close to the observed value 29sin(ᐉ ϩ 241°) mas. 23. We thank the Mars Pathfinder project team for their enthusiasm and assistance in acquiring and understanding the tracking measurements; R. Wimberly for recovery of the Viking lander Doppler data; and J. Williams and an anonymous referee for helpful suggestions. The research described in this paper was carried out by the Jet Propulsion Laboratory, Califor- The Mars Pathfinder atmospheric structure investigation/meteorology (ASI/MET ) experiment measured the vertical density, pressure, and temperature structure of the martian atmosphere from the surface to 160 km, and monitored surface meteorology and climate for 83 sols (1 sol ϭ 1 martian day ϭ 24.7 hours). The atmospheric structure and the weather record are similar to those observed by the Viking 1 lander ( VL-1) at the same latitude, altitude, and season 21 years ago, but there are differences related to diurnal effects and the surface properties of the landing site. These include a cold nighttime upper atmosphere; atmospheric temperatures that are 10 to 12 degrees kelvin warmer near the surface; light slope-controlled winds; and dust devils, identified by their pressure, wind, and temperature signatures. The results are consistent with the warm, moderately dusty atmosphere seen by VL-1.The ASI/MET experiment consists of a suite of sensors designed to measure the vertical structure of the atmosphere during entry, descent, and landing (EDL) and to study martian surface meteorology and climate for the duration of the Pathfinder mission (1, 2). In situ vertical structure measurements were made only twice by the Viking entry vehicles (3), both during the daytime. In addition to adding a third profile, ASI/MET provides the first nighttime observation, giving information about the diurnal variation of vertical structure, particularly in the upper atmosphere, which is inaccessible to existing remote-sensing techniques. Both Viking landers obtained records of atmospheric pressure, temperature, and wind velocity at the surface that extended over several Mars years. More recent Earth-based, disk-averaged microwave observations have been interpreted to indicate episodic cooling of the martian lower atmosphere by about 20 K relative to the conditions observed during the Viking missions (4). By continuing the Viking record after 21 years, ASI/MET results are able to determine whether martian meteorology and climate have changed or remained stable in the late northern summer. Improved measurement sensitivity and temporal resolution (2) also reveal phenomena not seen by Viking and, together with temperature measurements at three levels, give better information on the exchange of heat and momentum between the atmosphere and the surface.

Abstract. Mars Pathfinder successfully landed at Ares Vailis on July 4, 1997, deployed and navigated a small rover about 100 m clockwise around the lander, and collected data from three science instruments and ten technology experiments. The mission operated for three months and returned 2.3 Gbits of data, including over 16,500 lander and 550 rover images, 16 chemical analyses of rocks and soil, and 8.5 million individual temperature, pressure and wind measurements. Pathfinder is the best known location on Mars, having been clearly identified with respect to other features on the surface by correlating five prominent horizon features and two small craters in lander images with those in high-resolution orbiter images and in inertial space from two-way ranging and Doppler tracking. Tracking of the lander has fixed the spin pole of Mars, determined the precession rate since Viking 20 years ago, and indicates a polar moment of inertia, which constrains a central metallic core to be between 1300 and -2000 km in radius. Dark rocks appear to be high in silica and geochemically similar to anorogenic andesites; lighter rocks are richer in sulfur and lower in silica, consistent with being coated with various amounts of dust. Rover and lander images show rocks with a variety of morphologies, fabrics and textures, suggesting a variety of rock types are present. Rounded pebbles and cobbles on the surface as well as rounded bumps and pits on some rocks indicate these rocks may be conglomerates (although other explanations are also possible), which almost definitely require liquid water to form and a warmer and wetter past. Airborne dust is composed of composite silicate particles with a small fraction of a highly magnetic mineral, interpreted to be most likely maghemite; explanations suggest iron was dissolved from crustal materials during an active hydrologic cycle with maghemite freeze dried onto silicate dust grains. Remote sensing data at a scale of a kilometer or greater and an Earth analog correctly predicted a rocky plain safe for landing and roving with a variety of rocks deposited by catstrophic floods, which are relatively dust free. The surface appears to have changed little since it formed billions of years ago, with the exception that eolian activity may have deflated the surface by -3-7 cm, sculpted wind tails, collected sand into dunes, and eroded ventifacts (fluted and grooved rocks). Pathfinder found a dusty lower atmosphere, early morning water ice clouds, and morning near-surface air temperatures that changed abruptly with time and height. Small scale vortices, interpreted to be dust devils, were observed repeatedly in the afternoon by the meteorology instruments and have been imaged.