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_XXXX.TXT, contains release notes and errata identified in the MSL MAHLI raw and calibrated archives in volumes volume_0XXX_raw and volume_0XXX_calibrated, respectively. 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. 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 volume as a whole. ******** SECTION A ******** 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 nil or unknown due to the fact that the camera was not integrated with the rover. Yet a similar label format and keywords used for surface data are used for this data set. Therefore keywords in the section, for example, are not applicable. Another example include the keyword msn:active_flight_computer in the msn:Observation_Context section. 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. Any of the keywords in the 285 products relating to time will be impacted by this. In addition, the PATH_NAME in the RAW_INDEX_0001.CSV file indicates the UTC date on which the image was acquired during ATLO. PATH_NAME = data_MSLMHL/volume_0001_raw/ATLO/2010_11_05/ Setting a future SCLK also effected the following keywords, all of which report a future time or date: LOCAL_MEAN_SOLAR_TIME LOCAL_TRUE_SOLAR_TIME PLANET_DAY_NUMBER IMAGE_TIME START_TIME STOP_TIME 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, 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. 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. **************************************************************** **************************************************************** ******** SECTION B ******** This section is provided for general notes concerning the archive as a whole. 1. 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. The following values within the xml and INDEX files for video products will be set to nil: xml --------------------------------- Under the attribute: Product_Observational:Observation_Area: Discipline_Area:Imaging:Instrument_State: Device_Temperatures:Device_Temperature: device_name for DEA HEAD_FPA ELECTRONICS ELECTRONICS_A ELECTRONICS_B the keywords: temperature_value temperature_status Under the attribute: Product_Observational:Observation_Area: Discipline_Area:geom Geometry: geom Geometry_Lander: geom Derived_Geometry the keywords: geom solar_azimuth geom solar_elevation INDEX ----------------------------- Under the attribute: Product_Observational:Observation_Area: File_Area_Observational:Table_Delimited: Record_Delimited:Field_Delimited:name INSTRUMENT_TEMPERATURE:FPA INSTRUMENT_TEMPERATURE:OPTICS SOLAR_AZIMUTH SOLAR_ELEVATION 2. Clarification of the "sequence_id" in the data product .xml 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 (.xml). 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. 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 miscellaneous_MSLMHL 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. For each frame of a GOP, various keywords within the INDEX and xml 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.