Spirit rover timeline for 2004 March
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week starting 2004 March 1
March 1
sol 57 ends at 7:12 p.m. Monday, 2004 March 1 PST
During its 57th sol on Mars, ending at 7:12 PST on March 1, Spirit observed the area on "Humphrey" that was thrice brushed by the rock abrasion tool. An area just to the right of the brushed area, where the team intends to grind, was also examined.
The morning hours found Spirit using its alpha particle X-ray spectrometer on the intended grinding target to verify its similarity to the pre-brushed areas of the rock. The arm then switched out tools to the microscopic imager to get close-up views of the grinding target and the area to the right of it. The Moessbauer spectrometer was then placed on the brushed area for another observation.
Panoramic camera images were taken of the rock abrasion tool magnets to study dust accumulation. The miniature thermal emission spectrometer performed a diurnal characterization on the nearby soil. This allows scientists to look at the temperature difference from day to night, revealing information about particle sizes within the soil.
Next sol, the plan calls for Spirit to grind into "Humphrey" and then use its arsenal of instruments to analyze the interior of the rock.
March 2
sol 58 ends at 7:52 p.m. Tuesday, 2004 March 2 PST
On sol 58, which ends at 7:52 p.m., PST on March 2, the planned four-hour rock abrasion tool grind of "Humphrey" was limited to only 20 minutes. The intricate slopes and cracks of the rock make it a challenging target for instruments. When sensors indicated a loss of contact with surface material, the software perceived a problem and the rock abrasion tool was moved away from the rock. Engineers are amending the software limits to duplicate the rock abrasion tool's earlier operation on the rock "Adirondack," giving a higher likelihood of successful completion on the next sol.
The morning began with the completion of the alpha particle X-ray spectrometer integration on the previously brushed area. The panoramic camera then took a multi-spectral observation of the nearby ground, followed by a Mössbauer spectrometer integration on the same area.
Spirit's Sol 58 wake-up song was "I Still Haven't Found What I'm Looking For" by U2 to pay homage to its twin rover's amazing findings of water evidence at Meridiani Planum.
On sol 59, Spirit will attempt another rock abrasion tool grind on "Humphrey," followed by detailed observations of the hole.
March 3
sol 59 ends at 8:31 p.m. Wednesday, 2004 March 3 PST
Waking up to "One More Time" by The Real McCoy, Spirit completed a successful, 2 mm deep grind (0.08 in) into a target slightly left of the depression it made yestersol during its abbreviated operation. A five-minute brush to clean the hole followed.
Completing the sol, which ended at 8:31 p.m. Wednesday, March 03, Spirit's arm then switched instruments so the Moessbauer spectrometer could examine "Humphrey's" new shallow cavity.
Before this sol's four-hour grinding, the microscopic imager and the alpha particle X-ray spectrometer finished observations of yestersol's rock abrasion tool depression. To document Spirit's current position - about halfway to the "Bonneville" crater rim - the panoramic camera snapped the first of several images that, together, will provide a 360-degree view.
Engineers identified the software issue that caused the rock abrasion tool to terminate its original planned grinding on sol 58. The minor bug will be fixed when new flight software is loaded at the end of March.
In the coming sols, Spirit will complete the alpha particle X-ray spectrometer observations of the rock abrasion tool hole and get an up-close view with the microscopic imager. The final images will be obtained for the full panoramic view of Spirit's current position. After miniature thermal emission spectrometer and panoramic camera observations of the hole are conducted, Spirit will continue on toward "Bonneville" crater.
March 4
sol 60 ends at 9:11 p.m. Thursday, 2004 March 4 PST
Spirit completed its observations at "Middle Ground" on its 60th martian sol, ending at 9:11 p.m., PST on March 4. Waking up to "Pictures to Prove It," by the Mighty Mighty Bosstones, Spirit finished gathering data from the rock abrasion tool hole on "Humphrey" with the alpha particle X-ray spectrometer and the microscopic imager.
The panoramic camera then continued to acquire more images for the 360-degree view from the current rover position at "Middle Ground."
After backing up 850 mm (2.8 ft), the miniature thermal emission spectrometer and panoramic camera had their turn to collect data and images from both of the rock abrasion tool's latest efforts on "Humphrey" - the triple-brushed area and the depression.
As of this sol, Spirit has traveled 195.24 m (about 641 ft).
Plans for next sol include backing up and turning to avoid "Ingrid," a 200 mm (8 in) rock to the west of "Humphrey," and then driving approximately 25 m (82 ft) toward "Bonneville" in the northeast. Spirit will also snap the final images that will make up the 360-degree panorama of "Middle Ground."
March 5
sol 61 ended at 9:51 p.m. Friday, 2004 March 5 PST (March 6 UTC)
Mars_MER-A_what_lies_ahead_03-ra-01-map-A061R1.jpg
After more than a week of camping and field work at "Middle Ground," NASA's Spirit took a few last pictures from there then drove onward to the northeast on sol 61, which ended at 9:51 p.m. Friday, PST. In the martian morning, Spirit's panoramic camera took the final frames needed for the camera team to assemble a full-circle color panorama after all the data reaches Earth.
In the early afternoon, Spirit backed up 500 m (20 in), then edged forward 290 mm (11 in) to sidestep a rock called "Ingrid." Then the rover advanced 28.5 m (94 ft) toward its crater-rim destination. The drive took 45 minutes. From the new location, Spirit took forward-looking pictures for use in future drive planning. It also observed the ground and the sky with its miniature thermal emission spectrometer.
For the sol's theme tune in the morning, controllers at JPL played "Motor Away" by Guided by Voices.
Continued driving toward the crater nicknamed "Bonneville" is the plan for Spirit's 62nd sol, ending at 10:30 p.m. Saturday, PST.
March 6
sol 62 ended at 10:30 p.m. Saturday, 2004 March 6 PST (March 7 UTC)
During its 62nd sol on Mars, ending at 10:30 p.m. Saturday, PST, NASA's Spirit advanced about one-fifth of the remaining distance between where it began the sol and its mid-term destination, the rim of the crater nicknamed "Bonneville." In the martian afternoon, Spirit took images and infrared readings of the area right in front of its stopping place to support the following morning's close-up inspection of that new location with instruments on the rover's robotic arm.
Spirit drove 26.15 m (85.8 ft) on sol 62, bringing its odometer total to 250.71 m (822.5 ft). Some of the drive maneuvered around obstacles. The net gain in the northeasterly direction toward the crater rim was 22 m (72 ft), and that destination was estimated to be about 88 m (289 ft) away from Spirit's new location. The miniature thermal emission spectrometer was used for ground and sky observations both before and after the drive.
The wake-up song for the sol was "My First Trip to Mars," by Atticus Fault.
For sol 63, ending at 11:10 p.m. Sunday, PST, Spirit's agenda is to drive on toward the crater rim after using the microscope and spectrometers on its arm to inspect the site where it wakes up.
March 7
sol 63 ends at 11:10 p.m. Sunday, 2004 March 7 PST (March 8 UTC)
week starting 2004 March 8
March 8
sol 64 ends at 11:49 p.m. Monday, 2004 March 8 PST
Spirit completed another 29 meters (94 ft) of its drive toward the rim of "Bonneville" crater on sol 64, which ended at 11:49 p.m. PST, bringing its total odometry to 314 meters (1,030 ft) - 14 meters (45.9 ft) past the minimum mission success criterion.
Spirit began the morning with an 18 meter (59 ft) direct drive that safely maneuvered the rover through a field of rocks. Spirit then traversed 11 meters (35 ft) more using autonomous navigation and at 11:30 a.m. Mars Local Solar Time completed the drive. Spirit had some difficulty finding a way around an obstacle during the last portion of the commanded drive. That resulted in some repeated forward and backward maneuvering which left an interesting "trench" for scientists to have the rover peer into.
Spirit is climbing up a very steep part of "Bonneville" now, and ended this sol's drive tilted at a forward pitch of about 15°.
For the next sol, the plan was to have Spirit perform some mini-thermal emission spectrometer sky and ground observations before waking up to do a touch-and-go and drive again!
March 10
sol 65 ends at 12:29 a.m. Wednesday, 2004 March 10 PST
Spirit spent sol 65, which ended at 12:29 a.m. PST on March 10, analyzing soil targets with the alpha particle x-ray spectrometer, Moessbauer spectrometer and microscopic imager before stowing its arm, doing some remote sensing of the trench dubbed "Serendipity Trench," and then finally setting off for the longest directed drive to date. That drive was 27 meters (88.6 ft) toward the edge of "Bonneville" crater.
Spirit then attempted to use auto navigation to reach a target that was an additional 6 meters (19.7 ft) away. Sensitive obstacle avoidance software prevented Spirit from reaching the destination, and like yestersol, the rover completed several drives forward and back. Those drives resulted in a final odometer reading of 40.7 meters (133.5 ft) for the day, even though the total straight-line distance traveled was 30 meters (98.4 ft).
The 30 meter (98.4 ft) drive put Spirit close enough to "Bonneville's" edge to take images with the navigation cameras that reveal the opposite rim of the crater.
On sol 66, which ends at 1:09 a.m. PST on March 11, 2004, Spirit will drive up to the summit of the rim and show us what's inside with a 180-degree navigation camera panorama.
Bonneville_Crater_Traverse_Sol65_Color-A073R1_br.jpg
sol 66 ends at 1:09 a.m. Thursday, 2004 March 11 PST
Aerosmith wrote the song "Livin' on the Edge" long before Spirit reached the edge of Bonneville crater, and probably never imagined it would be the wake-up song for a rover on Mars. But its words are appropriate. After a 21 meter (68.9 ft) drive and an elevation gain of 1.5 meters (4.9 ft), Spirit is in fact at the edge of Bonneville crater.
Spirit began Sol 66, which ended at 1:09 a.m. PST March 11, 2004, by taking a look back at the lander with the panoramic camera, and then analyzing selected ground targets. At about 11:30 a.m. Gusev time, Spirit began a 30 minute directed drive of 16 meters (52.5 ft). It then turned right for a final auto-navigation drive that was intended for 6 meters (19.7 ft), but resulted in about 4 meters (13.1 ft). That drive put Spirit in perfect position to look inside "Bonneville" crater and send back stunning images from the navigation camera.
The camera mast was then positioned for a nighttime sky observation of the Orion Constellation. During NASA's Mars Global Surveyor pass tomorrow morning, the navigation camera and panoramic camera will take images of the Orion Constellation using long exposure times.
On Sol 67, which will end at 1:48 a.m. PST March 12, 2004, Spirit will drive about 14 meters (46 ft) to a better vantage point on the crater rim and continue to investigate Bonneville with the panoramic and navigation cameras.
March 12
sol 67 ended at 1:48 a.m. Friday, 2004 March 12 PST
Spirit woke up on sol 67, which ended at 1:48 a.m. PST March 12, 2004, to "On Top of the World" by Carpenters. The song was fitting, as yestersols's drive put Spirit at the rim of "Bonneville" crater, but it took some additional maneuvering to get the rover perfectly placed for the 360-degree panoramic camera images it will take on upcoming sols.
Before beginning the sol 67 drive, Spirit completed an overnight alpha particle x-ray spectrometer integration and a couple of small panoramic camera shots of its surroundings.
Then the rover traveled 13 meters (42.7 ft) in a direct drive around some obstacles followed by a 1.4 meter (4.6 ft) automatic navigation drive. Spirit spent the afternoon using the mini thermal emission spectrometer to look at targets that will be analyzed more fully on sol 67, and then driving 900 mm (3 ft) forward to be able to access that area with the arm tomorrow.
Spirit put a total of 24.8 meters (81.4 ft) on the odometer today, partly due to some back and forth maneuvering it had to do to ensure a safe path. The final location has proven to be just right, and Spirit will stay put for a couple sols while it continues to investigate "Bonneville" crater.
Before the day was over, Spirit looked at the sun for an attitude update and then took front hazard avoidance camera images of the arm work volume, and a small navigation panorama of the crater. The rover also completed some mini thermal emission spectrometer analysis of the far side of the crater and finished the day with some panoramic camera images of the sunset.
On sol 68, which will end at 2:28 a.m. PST March 13, 2004, Spirit will begin a two-sol panoramic camera session and complete selected mini thermal emission spectrometer observations. The rover will also begin a very long
Moessbauer integration on a soil target.
March 13
sol 68 ends at 2:28 a.m. Saturday, March 13 2004 PST
Spirit spent all of sol 68, which ended at 2:28 a.m. PST on March 13, 2004, at the "Bonneville" crater location. It began the morning operating the panoramic camera to acquire the first images of what will be a 360-degree shot of "Bonneville's" rim and basin, and the "Columbia Hills" to the southeast.
Spirit also moved the instrument deployment device, or rover arm, into position to acquire panoramic camera images of the magnets on the rock abrasion tool. It then placed the Moessbauer spectrometer on soil for a short integration after taking five microscopic imager images.
Around 13:35 Mars Local Solar time, one of Mars' moons, Deimos, passed in front of the sun (see Transit of Deimos from Mars). Scientists and rover controllers took this opportunity to image the moon's transit with the panoramic camera before completing mini thermal emission spectrometer observations of the crater interior.
Spirit's work isn't over though. The Moessbauer will continue analyzing the soil at "Bonneville's" rim through the night.
Sol 69, which will end at 3:07 a.m. PST on March 14, 2004, will also be a no-drive sol during which Spirit will acquire the second half of the 360-degree panoramic camera image of Bonneville. Spirit will also perform remote sensing of the inside of the crater and analyze soil targets with the Moessbauer and alpha particle x-ray spectrometer.
March 14
sol 69 ends at 3:07 a.m. Sunday, March 14 2004 PST
During its 69th sol on Mars, ending at 3:07 a.m. Sunday, PST, NASA's Spirit finished shooting frames with its panoramic camera for a full 360-degree color view of the surroundings visible from the crater rim where the rover is perched. Once the panorama frames are transmitted to Earth, scientists will use them and information from Spirit's miniature thermal emission spectrometer to assess the structures and composition of the crater interior and other surfaces in view.
Spirit did not move from its vantage point on the south rim of the crater nicknamed "Bonneville." An extra downlink session was added via relay by NASA's Mars Odyssey orbiter to accelerate getting the panoramic imaging data to Earth. The total amount of data received from Spirit during the sol through relays and direct-to-Earth transmission was 225 megabits.
In the martian afternoon, Spirit added a set of observations with the miniature thermal emission spectrometer in coordination with overhead passage of NASA's Mars Global Surveyor orbiter, which carries a similar spectrometer looking down. Events of the sol also included two camera sessions requested by engineers. The first was to get high-resolution images of Spirit's heat shield on the northern rim of "Bonneville." The other was to photograph wheel tracks to help rover mobility specialists assess slippage. For sol 69's wake-up music, the team spun John Lennon's "Watching the Wheels."
Plans for sol 70, ending at 3:47 a.m. Monday, PST, feature more remote sensing from the rover's current location, before a drive along the rim begins on sol 71.
week starting 2004 March 15
March 15
sol 70 ends at 3:47 a.m. Monday, March 15 2004 PST
Spirit began what would be a very busy sol 70, which ended at 3:47 a.m. PST March 15, by analyzing a soil target dubbed "Gobi 1" with the Moessbauer spectrometer. This was the first of 43 observations that Spirit would complete on sol 70, breaking the previous observation record of 31 observations in one sol.
After the successful Moessbauer integration, Spirit took panoramic camera images of the sky. Then the miniature thermal emission spectrometer analyzed rock and soil targets. Following this, Spirit turned its panoramic camera and miniature thermal emission spectrometer to a range surface and atmospheric observations. Before the sol ended, Spirit also took microscopic images of the Moessbauer footprint left on the soil target and switched instruments to the alpha particle X-ray spectrometer for a long integration starting early on sol 71 at the "Gobi 1" location.
Spirit will spend Sol 71, which will end at 4:26 a.m. PST March 16, completing the alpha particle X-ray spectrometer analysis, taking panoramic camera images and microscopic imager images of the area, and then driving 15 meters (49.2 ft) to a location dubbed "Serpent Dune" in the afternoon.
March 16
sol 71 ends at 4:26 a.m. Monday, March 16 2004 PST
Spirit began sol 71, which ended at 4:26 a.m. PST March 16, 2004, with a morning nap to re-charge after the record-breaking number of activities it accomplished on sol 70. After that, it was back to work. Spirit began by retracting the alpha particle X-ray spectrometer, closing the doors, and imaging the doors with the front hazard avoidance cameras to confirm that they were closed. Spirit then proceeded to observe a soil target with the microscopic imager, and it also used the panoramic camera to observe the magnets, do a sky survey and capture a dust devil movie.
Then it was time to drive. Spirit completed a 15 meter (49.2 ft) blind drive followed by a 3 meter (9.8 ft) auto-navigation drive around the south rim of "Bonneville" crater toward a drift named "Serpent." Once there, Spirit completed post-drive science observations and a miniature thermal emission spectrometer study of the atmosphere, ground and future drive direction.
Spirit's main objective on sol 72, which ends at 5:06 a.m. PST March 17, 2004, will be to disturb and analyze the material at Serpent. Spirit will drive over the dune and back up to an optimal observation position. It will then analyze the area with the panoramic camera and mini thermal emission spectrometer. Spirit will end the sol by driving back on top of the dune.
March 17
Sol 72 ends 5:06 a.m. 2004 March 17 PST
Mars_Spirit_01-MA-01-map-A074R1.jpg
Sol 72, which ended at 5:06 a.m. PST on March 17, was a day full of digging for NASA's Mars Exploration Rover Spirit. Spirit began the day taking panoramic camera and miniature thermal emission spectrometer observations of the drift dubbed "Serpent" before creating the "scuff" that would reveal the inside material at this location.
Then it was time to get into position. The rover drove about 2.5 m (8.2 ft) to put the left front wheel up onto the drift. It then turned right and left five degrees to dig the left front wheel into the drift. When the "shimmy" was complete, Spirit backed 100 mm (3.9 in) out of the hole. The digging and backing process was repeated four times to thoroughly scuff Serpent's side. Then Spirit backed up another meter (3.28 ft) to attain miniature thermal emission spectrometer, panoramic camera and navigation camera observations of the scuffed area. These observations will aid in in-situ target selection. To prepare for the upcoming in-situ work, Spirit drove forward 400 mm (1.3 ft) for additional imaging, and then drove forward a final 450 mm (1.5 ft) to put the scuff in the arm work volume.
Spirit spent the rest of the day obtaining navigation camera and panoramic camera observations of the intended drive direction around part of the crater rim. Spirit will do some work overnight, taking miniature thermal emission spectrometer thermal inertia and atmosphere measurements.
On sol 73, which will end at 5:46 a.m. PST on March 18, Spirit will conduct extensive microscopic imaging of sections of the drift, and run an overnight Moessbauer and alpha particle X-ray spectrometer integration.
sol 73 ends 5:46 a.m. 2004 March 18 PST
March 18
sol 73 ended at 5:46 a.m. Thursday, March 18 2004 PST: A Close-Up of Serpent
Spirit spent most of sol 73, which ended at 5:46 a.m. PST on March 18, 2004, analyzing targets in the drift dubbed "serpent" with the microscopic imager. But before the close-ups began, Spirit acquired miniature thermal emission spectrometer inertia measurements on a disturbed area of soil. It also caputred panoramic camera images of the scuffed area, dubbed "Bear Paw," the wheel that did the digging, and a nearby rock target named "White Elephant."
The microscopic imager work began at 11:00 am Mars Local Solar Time and was targeted at four points within the scuffed area on Serpent. The targets were given the bear-type names of Polar, Spectacled, Kodiak and Panda. For each target, seven microscopic images were taken to assure proper focus. At the Spectacled and Kodiak targets, a microscopic image with the filter in place was also taken for pseudo-color. Then the Mössbauer was placed on Panda and started an overnight integration. The arm activities were completed by about noon Mars Local Solar time, and were followed by the second thermal inertia measurement on the disturbed soil.
The rover took a siesta until 1:00 p.m. Mars Local Solar time, and then woke up for a series of mini thermal emission spectrometer observations on the rocks named "White Elephant," "Fruitcake," and "Dihedral." Then the third and last thermal inertia measurement was taken on the disturbed soil.
Spirit took another quick nap in the afternoon, and then completed sky measurements with the mini thermal emission spectrometer and panoramic camera.
Spirit will have an early start on sol 74, which will end at 6:25 a.m. PST March 19, 2004. Sol 74 will include a tool change to the alpha particle X-ray spectrometer and the beginning of an integration on the drift target named Panda. Before the sol is over, Spirit will also analyze an undisturbed area of the Serpent drift before continuing to drive around the rim of "Bonneville" crater.
March 19
sol 74 ended at 6:25 a.m. Friday, March 19 2004 PST: 'Stub Toes' Won't Stop Spirit
Spirit began the morning of Sol 74, which ended at 6:25 a.m. PST on March 19, 2004, by completing an alpha particle X-ray spectrometer integration on the target "Panda," inside the scuff on "Serpent" drift. Then Spirit placed the alpha particle X-ray spectrometer back down on the target "Polar" for a 30 minute integration. During that integration, Spirit took some images of disturbed soil with the panoramic camera, and acquired some ground temperatures with the miniature thermal emission spectrometer. Spirit then switched the tools on its robotic arm to the Mössbauer spectrometer for an hour-long integration on Polar. During that integration, the rover took some sky and ground measurements with the mini thermal emission spectrometer. Spirit finished its arm activities for the day by acquiring three microscopic images of Polar and three more of Panda.
Starting around 12:35 p.m. Mars Local Solar time, Spirit made a direct drive of about 6 meters (19.7 ft) to another section of the Serpent drift complex, called "Stub Toe." There the rover repeatedly scuffed the drift and advanced 150 mm (6 in) in a series of five "scuff and drives." After the five scuffs and advances were made, Spirit roved forward another 3 meters (9.8 ft) and then looked back over its shoulder using the mini thermal emission spectrometer and navigation cameras to analyze the damage. The rover continued along the Bonneville crater rim with a 16 meter direct drive, and then an auto-navigation drive for 9 meters (29.5 ft). Spirit completed a final set of drives to set up for a touch and go on sol 75 at around 2:10 p.m. Mars Local Solar time. The total amount of driving for sol 74 was an impressive 34.3 meters (112.5 ft).
Spirit then took navigation camera and panoramic camera images of the drive directions for planning the sol 75 traverse. The rover acquired some mini thermal emission spectrometer reconnaissance images and then took a 30 minute siesta before the afternoon Odyssey relay pass. During that pass, Spirit used the mini thermal emission spectrometer to acquire a sky profile and ground temperature observations.
On sol 75, which will end at 7:05 a.m. PST on March 20, 2004, Spirit will place the microscopic imager on a soil target and drive about 22 meters (72.2 ft) around the Bonneville crater rim. Spirit will also conduct atmospheric observations with the mini thermal emission spectrometer and panoramic camera.
March 20
sol 75 - no report available.
March 21
sol 76 - no report available.
week starting 2004 March 22
March 22
sol 77 ended at 8:24 a.m. Monday, March 22 2004 PST: One Step Closer
Spirit woke up on sol 77, which ended at 8:24 a.m. PST on March 22, 2004, to "One Step Closer" by the Doobie Brothers, since the rover was to make its final approach to the rock target named "Mazatzal" today.
Before beginning the 900 mm (2.95 ft) drive to Mazatzal, Spirit analyzed the soil target "Soil 1" at its current location with the microscopic imager and Mössbauer spectrometer. During the Mössbauer integration, Spirit also took panoramic camera images and performed miniature thermal emission spectrometer analysis of the atmosphere and Mazatzal work area.
At 1:25 p.m. Mars Local Solar Time, Spirit completed the Mössbauer integration, took a few microscopic imager images of the impression left on "Soil 1" by the Mössbauer spectrometer and then stowed the instrument arm. Spirit then proceeded the short distance toward Mazatzal and took hazard avoidance camera images to confirm that its final resting place put the intended rock targets in reach of the instrument arm.
Following the drive, the rover acquired more panoramic camera and mini thermal emission spectrometer observations of the atmosphere, and of interesting areas near the Mazatzal site including targets named "Sandbox," "Saber" and "Darksands."
Spirit finished up sol 77 by getting the mini thermal emission spectrometer in position for morning observations on sol 78.
Spirit will spend most of Sol 78, which will end at 9:04 a.m. PST on March 23, analyzing Mazatzal with the instruments on the robotic arm.
March 23
sol 78 ended at 9:04 a.m. Tuesday, March 23 2004 PST: Preparing to Grind at Mazatzal
NASA's Mars Exploration Rover Spirit woke up at 7:24 a.m. Mars Local Solar time on sol 78, which ended at 9:04 a.m. on March 23, 2004, and began a day of observations in preparation for the sol 79 grind on the rock called "Mazatzal."
After waking, Spirit warmed-up the mast actuators for some early morning soil and atmosphere miniature thermal emission spectrometer observations. It then went back to sleep before beginning the morning direct-to-earth communication session with the high gain antenna.
At 10:00 a.m. Mars Local Solar time, Spirit began analyzing the soil targets "Saber" and "Sandbox" with the mini thermal emission spectrometer. It also took panoramic camera images of "Skull" and Saber. Then it was time to unfold the instrument arm to capture microscopic imager images of three targets on Mazatzal: "Arizona," "Illinois," and "New York." The New York target was further analyzed with a 17-hour Mössbauer spectrometer integration.
While the Mössbauer was integrating, Spirit proceeded to execute several mini thermal emission spectrometer and panoramic camera observations of interesting features in the surrounding area. The observations included images of "Bonneville" crater, "Saber," "Sandbox" and "Orange Beach."
Spirit had completed all these activities by 2:40 p.m. Mars Local Solar time and then took a siesta until the afternoon Odyssey UHF pass. During that pass, the rover captured mini thermal emission spectrometer ground and sky images. Before shutting down at 5 p.m. Mars Local Solar time, Spirit positioned the panoramic camera for a nighttime observation of the moon Deimos.
Sol 79, which ends at 9:43 a.m. on March 24, 2004, will be a momentous day for Spirit's rock abrasion tool; it will complete brushings on two Mazatzal targets.
March 24
sol 79 ended at 9:43 a.m. Wednesday, March 24 2004 PST: Sweep and Study the 'States'
NASA's Mars Exploration Rover Spirit awakened at 9:35 a.m. Mars Local Solar Time on Sol 79, which ended at 9:43 a.m. PST on March 24. An early morning review of the alpha particle X-ray spectrometer data revealed that the instrument's doors were not fully open and that the tool did not completely engage at the intended "New York" target on the rock dubbed "Mazatzal." The alpha particle X-ray spectrometer integration on "New York" will be repeated on sol 80.
Spirit took a nap until 12:45 Mars Local Solar time to conserve power for the upcoming grind on Mazatzal on sol 81. Once the rover woke up, it began the sequences of brushing and analyzing two targets, "New York" and "Illinois," on Mazatzal. Each target was brushed with the rock abrasion tool and then imaged with the microscopic imager and panoramic camera. The entire sequence ended with a Mössbauer spectrometer integration on the New York target.
Rover controllers plan to let Spirit rest until 4 a.m. Mars Local Solar time on Sol 80, when the tools on the robotic arm will be changed to place the alpha particle X-ray spectrometer on the brushed New York target. The rest of sol 80, which will end at 10:23 a.m. on March 25, will be spent analyzing the brushed and unbrushed areas of Mazatzal with the instruments on the rover's robotic arm.
March 25
sol 80 ended at 10:23 a.m. Thursday, March 25 2004 PST: Open the Door
On sol 80, which ended at 10:23 a.m. PST on March 25, NASA's Mars Exploration Rover Spirit repeated overnight measurements of "Illinois" and "New York," two targets on the rock "Mazatzal." The measurements needed to be repeated because the alpha particle X-ray spectrometer's doors inadvertently did not open during the prior sol. In honor of doors being stuck partially open, sol 80's wake up song was "Open the Door" by Otis Redding.
Mazatzal is one of an apparent class of "light-toned rocks," which may be common in the area where Spirit landed in Gusev. This rock appears to be a "ventifact," which means it may have been carved by the steady winds that scientists know come from the northwest into the top area of this crater rim.
The plan for sol 81, which will end at 11:02 a.m. on March 26 PST, is to grind into Mazatzal with the rock abrasion tool.
March 26
sol 81 ended at 11:02 a.m. Friday, March 26 2004 PST: Rats in "New York"
Spirit began sol 81, which ended at 11:02 a.m. PST on March 26, 2004, by stopping the alpha particle X-ray spectrometer integration and then imaging the instrument's placement with the hazard avoidance camera. The rest of this sol was all about grinding into the target "New York" on the rock named "Mazatzal."
The rock abrasion tool operated on the New York target for three hours and forty-five minutes and created an impression in the rock that was 3.79 mm (0.15 in) deep. The angular shape of Mazatzal and the fact that the rock is a little harder than previously abraded rocks allowed the more flat side of the circular target to receive a more intense grind. On sol 83, the science and engineering teams plan to again place Spirit's rock abrasion tool onto the rock, overlapping the already abraded area and reaching the area just to the left.
Spirit will spend most of sol 82, which will end at 11:42 a.m. PST on March 27, 2004, analyzing the rock abrasion tool impression with the microscopic imager, Mössbauer spectrometer and alpha particle X-ray spectrometer. The rover will also place the microscopic imager over a clean surface to the upper left of the ratted area and take some images.
The wake-up song today was "Boy from New York City" by The Manhattan Transfer, in honor of the grind on the New York target.
Spirit's odometer now reads: 492 m (more than a quarter of a mile)!
March 27
sol 82 - no report available.
March 28
sol 83 - no report available.
week starting 2004 March 29
March 29
sol 84 ended at 1:01 p.m. Monday, March 29 2004 PST: Rat Bears Down on "Brooklyn"
The angular nature of the rock called "Mazatzal" required some extra rodent power over the weekend. The latest grind by Spirit's rock abrasion tool (the RAT) resulted in that tool's deepest hole yet, nearly 8 mm (0.31 in). The rover was inspired to tackle the target "Brooklyn" right next to its "New York" bull's-eye by the Beastie Boys' "No Sleep Till Brooklyn" on its 83rd sol, which ended at 12:22 p.m. PST on March 28.
Spirit's 84th sol, which ended at 1:01 p.m. PST on March 29, was planned as a day of investigation. The miniature thermal emission spectrometer and panoramic camera made successful observations of the crater informally named "Bonneville," but planned operations of the rover arm were not executed due to a switch on the Mössbauer spectrometer getting momentarily stuck. After a successful Mössbauer integration, the instrument was pulled back from Mazatzal, but one of two contact switches did not indicate a no-contact condition. Although the instrument had been retracted, the rover's software interpreted this as an unexpected collision of the spectrometer with an object, so it terminated any further arm operations. The stuck switch flipped about three minutes later but the rover is programmed to wait until the false error is cleared by mission control.
On sol 85, Spirit will retake microscope images of areas on Mazatzal, and overnight Mössbauer and alpha particle X-ray spectrometer integrations will be repeated.
March 30
sol 85 ended at 1:41 p.m. Tuesday, March 30 2004 PST: Looking Inside Mazatzal
Since the rock abrasion tool completed a full-circle grind into the "New York" and "Brooklyn" targets on the rock "Mazatzal," it was time for Spirit to do some analysis. Spirit spent much of Sol 85, which ended at 1:41 p.m. PST on March 30, successfully operating the instruments on its robotic arm to take a more detailed look inside Mazatzal.
Although all the operations were completed successfully on Mars, the rover team spent most of the morning and afternoon on Earth worrying. After the team sent the uplink to Spirit, they waited for the standard "beep" that confirms the sequence reached Spirit and was activated. This beep, and an expected one 10 minutes later were not acquired, and engineers proceeded to trouble-shoot what might have gone wrong. No errors could be found, and finally a successful afternoon Odyssey communications pass provided 75 megabits of data, indicating that all the sequences were in fact onboard the rover and that all the planned sol activities had completed successfully. Like worried parents, the rover team members breathed a collective sigh of relief, and are now looking into possible causes of the failure to detect the beep.
As planned, Spirit began sol 85 by receiving the uplink and then taking a one-hour nap. After waking, the rover took panoramic camera images of the rock abrasion tool and of the ratted hole in Mazatzal. Before the panoramic camera work was done, Spirit took some final shots of "Bonneville" crater. Some of those images might contribute to a super-resolution image of the heat shield remnants on the far wall. Spirit also took some images to try to catch a dust devil in action.
After the panoramic camera activity, Spirit used the microscopic imager to take a 5-position pseudo-color mosaic of the Mazatzal rock abrasion tool hole. Then the Mössbauer spectrometer was placed in the hole and began an overnight integration.
A little after 2 p.m. Mars Local Solar Time, the last miniature thermal emission spectrometer sections of Bonneville crater were acquired, followed by a set of panoramic camera images of the drive direction. In the late afternoon, Spirit used the mini thermal emission spectrometer to acquire ground and sky stares, which will be complemented by another set early tomorrow morning. Shortly after the 2 a.m. Mars Global Surveyor pass, the arm will change tools from the Mössbauer spectrometer to the alpha particle X-ray spectrometer for an integration in the rock abrasion tool hole through 9:20 a.m Mars Local Solar Time on Sol 86.
The rock abrasion tool will be back to work on sol 86, which will end at 2:20 p.m. PST on March 31, 2004, brushing a 6-spot mosaic on another portion of the rock Mazatzal called "Missouri." The mini thermal emission spectrometer will analyze the brushed area and then Spirit will begin a 5-sol drive toward the Columbia Hills.
March 31
sol 86 ended at 2:20 p.m. Wednesday, March 31 2004 PST: Brushing the Dust Off 'Missouri'
Spirit began sol 86, which ended at 2:20 p.m. PST on March 31, 2004, by waking up and heating the panoramic mast assembly to complete sky and ground stares with the miniature thermal emission spectrometer. Spirit completed the alpha particle X-ray spectrometer integration on the hole made by the rock abrasion tool and then took a 45 minute nap.
Once Spirit woke up, it began the 6-position rock abrasion tool brush mosaic on the target "Missouri" on the rock called "Mazatzal." Once this was completed successfully, the rover's arm was stowed.
Spirit then rolled backwards 900 mm (2.95 ft) to correctly position itself to acquire mini thermal emission spectrometer imaging of the newly brushed mosaic, and the previously ground hole. In addition, Spirit took sky and ground stares and panoramic camera images of the upcoming drive direction. The sol ended with mini thermal emission spectrometer stares at the "Columbia Hills" and an afternoon pass by NASA's Mars Odyssey orbiter.
Sol 87, which ends at 3:00 p.m. PST on April 1, 2004, will be a driving day for Spirit as it begins what could be a record-breaking journey toward the Columbia Hills.
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