[meteorite-list] Mars Exploration Rover Update - June 10, 2004

[Ron Baalke]

http://marsrovers.jpl.nasa.gov/mission/status.html

OPPORTUNITY UPDATE: Opportunity on the Edge - sol 130-133, 
June 10, 2004

On sol 130 Opportunity traversed a total of about 45 meters 
(about 147.6 feet). About 39 meters (about 127.9 feet) of 
that was counter-clockwise along the edge of "Endurance 
Crater," and 6 meters (about 19.7 feet) toward the crater 
rim. The sol ended with the rover about 10 meters (32.8 
feet) from the crater rim. The traverse ended up about 
1 meter (about 3.3 feet) short of what was commanded due 
to a slightly uneven patch of ground that the rover seemed 
to run across near the end of the drive. Driving over this 
tripped a suspension limit that rover planners had set to 
help prevent inadvertently driving into difficult terrain. 
Deep sleep was again invoked for the night of sol 130 to 131.

On sol 131 the rover successfully traversed up the slope 
to the crater edge, took a detailed set of images and then 
backed off a little to optimize its orientation for the 
rover's communications passes. These images will aid in 
the project's assessment of traversing on the interior 
slopes of Endurance Crater in this vicinity. Deep sleep 
was not invoked on this night, in favor of relaying data 
to Mars Odyssey in the early morning on sol 132.

On sol 132 the rover re-approached the crater rim at the 
location and orientation most advantageous for the "pre-dip" 
into the crater. This approach was designed to just crest 
the edge of the crater and leave the rover roughly level 
(with the front two wheels in the crater). The drive 
executed beautifully.

On sol 133 the rover executed the first real "dip" into 
Endurance Crater. The intent was to go far enough in that 
all wheels would be on the slope of the crater, and then 
come all the way back out, proving that the rover was 
capable of getting back out before going very deep. The 
other main objective was to gather information on the 
degree and nature of any slip that would be experienced 
while traversing the crater wall. The execution went 
extremely well, with slips and disturbance of the terrain 
well below acceptable levels, giving the team confidence 
that the rover is capable of going deeper. The engineering 
team will continue to characterize the variety of slopes 
and materials that Opportunity will encounter deeper in 
the crater.