"explore up close" means to explore something from a short distance away -- in this case to explore on the surface, as opposed to explore by looking down from orbit. "explore" is a verb. "up close" is an idiomatic adverbial phrase.
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SquareThank you. I didn't know that "up close" is an adverb that means "at very close range". At first, I thought "explore up" is a phrasal verb. However, I consulted it in dictionaries and no dictionary says it is.That's right, there is no phrasal verb "explore up".