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: 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 1536MH0006390020600483{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 nil due to the issue. **************************************************************** **************************************************************** ******** 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.