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: 28 RELEASE DATE: 2021-12-06 DATA COVERAGE: 2021-03-24 to 2021-07-30 (Sols 3069-3192) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: MAHLI EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None 1. Due to stepper motor skipping during cover open, images are not in sharp focus and image motor counts do not reflect the actual mechanism position so the range and scale of the images are unreliable. sequences: mhli00173, mhli00176, mhli00190, & mhli00193, sol: 3088 sequences: mhli00228, mhli00312, & mhli00326, sol: 3119 PICNO range CDPID range -------------------------- ----------- 3088MH0001900001101590{C,I}0{0,1}- 1590-1591 3088MH0001900011101591{C,I}0{0,1} 3088MH0001730001101592{C,I}0{0,1}- 1592-1611 3088MH0001730021101611{C,I}0{0,1} 3088MH0001760001101612{C,I}0{0,1}- 1612-1621 3088MH0001760021101621{C,I}0{0,1} 3088MH0001930001101622{R,T}0{0,1} 1622 3088MH0001930001101623{S,U}0{0,1} 1623 3088MH0001930001101624{R,T}0{0,1} 1624 3088MH0001930001101625{S,U}0{0,1} 1625 3088MH0001930001101626{R,T}0{0,1} 1626 3088MH0001930001101627{S,U}0{0,1} 1627 3119MH0003120001101994{C,I}0{0,1}- 1994-1995 3119MH0003120011101995{C,I}0{0,1} 3119MH0003260001101996{C,I}0{0,1} 1996 3119MH0003260001101997{C,I}0{0,1} 1997 3119MH0002280001101998{C,I}0{0,1} 1998 On sols 3088 and 3119, when the MAHLI cover opened, the motor mechanism skipped counts. This skipping affected the auto-focusing ability of MAHLI since the mechanism was not at the position MAHLI thought it was. Therefore, the resulting images are not in sharp focus, and the range and scale of the images are unreliable. An error report was filed. 2. Out of focus images acquired during MAHLI fault diagnositc and recovery activities sequence: mhli00808, sol: 3124 PICNO range CDPID range -------------------------- ----------- 3124MH0008080021102003{E,I}01 2003 On Sol 3122, MAHLI was marked sick during the usual cover open sequence. A no mechanism motion image was acquired as part of the recovery to help assess the location of the stepper motor. The no mechanism movement image was taken at a starting position and the resulting image is out of focus, which was not unexpected. **************************************************************** **************************************************************** ******** 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.