65dBnoise,
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An excellent recount of 's adventures around Belva Crater by Travis Brown, Chief Engineer for the heli at JPL: https://mars.nasa.gov/mars2020/mission/status/466/hide-and-seek/

The post confirms that had significant difficulties talking to the in that area, something visibility plots (+below horizon estimates) were suggesting before the flight (https://mastodon.social/@65dBnoise/110102587325157180). Interestingly, Brown says this is the first time they had a complete blackout of radio communications.

video/mp4

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