous (NEAR) spacecraft will encounter the 433Eros asteroid for a one year orbital mission in December 1998. Its on-board remote sensing instrumentation includes X-ray and gamma-ray (XGRS) spectrometers. NEAR is an orbital mission and long integrations over spatially specific asteroid regions are generally not possible. A methodology for simulating longer integrations has been developed for XGRS and uses unique management, correlative and analytical ground systems to render mapping data products. Evaluation of the spatial environment is accomplished through virtual renderings of the asteroid surface giving incidence, emission and surface roughness factors. Extended computer plate modeling information is employed to optimize ground computer systems processing time. Interactive visualization systems have been developed to manage close to a million spectra that will be collected during the encounter. Feedback systems are employed to inspect, tag and calibrate spectral data products. Mission planning, systems development and managerial responsibilities have been distributed to cooperating science organizations at The Goddard Space Flight Center, The University of Arizona, Cornell University, The Applied Physics Laboratory and The Max Plank Institute.

The X-ray/Gamma-ray Spectrometer on the Near Earth Asteroid Rendezvous spacecraft will remotely detect characteristic x-ray and gamma-ray emissions from the surface of 433 Eros to develop global maps of the elemental composition of the asteroid surface. Solar excited x-ray fluorescence in the 1 to 10 keV range will be used to measure the surface abundances of Mg, Al, Si, Ca, Ti, and Fe with spatial resolutions down to 2 km. Gamma-ray emissions in the 0.1 to 10 MeV range will be used to measure cosmic-ray excited emissions from such elements as O, Si, Fe, and H as well as naturally radioactive elements K, Th, and U to surface depths on the order of 10 cm. In-flight calibrations are essential to the understanding and analysis of data collected at Eros.

H 2 O, CO 2 , SO 2 , O 2 , H 2 , H 2 S, HCl, chlorinated hydrocarbons, NO, and other trace gases were evolved during pyrolysis of two mudstone samples acquired by the Curiosity rover at Yellowknife Bay within Gale crater, Mars. H 2 O/OH-bearing phases included 2:1 phyllosilicate(s), bassanite, akaganeite, and amorphous materials. Thermal decomposition of carbonates and combustion of organic materials are candidate sources for the CO 2 . Concurrent evolution of O 2 and chlorinated hydrocarbons suggests the presence of oxychlorine phase(s). Sulfides are likely sources for sulfur-bearing species. Higher abundances of chlorinated hydrocarbons in the mudstone compared with Rocknest windblown materials previously analyzed by Curiosity suggest that indigenous martian or meteoritic organic carbon sources may be preserved in the mudstone; however, the carbon source for the chlorinated hydrocarbons is not definitively of martian origin.

The X ray/gamma ray spectrometer (XGRS) instrument on board the Near Earth Asteroid Rendezvous (NEAR) spacecraft will map asteroid 433 Eros in the 0.7 keV to 10 MeV energy region. Measurements of the discrete line X ray and gamma ray emissions in this energy domain can be used to obtain both qualitative and quantitative elemental compositions with sufficient accuracy to enable comparison to the major meteorite typies. It is believed that Eros is an S-type asteroid, the most common of the near-Earth asteroids. The determination of whether Eros consists of either differentiated or undifferentiated materials is an important objective of this mission. Observations of Eros during the NEAR mission will contribute significantly to our understanding of the structure and composition of this asteroid. The NEAR spacecraft was successfully launched on February 17, 1996. The NEAR XGRS was turned on during the week of April 7, 1996, and all detector systems operated nominally. Background spectra have been obtained.

Using the SpectroCam-10 instrument on the Hale 200” telescope at Palomar Observatory, we obtained an extensive set of images and spectra of Mars in the thermal infrared during the 1993 and 1995 oppositions. Images were taken using a set of seven wide-band filters centered at 7.9, 8.8, 9.8, 10.3, 11.7, 12.5, and 17.9 μm. Spatially resolved slit spectra with a spectral resolving power of λ/Δλ = 100 between 7.5 and 13.5 μm were also obtained. Initial analysis of data from the 1993 opposition led to the identification of an absorption feature at 9.2 μm in the Acidalia region. At the time the feature was first identified, it was impossible to determine whether it was caused by a local enhancement of atmospheric dust over Acidalia, or by nonunit emissivity of surface materials in that region. Subsequent observations taken during the 1995 opposition showed that the feature in Acidalia persisted, indicating that it was of surficial origin. Because of its spectral position and shape, we interpret the feature to be the result of the emissivity spectrum of coarse (sand-sized or greater) silicate materials on the surface in Acidalia. While the spectral range available in our data is probably insufficient to make a specific mineralogical interpretation, we find it to be consistent with the emissivity spectrum of a terrestrial basalt sample measured in the laboratory.

An X-ray/gamma-ray spectrometer has been developed as part of a rendezvous mission with the near-Earth asteroid, 433 Eros, in an effort to answer fundamental questions about the nature and origin of asteroids and comets. During about 10 months of orbital operations commencing in early 1999, the X-ray/Gamma-ray Spectrometer will develop global maps of the elemental composition of the surface of Eros. The instrument remotely senses characteristic X-ray and gamma-ray emissions to determine composition. Solar excited X-ray fluorescence in the 1 to 10 keV range will be used to measure the surface abundances of Mg, Al, Si, Ca, Ti, and Fe with spatial resolutions down to 2 km. Gamma-ray emissions in the 0.1 to 10 MeV range will be used to measure cosmic-ray excited elements O, Si, Fe, H and naturally radioactive elements K, Th, U to surface depths on the order of 10 cm. The X-ray spectrometer consists of three gas-filled proportional counters with a collimated field of view of 5° and an energy resolution of 850 eV @ 5.9 keV. Two sunward looking X-ray detectors monitor the incident solar flux, one of which is the first flight of a new, miniature solid-state detector which achieves 600 eV resolution @ 5.9 keV. The gamma-ray spectrometer consists of a NaI(Tl) scintillator situated within a Bismuth Germanate (BGO) cup, which provides both active and passive shielding to confine the field of view and eliminate the need for a massive and costly boom. New coincidence techniques enable recovery of single and double escape events in the central detector. The NaI(Tl) and BGO detectors achieve energy resolutions of 8.7% and 14%, respectively @ 0.662 MeV. A data processing unit based on an RTX2010 microprocessor provides the spacecraft interface and produces 256-channel spectra for X-ray detectors and 1024-channel spectra for the raw, coincident, and anti-coincident gamma-ray modes. This paper presents a detailed overview of the X-ray/Gamma-ray Spectrometer and describes the science objectives, measurement objectives, instrument design, and shows some results from early in-flight data.

The small martian satellites Phobos and Deimos orbit in synchronous rotation with inclinations of only 0.01 degrees and 0.92 degrees , respectively, relative to the planet's equatorial plane. Thus, an observer at near-equatorial latitudes on Mars could occasionally observe solar eclipses by these satellites (see ref. 1, for example). Because the apparent angular diameter of the satellites is much smaller than that of the Sun, however, such events are more appropriately referred to as transits. Transit data can be used for correcting and refining the orbital ephemerides of the moons. For example, Phobos is known to exhibit a secular acceleration that is caused by tidal dissipation within Mars. Long-term, accurate measurements are needed to refine the magnitude and origin of this dissipation within the martian interior as well as to refine the predicted orbital evolution of both satellites. Here we present observations of six transits of Phobos and Deimos across the solar disk from cameras on Mars aboard the Mars Exploration Rovers Spirit and Opportunity. These are the first direct imaging observations of satellites transiting the Sun from the surface of another planet.

The Microscopic Imager on the Spirit rover analyzed the textures of the soil and rocks at Gusev crater on Mars at a resolution of 100 micrometers. Weakly bound agglomerates of dust are present in the soil near the Columbia Memorial Station. Some of the brushed or abraded rock surfaces show igneous textures and evidence for alteration rinds, coatings, and veins consistent with secondary mineralization. The rock textures are consistent with a volcanic origin and subsequent alteration and/or weathering by impact events, wind, and possibly water.

The Mars Exploration Rover Opportunity has investigated bedrock outcrops exposed in several craters at Meridiani Planum, Mars, in an effort to better understand the role of surface processes in its geologic history. Opportunity has recently completed its observations of Victoria crater, which is 750 m in diameter and exposes cliffs up to ∼15 m high. The plains surrounding Victoria crater are ∼10 m higher in elevation than those surrounding the previously explored Endurance crater, indicating that the Victoria crater exposes a stratigraphically higher section than does the Endurance crater; however, Victoria strata overlap in elevation with the rocks exposed at the Erebus crater. Victoria crater has a well-developed geomorphic pattern of promontories and embayments that define the crater wall and that reveal thick bedsets (3–7 m) of large-scale cross-bedding, interpreted as fossil eolian dunes. Opportunity was able to drive into the crater at Duck Bay, located on the western margin of Victoria crater. Data from the Microscopic Imager and Panoramic Camera reveal details about the structures, textures, and depositional and diagenetic events that influenced the Victoria bedrock. A lithostratigraphic subdivision of bedrock units was enabled by the presence of a light-toned band that lines much of the upper rim of the crater. In ascending order, three stratigraphic units are named Lyell, Smith, and Steno; Smith is the light-toned band. In the Reference Section exposed along the ingress path at Duck Bay, Smith is interpreted to represent a zone of diagenetic recrystallization; however, its upper contact also coincides with a primary erosional surface. Elsewhere in the crater the diagenetic band crosscuts the physical stratigraphy. Correlation with strata present at nearby promontory Cape Verde indicates that there is an erosional surface at the base of the cliff face that corresponds to the erosional contact below Steno. The erosional contact at the base of Cape Verde lies at a lower elevation, but within the same plane as the contact below Steno, which indicates that the material above the erosional contact was built on significant depositional paleotopography. The eolian dune forms exposed in Duck Bay and Cape Verde, combined with the geometry of the erosional surface, indicate that these outcrops may be part of a larger-scale draa architecture. This insight is possible only as a result of the larger-scale exposures at Victoria crater, which significantly exceed the more limited exposures at the Erebus, Endurance, and Eagle craters.

Chemical, mineralogic, and lithologic ground truth was acquired for the first time on Mars in terrain units mapped using orbital Mars Reconnaissance Orbiter's High Resolution Imaging Science Experiment (MRO HiRISE) image data. Examination of several dozen outcrops shows that Mars is geologically complex at meter length scales, the record of its geologic history is well exposed, stratigraphic units may be identified and correlated across significant areas on the ground, and outcrops and geologic relationships between materials may be analyzed with techniques commonly employed in terrestrial field geology. Despite their burial during the course of Martian geologic time by widespread epiclastic materials, mobile fines, and fall deposits, the selective exhumation of deep and well-preserved geologic units has exposed undisturbed outcrops, stratigraphic sections, and structural information much as they are preserved and exposed on Earth. A rich geologic record awaits skilled future field investigators on Mars. The correlation of ground observations and orbital images enables construction of a corresponding geologic reconnaissance map. Most of the outcrops visited are interpreted to be pyroclastic, impactite, and epiclastic deposits overlying an unexposed substrate, probably related to a modified Gusev crater central peak. Fluids have altered chemistry and mineralogy of these protoliths in degrees that vary substantially within the same map unit. Examination of the rocks exposed above and below the major unconformity between the plains lavas and the Columbia Hills directly confirms the general conclusion from remote sensing in previous studies over past years that the early history of Mars was a time of more intense deposition and modification of the surface. Although the availability of fluids and the chemical and mineral activity declined from this early period, significant later volcanism and fluid convection enabled additional, if localized, chemical activity.

Outcrop exposures imaged by the Opportunity rover at Victoria Crater, a 750 m diameter crater in Meridiani Planum, are used to delineate sedimentary structures and further develop a dune-interdune depositional model for the region. The stratigraphy at Victoria Crater, observed during Opportunity's partial traverse of its rim, includes the best examples of meter-scale eolian cross bedding observed on Mars to date. The Cape St. Mary promontory, located at the southern end of the rim traverse, is characterized by meter-scale sets of trough cross bedding, suggesting northward migrating sinuous-crested bed forms. Cape St. Vincent, which is located at the opposite end of the traverse, shows tabular-planar stratification indicative of climbing bed forms with meter- to decameter-scale dune heights migrating southward. Promontories located between Cape St. Mary and Cape St. Vincent contain superposed stratigraphic units with northward and southward dipping beds separated by outcrop-scale bounding surfaces. These bounding surfaces are interpreted to be either reactivation and/or superposition surfaces in a complex erg sea. Any depositional model used to explain the bedding must conform to reversing northward and southward paleomigration directions and include multiple scales of bed forms. In addition to stratified outcrop, a bright diagenetic band is observed to overprint bedding and to lie on an equipotential parallel to the preimpact surface. Meter-scale cross bedding at Victoria Crater is similar to terrestrial eolian deposits and is interpreted as a dry dune field, comparable to Jurassic age eolian deposits in the western United States.

Numerous loose rocks with dimensions of a few centimeters to tens of centimeters and with no obvious physical relationship to outcrop rocks have been observed along the traverse of the Mars Exploration Rover Opportunity. To date, about a dozen of these rocks have been analyzed with Opportunity’s contact instruments, providing information about elemental chemistry (Alpha Particle X‐ray Spectrometer), iron mineralogy and oxidation states (Mossbauer Spectrometer) and texture (Microscopic Imager). These "cobbles" appear to be impact related, and three distinct groups can be identified on the basis of chemistry and mineralogy. The first group comprises bright fragments of the sulfate‐rich bedrock that are compositionally and texturally indistinguishable from outcrop rocks. All other cobbles are dark and are divided into two groups, referred to as the "Barberton group" and the "Arkansas group," after the first specimen of each that was encountered by Opportunity. Barberton group cobbles are interpreted as meteorites with an overall chemistry and mineralogy consistent with a mesosiderite silicate clast composition. Arkansas group cobbles appear to be related to Meridiani outcrop and contain an additional basaltic component. They have brecciated textures, pointing to an impact‐related origin during which local bedrock and basaltic material were mixed.

[1] Phyllosilicates have been identified on the Martian surface from orbit, and are hypothesized to have formed under wet, non-acidic conditions early in the planet's history. Exposures of these minerals have not yet been examined by a landed mission. Using Mars Reconnaissance Orbiter data, we report the detection of phyllosilicate-bearing outcrops that may be accessible by the Mars Exploration Rover Opportunity currently exploring Meridiani Planum. The phyllosilicates are associated with layered, polygonally fractured rocks exposed in the rim of the 20 km diameter crater Endeavour. These rocks may have formed via regional or global-scale processes of aqueous alteration that predated the period of acid sulfate formation recorded in the rocks that Opportunity has studied to date. Detailed characterization by Opportunity could better constrain the conditions under which these phyllosilicates formed. Hydrated sulfates are also detected from orbit in the plains adjacent to Endeavour's rim, providing the first opportunity for ground truth of these detections.

The rovers Spirit and Opportunity have been operating on the surface of Mars since January of 2004. Interaction with these robotic vehicles involves overcoming a number of operational challenges. The challenges include the distance between Mars and Earth (the one-way travel time for commands and data can be as long as 20 minutes), environmental factors (e.g., extreme temperatures, dust storms), and the need to respond quickly and effectively to unexpected events and scientific discoveries. In the five years since the rovers landed, the Mars Exploration Rover project team has developed operational procedures for interacting with the rovers that are both scientifically productive and sustainable for what has become a long-duration mission

The Mars Exploration Rover Opportunity has recently completed a two year campaign studying Victoria Crater. The campaign culminated in a close approach of Cape Verde in order to acquire high resolution imagery of the exposed stratigraphy in the cliff face. The close approach to Cape Verde provided significant challenges for every subsystem of the rover as the rover needed to traverse difficult, un-characterised terrain and approach a cliff face with the potential of blocking out solar energy and communications with Earth. In this paper we describe the strategic analyses performed by the science and engineering teams so that we could successfully achieve the science objectives while keeping the rover safe.

[1] The Mars Exploration Rovers have accumulated airborne dust on different types of permanent magnets. Images of these magnets document the dynamics of dust capture and removal over time. The strongly magnetic subset of airborne dust appears dark brown to black in Panoramic Camera (Pancam) images, while the weakly magnetic one is bright red. Images returned by the Microscopic Imager reveal the formation of magnetic chains diagnostic of magnetite-rich grains with substantial magnetization (>8 Am2 kg−1). On the basis of Mossbauer spectra the dust contains magnetite, olivine, pyroxene, and nanophase oxides in varying proportions, depending on wind regime and landing site. The dust contains a larger amount of ferric iron (Fe3+/Fetot ∼ 0.6) than rocks in the Gusev plains (∼0.1–0.2) or average Gusev soil (∼0.3). Alpha Particle X-Ray Spectrometer data of the dust show that some of the iron in magnetite is substituted by titanium and chromium. The good correlation of the amount of calcium and sulfur in the dust may be caused by the presence of a calcium sulfate related phase. The overall mineralogical composition points to a basaltic origin of the airborne dust, although some alteration has taken place as indicated by the large degree of oxidation.

Geochemical diversity of rocks and soils has been discovered by the Alpha Particle X-Ray Spectrometer (APXS) during Spirit’s journey over Husband Hill and down into the Inner Basin from sol 470 to 1368. The APXS continues to operate nominally with no changes in calibration or spectral degradation over the course of the mission. Germanium has been added to the Spirit APXS data set with the confirmation that it occurs at elevated levels in many rocks and soils around Home Plate. Twelve new rock classes and two new soil classes have been identified at the Spirit landing site since sol 470 on the basis of the diversity in APXS geochemistry. The new rock classes are Irvine (alkaline basalt), Independence (low Fe outcrop), Descartes (outcrop similar to Independence with higher Fe and Mn), Algonquin (mafic-ultramafic igneous sequence), Barnhill (volcaniclastic sediments enriched in Zn, Cl, and Ge), Fuzzy Smith (high Si and Ti rock), Elizabeth Mahon (high Si, Ni, and Zn outcrop and rock), Halley (hematite-rich outcrop and rock), Montalva (high K, hematite-rich rock), Everett (high Mg, magnetite-rich rock), Good Question (high Si, low Mn rock), and Torquas (high K, Zn, and Ni magnetite-rich rock). New soil classes are Gertrude Weise (very high Si soil) and Eileen Dean (high Mg, magnetite-rich soil). Aqueous processes have played a major role in the formation and alteration of rocks and soils on Husband Hill and in the Inner Basin.

[1] We report on observations of hematite-bearing spherules at Meridiani Planum made using the Microscopic Imager (MI), Mini-Thermal Emission Spectrometer (Mini-TES), and Panoramic Camera (Pancam) instruments on the Mars Exploration Rover Opportunity. Spherules were observed on soil surfaces and in outcrop rocks, both on undisturbed surfaces and in abraded surfaces ground using the Rock Abrasion Tool (RAT). Spherule size and shape change little along the 850 m eastward traverse from Eagle Crater to Endurance Crater, but spherules decrease and then slightly increase in size along the 6 km traverse from Endurance south to Victoria Crater. Local populations range from submillimeters to several millimeters in diameter. An additional small diameter (100 μm) size population is possible. An increase in irregular shapes is found near Victoria Crater. This, combined with the size decrease south of Endurance, suggests either a changing depositional environment, or variation in the duration and timing of diagenetic events. The dominant smaller size population observed early in the mission in aeolian areas and ripple crests is observed as the primary size population in abraded outcrop farther south. This suggests that successively younger beds are exposed at the surface along the southward traverse. Stratigraphically higher units removed by erosion could be recorded by the present surface lag deposit. Coordinated systematic observations are used to determine optical and infrared hematite indices of the surface soils in Pancam and Mini-TES. In spite of the systematic variation seen in MI, both Pancam and Mini-TES indices are highly variable based on the local surface, and neither show systematic trends south of Endurance. The lack of a 390 cm−1 feature in Mini-TES spectra suggests concentric or radial interior structure within the spherules at scales too fine for MI to observe. Mini-TES does not detect any silicate component in the spherules. A bound water component in soils or in exchange with the atmosphere is observed. These spherules have been previously interpreted as concretions formed within what were once water-saturated, diagenetically altered “dirty evaporate” sandstone sediments. Our observations support this interpretation; however, no single terrestrial analog provides a model that can account for all attributes of the spherules on Mars.

This paper summarizes the Spirit rover operations in the Columbia Hills of Gusev Crater from sols 513 to 1476 and provides an overview of selected findings that focus on synergistic use of the Athena Payload and comparisons to orbital data. Results include discovery of outcrops (Voltaire) on Husband Hill that are interpreted to be altered impact melt deposits that incorporated local materials during emplacement. Evidence for extensive volcanic activity and aqueous alteration in the Inner Basin is also detailed, including discovery and characterization of accretionary lapilli and formation of sulfate, silica, and hematite-rich deposits. Use of Spirit's data to understand the range of spectral signatures observed over the Columbia Hills by the Mars Reconnaissance Orbiter's Compact Reconnaissance Imaging Spectrometer (CRISM) hyperspectral imager (0.4–4 μm) is summarized. We show that CRISM spectra are controlled by the proportion of ferric-rich dust to ferrous-bearing igneous minerals exposed in ripples and other wind-blown deposits. The evidence for aqueous alteration derived from Spirit's data is associated with outcrops that are too small to be detected from orbital observations or with materials exposed from the shallow subsurface during rover activities. Although orbital observations show many other locations on Mars with evidence for minerals formed or altered in an aqueous environment, Spirit's data imply that the older crust of Mars has been altered even more extensively than evident from orbital data. This result greatly increases the potential that the surface or shallow subsurface was once a habitable regime.

[1] Prominent low-albedo wind streaks issue from embayments at the north end of Victoria crater in Meridiani Planum, the site of surface investigations by the Mars Exploration Rover Opportunity. Opportunity was sent to examine the darkest of these wind streaks and compare it to the adjacent soil in the brighter corridor between the streaks. Two nearby sites inside and outside of the streak were selected for visible and infrared remote sensing and for elemental abundance measurements and images of the microscopic soil morphology. The rover was next sent to study the interaction of the wind streak with an obstacle, a small rock near the source of the streak. Opportunity's observations suggest that the Victoria wind streaks are deposits of basaltic sand blown out of the crater from the dark dunes nestled below the crater rim, particularly at the base of the alcove leading up to the darkest streak. No local sources of sand have been identified within the Victoria crater wall rock, suggesting that the sand is supplied from outside the crater and is presently escaping its temporary topographic trap. This process presents a possible explanation for the serrated margin of Victoria crater through abrasion of the soft rock as trapped sands are blown out of the crater and carve alcoves under various seasonal winds. Some indication of the rate of activity of these wind streaks will be provided by continued monitoring of the erasure of the rover's tracks.

Phyllosilicates have previously been detected in layered outcrops in and around the Martian outflow channel Mawrth Vallis. CRISM spectra of these outcrops exhibit features diagnostic of kaolinite, montmorillonite, and Fe/Mg-rich smectites, along with crystalline ferric oxide minerals such as hematite. These minerals occur in distinct stratigraphic horizons, implying changing environmental conditions and/or a variable sediment source for these layered deposits. Similar stratigraphic sequences occur on both sides of the outflow channel and on its floor, with Al-clay-bearing layers typically overlying Fe/Mg-clay-bearing layers. This pattern, combined with layer geometries measured using topographic data from HiRISE and HRSC, suggests that the Al-clay-bearing horizons at Mawrth Vallis postdate the outflow channel and may represent a later sedimentary or altered pyroclastic deposit that drapes the topography.

Multispectral imaging from the Panoramic Camera (Pancam) instruments on the Mars Exploration Rovers Spirit and Opportunity has provided important new insights about the geology and geologic history of the rover landing sites and traverse locations in Gusev crater and Meridiani Planum. Pancam observations from near-UV to near-IR wavelengths provide limited compositional and mineralogic constraints on the presence abundance, and physical properties of ferric- and ferrous-iron bearing minerals in rocks, soils, and dust at both sites. High resolution and stereo morphologic observations have also helped to infer some aspects of the composition of these materials at both sites. Perhaps most importantly, Pancam observations were often efficiently and effectively used to discover and select the relatively small number of places where in situ measurements were performed by the rover instruments, thus supporting and enabling the much more quantitative mineralogic discoveries made using elemental chemistry and mineralogy data. This chapter summarizes the major compositionally- and mineralogically-relevant results at Gusev and Meridiani derived from Pancam observations. Classes of materials encountered in Gusev crater include outcrop rocks, float rocks, cobbles, clasts, soils, dust, rock grindings, rock coatings, windblown drift deposits, and exhumed whitish/yellowish salty soils. Materials studied in Meridiani Planum include sedimentary outcrop rocks, rock rinds, fracture fills, hematite spherules, cobbles, rock fragments, meteorites, soils, and windblown drift deposits. This chapter also previews the results of a number of coordinated observations between Pancam and other rover-based and Mars-orbital instruments that were designed to provide complementary new information and constraints on the mineralogy and physical properties of martian surface materials.

[1] We report maps of the concentrations of H, Si, Cl, K, Fe, and Th as determined by the Gamma Ray Spectrometer (GRS) on board the 2001 Mars Odyssey Mission for ±∼45° latitudes. The procedures by which the spectra are processed to yield quantitative concentrations are described in detail. The concentrations of elements determined over the locations of the various Mars landers generally agree well with the lander values except for Fe, although the mean of the GRS Fe data agrees well with that of Martian meteorites. The water-equivalent concentration of hydrogen by mass varies from about 1.5% to 7.5% (by mass) with the most enriched areas being near Apollinaris Patera and Arabia Terra. Cl shows a distribution similar to H over the surface except that the Cl content over Medusae Fossae is much greater than elsewhere. The map of Fe shows enrichment in the northern lowlands versus the southern highlands. Silicon shows only very modest variation over the surface with mass fractions ranging from 19% to 22% over most of the planet, though a significant depletion in Si is noted in a region west of Tharsis Montes and Olympus Mons where the Si content is as low as 18%. K and Th show a very similar pattern with depletions associated with young volcanic deposits and enrichments associated with the TES Surface Type-2 material. It is noted that there appears to be no evidence of significant globally distributed thick dust deposits of uniform composition.

Multispectral measurements in the visible and near infrared of rocks at Meridiani Planum by the Mars Exploration Rover Opportunity's Pancam are described. The Pancam multispectral data show that the outcrops of the Burns formation consist of two main spectral units which in stretched 673, 535, 432 nm color composites appear buff- and purple-colored. These units are referred to as the HFS and LFS spectral units based on higher and lower values of 482 to 535 nm slope. Spectral characteristics are consistent with the LFS outcrop consisting of less oxidized, and the HFS outcrop consisting of more oxidized, iron-bearing minerals. The LFS surfaces are not as common and appear, primarily, at the distal ends of outcrop layers and on steep, more massive surfaces, locations that are subject to greater eolian erosion. Consequently, the HFS surfaces are interpreted as a weathering rind. Further inherent spectral differences between layers and between different outcrop map units, both untouched and patches abraded by the rover's Rock Abrasion Tool, are also described. Comparisons of the spectral parameters of the Meridiani outcrop with a set of laboratory reflectance measurements of Fe^(3+)–bearing minerals show that the field of outcrop measurements plots near the fields of hematite, ferrihydrite, poorly crystalline goethite, and schwertmannite. Rind and fracture fill materials, observed intermittently at outcrop exposures, are intermediate in their spectral character between both the HFS and LFS spectral classes and other, less oxidized, surface materials (basaltic sands, spherules, and cobbles).