5261 Eureka is the first asteroid discovered that turned out to be a Mars trojan. It was discovered by David H. Levy and Henry Holt at Palomar Observatory on June 20 1990 from the Palomar Observatory. It trails Mars (at the L5 point) at a distance varying by only 0.3 AU during each revolution (with a secular trend superimposed changing the distance from 1.5–1.8 AU around 1850 to 1.3–1.6 AU around 2400).
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