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The Mars Science Laboratory Curiosity rover has monitored the Martianenvironment in Gale crater since landing in 2012. This study reports the recordof optical depth derived from visible and near-infrared images of the Sun.Aerosol optical depth, which is mostly due to dust but also includes ice,dominates the record, with gas optical depth too small to measure. The opticaldepth record includes the effects of regional dust storms and oneplanet-encircling dust event, showing the expected peaks during southern springand summer and relatively lower and more stable optical depth in fall andwinter. The measurements show that there is a seasonally varying diurnal changein dust load, with the optical depth peaking in the morning during southernspring and summer, correlated with thermotidal pressure changes. However, therewas no systematic diurnal change during autumn and winter, except after oneregional storm. There were indications that the dust was relatively enhanced athigh altitudes during high-optical-depth periods and that high-altitude ice wassignificant during winter. The observations did not provide much informationabout particle size or composition, but they were consistent with a smallerparticle size after aphelion (in southern winter). No scattering halos wereseen in associated sky images, even when there was visual evidence of ice hazesor clouds, which suggests small or amorphous ice particles. Unexpectedly, themeasurement campaign revealed that the cameras collected saltating sand intheir sunshades 1.97 m above the surface. As a result, the measurement strategyhad to be adjusted to avoid high-elevation imaging to avoid sand covering theoptics.

The Mars Science Laboratory record of optical depth measurements via solar imaging