dark parts of the two-toned rocks, the height of the largest of the bright (light-toned) rocks, and the perched rocks would suggest local deflation of 5 to 60 cm. Thus, there must have been previous deposition on this order. The precise location and relative elevation of Spirit during its traverses from the Columbia Memorial station to Bonneville crater were determined with bundleadjusted retrievals from rover wheel turns, suspension and tilt angles, and overlapping images. Physical properties experiments show a decrease of 0.2% per Mars solar day in solar cell output resulting from deposition of airborne dust, cohesive soil-like deposits in plains and hollows, bright and dark rock coatings, and relatively weak volcanic rocks of basaltic composition. Volcanic, impact, aeolian, and water-related processes produced the encountered landforms and materials. References and NotesDuring the first few Mars solar days (sols) (1) of operations, we determined the landed location in inertial coordinates by analyzing Spiritto-Earth two-way X-band Doppler transmissions and two passes of ultrahigh-frequency two-way Doppler between Spirit and the Mars Odyssey orbiter. The equivalent location in the International Astronomical Union (IAU) 2000 body-centered reference frame is 14.571892°S, 175.47848°E. The location with respect to surface features was derived by the correlation of hills and craters observed in images taken by the Pancam, the Entry Descent and Landing (EDL) Camera, and the Mars Orbital Camera.On the basis of these analyses, the landing site is located at 14.5692°S, 175.4729°E in IAU 2000 coordinates, ϳ300 m north-northwest of the radiometric solution. This offset is consistent with the map tie errors between inertially derived coordinate systems and those derived from image-based coverage of the planet. Localization experiments during traverses focused on systematic acquisition of forwardand backward-looking overlapping images, onboard inertial measurement unit (IMU) observations to derive rover tilt, and tracking the number of wheel turns to provide wheel-based odometry. These observations were employed in a least-squares bundle adjustment to solve for the position and orientation of Spirit in local Cartesian coordinates at discrete locations during traverses (Fig. 1 and Plate 14). In addition, measurements of differential rocker and bogie angles in the suspension system, together with IMU data, were used to reconstruct the elevation of each wheel at a 2-to 8-Hz sample rate relative to the start of each traverse (Fig. 1).Localization results were extracted for 33 traverse segments from the Columbia Memori-

In-Situ Resource Utilization (ISRU) facilitates planetary exploration by drawing needed resources, such as water, from the local environment. This work presents a 3-step in-situ water recovery approach: 1) mining the soil using deep fluted auger, 2) extracting the water from soil within the flutes, and 3) discarding the soil before transporting the water to a main storage facility. Drilling in icy soil and ice has already been demonstrated in vacuum chambers by the authors. This paper focuses on the second critical step: water extraction from the icy soil or ice within the deep flutes. This paper reports on tests demonstrating efficient collection of water from ice-bearing soil under Mars conditions. The water recovery Mobile In Situ Water Extractor (MISWE) breadboard collected as much as 92% of the water initially present in the soil, and required as little as 0.9 Whr/g of energy (80% efficient compared to theoretical). The extraction process took approximately 40 min.