The MErcury Surface, Space ENvironment, GEochemistry and Ranging (MESSENGER) probe, a NASA spacecraft, launched August 3, 2004, did a flyby on October 6. The closest approach was indeed about 200 km, but it's current orbit will bring it about halfway out to the Venus orbit again. Today, October 9, it's already a million km away again
Fotos can be seen here: http://messenger.jhuapl.edu/