2001 Mars Odyssey Mission Summary

The 2001 Mars Odyssey spacecraft, now in orbit at Mars, will observe the Martian surface at infrared and visible wavelengths to determine surface mineralogy and morphology, acquire global gamma ray and neutron observations for a full Martian year, and study the Mars radiation environment from orbit. The science objectives of this mission are to: (1) globally map the elemental composition of the surface, (2) determine the abundance of hydrogen in the shallow subsurface, (3) acquire high spatial and spectral resolution images of the surface mineralogy, (4) provide information on the morphology of the surface, and (5) characterize the Martian near-space radiation environment as related to radiation-induced risk to human explorers. To accomplish these objectives, the 2001 Mars Odyssey science payload includes a Gamma Ray Spectrometer (GRS), a multi-spectral Thermal Emission Imaging System (THEMIS), and a radiation detector, the Martian Radiation Environment Experiment (MARIE). THEMIS and MARIE are mounted on the spacecraft with THEMIS pointed at nadir. GRS is a suite of three instruments: a Gamma Subsystem (GSS), a Neutron Spectrometer (NS) and a High-Energy Neutron Detector (HEND). The HEND and NS instruments are mounted on the spacecraft body while the GSS is on a 6-m boom. Some science data were collected during the cruise and aerobraking phases of the mission before the prime mission started. THEMIS acquired infrared and visible images of the Earth-Moon system and of the southern hemisphere of Mars. MARIE monitored the radiation environment during cruise. The GRS collected calibration data during cruise and aerobraking. Early GRS observations in Mars orbit indicated a hydrogen-rich layer in the upper meter of the subsurface in the Southern Hemisphere. Also, atmospheric densities, scale heights, temperatures, and pressures were observed by spacecraft accelerometers during aerobraking as the spacecraft skimmed the upper portions of the Martian atmosphere. This provided the first in-situ evidence of winter polar warming in the Mars upper atmosphere. The prime mission for 2001 Mars Odyssey began in February 2002 and will continue until August 2004. During this prime mission, the 2001 Mars Odyssey spacecraft will also provide radio relays for the National Aeronautics and Space Administration (NASA) and European landers in early 2004. Science data from 2001 Mars Odyssey instruments will be provided to the science community via NASA’s Planetary Data System (PDS). The first PDS release of Odyssey data was in October 2002; subsequent releases occur every 3 months.     

The Juno Mission

The selection of the Discovery Program InSight landing site took over four years from initial identification of possible areas that met engineering constraints, to downselection via targeted data from orbiters (especially Mars Reconnaissance Orbiter (MRO) Context Camera (CTX) and High-Resolution Imaging Science Experiment (HiRISE) images), to selection and certification via sophisticated entry, descent and landing (EDL) simulations. Constraints on elevation (\({\leq}{-}2.5\ \mbox{km}\) for sufficient atmosphere to slow the lander), latitude (initially 15°S–5°N and later 3°N–5°N for solar power and thermal management of the spacecraft), ellipse size (130 km by 27 km from ballistic entry and descent), and a load bearing surface without thick deposits of dust, severely limited acceptable areas to western Elysium Planitia. Within this area, 16 prospective ellipses were identified, which lie ～600 km north of the Mars Science Laboratory (MSL) rover. Mapping of terrains in rapidly acquired CTX images identified especially benign smooth terrain and led to the downselection to four northern ellipses. Acquisition of nearly continuous HiRISE, additional Thermal Emission Imaging System (THEMIS), and High Resolution Stereo Camera (HRSC) images, along with radar data confirmed that ellipse E9 met all landing site constraints: with slopes <15° at 84 m and 2 m length scales for radar tracking and touchdown stability, low rock abundance (<10 %) to avoid impact and spacecraft tip over, instrument deployment constraints, which included identical slope and rock abundance constraints, a radar reflective and load bearing surface, and a fragmented regolith ～5 m thick for full penetration of the heat flow probe. Unlike other Mars landers, science objectives did not directly influence landing site selection.     

The Formation of Mars: Building Blocks and Accretion Time Scale

In this review paper I address the current knowledge of the formation of Mars, focusing on its primary constituents, its formation time scale and its small mass compared to Earth and Venus. I argue that the small mass of Mars requires the terrestrial planets to have formed from a narrow annulus of material, rather than a disc extending to Jupiter. The truncation of the outer edge of the disc was most likely the result of giant planet migration, which kept Mars’ mass small. From cosmochemical constraints it is argued that Mars formed in a couple of million years and is essentially a planetary embryo that never grew to a full-fledged planet. This is in agreement with the latest dynamical models. Most of Mars’ building blocks consists of material that formed in the 2 AU to 3 AU region, and is thus more water-rich than that accreted by Earth and Venus. The putative Mars could have consisted of 0.1 % to 0.2 % by mass of water.     

The Martian stratigraphy — Short review and perspectives

The main aspects of the Martian stratigraphy have been determined from the detailed study of Mariner 9 and Viking Orbiter images. Three major stratigraphic systems, the Noachian System, the Hesperian System, and the Amazonian System, are inferred from these studies. The global geological evolution of Mars is essentially derived from its stratigraphy. It reveals that tectonism and volcanism were widespread during two major periods (Noachian and Lower Hesperian) and became more localized during the Upper Hesperian and Amazonian periods. The transition between these two major periods occurred about 2 Ga ago, and significant geologic activity could still be present. However, a number of geologic features and processes remain little understood. Future investigations, including complete high resolution imaging and detailed mapping, geochemical mapping, in situ chemical analyses, etc., will be necessary in order to improve our knowledge of the Martian stratigraphy and geologic evolution and are essential to prepare any future Mars Sample Return mission and the Human Exploration of this planet.     

The VIR Spectrometer

The Dawn spectrometer (VIR) is a hyperspectral spectrometer with imaging capability. The design fully accomplishes Dawn’s scientific and measurement objectives. Determination of the mineral composition of surface materials in their geologic context is a primary Dawn objective. The nature of the solid compounds of the asteroid (silicates, oxides, salts, organics and ices) can be identified by visual and infrared spectroscopy using high spatial resolution imaging to map the heterogeneity of asteroid surfaces and high spectral resolution spectroscopy to determine the composition unambiguously. The VIR Spectrometer—covering the range from the near UV (0.25 μm) to the near IR (5.0 μm) and having moderate to high spectral resolution and imaging capabilities—is the appropriate instrument for the determination of the asteroid global and local properties. VIR combines two data channels in one compact instrument. The visible channel covers 0.25–1.05 μm and the infrared channel covers 1–5.0 μm. VIR is inherited from the VIRTIS mapping spectrometer (Coradini et al. in Planet. Space Sci. 46:1291–1304, 1998; Reininger et al. in Proc. SPIE 2819:66–77, 1996) on board the ESA Rosetta mission. It will be operated for more than 2 years and spend more than 10 years in space.     

Curiosity’s Mars Hand Lens Imager (MAHLI) Investigation

The Mars Science Laboratory (MSL) Mars Hand Lens Imager (MAHLI) investigation will use a 2-megapixel color camera with a focusable macro lens aboard the rover, Curiosity, to investigate the stratigraphy and grain-scale texture, structure, mineralogy, and morphology of geologic materials in northwestern Gale crater. Of particular interest is the stratigraphic record of a ～5?km thick layered rock sequence exposed on the slopes of Aeolis Mons (also known as Mount Sharp). The instrument consists of three parts, a?camera head mounted on the turret at the end of a robotic arm, an electronics and data storage assembly located inside the rover body, and a calibration target mounted on the robotic arm shoulder azimuth actuator housing. MAHLI can acquire in-focus images at working distances from ～2.1?cm to infinity. At the minimum working distance, image pixel scale is ～14?μm per pixel and very coarse silt grains can be resolved. At the working distance of the Mars Exploration Rover Microscopic Imager cameras aboard Spirit and Opportunity, MAHLI’s resolution is comparable at ～30?μm per pixel. Onboard capabilities include autofocus, auto-exposure, sub-framing, video imaging, Bayer pattern color interpolation, lossy and lossless compression, focus merging of up to 8 focus stack images, white light and longwave ultraviolet (365 nm) illumination of nearby subjects, and 8 gigabytes of non-volatile memory data storage.     

Infrared Spectroscopy of Solar-System Planets

Most of our knowledge regarding planetary atmospheric composition and structure has been achieved by remote sensing spectroscopy. Planetary spectra strongly differ from one planet to another. CO₂ signatures dominate on Mars, and even more on Venus (where the thermal component is detectable down to 1 μm on the dark side). Spectroscopic monitoring of Venus, Earth and Mars allows us to map temperature fields, wind fields, clouds, aerosols, surface mineralogy (in the case of the Earth and Mars), and to study the planets’ seasonal cycles. Spectra of giant planets are dominated by H₂, CH₄ and other hydrocarbons, NH₃, PH₃ and traces of other minor compounds like CO, H₂O and CO₂. Measurements of the atmospheric composition of giant planets have been used to constrain their formation scenario.     

Quantitative Assessments of the Martian Hydrosphere

In this paper, we review current estimates of the global water inventory of Mars, potential loss mechanisms, the thermophysical characteristics of the different reservoirs that water may be currently stored in, and assess how the planet’s hydrosphere and cryosphere evolved with time. First, we summarize the water inventory quantified from geological analyses of surface features related to both liquid water erosion, and ice-related landscapes. They indicate that, throughout most of Martian geologic history (and possibly continuing through to the present day), water was present to substantial depths, with a total inventory ranging from several 100 to as much as 1000 m Global Equivalent Layer (GEL). We then review the most recent estimates of water content based on subsurface detection by orbital and landed instruments, including deep penetrating radars such as SHARAD and MARSIS. We show that the total amount of water measured so far is about 30 m GEL, although a far larger amount of water may be stored below the sounding depths of currently operational instruments. Finally, a global picture of the current state of the subsurface water reservoirs and their evolution is discussed.     

The Upgraded CARISMA Magnetometer Array in the THEMIS Era

This review describes the infrastructure and capabilities of the expanded and upgraded Canadian Array for Realtime InvestigationS of Magnetic Activity (CARISMA) magnetometer array in the era of the THEMIS mission. Formerly operated as the Canadian Auroral Network for the OPEN Program Unified Study (CANOPUS) magnetometer array until 2003, CARISMA capabilities have been extended with the deployment of additional fluxgate magnetometer stations (to a total of 28), the upgrading of the fluxgate magnetometer cadence to a standard data product of 1 sample/s (raw sampled 8 samples/s data stream available on request), and the deployment of a new network of 8 pairs of induction coils (100 samples per second). CARISMA data, GPS-timed and backed up at remote field stations, is collected using Very Small Aperture Terminal (VSAT) satellite internet in real-time providing a real-time monitor for magnetic activity on a continent-wide scale. Operating under the magnetic footprint of the THEMIS probes, data from 5 CARISMA stations at 29–30 samples/s also forms part of the formal THEMIS ground-based observatory (GBO) data-stream. In addition to technical details, in this review we also outline some of the scientific capabilities of the CARISMA array for addressing all three of the scientific objectives of the THEMIS mission, namely: 1. Onset and evolution of the macroscale substorm instability, 2. Production of storm-time MeV electrons, and 3. Control of the solar wind-magnetosphere coupling by the bow shock, magnetosheath, and magnetopause. We further discuss some of the compelling questions related to these three THEMIS mission science objectives which can be addressed with CARISMA.     

Geochemistry of Carbonates on Mars: Implications for Climate History and Nature of Aqueous Environments

Ongoing research on martian meteorites and a new set of observations of carbonate minerals provided by an unprecedented series of robotic missions to Mars in the past 15 years help define new constraints on the history of martian climate with important crosscutting themes including: the CO₂ budget of Mars, the role of Mg-, Fe-rich fluids on Mars, and the interplay between carbonate formation and acidity. Carbonate minerals have now been identified in a wide range of localities on Mars as well as in several martian meteorites. The martian meteorites contain carbonates in low abundances (<1 vol.%) and with a wide range of chemistries. Carbonates have also been identified by remote sensing instruments on orbiting spacecraft in several surface locations as well as in low concentrations (2–5 wt.%) in the martian dust. The Spirit rover also identified an outcrop with 16 to 34 wt.% carbonate material in the Columbia Hills of Gusev Crater that strongly resembled the composition of carbonate found in martian meteorite ALH 84001. Finally, the Phoenix lander identified concentrations of 3–6 wt.% carbonate in the soils of the northern plains. The carbonates discovered to date do not clearly indicate the past presence of a dense Noachian atmosphere, but instead suggest localized hydrothermal aqueous environments with limited water availability that existed primarily in the early to mid-Noachian followed by low levels of carbonate formation from thin films of transient water from the late Noachian to the present. The prevalence of carbonate along with evidence for active carbonate precipitation suggests that a global acidic chemistry is unlikely and a more complex relationship between acidity and carbonate formation is present.     

The THEMIS Array of Ground-based Observatories for the Study of Auroral Substorms

The NASA Time History of Events and Macroscale Interactions during Substorms (THEMIS) project is intended to investigate magnetospheric substorm phenomena, which are the manifestations of a basic instability of the magnetosphere and a dominant mechanism of plasma transport and explosive energy release. The major controversy in substorm science is the uncertainty as to whether the instability is initiated near the Earth, or in the more distant >20 Re magnetic tail. THEMIS will discriminate between the two possibilities by using five in-situ satellites and ground-based all-sky imagers and magnetometers, and inferring the propagation direction by timing the observation of the substorm initiation at multiple locations in the magnetosphere. An array of stations, consisting of 20 all-sky imagers (ASIs) and 30-plus magnetometers, has been developed and deployed in the North American continent, from Alaska to Labrador, for the broad coverage of the nightside magnetosphere. Each ground-based observatory (GBO) contains a white light imager that takes auroral images at a 3-second repetition rate (“cadence”) and a magnetometer that records the 3 axis variation of the magnetic field at 2 Hz frequency. The stations return compressed images, “thumbnails,” to two central databases: one located at UC Berkeley and the other at the University of Calgary, Canada. The full images are recorded at each station on hard drives, and these devices are physically returned to the two data centers for data copying. All data are made available for public use by scientists in “browse products,” accessible by using internet browsers or in the form of downloadable CDF data files (the “browse products” are described in detail in a later section). Twenty all-sky imager stations are installed and running at the time of this publication. An example of a substorm was observed on the 23rd of December 2006, and from the THEMIS GBO data, we found that the substorm onset brightening of the equatorward arc was a gradual process (>27 seconds), with minimal morphology changes until the arc breaks up. The breakup was timed to the nearest frame (<3 s) and located to the nearest latitude degree at about ±3^oE in longitude. The data also showed that a similar breakup occurred in Alaska ～10 minutes later, highlighting the need for an array to distinguish prime onset.     

The Dawn Topography Investigation

The objective of the Dawn topography investigation is to derive the detailed shapes of 4 Vesta and 1 Ceres in order to create orthorectified image mosaics for geologic interpretation, as well as to study the asteroids?? landforms, interior structure, and the processes that have modified their surfaces over geologic time. In this paper we describe our approaches for producing shape models, plans for acquiring the needed image data for Vesta, and the results of a numerical simulation of the Vesta mapping campaign that quantify the expected accuracy of our results. Multi-angle images obtained by Dawn??s framing camera will be used to create topographic models with 100 m/pixel horizontal resolution and 10 m height accuracy at Vesta, and 200 m/pixel horizontal resolution and 20 m height accuracy at Ceres. Two different techniques, stereophotogrammetry and stereophotoclinometry, are employed to model the shape; these models will be merged with the asteroidal gravity fields obtained by Dawn to produce geodetically controlled topographic models for each body. The resulting digital topography models, together with the gravity data, will reveal the tectonic, volcanic and impact history of Vesta, and enable co-registration of data sets to determine Vesta??s geologic history. At Ceres, the topography will likely reveal much about processes of surface modification as well as the internal structure and evolution of this dwarf planet.     

THEMIS Ground Based Observatory System Design

The comprehensive THEMIS approach to solving the substorm problem calls for monitoring the nightside auroral oval with low-cost, robust white-light imagers and magnetometers that can deliver high time resolution data (0.33 and 2 Hz, respectively). A network of 20 Ground-Based Observatories (GBOs) are deployed across Canada and Alaska to support the collection of data from these instruments. Here we describe the system design of the observatory, with emphasis on how the design meets the environmental and data-collection requirements. We also review the design of the All Sky Imager (ASI), discuss how it was built to survive Arctic deployments, and summarize the optical characterizations performed to qualify the design to meet THEMIS mission requirements.     

First Results from the THEMIS Mission

THEMIS was launched on February 17, 2007 to determine the trigger and large-scale evolution of substorms. During the first seven months of the mission the five satellites coasted near their injection orbit to avoid differential precession in anticipation of orbit placement, which started in September 2007 and led to a commencement of the baseline mission in December 2007. During the coast phase the probes were put into a string-of-pearls configuration at 100 s of km to 2 R_E along-track separations, which provided a unique view of the magnetosphere and enabled an unprecedented dataset in anticipation of the first tail season. In this paper we describe the first THEMIS substorm observations, captured during instrument commissioning on March 23, 2007. THEMIS measured the rapid expansion of the plasma sheet at a speed that is commensurate with the simultaneous expansion of the auroras on the ground. These are the first unequivocal observations of the rapid westward expansion process in space and on the ground. Aided by the remote sensing technique at energetic particle boundaries and combined with ancillary measurements and MHD simulations, they allow determination and mapping of space currents. These measurements show the power of the THEMIS instrumentation in the tail and the radiation belts. We also present THEMIS Flux Transfer Events (FTE) observations at the magnetopause, which demonstrate the importance of multi-point observations there and the quality of the THEMIS instrumentation in that region of space.     

The Time History of Events and Macroscale Interactions during Substorms (THEMIS) Education and Outreach (E/PO) Program

During the pre-launch phase of NASA’s THEMIS mission, the Education and Public Outreach (E/PO) program successfully brought the excitement of THEMIS to the public, students and teachers through a variety of programs. The Geomagnetic Event Observation Network by Students (GEONS) was the main effort during this time, a project in which 13 magnetometers were placed in or near 13 rural schools across the country. High school teachers and a few middle school teachers at these and/or neighboring schools took part in a long-term professional development program based around space science and the magnetometer data. The teachers created week-long to semester-long projects during which their students worked on THEMIS lessons that they, their colleagues, and the E/PO team created. In addition to this program, THEMIS E/PO also launched the only Lawrence Hall of Science (LHS) Great Explorations in Mathematics and Science (GEMS) site in Nevada. This site provides a sustainable place for teacher professional development using hands-on GEMS activities, and has been used by teachers around the state of Nevada. Short-term professional development for K-12 teachers (one-hour to two-day workshops), with a focus on the Tribal College and Society for the Advancement of Chicanos and Native Americans in Science (SACNAS) communities have reached hundreds of teachers across the country. A Space Telescope Science Institute (STScI) ViewSpace show on auroras and THEMIS was created and distributed, and shown in over a hundred science centers and museums nationwide. The THEMIS E/PO program developed and maintained a THEMIS E/PO Website for dissemination of (1) information and multimedia about the science and engineering of THEMIS, (2) updated news about the mission in language appropriate for the public, (3) the GEONS data, the GEONS teacher guides with classroom activities, and (4) information about the THEMIS E/PO program. Hundreds of thousands of visitors have viewed this website. In this paper, we describe these programs along with the evaluation results, and discuss what lessons we learned along the way.     

Outgassing History and Escape of the Martian Atmosphere and Water Inventory

The evolution and escape of the martian atmosphere and the planet’s water inventory can be separated into an early and late evolutionary epoch. The first epoch started from the planet’s origin and lasted ～500 Myr. Because of the high EUV flux of the young Sun and Mars’ low gravity it was accompanied by hydrodynamic blow-off of hydrogen and strong thermal escape rates of dragged heavier species such as O and C atoms. After the main part of the protoatmosphere was lost, impact-related volatiles and mantle outgassing may have resulted in accumulation of a secondary CO₂ atmosphere of a few tens to a few hundred mbar around ～4–4.3 Gyr ago. The evolution of the atmospheric surface pressure and water inventory of such a secondary atmosphere during the second epoch which lasted from the end of the Noachian until today was most likely determined by a complex interplay of various nonthermal atmospheric escape processes, impacts, carbonate precipitation, and serpentinization during the Hesperian and Amazonian epochs which led to the present day surface pressure.     

Reaching for the red planet

The distant shores of Mars were reached by numerous U.S. and Russian spacecraft throughout the 1960s to mid 1970s. Nearly 20 years have passed since those successful missions which orbited and landed on the Martian surface. Two Soviet probes headed for the planet in July, 1988, but later failed. In August 1993, the U.S. Mars Observer suddenly went silent just three days before it was to enter orbit around the planet and was never heard from again. In late 1996, there will be renewed activity on the launch pads with three probes departing for the red planet: 1) The U.S. Mars Global Surveyor will be launched in November on a Delta II rocket and will orbit the planet for global mapping purposes; 2) Russia's Mars '96 mission, scheduled to fly in November on a Proton launcher, consists of an orbiter, two small stations which will land on the Martian surface, and two penetrators that will plow into the terrain; and finally, 3) a U.S. Discovery-class spacecraft, the Mars Pathfinder, has a December launch date atop a Delta II booster. The mission features a lander and a microrover that will travel short distances over Martian territory. These missions usher in a new phase of Mars exploration, setting the stage for an unprecedented volley of spacecraft that will orbit around, land on, drive across, and perhaps fly at low altitudes over the planet.     

Advanced Technologies Demonstrated by the Miniature Integrated Camera and Spectrometer (MICAS) Aboard Deep Space 1

MICAS is an integrated multi-channel instrument that includes an ultraviolet imaging spectrometer (80–185 nm), two high-resolution visible imagers (10–20 μrad/pixel, 400–900 nm), and a short-wavelength infrared imaging spectrometer (1250–2600 nm). The wavelength ranges were chosen to maximize the science data that could be collected using existing semiconductor technologies and avoiding the need for multi-octave spectrometers. It was flown on DS1 to validate technologies derived from the development of PICS (Planetary Imaging Camera Spectrometer). These technologies provided a novel systems approach enabling the miniaturization and integration of four instruments into one entity, spanning a wavelength range from the UV to IR, and from ambient to cryogenic temperatures with optical performance at a fraction of a wavelength. The specific technologies incorporated were: a built-in fly-by sequence; lightweight and ultra-stable, monolithic silicon-carbide construction, which enabled room-temperature alignment for cryogenic (85–140 K) performance, and provided superb optical performance and immunity to thermal distortion; diffraction-limited, shared optics operating from 80 to 2600 nm; advanced detector technologies for the UV, visible and short-wavelength IR; high-performance thermal radiators coupled directly to the short-wave infrared (SWIR) detector optical bench, providing an instrument with a mass less than 10 kg, instrument power less than 10 W, and total instrument cost of less than ten million dollars. The design allows the wavelength range to be extended by at least an octave at the short wavelength end and to ∼50 microns at the long wavelength end. Testing of the completed instrument demonstrated excellent optical performance down to 77 K, which would enable a greatly reduced background for longer wavelength detectors. During the Deep Space 1 Mission, MICAS successfully collected images and spectra for asteroid 9969 Braille, Mars, and comet 19/P Borrelly. The Borrelly encounter was a scientific hallmark providing the first clear, high resolution images and excellent, short-wavelength infrared spectra of the surface of an active comet’s nucleus.