Mars 2020 Mastcam-Z Release Notes 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: PDS Cartography and Imaging Sciences Node U.S.G.S. Astrogeology Team 2255 North Gemini Drive Flagstaff, AZ 86001 U.S.A (928) 556-7126 Web: https://pds-imaging.jpl.nasa.gov/ Email: pds-img-usgs@usgs.gov This document, mastcamz_release_notes.txt, contains release notes and errata concerning the Mars 2020 Mastcam-Z Sci Calibrated bundle. It is updated with each release of Mastcam-Z data. Section A of this document contains an entry for each Mastcam-Z release in order from newest to oldest 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-SPECIFIC INFORMATION ******** ------------------------------------------------------------------------------- Release Number: 6 Release Date: 2023-3-24 Data Coverage: 2022-08-27 through 2022-12-27 (Sols 540 to 659) New products have been added to these collections: urn:nasa:pds:mars2020_mastcamz_sci_calibrated:data urn:nasa:pds:mars2020_mastcamz_sci_calibrated:browse urn:nasa:pds:mars2020_mastcamz_sci_calibrated:miscellaneous Products have been revised in these collections: urn:nasa:pds:mars2020_mastcamz_sci_calibrated:document 1. General comments This release includes 2 missing products from sol 72 and cloned products from sols 397, 398, and 513, as well as late-arriving products from sols: 0415, 0417, 0524-0539. One video has been included to the miscellaneous collection, which is a video of Phobos transiting the Sun. The mastcamz_derived_product_sis has been updated to reflect changes based on end of primary mission and Data Archivist transition. 2. Recovered products There were no sols in this release with products which were recovered at a different encoding (losslessly compressed vs JPEG 85). Recovered products are downlinked for imaging and video sequences and are distinguishable through the label (Ex. a recovered right image will have MczRRecoveredProduct in the label where an original image has MczRImage). For every recovered product there is a corresponding identical non-recovered product (Thumbnail or full resolution image). 3. Cloned products There are several sols with products which were cloned from the rover at different encoding (ex. JPEG 50 vs uncompressed). Cloned products were downlinked for imaging and video sequences and are virtually indistinguishable through the label (Ex. a cloned right image will have MczRImage in the label where the original (non-cloned) image also has MczRImage). Sols Sequences ---- --------- 0397 zcam08420 0398 zcam08421 0513 zcam03410 For every cloned product there is a corresponding identical non-cloned product (full resolution image). 4. ZStack products There are several sols for this release that where EDR products were merged together to create zstack products. These products are merged onboard the rover in the DEA as a new product (EZS) from the associated EDRs. The non-merged products are available in both RAD and IOF. Zstack products were downlinked for imaging and video sequences and are distinguishable through their label (Ex. a zstack right image will have MczRZstack in the label where the non-merged products that make up the ZStack will have MczRImage). Sols Sequences ---- --------- 0581 zcam00050 0641 zcam00050 All zstack merge products were RAD and IOF calibrated with the exception of sols 517 (zcam00050) and 526 (zcam00052) which were RAD calibrated but not IOF calibrated. 5. Known label keyword issues Four keywords in the ODL3 label and are not present in the PDS4 XML label. NONLINEAR_PIXEL_THRESH NONLINEAR_THRESH SATURATED_PIXEL_THRESH SATURATED_THRESH 6. Unexpected scene and image content Some images did not contain their intended target or the target was unobservable. The issues reported below are from error tracking during tactical shifts. sol Sequence Description ----- --------- ------------------------------------------------------------ 0548 zcam08566 Mispointed due to drive not completing as expected zcam08567 Mispointed to due drive not completing as expected zcam07114 Autofocus failure 0549 zcam07115 Autofocus failure 0550 zcam08568 Drive fault caused images to be mispointed zcam08569 Drive fault caused images to be mispointed zcam08570 Drive fault caused images to be mispointed 0551 zcam08571 Drive fault caused images to be mispointed zcam08572 Drive fault caused images to be mispointed 0552 zcam03436 Drive fault caused images to be mispointed zcam03437 Drive fault caused images to be mispointed 0553 zcam01024 Image executed earlier than expected and caused solar imagery without the proper solar filters 0562 zcam05065 Did not execute due to arm fault zcam05066 Did not execute due to arm fault zcam05067 Did not execute due to arm fault 0581 zcam03457 Focus off due to operational commanding error 0584 zcam05058 Did not execute due to arm fault zcam05069 Did not execute due to arm fault zcam05070 Did not execute due to arm fault zcam05071 Did not execute due to arm fault 0623 zcam05068 Did not execute due to arm fault zcam00003 Did not execute due to arm fault zcam05069 Did not execute due to arm fault zcam05070 Did not execute due to arm fault zcam05071 Did not execute due to arm fault 0637 zcam03495 Unexpected hardware in image due to arm fault 0644 zcam08640 Did not execute due to ACI cover being open zcam08641 Mispointed due to drive not executing and autofocus failure zcam08642 Mispointed due to drive not executing 7. Browse products The current browse_asu products use unbayered data to generate the png. Some artifacts due to wavelength response are to be expected. These will be addressed in future releases. ------------------------------------------------------------------------------- Release Number: 5 Release Date: 2022-11-21 Data Coverage: 2022-04-24 through 2022-08-26 (Sols 420 to 539) New products have been added to these collections: urn:nasa:pds:mars2020_mastcamz_sci_calibrated:data urn:nasa:pds:mars2020_mastcamz_sci_calibrated:browse Products have been revised in these collections: urn:nasa:pds:mars2020_mastcamz_sci_calibrated:document 1. General comments A README file has been added to the bundle for this release (readme.txt) and will serve as a guide to help users in their navigation of the Mars 2020 Mastcam-Z Science Calibrated Bundle and assist in understanding why files are named they way they are. Missing from release 5 are cloned products from sols 397 (zcam03341, zcam08420) and 398 (zcam08421), in addition to two missing files from sol 72. Missing products will be released as a part of release 6. Some IOF calibrated products may appear to be more blue. The is a known issue from the caltarget used for calibration. This does not affect the validity of the product and will be addressed in a future release. 2. Recovered products There was one sol in this release with products which were recovered at a different encoding (losslessly compressed vs JPEG 85). Recovered products were downlinked for imaging and video sequences and are distinguishable through the label (Ex. a recovered right image will have MczRRecoveredProduct in the label where an original image has MczRImage). Sols Sequences ----- --------- 0420 zcam08439 For every recovered product there is a corresponding identical non-recovered product (Thumbnail or full resolution image). 3. Cloned products There are several sols with products which were cloned from the rover at different encoding (ex. JPEG 50 vs uncompressed). Cloned products were downlinked for imaging and video sequences and are virtually indistinguishable through the label (Ex. a cloned right image will have MczRImage in the label where the original (non-cloned) image also has MczRImage). Sols Sequences ---- --------- 0397 zcam03341 0397 zcam08420 0398 zcam08421 0448 zcam07107 0449 zcam08462 For every cloned product there is a corresponding identical non-cloned product (full resolution image). 4. ZStack products There are several sols for this release that where EDR products were merged together to create zstack products. These products are merged onboard the rover in the DEA as a new product (EZS) from the associated EDRs. The non-merged products are available in both RAD and IOF. Zstack products were downlinked for imaging and video sequences and are distinguishable through their label (Ex. a zstack right image will have MczRZstack in the label where the non-merged products that make up the ZStack will have MczRImage). Sols Sequences ---- --------- 0497 zcam00050 0517 zcam00050 0520 zcam00061 0521 zcam00060 zcam00050 0523 zcam00058 0525 zcam00050 0526 zcam00052 0529 zcam00052 0530 zcam00052 zcam00060 All zstack merge products were RAD and IOF calibrated with the exception of sols 517 (zcam00050) and 526 (zcam00052) which were RAD calibrated but not IOF calibrated. 5. Known label keyword issues Known label keyword issues are present for sols 420-510 in this release. The following ODL3 label keywords can report incorrect values when sequences are built using the first image to set up the commanding and indicate no change for the images that follow. ODL3 Keyword Description ------------------------------ --------------------------------- INSTRUMENT_ZOOM_POSITION_COUNT This can incorrectly report as "0" when commanded in a group of images where all products are using the same zoom position. The actual zoom position count value can be found in the ZOOM_POSITION_COUNT keyword or by looking in the label of the first image acquired in the sequence. COMMANDED_FOCAL_LENGTH This can incorrectly report as "26.0 " when commanded in a group of images where all products are using the same focal length. The actual focal length value can be found in the FOCAL_LENGTH keyword or by looking in the label of the first image acquired in the sequence. INSTRUMENT_FOCUS_MODE This keyword is unreliable. To determine if an image was commanded using manual or autofocus you should look to the INSTRUMENT_FOCUS_STEPS and INSTRUMENT_FOCUS_STEP_SIZE keywords. If “INSTRUMENT_FOCUS_STEPS = 1” and “INSTRUMENT_FOCUS_STEP_SIZE = 6” The image was commanded using manual focus, if “INSTRUMENT_FOCUS_STEPS = 0” and “INSTRUMENT_FOCUS_STEP_SIZE = 0” there is no change from the previous image in a sequence and you should look to the first image acquired in the sequence, otherwise it was commanded using autofocus. The previous keyword issues: INSTRUMENT_ZOOM_POSITION_COUNT, COMMANDED_FOCAL_LENGTH, and INSTRUMENT_FOCUS_MODE have been resolved starting with sol 0511. Four keywords in the ODL3 label and are not present in the PDS4 XML label. NONLINEAR_PIXEL_THRESH NONLINEAR_THRESH SATURATED_PIXEL_THRESH SATURATED_THRESH 6. Unexpected scene and image content Some images did not contain their intended target or the target was unobservable. The issues reported below are from error tracking during tactical shifts. sol Sequence Description ----- --------- ------------------------------------------------------------ 0420 zcam08441 Autofocus failure 0423 zcam03354 Autofocus failure 0435 zcam03359 Mispointed due to commanding issue, science intent was partially met 0435 zcam03360 Mispointed due to commanding issue, science intent was partially met 0446 zcam03367 Arm occluded the frame due to arm fault 0446 zcam07107 Mispointed due to arm fault 0446 zcam07114 Mispointed due to arm fault 0457 zcam01013 Did not execute due to preheat failure 0457 zcam08475 Did not execute due to preheat failure 0457 zcam01013 Did not execute due to preheat failure 0457 zcam07114 Did not execute due to preheat failure 0457 zcam01027 Did not execute due to preheat failure 0458 zcam08476 Drive did not occur, mispointed and failed autofocus 0479 zcam01014 Sequence did not execute due to RSM collision check failure 0479 zcam08500 Sequence did not execute due to RSM collision check failure 0479 zcam08501 Sequence did not execute due to RSM collision check failure 0479 zcam01013 Sequence did not execute due to RSM collision check failure 0480 zcam08502 Sequence did not execute due to RSM collision check failure 0480 zcam08503 Sequence did not execute due to RSM collision check failure 0480 zcam01014 Sequence did not execute due to RSM collision check failure 0480 zcam03014 Sequence did not execute due to RSM collision check failure 0480 zcam03392 Sequence did not execute due to RSM collision check failure 0480 zcam08504 Sequence did not execute due to RSM collision check failure 0480 zcam01002 Sequence did not execute due to RSM collision check failure 0481 zcam03393 Sequence did not execute due to RSM collision check failure 0481 zcam03014 Sequence did not execute due to RSM collision check failure 0481 zcam08505 Sequence did not execute due to RSM collision check failure 0481 zcam01013 Sequence did not execute due to RSM collision check failure 0487 zcam05068 Did not execute due to arm heating failure 0487 zcam05069 Did not execute due to arm heating failure 0487 zcam05070 Did not execute due to arm heating failure 0487 zcam05071 Did not execute due to arm heating failure 0494 zcam05068 Did not execute due to bit carousel heating failure 0494 zcam05069 Did not execute due to bit carousel heating failure 0494 zcam05070 Did not execute due to bit carousel heating failure 0494 zcam05071 Did not execute due to bit carousel heating failure 0521 zcam05106 Did not execute due to arm fault 0521 zcam05107 Did not execute due to arm fault 0521 zcam05108 Did not execute due to arm fault 0521 zcam05109 Did not execute due to arm fault 0521 zcam05110 Did not execute due to arm fault 0521 zcam05111 Did not execute due to arm fault 0521 zcam05112 Did not execute due to arm fault 0521 zcam00060 ZStack merge merged unexpected products (0520 zcam05105, 0517 zcam05072, 0509 zcam00065, 0509 zcam00064, 0496 zcam05072) due to ZStack sequence not executing due to arm fault 0521 zcam00050 ZStack merge merged unexpected products (0521 zcam05105) due to ZStack sequence not executing due to arm fault 0524 zcam05115 Autofocus failure 0524 zcam05116 Autofocus failure 0530 zcam00040 Did not execute, was mistakenly left out of the plan 7. Browse products The current browse_asu products use unbayered data to generate the png. Some artifacts due to wavelength response are to be expected. These will be addressed in future releases. ------------------------------------------------------------------------------- Release Number: 4 Release Date: 2022-07-22 Data Coverage: 2021-12-23 through 2022-04-26 (Sols 300 to 419) New products have been added to these collections: urn:nasa:pds:mars2020_mastcamz_sci_calibrated:data urn:nasa:pds:mars2020_mastcamz_sci_calibrated:browse urn:nasa:pds:mars2020_mastcamz_sci_calibrated:document urn:nasa:pds:mars2020_mastcamz_sci_calibrated:calibration_support Products have been revised in these collections: urn:nasa:pds:mars2020_mastcamz_sci_calibrated:document 1. General comments The calibration_support collection has cruise data and will eventually have preflight calibration data. These products were used to classify and calibrate the Mastcam-Z instruments. The cruise browse products can be found under browse in calibration_support. The Mastcam-Z Derived Product SIS has been updated for this release. Sol 177 zstack merge zcam00040 has been RAD and IOF calibrated for this release. Sol 208 has thumbnail products (instead of the full resolution image), where the originally commanded image products were deleted from the camera DEA (memory) prior to downlinking. 2. Recovered products There are several sols with products which were recovered from the rover at different encoding (JPEG 50 vs uncompressed) or were recovered tactically. Recovered products were downlinked for imaging and video sequences and are distinguishable through the label (Ex. a recovered right image will have MczRRecoveredProduct in the label where the image has MczRImage). Sols Sequences ----- --------- 0240 zcam08263 0240 zcam08264 3. Cloned products There are several sols with products which were cloned from the rover at different encoding (ex. JPEG 50 vs uncompressed) or were recovered tactically. Cloned products were downlinked for imaging and video sequences and are virtually indistinguishable through the label (Ex. a cloned right image will have MczRImage in the label where the original (non-cloned) image also has MczRImage). Sols Sequences ---- --------- 0255 zcam08278 0265 zcam08281 0286 zcam01008 0289 zcam01000 0290 zcam01000 0292 zcam01000 0294 zcam01000 0296 zcam01000 0297 zcam01012 0298 zcam01005 0300 zcam01012 0310 zcam01010 0344 zcam08371 0395 zcam08418 For every cloned product there is a corresponding identical non-cloned product (full resolution image). 4. Known label keyword issues Known label keyword issues are present for all sols in this release. The following ODL3 label keywords can report incorrect values when sequences are built using the first image to set up the commanding and indicate no change for the images that follow. ODL3 Keyword Description ------------------------------ --------------------------------- INSTRUMENT_ZOOM_POSITION_COUNT This can incorrectly report as "0" when commanded in a group of images where all products are using the same zoom position. The actual zoom position count value can be found in the ZOOM_POSITION_COUNT keyword or by looking in the label of the first image acquired in the sequence. COMMANDED_FOCAL_LENGTH This can incorrectly report as "26.0 " when commanded in a group of images where all products are using the same focal length. The actual focal length value can be found in the FOCAL_LENGTH keyword or by looking in the label of the first image acquired in the sequence. INSTRUMENT_FOCUS_MODE This keyword is unreliable. To determine if an image was commanded using manual or autofocus you should look to the INSTRUMENT_FOCUS_STEPS and INSTRUMENT_FOCUS_STEP_SIZE keywords. If “INSTRUMENT_FOCUS_STEPS = 1” and “INSTRUMENT_FOCUS_STEP_SIZE = 6” The image was commanded using manual focus, if “INSTRUMENT_FOCUS_STEPS = 0” and “INSTRUMENT_FOCUS_STEP_SIZE = 0” there is no change from the previous image in a sequence and you should look to the first image acquired in the sequence, otherwise it was commanded using autofocus. Four keywords in the ODL3 label and are not present in the PDS4 XML label. NONLINEAR_PIXEL_THRESH NONLINEAR_THRESH SATURATED_PIXEL_THRESH SATURATED_THRESH 5. Unexpected scene and image content Some images did not contain their intended target or the target was unobservable. The issues reported below are from error tracking during tactical shifts. sol Sequence Description ----- --------- ------------------------------------------------------------ 0307 zcam05072 Did not execute due to arm fault 0307 zcam08333 More hardware in frame than expected due to arm fault 0308 zcam00056 Incorrect merge products due to arm fault, merged sol 296 zcam05076 instead of 307 zcam05072 0308 zcam00064 Out of focus due to command error 0308 zcam00065 Out of focus due to command error 0346 zcam03314 Too saturated to pull spectra 0347 zcam03316 ZR images out of focus due to command error 0353 zcam08382 Mispointed, drive timed-out before predicted end of drive 0353 zcam03319 Mispointed, drive timed-out before predicted end of drive 0356 zcam08384 Mispointed, rim of crater is cutoff 0359 zcam08389 Mispointed, drive timed-out before predicted end of drive 0374 zcam05068 Did not execute due to arm fault 0374 zcam05069 Did not execute due to arm fault 0374 zcam05070 Did not execute due to arm fault 0374 zcam05071 Did not execute due to arm fault 0375 zcam00003 Did not execute due to arm fault 0375 zcam05072 3 instances of zcam05072 did not execute due to arm fault 0375 zcam00050 Incorrect merge products due to arm fault, merged sol 332 zcam05072 instead of 375 zcam5072 0384 zcam03337 Mispointed, drive timed-out before predicted end of drive 0384 zcam08412 Mispointed, drive timed-out before predicted end of drive 0385 zcam03338 Mispointed, drive timed-out before predicted end of drive 0385 zcam03339 Mispointed, over-shot the target 0385 zcam08413 Mispointed, drive timed-out before predicted end of drive 0385 zcam08414 Mispointed, drive timed-out before predicted end of drive 0401 zcam05100 Partially mispointed 0401 zcam05101 Mispointed, descent stage hardware is obstructed 6. Browse products The current browse_asu products use unbayered data to generate the png. Some artifacts due to wavelength response are to be expected. These will be addressed in future releases. ------------------------------------------------------------------------------- Release Number:3 Release Date: 2022-03-22 Data Coverage: 2021-08-22 through 2021-12-22 (Sols 180 to 299) New products have been added to these collections: urn:nasa:pds:mars2020_mastcamz_sci_calibrated:data urn:nasa:pds:mars2020_mastcamz_sci_calibrated:browse urn:nasa:pds:mars2020_mastcamz_sci_calibrated:document Products have been revised in these collections: urn:nasa:pds:mars2020_mastcamz_sci_calibrated:document 1. General comments The Mastcam-Z release 1 filename matching document (mastcamz_release1_image_mapping.csv) has been revised and delivered with this release. This will serve as a guide from data downloaded from the old bundle structure prior to the release 2 revision of sol 0-89 products. There are 3 sols(193, 208, 209) which have thumbnail products (instead of the full resolution image), where the image products were deleted from the camera DEA (memory) prior to downlinking. Mars solar conjunction occurred over sols 216 to 235. During this time no sequences were executed due to DSN downlink availability. Zstack merge products for sols 192(zcam00050), 196(zcam00056) & 297(zcam00060) were RAD calibrated but were not IOF calibrated. These products get merged onboard the rover in the DEA as a new product (EZS) from the associated EDRs and the non-merged products are available in both RAD and IOF. 2. Recovered products There are several sols with products which were recovered from the rover at different encoding (ex. JPEG 50 vs uncompressed) or were recovered tactically. Recovered products were downlinked for imaging and video sequences and are distinguishable through the label (Ex. a recovered right image will have MczRRecoveredProduct in the label where the original (non-recovered) image has MczRImage). Sols Sequences ----- --------- 0181 zcam08199 0156 zcam07221 0193 zcam05085 0207 zcam08236 0208 zcam08237 0208 zcam08238 0208 zcam08240 0209 zcam08242 For every recovered product there is a corresponding identical non-recovered product (Thumbnail or full resolution image). 3. Cloned products There are several sols with products which were cloned from the rover at different encoding (ex. JPEG 50 vs uncompressed) or were recovered tactically. Cloned products were downlinked for imaging and video sequences and are virtually indistinguishable through the label (Ex. a cloned right image will have MczRImage in the label where the original (non-cloned) image also has MczRImage). Sols Sequences ---- --------- 0238 zcam08261 0237 zcam05086 0264 zcam01004 0279 zcam01005 For every cloned product there is a corresponding identical non-cloned product (full resolution image). 4. Known label keyword issues Known label keyword issues are present for all sols in this release. The following ODL3 label keywords can report incorrect values when sequences are built using the first image to set up the commanding and indicate no change for the images that follow. ODL3 Keyword Description ------------------------------ --------------------------------- INSTRUMENT_ZOOM_POSITION_COUNT This can incorrectly report as "0" when commanded in a group of images where all products are using the same zoom position. The actual zoom position count value can be found in the ZOOM_POSITION_COUNT keyword or by looking in the label of the first image acquired in the sequence. COMMANDED_FOCAL_LENGTH This can incorrectly report as "26.0 " when commanded in a group of images where all products are using the same focal length. The actual focal length value can be found in the FOCAL_LENGTH keyword or by looking in the label of the first image acquired in the sequence. INSTRUMENT_FOCUS_MODE This keyword is unreliable. To determine if an image was commanded using manual or autofocus you should look to the INSTRUMENT_FOCUS_STEPS and INSTRUMENT_FOCUS_STEP_SIZE keywords. If “INSTRUMENT_FOCUS_STEPS = 1” and “INSTRUMENT_FOCUS_STEP_SIZE = 6” The image was commanded using manual focus, if “INSTRUMENT_FOCUS_STEPS = 0” and “INSTRUMENT_FOCUS_STEP_SIZE = 0” there is no change from the previous image in a sequence and you should look to the first image acquired in the sequence, otherwise it was commanded using autofocus. Four keywords in the ODL3 label and are not present in the PDS4 XML label. NONLINEAR_PIXEL_THRESH NONLINEAR_THRESH SATURATED_PIXEL_THRESH SATURATED_THRESH 5. Unexpected scene and image content Some images did not contain their intended target or the target was unobservable. The issues reported below are from error tracking during tactical shifts. sol Sequence Description ----- --------- ------------------------------------------------------------ 0191 zcam01008 Sky survey images occluded by arm in 3 frames. 0205 zcam08229 Saturated, as commanded, to image the shadowed texture. 0239 zcam01004 Reached "keep out zone", was unable to acquire 1L 1R frame 0251 zcam05065 This sequence did not execute due to arm fault 0251 zcam05066 This sequence did not execute due to arm fault 0251 zcam05067 This sequence did not execute due to arm fault 0263 zcam03255 Arm hardware occlusion due to arm fault 0263 zcam03256 Arm hardware occlusion due to arm fault 0264 zcam03255 Saturated and mispointed due to arm fault 0264 zcam03256 Saturated and mispointed due to arm fault 0280 zcam05065 This sequence did not execute due to arm fault 0280 zcam05066 This sequence did not execute due to arm fault 0280 zcam05067 This sequence did not execute due to arm fault 0283 zcam08305 Unexpected pointing due to drive fault 0288 zcam05065 This sequence did not execute due to arm fault 0288 zcam05066 This sequence did not execute due to arm fault 0288 zcam05067 This sequence did not execute due to arm fault 6. Browse products The current browse_asu products use unbayered data to generate the png. Some artifacts due to wavelength response are to be expected. These will be addressed in future releases. -------------------------------------------------------------------------------- Release Number:2 Release Date: 2021-11-22 Data Coverage: 2021-05-22 through 2021-08-21 (Sols 90 to 179) The Mastcam-Z bundle structure has changed since release 1, read more in the general comments section below. New products have been added to these collections: urn:nasa:pds:mars2020_mastcamz_sci_calibrated:data urn:nasa:pds:mars2020_mastcamz_sci_calibrated:browse urn:nasa:pds:mars2020_mastcamz_sci_calibrated:document urn:nasa:pds:mars2020_mastcamz_sci_calibrated:miscellaneous Products have been revised in these collections: None. 1. General comments This release has a new bundle structure to better accommodate all of the Mastcam-Z data products. The old bundle urn:nasa:pds:mars2020_mastcamz has been broken down into 6 bundles with all of Mastcam-Z ASU calibrated products in this bundle urn:nasa:pds:mars2020_mastcamz_sci_calibrated including associated documentation. The first release was entirely reprocessed at all levels (EDR, RAD etc..) due to a filename issue where the sclk was misreported in the filenames. Sols 9-55 were affected and release 2 includes all of the reprocessed release 1 data (sols 0-89). The RAD calibration process was also updated with: new shutter frame model coefficients, ODL header updates, improved sky flats, improved flat fielding for the solar filters. 2. Recovered products There are several sols with products which were recovered from the rover at different encoding (ex. JPEG 50 vs uncompressed) or were recovered tactically. Recovered products were downlinked for imaging and video sequences and are distinguishable through the label (Ex. a recovered right image will have MczRRecoveredProduct in the label where the original (non-recovered) image has MczRImage). Sols Sequences ----- --------- 0058 zcam05032 0061 zcam05036 0136 zcam08143 For every recovered product there is a corresponding identical non-recovered product (full resolution image). 3. Known label keyword issues Known label keyword issues are present for all sols in this release. The following ODL3 label keywords can report incorrect values when sequences are built using the first image to set up the commanding and indicate no change for the images that follow. ODL3 Keyword Description ------------------------------ --------------------------------- INSTRUMENT_ZOOM_POSITION_COUNT This can incorrectly report as "0" when commanded in a group of images where all products are using the same zoom position. The actual zoom position count value can be found in the ZOOM_POSITION_COUNT keyword or by looking in the label of the first image acquired in the sequence. COMMANDED_FOCAL_LENGTH This can incorrectly report as "26.0 " when commanded in a group of images where all products are using the same focal length. The actual focal length value can be found in the FOCAL_LENGTH keyword or by looking in the label of the first image acquired in the sequence. INSTRUMENT_FOCUS_MODE This keyword is unreliable. To determine if an image was commanded using manual or autofocus you should look to the INSTRUMENT_FOCUS_STEPS and INSTRUMENT_FOCUS_STEP_SIZE keywords. If “INSTRUMENT_FOCUS_STEPS = 1” and “INSTRUMENT_FOCUS_STEP_SIZE = 6” The image was commanded using manual focus, if “INSTRUMENT_FOCUS_STEPS = 0” and “INSTRUMENT_FOCUS_STEP_SIZE = 0” there is no change from the previous image in a sequence and you should look to the first image acquired in the sequence, otherwise it was commanded using autofocus. Four keywords in the ODL3 label and are not present in the PDS4 XML label. NONLINEAR_PIXEL_THRESH NONLINEAR_THRESH SATURATED_PIXEL_THRESH SATURATED_THRESH 4. Known product issues There are two different products (Video vs Recovered Video) with a matching filename. The A06 version is a video product and the A05 is a recovered video product. The recovered products listed below are not in the archive since PDS archives the highest version available. This is a JPL pipeline issue and will be fixed in a future release. The Video product does have the same scene and same compression as the Recovered Video. File CDPID Product Type ---------------------------------------------------------- ----- ------------- ZR0_0058_0672089454_625RAD_N0032046ZCAM05032_034050A05.IMG 3219 MczRRecovered ZR0_0058_0672089454_625RAD_N0032046ZCAM05032_034050A06.IMG 3219 MczRVideo ZR0_0058_0672089461_625RAD_N0032046ZCAM05032_034050A05.IMG 3222 MczRRecovered ZR0_0058_0672089461_625RAD_N0032046ZCAM05032_034050A06.IMG 3222 MczRVideo ZR0_0058_0672089468_625RAD_N0032046ZCAM05032_034050A05.IMG 3225 MczRRecovered ZR0_0058_0672089468_625RAD_N0032046ZCAM05032_034050A06.IMG 3225 MczRVideo ZR0_0058_0672089478_500RAD_N0032046ZCAM05032_034050A05.IMG 3229 MczRRecovered ZR0_0058_0672089478_500RAD_N0032046ZCAM05032_034050A06.IMG 3229 MczRVideo ZR0_0058_0672089454_625IOF_N0032046ZCAM05032_034050A05.IMG 3219 MczRRecovered ZR0_0058_0672089454_625IOF_N0032046ZCAM05032_034050A06.IMG 3219 MczRVideo ZR0_0058_0672089461_625IOF_N0032046ZCAM05032_034050A05.IMG 3222 MczRRecovered ZR0_0058_0672089461_625IOF_N0032046ZCAM05032_034050A06.IMG 3222 MczRVideo ZR0_0058_0672089468_625IOF_N0032046ZCAM05032_034050A05.IMG 3225 MczRRecovered ZR0_0058_0672089468_625IOF_N0032046ZCAM05032_034050A06.IMG 3225 MczRVideo ZR0_0058_0672089478_500IOF_N0032046ZCAM05032_034050A05.IMG 3229 MczRRecovered ZR0_0058_0672089478_500IOF_N0032046ZCAM05032_034050A06.IMG 3229 MczRVideo 5. Unexpected scene and image content Some images did not contain their intended target or the target was unobservable. The issues reported below are from error tracking during tactical shifts. sol Sequence Description ----- --------- ------------------------------------------------------------ 0090 zcam08051 Autofocus failure 0092 zcam00033 Autofocus failure 0093 zcam00034 Autofocus failure 0135 zcam08140 Autofocus failure, mispointed showing more hardware than expected 0142 zcam05065 This sequence was unable to execute due to a thermal fault 0142 zcam05066 This sequence was unable to execute due to a thermal fault 0142 zcam05073 This sequence was unable to execute due to a thermal fault 0143 zcam05065 This sequence was unable to execute due to post-turret cleaning 0143 zcam05066 This sequence was unable to execute due to post-turret cleaning 0143 zcam05073 This sequence was unable to execute due to post-turret cleaning 0145 zcam05065 This sequence was unable to execute due to an arm fault 0145 zcam05066 This sequence was unable to execute due to an arm fault 0145 zcam05073 This sequence was unable to execute due to an arm fault 0148 zcam01010 Mispointed, still met science intent 0153 zcam07221 Images are out of focus 0163 zcam08171 Target in shadow, still met science intent 0170 zcam08183 Mispointed, still met science intent 6. Missing ZCAM products Some products were missed in the preparation of this release and therefore were not ASU calibrated. These will be included in a future release. sol Sequence Quantity ----- ---------- ----------------- 0047 zcam05001 1 video product 0048 zcam05008 2 video products 0050 zcam05022 1 video product 0072 zcam08032 2 image products 7. Browse products The current browse_asu products use unbayered data to generate the png. Some artifacts due to wavelength response are to be expected. These will be addressed in future releases. -------------------------------------------------------------------------------- Release Number:1 Release Date: 2021-08-20 Data Coverage: 2021-02-18 through 2021-05-21 (Sols 0 to 89) New products have been added to these collections: urn:nasa:pds:mars2020_mastcamz:data_asu urn:nasa:pds:mars2020_mastcamz:browse_asu urn:nasa:pds:mars2020_mastcamz:document Products have been revised in these collections: None. 1. General comments Only RAD calibrated products have been included in this release, IOF calibrated products will be available in the second release. There are 9 sols(49,50,55,58,61,64,68,69,76) which have thumbnail products (instead of the full resolution image), where the video image products were deleted from the camera DEA (memory) prior to downlinking. Some image filenames in sols 1,2,3,and 4 have 'AUT' in place of 'ZCAM'. This is a known idio of cruise flight software. To determine the sequence, see the filename and label of the first image acquired. These products also have 'Scidata' in place of 'Image; in the labels. 2. Recovered products There are several sols with products which were recovered from the rover at different encoding (JPEG 50 vs uncompressed) or were recovered tactically. Recovered products were downlinked for imaging and video sequences and are distinguishable through the label (Ex. a recovered right image will have MczRRecoveredProduct in the label where the image has MczRImage). Sols Sequences ----- --------- 0011 zcam00015 0015 zcam07000 0047 zcam05001 0048 zcam05008 0049 zcam05009 0050 zcam05022 0055 zcam05009 0058 zcam05032 0061 zcam05036 0064 zcam05042 0067 zcam05050 0068 zcam05053 0069 zcam05053 0076 zcam05060 For every recovered product there is a corresponding identical non-recovered product (thumbnail or full resolution image). 3. Known label keyword issues Known label keyword issues are present for all sols in this release. The following ODL3 label keywords can report incorrect values when sequences are built using the first image to set up the commanding and indicate no change for the images that follow. ODL3 Keyword Description ------------------------------ --------------------------------- INSTRUMENT_ZOOM_POSITION_COUNT This can incorrectly report as "0" when commanded in a group of images where all products are using the same zoom position. The actual zoom position count value can be found in the ZOOM_POSITION_COUNT keyword or by looking in the label of the first image acquired in the sequence. COMMANDED_FOCAL_LENGTH This can incorrectly report as "26.0 " when commanded in a group of images where all products are using the same focal length. The actual focal length value can be found in the FOCAL_LENGTH keyword or by looking in the label of the first image acquired in the sequence. INSTRUMENT_FOCUS_MODE This keyword is unreliable. To determine if an image was commanded using manual or autofocus you should look to the INSTRUMENT_FOCUS_STEPS and INSTRUMENT_FOCUS_STEP_SIZE keywords. If “INSTRUMENT_FOCUS_STEPS = 1” and “INSTRUMENT_FOCUS_STEP_SIZE = 6” The image was commanded using manual focus, if “INSTRUMENT_FOCUS_STEPS = 0” and “INSTRUMENT_FOCUS_STEP_SIZE = 0” there is no change from the previous image in a sequence and you should look to the first image acquired in the sequence, otherwise it was commanded using autofocus. Four keywords in the ODL3 label and are not present in the PDS4 XML label. NONLINEAR_PIXEL_THRESH NONLINEAR_THRESH SATURATED_PIXEL_THRESH SATURATED_THRESH 4. Known product issues There are two different products with a matching filename. The A02 version is a video product and the A03 is a recovered video product. The recovered product does not correspond to the video product as shown below by their CDPIDs. File CDPID Product Type ------------------------------------------------------ ----- -------------------- ZR0_0047_0671111038_503RAD_N0031416ZCAM05001_048050A02 1957 MczRVideo ZR0_0047_0671111038_503RAD_N0031416ZCAM05001_048050A03 1956 MczRRecoveredProduct 5. Unexpected scene and image content Some images did not contain their intended target or the target was unobservable The issues reported below are from error tracking during tactical shifts. sol Sequence Description ----- --------- ------------------------------------------------------------ 0023 zcam03003 Autofocus failure 0024 zcam08001 Autofocus failure 0026 zcam03004 Exposure commanding mistake for Z34 & Z79 L0 R0 subframes 0031 zcam05001 Video sequence was cutoff, 123/286 GOPs(group of pictures) acquired 0033 zcam08006 Mispointed 0041 zcam01504 Autofocus failure 0047 zcam05007 Autofocus failure 0054 zcam00901 Recover sequence was cutoff, 150/154 frames acquired 0055 zcam05016 Autofocus failure 0056 zcam05020 Autofocus failure 0057 zcam05030 Autofocus failure 0058 zcam05030 Autofocus failure 0063 zcam05037 Autofocus failure 0063 zcam05038 Autofocus failure 0063 zcam05039 Autofocus failure 0064 zcam05040 Autofocus failure 0066 zcam05045 Minor artifacts in the top few rows of the left frames 0067 zcam05050 Minor artifacts in the top few rows of the left frames 0070 zcam03121 Mispointed due to RSM motion fault, autofocus failure 0070 zcam03014 Mispointed due to RSM motion fault, autofocus failure 0070 zcam03122 Mispointed due to RSM motion fault, autofocus failure 0074 zcam05057 Ghosted residual charge, images look doubled. Minor artifacts in the top few rows of the left frames 0076 zcam05060 Minor artifacts in the top few rows of the left frames 0088 zcam08047 More hardware in frame than intended 6. Missing ZCAM products Some products were missed in the preparation of this release and therefore were not ASU calibrated. These will be included in a future release. Sol Sequence Quantity ----- ---------- ----------------- 0031 zcam05001 1 video product 0048 zcam05008 3 video products 7. Browse products The current browse_asu products use unbayered data to generate the png. Some artifacts due to wavelength response are to be expected. These will be addressed in future releases. -------------------------------------------------------------------------------- ******** SECTION B: GENERAL INFORMATION FOR ALL RELEASES ******** 1. General comments If you have any questions regarding the content of this archive reach out via email : mcz-pds@asu.edu There is visible charge buildup in the first few frames of a video sequence. This is understood and expected behavior. There are sols which have thumbnail products (instead of the full resolution image), where the image products were deleted from the camera DEA (memory) prior to downlinking. These sols are noted in the corresponding release section for affected sol and are listed here sol seqid quantity ---- --------- -------- 0049 zcam05009 11R 0050 zcam05022 2L 2R 0055 zcam05009 14L 0058 zcam05032 1L 95R 0061 zcam05036 107L 111R 0064 zcam05042 127L 127R 0067 zcam05050 6R 0068 zcam05053 68L 68R 0069 zcam05053 69L 68R 0076 zcam05060 273L 67R 0193 zcam05085 127L 127R 0208 zcam08237 26L 26R 0208 zcam08238 76L 76R 0208 zcam08240 177L 177R 0209 zcam08242 39L 39R Some image filenames in sols 1,2,3,and 4 have 'AUT' in place of 'ZCAM'. This is a known idio of cruise flight software. To determine the sequence, see the filename and label of the first image acquired. These products also have 'Scidata' in place of 'Image' in the labels. Some IOF calibrated products appear to be more yellow. The is a known issue from the caltarget used for calibration. This color does not affect the validity of the product.