Table 2.

Mastcam-Z detailed goals and objectives

Mastcam-Z goals	Mastcam-Z detailed investigation objectives
1. Characterize the overall landscape geomorphology, processes, and the nature of the geologic record (mineralogy, texture, structure, stratigraphy) at the rover field site	1-a. Characterize the morphology, texture, and multispectral properties of rocks and outcrops to assess emplacement history, variability of composition, and physical properties.
	1-b. Determine the structure and orientation of stratigraphic boundaries, layers, and other key morphologic features to investigate emplacement and modification history.
	1-c. Characterize the position, size, morphology, texture, and multispectral properties of rocks and fines to constrain provenance and weathering history.
	1-d. Observe and monitor terrains disturbed by rover wheels and other hardware elements to assess surface to physical and chemical weathering.
	1-e. Distinguish among bedform types within the vicinity of the rover to evaluate the modification history of the landscape.
	1-f. Identify diagnostic sedimentary structures to determine emplacement history.
	1-g. Characterize finer scale color/spectral variation (e.g., cm-scale veins, post-depositional concretions) to constrain provenance and diagenetic history.
2. Assess current atmospheric and astronomical conditions, events, and surface-atmosphere interactions and processes	2-a. Observe the Sun for rover navigation and atmospheric science purposes.
	2-b. Observe the sky and surface/atmosphere boundary layer to measure atmospheric aerosol/cloud properties and transient atmospheric/astronomical events.
3. Provide operational support and scientific context for rover navigation, contact science, sample selection, extraction, caching, and other Mars 2020 investigations	3-a. Acquire stereo images for navigation, instrument deployment, and other operational purposes on a tactical timescale.
	3-b. Acquire sub-mm/pixel scale images of targets close to the rover.
	3-c. Resolve morphology and color/multispectral properties of distant geologic features and topography for longer-term science and localization/navigation planning purposes.