Sol 0 Sol 1 On sol 2 more EDL images were transmitted and Ingenuity's battery began to be charged by the rover. The Remote Sensing Mast (RSM) was deployed and tested and the first Navcam panorama was taken. Mastcam-Z (ZCAM) took its first images and MEDA was tested as the rover was gradually prepared for operation. On the next sol the backup computer was prepared for new flight software, the High Gain Antenna (HGA) was tested, ZCAM took its first full panorama and several other systems were checked. That work was concluded on sol 4 in preparation for the rover software update over the next few sols. By sol 8 both the prime and backup computer systems were running the new software, and rover system testing continued on sol 9 with the first ZCAM multispectral images. The RSM and HGA were tested in different positions and Navcam imaged the deck and took another panorama. On sol 10 the MEDA wind sensor was deployed, SuperCam (SCAM) received updated flight software and RIMFAX was tested. Some ZCAM images from the sol 3 panorama were repeated with better focus on sol 11 and SCAM ran tests with an RMI view of a flat light-toned rock called Maaz (or Máaz), the Navajo name for Mars. The image was out of focus but showed that the camera was working. Sherloc's WATSON (---) and ACI (Autofocus and Context Imager) cameras were also tested, and charging of the helicopter continued. The SCAM tests were repeated on sol 12 with proper focus, and the arm was unstowed, moved and restowed to check its functions. The MOXIE instrument which would extract oxygen from the atmosphere was also checked to prepare for the first such experiment on Mars, and ZCAM took multispectral images of Máaz. The testing continued on sol 13 with SCAM checks of its RAMAN and LIBS capabilities and small movements of the wheels to ensute they could be steered properly. Perseverance's first drive on Mars was performed on sol 14, moving forwards (southeast) about 6 m, and documented the move with imaging. The second drive, on the next sol, moved it 36 m north through the region where the helicopter Ingenuity would be deployed. RIMFAX collected radar data to study subsurface structures during the drive. Before the drive started SCAM collected its first LIBS data from a rock between the wheel tracks left by the first drive, the target Tselhchee (Navajo: Tsé Lichii, 'red rock'). The sol 15 drive was shorter than intended to avoid sand hazards, so the next sol's drive would be extended to reach a safe place where protective covers under the rover could be dropped. The drop-off location had to be over 30 m from the helicopter flight zone so the reflective hardware would not confuse the helicopter's autonomous navigation system. The sol 16 drive could not be lengthened to 45 m as desired because stereoscopic imaging was insufficient for planning to that distance, so a 27 m path to the east was driven. Just before the drive, SCAM and ZCAM investigated the largely dust-free rock Yeehgo. After the drive Navcam looked for clouds and dust devils and ZCAM viewed the Sun to estimate tau, the degree to which dust in the air obscured the Sun. The rover engineers were examining small leaks of lubricant from joints in the arm. The leaks were considered non-threatening, probably occurring prior to launch. On sol 17 the arm turret was imaged in different orientations, the helicopter charging continued and MEDA collected weather data. Testing continued over the next two sols for the arm, the PIXL instrument and MEDA, which was collecting data while one of its wind sensors was currently disabled for analysis. On sol 20 Perseverance drove 25 m east to a place where it could discard its covers, again using RIMFAX. Just before the end of the drive the rover imaged the areas where its two covers would be dropped. Then on sol 21 the WATSON camera on the arm imaged the underside of the rover. The first cover, the Belly Pan, was dropped on sol 22 with further WATSON imaging to document the process. The rover backed away from the drop site, imaged the belly pan, turned and drove back about 5 m on sol 23. ZCAM measued tau again. The images of the belly pan showed some unexpected debris inside the pan and the rover team considered driving back to investigate it. On the next sol the sample handling system and drill bit carousel were released by firing explosive bolts on a cover now that the belly pan was gone, and WATSON again provided documentation via a mirror. The set of EDL cameras were still in the process of downloading their many images on sol 25. Compressed images had been transitted first but now better quality images were downlinked. SCAM took some long distance RMI images of the delta on sol 26, images planned on sol 24 but not taken due to a fault, and engineering tasks continued into sol 27 as the rover worked through readying its many systems. SCAM and ZCAM examined a rounded gray rock named Iina (life), typical of the local area and not very dusty, on sol 28, and the rover transmitted more full resolution EDL images. On the next sol the rover moved back towards the belly pan, and on sol 30 it imaged 'schmutz' (debris) on the pan and dropped the Helicopter Debris Shield, a box which protected the helicopter during landing. SCAM examined the debris on the pan and the surface nearby (target Keyah), WATSON imaged the debris shield lying on the surface under the rover and then the arm was stowed again. SCAM and ZCAM viewed the belly pan again on sol 31, after which the rover backed away from the debris shield to expose it for Navcam imaging and then drove --- m back towards the landing site. Meanwhile the science team were beginning to look a year ahead to decide whether they would direct Perseverance clockwise or counter-clockwise around Seitah to reach the delta. The clockwise path was shorter but required crossing difficult terrain in Seitah. On sol 32 the rover moved south, skirting a large sandy ripple to pass between it and the landing site. After long distance RMI imaging of some rocks on sol 33, ZCAM took multispectral images of the landing scour marks and then Perseverance drove west and north to approach the airfield, the area where it would drop the helicopter. This 10 m by 10 m area was now given the name Wright Brothers Field. RIMFAX was used during the drive. On sol 34 ZCAM took multispectral images of the rock Ahééh (gratitude) in the landing scour where the surface had been swept clear of dust, but SCAM observations were dropped from the plan. The RMI took some long distance images to check its focus, and then the rover moved 6 m north to the helicopter drop-off location, again using RIMFAX. Perseverance looked for dust devils with Navcam on sol 35, and then WATSON imaged the helicopter in its stowed position under the rover. Other observations were limited because MRO was in safe mode, limiting rover data transmission for planning. A ZCAM mosaic of the area and an RMI observation were dropped for that reason and ZCAM imaged the sky for calibration purposes instead. A lock holding the helicopter was released on the next sol, documented by WATSON, and the hills to the northwest known as Santa Cruz were targeted by ZCAM and SCAM to look for outcrops, in case they might be more accessible than those in the main delta. On sol 37 the helicopter was allowed to drop on one side, swinging down about 22 degrees-------, and documented by WATSON again. ZCAM took multispectral images of a pitted rock called Hedgehog. Features and targets in this quadrangle were being named in the Navajo language until now, but the existing bank of names had been exhausted and pending further advice from the Navajo Nation names were now taken from the fauna and flora of Northern Arizona in the Canyon de Chelly region. Ingenuity was lowered to a vertical position, hanging under the rover, on sol 38, and viewed by WATSON. SCAM and ZCAM observed Seitah and Barrel, a rock in the scour, and ZCAM imaged Santa Cruz. SCAM also calibrated its laser system and used its microphone, which carried out an extensive program of sound recording throughout the surface mission. Results presented in 2022 showed that the speed of sound was lower in the atmosphere of Mars than on Earth and that other than rover operations there were few natural sounds to record, in part because sounds did not propagate far in the thin atmosphere (ref-----). Engineers were concerned that the helicopter antenna might touch a belly pan cable under the rover when it drove away, and delayed the final deployment of Ingenuity while they considered the situation further. Two of Ingenuity's four legs were already in place after it rotated to vertical, and the remaining two legs were deployed on sol 39 with WATSON documentation. ZCAM was calibrated on sol 40 while the helicopter analysis continued. Sol 41 was supposed to be dedicated to a final helicopter charging session, but this was replaced with SCAM calibration and ZCAM tests and analysis by both instruments of a dark, nearly dust-free rock called Beavertail. The helicopter deployment was approved and the final charging occurred on sol 42, so its battery would be fully charged before deployment. MEDA was used during the sol as it was frequently throughout the mission, though it had to be turned off prior to the firing of small explosive devices used in stages of the helicopter deployment. On sol 43 Ingenuity was deployed and took its first two images, one with the down-facing navigation camera, the other with the forward-canted colour camera. The first communication session between Ingenuity and Perseverance took place next and the rover transmitted data directly to Earth to confirm deployment (not waiting for an orbiter pass to transfer data). Then Perseverance drove away 5 m to the north, allowing the helicopter's solar panel to take on the job of charging its battery. On sol 44 Ingenuity transmitted data to the rover, and then Perseverance turned 180 degrees----- to image the helicopter, which was only visible to the rear Hazcams before the turn. ZCAM imaged the horizon, the helicopter and nearby rocks, and while most attention was on the helicopter the science team began planning future science observations. Images taken by the various EDL cameras were still being transmitted in uncompressed form when time and power permitted. On sol 45 WATSON, mounted on the robotic arm, made its first rover self-portrait. It was supposed to include the helicopter but an arm fault interrupted the sequence. ZCAM imaged Ingenuity and also took pictures of the arm turret in each position as it made its selfie. A repeat of the selfie was successful on the next sol along with SCAM and ZCAM observations of rocks called Peppermint and Prickly Pear. The helicopter released its blades on sol 47, imaged by the rover, and then Perseverance drove 40 m north and east towards a pre-selected area from which it could observe the first helicopter flights safely. RIMFAX probed the subsurface during the drive, as it would on most drive sols. Ingenuity's own cameras took images again after the blade movement, showing the shadow had changed. Ingenuity's blades were moved slightly to test operations and then spun up briefly on sol 48, imaged by ZCAM, and the rover drove another 17 m east, passing south of the belly pan and debris shield. On sol 49 a high speed spin test for the helicopter blades failed and Perseverance moved another 12 m east through a rock-strewn region on its way to the helicopter flight observation site, which was given the name Van Zyl Overlook after -------. Another helicopter software fault interrupted diagnostic activities on the next sol, while Perseverance imaged the area preferred for flight observations, a few meters from the previously chosen site, and Navcam looked for dust devils. While parked for helicopter observations the rover would study the local rocks, so three potential workspace targets were considred to help select the best parking location. SCAM analyzed a rock called Tselhbahih on sol 51 and ZCAm took multispectral images of it as work on Ingenuity and instrument calibration continued. Navajo names were again available for this and future targets. On sol 52 Perseverance moved 12 m to its parking spot, using RIMFAX to probe the subsurface, and NavCAM looked for dust devils. SCAM and ZCAM examined a laminated rock called Dzilh on sol 53, flight software files for Ingenuity were sent via MRO and helicopter testing continued at JPL. By sol 54 the helicopter was deemed ready to fly. SCAM and ZCAM examined the delta, WATSON imaged Dzilh and ZCAM continued building mosaics of the surroundings. This site was now referred to as the Daren Lee Memorial Workspace 'near the Van Zyl overlook'. Lee -----. A high speed spin test of Ingenuity's rotors was successful on sol 55, building up to flight speed but not lifting off the ground. Perseverance took images and video of the test nd SCAM and ZCAM investigated Dii (Navajo for 4). The last flight software files were sent to Ingenuity on sol 56, SCAM used its laser on a probable vein called Bidziil (Navajo for strength) and its RMI on the same rock at Abinih (Navajo for morning), and ZCAM imaged Bidziil and the surrounding landscape. SCAM and ZCAM analyzed Dzilh on the next sol, including the first SCAM Raman analysis on Mars, and Navcam looked for dust devils as the helicopter was prepared for its first flight. A MOXIE operation was cancelled to reduce the volume of data collected in the plan. Ingenuity's historic first flight occurred on sol 58, the first flight anywhere beyond Earth. MEDA measured weather conditions and Navcam and ZCAM took images and video of the event. Ingenuity rose to an altitude of 3 m, rotated clockwise by 95 deg----- and landed safely almost exactly where it had taken off. Perseverance received files from the helicopter on sol 59, calibrated the SHERLOC instrument, imaged the surroundings with ZCAM and ran MOXIE to generate oxygen during the night. The arm was left in a raised position called 'Lady Liberty' (resembling the Statue of Liberty), not stowed in front of the rover, so it would not block the next sol's observations. On sol 60 SCAM and ZCAM investigated Hozho ('happiness', a rock with a vein), ZCAM imaged the landscape and a target with a flat rock and ripples called Di Ka (square). Ingenuity flew again on sol 61, rising 5 m and then flying 2 m towards the rover. Then it returned to its original location and landed very close to its original site again (Figure ---). The rover observed the flight and used SCAM and ZCM on Dzilh again. After the flight Navcam looked for dust devils. Files were transmitted from Ingenuity to the rover on the next sol and WATSON took calibration images and viewed the target Dii, moving the exact target to avoid striking the surface. RMI imaged part of Kodiak, a prominent hill thought to be an erosional remnant of the delta, and ZCAM took data for a photometry experiment. File transfer from Ingenuity concluded on sol 63 and the rover tested its visual odometry system, which would be essential for future planning. The helicopter took its third flight on sol 64, flying 50 m north at a height of 5 m and back to its starting point (Figure ---). Perseverance imaged the flight and ZCAM completed its large survey of the scene around it. SCAM analyzed Dii, Navcam looked for clouds and ZCAM took more photometry images. The rover drove 9 m on sol 65 to test its visual odometry software, after SCAM and ZCAM imaged part of the delta. ZCAM also imaged the sunset and anti-sunset regions of the sky as part of its photometry experiment. Another 9 m drive on sol 66 tested visual odometry with curved drive segments rather than straight lines, and another test checked the simultaneous operation of helicopter communications and a microphone in the SCAM instrument. On the next sol Perseverance checked video recording modes and ZCAM imaged the new workspace, which was designated site D in a set of candidates labelled A, B, C and D, all parts of Alternative Workspace 3. Site D had the best combination of flat light-toned 'paver' rocks, darker high-standing rocks and soil. The awkward planning designations were replaced with a Navajo name: Baa big han (outdoor oven). SCAM analyzed a flat 'paver' rock called Likhan (delicious) and Navcam viewed the Santa Cruz hills to prepare for a future RMI session, but the hills were slightly outside the image. Ingenuity's 4th flight on sol 68 was halted by software as it prepared to take off, just after local noon. Navcam looked for clouds and ZCAM measured dust in the sky. The flight problem was understood well enough to try again on the next sol after an early morning RMI view of Seitah and multispectral ZCAM imaging of Seitah and Kodiak. RMI images of Santa Cruz were postponed until suitable Navcam images were available for targeting. The helicopter flight took place on sol 69, extending 133 m to the south at 5 m altitude to survey the next landing area and returning to land near the original deployment site (Figure ---). The flight was recorded in images and video as well as by the SCAM microphone, but after alnding its images were not transmitted to the rover. SCAM also used its laser on Di ch iizh (Navajo: rough texture), WATSON imaged the same target and Navcam looked for dust devils. Perseverance also tested a new communication relay mode with MAVEN which promised to increase data transmission rates. Ingenuity's missing images were recovered on sol 70. The rover tested PIXL but in the process the camera mast experienced a fault and its operations were halted, so SCAM and ZCAM data on Kodiak, Likhan and Di ch iizh, and two new targets called Hadahastsaa (bowl-like depression) and Tsewozitah (many pebbles) were lost. RIMFAX was able to collect some stationary observations of the subsurface. The mast was restored to use on sol 71 so the SCAM laser was used on Hadahastsaa, ZCAM gathered multispectral data on Likhan and Di ch iizh and WATSON imaged the distinctive lumpy texture of Tsewozitah. SCAM and ZCAM imaged regolith and a target called White Rock on sol 72, and Perseverance successfully tested communications with Ingenuity while using the mast instruments. Navcam looked for dust devils, and later in the sol the rover drove 20 m towards a new workspace using visual odometry to guide its path. On sol 73 ZCAM imaged the previous workspace and SCAM's spectrometer analyzed two parts of it, one area heated by the rover's RTG and one area not heated, to see if there was any difference. result?-----. Then Perseverance drove another 10 m, imaged its new location and looked for clouds. The mission's formal support for helicopter testing ended on the next sol, freeing the rover for more science. ZCAM imaged the new workspace and its flat 'paver' rocks suitable for WATSON close image testing, and the arm and PIXL were tested. Thermal tests of WATSON followed on sol 75 with a Navcam dust devil survey and SCAM and ZCAM analysis of Nataani (Navajo: leader). Ingenuity made its fifth flight on sol 76, departing the Wright Brothers Field and landing --- m south at its first new landing area, Airfield B, with ZCAM and Navcam imaging and SCAM sound recording. The initial WATSON arm tests were concluded, RMI and ZCAM imaged Santa Cruz in the afternoon and Kodiak and the delta early the next morning. Perseverance's new workspace was named Di Bahi (powder, for its dusty surface). WATSON would be tested for very close imaging by placing it just above the surface. It was protected from hitting the surface by contact sensors, but for the first tests of this system a very flat target was needed to simplify operations. On sol 77 ZCAM measured tau (the level of dust in the atmosphere), Navcam looked for clouds and WATSON and ACI imaged the sky for calibration, but other activities were lost as the rover did not receive commands for the sol. ZCAM imaged Butler Landing (as the name was often abbreviated) and Di Bahi on sol 78, Navcam looked for dust devils, and the SCAM and ZCAM examined the distant rock Chal (frog) and Nataani. WATSON made its closeup images of Nataani, part of Di Bahi, and MOXIE extracted oxygen from the air. SCAM, WATSON and ZCAM investigated a shiny rock called Tsetah (rocky), SCAM was used on the distant target Tsehzhin (black rock) and ZCAM looked at Nataani on sol 79. The WATSON imaging included stereoscopic observations. On the next sol ZCAM took multispectral images of Nataani and the arm was exercised by pushing its two drill stablizers against the rover body. MOXIE operated again with the SCAM microphone recording sounds during the operation. Ingenuity transmitted more data and images to Perseverance on sol 81 and Navcam looked for clouds. Early the next morning ZCAM took multispectral images of Nizhoni, a group of dark rounded rocks west of the rover. RMI imaged Ingenuity, SCAM analyzed Nataani and SCAM, WATSON and ZCAM analyzed Ahil hane (Navajo: conversation), a high-standing part of Nataani. The arm was pushed against the surface in its first pre-load operation, as needed for future abrasion or sampling activities. Sol 83 began with SCAM and ZCAM multispectral imaging of Seitah. Later SHERLOC was used for its first spectroscopic study of Nataani, with ACI and Hazcam imaging followed by SCAM laser data. A drive with RIMFAX operating on sol 84 was cut short during a turn when software detected a possibly excessive tilt, considered to be the result of poor data rather than true tilt. Before the drive soils at Sei (sand) and Naakih (two) were compared by SCAM and ZCAM and Navcam looked for dust devils. Sei was a fine-grained mobile sand and Naakih was a coarser stable soil. On sol 85 Navcam looked for clouds and the rover conducted thermal engineering tests which precluded other operations. Perseverance used ZCAM on targets A yani, Taa, Hoolhnili and Naatsiilid on sol 86, and SCAM also examined the latter two targets. A yani (buffalo) and Hoolhnili (respect) stood higher than other nearby rocks, Taa (three) was a raised ridge or vein and Naatsiilid (rainbow) was divided into light and dark zones. Navcam looked for dust devils and then the rover moved another 5 m to its intended new workspace as RIMFAX collected data. SCAM and ZCAM studied Hatsah tsaadah (Navajo: sixteen, a target on the top of a dark rock) on the next sol and the arm was tested by positioning it as if to pick up or drop off a sample bit, gradually tesing every step in the upcoming sampling operations. Navcam looked for dust devils later in the sol. Before rocks were given names they received target numbers and Hatsah tsaadah had been target 316 earlier. WATSON and ZCAM viewed the new workspace on sol 88 and the rover used SCAM and ZCAM on Tsostid tsaadah (seventeen, also on the dark rock). Navcam looked for dust devils and parts of the sample caching system were tested including Cachecam, designed to image the caching process. Those tests were interrupted by a fault and would have to be repeated. Later SCAM examined Tseebi tsaadah (eighteen), and early on the next morning Navcam looked for clouds. An overflight by MAVEN was supposed to transmit some commands to Perseverance but an unexpected maneuvre of the orbiter prevented the relay session. The commands had been received by MRO earlier with MAVEN as a backup, but the unexpected bahavious was a cause for concern. Sol 89 began with a Navcam cloud survey and the first test use of the PIXL context camera (it imaged part of the rover), followed by WATSON, SCAM and ZCAM activities on Taa Ihaaih and SCAM RMI evening imaging of Hatsah tsaadah. Another cloud survey by Navcam followed. Ingenuity transferred more data to Perseverance on sol 90 and SCAM and WATSON were used on Tsostid Tsaadah. SCAM's laser analyzed the target and cleared it of dust prior to the WATSON imaging. The rover tested sensors in its gas dust removal tool (gDRT), not a brush as on Curiosity but a jet of compressed gas. Another Cachecam test failed and precluded a second part of the gDRT testing. MEDA, which was used frequently throughout the mission, failed briefly durong the afternoon before recovering two hours later. SCAM and ZCAM observed Alk es disi (candy, an interesting clast in the dark rock) on sol 91 and ZCAM imaged the surroundings. Then Ingenuity flew its sixth flight, southwest to the edge of Seitah and then back to the northeast a short distance, but it experienced an unexpected deviation from its path. It landed successfully, starting a new phase in its operations as it scouted ahead of the rover to help with traverse planning and target selection. Then Perseverance drove 20 m to the south using its autonav software to help plan the path, itself entering a new phase as it transitioned from landing site characterization to its crater floor sampling campaign. MEDA had recovered and operated successfully during the sol. RMI imaged Seitah on sol 92 and SCAM and ZCAM examined Naadiin (twenty) and Neeznaa (ten). Ingenuity transmitted data to the rover and the Cachecam test was successfully completed. The camera mast was also tested and Navcam looked for dust devils. The next sol began with completion of the mast testing and SCAM and ZCAM imaging of Santa Cruz. A test of PIXL failed, halting arm operations which in turn prevented WATSON from imaging rock at Bi la sana (apple). On sol 94 the sample handling system was tested and SCAM and ZCAM examined Neeznaa-2, a different part of the Neeznaa target. The sample handling test concluded on the next sol and Navcam and ZCAM looked for clouds, following that with some early morning imaging of the landscape on sol 96. Later on sol 96 ZCAM obtained multispectral images of Alk i sikad (layers), a layered outcrop in Seitah. Originally a target south of the rover in a region of Seitah nicknamed Seitah Thumb (from its appearance on maps) was preferred to help plan a future excursion into Seitah, but Alk i sikad was seen in Ingenuity images from flight 6 and seemed easier to reach (Figure ---). ZCAM also imaged Hastah tsaadah, SCAM invesigated Dani dit ihi (----), Ashdla and Naadiin, and MOXIE prepared itself for another oxygen generation run. The arm was positioned using Hazcam images for targeting for the first time, WATSON took images of Bi la sana and Navcam looked for clouds. PIXL obtained its first x-ray spectra on sol 97, on its calibration target rather than the surface. WATSON imaged Bi la sana and ZCAM measured dust in the atmosphere, while the sample caching system was tested again. Bi la sana was targeted by ZCAM and SHERLOC on the next sol, SCAM analyzed Ashdla-2, ZCAM viewed Hastah tsaadah and Navcam looked for clouds and dust devils, and finally, overnight, PIXL was used successfully. Perseverance drove again on sol 99, using Autonav to detect a hazard and stop to avoid a collision for the first time. The 16 m drive was planned to include that hazard to test the process. SCAM viewed two targets in Seitah, one the inner wall of a 200 m crater, and Navcam looked for dust devils before the drive and ZCAM imaged the new location after the drive. Sol 100 was the start of the crater floor campaign during which the first samples would be collected, and plans now called for Perseverance to drive south and west around Seitah's thumb region, sampling the plains outside Seitah and accessible outcrops within it. Ingenuity would scout ahead to help plan driving routes, especially for access to Seitah, and look for sampling targets. MOXIE produced 7 g of oxygen on sol 100 as the SCAM microphone listened, and Navcam again looked for clouds and dust devils. SCAM used its laser on sol 101, targeting Dabikooh (Navajo: gullies or cracks, a layered rock), Dahazkah (butte) and Bee sh (knife), and Navcam looked for dust devils and evening clouds. ZCAM took multispectral images of the laser targets on sol 102 and imaged its surroundings, and then the rover moved 49 m south----. SCAM analyzed As dzoh (inch, or marked) and Niyol (wind) on the next sol and ZCAM imaged the latter target and its surroundings. Navcam looked for clouds and the rover moved another 24 m towards its first major Seitah survey position ('imaging point 1')and viewed its surroundings. Early on sol 104 SCAM took passive spectra of the sky. Later, ZCAM measured atmospheric dust and imaged the surroundings, and SCAM and ZCAM analyzed a dark drift, possibly containing olivine, at Sei dey yilkid (sand dune) and a flat 'paver' rock called Ad ees eez (foot). Perseverance drove another 40 m -----direction?, surveyed atmospheric dust again and performed a dust devil search. SCAM and ZCAM examined the flat dust-free rock Adaa daa (yesterday) on sol 105 and ZCAM imaged Seitah before the next drive of 27 m. ZCAM viewed Seitah again and Navcam looked for clouds after the drive. Ingenuity was supposed to fly just before the drive but was prevented by a software timing issue. The rover was now approaching a 75 m diameter crater called Adziilii (power), which like others in the area was slightly elongated and probably a secondary impact crater. On sol 106 SCAM imaged the rock Lhibah dayhiskid (grey hill) on the southern rim of Adziilii and a ripple crest at Hastaa (six) and Navcam looked for dust devils. ZCAM viewed the flat rock Alk ee aznil (sequence) and Hasta as well as the nearby blocky crater rim, and WATSON examined Alk ee aznil, making its first image mosaic. Perseverance also communicated with Ingenuity to prepare for its next flight. Ingenuity flew its 7th flight on sol 107, moving 106 m ----. Before the flight ZCAM imaged the nearby crater, and after the light SCAM viewed the crater floor and both SCAM and ZCAM analyzed Ad ilidi (acid). Navcam looked for dust devils and then Perseverance moved 10 m -----direction, testing its hazard detection system and stopping as expected near a group of rocks. On the next sol SCAM and ZCAM analyzed a flat 'paver' rock called Jih and RMI and ZCAM vewed Seitah. Targets here were given temporary whimsical names 'gopher' or 'slouching monkey' (a tall dark rock) and 'monkey brain' (a pitted rock). ZCAM also imaged the surrounding landscape and the rover moved 22 m to the west to pass the crater. As with most drives, RIMFAX collected data along the traverse. SCAM and ZCAM analyzed Haa ii aah (sunrise) and Ba ol tai (school teacher) on sol 109 and ZCAM imaged Adziilii crater, taking multispectral images of rocks on the rim. Perseverance received data from Ingenuity and then drove 52 m to the southwest, the longest drive to date. After imaging the new location, Navcam looked for clouds. Perseverance was now passing out of its early mission phase when the mission worked on 'Mars time' at the landing site regardless of the time in California, and into its first period of 'restricted sols' when data from one sol arrived too late in the standard work day to plan the next sol. In the morning of sol 110 SCAM and ZCAM viewed a large rock, Taa tsaadah (thirteen), nearly 60 m southeast of the rover, analyzed fine and coarse patches of regolith at Lha tsaadah (eleven) and rock at Naakih-tsaadah (twelve). ZCAM also imaged a small impact crater called Be ehkid (lake), shown in Figure ---. Then Perseverance drove 58 m, viewed its surroundings and looked for clouds. SCAM made passive sky observations early on the next sol. Later ZCAM imaged Seitah North, a potential entry location if good outcrops were available. Navcam looked for dust devils and made a panorama of the site in higher resolution than it usually adopted for drive planning. SCAM was calibrated and some engineering maintenance was done. SCAM and ZCAM analyzed a flat 'paver' called Tseebii and Da deest lin (Navajo: dam) on sol 112, and ZCAM imaged Seitah, Adziilii crater and Tsa tsaadah, a block on the crater rim, though its view of a potential access route into Seitah North was poor. The science team were trying to decide if their goals could be met at Seitah North wihout having to drive to Seitah South. A rock near Adziilii's rim (----CHECK - is it Tsa tsaadah???---) was referred to as 'Harbour Seal' from its appearance, though the very informal nickname had already been used at the landing site (Figure ---). MEDA ran successfully with new software and part of a helicopter software update was received by Perseverance. Perseverance used SCAM and ZCAM on targets Mussih (cat) and Hagooh (come here) on sol 113. SCAM also examined Pilot Pinnacle (Fiure ---), a small distant hill which might be visited later and could be a small remnant of the eroded delta. ZCAM viewed Mussih, a low drift or ripple and part of Seitah North before the rover undertook an important 36 m drive with RIMFAX on. This was the first time autonav was used routinely rather than as a test of its capablities and its success allowed its use for much longer drives in future. Perseverance imaged its surroundings and the next drive direction after the move, and received helicopter software update files from MRO. On the next sol Navcam looked for clouds and dust devils, ZCAM viewed the surrounding landscape and Ingenuity's software was updated successfully to prepare for future flights. Sol 115 began with a ZCAM tau measurement (atmospheric dust) and SCAM and ZCAM observations of the distant rock Nilaydih and a nearby regolith target called Queh eh. ZCAM also viewed a ripple called Hodilkooh and WATSON imaged Queh eh, and the rover checked its drill bit handling system and arm. Perseverance drove again on sol 116, moving 47 m south ------, after SCAM and ZCAM observations of the distant Artuby ridge and ZCAM imaging of regolith at Cheshkeh (arroyo) and layered rock at Nabinibidii (side of an elongated hill). Artuby was far enough away that it lay in the next mapping quadrangle, Vernon, so its name was French, not Navajo, referring to a canyon in southern France) After the drive Ingenuity tested its new software by spinning its rotors, and on sol 117 Navcam looked for dust devils and ZCAM viewed the ground around the new location. Perseverance was now at a viewpoint called Imaging Stop 3 which was important for mission planning as the team tried to choose between the northern and southern Seitah sampling options. The rover would not drive far into the complex topography of Seitah so the short incursion, whether north or south, was called a toe-dip. Artuby formed the boundary of Seitah south of the 'thumb' area and included the potential Seitah South sampling area, so the rover examined Artuby with SCAM on sol 118. SCAM also analyzed a coarse-texured rock called Whila (I don't know) and ZCAM imaged Whila and parts of Seitah South, though the intended sampling area was blocked from view. Next the rover tried to seal a Witness Tube, the first of its sample tubes to be used and intended only to record any contamination acquired during flight and surface operations. A software fault halted the operation. Later Navcam looked for clouds. SCAM analyzed pavers near the Seitah North access area on sol 119 and ZCAM imaged more of the current workspace. Planning discussions had included more activities including WATSON imaging of Durango, a light spot on a nearby rock, and SHERLOC, PIXL and SCAM analyses of Mustang on that rock, as well as ZCAM observations of erosional remnants of the delta called Mariner and Mirage. SCAM would take data at Pacifica within the ZCAM image area. Ingenuity flew 160 m south on sol 120, its 8th flight. Before that SCAM analyzed a Seitah target called Dani dit ihi (Figure ---) and used its RMI to view Seitah again, and after the flight the witness tube was sealed successfully. On the next sol SCAM took passive spectra of the sky, Navcam looked for clouds and dust devils and ZCAM looked across Seitah to Kodiak. Perseverance tested its autonav hazard avoidance system on sol 122 by finding and driving aroumd a hazardous rock and a group of small ripples. Before that it received files from Ingenuity and viewed Seitah, the Santa Cruz hills and the rock Tsidii (bird) with ZCAM and Seitah with SCAM. During the following morning SCAM and ZCAM observed the distant Pilot Pinnacle (Figure ---) which was another possible delta remnant, the rock Akeeh (foot print) and soil at Whoosh (cactus). ZCAM also imaged Santa Cruz and a ripple feature south of the rover. Later the rover sent software update files to Ingenuity and drove 74 m south, breaking its record distance again. SCAM and ZCAM were busy again on sol 124, viewing more features of interest in Seitah. SCAM used its RMI on Akeeh and ZCAM imaged Tse dadeeza (rocks extending out) and other landscape features. Ingenuity checked its new software and Perseverance moved 9 m to reach a new site of interest. The microphone was used frequently though rarely mentioned here, listening to sounds made by the LIBS laser and various rover operations as well as the wind. -----ref to speed of sound paper -------. PIXL had been tested but on sol 125 it was placed on the surface for the first time and analyzed its composition. The target, a flat, dust-free rock called Naltsos (paper) was also imaged By WATSON. ZCAM imaged the surroundings and workspace later in the sol and more EDL images were transmitted at full resolution. Naltsos was inspected by SCAM and ZCAM on sol 126, and later Perseverance drove 25 m towards the North Seitah overlook site where the potential access area culd be examined in detail. The drive was cut short by a sensor reading as a wheel crossed a rock, and later Navcam looked for clouds. On the next sol SCAM and ZCAM examined Kad (now) and then the rover tried to complete its drive to the overlook. Another rock caused an unacceptable tilt of one of the bogies and the drive was cut short after 40 m. RIMFAX was used during the drive as it was on most driving sols. Later ZCAM imaged Seitah and the rim of Jezero crater and Navcam looked for dust devils. Perseverance was at a point suitable for imaging the potential Seitah North access point and on sol 128 SCAM and ZCAM viewed Seitah. Navcam looked for dust devils and the rover then drove 3 m to extricate itself from the rock which had interfered with its drive. Late in the sol ZCAM viewed Artuby with a low Sun angle to help understand the topography and Navcam looked for clouds. Next morning ZCAM imaged Jahdih and Seitah, and RMI imaged parts of Seitah and Artuby. SCAM also took data from a future area of interest where the geological unit called 'Crater Floor Fractured rough' (CFFr) was visible to the south, in the angle of Seitah's thumb (Figure ---). Then the rover drove 53 m southeast using Autonav to avoid a 'keep out' safety zone around Ingenuity, which was currently in a smooth area east of the rover's track. This drive brought Perseverance out of the Canyon de Chelly quadrangle and into Verdon, in which French names would be used. On sol 130 SCAM and ZCAM investigated Raton (raccoon), a rock with patches of different colour, and a paver called Lapierre (literally 'the rock' rather than commemorating a person or place), WATSON performed a focus test and ZCAM took images for a long distance stereoscopic observation ------. The rover then drove 129 m south, using Autonav for most of the distance. This was Perseverance's longest drive yet, bringing it past 1000 m in total distance, and it also broke an Opportunity record for longest autonav-directed drive on its sol 385. SCAM and ZCAM analyzed another paver, Cheval Blanc (White Horse, referring to a French mountain), on sol 131 and the rover then drove 110 m south using Autonav. SCAM collected atmospheric data and the rover communicated with Ingenuity in preparation for its next flight. On sol 132 Navcam looked for clouds and dust devils and ZVCAM looked ahead to an area of paver rocks where a first sample might be taken. This area of fractured slabs was named Polygon Valley. SCAM also collected passive sky spectra. The next sol began with SCAM analysis of a small rock fragment called Pierrefeu. Ingenuity flew 625 m southwest across the Seitah thumb area, its longest flight to date, as Perseverance recorded sound with the SCAM microphone. The complex topography of Seitah complicated the helicopter navigation process and Ingenuity landed 40 m from its target. Then SCAM viewed Polygon Valley and Navcam looked for clouds and dust devils. ZCAM imaged Pierrefeu on sol 134 and SCAM and ZAM investigated the dark pitted fragment Villeplane, after which Perseverance drove south. It halted early after 95 m although planners had hoped for at least 100 m, possibly as much as 150 m, and then ZCAM imaged Polygon Valley again. The pattern of morning science followed by a drive continued on sol 135 with ZCAM images of Seitah, SCAM and ZCAM analysis of Castellane and a 107 m drive. This traverse brought the rover south and then southwest, downslope into an area of paver rocks where ZCAM imaged its new suroundings and Ingenuity transmitted data from its recent flight. The next sol was similar, starting with SCAM and ZCAM analysis of a paver called Champs and multispectral imaging of another paver, Roudoule, which appeared to have a coating of some kind, and then a 37 m drive. Navcam looked for clouds and dust devils and ZCAM imaged the CF-Fr 'campsite' region ahead where its first sample was anticipated. More helicopter images of Seitah were received for relay back to Earth, views of places the rover could not reach easily, showing one of the valuable roles aerial vehicles might play in future. The SCAM and ZCAM target on sol 137 was a paver called Roque, and ZCAM looked ahead to its potential sampling area. A 38 m drive brought the rover to its target rock, Foux (fool), where SCAM's microphone listened for natural (not rover-generated) sounds and then Navcam looked for dust devils. SCAM and ZCAM analyzed Foux on sol 138 and ZCAM looked at nearby rocks. WATSON and PIXL examined the target Beaujeu (nice game) near Foux and SCAM's RMI viewed Saussette (a place in southern France). Perseverance began the next sol with ZCAM multispectral images of Beaujeu, Saussette and nearby rocks and SCAM analysis of Mirabeau (another place in southern France). WATSON imaged Foux, Navcam looked for clouds and PIXL analyzed Beaujeu again, this time overnight. Work continued on sol 140 with SCAM studies of Beaujeu and Cherrier, ZCAM images of Beaujeu and a Navcam dust devil search. SCAM and ZCAM examined a paver called Salles on sol 141, WATSON imaged Beaujeu and SHERLOC analyzed Foux and later was to examine Beaujeu, but a temperature sensor halted the operation. Navcam looked for clouds and SCAM made passive sky observations early the next morning. The multiple studies of Foux and Beaujeu enabled comparisons between the different instrument datasets to help interpret the results. SCAM and ZCAM imaged Beaujeu on sol 142 and the rover began preparing for the first sampling system operations. First the turret had to be cleaned of any contaminants, but the cleaning was prevented by a temperature fault (inadequate pre-heating) and had to be rescheduled. Later the Navcam looked for clouds and dust devils. ZCAM imaged the surroundings on the next sol and some atmospheric dust and weather measurements followed, but an arm contact operation was halted by a software conflict. Perseverance continued with a dust devil survey on sol 144, SCAM and ZCAM images of the crater rim to the southwest and of Foux, and then a cloud survey. SCAM and ZCAM analyzed a rock called Mont Brune and regolith with varying grain size at Croix on sol 145. ZCAM looked ahead to its next drive target and Navcam looked for clouds, and the turret cleaning was reattempted but failed again. The next sol began with a dust devil search and atmospheric observations, planned as part of the preceding sol's commands before the new sol's instructions were carried out. On sol 146 SCAM and ZCAM made long distance observations of Mure, the easternmost section of Artuby. SCAM analyzed a dark rock called Coupe and Navcam looked for dust devils and clouds. On the next sol the turret cleaning operation was finally concluded. It involved shaking (percussing) the drill at high frequency in several arm orientations and while in contact with the ground ('contact percussion site' in Figure -----). Also on sol 147 SCAM analyzed a dark projecting rock called Pepin, SCAM and ZCAM made long distance observations of a carbonate-bearing area near the western rim of Jezero, and Navcam looked for clouds and dust devils. ZCAM also imaged the Salles area. The next major step in preparing the sampling system for operation was to discard a bit held in the sampler to keep it clean during flight and surface operations, the Flight Abrasion Bit. After a dust devil survey early on sol 148 and WATSON imaging of the bits in their carousel on the rover, the bit was placed on Beaujeu and rotated and percussed to abrade the rock, making a circular pit. The bit was released and left standing in the hole. It had fallen over by the time Perseverance passed it again on sol ----- on its return journey. Then SCAM analyzed Gironde. On the next sol Navcam looked for clouds and dust devils, RMI viewed Daluis and ZCAM imaged Kodiak and later Gironde. Sol 150 began with an SCAM analysis of Clave, a target thought to contain olivine grains, and RMI views of the distant target Bosquet. ZCAM imaged those targets and the rock Harpille which had been broken by the rover wheels, after which the turret was cleaned again and used to pick up a clean abrading bit. The arm was stowed for driving and instructions were sent to Ingenuity to prepare it for its 10th flight. A flight software update was installed on sol 151. Then SCAM and ZCAM analyzed the paver rocks Charamel and Reglet, which included patches with variable shading and a fracture, and ZCAM took multispectral imges of the cuttings (or tailings) from the sol 148 abrasion. Finally on that sol Navcam looked for clouds and dust devils. The next sol began with SCAM and ZCAM data from Clave and ZCAM images of Seitah South. Then Ingenuity flew a course around the Raised Ridges area south of Seitah, which was considered as a possible target for Perseverance based on HiRISE images. The ridges did not seem important enough based on Ingenuity images, and they were never visited by the rover. ZCAM took multispectral images of Colmars, WATSON imaged the same target and Navcam looked for dust devils. After some final views of the Beaujeu tailings and cloud imaging on sol 153, the rover drove 102 m southwards to approach 'Far Pavers', an area of paver rocks which might provide the first sample of the mission. MOXIE was used for 90 minutes on sol 154, generating oxygen as the SCAM microphone listened to sounds made by the MOXIE compressor. ZCAM imaged the sky and Navcam looked for dust devils. SCAM analyzed Mont Long (said to mean 'mount elongated' in mission notes) and Palus (latin term for plains) on sol 155 and RMI imaged CF-Fr rocks. ZCZM imaged Palus and western Seitah. Then Perseverance drove 45 m towards its potential sample site. Drives usually concluded with a 'penultimate' Navcam image showing where the rover would stop, followed by a short drive onto that location, but in this case the final drive segment was prevented by a software fault. RIMFAX was collecting data throughout the traverse around Seitah. Ingenuity sent data to the rover for relay to Earth on sols 155 and 156, and later on sol 156 SCAM was calibrated, ZCAM imaged the horizon and Navcam looked for clouds and dust devils. The final part of the sol 156 plan was an early morning passive SCAM observation of the sky on sol 157, which was one Earth year after the launch of Perseverance. Ingenuity continued transmitting data to Perseverance and SCAM and ZCAM observed a paver rock called Lagne (a village in southern Fance). ZCAM also imaged the proposed workspace before the rover moved 6 m ahead to reach its target and took more images to plan the sampling campaign. Perseverance installed a software patch on sol 158 and its ZCAM imaged the Mure area to the south and southeast. Navcam looked for clouds and dust devils later in the sol. Another dust devil survey occurred on the next sol as well as ZCAM images of the Sun at three different elevations in the sky, surveying atmospheric dust levels. SCAM and ZCAM investigated Castillon and Grand Coyer and ZCAM extended its workspace imaging to the right, an area called Mirabeau. WATSON imaged four candidates for the forthcoming rock abrasion: Guillaumes, Roure, Valberg and Beuil. The first three were sampling candidates, and Guillaumes was chosen for the first abrasion which was carried out on sol 160. The abrasion was a more advanced version of what Curiosity did with its DRT brush or Spirit and Opportunity did with their RAT tools, more like the latter in that a shallow hole was cut into the rock. The abrasion bit was hammered and rotated to cut a circular hole 5 cm in diameter and a few mm deep, in this case on sol 160 about 8 mm deep. Then the cuttings were cleared away by the Gaseous Dust Removal Tool (GDRT), by blowing nitrogen gas from a tank into the hole. WATSON and PIXL examined the clean hole but a fault cut the PIXL activity short. On sol 161 the arm was retracted from the surface and WATSON imaged the abrasion site (Guillaumes) and the location selected for sampling, part of the Roure target now called Roubion. SHERLOC examined Guillaumes and the engineers studied the PIXL fault. SCAM and ZCAM studied Guillaumes on sol 162, Navcam imaged the PIXL instrument to check its oriention and SHERLOC collected more data on Guillaumes. On the next sol SCAM made a long distance observation of Mure and analyzed Guillaumes. Ingenuity made its 11th flight, moving --- m west to its Airfield ---. ZCAM imaged the surrounding landscape and PIXL was stowed successfully, and the sol ended with SCAM attempting to observe Guillaumes and halting due to a fault. The sampling attempt was made on sol 164, first by exchanging the abrading bit for a sample core tube and then by positioning it at Roubion and cutting ino ghe rock. The coring procedure produced a hole and the arm was retracted, but no core was obvious in the tube. On the next sol SCAM was restored to operation and Ingenuity images were transferred to the rover. The borehole was imaged by WATSON during the day and at night using its LED lights, and WATSON also viewed Guillaumes to plan PIXL deployment. The sample core was replaced with an abrading bit. The core collected at Roubion appeared to have crumbled and fallen out of the tube, leaving it empty, and imaging showed that the hole was also empty. The tube had been sealed after coring but now contained only a sample of atmosphere, which was always a goal a some point during the mission, so the tube would be retained. On sol 166 Perseverance imaged under its body and off its left side, looking for any trace of a fallen sample core or fragments. SCAM also analyzed the core cuttings and Guillaumes, Navcam looked for dust devils and ZCAM viewed Roubion. Overnight PIXL was placed on Guillaumes for analysis, taking care to avoid several pits in its surface. PIXL was stowed on the next sol and WATSON took another image off the side of the rover, still looking for any sign of the missing sample. ZCAM viewed the surrounding rocks including several pavers, and SCAM and ZCAM examined the Roubion cuttings. The rover conducted some thermal tests and collected atmospheric data including a cloud survey. SCAM and ZCAM concluded their studies of Roubon and Guillaumes on sol 168 and then Perseverance backed up slightly and drove 32 m south towards the Mure outcrop. Navcam took the usual planning images at the new location and looked for clouds. At Mure on sol 169, Perseverance examined the rocks at the top of the slope rising out of Seitah. SCAM analyzed layers at Baume and unlayered rock at Tartonne and ZCAM imaged Baume and another layered rock called Tercier, as well as the whole Mure area around it. Then the rover moved 54 m west towards an outcrop called Barras. After Navcam and ZCAM imaging of the new location Navcam looked for dust devils and clouds. Sol 170 began with SCAM and ZCAM observations of a paver called Lattes and SCAM views of distant carbonate-rich outcrops. Perseverance drove about 105 m northwest along the margin of Seitah, below the Artuby scarp, making use of Autonav for much of the traverse and probing the subsurface with RIMFAX. Navcam imaged the new location and looked for dust devils. On the next sol SCAM's RMI viewed Var and ZCAM imaged Artuby, Seitah North and Var, and then the rover moved about 112 m northwest along the smooth surface below Artuby. It was moving quickly to reach a possible sampling location as soon as possible. After the drive and imaging of the new location, Navcam looked for clouds. Perseverance stayed at this location on sol 172, looking for clouds and dust devils and performing some engineering tests, as downlink problems with both MRO and TGO precluded detailed planning. The next sol began with SCAM and ZCAM study of Artuby and a possibly layered paver called Entrevaux, as well as a dust devil search. Perseverance drove uphill, closer to the top of Artuby and then along it below the crest, guided by Autonav. A rock halted the drive after 39 m, short of the point where the science team wanted to study the rocks of Artuby. Navcam imaged the surroundings and looked for clouds in the eastern sky. On sol 174 ZCAM imaged Artuby and Navcam looked for dust devils, and Ingenuity flew over 200 m eastwards across Seitah South, viewing outcrops to help plan rover driving and sampling, and returned to its landing area at Airfield H. ZCAM and SCAM imaged Artuby on the next sol and Navcam looked for dust devils. Then Perseverance drove 21 m, first to the northwest and then turning to approach the ridge, and during the night MOXIE ran again to generate oxygen. Communications were still somewhat restricted by a DSN problem at Canberra and the MRO safe mode, but the mission was able to work around them. Early on sol 176 Navcam looked for clouds and dust devils and MEDA collected its usual atmospheric data. On the next sol SCAM and ZCAM investigated targets Grasse, Auribeau and Vaucluse, and Perseverance drove 95 m along the base of Artuby. Ingenuity's images of Seitah from flight 12 were transmitted to the rover for relay to Earth before the drive and Perseverance imaged its new location to help plan the next sol. Sol 178 began with ZCAM imaging of Citadelle, part of Artuby where the next sampling attempt would be made. SCAM used its laser on a granular rock called Aiguines, and the remaining Ingenuity data from flight 12 were received by the rover and passed on to Earth. Then Perseverance drove about 80 m along the base of the ridge and up a ramp to the top, showing the power of the new autonav software. A cloud movie and imaging of the new location followed, and sol 179 began with atmospheric observations.