Blue rope lights adorn Dawn mission control at JPL, but not because the flight team is in the holiday spirit (although they are in the holiday spirit).
The felicitous display is more than decorative. The illumination indicates that the interplanetary spacecraft is thrusting with one of its ion engines, which emit a lovely, soft bluish glow in the forbidding depths of space. Dawn is completing another elegant spiral around dwarf planet Ceres, maneuvering to its sixth science orbit.
Dawn’s ion propulsion system has allowed the probe to accomplish a mission unlike any other, orbiting two distant extraterrestrial destinations. Even more than that, Dawn has taken advantage of the exceptional efficiency of its ion engines to fly to orbits at different altitudes and orientations while at Vesta and at Ceres, gaining the best perspectives for its photography and other scientific investigations.
Dawn has thrust for a total of 5.7 years during its deep-space adventure. All that powered flight has imparted a change in the ship’s velocity of 25,000 mph (40,000 kilometers per hour). As we have seen, this is not the spacecraft’s actual speed, but it is a convenient measure of the effect of its propulsive work. Reaching Earth orbit requires only about 17,000 mph (less than 28,000 kilometers per hour). In fact, Dawn’s gentle ion engines have delivered almost 98 percent of the change in speed that its powerful Delta 7925H-9.5 rocket provided. With nine external rocket engines and a core consisting of a first stage, a second stage and a third stage, the Delta boosted Dawn by 25,640 mph (41,260 kilometers per hour) from Cape Canaveral out of Earth orbit and onto its interplanetary trajectory, after which the remarkable ion engines took over. No other spacecraft has accomplished such a large velocity change under its own power. (The previous record holder, Deep Space 1, achieved 9,600 mph, or 15,000 kilometers per hour.)
Early this year, we were highly confident Dawn would conclude its operational lifetime in its fourth orbit at Ceres (and remain there long after). But unexpectedly healthy and with an extension from NASA, Dawn is continuing its ambitious mission. After completing all of its tasks in its fifth scientific phase at Ceres, Dawn is pursuing new objectives by flying to another orbit for still more discoveries. Although we never anticipated adding a row to the table of Dawn’s orbits, last presented in December 2015, we now have an updated version.
in ft (m)
distance of a soccer ball
|1||RC3||04.23.15 – 05.09.15||8,400
|3||HAMO||08.17.15 – 10.23.15||915
|12.16.15 – 09.02.16||240
|5||XMO2||10.16.16 – 11.04.16||920
As with the obscure Dawn code names for other orbits, this fifth orbit’s name requires some explanation. The extended mission is devoted to undertaking activities not envisioned in the prime mission. That began with two extra months in the fourth mapping orbit performing many new observations, but because it was then the extended mission, that orbit was designated extended mission orbit 1, or XMO1. (It should have been EMO1, of course, but the team’s spellchecker was offline on July 1, the day the extended mission started.) Therefore, the next orbit was XMO2. Dawn left XMO2 on Nov. 4, and we leave it to readers’ imaginations to devise a name for the orbit the spacecraft is now maneuvering to.
Surprisingly, Dawn is flying higher to enhance part of the scientific investigation that motivated going to the lowest orbit. We have explained before that Dawn’s objective in powering its way down to the fourth mapping orbit was to make the most accurate measurements possible of gravity and of nuclear radiation emitted by the dwarf planet.
For more than eight months, the explorer orbited closer to the alien world than the International Space Station is to Earth, and the gamma ray spectra and neutron spectra it acquired are outstanding, significantly exceeding all expectations. But ever-creative scientists have recognized that even with that tremendous wealth of data, Dawn can do still better. Let’s look at this more carefully and consider an example to resolve the paradox of how going higher can yield an improvement.
The gamma ray and neutron detector (GRaND) reveals some of Ceres’ atomic constituents down to about a yard (meter) underground. The principal limitation in analyzing these spectra is "noise." In fact, noise limits the achievable accuracy of many scientific measurements. It isn’t necessarily the kind of noise that you hear from loud machinery (nor from the mouth of your unhelpful parent, inattentive progeny or boring and verbose coworker), but all natural systems have something similar. Physical processes other than the ones of interest make unwanted contributions to the measurements. The part of a measurement scientists want is called the "signal." The part of a measurement scientists don’t want is called the "noise." The quality of a measurement may be characterized by comparing the strength of the signal to the strength of the noise. (This metric is called the "signal to noise ratio" by people who like to use jargon like "signal to noise ratio.")
We have discussed that cosmic rays, radiation that pervades space, strike atomic nuclei on Ceres, creating the signals that GRaND measures. Remaining at low altitude would have allowed Dawn to enhance its measurement of the Cerean nuclear signal. But scientists determined that an even better way to improve the spectra than to increase the signal is to decrease the noise. GRaND’s noise is a result of cosmic rays impinging directly on the instrument itself and on nearby parts of the spacecraft. With a more thorough measurement of the noise from cosmic rays, scientists will be able to mathematically remove that component of the low altitude measurements, leaving a clearer signal.
For an illustration of all this, suppose you want to hear the words of a song. The words are the signal and the instruments are the noise. (This is a scientific discussion, not a musical one.) It could be that the instruments are so loud and distracting that you can’t make the words out easily.
You might try turning up the volume, because that increases the signal, but it increases the noise as well. If the performance is live, you might even try to position yourself closer to the singer, perhaps making the signal stronger without increasing the noise too much. (Other alternatives are simply to Google the song or ask the singer for a copy of the lyrics, but those methods would ruin this example.)
If you’re doing this in the 21st century (or later), there’s another trick you can employ, taking advantage of computer processing. Suppose you had a recording of the singing with the instruments and then obtained separate recordings of the instruments. You could subtract the musical sounds that constitute the noise, removing the contributions from both guitars, the drums, the harp, both ukuleles, the kazoo and all the theremins. And when you eliminate the noise of the instruments, what remains is the signal of the words, making them much more intelligible.
To obtain a better measure of the noise, Dawn needs to go to higher altitude, where GRaND will no longer detect Ceres. It will make detailed measurements of cosmic ray noise, which scientists then will subtract from their measurements at low altitude, where GRaND observed Ceres signal plus cosmic ray noise. The powerful capability to raise its orbit so much affords Dawn the valuable opportunity to gain greater insight into the atomic composition. Of course, it’s not quite that simple, but essentially this method will help Dawn hear Ceres’ nuclear song more clearly.
To travel from one orbit to another, the sophisticated explorer has followed complex spiral routes. We have discussed the nature of these trajectories quite a bit, including how the operations team designs and flies them. But now they are using a slightly different method.
Those of you at Ceres who monitor the ship’s progress probably wouldn’t notice a difference in the type of trajectory. And the rest of you on Earth and elsewhere who keep track through our mission status updates also would not detect anything unusual in the ascent profile (to the extent that a spacecraft using ion propulsion to spiral around a dwarf planet is usual). But celestial navigators are now enjoying their use of a method they whimsically call local maximal energy spiral feedback control.
The details of the new technique are not as important for our discussion here as one of the consequences: Dawn’s next orbit will not be nearly as circular as any of its other orbits at Ceres (or at Vesta). Following the conclusion of this spiral ascent on Dec. 5, navigators will refine their computations of the orbit, and we will describe the details near the end of the month. We will see that as the spacecraft follows its elliptical loops around Ceres, each taking about a week, the altitude will vary smoothly, dipping below 4,700 miles (7,600 kilometers) and going above 5,700 miles (9,200 kilometers). Such a profile meets the mission’s needs, because as long as the craft stays higher than about 4,500 miles (7,200 kilometers), it can make the planned recordings of the cacophonous cosmic rays. We will present other plans for this next phase of the mission as well, including photography, in an upcoming Dawn Journal.
As Dawn continues its work at Ceres, the dwarf planet continues its stately 4.6-year-long orbit around the sun, carrying Earth’s robotic ambassador with it. Ceres follows an elliptical path around the sun (see, for example, this discussion, including the table). In fact, all orbits, including Earth’s, are ellipses. Ceres’ orbit is more elliptical than Earth’s but not as much as some of the other planets. The shape of Ceres’ orbit is between that of Saturn (which is more circular) and Mars (which is more elliptical). (Of course, Ceres’ orbit is larger than Mars’ and smaller than Saturn’s, but here we are describing how much each orbit deviates from a perfect circle.)
When Ceres tenderly took Dawn into its gravitational embrace in March 2015, they were 2.87 AU (267 million miles, or 429 million kilometers) from the sun. In January 2016, we mentioned that Ceres had reached its aphelion, or greatest distance from the sun, at 2.98 AU (277 million miles, or 445 million kilometers). Today at 2.85 AU (265 million miles, or 427 million kilometers), Ceres is closer to the sun than at any time since Dawn arrived, and the heliocentric distance will gradually decrease further throughout the extended mission. (If the number of numbers is overwhelming here, you might reread this paragraph while paying attention to only one set of units, whether you choose AU, miles or kilometers. Ignore the other two scales so you can focus on the relative distances.)
Another consequence of orbiting the sun is the progression of seasons. Right on schedule, as we boldly predicted in August 2015, Nov. 13 was the equinox on Ceres, marking the beginning of northern hemisphere autumn and southern hemisphere spring. Although it is celebrated on Ceres with less zeal than on Earth, it is fundamentally the same: the sun was directly over the equator that day, and now it is moving farther south. It takes Ceres so long to orbit the sun that this season will last until Dec. 22, 2017.
A celebration that might occur on Ceres (and which you, loyal Dawnophile, are welcome to attend) would honor Dawn itself. Although the spacecraft completed its ninth terrestrial year of spaceflight in September, on Dec. 12, it will have been two Cerean years since Dawn left Earth for its interplanetary journey. Be sure to attend in order to learn how a dawnniversary is commemorated in that part of the solar system.
Although a year on Ceres lasts much longer than on Earth, 2016 is an unusually long year on our home planet. Not only was a leap day included, but a leap second will be added at the very end of the year to keep celestial navigators’ clocks in sync with nature. The Dawn team already has accounted for the extra second in the intricate plans formulated for the spacecraft. And at that second, on Dec. 31 at 23:59:60, we will be able to look back on 366 days and one second, an especially full and gratifying year in this remarkable deep-space expedition. But we needn’t wait. Even now, as mission control is bathed in a lovely glow, the members of the team as well as space enthusiasts everywhere are aglow with the thrill of new knowledge, the excitement of a daring, noble adventure and the anticipation of more to come.
Dawn is 3,150 miles (5,070 kilometers) from Ceres. It is also 2.08 AU (194 million miles, or 312 million kilometers) from Earth, or 770 times as far as the moon and 2.11 times as far as the sun today. Radio signals, traveling at the universal limit of the speed of light, take 35 minutes to make the round trip.
Dr. Marc D. Rayman
4:00 p.m. PST November 28, 2016
Dear Unhesidawntingly Enthusiastic Readers,
An ambitious explorer from Earth is gaining the best views ever of dwarf planet Ceres. More than two centuries after its discovery, this erstwhile planet is now being mapped in great detail by Dawn.
The spacecraft is engaged in some of the most intensive observations of its entire mission at Ceres, using its camera and other sensors to scrutinize the alien world with unprecedented clarity and completeness. At an average altitude of 915 miles (1,470 kilometers) and traveling at 400 mph (645 kilometers per hour), Dawn completes an orbit every 19 hours. The pioneer will be here for more than two months before descending to its final orbit.
The complex spiral maneuver down from the second mapping orbit at 2,700 miles (4,400 kilometers) went so well that Dawn arrived in this third mapping orbit on Aug. 13, which was slightly ahead of schedule. (Frequent progress of its descent, and reports on the ongoing work in the new orbit, are available here and on Twitter @NASA_Dawn.) It began this third mapping phase on schedule at 9:53:40 p.m. PDT on Aug. 17.
We had a detailed preview of the plans last year when Dawn was more than six thousand times farther from Ceres than it is today. (For reasons almost as old as Ceres itself, this phase is also known as the high altitude mapping orbit, or HAMO, although we have seen that it is the second lowest of the four mapping orbits.) Now let’s review what will happen, including a change mission planners have made since then.
The precious pictures and other data have just begun to arrive on Earth, and it is too soon to say anything about the latest findings, but stand by for stunning new discoveries. Actually, you could get pictures about as good as Dawn’s are now with a telescope 217 times the diameter of Hubble Space Telescope. An alternative is to build your own interplanetary spaceship, travel through the depths of space to the only dwarf planet in the inner solar system, and look out the window. Or go to the Ceres image gallery.
Dawn has already gained fabulous perspectives on this mysterious world from its first and second mapping orbits. Now at one third the altitude of the mapping campaign that completed in June, its view is three times as sharp. (Exploring the cosmos is so cool!) That also means each picture takes in a correspondingly smaller area, so more pictures are needed now to cover the entire vast and varied landscape. At this height, Dawn’s camera sees a square about 88 miles (140 kilometers) on a side, less than one percent of the more than one million square miles (nearly 2.8 million square kilometers). The orbital parameters were chosen carefully so that as Ceres rotates on its axis every nine hours (one Cerean day), Dawn will be able to photograph nearly all of the surface in a dozen orbital loops.
When Dawn explored the giant protoplanet Vesta from comparable orbits (HAMO1 in 2011 and HAMO2 in 2012), it pointed its scientific instruments at the illuminated ground whenever it was on the dayside. Every time its orbit took it over the nightside, it turned to point its main antenna at Earth to radio its findings to NASA’s Deep Space Network. As we explained last year, however, that is not the plan at Ceres, because of the failure of two of the ship’s reaction wheels. (By electrically changing the speed at which these gyroscope-like devices rotate, Dawn can turn or stabilize itself in the zero-gravity conditions of spaceflight.)
We discussed in January that the flight team has excogitated innovative methods to accomplish and even exceed the original mission objectives regardless of the condition of the wheels, even the two operable ones (which will not be used until the final mapping orbit). Dawn no longer relies on reaction wheels, although when it left Earth in 2007, they were deemed indispensable. The spacecraft’s resilience (which is a direct result of the team’s resourcefulness) is remarkable!
One of the many ingredients in the recipe for turning the potentially devastating loss of the wheels into a solid plan for success has been to rotate the spacecraft less frequently. Therefore, sometimes Dawn will wait patiently for half an orbit (almost 9.5 hours) as it flies above ground cloaked in the deep darkness of night, its instruments pointed at terrain they cannot detect. Other times, it will keep its antenna fixed on Earth without even glancing at the sunlit scenery below, because it can capture the views on other revolutions. This strategy conserves hydrazine, the conventional rocket propellant used by the small jets of the reaction control system in the absence of the wheels. It takes more time, but because Dawn is in orbit, time is not such a limited resource. It will take 12 passages over the illuminated hemisphere, each lasting nearly 9.5 hours, to bring the entirety of the landscape within view of its camera, but we will need a total of 14 full revolutions, or 11 days (29 Cerean days, for those of you using that calendar), to acquire and transmit all the data. The Dawn team calls this 11-day period “11 days,” or sometimes a “cycle.”
In quite a change from the days that there simply didn’t seem to be enough hydrazine onboard to accomplish all of the mission’s ambitious objectives, engineers and the spacecraft itself have collaborated to be so efficient with the precious molecules that they now have some to spare. Therefore, mission planners have recently decided to spend a few more in this mapping orbit. They have added extra turns to allow the robot to communicate with Earth during more of the transits over the nightside than they had previously budgeted. This means Dawn can send the contents of its computer memory to Earth more often and therefore have space to collect and store even more data than originally planned. An 11-day mapping cycle is going to be marvelously productive.
Full image and caption. Image credit: NASA/JPL-Caltech/UCLA/MPS/DLR/IDA
But Dawn has goals still more ambitious than taking pictures and recording infrared and visible spectra of the lands passing underneath it. It will conduct six complete mapping cycles, each one looking at a slightly different angle. This will effectively yield stereo views, which when combined will make those flat images pop into full three dimensionality.
In its first mapping cycle, which is taking place now, the explorer aims its instruments straight down. For the second, it will keep the camera pointed a little bit back and to the left, making another full map but with a different perspective. For the third, it will look a little back and to the right. The fourth map will be viewing the scenery ahead and to the left. The fifth map will be of the terrain immediately ahead, and the sixth will be farther back than the third but not as far to the right.
In addition to the stereo pictures and the many spectra (which reveal the nature of the minerals as well as the surface temperature), Dawn will use the color filters in its camera to record the sights in visible and infrared wavelengths.
As always, mission planners schedule more observations than are needed, recognizing that glitches can occur on a complex and challenging expedition in the forbidding depths of space. So even if some data are not collected, the goals can still be accomplished.
The probe also will continue to acquire spectra both of neutrons and of gamma rays. It is unlikely to detect more than a whisper of neutrons from Ceres at this height, but the radiation coming from elsewhere in space now will serve as a useful calibration when it measures stronger nuclear emanations from one quarter the altitude starting in December, allowing scientists to inventory Ceres’ atomic constituents.
Precise measurements of Dawn’s radio signal will reveal more details of the dwarf planet’s gravitational field and hence the distribution of mass within. When the spacecraft is not aiming its main antenna at Earth, it will broadcast through one of its three auxiliary antennas, and the Deep Space Network will be listening (almost) continuously throughout the 84 orbits.
As at Vesta, Dawn’s polar orbits are oriented so that the craft always keeps the sun in view, never entering Ceres’ shadow, even when it is nighttime on the ground below. But its course will take the robot out of sight from Earth occasionally, and the behemoth of rock and ice will block the radio signal. Of course, Dawn is quite accustomed to operating in radio silence. It follows timed instructions (called sequences) that cover a full mapping cycle, so it does not require constant contact. And in budgeting how much data Dawn can collect and transmit, mission planners have accounted for the amount of time Ceres will eclipse its view of Earth.
Thanks to the uniquely efficient and exceptionally gentle thrust of the ion engines, as well as the flexibility inherent in being in orbit, Dawn operations generally can be more leisurely than those with conventional chemical propulsion or missions that only fly past their targets rather than stay for as long as needed. In that spirit, controllers had allowed the time in the spacecraft’s main computer to drift off, as there was no need to keep it particularly accurate. But recently the clock was off by so much that they decided to correct it, so before the mapping began, they adjusted it by a whopping 0.983 seconds, eliminating a large (but still tolerable) offset.
Many residents of Earth’s northern hemisphere are completing their leisurely summer vacations. As we saw in February, Dawn has measured the orientation of Ceres’ spin axis and found that it is tipped about four degrees (compared with Earth’s axial tilt of 23 degrees). The sun then never moves very far from the dwarf planet’s equator, so seasonal variations are mild. Nevertheless, northern hemisphere summer (southern hemisphere winter) began on Ceres on July 24. Because Ceres takes longer to revolve around the sun than Earth, seasons last much longer. The next equinox won’t occur until Nov. 13, 2016, so there is still plenty of time to plan a summer vacation.
Meanwhile, Dawn is working tirelessly to reveal the nature of this complex, intriguing world. Now seeing the exotic sights with a sharper focus than ever, the probe’s meticulous mapping will provide a wealth of new data that scientists will turn into knowledge. And everyone who has ever seen the night sky beckon, everyone who has heard the universe’s irresistible invitation, and everyone who has felt the overpowering drive for a bold journey far from Earth shares in the experience of this remarkable interplanetary adventure.
Dawn is 905 miles (1,456 kilometers) from Ceres. It is also 2.06 AU (191 million miles, or 308 million kilometers) from Earth, or 775 times as far as the moon and 2.03 times as far as the sun today. Radio signals, traveling at the universal limit of the speed of light, take 34 minutes to make the round trip.
Dr. Marc D. Rayman
5:00 p.m. PDT August 21, 2015