PDS_VERSION_ID = PDS3 RECORD_TYPE = STREAM OBJECT = TEXT PUBLICATION_DATE = 2013-05-20 NOTE = "Release notes and errata for MSL MAHLI EDR and RDR volumes" END_OBJECT = TEXT END Users are encouraged to provide comments to the PDS Imaging Node if errors are found either in data or in documentation in this archive. Please send comments by e-mail or U.S. mail to the Imaging Node: PDS Imaging Node California Institute of Technology Jet Propulsion Laboratory 4800 Oak Grove Drive Pasadena, CA 91109 Web: http://img.pds.nasa.gov/index.html This file, ERRATA.TXT, contains release notes and errata identified in the MSL MAHLI EDR and RDR archive on volumes MSLMHL_0XXX. During the course of the MSL mission the MAHLI science team may update previously released data products or documentation; for example, updates may occur due to changes in calibration data or procedures. Updates will be reported in this file. Older versions of data and documentation will not be retained in the archive. Section A of this file contains an entry for each MSL release with general information about the contents of the release, in order from newest to oldest. Updates to previously released files are reported in these entries, along with any known errata. Section B of this file contains general notes, if any, concerning the archive as a whole. ******** SECTION A ******** RELEASE NUMBER: 27 RELEASE DATE: 2021-08-02 DATA COVERAGE: 2020-11-07 to 2021-03-23 (Sols 2935-3068) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: MAHLI EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None 1. Clarification of the "SEQUENCE_ID" in the data product .LBL file versus the "Sequence ID" in the Product Identifier described in the MMM PDS Data Product Software Interface Specification (SIS) As stated in the File Naming Convention section of the SIS, the first six digits of the product identifier (Sequence ID) are reflected in the SEQUENCE_ID keyword value in the data product label file (.LBL). This is the case when the MAHLI data are downlinked via the original sequence that acquired the data as recorded in the product identifier. Occasionally, the data are requested to be downlinked differently than acquired (e.g., a different compression). This is done by sending a new sequence and, as a result, certain original information is not retained such as the Sequence ID and Tracking ID. To address this, the missing information is extracted from the thumbnail of the original data product and inserted into the new product. This results in a data product whose information is complete and contains the missing information from the original. **************************************************************** **************************************************************** RELEASE NUMBER: 26 RELEASE DATE: 2021-03-16 DATA COVERAGE: 2020-07-30 to 2020-11-07 (Sols 2838-2934) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: MAHLI EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None 1. Meta-kernel setup file updated The MMM_CHRONOS_V04.TM file in the EXTRAS directory has been updated. Please see Section B, number 14, below, for more details. 2. Clarification of the "SEQUENCE_ID" in the data product .LBL file versus the "Sequence ID" in the Product Identifier described in the MMM PDS Data Product Software Interface Specification (SIS) As stated in the File Naming Convention section of the SIS, the first six digits of the product identifier (Sequence ID) are reflected in the SEQUENCE_ID keyword value in the data product label file (.LBL). This is the case when the MAHLI data are downlinked via the original sequence that acquired the data as recorded in the product identifier. Occasionally, the data are requested to be downlinked differently than acquired (e.g., a different compression). This is done by sending a new sequence and, as a result, certain original information is not retained such as the Sequence ID and Tracking ID. To address this, the missing information is extracted from the thumbnail of the original data product and inserted into the new product. This results in a data product whose information is complete and contains the missing information from the original. **************************************************************** **************************************************************** RELEASE NUMBER: 25 RELEASE DATE: 2020-12-04 DATA COVERAGE: 2020-03-25 to 2020-07-30 (Sols 2714-2837) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: MAHLI EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None 1. Out of focus images acquired during MAHLI fault diagnositc and recovery activities sequence: mhli00808, sol: 2737 sequence: mhli00402, sol: 2740 PICNO range CDPID range -------------------------- ----------- 2737MH0008080021002656{E,I}01 2656 2740MH0004020001002657{E,I}01 2657 On Sol 2735, MAHLI was marked sick during the usual cover open sequence. The fault was not understood so images were acquired to try to determine the cause. The no mechanism movement images were taken at a starting position and the resulting images are out of focus, which was not unexpected. 2. Out of focus images acquired during MAHLI fault diagnositc and recovery activities sequence: mhli00808, sol: 2754 PICNO range CDPID range -------------------------- ----------- 2754MH0008080021002815{E,I}01 2815 On Sol 2751, MAHLI was marked sick during the usual cover open sequence. The fault was not understood so images were acquired to try to determine the cause. The no mechanism movement images were taken at a starting position and the resulting images are out of focus, which was not unexpected. 3. MAHLI full suite not centered on target sequences: mhli00706, mhli00763, mhli00705, mhli00813, mhli00153 sols: 2826, 2828 PICNO range CDPID range -------------------------- ----------- 2826MH0007060001003145{C,I}0{0,1}- 3145-3147 2826MH0007060021003147{C,I}0{0,1} 2826MH0007630001003148{C,I}0{0,1}- 3148-3169 2826MH0007630031003169{C,I}0{0,1} 2826MH0007050001003170{C,I}0{0,1}- 3170-3175 2826MH0007050011003175{C,I}0{0,1} 2826MH0008130001003176{C,I}0{0,1}- 3176-3186 2826MH0008130031003186{C,I}0{0,1} 2826MH0007630001003187{C,I}0{0,1}- 3187-3197 2826MH0007630031003197{C,I}0{0,1} 2828MH0001530001003207{R,T}0{0,1} 3207 2828MH0001530001003208{S,U}0{0,1} 3208 2828MH0001530001003209{R,T}0{0,1} 3209 2828MH0001530001003210{S,U}0{0,1} 3210 2828MH0001530001003211{R,T}0{0,1} 3211 2828MH0001530001003212{S,U}0{0,1} 3212 2828MH0001530001003213{R,T}0{0,1} 3213 2828MH0001530001003214{S,U}0{0,1} 3214 On Sol 2826, the Dust Removal Tool (DRT) was used on the incorrect target. The plan was to use the DRT on the target Breamish, however it was mistakenly commanded to use target Breamish-rp instead. The resulting MAHLI full suite of images (25cm, 5cm, and 1cm), originally commanded to image Breamish, was not centered on the DRT spot as intended. There was brushed rock in the images, however, so the science intent was still met. An error report was filed. 4. Clarification of the "SEQUENCE_ID" in the data product .LBL file versus the "Sequence ID" in the Product Identifier described in the MMM PDS Data Product Software Interface Specification (SIS) As stated in the File Naming Convention section of the SIS, the first six digits of the product identifier (Sequence ID) are reflected in the SEQUENCE_ID keyword value in the data product label file (.LBL). This is the case when the MAHLI data are downlinked via the original sequence that acquired the data as recorded in the product identifier. Occasionally, the data are requested to be downlinked differently than acquired (e.g., a different compression). This is done by sending a new sequence and, as a result, certain original information is not retained such as the Sequence ID and Tracking ID. To address this, the missing information is extracted from the thumbnail of the original data product and inserted into the new product. This results in a data product whose information is complete and contains the missing information from the original. **************************************************************** **************************************************************** RELEASE NUMBER: 24 RELEASE DATE: 2020-07-31 DATA COVERAGE: 2019-11-08 to 2020-03-25 (Sols 2580-2713) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: MAHLI EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None No new errata have been identified in this release. **************************************************************** **************************************************************** RELEASE NUMBER: 23 RELEASE DATE: 2020-03-16 DATA COVERAGE: 2019-07-31 to 2019-11-08 (Sols 2483-2579) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: MAHLI EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: 88 EDR .LBLs & 316 RDR .LBLs 1. Updated product types Incorrect information was found in some sol 2472 and 2473 RATIONALE_DESC keywords. RATIONALE_DESC has been corrected and the following product's .LBLs have been updated to include PRODUCT_VERSION_ID = V2.0. The data products themselves have not changed. PICNOs with updated LBLs (V2.0)in RELEASE 0023: ------------------------- 2472MH0001900000902653{C,I}{00,01} - 2472MH0006490020902690{C,I}{00,01} 2473MH0001630000902729R00 2473MH0001630000902729T01 2473MH0001630000902730S00 2473MH0001630000902730U01 2473MH0001630000902731R00 2473MH0001630000902731T01 2473MH0001630000902732S00 2473MH0001630000902732U01 2473MH0001630000902733R00 2473MH0001630000902733T01 2473MH0001630000902734S00 2473MH0001630000902734U01 2. Meta-kernel setup file updated The MMM_CHRONOS_V03.TM file in the EXTRAS directory has been updated. Please see Section B, number 13, below, for more details. **************************************************************** **************************************************************** RELEASE NUMBER: 22 RELEASE DATE: 2019-12-05 DATA COVERAGE: 2019-03-26 to 2019-07-31 (Sols 2359-2482) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: MAHLI EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: 20 EDR .LBLs & 20 RDR .LBLs 1. Updated product types Incorrect information was found in some sol 270 and 1228 RATIONALE_DESC keywords. RATIONALE_DESC has been corrected and the following product's .LBLs have been updated to include PRODUCT_VERSION_ID = V4.0 and V2.0. The data products themselves have not changed. PICNOs with updated LBLs (V4.0) in RELEASE 0022: ------------------------- 0270MH0002520000102922R00 0270MH0002520000102922T01 0270MH0002520000102923S00 0270MH0002520000102923U01 0270MH0002520000102924R00 0270MH0002520000102924T01 0270MH0002520000102925S00 0270MH0002520000102925U01 PICNOs with updated LBLs (V2.0) in RELEASE 0022: ------------------------- 1228MH0001630000403290R00 1228MH0001630000403290T01 1228MH0001630000403291S00 1228MH0001630000403291U01 1228MH0001630000403292R00 1228MH0001630000403292T01 1228MH0001630000403293S00 1228MH0001630000403293U01 1228MH0001630000403294R00 1228MH0001630000403294T01 1228MH0001630000403295S00 1228MH0001630000403295U01 2. Unusable range map and merge products on sol 2466 The range map and merge products from the 25cm Ecclefechan mosaic acquired on sol 2465 are not useable due to one of the eight images of the mosaic being out of focus. This was both a planning and commanding error. No error report was filed. sequence: mhli00728, sol: 2466 PICNO CDPID -------------------------- ----------- 2466MH0007280000902522{R,T}{00,01} 2522 2466MH0007280000902523{S,U}{00,01} 2523 3. Updated keywords for video products The keywords INSTRUMENT_TEMPERATURE, MSL:INSTRUMENT_TEMPERATURE_STATUS, SOLAR_AZIMUTH, SOLAR_ELEVATION have been set to NULL/UNK for all video products except the first frame. Please see Section B, number 12, below, for more details. 4. Clarification of the "SEQUENCE_ID" in the data product .LBL file versus the "Sequence ID" in the Product Identifier described in the MMM PDS Data Product Software Interface Specification (SIS) As stated in the File Naming Convention section of the SIS, the first six digits of the product identifier (Sequence ID) are reflected in the SEQUENCE_ID keyword value in the data product label file (.LBL). This is the case when the MAHLI data are downlinked via the original sequence that acquired the data as recorded in the product identifier. Occasionally, the data are requested to be downlinked differently than acquired (e.g., a different compression). This is done by sending a new sequence and, as a result, certain original information is not retained such as the Sequence ID and Tracking ID. To address this, the missing information is extracted from the thumbnail of the original data product and inserted into the new product. This results in a data product whose information is complete and contains the missing information from the original. **************************************************************** **************************************************************** RELEASE NUMBER: 21 RELEASE DATE: 2019-08-01 DATA COVERAGE: 2018-11-08 to 2019-03-26 (Sols 2225-2358) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: MAHLI EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None 1. The following products were created with off-nominal PICNOs for the following reason: sequence: mhli00458, sol: 2339 Assigned PICNO Expected PICNO ------------------- ------------------- 2339MH0004580000804343F00 2339MH0004580000804343R00 2339MH0004580000804345F00 2339MH0004580000804345R00 2339MH0004580000804347F00 2339MH0004580000804347R00 2339MH0004580000804349F00 2339MH0004580000804349R00 2339MH0004580000804351F00 2339MH0004580000804351R00 2339MH0004580000804353F00 2339MH0004580000804353R00 2339MH0004580000804355F00 2339MH0004580000804355R00 2339MH0004580000804357F00 2339MH0004580000804357R00 2339MH0004580000804359F00 2339MH0004580000804359R00 2339MH0004580000804361F00 2339MH0004580000804361R00 2339MH0004580000804363F00 2339MH0004580000804363R00 2339MH0004580000804365F00 2339MH0004580000804365R00 Reason: The image is a focus merge best focus image product. The nominal Product Type character is R, but in this case it is F (color JPEG 444 image). This character, assigned upon receipt from Mars, properly designates image type but does not indicate a focus merge product. This misidentification occurred in the MAHLI ground data system because of a previously unencountered case, as this focus merge product was recovered from the MAHLI DEA after an onboard computer swap between the rover A-side and B-side redundant computers. The focus merge product is otherwise nominal. sequence: mhli00458, sol: 2339 Assigned PICNO Expected PICNO ------------------- ------------------- 2339MH0004580000804344D00 2339MH0004580000804344S00 2339MH0004580000804346D00 2339MH0004580000804346S00 2339MH0004580000804348D00 2339MH0004580000804348S00 2339MH0004580000804350D00 2339MH0004580000804350S00 2339MH0004580000804352D00 2339MH0004580000804352S00 2339MH0004580000804354D00 2339MH0004580000804354S00 2339MH0004580000804356D00 2339MH0004580000804356S00 2339MH0004580000804358D00 2339MH0004580000804358S00 2339MH0004580000804360D00 2339MH0004580000804360S00 2339MH0004580000804362D00 2339MH0004580000804362S00 2339MH0004580000804364D00 2339MH0004580000804364S00 2339MH0004580000804366D00 2339MH0004580000804366S00 Reason: The image is a focus merge range map product. The nominal Product Type character is S, but in this case it is D (grayscale JPEG image). This character, assigned upon receipt from Mars, properly designates image type but does not indicate a focus merge product. This misidentification occurred in the MAHLI ground data system because of a previously unencountered case, as this focus merge product was recovered from the MAHLI DEA after an onboard computer swap between the rover A-side and B-side redundant computers. The focus merge product is otherwise nominal. 2. Clarification of the "SEQUENCE_ID" in the data product .LBL file versus the "Sequence ID" in the Product Identifier described in the MMM PDS Data Product Software Interface Specification (SIS) As stated in the File Naming Convention section of the SIS, the first six digits of the product identifier (Sequence ID) are reflected in the SEQUENCE_ID keyword value in the data product label file (.LBL). This is the case when the MAHLI data are downlinked via the original sequence that acquired the data as recorded in the product identifier. Occasionally, the data are requested to be downlinked differently than acquired (e.g., a different compression). This is done by sending a new sequence and, as a result, certain original information is not retained such as the Sequence ID and Tracking ID. To address this, the missing information is extracted from the thumbnail of the original data product and inserted into the new product. This results in a data product whose information is complete and contains the missing information from the original. **************************************************************** **************************************************************** RELEASE NUMBER: 20 RELEASE DATE: 2019-03-15 DATA COVERAGE: 2018-08-01 to 2018-11-08 (Sols 2128-2224) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: MAHLI EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None 1. Out of focus images due to error in the rover sequence sequence: mhli00228 & mhli00312, sol: 2168 PICNO range CDPID range -------------------------- ----------- 2168MH0002280000802925{C,I}0{0,1} 2925 2168MH0003120000802927{C,I}0{0,1}- 2927-2928 2168MH0003120010802928{C,I}0{0,1} Reason: During CheMin inlet imaging, the MAHLI sequences were run in the incorrect order. This resulted in unexpected placement of the arm. The succeeding MAHLI images were acquired with the incorrect focus distances producing blurry images. **************************************************************** **************************************************************** RELEASE NUMBER: 19 RELEASE DATE: 2018-12-05 DATA COVERAGE: 2018-03-26 to 2018-08-01 (Sols 2004-2127) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: MAHLI EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None 1. Global Dust Storm Impacts The global dust storm of Mars year 34 significantly impacted the opacity in Gale Crater. Images that were acquired from sols 2082-2150 may be impacted due to the off-nominal lighting conditions. In particular, several images were acquired with the dust cover closed to mitigate how much dust came into contact with the camera lens. Images taken in this manner are completely obscured with no discernible surface features. Below is a list of PICNOs acquired under these circumstances. PICNO CDPID --------------------------------- ----- 2114MH0006250000802419I01 2419 2114MH0006250010802420{C,I}0{0,1} 2420 2114MH0006520000802421I01 2421 2114MH0006520010802422{C,I}0{0,1} 2422 2114MH0006520020802423I01- 2423-2431 2114MH0006520000802431I01 2114MH0006520010802432{C,I}0{0,1} 2432 2114MH0006520020802433I01- 2433-2441 2114MH0006520000802441I01 2114MH0006520010802442{C,I}0{0,1} 2442 2114MH0006520020802443I01- 2443-2450 2114MH0006520020802450I01 2114MH0007520010802457{C,I}0{0,1}- 2457-2460 2114MH0007550010802460{C,I}0{0,1} 2114MH0001930000802461{R,T}0{0,1} 2461 2114MH0001930000802462{S,U}0{0,1} 2462 2114MH0001930000802463{R,T}0{0,1} 2463 2114MH0001930000802464{S,U}0{0,1} 2464 2114MH0001930000802465{R,T}0{0,1} 2465 2114MH0001930000802466{S,U}0{0,1} 2466 **************************************************************** **************************************************************** RELEASE NUMBER: 18 RELEASE DATE: 2018-08-01 DATA COVERAGE: 2017-11-08 to 2018-03-26 (Sols 1870-2003) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: MAHLI EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None 1. Updated AUTO_EXPOSURE_DATA_CUT keyword The keyword AUTO_EXPOSURE_DATA_CUT in the GROUP = IMAGE_REQUEST_PARMS has been updated to include valid values, if applicable. Please see Section B, number 11, below, for more details. 2. Clarification of the "SEQUENCE_ID" in the data product .LBL file versus the "Sequence ID" in the Product Identifier described in the MMM PDS Data Product Software Interface Specification (SIS) As stated in the File Naming Convention section of the SIS, the first six digits of the product identifier (Sequence ID) are reflected in the SEQUENCE_ID keyword value in the data product label file (.LBL). This is the case when the MAHLI data are downlinked via the original sequence that acquired the data as recorded in the product identifier. Occasionally, the data are requested to be downlinked differently than acquired (e.g., a different compression). This is done by sending a new sequence and, as a result, certain original information is not retained such as the Sequence ID and Tracking ID. To address this, the missing information is extracted from the thumbnail of the original data product and inserted into the new product. This results in a data product whose information is complete and contains the missing information from the original. **************************************************************** **************************************************************** RELEASE NUMBER: 17 RELEASE DATE: 2018-03-16 DATA COVERAGE: 2017-08-01 to 2017-11-08 (Sols 1773-1869) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: MAHLI EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None No new errata have been identified in this release. **************************************************************** **************************************************************** RELEASE NUMBER: 16 RELEASE DATE: 2017-12-05 DATA COVERAGE: 2017-03-26 to 2017-08-01 (Sols 1649-1772) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: MAHLI EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: 129 EDR .LBLs & 432 RDR .LBLs 1. Updated product types Incorrect information was found in some sol 1251, 1253, and 1254 RATIONALE_DESC keywords. RATIONALE_DESC has been corrected and the following product's .LBLs have been updated to include PRODUCT_VERSION_ID = V2.0. The data products themselves have not changed. PICNOs with updated LBLs in RELEASE 0016: ------------------------- 1251MH0005580000403817I01 1251MH0005580010403818{C,I}0{0,1} 1251MH0005580020403819{C,I}0{0,1} 1251MH0005580000403820I01 1251MH0005580010403821{C,I}0{0,1} 1251MH0005580020403822{C,I}0{0,1} 1253MH0005770000403828I01 1253MH0005770010403829{C,I}0{0,1} 1253MH0005770020403830{C,I}0{0,1} 1253MH0005770030403831I01- 1253MH0005770000403839I01 1253MH0005770010403840{C,I}0{0,1} 1253MH0005770020403841{C,I}0{0,1} 1253MH0005770030403842I01- 1253MH0005780000403850I01 1253MH0005780010403851{C,I}0{0,1} 1253MH0005780020403852{C,I}0{0,1} 1253MH0005780030403853I01- 1253MH0005770000403861I01 1253MH0005770010403862{C,I}0{0,1} 1253MH0005770020403863{C,I}0{0,1} 1253MH0005770030403864I01- 1253MH0005770000403872I01 1253MH0005770010403873{C,I}0{0,1} 1253MH0005770020403874{C,I}0{0,1} 1253MH0005770030403875I01- 1253MH0005780000403883I01 1253MH0005780010403884{C,I}0{0,1} 1253MH0005780020403885{C,I}0{0,1} 1253MH0005780030403886I01- 1253MH0005780030403893I01 1253MH0001630000403894{R,T}0{0,1} 1253MH0001630000403895{S,U}0{0,1} 1253MH0001630000403896{R,T}0{0,1} 1253MH0001630000403897{S,U}0{0,1} 1253MH0001630000403898{R,T}0{0,1} 1253MH0001630000403899{S,U}0{0,1} 1253MH0001630000403900{R,T}0{0,1} 1253MH0001630000403901{S,U}0{0,1} 1253MH0001630000403902{R,T}0{0,1} 1253MH0001630000403903{S,U}0{0,1} 1253MH0001630000403904{R,T}0{0,1} 1253MH0001630000403905{S,U}0{0,1} 1254MH0005770000403910I01 1254MH0005770010403911{C,I}0{0,1} 1254MH0005770020403912{C,I}0{0,1} 1254MH0005770030403913I01- 1254MH0005770030403920I01 1254MH0001630000403996{R,T}0{0,1} 1254MH0001630000403997{S,U}0{0,1} **************************************************************** **************************************************************** RELEASE NUMBER: 15 RELEASE DATE: 2017-08-01 DATA COVERAGE: 2016-11-09 to 2017-03-26 (Sols 1515-1648) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: MAHLI EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None 1. Images to document drill hole show no drill hole sequence: mhli00639, mhli00640, mhli00651, & mhli00258, sol: 1536 PICNO range CDPID range ------------------------------ ----------- 1536MH0006390010600482I01 482 1536MH0006390010600483{C,I}0{0,1}- 483-485 1536MH0006390040600485{C,I}0{0,1} 1536MH0006400010600486I01- 486-499 1536MH0006400070600499I01 1536MH0006400040600489C00 489 1536MH0006400060600498C00- 498-499 1536MH0006400070600499C00 1536MH0006510000600480I01 480 1536MH0006510010600481{C,I}0{0,1} 481 1536MH0002580000600500{R,T}0{0,1} 500 1536MH0002580000600501{S,U}0{0,1} 501 Reason: A drill fault occurred prior to drilling which terminated drilling prior to any activities. Therefore there was no drill hole to document in any of these images. An error report was filed documenting the fault. 2. Out of focus images due to APXS proximity mode failure sequence: mhli00656 & mhli00171, sol: 1570 PICNO range CDPID range -------------------------- ----------- 1570MH0006560000600962I01 962 1570MH0006560010600963{C,I}0{0,1} 963 1570MH0006560020600964I01- 964-972 1570MH0006560030600972I01 1570MH0001710000601025R00 1025 1570MH0001710000601026S00 1026 Reason: These images are out of focus because they were acquired at a greater standoff distance than expected due to APXS proximity mode failure. Since MAHLI placement was reliant on APXS for these sequences and APXS had an issue, all resulting MAHLI images executed at incorrect distances and are therefore out of focus. 3. Off-nominal merge products with truncated data sequence: mhli00458, sol: 1604 PICNO range CDPID range -------------------------- ----------- 1604MH0004580000602120{R,T}0{0,1} 2120 1604MH0004580000602122{R,T}0{0,1} 2122 1604MH0004580000602132{R,T}0{0,1} 2132 1604MH0004580000602134{R,T}0{0,1} 2134 1604MH0004580000602136{R,T}0{0,1} 2136 Reason: Five focus merge products did not compress properly. These merges of sand targets, which have high scene activity, were preformed at JPEG quality 95 causing the products to exceed the hard, internal size limit for a product. Both the thumbnails and best focus products have truncated data. Re-merges done at lower compression qualities were successfully commanded on sol 1606. 4. Out of focus image due to MAHLI mechanism fault sequence: mhli00402, sol: 1623 PICNO range CDPID range -------------------------- ----------- 1623MH0004020000602657{E,I}01 2657 This image is out of focus as expected; it was taken from 2m standoff distance with no mechanism motion. It shows the MAHLI cover halfway open as a result of the MAHLI mechanism fault while opening the cover on Sol 1619. An error report was filed. 5. Incorrect motor counts reported in diagnostic images sequence: mhli00004 & mhli00402, sol: 1623 PICNO range CDPID range -------------------------- ----------- 1623MH0004020000602657{E,I}01 2657 1623MH0000040000602658E01 2658 1623MH0000040000602659E01 2659 Reason: The reported motor count in these diagnostic test images (acquired during the effort to recover from Sol 1619 MAHLI mechanism fault) of 15504 does not indicate actual lens focus state nor mechanism position. The actual focus position was confirmed by inspection of the Sol 1623 MAHLI images and Mastcam Sol 1620 and 1623 images to indicate a "beyond infinity" focus. 6. Full frames that do not have corresponding thumbnail products sequence: mhli00004, sol: 1623 PICNO range CDPID range -------------------------- ----------- 1623MH0000040000602658E01 2658 1623MH0000040000602659E01 2659 Reason: No thumbnail products were created for these two full-frame images due to a problem which occurred onboard the rover preventing their correct production and storage. As a result, several of the keyword values are NULL due to the issue. 7. Flat-field processing of RDR products removed Flat-field processing of RDR products has been removed. Please see Section B, number 9, below, for more details. 8. Meta-kernel setup file updated The MMM_CHRONOS_V02.TM file in the EXTRAS directory has been updated. Please see Section B, number 10, below, for more details. 9. Clarification of the "SEQUENCE_ID" in the data product .LBL file versus the "Sequence ID" in the Product Identifier described in the MMM PDS Data Product Software Interface Specification (SIS) As stated in the File Naming Convention section of the SIS, the first six digits of the product identifier (Sequence ID) are reflected in the SEQUENCE_ID keyword value in the data product label file (.LBL). This is the case when the MAHLI data are downlinked via the original sequence that acquired the data as recorded in the product identifier. Occasionally, the data are requested to be downlinked differently than acquired (e.g., a different compression). This is done by sending a new sequence and, as a result, certain original information is not retained such as the Sequence ID and Tracking ID. To address this, the missing information is extracted from the thumbnail of the original data product and inserted into the new product. This results in a data product whose information is complete and contains the missing information from the original. **************************************************************** **************************************************************** RELEASE NUMBER: 14 RELEASE DATE: 2017-03-16 DATA COVERAGE: 2016-08-01 to 2016-11-09 (Sols 1418-1514) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: MAHLI EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None 1. Updates to MODEL_COMPONENT_3 and MODEL_COMPONENT_4 in the Camera Model Data Elements section of the .LBL Changes have been made to two keywords in the .LBL files, MODEL_COMPONENT_3 and MODEL_COMPONENT_4 in the Camera Model Data Elements section of the .LBL, specifically the GEOMETRIC_CAMERA_MODEL_PARMS group. Please see Section B, number 8, below, for more details. **************************************************************** **************************************************************** RELEASE NUMBER: 13 RELEASE DATE: 2016-12-05 DATA COVERAGE: 2016-03-27 to 2016-08-01 (Sols 1294-1417) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: MAHLI EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: 19 EDR .LBLs & 64 RDR .LBLs 1. Updated product types Incorrect information was found in some sol 880 RATIONALE_DESC keywords. RATIONALE_DESC has been corrected and the following product's .LBLs have been updated to include PRODUCT_VERSION_ID = V2.0. The data products themselves have not changed. PICNOs with updated LBLs in RELEASE 0013: ------------------------- 0880MH0004630000302390I01 0880MH0004630010302391{C,I}0{0,1} 0880MH0004630020302392{C,I}0{0,1} 0880MH0004630030302393{C,I}0{0,1} 0880MH0004630040302394I01 0880MH0004630040302395I01 0880MH0004630040302396I01 0880MH0004630040302397I01 0880MH0004630040302398I01 0880MH0004630040302399I01 0880MH0004630040302400I01 0880MH0004630040302401I01 0880MH0001530000302402R00 0880MH0001530000302402T01 0880MH0001530000302403S00 0880MH0001530000302403U01 2. All-black range maps on sol 1327 On Sol 1327, the MAHLI camera head was unintentionally positioned closer to the substrate than planned. None of the images in the absolute focus stack were in focus. The resulting range map, merged on Sol 1328, appears as an all-black image. PICNO CDPID --------------------------------- ----- 1328MH0001630000501115S00 1115 1328MH0001630000501117S00 1117 3. "SEQUENCE_ID" different for some data products due to a rover anomaly On Sol 1389, an anomaly occurred on board the rover, which required some previously acquired data products still residing on the rover to be downlinked in a different manner. As a result, these products exhibit the same symptoms with their SEQUENCE_ID keywords as documented in number 6 of this section. The following products were effected by this: PICNO CDPID --------------------------------- ----- 1386MH0002620000502653E03 2653 1386MH0003250050502662E01 2662 4. Updates to RADIANCE_OFFSET, RADIANCE_SCALING_FACTOR, and RADIOMETRIC_CORRECTION_TYPE Changes have been made to three keywords in the .LBL files, RADIANCE_OFFSET, RADIANCE_SCALING_FACTOR, and RADIOMETRIC_CORRECTION_TYPE. Please see Section B, numbers 5 and 6, below, for more details. 5. Meta-kernel and CHRONOS setup files added to volume Two files used for product generation have been added to the EXTRAS directory, a meta-kernel file, MMM_CHRONOS_V01.TM, and a CHRONOS setup file, MSL_CONSTANTS_V1.TXT. Please see Section B, number 7, below, for more details. 6. Clarification of the "SEQUENCE_ID" in the data product .LBL file versus the "Sequence ID" in the Product Identifier described in the MMM PDS Data Product Software Interface Specification (SIS) As stated in the File Naming Convention section of the SIS, the first six digits of the product identifier (Sequence ID) are reflected in the SEQUENCE_ID keyword value in the data product label file (.LBL). This is the case when the MAHLI data are downlinked via the original sequence that acquired the data as recorded in the product identifier. Occasionally, the data are requested to be downlinked differently than acquired (e.g., a different compression). This is done by sending a new sequence and, as a result, certain original information is not retained such as the Sequence ID and Tracking ID. To address this, the missing information is extracted from the thumbnail of the original data product and inserted into the new product. This results in a data product whose information is complete and contains the missing information from the original. **************************************************************** **************************************************************** RELEASE NUMBER: 12 RELEASE DATE: 2016-08-01 DATA COVERAGE: 2015-11-10 to 2016-03-27 (Sols 1160-1293) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: MAHLI EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None 1. PICNO lookup tables have been added to the INDEX directory Two tables, one for EDRs and one for RDRs, have been added to the INDEX directory which correlate PDS PICNOs with the daily, operationally produced PICNOs. Please see Section B, number 3, below, for more details. 2. SEQUENCE_ID has been added to *INDEX.TAB files The SEQUENCE_ID keyword has been added to the {EDR,RDR}INDEX.TAB and {EDR,RDR}_CMDX.TAB files. Please see Section B, number 4, below, for more details. **************************************************************** **************************************************************** RELEASE NUMBER: 11 RELEASE DATE: 2016-03-16 DATA COVERAGE: 2015-08-02 to 2015-11-10 (Sols 1063-1159) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: MAHLI EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None No new errata have been identified in this release. **************************************************************** **************************************************************** RELEASE NUMBER: 10 RELEASE DATE: 2015-12-04 DATA COVERAGE: 2015-03-28 to 2015-08-02 (Sols 939-1062) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: MAHLI EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: 18 EDR .LBLs & 552 RDR .LBLs 1. Updated product types Incorrect information was found in some sol 303 and 687 RATIONALE_DESC keywords. RATIONALE_DESC has been corrected and the following product's .LBLs have been updated to include PRODUCT_VERSION_ID = V2.0 and V4.0. The data products themselves have not changed. PICNOs with updated LBLs in RELEASE 0010: ------------------------- 0303MH0002910020103720{C,I}0{0,1} 0687MH0004160000203990M{0,F}0- 0687MH0004160000203997M{0,F}0 0687MH0004160000203990Q01- 0687MH0004160000203997Q01 2. MAHLI Characterization and Calibration Status Report A technical paper entitled, "Curiosity's Robotic Arm-Mounted Mars Hand Lens Imager (MAHLI): Characterization and Calibration Status" has been added to the DOCUMENT directory, MAHLI_TECH_REPT_0001.PDF. This paper documents the status and results of the MAHLI characterization and calibration from August 2008 to February 2015. The supplementary files for this paper can be found online at the following DOI: doi:10.13140/RG.2.1.3798.5447 or a copy of the files can be requested by emailing mmmdata@msss.com. **************************************************************** **************************************************************** RELEASE NUMBER: 9 RELEASE DATE: 2015-07-31 DATA COVERAGE: 2014-11-10 to 2015-03-28 (Sols 805-938) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: MAHLI EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: 206 EDR .LBLs & 716 RDR .LBLs 1. Updated product types Incorrect information was found in some PRE_ATLO (DEV, CAL), sol 46, and sol 47 RATIONALE_DESC keywords. RATIONALE_DESC has been corrected and the following product's .LBLs have been updated to include PRODUCT_VERSION_ID = V4.0. The data products themselves have not changed. PICNOs with updated LBLs in RELEASE 0009: ------------------------- DEV_MH0808110000000442B00 DEV_MH0808110010000443B00 CAL_MH0809790300001250B00 0046MH0000090010100121{C,E}0{0,1} 0046MH0000120000100165R00 0046MH0000120000100165T01 0046MH0000120000100166S00 0046MH0000120000100166U01 0046MH0000120000100167R00 0046MH0000120000100167T01 0046MH0000120000100168S00 0046MH0000120000100168U01 0046MH0000120000100169R00 0046MH0000120000100169T01 0046MH0000120000100170S00 0046MH0000120000100170U01 0046MH0000120000100171R00 0046MH0000120000100171T01 0046MH0000120000100172S00 0046MH0000120000100172U01 0047MH0000130010100174{C,E}0{0,1} 0047MH0000140010100176{C,E}0{0,1} 0047MH0000140010100178{C,E}0{0,1} 0047MH0000150010100180{C,E}0{0,1} 0047MH0000090010100182{C,E}0{0,1} 0047MH0000120000100226R00 0047MH0000120000100226T01 0047MH0000120000100227S00 0047MH0000120000100227U01 0047MH0000120000100228R00 0047MH0000120000100228T01 0047MH0000120000100229S00 0047MH0000120000100229U01 0047MH0000120000100230R00 0047MH0000120000100230T01 0047MH0000120000100231S00 0047MH0000120000100231U01 0047MH0000120000100232R00 0047MH0000120000100232T01 0047MH0000120000100233S00 0047MH0000120000100233U01 PICNO range with updated LBLs in RELEASE 0009: ------------------------- 0046MH0000090000100120I01- 0046MH0000110050100164I01 0046MH0000090010100122C00- 0046MH0000090020100126C00 0046MH0000100010100131{C,E}0{0,1}- 0046MH0000100020100132{C,E}0{0,1} 0046MH0000100030100135C00- 0046MH0000100030100138C00 0046MH0000100010100142{C,E}0{0,1}- 0046MH0000100020100143{C,E}0{0,1} 0046MH0000100030100146C00- 0046MH0000100030100149C00 0046MH0000110010100153{C,E}0{0,1}- 0046MH0000110040100156{C,E}0{0,1} 0046MH0000110050100160C00- 0046MH0000110050100162C00 0047MH0000130000100173I01- 0047MH0000110050100225I01 0047MH0000090020100184C00- 0047MH0000090020100186C00 0047MH0000100010100192{C,E}0{0,1}- 0047MH0000100020100193{C,E}0{0,1} 0047MH0000100030100197C00- 0047MH0000100030100199C00 0047MH0000100010100203{C,E}0{0,1}- 0047MH0000100020100204{C,E}0{0,1} 0047MH0000100030100208C00- 0047MH0000100030100210C00 0047MH0000110010100214{C,E}0{0,1}- 0047MH0000110020100217{C,E}0{0,1} 0047MH0000110050100220C00- 0047MH0000110050100223C00 2. The following products were created with incorrect PICNOs for the following reason: sequence:mhli00468, sol:895 Assigned PICNO range Expected PICNO range -------------------------- -------------------------- 0895MH0000000000302751I01- 0895MH0046800000302751I01- 0895MH0000000000302770I01 0895MH0046800900302770I01 0895MH0000000000302752C00 0895MH0046800100302752C00 0895MH0000000000302762C00 0895MH0046800100302762C00 sequence:mhli00469, sol:895 Assigned PICNO range Expected PICNO range -------------------------- -------------------------- 0895MH0000000000302771I01- 0895MH0046900000302771I01- 0895MH0000000000302780I01 0895MH0046900900302780I01 0895MH0000000000302772C00 0895MH0046900100302772C00 Reason: The sequences, mhli00468 and mhli00469, were mistakenly commanded with tracking ID 0. The result is that neither the sequence ID nor the sequence line (command counter) were included in the PICNO, which is why the PICNO is populated with zeros. 3. Unintentional dark images due to unreasonable exposure parameters chosen for nighttime imaging sequence:mhli00444, sol:808 PICNO CDPID --------------------------------- ----- 0808MH0004440000300750I01 750 0808MH0004440010300751{C,I}0{0,1} 751 0808MH0004440020300752I01 752 0808MH0004440030300753{C,I}0{0,1} 753 Reason: These images are completely dark due to incorrectly commanded exposure settings that did not allow the exposure to go long enough for the scene required. 4. Out of focus images likely due to camera movement during acquisition sequence:mhli00408 & mhli00409, sol:883 PICNO range CDPID range -------------------------- ----------- 0883MH0004080000302619{C,I}0{0,1} 2619 0883MH0004080030302622{C,I}0{0,1} 2622 0883MH0004090000302627{C,I}0{0,1}- 2627-2630 0883MH0004090030302630{C,I}0{0,1} sequence:mhli00473, sol:910 PICNO range CDPID range -------------------------- ----------- 0910MH0004730000303033{C,I}0{0,1}- 3033-3036 0910MH0004730030303036{C,I}0{0,1} Reason: These images are out of focus as a result of camera movement (e.g., wind) that occurred when the images were acquired rather than a commanding error or the camera failing to find focus. 5. Updates to CONTACT_SENSOR_STATE and CONTACT_SENSOR_STATE_NAME Changes have been made to two keywords in the .LBL files, CONTACT_SENSOR_STATE and CONTACT_SENSOR_STATE_NAME. Please see Section B, below, for more details. 6. Clarification of the "SEQUENCE_ID" in the data product .LBL file versus the "Sequence ID" in the Product Identifier described in the MMM PDS Data Product Software Interface Specification (SIS) As stated in the File Naming Convention section of the SIS, the first six digits of the product identifier (Sequence ID) are reflected in the SEQUENCE_ID keyword value in the data product label file (.LBL). This is the case when the MAHLI data are downlinked via the original sequence that acquired the data as recorded in the product identifier. Occasionally, the data are requested to be downlinked differently than acquired (e.g., a different compression). This is done by sending a new sequence and, as a result, certain original information is not retained such as the Sequence ID and Tracking ID. To address this, the missing information is extracted from the thumbnail of the original data product and inserted into the new product. This results in a data product whose information is complete and contains the missing information from the original. **************************************************************** **************************************************************** RELEASE NUMBER: 8 RELEASE DATE: 2015-03-16 DATA COVERAGE: 2014-08-03 to 2014-11-10 (Sols 708-804) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: MAHLI EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None No new errata have been identified in this release. **************************************************************** **************************************************************** RELEASE NUMBER: 7 RELEASE DATE: 2014-12-05 DATA COVERAGE: 2014-03-28 to 2014-08-03 (Sols 584-707) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: MAHLI EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: 16 EDR .LBLs & 16 RDR .LBLs 1. Updated product types Incorrect information was found in some sol 276 and 277 RATIONALE_DESC keywords. RATIONALE_DESC has been corrected and the following product's .LBLs have been updated to include PRODUCT_VERSION_ID = V4.0. The data products themselves have not changed. PICNOs with updated LBLs in RELEASE 0007: ------------------------- 0276MH0002650000103019R00 0276MH0002650000103019T01 0276MH0002650000103020S00 0276MH0002650000103020U01 0276MH0002650000103021R00 0276MH0002650000103021T01 0276MH0002650000103022S00 0276MH0002650000103022U01 0277MH0002650000103043R00 0277MH0002650000103043T01 0277MH0002650000103044S00 0277MH0002650000103044U01 0277MH0002650000103045R00 0277MH0002650000103045T01 0277MH0002650000103046S00 0277MH0002650000103046U01 2. Product missing various keyword values due to the Sol 615 MAHLI fault sequence: mhli00393, sol: 615 PICNO ------------------------- 0615MH0004030000203467C00 A previously unknown MAHLI flight software limitation caused the MAHLI instrument to fault while acquiring mhli00393. This resulted in the above product being retrieved with a new sequence from the data saved on the MAHLI DEA. Not all of the necessary metadata needed to populate the .LBL file are stored in the mini-header of the products on the DEA. Therefore, affected keywords were filled in with NULL values for this product. In addition, the fault made it impossible for the flight software to create a thumbnail for this product. 3. Clarification of the "SEQUENCE_ID" in the data product .LBL file versus the "Sequence ID" in the Product Identifier described in the MMM PDS Data Product Software Interface Specification (SIS) As stated in the File Naming Convention section of the SIS, the first six digits of the product identifier (Sequence ID) are reflected in the SEQUENCE_ID keyword value in the data product label file (.LBL). This is the case when the MAHLI data are downlinked via the original sequence that acquired the data as recorded in the product identifier. Occasionally, the data are requested to be downlinked differently than acquired (e.g., a different compression). This is done by sending a new sequence and, as a result, certain original information is not retained such as the Sequence ID and Tracking ID. To address this, the missing information is extracted from the thumbnail of the original data product and inserted into the new product. This results in a data product whose information is complete and contains the missing information from the original. **************************************************************** **************************************************************** RELEASE NUMBER: 6 RELEASE DATE: 2014-08-01 DATA COVERAGE: 2013-11-10 to 2014-03-28 (Sols 450-583) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: MAHLI EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None 1. Clarification of the "SEQUENCE_ID" in the data product .LBL file versus the "Sequence ID" in the Product Identifier described in the MMM PDS Data Product Software Interface Specification (SIS) As stated in the File Naming Convention section of the SIS, the first six digits of the product identifier (Sequence ID) are reflected in the SEQUENCE_ID keyword value in the data product label file (.LBL). This is the case when the MAHLI data are downlinked via the original sequence that acquired the data as recorded in the product identifier. Occasionally, the data are requested to be downlinked differently than acquired (e.g., a different compression). This is done by sending a new sequence and, as a result, certain original information is not retained such as the Sequence ID and Tracking ID. To address this, the missing information is extracted from the thumbnail of the original data product and inserted into the new product. This results in a data product whose information is complete and contains the missing information from the original. **************************************************************** **************************************************************** RELEASE NUMBER: 5 RELEASE DATE: 2014-03-17 DATA COVERAGE: 2013-08-11 to 2013-11-10 (Sols 360-449) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: MAHLI EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None 1. Processing artifacts in RDRs A few images' RDR products appear to show column banding artifacts. This is a software issue where the processing is performed too aggressively on the scene content. PICNO CDPID ------------------------- ----- 0394MH0003060010104377C00 4377 0394MH0003060010104387C00 4387 2. Clarification of the "SEQUENCE_ID" in the data product .LBL file versus the "Sequence ID" in the Product Identifier described in the MMM PDS Data Product Software Interface Specification (SIS) As stated in the File Naming Convention section of the SIS, the first six digits of the product identifier (Sequence ID) are reflected in the SEQUENCE_ID keyword value in the data product label file (.LBL). This is the case when the MAHLI data are downlinked via the original sequence that acquired the data as recorded in the product identifier. Occasionally, the data are requested to be downlinked differently than acquired (e.g., a different compression). This is done by sending a new sequence and, as a result, certain original information is not retained such as the Sequence ID and Tracking ID. To address this, the missing information is extracted from the thumbnail of the original data product and inserted into the new product. This results in a data product whose information is complete and contains the missing information from the original. **************************************************************** **************************************************************** RELEASE NUMBER: 4 RELEASE DATE: 2013-12-13 DATA COVERAGE: 2013-05-09 to 2013-08-10 (Sols 270-359) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: MAHLI EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None 1. Unexpected jail bar artifacts in extreme-contrast images A thumbnail and full frame acquired on sol 327 exhibit jail bar artifacts around the middle of the image. These artifacts are a result of the extreme contrast in the scene over a great distance, the time of day of acquisition, some over-exposure, and how the camera handles exposure and focus. While these artifacts have been observed before in images that have been intentionally overexposed, this is the first time these artifacts have appeared unintentionally. As a result, the camera is being commanded slightly differently to avoid future occurrences. PICNO CDPID ------------------------- ----- 0327MH0003050000104151H01 4151 0327MH0003050000104151C00 4151 2. Thumbnails for type A (raster 16 bit image) products Thumbnails associated with type A products display a multitude of colors; this is not unexpected. Type A is a raster 16 bit image meant for image calibration only. Thumbnails created from this image type do not have colors representative of the full size image due to a lack of companding to 8 bits and, therefore, are not technically useful except for confirmation of image acquisition. PICNO CDPID ------------------------- ----- 0270MH0002490050200001I01 1 3. Clarification of the "SEQUENCE_ID" in the data product .LBL file versus the "Sequence ID" in the Product Identifier described in the MMM PDS Data Product Software Interface Specification (SIS) As stated in the File Naming Convention section of the SIS, the first six digits of the product identifier (Sequence ID) are reflected in the SEQUENCE_ID keyword value in the data product label file (.LBL). This is the case when the MAHLI data are downlinked via the original sequence that acquired the data as recorded in the product identifier. Occasionally, the data are requested to be downlinked differently than acquired (e.g., a different compression). This is done by sending a new sequence and, as a result, certain original information is not retained such as the Sequence ID and Tracking ID. To address this, the missing information is extracted from the thumbnail of the original data product and inserted into the new product. This results in a data product whose information is complete and contains the missing information from the original. **************************************************************** **************************************************************** RELEASE NUMBER: 3 RELEASE DATE: 2013-08-30 DATA COVERAGE: 2013-02-06 to 2013-05-08 (Sols 180-269) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: MAHLI EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None 1. The following products failed to compress resulting in a different product type being downlinked than was originally commanded and a mismatch in compression values between the thumbnail and corresponding image: PICNO CDPID ------------------------- ----- 0058MH0000250010100440B00 440 Reason: On sol 18 an issue was discovered with the MMM compression algorithm. The algorithm assumes the uncompressed image size is the largest data volume size the image can be. However, after compressing the images, the resulting image ended up being larger in data volume size than the original, uncompressed image size (due to scene activity). Consequently, a warning was issued from the DEA and an error report was filed, and no image was received. As a result these products had to be recovered uncompressed by a separate sequence. This creates a discrepancy between what type of image was originally commanded versus what type of image is downlinked. For the above image, a type C (lossless) image was commanded; however, the recovered image is a type B (raster 8-bit) image. This can also be seen in the thumbnail, type I, (which states compression = -101) and the recovered image, type B, (which states compression = 0). 2. The following onboard products failed to compress. They were originally commanded as JPEGs and received as such. The PI decided that he wanted these products returned as lossless images. They were commanded to be downlinked again with compression = -101 however they failed to compress due to the issue with the MMM compression algorithm explained above. As a result, they were commanded once again, however, this time with compression = 0. PICNO CDPID ------------------------- ----- 0058MH0000260010100379B00 379 0058MH0000260020100380B00 380 0058MH0000260020100381B00 381 0058MH0000260020100382B00 382 0058MH0000260020100383B00 383 0058MH0000260010100389B00 389 0058MH0000260020100390B00 390 0058MH0000260020100391B00 391 0058MH0000260020100392B00 392 0058MH0000260020100393B00 393 0058MH0000270010100399B00 399 0058MH0000270020100404B00 404 0058MH0000280030100415B00 415 0058MH0000240020100435B00 435 0058MH0000250020100441B00 441 0058MH0000250030100446B00 446 0060MH0000350010100548B00 548 0060MH0000360020100555B00 555 0074MH0000350010100811B00 811 3. The following products were created with incorrect PICNOs for the following reason: sequence:mhli00196, sol:162 Assigned PICNO range Expected PICNO range -------------------------- -------------------------- 0162MH0000000000101952C00- 0162MH0019600100101952C00- 0162MH0000000000101958C00 0162MH0019601000101958C00 Reason: The sequence, mhli00196, was mistakenly commanded with tracking ID 0. The result is that neither the sequence ID nor the sequence line (command counter) were included in the PICNO, which is why the PICNO is populated with zeros. The original thumbnails were downlinked as type "I" products in RELEASE 0002. These were commanded to be returned as lossless and thus the "C" product type designation. 4. Clarification of the "SEQUENCE_ID" in the data product .LBL file versus the "Sequence ID" in the Product Identifier described in the MMM PDS Data Product Software Interface Specification (SIS) As stated in the File Naming Convention section of the SIS, the first six digits of the product identifier (Sequence ID) are reflected in the SEQUENCE_ID keyword value in the data product label file (.LBL). This is the case when the MAHLI data are downlinked via the original sequence that acquired the data as recorded in the product identifier. Occasionally, the data are requested to be downlinked differently than acquired (e.g., a different compression); this is done by sending a new sequence, which is recorded in the SEQUENCE_ID. In this case, the FSW inserts the new sequence information into the SEQUENCE_ID keyword value. As a result, the first six digits of the product identifier (as originally acquired) and the SEQUENCE_ID keyword value (as downlinked) are not the same. **************************************************************** **************************************************************** RELEASE NUMBER: 2 RELEASE DATE: 2013-06-10 DATA COVERAGE: 2012-11-06 to 2013-02-05 (Sols 90-179) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: MAHLI EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None 1. The following products were created with incorrect PICNOs for the following reason: sequence:mhli00196, sol:162 Assigned PICNO range Expected PICNO range ------------------------------ ------------------------------ 0162MH0000000000101950{I,E}01- 0162MH0019600100101950{I,E}01- 0162MH0000000000101959{I,E}01 0162MH0019601000101959{I,E}01 Reason: The sequence, mhli00196, was mistakenly commanded with tracking ID 0. The result is that neither the sequence ID nor the sequence line (command counter) were included in the PICNO, which is why the PICNO is populated with zeros. 2. Incorrect LED states PICNO range CDPID range ------------------------------ ----------- 0165MH0001880180102011O01- 2011-2025 0165MH0001880180102025O01 0165MH0001880180102011J00- 2011-2025 0165MH0001880180102025J00 0165MH0001880200102027P01- 2027-2041 0165MH0001880200102041P01 0165MH0001880210102043{N,Q}01- 2043-2055 0165MH0001880210102057{N,Q}01 Reason: When these images were acquired, all of the MAHLI LEDs were off. In the PDS labels, MSL:LED_STATE_FLAG = ( ON, ON, OFF ) states the white LEDs were powered on which is incorrect. This is a result of a known bug in the MAHLI software. 3. Clarification of the "SEQUENCE_ID" in the data product .LBL file versus the "Sequence ID" in the Product Identifier described in the MMM PDS Data Product Software Interface Specification (SIS) As stated in the File Naming Convention section of the SIS, the first six digits of the product identifier (Sequence ID) are reflected in the SEQUENCE_ID keyword value in the data product label file (.LBL). This is the case when the MAHLI data are downlinked via the original sequence that acquired the data as recorded in the product identifier. Occasionally, the data are requested to be downlinked differently than acquired (e.g., a different compression); this is done by sending a new sequence, which is recorded in the SEQUENCE_ID. In this case, the FSW inserts the new sequence information into the SEQUENCE_ID keyword value. As a result, the first six digits of the product identifier (as originally acquired) and the SEQUENCE_ID keyword value (as downlinked) are not the same. **************************************************************** **************************************************************** RELEASE NUMBER: 1 RELEASE DATE: 2013-06-10 DATA COVERAGE: 2008-08-15 to 2008-10-16 (PRE_ATLO) 2010-11-05 to 2011-11-08 (ATLO) 2012-03-12, 2012-04-20, 2012-06-14 (Cruise) 2012-08-06 to 2012-11-05 (Sols 0-89) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: MAHLI EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None 1. PRE_ATLO products This data set includes images acquired during the camera development phase (DEV_), stand-alone (instrument) thermal vacuum testing (TVC_), stand-alone (instrument) calibration (CAL_), and delivery (DEL_) of the MAHLI instrument to JPL-Caltech from August 15, 2008 to October 16, 2008. MAHLI was not integrated with the rover, mechanically nor electronically, at any point during this phase. Note that several of the keywords in this data set are N/A, NULL, or UNK due to the fact that the camera was not integrated with the rover. Yet the same label format and keywords used for surface data are used for this data set. Therefore keywords in the RSM_COORDINATE_SYSTEM_PARMS or ARM_ARTICULATION_STATE_PARMS, for example, are not applicable. Another example includes some products with true height and width values in the IMAGE object but are reported as NULL within the IMAGE_REQUEST_PARMS group. This data set only includes MhliImage products; no other product types were produced during the PRE_ATLO phase. Note that the empirically determinable relationship between motor count, working distance (and range for focus merge range map products), and image scale applicable to data acquired on Earth and Mars by the flight MAHLI instrument is not applicable to PRE_ATLO data acquired before the final integration of the MAHLI camera head. This means that the relationship between motor count and working distance (and range for focus merge range map products) is not applicable for data acquired before 26 August 2008. No RDRs were produced for this data set because some of the PRE_ATLO data were used as calibration input for production of surface mission RDRs. 2. ALTO products This data set includes images acquired during the Assembly, Test, and Launch Operations (ATLO) (ATL_) phase from November 5, 2010 to November 11, 2011. MAHLI was integrated with or at least connected to the rover when MAHLI data were acquired during this period. Six ATLO tests were conducted with the spacecraft clock (SCLK) set to a future date, i.e., for the rover to test a future case such as Cruise; Entry, Descent and Landing (EDL); or Surface operations (e.g. a test in which the rover simulates operations during Sol N on Mars). For these particular ATLO data, this means that the label information states that the data acquired were acquired on a date in 2012 or 2013, when in fact they were acquired on a date in 2010 and 2011. The RATIONALE_DESC keyword specifies the actual date of acquisition in terms of local time at the test venue. 285 different products acquired during ATLO have SCLK times set to some time in the future. For example, product ATL_MH0063000000000119B00 has the following information: LOCAL_MEAN_SOLAR_TIME = Sol-00150M09:03:32.597 IMAGE_TIME = 2013-01-07T02:06:34.757 RATIONALE_DESC = "System Test 6 - venue Jet Propulsion Laboratory - Pasadena - California - local date 29 November 2010 - image CheMin and SAM sample inlets on rover deck - no mechanism actuation after dust cover opening - not in focus as expected" In addition, the PATH_NAME in the EDRINDEX.TAB file indicates the UTC date on which the image was acquired during ATLO. PATH_NAME = DATA/EDR/ATLO/2010_11_30/ Setting a future SCLK also effected the following keywords, all of which report a future time or date: MSL:LOCAL_MEAN_SOLAR_TIME LOCAL_TRUE_SOLAR_TIME PLANET_DAY_NUMBER IMAGE_TIME START_TIME STOP_TIME MSL:TELEMETRY_SOURCE_START_TIME MSL:TELEMETRY_SOURCE_SCLK_START MSL:INSTRUMENT_CLOCK_START_COUNT a. Images without thumbnails In general, the data received from MAHLI during ATLO met all test requirements. If a product, whether a thumbnail or an image, was not received from the rover or test venue, the loss was determined to be acceptable because the products that were received met or exceeded the requirements established for the given test. The first 20 products acquired in ALTO were MhliUtilTest products which produced images but not corresponding thumbnails. This was expected. The next 206 products acquired in ATLO, during the period covered by November 2010 through January 2011, did not have corresponding archivable thumbnails because the proper software infrastructure that enables miniheader creation for thumbnails was unavailable. Production and downlink of thumbnails was not required for the successful completion of MAHLI ATLO tests until the testing which began in February 2011. A few other products did not produce thumbnails because the version of the flight software at the time was unable to create thumbnails for MhliRangemap products. The following products are missing a corresponding thumbnail for this reason: ATL_MH0080050070000574S00 ATL_MH0080020060000716S00 ATL_MH0080020060000733S00 ATL_MH0080020060001004S00 ATL_MH1103020000001006S00 Some tests did not require the creation of a thumbnail as it was not needed. The following product is missing its corresponding thumbnail for this reason: ATL_MH1103020000001005R00 b. Thumbnails without images In general, the images received from MAHLI during ATLO met all test requirements. If a product, whether a thumbnail or an image, was not received from the rover or test venue, the loss was determined to be acceptable because the products that were received met or exceeded the requirements established for the given test. Thus, not all ATLO thumbnails have a corresponding image. In some cases, the thumbnail yielded enough information to satisfy the test requirements and the image was intentionally not returned. In other cases, the image was a corrupt partial product and did not have enough information to create a valid image product. The following thumbnail products are missing a corresponding image for this reason: ATL_MH0090000270001034I01 ATL_MH0090000720001079I01 ATL_MH0090000990001106I01 ATL_MH0090001120001119I01 Finally, despite having a valid thumbnail, one video product was 0-sized: ATL_MH1105040000001300Q01 c. No RDRs were produced for the ATLO data set because some of the ATLO data were used as calibration input for production of surface mission RDRs. 3. CRUISE products During cruise, a single sequence was run on 3 different dates, March 12, 2012, April 20, 2012, and June 14, 2012. Each execution acquired four images (with no mechanism motion): one 10-second exposure, one 20-second exposure, and two images with 2 second exposures and the white light LEDs on. At the end of acquisition, the products were erased. a. In the PDS labels, SEQUENCE_ID = aut_04096 for all MAHLI EDR cruise images. This is a known rover flight software bug. b. No RDRs were produced for this data set. 4. In the PDS labels, SEQUENCE_ID = aut_04096 for all MAHLI EDR and RDR images. This is a known rover flight software bug. This bug was fixed during the Flight Software update on sol 5. This applies to data downlinked on sol 1. 5. The following products were created with incorrect PICNOs for the following reasons: sequence:mhli00002, sol:10 Assigned PICNO Expected PICNO ----------------------------- ----------------------------- 0010MH0000000030100003{I,E}01 0010MH0000020010100003{I,E}01 Reason: The MMM GDS was updated on sol 13 to include sequence ID as part of the PICNO. PICNOs downlinked prior to that point do not follow the current GDS and do not include sequence ID. The exception to this is the first MAHLI sequence executed, mhli00000; because it has all zeros in the sequence name and it was the first image, it was fortuitously named correctly. 6. The following products failed to compress resulting in a different product type being downlinked than was originally commanded and a mismatch in compression values between the thumbnail and corresponding image: PICNO CDPID ------------------------- ----- 0058MH0000250010100440E01 440 Reason: On sol 18 an issue was discovered with the MMM compression algorithm. The algorithm assumes the uncompressed image size is the largest data volume size the image can be. However, after compressing the images, the resulting image ended up being larger in data volume size than the original, uncompressed image size (due to scene activity). Consequently, a warning was issued from the DEA and an error report was filed, and no image was received. As a result these products had to be recovered uncompressed by a separate sequence. This creates a discrepancy between what type of image was originally commanded versus what type of image is downlinked. For the above image, a type C (lossless) image was commanded; however, the recovered image is a type B (raster 8-bit) image. This can also be seen in the thumbnail, type I, (which states compression = -101) and the recovered image, type E, (which states compression = -95). 7. Clarification of the "SEQUENCE_ID" in the data product .LBL file versus the "Sequence ID" in the Product Identifier described in the MMM PDS Data Product Software Interface Specification (SIS) As stated in the File Naming Convention section of the SIS, the first six digits of the product identifier (Sequence ID) are reflected in the SEQUENCE_ID keyword value in the data product label file (.LBL). This is the case when the MAHLI data are downlinked via the original sequence that acquired the data as recorded in the product identifier. Occasionally, the data are requested to be downlinked differently than acquired (e.g., a different compression); this is done by sending a new sequence, which is recorded in the SEQUENCE_ID. In this case, the FSW inserts the new sequence information into the SEQUENCE_ID keyword value. As a result, the first six digits of the product identifier (as originally acquired) and the SEQUENCE_ID keyword value (as downlinked) are not the same. ******** SECTION B ******** This section is provided for general notes concerning the archive as a whole. 1. In Releases 0001-0008, the CONTACT_SENSOR_STATE keyword indicates values of "OPEN" and "CLOSED" when these values should be "CONTACT" and "NO CONTACT", respectively. This mis-mapping appears in the MSL_MMM_EDR_RDR_DPSIS.PDF SIS, plus all products and PDS labels. Starting with Release 0009 and onwards, this issue has been corrected in the MSL_MMM_EDR_RDR_DPSIS.PDF SIS plus all products and PDS labels. 2. In Releases 0001-0008, the CONTACT_SENSOR_STATE_NAME values are incorrectly identified in the MSL_MMM_EDR_RDR_DPSIS.PDF SIS, plus all products and PDS labels. Based on flight software, values for this keyword are correct in Release 0009 onwards. Releases 0001-0008 (Incorrect) Bit mapping: ------------------------------------------- Bit 0 - "MALHI SWITCH 1" Bit 1 - "MALHI SWITCH 2" Bit 2 - "DRT SWITCH 1" Bit 3 - "DRT SWITCH 2" Bit 4 - "DRILL SWITCH 1" Bit 5 - "DRILL SWITCH 2" Bit 6 - "APXS DOOR SWITCH" Bit 7 - "APXS CONTACT SWITCH" Release 0009 and onwards (Correct) Bit mapping: ----------------------------------------------- Bit 0 - "APXS CONTACT SWITCH 1" Bit 1 - "APXS CONTACT SWITCH 2" Bit 2 - "DRILL SWITCH 1" Bit 3 - "DRILL SWITCH 2" Bit 4 - "MALHI SWITCH 1A" Bit 5 - "MALHI SWITCH 1B" Bit 6 - "MALHI SWITCH 2A" Bit 7 - "MALHI SWITCH 2B" 3. In Releases 0001-0011, the version ID in the PICNO (see section 3.4.1 of MSL_MMM_EDR_RDR_DPSIS.PDF) does not necessarily match the daily, operational version of the same product. Due to the fact that there can be multiple versions of a product (e.g., partials) received during operations, this value is incremented for each version of a product received. However, for PDS archiving, when applicable, only the full and complete version of a product is archived which will receive the lowest version ID possible for that type of product. In most cases, this is a value of 1. As a result, the PDS products archived in Releases 0001-0011 do not necessarily reflect the same version ID seen in the corresponding final, complete version of a daily, operations-received product. To account for this, lookup tables which correlate the operational PICNO to the PDS PICNO for Releases 0001-0011 have been provided in the INDEX directory. There is one table for EDR and one table for RDR products. Starting with Release 0012, all full versions of every operationally- produced product will be available in the MAHLI PDS volume, and partial products will be taken into consideration when assigning the PICNO version number. This will ensure that all PICNOs in the PDS volume match with the corresponding daily, operational version of the same product. 4. The SEQUENCE_ID keyword has been added to {EDR,RDR}INDEX.TAB and {EDR,RDR}_CMDX.TAB files This keyword already existed in each data product's .LBL file, but has now been added to the .TAB files for easy reference. The {EDR,RDR}_CMDX.TAB files for Releases 0001-0011 have been backfilled and now include this keyword in the Release 0012 volumes onwards. As stated in the File Naming Convention section of the SIS, the first six digits of the product identifier (Sequence ID) are reflected in the SEQUENCE_ID keyword value in the data product label file (.LBL). This is the case when the MAHLI data are downlinked via the original sequence that acquired the data as recorded in the product identifier. Occasionally, the data are requested to be downlinked differently than acquired (e.g., a different compression); this is done by sending a new sequence, which is recorded in the SEQUENCE_ID. In this case, the FSW inserts the new sequence information into the SEQUENCE_ID keyword value. As a result, the first six digits of the product identifier (as originally acquired) and the SEQUENCE_ID keyword value (as downlinked) are not the same. 5. In Releases 0001-0011, all RDR products had values for two keywords, RADIANCE_OFFSET and RADIANCE_SCALING_FACTOR, when in fact, any color- corrected RDR products should have values of N/A. This was corrected for Release 0012 and onwards. RDR RADIANCE values -------------------------- _DRXX float value _DRLX float value _DRCX N/A _DRCL N/A 6. In Releases 0001-0011, all DRXX RDR products had an incorrect value of N/A for the keyword RADIOMETRIC_CORRECTION_TYPE when it should have been MMMRAD1. This was corrected for Release 0012 and onwards. 7. In Release 0013, two NAIF-related files have been added to provide additional information: a meta-kernel file, MMM_CHRONOS_V01.TM, and a CHRONOS setup file, MSL_CONSTANTS_V1.TXT. These files can be found in the EXTRAS directory. The meta-kernel file provides a list of kernels used to generate the data sets for each release. The CHRONOS setup file provides a partial set of parameters needed for SPICE's CHRONOS utility program - a program used by MSL to support time conversions (primarily to and from LTST). This file is used to generate the MAHLI data sets and is not available on the NAIF site. 8. In Releases 0001-0013, the camera model for the MAHLI thumbnail products was incorrect. For Release 0014 and onwards, it has been adjusted so that pixels are center-aligned with their parent, full size image. The affected values are the H and V vectors (MODEL_COMPONENT_3 and MODEL_COMPONENT_4) in the GEOMETRIC_CAMERA_MODEL_PARMS group in the .LBL file. 9. In Releases 0001-0014, flat-field calibration was applied to RDR products. For Release 0015 and onwards, the flat-field processing of RDR products will no longer be applied. The flat that was being used is unacceptably noisy for MAHLI and is not useful in data generation. 10. The NAIF-related file in the EXTRAS directory, MMM_CHRONOS_V02.TM, which is a meta-kernel file, has been updated to reflect updated kernel files from NAIF. The SCLKSCET file updated from a version 0014 to a version 0015. 11. In Releases 0001-0017, the AUTO_EXPOSURE_DATA_CUT keyword in the GROUP = IMAGE_REQUEST_PARMS had NULL values. For Release 0018 onwards, the keyword has been updated to now include valid values in the .LBL file, if applicable. 12. When acquiring video products, the product for the first frame captures values for the current state of the rover. However, all subsequent frames within that video retain the rover state values from the first frame. As a result, some values are not accurate after the first frame. For Release 0022 onwards, the following values within the LBL and TAB files for video products will be set to NULL/UNK: LBL --------------------------------- INSTRUMENT_TEMPERATURE MSL:INSTRUMENT_TEMPERATURE_STATUS SOLAR_AZIMUTH SOLAR_ELEVATION TAB ----------------------------- INSTRUMENT_TEMPERATURE:FPA INSTRUMENT_TEMPERATURE:OPTICS SOLAR_AZIMUTH SOLAR_ELEVATION 13. The NAIF-related file in the EXTRAS directory, MMM_CHRONOS_V03.TM, which is a meta-kernel file, has been updated to reflect updated kernel files from NAIF. The SCLKSCET file updated from a version 0015 to a version 0016. 14. The NAIF-related file in the EXTRAS directory, MMM_CHRONOS_V04.TM, which is a meta-kernel file, has been updated to reflect updated kernel files from NAIF. The SCLKSCET file updated from a version 0016 to a version 0017.