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Overview of the Opportunity Mars Exploration Rover Mission to Meridiani Planum: Eagle Crater to Purgatory Ripple

The Mars Exploration Rover Opportunity touched down at Meridiani Planum in January 2004 and since then has been conducting observations with the Athena science payload. The rover has traversed more than 5 km, carrying out the first outcrop‐scale investigation of sedimentary rocks on Mars. The rocks of Meridiani Planum are sandstones formed by eolian and aqueous reworking of sand grains that are composed of mixed fine‐grained siliciclastics and sulfates. The siliciclastic fraction was produced by chemical alteration of a precursor basalt. The sulfates are dominantly Mg‐sulfates and also include Ca‐sulfates and jarosite. The stratigraphic section observed to date is dominated by eolian bedforms, with subaqueous current ripples exposed near the top of the section. After deposition, interaction with groundwater produced a range of diagenetic features, notably the hematite‐rich concretions known as “blueberries.” The bedrock at Meridiani is highly friable and has undergone substantial erosion by wind‐transported basaltic sand. This sand, along with concretions and concretion fragments eroded from the rock, makes up a soil cover that thinly and discontinuously buries the bedrock. The soil surface exhibits both ancient and active wind ripples that record past and present wind directions. Loose rocks on the soil surface are rare and include both impact ejecta and meteorites. While Opportunity's results show that liquid water was once present at Meridiani Planum below and occasionally at the surface, the environmental conditions recorded were dominantly arid, acidic, and oxidizing and would have posed some significant challenges to the origin of life.

Journal of Geophysical Research E: Planets

Visible and near-infrared multispectral analysis of rocks at Meridiani Planum, Mars, by the Mars Exploration Rover Opportunity

Multispectral measurements in the visible and near infrared of rocks at Meridiani Planum by the Mars Exploration Rover Opportunity's Pancam are described. The Pancam multispectral data show that the outcrops of the Burns formation consist of two main spectral units which in stretched 673, 535, 432 nm color composites appear buff- and purple-colored. These units are referred to as the HFS and LFS spectral units based on higher and lower values of 482 to 535 nm slope. Spectral characteristics are consistent with the LFS outcrop consisting of less oxidized, and the HFS outcrop consisting of more oxidized, iron-bearing minerals. The LFS surfaces are not as common and appear, primarily, at the distal ends of outcrop layers and on steep, more massive surfaces, locations that are subject to greater eolian erosion. Consequently, the HFS surfaces are interpreted as a weathering rind. Further inherent spectral differences between layer's and between different outcrop map units, both untouched and patches abraded by the rover's Rock Abrasion Tool, are also described. Comparisons of the spectral parameters of the Meridiani outcrop with a set of laboratory reflectance measurements of Fe3+-bearing minerals show that the field of outcrop measurements plots near the fields of hematite, ferrihydrite, poorly crystalline goethite, and schwertmannite. Rind and fracture fill materials, observed intermittently at outcrop exposures, are intermediate in their spectral character between both the HFS and LFS spectral classes and other, less oxidized, surface materials (basaltic sands, spherules, and cobbles). Copyright 2007 by the American Geophysical Union.

Journal of Geophysical Research E: Planets

Dust deposition on the Mars Exploration Rover Panoramic Camera (Pancam) calibration targets

The Panoramic Camera (Pancam) on the Mars Exploration Rover mission has acquired in excess of 20,000 images of the Pancam calibration targets on the rovers. Analysis of this data set allows estimates of the rate of deposition and removal of aeolian dust on both rovers. During the first 150-170 sols there was gradual dust accumulation on the rovers but no evidence for dust removal. After that time there is ample evidence for both dust removal and dust deposition on both rover decks. We analyze data from early in both rover missions using a diffusive reflectance mixing model. Assuming a dust settling rate proportional to the atmospheric optical depth, we derive spectra of optically thick layers of airfall dust that are consistent with spectra from dusty regions on the Martian surface. Airfall dust reflectance at the Opportunity site appears greater than at the Spirit site, consistent with other observations. We estimate the optical depth of dust deposited on the Spirit calibration target by sol 150 to be 0.44 ?? 0.13. For Opportunity the value was 0.39 ?? 0.12. Assuming 80% pore space, we estimate that the dust layer grew at a rate of one grain diameter per ???100 sols on the Spirit calibration target. On Opportunity the rate was one grain diameter per ???125 sols. These numbers are consistent with dust deposition rates observed by Mars Pathfinder taking into account the lower atmospheric dust optical depth during the Mars Pathfinder mission. Copyright 2007 by the American Geophysical Union.

Journal of Geophysical Research E: Planets

Coordinated analyses of orbital and spirit rover data to characterize surface materials on the cratered plains of Gusev Crater, Mars

Comparison of the Mars Exploration Rover Spirit's Pancam (0.4 to 1.0 ??m) and Mars Express Observatoire pour la Mineralogie l'Eau, les Glaces et l'Activite?? (OMEGA) (0.4 to 2.5 ??m) spectral reflectance data over Spirit's traverses shows that Gusev cratered plains are dominated by nanophase ferric-oxide-rich dust covering weakly altered basaltic sands. This interpretation is also consistent with both observations from OMEGA data covering plains beyond the traverse region and interpretations of data from the other payload instruments on the Spirit Rover. OMEGA observations of relatively low albedo regions where dust has presumably been stripped by dust devils show negative spectral reflectance slopes from 1.5 to 2.5 ??m and moderately masked spectral features which are indicative of olivine or pyroxene. High-albedo regions north and south of the Spirit landing site have flat spectral reflectance slopes and few spectral features, although all spectra have a nanophase ferric-oxide absorption edge between 0.4 and 0.75 ??m. Comparison of THEMIS-derived thermal inertia values with OMEGA-derived spectral parameters shows that although the dust cover can be optically thick (0.4 to 2.5 ??m wavelength region) in some areas, it is not thick enough (???1 cm) to mask the thermal inertia of the underlying substrate for areas included in this study. Copyright 2007 by the American Geophysical Union.

Journal of Geophysical Research E: Planets

MGS-TES thermal inertia study of the Arsia Mons Caldera

Temperatures of the Arsia Mons caldera floor and two nearby control areas were obtained by the Mars Global Surveyor (MGS) Thermal Emission Spectrometer (TES). These observations revealed that the Arsia Mons caldera floor exhibits thermal behavior different from the surrounding Tharsis region when compared with thermal models. Our technique compares modeled and observed data to determine best fit values of thermal inertia, layer depth, and albedo. Best fit modeled values are accurate in the two control regions, but those in the Arsia Mons' caldera are consistently either up to 15 K warmer than afternoon observations, or have albedo values that are more than two standard deviations higher than the observed mean. Models of both homogeneous and layered (such as dust over bedrock) cases were compared, with layered-cases indicating a surface layer at least thick enough to insulate itself from diurnal effects of an underlying substrate material. Because best fit models of the caldera floor poorly match observations, it is likely that the caldera floor experiences some physical process not incorporated into our thermal model. Even on Mars, Arsia Mons is an extreme environment where CO2 condenses upon the caldera floor every night, diurnal temperatures range each day by a factor of nearly 2, and annual average atmospheric pressure is only around one millibar. Here, we explore several possibilities that may explain the poor modeled fits to caldera floor and conclude that temperature dependent thermal conductivity may cause thermal inertia to vary diurnally, and this effect may be exaggerated by presence of water-ice clouds, which occur frequently above Arsia Mons.

Journal of Geophysical Research E: Planets

Middle UV to near-IR spectrum of electron-excited SO 2

We investigated the electron impact–induced fluorescence spectrum of SO 2 to provide excitation cross sections for modeling Io's emission spectrum and analyzing Cassini Imaging Science Subsystem observations. The electron-excited middle-ultraviolet visible optical near-infrared (VOIR) emission spectrum of SO 2 gas was generated in the laboratory and studied from 2000 to 11,000 Å at a resolution of Δ λ ∼ 2.5 Å full width at half maximum (FWHM). The VOIR laboratory spectrum longward of 6000 Å consists entirely of S I, II and O I, II multiplets for electron impact energies above ∼15 eV. Between 2000 and 6000 Å, we find previously identified molecular bands from both SO and SO 2 . This work represents a significant improvement in spectral resolution over our earlier work done at 18 Å FWHM. From a measurement of the medium-resolution spectrum, we provide detailed 25- and 100-eV emission cross sections for spectral features from 2000 to 11,000 Å. On the basis of these data, we suggest future ground-based and satellite telescopic observations in the VOIR that are of promise for understanding Io's atmosphere.

Journal of Geophysical Research E: Planets

Near-infrared spectral mapping of Titan's mountains and channels

We investigate the spectral reflectance properties of channels and mountain ranges on Titan using data from Cassini's Visual and Infrared Mapping Spectrometer (VIMS) obtained during the T9 encounter (26 December 2005). We identify the location of channels and mountains using synthetic aperture radar maps obtained from Cassini's RADAR instrument during the T13 (30 April 2006) flyby. Channels are evident even in VIMS imaging with spatial resolution coarser than the channel size. The channels share spectral characteristics with Titan's dark blue terrain (e.g., the Huygens landing site) that is consistent with an enhancement in water ice content relative to the rest of Titan. We use this fact to measure widths of ???1 km for the largest channels. Comparison of the data sets shows that in our study area within the equatorial bright spectral unit east of Xanadu, mountains are darker and bluer than surrounding smooth terrain. These results are consistent with the equatorial bright terrain possessing a veneer of material that is thinner in the regions where there are mountains and streambeds that have likely undergone more recent and extensive erosion. We suggest a model for the geographic relationship of the dark blue, dark brown, and equatorial bright spectral units based on our findings.

Journal of Geophysical Research E: Planets

Mars global digital dune database and initial science results

A new Mars Global Digital Dune Database (MGD 3 ) constructed using Thermal Emission Imaging System (THEMIS) infrared (IR) images provides a comprehensive and quantitative view of the geographic distribution of moderate‐ to large‐size dune fields (area >1 km 2 ) that will help researchers to understand global climatic and sedimentary processes that have shaped the surface of Mars. MGD 3 extends from 65°N to 65°S latitude and includes ∼550 dune fields, covering ∼70,000 km 2 , with an estimated total volume of ∼3,600 km 3 . This area, when combined with polar dune estimates, suggests moderate‐ to large‐size dune field coverage on Mars may total ∼800,000 km 2 , ∼6 times less than the total areal estimate of ∼5,000,000 km 2 for terrestrial dunes. Where availability and quality of THEMIS visible (VIS) or Mars Orbiter Camera narrow‐angle (MOC NA) images allow, we classify dunes and include dune slipface measurements, which are derived from gross dune morphology and represent the prevailing wind direction at the last time of significant dune modification. For dunes located within craters, the azimuth from crater centroid to dune field centroid (referred to as dune centroid azimuth) is calculated and can provide an accurate method for tracking dune migration within smooth‐floored craters. These indicators of wind direction are compared to output from a general circulation model (GCM). Dune centroid azimuth values generally correlate to regional wind patterns. Slipface orientations are less well correlated, suggesting that local topographic effects may play a larger role in dune orientation than regional winds.

Journal of Geophysical Research E: Planets

Veneers, rinds, and fracture fills: Relatively late alteration of sedimentary rocks at Meridiani Planum, Mars

Veneers and thicker rinds that coat outcrop surfaces and partially cemented fracture fills formed perpendicular to bedding document relatively late stage alteration of ancient sedimentary rocks at Meridiani Planum, Mars. The chemistry of submillimeter thick, buff-colored veneers reflects multiple processes at work since the establishment of the current plains surface. Veneer composition is dominated by the mixing of silicate-rich dust and sulfate-rich outcrop surface, but it has also been influenced by mineral precipitation, including NaCl, and possibly by limited physical or chemical weathering of sulfate minerals. Competing processes of chemical alteration (perhaps mediated by thin films of water or water vapor beneath blanketing soils) and sandblasting of exposed outcrop surfaces determine the current distribution of veneers. Dark-toned rinds several millimeters thick reflect more extensive surface alteration but also indicate combined dust admixture, halite precipitation, and possible minor sulfate removal. Cemented fracture fills that are differentially resistant to erosion occur along the margins of linear fracture systems possibly related to impact. These appear to reflect limited groundwater activity along the margins of fractures, cementing mechanically introduced fill derived principally from outcrop rocks. The limited thickness and spatial distribution of these three features suggest that aqueous activity has been rare and transient or has operated at exceedingly low rates during the protracted interval since outcropping Meridiani strata were exposed on the plains surface.

Journal of Geophysical Research E: Planets

Soil sedimentology at Gusev Crater from Columbia Memorial Station to Winter Haven

A total of 3140 individual particles were examined in 31 soils along Spirit's traverse. Their size, shape, and texture were quantified and classified. They represent a unique record of 3 years of sedimentologic exploration from landing to sol 1085 covering the Plains Unit to Winter Haven where Spirit spent the Martian winter of 2006. Samples in the Plains Unit and Columbia Hills appear as reflecting contrasting textural domains. One is heterogeneous, with a continuum of angular-to-round particles of fine sand to pebble sizes that are generally dust covered and locally cemented in place. The second shows the effect of a dominant and ongoing dynamic aeolian process that redistributes a uniform population of medium-size sand. The texture of particles observed in the samples at Gusev Crater results from volcanic, aeolian, impact, and water-related processes.

Journal of Geophysical Research E: Planets

Mapping and interpretation of Sinlap crater on Titan using Cassini VIMS and RADAR data

Only a few impact craters have been unambiguously detected on Titan by the Cassini-Huygens mission. Among these, Sinlap is the only one that has been observed both by the RADAR and VIMS instruments. This paper describes observations at centimeter and infrared wavelengths which provide complementary information about the composition, topography, and surface roughness. Several units appear in VIMS false color composites of band ratios in the Sinlap area, suggesting compositional heterogeneities. A bright pixel possibly related to a central peak does not show significant spectral variations, indicating either that the impact site was vertically homogeneous, or that this area has been recovered by homogeneous deposits. Both VIMS ratio images and dielectric constant measurements suggest the presence of an area enriched in water ice around the main ejecta blanket. Since the Ku-band SAR may see subsurface structures at the meter scale, the difference between infrared and SAR observations can be explained by the presence of a thin layer transparent to the radar. An analogy with terrestrial craters in Libya supports this interpretation. Finally, a tentative model describes the geological history of this area prior, during, and after the impact. It involves mainly the creation of ballistic ejecta and an expanding plume of vapor triggered by the impact, followed by the redeposition of icy spherules recondensed from this vapor plume blown downwind. Subsequent evolution is then driven by erosional processes and aeolian deposition. Copyright 2008 by the American Geophysical Union.

Journal of Geophysical Research E: Planets

High resolution imaging science experiment (HiRISE) images of volcanic terrains from the first 6 months of the Mars reconnaissance orbiter primary science phase

In the first 6 months of the Mars Reconnaissance Orbiter's Primary Science Phase, the High Resolution Imaging Science Experiment (HiRISE) camera has returned images sampling the diversity of volcanic terrains on Mars. While many of these features were noted in earlier imaging, they are now seen with unprecedented clarity. We find that some volcanic vents produced predominantly effusive products while others generated mostly pyroclastics. Flood lavas were emplaced in both turbulent and gentle eruptions, producing roofed channels and inflation features. However, many areas on Mars are too heavily mantled to allow meter-scale volcanic features to be discerned. In particular, the major volcanic edifices are extensively mantled, though it is possible that some of the mantle is pyroclastic material rather than atmospheric dust. Support imaging by the Context Imager (CTX) and topographic information derived from stereo imaging are both invaluable in interpreting the HiRISE data.

Journal of Geophysical Research E: Planets

Columbia Hills, Mars: aeolian features seen from the ground and orbit

Abundant wind-related features occur along Spirit's traverse into the Columbia Hills over the basaltic plains of Gusev Crater. Most of the windblown sands are probably derived from weathering of rocks within the crater, and possibly from deposits associated with Ma'adim Vallis. Windblown particles act as agents of abrasion, forming ventifacts, and are organized in places into various bed forms. Wind-related features seen from orbit, results from atmospheric models, and considerations of topography suggest that the general wind patterns and transport pathways involve: (1) winter nighttime winds that carry sediments from the mouth of Ma'adim Vallis into the landing site area of Spirit, where they are mixed with locally derived sediments, and (2) winter daytime winds that transport the sediments from the landing site southeast toward Husband Hill; similar patterns occur in the summer but with weaker winds. Reversals of daytime flow out of Gusev Crater and nighttime wind flow into the crater can account for the symmetry of the bed forms and bimodal orientations of some ventifacts.

Journal of Geophysical Research E: Planets

Surface albedo observations at Gusev Crater and Meridiani Planum, Mars

During the Mars Exploration Rover mission, the Pancam instrument has periodically acquired large-scale panoramic images with its broadband (739??338 nm) filter in order to estimate the Lambert bolometric albedo of the surface along each rover's traverse. In this work we present the full suite of such estimated albedo values measured to date by the Spirit and Opportunity rovers along their traverses in Gusev Crater and Meridiani Planum, respectively. We include estimated bolometric albedo values of individual surface features (e.g., outcrops, dusty plains, aeolian bed forms, wheel tracks, light-toned soils, and crater walls) as well as overall surface averages of the 43 total panoramic albedo data sets acquired to date. We also present comparisons to estimated Lambert albedo values taken from the Mars Global Surveyor Mars Orbiter Camera (MOC) along the rovers' traverses, and to the large-scale bolometric albedos of the sites from the Viking Orbiter Infrared Thermal Mapper (IRTM) and Mars Global Surveyor/Thermal Emission Spectrometer (TES). The ranges of Pancam-derived albedos at Gusev Crater (0.14 to 0.25) and in Meridiani Planum. (0.10 to 0.18) are in good agreement with IRTM, TES, and MOC orbital measurements. These data sets will be a useful tool and benchmark for future investigations of albodo variations with time, including measurements from orbital instruments like the Context Camera and High Resolution Imaging Science Experiment on Mars Reconnaissance Orbiter. Long-term, accurate albedo measurements could also be important for future efforts in climate modeling as well as for studies of active surface processes. Copyright 2008 by the American Geophysical Union.

Journal of Geophysical Research E: Planets

Hydrothermal processes at Gusev Crater: An evaluation of Paso Robles class soils

The Mars Exploration Rover Spirit analyzed multiple occurrences of sulfur-rich, light-toned soils along its traverse within Gusev Crater. These hydrated deposits are not readily apparent in images of undisturbed soil but are present at shallow depths and were exposed by the actions of the rover wheels. Referred to as 'Paso Robles' class soils, they are dominated by ferric iron sulfates, silica, and Mg-sulfates. Ca-sulfates, Ca-phosphates, and other minor phases are also indicated in certain specific samples. The chemical compositions are highly variable over both centimeter-scale distances and between the widely separated exposures, but they clearly reflect the elemental signatures of nearby rocks. The quantity of typical basaltic soil mixed into the light-toned materials prior to excavation by the rover wheels is minimal, suggesting negligible reworking of the deposits after their initial formation. The mineralogy, geochemistry, variability, association with local compositions, and geologic setting of the deposits suggest that Paso Robles class soils likely formed as hydrothermal and famarolic condensates derived from magma degassing and/ or oxidative alteration of crustal iron sulfide deposits. Their occurrence as unconsolidated, near-surface soils permits, though does not require, an age that is significantly younger than that of the surrounding rocks. Copyright 2008 by the American Geophysical Union.

Journal of Geophysical Research E: Planets

Meteorites on Mars observed with Mars Exploration Rovers

Reduced weathering rates due to the lack of liquid water and significantly greater typical surface ages should result in a higher density of meteorites on the surface of Mars compared to Earth. Several meteorites were identified among the rocks investigated during Opportunity's traverse across the sandy Meridiani plains. Heat Shield Rock is a IAB iron meteorite and has been officially recognized as 'Meridiani Planum.' Barberton is olivine-rich and contains metallic Fe in the form of kamacite, suggesting a meteoritic origin. It is chemically most consistent with a mesosiderite silicate clast. Santa Catarina is a brecciated rock with a chemical and mineralogical composition similar to Barberton. Barberton, Santa Catarina, and cobbles adjacent to Santa Catarina may be part of a strewn field. Spirit observed two probable iron meteorites from its Winter Haven location in the Columbia Hills in Gusev Crater. Chondrites have not been identified to date, which may be a result of their lower strengths and probability to survive impact at current atmospheric pressures. Impact craters directly associated with Heat Shield Rock, Barberton, or Santa Catarina have not been observed, but such craters could have been erased by eolian-driven erosion.

Journal of Geophysical Research E: Planets

High Resolution Imaging Science Experiment (HiRISE) observations of glacial and periglacial morphologies in the circum-Argyre Planitia highlands, Mars

The landscape of the Argyre Planitia and adjoining Charitum and Nereidum Montes in the southern hemisphere of Mars has been heavily modified since formation of the Argyre impact basin. This study examines morphologies in the Argyre region revealed in images acquired by the High Resolution Imaging Science Experiment (HiRISE) camera and discusses the implications for glacial and periglacial processes. Distinctive features such as large grooves, semicircular embayments in high topography, and streamlined hills are interpreted as glacially eroded grooves, cirques, and whalebacks or roche moutonnée, respectively. Large boulders scattered across the floor of a valley may be ground moraine deposited by ice ablation. Glacial interpretations are supported by the association of these features with other landforms typical of glaciated landscapes such as broad valleys with parabolic cross sections and stepped longitudinal profiles, lobate debris aprons interpreted as remnant debris covered glaciers or rock glaciers, and possible hanging valleys. Aligned boulders observed on slopes may also indicate glacial processes such as fluting. Alternatively, boulders aligned on slopes and organized in clumps and polygonal patterns on flatter surfaces may indicate periglacial processes, perhaps postglaciation, that form patterned ground. At least portions of the Argyre region appear to have been modified by processes of ice accumulation, glacial flow, erosion, sediment deposition, ice stagnation and ablation, and perhaps subsequent periglacial processes. The type of bedrock erosion apparent in images suggests that glaciers were, at times, wet based. The number of superposed craters is consistent with geologically recent glacial activity, but may be due to subsequent modification.

Journal of Geophysical Research E: Planets

Ultrahigh resolution topographic mapping of Mars with MRO HiRISE stereo images: Meter-scale slopes of candidate Phoenix landing sites

The objectives of this paper are twofold: first, to report our estimates of the meter‐to‐decameter‐scale topography and slopes of candidate landing sites for the Phoenix mission, based on analysis of Mars Global Surveyor (MGS) Mars Orbiter Camera (MOC) images with a typical pixel scale of 3 m and Mars Reconnaissance Orbiter (MRO) High Resolution Imaging Science Experiment (HiRISE) images at 0.3 m pixel −1 and, second, to document in detail the geometric calibration, software, and procedures on which the photogrammetric analysis of HiRISE data is based. A combination of optical design modeling, laboratory observations, star images, and Mars images form the basis for software in the U.S. Geological Survey Integrated Software for Imagers and Spectrometers (ISIS) 3 system that corrects the images for a variety of distortions with single‐pixel or subpixel accuracy. Corrected images are analyzed in the commercial photogrammetric software SOCET SET (® BAE Systems), yielding digital topographic models (DTMs) with a grid spacing of 1 m (3–4 pixels) that require minimal interactive editing. Photoclinometry yields DTMs with single‐pixel grid spacing. Slopes from MOC and HiRISE are comparable throughout the latitude zone of interest and compare favorably with those where past missions have landed successfully; only the Mars Exploration Rover (MER) B site in Meridiani Planum is smoother. MOC results at multiple locations have root‐mean‐square (RMS) bidirectional slopes of 0.8–4.5° at baselines of 3–10 m. HiRISE stereopairs (one per final candidate site and one in the former site) yield 1.8–2.8° slopes at 1‐m baseline. Slopes at 1 m from photoclinometry are also in the range 2–3° after correction for image blur. Slopes exceeding the 16° Phoenix safety limit are extremely rare.

Journal of Geophysical Research E: Planets