The "Pale Blue Dot" image was part of the "Family Portrait" set of images taken by Voyager 1 on Feb 14, 1990, from a vantage point 6 billion km away and ~32Β° above the ecliptic.
Starting at 01:00 UTC after a 3 hour warm-up, Voyager 1's cameras imaged Neptune, Uranus, Saturn, Mars, the Sun, and then Jupiter, Earth, and Venus. The Earth images were taken at 04:48 UTC. The cameras were turned off permanently at 05:22.
Image data download was completed on May 1, 1990.
https://science.nasa.gov/mission/voyager/voyager-1s-pale-blue-dot/
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