PDS_VERSION_ID         = PDS3
RECORD_TYPE            = STREAM
OBJECT                 = TEXT
  PUBLICATION_DATE     = 2019-08-28
  INTERCHANGE_FORMAT   = ASCII
  NOTE                 = "Errata for the Mars Exploration Rover 1
                          Microscopic Imager."
END_OBJECT             = TEXT
END


This document describes errors concerning the MER1 Microscopic
Imager (MI) image archive.

1. SOLAR_LONGITUDE expressed as +/-180 in early sols.

The values for SOLAR_LONGITUDE, prior to sol 700, are in error. In these 
cases, the correct value for SOLAR_LONGITUDE is calculated by adding 360 to 
the value extant in the label.

2. Dark browse images

Some browse images within the EXTRAS sub-drectory may be too dark. This could
be due to an older version of the software that produces the JPGs.

3. Metadata errors

Some MI images were acquired in ways that provide less metadata than
is normal for MI images. These include some (but not all) of the
Opportunity MI diagnostic images (intended to debug the commanding
errors seen mostly early in the mission), sky flats, rover hardware,
and a few regular Mars targets. The Spirit MI images include the
initial health check, images taken after an IDD fault, one sky flat,
images of Mini-TES and of the rover undercarriage.

There are two deficiencies noted. The first is the lack of a camera model. 
These images were downlinked without a valid camera model.  This is
indicated by MODEL_TYPE = NONE in the camera model group of Engineering
Data Record (EDR) labels.  This is generally indicative of something not
being fully initialized in the rover flight software.  It is possible
to reconstruct a camera model using the arm position and quaternion
information, but it is not in general known if this information is
reliable (because of the uncertain state of FSW initialization).

The second is an unusual coordinate frame being reported. Normally when
an MI image is taken, the MI is the "selected" instrument in the flight
software.  This means that the reported tool frame is the MI. However,
for these images, a different arm instrument was the "selected" tool. 
Thus, the reported coordinate system (COORDINATE_SYSTEM_NAME in the EDR
labels) is, e.g., APXS_FRAME rather than MI_FRAME.  As far as is known,
the reported coordinate system is correct, but it is not the expected MI
frame.

Most of the affected EDRs have both issues.  The ones affected only by
the camera model issue are:

Opportunity:  1M128363423EFF0100P2900M0M1.IMG
Spirit:  2M126553157EFF0200P2900M0M1.IMG

Those EDRs affected by both issues are listed below.

Opportunity

1M145406484EFF3500P2901M1M1.IMG
1M145406494EFF3500P2901M1M1.IMG
1M145413026EFF3500P2901M1M1.IMG
1M145413036EFF3500P2901M1M1.IMG
1M145413200EFF3500P2901M1M1.IMG
1M145413210EFF3500P2901M1M1.IMG
1M145413478EFF3500P2901M1M1.IMG
1M145413488EFF3500P2901M1M1.IMG
1M145413660EFF3500P2901M1M1.IMG
1M145413670EFF3500P2901M1M1.IMG
1M145483830EFF3500P2901M1M1.IMG
1M145483840EFF3500P2901M1M1.IMG
1M145493071EFF3500P2901M1M1.IMG
1M145493081EFF3500P2901M1M1.IMG
1M145494322EFF3500P2901M1M1.IMG
1M145494332EFF3500P2901M1M1.IMG
1M145495984EFF3500P2901M1M1.IMG
1M145495994EFF3500P2901M1M1.IMG
1M145582021EFF3500P2901M1M1.IMG
1M145582031EFF3500P2901M1M1.IMG
1M145582124EFF3500P2901M1M1.IMG
1M145582134EFF3500P2901M1M1.IMG
1M145582285EFF3500P2901M1M1.IMG
1M145582295EFF3500P2901M1M1.IMG
1M145582546EFF3500P2901M1M1.IMG
1M145582556EFF3500P2901M1M1.IMG
1M145759658EFF3505P2901M1M1.IMG
1M145759668EFF3505P2901M1M1.IMG
1M145849155EFF3505P2901M1M1.IMG
1M145849165EFF3505P2901M1M1.IMG
1M145849260EFF3505P2901M1M1.IMG
1M145849270EFF3505P2901M1M1.IMG
1M145851726EFF3505P2901M1M1.IMG
1M145851736EFF3505P2901M1M1.IMG
1M145938896EFF3505P2901M1M1.IMG
1M145938906EFF3505P2901M1M1.IMG
1M145939277EFF3505P2901M1M1.IMG
1M145939287EFF3505P2901M1M1.IMG
1M145940166EFF3505P2901M1M1.IMG
1M145940176EFF3505P2901M1M1.IMG
1M146737063EFF35BGP2901M1M1.IMG
1M146737136EFF35BGP2901M1M1.IMG
1M146814536EFF35BGP2901M1M1.IMG
1M146814547EFF35BGP2901M1M1.IMG
1M146826056EFF35BGP2901M1M1.IMG
1M146826067EFF35BGP2901M1M1.IMG
1M146826278EFF35BGP2901M1M1.IMG
1M146826289EFF35BGP2901M1M1.IMG
1M146826462EFF35BGP2901M1M1.IMG
1M146826473EFF35BGP2901M1M1.IMG
1M146826740EFF35BGP2901M1M1.IMG
1M146826751EFF35BGP2901M1M1.IMG
1M146827065EFF35BGP2901M1M1.IMG
1M146827076EFF35BGP2901M1M1.IMG
1M160777622EFF42D9P2903M2M1.IMG
1M160777676EFF42D9P2904M1M1.IMG
1M186695172EFF64KCP2900M1M1.IMG
1M186695242EFF64KCP2900M1M1.IMG
1M186783478EFF64KCP2900M1M1.IMG
1M186783540EFF64KCP2900M1M1.IMG
1M186783597EFF64KCP2900M1M1.IMG
1M186870220EFF64KCP2900M1M1.IMG
1M186870279EFF64KCP2900M1M1.IMG
1M187313971EFF64KCP2900M1M1.IMG
1M187314049EFF64KCP2900M1M1.IMG
1M187314119EFF64KCP2900M1M1.IMG
1M187314188EFF64KCP2900M1M1.IMG
1M187414115EFF64KCP2900M1M1.IMG
1M187473647EFF64KCP2900M1M1.IMG
1M187473719EFF64KCP2900M1M1.IMG
1M187928309EFF64KCP2957M2M1.IMG
1M187928349EFF64KCP2936M2M1.IMG
1M187928388EFF64KCP2956M2M1.IMG
1M187928427EFF64KCP2957M2M1.IMG
1M249449242EFF8788P2903M2M1.IMG
1M261614439EFF89ABP2900M1M1.IMG
1M261630485EFF89ABP2900M1M1.IMG
1M295172954EFFA0##P2956M2M1.IMG
1M300500421EFFA3PGP2956M1M1.IMG
1M300500479EFFA3PGP2956M1M1.IMG
1M412007419EFFBW##P2905M1M1.IMG
1M515787714EFFCQE1P2935M1M1.IMG


Spirit

2M139687377EFF6104P2977M1M1.IMG
2M139687414EFF6104P2977M1M1.IMG
2M139687451EFF6104P2977M1M1.IMG
2M140752928EFF6904P2936M2M1.IMG
2M140752976EFF6904P2936M2M1.IMG
2M140753024EFF6904P2936M2M1.IMG
2M140753072EFF6904P2936M2M1.IMG
2M140753120EFF6904P2936M2M1.IMG
2M140753168EFF6904P2936M2M1.IMG
2M140753216EFF6904P2936M2M1.IMG
2M140753271EFF6904P2936M2M1.IMG
2M140753327EFF6904P2936M2M1.IMG
2M140753425EFF6904P2936M2M1.IMG
2M140753528EFF6904P2936M2M1.IMG
2M140753633EFF6904P2936M2M1.IMG
2M140753717EFF6904P2936M2M1.IMG
2M140753790EFF6904P2936M2M1.IMG
2M140754013EFF6904P2936M2M1.IMG
2M140754078EFF6904P2936M2M1.IMG
2M140754151EFF6904P2936M2M1.IMG
2M140754225EFF6904P2936M2M1.IMG
2M140754301EFF6904P2936M2M1.IMG
2M140754377EFF6904P2936M2M1.IMG
2M140754453EFF6904P2936M2M1.IMG
2M140754528EFF6904P2936M2M1.IMG
2M140754604EFF6904P2936M2M1.IMG
2M140754681EFF6904P2936M2M1.IMG
2M140754758EFF6904P2936M2M1.IMG
2M140754806EFF6904P2936M2M1.IMG
2M140754854EFF6904P2936M2M1.IMG
2M163562003EFFA808P2904M1M1.IMG
2M186997776EFFAJW6P2900M1M1.IMG
2M231745634EFFATAZP2957M1M1.IMG
2M237600056EFFAUCMP2909M2M1.IMG
2M237600110EFFAUCMP2929M1M1.IMG
2M237600277EFFAUCMP2909M2M1.IMG
2M237600318EFFAUCMP2909M2M1.IMG
2M237600360EFFAUCMP2909M2M1.IMG
2M237600401EFFAUCMP2909M2M1.IMG
2M237601028EFFAUCMP2909M2M1.IMG
2M237601079EFFAUCMP2909M2M1.IMG
2M237601121EFFAUCMP2909M2M1.IMG
2M237601163EFFAUCMP2909M2M1.IMG
2M237601780EFFAUCMP2909M2M1.IMG
2M237601822EFFAUCMP2909M2M1.IMG
2M237601864EFFAUCMP2909M2M1.IMG
2M237601905EFFAUCMP2909M2M1.IMG
2M237602419EFFAUCMP2909M2M1.IMG
2M239988487EFFAUCMP2929M1M1.IMG
2M240438159EFFAUCMP2929M1M1.IMG
2M240527029EFFAUCMP2929M1M1.IMG
2M240609863EFFAUCMP2929M1M1.IMG
2M240615712EFFAUCMP2929M1M1.IMG
2M240704485EFFAUCMP2929M1M1.IMG
2M309949760EFFB1E5P2907M1M1.IMG
2M310306618EFFB200P2989M2M1.IMG
2M310306662EFFB200P2989M2M1.IMG
2M310306703EFFB200P2989M2M1.IMG