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The object may have formed as an icy body but lost its volatile materials during a series of passes into the inner solar system.
And the team is already pushing for funding for an extended mission, which would allow the spacecraft to visit another icy body in the mysterious Kuiper Belt.
Scientists on the Rosetta mission have found building blocks for life in the cloud of gas and dust around the icy body known as comet 67P.
But as the icy body becomes more active and spews particles that could damage the craft, the orbit may have to be pulled back to 30 miles or more to protect it, he said.
"Our observations are very consistent with this having started life as an icy body in its own system, similar to those found in the Kuiper belt or around Jupiter," Fitzsimmons said.
NASA scientists said the craft, Deep Space 1, staged a risky flyby of the comet Borrelly over the weekend and took a series of rare pictures as it passed within 1,400 miles of the icy body.
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Physically, it is probably much the same as the other icy bodies out there, including Pluto.
"We were well aware of the emergent discoveries of icy bodies in the outer solar system".
They provide a possible source for icy bodies that enter the inner Solar System and are observed as comets.
Instead, the Rose Center decided it was more like the icy bodies orbiting in the Kuiper Belt, well beyond Neptune.
Unlike Vesta, the makeup of Ceres is far more like the icy bodies in the outer solar system.
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