Sol 1, as the days are known on Mars, was a busy time for the three-legged lander, which set down Sunday in relatively flat terrain cut by polygon-shaped fissures.

NPR: Phoenix Sends Color Photos of Mars to NASA

After dominating the first set, two stunning winners - a backhand down the line and crosscourt forehand winner - saw the two-time semi-finalist, whose only Grand Slam title came at the 2005 US Open, break to love to seal it and she opened the second with a confident hold.

BBC: Wimbledon 2010: Venus Williams wins opening match

Sonny Parker's 74th-minute try looked set to be decisive but Munster earned an injury-time penalty after a Justin Marshall kick had been charged down.

BBC: Munster 9-8 Ospreys

With Federer serving for the set at 5-3, a superb forehand down the line by Rusedski broke the Federer serve for the first time and brought the Britons back to 5-4.

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The Russian's ability to serve out the set was not fully tested when, at 5-3, Djokovic double-faulted on the first point of a game for the second time, soon found himself two set points down, and then watched as a Davydenko sliced return floated past him into the corner.

BBC: Djokovic edges past Davydenko