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Endeavour crater (2.28 deg S, 354.77 deg E) is a Noachian-aged 22 km-diameter impact structure of complex morphology in Meridiani Planum. The degradation state of the crater has been studied using Mars Reconnaissance Orbiter and Opportunity rover data. Exposed rim segments rise approximately 10 m to approximately 100 m above the level of the embaying Burns Formation and the crater is 200-500 m deep with the southern interior wall exposing over approximately 300 m relief. Both pre-impact rocks (Matijevic Formation) and Endeavour impact ejecta (Shoemaker Formation) are present at Cape York, but only the Shoemaker crops out (up to approximately 140 m) along the rim segment from Murray Ridge to Cape Tribulation. Study of pristine complex craters Bopolu and Tooting, and morphometry of other martian complex craters, enables us to approximate Endeavour's pristine form. The original rim likely averaged 410 m (+/-)200 m in elevation and a 250-275 m section of ejecta ((+/-)50-60 m) would have composed a significant fraction of the rim height. The original crater depth was likely between 1.5 km and 2.2 km. Comparison between the predicted original and current form of Endeavour suggests approximately 100-200 m rim lowering that removed most ejecta in some locales (e.g., Cape York) while thick sections remain elsewhere (e.g., Cape Tribulation). Almost complete removal of ejecta at Cape York and minimal observable offset across fractures indicates current differences in rim relief are not solely due to original rim relief. Rim segments are embayed by approximately 100-200 m thickness of plains rocks outside the crater, but thicker deposits lie inside the crater. Ventifact textures confirm ongoing eolian erosion with the overall extent difficult to estimate. Analogy with degraded Noachian-aged craters south of Endeavour, however, suggests fluvial erosion dominated rim degradation in the Noachian and was likely followed by approximately 10s of meters modification by alternate processes. Such degradation is consistent with 1) the interpretation of a pediment on the rim flanks of Endeavour, 2) the formation of features such as Marathon Valley, 3) the nearly complete removal of ejecta at Cape York, 4) preservation of a thicker section of ejecta at Cape Tribulation and perhaps, 5) the origin of some gaps in the rim around the crater. A paucity of debris shed from the rim indicates most degradation occurred prior to embayment by the plains rocks.

The Mars Exploration Rover Opportunity has been exploring Noachian age rocks and outcrops on the rim of the 22 km diameter Endeavour crater since August 2011. The Cape York area is a low-lying rim of Endeavour that contains 3 distinct lithologies: 1) the stratigraphically lowest Matijevic fm of pre-impact lithology, 2) Shoemaker fm of impact breccias, and 3) the stratigraphically highest rim lithology Grasberg fm of post-impact sediments that drape the lower slopes of the rim. The sulfate-rich sediment of the Burns fm lies unconformably over the Grasberg fm. Ca-sulfate veins were discovered in Grasberg fm sediments; the sulfates precipitated from aqueous fluids flowing upward through these materials. Opportunity investigated the chemistry and morphology of outcrops in the Matijevic fm that have Fe(sup 3+)-rich smectite detected by orbital signatures returned by CRISM on MRO. Matijevic fm also contains "boxwork" fractures with chemistry consistent with an Al-rich smectite and veins that appear to be rich in Ca-sulfate. More recently on Cape Tribulation, Opportunity has characterized two S-, Mg- and Mn-rich rich rocks overturned and fractured by the rover's wheels on Cook Haven. Those rocks have been dubbed "Pinnacle Island" and "Stuart Island" and will be referred to as the "Island" rocks. The objectives of this study are to characterize the Fe and Mn contents in the Cape York materials, including the two Island rocks, and to provide a model for Mn mobilization and precipitation. Detailed geochemistry of Endeavour rim rocks is presented in a companion paper. Geochemical trends and elemental associations were obtained from data returned by the Alpha Particle X-ray Spectrometer (APXS) on Opportunity.

Mars Exploration Rover Opportunity traversed 7.9 km and 27 degrees of arc along the rim of the 22 km-diameter Noachian "Endeavour" impact crater since its arrival 1200 sols ago. Areas of aqueous and low-grade thermal alteration, and changes in structure, attitude, and macroscopic texture of outcrops are notable across several discontinuities between segments of the crater rim. The discontinuities and other post-impact joints and fractures coincide with sites of apparent deep fluid circulation processes responsible for thermal and chemical alteration of local outcrops.

The Opportunity rover has traversed portions of two western rim segments of Endeavour, a 22 km-diameter crater in Meridiani Planum, for the past three years. The resultant data enables the evaluation of the geologic expression and degradation state of the crater. Endeavour is Noa-chian-aged, complex in morphology, and originally may have appeared broadly similar to the more pristine 20.5 km-diameter Santa Fe complex crater in Lunae Palus (19.5degN, 312.0degE). By contrast, Endeavour is considerably subdued and largely buried by younger sulfate-rich plains. Exposed rim segments dubbed Cape York (CY) and Solander Point/Murray Ridge/Pillinger Point (MR) located approximately1500 m to the south reveal breccias interpreted as remnants of the ejecta deposit, dubbed the Shoemaker Formation. At CY, the Shoemaker Formation overlies the pre-impact rocks, dubbed the Matijevic Formation.

Home Plate is a layered plateau in Gusev crater on Mars. It is composed of clastic rocks of moderately altered alkali basalt composition, enriched in some highly volatile elements. A coarse-grained lower unit is overlain by a finer-grained upper unit. Textural observations indicate that the lower strata were emplaced in an explosive event, and geochemical considerations favor an explosive volcanic origin over an impact origin. The lower unit likely represents accumulation of pyroclastic materials, while the upper unit may represent eolian reworking of the same pyroclastic materials.

The cratered plains of Gusev traversed by Spirit are generally low-relief rocky plains dominated by impact and eolian processes. Ubiquitous shallow, soil-filled, circular depressions, called hollows, are modified impact craters. Rocks are dark, fine-grained basalts, and the upper 10 m of the cratered plains appears to be an impact-generated regolith developed over intact basalt flows. Systematic field observations across the cratered plains identified vesicular clasts and rare scoria similar to original lava flow tops, consistent with an upper inflated surface of lava flows with adjacent collapse depressions. Crater and hollow morphometry are consistent with most being secondaries. The size frequency distribution of rocks >0.1 m diameter generally follows exponential functions similar to other landing sites for total rock abundances of 5-35%. Systematic clast counts show that areas with higher rock abundance and more large rocks have higher thermal inertia. Plains with lower thermal inertia have fewer rocks and substantially more pebbles that are well sorted and evenly spaced, similar to a desert pavement or lag. Eolian bed forms (ripples and wind tails) have coarse surface lags, and many are dust covered and thus likely inactive. Deflation of the surface _5-25 cm likely exposed two-toned rocks and elevated ventifacts and transported fines into craters creating the hollows. This observed redistribution yields extremely slow average erosion rates of _0.03 nm/yr and argues for very little long-term net change of the surface and a dry and desiccating environment similar to today's since the Hesperian (or _3 Ga).

Comprehensive analyses of remote sensing data during the three-year effort to select the Mars Exploration Rover landing sites at Gusev crater and at Meridiani Planum correctly predicted the atmospheric density profile during entry and descent and the safe and trafficable surfaces explored by the two rovers. The Gusev crater site was correctly predicted to be a low-relief surface that was less rocky than the Viking landing sites but comparably dusty. A dark, lowalbedo, flat plain composed of basaltic sand and haematite with very few rocks was expected and found at Meridiani Planum. These results argue that future efforts to select safe landing sites based on existing and acquired remote sensing data will be successful. In contrast, geological interpretations of the sites based on remote sensing data were less certain and less successful, which emphasizes the inherent ambiguities in understanding surface geology from remotely sensed data and the uncertainty in predicting exactly what materials will be available for study at a landing site.

Based on operational experience gained during the Mars Exploration Rover (MER) mission, we proposed and were selected to conduct two related imaging experiments: (1) an investigation of the geology and short-term atmospheric vertical wind profile local to the Mars Science Laboratory (MSL) landing site using descent imaging, and (2) a broadly-based scientific investigation of the MSL locale employing visible and very near infra-red imaging techniques from a pair of mast-mounted, high resolution cameras. Both instruments share a common electronics design, a design also employed for the MSL Mars Hand Lens Imager (MAHLI) [1]. The primary differences between the cameras are in the nature and number of mechanisms and specific optics tailored to each camera s requirements.

The Opportunity instruments have provided compelling evidence that the sulfate-rich chemical and siliciclastic sediments at the Meridiani Planum landing site were deposited in shallow water. The local paleo-environment is most often characterized as a broad, shallow sea or large playa, with surface conditions cycling between wet and dry episodes, interbedding evaporates with eolian fine sediments [e.g., 1,2]. This particular working hypothesis is reasonable, considering the area characterized by the rover s mobility. An alternative, marine origin will be considered here, a working hypothesis that we feel provides a better fit to the local-scale results identified by Opportunity, and the regional-scale characteristics of Meridiani Planum provided by data from orbiting spacecraft, when considered together.

Initial work on the identification and mapping of potential ancient shorelines on Mars was based on Viking Orbiter image data (Parker et al., 1987, 1989, 1993). The Viking Orbiters were designed to locate landing site for the two landers and were not specifically intended to map the entire planet. Fortunately, they mapped the entire planet. Unfortunately, they did so at an average resolution of greater than 200m/pixel. Higher resolution images, even mosaics of interesting regions, are available, but relatively sparse. Mapping of shorelines on Earth requires both high-resolution aerial photos or satellite images and good topographic information. Three significant sources of additional data from missions subsequent to Viking are useful for reassessing the ocean hypothesis. These are: MGS MOC images; MGS MOLA topography; Odyssey THEMIS IR and VIS images; and MER surface geology at Meridiani and Gusev. Okay, my mistake: Four.

The MOC images for MER are compared with MOLA data to characterize and locate each image. MOLA profiles show that Hematite remains benign, Melas and Isidis are rougher, and Athabasca and Gusev have regions of significant small scale topography. Additional information is contained in the original extended abstract.

If the topographic terraces described are coastal, an ocean upwards of 5 to 7 km deep would be required by the maximum elevation of terraces identified south of Elysium Planitia. The highest terrace identified to date is at 2200 m elevation. Additional information is contained in the original extended abstract.

A proposed landing site for the Mars Exploration Rover (MER) has been identified in western Melas Chasma. The landing ellipse contains a blocky, bright deposit which we propose formed as a landslide, perhaps beneath a former lake. Additional information is contained in the original extended abstract.

Mapping results indicate that the Uzboi-Ladon-Margaritifer mesoscale outflow system was dominated by multiple, high magnitude discharge events that delivered water to Margaritifer Basin where it was stored and later released to form Ares Vallis. Additional information is contained in the original extended abstract.

We interpret the channel surface of Athabasca and Marte Valles to be fresh former ice-rich fluvial (hyperconcentrated) deposits rather than volcanic flows. Simply stated, this is what a fresh outflow channel deposit would look like. Additional information is contained in the original extended abstract.

Rover missions to the surface of Mars after MER 2003, are likely to be centered around focused geologic field mapping. One objective with high priority in selecting landing sites for these missions will be to characterize the nature, spatial distribution, internal structure, composition, and depositional history of exposed sedimentary layered deposits by visiting a number of distributed outcrops identified previously (and with a high degree of certainty) from orbit. These deposits may contain prebiotic material, even fossil organisms, but their primary value will be to enable an assessment of the planet's climate at the time they were emplaced. High resolution imaging from a mobile rover will enable the detailed study of these deposits over a wide area, their internal structure and mineralogy at distributed localities, and could resolve biologically-derived structures (such as stromatolite-like textures) if they are present. With the addition of a spectrometer, it should be possible to ascertain the presence of carbonates, sulfates, organics, water (liquid, frost, and bound water), as well as a variety of silicate minerals in the context of the collected imagery. Such a mission approach is directly relevant to future exploration of Mars, because it provides the geologic context comparable to what a field geologist visiting a site for the first time would acquire. Rover missions after MER will likely have much better targeting and hazard avoidance landing systems, enabling access to planimetrically-challenged sites of high scientific interest. These vehicles will also likely have greater mobility than MER, capable of driving greater distances in a shorter amount of time. Many scientists and mission planners have realized the need to design a rover whose mobility can be comparable to the dimensions of its 3-sigma landing error ellipse.

The Mars Global Surveyor has now completed its nominal mission. Among its many science objectives, the question of whether or not lakes or oceans existed on Mars is arguably one of the most provocative. Additional information is contained in the original extended abstract.

Because Mars is just over half the Earth's diameter (about 6800 km), it does not exhibit global tectonism on a scale comparable to Earth and Venus. But because it is still a large body compared to Mercury and the moon, it has had an atmosphere and climate over the history of the solar system. This is why Mars has been able to retain surfaces produced both through volcanic and climatic processes that are intermediate in age between volcanic surfaces on the moon and Mercury and both types of surfaces on Venus and Earth. For the purposes of this discussion, this has important implications about the origins and evolution of topographic depressions that potentially may have contained lakes. Tectonism is probably the most important process on Earth for producing closed depressions on the continents, and is clearly responsible for maintenance of the ocean basins through geologic time. This is probably also true for depressions in the highland terrains and lowland plains of Venus. On Mars, however, tectonism appears limited to relatively small amounts of regional extension, compression, and vertical motion largely due to crustal loading of the two major volcanic provinces - Tharsis and Elysium Impact craters and large impact basins (including all or parts of the northern plains) are clearly more important sites for potential lake basins on Mars, though they were likely more important on Earth, and Venus as well, during the period of heavy meteorite bombardment throughout the solar system prior to 3.5 Ga. Comparisons of the relative importance of other formative processes on Mars with those on Earth are less obvious, and some may be quite speculative, since our understanding of the early Martian environment is still rather limited. Additional information is contained in the original extended abstract.

Our results indicate that the best explanation for the origin and current morphology of the Valles Marineris interior layered deposits is by deposition of sediments, including chemical precipitates, in standing bodies of water.

Previous studies of channels associated with Argyre Planitia are compared with the recent MOLA topography. Argyre and the channels flowing into and out from it comprise the longest fluvial system in the solar system.

A significant discovery of the Mars Pathfinder (MPF) mission was that many rocks exhibit characteristics of ventifacts, rocks that have been sculpted by saltating particles. Diagnostic features identifying the rocks as ventifacts am elongated pits, flutes, and grooves (collectively referred to as "flutes" unless noted otherwise). Faceted rocks or rock portions, circular pits, rills, and possibly polished rock surfaces are also seen and could be due, to aeolian abrasion. Many of these features were initially identified in rover images, where spatial resolution generally exceeded that of the IMP (Imager for Mars Pathfinder) camera. These images had two major limitations: 1) Only a limited number of rocks were viewed by the rover, biasing flute statistics; and 2) The higher resolution obtained by the rover images and the lack of such pictures at the Viking landing sites hampered comparisons of rock morphologies between the Pathfinder and Viking sites. To avoid this problem, rock morphology and ventifact statistics have been examined using new "super-resolution" IMP and Viking Lander images. Analyses of these images show that: 1) Flutes are seen on about 50% or more of the rocks in the near field at the MPF site; 2) The orientation of these flutes is similar to that for flutes identified in rover images; and 3) Ventifacts are significantly more abundant at the Pathfinder landing site than at the two Viking Landing sites, where rocks have undergone only a limited amount of aeolian abrasion. This is most likely due to the ruggedness of the Pathfinder site and a greater supply of abrading particles available shortly after the Arcs and Tiu Valles outflow channel floods.

We have begun a detailed analysis of the evidence for and topography of features identified as potential shorelines that have been im-aged by the Mars Orbiter Camera (MOC) during the Aerobraking Hiatus and Science Phasing Orbit periods of the Mars Global Surveyor (MGS) mission. MOC images, comparable in resolution to high-altitude terrestrial aerial photographs, are particularly well suited to address the morphological expressions of these features at scales comparable to known shore morphologies on Earth. Particularly useful are examples of detailed relationships between potential shore features, such as erosional (and depositional) terraces have been cut into "familiar" pre-existing structures and topography in a fashion that points to a shoreline interpretation as the most likely mechanism for their formation. Additional information is contained in the original extended abstract.

The existence of a primordial ocean in the northern plains of Mars appears to have been an inevitable consequence of the hydraulic and thermal conditions that existed during the Early Noachian. In this abstract we demonstrate that the progressive crustal assimilation of this early surface reservoir of H2O (punctuated by possible episodes of less extensive flooding) was a natural consequence of the planet's subsequent climatic and geothermal evolution. Additional information is contained in the original extended abstract.

Super resolution of the horizon at both Viking landing sites has revealed "new" features we use for triangulation, similar to the approach used during the Mars Pathfinder Mission. We propose alternative landing site locations for both landers for which we believe the confidence is very high. Super resolution of VL-1 images also reveals some of the drift material at the site to consist of gravel-size deposits. Since our proposed location for VL-2 is NOT on the Mie ejecta blanket, the blocky surface around the lander may represent the meter-scale texture of "smooth palins" in the region. The Viking Lander panchromatic images typically offer more repeat coverage than does the IMP on Mars Pathfinder, due to the longer duration of these landed missions. Sub-pixel offsets, necessary for super resolution to work, appear to be attributable to thermal effects on the lander and settling of the lander over time. Due to the greater repeat coverage (particularly in the near and mid-fields) and all-panchromatic images, the gain in resolution by super resolution processing is better for Viking than it is with most IMP image sequences. This enhances the study of textural details near the lander and enables the identification rock and surface textures at greater distances from the lander. Discernment of stereo in super resolution im-ages is possible to great distances from the lander, but is limited by the non-rotating baseline between the two cameras and the shorter height of the cameras above the ground compared to IMP. With super resolution, details of horizon features, such as blockiness and crater rim shapes, may be better correlated with Orbiter images. A number of horizon features - craters and ridges - were identified at VL-1 during the misison, and a few hils and subtle ridges were identified at VL-2. We have added a few "new" horizon features for triangulation at the VL-2 landing site in Utopia Planitia. These features were used for independent triangulation with features visible in Viking Orbiter and MGS MOC images, though the actual location of VL-1 lies in a data dropout in the MOC image of the area. Additional information is contained in the original extended abstract.

One of the original objectives of the Mars Orbiter Camera (MOC), as proposed in 1985, was to acquire observations to be used in assessing future spacecraft landing sites. Images obtained by the Mars Global Surveyor MOC since March 1999 provide the highest resolution views (1.5-4.5 m/pixel) of the planet ever seen. We have been examining these new data to develop a general view of what Mars is like at meter-scale within the latitudes and elevations that are accessible to the Mars Surveyor 2001 lander. Our goal is to provide guidance to the 2001 landing site selection process, rather than to use MOC images to recommend a specific landing site.