Since their launch in 2000, the four Cluster spacecraft have encountered the terrestrial magnetopause ten thousand times. The evolution of their highly-elliptical polar orbits has resulted in the spacecraft crossing the magnetopause over a wide range of latitudes and local times during a mission that has spanned an entire solar cycle. Applying an automated algorithm to Cluster magnetic field and plasma data, we have determined the location and orientation of the magnetopause during Cluster traversals between 2001 and 2010. Our findings are compared to empirical magnetopause models and recent surveys by other satellite missions.