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Spirit is one of two rovers that landed on Mars in January 2004 as part of NASA's Mars Exploration Rover mission. As of July 2005, Spirit has traveled over 4.5 kilometers across the Martian surface while investigating rocks and soils, digging trenches to examine subsurface materials, and climbing hills to reach outcrops of bedrock. Originally designed to last 90 sols (Martian days), Spirit has survived over 500 sols of operation and continues to explore. During the mission, we achieved increases in efficiency, accuracy, and traverse capability through increasingly complex command sequences, growing experience, and updates to the on-board and ground-based software. Safe and precise mobility on slopes and in the presence of obstacles has been a primary factor in development of new software and techniques.