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: 28 RELEASE DATE: 2021-12-06 DATA COVERAGE: 2021-03-24 to 2021-07-30 (Sols 3069-3192) 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 ------------------------------ ------------------------------------ 3072ML0160440011200047{C,I}0{0,1}- the arm was placed in a location 3072ML0160440141200060{C,I}0{0,1} that resulted in hardware in the 3072MR0160440041400140{C,I}0{0,1}- field of view; no error report was 3072MR0160440111400147{C,I}0{0,1} filed 3104ML0162240011202067{C,I}0{0,1}- unintended hardware in field of view 3104ML0162240031202069{C,I}0{0,1} due to MAHLI fault; an error report 3104MR0162240001401683{C,I}0{0,1}- was filed 3104MR0162240031401686{C,I}0{0,1} 3104ML0162250011202070{C,I}0{0,1}- due to MAHLI fault, the turret 3104ML0162250141202083{C,I}0{0,1} caused unintended hardware in 3104MR0162250001401687{C,I}0{0,1}- the field of view and shadowing of 3104MR0162250141401701{C,I}0{0,1} the target which prevented effective multispectral evaluation; an error report was filed 3104ML0162270021202093{C,E,I}0{0,1}- unintended hardware in field of view 3104ML0162270041202095{C,E,I}0{0,1} due to MAHLI fault; an error report was filed 3106ML0162450011202140{C,I}0{0,1}- unintended hardware in field of view 3106ML0162450041202143{C,I}0{0,1} due to MAHLI fault; an error report 3106MR0162450021401752{C,I}0{0,1}- was filed 3106MR0162450031401753{C,I}0{0,1} 3107ML0162470021202151{C,E,I}0{0,1}- unintended hardware in field of view 3107ML0162470031202152{C,E,I}0{0,1} due to MAHLI fault; an error report was filed 3122ML1000880021202631{C,E,I}0{0,1}- unintended hardware in field of view 3122ML1000880031202632{C,E,I}0{0,1} due to MAHLI fault; an error report was filed 3190ML1005040001105366{C,I}0{0,1} local terrain blocked the view 3190MR1005040001104233{C,I}0{0,1} of the intended target; no error report was filed 3191ML1005110001105464{C,I}0{0,1} local terrain blocked the view 3191MR1005110001104323{C,I}0{0,1} of the intended target; no error report was filed 2. Not all images for specific sequences were acquired due to rover issue The following sequences did not acquire all of the sequenced images due to an error in the Remote Sensing Mast (RSM). This error precluded all movement of the RSM. Specifically for Mastcam, any images that were commanded to move the RSM were not acquired, however, those images that did not move the RSM were successfully acquired. mcam00115 was commanded to acquire 29 images, however, only 26 were acquired. The rest failed since they were commanded to move the RSM: ------------------------------ 3127ML1001150011202822{C,I}0{0,1}- 3127ML1001150141202834{C,I}0{0,1} 3127MR1001150011402229{C,I}0{0,1}- 3127MR1001150141402241{C,I}0{0,1} mcam00116 was commanded to acquire 14 images, but only acquired 12 for the same reason mentioned above: ------------------------------ 3127ML1001160011202835{D,I}01- 3127ML1001160051202839{D,I}01 3127ML1001160061202840{E,I}01 3127MR1001160091402242{D,I}01- 3127MR1001160131402246{D,I}01 3127MR1001160141402247{E,I}01 mcam00119 was commanded to acquire 2 images, but only acquired 1 for the same reason mentioned above: ------------------------------ 3127ML1001190011202841{C,I}0{0,1} mcam00122 was commanded to acquire 7 images, but only acquired 2 for the same reason mentioned above: ------------------------------ 3128ML1001220031202842{C,I}0{0,1}- 3128ML1001220041202843{C,I}0{0,1} mcam00123 was commanded to acquire 89 images, but only acquired 78 for the same reason mentioned above: ------------------------------ 3128ML1001230021202844{C,I}0{0,1}- 3128ML1001230651202897{C,I}0{0,1} 3128MR1001230131402248{C,I}0{0,1}- 3128MR1001230621402271{C,I}0{0,1} 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 mcam00501 with the corresponding PICNOs: 3188ML1005010001105331{C,I}0{0,1} - 3188ML1005010031105334{C,I}0{0,1} 3188MR1005010001204193{C,I}0{0,1} - 3188MR1005010031204196{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.