Opportunity Mission Manager Reports:
Opportunity Mission Manager Report
Opportunity Takes a Victory Lap
Sols 1661-1668
A journey of 7.5 miles began with a partial victory lap around "Victoria Crater," as Opportunity headed south toward enormous "Endeavour Crater." Partway around the circuit, Opportunity passed the 7.5-mile mark of the mission. In metric terms, the rover began a 12,000-meter, cross-country trek by ending a similar 12,000-meter journey across uncharted terrain and in and out of craters.
Opportunity also chalked up the second-longest drive of the mission on sol 1663 (Sept. 27, 2008), advancing 153 meters (500 feet). Three days later, Opportunity drove another 129 meters (423 feet), on sol 1666 (Sept. 30, 2008).
Along the way, the rover took advantage of opportunities to explore rock layers and other features visible from the rim of Victoria Crater. The first drive of the trek on Martian day, or sol, 1661 (Sept. 25, 2008) included a drive-by photo shoot with the camera pointed at a small crater known as "Sputnik Crater" on the edge of Victoria. That drive covered 27 meters (89 feet).
Drive performance has been excellent, with very little wheel slippage on this terrain. As a result, Opportunity is now in position to approach Victoria Crater again. This time, the rover's itinerary will take it onto a promontory called "Cape Victory" for a photo shoot of rock layers visible in a neighboring promontory known as "Cape Pillar."
On its journey to the southeast, Opportunity will have route-planning assistance from super high-resolution images taken by the Mars Reconnaissance Orbiter. Rover operators will use the images, which reveal details as small as individual boulders, to plot the safest path.
Opportunity remains healthy, with all subsystems performing as expected as of Martian day, or sol, 1666 (Sept. 30, 2008). Power continues to improve, with sunlight generating 654 watt-hours of solar energy -- enough to light a 100-watt bulb for 6.5 hours (100 watt-hours is the amount of energy needed to light a 100-watt bulb for one hour.)
Sol-by-sol summary
Besides measuring daily, dust-related changes in atmospheric clarity with the panoramic camera, Opportunity completed the following activities:
Sol 1661 (Sept. 25, 2008): Midway through the sol's drive, Opportunity acquired a 3-by-1 panel of images of Sputnik using the navigation camera. The rover acquired a 2-by-1 panel of forward-looking images with the navigation camera. Before relaying data to NASA's Odyssey orbiter for transmission to Earth, Opportunity took several tiers of post-drive images, including a 4-by-1 tier with the panoramic camera as well as 3-by-1 and 7-by-1 tiers with the navigation camera.
Sol 1662: In the morning, Opportunity took thumbnail images of the sky for calibration purposes with the panoramic camera. After sending data to Odyssey, Opportunity measured argon gas in the Martian atmosphere using the alpha-particle X-ray spectrometer.
Sol 1663: Opportunity searched for morning clouds by acquiring six, freeze-frame images to be stitched together into a movie. Before the day's drive, Opportunity acquired a 3-by-1 mosaic of images of Sputnik, an image of another small crater nicknamed "Gauss," and a ripple profile with the panoramic camera. Opportunity made the second-longest, single-day drive of the mission, traveling a distance of 152 meters (449 feet). The rover acquired rearward-looking images of the ground near its wheels with the hazard-avoidance cameras and relayed data to Odyssey.
Sol 1664: Opportunity searched for morning clouds by acquiring six movie frames with the navigation camera. The rover acquired a 2-by-1 panel of forward-looking images with the navigation camera. After driving another 129 meters (423 feet), Opportunity acquired a 3-by-1 tier of navigation-camera images and a 7-by-1 and 6-by-1 tier of panoramic-camera images. Using all 13 color filters of the panoramic camera, Opportunity completed a systematic survey and took images of the external magnets. After sending data to Odyssey, the rover measured atmospheric argon.
Sol 1665: In the morning, Opportunity took spot images of the sky for calibration purposes with the panoramic camera. The rover surveyed the sky at high Sun and also measured albedo -- surface brightness -- with the panoramic camera. After relaying data to Odyssey, Opportunity measured argon gas in the atmosphere with the alpha-particle X-ray spectrometer.
Sol 1666 (Sept. 30, 2008): Opportunity took morning thumbnail images of the sky for calibration purposes with the panoramic camera. In conjunction with the day's drive, the rover took a 2-by-1 panel of forward-looking images with the navigation camera. Opportunity acquired a 3-by-1 and a 7-by-1 post-drive tier of images with the navigation camera as well as a 4-by-1 panel of images with the panoramic camera. After sending data to Odyssey, Opportunity measured atmospheric argon. Plans for the following day called for the rover to take spot images of the sky with the panoramic camera, monitor dust accumulation on the rover mast, and acquire a six-frame movie in search of Martian clouds.
Odometry
As of sol 1666 (Sept. 30, 2008), Opportunity’s total odometry was 12,188.15 meters (7.53 miles).
Road Trip Gets Under Way
Sols 1655-1660
Opportunity has embarked on the next great challenge -- a journey of 12 kilometers (7.5 miles) southeast to a huge hole in the ground nicknamed "Endeavour Crater." Measuring 22 kilometers (14 miles) from rim to rim and plunging 300 meters (1,000 feet) below the surface, Endeavour Crater is significantly larger than "Victoria Crater," which is 730 meters (almost half a mile) wide and 70 meters (200 feet) deep. Because it is so much deeper, Endeavour promises to expose even more rock layers going further back in time.
Opportunity's trek began on sol 1659 (Sept. 23, 2008), as the rover backed away from a slippery ripple and advanced 10 meters (30 feet) toward its destination. The journey to Endeavour will be long. Opportunity is sure to encounter many interesting science opportunities along the way.
During the previous week, Opportunity's wheels slipped excessively while trying to cross a ripple to reach a patch of dust on the ripple's downwind side. After two tries on sols 1652 (Sept. 16, 2008) and 1654 (Sept. 18, 2008), rover operators decided to resume driving and look for other deposits of Martian dust in more accessible locations.
Opportunity remains healthy. All subsystems are performing as expected as of Martian day, or sol, 1660 (Sept. 24, 2008). Power is on the rise, with sunlight generating 623 watt-hours of solar energy -- enough to light a 100-watt bulb for more than 6 hours (100 watt-hours is the amount of energy needed to light a 100-watt bulb for one hour.)
Sol-by-sol summary
Besides measuring daily, dust-related changes in atmospheric clarity with the panoramic camera, Opportunity completed the following activities:
Sol 1655 (Sept. 19, 2008): Opportunity acquired full-color images, using all 13 filters of the panoramic camera, of a target dubbed "Velvet." Opportunity took images of the tracks made by the rover's wheels with the navigation camera.
Sol 1656: Opportunity acquired a 5-by-1 panel of images with the navigation camera and a 10-by-1 panel of images with the panoramic camera. After relaying data to NASA's Odyssey orbiter as it passed overhead for transmission to Earth, Opportunity measured atmospheric dust at sunset with the panoramic camera. The rover measured argon gas in the Martian atmosphere with the alpha-particle X-ray spectrometer.
Sol 1657: In the morning, Opportunity monitored dust on the panoramic-camera mast assembly. The rover took panoramic-camera images of its tracks and, after sending data to Odyssey, measured atmospheric argon with the alpha-particle X-ray spectrometer.
Sol 1658: Following several measurements of atmospheric dust at different times of day, Opportunity relayed data to Odyssey and used the the alpha-particle X-ray spectrometer to determine the amount of atmospheric argon.
Sol 1659: In the morning, Opportunity took thumbnail images as well as spot images of the sky for calibration purposes with the panoramic camera. Opportunity then began the trek to Endeavour, driving almost 10.5 meters (34 feet). The rover acquired images of the surrounding terrain with the navigation camera just before and just after ending the drive. After sending data to Odyssey, the rover measured atmospheric argon.
Sol 1660 (Sept. 24, 2008): Opportunity surveyed the morning horizon with the panoramic camera and acquired six, time-lapse movie frames in search of clouds with the navigation camera. At high Sun, Opportunity surveyed the sky with the panoramic camera. Before relaying data to Odyssey, Opportunity took images of the rover's wheel tracks with the panoramic camera.
Odometry
As of sol 1659 (Sept. 23, 2008), Opportunity’s total odometry was 11,808.39 meters (7.34 miles).
Slipping Like a Dune Buggy
Sols 1648-1654
During the past week, Opportunity has been trying to reach a patch of dust between two crests of the ridge surrounding "Victoria Crater." The rover approached the ridge from the west, driving on flat ground, on Martian days, or sols, 1648 and 1650 (Sept. 12 and Sept. 14, 2008). Then, after reaching a staging position, Opportunity began to climb the ridge. That's when the rover's wheels began slipping excessively on the sandy slope.
Rover drivers decided to give Opportunity another chance to make it up the slope by loosening the slip constraints. This allowed Opportunity to keep trying to climb the slope with a higher rate of wheel slippage. If the attempt to do this as planned on sol 1654 (Sept. 18, 2008) is not successful, rover drivers may try a different approach or abandon the effort.
After the dust patch campaign, plans call for Opportunity to drive south toward a 20-kilometer-wide (12-mile-wide) crater 12 kilometers (7.5 miles) away.
Opportunity is healthy, and all subsystems are performing as expected. Based on the latest data from sol 1653 (Sept. 17, 2008), the rover has 582 watt-hours of solar power available each day. (One hundred watt-hours is the amount of energy needed to light a 100-watt bulb for one hour.)
Sol-by-sol summary
In addition to measuring dust-related changes in atmospheric clarity each day with the panoramic camera, Opportunity completed the following activities:
Sol 1648 (Sept. 12, 2008): Opportunity stowed the robotic arm and began driving toward the dust patch. Just before and after ending the drive, Opportunity took images with the hazard-avoidance and navigation cameras, respectively. The rover acquired a 4-by-1 panel of images, called the "Bagnold mosaic," with the panoramic camera.
Sol 1649: Opportunity took full-color images, using all 13 filters of the panoramic camera, of a target nicknamed "Drummond." After relaying data to NASA's Odyssey orbiter for transmission to Earth, Opportunity measured argon gas in the Martian atmosphere with the alpha-particle X-ray spectrometer.
Sol 1650: In the morning, Opportunity took thumbnail images of the sky with the panoramic camera. The rover continued driving toward the dust patch and documented progress before and after ending the drive by taking images with the engineering cameras. Opportunity acquired another 4-by-1 panel of images for the Bagnold mosaic before sending data to Odyssey.
Sol 1651: Opportunity searched for morning clouds in the Martian sky by taking six time-lapse, movie frames with the navigation camera. The rover took spot images of the sky for calibration purposes, surveyed the horizon, and surveyed the sky at low Sun with the panoramic camera.
Sol 1652: In the morning, Opportunity searched for clouds passing overhead by taking six time-lapse, movie frames with the navigation camera. The rover checked for drift -- changes with time -- in the miniature thermal emission spectrometer and also conducted a test of the instrument. Before beginning the day's drive, Opportunity used the spectrometer to study a target dubbed "Velvet" and survey the sky and ground at different elevations. The rover then attempted to drive up the ridge to the dust patch, acquiring images along the way with the hazard-avoidance and navigation cameras. Opportunity sent data to Odyssey for transmission to Earth.
Sol 1653: Opportunity acquired a 3-by-1 mosaic of westward-looking images with the navigation camera and took images in total darkness with the panoramic camera for calibration purposes.
Sol 1654 (Sept. 18, 2008): Upon rising, Opportunity took more "dark current" images with the panoramic camera for calibration purposes. The rover tried once more to drive to the dust patch, taking images before and after ending the drive with the hazard-avoidance and navigation cameras. Before proceeding with plans to measure atmospheric argon, Opportunity transmitted data to Odyssey for relay to Earth.
Odometry
As of sol 1653 (Sept. 17, 2008), Opportunity’s total odometry was 11,796.22 meters (7.33 miles).
Playing in the Sand
Sols 1641-1647
During the past week, Opportunity performed several tests of the robotic arm to learn how to use it with a disabled shoulder joint. Having successfully completed those tests, Opportunity is moving on to investigate some bright patches of dust. Scientists hope to ascertain if the patches contain material not thoroughly analyzed in the past.
On sol (Martian day) 1641 (Sept. 4, 2008), Opportunity homed in on an area of sand that appeared to contain a high concentration of dust. For the next several days, sols 1642-1647 (Sept. 5-11, 2008), the rover tested the robotic arm's ability to place scientific instruments on specific targets in the sand. These instruments included the Mössbauer spectrometer, microscopic imager, and alpha-particle X-ray spectrometer. Tests revealed that the robotic arm placed the instruments in position with very little error in spite of the disabled shoulder joint. Because the dust was not pure enough to yield the desired scientific results, engineers decided on sol 1648 (Sept. 12, 2008) to drive the rover north to a more promising area of apparent dust patches.
On sol 1644 (Sept. 7, 2009), Opportunity relayed data at UHF frequencies to NASA's Mars Reconnaisance Orbiter (MRO). Typically, the rover sends data to NASA's Odyssey orbiter for transmission to Earth. Once a month, Opportunity is relaying data to the Mars Reconnaissance Orbiter in preparation for using it more in the future.
Opportunity is healthy, with all subsystems performing as expected as of the most recent transfer of information from NASA's Odyssey orbiter on sol 1647 (Sept. 11, 2008). Power rose to 652 watt-hours (enough energy to light a 100-watt bulb for a tad longer than 6.5 hours).
Sol-by-sol summary
Each Martian day, or sol, Opportunity measured dust-related changes in atmospheric clarity with the panoramic camera. In addition, Opportunity completed the following activities:
Sol 1641 (Sept. 4, 2008): Before driving, Opportunity acquired a 3-by-1 panel of panoramic-camera images looking north. The rover then nudged toward a bright patch and, after stopping, acquired images of the ground near its wheels and the area directly ahead with the hazard-avoidance and navigation cameras, respectively. The rover relayed data to Odyssey.
Sol 1642: In the morning, Opportunity took thumbnail images and spot images of the sky for calibration purposes with the panoramic camera. Next, the rover tested movement and placement of the Mössbauer spectrometer, taking images near the ground with the hazard-avoidance cameras and images from above with the panoramic camera. Opportunity then used the Mössbauer spectrometer to acquire compositional data from a sand dune on the rim of "Victoria Crater." After relaying data to Odyssey, Opportunity went into a mini-deep sleep.
Sol 1643: Opportunity acquired six, time-lapse movie frames in search of morning clouds with the navigation camera. Opportunity continued to acquire data from the sand dune at the rim of Victoria Crater with the Mössbauer spectrometer. Opportunity took full-color images, using all 13 color filters of the panoramic camera, of the rover's tracks. After sending data to Odyssey, Opportunity went into a mini-deep sleep.
Sol 1644: Opportunity acquired six, time-lapse movie frames in search of clouds. The rover continued to collect data from the dune on the rim of Victoria Crater using the Mössbauer spectrometer. Before communicating with Odyssey, Opportunity relayed data to the Mars Reconnaissance Orbiter for transmission to Earth. After sending data to Odyssey, the rover went into a mini-deep sleep.
Sol 1645: In the morning, Opportunity acquired six, time-lapse movie frames in search of clouds with the navigation camera. Opportunity acquired a 1-by-3-by-15 stack of microscopic images of ripple soil. The rover restarted the Mössbauer spectrometer and began collecting data from the soil in the ripples. After transmitting data to Odysssey, Opportunity acquired a 3-by-1 panel of images of a target dubbed "Schuchert."
Sol 1646: Opportunity monitored dust accumulation on the panoramic-camera mast assembly and restarted the Mössbauer spectrometer for collecting data on the ripple soil. The rover used the miniature thermal emission spectrometer to complete a mini-survey of the sky and ground. Before sending data to Odyssey, Opportunity used the spectrometer to characterize the external calibration target.
Sol 1647 (Sept. 11, 2008): Opportunity acquired more time-lapse, movie frames to document potential clouds passing overhead. The rover took a 3-by-1 panel of images of Schuchert with the panoramic camera and a time-lapse movie in search of clouds. Opportunity placed the alpha-particle X-ray spectrometer on the ripple soil and, after sending data to Odyssey, acquired compositional data. Plans for the following morning called for the rover to study a cobble field, acquiring a 4-by-1 panel of images with the panoramic camera.
Odometry
As of sol 1647 (Sept. 11, 2008), Opportunity’s total odometry was 11,782.10 meters (7.32 miles).
Farewell, "Victoria"!
Sols 1634-1640
Opportunity has completed one of the most fantastic scientific campaigns of the Mars Exploration Rover mission -- the interior investigation of "Victoria Crater." After spending more than 340 Martian days, known as sols -- almost one Earth year -- inside the crater, Opportunity climbed back out on sol 1634 (Aug. 28, 2008). To do so, Opportunity retraced the wheel tracks the robotic geologist had made while crossing a large sand ripple and entering Victoria on the slopes of an alcove known as "Duck Bay."
From the crater rim, Opportunity gave a final salute to Victoria, raising its robotic arm on sol 1639 (Sept. 2, 2008) and taking a snapshot of its shadow with the front hazard-avoidance cameras. The rover completed the salute by swinging the arm at its elbow joint back to the starting position.
Opportunity then got into position to practice using an ailing shoulder joint on the robotic arm. The shoulder joint had begun showing signs of degradation on sol 1502 (April 15, 2008). Rover operators selected the large sand ripple at the lip of Victoria Crater as an opportune target. There, the rover will practice learning to use the arm again.
Remote sensing highlights of the week included taking images of the tracks Opportunity left behind on the plains more than a year ago as well as color images of a nearby cobble called "Isle Royale." The rover also acquired images of a planned study area known as "Bright Spot" because of the large amount of sunlight reflected from its surface. Along the way, Opportunity continued to study the Martian atmosphere and clouds.
Opportunity is healthy, with all subsystems performing as expected as of the most recent transfer of information from NASA's Odyssey orbiter on sol 1640 (Sept. 3, 2008). Power has been excellent throughout this period, averaging about 621 watt-hours (enough energy to light a 100-watt bulb for more than 6 hours).
Sol-by-sol summary
Each Martian day, or sol, Opportunity measured dust-related changes in atmospheric clarity with the panoramic camera. In addition, Opportunity completed the following activities:
Sol 1634 (Aug. 28, 2008): While driving, Opportunity took snapshots of its journey. After the day's drive, the rover acquired images of the surrounding terrain and the surface near its wheels with the navigation and hazard-avoidance cameras. After relaying data to the Odyssey orbiter for transmission to Earth, Opportunity measured argon gas in the Martian atmosphere with the alpha-particle X-ray spectrometer.
Sol 1635: Opportunity searched for morning clouds with the navigation camera, acquiring six, time-lapse frames for a movie.
Sol 1636: Upon awakening, Opportunity acquired another six-frame, time-lapse movie in search of clouds with the navigation camera. The rover monitored dust accumulation on the panoramic-camera mast assembly and took images of the ripple at the lip of Victoria Crater with the panoramic camera. Opportunity took full-color images of Isle Royale, using all 13 color filters of the panoramic camera. After relaying data to Odyssey, Opportunity spent 5 hours and 20 minutes measuring argon gas in the atmosphere using the alpha-particle X-ray spectrometer.
Sol 1637: After the day's drive, Opportunity completed a "get fine attitude," during which the rover compared its precise location relative to the Sun with the position indicated by the on-board, inertial measurement unit. Following the drive, Opportunity took images with the hazard-avoidance and navigation cameras. The rover acquired a full, 360-degree panorama of the area with the navigation camera. After communicating with Odyssey, Opportunity went into a deep sleep.
Sol 1638: In the morning, Opportunity surveyed the horizon with the panoramic camera. After sending data to Odyssey, the rover went into a deep sleep.
Sol 1639: Before beginning the day's drive, Opportunity took images of "Bright Patch Two" with the panoramic camera. Opportunity approached the large sand ripple on the rim of Victoria and took post-drive images with the hazard-avoidance and navigation cameras. After relaying data to Odyssey, the rover measured atmospheric argon with the alpha-particle X-ray spectrometer. Opportunity then went into a mini-deep sleep.
Sol 1640 (Sept. 3, 2008): Opportunity acquired more images of Bright Patch Two as well as a 360-degree panorama of the area with the navigation camera. After sending data to Odyssey, the rover went into a deep sleep.
Odometry
As of sol 1639 (Sept. 2, 2008), Opportunity’s estimated total odometry was 11,781.51 meters (7.32 miles).
Poised to Exit "Victoria"
Sols 1627-1633
During the past week, Opportunity traversed almost 15 meters (49 feet) of upward-sloping, alternately rocky and sandy terrain on the way out of "Victoria Crater." The drive put Opportunity in position to make one last push over the final obstacle -- a ripple surrounding the alcove known as "Duck Bay."
Remote-sensing highlights included panoramic-camera images of weathered rock exposures known as "Barghoorn," "Dawson," and "Eugster." Other achievements were two surveys of the sky at high Sun and one survey of the horizon. Opportunity shot several time-lapse movies in search of clouds and rounded out the week's activities with a variety of atmospheric observations.
Opportunity is healthy, with all subsystems performing as expected as of the latest downlink from NASA's Odyssey orbiter on sol 1633 (Aug. 27, 2008). Power has been excellent throughout this period, averaging about 613 watt-hours (enough energy to light a 100-watt bulb for more than 6 hours).
Sol-by-sol summary
Each Martian day, or sol, Opportunity measured dust-related changes in atmospheric clarity with the panoramic camera. Opportunity also completed the following activities:
Sol 1627 (Aug. 21, 2008): Opportunity implemented the "runout" portion of an earlier master sequence of commands following a glitch in transmissions from Earth.
Sol 1628: Opportunity surveyed the sky at high Sun and acquired a 2-by-1 image mosaic of Barghoorn with the panoramic camera.
Sol 1629: After relaying data to NASA's Odyssey orbiter for transmission to Earth, Opportunity integrated measurements of argon gas in the Martian atmosphere using the alpha-particle X-ray spectrometer.
Sol 1630: Opportunity completed a morning survey of the horizon with the panoramic camera. After driving closer to the rim of Victoria Crater, Opportunity took images of the ground near the rover's wheels and the area in front of the rover with the hazard-avoidance and navigation cameras, respectively. The rover acquired a 5-panel image mosaic of the local scenery with the navigation camera.
Sol 1631: In the morning, Opportunity took spot images of the sky for calibration purposes with the panoramic camera. Opportunity surveyed the sky at high Sun and acquired a 2-by-1 panel of images of Dawson as well as a 2-by-1 panel of Eugster with the panoramic camera. The rover relayed data to Odyssey.
Sol 1632: Upon greeting the rising Sun, Opportunity surveyed the sky with the panoramic camera. Opportunity then searched for morning clouds by acquiring six, time-lapse movie frames with the navigation camera. Midway through the day's drive, Opportunity paused to take a navigation-camera image of the terrain ahead. At the end of the drive, the rover took images of the ground near its wheels and the terrain ahead with the hazard-avoidance and navigation cameras, respectively. Opportunity compiled a 3-by-1, post-drive mosaic of images of the rover's surroundings. Anticipating a large tilt in the rover's new parking space, Opportunity made sure the panoramic camera was not pointed above the horizon. After relaying data to Odyssey, Opportunity went into a deep sleep.
Sol 1633 (Aug. 27, 2008): Opportunity produced another time-lapse movie in search of morning clouds with the navigation camera. The rover completed a systematic survey of the ground in full color with the panoramic camera. Anticipating a large tilt in-between activities, the rover made sure the panoramic camera was not pointed above the horizon. After sharing the latest news from Mars with Odyssey, Opportunity went into a deep sleep. Plans for the following sol called for the rover to produce a six-frame, time-lapse movie in search of clouds immediately upon wakening.
Odometry
As of sol 1632 (Aug. 26, 2008), Opportunity’s estimated total odometry was 11,770.38 meters (7.30 miles).
On the Exit Ramp
Sols 1621-1626
Opportunity is now about 12.5 meters (41.0 feet) from the place where engineers plan to drive the rover out of "Victoria Crater." During the past week, Opportunity traveled about 17 meters (56 feet), successfully crossing about 10 meters (30 feet) of sandy terrain and a portion of rocky outcrop. Once the rover reaches the exit point, Opportunity will still need to cross the ripple surrounding the inward-sloping alcove known as "Duck Bay.
Power has been excellent, averaging more than 510 watt-hours (on Earth, that's enough energy to light a 100-watt bulb for 5 hours and 6 minutes).
Science observations during the past week included taking images of weathered rock exposures nicknamed "du Toit" and "Logan" as well as full-color images of the cobble known as "Jin" with the panoramic camera. Opportunity measured trace amounts of argon gas in the Martian atmosphere on sol 1623 (Aug. 17, 2008) using the alpha-particle X-ray spectrometer and surveyed rock clasts on sol 1626 (Aug. 20, 2008) using the panoramic camera.
Opportunity is healthy, with all subsystems performing as expected as of the latest downlink from NASA's Odyssey orbiter on sol 1626 (Aug. 20, 2008).
Sol-by-sol summary
Each sol, Opportunity measured dust-related changes in atmospheric clarity with the panoramic camera. In addition, Opportunity completed the following activities:
Sol 1621 (Aug. 15, 2008): Just before and after ending the day's drive, Opportunity took images of the Martian surface near the rover's wheels with the hazard-avoidance cameras. After the drive, Opportunity took three image mosaics of the surrounding terrain -- two looking ahead and one looking back -- with the navigation camera.
Sol 1622: Upon wakening, Opportunity took spot images of the sky for calibration purposes with the panoramic camera. Opportunity next measured atmospheric opacity (known as tau) with both the navigation and panoramic cameras. Then, Opportunity surveyed the sky at high Sun and acquired thumbnail images of the sky with the panoramic camera.
Sol 1623: Opportunity started the day by taking six, freeze-frame images with the navigation camera for a movie in search of clouds. After acquiring panoramic-camera images of the rock target nicknamed Logan, Opportunity went for a drive. Just before and after ending the drive, the rover took hazard-avoidance-camera images of the surface next to its wheels. Following the drive, Opportunity also acquired two image mosaics of surrounding terrain with the navigation camera. After relaying data to Odyssey to be transmitted to Earth, Opportunity measured atmospheric argon with the alpha-particle X-ray spectrometer.
Sol 1624: Opportunity surveyed the horizon in the morning and surveyed the sky at high Sun with the panoramic camera.
Sol 1625: First thing in the Martian morning, Opportunity took spot images of the sky with the panoramic camera and acquired six, time-lapse movie frames in search of clouds with the navigation camera. Opportunity then began the day's drive. Upon reaching the end of the drive, Opportunity acquired two image mosaics of the surrounding terrain with the navigation camera. The rover also inspected the surface near its wheels with the hazard-avoidance cameras.
Sol 1626 (Aug. 20, 2008): Opportunity was about 12.5 meters (41.0 feet) from the rover's exit point out of Victoria Crater. Early in the morning, Opportunity took spot images of the sky for calibration purposes with the panoramic camera and monitored dust accumulation on the rover mast. Using all 13 color filters of the panoramic camera, Opportunity completed a systematic ground survey, took images of Jin and completed a survey of nearby rock clasts. Plans for the following morning called for Opportunity to survey the horizon with the panoramic camera.
Odometry
As of sol 1626 (Aug. 20, 2008), Opportunity’s total odometry was 11,755.61 meters (7.30 miles).
Opportunity Eyes Challenges Ahead
Sols 1614-1620
Opportunity faces several challenges on the way out of "Victoria Crater" but continues to make steady progress. The first of these is a traverse of approximately 10 meters (30 feet, a little longer than a double-decker bus) across a sandy, 17-degree slope. Opportunity is more than halfway through that part of the journey. The next is a drive across 30 to 50 meters (100 to 160 feet), depending on the route taken, of rocky outcrop. The final leg of the climb will require Opportunity to cross the ripple surrounding the alcove known as "Duck Bay."
Because Opportunity is facing the threat of a drive-motor failure on the left front wheel, the engineering team has been working on pseudo-"Mars time" for the past week to take advantage of extra drive opportunities.
Opportunity remains healthy, with all subsystems performing as expected as of the downlink of information from NASA's Odyssey orbiter on sol 1620 (Aug. 14, 2008).
Sol-by-sol summary
In addition to measuring daily, dust-related changes in atmospheric clarity with the panoramic camera, Opportunity completed the following activities:
Sol 1614 (Aug. 8, 2008): Opportunity took offset, thumbnail images of the sky with the panoramic camera for calibration purposes. With the navigation camera, Opportunity acquired images and six, time-lapse, movie frames in search of clouds. Just before and after ending the day's drive, Opportunity took rearward-looking images with the hazard-avoidance cameras. The rover relayed data to NASA's Odyssey orbiter for transmission to Earth.
Sol 1615: In the morning, Opportunity took six, time-lapse, movie frames in search of clouds with the navigation camera and monitored dust on the rover mast. Opportunity acquired image mosaics of targets dubbed "Dawson" and "Barrell" using the panoramic camera. The rover relayed data to Odyssey to be transmitted to Earth.
Sol 1616: Opportunity drove 3.05 meters (10.0 feet), stopping mid-drive to acquire images with the navigation camera. The rover acquired images of the surface next to its wheels with the hazard-avoidance cameras as well as two post-drive image mosaics -- a 2-by-1 and 5-by-1 panel -- of its surroundings with the navigation camera.
Sol 1617: In the morning, Opportunity completed a survey of rock clasts with the panoramic camera. Before sending data to Odyssey, the rover acquired images with the rear hazard-avoidance cameras.
Sol 1618: Opportunity acquired a 2-by-2 mosaic of images with the panoramic camera before driving another 3.17 meters (10.4 feet). Just before and after ending the drive, Opportunity took images with the hazard-avoidance and navigation cameras.
Sol 1619: Opportunity took spot images of the sky for calibration purposes with the panoramic camera. After completing the daily assessment of atmospheric dust, Opportunity drove 1.04 meters (3.41 feet). Just before and after ending the drive, the rover took images with the hazard-avoidance cameras of the ground near its wheels. After the drive, Opportunity acquired a 2-by-1 and a 5-by-1 image mosaic of its new location with the navigation camera. The rover communicated with Odyssey before going to sleep.
Sol 1620 (Aug. 14, 2008): In the morning, Opportunity acquired six, time-lapse, movie frames in search of clouds with the navigation camera as well as spot images of the sky with the panoramic camera. Later in the day, Opportunity took thumbnail images of the sky and completed a sky survey at high Sun with the panoramic camera. Plans for the following morning called for Opportunity to acquire panoramic-camera images of a rock target known as "du Toit."
Odometry
As of sol 1619 (Aug. 13, 2008), Opportunity’s total odometry was 11,735.83 meters (7.29 miles).
Heading for the Highway!
Sols 1607-1613
As stated in last week's report, rover operators have decided it's time for Opportunity to begin exiting "Victoria Crater." Their decision was motivated by concerns about a spike in electrical current drawn by the rover's left front wheel on Martian day, or sol, 1600 (July 24, 2008). Since then, the wheel has returned to normal operation, but engineers and scientists remain concerned that the wheel might come close to failing. If that happens, they would like to have the rover out of the crater.
Originally, Opportunity was to start driving out of the crater over the weekend, on sols 1608-1610 (Aug. 1-Aug. 4, 2008). In the morning of sol 1608, however, a flight software reset prompted Opportunity to reboot its computer and remain in a state called automode. In automode, the rover halts all activity and waits for new instructions from Earth.
On sols 1611-1612 (Aug. 5-6, 2008), engineers recovered the vehicle and again transmitted instructions for continued driving out of the crater. The drive began with some sharp turns to change Opportunity's heading, but was stymied somewhat by the right front wheel when it became slightly mired in loose material on the surface. The following Martian day, sol 1613 (Aug. 7, 2008), rover drivers took a slightly different tack, directing Opportunity to drive backward to extract the wheel from the small hole it had dug. Early analysis indicated that the strategy worked and Opportunity was on track to resume driving out of the crater.
Opportunity remains healthy, with all subsystems performing as expected as of sol 1613.
Sol-by-sol summary
In addition to measuring dust-related changes in atmospheric clarity each day with the panoramic camera and relaying data to NASA's Odyssey orbiter for transmission to Earth, Opportunity completed the following activities:
Sol 1607 (July 31, 2008): While following instructions for the day's drive, Opportunity documented progress by taking images with the hazard-avoidance and navigation cameras. After communicating with Odyssey, Opportunity went into a deep sleep.
Sol 1608: In the morning, Opportunity surveyed the Martian sky at high Sun with the panoramic camera. Following a flight software reset, Opportunity went into automode, ceasing all activity to await new instructions from Earth.
Sol 1609: Opportunity remained in automode.
Sol 1610: Opportunity remained in automode.
Sol 1611: Upon receiving new instructions from Earth, Opportunity recovered from automode and returned to normal operations. Opportunity acquired a 27-frame, panoramic image mosaic of the cliff known as "Cape Verde" at dusk with the right lens of the panoramic camera. After communicating with Odyssey, Opportunity acquired the other half of the 3-D panorama, a 27-frame image mosaic of the same scene as viewed through the left-hand lens of the panoramic camera.
Sol 1612: In the morning, Opportunity took spot images of the sky for calibration purposes with the panoramic camera, as well as a four-frame movie of potential clouds with the navigation camera. Afterward, Opportunity began to change its heading by making sharp, circular turns with its wheels. The rover completed a "get fine attitude" to pinpoint its position relative to the Sun. To document progress, Opportunity acquired images with the hazard-avoidance cameras and a 2-by-1 tier of images with the navigation camera. The rover acquired a 3-by-1 image mosaic of the terrain ahead with the navigation camera.
Sol 1613 (Aug. 7, 2008): In the morning, Opportunity acquired a 5-by-1 image mosaic with the navigation camera. Opportunity then drove backward to extract its right front wheel from a small hole it had dug into the Martian surface. To document progress, the rover took images with the hazard-avoidance and navigation cameras. Opportunity also acquired a panoramic mosaic of the drive ahead with the navigation camera. Plans for the following morning called for the rover to acquire a six-frame, time-lapse movie in search of clouds with the navigation camera.
Odometry
As of sol 1612 (Aug. 6, 2008), Opportunity’s total odometry remained at 11,726.21 meters (7.29 miles).
Opportunity to Exit "Victoria Crater"
Sols 1600-1606
Like a backpacker hiking up a steep grade, Opportunity has been trying to gain elevation using a "switchback" approach inside "Victoria Crater." The rover's goal was to zigzag back and forth across a steep slope toward an outcrop nicknamed "Nevada," where scientists had hoped to do scientific analysis and collect high-resolution, panoramic images of the cliff face known as "Cape Verde."
It was not to be. On Opportunity's 1,600th Martian day (July 24, 2008) of exploration, the motor on the left front wheel suddenly drew an unexpectedly high level of current that exceeded the maximum limit. The incident was unusual, and the rover immediately halted the drive. A similar event had occurred just prior to the failure of the right front wheel on Spirit, Opportunity's twin on the opposite side of Mars.
On Martian day, or sol, 1602 (July 26, 2008), rover engineers conducted tests of electrical resistance to determine if the motor on Opportunity's left front wheel had a short or an open circuit. They also steered the wheel and looked for unseen, natural obstructions near the wheel. Results from both tests indicated no problems. Engineers next performed a more aggressive set of tests on sol 1604 (July 28, 2008) by commanding Opportunity to rotate the wheel using the motor that generated the anomaly. Again, test results showed no issues.
Engineers have not yet determined what caused the anomaly. Though the wheel appears to have gone back to functioning normally, the condition of its drive motor is uncertain. Because of concerns that the rover might not be able to get out of the crater using only five wheels should the left front wheel fail, team members have decided not to continue toward Nevada. Instead, they plan to finish collecting images of Cape Verde from the rover's current position, then leave the crater as quickly as possible.
During the past week, Opportunity also took several panoramic-camera images of targets along the face of Cape Verde and completed two measurements of argon in the Martian atmosphere using the alpha-particle X-ray spectrometer. Scientists use the measurements of changing argon levels to map seasonal air flows.
Otherwise, Opportunity is healthy and all subsystems are performing as expected. The latest available power readings from sol 1605 (July 29, 2008) showed power at 377 watt-hours (400 watt-hours would be enough energy to light a 100-watt bulb for four hours).
Sol-by-sol summary
In addition to making daily measurements of dust-related changes in visibility with the panoramic camera, Opportunity completed the following activities:
Sol 1600 (July 25, 2008): While driving toward Nevada, Opportunity's left front wheel drew unexpectedly high electrical current. Opportunity acquired images during and after the drive with the hazard-avoidance and navigation cameras. The rover relayed data to NASA's Odyssey orbiter for transmission to Earth.
Sol 1601: Opportunity acquired full-color images, using all 13 filters of the panoramic camera, of rock exposures dubbed "Playfair," "Eugene Smith," and "King."
Sol 1602: First thing in the morning, Opportunity acquired four, time-lapse, movie frames in search of clouds with the navigation camera. Opportunity conducted diagnostic tests of the left-front-wheel motor in search of electrical shorts or open circuits. The rover also steered the wheel and then acquired images in search of terrain obstructions with the hazard-avoidance and panoramic cameras. After sending data to Odyssey, the rover integrated measurements of atmospheric argon using the alpha-particle X-ray spectrometer.
Sol 1603: Opportunity took images with the rear hazard-avoidance cameras and a 5-by-1 tier of images with the navigation camera.
Sol 1604: Upon awakening, Opportunity took thumbnail images of the sky for calibration purposes with the panoramic camera. Opportunity performed more diagnostic tests, rotating the left front wheel and taking images with the hazard-avoidance cameras. After sending data to Odyssey, the rover measured atmospheric argon with the alpha-particle X-ray spectrometer.
Sol 1605: In the morning, Opportunity acquired panoramic-camera images of a rock exposure called "Bretz," acquired images with the rear hazard-avoidance cameras, and acquired a 3-by-1 tier and a 5-by-1 tier of images with the navigation camera. The rover acquired new, full-color, panoramic-camera images of Eugene Smith.
Sol 1606 (July 30, 2008): Opportunity took thumbnail images of the sky with the panoramic camera and monitored dust on the rover's mast. With the panoramic camera, the rover completed a sky survey and acquired overlapping, super-resolution images of a rock exposure known as "Siever" (the overlapping images compensate for dust on the camera lens). Opportunity took panoramic-camera images of an outcrop known as "McKee." Plans for the following morning called for the rover to survey the horizon and take spot images of the sky for calibration purposes with the panoramic camera.
Odometry
As of sol 1606 (July 30, 2008), Opportunity’s total odometry was 11,726.21 meters (7.29 miles).
Opportunity Fights Uphill Battle
Sols 1593-1599
"Victoria Crater" continues to challenge Mars rover drivers as they try to find a location where Opportunity can do scientific studies of rocks near the "Cape Verde" cliff face. They have been trying to drive the rover to a location nicknamed “Nevada” after a rock shaped somewhat like the state of Nevada. Getting there, however, has been challenging.
After attempting unsuccessfully to drive the rover on steep slopes that caused the wheels to slip, they are aiming for a new location. They have identified a large flagstone to the left of Nevada that offers solid footing and a low amount of tilt. They hope to drive the rover there, re-evaluate the terrain, and re-assess whether it is possible to reach Nevada.
They are also working on a campaign to have Opportunity document different styles of weathering on local rocks. The rover, meanwhile, continues to measure argon gas in the Martian atmosphere and make other atmospheric observations.
Opportunity remains healthy, with all subsystems performing as expected as of the rover's 1,599th Martian day, or sol (July 23, 2008), of exploration. Solar energy on the vehicle has been averaging just under 360 watt-hours (100 watt-hours is the amount of energy needed to light a 100-watt bulb for one hour).
Sol-by-sol summary
In addition to making daily assessments of atmospheric dust based on the darkness of the sky as viewed by the panoramic camera and relaying data to NASA's Odyssey orbiter for transmission to Earth, Opportunity completed the following activities:
Sol 1593 (July 17, 2008): Opportunity drove and took post-drive images of the surrounding terrain with the hazard-avoidance and navigation cameras. After communicating with Odyssey, the rover went into a deep sleep.
Sol 1594: Opportunity spent 4 hours and 15 minutes integrating measurements of atmospheric argon with the alpha-particle X-ray spectrometer. The rover went into a mini-deep sleep.
Sol 1595: Opportunity took full-color images, using all 13 filters of the panoramic camera, of rock exposures dubbed "Mawson," "Murchison," "Mackay," and "King." After sending data to to Odyssey, the rover went into a deep sleep.
Sol 1596: Opportunity monitored dust on the rover mast, drove, and took post-drive images with the hazard-avoidance and navigation cameras. After the day's activities, the rover went into a deep sleep.
Sol 1597: Opportunity took full-color images, using all 13 color filters of the panoramic camera, of rock exposures nicknamed "Playfair" and "Eugene_Smith." After relaying data to Earth, Opportunity went into a deep sleep.
Sol 1598: In the morning, Opportunity took four freeze-frame images with the navigation camera for a movie to document potential clouds. Following a short drive, Opportunity took images with the hazard-avoidance and navigation cameras. After sending data to Odyssey, the rover measured atmospheric argon with the alpha-particle X-ray spectrometer.
Sol 1599 (July 23, 2008): Opportunity took more full-color, panoramic-camera images of Mackay and Mawson. Plans for the following morning called for Opportunity to take full-color images of Murchison.
Odometry
As of sol 1598 (July 22, 2008), Opportunity’s total odometry was 11,725.96 meters (7.29 miles).
Wheels Turn, Rover Slides
Sols 1586-1592
Opportunity lost about 30 watt-hours of energy after a short drive on sol 1584 (July 8, 2008) left the solar panels tilted in a slightly less favorable position relative to the Sun. The amount of energy lost is enough to light a 30-watt bulb for one hour.
Another scheduled drive on sol 1586 (July 10, 2008) was postponed to sol 1588 (July 12, 2008), then postponed again to sol 1591 (July 15, 2008) to give rover drivers more time to assess the terrain. Opportunity took camera images in support of the evaluation and measured argon gas in the Martian atmosphere using the alpha-particle X-ray spectrometer.
Also on sol 1591, Opportunity attempted to climb directly up the slope to the left of a flat rock nicknamed "Nevada" because it is shaped somewhat like the state. To gain extra traction, rover planners hoped to use rocks at or near the rover's wheels. Their goal was to have Opportunity advance in three short "steps" of 40 centimeters (16 inches) without changing direction.
The result was disappointing: Opportunity halted the drive after the second step because of excessive wheel slippage of 97.5 percent (meaning the wheels moved only 1 centimeter, or less than half an inch). Instead of advancing, Opportunity slid to the right about 5 centimeters (2 inches), resulting in a change of heading of about 2.5 degrees clockwise. Images showed small mounds of soil churned up by the rover's wheels.
Plans for next week call for Opportunity to continue driving as scientists decide whether to try again to reach Nevada from a different direction or begin driving out of "Victoria Crater."
Opportunity is healthy and all subsystems are performing as expected as of sol (Martian day) 1592 (July 16, 2008).
Energy has been averaging around 357 watt-hours (100 watt-hours is the amount of energy needed to light a 100-watt bulb for one hour). Tau, a measure of atmospheric darkness caused by dust, is at 0.24. The dust factor, representing the proportion of sunlight penetrating dust on the solar arrays, has been averaging 0.796 as of sol 1585 (July 9, 2008).
Since last week, both Tau and the dust factor have improved.
Sol-by-sol summary
In addition to measuring atmospheric dust each day based on the darkness of the sky as viewed by the panoramic camera and relaying data to NASA's Odyssey orbiter for transmission to Earth, Opportunity completed the following activities:
Sol 1586 (July 10, 2008): Opportunity acquired backward-looking images with the rear hazard-avoidance cameras and an 8-by-1 panel of images of nearby terrain with the navigation camera. After sending data to Odyssey, the rover spent 4.66 hours measuring atmospheric argon and went into a mini-deep sleep.
Sol 1587: After measuring atmospheric dust and relaying data to Odyssey, Opportunity went into a deep sleep.
Sol 1588: In the morning, Opportunity acquired a mosaic of images in search of atmospheric dust with the panoramic camera. After sending data to Odyssey, Opportunity spent 4.5 hours measuring atmospheric argon with the alpha-particle X-ray spectrometer. The rover then went into a mini-deep sleep.
Sol 1589: Opportunity acquired a 360-degree panorama of images with the navigation camera as well as full-color images, using all 13 filters of the panoramic camera, of a target nicknamed "Muller." The rover spent 2.66 hours measuring argon in the atmosphere with the alpha-particle X-ray spectrometer and went into a mini-deep sleep.
Sol 1590: Opportunity took thumbnail images of the sky with the panoramic camera. After relaying data to Odyssey, Opportunity went into a deep sleep.
Sol 1591: In the morning, Opportunity took spot images of the sky for calibration purposes using the panoramic camera. Before beginning the day's drive, Opportunity took images of Nevada with the panoramic camera. After the drive, Opportunity took images of the surface near the rover's wheels with the hazard-avoidance cameras and a 2-by-1 mosaic of images of the terrain ahead with the navigation camera. After sending data to Odyssey, the rover went into a deep sleep.
Sol 1592 (July 16, 2008): Early in the morning, Opportunity acquired four, time-lapse, movie frames in search of clouds with the navigation camera. After sending data to Odyssey, Opportunity went into a deep sleep. The following morning, the rover was to conduct a horizon survey with the panoramic camera.
Odometry
As of sol 1591 (July 15, 2008), Opportunity’s total odometry was 11,725.21 meters (7.29 miles).
Two Steps Forward, One Step Back
Sols 1580-1585
Opportunity's drive toward the cliff known as "Cape Verde" inside "Victoria Crater" was stopped on Martian day, or sol, 1582 (July 6, 2008) because of excessive slip in the rover's wheels. The command to the rover was to drive backward 0.33 meter (about a foot), but the actual distance traveled was 0.45 meters (approximately 1.5 feet). The drive was to begin with a backup arc followed by a forward arc (rather than a turn in place) to avoid a rock near the left rear wheel, then continue a short distance uphill and turn toward the cliff. Given the steep slopes and dusty terrain, slips in excess of 60 percent are not unexpected.
Another drive on sol 1584 (July 8, 2008) was also stopped because of excessive slip. As Opportunity slipped to the right, the rover's left front wheel started to scoop up a potato-sized rock. At the same time, the right rear wheel moved closer to a rock that rover drivers had been trying to avoid. Images taken by the rover's rear hazard-avoidance cameras showed the rear wheels starting to dig into the soil.
After the drive, Opportunity successfully calibrated the Z-axis movement of the rock abrasion tool after the device had not fully retracted during a cold-temperature, Z-axis characterization test on sol 1578 (July 2, 2008). (The mechanical parts functioned properly but the sequence of commands controlling them stopped too soon).
Opportunity re-acquired two super-resolution images of rock exposures of interest on the cliff known as "Cape Verde," replacing overexposed images taken the previous week of targets dubbed "Charles" and "Delta." Opportunity also made atmospheric observations.
Opportunity is healthy and all subsystems are performing as predicted, based on data received from the Odyssey orbiter on sol 1585 (July 9, 2008). Energy levels are averaging about 385 watt-hours (almost enough to light a 100-watt bulb for four hours). The Tau measurement of atmospheric darkness caused by suspended dust is 0.3. The dust factor measurement of the amount of sunlight penetrating dust on the solar arrays is averaging about 0.77.
Sol-by-sol summary
During the week, Opportunity completed the following activities:
Sol 1581 (July 5, 2008): Opportunity measured atmospheric darkness due to dust with the panoramic camera and re-acquired "dusty," super-resolution images of Charlie and Delta. To acquire "dusty" images, the rover compensates for dust accumulation on the right side of each panoramic-camera lens by taking images with a subset of available pixels. Opportunity completed a survey at low Sun before relaying data to Odyssey for transmission to Earth. After sending data to Odyssey, the rover went into a deep sleep.
Sol 1582: Opportunity greeted the day by assessing atmospheric dust, surveying the horizon, and taking spot images of the sky for calibration purposes with the panoramic camera. The rover measured atmospheric dust with the navigation camera, then drove 0.45 meters (1.5 feet). Just before and after completing the drive, the rover took images with the hazard-avoidance cameras of the Martian surface next to its wheels, and took post-drive images of the terrain ahead with the navigation camera. Opportunity relayed data to Odyssey.
Sol 1583: Opportunity monitored atmospheric dust with the panoramic camera and acquired a time-lapse, six-frame movie to record the movement of any clouds that might be overhead. The rover relayed data to Odyssey.
Sol 1584: Upon awakening, Opportunity assessed atmospheric dust with the panoramic and navigation cameras and took offset, thumbnail images of the sky for calibration purposes with the panoramic camera. The rover calibrated the rock abrasion tool and drove a short distance, taking images just before and after the drive with the hazard-avoidance cameras. Opportunity acquired a post-drive tier of images with the navigation camera, sent data to Odyssey, and went into a deep sleep.
Sol 1585 (July 9, 2008): First thing in the morning, Opportunity monitored dust accumulation on the panoramic-camera mast assembly and assessed atmospheric dust with the panoramic camera. Opportunity then took six, time-lapse movie frames in search of Martian clouds with the navigation camera. Before going into a deep sleep, the rover relayed data to Odyssey. Plans for the following morning called for Opportunity to measure atmospheric dust with the panoramic camera.
Odometry
As of sol 1583 (July 7, 2008), Opportunity’s total odometry was 11,724.39 meters (7.29 miles).
Happy Winter Solstice!
Sols 1566-1573, posted July 8, 2008
Opportunity has begun work on the much anticipated panorama of the layered promontory known as "Cape Verde" inside "Victoria Crater." The panorama will take several Martian days, or sols, to complete and will be made up of a mosaic of panoramic-camera images. The Cape Verde panorama is expected to be spectacular, "one for the textbooks."
With each move closer to Cape Verde, power to Opportunity's solar arrays has decreased as more of the promontory obscures the sky. Currently, Opportunity is about 7 meters (20 feet) from the Cape Verde cliff face. The rover's next short advance toward the cliff will tilt its solar panels away from the Sun, limiting the amount of solar energy even more. Rover drivers will take great care to ensure that Opportunity stays out of the shadow cast by Cape Verde, which currently extends approximately 3 meters (about 10 feet) from the cliff face. Even with all these constraints, the team is confident Opportunity will have enough power to finish the Cape Verde panorama.
The winter solstice occurred during sols 1570-1571 (June 24-25, 2008). This is the point at which the arc that the Sun traces across the sky reaches its most northerly point. Because Opportunity is south of the equator, the arc that the Sun traces now will move gradually to the south and higher in the sky. In coming months, this will result in more solar power for Opportunity.
Next week, Opportunity is expected to complete the Cape Verde panorama, then roll slightly forward to a point only a few meters away from the cliff face to take additional high-resolution images of the nearest portion of the cliff face.
Opportunity is healthy and all subsystems are performing as expected. Solar energy is around 367 watt-hours (100 watt-hours is the amount of energy needed to light a 100-watt bulb for one hour). As of sol 1572 (June 26, 2008), tau, a measurement of sun-blocking dust suspended in the atmosphere, was 0.409. The dust factor, the proportion of sunlight penetrating the coating of dust on the solar arrays, was 0.771.
Sol-by-sol summary
In addition to receiving morning, direct-from-Earth instructions via the rover's high-gain antenna, sending evening UHF data to NASA's Odyssey orbiter for transmission to Earth, measuring atmospheric dust with the panoramic camera, surveying the sky for clouds with the navigation camera, and monitoring dust accumulation on the rover mast, Opportunity completed the following activities:
Sol 1566 (June 19, 2008): Opportunity drove 3.52 meters (11.6 feet) closer to Cape Verde and acquired post-drive images of the surrounding terrain with the navigation and panoramic cameras.
Sol 1567: Opportunity approached Cape Verde another 1.54 meters (5.05 feet), to a position roughly 7 meters (20 feet) away from the cliff face. After the drive, the rover took images of its new locale with the navigation and panoramic cameras.
Sol 1568: Opportunity recharged the battery. Before sending data to Odyssey, Opportunity surveyed the sky at low Sun with the panoramic camera. The rover took images of Cape Verde's shadow with the navigation camera.
Sol 1569: Opportunity recharged the battery and surveyed the sky at high Sun with the panoramic camera.
Sol 1570: Opportunity recharged the battery and completed 10 pointings of the panoramic camera at Cape Verde. The rover acquired a mosaic of panoramic-camera images of the atmosphere in search of dust.
Sol 1571: In the morning, Opportunity surveyed the horizon with the panoramic camera and completed 20 pointings of the panoramic camera at Cape Verde.
Sol 1572: Opportunity completed 14 pointings of the panoramic camera at Cape Verde.
Sol 1573 (June 26, 2008): In the morning, Opportunity took thumbnail images of the sky with the panoramic camera. The rover completed 14 pointings of the panoramic camera at Cape Verde.
Odometry
As of sol 1565 (June 18, 2008), Opportunity’s total odometry was 11,723.94 meters (7.28 miles).
On the Move
Sols 1558-1565, posted July 7, 2008
Opportunity has resumed driving through challenging terrain in "Victoria Crater," making significant progress toward a promontory of layered rocks known as "Cape Verde." On Martian day, or sol, 1565 (June 18, 2008), the rover made it to within 2 meters (6.5 feet) of a staging area dubbed "Safe Haven," where Opportunity will acquire images of the cliff face.
During the drive, Opportunity observed no motion of the robotic arm in its new unstowed position in front of the rover. Additionally, Opportunity experimented with a post-drive "salute," in which the rover swung the robotic arm at the elbow joint out of the field of view of the front hazard-avoidance cameras, took an image, and then returned the arm to its starting position.
Opportunity collected a variety of remote sensing observations, including images of shadows cast by the Cape Verde promontory and images of holes the rover's wheels dug into the terrain. Opportunity also took images of and measured argon gas in the atmosphere.
Opportunity is healthy and all subsystems are performing as expected. Solar-array energy has averaged about 447 watt-hours (100 watt-hours is the amount of energy needed to light a 100-watt bulb for one hour).
Sol-by-sol summary
In addition to measuring atmospheric dust one to three times a day with the panoramic camera, Opportunity completed the following activities:
Sol 1558 (June 11, 2008): Opportunity acquired images of a cobble informally named "Wilson" using all 13 color filters of the panoramic camera.
Sol 1559: Opportunity acquired a 2-by-1 mosaic of images with the navigation camera and a 3-by-3 mosaic of images of wheel holes with the panoramic camera. The rover acquired hazard-avoidance camera images of terrain near its wheels just before and after ending the day's drive. Opportunity completed a "Get Quick Fine Attitude" calibration to determine the rover's precise location relative to the Sun and acquired a 3-by-1, post-drive mosaic of images with the navigation camera. The rover also acquired a navigation-camera image mosaic of Cape Verde. After relaying data destined for Earth to NASA's Odyssey orbiter, Opportunity measured atmospheric argon using the alpha-particle X-ray spectrometer.
Sol 1560: Opportunity acquired six, time-lapsed movie frames in search of clouds with the navigation camera.
Sol 1561: Opportunity took spot images of the sky for calibration purposes with the panoramic camera.
Sol 1562: Opportunity surveyed the horizon and acquired a 4-by-1 mosaic of images of shadows cast by Cape Verde with the panoramic camera. Opportunity drove to a location where the rover was to make scuff marks with its wheels and acquired hazard-avoidance camera images just before and after the end of the drive. Using the navigation camera, Opportunity took a 3-by-1, post-drive mosaic of images with the panoramic camera; post-drive images of old scuff marks made by the rover's wheels; and images of shadows cast by Cape Verde. After relaying data to Odyssey, Opportunity measured argon gas in the atmosphere with the alpha-particle X-ray spectrometer and acquired navigation-camera images of shadows cast by Cape Verde.
Sol 1563: In the morning, Opportunity took offset, thumbnail images of the sky with the panoramic camera. The rover performed a toe-dip, moving its front wheels forward and then backing up again, and did a salute with the robotic arm, moving it in and out of the field of view of the hazard-avoidance cameras. Opportunity acquired hazard-avoidance camera images of the surface near its wheels just before and after ending the drive; a 3-by-1, post-drive mosaic of images with the navigation camera; and a 2-by-1, post-drive mosaic of images of the wheel scuffs with the navigation camera. The rover took post-drive images of Cape Verde's shadow using the navigation camera.
Sol 1564: In the morning, Opportunity took more images of Cape Verde's shadow with the navigation camera. The rover drove a little closer to the promontory, took images with the hazard-avoidance cameras just before and after ending the drive, and acquired post-drive image mosaics with the navigation camera.
Sol 1565 (June 18, 2008): Upon waking, Opportunity took images of Cape Verde's shadow with the navigation camera. The rover drove a little closer, acquired images just before and after ending the drive with the hazard-avoidance cameras, and acquired a 5-by-1 tier of images with the navigation camera. The following morning, Opportunity was to acquire four, time-lapsed movie frames in search of clouds with the navigation camera and take spot images of the sky with the panoramic camera.
Odometry
As of sol 1565 (June 18, 2008), Opportunity’s total odometry was 11,718.88 meters (7.28 miles).
Driving on Mars Is Hard
Sols 1491-1497, April 21, 2008
This week Opportunity demonstrated the challenges of operating a vehicle on the surface of another planet. The rover is en route to Cape Verde to acquire high-resolution images of the layering in the rocks. To get there, Opportunity must cross some sandy stretches. Before entering the sandy areas, Opportunity will need to stop and take a "toe dip'' -- that is, drive forward a short distance and back out again -- to characterize the terrain.
On Sol 1491 (April 3, 2008), Opportunity performed a 4-wheel toe dip, driving forward until the front four wheels were on the sand and backing up again.
As part of ensuring vehicle safety, rover drivers set conservative limits on what the rover may do. For example, if Opportunity exceeds the maximum amount of wheel slippage or the maximum amount of tilt allowed, the rover must abort the drive. This gives the rover's handlers a chance to further evaluate the situation and make changes to the drive plan on subsequent sols (Martian days). The toe dips provide valuable insight into the nature of the terrain Opportunity is likely to encounter on the way to Cape Verde.
Opportunity is healthy and all subsystems are performing as expected.
Sol-by-sol summary
In addition to receiving morning instructions directly from Earth via the rover’s high-gain antenna, sending data back to Earth via the UHF antenna on the Mars Odyssey orbiter, and measuring atmospheric dust with the panoramic camera, Opportunity completed the following activities:
Sol 1491 (April 3, 2008): Before the day's drive, Opportunity took panoramic-camera and navigation-camera images of a previously made wheel scuff. The rover stowed the robotic arm and drove toward Cape Verde, taking hazard avoidance-camera images before and after ending the drive. Opportunity unstowed the robotic arm and acquired post-drive images with the navigation and panoramic cameras.
Sol 1492: In the early part of the sol, Opportunity took spot images of the sky for calibration purposes and surveyed the horizon with the panoramic camera.
Sol 1493: Opportunity monitored dust on the panoramic-camera mast assembly, stowed the robotic arm, and continued driving toward Cape Verde. Just before and after ending the drive, Opportunity took images of the area close to the rover with the hazard-avoidance cameras. The rover unstowed the robotic arm, took post-drive images with the navigation camera, and after communicating with Odyssey, obtained measurements of argon gas in the Martian atmosphere using the alpha-particle X-ray spectrometer.
Sol 1494: Opportunity took thumbnail images of the sky with the panoramic camera and six movie frames in search of clouds with the navigation camera.
Sol 1495: Opportunity took spot images of the sky for calibration purposes with the panoramic camera, stowed the robotic arm, and drove toward Cape Verde. Before and after ending the drive, the rover took images with the hazard-avoidance cameras. Opportunity unstowed the robotic arm (known to engineers as the instrument deployment device) and acquired post-drive images with the navigation camera.
Sol 1496: In the morning, Opportunity took spot images of the sky for calibration purposes with the panoramic camera and shot a 4-frame movie in search of clouds with the navigation camera. Opportunity stowed the robotic arm and drove backward onto bedrock to extract its wheels from the sand before proceeding toward Cape Verde. Before and after ending the day's drive, the rover took images with the hazard-avoidance cameras. The rover then unstowed the robotic arm.
Sol 1497 (April 9, 2008): In the morning, Opportunity took thumbnail images of the sky with the panoramic camera and shot another 4-frame movie in search of clouds with the navigation camera. The rover acquired diagnostic images with the hazard-avoidance cameras and a mosaic of images of the work volume reachable by the robotic arm with the panoramic camera. When the evening Sun was low, Opportunity surveyed the sky with the panoramic camera. Plans transmitted to the rover for the following morning called for another 6-frame movie of potential clouds in the Martian sky.
Odometry
As of sol 1497 (April 9, 2008), Opportunity’s total odometry was 11,689.21 meters (7.26 miles).
Opportunity Goes Sightseeing
Sols 1484-1490
Opportunity has begun the drive toward a spectacular cliff in the wall of "Victoria Crater" known as "Cape Verde," about 30 meters (98 feet) away. The rover is expected to complete the drive in 6 to 7 segments, each covering an average distance of 5 meters (16 feet).
Along the way are several sandy patches. Before entering these sandy areas, Opportunity will stop for a "toe dip" -- a scuff with the front wheels to assess the depth of the sand. Rover planners hope the sandy spots will turn out to be bedrock with only a sandy veneer.
Opportunity executed the first of the toe dips upon arriving at a sandy patch on Sol 1489 (April 1, 2008). The scuff was successful. Electrical currents indicated that despite relatively deep sand on both sides, the wheels had good purchase. The sand was 4 centimeters (1.5 inches) deep on the left and 6 to 8 centimeters (2 to 3 inches) deep on the right. The tilt of the rover indicated that the left wheel encountered rock quickly, experiencing large vibrations after a short, smooth period. The right wheel got into deep sand after only brief contact with rock. Wheel slip and bogie (wheel suspension) angles indicated the rover moved backward about 3 centimeters (1 inch) during the scuffing. Rover planners concluded that the terrain was drivable but required caution.
Opportunity remains healthy and all subsystems are performing as expected. Energy is around 360 watt-hours (100 watt-hours is the amount of energy needed to light a 100-watt bulb for one hour). As of sol 1490 (April 2, 2008), Tau measurements of atmospheric opacity caused by dust stood at 0.65. The dust factor, a measure of the proportion of sunlight penetrating dust on the solar arrays, stood at 0.69.
Power may fluctuate slightly as Opportunity continues the drive toward the Cape Verde promontory, depending on the slopes of the local terrain and the rover's attitude relative to the Sun.
Sol-by-sol summary
In addition to receiving morning instructions directly from Earth via the rover’s high-gain antenna, sending data back to Earth via the UHF antenna on the Mars Odyssey orbiter, measuring atmospheric dust with the panoramic camera, monitoring dust accumulation on the rover mast, and surveying the sky for clouds with the navigation camera, Opportunity completed the following activities:
Sol 1484 (March 27, 2008): Opportunity began the drive to Cape Verde, advancing 5.55 meters (18.2 feet) and pausing midway through the drive to take full-color images, using all 13 filters of the panoramic camera, of the hole in the Gilbert rock layer created with the rover's rock abrasion tool. After the drive, Opportunity acquired a 3-by-1 mosaic of images with the navigation camera and a 3-by-2 mosaic of images with the panoramic camera. The rover went into a deep sleep.
Sol 1485: After relaying data to Odyssey, Opportunity spent six hours using the alpha-particle X-ray spectrometer to measure argon gas in the Martian atmosphere and went into a mini-deep sleep.
Sol 1486: Opportunity advanced another 5.02 meters (16.5 feet) toward Cape Verde, acquired a post-drive, 3-by-1 tier of navigation-camera images, and went into a deep sleep.
Sol 1487: Opportunity acquired six movie frames in search of clouds with the navigation camera and a 6-by-3 mosaic of the base of the Cape Verde cliff. After relaying data to Odyssey, Opportunity spent six hours measuring atmospheric argon and went into a mini-deep sleep.
Sol 1488: Opportunity acquired six movie frames in search of clouds with the navigation camera, recharged the battery, and went into a deep sleep.
Sol 1489: Opportunity drove another 4.97 meters (16.3 feet) toward Cape Verde and acquired a 3-by-1 tier of post-drive, navigation-camera images. The rover also acquired post-drive shadow images of Cape Verde and went into a deep sleep.
Sol 1490 (April 2, 2008): Opportunity acquired a 5-by-1 tier of shadow images of Cape Verde, recharged the battery, and went into a deep sleep. Plans for the following morning called for the rover to take thumbnail images of the sky for calibration purposes with the panoramic camera.
Odometry
As of sol 1489 (April 1, 2008), Opportunity’s total odometry was 11,686.77 meters (7.26 miles).
Opportunity Continues Reading the Story in the Rocks
Sols 1471-1477, April 6, 2008
Opportunity has finished grinding into the surface and acquiring microscopic images of a rock target informally named "Gilbert," at the bottom of the alcove inside "Victoria Crater" known as "Duck Bay." The rover is in the middle of a campaign to study the composition of the exposed interior of the rock using both the Mössbauer and alpha-particle X-ray spectrometers.
Some time next week, Opportunity is expected to begin driving toward the spectacular promontory in the crater rim known as "Cape Verde" for some close-up imaging.
Because of Opportunity's tilt inside the crater relative to the path of the Mars Odyssey orbiter as it travels across the Martian sky, Opportunity has had difficulty relaying data via UHF links to Odyssey. In the afternoon of Martian day, or sol, 1473 (March 16, 2008), sending data at a rate of 128 kilobits per second, Opportunity returned only 9.5 megabytes of data. On sol 1475 (March 18, 2008), transmitting data at a rate of 32 kilobits per second, Opportunity returned only 3.4 megabytes of data. The rover made up for lost time, however, transmitting 129 megabytes and 91 megabytes on sols 1474 (March 17, 2008) and 1476 (March 19, 2008), respectively.
Power levels continue to drop as expected for the winter season.
Sol-by-sol summary
In addition to receiving instructions directly from Earth via the rover’s high-gain antenna, relaying data to Earth via the UHF antenna on the Mars Odyssey orbiter, and measuring atmospheric dust with the panoramic camera, Opportunity completed the following activities:
Sol 1471 (March 14, 2008): Opportunity acquired data about iron-bearing minerals in a rock target known as "Dorsal New" using the Mössbauer spectrometer. The rover acquired part 10 of the super-resolution panorama of the rim of Victoria Crater, known as the rimshot, using the panoramic camera.
Sol 1472: Opportunity retracted the robotic arm, acquired full-color images of "Dorsal" using all 13 filters of the panoramic camera, and moved the robotic arm back into position to place the rock abrasion tool above Dorsal New. The rover then completed a grind-scan maneuver with the rock abrasion tool to locate the surface of the rock target. Opportunity also surveyed the sky and the horizon with the panoramic camera, acquired parts 11 and 12 of the super-resolution rimshot of Victoria Crater with the panoramic camera, scanned the sky for clouds with the navigation camera, and took spot images of the sky for calibration purposes with the panoramic camera.
Sol 1473: Opportunity acquired parts 13 and 14 of the super-resolution rimshot of Victoria Crater with the panoramic camera, measured argon gas in the Martian atmosphere with the alpha-particle X-ray spectrometer, and took images of the sky (known as "sky flats") for calibration purposes with the navigation camera.
Sol 1474: Opportunity monitored dust on the panoramic-camera mast assembly and surved the horizon with the panoramic camera.
Sol 1475: Opportunity ground into the surface of Dorsal New with the rock abrasion tool, swung the robotic arm out of the way, and took panoramic-camera images of the freshly ground surface.
Sol 1476: Opportunity acquired movie frames in search of clouds with the navigation camera and took spot images of the sky with the panoramic camera.
Sol 1477 (March 20, 2008): Opportunity acquired a 2-by-2-by-5 stack of microscopic images, along with eight extra microscopic images, of the freshly abraded rock surface, and placed the Mössbauer spectrometer on the target for further study.
Odometry
As of sol 1476 (March 19, 2008), Opportunity’s total odometry was 11,671.23 meters (7.25 miles).
Opportunity Completes Dental Checkup
Sols 1478-1483, April 2, 2008
Opportunity is wrapping up its scientific investigation of the outcrop exposure known as "Gilbert_A" at the bottom of the alcove known as "Duck Bay," the lowest traversable portion of the crater's interior. Duck Bay is a recess in the walls of "Victoria Crater."
Opportunity performed a dental self-examination of teeth in the rover's rock abrasion tool on Sol 1482 (March 25, 2008). Images of the grinding bit, taken with the hazard avoidance cameras, showed no appreciable wear since the last measurement on sol 1443 (Feb. 14, 2008). In fact, the rover's handlers saw a slight increase rather than decrease in bit height, highlighting the uncertainty inherent in the bit measurement technique. Indeed, the calculated 32 percent of grinding material left is subject to a 39-percent relative error, resulting in an absolute error of 12 percent (based on a statistical calculation, 0.32 * 0.39 = 12). Unfortunately, there is no clear way to reduce the error in bit measurement.
Opportunity is healthy and all subsystems are operating as expected. Energy is currently around 360 watt-hours (100 watt-hours is the amount of energy needed to light a 100-watt bulb for 1 hour). Tau measurement of opacity caused by atmospheric dust is 0.68 (a Tau of zero would correspond to a perfectly clear sky). The dust factor is 0.679, meaning that about 68 percent of sunlight reaching the solar arrays penetrates the coating of dust to generate electricity.
Next week, Opportunity is scheduled to drive toward the promontory known as "Cape Verde" for a better look at the rocks exposed in the crater walls.
Sol-by-sol summary
In addition to receiving morning instructions directly from Earth via the rover’s high-gain antenna, relaying data to Earth each evening via the UHF antenna on the Mars Odyssey orbiter, and completing atmospheric observations that included measuring atmospheric dust with the panoramic camera, monitoring dust accumulation on the rover mast, and scanning the sky for clouds with the navigation camera, Opportunity completed the following activities:
Sol 1478 (March 21, 2008): Opportunity spent 12 hours acquiring data from Gilbert with the Mössbauer spectrometer. The rover completed a survey at high Sun with the panoramic camera and went into a mini-deep sleep.
Sol 1479: Opportunity spent 12 hours acquiring data from Gilbert with the Mössbauer spectrometer. The rover took thumbnail images of the sky for calibration purposes with the panoramic camera and went into a mini-deep sleep.
Sol 1480: Opportunity spent 5 hours acquiring data from Gilbert with the Mössbauer spectrometer and took full-color images, using all 13 filters of the panoramic camera, of the backslope to the left of the Gilbert area. The rover acquired images of the rock target dubbed "Lyell Oxford" and surveyed the horizon with the panoramic camera. The rover went into a deep sleep.
Sol 1481: Opportunity spent 7 hours acquiring data from Gilbert with the alpha-particle X-ray spectrometer and took images of Lyell Oxford with the panoramic camera. The rover took six movie frames spaced at regular intervals in search of clouds with the navigation camera and went into a mini-deep sleep.
Sol 1482: Opportunity took a microscopic image of the hole ground into Gilbert with the rock abrasion tool and completed a survey of the grinding bit on the tool. Opportunity spent 8 hours integrating data from Gilbert with the Mössbauer spectrometer and went into a mini-deep sleep.
Sol 1483 (March 26, 2008): Opportunity spent 7 hours integrating data from Gilbert with the Mössbauer spectrometer and went into a deep sleep.
Odometry
As of sol 1483 (March 26, 2008), Opportunity’s total odometry was 11,671.23 meters (7.25 miles).
Opportunity Adjusts to Fluctuating Power Levels
Sols 1457-1462, April 2, 2008
Opportunity is healthy and all subsystems are performing as expected. Solar array energy rose slightly (approximately 12 watt-hours) during the past week despite a slight increase in Tau, the measure of dust in the atmosphere. Then, on Sol 1462 (March 4, 2008), energy plunged about 19 watt-hours despite a drop in Tau. The dust factor, a measure of the amount of sunlight penetrating dust on the arrays, remained virtually unchanged at 0.72 (meaning 72 percent of sunlight made it through the layer of dust to generate electricity).
During the same time period, power went up to 432 watt-hours, then dropped to 419 watt-hours. The week before, it had declined from about 440 watt-hours to 415 watt-hours (100 watt-hours is the amount of energy needed to light a 100-watt bulb for one hour). Nothing in the environment explains this. Mars is in late fall at the Opportunity site and moving toward winter, with the Sun sinking slightly lower each sol (Martian day). The rover hasn't moved or changed orientation. Tau and dust factor have been relatively steady. So why did power increase, then decrease?
During the previous week, Opportunity used its batteries. A lot. As the batteries discharged, their voltage dropped. Because power is just the product of the voltage and the solar array current, for a given amount of sunlight, the power is lower when recharging a discharged battery than a more fully charged battery. Opportunity's batteries were only about half-charged at the start of the week, bringing energy down a bit. The rover then recharged the batteries and energy went up. Opportunity then dipped into the battery again and energy went back down.
One reason for the increase in energy during the week was that Opportunity didn't complete all of the tasks rover handlers had planned because of a transmitter failure in NASA's Deep Space Network. This network is a collection of big dish antennas that talk and listen to spacecraft, including the Mars Exploration Rovers. Engineers send new plans, called sequences, to the rovers using the Deep Space Network. On sol 1458 (Feb. 29, 2008), they attempted to send plans to Opportunity for sols 1458-1460 (Feb. 29-March 2, 2008), giving instructions for work to be done over the weekend. When the transmitter failed and could not be immediately repaired, the rover repeated a section of the plan for sol 1457 (Feb. 28, 2008) called the "runout."
Each plan controls the rover for a single sol. At the end of the plan, the on-board computer tries to "handover" to the next day's plan. If the next day's plan isn't there, the existing plan continues running with a limited and standardized set of generic observations. In this case, the sol 1457 plan executed its runout for sols 1458, 1459 and 1460 (Feb. 29, March 1, and March 2, 2008).
Of course, there isn't room for an infinite runout, so at the end of the third sol, the rover usually executes a sequence known as "drop into automode." Automode means the plan has ended and is no longer controlling the rover. At that point, the rover is on its own and follows instructions programmed into its flight software for staying healthy and listening for further commands. If there's enough sunlight to power its systems, the rover wakes up, honors any preprogrammed communication windows, and shuts down if either the "up-too-long" limit is reached or the solar arrays aren't generating enough power, whichever comes first.
Because the runout didn't require as much power as the originally planned activities, Opportunity's batteries charged a bit more than expected, causing energy levels to rise.
Opportunity successfully tested communications with the European Space Agency's Mars Express Orbiter, which relays data to Earth much like NASA's Mars Odyssey orbiter, on sol 1461 (March 3, 2008). This and similar demonstrations are aimed at helping NASA's Phoenix mission, now en route to Mars, during entry, descent and landing in late May, 2008.
Opportunity also performed a "quick fine attitude" calibration. This is a procedure to hone the performance of a device called the inertial measurement unit that measures changes in orientation (yaw, pitch and roll). Like all gyroscopes, the unit drifts slightly with time and must be recalibrated every so often. During this procedure, a set of commands tells the panoramic camera to look for the Sun, identify where it is, compute the difference between its predicted and actual position, and update the inertial measurement unit accordingly. The correction from this particular recalibration was about 2.25 degrees, slightly larger than usual but not hugely so.
Sol-by-sol summary
In addition to receiving instructions directly from Earth via the rover’s high-gain antenna, relaying data to Earth via the UHF antenna on the Mars Odyssey orbiter, and measuring atmospheric dust with the panoramic camera, Opportunity completed the following activities:
Sol 1457 (Feb. 28, 2008): Opportunity placed the microscopic imager over a rock target known as "Dorsal" and acquired a 2-by-1-by-20 stack of stereo (3-D) microscopic images. The rover placed the alpha-particle X-ray spectrometer on Dorsal and spent about 6 hours acquiring data with the instrument, then went into a mini-deep sleep.
Sol 1458: Opportunity was unable to complete the day's activites after a Deep Space Network transmitter outage. Items not completed included spot images of the sky, navigation camera measurements of atmospheric dust, movie frames in search of clouds, a "quick get fine attitude," acquisition of data with the Mössbauer spectrometer, and transmission of data to Odyssey.
Sol 1459: Following the previous sol's transmitter outage, Opportunity was unable to execute plans to acquire a 2-by-1 mosaic of panoramic camera images of an alcove in the rim of "Victoria Crater" known as"Cabo Frio," a 5-by-1 mosaic of rearward-looking navigation camera images, and Mössbauer spectrometer data. Opportunity was also not yet able to test communications with Mars Express or transmit data to Odyssey.
Sol 1460: Following the transmitter outage on Sol 1458, Opportunity was not able to execute plans to acquire full-color images using all 13 filters of the panoramic camera of a target dubbed "Jin," survey the horizon with the panoramic camera, acquire data with the Mössbauer spectrometer, take full-color images of the hole created with the rock abrasion tool in the rock layer known as "Lyell," or acquire six movie frames in search of clouds.
Sol 1461: With Deep Space Network transmissions restored, Opportunity suspended the Mössbauer spectrometer over Dorsal to set its position before moving the robotic arm out of the field of view of the hazard avoidance cameras, executed a "quick fine attitude," and acquired images for mapping and modeling the terrain with the front hazard avoidance cameras. The rover placed the Mössbauer spectrometer on Dorsal and spent approximately 9 hours collecting data with the instrument. Opportunity successfully tested communications with Mars Express.
Sol 1462 (March 4, 2008): Opportunity acquired the previously planned 2-by-1 mosaic of images of Cabo Frio with the panoramic camera and 8-by-1 mosaic of rearward-looking images with the navigation camera. The rover switched tools from the Mössbauer spectrometer to the alpha-particle X-ray spectrometer and, after communicating with Odyssey, collected roughly 7 hours worth of compositional data with the instrument. The rover went into a mini-deep sleep. The following morning, Opportunity was scheduled to take the previously planned, full-color, panoramic-camera images of the hole ground into Lyell.
Odometry
As of sol 1461 (March 3, 2008), Opportunity’s total odometry was 11,671.23 meters (7.25 miles).
Opportunity Studies Martian Dust and "Victoria Crater" Rocks
Sols 1451-1456, March 31, 2008
Opportunity continues to be healthy with all subsystems performing as expected. Energy has been declining slowly, from 440 watt-hours at the start of the period to 415 watt-hours at the end. Some of that decline is due to the advancing winter season but much of it is due to heavy battery usage. By dipping into the battery, the rover lowers its bus voltage (the bus is the main power distribution cable. All systems get their power through their connection to the bus.) As power is the product of voltage and array current, for a given amount of sunlight, power will be lower when the batteries are discharged compared to when they are more fully charged. This lower power is by design -- the rover uses the batteries to execute the science plan and then recharges the batteries to increase energy.
Tau, a measure of the amount of dust in the atmosphere blocking incoming sunlight, has averaged about 0.74. (A Tau of zero would correspond to a perfectly clear atmosphere.) A Tau of 0.74 means only about 45 percent of the direct sunlight reaches the solar array. (Note that atmospheric dust both absorbs and scatters sunlight. The absorbed light is lost as it turns to heat and warms the atmosphere. Scattered sunlight is not lost. It makes the whole sky "glow" and gives it a pinkish color. It also reaches the solar panels and generates a significant fraction of the rover's total power.)
For example, during the worst of the Martian dust storms some 200 sols ago,
Tau hit 5.6, which meant only about 0.4 percent of the direct sunlight reached Opportunity's solar arrays. Scattered light generated virtually all the rover's power, about 130-160 watt-hours per sol. Currently, scattered light generates as much as half the rover's power depending on the time of day.
The rover measures Tau at various times of day, sometimes using two different cameras. The reason for this is that dust accumulates on the camera lenses, affecting the measurement. By taking Taus at different times, the rover sees the Sun through different depths of the atmosphere. If Tau is constant (and to a first approximation, it is), engineers can estimate how much sunlight is blocked by atmospheric dust and how much by camera dust. Comparing measurements from both the navigation and panoramic cameras, each with different amounts of dust, provides another means of determining how much sunlight is being blocked by the atmosphere or the camera. And as every photographer knows, different lighting conditions require different exposure times. The rover does the same thing by changing the exposure at different times of the Sol. Typically, the rover uses the panoramic camera to measure Tau, taking regular Tau measurements between mid-morning and early afternoon, "new Tau" measurements in mid-afternoon, and a sunset Tau near sunset.
Opportunity's dust factor, which is different from Tau, has been steady at 0.73, meaning that 73 percent of the sunlight reaching the solar arrays penetrates the dust layer to generate electricity.
While studying the various layers of rock in "Victoria Crater," Opportunity has discovered that the "Steno" layer is coarse-grained with well-defined, fine layering called laminae. The "Smith" rock layer is lighter in color and has still finer laminae. "Lyell" is darker again and has slightly coarser layers. "Gilbert," the lowest layer examined so far, appears similar to Lyell but without apparent layering. Scientists are comparing the layers in Victoria Crater to other craters Opportunity has visited to determine whether the processes that produced them were local or regional.
One of the interesting features at Gilbert is a line of "fins." These look like thin, little burrs of rock along one edge of the rock slab. A few have broken off and are lying flat on the surface of Gilbert. One of these, named "Dorsal," will be studied over the next week.
Sol-by-sol summary
In addition to receiving instructions directly from Earth via the rover’s high-gain antenna and relaying data back to Earth via the UHF antenna on the Mars Odyssey orbiter, Opportunity completed the following activities:
Sol 1451 (Feb. 22, 2008): Opportunity acquired 6 movie frames in search of clouds with the navigation camera in addition to regular Tau, new Tau, and sunset Tau measurements with the panoramic camera. The rover spent about 6.3 hours measuring argon gas in the Martian atmosphere with the alpha-particle X-ray spectrometer and went into a mini-deep sleep.
Sol 1452: Upon awakening, Opportunity measured Tau with the navigation camera. The rover took spot images of the sky with the panoramic camera and acquired 6 movie frames in search of clouds with the navigation camera. Opportunity took a regular Tau measurement, followed by a 2-by-2-by-3 stack of microscopic images of dust on the capture magnet and a 2-by-2-by-3 stack of microscopic images of dust on the filter magnet. Before sending data to Odyssey, the rover took a sunset Tau measurement. After communicating with Odyssey, Opportunity studied the elemental composition of dust on the filter magnet by integrating data from the alpha-particle X-ray spectrometer for 5.5 hours. The rover went into a mini-deep sleep.
Sol 1453: Upon solar array wakeup, Opportunity took Tau measurements with the navigation camera and thumbnail images of the sky with the panoramic camera. The rover acquired 6 movie frames in search of clouds with the navigation camera. Opportunity took a regular and a new Tau measurement. After sending data to Odyssey, Opportunity spent about 6.3 hours studying the elemental chemistry of dust on the filter magnet with the alpha-particle X-ray spectrometer. The rover went into a mini-deep sleep.
Sol 1454: Shortly after sunrise, Opportunity measured Tau and acquired 6 movie frames in search of clouds with the navigation camera. Opportunity monitored the physical characteristics of dust on the rover mast assembly, surveyed the horizon with the panoramic camera, and created 6 more movie frames in search of clouds with the navigation camera. The rover made standard Tau measurements and, after the overpass of Odyssey, a new Tau measurement. Opportunity spent about 7.25 hours collecting data from the filter magnets with the alpha-particle X-ray spectrometer before going into a mini-deep sleep.
Sol 1455: Upon solar array wakeup, Opportunity measured Tau with the navigation camera, created two six-frame movies in search of clouds with the navigation camera, and took spot images of the sky for calibration purposes with the panoramic camera. The rover acquired a 4-by-1 panel of panoramic camera images of a target called "Shrock." Opportunity made a regular Tau measurement and took full-color images, using all 13 filters of the panoramic camera, of a rock exposure dubbed "Gilbert_A." The rover placed the microscopic imager on Gilbert_A and acquired a 2-by-2-by-14 stack of stereo (3-D) microscopic images, then switched tools and placed the alpha-particle X-ray spectrometer on the target. The rover took a new Tau measurement and, after sending data to Odyssey, spent about 6.25 hours acquiring compositional data from Gilbert_A.
Sol 1456 (Feb. 27, 2008): First thing in the morning, Opportunity took full-color images, using all 13 filters of the panoramic camera, of both magnets. The rover made regular Tau measurements with the panoramic camera as well as a Tau measurement with the navigation camera and created a 6-frame movie in search of clouds with the navigation camera. Opportunity took full-color images of Gilbert_A as well as panoramic-camera images of the brush on the rock abrasion tool. The rover ran diagnostic tests related to a stall in Joint 1 (controlling shoulder position), placed the microscopic imager over Gilbert_A, and acquired a 2-by-2-by-12 stack of stereo images of the target. Opportunity then placed the alpha-particle X-ray spectrometer on Gilbert_A. After communicating with Odyssey, Opportunity collected compositional data from Gilbert_A for about 4 hours. The following morning, the rover was to acquire regular Tau measurements, navigation-camera Tau measurements, and a 3-by-1 panel of panoramic-camera images of the promontory known as "Cape Verde."
Odometry
As of sol 1455 (Feb. 26, 2008), Opportunity’s total odometry was 11,671.23 meters (7.25 miles).
Multi-Tasking Rover Helps Pave the Way for Next Mars Mission
Sols 1444-1450, Mar. 11, 2008
Opportunity completed the first leg of a two-part drive toward an area of scientific interest known as "Gilbert" that involved moving backward in order to continue the drive without running into some unexpectedly deep soil to the rover's right. En route, Opportunity spent two Martian days acquiring compositional data from a rock exposure dubbed "Lyell-Exeter," measured argon gas in the Martian atmosphere, and conducted remote-sensing activities.
In addition, Opportunity tested relay communications in support of NASA's Phoenix mission, due to land on Mars in late May. The first test, with the European Space Agency's Mars Express spacecraft, took place on sol 1444 (Feb. 15, 2008) and was primarily a trial of a new command strategy to permit the orbiter to acquire a larger amount of data from the surface of Mars. The second test was a possible relay through the NASA's Mars Reconnaissance Orbiter on sol 1446 (Feb. 17, 2008). This was an attempt to take advantage of an anomaly on the orbiter that turned off science instruments and placed the orbiter on standby to await instructions from Earth. The recovery timeline ended up not supporting this particular test. The third, with Mars Express on sol 1449 (Feb. 20, 2008), was part of a series of tests to determine differences in performance when the orbiter receives data from directly overhead and when the orbiter receives data when not directly overhead.
Opportunity remains healthy, with all subsystems performing as predicted. On sol 1449 (Feb. 20, 2008), the rover had 447 watt-hours of power (100 watt-hours is the amount of energy needed to light a 100-watt bulb for 1 hour).
Assuming Opportunity successfully completes a planned drive on sol 1450 (Feb. 21, 2008), the rover will be in position to begin a full complement of scientific investigations of Gilbert.
Sol-by-sol summary
In addition to receiving instructions directly from Earth via the rover's high-gain antenna, relaying data to Earth via the UHF antenna on the Mars Odyssey orbiter, and measuring atmospheric dust with the panoramic camera, Opportunity completed the following activities:
Sol 1444 (Feb. 15, 2008): After sending overnight data to Odyssey as it passed overhead, Opportunity measured the composition of Lyell-Exeter with the alpha-particle X-ray spectrometer.
Sol 1445: Opportunity acquired early-morning, full-color images of a scuff made by the rover's left wheel using all 13 filters of the panoramic camera. The rover took spot images of the sky for calibration purposes with the panoramic camera and scanned the sky for clouds with the navigation camera. After communicating with Odyssey, Opportunity continued to acquire data from Lyell-Exeter with the alpha-particle X-ray spectrometer. The rover surveyed the sky at high Sun with the panoramic camera.
Sol 1446: Opportunity surveyed the horizon with the panoramic camera and scanned the morning sky for clouds in movie frames taken with the navigation camera. Opportunity stowed the robotic arm, drove toward Gilbert, acquired images just before completing the drive with the hazard avoidance cameras, and acquired a 4-by-1, post-drive mosaic of images with the navigation camera. The rover then unstowed the robotic arm.
Sol 1447: Opportunity surveyed and took spot images of the sky with the panoramic camera and documented potential clouds in movie frames taken with the navigation camera. After sending data to Odyssey, Opportunity measured argon gas in the Martian atmosphere using the alpha-particle X-ray spectrometer.
Sol 1448: Opportunity took thumbnail images of the sky with the panoramic camera and acquired movie frames in search of clouds with the navigation camera. The rover surveyed the horizon and surveyed the sky at high Sun with the panoramic camera.
Sol 1449: Upon awakening, Opportunity made a movie to document potential clouds with the navigation camera. The rover took spot images of the sky and surveyed the horizon with the panoramic camera. Opportunity surveyed the evening sky at low Sun prior to communicating with the Odyssey orbiter.
Sol 1450 (Feb. 21, 2008): Opportunity took early-morning thumbnail images of the sky with the panoramic camera. The rover also took spot images of the sky with the panoramic camera and acquired movie frames in search of clouds with the navigation camera. Opportunity stowed the robotic arm, drove toward Gilbert, acquired images just before completing the drive with the hazard avoidance cameras, unstowed the arm, and acquired a 360-degree mosaic of images with the navigation camera. The rover created 6 movie frames in search of clouds with the navigation camera. The following morning, Opportunity was to measure atmospheric dust with both the navigation and panoramic cameras, create another 6-frame movie in search of clouds with the navigation camera, and complete a survey of the horizon with the panoramic camera.
Odometry
As of sol 1449 (Feb. 20, 2008), Opportunity's total odometry was 11,669.13 meters (7.25 miles).
Opportunity Proceeds with Caution on Sandy Slopes
Sols 1437-1443, March 1, 2008
After recovering from a stall in Joint 1, which controls the compass orientation of the shoulder on the rover's robotic arm, Opportunity is proceeding carefully to its next target, an exposure of layered rocks known as "Gilbert."
Opportunity ran the usual diagnostic tests for this sort of fault, which occurred while the rover was studying a rock target known as "Buckland," and successfully placed the Mössbauer spectrometer on the target on Sol 1437 (Feb. 8, 2008). On Sol 1438 (Feb. 9, 2008), the rover's handlers decided to relinquish further scientific studies of the target and proceed instead with a drive toward Gilbert. As this meant the rover would wander into new terrain, the team created a series of steps to allow Opportunity to characterize the surroundings along the way.
One of these steps involved placing the front two wheels on an area of soil to leave a scuff on the surface and backing up to take images of the exposed area. On Sol 1438, however, prior to reaching the intended soil area, Opportunity aborted the drive. The rover completed the second planned "scuffing" on Sol 1441 (Feb. 12, 2008). This time the scuff was successful, though it revealed an interesting surprise -- Opportunity's right front wheel dug in much more than the rover's handlers had expected, highlighting the need to proceed cautiously toward Gilbert.
Because Opportunity was unable to relay all of the diagnostic data to Earth at one time because the volume of data was more than could be accommodated, the rover's handlers decided that the prudent course of action was to wait one planning cycle before having Opportunity proceed with the drive. On Sol 1443 (Feb. 14, 2008), Opportunity completed a diagnostic examination of the grind bit on the rock abrasion tool and collected a mosaic of microscopic images of a rock target dubbed "Lyell Exeter," commemorating the college attended by geologist Sir Charles Lyell in the early 1800s, as well as compositional data using the alpha-particle X-ray spectrometer.
Opportunity is healthy and all subsystems are performing as expected. The latest available measurements on Sol 1443 showed a power level of 469 watt-hours (100 watt-hours is the amount of energy needed to light a 100-watt bulb for 1 hour). Plans for the coming weekend called for the rover to proceed with the first of a two-step drive toward Gilbert.
Sol-by-sol summary:
In addition to receiving instructions directly from Earth via the rover's high-gain antenna, relaying data to Earth via the UHF antenna on the Mars Odyssey orbiter, and assessing atmospheric dust levels with the panoramic camera, Opportunity completed the following activities:
Sol 1437 (Feb. 8, 2008): Opportunity recovered from last week's stall of Joint 1 on the robotic arm, succesfully placing the Mössbauer spectrometer on the surface of the rock target dubbed "Buckland" and spending 12 hours studying iron-bearing minerals with the instrument. The rover acquired a 2-by-1 mosaic of images of dunes with the panoramic camera.
Sol 1438: Opportunity surveyed and took spot images of the sky with the panoramic camera. The rover acquired movie frames in search of clouds with the navigation camera before rolling a short distance to get into position for a photo session, during which the rover took full-color images of Buckland, using all 13 filters of the panoramic camera. Opportunity then drove in the direction of Gilbert and acquired a mid-drive, 3-by-1 image mosaic of Gilbert using the panoramic camera. The rover collected a 2-by-2 mosaic of post-drive images with the navigation camera, took images with the hazard avoidance cameras, and unstowed the robotic arm. Opportunity was unable to complete a planned soil scuff followed by a backward drive.
Sol 1439: After awakening, Opportunity took spot images of the sky, surveyed the horizon, and surveyed the sky at high Sun with the panoramic camera. Opportunity then completed a systematic ground survey, using all 13 filters of the panoramic camera. After relaying data to NASA's Odyssey orbiter as it passed overhead, the rover studied argon gas in the Martian atmosphere with the alpha-particle X-ray spectrometer.
Sol 1440: Upon receiving enough solar energy to wake up autonomously, Opportunity took thumbnail images of the sky with the panoramic camera. The rover searched for morning clouds in movie frames taken with the navigation camera, took spot images of the sky with the panoramic camera, and monitored dust accumulation on the mast assembly. Opportunity made additional measurements of atmospheric argon with the alpha-particle X-ray spectrometer after transmitting data to Odyssey.
Sol 1441: Upon awakening, the rover surveyed the sky with the panoramic camera. Opportunity then acquired movie frames in search of morning clouds with the navigation camera. The rover stowed the robotic arm, scuffed the soil with its wheels while driving toward Gilbert, and acquired a 3-by-1 mosaic of post-drive images of Gilbert with the panoramic camera as well as a 2-by-2 mosaic of navigation camera images and hazard avoidance camera images. Opportunity unstowed the robotic arm.
Sol 1442: Upon awakening, Opportunity took spot images of the sky and surveyed the horizon with the panoramic camera. The rover also surveyed the sky at high Sun with the panoramic camera.
Sol 1443 (Feb. 14, 2008): Upon awakening, Opportunity took thumbnail images of the sky with the panoramic camera and acquired movie frames in search of clouds with the navigation camera. The rover surveyed the grinding bit on the rock abrasion tool and acquired a 2-by-2-by-14 stack of stereo microscopic images of Lyell Exeter. Opportunity placed the alpha-particle X-ray spectrometer on Lyell Exeter, acquired a 2-by-1 mosaic of images of Gilbert with the navigation camera, and, after sending data to Odyssey, collected compositional data with the spectrometer. The following morning, Opportunity was to acquire full-color images, using all 13 filters of the panoramic camera, of the area exposed by the rover's wheels and survey the sky at high Sun with the panoramic camera.
Odometry:
As of sol 1443 (Feb. 14, 2008), Opportunity's total odometry was 11,668.08 meters (7.25 miles).
Opportunity Searches for Martian Frost
Sols 1430-1436, Feb 28, 2008
During the past week, Opportunity took advantage of fresh rock tailings ground up by the rock abrasion tool to look for any frost accumulation on them on Sol 1435 (Feb. 6, 2008). The rover also used the WATCH sequence of computer commands to hunt for winter clouds above Victoria Crater on Sol 1431 (Feb. 2, 2008).
Meanwhile, Opportunity began wrapping up its campaign of scientific investigations of the outcrop target called "Buckland" at "site B" in the "Lyell" layer of rocks that rings the interior of "Victoria Crater." Plans call for Opportunity to drive deeper into Victoria Crater next week, to the next stratigraphic layer, dubbed "Gilbert."
In support of NASA's Phoenix mission, now en route to the red planet, Opportunity conducted a joint UHF communications test with NASA's Mars Reconnaissance Orbiter on Sol 1436 (Feb. 7, 2008).
Opportunity is healthy and all subsystems are nominal. Energy is currently around 483 watt-hours (100 watt-hours is the amount of energy needed to light a 100-watt bulb for 1 hour). On Sol 1437 (Feb. 8, 2008), Tau measurements of atmospheric dust were at 0.757 and dust factor measurements of sunlight penetration to the solar panels at 0.75.
Sol-by-sol summary:
In addition to receiving instructions directly from Earth via the rover's high-gain antenna, relaying data to Earth via the UHF antenna on the Mars Odyssey orbiter, and taking panoramic camera measurements of atmospheric opacity caused by dust, Opportunity completed the following activities:
Sol 1430 (Feb. 1, 2008): Opportunity swung the robotic arm out of the way and acquired full-color images using all 13 filters of the panoramic camera and a 2-by-2-by-14 stack of stereo (3-D) images of Buckland. The rover went into a deep sleep.
Sol 1431: Upon receiving enough solar energy to wake up autonomously, Opportunity watched for Martian clouds and acquired movie frames in search of clouds with the navigation camera. The rover placed the alpha-particle X-ray spectrometer on the surface of Buckland and, after relaying data to the Odyssey orbiter, used the spectrometer to gather data about the rock's elemental chemistry.
Sol 1432: Upon awakening, Opportunity surveyed the horizon with the panoramic camera, scanned the sky for clouds with the navigation camera, and acquired a 2-by-1 mosaic of images of an area of layered rock known as "Harland" with the panoramic camera. Opportunity placed the Mössbauer spectrometer on the surface of Buckland and spent 7 hours studying iron-bearing minerals in the rock with the instrument. The rover acquired a 2-by-1 mosaic of images of Harland with the panoramic camera before going into a deep sleep.
Sol 1433: Upon awakening, Opportunity acquired a 2-by-1 mosaic of images of Harland with the panoramic camera and scanned the sky for clouds with the navigation camera. The rover restarted the Mössbauer spectrometer and acquired 12 hours worth of data with the instrument. Opportunity acquired an afternoon, 2-by-1 mosaic of images of Harland. The rover went into a mini-deep sleep.
Sol 1434: Upon awakening, Opportunity took thumbnail images of the sky and completed a sky survey at high Sun with the panoramic camera. Opportunity restarted the Mössbauer spectrometer on Buckland and spent 9 hours studying iron-bearing minerals with the instrument. The rover went into a mini-deep sleep.
Sol 1435: Upon awakening, Opportunity surveyed the horizon with the panoramic camera and scanned the sky for clouds with the navigation camera. Opportunity exchanged tools to the microscopic imager and acquired a 1-by-1-by-1 stack of microscopic images of Buckland prior to acquiring another 1-by-1-by-1 stack for comparison prior to searching for frost. At 3:33 p.m. local Mars time, Opportunity acquired a 1-by-1-by-4 stack of microscopic images in search of frost on the rock tailings exposed at Buckland.
Sol 1436 (Feb. 7, 2008): Upon awakening, Opportunity acquired thumbnail images of the sky with the panoramic camera and scanned the sky for clouds with the navigation camera. Additional plans, which included a survey of the bit on the rock abrasion tool, a survey of the rock abrasion tool with the panoramic camera, placement of the Mössbauer spectrometer on Buckland, and continued analysis of iron-bearing minerals, did not take place because of a stall in Joint 1, which controls the orientation of the shoulder on the rover's robotic arm. Opportunity did, however, close the cover of the microscopic imager. The rover went into a deep sleep. Plans for the following morning included surveying the horizon with the panoramic camera, searching the sky for clouds with the navigation camera, and surveying the sky at high Sun with the panoramic camera.
Odometry:
As of sol 1436 (Feb. 7, 2008), Opportunity's total odometry remained at 11,664.00 meters (7.25 miles).
Opportunity Expands Geologic Studies in "Victoria Crater"
Sols 1424-11429, Feb. 21, 2008
Opportunity has been investigating a rock outcrop nicknamed "Buckland" at "site B," at the deepest part of the ring of rocks known as the "Lyell" layer. For those keeping tabs on Opportunity's location, the rover is inside Victoria Crater, in an alcove known as "Duck Bay."
The planned roster of scientific investigations for the coming week includes taking microscopic images, analyzing elemental composition with the alpha-particle X-ray spectrometer, and studying iron-bearing minerals with the Mössbauer spectrometer.
The rover is healthy and all subsystems are performing as expected. Energy is currently around 505 watt-hours (a little more than the energy needed to light a 100-watt bulb for 5 hours). As of the end of January, Tau measurements of atmospheric dust stood at about 0.685 and dust factor measurements of sunlight penetrating dust on the solar panels stood at about 0.74.
Sol-by-sol summary:
In addition to receiving instructions directly from Earth via the rover's high-gain antenna, relaying data to Earth via the UHF antenna on the Mars Odyssey orbiter, and taking panoramic camera measurements of atmospheric opacity caused by dust, Opportunity completed the following activities:
Sol 1424 (Jan. 25, 2008): The day's plans did not make it on board Opportunity because of an outage in the Deep Space Network of antennas on Earth. Those plans included exchanging tools to the Mössbauer spectrometer and collecting data with the instrument, in addition to acquiring a 2-by-1 mosaic of images of an area of dust-covered, possibly layered rocks below the Lyell layer known as "Gilbert," taking spot images of the sky and surveying the horizon with the panoramic camera, and scanning the sky for clouds with the navigation camera.
Sol 1425: Instead of acquiring data about iron-bearing minerals with the Mössbauer spectrometer because of the previous day's communications lapse, Opportunity acquired data with the instrument pointed at the Martian atmosphere. Opportunity acquired a full-color, 2-by-1 mosaic of images of Gilbert using all 13 filters of the panoramic camera. The rover surveyed and acquired thumbnail images of the sky with the panoramic camera and scanned the sky for clouds with the navigation camera.
Sol 1426: Instead of acquiring data about iron-bearing minerals with the Mössbauer spectrometer because of the communications lapse on Sol 1424, Opportunity acquired data with the instrument pointed at the Martian atmosphere. Opportunity studied iron-bearing minerals with the Mössbauer spectrometer. Using the panoramic camera, the rover acquired a 6-by-2 mosaic of images, took thumbnail images of the sky, and completed a survey at high Sun.
Sol 1427: Opportunity took images with the front hazard avoidance cameras, completed a grind-scan procedure with the rock abrasion tool to locate the surface of Buckland, and acquired a 2-by-1 mosaic of images of Gilbert with the panoramic camera. The rover measured atmospheric argon with the alpha-particle X-ray spectrometer.
Sol 1428: Upon generating enough solar energy to wake up automously, Opportunity acquired a 2-by-1 mosaic of images of Gilbert with the panoramic camera. The rover monitored dust on the panoramic-camera mast assembly.
Sol 1429: (Jan. 31, 2008): Opportunity awoke autonomously and acquired full-color images, using all 13 filters of the panoramic camera, of dust particles captured by the rover's external magnets. Opportunity scanned the sky for clouds with the navigation camera and ground into the surface of Buckland with the rock abrasion tool. The rover acquired a 2-by-1 mosaic of images of Gilbert with the panoramic camera. The following morning, Opportunity was to acquire movie frames in search of Martian clouds with the navigation camera.
Odometry:
As of sol 1429 (Jan. 31, 2008), Opportunity's total odometry remained at 11,664.00 meters (7.25 miles).
Opportunity Marks Fourth Anniversary on Mars
Sols 1416-1423, Feb. 18, 2008
Like the Spirit rover three weeks earlier, Opportunity achieved a new milestone of four years of exploration on the surface of Mars.
Opportunity drove even deeper into "Victoria Crater" along the slopes of the alcove known as "Duck Bay" to a rock outcrop called "Buckland." On sol 1416 (Jan. 17, 2008) the rover attempted a 5-meter (16-foot) drive. In the middle of the drive, however, Opportunity stopped and drove back uphill to ensure the rover could drive back out again. During this drive the vehicle experienced a slippage rate of 46 percent, exceeding the limit of 40 percent set by rover planners, and stopped driving.
On sol 1418 (Jan. 19, 2008), rover planners decided to increase the limit to 60 percent. While backing up, the rover experienced only 23-percent slip, possibly as a result of making contact with bedrock and getting better traction after the rover's wheels had removed a thin layer of sand. Following the successful slip check, the rover continued downslope to Buckland. On sol 1421 (Jan. 22, 2008) Opportunity commenced a campaign of scientific investigations of the outcrop by amassing 60 microscopic images. Weekend plans call for Opportunity to spend approximately 46 hours studying iron-bearing minerals using the Mössbauer spectrometer.
Opportunity is healthy, with all systems performing as expected.
Sol-by-sol summary:
In addition to receiving instructions directly from Earth via the rover's high-gain antenna. returning data to Earth via the UHF antenna on the Mars Odyssey orbiter, and taking panoramic camera measurements of atmospheric opacity caused by dust, Opportunity completed the following activities:
Sol 1416 (Jan. 17, 2008): Opportunity stowed the robotic arm, which carries many of the rover's scientific instruments, and drove 5 meters downslope toward Buckland. The rover unstowed the robotic arm and acquired a 5-by-1 mosaic of images of surrounding terrain and a 1-by-1 mosaic of a target area known as "site C" with the navigation camera. Opportunity scanned the sky for clouds above Victoria Crater with the navigation camera.
Sol 1417: Opportunity measured argon gas in the Martian atmosphere with the alpha-particle X-ray spectrometer, surveyed the sky with the panoramic camera, monitored dust on the rover mast, and scanned the sky for clouds with the navigation camera.
Sol 1418: Opportunity stowed the robotic arm, drove to Buckland, unstowed the robotic arm, and acquired a post-drive, 5-by-1 mosaic of images of surrounding terrain as well as a rearward-looking, 5-by-1 mosaic of images with the navigation camera. The rover scanned the sky for clouds with the navigation camera and surveyed the horizon with the panoramic camera.
Sol 1419: Opportunity acquired a 3-by-5 mosaic of images with the panoramic camera, scanned the sky for clouds with the navigation camera, and took spot images and thumbnail images of the sky with the panoramic camera.
Sol 1420: Opportunity took spot images and thumbnail images of the sky with the panoramic camera and scanned the sky for clouds with the navigation camera.
Sol 1421: Opportunity acquired a 2-by-2-by-5 stack of microscopic images plus 36 extras and a full-color view of the work volume reachable by the robotic arm using all 13 filters of the panoramic camera. The rover placed the alpha-particle X-ray spectrometer on Buckland and collected compositional data with the instrument. Oppportunity took spot images of the sky and completed a sky survey at high Sun using the panoramic camera.
Sol 1422: Opportunity placed the alpha-particle X-ray spectrometer on Buckland and acquired more compositional data. The rover took spot images of the sky and surveyed the horizon with the panoramic camera. Opportunity searched for clouds using the navigation camera.
Sol 1423 (Jan. 24, 2008): Opportunity acquired a 2-by-5 mosaic of images. The rover completed a sky survey and took thumbnail images of the sky with the panoramic camera.
Odometry:
As of sol 1423 (Jan. 24, 2008), Opportunity's total odometry was 11,664.00 meters (7.25 miles).
Plans Call for Opportunity to Drive Deeper into "Victoria Crater"
Sols 1411-1415, Feb 14, 2008
Opportunity has experienced no further stalls in the shoulder joint that recently stalled two times in a row. Engineers have identified at least four variables that may have contributed to the stall, including very small movements, very slow movements, movements that exert torque (a twisting force) on the shoulder joint while the robotic arm is extended far away from the vehicle, and movements in an uphill direction that go against the force of Martian gravity.
The team is employing techniques to avoid moving the robotic arm under these conditions.
After completing investigation of the contact between the "Smith" and "Lyell" rock layers inside "Victoria Crater," Opportunity continues its exploration of "Duck Bay," an alcove in the crater's rim. Plans call for Opportunity to drive about 5 meters (16 feet) deeper into the crater on sol 1416 (Jan. 17, 2008) and take images of the terrain.
Sol-by-sol summary:
In addition to receiving instructions directly from Earth via the rover's high-gain antenna and taking panoramic camera measurements of atmospheric opacity caused by dust, Opportunity completed the following activities:
Sol 1411 (Jan. 12, 2008): Opportunity acquired a 4-by-1-by-5 mosaic of stereo microscopic images on the Lyell side of the Smith-Lyell contact, placed the alpha-particle X-ray spectrometer on target, and searched the Martian sky for clouds with the navigation camera.
Sol 1412: Opportunity searched the sky above Victoria Crater for clouds with the navigation camera and collected compositional data from the surface with the alpha-particle X-ray spectrometer.
Sol 1413: Opportunity continued to watch the Martian sky for clouds and acquire compositional data with the alpha-particle X-ray spectrometer.
Sol 1414: Opportunity acquired a 1-by-1-by-5 stack of images on the Lyell side of the Smith-Lyell contact with the microscopic imager. The rover placed the alpha-particle X-ray spectrometer on the Lyell layer and acquired compositional data about the rock. Opportunity relayed data to Odyssey during the orbiter's overnight pass.
Sol 1415 (Jan. 16, 2008): Opportunity completed measurements of the Lyell rock layer with the alpha-particle X-ray spectrometer.
Odometry:
As of sol 1415 (Jan. 16, 2008), Opportunity's total odometry was 11,653.18 meters (7.24 miles).
Opportunity Continues Exploration Despite Stall in Robotic Arm
Sols 1402-1410, Feb 9, 2008
On sol 1404 (Jan. 5, 2008), as Opportunity was in the process of moving the robotic arm out of the field of view of the hazard avoidance cameras, the rover experienced a stall in joint 1, which has stalled before and controls shoulder orientation. Rover handlers directed Opportunity to perform a set of diagnostic tests on sol 1407 (Jan. 8, 2008) to determine what happened. Opportunity successfully completed the first part of the diagnostic test but experienced another stall in the joint during the second part of the test, when the rover attempted to repeat the move it had been making during the first stall.
In the activity plan for sol 1409 (Jan. 10, 2008), rover drivers directed Opportunity to again execute the same motion. This time, Opportunity retracted the robotic arm, reducing the load on joint 1.
The rover science team will continue to closely monitor and evaluate use of the joint as Opportunity explores Victoria Crater. This week, Opportunity drove a short distance to get into position study the contact area between two rock layers inside "Victoria Crater" known as "Lyell" and "Smith."
Sol-by-sol summary:
In addition to morning uplinks directly from Earth via the rover's high-gain antenna and panoramic camera measurements of atmospheric opacity caused by dust, Opportunity completed the following activities:
Sol 1402 (Jan. 3, 2008): Opportunity stowed the robotic arm, drove to a new position, acquired images of the new location with the hazard avoidance cameras, unstowed the robotic arm, and acquired a 360-degree view of the surrounding terrain with the navigation camera.
Sol 1403: Upon receiving enough solar energy to wake up autonomously, Opportunity scanned the sky for clouds with the navigation camera and took spot images of the sky with the panoramic camera. The rover surveyed the sky at high Sun and acquired a 4-by-2 mosaic of images with the panoramic camera.
Sol 1404: After swinging the robotic arm out of the way, Opportunity acquired full-color images, using all 13 filters of the panoramic camera, of surfaces reachable by instruments on the robotic arm. In particular, Opportunity examined "Tijuana," a rock exposure in the contact zone between the rock layers known as "Smith" and "Lyell." Opportunity also took images of the target area with the rover's front hazard avoidance cameras and acquired a 5-by-1 tier of images with the navigation camera. After communicating with the Odysssey orbiter, Opportunity spent 5.5 hours measuring atmospheric argon with the alpha-particle X-ray spectrometer. The rover went into a mini-deep sleep.
Sol 1405: Upon awakening, Opportunity took thumbnail images of the sky with the panoramic camera. The rover acquired a mosaic of images with the panoramic camera in search of dust. After relaying data to Odyssey, Opportunity spent 6.5 hours measuring atmospheric argon with the alpha-particle X-ray spectrometer. The rover then went into a mini-deep sleep.
Sol 1406: After sending data to Odyssey, Opportunity continued to assess atmospheric argon, spending 7.5 hours integrating data with the alpha-particle X-ray spectrometer. The rover went into another mini-deep sleep.
Sol 1407: Opportunity conducted diagnostic tests in an effort to recover from a stall in joint 1 that occurred on sol 1404.
Sol 1408: Opportunity took thumbnail images of the sky with the panoramic camera.
Sol 1409: Opportunity scanned the sky for morning clouds using the navigation camera. Opportunity conducted additional diagnostic tests of the robotic arm, acquired a 4-by-1-by-5 mosaic of microscopic images of Smith, and placed the alpha-particle X-ray spectrometer on Smith to collect compositional data. After communicating with Odyssey, Opportunity collected data with the instrument until 11:30 p.m. Mars time.
Sol 1410 (Jan. 11, 2008): Opportunity acquired spot images of the sky for calibration purposes and surveyed the horizon with the panoramic camera. After transmitting data to Odyssey, Opportunity resumed collecting data with the alpha-particle X-ray spectrometer. Plans for the following morning called for the rover to assess dust accumulation on the rover mast.
Odometry:
As of sol 1409 (Jan. 10, 2008), Opportunity's total odometry remained at 11,653.18 meters (7.24 miles).
Opportunity Works the Night Shift Inside "Victoria Crater"
Sols 1396-1401, Feb 8, 2008
Opportunity has seen almost no change in atmospheric dust levels or dust accumulation on the solar panels. Even so, energy has varied as Opportunity's activity levels have varied. In particular, the timing of those activities changes the state of charge of the batteries as well as the bus voltage.
The bus is the main electrical conductor in the rover's power distribution system. It connects directly to the battery and distributes energy to all the rover's instruments. The rover monitors the bus voltage, which is usually within a few millivolts of the battery voltage. When the rover uses battery power -- that is, when energy is transferred from the battery to the bus to rover instruments -- the bus voltage goes down. When the battery recharges, the bus voltage goes up.
In a sense, the bus voltage is an indicator of energy efficiency -- solar arrays generate more energy for a given amount of sunlight when bus voltage is up than when bus voltage is down. This is because the total amount of electrical power available, measured in watts, depends not only on the amount of sunlight reaching the solar panels (which generates electrical current) but also the bus voltage. Voltage is analogous to water pressure; electrical current is analogous to water flow measured in gallons per minute. For a given water pressure, a large pipe transfers more gallons per minute than does a small pipe. For a given pipe size, high water pressure sends more water per minute gushing through the pipe than does low water pressure.
During the past week, Opportunity completed some evening and overnight activities that drew heavily on the batteries. As a result, bus voltage was relatively low when the rover began recharging the battery the following day, resulting in somewhat lower total energy.
Energy has hovered in the range of 575 to 590 watt-hours, averaging about 580 watt-hours (almost enough to light a 100-watt bulb for six hours) per Martian day. Tau measurements of atmospheric opacity caused by dust have been remarkably steady, averaging about 0.71. The dust factor has also been steady, averaging 0.787.
Opportunity continued to investigate the chemistry of the "Lyell" layer inside "Victoria Crater." Lyell is the third and lowest layer of a light-colored band of material that rings the crater. The rover conducted compositional analysis with the alpha-particle X-ray spectrometer. Afterward, Opportunity took measurements with the Mössbauer spectrometer to characterize iron-bearing minerals beneath the surface of Lyell, inside a hole the rover drilled last week.
These days, it takes longer to acquire data with the Mössbauer spectrometer than it did at the beginning of the mission. The Mössbauer spectrometer uses a radioactive source containing cobalt-57 to irradiate the rocks. Because the half-life of the source is about 271.8 days and more than 1,640 days have passed since the spacecraft left Earth, a little more than six half-lives have elapsed. The source now has only about 1.5 percent of its original strength. With the source so depleted, Opportunity must spend tens of hours (60 hours is more or less the minimum) collecting enough data to "see" fine details of the iron chemistry.
Comparisons between observations of two targets in the rock surface, known as "Lyell_3" and "Lyell_1," will enable scientists to assess variability within the rock layer. Comparisons with the two higher rock layers, "Smith" and "Steno," and with observations from other craters will help scientists determine the geologic histories along with local and regional similarities and differences.
Mid-week, Opportunity took images of the grind bit on the rock abrasion tool to assess wear and the condition of the wire brush -- wear is about the same and the brush remains bent but usable. Opportunity also took images of the Mössbauer spectrometer, where a small clod of dirt is clinging to the contact sensor. This has happened before and is not a concern.
Finally, Opportunity took images looking downslope in search of new drive destinations and science targets.
Opportunity is healthy and all subsystems are operating as expected.
Sol-by-sol summary:
In addition to morning uplinks directly from Earth via the rover's high-gain antenna, evening downlinks to Earth via the Odyssey orbiter at UHF frequencies, and panoramic camera measurements of atmospheric opacity caused by dust, Opportunity completed the following activities:
Sol 1396 (Dec. 28, 2007): Opportunity placed the alpha-particle X-ray spectrometer on Lyell_3, and after communicating with the Odyssey orbiter, went into a deep sleep.
Sol 1397: Upon collecting enough sunlight to wake up, Opportunity took a 2-by-1 mosaic of images of a spot known as "drive target 1" and acquired a full-color mosaic of images, using all 13 filters of the panoramic camera, of a target dubbed "Walcott," a rough exposure of the Steno rock layer. After communicating with Odyssey, Opportunity spent approximately 17 hours integrating data from Lyell_3 with the alpha-particle X-ray spectrometer.
Sol 1398: Opportunity acquired a 2-by-1 mosaic of images of a destination referred to as "drive target 2." After sending data to the Odyssey orbiter, the rover went into a deep sleep.
Sol 1399: Opportunity took spot images of the sky for calibration purposes and surveyed the horizon with the panoramic camera. The rover observed the ondition of the grind bit and brush on the rock abrasion tool using the hazard avoidance cameras. Similarly, the rover surveyed the overall condition of the rock abrasion tool with the panoramic camera. Opportunity surveyed the dirt clod clinging to the Mössbauer spectrometer, placed the Mössbauer spectrometer on the hole previously ground into Lyell_1, and spent about 11.25 hours acquiring data from the rock with the instrument. After communicating with Odyssey, the rover went into a mini-deep sleep.
Sol 1400: Opportunity spent approximately 12 hours acquiring data from Lyell_1 with the Mössbauer spectrometer and took full-color images from the rover's current position of a hole previously ground into the surface of Smith. The rover took full-color images, using all 13 filters of the panoramic camera, of a nearby rock target known as "Grabau." After transmitting data to Odyssey, Opportunity went into a mini-deep sleep.
Sol 1401 (Jan. 2, 2008): Opportunity characterized dust accumulation on the rover mast and spent approximately 12 hours collecting data from Lyell_1 with the Mössbauer spectrometer. Following the overhead pass of the Odyssey orbiter, Opportunity went into a mini-deep sleep.
Odometry:
As of sol 1401 (Jan. 2, 2008), Opportunity's total odometry remained at 11,591.21 meters (7.2 miles).
Still Grinding After All These Years
Sols 1389-1395, Feb. 6, 2008
With only about a month remaining before Opportunity's fourth anniversary (in
Earth years) of Mars exploration, NASA's robotic geologist is still grinding
into the surface of rocks to unlock the secrets of their interior chemistry.
Meanwhile, fall arrived in the southern hemisphere of Mars on Dec. 9, 2007,
Opportunity's 1,378th Martian day, or sol, of exploration of the Red Planet.
Ten days later, Earth made its closest approach to Mars, coming within 88 million
kilometers (54.8 million miles).
Opportunity used the rock abrasion tool to bore a shallow hole into a rock
target known as ''Lyell_1'' and then spent about 70 hours integrating
data about iron minerals inside the rock using the Mossbauer spectrometer.
During integration with the Mossbauer spectrometer, the rover adds measurements
in a running total, sort of like exposing film. A longer exposure builds up
the light areas, improves contrast, and results in a clearer, more distinct
image, whereas a shorter exposure produces an image that is somewhat underexposed,
darker, and less well defined. Similarly, longer integrations with the Mossbauer
spectrometer yield more distinct signatures of iron content and the chemical
state of the iron.
At the end of the Mossbauer campaign, Opportunity re-positioned the robotic
arm to take images of the grind hole. The rover's handlers postponed acquiring
images until after the holidays. On sol 1395 (Dec. 27, 2007), Opportunity acquired
a mosaic of microscopic images of the ground rock surface before placing the
alpha-particle X-ray spectrometer on a new rock target known as ''Lyell_2.''
The resulting 2-by-2-by-14 mosaic was a collection of microscopic images arranged
side-by-side like the four windowpanes in a square window. Within each of the
four panes, Opportunity took 14 microscopic images at various distances from
the rock surface. Because the microscopic imager is a fixed-focus camera, this
process of acquiring images at different heights enables the rover to obtain
images with different focal points. Because engineers don't always know where
the best focus point will be, they start high, move closer, and finish low.
Ideally, the middle pictures will be perfectly focused and higher and lower
images will be slightly fuzzy.
Usually, the rover takes a stack of five microscopic images. This time, however,
Opportunity took one image up high, one image down low, and four images at each
of the three intervening heights. The multiple images will allow image processing
experts to determine a digital average and cancel out unwanted data, known as
''noise'' to engineers.
In addition to studies using the Mossbauer and alpha-particle X-ray spectrometers,
Opportunity conducted routine atmospheric tests, acquiring so-called Tau measurements
of atmospheric dust with the panoramic camera. The rover took additional panoramic
camera images of the immediate area using multiple filters. By combining images
taken with different filters, engineers can create both true- and false-color
views.
Following is a typical sol in the life of the Opportunity rover: Each Martian
day is divided into blocks of activities separated by naps. The first block,
known as the ''engineering block,'' begins when sunlight is strongest
and temperatures are warmest. This is when the rover performs the bulk of the
day's activities, including drives and housekeeping activities such as arm movements.
After this, Opportunity takes a ''nap'' with no activities to allow
the early afternoon sun to recharge the rover batteries.
In the late afternoon, the rover wakes up for a communication session with
the orbiting Odyssey spacecraft. This period is known as the ''Odyssey block''
and involves ''pre-Odyssey,'' ''Odyssey,'' and ''post-Odyssey''
activities. Afterward, the rover naps or goes into a deep sleep. During deep
sleep, the rover shuts off power to almost everything on board. The following
morning, the rover may wake up autonomously if there is enough solar power --
this time period is called ''solar array wakeup.'' During this block,
engineers usually schedule one or two small activities, followed by another
nap to recharge the batteries. If there isn't enough solar power, the rover
omits the solar array wakeup block.
Finally, the rover wakes up for the daily X-band communication session with
Earth. This is known as the ''AM block.'' At this time, the rover generally
does imaging activities in parallel with communications. This block ends with
a so-called ''handover'' from the previous sol's plan to the new sol's
plan.
Sol-by-sol summary
In addition to morning uplinks directly from Earth via the rover's high-gain
antenna, evening downlinks to Earth via the Odyssey orbiter at UHF frequencies,
and panoramic camera measurements of atmospheric opacity caused by dust, Opportunity
completed the following activities:
Sol 1389 (Dec. 20, 2007): Opportunity acquired panoramic camera images of the
turret, placed the Mossbauer spectrometer on Lyell_1, and acquired approximately
12 hours worth of data with the instrument.
Sol 1390: In the morning, Opportunity surveyed the horizon with the panoramic
camera. The rover restarted the Mossbauer spectrometer and spent approximately
12 hours integrating data with the instrument. Opportunity acquired a 13-by-1
mosaic of panoramic camera images of Lyell_1 and used the navigation camera
to pinpoint the Sun's location in support of the upcoming Mars Science Laboratory
mission. The rover went into a mini-deep sleep.
Sol 1391: Upon solar array wakeup, Opportunity monitored atmospheric dust and
then monitored dust on the rover mast assembly. The rover restarted the Mossbauer
spectrometer and spent about 12 hours integrating data from Lyell_1 with the
instrument. Opportunity acquired a 5-by-1 tier of navigation camera images and,
after communicating with Odyssey, went into a mini-deep sleep.
Sol 1392: Opportunity restarted the Mossbauer spectrometer integration
of Lyell_1 and spent about 12 hours collecting data with the instrument. Opportunity
acquired a 4-by-1 mosaic of images looking downslope at a target known as ''Gilbert.''
The rover went into a mini-deep sleep.
Sol 1393: Upon solar array wakeup, Opportunity measured atmospheric dust and
acquired Part 1 of a panoramic camera mosaic of foreground images. Opportunity
spent another 12 hours engaged in Mossbauer spectrometer analysis of Lyell_1
and, after communicating with Odyssey, went into a mini-deep sleep.
Sol 1394: Following solar array wakeup, Opportunity monitored atmospheric dust
and acquired Part 2 of the panoramic camera mosaic of foreground images. The
rover conducted a survey at high Sun with the panoramic camera, restarted the
Mossbauer spectrometer, and spent about 12 hours integrating data from
the instrument. The rover went into a mini-deep sleep.
Sol 1395 (Dec. 27, 2007): Upon solar array wakeup, Opportunity measured atmospheric
dust and scanned the sky for clouds with the navigation camera. Opportunity
swung the robotic arm out of the way of the hazard avoidance camera, acquired
full-color images of Lyell_1 using all 13 filters of the panoramic camera, and
swung the robotic arm back into place over Lyell_1. The rover acquired stereo
microscopic images of Lyell_1 and placed the alpha-particle X-ray spectrometer
on Lyell_2. After communicating with Odyssey, Opportunity spent approximately
17 hours integrating Mossbauer spectrometer data from Lyell_2. The following
morning, after communicating with Odyssey, Opportunity was scheduled to measure
atmospheric dust and take thumbnail images of the sky with the panoramic camera.
Odometry
As of sol 1395 (Dec. 27, 2007), Opportunity's total odometry remained at 11,591.21
meters (7.2 miles).
Opportunity Enjoys Ample Power ... for Now
sol 1382-1388, Feb. 6, 2008
As Martian winter deepens at Opportunity's location, solar power will slowly decrease, now that the Sun has begun to drop toward the northern horizon. The sub-solar point -- where the Sun's rays are exactly perpendicular to the rover -- passed the Opportunity site on Nov. 30, 2007 (Sol 1368). Since then, the Sun has been north of Opportunity, making the preferred tilt of the rover's solar array toward the north for maximum power production.
For the time being, Opportunity has been generating a little more than 600 watt-hours of solar power each Martian day (enough energy to light a 100-watt bulb for more than six hours). Measurements of atmospheric opacity caused by dust, known as Tau, have hovered between 7.0 and 8.0, and the solar arrays have been relatively clean, with dust factors of around 0.8 (a dust factor of 1.0 corresponds to a perfectly clean array).
Martian autumn in the southern hemisphere, where Opportunity is located, began on Dec. 9th, 2007 (Sol 1378). Martian winter officially begins June 25, 2008 (Sol 1571).
Opportunity continues to study the so-called "bathtub ring," a lighter-colored layer of rock inside "Victoria Crater." The ring is believed to be the original martian surface before it was buried beneath material thrown out when a meteor crashed into the surface and formed the crater. Most of the ejecta blanket fell nearby and created a ramp that rises from the original surface to a lip around the rim. Below the lip lies the "bathtub ring." Rover science team members have subdivided this ring of rocks into three layers and nicknamed them "Steno," "Smith," and "Lyell" -- in honor of famous geologists of the 17th through 19th centuries.
Investigation of Steno, the top layer, and Smith, the middle layer, is now complete. Opportunity then drove 6.89 meters (22.6 feet) from an exposure known as "Smith_1" to a feature on the Lyell layer called "Newell." Within Newell, Opportunity has selected a new target position nicknamed "Lyell_1." It is this target that consumed most of Opportunity's attention during the past week.
Opportunity began its investigation of "Lyell_1" by taking a stereo (three-dimensional) mosaic of microscopic images. Because the terrain is rough, the rover collected more microscopic images than usual to ensure that some would be at the best focus. Opportunity then collected data from the undisturbed rock surface using the alpha-particle X-ray spectrometer. This spectrometer provides information about the elements in the rock, from which scientists can infer the rock's chemical composition.
After that, Opportunity prepared to bore into the target with the rock abrasion tool. Because an encoder on the tool has failed, Opportunity uses a special, two-part sequence. During the first part, known as a "grind scan," Opportunity gently extends the grinding bit onto the rock. Electrical currents and switch contacts allow a fairly accurate determination of where the rock surface actually is relative to the rover. During the second part, Opportunity applies a small preload of 10 newtons (or about 2.25 pounds of force) to slowly push the grind bit into the rock. As the surface is worn away, the bit travels deeper into the rock.
This time, however, Opportunity had a problem with the grind scan. The grind bit seemed to come into contact with the rock several millimeters (about 1/8th inch) before it was expected to do so. Measurements indicated the bit wasn't exactly perpendicular to the rock and the side tilted toward the surface had made contact a little early.
Following further analysis, the science team decided the tool's orientation was acceptable and proceeded with the grind the following sol (Martian day). As there wasn't enough time in a single day to bore as deeply as scientists had hoped, they continued the grind the next sol. At the end of the second grind, the rover moved the robotic arm out of the way to take images of the hole with the panoramic camera. Opportunity then placed the arm back over the hole, inserted the alpha-particle X-ray spectrometer in the hole, and began collecting compositional data about the interior of the rock, beneath the dust and weathered surface. Comparison of the results before and after the grind should indicate how the rock has been altered over geologic time.
Opportunity is healthy and all subsystems are operating as expected.
Sol-by-sol summary
In addition to morning uplinks directly from Earth via the rover's high-gain antenna, evening downlinks to Earth via the Odyssey orbiter at UHF frequencies, and standard measurements of atmospheric opacity caused by dust using the panoramic camera, Opportunity completed the following activities:
Sol 1382 (Dec. 13, 2007): Opportunity stowed the robotic arm, drove to Lyell, and acquired hazard avoidance camera images before and after finishing the drive. The rover used the panoramic camera to complete a quick fine attitude, in which the rover corrects for changes over time in the inertial measurement unit by checking the rover's precise position relative to the Sun. Opportunity unstowed the robotic arm and acquired a 360-degree panorama of images with the navigation camera. After relaying data during the overpass of the Odyssey orbiter, the rover went into a deep sleep.
Sol 1383: Opportunity took images of the sky for calibration purposes with the panoramic camera. After the overhead pass of the Odyssey orbiter, the rover went into a deep sleep. When the Sun's rays energized the solar array the next morning, Opportunity surveyed the horizon with the panoramic camera.
Sol 1384: Opportunity acquired stereo microscopic images of Lyell_1 and placed the alpha-particle X-ray spectrometer on the target. After communicating with Odyssey, Opportunity spent 16.5; hours collecting data with the spectrometer.
Sol 1385: Opportunity acquired a mosaic of images of Lyell_1 with the panoramic camera and, after communicating with the Odyssey orbiter as it passed overhead, spent 7.25 hours collecting data from Lyell_1 with the alpha-particle X-ray spectrometer. The rover went into a mini-deep sleep.
Sol 1386: Opportunity completed a grind scan on Lyell_1 with the rock abrasion tool and acquired a mosaic of images of the target using the panoramic camera. After sending data to Odysssey, Opportunity spent 6 hours measuring atmospheric argon with the alpha-particle X-ray spectrometer. The rover went into a mini-deep sleep. The following morning, Opportunity took thumbnail images of the sky with the panoramic camera.
Sol 1387: Opportunity ground into Lyell_1 with the rock abrasion tool. After sending data to Odyssey, Opportunity went into a deep sleep. The next morning, Opportunity completed "sunfind" activities -- a process of searching for the Sun to determine the rover's precise heading -- in support of the Mars Science Laboratory mission, scheduled for launch in 2009. The rover took spot images of the sky with the panoramic camera.
Sol 1388 (Dec. 19, 2007): Opportunity continued the grind into Lyell_1, swung the robotic arm out of view of the panoramic camera, and acquired images of Lyell_1 with the panoramic camera and the front hazard avoidance camera. The rover placed the alpha-particle X-ray spectrometer back on the target and, after sending data to Odyssey while the orbiter passed overhead, acquired 16.5; hours worth of data with the spectrometer. The next morning, Opportunity scanned the sky for clouds with the navigation camera.
Odometry
As of sol 1388 (Dec. 19, 2007), Opportunity's total odometry was 11,591.21 meters (7.2 miles).
Rover Finds Way to Brush Rock Surfaces Despite Setbacks
sol 1343-1348, Nov 13, 2007
Opportunity is still parked in front of the rock layer known as "Smith" inside Victoria Crater. The rover has now lost two encoders that operate motors on the rock abrasion tool during the grinding and brushing of surfaces. Science team members and engineers have been working in test beds and computer sequencing rooms to devise creative ways of using the rock abrasion tool without the grind and revolve encoders.
On sol 1347 (Oct. 7, 2007), they achieved their goal when Opportunity successfully completed a new, seek-scan procedure. Using this technique, the rover locates a rock surface by simultaneously spinning its grind teeth and wire brush while also extending toward the rock surface. Normally, the rock abrasion tool software monitors the safe operation of the grind or brush using the two encoders, which detect stalls that can occur during grinding and encoding. In the event of a stall, the encoders measure the z-axis position (the point where the rock abrasion tool contacts the rock surface). Without the encoders, engineers must rely on current limits and contact switches to know when grind teeth come into contact with a rock surface.
Opportunity followed a command to run both the grind and revolve motors along with a parallel command to move in toward the rock surface. When the rock abrasion tool made contact with the surface, contact switches disengaged, ending the activity. The following day, sol 1348 (Oct. 8, 2007), the science team directed the rover to retract the rock abrasion tool 1 millimeter and brush the surface. The brushing proceeded as planned!
Grind testing will continue next week using a rock abrasion tool with new grind bits on a surrogate rover on Earth in preparation for grinding new targets on Smith.
Opportunity is also scheduled to test communications next week with NASA's Mars Reconnaissance Orbiter. This test, along with other tests conducted recently with the European Space Agency's Mars Express orbiter, are demonstrations of the capability to conduct UHF communications in preparation for next year's arrival of the Phoenix lander.
Opportunity's solar array energy has been approximately 670 watt-hours (100 watt-hours is the amount of energy needed to light a 100-watt bulb for one hour) per sol with atmospheric dust opacity, known as tau, of 0.87.
Sol-by-sol summary:
In addition to morning uplinks directly from Earth via the rover's high-gain antenna, evening downlinks to Earth via the Odyssey orbiter at UHF frequencies, standard measurements of atmospheric dust with the panoramic and navigation cameras, and surveys of the horizon with the panoramic camera, Opportunity completed the following activities:
Sol 1343 (Nov. 3, 2007): Opportunity ran diagnostic tests of the rock abrasion tool and collected compositional data from Smith using the Mössbauer spectrometer. The rover relayed data overnight to Odyssey.
Sol 1344: Opportunity continued to acquire compositional data from Smith with the Mössbauer spectrometer and scanned the sky for clouds with the navigation camera. Opportunity took full-color images, using all 13 filters of the panoramic camera, of a rock target known as "Jin," and took panoramic camera images of Smith and the rock layer known as "Lyell."
Sol 1345: Opportunity continued the compositional analysis of Smith with the Mössbauer spectrometer and monitored dust on the camera mast. The rover acquired color images using all 13 filters of the panoramic camera of a rock target dubbed "Gressly," scanned the sky for clouds, and took thumbnail images of the sky with the panoramic camera.
Sol 1346: Opportunity ran more diagnostic tests of the rock abrasion tool, placed the Mössbauer spectrometer back on Smith, and collected 11 hours' worth of compositional data with the instrument. The rover acquired a mosaic of images of Lyell as well as spot images of the sky with the panoramic camera.
Sol 1347: Opportunity completed a seek-scan procedure with the rock abrasion tool (during which the rover locates a rock surface by simultaneously spinning its grind teeth and wire brush while extending toward the rock surface). In addition, Opportunity took panoramic camera images of Lyell, measured atmospheric argon with the alpha-particle X-ray spectrometer, relayed data to the Odyssey orbiter overnight, and scanned the sky for clouds with the navigation camera.
Sol 1348 (Nov. 8, 2007): Plans called for Opportunity to complete an encoder-less brush of the surface of Smith, acquire microscopic images of Smith, place the alpha-particle X-ray spectrometer on Smith, and study composition of Smith with the spectrometer. The rover was to take panoramic camera images of "Cabo Frio," a promontory at the rim of Victoria Crater. Opportunity was to acquire full-color images, using all 13 filters of the panoramic camera, of a layered rock target known as "Brongniart."
Odometry:
As of sol 1348 (Nov. 8, 2007), Opportunity's total odometry remained at 11,584.32 meters (7.2 miles).
Rock Abrasion Tool Shows Anomalous Behavior
sol 1336-1342, Nov 12, 2007
During the past week, Opportunity continued to investigate the rock layer known as "Smith," the second of three "bathtub-ring" layers of rock inside "Victoria Crater." The vehicle is mostly healthy, except for a recent anomaly involving the rock abrasion tool.
Planned operations with the rock abrasion tool failed on Martian day, or sol, 1334 (Oct. 25, 2007), during both the calibration and grind-scan (the procedure for placing the instrument on the target). Data from the vehicle indicated unusual behavior in the encoder of the revolve motor.
On sols 1336 (Oct. 27, 2007) and 1339 (Oct. 30, 2007), the rover conducted diagnostic tests of the rock abrasion tool. Data from the actuator that makes the rock abrasion tool revolve indicated that the encoder was functioning as expected. However, the encoder for the actuator that causes the rock abrasion tool to grind has not been functioning since it failed on sol 1045 (Jan. 1, 2007). Based on the test results, the team decided to go ahead and retry the grind-scan procedure on sol 1341 (Nov. 1, 2007).
Sol-by-sol summary:
In addition to standard observations that included measurements of atmospheric dust with the panoramic and navigation cameras, surveys of the horizon with the panoramic camera, and transfers of data to Earth via the Odyssey orbiter, Opportunity completed the following activities:
Sol 1336 (Oct. 27, 2007): Opportunity conducted diagnostic tests of the rock abrasion tool, placed the Mössbauer spectrometer on Smith, and acquired full-color images of a rock target known as "Walther" using all 13 filters of the panoramic camera. The rover acquired panoramic camera images of the band of rock known as "Lyell" and acquired data from Smith using the Mössbauer spectrometer. The next morning, the rover took a mosaic of images of the lower part of Lyell.
Sol 1337: Opportunity re-started the Mössbauer spectrometer for continued analysis of Smith, completed a survey of the sky at high sun with the panoramic camera, and acquired images of a rock target known as "Ronov" with the panoramic camera. The next morning, Opportunity surveyed and took thumbnail images of the sky with the panoramic camera.
Sol 1338: Opportunity conducted diagnostic tests of the rock abrasion tool and looked for iron-bearing minerals with the Mössbauer spectrometer. The rover acquired panoramic camera images of targets called Lyell, "Lyell NorthPart2," and "Lyell SouthPart2," as well as full-color images of a rock target known as "Sorby" with all 13 filters of the panoramic camera. The following morning, Opportunity surveyed and took spot images of the sky with the panoramic camera.
Sol 1339: Opportunity ran more diagnostic tests of the rock abrasion tool and resumed analysis of iron-bearing minerals in Smith with the Mössbauer spectrometer. Opportunity acquired additional panoramic camera images of Lyell. After communicating with the Odyssey orbiter during its overhead pass, Opportunity surveyed the sky at low sun with the panoramic camera.
Sol 1340: Opportunity re-started the Mössbauer spectrometer for continued studies of Smith and acquired additional image mosaics of Lyell using the panoramic camera.
Sol 1341: Plans called for Opportunity to again follow the grind-scan procedure for placing the rock abrasion tool on the target. The rover was to acquire full-color images of a rock target known as "Oppel" and watch the sky for clouds. After communicating with Odyssey, the rover was to turn the alpha-particle X-ray spectrometer skyward and measure atmospheric argon and watch for clouds in the sky.
Sol 1342 (Nov. 2, 2007): Plans called for Opportunity to acquire panoramic camera images of "Cape Verde," on the rim of Victoria Crater. Opportunity was then to go into a deep sleep and not conduct any science activities on the morning of sol 1343 (Nov. 3, 2007).
Odometry:
As of sol 1340 (Oct. 31, 2007), Opportunity's total odometry was 11,584.32 meters (7.2 miles).
Opportunity Prepares for Arrival of Phoenix While Exploring "Victoria Crater"
sol 1329-1335, Nov 06, 2007
Opportunity is healthy and receiving an average of 685 watt-hours of energy from the solar arrays (that's enough energy to run a 100-watt lightbulb for almost 7 hours). On sol (Martian day) 1327 (Oct. 18, 2007), the rover backed away from the "Steno" rock layer inside "Victoria Crater" to move within reach of the "Smith" rock layer a few meters deeper into the crater. However, the rover terminated the drive earlier than planned when stereo images in the visual odometry system, which enables the rover to use computer smarts to compare stereo images and accurately determine the rover's location, failed to line up properly. Opportunity re-pointed the cameras, acquired new stereo images for visual odometry, and completed the drive to Smith on sol 1329 (Oct. 20, 2007).
On Sol 1330 (Oct. 21, 2007), Opportunity supported a communications test on behalf of the Phoenix mission that demonstrated that large data sequences could be sent from Earth via the European Space Agency's Mars Express orbiter. The test involved multiple transmissions that were reassembled successfully on board by Opportunity. The rover recognized and received all four data sequences.
On sol 1332 (Oct. 23, 2007), Opportunity began a campaign that included acquiring a stereo (3D) microscopic image mosaic of Smith as well as compositional data about the rock outcrop. The following day, Sol 1333 (Oct. 24, 2007), Opportunity took panoramic camera images of a target known as "Sharp" -- a sequence of fine rock layers -- at different times of day to determine how the images were affected by changes in illumination. The day after that, sol 1334 (Oct. 25, 2007), Opportunity completed the first of a two-step process for brushing the surface of Smith. Plans called for Opportunity to finish the brushing sequence over the weekend, on sol 1336 (Oct. 27, 2007).
Sol-by-sol summary:
In addition to standard observations that included measurements of atmospheric dust with the panoramic and navigation cameras, surveys of the sky and ground with the miniature thermal emission spectrometer, and transfers of data to Earth via the Odyssey orbiter, Opportunity completed the following activities:
Sol 1329 (Oct. 20, 2007): Opportunity took pre-drive, full-color, panoramic camera images of a two-toned rock target known as "Sedgwick" as well as images of "Cape Verde," a rock promontory. The rover stowed the robotic arm and drove to Smith. Opportunity then acquired post-drive images with the hazard avoidance cameras, rearward - and forward-looking images with the navigation camera, and unstowed the robotic arm. The next morning, Opportunity took thumbnail images of the sky with the panoramic camera.
Sol 1330: Opportunity used the navigation camera to survey surfaces in the rover's shadow to characterize the brightness of the sky as well as dust on the camera itself. After the overhead pass of the Odyssey spacecraft, the rover spent 7 hours measuring atmospheric argon using the alpha-particle X-ray spectrometer. In the evening, Opportunity communicated with Mars Express at UHF frequencies. The next morning, the rover surveyed the horizon with the panoramic camera.
Sol 1331: After measuring atmospheric dust, Opportunity took a nap until 2:30 p.m. local Mars time. The rover surveyed the sky with the panoramic camera while continuing to monitor atmospheric dust. In the morning, Opportunity acquired full-color images, using all 13 filters of the panoramic camera, of iron-bearing particles accumulated on the rover's external magnets. The rover also monitored dust accumulation on the mast.
Sol 1332: Opportunity acquired a panel of stereo microscopic images of Smith, including extra images to improve the signal-to-noise ratio (eliminate random interference) resulting from dust accumulation on the microscopic imager. The rover placed the alpha-particle X-ray spectrometer on Smith, acquired panoramic camera images of a rock layer called "Lyell," and, after communicating with Odyssey, acquired data from Smith with the alpha-particle X-ray spectrometer. The next morning, the rover surveyed the sky, took spot images of the sky, and surveyed the horizon with the panoramic camera.
Sol 1333: Opportunity took panoramic camera images of both Sharp and Lyell. After transmitting data to Odyssey, the rover resumed collecting data from Smith with the alpha-particle X-ray spectrometer. The next morning, the rover took thumbnail images of the sky, spot images of the sky, and surveyed the horizon with the panoramic camera.
Sol 1334: Opportunity positioned the rock abrasion tool on Smith (the first step of the process for brushing the surface) and acquired panoramic camera images of rock targets known as "Kuenen" and "Lapworth." The next morning, the rover surveyed the sky with the panoramic camera, monitored dust accumulation on the rover mast assembly, and took spot images of the sky with the panoramic camera.
Sol 1335 (Oct. 26, 2007): Plans called for Opportunity to acquire panoramic camera image mosaics of Lyell, including specific targets known as "Lyell South" and a custom mosaic of a target called "Lyell Top." The rover was also to acquire panoramic camera images of a rock target known as "Conybeare." The following morning, the rover was to take thumbnail images of the sky and survey the horizon with the panoramic camera.
Odometry:
As of sol 1332 (Oct. 23, 2007), Opportunity's total odometry was 11,584 meters (7.2 miles).
Opportunity Descends Deeper into "Victoria Crater"
sol 1322-1328, Nov 05, 2007
After successfully maneuvering into position and collecting additional scientific data from the top layer of the ring of light-colored rocks inside "Victoria Crater," Opportunity drove even farther into the crater's interior. Both "Steno," which the rover has been studying, and the next-lowest layer of light-colored rock, nicknamed "Smith," are part of a light-colored band of material that circumvents the interior of Victoria Crater partway below the surface.
Opportunity is in excellent health and has been receiving an average of 655 watt-hours per Martian day from the rover's solar arrays (100 watt-hours is the amount of energy needed to light a 100-watt bulb for 1 hour).
On sol 1321 (Oct. 12, 2007), Opportunity successfully stowed the robotic arm and "bumped" a short distance to a second target on Steno. At the new target, nicknamed "Hall," Opportunity acquired an extra-large mosaic of stereo (3D) microscopic images. A typical microscopic image mosaic consists of 5 to 7 frames. In this case, Opportunity acquired 18 frames at multiple focal distances to help eliminate dust in the images. Opportunity also spent 17 hours and 45 minutes collecting compositional data about Hall with the alpha-particle X-ray spectrometer.
On Monday and Tuesday, Opportunity did not have coverage from NASA's Deep Space Network of antennas and spent the time collecting remote sensing data from science targets. The rover executed two sols of "run-out," when the rover follows the same control sequence but does not conduct any new science investigations. On such occasions, the rover transmits data as usual and attempts to activate a new master sequence of instructions the following sol.
Sol-by-sol summary:
In addition to standard observations that included measurements of atmospheric dust with the panoramic and navigation cameras, surveys of the sky and ground with the miniature thermal emission spectrometer, and transfers of data to Earth via the Odyssey orbiter, Opportunity completed the following activities:
Sol 1322 (Oct. 13, 2007): Opportunity surveyed the grinding bit on the rock abrasion tool and acquired a 1-by-1-by-18 stereo, microscopic image mosaic of the rock target known as Hall. Opportunity collected 17 hours and 45 minutes worth of compositional data from Hall using the alpha-particle X-ray spectrometer. The next morning, the rover surveyed the sky with the panoramic camera.
Sol 1323: Opportunity completed another survey of the sky at high sun using the panoramic camera, then scanned the sky for clouds using the navigation camera. After taking thorough measurements of atmospheric dust, the rover went into a deep sleep. The next morning, Opportunity took spot images of the sky with the panoramic camera and scanned the sky for clouds with the navigation camera.
Sol 1324: Opportunity did not conduct new science activities because the rover did not have coverage from the Deep Space Network.
Sol 1325: Opportunity did not conduct new science activities because the rover did not have coverage from the Deep Space Network.
Sol 1326: Opportunity did not conduct new science activities because the rover did not have coverage from the Deep Space Network.
Sol 1327: Opportunity acquired a mosaic of images looking up toward "Cape Verde," a promontory on the rim of Victoria Crater, using the panoramic camera. The rover acquired full-color images of Smith using all 13 filters of the camera. Opportunity stowed the robotic arm and acquired full-color images of Hall, then drove toward the layer known as Smith. Following the drive, Opportunity took images of the surrounding terrain with the hazard avoidance and navigation cameras and unstowed the robotic arm. After communicating with the Odyssey orbiter, the rover went into a deep sleep. The next morning, the rover took spot images of the sky with the panoramic camera and searched for clouds with the navigation camera.
Sol 1328 (Oct. 19, 2007): Plans called for Opportunity to acquire thumbnail images of the sky with the panoramic camera, scan the sky for clouds with the navigation camera, and acquire data from the external calibration target with the miniature thermal emission spectrometer. The rover was scheduled to take a nap until 2 p.m. local Mars time and acquire a mosaic of atmospheric dust with the panoramic camera. The following morning, Opportunity was to survey the sky with the panoramic camera.
Odometry:
As of sol 1327 (Oct. 18, 2007), Opportunity's total odometry was 11,577.99 meters (7.19 miles).
Opportunity Studies Rock Composition and Changes in Atmosphere
sol 1316-1321, Nov 05, 2007
Though atmospheric dust has returned to nearly pre-dust storm levels, Opportunity's solar arrays are still dustier than before the storm, keeping power levels about 200 watt-hours lower than pre-storm levels. Opportunity continues to generate solar power levels of more than 600 watt-hours per Martian day, or sol (100 watt-hours is the amount of energy required to light a 100-watt bulb for one hour), with the help of wind-related cleaning of the solar panels. The spacecraft is healthy.
Opportunity has been studying the so-called "bathtub ring," a light band of rock that appears to circle Victoria Crater partway below the surface. Scientists think the band may be the remains of the original surface of Meridiani Planum before a meteor blasted out the crater. The ring itself appears to have three layers, originally dubbed "alpha," "beta" and "gamma" after the first three letters of the Greek alphabet, but now renamed "Steno," "Smith" and "Lyell," in honor of pioneering geologists of the 17th and 18th centuries.
Opportunity is to complete studies of Steno after grinding a hole into the rock surface with the rock abrasion tool and acquire a final set of observations that include measurements with the Mössbauer spectrometer.
The two spectrometers on Opportunity provide different kinds of information. The alpha-particle X-ray spectrometer is a general-purpose spectrometer that helps determine the chemical composition of the rocks. The Mössbauer spectrometer is specifically designed to study iron-bearing minerals, which are abundant on Mars and give the planet its red-orange color. Both spectrometers rely on radioactive energy sources but the one in the Mössbauer spectrometer has a shorter half-life. That means it gets weaker faster. As a result, Mössbauer integrations now take longer, typically as many as 60 hours to acquire useful data. The rover acquires the observations over several sols.
To conserve battery power, which relies on sunlight as a source of energy, Opportunity sleeps at night. Opportunity happens to have a heater stuck in the "on" position that draws additional power. Mechanical thermostats added to the mission just before it was launched in 2003 prevent the heater from running during the daytime. But the heater continues to draw power at night.
Scientists plan to move Opportunity to a second spot on Steno for continued investigation. Before moving, Opportunity must stow the robotic arm. If the stow is successful, plans call for the rover to back uphill and aim high to compensate for potential slip on the steep slope of Victoria Crater before driving forward.
Plans also call for the rover to measure atmospheric argon. Argon is a trace gas in the Martian atmosphere, comprising about 1.6 percent (the bulk of the Martian atmosphere is carbon dioxide, the same gas that gives soft drinks their fizz). Argon is one of the noble gases, so named because they don't react chemically with other substances. It is always a gas. Water, on the other hand, can be a gas (water vapor), a liquid (cloud, mists, and rain), or a solid (ice, snow, sleet, and hail). Water can also bind physically or chemically to other substances in the air, such as dusts and soots, smog, and acid rain.
Because argon is always in one physical state (a gas) that is unadulterated by other substances, it can be used as a barometer. When atmospheric pressure is high, there's more argon in the field of view. When it's low, there's less argon. Measurements of the gas with the alpha-particle X-ray spectrometer track changes in Mar's atmospheric pressure as a result of changes in global energy flows, dust storms, and Mars' position relative to the Sun.
On sol 1320 (Oct. 11, 2007), Opportunity is scheduled to take a series of nine microscopic images within a minute or two at exactly the same spot. By adding the pixels (picture elements), engineers can reduce the amount of "noise" -- random, microscopic overexposures or underexposures -- within the image. Such noise is a constant in nature. By combining the pixels, engineers can average out the noise to reveal details and fine texture that would otherwise be obscured.
Sol-by-sol summary:
In addition to daily observations that included measurements of atmospheric dust with the panoramic and navigation cameras, surveys of the sky and ground with the miniature thermal emission spectrometer, and transfers of data to Earth via the Odyssey orbiter, Opportunity completed the following activities:
Sol 1316 (Oct. 6, 2007): Opportunity acquired stereo microscopic images of Steno, studied the rock's composition with the alpha-particle X-ray spectrometer, and checked for drift (changes with time) in the miniature thermal emission spectrometer.
Sol 1317: Opportunity acquired data from Steno using the Mössbauer spectrometer, went into a mini-deep sleep, and checked for drift in the miniature thermal emission spectrometer.
Sol 1318: Opportunity restarted the Mössbauer spectrometer for continued observation of Steno for 24 hours. The rover took thumbnail images of the sky and a mosaic of images of a target known as "Dolomieu" using the panoramic camera. The rover checked for drift in the miniature thermal emission spectrometer.
Sol 1319: Plans called for Opportunity to restart the Mössbauer spectrometer for 11 hours of observation of Steno and acquire images with the panoramic camera as well as check for drift in the miniature thermal emission spectrometer. The rover was to wake up at 11:20 p.m. local Mars time to turn off the Mössbauer spectrometer before returning to a mini-deep sleep. The following morning, Opportunity was to take thumbnail images of the sky with the panoramic camera and scan the sky for clouds with the navigation camera.
Sol 1320: Plans called for Opportunity to take microscopic images of a hole ground into the surface of Steno with the rock abrasion tool and spend 23 hours observing the same surface with the Mössbauer spectrometer. Opportunity was also slated to acquire full-color images, using all 13 filters of the panoramic camera, of a target known as "Arduino" and survey the horizon and take thumbnail images of the sky with the panoramic camera.
Sol 1321 (Oct. 12, 2007): Plans called for Opportunity to stow the robotic arm, bump backward a short distance, take images with the hazard avoidance camera along the way as well as navigation camera images after the drive, and acquire panoramic camera images of the work volume reachable by the robotic arm. The rover was to acquire post-drive images with the navigation camera, unstow the robotic arm, measure atmospheric argon with the alpha-particle X-ray spectrometer, monitor dust on the rover mast, and check for drift in the miniature thermal emission spectrometer.
Odometry:
As of sol 1321 (Oct. 12, 2007), Opportunity's total odometry remained at 11,572.94 meters (7.19 miles).
Rover Gets Energy Boost, Compensates for Stalled Joint
sol 1309-1315, Nov 05, 2007
During the past week, wind-cleaning events have increased Opportunity's solar power levels to more than 600 watt-hours per sol, or Martian day (that's enough energy to light a 100-watt bulb for six hours).
Opportunity is perched on the edge of "Victoria Crater" at a tilt of almost 25 degrees. The rover's handlers have been very careful about moving the robotic arm so as to avoid potentially causing the rover to slip or slide. So far, tests have shown that Opportunity is stable enough to continue using the arm, though operation was thwarted temporarily by failures of the shoulder joint motor. Engineers overcame that difficulty by increasing the electrical current to increase the torque. One theory they are investigating is that the extra load of moving the arm upslope in addition to moving the arm upward and laterally caused it to stall. Subsequent motions have been successful with the higher current.
The third try was the charm when engineers increased the current to the shoulder joint motor on sol 1311 (Oct. 1, 2007), after two stalls of the motor on sols 1307 and 1309 (Sept. 27 and Sept. 29, 2007). Opportunity was then able to complete all planned activities, particularly studies of a rock target known as "Steno," named after Danish geologist Nicholas Steno, who lived from 1638 to 1686. Steno is in the uppermost of the three rock layers that make up the so-called "bathtub ring" of light-colored rock inside "Victoria Crater."
After acquiring microscopic images and compositional data with the alpha article X-ray spectrometer, Opportunity brushed the surface with the rock abrasion tool and collected more microscopic images and compositional data using the alpha-particle X-ray spectrometer on sol 1313 (Oct. 3, 2007).
Opportunity follows two steps for using use the rock abrasion tool to avoid potential damage to the tool. The first is initial placement; the second is operation. Opportunity completed the first step, known as a scan, on Sol 1312 (Oct. 2, 2007), and the second step, the actual brushing, on sol 1313 (Oct. 3, 2007). Scientists plan additional studies of the rock in coming sols.
Microscopic images and data from the alpha-particle X-ray spectrometer enable scientists to investigate the texture and composition of the rock. Brushing enables them to clear away dust and loose material to expose the underlying surface. Grinding enables them to examine the interior of the rock before it was eroded by wind, water, heat, and cold.
When taking microscopic images, the rover generally takes stacks of pictures. To do this, Opportunity places the camera just above the target at a position predicted to have the best focus. The rover then moves the camera down slightly (typically 3 millimeters, or about 0.12 inch) to take another picture. Opportunity completes this task five times, taking images one above the other. Successive snapshots provide a sharp focus of all parts of a surface if it is uneven. Sometimes Opportunity tilts the camera slightly to change the viewpoint and create a stereo (3-D) image.
Sol-by-sol summary:
In addition to daily observations that included measurements of atmospheric dust with the panoramic and navigation cameras and surveys of the sky and ground with the miniature thermal emission spectrometer, Opportunity completed the following activities:
Sol 1309 (Sept. 29, 2007): Opportunity conducted safety tests of the robotic arm, acquired images of the bit (grinding surface) of the rock abrasion tool, acquired stereo microscopic images of Steno, and collected 6 hours of compositional data about the target using the alpha-particle X-ray spectrometer. The rover went into a mini-deep sleep. The next morning, the rover took thumbnail images of the sky with the panoramic camera.
Sol 1310: Opportunity checked for drift (changes with time) in the miniature thermal emission spectromeer and recalibrated the panoramic camera. The rover went into a deep sleep. The following morning, Opportunity again checked for drift in the miniature thermal emission spectrometer.
Sol 1311: Opportunity completed another safety test of the robotic arm and acquired images of the bit on the rock abrasion tool. The rover spent 6 hours collecting compositional data from Steno with the alpha-particle X-ray spectrometer. The following morning, Opportunity surveyed the horizon with the panoramic camera and monitored dust on the rover mast.
Sol 1312: Opportunity placed the rock abrasion tool on the surface of Steno and after transmitting data as usual to Odyssey, went into a deep sleep. The following morning, the rover acquired rearward-looking views with the navigation camera and checked for drift in the miniature thermal emission spectrometer.
Sol 1313: Opportunity brushed the surface of Steno with the rock abrasion tool and acquired stereo microscopic images of the brushed surface. The rover placed the alpha-particle X-ray spectrometer on the brushed surface, recalibrated the panoramic camera, and spent 6 1/2 hours collecting compositional data with the alpha-particle X-ray spectrometer. Opportunity went into a mini-deep sleep and the following morning, acquired a forward-looking mosaic of images with the navigation camera. The rover checked for drift in the miniature thermal emission spectrometer.
Sol 1314: Plans called for Opportunity to again place the rock abrasion tool on the surface of Steno and conduct remote sensing.
Sol 1315 (Oct. 5, 2007): Plans called for Opportunity to continue remote sensing activities.
Odometry:
As of sol 1315 (Oct. 5, 2007), Opportunity's total odometry remained at 11,572.94 meters (7.19 miles).
Opportunity Studies "Bathtub Ring" In "Victoria Crater"
sol 1301-1308, Nov 01, 2007
Opportunity is healthy, with energy levels ranging from about 450 watt-hours to 475 watt-hours (100 watt-hours is the amount of electricity needed to light a 100-watt bulb for one hour).
Recently, Opportunity was temporarily unable to send scientific data to Earth because the Odyssey orbiter experienced a computer crash and went into "safing" mode. While in safing mode, the spacecraft shuts off unnecessary power loads, orients itself for maximum sunlight to the solar arrays, switches to communication modes most likely to receive commands from Earth, and basically stops all unnecessary activity while waiting for the folks back home to fix it and put it back in service.
While in safing mode, Odyssey did not send communications from either Mars rover. Opportunity continued to collect as much science as possible while waiting for Odyssey to be fixed.
After Odyssey was back in service, Opportunity began making up for lost time. Following a series of "toe dips," during which the rover drove a short way into "Victoria Crater" and backed out again, then drove a little farther and backed out again, Opportunity began examining the crater's interior.
Victoria Crater is interesting because it affords a chance to study rock layers down to a depth of about 70 meters (230 feet) below the surrounding surface. The modern surface isn't the original surface -- it has been altered by an incoming meteor. When a meteor strikes, it throws up a huge amount of debris that falls back around the crater and creates an "ejecta blanket." This blanket is thickest near the crater rim and thinnest farther away from the crater.
Below Victoria's raised rim is a light-colored band nicknamed the "bathtub ring." Scientists hypothesize that this band is the dividing line between the original surface and the ejecta blanket above it. Opportunity has now reached this area -- but not without difficulty.
To reach the ring, Opportunity drove across a slope of about 25 degrees, nearly the maximum allowable tilt for the rover. The rover approached the ring on sol 1302 (Sept. 22, 2007) and then partially drove and partially slipped into closer position. On sol 1305 (Sept. 25, 2007), the rover unstowed the robotic arm and began studying the rocks that make up the top, or "Alpha," layer of the ring. Below that are two more layers, known as "Beta" and "Gamma," respectively.
Halfway through the last short drive of about 20 centimeters (8 inches), Opportunity automatically stopped when the rover violated the tilt limit. As a result, the rover drove laterally about 10 centimeters (4 inches) and then slid downslope 10 centimeters (4 inches). Subsequent analysis suggested that one of the downslope wheels rolled off a slight curb, producing a jolt that caused the rover to slip. Images showed that the rover had stopped on a hard outcrop of rock rather than sand or soil and was unlikely to slip farther.
Given the steep slope, Opportunity was extremely careful about moving the robotic arm. Before placing it on Alpha Layer, Opportunity moved the arm out, to the left, and to the right, while also checking for any vehicle motion with both the inertial measurement unit and cameras. The first rock target was dubbed "Steno."
Opportunity continued to conduct untargeted remote sensing by, among other things, measuring Tau, or atmospheric opacity, several times each Martian day, or sol. Now that the dust storms are over, the dust is settling. How fast it settles is of both scientific and engineering interest because it affects solar energy levels. Opportunity also periodically checked deposition and movement of dust on the panoramic camera mast assembly and solar arrays. This provides data for estimating wind directions and speeds, dust particle sizes, and dust composition.
Opportunity performed two "Quick Fine Attitude" checks. These are calibration activities that compensate for drift, or changes in time, in the inertial measurement unit. The unit uses gyroscopes and accelerometers to estimate the rover's motion, from which its position can be calculated. However, the gyroscopes show a slight change in attitude while the rover is still. (Older, mechanical gyroscopes drifted because of friction; newer, electronic gyroscopes drift for more complex reasons.)
The attitude checks compute where the sun should be based on the current time and the rover's movement and then compares this to the actual location of the sun in images from the panoramic camera. The difference forms the basis of the attitude correction for the rover.
Sol-by-sol summary:
In addition to daily observations that included frequent measurements of atmospheric dust with the panoramic and navigation cameras, surveys of the sky and ground with the miniature thermal emission spectrometer, and checks for drift (changes with time) in the miniature thermal emission spectromeer, Opportunity completed the following activities:
Sol 1301 (Sept. 21, 2007): Opportunity acquired panoramic camera images of the foreground, checked for drift in the miniature thermal emission spectrometer, checked the operation of the spectrometer, and surveyed the rover's external calibration target with the spectrometer. Before going into a deep sleep, the rover surveyed the horizon at low sun with the panoramic camera. The next morning, Opportunity monitored dust on the rover mast.
Sol 1302: Opportunity stowed the robotic arm, drove toward Alpha Layer, acquired images with the hazard avoidance cameras just prior to and after completing the drive, and completed a "quick fine attitude" update to confirm the rover's exact location. The rover unstowed the robotic arm, acquired post-drive images with the navigation camera, and acquired panoramic camera images of the work volume (the area reachable by instruments on the robotic arm). After that, Opportunity went into a deep sleep.
Sol 1303: Opportunity assessed the external calibration target with the miniature thermal emission spectrometer, recalibrated the panoramic camera, and spent six hours measuring atmospheric argon with the alpha-particle X-ray spectrometer. The rover went into a mini-deep sleep.
Sol 1304: Opportunity surveyed the external calibration target with the miniature thermal emission spectrometer, recalibrated the panoramic camera, and went into a deep sleep. The next morning, the rover took spot images of the sky with the panoramic camera.
Sol 1305: Opportunity stowed the robotic arm, bumped (drove a short distance) to Alpha Layer, and acquired penultimate and ultimate images with the hazard avoidance cameras. The rover completed a "quick fine attitude" check, acquired panoramic camera images of the work volume, unstowed the robotic arm, and acquired post-drive navigation camera images. Opportunity recalibrated the panoramic camera and went into a deep sleep.
Sol 1306: Opportunity acquired data from the external calibration target with the miniature thermal emission spectrometer and recalibrated the panoramic camera.
Sol 1307: Opportunity completed a "quick fine attitude" check, conducted a safety test with the robotic arm, acquired left-eye images of the alpha-particle X-ray spectrometer with the panoramic camera, and acquired stereo images of Steno with the microscopic imager. The rover placed the alpha-particle X-ray spectrometer on Steno and, after relaying data to Odyssey and recalibrating the panoramic camera, collected data from Steno with the spectrometer for 12 1/2 hours.
Sol 1308 (Sept. 28, 2007): After the usual dust monitoring and imaging activities as well as data relays to Odyssey, Opportunity went into a deep sleep.
Odometry:
As of sol 1308 (Sept. 28, 2007), Opportunity's total odometry was 11,572.94 meters (7.19 miles).
Opportunity Enters Biggest Crater Yet Explored on Mars
sol 1282-1300, Nov 01, 2007
Opportunity took the first tentative steps into "Victoria Crater" after several days of maneuvering carefully to get to the crater's rim. Scientists hope to study a stratigraphic target known as the "Alpha Layer" after the rover enters the crater at "Duck Bay."
Opportunity also took stock of the effects of the severe dust storms on the rover's instruments and solar arrays. As part of a detailed self-examination, Opportunity used the hazard avoidance and panoramic cameras to take images of dust that had accumulated on the camera of the microscopic imager.
Opportunity tried to eject some of the dust from the eye of the microscopic imager on sol 1287 (Sept. 7, 2007). To do this, the rover held the robotic arm carrying the microscopic imager in front of the navigation camera, opened and closed the cover of the microscopic imager, and shook the wrist of the robotic arm. The rover then took images with the microscopic imager itself with the cover both open and closed. This exercise was similar to looking through a camera viewfinder to see if the lens has cleared. Opportunity also took diagnostic images using the navigation camera. The rover then moved the microscopic imager in front of the panoramic camera for another look at the lens from the outside. Then the rover took images of the microscopic imager with the hazard avoidance cameras. Finally, the rover returned the microscopic imager to its usual ready position.
Data sent to Earth showed the maneuvers had minimal effect.
On sol 1288 (Sept. 8, 2007), Opportunity created an unusual self-portrait using the camera of the microscopic imager. The goal of this maneuver was to get a look at the mirror inside the miniature thermal emission spectrometer to figure out why the spectrometer had been returning anomalous readings of late. Images showed that the shroud protecting the mirror of the spectrometer opened and closed as expected, eliminating mechanical failure as the likely cause of the anomalous readings. It appeared likely that the mirror itself had become coated with dust.
On Sol 1294 (Sept. 14, 2007), Opportunity's hot line to Earth, the Odyssey spacecraft, used for relaying data, went into safe mode after suffering an anomaly. Without the Odyssey downlink, Opportunity had to scale back plans temporarily. Five days later, on sol 1299 (Sept. 19, 2007), after the Odyssey flight team had determined the cause of the problem, transmissions resumed at UHF frequencies via Odyssey. Meanwhile, Opportunity maintained limited communications with Earth via X-band radio frequencies.
On Sol 1300 (Sept. 20, 2007), Opportunity's human handlers reset the rover's fault protection parameters to normal levels. Previously, they had changed the settings to reduce power consumption in the event of two kinds of anomalies known as "uplink loss" and "low power." While the dust storms were still raging on Mars, the pre-dust storm power settings would have allowed Opportunity to consume much more power than the solar arrays could produce.
Opportunity and the European Space Agency's Mars Express spacecraft successfully tested UHF communications in support of the Phoenix lander, currently en route to Mars. Phoenix and Opportunity use the same kind of UHF radio, and Mars Express will provide backup relay services for Phoenix.
Sol-by-sol summary:
In addition to daily observations that included frequent measurements of atmospheric dust with the panoramic and navigation cameras and surveys of the sky and ground with the miniature thermal emission spectrometer, Opportunity completed the following activities:
Sol 1282 (Sept. 2, 2007): Opportunity acquired part 1 of a panoramic view (self-portrait) of the rover's deck and, after the overpass of the Odyssey spacecraft, recalibrated the panoramic camera. The rover conducted a survey of the horizon and took spot images of the sky with the panoramic camera. The following morning, the rover took images with the microscopic imager while the dust cover was closed.
Sol 1283: Opportunity moved the robotic arm to place the microscopic imager in view of the hazard avoidance and panoramic cameras and took snapshots of the boresight of the microscopic imager. The rover also acquired a side view of the microscopic imager using the panoramic camera. The rover took images of the surroundings with the rear hazard avoidance cameras and recalibrated the panoramic camera. The following morning, the rover took thumbnail images of the sky with the panoramic camera.
Sol 1284: Opportunity acquired part 2 of the self-portrait with the panoramic camera. The rover recalibrated the panoramic camera, took images with the microscopic imager with the dust cover still closed, and took thumbnail images of the sky with the panoramic camera.
Sol 1285: Opportunity drove west away from Victoria Crater, then south along the rim to the ingress point. The rover acquired image mosaics with the navigation and panoramic cameras and recalibrated the panoramic camera. The next morning, Opportunity completed a horizon survey and took spot images of the sky with the panoramic camera. The rover monitored dust on the rover mast assembly.
Sol 1286: Opportunity drove about 25 meters (80 feet) to a stand-off position near the ingress point into Victoria Crater. After measuring atmospheric dust with the panoramic camera, the rover drove south about 25 more meters (80 feet) and acquired image mosaics with the navigation and panoramic cameras. The rover recalibrated the panoramic camera. The next morning, Opportunity took thumbnail images of the sky with the panoramic camera.
Sol 1287: Opportunity performed a dust dump with the microscopic imager and then returned the instrument to a modified ready position. The following morning, the rover conducted a horizon survey and took spot images of the sky with the panoramic camera.
Sol 1288: Opportunity took images of the shroud on the microscopic imager, checked for drift (changes with time) in the miniature thermal emission spectrometer, and acquired microscopic images of the miniature thermal emission spectrometer to find out if the shroud protecting the spectrometer was in fact opening. The rover recalibrated the panoramic camera and acquired thumbnail images of the sky.
Sol 1289: Opportunity drove to the lip of Victoria Crater, to a place known as "Paolo's Perch." There, the rover acquired image mosaics with the navigation and panoramic cameras and, after the overpass of the Odyssey orbiter, recalibrated the panoramic camera. In the morning, Opportunity surveyed the horizon and took spot images of the sky.
Sol 1290: Opportunity measured albedo (surface reflectivity), took thumbnail images of the sky, and completed a survey at high sun with the panoramic camera. The rover recalibrated the panoramic camera. In the morning, Opportunity monitored dust on the panoramic camera mast assembly.
Sol 1291: Opportunity completed a "toe-dip" into Victoria Crater, driving forward a short distance and then backing out again. Opportunity took post-drive images with the panoramic camera and recalibrated the panoramic camera. The next morning, the rover took thumbnail images of the sky with the panoramic camera.
Sol 1292: Opportunity spent the day doing remote sensing. The rover completed a survey at high sun with the panoramic camera, scanned the sky for clouds with the navigation camera, took thumbnail images of the sky and mid-day measurements of dust with the panoramic camera, recalilbrated the panoramic camera, and measured atmospheric argon with the alpha-particle X-ray spectrometer. The next morning, the rover surveyed the sky with the panoramic camera.
Sol 1293: Opportunity drove into Victoria Crater and took post-drive images with both the navigation and panoramic cameras. The rover recalibrated the panoramic camera. The following morning, the rover took thumbnail images of the sky.
Sol 1294: The rover spent most of the day engaged in remote sensing activities. These included surveys of the ingress point into Victoria Crater, measurements of the external calibration target, acquisition of panoramic camera images of the foreground, and acquisition of an image mosaic with the navigation camera. Opportunity was unable to communicate with Odyssey when the orbiter went into safe mode. Opportunity recalibrated dust measurements by the panoramic camera.
Sol 1295: Opportunity acquired full-color images in search of clouds using all 13 filters of the panoramic camera. The rover was still unable to communicate with Odyssey. Opportunity measured atmospheric argon with the alpha-particle X-ray spectrometer. The next morning, Opportunity acquired an image mosaic with the navigation camera, monitored dust on the rover mast, and acquired measurements of a sand patch with the miniature thermal emission spectrometer.
Sol 1296: The rover did not complete a planned drive because of disrupted data downlinks to Earth via Odyssey. Instead, the rover collected more remote sensing data. In the morning, the rover took thumbnail images of the sky while continuing to monitor atmospheric dust as usual with on-board cameras.
Sol 1297: In addition to remote sensing activities, Opportunity measured the spectral characteristics of the external calibration target. The rover recalibrated the panoramic camera and took thumbnail images of the sky.
Sol 1298: Opportunity drove toward the bright layer known as Alpha Layer within Victoria Crater. After measuring atmospheric dust with the panoramic camera, Opportunity drove farther into Victoria Crater. The rover acquired a mosaic of post-drive images with the navigation camera and a mosaic with the panoramic camera. Opportunity recalibrated the panoramic camera. The next morning, Opportunity checked for drift in the miniature thermal emission spectrometer.
Sol 1299: Opportunity completed a right-eye survey of the ingress path into Victoria Crater with the panoramic camera and took panoramic camera images of the foreground. The rover meaasured the external calibration target with the thermal emission spectrometer. Opportunity then completed a left-eye survey of the ingress path with the panoramic camera. The Odyssey orbiter resumed communications. Opportunity recalibrated the panoramic camera and checked for drift in the miniature thermal emission spectrometer.
Sol 1300 (Sept. 20, 2007): Opportunity and Mars Express successfully tested communications in support of the Phoenix mission. The rover reset fault protection parameters at normal levels and surveyed the external calibration target with the miniature thermal emission spectrometer. Opportunity recalibrated the panoramic camera and took spot images of the sky.
Odometry:
As of sol 1298 (Sept. 18, 2007), Opportunity's total odometry was 11,568.22 meters (7.19 miles).
'Shaking' Off the Dust and Getting Back to Work
sol 1274-1281, Sep 20, 2007
The skies continue to clear over the Opportunity site, and the dust is falling from both the sky and the rover. The last week was dedicated to evaluating the payload and assessing dust accumulation on the instruments. Fortunately, the solar array energy has improved to over 350 Watt-hours for the last four sols. This has given the vehicle enough power to support two alpha particle X-ray spectrometer integrations and two Mars Express UHF overflights.
The team began a campaign to recalibrate the panoramic camera tau observations used to measure the level of atmospheric opacity. The recalibration sequences are designed to run at various times of day to get the sun at different angles in the sky. Each sequence has custom exposure durations and color filters tailored to the intended time of execution.
As the team saw last week, the instruments on the robotic arm turret collected a substantial amount of dust during the storm. There are two main concerns: dust inside the alpha particle X-ray spectrometer and dust under the microscopic imager dust cover. On Spirit, dust managed to somehow find its way under the microscopic imager dust cover, so engineers are handling the dust-covered turret on Opportunity with care.
Twice in six sols, the team used the front hazard avoidance camera (and the panoramic and navigation cameras) to image the microscopic imager with the dust cover closed. There were two drives between each set of imaging and there is noticeable cleaning between the two. The first of several sky flats images taken with the microscopic imager (dust cover closed) came down today. Preliminary analysis indicates little to no dust on the lens or dust cover. Next week, the team will determine if it is safe to open the dust cover and take images to see if any dust is on the lens itself.
The first of two alpha particle X-ray spectrometer integrations was received on the ground today and the initial analysis shows little to no dust contamination. Argon peaks are just as large as before, but additional integrations are necessary to complete the analysis. In the meantime, the team modified the robotic arm ready position to face the alpha particle X-ray spectrometer in towards the vehicle's warm electronics box. The hope is that this will prevent any dust from collecting inside.
Sol-by-sol summary:
Each sol contained: navigation camera tau at the start of the plan and a Mars Odyssey downlink in the afternoon.
Sol 1274: On this sol, the panoramic camera tau measurements were recalibrated. The team moved the robotic arm to place the microscopic imager in view of appropriate cameras for the following images: front hazard avoidance camera of the microscopic imager bore-sight, panoramic camera of MI bore-sight, panoramic camera of microscopic imager side view. Opportunity then finished work with the arm to move to modified ready position with the alpha particle X-ray spectrometer pointed towards the rover. More recalibrations of panoramic camera tau measurements were done before and after the Mars Odyssey pass. Finally, a panoramic camera image of rock target 'Mango' was shot.
Sol 1275: The vehicle remained in place due to a sequencing error that precluded the robotic arm from stowing before the planned drive. The uplink team corrected the logic error, and the rover resumed driving at the next opportunity on sol 1278. After the Odyssey pass, more tau recalibrations were conducted. The panoramic camera was also used to survey the horizon and image the sky.
Sol 1276: This sol was used to recharge. Some panoramic camera recalibrations were conducted.
Sol 1277: More panoramic camera tau measurement recalibrations began this sol. Afterwards, the robotic arm was moved into position to take a panoramic camera image of the microscopic imager from a side view. The panoramic camera took images of the sky. After the Odyssey pass, a tau measurement was taken and the alpha particle X-ray spectrometer was integrated for four hours. There was a Mars Express UHF pass and then Opportunity took a mini-deep sleep.
Sol 1278: The first part of this sol was used for more panoramic camera tau recalibrations and panoramic camera mast assembly ("head" and "neck") dust monitoring. The panoramic camera was also used to image the sky. Another recalibration took place before the rover stowed its arm and drove 1.43 meters (4.7 feet) using visodom (visual odometry software) on its closest approach toward the crater rim. Opportunity then conducted post-drive navigation camera images. After the Odyssey pass, more panoramic camera recalibrations were conducted.
Sol 1279: On this sol, the microscopic imager, navigation camera and panoramic cameras were all used to image the sky. More recalibrations were conducted before and after the Odyssey pass. The alpha particle X-ray spectrometer was integrated for 5.5 hours.
Sol 1280: A panoramic camera tau recalibration was conducted in addition to a panoramic camera tau measurement. The navigation camera took an image. The panoramic camera used its 13 filters to image a bright ripple. Before and after the Odyssey pass, more recalibrations took place.
Sol 1281: The first part of this sol was used to conduct a panoramic camera tau recalibration, to monitor dust on the panoramic camera mast assembly and to image the sky with the panoramic camera. The panoramic camera then imaged "Duck Bay." Before and after the Odyssey pass, more recalibrations were conducted.
Odometry:
As of sol 1279, Opportunity's total odometry is 11,483.39 meters (7.14 miles).
Brightening Skies Bolster Opportunity
Posted Aug. 23, 2007 for Sols 1256 - 1265
Opportunity is healthy and remains perched near the rim of "Victoria Crater." The rover was on a low-power schedule that alternated between a 3-sol plan and a 4-sol plan.
Tau (atmospheric opacity) has begun to stabilize this week at around 3.7, resulting in solar array energy between 230-240 watt hours. Therefore in the upcoming week, the team will return to nominal planning.
The rover conducted a lot of what engineers call "runout science." This includes: panoramic camera wide-range tau measurements, navigation camera tau measurements, navigation camera cloud measurements, panoramic camera soria (imaging a rough, rocky area near the rover), front hazard avoidance camera images, rear hazard avoidance camera images, navigation camera images, panoramic camera sky spot, panoramic camera dust monitoring on the mast, miniature thermal emission spectrometer target calibration and panoramic camera high-sun surveys.
Sol-by-sol summary:
Sol 1256: Opportunity conducted one hour of runout science.
Sol 1257: On this sol, the rover's activities included the following: uplinked on high-gain antenna, panoramic camera wide-range tau, navigation camera tau, navigation camera bitty cloud, panoramic camera soria, front hazard avoidance camera images, rear hazard avoidance camera images, navigation camera images, panoramic camera wide-range tau, panoramic camera horizon survey, panoramic camera calibration target, mast dust monitoring, miniature thermal emission spectrometer calibration target and panamoric camera high-sun survey.
Sol 1258: Opportunity conducted 45 minutes of of runout science.
Sol 1259: On this sol, the rover did 30 minutes of runout science and completed a UHF data downlink.
Sol 1260: Opportunity conducted 45 minutes of runout science.
Sol 1261: Opportunity's activities included the following: uplink on high-gain antenna, engineering navigation camera tau, panoramic camera wide range tau, panoramic camera soria calibration target, front hazard avoidance camera images, rear hazard avoidance camera images, navigation camera images, panoramic camera high-sun sky survey, pancam wide range tau and UHF downlink.
Sol 1262: The rover did 30 minutes of runout science and completed a UHF downlink.
Sol 1263: Opportunity conducted 45 minutes of runout science.
Sol 1264: On this sol, the rover's activities included the following: uplink on the high-gain antenna, engineering navigation camera tau, panoramic camera wide-range tau, panoramic camera soria calibration target, front hazard avoidance camera images, rear hazard avoidance camera images, panoramic camera sky thumbs and panoramic camera wide-range tau.
Sol 1265: 45 minutes of runout science and UHF downlink
Opportunity's odometery is 11,462.94 meters (7.12 miles) as of the last drive on sol 1232.
Opportunity Waiting for Dust to Settle
Posted July 13, 2007 for Sols 1220-1225
Due to extensive dust storms in Mars' southern hemisphere causing record atmospheric opacity levels, Opportunity is currently experiencing its lowest power levels to date. The tau measurement as of sol 1225 is 4.12, resulting in a mere 280 watt-hours of array energy. A tau measurement of 5.0 would result in approximately 150 watt-hours. If tau begins to approach 5.0, the team will have to begin deleting communications windows in order to conserve energy and keep from draining the batteries.
On sol 1223 Opportunity successfully recovered from the robotic arm joint stall that occurred on sol 1217.
When the dust settles, Opportunity will drive approximately 30 meters (98.4 feet) south along the edge of "Duck Bay" to position itself at its "Victoria Crater" entry point!
Sol-by-sol summary:
In addition to Opportunity's daily communications activities, the rover conducts: morning direct-from-Earth uplink over high-gain antenna, evening downlink relay with Mars Odyssey over UHF...
Sol 1220: The rover conducted atmospheric dust monitoring observations with the panoramic camera and then conserved power.
Sol 1221: The rover conducted atmospheric dust monitoring observations with the panoramic camera and then conserved power.
Sol 1222: The rover conducted atmospheric dust monitoring observations with the panoramic camera and then conserved power.
Sol 1223: On this sol, Opportunity used its microscopic imager, then retracted its robotic arm. This action was confirmed with the rover's navigation camera. The rover then closed the microscopic imager dust cover and confirmed this step with the navigation camera. Diagnostic testing on the arm stall was conducted.
Sol 1224: The rover conducted atmospheric dust monitoring observations with the panoramic camera and then conserved power.
Sol 1225: The rover conducted atmospheric dust monitoring observations with the panoramic camera and then conserved power.
Opportunity's total odometry is 11,424.67 meters (7.1 miles) as of sol 1225.
Observing 'Duck Bay'
Posted June 15, 2007 for Sols 1200-1205
Right now, Opportunity is safely perched on "Cape Verde" and is observing "Duck Bay" from above. The rover drove four out of the last five sols, covering 196.44 meters (644 feet). The fifth and final D-star (drive software) checkout step ran successfully on Opportunity on sol 1200. The dynamic path planner added in the latest flight software version is now ready for use.
On sol 1204, the post-drive robotic arm unstow stopped short of completion due to an excess attitude change. The actual attitude change fell well within the 5-degree limit and is consistent with a robotic arm unstow activity. The engineering team traced the miscalculation to a possible bug in the flight software and a full investigation is underway.
Sol-by-sol summary:
Each sol contains: panoramic camera tau measurement and miniature thermal emission spectrometer mini sky observation and long ground calibration during the engineering block; pre-Odyssey panoramic camera tau and miniature thermal emission spectrometer sky and long ground calibration during the Odyssey pass. Drive sols contain robotic arm stow and unstow before and after the drive.
Sol 1200: On this sol, Opportunity drove about 60 meters (197 feet), then executed the fifth and final D-star checkout. After the drive, the rover took a post-drive panoramic camera tau measurement.
Sol 1201: After solar array wakeup, Opportunity's panoramic camera conducted a sky survey. The rover then drove 12.36 meters (41 feet) using autonav. After the drive, Opportunity took images with its navigation and panoramic cameras. After the Odyssey pass, the rover conducted an alpha particle X-ray spectrometer integration as part of an Argon experiment.
Sol 1202: In the morning of this sol, Opportunity's panoramic camera took thumbnail images of the sky. The rover then drove 41.56 meters (136 feet) toward Cape Verde, conducted a quick fine attitude update (to confirm its exact location) and did post-drive imaging.
Sol 1203: On the morning of this sol, the rover took navigation camera images in the rearward direction and conducted a miniature thermal emission spectrometer sky and ground observation. The navigation camera then had a look for clouds and the panoramic camera also surveyed the sky. The miniature thermal emission spectrometer did a sky and ground observation in the morning as well. The rover then drove 66.23 meters (convert) to a stand-off point near Cape Verde. After the drive, Opportunity took post-drive images with its panoramic, hazard avoidance and navigation cameras.
Sol 1204: After solar array wakeup, the rover's panoramic camera conducted a 13-filter systematic foreground survey. The miniature thermal emission spectrometer performed a sky and ground observation. The rover then drove south 7.84 meters (26 feet) onto Cape Verde to image the first eye of a stereo image of an area in the middle of Duck Bay. After the drive, Opportunity took images with its panoramic, hazard avoidance and navigation cameras.
Sol 1205: In the morning of this sol, Opportunity's miniature thermal emission spectrometer conducted a sky and ground observation. The panoramic camera surveyed the horizon. The rover also took images with its hazard avoidance camera and finished up the long baseline stereo image it began the sol before.
Opportunity's total odometry as of sol 1204 is 11,369.33 meters (7.06 miles).
Opportunity Turns Up the Amps
Posted May 28, 2007 for Sols 1164-1170
Opportunity's electrical supply returned to levels not seen since the rover first arrived on Mars. Peak electrical current from the rover's solar arrays climbed above 4.0 amps and remained there for most of the week as a result of three recent dust-cleaning events. The last time electrical current reached similar levels was on sol 18 (Feb. 10, 2004)!
Meanwhile, Opportunity is healthy and continues to circumnavigate "Victoria Crater" back toward "Duck Bay." On the rover's 1,163rd sol, or Martian day of exploration (May 2, 2007), Opportunity drove 90 meters (296 feet). The following sol the rover drove toward the rim of "Cape of Good Hope" to acquire high-quality, super-resolution images of the western face of "Cape St. Vincent." These images will enable scientists to better characterize detailed cross-bedding in the lower stratigraphic unit.
Opportunity also successfully tested a new procedure for using the rock abrasion tool to grind and seek a surface of scientific interest. At a rock target known as "Viva La Rata" ("Long Live the Rat"), the rover used software to bypass a check that was causing the grind encoder to fail. Because the RAT can no longer find the rock surface by seek/scan, the rover used the grinding motion to do a "grind/scan." On sol 1166 (May 4, 2007), Opportunity performed a successful grind/scan to find the target surface. Then, on sol 1168 (May 7, 2007), the rover used the rock abrasion tool to brush Viva la Ratta.
On sol 1169 (May 8, 2007), Opportunity postponed a planned drive to study some cobbles because of a joint 1 stall that occurred while stowing the robotic arm before the drive. This stall was similar to previous joint 1 stalls. On sol 1170 (May 9, 2007), Opportunity reached its destination, an outcrop known as "Madrid/Guadarrama."
Sol-by-sol summary
In addition to daily observations that included measuring atmospheric dust with the panoramic camera and surveying the sky and ground with the miniature thermal emission spectrometer, Opportunity completed the following activities:
Sol 1164 (May 3, 2007): Opportunity stowed the robotic arm, drove approximately 15 meters (49 feet) onto "Cape of Good Hope," acquired hazard avoidance camera images just before and after the end of the drive, and unstowed the robotic arm. The rover acquired a 3-by-1 mosaic of "Cape of Good Hope" as well as other images of the terrain with the navigation camera after the drive.
Sol 1165: Opportunity began the sol by acquiring a timed movie in search of clouds, with successive images taken after a two-minute delay. The rover completed a sky survey at high sun using the panoramic camera and measured dark current (signals received when not exposed to light) while both hot and warm. The rover enjoyed a deep sleep.
Sol 1166: Upon awakening, Opportunity surveyed the sky with the panoramic camera and acquired panoramic camera images of Cape St. Vincent. While acquiring stereo microscopic images of Viva la Rata prior to grinding the rock surface, Joint 1 stalled. The rover conducted a touch test on Viva La Rata with the rock abrasion tool and searched for clouds with the navigation camera.
Sol 1167: In the morning, Opportunity monitored dust on the rover mast and acquired thumbnail images of the sky with the panoramic camera. The rover acquired super-resolution images of Cape St. Vincent with the panoramic camera and searched for clouds with the navigation camera.
Sol 1168: Opportunity completed a morning survey of the horizon with the panoramic camera and brushed Viva La Rata with the rock abrasion tool. Following that, the rover acquired stereo microscopic images of the brushed surface and studied it with the alpha-particle X-ray spectrometer. Opportunity also surveyed a target known as "Rodrigues" with the miniature thermal emission spectrometer and acquired panoramic camera images of the terrain ahead. Opportunity scanned the sky for clouds with the navigation camera.
Sol 1169: Opportunity acquired sky images with the panoramic camera and checked for drift (changes with time) in the miniature thermal emission spectrometer. The rover did not stow the robotic arm as planned after having moved it into ready position because of the Joint 1 stall. Also as a result of the stall, the rover did not drive backward to adjust its position and proceed to "Madrid" as planned. Opportunity acquired images of Viva La Rata with the panoramic camera and post-drive images with both the panoramic and navigation cameras. The rover searched for clouds with the navigation camera.
Sol 1170 (May 8, 2007): Opportunity acquired post-drive images with the navigation camera, conducted a diagnostic test of the robotic arm, stowed the robotic arm, acquired panoramic camera images of "Madrid," unstowed the robotic arm, and acquired images with the navigation and panoramic cameras. The rover scanned the sky for clouds and conducted a survey of rock clasts with the panoramic camera.
Odometry
As of sol 1170 (May 8, 2007), Opportunity's total odometry was 10,784.94 meters (6.7 miles).
Opportunity Conducts Successful Path Planning Test and Gets Another Energy Boost
Posted May 4, 2007 for Sols 1157 - 1163
Summary:
Opportunity drove 224 meters (735 feet) this week.
The sol 1160 checkout of the D-star hazard avoidance path planner (drive planning software) was a resounding success. In order to make the test as safe as possible, D-star was told that rocks in its path were hazards, when actually Opportunity is capable of safely driving over them. The rover planners set a waypoint on the opposite side of “Granada” such that a straight path would have taken the rover directly over these non-hazardous hazards.
On sols 1162 and 1163 Opportunity drove towards the “Cape of Good Hope.” On sol 1164 the rover will creep several meters closer to the edge of the crater to position itself for panoramic camera imaging of “Cape St. Vincent” over the weekend. Also this weekend Opportunity will perform another test of RAT grinding.
On sol 1159 Opportunity experienced yet another dust cleaning event. Solar array energy production is now over 800 watt-hours.
Sol-by-sol summary:
In addition to Opportunity's daily science observations which include a panoramic camera tau measurement and miniature thermal emission spectrometer sky and ground stares, the rover also did the following:
Sol 1157 (April 26, 2007): Opportunity took the panoramic camera right-eye side of a long baseline stereo imaging of Cape St. Vincent, stowed its robotic arm and drove 38 meters (125 feet) toward Granada. The rover then unstowed its arm, took post-drive navigation and panoramic camera images and conducted an overnight data relay with Mars Odyssey.
Sol 1158: On this sol, the rover’s navigation camera looked for clouds and the miniature thermal emission spectrometer and the panoramic camera studied the foreground.
Sol 1159: Opportunity used its panoramic camera to take thumbnail images of the sky and its panoramic camera to survey the horizon. The miniature thermal emission spectrometer conducted a 7-point sky and ground survey.
Sol 1160: On this sol, the rover used its panoramic camera to image the target Granada. Opportunity then stowed its arm and drove 15 meters (49 feet) around Granada for a D-star checkout. The rover then unstowed its arm and conducted post-drive imaging of the path it took to get there.
Sol 1161: On this sol, the rover used its panoramic camera to complete a foreground survey. The miniature thermal emission spectrometer had a look at the sky and then the target “Malaga.” The panoramic camera imaged Granada and then the alpha particle X-ray spectrometer conducted an integration for the ongoing atmospheric Argon study.
Sol 1162: Opportunity’s panoramic camera took a color mosaic of the Granada D-star drive. The rover then stowed its arm and drove 74 meters (243 feet) toward the Cape of Good Hope. Opportunity then unstowed its arm and used both its navigation and panoramic cameras to do more imaging. There was also an overnight data relay with Mars Odyssey.
Sol 1163: On this sol, Opportunity used its navigation camera to image its own tracks. The rover then stowed its arm and drove 97 meters (318 feet) towards the Cape of Good Hope. After the drive, the rover tool images with its navigation and panoramic cameras. The navigation camera also looked for clouds.
As of sol 1163, Opportunity’s total odometry is 10,736.12 (6.67 miles).
Opportunity Gets a Boost of Energy and Continues Imaging
Posted May 1, 2007 for Sols 1152 - 1156
Summary:
Scientists and engineers are still deciding on when and if Opportunity will enter "Victoria Crater." In the meantime, Opportunity has a lot to accomplish, such as driving back to the area of its original arrival at Victoria, approximately 600 meters away (over one-third of a mile).
In addition, Opportunity must complete checkouts of its new technologies such as the D-star hazard avoidance path planner, Visual Target Tracking, and IDD (robotic arm) auto-place. Also, on the way to "Duck Bay," several imaging campaigns require completion at the "Cape of Good Hope" and "Cape St. Mary."
Currently Opportunity is conducting long-baseline stereo imaging of "Cape St. Vincent" from a perch on the edge of "Tierra del Fuego." On sol 1157 the rover will drive north approximately 35 meters (115 feet) to a collection of rocks called "Granada" for a D-star test.
On sols 1151 and 1152 Opportunity experienced a modest dust-cleaning event. The wind cleared the solar arrays of enough dust to result in approximately 75 Watt-hours more energy per sol.
Sol-by-sol summary:
In addition to Opportunity's daily science observations, the rover completes routine panoramic camera tau measurements and miniature thermal emission spectrometer sky and ground stares.
Sol 1152 (April 21, 2007): On this sol, Opportunity's panoramic camera took images, including a 13-filter image of target "Jaen." The miniature thermal emission spectrometer stared at targets: "Badajoz," "Castellon," "Coruna," "Rioja" and Jaen. The alpha particle X-ray spectrometer checked for atmospheric argon. The panoramic camera then looked to the sky and the navigation camera looked for clouds.
Sol 1153: Opportunity stowed its robotic arm and then drove to the first-eye position for long baseline. The rover took post-drive images with its panoramic and navigation cameras. Overnight the rover sent data through Mars Odyssey.
Sol 1154: This sol involved a handful of miniature thermal emission spectrometer sky & ground stares. The panoramic camera looked at the sky and the navigation camera searched for clouds.
Sol 1155: Opportunity began to take the first eye of long-baseline stereo image of Cape St. Vincent. The robotic arm was then stowed and the rover drove 6 meters (19.7 feet) northwest to second eye position. The rover then unstowed its arm and took post-drive images with its navigation and panoramic cameras. The navigation camera also looked for clouds and monitored for dust on the rovers panoramic mast assembly (the "head" and "neck"). Overnight, the rover sent data through Mars Odyssey.
Sol 1156: On this sol, the miniature thermal emission spectrometer stared at its external calibration target and then conducted a long sky stare. The instrument also completed stares on targets "Melilla" and "Canarias." The rover's panoramic camera took a pre-sunset image and then surveyed the sky. The navigation camera looked for clouds.
Opportunity's total odometry as of sol 1155 is 10,509.41 meters (6.53 miles).
Imaging 'Alicante'
Posted April 24, 2007 for Sols 1145-1151
Over the last week, Opportunity investigated the second of two "dark streak" soil targets named "Alicante." The sol 1145 Mössbauer touch sequence that was commanded did not make contact with the soil because of a minor targeting discrepancy. Since the Mössbauer touch is used as a reference point for determining where to start taking the microscopic images, the lack of contact caused the images taken sol 1145 to be out of focus. As a result, the team decided to stay another two sols and reacquire the in-situ observations on Alicante. Now, Opportunity is headed southeast towards "Tierra del Fuego" to begin another remote sensing campaign.
Sol-by-sol summary:
Each sol includes a mini-miniature thermal emission spectrometer sky and ground observation in the morning, right before transitioning to the next sol's master sequence.
Sol 1145 (April 14, 2007): On this sol, the rover was scheduled to touch the ground with its Mössbauer spectrometer. After the touch, microscopic images were taken and then the alpha particle X-ray spectrometer was placed on the soil target Alicante. The rover's panoramic camera imaged targets "Huesca" and "Granada." Before the Mars Odyssey pass, the panoramic camera took a tau measurement. During the Odyssey pass, the miniature thermal emission spectrometer took a sky and ground measurement. The alpha particle X-ray spectrometer was integrated for about six hours. Also, there were four miniature thermal emission spectrometer thermal inertia observations at various times of day.
Sol 1146: The rover changed tools to the Mössbauer spectrometer and integrated for 12 hours. The panoramic camera completed a high-sun survey while the navigation camera supported the miniature thermal emission spectrometer. The panoramic camera imaged "Cordoba" and "Colmenero." The miniature thermal emission spectrometer conducted a 7-pt sky and ground observation and the panoramic camera took a tau measurement.
Sol 1147: During the morning of this sol, the panoramic camera examined the sky and the horizon. The rover then restarted the Mössbauer spectrometer and integrated for 12 hours. The miniature thermal emission spectrometer then got busy by taking a low-angle sky measurement, then completing a sky and ground observation and then, ultimately, staring at its calibration target. Before the Odyssey pass, the rover took a tau measurement with its panoramic camera.
Sol 1148: In the morning of this sol, the panoramic camera took thumbnail images of the sky. Again the Mössbauer spectrometer was commanded to touch the soil and the microscopic imager took pictures. The rover then placed the alpha particle X-ray spectrometer on Alicante. The miniature thermal emission spectrometer took a sky and ground measurement and the panoramic camera took a tau measurement. Before the Odyssey pass a tau measurement was taken and, during the pass, the miniature thermal emission spectrometer observed the sky and ground. After the Odyssey pass, the alpha particle X-ray spectrometer was integrated on Alicante for about six hours.
Sol 1149: Opportunity looked for clouds with its navigation camera this morning. The rover then placed the Mössbauer spectrometer on Alicante and integrated for about 12 hours. The miniature thermal emission spectrometer conducted thermal inertia stares as well as a sky and ground measurement. The panoramic camera took a 13-filter image of target "Granada." Before the Odyssey pass, the rover took a tau measurement and, during the pass, the miniature thermal emission spectrometer conducted a sky and ground observation.
Sol 1150: Opportunity woke up this sol and had a look at the sky with its panoramic and navigation cameras. The miniature thermal emission spectrometer also conducted a thermal inertia stare in the morning. The rover bumped back 1 meter (3.3 feet) and took a panoramic camera 13-filter image of Alicante. Opportunity then drove 42.79 meters (140.39 feet) towards Tierra del Fuego. After the drive, the rover took images with its hazard avoidance, navigation and panoramic cameras. Before the Odyssey pass, the rover took a tau measurement and, during the pass, the miniature thermal emission spectrometer conducted a sky and ground observation.
Sol 1151: The rover woke up and conducted a sky survey (including a high-sun survey). The miniature thermal emission spectrometer was busy with a 7-point sky and ground observation and a stare at the ground immediately in front of the rover. The panoramic camera also imaged the ground in front of the rover with its 13 filters.
As of sol 1150, Opportunity's total odometry is 10,486.20 meters (6.52 miles).
Investigating a Dark Streak
Posted April 16, 2007 for Sols 1139-1144
Opportunity is healthy and spent the last week investigating the dark material trailing north from "Victoria Crater." The plan this week included two brief robotic arm campaigns at different areas roughly 33 meters (108 feet) apart. Opportunity will collect a series of microscopic images and alpha particle X-ray spectrometer integrations on the soil along with other remote science observations.
Sol-by-sol summary:
Each sol starts with a panoramic camera tau and miniature thermal emission spectrometer mini sky and ground stare right after handing over from the previous sol's master sequence. At the end of each sol's plan, right before transitioning to the following sol, there is a navigation camera bitty cloud observation and a miniature thermal emission spectrometer mini sky and ground stare.
Sol 1139 (April 8, 2007): Opportunity conducted remote sensing on the dark streak. The rover then took stereo microscopic images of "Palencia" and "Pontevedra." Opportunity then moved its robotic arm out of the way to prepare for argon integration position. The panoramic camera was then used to image the rover tracks. The rover began alpha particle X-ray spectromter argon integration. Opportunity then had a mini deep sleep. After waking, the rover looked for clouds with its navigation camera. The panoramic camera was used to image the sky.
Sol 1140: On this sol, Opportunity continued to conduct remote sensing on the dark streak. The rover then placed the alpha particle X-ray spectrometer on the soil. The panoramic camera conducted some photometry, then took a 13-filter image of track target "Zamora." The miniature thermal emission spectrometer examined Zamora and then the undisturbed soil behind it. The alpha particle X-ray spectrometer was then placed on the soil. The rover then went into deep sleep.
Sol 1141: Opportunity continued remote sensing on the dark streak. The panoramic camera took a panoramic image to test for albedo (light reflectivity). The miniature thermal emission spectrometer did a 7-point sky & ground stare. Before the Mars Odyssey pass, the panoramic camera was used for photometry experiments. The miniature thermal emission spectrometer conducted an elevation sky & ground stare and then it stared at the calibration target. After a deep sleep, the navigation camera looked for clouds in the sky.
Sol 1142: On the morning of this sol, the miniature thermal emission spectrometer conducted a mini sky & ground stare. The rover then drove 31.23 meters (102.5 feet) to a second location in the dark streak. The navigation camera imaged a future robotic arm target and the panoramic camera imaged a future drive direction and then took a tau measurement.
Sol 1143: Opportunity bumped 2.21 meters (7.3 feet). The panoramic camera took a tau measurement and the miniature thermal emission spectrometer did a sky and ground stare. Before it moved again, Opportunity took a 13-filter panoramic camera image of target "Alicante." The rover then stowed its arm and drove about 3 meters (9.8 feet)
to Alicante. Opportunity then unstowed its arm and autoplace software put it on Alicante. A microscopic image mosaic of Alicante was taken. The Moessbauer spectrometer did a quick touch of Alicante before the alpha particle X-ray spectrometer was placed on the target. Before the Odyssey pass, the panoramic camera took a tau measurement. During the orbiter's pass, Opportunity's miniature thermal emission spectrometer did a sky and ground stare. After the Odyssey pass, the alpha particle X-ray spectrometer was integrated on target Alicante.
Sol 1144: This sol saw more remote sensing on the dark streak. The panoramic camera took a tau measurement, the miniature thermal emission spectrometer did a sky and ground stare. The panoramic camera took a 13-filter image of "Avila," and then the miniature thermal emission spectrometer stared at the same target. Before the Odyssey pass, the panoramic camera took another tau measurement. During the pass, the miniature thermal emission spectrometer conducted an elevation sky and ground stare. The rover then went into deep sleep.
As of sol 1143, Opportunity's total odometry is 10,443.41 meters (6.5 miles).
Characterizing Wind Streaks
Posted April 09, 2007 for Sols 1131-1138
Opportunity is healthy and is attempting to characterize the dark wind streak material which emanates from Victoria Crater as seen from orbital images.
On Sol 1132 the team planned a four-hour alpha particle X-ray spectrometer integration to measure atmospheric Argon. The purpose of this measurement is to determine the atmospheric mixing processes and track their changes with time.
Sol 1137 included a test of a fix for a steering bias bug in the mobility flight software. This is the fix for the problem the team saw on sol 1114, when the software selected an arc that was 13 degrees off course from the goal.
Sol-by-sol summary:
In addition to Opportunity's usual observations of panoramic camera tau, navigation camera cloud captures, miniature thermal emission sky and ground stares, and panoramic camera sky spots, the rover did the following:
Sol 1131 (March 30, 2007): On this sol, Opportunity's panoramic camera began to take the first half of a long baseline stereo image of "Valley Without Peril." The navigation camera was used to fill gaps in the previous sol's panorama. The panoramic camera was then used again to image target "Almeria." The miniature thermal emission spectrometer also observed Almeria.
Sol 1132: Opportunity bumped 5.6 meters (18.4 feet) to the second eye location of the stereo panorama of Valley Without Peril. The miniature thermal emission spectrometer observed target "Barcelona." The alpha particle X-ray spectromter completed a four-hour atmospheric Argon measurement.
Sol 1133: On this sol, the rover continued the long baseline stereo second eye image of Valley Without Peril and also conducted remote sensing.
Sol 1134: Opportunity drove to a bright spot between wind streaks to set up for microscopic imaging and alpha particle X-ray spectrometer measurements on sol 1135. The rover took panoramic camera images at three different times during the sol as part of a photometry experiment.
Sol 1135: On this sol, Opportunity used the microscopic imager to examine the soil target "Salamanca," in the bright spot area between wind streaks.
Sol 1136: Opportunity used the microscopic imager and the alpha particle X-ray spectrometer on soil target "Sevilla." The miniature thermal emission spectrometer did a foreground survey and the panoramic camera was used to image the rover tracks.
Sol 1137: The rover drove about 35 meters (115 feet) to middle of a wind streak and then took images with its panoramic camera as part of a photometry experiment.
Sol 1138: On this sol, the miniature thermal emission spectrometer completed a foreground survey. The panoramic camera conducted a 13-filter foreground survey and took more images for the photometry experiment.
Current Odometry:
As of sol 1134, Opportunity's total odometry is 10,373.19 meters (6.45 miles).
Looking For an 'In'
Posted April 02, 2007 for Sols 1126-1130
Opportunity is healthy and working on obtaining a long baseline stereo image of the bay "Valley without Peril."
On Sol 1128 a test of a work around for the failed RAT (rock abrasion tool) grind encoder was successful. A temporary software addition allows the rover to bypass a check that was causing it to fail.
The remainder of the week was spent driving toward a lookout point above the Valley without Peril. From this vantage point, Opportunity will acquire a long baseline stereo image of the vicinity. Valley Without Peril is being considered as a possible ingress location into "Victoria Crater."
Sol-by-sol summary:
In addition to specific daily activities, Opportunity's routine observations include: panoramic camera tau, navigation camera bitty cloud, miniature thermal emission sky and ground stares and panoramic camera sky spots.
Sol 1126 (March 25, 2007): Opportunity took a pre-drive navigation camera long baseline stereo image before it drove 39 meters (128 feet) toward the Valley without Peril. After the drive, the rover took navigation and panoramic camera images and took an alpha particle X-ray spectrometer measurement of atmospheric Argon.
Sol 1127: On this sol, the rover approached the Valley without Peril. The drive stopped prematurely after 2.11 meters (7 feet) because the rover's antennas obstructed the view from the onboard navigation software. The rover did a location check and then began post-drive imaging. The miniature thermal emission spectrometer was then used for navigation camera support and to assess the ground in front of the rover.
Sol 1128: This sol consisted of RAT (rock abrasion tool) grind diagnostics tests. The tests were successful! The panoramic camera took a 13-filter image of "Gerona." The miniature thermal emission spectrometer stared at "Burgos" and Gerona. The panoramic camera took a 13-filter of Burgos.
Sol 1129: On this sol, Opportunity drove about 8.71 meters (29 feet) on the approach to the first-eye position of long baseline stereo panoramic camera image of the Valley without Peril area. The rover then took a set of post-drive navigation camera images.
Sol 1130: Opportunity took a panoramic camera 13-filter image of "Albacete," a panoramic camera image of "Toledo," and several panoramic camera images of "Cadiz." The miniature thermal emission spectrometer was then used to stare at Toledo and the area around it. The rover then bumped about 2.5 meters (8 feet) to the first-eye position for stereo imaging of the Valley without Peril. After the drive, the navigation camera took images.
As of sol 1129, Opportunity's total odometry was 10,349.70 meters (6.43 miles).
Opportunity Begins Imaging of 'Cape of Good Hope'
Posted April 02, 2007 for Sols 1118-1125
Opportunity is healthy and making progress on the imaging campaign of "Cape St. Vincent."
On Sol 1116, Opportunity experienced a fault due to a known but rare race condition in the flight software.
This race condition fault has now occurred three times in 1,122 sols for Opportunity and three times in 1,143 sols for Spirit. Essentially, while the rover was booting up in the morning, two sequences were competing to complete first. The lower priority task was stopped by the higher priority task and when the former attempted to complete, it was locked out of the rover's memory. The software did as it is supposed to and threw up a red flag to programmers and awaited its next commands.
On Sols 1117 and 1118 were spent recovering the rover from the fault. Opportunity spent sols 1119 and 1120 resting since these sols fell on an Earth weekend (the project no longer has the resources to bring in a weekend sequencing team).
On Sol 1121, Opportunity drove to a position on the "Cape of Good Hope" to image the first half of a long baseline stereo image of Cape St. Vincent. On Sol 1123, Opportunity will bump 2.5 meters (8.2 feet) to image the second half of the Cape St. Vincent stereo image.
The remainder of the sols were spent obtaining remote sensing science.
Sol-by-sol summary:
In addition to Opportunity's usual observations of panoramic camera tau measurements, navigation camera bitty cloud scans (looking to the sky for clouds), miniature thermal emission spectrometer sky and ground stares, and panoramic camera sky spots, the rover also did the following:
Sol 1118 (March 17, 2007): On this sol, Opportunity recovered from the race condition fault.
Sol 1119: Opportunity rested this sol (weekend in Pasadena).
Sol 1120: Opportunity rested this sol (weekend in Pasadena).
Sol 1121: On this sol, the rover drove to the first eye position of long baseline stereo image of Cape St. Vincent (9.97 meters or 33 feet) and began imaging.
Sol 1122: The rover conducted remote sensing of atmosphere and soil properties on this sol.
Sol 1123: Opportunity bumped to the second eye position of long baseline stereo image of Cape St. Vincent (about 2.5 meters or 8.2 feet) and began imaging.
Sol 1124: On this sol the rover conducted a panoramic camera systematic soil and ground survey. The navigation camera was used in support of the miniature thermal emission spectrometer. The panoramic camera had a look at the horizon and the miniature thermal emission spectrometer assessed the foreground.
Sol 1125: Opportunity used this sol to look at the sky and ground with its miniature thermal emission. That instrument was also used to monitor for dust.
Current Odometry:
As of sol 1121, Opportunity's total odometry is 10,295.50 meters (6.4 miles).
Opportunity Conducts Imaging and Diagnostics
Posted March 19, 2007 for Sols 1112 - 1117
Opportunity is healthy and is positioning itself for long baseline stereo imaging of “Cape St. Vincent,” across the “Valley Without Peril.” Subsequently, the rover will drive northeast to the mouth of the Valley Without Peril for long baseline stereo imaging of the valley floor. On sol 1112 Opportunity performed another test of RAT (rock abrasion tool) grind operations. The test indicated the need to circumvent a portion of the flight software which is still trying to use the RAT’s failed encoder. The "patch" will be up-linked and tested this weekend.
On sol 1114 Opportunity attempted an 8-meter (26 feet) drive to a position on the west bank of the Valley Without Peril in order to image Cape St. Vincent to the east. The drive stopped after only a half a meter of progress because the rover failed to stay within limits placed on its heading by the rover drivers. A similar drive is planned for sol 1116.
Sol-by-sol summary:
In addition to Opportunity's daily science observations, which include a panoramic camera tau measurement and miniature thermal emission spectrometer sky and ground stares, the rover did the following:
Sol 1112 (March 11, 2007): On this sol, Opportunity conducted another RAT grind test, miniature thermal emission spectrometer 7-point sky and ground stares, panoramic camera high sun observation, an alpha particle X-ray spectrometer integration to look for Argon and panoramic camera sky thumbnail images.
Sol 1113: Opportunity used the instruments on its “head” (or panoramic camera mast assembly) to scan the sky and then used the panoramic camera to image the local foreground in 13-filters. The navigation camera was then used to prepare for miniature thermal emission spectrometer observations and to look for clouds.
Sol 1114: The rover began to drive south-southwest to the imaging position for Cape St. Vincent. The drive stalled due to Opportunity exceeding heading limitations set by rover drivers. A post-drive navigation camera image was shot for next drive.
Sol 1115: On this sol, Opportunity completed miniature thermal emission spectrometer sky and ground stares, navigation camera search for clouds, panoramic camera sky thumbnail images and panoramic camera mast assembly dust monitoring.
Sol 1116: Opportunity drove south-southwest to the imaging position for Cape St. Vincent and then completed a post-drive navigation camera mosaic for the next drive.
Sol 1117: On this sol, Opportunity calibrated the miniature thermal emission spectrometer and then used it to assess the local sky and ground. The navigation camera was used to look for clouds.
As of sol 1114, Opportunity’s total odometry is 10,285.53 meters (6.39 miles).
Onward to the 'Valley Without Peril'
Posted March 12, 2007 for Sols 1104 - 1111
Opportunity is healthy and continues its long baseline stereo survey of "Victoria Crater."
The rover is currently perched atop the "Cape of Good Hope," making its way northeast to
the mouth of the "Valley Without Peril."
On sol 1104 Opportunity performed an alpha particle X-ray spectrometer integration on the
martian atmosphere. This is a long-term monitoring of the density of Argon in the
atmosphere, looking at how the Argon/Carbon dioxide mixing ratio changes as the polar
caps acquire and sublimate carbon dioxide.
On Sol 1109 the rover performed a preliminary test of a new method for rock abrasion tool
grinds which does not rely on a failed encoder. Another test is scheduled for sol 1112.
Next week Opportunity will conduct an extensive long baseline stereo survey of the Valley
Without Peril and "Cape St. Vincent." This will allow the team to perform a comparative
analysis of other bays in order to continue characterization of possible ingress and egress
points in Victoria Crater.
Sol-by-sol summary:
In addition to Opportunity's daily science observations, the rover also performs panoramic
camera tau measurements and miniature thermal emission spectrometer sky and ground
stares.
Sol 1104 (March 3, 2007): The rover took a color postcard panoramic camera image of
"Cabo Corrientes," navigation camera imaging of the tracks, miniature thermal emission
spectrometer 7-point sky & ground observation and alpha particle X-ray spectrometer
integration on the atmosphere to look for Argon.
Sol 1105: On this sol, Opportunity drove 8 meters (26 feet) southwest toward the edge of
the Cape of Good Hope. The rover then began the first half of a long baseline stereo
panoramic camera image of Cabo Corrientes across "Golfo (Gulf) San Matias." The rover
then completed navigation camera imaging for next drive.
Sol 1106: Opportunity conducted a panoramic camera horizon survey, looked for clouds
with its navigation camera and monitored for dust. The rover also did a miniature thermal
emission spectrometer 7-point sky & ground observation and a panoramic camera sky
survey.
Sol 1107: On this sol, the rover drove 4 meters (13 feet) south-southwest and completed
navigation and panoramic camera imaging for next drive. Opportunity then began the
second half of a long baseline stereo panoramic camera image of Cabo Corrientes across
Golfo San Matias. The panoramic camera then had a look at the sky.
Sol 1108: Opportunity drove 8 meters (26 feet) toward the Valley Without Peril, then used its
navigation and panoramic cameras to image for the next drive. The panoramic camera
looked at the sky.
Sol 1109: Opportunity conducted a rock abrasion tool (RAT) grind test, then the panoramic
camera did a 13-filter foreground survey and took a mosaic of the rover tracks. The
navigation camera imaged the tracks and then the miniature thermal emission spectrometer
assessed the foreground.
Sol 1110: On this sol, the panoramic camera completed a 13-filter foreground survey and
the miniature thermal emission spectrometer completed a 7-point sky and ground
observation and foreground stare.
Sol 1111 (March 10, 2007): The rover drove 40 meters (131 feet) northeast to the mouth of
the Valley Without Peril. Opportunity then did navigation and panoramic camera imaging
for next drive. The panoramic camera also had a look at the sky.
As of sol 1108, Opportunity's odometery is 10,238.95 meters (6.36 miles).
Opportunity Continues to Characterize Crater
Posted February 20, 2007 for Sols 1084-1090
Opportunity is healthy and is currently driving on the promontory "Cabo Corrientes" where its cameras imaged the north face of "Bahia Blanca" cliff walls. The rover is currently driving to another spot in order to image "Cape Desire."
February 9th, 2007, was the first day of spring in the southern hemisphere of Mars.
Alpha particle X-ray spectrometer integrations were also performed to measure atmospheric Argon. The purpose of this experiment is to determine the atmospheric mixing processes and track their changes with time.
Opportunity drove about 20 meters (66 feet) between sols 1084 and 1087.
The theme of the names of the bays and capes of "Victoria Crater" come from the places visited by Magellan and his crew onboard the sailing ship Victoria during their circumnavigation of the world. Cape Corrientes is on the eastern coast of South America and was a useful landmark for Magellan's fleet. Bahia Blanca (White Bay) is a huge bay in Argentina. Magellan explored it looking for the Strait, but was not successful.
Sol-by-sol summary
Each sol there is a panoramic camera tau at the beginning of the plan and before the afternoon Mars Odyssey pass. There is a miniature thermal emission spectrometer elevation sky and ground observation during the Odyssey pass. There is also a mini- miniature thermal emission spectrometer sky and ground in the morning of each sol, just prior to handing over to the next sol's master sequence.
Sol 1084 (February 10, 2007): On this sol, the panoramic camera took a 13-filter image of the target "Santiago." The rover then stowed its arm and drove 27 meters (89 feet) out onto Cabo Corrientes. After the drive, images were taken with the navigation and hazard avoidance cameras. After the Odyssey pass, the rover completed a sunset tau and a nearly four-hour alpha particle X-ray spectrometer integration.
Sol 1085: During the morning of this sol, the rover monitored for dust on its panoramic camera mast assembly, or "neck" and "head." The navigation camera looked for clouds and the miniature thermal emission spectrometer conducted a 7-point sky and ground observation. The panoramic camera then imaged the sun at midday. The navigation camera then looked for clouds and another miniature thermal emission spectrometer 7-point sky and ground observation was conducted.
Sol 1086: On this sol, the rover's navigation camera looked for clouds and the miniature thermal emission spectrometer conducted a 7-point sky and ground observation and assessed the atmosphere. The panoramic camera took thumbnail images of the sky, the navigation camera looked for clouds again and the miniature thermal emission spectrometer conducted another 7-point sky and ground observation.
Sol 1087: The rover drove this sol, then took images with its navigation and panoramic cameras. The rover then conducted a tau measurement. The miniature thermal emission spectrometer was used during the afternoon Odyssey pass. The final commands of this sol involved the panoramic camera surveying the horizon and the miniature thermal emission spectrometer completing a mini observation of the sky and ground.
Sol 1088: On this sol, the navigation camera looked for clouds, the miniature thermal emission spectrometer completed a 7-point sky and ground observation and the panoramic camera took a 13-filter image.
Sol 1089: The morning of this sol began with a mini-miniature thermal emission spectrometer sky and ground observation. A pre-drive navigation camera image was taken in support of the miniature thermal emission spectrometer. The rover then stowed its arm and drove about 15 meters (49 feet) to get into position to image the other side of Cape Desire. After the drive, the rover unstowed its arm and took post-drive navigation camera images and completed a post-drive tau measurement.
Sol 1090 (February 16, 2007): On this sol, the navigation camera looked for clouds and the miniature thermal emission spectrometer conducted a 7-point sky & ground observation. A pre-Odyssey tau measurement was also taken.
As of sol 1087, Opportunity's total odometry is 10,077 meters (6.26 miles).
Opportunity Flips 10 Kilometers and Tests New Drive Software
Posted February, 9, 2007 for Sols 1077-1083
Opportunity has completed a remote sensing campaign at "Cape Desire" and is on the move to the next promontory, called "Cabo Corrientes." Opportunity's odometer rolled past 10 kilometers (6.2 miles) during the 50.51-meter (166 feet) drive on sol 1080. By contrast, the NASA Level 1 requirements for the mission called for achieving at least 600 meters (1,969 feet) with one rover, and the mission design requirement was for 1,000 meters (3,281 feet). This is another significant milestone for Opportunity, and yet another testimony to the outstanding work done by the development and operations teams.
Sol-by-sol summary
Each sol, the panoramic camera assesses atmospheric opacity ("tau") at the beginning of the sol's sequence of activities and again before the afternoon Mars Odyssey pass. The miniature thermal emission spectrometer scans sky and ground during the Odyssey pass. That instrument also observes sky and ground each morning as part of the preceding sol's activity plan, just prior to Spirit beginning the current sol's sequence.
Sol 1077: Opportunity conducted panoramic camera 13-filter targeting on "Cabo Anonimo." The rover then used its miniature thermal emission spectrometer to stare at: rover tracks, at scuffed soil, at the area near the tracks and at Cabo Anonimo. The navigation camera took images to support the work by the miniature thermal emission spectrometer on and near the tracks. The panoramic camera also did a 13-filter examination of Cabo Corrientes. After the Odyssey pass, the rover conducted an argon experiment during six hours of collecting data with the alpha particle X-ray spectrometer.
Sol 1078: Opportunity drove 42.81 meters (140 feet) away from Cape Desire and then performed an update of its orientation. Post-drive imaging included navigation and panoramic camera mosaics. There was no science activity around the afternoon Odyssey pass on this sol because the team decided to use the energy to support an overnight UHF pass.
Sol 1079: The miniature thermal emission spectrometer completed a seven-point sky and ground analysis, the navigation camera looked for clouds, and then the rover completed two miniature thermal emission spectrometer sky and ground stares.
Sol 1080: The rover drove 50.51 meters (166 feet), then collected images for mosaics with the navigation and panoramic cameras. There was another morning UHF pass in the 1080 plan, so no science activity was conducted around the afternoon Odyssey pass.
Sol 1081: In the morning of this sol, a panoramic camera horizon survey was conducted. The navigation camera looked for clouds and then the miniature thermal emission spectrometer conducted a seven-point analysis of sky and ground. During the afternoon Odyssey pass, that instrument completed a five-point sky and ground analysis.
Sol 1082: The plan included a checkout of new autonomous navigation software during a drive toward Cabo Corrientes. Planned imaging after the drive included mosaics by the navigation and panoramic cameras. The rover's panoramic camera was instructed to view the Martian moon Phobos.
Sol 1083 (Feb. 9, 2007): The plan for this sol calls for the panoramic camera to have a look at the sky in the morning. The navigation camera will then look for clouds and the miniature thermal emission spectrometer will conduct a seven-point sky and ground analysis. In the afternoon, the rover will have another chance to see Phobos in the sky.
As of sol 1080 (Feb. 6, 2007), Opportunity's total odometry was 10,023.19 meters (6.23 miles).
Opportunity Making Its Way to Final Position on 'Cape Desire'
Posted February, 2, 2007 for Sols 1070-1076
Opportunity spent the last week moving around the end of "Cape Desire" to three different imaging locations, each about 2 to 3 meters (6.6 to 9.8 feet) apart. Right now, Opportunity is driving about 2.5 meters (8.2 feet) to the final position to finish collecting long-baseline stereo images in the direction of "Cabo Corrientes" (to the east) and "Cabo Anonimo" (to the west).
Sol-by-sol summary:
Each sol there is a panoramic camera tau at the beginning of the plan and before the afternoon Mars Odyssey pass. There is a miniature thermal emission spectrometer elevation sky and ground observation during the Odyssey pass. There is also a mini-miniature thermal emission spectrometer sky and ground observation in the morning of each sol, just prior to handing over to the next sol's master sequence. In addition to these regular activities, Opportunity also completed the following:
Sol 1070 (Jan. 27, 2007): Opportunity's panoramic camera conducted a 13-filter observation on the target "Ceuta." The panoramic camera also took an image of a target that was photographed by the microscopic imager a week earlier during testing of a new capability to autonomously place the tools of the robotic arm onto a target. Another image by the panoramic camera is for use in a long-baseline stereo pair. The rover then conducted a miniature thermal emission spectrometer stare at Ceuta. After a communication-relay session with NASA's Mars Odyssey orbiter, Opportunity performed an argon experiment during an alpha particle X-ray spectrometer integration.
Sol 1071: The rover drove 2.19 meters (7.2 feet) farther out on Cape Desire. Post-drive imaging included front and rear hazard avoidance camera images and a 360-degree navigation camera image.
Sol 1072: Opportunity took panoramic camera images of the magnets and conducted a miniature thermal emission spectrometer seven-point sky and ground observation.
Sol 1073: Opportunity took a panoramic camera long-baseline stereo image mosaic of target Cabo Corrientes.
Sol 1074: The rover used its panoramic camera to get a mosaic image of Cabo Anonimo then conducted a miniature thermal emission spectrometer vertical scan on target Cabo Corrientes during the Odyssey pass instead of the usual sky and ground observation. The rover also monitored dust on its mast.
Sol 1075: A mini-miniature thermal emission sky and ground observation was conducted in the morning of sol 1075. Opportunity bumped about 2.5 meters (8.2 feet) and did post-drive imaging.
Sol 1076 (Feb. 2, 2007): Plans call for Opportunity to use its panoramic camera for sky spot and mini-miniature thermal emission sky and ground observations. The rover is then to use the same camera to shoot an image mosaic in the direction of target Cabo Anonimo. A mini-miniature thermal emission spectrometer elevation sky and ground observation is also planned.
Opportunity's total odometry as of sol 1071 (Jan. 28, 2007) is 9,927.11 meters (6.2 miles).
Opportunity Hones Reckoning Skills, Tests Computer Smarts
Posted January, 29, 2007 for Sols 1063-1069
After driving around the "Bay of Toil" onto "Cape Desire," a promontory overlooking "Victoria Crater," Opportunity began testing various techniques for visually determining the rover's precise location after moving across sandy, somewhat slippery terrain. Because the sandy surface is largely flat and featureless (except for the dropoff into "Victoria Crater"), the rover's primary reference points are the long rows of repeating ridges and holes in its own tracks. They all look pretty much the same, repeating the same pattern every 80 centimeters (2.6 feet). The rover is working on ways to make its tracks look different at every step, which will remove any ambiguities in the images of the tracks.
Opportunity continued to test new computer smarts to enable automated placement of instruments on a target of scientific interest.
Sol-by-sol summary
In addition to daily observations that included measuring atmospheric dust with the panoramic camera, searching for clouds with the navigation camera, surveying the sky and ground with the miniature thermal emission spectrometer, and imaging the sky with the panoramic camera, Opportunity completed the following activities:
Sol 1063 (Jan. 19, 2007): Opportunity measured atmospheric argon with the alpha-particle X-ray spectrometer and acquired part of a panoramic postcard of Victoria Crater using the panoramic camera. Opportunity surveyed rock targets known as "Gomes," "Gomes Background" (the surface area around Gomes), "Santandres," "Deseado," "Narrows," "Sardines," and "Trabajo" using the miniature thermal emission spectrometer.
Sol 1064: Opportunity drove 4.21 meters (13.8 feet) around the Bay of Toil toward Cape Desire. The drive included a test to allow the rover to make unique track patterns for better determination of its position. The drive test had two legs: one in which the rover dragged the right front wheel for 5 centimeters (2 inches) and then drove on all 6 wheels for 55 centimeters (1.8 feet), and a second in which the rover drove 60 centimeters (24 inches) and then spun both front wheels 23 degrees, or approximately 5 centimeters (2 inches).
Sol 1065: Opportunity acquired a full-color image using all 13 filters of the panoramic camera of the foreground area, then surveyed the foreground with the miniature thermal emission spectrometer. The rover monitored dust on the mast and acquired panoramic camera images of the sky at sunset.
Sol 1066: Opportunity drove 25.38 meters (83.27 feet) away from the rim of Victoria Crater to continue testing and determining the best method for visual odometry -- determining the precise position by imaging the rover's tracks. The rover did a series of 5 tests, each covering 5 centimeters (2 inches) and each designed to produce a different pattern in the tracks. All of the driving was backward. During the first test, the rover created scuffs with both front wheels. During the second test, the rover wiggled the left wheel and scuffed with the right wheel. The third test was a "drunken sailor" test in which the rover drove in small curves. During the fourth test, the rover turned in place 10 degrees at specific intervals, or "steps." The fifth test was a combination of the previous four tests.
Sol 1067: Opportunity drove 40.43 meters (132.6 feet) to set up for the approach to the edge of Cape Desire. The rover acquired panoramic camera images of "Guam," a chevron-shaped rock outcrop.
Sol 1068: Opportunity drove backward 7.8 meters (26 feet) toward the tip of Cape Desire.
Sol 1069 (Jan. 26, 2007): Plans called for Opportunity to drive a short distance of 7 meters (23 feet) to an imaging position about 2.5 meters (8.2 feet) away from the left edge of Cape Desire. From this vantage point, Opportunity was to acquire images of "Bahia Blanca," the next bay to the north. The rover was also slated to survey the horizon with the panoramic camera and complete Step 4 of the automatic placement test, the first attempt at actually reaching and touching a target autonomously. During the test, the rover was to acquire images with the hazard avoidance camera, swing back the robotic arm, touch the target with the Moessbauer spectrometer, and acquire microscopic images.
Odometry
As of sol 1068 (Jan. 25, 2007), Opportunity's total odometry was 9,918 meters (6.2 miles).
Opportunity Studies Cobbles and Rock Exposures Around 'Victoria Crater'
Posted January, 19, 2007 for Sols 1057-1062
Opportunity continues to make progress in acquiring long-baseline stereo images of "Victoria Crater." To do this, the rover moves laterally from one point to another between taking images with the left and right eyes of the panoramic camera. The path separating the images is known as a baseline and increases the apparent visual depth of features in the terrain.
During the past week, Opportunity drove across "Cabo Anonimo," a promontory on the northwest edge of Victoria Crater. From there, Opportunity took images of a face of "Cape Desire," the next promontory clockwise around the crater rim, on the other side of the "Bay of Toil." Opportunity then proceeded around the Bay of Toil on the way to Cape Desire.
Opportunity was scheduled to take a picture of comet McNaught on the morning of the rover's 1,063rd sol, or Martian day, of Mars exploration (Jan. 20, 2007).
Sol-by-sol summary
In addition to daily observations that included measuring atmospheric dust with the panoramic camera, searching for clouds with the navigation camera, surveying the sky and ground with the miniature thermal emission spectrometer, and imaging the sky with the panoramic camera, Opportunity completed the following activities:
Sol 1057 (Jan. 13, 2007): Opportunity measured atmospheric argon with the alpha-particle X-ray spectrometer and surveyed surface targets known as "Pacific," "Pacifico," and "Straight" using the miniature thermal emission spectrometer.
Sol 1058: Opportunity drove across Cabo Anonimo to the rim overlooking the Bay of Toil.
Sol 1059: Opportunity completed standard remote sensing activities.
Sol 1060: Opportunity acquired the first half of the long-baseline stereo pair of the Bay of Toil using the panoramic camera. The rover then drove 2 meters (7 feet) to get into position to acquire the second half of the baseline stereo pair.
Sol 1061: Opportunity acquired the second half of the baseline stereo pair of panoramic camera images, then proceeded driving around the Bay of Toil.
Sol 1062 (Jan. 18, 2007): Opportunity acquired panoramic camera images of a rock outcrop known as "Guam," exposed on the plains above the rim of Victoria Crater. The camera also photographed cobbles "Gallego," "Vasco" and "Gomes" along the rim. Opportunity acquired miniature thermal emission spectrometer data on Gallego, the soil next to Gallego, and Vasco. Plans called for Opportunity to take snapshots of comet McNaught the next morning.
Odometry
As of sol 1061 (Jan. 17, 2007), Opportunity's total odometry was 9,840 meters (6.1 miles).
Opportunity Finds Another Meteorite
Posted January, 12, 2007 for Sols 1049-1056
After wrapping up scientific studies of a rock called "Santa Catarina" on the rim of "Victoria Crater," Opportunity determined, based on analysis of the iron content, that the rock is probably a meteorite. Nearby cobbles appear to have similar composition, based on data from the Moessbauer spectrometer, panoramic camera, and miniature thermal emission spectrometer. Opportunity's itinerary will now take the rover in a northeasterly direction toward the crater's edge for a better look at the west face of "Cape Desire," on the other side of the "Bay of Toil."
On the morning of Opportunity's 1,048th sol, or Martian day, the rover entered auto mode, meaning that, in order to protect itself from a sequencing error, the rover cancelled all scheduled activities. Rover planners re-established control of all operating sequences on sol 1049 (Jan. 5, 2007).
Also on sol 1049, Opportunity performed additional diagnostic tests of the grinding motor that operates the rock abrasion tool. All signs point to a failed encoder. Rover handlers must now invent a new strategy for using the brush and grinder that does not rely on the encoder to sense when the device comes into contact with a rock surface. Team members anticipate they will be able to use the rock abrasion tool again in a few weeks.
Sol-by-sol summary
In addition to daily observations that included measuring atmospheric dust with the panoramic camera, searching for clouds with the navigation camera, surveying the sky and ground with the miniature thermal emission spectrometer, and imaging the sky with the panoramic camera, Opportunity completed the following activities:
Sol 1049 (Jan. 5, 2007): Opportunity conducted diagnostic tests of the rock abrasion tool, studied Santa Catarina using the Moessbauer spectrometer, acquired full-color, 13-filter panoramic images of cobbles known as "Ibirama" and "Xaxim," and studied a blue cobble known as "Igreja" using the miniature thermal emission spectrometer.
Sol 1050: Opportunity acquired full-color panoramic camera images of cobbles known as "Lajes" and "Pelotas," studied Lajes with the miniature thermal emission spectrometer, took images of Lajes with the navigation camera, and analyzed Santa Catarina with the Moessbauer spectrometer.
Sol 1051: Opportunity acquired panoramic camera images of the area where the rover is scheduled to drive, acquired data from a cobble known as "Mafra" using the miniature thermal emission spectrometer, and collected additional data about Santa Catarina with the Moessbauer spectrometer.
Sol 1052: Using all 13 filters of the panoramic camera, Opportunity acquired images of Mafra and a cobble nicknamed "Peixe," scanned the sky and ground with the miniature thermal emission spectrometer, and continued to analyze Santa Catarina using the Moessbauer spectrometer.
Sol 1053: Opportunity acquired full-color images using all 13 filters of the panoramic camera of cobbles known as "Videira" and "Chapeco," scanned Videira and the background behind it using the miniature thermal emission spectrometer, and conducted analysis of Santa Catarina using the Moessbauer spectrometer.
Sol 1054: Opportunity monitored dust accumulation on the rover's mast, surveyed the sky with the sun low on the horizon using the panoramic camera, and surveyed the sky and ground with the miniature thermal emission spectrometer.
Sol 1055: Plans called for Opportunity to back up and acquire panoramic camera images of Santa Catarina along with Moessbauer spectrometer data, turn northeast and drive toward Bay of Toil, take stereo images using the navigation camera, and acquire panoramic mosaics using the panoramic camera for help in planning the next drive to the edge of Victoria Crater.
Sol 1056 (Jan. 12, 2007): Opportunity was scheduled to conduct a sky survey using the panoramic camera.
Odometry
As of sol 1053 (Jan. 9, 2007), Opportunity's total odometry remained at 9,790 meters (6.1 miles).
Opportunity Studies Unusual Rocks on Rim of 'Victoria Crater'
Posted January, 5, 2007 for Sols 1043-1048
Opportunity continued scientific studies of a rock called "Santa Catarina" on the rim of "Victoria Crater." Scientists suspect that Santa Catarina may be a meteorite or a rock blasted out from beneath the surface of Victoria. Opportunity collected extensive measurements to determine the iron content of the rock using the Moessbauer spectrometer and will continue to do so during the coming week.
Other activities included analysis of cobbles nearby that may be similar to Santa Catarina. Based on the results, members of the science team will either decide to stay and continue investigating the rocks or drive toward the next promontory of Victoria Crater.
Opportunity also conducted tests in support of the Phoenix mission to Mars scheduled for launch later this year. On the rover's 1,037th and 1,047th Martian days, or sols, of exploration (Dec. 24, 2006 and Jan. 3, 2007), Opportunity sent UHF-band transmissions to NASA's Odyssey spacecraft as it passed overhead. These communications mimicked those to be used by Phoenix.
During a routine imaging session on New Year's Day (sol 1045), Opportunity detected a stall in the grind motor of the rock abrasion tool. Subsequent diagnostic tests found no obstructions. More diagnostics were planned for sol 1049 (Jan. 5, 2007).
Sol-by-sol summary
In addition to daily observations that included measuring atmospheric dust with the panoramic camera, searching for clouds with the navigation camera, surveying the sky and ground with the miniature thermal emission spectrometer, and imaging the sky with the panoramic camera, Opportunity completed the following activities:
Sol 1043 (Dec. 30, 2006): Opportunity studied the elemental composition of the Martian atmosphere with the alpha-particle X-ray spectrometer. The rover surveyed the surrounding plains, dust on the horizon, and the sky and ground with the miniature thermal emission spectrometer.
Sol 1044: Opportunity acquired panoramic camera images to survey the soil, measure surface brightness, and scan the horizon. The rover scanned the plains, sky, and ground with the miniature thermal emission spectrometer.
Sol 1045: Opportunity acquired images of the grinding bit on the rock abrasion tool and microscopic images of Santa Catarina. The rover acquired elemental data about Santa Catarina using the alpha-particle X-ray spectrometer.
Sol 1046: Using all 13 filters of the panoramic camera along with the miniature thermal emission spectrometer, Opportunity studied nearby cobbles nicknamed "Joacaba," "Tubarao," and "Igreja." The rover studied Santa Catarina using the alpha-particle X-ray spectrometer.
Sol 1047: Opportunity conducted diagnostic tests of the rock abrasion tool, analyzed the iron composition of Santa Catarina using the Moessbauer spectrometer, and used all 13 filters of the panoramic camera along with the miniature thermal emission spectrometer to acquire data from nearby cobbles nicknamed "Florianopolis" and "Xanxer." The rover conducted a communications demonstration for the Phoenix mission.
Sol 1048 (Jan. 4, 2006): Opportunity continued analysis of Santa Catarina with the Moessbauer spectrometer and used all 13 filters of the panoramic camera along with the miniature thermal emission spectrometer to study nearby cobbles dubbed "Videira" and "Chapeco."
Odometry
As of sol 1047 (Jan. 3, 2006), Opportunity's total odometry remained at 9,790 meters (6.1 miles).
Opportunity Continues to Look for Entry Point into 'Victoria Crater'
Posted December 22, 2006 for Sols 1029-1037
Opportunity is healthy and continues to gather data in search of a potential future entry point into "Victoria Crater." The rover is traversing the crater rim near an alcove known as "Bottomless Bay," assessing whether it might eventually serve as an entry point, and collecting images of the crater's interior cliffs.
On Dec. 17, 2006, the rover's 1030th sol, or Martian day on Mars, Opportunity began testing software to enable autonomous placement of the robotic arm and scientific instruments on targets of scientific interest.
Between sols 1029 (Dec. 16, 2006) and 1034 (Dec. 21, 2006), Opportunity drove 41 meters (135 feet).
Sol-by-sol summary
Sol 1029 (Dec. 16, 2006): Opportunity measured atmospheric dust, acquired navigation camera and panoramic camera images of Bottomless Bay, scanned the sky and ground with the miniature thermal emission spectrometer, and acquired panoramic images of points of scientific interest known as "Malua," "Timor" and "Cebu."
Sol 1030: Opportunity measured atmospheric dust, performed step No. 3 of the autonomous placement sequence for the robotic arm, acquired forward-looking images following the day's drive, scanned the sky for clouds with the navigation camera, and surveyed the sky, ground, and external calibration target using the miniature thermal emission spectrometer.
Sol 1031: Opportunity measured atmospheric dust, scanned the sky for clouds, and surveyed the sky and ground with the miniature thermal emission spectrometer.
Sol 1032: Following the day's drive, Opportunity acquired images of the surrounding area, including rearward-looking views, using the navigation camera. Opportunity measured atmospheric dust and surveyed the horizon with the miniature thermal emission spectrometer.
Sol 1033: Opportunity measured atmospheric dust, performed step No. 2 of the sequence for autonomous placement of the robotic arm, surveyed the sky and ground with the miniature thermal emission spectrometer, and acquired panoramic camera images looking southwest at Bottomless Bay.
Sol 1034: Following another day's drive, Opportunity acquired rearward-looking and forward-looking images of surrounding terrain using the navigation camera. Opportunity measured atmospheric dust, surveyed the sky and ground with the miniature thermal emission spectrometer, and acquired images of the sky using the panoramic camera.
Sol 1035: Plans call for Opportunity to measure atmospheric dust, use the rock abrasion tool to brush the surface of a rock target known as "Rio de Janeiro," and acquire post-brush microscopic images of the dust-free surface. The rover is then to collect data about the rock using the alpha-particle X-ray spectrometer, survey the sky at high sun using the panoramic camera, and scan the sky and ground with the miniature thermal emission spectrometer.
Sol 1036: Plans call for Opportunity to measure atmospheric dust and acquire a full-color, 13-filter mosaic of Rio de Janeiro using the panoramic camera and to study the outcrop with the Moessbauer spectrometer. The rover is instructed to scan the sky, ground, and points of scientific interest known as "Catalonia," "Valencia," Andalucia," "Aragon," "Asturia," "Cantabria" and "Basque," as well as the rover's external calibration target, using the miniature thermal emission spectrometer.
Sol 1037 (Dec. 24, 2006): Plans call for Opportunity to measure atmospheric dust and acquire a full-color, 13-filter mosaic of Bottomless Bay using the panoramic camera. Opportunity is to survey the sky, ground, external calibration target, and scientific targets nicknamed "Murcia," "Navarra," "Catalonia" and "Valencia" using the miniature thermal emission spectrometer, and to scan the sky for clouds.
Odometry
As of sol 1034 (Dec. 21, 2006), Opportunity's total odometry was 9,758 meters (6.1 miles).
Opportunity Looks for Entry Point into Crater
Posted December 18, 2006 for Sols 1022-1028
Opportunity is healthy and driving toward "Bottomless Bay" to gather data on whether this would be a suitable future entry point into "Victoria Crater." The rover will continue traversing the crater rim and collecting images of the cliff walls.
On Dec. 6, 2006, corresponding to the 1020th sol, or Martian day, of Opportunity's mission on the surface of Mars, NASA's Mars Odyssey orbiter entered safe mode, a protective state during which only those systems vital to the orbiter's health continue to operate. Odyssey provides the relay communications link for most data received from the Opportunity and Spirit rovers. Rover handlers responded to the temporary unavailability of Odyssey by planning only one sol of driving and limiting remote sensing activities until the orbiter returned to normal relay mode on Opportunity's sol 1026 (Dec. 12, 2006).
Between sols 1021 (Dec. 7, 2006) and 1027 (Dec. 13, 2006), Opportunity drove 84 meters (276 feet).
Sol-by-sol summary
Sol 1022 (Dec. 8, 2006): Opportunity took backward-looking panoramic images, monitored the rover mast for dust, acquired thumbnail panoramic images of the sky, and measured atmospheric dust.
Sol 1023: Opportunity measured atmospheric dust and acquired forward-looking images using the panoramic camera, acquired images to accompany surveys by the miniature thermal emission spectrometer using the navigation camera, and scanned the sky and ground using the miniature thermal emission spectrometer. The rover monitored atmospheric dust at sunset, measured atmospheric density of argon gas with the alpha-particle X-ray spectrometer, and scanned the sky for clouds with the navigation camera.
Sol 1024: Opportunity measured atmospheric dust with the panoramic camera, scanned the sky and ground with the miniature thermal emission spectrometer, and acquired panoramic camera images of the work volume to be examined using the instruments on the rover's robotic arm.
Sol 1025: Opportunity measured atmospheric dust with the panoramic camera, surveyed the sky and ground with the miniature thermal emission spectrometer, scanned the sky for clouds with the navigation camera, and acquired thumbnail images of the sky using the panoramic camera.
Sol 1026: Opportunity measured atmospheric dust with the panoramic camera, surveyed the horizon with the miniature thermal emission spectrometer, scanned the sky for clouds with the navigation camera, and acquired thumbnail images of the sky using the panoramic camera.
Sol 1027: Opportunity measured atmospheric dust with the panoramic camera, drove 30 meters (98 feet), acquired navigation camera images of the area ahead, and acquired post-drive panoramic camera images and atmospheric dust measurements. The rover surveyed the sky and ground with the miniature thermal emission spectrometer and scanned the sky for clouds with the navigation camera.
Sol 1028 (Dec. 14, 2006): Opportunity measured atmospheric dust with the panoramic camera, drove 40 meters (131 feet), took post-drive navigation camera images, monitored the rover mast for dust, and surveyed the sky and ground with the miniature thermal emission spectrometer.
Odometry
As of sol 1027 (Dec. 13, 2006), Opportunity's total odometry was 9,669 meters (6.01 miles).
Opportunity's Odometer Reaches Six-Mile Mark at 'Bottomless Bay'
Posted December 8, 2006 for Sols 1016-1021
Opportunity is healthy and wrapping up imaging of "Bottomless Bay" (Bahia sin Fondo) at "Victoria Crater."
On Sol 1016, Opportunity arrived at Bottomless Bay and began making science observations. Opportunity also performed step one of a series of checkouts of its new capability for more autonomous assessment of where it is safe to place its robotic arm. This test did not involve any arm motion.
On Sol 1018, the alpha particle X-ray spectrometer measured the atmosphere's argon density. While pointed at the atmosphere, the instrument was turned on and left integrating for almost three hours. With the temperature and argon density in hand, scientists can calculate what percentage of the atmosphere at the rover site is argon. By doing measurements of this nature, scientists can get a better understanding of how atmospheric gases mix between the poles and the equator.
On Sols 1019, 1020 and 1021 Opportunity was busy completing photography of Bottomless Bay.
Sol-by-sol summaries
Daily, Opportunity completes science observations that include: tau (atmospheric clarity) measurements with the panoramic camera, cloud searches with the navigation camera, and stares at the sky and ground with the miniature thermal emission spectrometer.
Sol 1016 (Dec. 2, 2006): Opportunity drove for two hours, adding 30 meters (98 feet) onto its drive toward Bottomless Bay. The rover then took a navigation camera mosaic in the drive direction and completed step one of checking the capability for autonomous placement of the robotic arm.
Sol 1017: Opportunity used part of this sol to conduct the daily science observations and then used the rest of the sol to recharge.
Sol 1018: The rover examined the ground in front of it with the panoramic camera and the miniature thermal emission spectrometer. Those instruments were also used to monitor dust accumulation on the solar panels. The alpha particle X-ray spectrometer began a 2.5-hour argon density measurement.
Sol 1019: The panoramic camera took images for the first half of a stereo mosaic of Bottomless Bay. Opportunity then turned so it would be in a better position for communication.
Sol 1020: Opportunity used part of this sol to conduct the daily science observations and then used the rest of the sol to recharge.
Sol 1021 (Dec. 7, 2006): The rover took a 2-meter (6.6 feet) drive along Bottomless Bay and the panoramic camera took the second half of the stereo mosaic of Bottomless Bay.
As of sol 1016's drive, Opportunity's total odometry is 9,584.69 meters (6 miles)!
Opportunity Tests New Driving Software and Helps Its Sister Spacecraft
Posted December 4, 2006 for Sols 1002-1015
Opportunity is healthy and making progress imaging "Victoria Crater." Sol 1002 began with a short drive to the edge of "Cape St. Mary" in order to take better images of the northeast side of "Cape Verde."
On Sols 1005 and 1006 (Nov. 21 and 22, 2006), Opportunity participated in efforts to recover communications with NASA's Mars Global Surveyor orbiter, which had not communicated with Earth for more than two weeks at that point. Mars Global Surveyor was sent a command in the blind to try to communicate with Opportunity via their UHF radios on each of these two sols. Alas, Opportunity never received any signal from the orbiter on either attempt.
On Sol 1009, Opportunity departed Cape St. Mary and headed toward a point overlooking "Bottomless Bay" (Bahia sin Fondo) more than 100 meters (328 feet) away. Drives on sols 1009, 1012 and 1014 added about 80 meters (262 feet) in the direction of Bottomless Bay.
On Sol 1013, Opportunity added to the rapidly growing list of simultaneous, multi-spacecraft science observations with a coordinated overflight by the Mars Reconnaissance Orbiter of the area around Opportunity. At a predetermined time, that orbiter's remote sensing instruments took measurements in the vicinity of Opportunity while Opportunity took "ground truth" measurements of the atmosphere and ground.
Sol 1014's drive included the first step in a series of checkouts of the rover's new "D-star" drive capability. This was added to create a more capable autonomous navigation system. The benefits include better hazard-avoidance capability, less user intervention and longer hazard-avoidance traverses per sol.
Sol-by-sol summaries:
Sol 1002 (Nov. 18, 2006): The rover drove 1.04 meters (3.41 feet), then conducted remote sensing of Cape Verde.
Sol 1003: Opportunity conducted untargeted remote sensing.
Sol 1004: Opportunity conducted untargeted remote sensing.
Sol 1005: The rover used its panoramic camera to collect images for a mosaic of Cape Verde. This was the first sol during which Opportunity attempted to hear from Mars Global Surveyor.
Sol 1006: This sol was the second attempt to use Opportunity to receive a signal from Mars Global Surveyor. The rover also did targeted remote sensing.
Sol 1007: Opportunity conducted targeted remote sensing.
Sol 1008: Opportunity conducted untargeted remote sensing.
Sol 1009: The rover drove 43.7 meters (143.4 feet) away from Cape St. Mary toward Bottomless Bay.
Sol 1010: Opportunity conducted untargeted remote sensing.
Sol 1011: Opportunity conducted untargeted remote sensing.
Sol 1012: The rover drove 14.5 meters (48 feet) toward Bottomless Bay.
Sol 1013: The rover conducted remote sensing and did coordinated science observations with the Mars Reconnaissance Orbiter.
Sol 1014: Opportunity drove about 22 meters (72 feet) toward Bottomless Bay. The new "D-star" driving software was tested.
Sol 1015 (Dec. 1, 2006): Opportunity did untargeted remote science.
After the drive on sol 1014, Opportunity's total odometery is 9,555 meters (5.94 miles).
Opportunity on the Move after Solar Conjunction
Posted November 13, 2006 for Sols 968 - 995
Opportunity is healthy and has driven away from the "Cape Verde" promontory for further exploration around the rim of "Victoria Crater." Over the course of the next week, the rover will make its way clockwise around Victoria Crater to the next promontory, "Cape St. Mary." Opportunity will then image the northeast-facing cliff of Cape Verde to characterize lateral changes in layers of the crater wall. Along the way, Opportunity will be using the panoramic camera to scout a safe place to drive into the crater.
During the drive on Sol 992, rover planners performed the first step of the in-flight checkout of one of the rover's new technologies: visual target tracking (VTT). This first checkout included picking a target to track, driving, and testing the rover's knowledge of how its position changed relative to the target. The rover performed this activity as planned. The next step will be to execute a drive to a VTT target.
During the solar conjunction period from sol 970 to sol 984 (Oct. 16 to 30), Opportunity used its panoramic camera to image Victoria Crater from the Cape Verde promontory, collected 3.5 hours of Moessbauer spectrometer data each sol on the hole that the rock abrasion tool drilled at target "Cha," and performed its standard sol-to-sol atmospheric and remote sensing observations. Opportunity collected more than 50 hours of Moessbauer data on Cha.
Sol-by-sol summaries:
In addition to Opportunity's daily science observations (checking atmospheric clarity with the panoramic camera, monitoring for clouds with the navigation camera, and observing sky and ground with the miniature thermal emission spectrometer), the rover performed the following activities:
Sol 968 (Oct. 14, 2006): The rover planning team made room in flash memory for data to be collected during solar conjunction.
Sol 969: More room in the flash memory was freed during this sol.
Sols 970 to 984 (conjunction): The rover took images for a panorama of the view from Cape Verde and conducted Moessbauer spectrometer integration on target Cha.
Sol 985: The rover took images for the Cape Verde panorama.
Sol 986: Opportunity continued to work on the Cape Verde panorama and used the Moessbauer spectrometer on target Cha.
Sol 987: Opportunity retransmitted and deleted data left from solar conjunction.
Sol 988: There was more Moessbauer activity on Cha, use of the miniature thermal emission spectrometer, and retransmission and deletion of data from conjunction.
Sol 989: Opportunity did more Moessbauer spectrometer observations on Cha and used its miniature thermal emission spectrometer.
Sol 990: Opportunity did more Moessbauer spectrometer observations on Cha and used its miniature thermal emission spectrometer.
Sol 991: On this sol, Opportunity finished acquiring the Cape Verde panoramic image.
Sol 992: The rover drove toward Cape St. Mary and tested its visual target tracking function.
Sol 993: Opportunity took images of the crater with its panoramic camera.
Sol 994: The rover drove toward Cape St. Mary.
Sol 995 (Nov. 11, 2006): Opportunity used its panoramic camera to image the crater.
Opportunity's total odometry as of sol 992 (Nov. 8, 2006) is 9,432 meters (5.86 miles).
On the Promontory
Posted October 16, 2006 - sols 954 - 960
Opportunity is healthy and perched at the tip of the promontory "Cape Verde," 3.1 meters (10.2 feet) from the edge of a sharp drop off on the rim of "Victoria Crater." Soon after arriving at Victoria Crater's "Duck Bay" last week, Opportunity was sent on its way to Cape Verde. Six sols, four drives and 127.61 meters (419 feet) later, Opportunity arrived at the rock target "Fogo" near the tip of Cape Verde.
Along the way, Opportunity made remote-sensing observations including a panorama from Duck Bay, imagery of Cape Verde and atmospheric science.
On Sol 957 (Oct. 3, 2006) Opportunity performed a coordinated observation with NASA's Mars Reconnaissance Orbiter (MRO). MRO imagery included a picture of Opportunity itself! The image was taken with MRO's HiRISE (High Resolution Imaging Science Experiment) camera, the highest-resolution camera ever to orbit Mars.
Sol-by-sol summaries:
Sol 954 (Sept. 30, 2006): The navigation camera had a look at the skies, searching for clouds. The panoramic camera gauged atmospheric clarity (a "tau" measurement). The panoramic camera was then used to take a mosaic image of "Duck Bay 2." The miniature thermal emission spectrometer was put to work to scan the target "Cape Verde Maio". The afternoon included another panoramic camera tau measurement.
Sol 955: The morning of this sol saw the panoramic camera imaging target Cape Verde Maio. The rover also assessed the clarity of the atmosphere. The robotic arm was then stowed and the rover drove 55.71 meters (183 feet) toward Cape Verde. After the drive, the rover took images with its hazard avoidance cameras, panoramic camera and navigation camera, and unstowed its arm.
Sol 956: In the morning, Opportunity used its panoramic camera to survey the sky. A measurement of atmospheric clarity was taken by the panoramic camera, and the navigation camera spied for clouds. More remote sensing was conducted before the Mars Odyssey communication window. During that window, the rover examined points in the sky and on the ground with its miniature thermal emission spectrometer.
Sol 957: The rover was busy this morning, using its navigation and panoramic cameras to survey the sky. The miniature thermal emission spectrometer was also used to scan the sky and ground. Opportunity assessed the clarity of the atmosphere with a tau measurement and then stowed its robotic arm. The rover drove 42.17 meters (138 feet) toward Cape Verde, took hazard avoidance camera images, then unstowed its arm and took navigation and panoramic camera images. A tau measurement was taken with the panoramic camera before an overflight by the Mars Reconnaissance Orbiter. In coordination with observations by that orbiter, Opportunity's cameras were busy imaging and the miniature thermal emission spectrometer assessed the sky and ground. To end the sol, the panoramic camera made another tau measurement.
Sol 958: The rover monitored its dust level this morning and looked for clouds with its navigation camera. The miniature thermal emission spectrometer was then used to assess the sky and ground. A tau measurement was taken and then a 23.01 meter (75.5 feet) drive commenced, toward Cape Verde. The rover then did post-drive imaging. In coordination with observations by the Mars Reconnaissance Orbiter, Opportunity took another tau measurement and did albedo measurements.
Sol 959: On this sol, Opportunity began the day by scanning for clouds with its navigation camera and taking thumbnail images with its panoramic camera. A panoramic camera tau measurement was taken and then the rover drove 6.72 meters (22 feet) to the target Fogo at Cape Verde. Post-drive imaging was done and a tau measurement taken. During the communication window with Mars Odyssey, the miniature thermal emission spectrometer observed the sky and ground.
Sol 960 (Oct. 6, 2006): In the morning of this sol, the navigation camera looked for clouds and the miniature thermal emission spectrometer observed the sky and ground. Opportunity then took a tau measurement and used the miniature thermal emission spectrometer to assess dunes, the sky and the ground. Another panoramic camera tau measurement was taken. During the communication window with Mars Odyssey, the miniature thermal emission spectrometer was used again to assess the dunes.
As of sol 959 (Oct. 5, 2006), Opportunity's total odometery was 9,406.95 meters (5.85 miles).
A View Worth Waiting For!
Posted September 29, 2006 - sols 947-953
Opportunity is healthy and sitting at the rim of "Victoria Crater"! After traveling 9,279.34 meters (5.77 miles) in 952 sols the team is rewarded by some of the most spectacular views seen on this mission. The week began with a checkout of basic mobility functions using the new flight software: arc, turn, go-to-waypoint and visual odometry. Also checked were a few of the mobility test criteria such as the time-of-day limits, suspension limits and a new capability for keep-out zones (areas deemed too dangerous to rove). Later in the week, Opportunity drove 60.1 meters (197 feet) over three sols to our current location at the top of "Duck Bay."
Sol-by-sol summaries:
Sol 947 (Sept. 22, 2006): Opportunity's panoramic camera took 13-filter, quarter-frame images of the targets "Macaroni" and "Rockhopper," and a mosaic of images of "Kitty Clyde's Sister." During the afternoon communication-relay pass by NASA's Mars Odyssey orbiter, the miniature thermal emission spectrometer was used to evaluate Macaroni and Rockhopper. The navigation camera checked for clouds and the panoramic camera assessed the clarity of the atmosphere with a tau measurement.
Sol 948: The morning of this sol, the rover monitored dust buildup and targeted the sky and ground with its miniature thermal emission spectrometer. Opportunity executed a series of mobility tests to check out the new version of its flight software. Post-drive imaging included 360-degree view by the navigation camera and an image mosaic by the panoramic camera.
Sol 949: In the morning of this sol, the panoramic camera imaged the sky and measured for atmospheric clarity. The navigation camera looked for clouds and the miniature thermal emission spectrometer did a sky and ground measurement. This sol contained un-targeted remote sensing because it was the third of a three-sol plan. The panoramic camera continued to be busy, taking another tau measurement and sky images. Before the Odyssey pass, the navigation camera took images of the sky (called "sky flats") for calibration purposes. During the Odyssey pass, Opportunity used its miniature thermal emission spectrometer.
Sol 950: Opportunity used part of the morning block of this sol to take a panoramic camera tau measurement and to look for clouds with its navigation camera. It also shot images of the sky with the panoramic camera and observed the sky and ground with its miniature thermal emission spectrometer. The rover completed another panoramic camera tau measurement before it drove 30.2 meters (99 feet) toward Victoria Crater's rim. Post-drive imaging included hazard avoidance camera imaging, a panoramic camera mosaic and a navigation camera 360-degree image.
Sol 951: This morning, Opportunity used its panoramic camera to survey the sky. The rover then took a panoramic camera tau measurement, drove 26.4 meters (87 feet) toward Duck Bay and completed post-drive imaging, including navigation and panoramic camera mosaics. The navigation camera looked for clouds and the panoramic camera imaged the sky.
Sol 952: Opportunity used its miniature thermal emission spectrometer to measure the sky and ground. The rover took pre-drive panoramic camera and navigation camera images. Opportunity drove 3.5 meters (11.5 feet) toward the rim's edge, then took a navigation camera mosaic. There was a post-drive navigation camera cloud observation before the rover shut down for the afternoon. Before the Odyssey pass, the panoramic camera made a tau measurement and the miniature thermal emission spectrometer measured the sky and ground during the orbiter's pass. The panoramic camera took a sunset tau measurement.
Sol 953 (Sept. 29, 2006): In the morning of this sol, the panoramic camera imaged the sky, the navigation camera looked for clouds and the miniature thermal emission spectrometer measured the sky and ground. This sol is the first of two sols of targeted remote sensing in Duck Bay before Opportunity will drive off to "Cape Verde." The rover is at its closest approach to Victoria Crater and it has an incredible view! The plan for the remainder of this sol is to: take a panoramic camera tau measurement, look for clouds with the navigation camera, take a navigation camera mosaic in the drive direction, and take part one of a large panoramic camera panorama. The miniature thermal emission spectrometer will take a vertical scan of "Cabo Frio" during the Odyssey pass. The plan also calls for another navigation camera scan for clouds and a panoramic camera 13-filter examination of Cabo Frio to support the miniature thermal emission spectrometer in the morning of sol 954.
As of sol 952 (Sept. 27, 2006), Opportunity's total odometry is 9,279.34 meters (5.77 miles).
Nearly There!
Posted September 22, 2006 - sols 941-946
Opportunity is healthy and very near "Victoria Crater." The rover spent its week completing an alpha particle X-ray spectrometer observation of rock target "Cape Faraday," successfully booting its new flight software and exercising its mobility functions.
Opportunity is currently a little over 45 meters (148 feet) away from Victoria Crater's "Duck Bay" – a point on Victoria's vast rim. Once the team has verified that the new onboard flight software is stable, Opportunity will drive out to Duck Bay. This location is expected to provide Opportunity a spectacular view of the crater's interior.
Sol-by-sol summaries:
Sol 941 (Sept. 16, 2006): In the morning, the panoramic camera imaged areas of the sky and looked for clouds. The miniature thermal emission spectrometer observed the sky and ground. Opportunity completed several panoramic camera assessments of the clarity of the atmosphere. The panoramic camera also surveyed the ground and imaged the soil target "Dellinbaugh," within the crater dubbed "Emma Dean." Parameters for the robotic arm were tested with the new flight software. The alpha particle X-ray spectrometer completed an observation of Cape Faraday.
Sol 942: This morning, the rover's panoramic camera imaged parts of the Martian sky and the miniature thermal emission spectrometer collected data from the sky and ground. Opportunity assessed the clarity of the atmosphere with a panoramic camera "tau" measurement. That camera also imaged the rover magnets to monitor dust and had a look at the horizon. The miniature thermal emission spectrometer completed a sky and ground observation and checked its calibration target. Before the communications pass with NASA's Mars Odyssey orbiter, the rover completed another tau measurement. During the pass, the miniature thermal emission spectrometer was used.
Sol 943: Opportunity drove about 35 meters (115 feet), paused and took a mid-drive navigation camera mosaic of the crater dubbed "Kitty Clyde's Sister." The rover then drove another 25 meters (82 feet) and took images with the hazard avoidance cameras. After the drive, the navigation camera and panoramic camera took images from the rover's new location. The panoramic camera was also used this sol to image parts of the sky and the miniature thermal emission spectrometer took measurements of the sky and ground.
Sol 944: This sol was dedicated to booting flight software and ensuring that imaging and data-product parameters were functioning properly with the new software.
Sol 945: This sol was used to update mobility parameters for the new flight software. Some remote sensing science was completed.
Sol 946 (Sept. 21, 2006): The rover performed remote sensing science.
As of sol 943 (Sept. 18, 2006) Opportunity's odometry total is 9,192.05 meters (5.71 miles).
Grinding into 'Cape Faraday'
Opportunity Mission Manager Report for sols 936-940
Opportunity is healthy and is currently driving toward "Victoria Crater," which is a little over 100 meters (328 feet) away. On sol 936 (Sept. 11, 2006), a short bump was made to a robotic arm rock target called "Cape Faraday" near the crater "Emma Dean." Opportunity drove 1.45 meters (4.8 feet) between sols 936-940.
Sol-by-sol summaries:
Sol 936 (Sept. 11, 2006): The morning of this sol saw the rover monitoring the amount of dust on itself using the panoramic mast assembly. Opportunity completed a panoramic camera tau, assessing the clarity of the sky. The rover then bumped to the robotic arm target at Emma Dean Crater and took a panoramic camera image of the arm's work area. Another measurement was done before the Mars Odyssey pass. During the pass, Opportunity used the miniature thermal emission spectrometer and had a look at that instrument's calibration target.
Sol 937: Opportunity used the morning to examine certain points in the sky with its panoramic camera and miniature thermal emission spectrometer. The miniature thermal emission spectrometer took measurements of the sky and ground, and the instrument's calibration targets were examined.
Sol 938: Opportunity completed another assessment of the clarity of the sky. The rover used its miniature thermal emission spectrometer to measure points on the sky and ground and used its navigation camera to search for clouds. The rover's miniature thermal emission spectrometer had a look at targets "Thompson" and "Jones."
Sol 939: The rover did another assessment of the sky, a tau measurement. The rover used its microscopic imager to snap a photo of Cape Faraday before grinding. The rock abrasion tool ground into the target and the microscopic imager took the "after" shot. The panoramic camera took images in the rover's driving direction. The alpha particle X-ray spectrometer was used after the Odyssey pass.
Sol 940 (Sept. 15, 2005): On this morning, Opportunity used its panoramic camera to examine targets in the sky and used the miniature thermal emission spectrometer to look at the sky and ground. The rover examined Cape Faraday with the Moessbauer spectrometer, and took a look at the rock "Beaman" with the miniature thermal emission spectrometer. During the Odyssey pass, the rover investigated the miniature thermal emission spectrometer calibration target.
As of sol 936, (Sept. 11, 2006) Opportunity's total odometry was 9130.29 meters (5.67 miles)
Finishing Up Scuff Work and Heading for 'Emma Dean'
Opportunity Mission Manager Report for Sols 928-935
Opportunity is healthy and just over 100 meters (328 feet) from "Victoria Crater." The rover completed robotic arm work on a scuff mark it made on sol 919. On sol 929 (Sept. 4, 2006), Opportunity almost got a hole-in-one by driving 100.31 meters (329 feet) to the small crater "Emma Dean." The rover arrived just 5 meters (16 feet) short of Emma Dean. On sol 931 the rover photographed the bit of the rock abrasion tool (RAT) to help engineers estimate how many more grinds might be possible with the tool. The hazard avoidance camera took several high-resolution images at different angles. The RAT engineers are examining them to see how much "bite" is left in the RAT. Also on sol 931, a short bump to an ejecta rock was attempted in the hopes of grinding it. Another bump (tentatively scheduled for sol 937) will have to be attempted before the rover can actually grind it. The remainder of the week had Opportunity acquiring remote-sensing science at Emma Dean.
Following the robotic arm campaign at Emma Dean, Opportunity will continue its drive to Victoria Crater.
Sol-by-sol summaries:
Sol 928 (Sept. 3, 2006): Opportunity used the microscopic imager on the robotic arm to look at scuff-mark targets "Powell" and "Powell's Brother." The rover also used the alpha particle X-ray spectrometer on Powell's Brother. The miniature thermal emission spectrometer was also used on this sol.
Sol 929: The rover bumped back this sol and used its panoramic camera. It also drove forward toward the small crater referred to as Emma Dean. The rover also took some post-drive images.
Sol 930: This sol consisted of untargeted remote sensing.
Sol 931: Opportunity bumped to a rover arm target at Emma Dean and conducted untargeted remote sensing.
Sol 932: The rover conducted untargeted remote sensing.
Sol 933: Opportunity conducted targeted remote sensing.
Sol 934: Opportunity conducted targeted remote sensing.
Sol 935 (Sept. 10, 2006): Opportunity conducted targeted remote sensing.
As of sol 931 (Sept. 6, 2006), Opportunity's total odometry was 9,128.84 meters (5.67 miles).
Inching closer to 'Victoria'
Posted August 18, 2006 - sols 920-927
Opportunity is healthy and still 218 meters (715 feet) from "Victoria Crater." Over the weekend, the rover’s shoulder azimuth joint stalled as Opportunity was trying to start measurements on a trench it dug on Sol 919 (Aug. 25, 2006). Consequently, all weekend arm activities were aborted, but remote science activities were executed as planned.
Beginning on Sol 923, rover arm diagnostic measurements were taken as well as some remote sensing science. Results from the diagnostics revealed neither cause nor any damage to the stalled joint. On Sol 924, the arm performed flawlessly as Opportunity successfully completed the activities originally planned for Sol 920. On Sols 925, 926 and 927 Opportunity collected more arm diagnostics (to ensure the stow before drive would go smoothly) as well as completing all arm activities originally planned over the weekend.
Sol-by-sol summaries:
Sol 920 (Aug. 26, 2006): Opportunity did a miniature thermal emission spectrometer observation and other activities were aborted due to the arm stall.
Sol 921: The rover took a panoramic camera image.
Sol 922: Opportunity used its panoramic camera and miniature thermal emission spectrometer.
Sol 923: The rover conducted arm diagnostics and took panoramic camera and miniature thermal emission spectrometer observations.
Sol 924: Completing the activities originally planned for sol 920, Opportunity took a microscopic image and did an alpha particle X-ray spectrometer observation.
Sol 925: The rover continued to do arm diagnostics and completed a Moessbauer spectrometer observation – a completion of sol 921’s originally planned activities.
Sol 926: Opportunity continued to do arm diagnostics and completed activities originally planned for sol 922 by taking microscopic images and using the Moessbauer spectrometer.
Sol 927: On this sol, the rover used its Moessbauer spectrometer.
As of sol 925 (August 31, 2006), Opportunity’s total odometry was 9,023.70 meters (5.61 miles).
Closer and Closer to 'Victoria'
Opportunity Mission Manager Report for sols 913-919
Opportunity is healthy and located only 218 meters (715 feet) from the rim of "Victoria Crater." Opportunity's odometer clicked past the 9-kilometer (5.5-mile) mark as it drove 237.81 meters (780 feet) during the week. The terrain within the annulus, or ring, of material surrounding Victoria is homogeneous and flat, which is favorable for long drives. The team planned a trenching activity for sol 919 (Aug. 25, 2006) to prepare for a robotic arm campaign during the weekend.
Sol-by-sol summaries
Sol 913 (Aug. 18, 2006): Opportunity used its panoramic camera to conduct a 13-filter systematic foreground observation, gathered a systematic foreground raster with the miniature thermal emission spectrometer and used the navigation camera in support of that spectrometer. The rover measured the atmosphere's clarity (a measurement called "tau") with the panoramic camera and used the miniature thermal emission spectrometer for observations of targets "Tenerife" (a boulder) and "Tenerife BG" (soil near the boulder).
Sol 914: Opportunity drove 71.72 meters (235 feet) then took images from its new position with the navigation camera and the panoramic camera. The rover also conducted a test to aid the design effort for NASA's 2009 Mars Science Laboratory. Opportunity's navigation camera took an image of the sunset. The image was designed to help in development of an algorithm for determining the rover's position using the sun and the time of day. The miniature thermal emission spectrometer observed sky and ground during the afternoon communication-relay pass of NASA's Mars Odyssey orbiter.
Sol 915: The rover conducted monitoring of dust on the panoramic mast assembly (the rover's "neck" and "head"), used the panoramic camera to survey clasts (rock fragments) and used the miniature thermal emission spectrometer to observe sky and ground.
Sol 916: The rover drove backwards for 88.82 meters (291 feet).
Sol 917: Opportunity drove backwards 77.27 meters (254 feet) and took mosaics of images with the navigation camera. Before the Mars Odyssey pass, the rover took a panoramic camera tau measurement. During the orbiter's pass, the miniature thermal emission spectrometer conducted a foreground stare. The rover also took a panoramic camera 13-filter foreground image.
Sol 918: Opportunity did untargeted remote sensing, including: a panoramic camera albedo measurement, a navigation camera rear-looking mosaic, a front hazard avoidance camera image for potential robotic-arm work, and a miniature thermal emission spectrometer seven-point sky and ground observation. The rover also took a panoramic camera tau measurement before the first of two Odyssey passes and a miniature thermal emission spectrometer sky and ground observation during the first Odyssey pass.
Sol 919: Plans call for Opportunity to take a panoramic camera image of the location selected for trenching, then to advance 2.3 meters (7.5 feet) and use a wheel to dig the trench, pausing to take images. Next in the plan are navigation camera mosaics in the forward and rear directions, then observations of sky and ground with the miniature thermal emission spectrometer during the Odyssey pass.
As of sol 918 (August 24, 2006), Opportunity's total odometry was 9,015.19 meters (5.60 miles).
Opportunity Observes 'Isabela'
Posted August 18, 2006 - Sols 907 - 912
Opportunity is healthy and on the road to "Victoria Crater." Spirit drove 35.67 meters (117 feet) from "Beagle Crater" to a small sand dune, or ripple, to examine the dune with the robotic arm. The ripple study included observations with the microscopic imager, two alpha particle X-ray spectrometer integrations, and two observations with the miniature thermal emission spectrometer.
Sol-by-sol summaries:
Sol 907 (Aug. 12, 2006): Opportunity drove 31.4 meters (103 feet) away from Beagle Crater toward a ripple.
Sol 908: Opportunity performed a navigation camera experiment and made observations with the miniature thermal emission spectrometer.
Sol 909: Opportunity drove 4.27 meters (14 feet) and used the robotic arm on the ripple. It also took images with the panoramic camera, navigation camera and hazard-avoidance cameras.
Sol 910: Opportunity took pictures of targets informally named "Isabela" and "Marchena" with the microscopic imager. The rover also took measurements of Marchena with the alpha particle X-ray spectrometer.
Sol 911: Opportunity moved the robotic arm out of the way and took pictures of the area where it would later use the alpha particle X-ray spectrometer. Opportunity made observations of targets informally named "Pinzon" and "Pinta" with the miniature thermal emission spectrometer. Opportunity did a reading of Isabela with the alpha particle X-ray spectrometer after the Odyssey communications pass.
Sol 912 (Aug. 17, 2006): The plan is for Opportunity to stow the robotic arm and drive toward Victoria Crater at a heading of 163 degrees.
Odometry:
As of sol 911 (Aug. 16, 2006), Opportunity's total odometry was 8723.38 meters (5.42 miles).
Opportunity Recovers from Brief Operational Anomaly
Posted August 11, 2006 - Sols 900-906
While Opportunity was collecting images with the panoramic camera on the rover's 902nd Martian day, or sol (Aug. 7, 2006), a spacecraft anomaly at 11:19 a.m. local solar time caused the rover's fault protection software to interrupt operations, place the rover in a safe state, and reboot the flight software. Upon waking up after the reset, Opportunity flagged the positions of the high-gain antenna and pancam mast assembly as unknown. Opportunity then remained in automode (meaning the rover did not attempt to execute a master sequence of activities for the day).
The rover's handlers transmitted instructions to Opportunity to re-establish the position of the high-gain antenna on sol 903 (Aug. 8, 2006) and the position of the pancam mast assembly on sol 904 (Aug. 9, 2006). Sols 903 and 904 were primarily dedicated to retrieving diagnostic information. On sol 904, Opportunity successfully reacquired the sequence of panoramic camera images that had been terminated by the fault and collected scientific data. As of sol 905 (Aug. 10, 2006), Opportunity was completely restored to normal operations. Opportunity remains healthy and engineers have not found a credible explanation for what caused the anomaly.
Before the fault, Opportunity had been working on a campaign of science observations of the area around "Beagle Crater," including an analysis of laminated ripples using instruments on the rover's robotic arm. Opportunity has resumed work on those observations.
Sol-by-sol summaries
Sol 900 (Aug. 5, 2006): Opportunity made tau observations (measurements of dust opacity in the atmosphere) using the panoramic camera and completed two image mosaics of Beagle Crater with the panorama camera: a four-by-four mosaic known as "Beagle Pan B" and a two-by-four mosaic known as "Beagle Pan D." Opportunity acquired images of a target known as "Fernandina" using all 13 filters of the panoramic camera and made observations of a target known as "Darwin" with the miniature thermal emission spectrometer. The rover acquired morning panoramic camera images of targets "Camarhynchus" and "Cactospiza" and a portion of the sky. Opportunity checked for drift (changes with time) in the miniature thermal emission spectrometer and surveyed the sky and ground with the same instrument.
Sol 901: Opportunity made tau observations using the panoramic camera and completed two image mosaics of Beagle Crater with the panorama camera: a four-by-four mosaic called "Beagle Pan A" and a four-by-four mosaic called "Beagle Pan C." Opportunity acquired images of a target known as "Floreana" using all 13 filters of the panoramic camera. The rover acquired miniature thermal emission spectrometer data from Camarhynchus and a target called "Geospiza." Opportunity acquired panoramic images of a target known as "Platyspiza."
Sol 902: Opportunity made tau observations with the panoramic camera. At 11:19 a.m. local solar time, a spacecraft fault put the rover in a safe state.
Sol 903: Opportunity ran engineering sequences to recover from the previous day's fault responses and retrieve diagnostic data.
Sol 904: Opportunity acquired stereo images with the navigation camera without activating the pancam mast assembly and ran engineering sequences to complete the rover's recovery from the fault that occurred on sol 902. Opportunity took images of the calibration target for the panoramic camera and re-acquired "Beagle Part 5," the sequence of images that was terminated by the fault on sol 902.
Sol 905: Opportunity made tau observations using the panoramic camera, acquired a two-by-one mosaic of Darwin with the panoramic camera, and acquired images of Geospiza using all 13 filters of the panoramic camera. The rover scanned for clouds using the navigation camera's wide field of view. Opportunity also checked for drift in the miniature thermal emission spectrometer and surveyed the sky and ground with the same instrument.
Sol 906 (Aug. 11, 2006): Plans called for Opportunity to take tau measurements with the panoramic camera, monitor dust on the pancam mast assembly using the miniature thermal emission spectrometer, survey the ground and sky at various elevations using the miniature thermal emission spectrometer, and collect reference data from the calibration target for the thermal emission spectrometer. During this procedure, the rover was to check for drift (changes over time) in measurements from the instrument.
Odometry
As of sol 897 (Aug. 2, 2006), Opportunity's total odometry was 8,687.56 meters (5.4 miles).
Opportunity Examines Crater Ejecta, Grinds into Rock
Posted August 4, 2006 - Sols 893-899
After traversing the sandy plains of Meridiani to "Beagle Crater," Opportunity investigated a patch of outcrop pavement thought to be representative of the Martian surface beyond the reach of materials excavated by the impacts that dug Beagle and the nearby, much larger Victoria Crater. Opportunity used its rock abrasion tool to grind away the surface of rock for the first time since the rover's 691st sol, or Martian day (Jan. 3, 2006).
Both before and after grinding beneath the surface of the rock target known as "Baltra," Opportunity took microscopic images and collected data with the alpha particle X-ray spectrometer and the Moessbauer spectrometer. The rover remains healthy. This weekend, the science team plans to launch a three-day imaging campaign of Beagle Crater and the surrounding area.
Sol-by-sol summaries
Sol 893 (July 29, 2006): Opportunity took microscopic images of Baltra and the grinding bit on the rock abrasion tool, ground 3 millimeters (0.12 inch) beneath the surface of Baltra, and took images of the magnets on the rock abrasion tool both before and after the grind. After communicating with NASA's Mars Odyssey orbiter, the rover began a study of Baltra with the alpha particle X-ray spectrometer and surveyed the sky and ground with the miniature thermal emission spectrometer. The rover turned off the alpha particle X-ray spectrometer at 11:13 p.m., local Mars time, before going into a mini-deep sleep.
Sol 894: Opportunity took stereo microscopic images of Baltra following the grind. The rover spent 12 hours collecting data from the freshly ground surface with the Moessbauer spectrometer. Opportunity acquired panoramic camera images of the rim of Beagle Crater and a transitional area around Beagle Crater known as "Española."
Sol 895: Opportunity acquired panoramic camera images of a flat rock target known as "Bartolomé" and conducted Moessbauer analysis of Baltra. Opportunity completed a very long survey of atmospheric dust, known as a tau measurement, with the panoramic camera and surveyed the sky and ground with the miniature thermal emission spectrometer. The rover went into deep sleep to recharge the batteries.
Sol 896: Opportunity rolled back 1 meter (3.3 feet) and acquired color images of Baltra using all 13 filters of the panoramic camera, then drove 21 meters (69 feet) toward the edge of Beagle Crater. At the end of the drive, the rover acquired images of the terrain using the navigation and panoramic cameras.
Sol 897: Opportunity recharged the batteries and conducted untargeted remote sensing of infrared energy and dust using the miniature thermal emission spectrometer (beginning with looking at the calibration target) and the panoramic camera. The rover surveyed the ground and sky with the miniature thermal emission spectrometer while communicating with the Odyssey orbiter.
Sol 898: Opportunity acquired panoramic camera images before driving 5 meters (16 feet) toward the rim of Beagle Crater. After the drive, Opportunity acquired images with the navigation camera and data with the miniature thermal emission spectrometer.
Sol 899 (Aug. 4, 2006): Plans called for a deep sleep followed by turning on the miniature thermal emission spectrometer heaters at 7 a.m., surveying the sky with the panoramic camera, and collecting data from the sky and ground using the miniature thermal emission spectrometer.
Odometry
As of sol 897 (Aug. 2, 2006), Opportunity's total odometry was 8,681.96 meters (5.39 miles).
Cleaning Event Gives Opportunity Renewed Energy
Posted July 28, 2006 - Sols 886-892
Opportunity spent five sols this week at a target called "Joseph McCoy." At this location, the rover acquired about 41 hours of Moessbauer spectrometer integration, almost seven hours of alpha particle X-ray spectrometer integration, and a mosaic from the microscopic imager. Then Opportunity rolled back, scuffed the soil, and drove 55 meters (180 feet) closer to "Beagle Crater." The scuff helps scientists and engineers analyze how the wheels interact with the soil. After the most recent drive, Opportunity is sitting about 25 meters (82 feet) from the rim of Beagle Crater.
Over the past 50 sols the team noticed a gradual cleaning of the solar panels similar to a more-sudden cleaning event experienced one Mars-year ago in "Endurance Crater." Removal of some of the accumulated dust on the panels allows greater production of electricity from sunlight. Opportunity's solar panels are now producing just over 500 watt-hours per sol.
Sol-by-sol summaries:
Sol 886 (June 22, 2006): Opportunity took microscopic images and an alpha particle X-ray spectrometer reading of the target Joseph McCoy. During the afternoon communication-relay session with NASA's Mars Odyssey orbiter, the rover observed the sky and ground with the miniature thermal emission spectrometer to profile temperatures of the atmosphere and surface. This sol also included a 13-filter panoramic image of a feature called "Jesse Chisholm" and an abbreviated morning observation of the sky and ground with the miniature thermal emission spectrometer.
Sol 887: Opportunity took a Moessbauer reading of Joseph McCoy and a panoramic camera image of "Sand Sheet" (shot to the south to determine a path to Beagle). In the morning, the rover looked for clouds and made atmospheric measurements.
Sol 888: Opportunity continued the Moessbauer examination of Joseph McCoy and conducted a miniature thermal emission spectrometer stare at Jesse Chisholm. The rover checked for clouds and assessed a temperature profile of the atmosphere.
Sol 889: The rover restarted the Moessbauer spectrometer, used the miniature thermal emission spectrometer for a seven-point sky and ground observation, and checked for clouds with the navigation camera.
Sol 890: Opportunity restarted the Mössbauer spectrometer and did two stares at soil with the miniature thermal emission spectrometer. The rover then stopped the Moessbauer observation and changed tools to the alpha particle X-ray spectrometer before the Odyssey pass. The rover began collecting X-ray spectrometer data on a target called "Ignatius."
Sol 891: Opportunity rolled back 1.5 meters (5 feet) and scuffed soil with its left-front wheel. The rover then conducted mid-drive imaging, completing a 13-filter panoramic camera image of the robotic arm's work area and the scuff. The rover drove 55 meters (180 feet) towards Beagle Crater. Post-drive imaging included a panoramic camera mosaic and navigation camera image mosaics in the forward and rear directions.
Sol 892 (July 28, 2006): Plans call for Opportunity to aim the navigation camera in the direction of the calibration target and take pictures of the sky, checking for clouds. Also, the rover is to use the miniature thermal emission spectrometer to profile near-surface and atmospheric temperatures.
Opportunity's total odometry as of sol 892 is 8,660.44 meters (5.38 miles).
Bounding Toward 'Beagle Crater'
Posted July 21, 2006 - Sols 879-885
Opportunity is healthy and is driving toward "Beagle Crater," which is about 50 meters (164 feet) away as of sol 884 (July 20). "Victoria Crater" is about 510 meters (just over a quarter of a mile) away. The rover used its panoramic camera, microscopic imager and alpha particle X-ray spectrometer on soil target "Westport," (soil without spherules in a wheel scuff) in order to provide the science team with a soil sample outside the vast, outlying rim of Victoria Crater. A step in upgrading the flight software was successfully completed on sol 881. Opportunity drove about 106 meters (348 feet) between sols 878 and 884.
Sol-by-sol summaries:
Sol 879 (July 14, 2006): Opportunity examined the soil target Westport with its panoramic camera, microscopic imager and alpha particle X-ray spectrometer. The rover also completed a panoramic camera observation of "Dallas," a disturbed patch in the tracks intended to be similar to the spots examined with the contact instruments. A target referred to as "Waco," a raised patch of outcrop that may be a crater, was also examined with the panoramic camera. Work was completed for the flight software build, which is the assembling and validating of many files of new software transmitted to the rover in preceding weeks.
Sol 880: The rover took a microscopic image of an undisturbed soil target, "Fort Graham," and completed a Moessbauer spectrometer integration on Westport. The miniature thermal emission spectrometer observed a block of ejecta (material ejected from a crater) called "Preston." The panoramic camera checked the clarity of the atmosphere. Part of the flight software build took place this sol.
Sol 881: The Moessbauer integration continued this sol on Westport. A 13-filter panoramic camera image was taken of Preston and "Red Rock," another ejecta block. Opportunity profiled the atmosphere and near-surface temperature with its miniature thermal emission spectrometer. That instrument was also used to analyze Dallas.
Sol 882: Due to the planned loss of use of the Deep Space Network on this sol, some data was left onboard: a panoramic camera mosaic of the area behind the rover, dust monitoring data, sky thumbnail images and a measurement of atmospheric clarity.
Sol 883: Opportunity took a pre-drive panoramic camera image of Fort Graham and a ripple band. The miniature thermal emission spectrometer was used to profile the atmosphere in the morning. The rover then drove about 37 meters (121 feet).
Sol 884: The rover drove about 40 meters (131 feet). A navigation camera picture was taken of "Jesse Chisholm," a dark mound about 35 meters (115 feet) from the location the rover reached on sol 883. The miniature thermal emission spectrometer completed an observation of the area around the rover. The panoramic camera was also used to characterize the location.
Sol 885 (July 21): The rover drove back and forth to create a scuff in the surface material to examine the soil underneath. It was then commanded to approach Jesse Chisholm, the next target for examining with the instruments on the robotic arm.
Opportunity's total odometry as of the end of the drive on sol 884 (July 20) was 8,599.14 meters (5.34 miles).
Next Stop: 'Beagle Crater'
Posted July 19, 2006 - Sols 872-878
Opportunity is healthy and continued driving towards "Beagle Crater,"
which is about 140 meters (459 feet) away as of sol 877 (July 12, 2006). The upload of
the flight software files was completed on sol 876, and the flight software build process is
currently planned for sols 879-881. Opportunity supported a coordinated overflight with
the Mars Express orbiter on sol 877 and drove a total of about 46 meters (151 feet)
between sols 872-877.
Sol-by-sol summaries:
Sol 872 (July 7, 2006): Opportunity used its panoramic camera for some targeted
investigations this sol, then had a communication session with the Mars Odyssey orbiter.
The rover also completed a miniature thermal emission spectrometer sky and ground
observation.
Sol 873: On this sol, an attempt to cross a ripple to the southeast (in order
to head towards Beagle Crater) was prematurely halted because the rover appropriately
determined that it was making too little progress over the ripple. The rover also did some
dust monitoring with its panoramic camera mast assembly (the rover's "head" and
"neck"), and conducted some morning atmospheric science, including a sky and ground
observation with the miniature thermal emission spectrometer. Opportunity also did a
calibration of that instrument on this sol.
Sol 874: Opportunity used its panoramic camera to survey the ground, then took a picture
with its navigation camera to determine where to point the miniature thermal emission
spectrometer. The miniature thermal emission spectrometer was also used to observe the
sky and ground. The panoramic camera took thumbnail images of the sky.
Sol 875: On this sol, the rover successfully backed away from the ripple that saw 80
percent slip on sol 873. Opportunity used its panoramic camera and miniature thermal
emission spectrometer on a distant potential meteorite; those instruments also completed
an observation of the sky and ground.
Sol 876: The rover drove southwesterly towards the edge of a ripple about 15 meters (49
feet) away to evaluate whether the outcrop adjacent to the ripple is reachable, and
whether there is a path from the outcrop towards Beagle Crater. The rover also searched
for clouds with its navigation camera and observed the sky and ground with its miniature
thermal emission spectrometer.
Sol 877: Opportunity drove about 25 meters (82 feet) on an outcrop path towards Beagle
Crater. The rover did a "quick find attitude" at the end of the drive, which updates its
physical position. The rover supported a Mars Express overflight, and did remote
sensing with its panoramic camera and miniature thermal emission spectrometer.
Sol 878: The rover drove about 25 meters (82 feet) towards Beagle Crater. Opportunity
performed elevation sky and ground surveys during the Mars Odyssey pass and miniature
thermal emission spectrometer sky and ground stares in the morning. A panoramic
camera survey in front of the rover will be conducted to help pick a soil target for this
weekend's robotic arm activity.
Odometry total as of Sol 877's drive: 8,493.72 meters (5.28 miles).
Getting Closer to 'Victoria Crater'
Posted July 11, 2006 - Sols 861-871
Opportunity is healthy. This week, Opportunity continued uplinking its new flight software load
and driving toward "Victoria Crater." Opportunity completed three more drives toward the large
crater on sols 869 (July 4, 2006), 870 and 871.
As of Sol 870, Opportunity is approximately 115 meters (377 feet) from "Beagle Crater" and
about 600 meters (just over one-third of a mile) from Victoria Crater.
Sol-by-sol summaries
Sol 867 (July 2, 2006): Opportunity took a panoramic camera tau, which is a measurement of
opacity, and then a panoramic camera image of the target referred to as "Austin." The miniature
thermal emission spectrometer was used for a sky and ground observation and to investigate
the target "McKinney."
Sol 868: The panoramic camera aboard Opportunity was busy this sol, imaging targets
McKinney, "Baxter Springs" and "Fort Gibson." The miniature thermal emission spectrometer
looked at McKinney, the sky and ground, as well as the calibration target on the rover. The
panoramic camera also took a tau before communicating with the Mars Odyssey spacecraft. In
the morning, a miniature thermal emission spectrometer drift check was conducted to calibrate
the instrument's elevation actuator (to remove any drift).
Sol 869: This sol saw Opportunity on the move again. The rover first took a tau with its
panoramic camera, stowed its robotic arm and then drove. After the drive, the rover unstowed
its arm and completed post-drive imaging with its panoramic and navigational cameras. The
miniature thermal emission spectrometer examined the sky and ground.
Sol 870: Opportunity essentially repeated the previous sol's activities, completing a panoramic
camera tau, robotic arm stow, drive, unstow, post-drive imaging and use of the miniature
thermal emission spectrometer to examine the sky and ground. A drift check was also
conducted on the miniature thermal emission spectrometer's elevation actuator.
Sol 871: The morning of this sol involved using the rover's panoramic camera to do an intensive
systematic ground survey. Opportunity also drove again this sol after taking a panoramic
camera tau. After the drive was completed, the rover took images with its navigation camera
and a tau with the panoramic camera. The miniature thermal emission spectrometer examined
the sky and ground. In the morning, the panoramic camera was used to quantify sky brightness
in the west and, in the afternoon, another drift check was conducted on the miniature thermal
emission spectrometer's elevation actuator.
Odometry total as of Sol 870 (July 5, 2006): 8,421.65 meters (5.23 miles).
Full Plate for Opportunity
Posted June 30, 2006 – Sols 859-866
Opportunity is healthy. Opportunity has had a full plate with a new flight software load being uplinked and the rover driving towards "Victoria Crater." Despite this busy schedule, Opportunity has been taking advantage of every remote sensing window to acquire good science.
Opportunity is continuing the uplink of its new flight software load with almost half of the required files already onboard. Starting with Sol 865, flight software load files are being sent through the Mars Odyssey forward link path in addition to the X-band high-gain antenna path.
Opportunity has completed three more drives towards "Victoria Crater." As of Sol 862 (June 27, 2006), the river was 202 meters (663 feet) from "Beagle Crater" and 705 meters (0.44 mile) from Victoria Crater.
The Moessbauer spectrometer instrument has begun to show some minor anomalies although no degradation is noted in the actual measurement channels. As time permits, the team has been conducting diagnostics to troubleshoot the issue.
Sol-by-sol summaries
Sol 859 (June 24, 2006): Opportunity used the panoramic camera to take images and check the clarity of the atmosphere ("tau"). It completed a cloud observation with the navigation camera and used its miniature thermal emission spectrometer.
Sol 860: The rover assessed tau with the panoramic camera then drove. After the drive, Opportunity took images with the navigation camera and panoramic camera. The rover then used its miniature thermal emission spectrometer to observe the sky and ground. After a communication-relay session with NASA's Mars Odyssey orbiter passing over, the rover observed the sky with the panoramic camera and used the miniature thermal emission spectrometer.
Sol 861: The panoramic camera assessed tau and surveyed the horizon. The rover then conducted observations with its miniature thermal emission spectrometer.
Sol 862: The rover assessed tau with the panoramic camera, drove, then took pictures from its new location. During communication with Odyssey, Opportunity used its miniature thermal emission spectrometer. After communicating with Odyssey, the rover did some diagnostic testing and looked at dust accumulation. After that, the rover looked at the sky with its panoramic camera and gathered data with the miniature thermal emission spectrometer.
Sol 863: Opportunity assessed tau with the panoramic camera and conducted observations with the miniature thermal emission spectrometer.
Sol 864: The rover assessed tau with the panoramic camera, drove, and took post-drive images and another tau measurement. It also used the miniature thermal emission spectrometer.
Sol 865: Opportunity's panoramic camera assessed tau and scanned the horizon. The miniature thermal emission spectrometer was used to observe the sky and ground.
Sol 866 (July 1, 2006): Plans included assessing tau with the panoramic camera and using the miniature thermal emission spectrometer.
Odometry total as of sol 862 (June 27, 2006): 8,312.92 meters (5.17 miles).
Three Sols of Driving Gain 138 Meters
Posted June 23, 2006 – Sols 852-858
Opportunity is healthy. The rover has started receiving a new flight software load. It also advanced 138.1 meters (453 feet) toward "Victoria Crater" in three sols of driving and observed outcrop targets. As of sol 855 (June 20) Opportunity was 780 meters (just under half a mile) from Victoria Crater and about 300 meters (984 feet) from "Beagle Crater."
Engineers are uploading new flight software to both Opportunity and Spirit. The upload process is expected to take several weeks before the new software is installed and used. To expedite this process, the team is gradually increasing the duration of Opportunity's high-gain antenna uplink sessions. No files of the new flight software were uplinked via UHF this week. However, beginning with sol 864 (June 29, 2006), Opportunity will begin receiving flight software files via its daily UHF-band communication window as well as via the X-band high-gain antenna.
Sol-by-sol summaries:
Sol 852 (June 17): Files were loaded for the new flight software via a 20-minute window of communication via the high-gain antenna. Targeted remote sensing with the panoramic camera included an assessment of the clarity of the atmosphere ("tau") and imaging of targets called "Holberg" and "Blixen." The miniature thermal emission spectrometer was used for observations of Holberg, Blixen, sky and ground.
Sol 853: A flight software upload used a 20-minute high-gain antenna window. The rover drove 42.1 meters (138 feet). Untargeted remote sensing included post-drive imaging by the navigation camera and the panoramic camera, an assessment of tau by the panoramic camera, a check for clouds with the navigation camera, and sky and ground observations with the miniature thermal emission spectrometer.
Sol 854: Another flight software upload was accomplished during a 20-minute high-gain antenna communication window. The panoramic camera checked tau. The navigation camera looked back in the direction toward where sol 853's drive began.
Sol 855: During a 30-minute high-gain antenna session, more of the new flight software was transmitted. Opportunity drove 39.4 meters (129 feet). The navigation camera and panoramic camera made observations from the new location. The panoramic camera checked tau. The miniature thermal emission spectrometer completed a sky and ground observation.
Sol 856: During a one-hour window, another flight software upload was accomplished. Untargeted remote sensing included a panoramic camera observation of the ground's brightness, a panoramic camera assessment of tau, and a miniature thermal emission spectrometer observation of sky and ground.
Sol 857: More flight software files were uploaded during a 30-minute high-gain antenna window. The rover drove 56.6 meters (186 feet). Opportunity also conducted a panoramic camera assessment of tau, a panoramic camera calibration, and a miniature thermal emission spectrometer observation of sky and ground.
Sol 858 (June 23, 2006): A two-hour high-gain antenna session allowed for the upload of more flight software updates. The navigation camera looked back in the direction toward where sol 857's drive began. The panoramic camera checked tau and made a calibration observation. The miniature thermal emission spectrometer observed sky and ground.
Opportunity's total odometry as of the end of the drive on sol 855 (June 20, 2006) was 8,190.89 meters (5.09 miles).
Opportunity Hits Five-Mile Mark
Posted Jun. 15, 2006 -- Report for sols 844-851
After the previous week's successful extraction from "Jammerbugt," Opportunity resumed its drive south. Approximately 95 meters (312 feet) was covered this week, and Opportunity reached the five-mile mark for total odometry! Next week the rover will be on restricted sols, meaning the end-of-sol data from the rover does not get to Earth until late in the day, so the team plans every other day without it. The plan will be for Opportunity to drive every other day. On the days off, the team will plan light remote sensing and downlink some of the unsent data that is building up in memory.
Sol-by-sol summaries
Sol 844 (June 9, 2006): A 20-meter (66-foot) drive was planned for this sol. Planners intended for the drive to take Opportunity south, down the next trough over from the previous drive. The drive stopped after 4.8 meters (16 feet), when the first slip check detected 42 percent slip. Forty percent was the maximum allowed.
Sol 845: The rover conducted targeted remote sensing, including panoramic camera imaging of targets called "Jylland" and "Gorm," and an observation of Gorm with the miniature thermal emission spectrometer. The team is informally naming targets in honor of Danish Constitution Day (June 5). Jylland is the main island of the Danish peninsula, and Gorm was the first king of Denmark.
Sol 846: After little progress in two adjacent troughs, Opportunity moved one more trough to the west. Slip checks were used to prevent driving with over 40 percent slip. The soil was relatively firm, and the rover made 9 meters (30 feet) of progress.
Sol 847: Opportunity conducted atmospheric science and took rear-looking images with its navigation camera.
Sol 848: The drive today took Opportunity down a trough. The team turned the rover around on a piece of outcrop so that it could drive backwards (to improve UHF data return). The drive proceeded down the trough and made 20.6 meters (68 feet) of progress. Before the drive, the panoramic camera took an image of a small crater, nicknamed "Sjaelland" for the biggest island of Denmark and the site of the capital.
Sol 849: Continuing south, Opportunity made 24 meters (79 feet) of progress. Slip checks were done approximately every 5 meters (16 feet) while on sand. The drive ended on a patch of outcrop.
Sol 850: To start the day, Opportunity took a panoramic camera image of target "Steno" (informally named for Niels Steensen, or Nicholas Steno, a 17th century Danish anatomist and geologist). The drive was entirely over outcrop, and approximately 36 meters (118 feet) of progress was made. Opportunity performed one bonus slip check, on an area with a little more sand than the rest. As expected, very little slip was detected.
Sol 851 (June 16, 2006): Plans call for driving farther south.
Opportunity's total odometry as of sol 850 (June 15, 2006) is 8,080.38 meters (5.02 miles).
Opportunity on the Road Again
Posted Jun. 10, 2006 - Sols 837-844
Opportunity is healthy, and the team has successfully extracted the rover from the dune called "Jammerbugt." The rover first backed into this dune on sol 830 (May 24, 2006) to increase its northerly tilt. On sol 833's drive, the wheels became partially embedded and Opportunity did not make significant progress. The extraction started on sol 836, when the rover was commanded to drive forward over its previous tracks. On sol 841 the extraction was complete. Later in the week Opportunity resumed the drive toward "Victoria Crater."
Sol-by-sol summaries
Sol 837 (June 1, 2006): This was the second sol of the extraction effort. Ten steps of one-meter (3.3 feet) each were commanded. To prevent the rover from moving too far or in a way that the team did not expect, the drive commands included checks on tilt, yaw, suspension angles, and distance traveled. Several safety checks, some redundant, were employed to stop the rover after it had safely reached outcrop. Forward motion of approximately 8 centimeters (3.1 inches) was recorded.
Sol 838: Sol 838 was the first sol of a three-sol weekend plan with three identical drives planned. At first, only the sol 838 drive was uplinked to the rover. "Go/no-go" meetings were held over the weekend to review the rover's progress and decide whether the next drive sequence was safe to uplink. The first sol of the three-sol plan was the third sol of the extraction effort. The drive plan was identical to sol 837's, except that the wheels were steered slightly down-slope. In 10 meters (33 feet) of commanded motion, only 4.2 centimeters (1.7 inches) of progress was made, with progress decreasing as the drive continued. The wheels were more caked after the drive than before it. Progress seen in this drive was on par with what was observed when Opportunity was embedded in "Purgatory Dune."
Sol 839: This was the fourth sol of the extraction effort. The sequence was identical to the previous sol's. Approximately 5 centimeters (2 inches) of progress was made, which was slightly better than in the preceding sol, but with a similar trend of less progress towards the end of the drive. The wheels appeared cleaner.
Sol 840: This was the fifth sol of the extraction effort. The sequence was identical to the previous sol's. Downlink for this came in about 3 a.m. Monday (June 5, 2006) morning, and it was a great way to start the week. Twenty-eight centimeters (11 inches) of progress was made! The front wheels were significantly less buried and they were cleaner. Based on the Purgatory experience, these were taken as signs that the rover was about to break free.
Sol 841: Sol 841 was the sixth sol of the extraction effort. The sequence was similar to the previous sol's, but with tighter limits to make sure the rover didn't exceed the drive goal. Ten steps of one-meter (3.3 feet) each were commanded, but only 3 were executed. After visual odometry measured 2.8 meters (9.2 feet) of progress and a corresponding change in heading, the drive stopped as intended. The first step showed only 18 percent slip, and the next two steps showed essentially no slip. All six wheels reached outcrop! This sol began on June 5, Danish Constitution Day. The holiday commemorates the anniversary of the signing of the Danish Constitution of 1849, which established Denmark as a constitutional monarchy, and also honors the constitution of 1953, which was adopted on the same date. Denmark provided magnet arrays for Opportunity's and Spirit's studies of airborne dust. In honor of Danish colleagues, the rover team decided to use Danish names for targets in the area of Opportunity's current location.
Sol 842: Opportunity took high-resolution imaging of the newly named dune, Jammerbugt, where it had become temporarily embedded. The informal name comes from a bay named Jammerbugt (The Bay of Wailing) on the north coast of Denmark, known for its many shipwrecks. Opportunity also acquired the standard set of post-drive imaging to assist in planning the next drive.
Sol 843: Back on the road again! Opportunity retraced its steps about 5 meters (16.4 feet) back to another outcrop patch. From there, the planned route started south down a trough parallel to the one the team had previously chosen. The rover drove 11.3 meters (37 feet), but no southerly progress was made.
Sol 844 (June 9, 2006): Plans call for a 20-meter (66-foot) drive southward. Slip checks were included in the commands, to stop the drive in case of excessive slip.
Odometry
As of sol 843 (June 8, 2006), Opportunity's total odometry is 7,985.5 meters (4.96 miles).
Digging Out of the Dune
Opportunity is less than a kilometer (just over half a mile) from "Victoria Crater." During the last planned drive on sol 833, the rover became embedded in a soft dune. As designed, the drive was stopped by a slip check. The extraction process began on sol 836, with 5 meters (16 feet) of commanded motion, and 9 centimeters (3.5 inches) of actual forward progress. The results are encouraging, and extraction will continue on Friday (June 2, 2006) and over the weekend if necessary. Opportunity is otherwise healthy and continues to conduct atmospheric and targeted remote sensing on the path south.
Sol-by-sol summaries
Posted Jun. 02, 2006 - Sols 833-837
Sol 833 (May 28, 2006): For this sol, the team planned a drive of about 30 meters (98 feet), post-drive imaging, and atmospheric remote sensing. The drive started with a small turn in place to move to the center of a dune trough. The material the rover is in is soft, and the rover experienced very high rates of slippage. A slip check precluded further driving.
Sol 834: On this second sol of a two-sol plan, Opportunity performed some atmospheric remote sensing (including cloud imaging) and recharged the batteries.
Sol 835: Opportunity took a break from driving and collected high-resolution images to better characterize the material in which the rover is embedded.
Sol 836: After evaluating the tracks and soil, the team began the extraction process. Five meters (16 feet) of driving was commanded, with limits imposed on rover tilt, mobility suspension angles, pitch, yaw, and total distance traversed. The drive resulted in 9 centimeters (3.5 inches) of forward progress. This is more than three times the rate of progress experienced during the "Purgatory Dune" extraction in April and May 2005. Hazard avoidance camera images also show that the front cleats are not as caked as during the Purgatory extraction.
Sol 837 (June 1): Plans called for the dune extraction to continue on this sol, with 10 meters (33 feet) of commanded motion. The sol 836 mobility safety checks were used. In addition, the allowable yaw range was narrowed, and the drive sequence also imposed a new limit for maximum visual odometry failures. Since visual odometry is likely to fail if more than expected progress is made, this will prevent the rover from traveling too far if it should happen to break free of the dune.
As of sol 836, Opportunity's total odometry is 7971.42 meters (4.95 miles).
Dug Into Loose Soil Again
Posted May 30, 2006 - Sols 825-834
Opportunity's wheels dug into loose soil during a drive on sol 833 (May 29, 2006). The drive was planned for about 24 meters (79 feet) but resulted in only 1.5 meters (5 feet) of forward progress. The flight team directed Opportunity on sol 834 to take images for studying the situation and planning a way to drive out of the loose material. Preliminary assessment indicates the wheels are not buried as deeply as when Opportunity's wheels become embedded in "Purgatory Dune" on sol 446. An escape drive may be attempted within a few days. The sol 833 drive was planned to stay in a trough between crests of ripples. Neither the trough nor the ripples were considered wheel-embedding hazards.
During the preceding eight sols, Opportunity executed both a robotic arm campaign and two more drives toward "Victoria Crater." The rover used its microscopic imager, alpha particle X-ray spectrometer, and Moessbaeur spectrometer on the soil target "Alamogordo Creek."
As Opportunity eases its way into the Martian winter season, rover planners have started to target energy-rich "lily pads" (regions with a northerly tilt) at the end of each drive. This way, planners can maximize the amount of sun on Opportunity's solar arrays.
Sol-by-sol summaries:
Sol 825 (May 20): The rover used its microscopic imager and alpha particle X-ray spectrometer, and did targeted remote sensing.
Sol 826: Opportunity conducted targeted remote sensing, used its microscopic imager and did a Moessbauer spectrometer integration.
Sol 827: Opportunity did targeted remote sensing and continued the Moessbauer integration.
Sol 828: The rover drove 39.07 meters (128 feet) and did untargeted remote sensing.
Sol 829: Opportunity conducted untargeted remote sensing.
Sol 830: The rover drove about 28 meters (92 feet) and conducted untargeted remote sensing.
Sols 831 and 832: Opportunity did untargeted remote sensing on both of these sols.
Sol 833: Opportunity's wheels became partly buried in the loose soil during a drive that was intended to cover about 24 meters (79 feet).
Sol 834 (May 30): The plan for this sol included imaging to aid planning for a drive to get out of the loose material.
Odometry total as of Sol 828 (May 23): 7,940.57 meters (4.93 miles)
Checking Out 'Cheyenne' and Testing Relay for Phoenix
Posted May 23, 2006 - Sols 818-824
Opportunity is healthy and continuing to make its way toward "Victoria Crater." Opportunity made 108 meters (354 feet) of progress in two sols of driving and was approximately 1,000 meters (just over half a mile) from Victoria Crater at the end of Sol 823.
Opportunity and NASA's Mars Odyssey orbiter are conducting a set of demonstrations using the relay between the rover and orbiter to aid planning for communications during NASA's Phoenix Mars Lander mission, slated for launch in August 2007 and landing in May 2008.
Sol-by-sol summaries
Sol 818 (May 13, 2006): Opportunity investigated a rock target called "Cheyenne." It used the microscopic imager to examine the target, then used the rock abrasion tool's wire bristles to brush the target. After the brushing, the alpha particle X-ray spectrometer collected data about what elements make up the rock. The rover also took images with the panoramic camera for a mosaic view from the location reached by Sol 817's drive.
Sol 819: Opportunity took a post-brush microscopic stereo image mosaic of Cheyenne and evaluated the target's mineral composition with the Moessbauer spectrometer. The rover also took a panoramic-camera image of "Pueblo," an area of layered outcrop.
Sol 820: Opportunity used its Moessbauer spectrometer on Cheyenne, observed the sky and ground with the miniature thermal emission spectrometer, and used the navigation camera to check for clouds.
Sol 821: The rover took images of Cheyenne using the 13 filters of the panoramic camera. Then it drove about 36.64 meters (120 feet) and took pictures from the new location with the navigation camera and the panoramic camera. It also used the panoramic camera for observing the sky.
Sol 822: Opportunity used its navigation camera to do rearward-looking imaging and cloud scans. The rover also used its miniature thermal emission spectrometer to observe the sky and ground, and it worked with Odyssey to conduct the second part of the Phoenix relay test. (The first part was on Sol 812.)
Sol 823: Opportunity drove 71.2 meters (234 feet) then took images from the new location with the navigation camera and the panoramic camera. The rover also used the panoramic camera to evaluate the clarity of the atmosphere, monitor dust on the camera mast and observe the sky.
Sol 824 (May 19, 2006): On this sol, Opportunity took rearward-looking images with its navigation camera, observed the ground and sky with its miniature thermal emission spectrometer, and assessed atmospheric clarity with its panoramic camera. During the sol's relay pass with Odyssey, the rover used the miniature thermal emission spectrometer again to observe the sky and ground.
Opportunity's total odometry as of Sol 821 (May 16, 2006) was 7,829.99 meters (4.87 miles)
Excellent Progress Toward 'Victoria Crater'
Posted May 16, 2006 - Sols 811-817
Opportunity examined the crest of a ripple and drove about 200 meters (656 feet), putting itself within about 1,100 meters (two-thirds of a mile) of "Victoria Crater." The ripple-crest inspection included a stereo look at target "Pecos River" with the microscopic imager.
Sol-by-sol summaries
Sol 811 (May 6, 2006): Opportunity took a stereo microscopic image of Pecos River. During the communication-relay UHF pass with NASA's Mars Odyssey orbiter, the rover used its miniature thermal emission spectrometer on a target called "Horsehead." In the morning, the panoramic camera took images of Horsehead and "Chadbourne" with all 13 of the camera's filters.
Sol 812: The rover's miniature thermal emission spectrometer observed sky and ground targets. The panoramic camera checked dust on magnets and on the camera mast, and assessed the clarity of the atmosphere. Two afternoon UHF passes were used. The first was a UHF forward-link demonstration for the 2007 Phoenix Mars Lander mission, performed with Odyssey low in the sky.
Sol 813: Opportunity conducted a morning observation with the miniature thermal emission spectrometer during uplink of the day's commands, then took a pre-drive, 13-filter image of the work volume with the panoramic camera. The rover drove backwards for one hour, covering 40.14 meters (132 feet), and took post-drive images.
Sol 814: Opportunity did 1.5 hours of driving for 52.38 meters (172 feet) and did post-drive imaging. The drive used both blind driving (following a route chosen by rover planners) and autonomous navigation.
Sol 815: The rover drove 1.5 hours blind for 45.61 meters (150 feet).
Sol 816: This sol was an atmospheric-science day. Opportunity stowed its robotic arm and drove 1.5 hours for 38.12 meters (125 feet). The rover then unstowed its arm and took post-drive images. During the Odyssey uplink, Opportunity was able to do a sky and ground observation with the miniature thermal emission spectrometer. The rover took a pre-sunset image with the panoramic camera after the Odyssey pass.
Sol 817 (May 12, 2006): The activity plan for this sol included a drive of about 22 meters (72 feet).
Opportunity's total odometry as of sol 816 (May 11, 2006) was 7,769.52 meters (4.83 miles).
'Victoria' in View
Posted May 5, 2006 - Sols 804-810
Opportunity executed a three-sol examination of "Brookville" outcrop with tools on the robotic arm. This work included microscopic imaging, a brushing, 16 total hours of integrated data gathering with the Moessbauer spectrometer, and an overnight integration with the alpha particle X-ray spectrometer. Then Opportunity stowed its arm and drove 107 meters (351 feet) in three sols, reaching a point estimated to be 1,279 meters (less than eight-tenths of a mile) from "Victoria Crater." The team believes the rim of the crater is becoming visible in a vertically stretched image looking south.
Sol-by-sol summaries:
Sol 804 (April 28, 2006): This was the first sol of robotic arm work on Brookville. The rover took microscopic images, then brushed the target and followed with an afternoon data collection by the Moessbauer spectrometer. The rover observed a target called "Great Bend" with the miniature thermal emission spectrometer during the afternoon communication-relay session with NASA's Mars Odyssey orbiter.
Sol 805: Opportunity did morning atmospheric science and positioned the alpha particle X-ray spectrometer. The rover used that spectrometer on Brookville until taking morning images of Gila Bend using 13 filters of the panoramic camera.
Sol 806: On the final sol of arm work on Brookville, Opportunity changed tools to the Moessbauer spectrometer and completed an afternoon integration. At 7:00 p.m. local solar time, the team stopped the integration and Opportunity did a mini-deep sleep.
Sol 807: The panoramic camera took 13-filter images of the arm's brushing target. Then Opportunity drove for 30 minutes. After driving, the rover observed the surroundings from its new position with the navigation camera and looked in the drive direction with the panoramic camera.
Sol 808: Opportunity drove for an hour and 10 minutes in the compass direction of 150 degrees (south southeast), then took images from its new location. During the afternoon, the rover made observations with the thermal emission spectrometer and used the panoramic camera to check atmospheric clarity. It used the deep-sleep mode overnight.
Sol 809: Opportunity took another 1-hour-and-10-minute drive followed by imaging and atmospheric science during the Odyssey pass.
Sol 810 (May 5, 2006): The rover was directed to take rear-looking images with the navigation camera during the morning of sol 810 as part of plan uplinked on sol 809. The plan for uplink on sol 810 includes a 15-meter (50-foot) approach to a target for using the robotic arm's tools to inspect ripple banding during the weekend, plus post-drive imaging with the navigation camera and panoramic camera.
As of sol 809 (May 4, 2006) Opportunity has driven 7,575.51 meters (4.71 miles).
Opportunity Hits 800 Sol Mark!
Posted April 28, 2006 - Sols 796-803
Opportunity is healthy and making good progress towards "Victoria Crater," with just under 1,400 meters (.86 mile) to go. The team spent several days this week setting up for some robotic arm work over the weekend, provided there is a good piece of outcrop in the work volume. Opportunity will continue driving next week.
Sol-by-sol summaries:
Sol 796 (April 20, 2006): Opportunity ended a drive after 2 meters (about 7 feet).
Imaging taken before and after the drive was completed.
Sol 797: The rover conducted untargeted remote science, including panoramic camera and miniature thermal emission spectrometer ground surveys and atmospheric measurements.
Sol 798: The rover completed targeted remote science, including panoramic camera images of targets "Junction City," "Chetopa," "Coffeyville" and "Salina," and miniature thermal emission spectrometer stares of "Junction City" and "Salina."
Sol 799: Opportunity had a great drive today, traveling approximately 44 meters (144 feet).
Sol 800(April 24, 2006): Happy 800! Opportunity drove 33.5 meters (110 feet) today, crossing a few small ripples and driving over an outcrop.
Sol 801: After taking a pre-drive image, Opportunity drove 28.3 meters (93 feet), down a couple of troughs and over a couple of ripples. Slip checks were used to prevent excessive driving in potentially slippery areas.
Sol 802: This sol's 13.8 meter (45 feet) drive was designed to move Opportunity closer to some outcrop the team would like to analyze with the robotic arm over the weekend.
Sol 803: The outcrop that ended up in the rover's work volume was fragmented, and not a desirable target. Rover planners designed a short 8-meter (26 feet) drive to a better target. The data from this drive was received on Earth early Friday (April 28, 2006).
As of Sol 802, Opportunity's total odometry was 7,456.56 meters (4.63 miles)
Heading for 'Victoria Crater'
Posted April 21, 2006 - Sols 789-797
Opportunity is healthy and making good progress towards "Victoria Crater." The rover remains on a restricted schedule, driving only every other day. Last weekend, the rover stopped for some brief robotic arm work, to characterize the outcrop between "Erebus Crater" and Victoria Crater. Next week Opportunity is back to a normal schedule, and engineers hope to get the rover moving every day.
Sol Details:
Sol 789 (April 13, 2006): The plan was to drive to outcrop about 26 meters (85 feet) away. However, the drive stopped about 10 meters (33 feet) short by a slip check.
Sol 790: Opportunity conducted untargeted remote science.
Sol 791: The rover did some robotic arm work including: taking microscopic images and using the rock abrasion tool brush. The rover attempted a short alpha particle X-ray spectrometer integration; however it failed due to a sequencing error.
Sol 792: Opportunity drove about 35 meters (115 feet) over an outcrop and crossed a few ripples.
Sol 793: The rover conducted untargeted remote science.
Sol 794: Opportunity drove about 30 meters (98 feet) towards Victoria Crater.
Sol 795: The rover conducted untargeted remote science.
Sol 796: After taking pre-drive images of the target "Fort Leavenworth," the team plans to drive about 27 meters (86 feet) down a trough, with ripple crossings at the start and end.
Sol 797 (April 21, 2006): Opportunity did untargeted remote sensing, systematic ground surveys with the panoramic camera and miniature thermal emission spectrometer.
As of 794, Opportunity's total odometry was 7,334.56 meters (4.56 miles).
Hoppin' Toward 'Victoria'
Posted Apr. 18, 2006 - Sols 785-790
Opportunity is in a restricted planning mode this week due to each sol's downlink coming too late in the Earth day to allow planning of a drive for the next sol. The team built three drives this week and Opportunity drove 83.2 meters (273 feet). The general drive direction is southeast to avoid a large dune field due south. As of sol 788, Opportunity was estimated to be 1,557 meters (just under one mile) from "Victoria Crater."
Sol-by-sol summaries:
Sol 785 (April 9, 2006): On sol 785 Opportunity drove 58.9 meters (193 feet) south. After the drive, the panoramic camera and navigation camera made observations in the drive direction. Activities also included atmospheric remote sensing during the afternoon's communication relay session with the Mars Odyssey orbiter.
Sol 786: This sol's activities included a panoramic camera systematic ground survey, panoramic camera imaging of magnets, rearward looking navigation camera imaging, and two sky-and-ground observations with the miniature thermal emission spectrometer.
Sol 787: After targeted pre-drive panoramic camera observations of an outcrop, Opportunity drove 7.5 meters (25 feet) to the top of a dune. Imaging of the new location and atmospheric sensing during the afternoon Odyssey pass followed the drive.
Sol 788: The navigation camera took rearward-looking images for a mosaic. The panoramic camera checked the clarity of the atmosphere and surveyed the ground systematically. In the afternoon, the miniature thermal emission spectrometer made sky-and-ground observations.
Sol 789: Opportunity drove 16.8 meters.
Sol 790 (April 14, 2006): Planned activities included untargeted remote sensing.
As of 789, Opportunity's total odometry was 7,327.53 meters (4.55 miles).
Ripples and Outcrops
Posted April 7, 2006 - Sols 778-784
Opportunity is healthy and is continuing to drive toward "Victoria Crater." Thanks to talented rover planners and sturdy construction, the rover covered a distance totaling about 170 meters (558 feet) during the week. The scenery has been beautiful and consistent: lots of ripples sprinkled with a dash of outcrops.
Sol-by-sol summaries:
Sol 778 (April 2, 2006): Opportunity drove 25.3 meters (83 feet) and used its navigation and panoramic cameras to image the area after the drive. The rover also observed the atmosphere.
Sol 779: The rover took 13-filter panoramic camera images to survey the ground near it. The miniature thermal emission spectrometer observed the sky and ground.
Sol 780: Opportunity drove 58.4 meters (192 feet), took navigation and panoramic camera images of the post-drive area, and conducted atmospheric and remote sensing.
Sol 781: The rover drove 32 meters (105 feet), used its navigation and panoramic cameras to image the post drive-area, and conducted atmospheric remote sensing.
Sol 782: Opportunity drove 45 meters (148 feet), used its navigation and panoramic cameras to image the post-drive area, and conducted atmospheric remote sensing.
Sols 783 and 784 (April 7 and 8, 2006): These sols' plans are for targeted remote sensing.
Total odometry: 7,249 meters (4.5 miles) as of end of sol 782.
