The precision Doppler tracking capability described here resulted from work by many dedicated people at NASA, in the Mars Observer/Mars Global Surveyor, Ulysses, Galileo, and Cassini Projects (and the international partners of those Projects), the NASA/JPL Deep Space Network, and the JPL Technical Divisions. I am particularly indebted to B. Bertotti, F.B. Estabrook, L. Iess, R.V. Stachnik, M. Tinto, H.D. Wahlquist, and E.J. Weiler. The research described here was carried out at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration.

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