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Mars Hand Lens Imager (MAHLI) Efforts and Observations at the Rocknest Eolian Sand Shadow in Curiosity's Gale Crater Field Site

The Mars Science Laboratory (MSL) mission is focused on assessing the past or present habitability of Mars, through interrogation of environment and environmental records at the Curiosity rover field site in Gale crater. The MSL team has two methods available to collect, process and deliver samples to onboard analytical laboratories, the Chemistry and Mineralogy instrument (CheMin) and the Sample Analysis at Mars (SAM) instrument suite. One approach obtains samples by drilling into a rock, the other uses a scoop to collect loose regolith fines. Scooping was planned to be first method performed on Mars because materials could be readily scooped multiple times and used to remove any remaining, minute terrestrial contaminants from the sample processing system, the Collection and Handling for In-Situ Martian Rock Analysis (CHIMRA). Because of this cleaning effort, the ideal first material to be scooped would consist of fine to very fine sand, like the interior of the Serpent Dune studied by the Mars Exploration Rover (MER) Spirit team in 2004 [1]. The MSL team selected a linear eolian deposit in the lee of a group of cobbles they named Rocknest (Fig. 1) as likely to be similar to Serpent Dune. Following the definitions in Chapter 13 of Bagnold [2], the deposit is termed a sand shadow. The scooping campaign occurred over approximately 6 weeks in October and November 2012. To support these activities, the Mars Hand Lens Imager (MAHLI) acquired images for engineering support/assessment and scientific inquiry.

Edgett, K. S.↗

APXS of First Rocks Encountered by Curiosity in Gale Crater: Geochemical Diversity and Volatile Element (K and ZN) Enrichment

The Alpha Particle X-ray spectrometer (APXS) on the Curiosity rover in Gale Crater [1] is the 4th such instrument to have landed on Mars [2]. Along the rover's traverse down-section toward Glenelg (through sol 102), the APXS has examined four rocks and one soil [3]. Gale rocks are geochemically diverse and expand the range of Martian rock compositions to include high volatile and alkali contents (up to 3.0 wt% K2O) with high Fe and Mn (up to 29.2% FeO*).

Schmidt, M. E.↗

The Detection of Evolved Oxygen from the Rocknest Eolian Bedform Material by the Sample Analysis at Mars(SAM) instrument at the Mars Curiosity Landing Site

The Sample Analysis at Mars (SAM) instrument onboard the Curiosity rover detected an O2 gas release from the Rocknest eolain bedform (Fig. 1). The detection of perchlorate (ClO4-) by the Mars Phoenix Lander s Wet Chemistry Laboratory (WCL) [1] suggests that perchlorate is a possible candidate for evolved O2 release detected by SAM. The perchlorate would also serve as a source of chlorine in the chlorinated hydrocarbons detected by the SAM quadrupole mass spectrometer (QMS) and gas chromatography/mass spectrometer (GCMS) [2,3]. Chlorates (ClO3-) [4,5] and/or superoxides [6] may also be sources of evolved O2 from the Rocknest materials. The work objectives are to 1) evaluate the O2 release temperatures from Rocknest materials, 2) compare these O2 release temperatures with a series of perchlorates and chlorates, and 3) evaluate superoxide O2- sources and possible perchlorate interactions with other Rocknest phases during QMS analysis.

Sutter, B.↗

Crystal-Chemical Analysis of Soil at Rocknest, Gale Crater

The CheMin instrument on the Mars Science Laboratory rover Curiosity performed X-ray diffraction analysis on Martian soil [1] at Rocknest in Gale Crater. In particular, crystalline phases from scoop 5 were identified and analyzed with the Rietveld method [2]. Refined unit-cell parameters are reported in Table 1. Comparing these unit-cell parameters with those in the literature provides an estimate of the chemical composition of the crystalline phases. For instance, Fig. 1 shows the Mg-content of Fa-Fo olivine as a function of the b unit-cell parameter using literature data. Our refined b parameter is indicated by the black triangle.

Morrison, S. M.↗

CheMin Instrument Performance and Calibration on Mars

The CheMin (Chemistry and Mineralogy) instrument on the Mars Science Laboratory rover Curiosity uses a CCD detector and a Co-anode X-ray tube source to acquire both mineralogy (from the pattern of Co diffraction) and chemical information (from energies of fluoresced X-rays). A key component of the CheMin instrument is the ability to move grains within sample cells during analysis, providing multiple, random grain orientations that disperse diffracted X-ray photons along Debye rings rather than producing discrete Laue spots. This movement is accomplished by piezoelectric vibration of the sample cells. A cryocooler is used to maintain the CCD at a temperature at about -50 C in order to obtain energy resolution better than 250 eV, allowing discrimination of diffracted Co K X-rays from Fe K and other fluorescent X-rays. A detailed description of CheMin is provided in [1]. The CheMin flight model (FM) is mounted within the body of Curiosity and has been operating on Mars since August 6, 2012. An essentially identical sister instrument, the CheMin demonstration model (DM), is operated in a Mars environment chamber at JPL.

Vaniman, D. T.↗

Mineralogy and Elemental Composition of Wind Drift Soil at Rocknest, Gale Crater

The Mars Science Laboratory rover Curiosity has been exploring Mars since August 5, 2012, conducting engineering and first-time activities with its mobility system, arm, sample acquisition and processing system (SA/SPaH-CHIMRA) and science instruments. Curiosity spent 54 sols at a location named "Rocknest," collecting and processing five scoops of loose, unconsolidated materials ("soil") acquired from an aeolian bedform (Fig. 1). The Chemistry and Mineralogy (CheMin) instrument analyzed portions of scoops 3, 4, and 5, to obtain the first quantitative mineralogical analysis of Mars soil, and to provide context for Sample Analysis at Mars (SAM) measurements of volatiles, isotopes and possible organic materials.

Blake, D. F.↗

Carbon and Sulfur Isotopic Composition of Rocknest Soil as Determined with the Sample Analysis at Mars(SAM) Quadrupole Mass Spectrometer

The Sample Analysis at Mars (SAM) instrument suite on the Mars Science Laboratory (MSL) Curiosity rover got its first taste of solid Mars in the form of loose, unconsolidated materials (soil) acquired from an aeolian bedform designated Rocknest. Evolved gas analysis (EGA) revealed the presence of H2O as well as O-, C- and S-bearing phases in these samples. CheMin did not detect crystalline phases containing these gaseous species but did detect the presence of X-ray amorphous materials. In the absence of definitive mineralogical identification by CheMin, SAM EGA data can provide clues to the nature and/or mineralogy of volatile-bearing phases through examination of temperatures at which gases are evolved from solid samples. In addition, the isotopic composition of these gases, particularly when multiple sources contribute to a given EGA curve, may be used to identify possible formation scenarios and relationships between phases. Here we report C and S isotope ratios for CO2 and SO2 evolved from Rocknest soil samples as measured with SAM's quadrupole mass spectrometer (QMS).

Franz, H. B.↗

Mars Science Laboratory Entry, Descent, and Landing Trajectory and Atmosphere Reconstruction

On August 5th 2012, The Mars Science Laboratory entry vehicle successfully entered Mars atmosphere and landed the Curiosity rover on its surface. A Kalman filter approach has been implemented to reconstruct the entry, descent, and landing trajectory based on all available data. The data sources considered in the Kalman filtering approach include the inertial measurement unit accelerations and angular rates, the terrain descent sensor, the measured landing site, orbit determination solutions for the initial conditions, and a new set of instrumentation for planetary entry reconstruction consisting of forebody pressure sensors, known as the Mars Entry Atmospheric Data System. These pressure measurements are unique for planetary entry, descent, and landing reconstruction as they enable a reconstruction of the freestream atmospheric conditions without any prior assumptions being made on the vehicle aerodynamics. Moreover, the processing of these pressure measurements in the Kalman filter approach enables the identification of atmospheric winds, which has not been accomplished in past planetary entry reconstructions. This separation of atmosphere and aerodynamics allows for aerodynamic model reconciliation and uncertainty quantification, which directly impacts future missions. This paper describes the mathematical formulation of the Kalman filtering approach, a summary of data sources and preprocessing activities, and results of the reconstruction.

Karlgaard, Christopher D.↗

Assessment of the Reconstructed Aerodynamics of the Mars Science Laboratory Entry Vehicle

On August 5, 2012, the Mars Science Laboratory entry vehicle successfully entered Mars atmosphere, flying a guided entry until parachute deploy. The Curiosity rover landed safely in Gale crater upon completion of the Entry Descent and Landing sequence. This paper compares the aerodynamics of the entry capsule extracted from onboard flight data, including Inertial Measurement Unit (IMU) accelerometer and rate gyro information, and heatshield surface pressure measurements. From the onboard data, static force and moment data has been extracted. This data is compared to preflight predictions. The information collected by MSL represents the most complete set of information collected during Mars entry to date. It allows the separation of aerodynamic performance from atmospheric conditions. The comparisons show the MSL aerodynamic characteristics have been identified and resolved to an accuracy better than the aerodynamic database uncertainties used in preflight simulations. A number of small anomalies have been identified and are discussed. This data will help revise aerodynamic databases for future missions and will guide computational fluid dynamics (CFD) development to improved prediction codes.

Schoenenberger, Mark↗

MARS Science Laboratory Post-Landing Location Estimation Using Post2 Trajectory Simulation

The Mars Science Laboratory (MSL) Curiosity rover landed safely on Mars August 5th, 2012 at 10:32 PDT, Earth Received Time. Immediately following touchdown confirmation, best estimates of position were calculated to assist in determining official MSL locations during entry, descent and landing (EDL). Additionally, estimated balance mass impact locations were provided and used to assess how predicted locations compared to actual locations. For MSL, the Program to Optimize Simulated Trajectories II (POST2) was the primary trajectory simulation tool used to predict and assess EDL performance from cruise stage separation through rover touchdown and descent stage impact. This POST2 simulation was used during MSL operations for EDL trajectory analyses in support of maneuver decisions and imaging MSL during EDL. This paper presents the simulation methodology used and results of pre/post-landing MSL location estimates and associated imagery from Mars Reconnaissance Orbiter s (MRO) High Resolution Imaging Science Experiment (HiRISE) camera. To generate these estimates, the MSL POST2 simulation nominal and Monte Carlo data, flight telemetry from onboard navigation, relay orbiter positions from MRO and Mars Odyssey and HiRISE generated digital elevation models (DEM) were utilized. A comparison of predicted rover and balance mass location estimations against actual locations are also presented.

Davis, J. L.↗

Detection of Organic Constituents Including Chloromethylpropene in the Analyses of the ROCKNEST Drift by Sample Analysis at Mars (SAM)

key challenge in assessing the habitability of martian environments is the detection of organic matter - a requirement of all life as we know it. The Curiosity rover, which landed on August 6, 2012 in Gale Crater of Mars, includes the Sample Analysis at Mars (SAM) instrument suite capable of in situ analysis of gaseous organic components thermally evolved from sediment samples collected, sieved, and delivered by the MSL rover. On Sol 94, SAM received its first solid sample: scooped sediment from Rocknest that was sieved to <150 m particle size. Multiple 10-40 mg portions of the scoop #5 sample were delivered to SAM for analyses. Prior to their introduction, a blank (empty cup) analysis was performed. This blank served 1) to clean the analytical instrument of SAMinternal materials that accumulated in the gas processing system since integration into the rover, and 2) to characterize the background signatures of SAM. Both the blank and the Rocknest samples showed the presence of hydrocarbon components.

Eigenbrode, J. L.↗

Carbon Isotopic Composition of CO2, Evolved During Perchlorate-Induced Reactions in Mars Analog Materials: Interpreting SAM/MSL Rocknest Data

The Sample Analysis at Mars (SAM) Instrument Suite on the Mars Science Laboratory (MSL) Rover Curiosity made its first solid sample evolved gas analysis of unconsolidated material at aeolian bedform Rocknest in Gale Crater. The magnitude of O2 evolved in each run as well as the chlorinated hydrocarbons detected by SAM gas chromatograph/ mass spectrometer (GCMS) [1] suggest a chlorinated oxidant such as perchlorate in Rocknest materials [2]. Perchlorate induced combustion of organics present in the sample would contribute to the CO2 volatile inventory, possibly overlapping with CO2 from inorganic sources. The resulting carbon and oxygen isotopic composition of CO2 sent to the Tunable Laser Spectrometer (TLS) for analysis would represent mixed sources. This work was undertaken to better understand a) how well the carbon isotopic composition ( 13C) of CO2 from partially combusted products represents their source and b) how the 13C of combusted products can be deconvolved from other carbon sources such as thermal decomposition of carbonate.

Stern, J. C.↗

Reconstruction of the Mars Science Laboratory Parachute Performance and Comparison to the Descent Simulation

The Mars Science Laboratory used a single mortar-deployed disk-gap-band parachute of 21.35 m nominal diameter to assist in the landing of the Curiosity rover on the surface of Mars. The parachute system s performance on Mars has been reconstructed using data from the on-board inertial measurement unit, atmospheric models, and terrestrial measurements of the parachute system. In addition, the parachute performance results were compared against the end-to-end entry, descent, and landing (EDL) simulation created to design, develop, and operate the EDL system. Mortar performance was nominal. The time from mortar fire to suspension lines stretch (deployment) was 1.135 s, and the time from suspension lines stretch to first peak force (inflation) was 0.635 s. These times were slightly shorter than those used in the simulation. The reconstructed aerodynamic portion of the first peak force was 153.8 kN; the median value for this parameter from an 8,000-trial Monte Carlo simulation yielded a value of 175.4 kN - 14% higher than the reconstructed value. Aeroshell dynamics during the parachute phase of EDL were evaluated by examining the aeroshell rotation rate and rotational acceleration. The peak values of these parameters were 69.4 deg/s and 625 deg/sq s, respectively, which were well within the acceptable range. The EDL simulation was successful in predicting the aeroshell dynamics within reasonable bounds. The average total parachute force coefficient for Mach numbers below 0.6 was 0.624, which is close to the pre-flight model nominal drag coefficient of 0.615.

Cruz, Juan R.↗

Atmosphere Assessment for MARS Science Laboratory Entry, Descent and Landing Operations

On August 6, 2012, the Mars Science Laboratory rover, Curiosity, successfully landed on the surface of Mars. The Entry, Descent and Landing (EDL) sequence was designed using atmospheric conditions estimated from mesoscale numerical models. The models, developed by two independent organizations (Oregon State University and the Southwest Research Institute), were validated against observations at Mars from three prior years. In the weeks and days before entry, the MSL "Council of Atmospheres" (CoA), a group of atmospheric scientists and modelers, instrument experts and EDL simulation engineers, evaluated the latest Mars data from orbiting assets including the Mars Reconnaissance Orbiter's Mars Color Imager (MARCI) and Mars Climate Sounder (MCS), as well as Mars Odyssey's Thermal Emission Imaging System (THEMIS). The observations were compared to the mesoscale models developed for EDL performance simulation to determine if a spacecraft parameter update was necessary prior to entry. This paper summarizes the daily atmosphere observations and comparison to the performance simulation atmosphere models. Options to modify the atmosphere model in the simulation to compensate for atmosphere effects are also presented. Finally, a summary of the CoA decisions and recommendations to the MSL project in the days leading up to EDL is provided.

Cianciolo, Alicia D.↗

The First X-ray Diffraction Patterns of Clay Minerals from Gale Crater

The Mars Science Laboratory (MSL) Rover, Curiosity spent approx 150 sols at Yellowknife Bay (YKB) studying a section of fluvio-lacustrine sedimentary rocks (with potential indications of volcanic influence), informally known as the Yellowknife Bay formation. YKB lies in a distal region of the Peace Vallis alluvial fan, which extends from the northern rim of Gale Crater toward the dune field at the base of Mt Sharp. Sedimentological and stratigraphic observations are consistent with the Yellowknife Bay formation being part of a distal fan deposit, which could be as young as middle Hesperian to even early Amazonian in age (approx 3.5 to 2.5 Ga). The Yellowknife Bay formation hosts a unit of mudstone called the Sheepbed member. Curiosity obtained powdered rock samples from two drill holes in the Sheepbed Member, named John Klein and Cumberland, and delivered them to instruments in Curiosity. Data from CheMin, a combined X-ray diffraction (XRD)/X-ray fluorescence instrument (XRF), has allowed detailed mineralogical analysis of mudstone powders revealing a clay mineral component of approx 20 wt.% in each sample. The clay minerals are important indicators of paleoenvironmental conditions and sensitive recorders of post-depositional alteration processes. The XRD pattern of John Klein reveals a 021 band consistent with a trioctahedral phyllosilicate. A broad peak at approx 10A with a slight inflexion at approx 12A indicates the presence of 2:1 type clay minerals in the John Klein sample. The trioctahedral nature of the clay minerals, breadth of the basal reflection, and presence of a minor component with larger basal spacing suggests that John Klein contains a trioctahedral smectite (probably saponite), whose interlayer is largely collapsed because of the low-humidity conditions. The XRD patterns show no evidence of corrensite (mixed-layer chlorite/smectite) or chlorite, which are typical diagenetic products of trioctahedral smectites when subjected to burial and heating >60degC in the presence of water. Given estimated geothermal gradients on Mars temperatures <60 degC might still be consistent with (but do not require) moderate burial. However, our ability to identify interstratified minerals is greatly limited by the lack of access to traditional treatments methods used in the lab (e.g., ethylene glycol solvation). Our preferred explanation for the origin of trioctahedral smectites in Sheepbed mudstone is in situ production via reaction of olivine, water and Si-bearing amorphous material, an important mudstone component detected by XRD. Elevated levels of magnetite in the Sheepbed and the trioctahedral monomineralic nature of the clay minerals support this model. These observations, combined with previous studies of olivine stability, support the persistence of circum-neutral hydrous conditions for thousands of years at YKB.

Bristow, Thomas↗

Detection and Quantification of Nitrogen Compounds in Martian Solid Samples by the Sample Analysis at Mars (SAM) Instrument Suite

The Sample Analysis at Mars (SAM) instrument suite on the Mars Science Laboratory (MSL) Curiosity Rover detected both reduced and oxidized nitrogen-bearing compounds during the pyrolysis of surface materials from three sites at Gale Crater. Preliminary detections of nitrogen species include NO, HCN, ClCN, CH3CN, and TFMA (trifluoro-Nmethyl-acetamide). On Earth, nitrogen is a crucial bio-element, and nitrogen availability controls productivity in many environments. Nitrogen has also recently been detected in the form of CN in inclusions in the Martian meteorite Tissint, and isotopically heavy nitrogen (delta N-15 approx +100per mille) has been measured during stepped combustion experiments in several SNC meteorites. The detection of nitrogen-bearing compounds in Martian regolith would have important implications for the habitability of ancient Mars. However, confirmation of indigenous Martian nitrogen bearing compounds will require ruling out their formation from the terrestrial derivatization reagents (e.g. N-methyl-N-tert-butyldimethylsilyl-trifluoroacetamide, MTBSTFA and dimethylformamide, DMF) carried for SAM's wet chemistry experiment that contribute to the SAM background. The nitrogen species we detect in the SAM solid sample analyses can also be produced during laboratory pyrolysis experiments where these reagents are heated in the presence of perchlorate, a compound that has also been identified by SAM in Mars solid samples. However, this does not preclude a Martian origin for some of these compounds, which are present in nanomolar concentrations in SAM evolved gas analyses. Analysis of SAM data and laboratory breadboard tests are underway to determine whether nitrogen species are present at higher concentrations than can be accounted for by maximum estimates of nitrogen contribution from MTBSTFA and DMF. In addition, methods are currently being developed to use GC Column 6, (functionally similar to a commercial Q-Bond column), to separate and identify unretained compounds such as NO, N2O, and NO2, which are difficult to detect by EGA-MS due to mass interferences at 30, 44 and 46, respectively. Here we present evolved gas analysis-mass spectrometry (EGA-MS) and gas chromatography mass spectrometry (GC-MS) data on the identification and quantification of these nitrogen-bearing compounds, and suggestions for their origins

Stern, Jennifer C.↗

Characterizing the Phyllosilicates and Amorphous Phases Found by MSL Using Laboratory XRD and EGA Measurements of Natural and Synthetic Materials

The Curiosity Rover landed on the Peace Vallis alluvial fan in Gale crater on August 5, 2012. A primary mission science objective is to search for past habitable environments, and, in particular, to assess the role of past water. Identifying the minerals and mineraloids that result from aqueous alteration at Gale crater is essential for understanding past aqueous processes at the MSL landing site and hence for interpreting the site's potential habitability. X-ray diffraction (XRD) data from the CheMin instrument and evolved gas analyses (EGA) from the SAM instrument have helped the MSL science team identify phases that resulted from aqueous processes: phyllosilicates and amorphous phases were measure in two drill samples (John Klein and Cumberland) obtained from the Sheepbed Member, Yellowknife Bay Fm., which is believed to represent a fluvial-lacustrine environment. A third set of analyses was obtained from scoop samples from the Rocknest sand shadow. Chemical data from the APXS instrument have helped constrain the chemical compositions of these secondary phases and suggest that the phyllosilicate component is Mg-enriched and the amorphous component is Fe-enriched, relatively Si-poor, and S- and H-bearing. To refine the phyllosilicate and amorphous components in the samples measured by MSL, we measured XRD and EGA data for a variety of relevant natural terrestrial phyllosilicates and synthetic mineraloids in laboratory testbeds of the CheMin and SAM instruments. Specifically, Mg-saturated smectites and vermiculites were measured with XRD at low relative humidity to understand the behavior of the 001 reflections under Mars-like conditions. Our laboratory XRD measurements suggest that interlayer cation composition affects the hydration state of swelling clays at low RH and, thus, the 001 peak positions. XRD patterns of synthetic amorphous materials, including allophane, ferrihydrite, and hisingerite were used in full-pattern fitting (FULLPAT) models to help determine the types and abundances of amorphous phases in the martian rocks and sand shadow. These models suggest that the rocks and sand shadow are composed of approx 30% amorphous phases. Sulfate-adsorbed allophane and ferrihydrite were measured by EGA to further understand the speciation of the sulfur present in the amorphous component. These data indicate that sulfate adsorbed onto the surfaces of amorphous phases could explain a portion of the SO2 evolution in the Rocknest SAM data. The additional constraints placed on the mineralogy and chemistry of the aqueous alteration phases through our laboratory measurements can help us better understand the nature of the fluids that affected the different samples and devise a history of aqueous alteration for the Sheepbed Member of the Yellowknife Bay Fm. at Gale crater.

Rampe, Elizabeth B.↗

The Search for Nitrates on Mars by the Sample Analysis at Mars (SAM) Instrument

Planetary models suggest that nitrogen was abundant in the early Martian atmosphere as N2 but it was lost by sputtering and photochemical loss to space, impact erosion, and chemical oxidation to nitrates. A nitrogen cycle may exist on Mars where nitrates, produced early in Mars' history, may have been later decomposed back into N2 by the current impact flux. Nitrates are a fundamental source of nitrogen for terrestrial microorganisms, and they have evolved metabolic pathways to perform both oxidation and reduction to drive a complete biological nitrogen cycle. Therefore, the characterization of nitrogen in Martian soils is important to assess habitability of the Martian environment, particularly with respect to the presence of nitrates. The only previous mission that was designed to search for soil nitrates was the Phoenix mission but N-containing species were not detected by TEGA or the MECA WCL. Nitrates have been tentatively identified in Nakhla meteorites, and if nitrogen was oxidized on Mars, this has important implications for the habitability potential of Mars. Here we report the results from the Sample Analysis at Mars (SAM) instrument suite aboard the Curiosity rover during the first year of surface operations in Gale Crater. Samples from the Rocknest aeolian deposit and sedimentary rocks (John Klein) were heated to approx 835degC under helium flow and the evolved gases were analyzed by MS and GC-MS. Two and possibly three peaks may be associated with the release of m/z 30 at temperatures ranging from 180degC to 500degC. M/z 30 has been tentatively identified as NO; other plausible contributions include CH2O and an isotopologue of CO, 12C18O. NO, CH2O, and CO may be reaction products of reagents (MTBSTFA/DMF) carried from Earth for the wet chemical derivatization experiments with SAM and/or derived from indigenous soil nitrogenated organics. Laboratory analyses indicate that it is also possible that <550degC evolved NO is produced via reaction of HCl with nitrates arising from the decomposition of perchlorates. All sources of m/z 30 whether it be martian or terrestrial will be considered and their implications for Mars will be discussed.

Navarro-Gonzalez, Rafael↗