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The Mars2020 Perseverance Rover landed successfully on the Martian surface on the Jezero Crater floor (18.44°N, 77.45°E) at Martian solar longitude, $L_s$, $\sim$5 in February 2021. Since then it has produced highly valuable environmental measurements with a versatile scientific payload including the MEDA (Mars Environmental Dynamics Analyzer) suite of environmental sensors. One of the MEDA systems is the PS pressure sensor system which weighs 40 grams and has an estimated absolute accuracy of better than 3.5 Pa and a resolution of 0.13 Pa. We present initial results from the first 414 sols of Martian atmospheric surface pressure observations by the PS whose performance was found to meet its specifications. Observed sol-averaged atmospheric pressures follow an anticipated pattern of pressure variation in the course of the advancing season and are consistent with data from other landing missions. The observed diurnal pressure amplitude varies by $\sim$2-5 \% of the sol-averaged pressure, with absolute amplitude 10-35 Pa in an approximately direct relationship with airborne dust. During a regional dust storm, which began at $L_s~135^\circ$ the diurnal pressure amplitude roughly doubles. The diurnal pressure variations were found to be remarkably sensitive to the seasonal evolution of the atmosphere. In particular analysis of the diurnal pressure signature revealed diagnostic information likely related to the regional scale structure of the atmosphere. Comparison of Perseverance pressure observations to data from other landers reveals the global scale seasonal behaviour of Mars’ atmosphere.

The Thermal Infrared Sensor (TIRS; Sebastián et al., 2021; Martínez et al., 2023) is one of the six sensor packages of the Mars Environmental Dynamics Analyzer (MEDA; Rodríguez-Manfredi et al., 2021), which in turn is one of the seven science instruments on board Perseverance. Here we show a summary of TIRS scientific highlights during the first Martian year of operations. In particular, TIRS is providing the first in situ determination of the surface radiative budget, direct determination of broadband albedo and thermal inertia (Martínez et al., 2023; Savijärvi et al., 2022), and around-the-clock determination of aerosol opacities (Smith et al., 2023). In addition, TIRS is providing ground-truth to orbital retrievals of thermal inertia and albedo, as well as geophysical characterization of the uppermost surface of the regolith during Phobos and Deimos eclipses. In synergy with other instruments, TIRS is being used to determine vertical profiles of temperature (Munguira et al., 2023), to detect dust lifting from sudden changes in albedo (Vicente-Retortillo et al., 2023), and to assess changes in the water content of the Martian soil (Hausrath et al., 2023), including the potential formation of frost. TIRS observations are critical to achieve MEDA’s first programmatic objective (validate global atmospheric models by measuring the radiative surface budget in preparation for future human exploration). Also, TIRS observations are important in support of flights of Ingenuity and therefore for the design and operations of future drones. References: Hausrath, E. M. et al. (2023), The SuperCam team and the Regolith working group, An Examination of Soil Crusts on the Floor of Jezero crater, Mars, Journal of Geophysical Research: Planets (accepted). Martínez, G. M. et al. (2023), Surface Energy Budget, Albedo and Thermal Inertia at Jezero Crater, Mars, as Observed from the Mars 2020 MEDA Instrument, Journal of Geophysical Research: Planets (accepted). Munguira, A. et al. (2023), Near Surface Atmospheric Temperatures at Jezero from Mars 2020 MEDA measurements, Journal of Geophysical Research: Planets (under review). Rodriguez-Manfredi, J.A. et al. (2021), The Mars Environmental Dynamics Analyzer, MEDA. A suite of environmental sensors for the Mars 2020 mission, Spa. Sci. Rev., 217(3), 1-86. Savijärvi, H. I. et al. (2022), Surface energy fluxes and temperatures at Jezero crater, Mars, Journal of Geophysical Research: Planets: e2022JE007438. Sebastián, E. et al. (2021), Thermal calibration of the MEDA-TIRS radiometer onboard NASA's Perseverance rover, Acta Astronautica, 182,144-159. Smith, M. D. et al. (2023), Diurnal and Seasonal Variations of Aerosol Optical Depth Observed by MEDA/TIRS at Jezero Crater, Mars, Journal of Geophysical Research: Planets (accepted). Vicente-Retortillo, A. et al. (2023), Dust Lifting Through Changes in Albedo at Jezero Crater, Mars, Journal of Geophysical Research: Planets (under review).

The Mars Environmental Dynamics Analyzer (MEDA) instrument, on board the NASA’s Mars 2020 Perseverance rover, includes a number of sensors to characterize the Martian atmosphere. One of this sensors is the Radiation and Dust Sensor (RDS) that measures the solar irradiance at different wavelengths and geometries. We analyzed the RDS observations made during twilight for the period between sol 71 and 492 of the mission (Ls 39◦-262◦) to characterize the clouds over the Perseverance rover site. Using the ratio between the irradiance at zenith at 450 and 750 nm, we inferred that the main constituent of the detected high-altitude aerosol layers was ice from Ls= 39◦ to 150◦ (cloudy period), an dust from Ls 150◦-262◦. A total of 161 twilights were analyzed in the cloudy period using a radiative transfer code and we found: i) signatures of clouds/hazes in the signals in the 58 % of the twilights; ii) most of the clouds had altitudes between 40-50 km, suggesting water ice composition, and had particle sizes between 0.6 and 2 μm; iii) the cloud activity at sunrise is slightly higher that at sunset, likely due to the differences in temperature; iv) the time period with more cloud detections and with the greatest cloud opacities is during Ls 120◦-150◦; and v) a notable decrease in the cloud activity around the aphelion, along with lower cloud altitudes and opacities. This decrease in cloud activity indicates lower concentrations of water vapor or cloud condensation nuclei (dust) around this period in the Martian mesosphere.

The Finnish Meteorological Institute (FMI) provides a relative humidity measurement sensor (HS) for NASA's Mars 2020 rover. The sensor is a part of the Mars Environmental Dynamic Analyzer (MEDA), a suite of environmental sensors provided by Spain's Centro de Astrobiología. The main scientific goal of the humidity sensor is to measure the relative humidity of the Martian atmosphere near the surface and to complement previous Mars mission atmospheric measurements for a better understanding of Martian atmospheric conditions and the hydrological cycle. Relative humidity has been measured from the surface of Mars previously by Phoenix and Curiosity. Compared to the relative humidity sensor on board Curiosity, the MEDA HS is based on a new version of the polymeric capacitive humidity sensor heads developed by Vaisala. Calibration of humidity devices for Mars conditions is challenging and new methods have been developed for MEDA HS. Calibration and test campaigns have been performed at the FMI, at University of Michigan and the German Aerospace Center (DLR) in Berlin to achieve the best possible calibration. The accuracy of HS and uncertainty of the calibration has been also analysed in detail with VTT Technical Research Centre of Finland. Assessment of sensor performance after landing on Mars confirms that the calibration has been successful, and the HS is delivering high quality data for the science community.

Using a variety of instruments onboard the Perseverance Rover, a substantial amount of data has been collected and analyzed to understand the environment and atmosphere of the landing site, Jezero Crater. A vital component in understanding this unique environment is studying the local and regional variations of water over diurnal and seasonal timescales. We specifically study the variations of water ice in the atmosphere by observing cloud activity over Jezero Crater using data collected by the Navigation Cameras, NavCam, on board the Mars2020 Rover, Perseverance. IntroductionWater Ice clouds on Mars have been observed for a long time from both the surface and from orbit to understand the role of water in the atmosphere. Using Viking era data, Tamppari (2000, 2003) observed water ice clouds with peak activity seen during the northern spring and summer time. Opportunity Rover acquired images of water ice clouds during the Aphelion Cloud Belt (ACB) season with peak activity seen from Ls 50o to 115o (Lemmon et al., 2015). From the past activity, we have seen that between the solar longitude (Ls) of 45o to 150o, the Aphelion Cloud Belt (ACB) forms every Mars Year (MY) in the equatorial region (10oS–30oN). (Tamppari et al., 2000) (Smith et al., 2004) Furthermore, the Surface Stereo Imager (SSI) on-board the Phoenix Lander showed a large variety of cloud types over the course of the 151-sol mission (Moores et al., 2010). The navigation camera, NavCam aboard the Mars Science Laboratory (MSL, Curiosity) rover has observed cloud activity at Gale crater through cloud movies and surveys. The diurnal and seasonal patterns were comparable with previous observations. The peak cloud activities were observed in the morning/afternoon time and around the ACB period. (Kloos et al., 2018) They have also been reported to leave a thermal signature at night on Gale’s surface (Cooper et al. 2021). NAVCAM dataAt Jezero Crater, water ice clouds have been observed through cloud movies and cloud surveys collected using the Perseverance NavCam instrument that collects colour stereo images with a 96ox73o field of view at 0.33 mrad/pixel. (Maki et al., 2020) Compared to the NavCam on Curiosity, the NavCam on Perseverance holds the capability of imaging in colour which may provide advantages in highlighting water ice clouds in the atmosphere. Cloud surveys are single images taken facing the horizon, generally twice a week, at various times of the day. Similarly, cloud movies are collected by taking 8 frames of images looking towards the horizon with an interval of 15 seconds, producing a movie. A combination of cloud surveys and movies collected by the mission are used to study water ice clouds. Data ProcessingVarious image processing techniques are used on these data sets to emphasize the presence of water ice clouds in the atmosphere. For example, the NavCam Cloud movies can be processed using an imaging technique known as Mean Frame Subtraction (MFS) to enhance cloud features (Campbell et al., 2020) (Moores et al., 2015). This technique takes the average frame of the whole movie and subtracts it from each frame (Moores et al., 2015). This reveals the time-variable component, displaying the cloud movement within the movie. Figure 1 shows an example of raw (left) versus MFS processed frames (right) of a NavCam cloud movie. In addition to these processed images and movies, we have explored techniques such as two-dimensional fast Fourier transforms to recognize patterns in clouds. Figure 1: Comparison between raw and Mean Frame Subtraction frames. The raw frame (left) only shows faint clouds but when the Mean Frame Subtraction method is applied (right), the cloud features become visible. We will be presenting the water-ice cloud activity at Jezero Crater with details on various image processing techniques used to determine the characteristics of Martian clouds. The full data set from the start of the Mars2020 mission up to now will be analyzed to determine any seasonal patterns in the cloud activity seen at Jezero. BibliographyCampbell et al., 2020. Planet. Space Sci. 182 104785, http://dx.doi.org/10.1016/j.pss.2019. 104785.Cooper, B., et al., 221 JGR: Planets, 126(12), doi:10.1029/2020JE006737, 2021Kloos et al., 2018. Geophys. Res. Planets. (2018)123, 233–245. https://doi.org/10.1002/2017JE005314Lemmon et al., 2015. Icarus 251, 96–111. https://doi.org/10.1016Moores et al., 2010. J. Geophys. Res. Planets. https://doi.org/10.1029/ Maki et al., 2020. Space Science Reviews https://doi.org/10.1007/s11214-020-00765-9Moores et al., 2015. Adv. Space Res. 55 2217–2238, http://dx.doi.org/10.1016/j.asr.2015.02.007.Smith, M. D. 2004, Icarus, 167, 148–165. https://doi.org/10.1016/j.icarus.2003.09.010Tamppari et al., 2000, J. Geophys. Res., 105, E2, 4087–4107. https://doi.org/10.1029/1999JE001133Tamppari et al., 2003, J. Geophys. Res., 108, https://doi.org/10.1029/2002JE001911

The objective of this study is to identify the dominant atmospheric wave modes driving and maintaining superrotation on Titan, by using a combination of space-time cross spectral wave analysis and spherical harmonic wave analysis techniques. A defining feature of Titan’s atmospheric circulation is the presence of strong, planet-wide superrotation in the stratosphere. To achieve and sustain equatorial superrotation, angular momentum must be transported up the angular momentum gradient, which can only be accomplished by wave transport [2]. Newman et al. (2011) showed that equatorial superrotation can be maintained via episodic “transfer events,” in which barotropic instability leads to the generation of planetary-scale waves that carry angular momentum and speed-up the equatorial flow [3]. Yet the origin and nature of these waves in the real atmosphere, and the exact mechanisms driving superrotation and upper atmospheric wave forcing, remain unknown. We simulated the Titan atmosphere using the Titan Weather Research and Forecasting (TitanWRF) model and evaluated the temperature and momentum perturbations at different times during one full Titan year of simulation output. Fourier transforms of the temperature and wind fields showed that a strong correlation can be established between wave amplitude and angular momentum transfer events. Power spectral density for eddy heat and eddy momentum as a function of altitude, latitude, and phase speed or zonal wavenumber further emphasized the correlation. In our simulation, the largest angular momentum transfer event occurred around Ls~261°. Two additional transfer events were found at Ls~116° and Ls~192°, along with a number of smaller events occurring throughout the year. References: [1] Charnay et al. (2015) Nature Geosci, 8, 362–366. [2] Gierasch (1975) J. Atmos. Sci., 32, 1038–44. [3] Newman et al. (2011) Icarus, 213, 636–654.

Perseverance's Mars Environmental Dynamics Analyzer (MEDA) is collecting data at Jezero Crater, characterizing the physical processes in the lowest layer of the atmosphere as no previous instrument did before. Here we show that temperature measurements at four heights capture the response of the atmospheric surface layer to multiple phenomena. We observe the transition from a stable nighttime thermal inversion to a diurnal, highly turbulent convective regime, with large vertical thermal gradients, and where local surface properties (such as Thermal Inertia) play an essential role. Recording multiple daily optical depths yielded higher aerosol concentrations in the morning than in the afternoon. Measured wind patterns are mainly driven by local topography, with a small contribution from regional winds. Daily and seasonal variability of relative humidity shows a complex hydrologic cycle. These observations raise new puzzles in which changes in surface albedo and thermal inertia may play an influential role. On a larger scale, surface pressure shows typical signatures of gravity waves and baroclinic eddies in a part of the seasonal cycle characterized before as low wave activity. These observations, combined and simultaneous, show the rich Jezero’s meteorology, and unveil the diversity of processes driving change on today’s Martian surface.

MEDA HS is the relative humidity sensor on the Mars 2020 Perseverance rover provided by the Finnish Meteorological Institute (FMI). The sensor is a part of Mars Environmental Dynamic Analyzer (MEDA), a suite of environmental sensors provided by Centro de Astrobiología in Madrid, Spain.The accuracy requirement for MEDA HS relative humidity was ±10% RH for temperatures above -70 ºC, and ±20% RH for temperatures between -83...-73 ºC. Dynamic range from 0 to 100% RH shall cover the whole Martian temperature range from -83 ºC to -3 ºC. However it must be noted that during the daytime when the relative humidity drops close to zero, the readings are not scientifically meaningful due to the large relative uncertainty.MEDA HS flight model was tested and calibrated in Mars-like dry environment at FMI together with flight spare and ground reference models from +22 ºC to -70 ºC and in saturation conditions from -40 ºC down to -70 ºC. Further, the MEDA HS flight model final calibration is complemented by calibration data transferred from an identical ground reference model which has gone through extensive humidity calibration test campaign at DLR PASLAB. The MEDA HS has been calibrated to full relative humidity range between -70 to -40 ºC in CO2 in the pressure ranges from 5.5 to 9.5 hPa, representative of Martian surface atmospheric pressure, and partial range up to +22 ºC. For lower temperatures the results are extrapolated.The complex analysis of the MEDA HS measurement uncertainty has now been finalized and the results are presented in the conference. It has been found that the sensor exceeds the design requirements and will provide high accuracy relative humidity measurements from the Martian surface to provide important meteorological observations and to support MEDA and other M2020 investigations.

NASA’s Mars 2020 Perseverance rover landed in Jezero Crater (~18.4ºN, 77.6ºE) on February 2021 at Ls~5º, just after the northern spring equinox. Perseverance carries the Mars Environmental Dynamics Analyzer (MEDA) instrument [1], which includes a wind sensor that is a heritage from previous sensors sent to Mars as part of the Mars Science Laboratory (MSL) and InSight missions. Those sensors allowed the characterization of the near-surface wind patterns at Gale Crater [2] and Elysium Planitia [3,4]. The wind sensor of MEDA is allowing near-surface wind patterns to be characterized at Perseverance’s landing site, thus complementing the data acquired by previous missions on the surface of Mars.Previous missions at different locations on the Martian surface observed a contribution by several mechanisms from different scales involved in the near-surface winds, including the effect of local and regional slope winds induced by topography, thermal tides, baroclinic waves and the Hadley cell, each one with a variable weight on the resulting wind patterns as a function of location, season and the presence of dust storms (e.g. [2-4] and references therein). The near-surface wind data acquired by Mars 2020 show a complex dynamics at Jezero Crater, as predicted by models (e.g. [5]). Preliminary interpretation suggests that the diurnal cycle of winds is dominated by the regional circulation mainly forced by slope winds in the Isidis basin region, which interact with the local scale circulation at Jezero and Hadley cell flows. The potential contribution by these mechanisms on the resulting wind patterns measured at Mars2020’s landing site will be presented, with a further focus on the observed wind variability supported by probabilistic models. References:[1] Rodriguez-Manfredi et al. (2021), SSR, 217(48). [2] Viúdez-Moreiras et al. (2019), Icarus, 319, 909-925. [3] Banfield et al. (2020), Nat.Geo, 13, 190-198. [4] Viúdez-Moreiras et al. (2020) JGR-Planets, 125, e2020JE006493. [5] Newman et al. (2021) SSR, 217(20).

This article has a correction. Please see: Erratum for the Research Article: “The dynamic atmospheric and aeolian environment of Jezero crater, Mars” - 10 February 2023 Despite the importance of sand and dust to Mars geomorphology, weather, and exploration, the processes that move sand and that raise dust to maintain Mars’ ubiquitous dust haze and to produce dust storms have not been well quantified in situ, with missions lacking either the necessary sensors or a sufficiently active aeolian environment. Perseverance rover’s novel environmental sensors and Jezero crater’s dusty environment remedy this. In Perseverance’s first 216 sols, four convective vortices raised dust locally, while, on average, four passed the rover daily, over 25% of which were significantly dusty (“dust devils”). More rarely, dust lifting by nonvortex wind gusts was produced by daytime convection cells advected over the crater by strong regional daytime upslope winds, which also control aeolian surface features. One such event covered 10 times more area than the largest dust devil, suggesting that dust devils and wind gusts could raise equal amounts of dust under nonstorm conditions. We gratefully acknowledge the huge effort by the entire Mars 2020 team to meet our launch date despite the COVID-19 pandemic, to land and deploy instruments successfully in Jezero crater, and to conduct operations on the surface of Mars since February 2021. This paper arose from discussions within the Mars 2020 Atmospheres Working Group but would not have been possible without the tremendous contributions of everyone involved in Mars 2020 operations. We wish to especially pay tribute to the many team members based in Europe who regularly work through the night as MEDA or SuperCam Payload Uplink and Downlink Leads (PULs/PDLs) or in other roles and to all those who had shifts as Atmospheres Working Group representatives during this period. Last, we gratefully acknowledge the very helpful and constructive comments from both anonymous reviewers. Funding: R.H., A.S.-L., A.M., and T.d.R.-G. are supported by Spanish Ministry of Science and Innovation project PID2019-109467GB-I00 funded by MCIN/AEI/10.13039/501100011033/ and Grupos Gobierno Vasco IT1366-19. I.A., D.T., and V.A. are supported by the Spanish National Research, Development, and Innovation Program through the grants RTI2018-099825-B-C31, ESP2016-80320-C2-1-R, and ESP2014-54256-C4-3-R. L.M., S.N., and J.G.-E. are supported by the Spanish Ministry of Economy and Competitiveness, projects ESP2014-54256-C4-1-R and AYA2015-65041-P; the Spanish Ministry of Science, Innovation, and Universities, projects ESP2016-79612-C3-1-R, ESP2016-80320-C2-1-R, RTI2018-098728-B-C31, and RTI2018-099825-B-C31; and the Spanish Ministry of Science and Innovation’s Centre for the Development of Industrial Technology, projects RTI2018-098728-B-C31 and RTI2018-099825-B-C31. Á.V.-R. and M.-P.Z. are supported by Spanish State Research Agency (AEI) project no. MDM-2017-0737 Unidad de Excelencia “María de Maeztu”–Centro de Astrobiología (INTA-CSIC). M.-P.Z. is supported by the Spanish Ministry of Science and Innovation, PID2019-104205GB-C21. M.M.B. and M.-P.Z. are supported by NASA’s Mars 2020 Participating Scientist Program. All other authors were supported by funding from the Mars 2020 mission, part of the NASA Mars Exploration Program. Work by C.E.N. was additionally funded by the InSight Participating Scientist Program.A portion of this work was performed at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with NASA and funding by SMD, GCD, and STMD. Peerreview