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Beginning with the separation of the fuzzy thinking and pious fraud of astrology from the careful observations of astronomy, Sagan follows the development of astronomical observation. Beginning with constellations and ceremonial calendars (such as those of the Anasazi), the story moves to the debate between Earth and Sun-centered models: Ptolemy and the geocentric worldview, Copernicus' theory, the data-gathering of Tycho Brahe, and the achievements of Johannes Kepler (Kepler's laws of planetary motion and the first science-fiction novel).

Sagan discusses comets and asteroids as planetary impactors, giving recent examples of the Tunguska event and a lunar impact described by Canterbury monks in 1178. It moves to a description of the environment of Venus, from the previous fantastic theories of people such as Immanuel Velikovsky to the information gained by the Venera landers and its implications for Earth's greenhouse effect. The Cosmos Update highlights the connection to global warming.

The episode, devoted to the planet Mars, begins with scientific and fictional speculation about the Red Planet during the late nineteenth and early twentieth centuries (H. G. Wells' The War of the Worlds, Edgar Rice Burroughs' science fiction books, and Percival Lowell's false vision of canals on Mars). It then moves to Robert Goddard's early experiments in rocket-building, inspired by reading science fiction, and the work by Mars probes, including the Viking, searching for life on Mars. The episode ends with the possibility of the terraforming and colonization of Mars and a Cosmos Update on the relevance of Mars' environment to Earth's and the possibility of a manned mission to Mars.

The journeys of the Voyager probes is put in the context of the Netherlands in the seventeenth century, with a centuries-long tradition of sailing ship explorers, and its contemporary thinkers (such as Constantijn Huygens and his son Christian). Their discoveries are compared to the Voyager probes' discoveries among the Jovian and Saturn systems. In Cosmos Update, image processing reconstructs Voyager’s worlds and Voyager’s last portrait of the Solar System as it leaves is shown.

Carl Sagan teaches students in a classroom in his childhood home in Brooklyn, New York, which leads into a history of the different mythologies about stars and the gradual revelation of their true nature. In ancient Greece, some philosophers (Aristarchus of Samos, Thales of Miletus, Anaximander, Theodorus of Samos, Empedocles, Democritus) freely pursue scientific knowledge, while others (Plato, Aristotle, and the Pythagoreans) advocate slavery and epistemic secrecy.

The simple act of making an apple pie is extrapolated into the atoms and subatomic particles (electrons, protons, and neutrons) necessary. Many of the ingredients necessary are formed of chemical elements formed in the life and deaths of stars (such as our own Sun), resulting in massive red giants and supernovae or collapsing into white dwarfs, neutron stars, pulsars, and even black holes. These produce all sorts of phenomena, such as radioactivity, cosmic rays, and even the curving of spacetime by gravity. Cosmos Update mentions the supernova SN 1987A and neutrino astronomy.