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A Rover Retrospective: Turning Trials to Triumphs in 2024


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A Rover Retrospective: Turning Trials to Triumphs in 2024

A look back at a few Mars 2020 mission highlights of 2024  

Perseverance’s past year operating on the surface of Mars was filled with some of the mission’s highest highs, but also some of its greatest challenges. True to its name and its reputation as a mission that overcomes challenges, Perseverance and its team of scientists and engineers turned trials to triumphs in yet another outstanding year for the mission. There’s a lot to celebrate about Perseverance’s past year on Mars, but here are three of my top mission moments this year, in the order in which they happened. 

1. SHERLOC’s cover opens 

A close-up photo of an instrument on the Perseverance rover shows — against a blurred background of light tan-orange terrain — a metallic structure at the top of the frame, dusted with fine orange powder in some places. Pointing down from that is a short, barrel-shaped extension. Attached to the bottom of that is a “D”-shaped cover, attached to the mouth of the barrel on the right by a cylindrical hinge, fully opened toward the right, to an angle greater than 180 degrees.
NASA’s Mars Perseverance rover captured this image of its SHERLOC instrument (Scanning Habitable Environments with Raman & Luminescence for Organics and Chemicals), showing the cover mechanism of SHERLOC’s Autofocus and Context Imager camera (ACI) in a nearly open configuration. The rover acquired this image using its Left Mastcam-Z camera — one of a pair of cameras located high on the rover’s mast — on March 3, 2024 (sol 1079, or Martian day 1,079 of the Mars 2020 mission), at the local mean solar time of 12:18:41.
NASA/JPL-Caltech/ASU

In early January the SHERLOC instrument’s cover mechanism stopped responding during a routine attempt to acquire data on a rock outcrop in the Margin unit. After six weeks of team diagnostics, the SHERLOC instrument was declared offline and many of us feared that the instrument had met its end. In early March, the team made significant progress in driving the cover to a more open position. Then, to everyone’s surprise, the SHERLOC cover moved unexpectedly to a nearly completely open position during a movement of the arm on sol 1077. I remember staring in wonder at the image of the cover (taken on sol 1079), feeling real optimism for the first time that SHERLOC could be recovered. The team spent the next few months developing a new plan for operating SHERLOC with its cover open, and the instrument was declared back online at the end of June.  

2. A potential biosignature at Cheyava Falls  

A color image of a Mars rock shows a smooth band of orange-tan down the center of the image, flanked by lumpy strips of lighter materials, smooth and in shades of light mint green and turquoise. The center portion shows innumerable small spots — light tan, outlined in very dark gray.
NASA’s Perseverance Mars rover captured this image of “leopard spots” on a rock nicknamed “Cheyava Falls” on July 18, 2024 — sol 1212. or the 1,212th Martian day of the mission. Running the length of the rock are large white calcium sulfate veins. Between those veins are bands of material whose reddish color suggests the presence of hematite, one of the minerals that gives Mars its distinctive rusty hue. Scientists are particularly interested in the millimeter-size, irregularly shaped light patches on the central reddish band (from lower left to upper right of the image) that resemble leopard spots. Perseverance captured the image using a camera called WATSON (Wide Angle Topographic Sensor for Operations and eNgineering), part of the SHERLOC (Scanning Habitable Environments with Raman and Luminescence for Organics and Chemicals) instrument suite located on the end of Perseverance’s robotic arm.
NASA/JPL-Caltech/MSSS

No top list would be complete without Perseverance’s discovery in July 2024 of a potential biosignature in the form of sub-millimeter-scale “leopard spots” at an outcrop called Cheyava Falls. These features, which formed during chemical reactions within the rock, have dark rims and light cores and occur together with organic carbon. On Earth, these chemical reactions are often driven by or associated with microbes. Although we can’t say for sure that microbes were involved in the formation of the leopard spots at Cheyava Falls, this question can be answered when Perseverance’s samples are returned to Earth. In the meantime, this rock remains one of the most compelling rocks discovered on Mars.  

3. Arrival at Witch Hazel Hill 

A color image from the Martian surface shows uneven yellow-tan ground leading up to the base of a hill, where the smoother ground dotted with small rocks turns into an outcropping of much larger rocks. That outcropping is on the horizon, which runs diagonally in the image, from the upper left side to the top right of the frame.
NASA’s Mars Perseverance rover acquired this image at the top of Witch Hazel Hill, of the South Arm and Minnie Hill outcrops. Perseverance used its Left Navigation Camera (Navcam) — which also aids in driving — located high on the rover’s mast. The rover captured the image on Dec. 16, 2024 (sol 1359, or Martian day 1,359 of the Mars 2020 mission), at the local mean solar time of 13:26:38.
NASA/JPL-Caltech

Closing out 2024 on a high note, in mid-December Perseverance arrived at the top of a sequence of rock exposed on the western edge of the Jezero crater rim called Witch Hazel Hill. These rocks pre-date the formation of Jezero crater and could be amongst the oldest rocks exposed on the surface of Mars. These rocks have the potential to tell us about a period of solar system history not well-preserved on our own planet Earth, and they may record important clues about the early history and habitability of Mars. Witch Hazel Hill first caught my attention during landing site selection several years ago, when we were debating the merits of landing Perseverance in Jezero versus sites outside the crater. At the time, this area seemed just out of reach for a Jezero-focused mission, so I’m thrilled that the rover is now exploring this site!   

The Mars 2020 mission had its ups and downs and a fair share of surprises during 2024, but we are looking ahead to 2025 with excitement, as Perseverance continues to explore and sample the Jezero crater rim.

Written by Katie Stack Morgan, Mars 2020 Deputy Project Scientist

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Jan 08, 2025

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      Ray Wang [Georgia Institute of Technology] compared the uncertainty analysis of SAGE III retrieved O3 and water vapor data in V5.3 to the same parameters in V6.0. He then compared the SAGE III data to the correlative measurements from other platforms. For O3, the differences between SAGE and measurements from the Microwave Limb Sounder (MLS) on NASA’s Aura platform are less than 5% in the stratosphere. SAGE V6.0 ozone values are systematically about 1–2% higher than those from V5.3 O3 –  due to changes in how the O3 cross-section is represented in each version. For water vapor, SAGE data agree with MLS and Frost Point Hygrometer (FPH) data within 5%. Wang showed some differences between SAGE water vapor data retrievals using V5.3 and the same data obtained using version 6.0. He also said that a two-dimensional (i.e., spatial and temporal) regression model can be used to minimize sampling bias in climatology derived from non-uniform satellite measurements – ensuring more accurate representation of long-term trends.
      Emma Knowland [GSFC/Morgan State University, Goddard Earth Sciences Technology and Research II (GESTAR II), now NASA HQ—SAGE III/ISS Program Scientist] discussed the progress of assimilating SAGE III water vapor data product into NASA’s GEOS re-analysis. Her team’s work demonstrated that while the number of solar occultation observations a day from SAGE III/ISS is about 1% of the total number of profiles observed globally by MLS, the chemical timescales of water vapor in the lower stratosphere are long enough that the SAGE III/ISS data can provide a valuable constraint on GEOS re-analysis, especially in the absence of MLS data – see Figure 4.
      Figure 4. Hovmöller diagrams of the vertical distribution of 15°S–15°N average water vapor anomalies in upper troposphere–stratosphere with water vapor relaxed to a climatology [top left] and from data assimilation of SAGE III/ISS water vapor into the Goddard Earth Observing System (GEOS) model [bottom left]. Scatter plots show water vapor mixing ratios (y-axis) with [top right] and without [bottom right] data assimilation compared independent observations from the Atmospheric Chemistry Experiment – Fourier Transform Spectrometer (ACE-FTS) data (x-axis). The ACE–FTS data were not used in data assimilation. This shows that data assimilation of SAGE data improves the agreement with ACE-FTS – especially in the lower stratosphere (400 to 500 K). Figure Credit: Emma Knowland [NASA] Melody Avery [University of Colorado, Boulder] discussed using SAGE data  and data from the Cloud–Aerosol Lidar with Orthogonal Projection (CALIOP) instrument (on the former Cloud-Aerosol Lidar and Infrared Pathfinder Satellite Observations (CALIPSO) mission) to study thin clouds and aerosol distributions in the tropical tropopause region (TTL). Avery explained that these distributions from V5.3 of SAGE-III/ISS and V5.41 of CALIOP are shown to agree well, and CALIOP observations of cloud frequency are shown to be a sensitive metric for defining the width of the Hadley Cell near the tropical tropopause. Combining SAGE and CALIOP data produced a longer timescale to constrain and evaluate climate models that currently do not agree on how the tropical width at this altitude varies. They found that results derived using SAGE V6.0 versus V5.3 differ on the order of 2% in the TTL region.
      Pamela Wales [GESTAR II] introduced a new project that leverages SAGE III/ISS measurements to explore diurnal characteristics of O3 and nitrogen dioxide (NO2) in GEOS model products. Her team is exploring potentially using a GEOS reanalysis of stratospheric trace gases collected by MLS as a transfer standard to evaluate the consistency between the SAGE III/ISS solar and the less frequently measured lunar retrieval. They are also assessing uncertainties in stratospheric NO2 in the GEOS Composition Forecast (GEOS-CF) model using SAGE III/ISS and complementary satellite instruments. This work will inform how effectively GEOS-CF can be used in air quality studies to remove the stratospheric signal from column retrievals of NO2.
      Luis Millán [JPL] presented work on the change of stratospheric water vapor mass after the Hunga Tonga–Hunga Haʻapai (Hunga) volcano eruption in 2022. Millán found an increase (~10%) of total stratospheric water vapor – a potent greenhouse gas. Given their advanced age, MLS, ACE-FTS, and the Sounding of the Atmosphere using Broadband Emission Radiometry (SABER) instrument on NASA’s Thermosphere, Ionosphere, Mesosphere, Energetics and Dynamics (TIMED) mission (Heliosphere Division), are nearing the end of their missions, leaving SAGE III/ISS as the primary instrument for monitoring the plume’s evolution. Millán discussed how the SAGE III/ISS measurements might be sufficient to observe the dispersion of the excess Hunga water vapor from stratosphere in coming years. He also discussed a 39-year plus record of stratospheric water vapor mass using the overlapping periods between SAGE II, MLS, and SAGE III/ISS.
      Ryan Stauffer [GSFC] presented the operation and outcomes of the Ticosonde balloon-borne O3 and water vapor sonde project in San Jose, Costa Rica. Ongoing since July 2005, Ticosonde has collected over 700 O3 profiles and 270 water vapor profiles for climate and pollution studies and satellite validation. Because Ticosonde is the only long-term water vapor sonde station in the tropics, the stratospheric water vapor data is vital for validation of SAGE-III/ISS and MLS profiles. Ticosonde has been used to verify the success of updated water vapor retrieval algorithms for both instruments – which now agree within a few percent up to 25 km (15 mi) altitude.
      Natalya Kramarova [GSFC] showed the comparison of O3 profile retrieved from SAGE III with those derived from the OMPS-LP sensor – which is part of OMPS on NOAA-21 – from February 2023–June 2024. Diurnal corrections using the Goddard Diurnal Ozone Climatology (which is described in a 2020 article in Atmospheric Measurement Techniques) is applied to account for differences in measurement times between SAGE III’s sunrise or sunset observations and NOAA-21 LP’s midday measurements. Once the time correction is made, results show good agreement between the two instruments in depicting vertical ozone distribution across different geographical regions (e.g., tropics and mid-latitudes) and under various conditions (e.g., near the edge of the Antarctic O3 hole in October 2023). The mean biases between NOAA-21 LP and SAGE III are typically within ±5% between ~18–45 km (11–28 mi).
      Project Team and Operations Highlights
      Michael Heitz [LaRC] showed that V5.3 and previous versions of the SAGE III/ISS data product had a noticeable – and unphysical – dip in the retrieved aerosol extinction between 520–676 nm. This dip has been referred to as the aerosol “seagull.” However, adoption of a new absorption cross-section database into the V6.0 algorithm reduced the aerosol seagull effect significantly. Kevin Leavor [LaRC] presented new developments for the SAGE III/ISS quick look website. Mary Cate McKee [LaRC] introduced a new feature of the quick look website that showcases comparisons of O3 and water vapor sonde data at over 40 stations. Sonde data is sourced from the Network for the Detection of Atmospheric Composition Change (NDACC), GSFC’s SHADOZ, and the World Ozone and Ultraviolet Radiation Data Centre (WOUDC). Heitz explained that the comparison plots are updated continuously as new coincidences occur, providing the community with valuable insight to the quality of SAGE III/ISS data relative to this external network of ground stations. Future additions to the website include aerosol and lidar comparisons, additional plot statistics, and comparisons with novel homogenized datasets.
      Returning to a topic discussed in Jamie Nehrir’s presentation, Charles Hill [LaRC] showed that the SAGE III Disturbance Monitoring Package (DMP) correction to the data product – which was implemented beginning with V5.3 – has significantly reduced the product uncertainties caused by ISS vibrations. Approximately 7% of SAGE III occultation events are highly disturbed by mechanical vibrations, and the DMP correction has improved pointing registrations in these events significantly. The DMP’s x-axis gyroscope failed on August 8, 2023 – but this loss did not significantly affect the DMP correction to scan plane elevation. Future possible losses of either the y- or z-axes will end active correction of ISS disturbances.
      Conclusion
      Jun Wang, David Flittner, and Richard Eckman led the closing discussion that highlighted the growing interest in atmospheric composition change –  particularly due to emissions from large wildfires and volcanic eruptions in recent years. This increasing interest contrasts with the declining availability of observational data from the upper troposphere, following the retirement of CALIPSO in late 2023 and the planned decommissioning of Aura’s aging limb instruments in 2026. This gap underscores the critical importance of SAGE III/ISS data – not only for current UTS research but also for the next 5–7 years, during which no new limb measurements are planned.
      SAGE III/ISS remains essential for profiling key atmospheric constituents, including water vapor, aerosols, O₃, and NO₂. The long-term, consistent data record provided by the SAGE series of instruments since the late 1970s – including SAGE III/ISS since 2017 – has been invaluable for studying past and future changes in atmospheric composition within the UTS. To further support research and applications of SAGE data products, participants discussed the possibility of proposing a special collection of articles in AGU journals.
      Overall, the 2024 SAGE III/ISS meeting was a success. Participants received valuable updates on the status of SAGE III/ISS operations, data product calibration and validation, and new developments. The meeting also showcased the collective expertise and excellence in driving advancements in UTS research, from climate change studies to data assimilation for chemistry transport models and contributions to multi-sensor data fusion.
      Jun Wang
      University of Iowa
      jun-wang-1@uiowa.edu
      David Flittner
      Langley Research Center
      david.e.flittner@nasa.gov
      Richard Eckman
      NASA Langley Research Center
      richard.s.eckman@nasa.gov
      Emma Knowland
      NASA Headquarters
      k.e.knowland@nasa.gov
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      NASA’s Perseverance took this selfie on May 10, 2025. The small dark hole in the rock in front of the rover is the borehole made when Perseverance collected its latest sample. The small puff of dust left of center and below the horizon line is a dust devil.NASA/JPL-Caltech/MSSS The rover took the image — its fifth since landing in February 2021 — between stops investigating the Martian surface.
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      A dust devil also whirled by in the distance as one of the hazard-avoidance cameras on NASA’s Perseverance captured the Mars rover coring a sample near the rim of Jezero Crater on April 29, 2025, the 1,490th Martian day, or sol, of the mission.NASA/JPL-Caltech “To get that selfie look, each WATSON image has to have its own unique field of view,” said Megan Wu, a Perseverance imaging scientist from Malin Space Science Systems in San Diego. “That means we had to make 62 precision movements of the robotic arm. The whole process takes about an hour, but it’s worth it. Having the dust devil in the background makes it a classic. This is a great shot.”
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      News Media Contacts
      DC Agle
      Jet Propulsion Laboratory, Pasadena, Calif.
      818-393-9011
      agle@jpl.nasa.gov
      Karen Fox / Molly Wasser
      NASA Headquarters, Washington
      202-358-1600
      karen.c.fox@nasa.gov / molly.l.wasser@nasa.gov  
      2025-073      
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