Title: The terrestrial foreshock: new results from Cluster Jonathan Eastwood NRC/ RRA Code 696, Electrodynamics Branch Laboratory for Extraterrestrial Physics Abstract Of all the ways in which a collisionless plasma shock differs from its neutral fluid counterpart, one of the most striking is the fact that at a collisionless shock, particles are observed to stream from the shock back into the upstream region. The combination of the backstreaming particles together with the upstream core plasma distribution is subject to a number of instabilities that lead to the generation of waves and subsequent wave-particle interactions. Here we concentrate on ion driven wave phenomena as observed by the multi-spacecraft Cluster mission. The Cluster mission, a constellation of four identical spacecraft in polar orbit around the Earth, is designed to resolve spatial and temporal variations in plasma properties in the near-Earth space environment. Cluster and its associated analysis techniques are explained, and reviewed in light of operational experience. The instrumentation is briefly described, concentrating in particular on the flux-gate magnetometers, from which the majority of the results presented here are derived. In particular, observations of ultra-low-frequency (~30s period) foreshock waves are presented and analyzed using various multi-spacecraft analysis techniques. Wave modes are identified, and different wave production mechanisms (beam interactions) are considered; the beam resonance conditions are investigated experimentally. The problem of oblique wave propagation is also examined, requiring careful consideration of the relative motions of waves and particles in the foreshock. Finally, we consider the open questions relating to shock/foreshock physics, in particular concentrating on time-dependence introduced by variations in the upstream conditions.