What technical failure caused *Spirit* to become permanently immobile at a location nicknamed 'Troy'?

Answer

The rover drove into soft soil, causing its wheels to sink past their axles.

In May 2009, the rover drove into soft soil at a location nicknamed 'Troy,' causing its wheels to sink past their axles, making escape impossible.

What technical failure caused *Spirit* to become permanently immobile at a location nicknamed 'Troy'?

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