PDS_VERSION_ID = PDS3 RECORD_TYPE = STREAM OBJECT = TEXT PUBLICATION_DATE = 2013-05-20 NOTE = "Release notes and errata for MSL Mastcam 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 Mastcam EDR and RDR archive on volumes MSLMST_0XXX. During the course of the MSL mission the Mastcam 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: 16 RELEASE DATE: 2017-12-05 DATA COVERAGE: 2017-03-26 to 2017-08-01 (Sols 1649-1772) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: Mastcam EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: none 1. Not all images for a specific sequence were acquired due to a commanding error mcam08546 did not acquire all of the planned images as a result of an error in commanding. Due to low-light conditions at the time of imaging, the acquisition time ran longer than expected and was terminated by the next command in the sequence. The sequence was commanded to acquire 3 images, however, only 1 executed. The rest failed since the sequence was terminated early. An error report was filed. Expected PICNOs: ------------------------------ 1649MR0085460010802137{C,I}01 1649MR0085460020802138{C,I}01 2. Unexpected scene and image content Some images did not contain their intended target and are documented here. When an error report was filed to document the issue, it is noted below. PICNO range Description ------------------------------ --------------------------------------- 1729ML0090340190701641{D,I}01 images were intended to be acquired with all 7 filters, but a commanding error caused the ML to acquire images twice with the L5 filter when it should have been commanded with the L2 filter; an error report was filed 3. Updated several keywords to include valid values Several keywords in the GROUP = IMAGE_REQUEST_PARMS have been updated to include valid values, if applicable. Please see Section B, number 11, below, for more details. 4. Mastcam Preflight and In-flight Calibration Paper A technical paper entitled, "The Mars Science Laboratory Curiosity rover Mastcam instruments: Preflight and in-flight calibration, validation, and data archiving" has been added to the DOCUMENT directory, MSL_MASTCAM_PRE_AND_INFLIGHT_CALIBRATION_REPORT.PDF. This paper documents the status and results of the Mastcam calibration, the validation of images, and the archiving of these images with the Planetary Data System (PDS). 5. Mastcam Instrument Description Paper A technical paper entitled, "The Mars Science Laboratory (MSL) Mast cameras and Descent imager: Investigation and instrument descriptions" has been added to the DOCUMENT directory, MSL_MASTCAM_MARDI_INSTRUMENT_DESCRIPTIONS.PDF. This paper describes the Mast cameras and Descent imager (MARDI) instrument on the Curiosity rover. 6. Stuck pixel in the Mastcam Left Camera There continues to be a stuck pixel at location 1069x33 (in a full-frame image) and appears to bleed down the column. This was first noticed on sol 779. 7. Stuck pixel in the Mastcam Right Camera There continues to be a stuck pixel around location 1214x606 (in a full- frame image) and appears to bleed down the column. This was first noticed on sol 392. The bleeding seems to change based on the camera temperature at which an image is acquired. 8. 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 Mastcam 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: 15 RELEASE DATE: 2017-08-01 DATA COVERAGE: 2016-11-09 to 2017-03-26 (Sols 1515-1648) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: Mastcam EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None 1. Unexpected scene and image content Some images did not contain their intended target or the target was unobservable and are documented here. When an error report was filed to document the issue, it is noted below. PICNO range Description ------------------------------ ------------------------------------ 1536ML0078700010604514{E,I}01 drill fault prior to drilling, no 1536MR0078700000104991I01- hole was drilled to document; an 1536MR0078700010104992{E,I}01 error report was filed 1543ML0079200010604635I01- drill fault precluded mast movement, 1543ML0079200070604640I01 mast was looking below the horizon 1543ML0079210010604641I01- when these images were acquired (it 1543ML0079210030604643I01 should have been pointed towards the 1543ML0079220010604644I01- sky), hence unattended hardware in 1543ML0079220070604649I01 field of view; an error report was filed 1575MR0080200010800265{E,I}01 arm fault left unintended hardware in 1575MR0080200020800266{E,I}01 field of view, an error report was filed 1609MR0082270000800971I01 unintended hardware in field of view, 1609MR0082270010800972{E,I}01 no error report was filed 1618MR0082830000801147I01- unintended hardware in field of view 1618MR0082830010801148I01 due to MAHLI fault; an error report was filed 1619MR0082910000801168{E,I}01 unintended hardware in field of view due to MAHLI fault; an error report was filed 1619ML0082930010505717{E,I}01- unintended hardware in field of view 1619ML0082930050505721{E,I}01 due to MAHLI fault; an error report was filed 2. 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. 3. 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. 4. Stuck pixel in the Mastcam Left Camera There continues to be a stuck pixel at location 1069x33 (in a full-frame image) and appears to bleed down the column. This was first noticed on sol 779. 5. Stuck pixel in the Mastcam Right Camera There continues to be a stuck pixel around location 1214x606 (in a full- frame image) and appears to bleed down the column. This was first noticed on sol 392. The bleeding seems to change based on the camera temperature at which an image is acquired. 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 Mastcam 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: 14 RELEASE DATE: 2017-03-16 DATA COVERAGE: 2016-08-01 to 2016-11-09 (Sols 1418-1514) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: Mastcam EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None 1. Unexpected scene and image content Some images did not contain their intended target or the target was unobservable and are documented here. When an error report was filed to document the issue, it is noted below. PICNO range Description ------------------------------ ------------------------------------ 1424ML0070310010602348I01- due to an arm fault, the turret 1424ML0070310140602361I01 shadowed the target which prevented 1424MR0070310000702472I01- effective multispectral evaluation; 1424MR0070310140702486I01 an error report was filed 1427ML0070560010602410I01- target was in shadow which prevented 1427ML0070560140602423I01 effective multispectral evaluation; 1427ML0070560020602411E01 no error report was filed 1427ML0070560040602413D01 1427ML0070560060602415D01 1427ML0070560080602417D01 1427ML0070560100602419D01 1427ML0070560120602421D01 1427ML0070560140602423D01 1427MR0070560000702534I01- target was in shadow which prevented 1427MR0070560140702548I01 effective multispectral evaluation; 1427MR0070560020702536E02 no error report was filed 1427MR0070560040702538D01 1427MR0070560060702540D01 1427MR0070560080702542D01 1427MR0070560100702544D01 1427MR0070560120702546D01 1427MR0070560140702548D01 2. 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. 3. Stuck pixel in the Mastcam Left Camera There continues to be a stuck pixel at location 1069x33 (in a full-frame image) and appears to bleed down the column. This was first noticed on sol 779. 4. Stuck pixel in the Mastcam Right Camera There continues to be a stuck pixel around location 1214x606 (in a full- frame image) and appears to bleed down the column. This was first noticed on sol 392. The bleeding seems to change based on the camera temperature at which an image is acquired. 5. 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 Mastcam 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: 13 RELEASE DATE: 2016-12-05 DATA COVERAGE: 2016-03-27 to 2016-08-01 (Sols 1294-1417) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: Mastcam EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None 1. Unexpected scene and image content Some images did not contain their intended target and are documented here. When an error report was filed to document the issue, it is noted below. PICNO range Description ------------------------------ ------------------------------------ 1305ML0062020000405737{E,I}01- a drive fault caused hardware to be 1305ML0062020030405740{E,I}01 in the field of view; an error report was filed 1321MR0063080010700626{E,I}01 unintended hardware in the field of view; no error report was filed 1326ML0063280010406088I01- target was in shadow which prevented 1326ML0063280140406101I01 effective multispectral evaluation; 1326ML0063280020406089E01 no error report was filed 1326ML0063280040406091D01 1326ML0063280060406093D01 1326ML0063280080406095D01 1326ML0063280100406097D01 1326ML0063280120406099D01 1326ML0063280140406101D01 1326MR0063280000700642I01- target was in shadow which prevented 1326MR0063280140700656I01 effective multispectral evaluation; 1326MR0063280020700644E01 no error report was filed 1326MR0063280040700646D01 1326MR0063280060700648D01 1326MR0063280080700650D01 1326MR0063280100700652D02 1326MR0063280120700654D01 1326MR0063280140700656D01 1336ML0064110000600112I01 unintended hardware in the field of view; no error report was filed 1336ML0064130000600117I01 unintended hardware in the field of view; no error report was filed 1342MR0064420000700908I01 target was farther away than usual, 1342MR0064420010700909{E,I}01- and the offset between frames was too 1342MR0064420090700917{E,I}01 high; non-overlapping frames resulted in gaps in the mosaic 1352ML0064980010600403I01- unintended hardware in the field of 1352ML0064980060600408I01 view; no error report was filed 1352ML0064980070600409{E,I}01- 1352ML0064980090600411{E,I}01 1352ML0064980360600438{E,I}01- 1352ML0064980370600439{E,I}01 1352ML0064980380600440I01- 1352ML0064980450600447I01 1352ML0064980470600449I01- 1352ML0064980500600452I01 1352ML0064980510600453{E,I}01- 1352ML0064980520600454{E,I}01 1352MR0064980010701107I01- unintended hardware in the field of 1352MR0064980020701108I01 view; no error report was filed 1352MR0064980030701109{E,I} 1352MR0064980040701110I01- 1352MR0064980060701112I01 1352MR0064980070701113{E,I}01 1352MR0064980380701144I01- 1352MR0064980440701150I01 1352MR0064980470701153I01- 1352MR0064980500701156I01 1352MR0064980510701157{E,I}01 1357ML0066130000600865{E,I}01- a drive fault caused hardware to be 1357ML0066130030600868{E,I}01 in the field of view; an error report was filed 1382ML0067720030601389{D,I}01 a mis-command in this setup sequence 1382MR0067720020701790{D,I}01 led to the target (Sun) not being centered and resulted in missing the target (Phobos) in mcam06773 2. "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 7 of this section. The following sequences will contain effected products: Sequence ID ----------- mcam06485 mcam06491 mcam06492 mcam06495 mcam06600 mcam06606 mcam06736 mcam06800 mcam06802 mcam06803 mcam06808 mcam06809 mcam06810 mcam06811 mcam06812 mcam06818 3. 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. 4. 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. 5. Stuck pixel in the Mastcam Left Camera There continues to be a stuck pixel at location 1069x33 (in a full-frame image) and appears to bleed down the column. This was first noticed on sol 779. 6. Stuck pixel in the Mastcam Right Camera There continues to be a stuck pixel around location 1214x606 (in a full- frame image) and appears to bleed down the column. This was first noticed on sol 392. The bleeding seems to change based on the camera temperature at which an image is acquired. 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 Mastcam 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: 12 RELEASE DATE: 2016-08-01 DATA COVERAGE: 2015-11-10 to 2016-03-27 (Sols 1160-1293) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: Mastcam EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: 2 EDR .LBLs & 8 RDR .LBLs 1. Updated product types Incorrect information was found in some 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 0012: ----------------------------------------- 1155MR0052200000601945I01 1155MR0052200010601946I01 2. Not all images for specific sequences were acquired due to rover issue The following sequences did not acquire all of the sequenced images due to an error in the Rover Motor Controller Assembly (RMCA). This error precluded all rover-controlled motor movement. Specifically for Mastcam, any images that were commanded to move the Remote Sensing Mast (RSM) were not acquired, however, those images that did not move the RSM were successfully acquired. mcam05583 was commanded to acquire 19 images, however, only 2 were acquired. The rest failed since they were commanded to move the RSM: ------------------------------ 1217ML0055830010503547{E,I}01 1217MR0055830010603156{E,I}01 mcam05587 was commanded to acquire 2 images, but only acquired 1 for the same reason mentioned above: ------------------------------ 1217ML0055870010503548{E,I}01 3. Unexpected scene and image content Some images did not contain their intended target and are documented here. When an error report was filed to document the issue, it is noted below. PICNO range Description ------------------------------ ------------------------------------ 1183ML0053680000502648{E,I}01- arm failed to unstow so unintended 1183ML0053680030502651{E,I}01 hardware in the field of view; no error report was filed 1234ML0057050020503815{E,I}01 unintended hardware in the field of 1234ML0057050040503817{D,I}01 view; an error report was filed 1234ML0057050060503819I01 1234ML0057050080503821{D,I}01 1234ML0057050100503823I01- 1234ML0057050140503827I01 1234ML0057050110503824D01- 1234ML0057050140503827D01 1276ML0059920000504684{E,I}01 unintended hardware in the field of 1276ML0059920010504685{E,I}01 view; no error report was filed 4. 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. 5. 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. 6. Stuck pixel in the Mastcam Left Camera There continues to be a stuck pixel at location 1069x33 (in a full-frame image) and appears to bleed down the column. This was first noticed on sol 779. 7. Stuck pixel in the Mastcam Right Camera There continues to be a stuck pixel around location 1214x606 (in a full- frame image) and appears to bleed down the column. This was first noticed on sol 392. The bleeding seems to change based on the camera temperature at which an image is acquired. 8. 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 Mastcam 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: 11 RELEASE DATE: 2016-03-16 DATA COVERAGE: 2015-08-02 to 2015-11-10 (Sols 1063-1159) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: Mastcam EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None 1. Incorrect CDPID counters in certain PICNOs It was noticed that a processing issue caused certain products in Release 0002 to receive incorrect CDPID counters within their PICNOs (positions 16-17). These products were given a value of 01 when they should have been given a value of 02. Assigned PICNO range Expected PICNO range ------------------------------ -------------------------- 0179MR0009860060101996{E,I}01- 0179MR0009860060201996{E,I}01- 0179MR0009860080101998{E,I}01 0179MR0009860080201998{E,I}01 2. Unexpected scene and image content Some images did not contain their intended target and are documented here. When an error report was filed to document the issue, it is noted below. PICNO range Description ------------------------------ ------------------------------------- 1101ML0048860010500687{E,I}01 an arm fault precluded RSM motion, the Mastcam Left image was acquired due to its commanded parameters, however it was not pointed at the correct target; the Mastcam Right image was not acquired; an error report was filed 1140ML0051590040501399{D,I}01- unintended hardware in the field of 1140ML0051590070501402{D,I}01 view; no error report was filed 1140ML0051620040501419{D,I}01- unintended hardware in the field of 1140ML0051620070501422{D,I}01 view; no error report was filed 1141ML0051670050501439{D,I}01- unintended hardware in the field of 1141ML0051670080501442{D,I}01 view; no error report was filed 3. Stuck pixel in the Mastcam Left Camera There continues to be a stuck pixel at location 1069x33 (in a full-frame image) and appears to bleed down the column. This was first noticed on sol 779. 4. Stuck pixel in the Mastcam Right Camera There continues to be a stuck pixel around location 1214x606 (in a full- frame image) and appears to bleed down the column. This was first noticed on sol 392. The bleeding seems to change based on the camera temperature at which an image is acquired. 5. 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 Mastcam 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: 10 RELEASE DATE: 2015-12-04 DATA COVERAGE: 2015-03-28 to 2015-08-02 (Sols 939-1062) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: Mastcam EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: 221 EDR .LBLs & 884 RDR .LBLs 1. Updated product types Incorrect information was found in some 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 0010: ----------------------------------------- 0753ML0032360000206249{C,I}0{0,1}- 0753ML0032360500206299{C,I}0{0,1} 0753MR0032360000403676{C,I}0{0,1}- 0753MR0032360500403726{C,I}0{0,1} 0767MR0033060000403865{E,I}01 0767MR0033070000403866{E,I}01 0785ML0034210000400432I01 0785ML0034210010400433{E,I}01- 0785ML0034210060400438{E,I}01 2. Unexpected scene and image content Some images did not contain their intended target and are documented here. When an error report was filed to document the issue, it is noted below. PICNO range Description ------------------------------ ------------------------------------- 0949ML0041730000403267I01 unintended hardware in the field of 0949ML0041730030403270{E,I}01- view; no error report was filed 0949ML0041730050403272{E,I}01 1030ML0044980010305509I01 target was in shadow from the turret, 1030ML0044980020305510{E,I}01 shadow prevented effective multi- 1030ML0044980030305511I01 spectral evaluation; no error report 1030ML0044980040305512{D,I}01 was filed 1030ML0044980050305513I01 1030ML0044980060305514{D,I}01- 1030ML0044980100305518{D,I}01 1030MR0044980000503867I01 target was in shadow from the turret, 1030MR0044980010503868I01 shadow prevented effective multi- 1030MR0044980020503869{E,I}01 spectral evaluation; no error report 1030MR0044980030503870I01 was filed 1030MR0044980040503871{D,I}01 1030MR0044980050503872I01 1030MR0044980060503873{D,I}01- 1030MR0044980100503877{D,I}01 1053ML0046340010306099{E,I}01- a drive fault caused hardware to be 1053ML0046340090306107{E,I} in the field of view; an error report 1053MR0046340010104636{E,I}01- was filed 1053MR0046340090104644{E,I}01 3. Stuck pixel in the Mastcam Left Camera Starting around image 0779ML0033870040400256{D,I}01, there is a stuck pixel at location 1069x33 (in a full-frame image) and appears to bleed down the column. 4. Stuck pixel in the Mastcam Right Camera There continues to be a stuck pixel around location 1214x606 (in a full- frame image) and appears to bleed down the column. This was first noticed on sol 392. The bleeding seems to change based on the camera temperature at which an image is acquired. 5. 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 Mastcam 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: 9 RELEASE DATE: 2015-07-31 DATA COVERAGE: 2014-11-10 to 2015-03-28 (Sols 805-938) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: Mastcam EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None 1. Unexpected scene and image content Some images did not contain their intended target and are documented here. When an error report was filed to document the issue, it is noted below. PICNO range Description ------------------------------ -------------------------------------- 0580MR0024070810400076C00- an error onboard the rover caused the 0580MR0024070860400081C00 arm to fault out and stop in an 0580MR0024071480400143C00- unexpected place; the Mastcam sequence 0580MR0024071550400150C00 executed and ended up imaging the arm; 0580MR0024072110400206C00 an error report was filed 0872ML0038290000401778{D,I}01- the arm was deployed prior to imaging 0872ML0038290030401781{D,I}01 blocking the view of the target and 0906ML0039690010402326{C,I}0{0,1}- resulting in the imaging of the arm 0906ML0039690080402333{C,I}0{0,1} 0906MR0039690010501363{C,I}0{0,1}- 0906MR0039690030501365{C,I}0{0,1} 0906MR0039690060501368{C,I}0{0,1}- 0906MR0039690080501370{C,I}0{0,1} 2. Stuck pixel in the Mastcam Right Camera There continues to be a stuck pixel around location 1214x606 and appears to bleed down the column. This was first noticed on sol 392. The bleeding seems to change based on the camera temperature at which an image is acquired. 3. 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. 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 Mastcam 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: 8 RELEASE DATE: 2015-03-16 DATA COVERAGE: 2014-08-03 to 2014-11-10 (Sols 708-804) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: Mastcam EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: 102 EDR & 402 RDR .LBL 1. Updated product types Incorrect information was found in some 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 0008: ----------------------------------------- 0135MR0008230070200881C00- 0135MR0008230130200887C00 0368ML0014940000108675{I,E}01 0368MR0014940010301464{I,E}01 0368ML0014950000108676{I,E}01 0368ML0014950000108676C00 0368MR0014950010301465{I,E}01 Incorrect information was found in some 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 0008: ----------------------------------------- 0135ML0008230000104012{I,E}01 0135ML0008230010104013{I,D}01- 0135ML0008230060104018{I,D}01 0135MR0008230070200881{I,E}01 0135MR0008230080200882{I,D}01- 0135MR0008230130200887{I,D}01 0229MR0010820000202937{I,E}01 0229MR0010830000202938{I,E}01 0329ML0013320000107905{I,E}01 0329MR0013320000301013{I,E}01 0329ML0013330000107906{I,E}01 0329MR0013330000301014{I,E}01 0329ML0013340000107907{I,E}01 0329MR0013340000301015{I,E}01 0331ML0013410140107954{I,E}01 0331ML0013410150107955{I,D}01- 0331ML0013410200107960{I,D}01 0331MR0013410000301028{I,E}01 0331MR0013410010301029{I,D}01- 0331MR0013410060301034{I,D}01 0331MR0013410070301035{I,E}01 0331MR0013410080301036{I,D}01- 0331MR0013410130301041{I,D}01 2. Unexpected scene and image content Some images did not contain their intended target and are documented here. When an error report was filed to document the issue, it is noted below. PICNO range Description ------------------------------ --------------------------------------- 0724ML0030890010304991I01 arm faulted out during the mini-drill 0724MR0030890000402840I01- activities leaving the arm in the way 0724MR0030890010402841I01 of the intended mini-drill hole; an error report was filed 0724ML0030920010304992I01 arm faulted out during the mini-drill 0724MR0030920000402842I01- activities leaving the arm in the way 0724MR0030920010402843I01 of the intended mini-drill hole; an error report was filed 0725ML0030960010305008I01- arm faulted out during the mini-drill 0725ML0030960070305014I01 activities leaving the arm in the way 0725MR0030960000402860I01- of the intended mini-drill hole; an 0725MR0030960070402867I01 error report was filed 0752MR0032330020403660{I,D}01 M100 frame of the Sun obtained with the R7 filter is saturated and has a strange halo around it; it is believed that since the image was taken at an offset position on the CCD under very low tau conditions, the integration time was too high causing the image to saturate and have internal reflections causing the halo effect 3. Stuck pixel in the Mastcam Right Camera There continues to be a stuck pixel around location 1214x606 and appears to bleed down the column. This was first noticed on sol 392. The bleeding seems to change based on the camera temperature at which an image is acquired. 4. In the PDS labels, SEQUENCE_ID = aut_04096 for all Mastcam EDR and RDR images. This is a known rover flight software bug. This bug was corrected starting on sol 267. Any original image acquired after this sol will report the correct SEQUENCE_ID (mcamxxxxx) in the .LBL file. SEQUENCE_ID = mcamxxxxx 5. 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 Mastcam 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: 7 RELEASE DATE: 2014-12-05 DATA COVERAGE: 2014-03-28 to 2014-08-03 (Sols 584-707) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: Mastcam EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: 56 EDR & 224 RDR .LBL 1. Updated product types Incorrect information was found in some 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: ----------------------------------------- 0477ML0018950000202225{I,E}01 0477MR0018950000302919{I,E}01 0520ML0020490000203044{I,E}01 0520MR0020490000303253{I,E}01 0543ML0021610000203980{I,E}01 0543MR0021610000303702{I,E}01 0545ML0021960000204001{I,E}01 0545MR0021960000303735{I,E}01 0552ML0022360000204437{I,E}01 0552MR0022360000303887{I,E}01 0560ML0022650000204615{I,E}01 0560MR0022650000303950{I,E}01 0561ML0022700000204626{I,E}01 0561MR0022700000303951{I,E}01 0568ML0023050000204814{I,E}01 0568MR0023050000304039{I,E}01 0569ML0023090000204851{I,E}01 0569MR0023090000304040{I,E}01 0574ML0023290000205024{I,E}01- 0574ML0023290090205033{I,E}01 2. Stuck pixel in the Mastcam Right Camera There continues to be a stuck pixel around location 1214x606 and appears to bleed down the column. This was first noticed on sol 392. The bleeding seems to change based on the camera temperature at which an image is acquired. 3. Unexpected scene and image content Some images did not contain their intended target and are documented here. When an error report was filed to document the issue, it is noted below. PICNO range Description ------------------------------ --------------------------------------- 0704MR0029860000402440{I,E}01 the arm was deployed prior to imaging blocking the view of the target and resulting in the imaging of the arm 4. Group of Pictures (GOP) coarse/fine SCLK data For each frame of a GOP, various keywords within the TAB and LBL files are only partially accurate due to the way the camera hardware operates. The camera only returns the coarse SCLK and not the fine SCLK, and as a result, the fine SCLKs need to be estimated with software. This estimate will not necessarily reflect the actual time in which the frames were acquired. 5. Camera Data Product Identifier (CDPID) jumps The following products have CDPIDs which jump from 1024 to 5070 in the middle of a sequence. This jump is due to the way the DEA assigns CDPIDs to acquired products. Refer to the Data Product SIS for a description of the PICNO format. sequence: mcam02495, sol: 593 PICNO CDPID ----------------------------- ----- 0593ML0024950000301023{E,I}01 1023 0593ML0024950010301024{E,I}01 1024 0593ML0024950020205070{E,I}01 5070 0593ML0024950030205071{E,I}01 5071 0593ML0024950040205072{E,I}01 5072 0593ML0024950050205073{E,I}01 5073 0593ML0024950060205074{E,I}01 5074 0593ML0024950070205075{E,I}01 5075 0593ML0024950080205076{E,I}01 5076 0593ML0024950090205077{E,I}01 5077 The above jump occurred since the DEA already contained products with CDPIDs 1025 thru 5069. During acquisition, the images were assigned contiguous CDPIDs. After 1024, the DEA then assigned the next available CDPID of 5070. In addition, the CDPID counter in the PICNO also changed from 03 to 02 since only one series of products had been previously acquired with CDPIDs 5070 thru 5077. Despite this jump, all of these products are contiguous. Similarly, the following sequences also had CDPID jumps, however the jump occurred between two consecutive sequences: sequence: mcam02655, sol: 620 PICNO CDPID ----------------------------- ----- 0620ML0026550000302360{D,I}01 2360 0620ML0026550010302361{D,I}01 2361 0620ML0026550020302362{D,I}01 2362 0620ML0026550030302363{D,I}01 2363 0620ML0026550040302364{D,I}01 2364 0620ML0026550050302365{D,I}01 2365 0620ML0026550060302366{D,I}01 2366 0620ML0026550070302367{D,I}01 2367 sequence:mcam02656, sol:620 PICNO CDPID ----------------------------- ----- 0620ML0026560000205101{D,I}01 5101 0620ML0026560010205102{D,I}01 5102 0620ML0026560020205103{D,I}01 5103 0620ML0026560030205104{D,I}01 5104 0620ML0026560040205105{D,I}01 5105 0620ML0026560050205106{D,I}01 5106 0620ML0026560060205107{D,I}01 5107 0620ML0026560070205108{D,I}01 5108 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 Mastcam 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: 6 RELEASE DATE: 2014-08-01 DATA COVERAGE: 2013-11-10 to 2014-03-28 (Sols 450-583) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: Mastcam EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None 1. Stuck pixel in the Mastcam Right Camera There continues to be a stuck pixel around location 1214x606 and appears to bleed down the column. This was first noticed on sol 392. The bleeding seems to change based on the temperature in which an image is acquired. 2. Unexpected scene and image content Some images did not contain their intended target and are documented here. When an error report was filed to document the issue, it is noted below. PICNO range Description ------------------------------ --------------------------------------- 0379MR0015600010301840E01- images were intended to be acquired 0379MR0015600060301845E01 with all 7 filters, but a commanding error caused them to all be acquired with only filter 0 0425ML0017350000201237E01 the O-tray was imaged in this sequence, however, it was blocked by the arm due to the arm being stowed at the time of acquisition; an error report was filed 0440ML0018030000201745E01 post-drive images mispointed due to a SITE coordinate update after the drive but before the sequence executed; an error report was filed 0440MR0018030000302691E01 post-drive images mispointed due to a SITE coordinate update after the drive but before the sequence executed; an error report was filed 0580MR0024070810400076{I,E}01- an error onboard the rover caused the 0580MR0024070860400081{I,E}01 arm to fault out and stop in an 0580MR0024071490400144{I,E}01- unexpected place; the Mastcam sequence 0580MR0024071550400150{I,E}01 executed and ended up imaging the arm; 0580MR0024072110400206{I,E}01 an error report was filed 3. In the PDS labels, SEQUENCE_ID = aut_04096 for all Mastcam EDR and RDR images. This is a known rover flight software bug. This bug was corrected starting on sol 267. Any original image acquired after this sol will report the correct SEQUENCE_ID (mcamxxxxx) in the .LBL file. SEQUENCE_ID = mcamxxxxx 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 Mastcam 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: 5 RELEASE DATE: 2014-03-17 DATA COVERAGE: 2013-08-11 to 2013-11-10 (Sols 360-449) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: Mastcam EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None 1. Stuck pixel in the Mastcam Right Camera Starting with image 0392MR0016140000302099{I,E}01, there is a stuck pixel around location 1214x606 and appears to bleed down the column. The bleeding seems to change based on the temperature in which an image is acquired. 2. Mastcam multispectral lossless products Starting with release 0005, not all RDRs for multispectral products will have corresponding DRCL and DRLX products. Images containing the raw Bayer pattern without color interpolation should and will not be geometrically corrected. 3. Unexpected scene and image content Some images did not contain their intended target and are documented here. When an error report was filed to document the issue, it is noted below. PICNO range Description ------------------------------ --------------------------------------- 0379MR0015600010301840I01- images were intended to be acquired 0379MR0015600060301845I01 with all 7 filters, but a commanding error caused them to all be acquired with only filter 0 0425ML0017350000201237I01 the O-tray was imaged in this sequence, however, it was blocked by the arm due to the arm being stowed at the time of acquisition; an error report was filed 0440ML0018030000201745{I,E}01- post-drive images mispointed due 0440ML0018030160201761{I,E}01 to a SITE coordinate update after the drive but before the sequence executed; an error report was filed 0440MR0018030000302691{I,E}01- post-drive images mispointed due 0440MR0018030160302707{I,E}01 to a SITE coordinate update after the drive but before the sequence executed; an error report was filed 4. In the PDS labels, SEQUENCE_ID = aut_04096 for all Mastcam EDR and RDR images. This is a known rover flight software bug. This bug was corrected starting on sol 267. Any original image acquired after this sol will report the correct SEQUENCE_ID (mcamxxxxx) in the .LBL file. SEQUENCE_ID = mcamxxxxx 5. 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 Mastcam 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: 4 RELEASE DATE: 2013-12-13 DATA COVERAGE: 2013-05-09 to 2013-08-10 (Sols 270-359) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: Mastcam EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None 1. High frame-rate video saturation Some camera settings for producing high frame rate video, although successful in the testbed, do not produce the desired results on Mars. This affected one video sequence (thumbnails and full frames), which resulted in over-saturated frames for the entire sequence. PICNO range CDPID range -------------------------- ----------- 0289ML0009620000106296Q01- 6296-6365 0289ML0009620000106365Q01 0289ML0009620000106296M00- 6296-6365 0289ML0009620000106365MF0 2. In the PDS labels, SEQUENCE_ID = aut_04096 for all Mastcam EDR and RDR images. This is a known rover flight software bug. This bug was corrected starting on sol 267. Any original image acquired after this sol will report the correct SEQUENCE_ID (mcamxxxxx) in the .LBL file. SEQUENCE_ID = mcamxxxxx 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 Mastcam 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: 3 RELEASE DATE: 2013-08-30 DATA COVERAGE: 2013-02-06 to 2013-05-08 (Sols 180-269) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: Mastcam EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: none 1. The following products were created with incorrect PICNOs for the following reasons: sequence: mcam01048, sol: 200 Assigned PICNO range Expected PICNO range -------------------------------- -------------------------------- 0200MR0000470000202840{I,D,E}01- 0200MR0010480000202840{I,D,E}01- 0200MR0000470000202882{I,D,E}01 0200MR0010480000202882{I,D,E}01 Reason: On sol 200, an anomaly occurred onboard the rover. mcam01048 was in the middle of executing and terminated when the anomaly happened. The images that were acquired prior to the anomaly were not downlinked per the normal process. To retrieve these images, a new sequence was written to downlink the images. Both the thumbnails and the images have the new Sequence ID, mcam00047, in their data product labels, and not the original Sequence ID that acquired them, mcam01048. 2. Products missing various keyword values due to the sol 200 anomaly sequence: mcam01048, sol: 200 PICNO -------------------------------- 0200MR0000470000202840{I,D,E}01- 0200MR0000470000202882{I,D,E}01 The anomaly that occurred on sol 200 resulted in the above products being retrieved with a new sequence from the data saved on the Mastcam 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 these products. 3. In the PDS labels, SEQUENCE_ID = aut_04096 for all Mastcam EDR and RDR images. This is a known rover flight software bug. This bug was corrected starting on sol 267. Any original image acquired after this sol will report the correct SEQUENCE_ID (mcamxxxxx) in the .LBL file. SEQUENCE_ID = mcamxxxxx 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 Mastcam 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: Mastcam EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None 1. Unexpected scene and image content Some images did not contain their intended target and are documented here. When an error report was filed to document the issue, it is noted below. PICNO range Description -------------------------------- ----------------------------------- 0057MR0002660000103116E01 image mispointed due to incorrect use of SITE coordinates, commanding error; an error report was filed (thumbnail came in on sol 58; full frame came in on sol 102) 0163MR0008760070201425{I,D,E}01- a drive faulted out with the rover 0163MR0008760690201487{I,D,E}01 slipping onto the target; post- drive imaging of the target, now under the rover, resulted in the deck being imaged 2. 218 thumbnails missing various keyword values due to unexpected sequence termination sequence: mcam00183, sol: 42 PICNO -------------------------- 0042MR0006330000101999I01- 0042MR0006330000102216I01 mcam00183 was unexpectedly cut off before it was finished executing. As a result, the above thumbnails had to be retrieved with a new sequence from the data saved on the Mastcam 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 these products. 3. In the PDS labels, SEQUENCE_ID = aut_04096 for all Mastcam EDR and RDR images. This is a known rover flight software bug. 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 Mastcam 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: 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: Mastcam EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None 1. 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, two images with 1-second exposures and two images with 10-second exposures. At the end of acquisition, the products were erased. a. In the PDS labels, SEQUENCE_ID = aut_04096 for all Mastcam EDR cruise images. This is a known rover flight software bug. b. No RDRs were produced for this data set. 2. 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 ------------------------- ----- 0017ML0000500100100223B00 223 0017ML0000500110100224B00 224 0017ML0000500120100225B00 225 0017ML0000500130100226B00 226 0017ML0000500140100227B00 227 0017ML0000500150100228B00 228 0017ML0000500160100229B00 229 0017ML0000500170100230B00 230 0017ML0000500180100231B00 231 0017ML0000500200100233B00 233 0017ML0000500210100234B00 234 0017ML0000500220100235B00 235 0017ML0000500230100236B00 236 0017ML0000500240100237B00 237 0017ML0000500250100238B00 238 0017ML0000500260100239B00 239 0017ML0000500270100240B00 240 0019ML0000540670100348B00 348 0019ML0000540680100349B00 349 0019ML0000540690100350B00 350 0019ML0000540700100351B00 351 0019ML0000540710100352B00 352 0019ML0000540720100353B00 353 0019ML0000540730100354B00 354 0020ML0001020000100438B00 438 0020ML0001020020100440B00 440 0020ML0001050000100486B00 486 0020ML0001050010100487B00 487 0020ML0001050020100488B00 488 0020ML0001050030100489B00 489 0020ML0001060000100503B00 503 0020ML0001060010100504B00 504 0020ML0001060020100505B00 505 0020ML0001060030100506B00 506 0020ML0001070140100533B00 533 0020ML0001070150100534B00 534 0020ML0001090000100551B00 551 0020ML0001090010100552B00 552 0020ML0001090020100553B00 553 0020ML0001090030100554B00 554 0020ML0001090060100557B00 557 0020ML0001090070100558B00 558 0020ML0001090120100563B00 563 0020ML0001090140100565B00 565 0020ML0001090150100566B00 566 0020ML0001100000100568B00 568 0020ML0001100020100570B00 570 0023ML0001140680100701B00 701 0023ML0001140690100702B00 702 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 images, 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). 3. Unexpected scene and image content Some images did not contain their intended target and are documented here. When an error report was filed to document the issue, it is noted below. PICNO range Description ------------------------------ ------------------------------------ 0025MR0001200000100721{I,E}01- subframes and mosaic overlaps were 0025MR0001200230100744{I,E}01 incorrectly set resulting in left- edge dark pixels and no overlap in a mosaic, commanding error 0025MR0001210000100635{I,D}01- subframes and mosaic overlaps were 0025MR0001210550100690{I,D}01 incorrectly set resulting in left- edge dark pixels and no overlap in a mosaic, commanding error 0057ML0002630060102294{I,E}01- images mispointed due to rover 0057ML0002630070102295{I,E}01 slip; an error report was filed 0057MR0002630000103106{I,E}01- images mispointed due to rover 0057MR0002630050103111{I,E}01 slip; an error report was filed 0057ML0002640000102296{I,E}01- images mispointed due to rover 0057ML0002640040102300{I,E}01 slip; an error report was filed 0057MR0002650000103112{I,E}01- images mispointed due to rover 0057MR0002650030103115{I,E}01 slip; an error report was filed 0057MR0002660000103116I01 image mispointed due to incorrect use of SITE coordinates, commanding error; an error report was filed 0087MR0006130000104170I01- images were intended to be acquired 0087MR0006130140104184I01 with filter 0, but a commanding error caused them to all be acquired with only filter 4; an error report was filed 4. The following products were created with incorrect PICNOs for the following reasons: sequence:mcam00006, sol:3 sequence:mcam00007, sol:3 Assigned PICNO range Expected PICNO range -------------------------------- -------------------------------- 0003ML0000001400100002{I,D,E}01- 0003ML0000060010100002{I,D,E}01- 0003ML0000001670100029{I,D,E}01 0003ML0000060280000029{I,D,E}01 0003MR0000000100100002{I,D,E}01- 0003MR0000060010100002{I,D,E}01- 0003MR0000000370100029{I,D,E}01 0003MR0000060280100029{I,D,E}01 0003ML0000000100100030{I,E}01- 0003ML0000070010100030{I,E}01- 0003ML0000001390100159{I,E}01 0003ML0000071300100159{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 Mastcam sequence executed, mcam00000; because it has all zeros in the sequence name and it was the first image, it was fortuitously named correctly. -- sequence:mcam00527, sol:84 Assigned PICNO Expected PICNO ----------------------------- ----------------------------- 0084ML0003740000102846{I,E}01 0084ML0005270000102846{I,E}01 Reason: The sequence, mcam00527, was a repeat of the sequence mcam00374. Since Mastcam doesn't invoke reusable sequence IDs, mcam00374 was copied to mcam00527, however, the tracking IDs inside the sequence were not updated. Therefore the PICNO associated with mcam00527 has "374" in its product identifier. 5. In the PDS labels, SEQUENCE_ID = aut_04096 for all Mastcam EDR and RDR images. This is a known rover flight software bug. 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 Mastcam 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 Mastcam 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 Mastcam 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 or NULL _DRLX float value or NULL _DRCX N/A _DRCL N/A Furthermore, some products are only acquired in a single band. Therefore, that product will have a value in that band while the other two bands will be NULL. For example, a blue-band product will have the following keyword values in its array (red, green, blue): PICNO: 1290MR0060880210700080I01 Product/Keywords RADIANCE values ------------------------------------------------------------ _DRXX RADIANCE_OFFSET = ( "NULL", "NULL", 0.000e+00 ) RADIANCE_SCALING_FACTOR = ( "NULL", "NULL", 5.825e-05 ) _DRLX RADIANCE_OFFSET = ( "NULL", "NULL", 0.000e+00 ) RADIANCE_SCALING_FACTOR = ( "NULL", "NULL", 5.825e-05 ) _DRCX RADIANCE_OFFSET = ( "N/A", "N/A", "N/A" ) RADIANCE_SCALING_FACTOR = ( "N/A", "N/A", "N/A" ) _DRCL RADIANCE_OFFSET = ( "N/A", "N/A", "N/A" ) RADIANCE_SCALING_FACTOR = ( "N/A", "N/A", "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 Mastcam data sets and is not available on the NAIF site. 8. In Releases 0001-0013, the camera model for the Mastcam 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 flats that were being used are unacceptably noisy for some of the Mastcam filters and are 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 0001-0015, four keywords in the GROUP = IMAGE_REQUEST_PARMS have had NULL values. For Release 0016 onwards, the following keywords have been updated to now include valid values, if applicable, in the .LBL file: MSL:AUTO_FOCUS_ZSTACK_FLAG MSL:INSTRUMENT_FOCUS_POSITION_CNT MSL:INSTRUMENT_FOCUS_STEP_SIZE MSL:INSTRUMENT_FOCUS_STEPS