PDS_VERSION_ID         = PDS3
RECORD_TYPE            = STREAM
OBJECT                 = TEXT
  PUBLICATION_DATE     = 2019-09-30
  INTERCHANGE_FORMAT   = ASCII
  NOTE                 = "Errata for the Mars Exploration Rover 2
                          Operations Microscopic Imager."
END_OBJECT             = TEXT
END


This document describes errors concerning the MER2 Operations Microscopic 
Imager (MI) image archive. Please keep checking back for updates as it is 
currently under construction.


1. SOLAR_LONGITUDE expressed as +/-180 in early sols.

The values for SOLAR_LONGITUDE, prior to sol 700, are in error. In these 
cases, the correct value for SOLAR_LONGITUDE is calculated by adding 360 to 
the value extant in the label.

2. Dark browse images

Some browse images within the EXTRAS sub-drectory may be too dark. This could
be due to an older version of the software that produces the JPGs.

3. Metadata errors

Some MI images were acquired in ways that provide less metadata than
is normal for MI images. The problematic Spirit MI images include the
initial health check, images taken after an IDD fault, one sky flat,
images of the Mini-TES scan mirror and of the rover undercarriage.

There are two deficiencies noted. The first is the lack of a camera model.
These images were downlinked without a valid camera model. This is
indicated by MODEL_TYPE = NONE in the camera model group of Engineering
Data Record (EDR) labels. This is generally indicative of something not
being fully initialized in the rover flight software. It is possible
to reconstruct a camera model using the arm position and quaternion
information, but it is not in general known if this information is
reliable (because of the uncertain state of FSW initialization).

The second is an unusual coordinate frame being reported. Normally when
an MI image is taken, the MI is the "selected" instrument in the flight
software. This means that the reported tool frame is the MI. However,
for these images, a different arm instrument was the "selected" tool. 
Thus, the reported coordinate system (COORDINATE_SYSTEM_NAME in the EDR
labels) is, e.g., APXS_FRAME rather than MI_FRAME. As far as is known,
the reported coordinate system is correct, but it is not the expected MI
frame.

Most of the affected EDRs have both issues. The one affected only by
the camera model issue is:

Spirit:  2M126553157EFF0200P2900M0M1.IMG


Those EDRs affected by both issues are listed below.

Spirit:

2M139687377EFF6104P2977M1M1.IMG
2M139687414EFF6104P2977M1M1.IMG
2M139687451EFF6104P2977M1M1.IMG
2M140752928EFF6904P2936M2M1.IMG
2M140752976EFF6904P2936M2M1.IMG
2M140753024EFF6904P2936M2M1.IMG
2M140753072EFF6904P2936M2M1.IMG
2M140753120EFF6904P2936M2M1.IMG
2M140753168EFF6904P2936M2M1.IMG
2M140753216EFF6904P2936M2M1.IMG
2M140753271EFF6904P2936M2M1.IMG
2M140753327EFF6904P2936M2M1.IMG
2M140753425EFF6904P2936M2M1.IMG
2M140753528EFF6904P2936M2M1.IMG
2M140753633EFF6904P2936M2M1.IMG
2M140753717EFF6904P2936M2M1.IMG
2M140753790EFF6904P2936M2M1.IMG
2M140754013EFF6904P2936M2M1.IMG
2M140754078EFF6904P2936M2M1.IMG
2M140754151EFF6904P2936M2M1.IMG
2M140754225EFF6904P2936M2M1.IMG
2M140754301EFF6904P2936M2M1.IMG
2M140754377EFF6904P2936M2M1.IMG
2M140754453EFF6904P2936M2M1.IMG
2M140754528EFF6904P2936M2M1.IMG
2M140754604EFF6904P2936M2M1.IMG
2M140754681EFF6904P2936M2M1.IMG
2M140754758EFF6904P2936M2M1.IMG
2M140754806EFF6904P2936M2M1.IMG
2M140754854EFF6904P2936M2M1.IMG
2M163562003EFFA808P2904M1M1.IMG
2M186997776EFFAJW6P2900M1M1.IMG
2M231745634EFFATAZP2957M1M1.IMG
2M237600056EFFAUCMP2909M2M1.IMG
2M237600110EFFAUCMP2929M1M1.IMG
2M237600277EFFAUCMP2909M2M1.IMG
2M237600318EFFAUCMP2909M2M1.IMG
2M237600360EFFAUCMP2909M2M1.IMG
2M237600401EFFAUCMP2909M2M1.IMG
2M237601028EFFAUCMP2909M2M1.IMG
2M237601079EFFAUCMP2909M2M1.IMG
2M237601121EFFAUCMP2909M2M1.IMG
2M237601163EFFAUCMP2909M2M1.IMG
2M237601780EFFAUCMP2909M2M1.IMG
2M237601822EFFAUCMP2909M2M1.IMG
2M237601864EFFAUCMP2909M2M1.IMG
2M237601905EFFAUCMP2909M2M1.IMG
2M237602419EFFAUCMP2909M2M1.IMG
2M239988487EFFAUCMP2929M1M1.IMG
2M240438159EFFAUCMP2929M1M1.IMG
2M240527029EFFAUCMP2929M1M1.IMG
2M240609863EFFAUCMP2929M1M1.IMG
2M240615712EFFAUCMP2929M1M1.IMG
2M240704485EFFAUCMP2929M1M1.IMG
2M309949760EFFB1E5P2907M1M1.IMG
2M310306618EFFB200P2989M2M1.IMG
2M310306662EFFB200P2989M2M1.IMG
2M310306703EFFB200P2989M2M1.IMG