PDS_VERSION_ID        = PDS3
LABEL_REVISION_NOTE   = "2013-03-06, Initial
                         2013-05-24, Updated for release 2
                         2013-12-13, Updated for release 4
                         2014-07-18, Updated for release 6
                         2014-09-24, Added detailed descriptions for RDR 
                         overlays"
RECORD_TYPE           = STREAM

OBJECT                = TEXT
   PUBLICATION_DATE     = 2014-09-24
   NOTE                 = "Description of contents of EXTRAS directory"
END_OBJECT            = TEXT
END

The EXTRAS directory contains lower resolution versions of the Hazcam and
Navcam RDR data products and supplementary rover mask files. See below for 
detailed descriptions about the enhanced contents of extras when terrain is
in the camera field of view.

BROWSE/SOLxxxxx/ subdirectory:
Subdirectory of EXTRAS containing middle resolution size (browse-size) JPG
and PNG versions of the data products.  

FULL/SOLxxxxx/ subdirectory:
Subdirectory of EXTRAS containing full resolution size (full-size) JPG and
PNG versions of the data products. 

MASK_DESC_FILES/MSL_rover_filter.xml - An xml file describing the horizon
"mask",  used when generating RDR data products.

MASK_DESC_FILES/SOLxxxxx/ subdirectory:
Subdirectory of EXTRAS containing xml files describing the rover "mask",
used when generating RDR data products.

SPECIAL_PROCESSING/SOLxxxxx/ subdirectory:
Subdirectory of EXTRAS containing products marked with a SPECIAL PROCESSING
flag.  These products were created using off-nominal processing for a specific
purpose during operations, at the request of operations or science team
members.  The purpose and processing notes are documented in the 
SPECIAL_CHARACTER.TXT file located in the DOCUMENT directory of this volume.
It should be noted that, unlike the nominal products in the DATA directory of
this volume, these products were not reprocessed using the latest software 
available for the archive.  It is not practical to do so because each product
is unique and was generated using off nominal processing.  These products are 
included on this volume because they represent potentially significant added
value to the archive.

The labels provided in the SPECIAL_PROCESSING subdirectories reflect the state
of software at the time the products were created.  They may have more errata
than nominal products.  These errata generally do not affect the special
processing being performed on the data, so the associated nominal EDR can be
used to find proper values for any questionable label items.

THUMBNAIL/SOLxxxxx/ subdirectory:
Subdirectory of EXTRAS containing low resolution size (thumbnail-size) JPG
and PNG versions of the data products. 

Beginning with Sol 450, when terrain is in the camera field of view the 
browse, full and thumbnail extras of non-image RDRs (such as XYZ, range, 
reachability and disparity products) have been overlaid in color on the image
terrain.  Below are additional details about how the overlay works for each 
type of data product. Note: these descriptions pertain to all of the products
the MSL OPGS team generates for operations.  Some of these product types 
may not appear on the MSL Navcam and Hazcam Archive RDR volumes.  For 
additional detail, see the Camera SIS located in the DOCUMENT directory of
this volume.

Radiometrically Corrected: A radiometrically corrected grey-scale or color 
image. The extras for this RDR are visualized as standard image view with 
data range controlling brightness and contrast. 
The default stretch data range is set as 0.0 to 4095.0.
Product Type Identifiers: IOI, LIN, RAD, RAS, RIE 

Disparity: The disparity product contains two bands where a pixel represents 
the disparity for line and sample between stereo pairs. The extras for this 
RDR are visualized as an image where color represents coverage of successful 
correlation of the pixel location between a stereo pair. Black indicates no 
correlation result. 
The default data range is set from 0.0 to 1024.0.
Product Type Identifiers: DDD, DFF, DSP, DSR 

XYZ: The XYZ product contains pixels which are coordinates in 3-D space of 
the corresponding pixel in the reference image. Units are typically meters.  
 The extras for this RDR are visualized as a 3-D contour grid where red, 
green, and blue contour lines correspond to constant values of X, Y, and Z 
respectively. 
By default, contours are drawn at an interval of 0.1 m with a width 
of 0.01 m.  Every fifth contour is slightly brighter than the others, 
and contours that form an axis are the brightest.
Product Type Identifiers: XYF, XYM, XYR, XYZ 

Range: The Range product contains a single band where pixels represent 
Cartesian distances from a reference point.  This reference point is often 
the camera position as defined by the C point of the camera model, or a 
coordinate system origin. The extras for this RDR are visualized as taking 
the original representation [a single band, grey contour image, where 
contours are drawn based on distance from a reference point] and then 
further making it similar to the standard, but with a rainbow spread added 
where hue represents the distance from the origin, where by default red is 
at origin, blue is at  distance. 
By default, contours are drawn at an interval of 0.1 m with a width 
of 0.01 m.  Every fifth contour is slightly brighter than the others.
Product Type Identifiers: RNF, RNG, RNM, RNR 

Normal: A Surface Normal product contains 3 bands where pixels are 
interpreted as a unit vector representing the normal to the surface at the 
point. The extras for this RDR are visualized as a color image where pixels 
with slope information are drawn in a color hue such that R,G,B correspond to 
the combined components of the U,V,W values, respectively. 
Product Type Identifiers: UVF, UVP, UVS, UVW 

Slope: The Slope product is a single band where pixels represent the slope 
in degrees. Slope of 0 is flat. The extras for this RDR are visualized as 
taking the original representation [a single band, grey image where regions 
with greater slope are brighter than regions with less slope] and then 
further making it a color image with rainbow spread applied such that hue 
corresponds to slope as blue is near-flat, red exceeds the max slope, and 
green is moderate slope. 
The default slope data range is 0 to 30 degrees.
Product Type Identifiers: SLP 

Slope Rover: The slope rover product is a single band where pixels represent 
the component of the slope (in degrees) that was facing the rover. The 
extras for this RDR are visualized as taking the original representation [a 
single band, grey image where darker regions have negative slope, bright 
positive, and grey near 0] and then further making it a color image with 
rainbow spread applied such that hue corresponds to value as blue is 
minimum, red maximum, and green is average. 
The default data range is -30.0 to 30.0 degrees.
Product Type Identifiers: SRD 

Slope Heading: The slope heading product is a single band where pixels 
represent the direction of the slope as a clockwise angle from north. The 
extras for this RDR are visualized as taking the original representation [a 
single band, grey image where region brightness corresponds to heading 
direction] and then further making it a color image with rainbow spread 
applied such that hue corresponds to heading value as blue is minimum, red 
maximum, and green is average. 
The default data range is -180.0 to 180 degrees.
Product Type Identifiers: SHD 

Slope Magnitude: The slope magnitude product is a single band where pixels 
represent the magnitude of the normal unit vector projected onto the 
horizontal plane. The extras for this RDR are visualized as taking the 
original representation [a single band, grey image where darker regions have 
minimal magnitude slope, brighter regions have larger magnitude] and then 
further making it a color image with rainbow spread applied such that hue 
corresponds to value as blue is minimum, red maximum, and green is average. 
Default data range stretch is 0.0 to 0.5.
Product Type Identifiers: SMG 

Slope Northerly Tilt: The slope northerly tilt product is a single band 
where pixels represent the component of the slope in degrees that points 
north. The extras for this RDR are visualized as taking the original 
representation [a single band, grey image where darker regions have minimal 
tilt, brighter regions have larger tilt] and then further making it a color 
image with rainbow spread applied such that hue corresponds to value as red 
is minimum, blue is maximum, and green is average. 
Default data range stretch is 0.0 to 25.0.
Product Type Identifiers: SNT 

Solar Energy: The solar energy product is a single band where pixels 
represent the amount of solar energy available given local slope and global 
location along with martian time of year. The extras for this RDR are 
visualized as taking the original representation [a single band, grey image 
where darker regions have minimal solar energy, brighter regions have 
greater solar energy] and then further making it a color image with rainbow 
spread applied such that hue corresponds to value as blue is maximum, red is 
minimum, and green is average. 
The default data range is [0.65, 0.95].
Product Type Identifiers: SEN 

Arm Reachability: The arm reachability map encodes information for each of 
the arm instruments in each of the possible arm configurations.  Each band 
represents one of the arm instruments. Within each band, a pixel contains 
combined reachability values across configurations. The extras for this RDR 
are visualized as taking the original representation [a single band, grey 
image with one of four intensities (black, dark grey, light grey, white) 
mapped from reachability values.  These values are  calculated as best-case 
across selected arm configuration, and worst-case  across selected 
instruments] and then further making it a color image where reachability 
values of 0 map to black, 1 map to red, 2 map to yellow, and 3 map to green. 
The default settings includes selecting the first instrument across all
configurations.
Product Type Identifiers: ARK, ARM 

Arm Preload: The arm preload product is one band where a pixel indicates the 
maximum preload values (in Newtons) that can be applied by an instrument for 
each of the arm configurations. The extras for this RDR are visualized as 
taking the original representation [a single band, grey image where darker 
regions have minimal preloadability, brighter regions have greater 
preloadability] and then further making it a color image with rainbow 
spread applied such that hue corresponds to value as blue is minimum, red 
maximum, and green  is average. 
The default settings includes selecting all configurations.
Product Type Identifiers: ARP 

Arm Drill Roughness: The arm drill roughness product is three bands where 
each pixel contains roughness estimates (overall and ring) along with a 
"goodness" flag indicating whether the roughness meets certain criteria.  
This type is specific to the MSL ARM drill. 
[Goodness:  0.0 = No solution; 
            1.0 = Both ring and overall roughnesses exceed thresholds; 
            2.0 = Overall roughness (only) exceeds its threshold; 
            3.0 = Ring roughness (only) exceeds its threshold; 
            4.0 = Roughnesses within threshold]. The extras for this RDR are 
visualized as taking the original representation [a grey scale image, such 
that: a) if first band selected, one of five intensities (black, dark grey,  
medium grey, light grey, white) mapped from goodness values;  b) if second 
or third band selected, the image has darker regions where  roughness is 
less, and brighter regions where roughness is greater] and then further 
making it a color image, such that: 
  a) if first band selected, goodness values mapped (0: black: 1: red, 
  2: orange, 3: yellow, 4: green); 
  b) if second or third band selected, a rainbow spread applied such that 
  hue corresponds to value as blue is minimum, red maximum, and green is 
  average. 
By default, the first band (state) is selected for display.
Product Type Identifiers: RUD 

Arm DRT Roughness: The arm DRT (dust removal tool) roughness product is two 
bands where each pixel contains an overall roughness estimate along with a 
"goodness" flag indicating whether the roughness meets certain criteria. 
This type is specific to the MSL ARM DRT. 
[Goodness:  0.0 = No solution; 
            2.0 = Overall roughness (only) exceeds its threshold; 
            4.0 = Roughnesses within threshold]. The extras for this RDR are 
visualized as taking the original representation [a grey scale image, such 
that: 
  a) if first band selected, one of five intensities (black, dark grey, 
     medium grey, light grey, white) mapped from goodness values; 
  b) if second band selected, the image has darker regions where roughness 
     is less, and brighter regions where roughness is greater] and then 
further making it a color image, such that: 
  a) if first band selected, goodness values mapped (0: black, 1: red, 
     2: orange, 3: yellow, 4: green); 
  b) if second band selected, a rainbow spread applied such that hue 
     corresponds to value as blue is minimum, red maximum, and green is 
     average. 
By default, the first band (state) is selected for display.
Product Type Identifiers: RUT 

Range Error: The range error product is three bands which contains error 
values for downrange,crossrange-horizontal, and crossrange-vertical errors. 
The extras for this RDR are visualized as taking the original representation 
[a single band, grey image where darker regions have less error, brighter 
regions have greater error] and then further making it a color image with 
rainbow spread applied such that hue corresponds to value as blue is 
minimum, red maximum, and green is average. 
By default, the downrange-error band is selected with a data range of 0.0
to 1.0.
Product Type Identifiers: RNE 

XYZ Error: The XYZ error product is three bands which contains error values 
for X, Y, and Z dimensions. The extras for this RDR are visualized as taking 
the original representation [a single band, grey image where darker regions 
have less error, brighter regions have greater error] and then further 
making it a color image with rainbow spread applied such that hue 
corresponds to value as blue is minimum, red maximum, and green is average. 
By default, the X-error band is selected with a data range of 0.0
to 1.0.
Product Type Identifiers: XYE 

Mask: The mask product is one band where pixels have either an on or off 
value indicating whether the mask applies or not. The extras for this RDR 
are visualized as taking the original representation [a single band, black 
and white image, where white indicates mask exists and black indicates no 
mask exists] and then further making it a color image indicating in green 
where the mask is enabled. 
Product Type Identifiers: MAR, MDS, MSK, MXY