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 Mastcam raw and calibrated archives in volumes volume_0XXX_raw and volume_0XXX_calibrated, respectively. 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. 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: 24 RELEASE DATE: 2020-07-31 DATA COVERAGE: 2019-11-08 to 2020-03-25 (Sols 2580-2713) 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 ------------------------------ ------------------------------------ 2582ML0135730000506598{C,I}0{0,1}- images were expected to document 2582ML0135730030506601{C,I}0{0,1} workspace imaging, however the arm did not unstow leaving unintended hardware in the field of view; no error report was filed 2647ML0138590011001422{C,I}0{0,1} RSM motion was precluded causing the 2647MR0138590011103568{C,I}0{0,1} M34 and M100 to be acquired out of focus with unintended hardware in the field of view; an error report was filed 2647ML0138620011001423{C,I}0{0,1} RSM motion was precluded causing unexpected hardware in the field of view; an error report was filed 2657ML0139060011001653{C,I}0{0,1}- a commanding error caused these M34 2657ML0139060051001657{C,I}0{0,1} images to be out of focus; no error report was filed 2657ML0139070211001705{C,I}0{0,1}- an oversight during planning 2657ML0139070251001709{C,I}0{0,1} resulted in hardware in the field 2657ML0139070581001742{C,I}0{0,1}- of view; no error report was filed 2657ML0139070601001744{C,I}0{0,1} 2657MR0139070061103846{C,I}0{0,1} 2657MR0139070211103861{C,I}0{0,1}- 2657MR0139070231103863{C,I}0{0,1} 2657MR0139070601103900{C,I}0{0,1} 2657MR0139070001103840{C,I}0{0,1}- a commanding error resulted in a 2657MR0139070731103913{C,I}0{0,1} small gap in the M100 coverage that is noticeable in the mosaic product 2665MR0139680020904214{C,I}0{0,1} lens flare resulted in an unexpected bright area in the longest exposure M100 bias dark image 2654MR0138760031103638{C,I}0{0,1}- an oversight during planning 2654MR0138760051103640{C,I}0{0,1} resulted in hardware in the field of view; no error report was filed 2688ML0140710001002922{C,I}0{0,1}- an arm fault caused hardware to be 2688ML0140710021002924{C,I}0{0,1} in the field of view; an error 2688ML0140710041002926{C,I}0{0,1} report was filed 2688ML0140710051002927{C,I}0{0,1} 2705MR0141780000405481{C,I}0{0,1} an arm fault caused hardware to be in the field of view and the science intent to not be achieved; an error report was filed 2706MR0141870010405537{C,I}0{0,1} hardware was expected to be in some M34 frames, but it showed up in a M100 frame as well 2. Odd pattern in Mastcam Right thumbnails products on sol 2529 An issue occurred on the rover's computer which caused the following products from release 0023 to have corrupt image data: 2529MR0133410020305524I01 2529MR0133410030305525I01 2529MR0133410040305526I01 To diagnose the issue, the three products were requested to be downlinked again by creating new products from the originals directly on the Mastcam computer: 2529MR0133410020305524I02 2529MR0133410020305524I03 2529MR0133410030305525I02 2529MR0133410030305525I03 2529MR0133410040305526I02 2529MR0133410040305526I03 Each product was requested to be downlinked twice. Upon receiving the images, none of the six images exhibited any corrupt data confirming the image data on the Mastcam computer was valid. 3. Tau divergence between the M34 and M100 cameras There continues to be a tau divergence between the two cameras. All images with a instrument_elevation above 65 degrees for the M34 and 45 degrees for the M100 could be impacted by this contamination and should be used with caution. Images above 85 degrees for the M34 and 75 degrees for the M100 have the highest risk of contamination. Starting around image 1576MR0080270020800284{C,I}0{0,1} (Release 0015), the tau values from the left (M34) and right (M100) Mastcam images began to diverge. Tau values calculated from the M100 images (440nm) showed an increase compared to values calculated from the M34 images (880nm). This effect is believed to result from contamination of sand in the sunshade partially covering the camera lens at elevations significantly above horizontal. Though both cameras are impacted, the effect is more pronounced and prevalent in the M100. 4. Hot pixel maps for M34 and M100 Sequences suitable for generating camera hot pixel maps are acquired periodically. The most current sequence is mcam13968 with the corresponding PICNOs: 2665ML0139680001002247{C,I}0{0,1} - 2665ML0139680031002250{C,I}0{0,1} 2665MR0139680000904212{C,I}0{0,1} - 2665MR0139680030904215{C,I}0{0,1} **************************************************************** **************************************************************** ******** 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_MSLMST 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. When the Sequence ID reaches the maximum allowable value of mcam16383, the Sequqnce ID will rollover and begin back at mcam00001. 5. 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.