PDS_VERSION_ID = PDS3 /* FILE DATA ELEMENTS */ RECORD_TYPE = FIXED_LENGTH RECORD_BYTES = 256 FILE_RECORDS = 207 LABEL_RECORDS = 86 /* POINTERS TO DATA OBJECTS */ ^IMAGE_HEADER = 87 ^IMAGE = 144 /* IDENTIFICATION DATA ELEMENTS */ DATA_SET_ID = "MER2-M-HAZCAM-5-SLOPE-OPS-V1.0" DATA_SET_NAME = "MER 2 MARS HAZARD AVOID CAMERA SLOPE RDR OPS V1.0" COMMAND_SEQUENCE_NUMBER = 0 FRAME_ID = "LEFT" FRAME_TYPE = STEREO GEOMETRY_PROJECTION_TYPE = LINEARIZED IMAGE_ID = "1000016419" IMAGE_TYPE = THUMBNAIL INSTRUMENT_HOST_ID = "MER2" INSTRUMENT_HOST_NAME = "MARS EXPLORATION ROVER 2" INSTRUMENT_ID = "FRONT_HAZCAM_LEFT" INSTRUMENT_NAME = "FRONT HAZARD AVOIDANCE CAMERA LEFT" INSTRUMENT_SERIAL_NUMBER = 107 INSTRUMENT_TYPE = "IMAGING CAMERA" INSTRUMENT_VERSION_ID = "FM" LOCAL_TRUE_SOLAR_TIME = "12:06:43" MAGNET_ID = "NULL" MISSION_NAME = "MARS EXPLORATION ROVER" MISSION_PHASE_NAME = "EXTENDED MISSION" OBSERVATION_ID = "2667628544" PLANET_DAY_NUMBER = 664 PRODUCER_INSTITUTION_NAME = "MULTIMISSION IMAGE PROCESSING SUBSYSTEM , JET PROPULSION LAB" PRODUCT_CREATION_TIME = 2006-05-26T05:51:33.000 PRODUCT_ID = "2F185312536SLNAJCPF0006L0M1" PRODUCT_VERSION_ID = "V3.0 D-22846" RELEASE_ID = "0009" ROVER_MOTION_COUNTER = (119,197,0,0,0) ROVER_MOTION_COUNTER_NAME = (SITE,DRIVE,IDD,PMA,HGA) SEQUENCE_ID = "f0006" SEQUENCE_VERSION_ID = "0" SOLAR_LONGITUDE = 324.384 SPACECRAFT_CLOCK_CNT_PARTITION = 1 SPACECRAFT_CLOCK_START_COUNT = "185312536.871" SPACECRAFT_CLOCK_STOP_COUNT = "185312537.336" START_TIME = 2005-11-15T07:38:35.607 STOP_TIME = 2005-11-15T07:38:36.072 TARGET_NAME = MARS TARGET_TYPE = PLANET /* TELEMETRY DATA ELEMENTS */ APPLICATION_PROCESS_ID = 25 APPLICATION_PROCESS_NAME = "HAZCAM LEFT FRONT" APPLICATION_PROCESS_SUBTYPE_ID = 3 EARTH_RECEIVED_START_TIME = 2005-11-15T12:17:19.287 EARTH_RECEIVED_STOP_TIME = 2005-11-15T12:17:19.333 EXPECTED_PACKETS = "N/A" PACKET_MAP_MASK = "N/A" RECEIVED_PACKETS = "N/A" SPICE_FILE_NAME = "chronos.mer" TELEMETRY_PROVIDER_ID = "SSW MER_DP" TELEMETRY_SOURCE_NAME = "025_003_f0006-000-0000_002_0185312536-223.dat" TELEMETRY_SOURCE_TYPE = "DATA PRODUCT" /* HISTORY DATA ELEMENTS */ PROCESSING_HISTORY_TEXT = "CODMAC LEVEL 1 to LEVEL 2 CONVERSION VIA JPL/MIPL MERTELEMPROC" SOFTWARE_NAME = MERINVERTER SOFTWARE_VERSION_ID = "V1.0 Dec-11-2003" /* COORDINATE SYSTEM STATE: ROVER */ GROUP = ROVER_COORDINATE_SYSTEM COORDINATE_SYSTEM_INDEX = (119,197,0,0,0) COORDINATE_SYSTEM_INDEX_NAME = (SITE,DRIVE,IDD,PMA,HGA) COORDINATE_SYSTEM_NAME = ROVER_FRAME ORIGIN_OFFSET_VECTOR = (-32.0279,-6.35115,0.338838) ORIGIN_ROTATION_QUATERNION = (0.0282591,-0.0614989,0.00363392,-0.9977) POSITIVE_AZIMUTH_DIRECTION = CLOCKWISE POSITIVE_ELEVATION_DIRECTION = UP QUATERNION_MEASUREMENT_METHOD = COARSE REFERENCE_COORD_SYSTEM_INDEX = 119 REFERENCE_COORD_SYSTEM_NAME = SITE_FRAME END_GROUP = ROVER_COORDINATE_SYSTEM /* COORDINATE SYSTEM STATE: INSTRUMENT DEPLOYMENT DEVICE */ GROUP = IDD_COORDINATE_SYSTEM COORDINATE_SYSTEM_INDEX = (119,197,0,0,0) COORDINATE_SYSTEM_INDEX_NAME = (SITE,DRIVE,IDD,PMA,HGA) COORDINATE_SYSTEM_NAME = MB_FRAME ORIGIN_OFFSET_VECTOR = (0.323064,-0.170043,-0.127744) ORIGIN_ROTATION_QUATERNION = (0.614963,0.617288,-0.343207,-0.350691) POSITIVE_AZIMUTH_DIRECTION = CLOCKWISE POSITIVE_ELEVATION_DIRECTION = DOWN REFERENCE_COORD_SYSTEM_INDEX = (119,197,0,0,0) REFERENCE_COORD_SYSTEM_NAME = ROVER_FRAME END_GROUP = IDD_COORDINATE_SYSTEM /* ARTICULATION DEVICE STATE: PANCAM MAST ASSEMBLY */ GROUP = PMA_ARTICULATION_STATE ARTICULATION_DEVICE_ID = "PMA" ARTICULATION_DEVICE_NAME = "PANCAM MAST ASSEMBLY" ARTICULATION_DEVICE_ANGLE = (-0.0816279 ,-1.5708 , 0.0 ,0.0 ,0.0 , 0.0 ) ARTICULATION_DEVICE_ANGLE_NAME = ("AZIMUTH-MEASURED", "ELEVATION-MEASURED", "AZIMUTH-REQUESTED", "ELEVATION-REQUESTED","AZIMUTH-INITIAL" ,"ELEVATION-INITIAL") ARTICULATION_DEVICE_MODE = DEPLOYED END_GROUP = PMA_ARTICULATION_STATE /* ARTICULATION DEVICE STATE: HIGH GAIN ANTENNA */ GROUP = HGA_ARTICULATION_STATE ARTICULATION_DEVICE_ID = "HGA" ARTICULATION_DEVICE_NAME = "HIGH GAIN ANTENNA" ARTICULATION_DEVICE_ANGLE = (2.87998 ,0.0200071 ) ARTICULATION_DEVICE_ANGLE_NAME = (AZIMUTH,ELEVATION) END_GROUP = HGA_ARTICULATION_STATE /* ARTICULATION DEVICE STATE: FILTER */ GROUP = FILTER_ARTICULATION_STATE ARTICULATION_DEVICE_ID = "FILTER" ARTICULATION_DEVICE_NAME = "FILTER ACTUATORS" ARTICULATION_DEV_POSITION = (7,7,1) ARTICULATION_DEV_POSITION_ID = ("PANCAM_L7_440NM","PANCAM_R7_1001NM", "MI_CLOSED") ARTICULATION_DEV_POSITION_NAME = ("LEFT PANCAM FILTER", "RIGHT PANCAM FILTER","MI DUST COVER") END_GROUP = FILTER_ARTICULATION_STATE /* ARTICULATION DEVICE STATE: INSTRUMENT DEPLOYMENT DEVICE */ GROUP = IDD_ARTICULATION_STATE ARTICULATION_DEVICE_ID = "IDD" ARTICULATION_DEVICE_NAME = "INSTRUMENT DEPLOYMENT DEVICE" ARTICULATION_DEVICE_ANGLE = (1.92581 ,0.00606054 , 2.88332 ,3.40951 , 0.0153619 ,1.90458 , -0.000387321 ,2.88263 , 3.42243 ,-0.0138305 ) ARTICULATION_DEVICE_ANGLE_NAME = ("JOINT 1 AZIMUTH-ENCODER", "JOINT 2 ELEVATION-ENCODER", "JOINT 3 ELBOW-ENCODER", "JOINT 4 WRIST-ENCODER", "JOINT 5 TURRET-ENCODER", "JOINT 1 AZIMUTH-POTENTIOMETER", "JOINT 2 ELEVATION-POTENTIOMETER", "JOINT 3 ELBOW-POTENTIOMETER", "JOINT 4 WRIST-POTENTIOMETER", "JOINT 5 TURRET-POTENTIOMETER") ARTICULATION_DEVICE_MODE = "FREE SPACE" ARTICULATION_DEVICE_TEMP = (-20.7221 ,-21.7111 ) ARTICULATION_DEVICE_TEMP_NAME = ("AZIMUTH JOINT 1","TURRET JOINT 5") ARTICULATION_DEV_VECTOR = (-0.088164,-0.023271,0.995834) ARTICULATION_DEV_INSTRUMENT_ID = "MB" ARTICULATION_DEV_VECTOR_NAME = GRAVITY CONTACT_SENSOR_STATE = ("NO CONTACT","NO CONTACT",CONTACT, CONTACT,"NO CONTACT","NO CONTACT",OPEN, "NO CONTACT") CONTACT_SENSOR_STATE_NAME = ("MI SWITCH 1","MI SWITCH 2", "RAT SWITCH 1","RAT SWITCH 2", "MB SWITCH 1","MB SWITCH 2", "APXS DOOR SWITCH", "APXS CONTACT SWITCH") END_GROUP = IDD_ARTICULATION_STATE /* COORDINATE SYSTEM STATE: PANCAM MAST ASSEMBLY */ GROUP = PMA_COORDINATE_SYSTEM COORDINATE_SYSTEM_INDEX = (119,197,0,0,0) COORDINATE_SYSTEM_INDEX_NAME = (SITE,DRIVE,IDD,PMA,HGA) COORDINATE_SYSTEM_NAME = MAST_FRAME ORIGIN_OFFSET_VECTOR = (0.45781,0.02779,-1.09668) ORIGIN_ROTATION_QUATERNION = (0.725302,-0.0267867,-0.687329, -0.0282666) POSITIVE_AZIMUTH_DIRECTION = CLOCKWISE POSITIVE_ELEVATION_DIRECTION = UP REFERENCE_COORD_SYSTEM_INDEX = (119,197,0,0,0) REFERENCE_COORD_SYSTEM_NAME = ROVER_FRAME END_GROUP = PMA_COORDINATE_SYSTEM /* ARTICULATION DEVICE STATE: MOBILITY CHASSIS */ GROUP = CHASSIS_ARTICULATION_STATE ARTICULATION_DEVICE_ID = "CHASSIS" ARTICULATION_DEVICE_NAME = "MOBILITY CHASSIS" ARTICULATION_DEVICE_ANGLE = (-0.0299155 ,0.0028542 , -0.0202897 ,-0.0305026 , -0.0711056 ,-0.117006 , -0.0570401 ) ARTICULATION_DEVICE_ANGLE_NAME = ("LEFT FRONT WHEEL POTENTIOMETER", "RIGHT FRONT WHEEL POTENTIOMETER", "LEFT REAR WHEEL POTENTIOMETER", "RIGHT REAR WHEEL POTENTIOMETER", "LEFT BOGIE POTENTIOMETER", "RIGHT BOGIE POTENTIOMETER", "DIFFERENTIAL BOGIE POTENTIOMETER") ARTICULATION_DEVICE_MODE = DEPLOYED END_GROUP = CHASSIS_ARTICULATION_STATE /* OBSERVATION REQUEST */ GROUP = OBSERVATION_REQUEST_PARMS SOURCE_ID = "NAV COMMANDED" COMMAND_INSTRUMENT_ID = "FRONT_HAZCAM_LEFT" FILTER_NAME = NONE AUTO_EXPOSURE_DATA_CUT = 2500 AUTO_EXPOSURE_PERCENT = 20.0 AUTO_EXPOSURE_PIXEL_FRACTION = 5.0 BAD_PIXEL_REPLACEMENT_FLAG = TRUE DETECTOR_ERASE_COUNT = 2 EARLY_PIXEL_SCALE_FLAG = TRUE EARLY_IMAGE_RETURN_FLAG = TRUE EXPOSURE_TYPE = AUTO EXPOSURE_SCALE_FACTOR = 1.0 EXPOSURE_DURATION_COUNT = 100 EXPOSURE_TABLE_ID = "FHAZCAM_L" EXPOSURE_TBL_UPDATE_FLAG = TRUE FLAT_FIELD_CORRECTION_FLAG = TRUE INSTRUMENT_COORDINATE = "N/A" INSTRUMENT_COORDINATE_ID = "NONE" INSTRUMENT_BORESIGHT_ID = "UNK" INSTRUMENT_IDLE_TIMEOUT = 300 MAX_AUTO_EXPOS_ITERATION_COUNT = 6 SHUTTER_CORRECTION_MODE_ID = "FALSE" SHUTTER_CORRECT_THRESH_COUNT = 0 END_GROUP = OBSERVATION_REQUEST_PARMS /* IMAGE REQUEST */ GROUP = IMAGE_REQUEST_PARMS SOURCE_ID = "NAV COMMANDED" GROUP_APPLICABILITY_FLAG = TRUE DOWNLOAD_PRIORITY = 0 PIXEL_DOWNSAMPLE_OPTION = HW_SW PIXEL_AVERAGING_HEIGHT = 4 PIXEL_AVERAGING_WIDTH = 4 SAMPLE_BIT_MODE_ID = "LUT5" INST_CMPRS_MODE = 1 INST_CMPRS_RATE = 12.0 INST_CMPRS_QUALITY = 0 INST_CMPRS_FILTER = E INST_DECOMP_STAGES = 4 INST_CMPRS_SEGMENTS = 6 END_GROUP = IMAGE_REQUEST_PARMS /* REFERENCE PIXEL REQUEST */ GROUP = REFERENCE_PIXEL_REQUEST_PARMS SOURCE_ID = "NAV COMMANDED" GROUP_APPLICABILITY_FLAG = FALSE DOWNLOAD_PRIORITY = 70 INST_CMPRS_MODE = 1 INST_CMPRS_RATE = 12.0 INST_CMPRS_QUALITY = 0 INST_CMPRS_FILTER = E INST_DECOMP_STAGES = 3 INST_CMPRS_SEGMENTS = 1 END_GROUP = REFERENCE_PIXEL_REQUEST_PARMS /* THUMBNAIL REQUEST */ GROUP = THUMBNAIL_REQUEST_PARMS SOURCE_ID = "NAV COMMANDED" GROUP_APPLICABILITY_FLAG = TRUE DOWNLOAD_PRIORITY = 0 LINES = 64 LINE_SAMPLES = 64 SAMPLE_BIT_MODE_ID = "NONE" INST_CMPRS_MODE = 1 INST_CMPRS_RATE = 1.0 INST_CMPRS_QUALITY = 0 INST_CMPRS_FILTER = E INST_DECOMP_STAGES = 4 INST_CMPRS_SEGMENTS = 1 END_GROUP = THUMBNAIL_REQUEST_PARMS /* SUBFRAME REQUEST */ GROUP = SUBFRAME_REQUEST_PARMS SOURCE_ID = "NAV COMMANDED" GROUP_APPLICABILITY_FLAG = FALSE SUBFRAME_TYPE = NONE FIRST_LINE = 1 FIRST_LINE_SAMPLE = 1 LINES = 1024 LINE_SAMPLES = 1024 END_GROUP = SUBFRAME_REQUEST_PARMS /* ROW SUMMATION REQUEST */ GROUP = ROW_SUM_REQUEST_PARMS SOURCE_ID = "NAV COMMANDED" GROUP_APPLICABILITY_FLAG = FALSE DOWNLOAD_PRIORITY = 70 END_GROUP = ROW_SUM_REQUEST_PARMS /* COLUMN SUMMATION REQUEST */ GROUP = COLUMN_SUM_REQUEST_PARMS SOURCE_ID = "NAV COMMANDED" GROUP_APPLICABILITY_FLAG = FALSE DOWNLOAD_PRIORITY = 70 END_GROUP = COLUMN_SUM_REQUEST_PARMS /* SUN FIND REQUEST */ GROUP = SUN_FIND_REQUEST_PARMS SOURCE_ID = "NAV COMMANDED" GROUP_APPLICABILITY_FLAG = FALSE LINES = 63 LINE_SAMPLES = 63 END_GROUP = SUN_FIND_REQUEST_PARMS /* HISTOGRAM REQUEST */ GROUP = HISTOGRAM_REQUEST_PARMS SOURCE_ID = "NAV COMMANDED" GROUP_APPLICABILITY_FLAG = FALSE DOWNLOAD_PRIORITY = 70 END_GROUP = HISTOGRAM_REQUEST_PARMS /* INSTRUMENT STATE RESULTS */ GROUP = INSTRUMENT_STATE_PARMS AZIMUTH_FOV = 117.342 ELEVATION_FOV = 117.342 BAD_PIXEL_REPLACEMENT_ID = "19" DETECTOR_FIRST_LINE = 1 DETECTOR_LINES = 1024 DETECTOR_TO_IMAGE_ROTATION = 90.0 DOWNSAMPLE_METHOD = BOTH EXPOSURE_COUNT = 1 EXPOSURE_DURATION = 465.92 EXPOSURE_DURATION_COUNT = 91 FILTER_NAME = PANCAM_L7_440NM FILTER_NUMBER = 7 FLAT_FIELD_CORRECTION_FLAG = TRUE FLAT_FIELD_CORRECTION_PARM = (511.5,511.5,2.08204e-06,-2.51926e-12, 1.50351e-18) INSTRUMENT_MODE_ID = "4X1SUMMATION_FRAME" INSTRUMENT_TEMPERATURE = (-5.68174 ,-2.12126 , -3.52065 ,-2.7966 , -3.56449 ,0.0 , -18.3105 ,-17.7858 , 0.0 ) INSTRUMENT_TEMPERATURE_NAME = ("FRONT HAZ ELECTRONICS", "REAR HAZ ELECTRONICS", "LEFT PAN ELECTRONICS","LEFT PAN CCD", "RIGHT PAN CCD","LEFT NAV CCD","MI CCD" ,"MI ELECTRONICS","DESCENT CAMERA CCD") OFFSET_MODE_ID = "4050" PIXEL_AVERAGING_HEIGHT = 16 PIXEL_AVERAGING_WIDTH = 16 SAMPLE_BIT_METHOD = SOFTWARE_INVERTED SAMPLE_BIT_MODE_ID = "LUT5" SHUTTER_EFFECT_CORRECTION_FLAG = FALSE SUN_FIND_FLAG = FALSE SUN_FIND_PARM = (0.0,0.0,0.0) SUN_FIND_PARM_NAME = ("WINDOW SIZE","BRIGHTNESS THRESHOLD", "SUMMED BRIGHTNESS") SUN_LINE = -1 SUN_LINE_SAMPLE = -1 SUN_VIEW_POSITION = (0.0,0.0,0.0) SUN_VIEW_DIRECTION = (0.0,0.0,0.0) END_GROUP = INSTRUMENT_STATE_PARMS /* COMPRESSION RESULTS */ GROUP = COMPRESSION_PARMS ERROR_PIXELS = 0 INST_CMPRS_DESC = "Lossy compression algorithm developed at JPL" INST_CMPRS_FILTER = E INST_CMPRS_MODE = 2 INST_CMPRS_NAME = "ICER ADAPTIVE VARIABLE-LENGTH CODING (ICER)" INST_CMPRS_RATE = 1.29883 INST_CMPRS_RATIO = 6.1594 INST_CMPRS_SEGMENTS = 1 INST_CMPRS_SEGMENT_STATUS = 0 INST_CMPRS_SEG_FIRST_LINE = 1 INST_CMPRS_SEG_FIRST_LINE_SAMP = 1 INST_CMPRS_SEG_LINES = 64 INST_CMPRS_SEG_SAMPLES = 64 INST_CMPRS_SEG_MISSING_PIXELS = "N/A" INST_CMPRS_SEGMENT_QUALITY = 3.75889 INST_DECOMP_STAGES = 4 END_GROUP = COMPRESSION_PARMS /* DERIVED GEOMETRY DATA ELEMENTS: ROVER FRAME */ GROUP = ROVER_DERIVED_GEOMETRY_PARMS INSTRUMENT_AZIMUTH = "NULL" INSTRUMENT_ELEVATION = "NULL" REFERENCE_COORD_SYSTEM_INDEX = (119,197,0,0,0) REFERENCE_COORD_SYSTEM_NAME = ROVER_FRAME END_GROUP = ROVER_DERIVED_GEOMETRY_PARMS /* DERIVED GEOMETRY DATA ELEMENTS: SITE FRAME */ GROUP = SITE_DERIVED_GEOMETRY_PARMS INSTRUMENT_AZIMUTH = "NULL" INSTRUMENT_ELEVATION = "NULL" REFERENCE_COORD_SYSTEM_INDEX = 119 REFERENCE_COORD_SYSTEM_NAME = SITE_FRAME SOLAR_AZIMUTH = 283.1 SOLAR_ELEVATION = 88.3264 END_GROUP = SITE_DERIVED_GEOMETRY_PARMS /* IMAGE DATA ELEMENTS */ OBJECT = IMAGE INTERCHANGE_FORMAT = BINARY LINES = 64 LINE_SAMPLES = 64 SAMPLE_TYPE = IEEE_REAL SAMPLE_BITS = 32 BANDS = 1 BAND_STORAGE_TYPE = BAND_SEQUENTIAL CHECKSUM = 7.58012e+06 FIRST_LINE = 1 FIRST_LINE_SAMPLE = 1 MAXIMUM = 3701.0 MEAN = 1850.62 MEDIAN = 2244.0 MINIMUM = 294.0 SAMPLE_BIT_MASK = 2#0000111111111111# STANDARD_DEVIATION = 939.343 INVALID_CONSTANT = (0.0,0.0,0.0) MISSING_CONSTANT = (0.0,0.0,0.0) END_OBJECT = IMAGE /* CAMERA_MODEL DATA ELEMENTS */ GROUP = GEOMETRIC_CAMERA_MODEL CALIBRATION_SOURCE_ID = "58" MODEL_TYPE = CAHV MODEL_COMPONENT_ID = ("C","A","H","V") MODEL_COMPONENT_NAME = (CENTER,AXIS,HORIZONTAL,VERTICAL) MODEL_COMPONENT_UNIT = (METER,"N/A",PIXEL,PIXEL) MODEL_COMPONENT_1 = (0.606583,-0.036214,-0.234717) MODEL_COMPONENT_2 = (0.719904,-0.0114232,0.693979) MODEL_COMPONENT_3 = (22.9025,17.1991,21.9154) MODEL_COMPONENT_4 = (10.6085,-0.244091,34.3816) REFERENCE_COORD_SYSTEM_INDEX = (119,197,0,0,0) REFERENCE_COORD_SYSTEM_NAME = ROVER_FRAME END_GROUP = GEOMETRIC_CAMERA_MODEL /* DERIVED IMAGE DATA ELEMENTS */ GROUP = DERIVED_IMAGE_PARMS REFERENCE_COORD_SYSTEM_NAME = SITE_FRAME REFERENCE_COORD_SYSTEM_INDEX = 119 DERIVED_IMAGE_TYPE = SLOPE_MAP END_GROUP = DERIVED_IMAGE_PARMS /* IMAGE HEADER DATA ELEMENTS */ OBJECT = IMAGE_HEADER HEADER_TYPE = VICAR2 INTERCHANGE_FORMAT = ASCII BYTES = 14592 ^DESCRIPTION = "VICAR2.TXT" END_OBJECT = IMAGE_HEADER END LBLSIZE=14592 FORMAT='REAL' TYPE='IMAGE' BUFSIZ=256 DIM=3 EOL=0 RECSIZE=256 ORG='BSQ' NL=64 NS=64 NB=1 N1=64 N2=64 N3=1 N4=0 NBB=0 NLB=0 HOST='JAVA' INTFMT='HIGH' REALFMT='IEEE' BHOST='VAX-VMS' BINTFMT='LOW' BREALFMT='VAX' BLTYPE='' PROPERTY='IDENTIFICATION' COMMAND_SEQUENCE_NUMBER=0 FRAME_ID='LEFT' FRAME_TYPE='STEREO' IMAGE_ID='1000016419' IMAGE_TYPE='THUMBNAIL' INSTRUMENT_HOST_ID='MER2' INSTRUMENT_HOST_NAME='MARS EXPLORATION ROVER 2' INSTRUMENT_ID='FRONT_HAZCAM_LEFT' INSTRUMENT_NAME='FRONT HAZARD AVOIDANCE CAMERA LEFT' INSTRUMENT_SERIAL_NUMBER=107 INSTRUMENT_TYPE='IMAGING CAMERA' INSTRUMENT_VERSION_ID='FM' LOCAL_TRUE_SOLAR_TIME='12:06:43' MAGNET_ID='NULL' MISSION_NAME='MARS EXPLORATION ROVER' OBSERVATION_ID='2667628544' PLANET_DAY_NUMBER=664 PRODUCT_CREATION_TIME='2006-05-26T05:51:33.000Z' PRODUCT_VERSION_ID='V3.0 D-22846' ROVER_MOTION_COUNTER=(119,197,0,0,0) ROVER_MOTION_COUNTER_NAME=('SITE','DRIVE','IDD','PMA','HGA') SEQUENCE_ID='f0006' SEQUENCE_VERSION_ID='0' SOLAR_LONGITUDE=324.384 SPACECRAFT_CLOCK_CNT_PARTITION=1 SPACECRAFT_CLOCK_START_COUNT='185312536.871' SPACECRAFT_CLOCK_STOP_COUNT='185312537.336' START_TIME='2005-11-15T07:38:35.607Z' STOP_TIME='2005-11-15T07:38:36.072Z' TARGET_NAME='MARS' TARGET_TYPE='PLANET' GEOMETRY_PROJECTION_TYPE='LINEARIZED' MISSION_PHASE_NAME='EXTENDED MISSION' RELEASE_ID='0009' DATA_SET_ID='MER2-M-HAZCAM-5-SLOPE-OPS-V1.0' DATA_SET_NAME='MER 2 MARS HAZARD AVOID CAMERA SLOPE RDR OPS V1.0' PRODUCT_ID='2F185312536SLNAJCPF0006L0M1' PRODUCER_INSTITUTION_NAME='MULTIMISSION IMAGE PROCESSING SUBSYSTEM, JET PROPULSION LAB' PROPERTY='TELEMETRY' APPLICATION_PROCESS_ID=25 APPLICATION_PROCESS_NAME='HAZCAM LEFT FRONT' APPLICATION_PROCESS_SUBTYPE_ID=3 EARTH_RECEIVED_START_TIME='2005-11-15T12:17:19.287Z' EARTH_RECEIVED_STOP_TIME='2005-11-15T12:17:19.333Z' EXPECTED_PACKETS='N/A' PACKET_MAP_MASK='N/A' RECEIVED_PACKETS='N/A' SPICE_FILE_NAME='chronos.mer' TELEMETRY_PROVIDER_ID='SSW MER_DP' TELEMETRY_SOURCE_NAME='025_003_f0006-000-0000_002_0185312536-223.dat' TELEMETRY_SOURCE_TYPE='DATA PRODUCT' PROPERTY='PDS_HISTORY' PROCESSING_HISTORY_TEXT='CODMAC LEVEL 1 to LEVEL 2 CONVERSION VIA JPL/MIPL MERTELEMPROC' SOFTWARE_NAME='MERINVERTER' SOFTWARE_VERSION_ID='V1.0 Dec-11-2003' PROPERTY='ROVER_COORDINATE_SYSTEM' COORDINATE_SYSTEM_INDEX=(119,197,0,0,0) COORDINATE_SYSTEM_INDEX_NAME=('SITE','DRIVE','IDD','PMA','HGA') COORDINATE_SYSTEM_NAME='ROVER_FRAME' ORIGIN_OFFSET_VECTOR=(-32.0279,-6.35115,0.338838) ORIGIN_ROTATION_QUATERNION=(0.0282591,-0.0614989,0.00363392,-0.9977) POSITIVE_AZIMUTH_DIRECTION='CLOCKWISE' POSITIVE_ELEVATION_DIRECTION='UP' QUATERNION_MEASUREMENT_METHOD='COARSE' REFERENCE_COORD_SYSTEM_INDEX=119 REFERENCE_COORD_SYSTEM_NAME='SITE_FRAME' PROPERTY='IDD_COORDINATE_SYSTEM' COORDINATE_SYSTEM_INDEX=(119,197,0,0,0) COORDINATE_SYSTEM_INDEX_NAME=('SITE','DRIVE','IDD','PMA','HGA') COORDINATE_SYSTEM_NAME='MB_FRAME' ORIGIN_OFFSET_VECTOR=(0.323064,-0.170043,-0.127744) ORIGIN_ROTATION_QUATERNION=(0.614963,0.617288,-0.343207,-0.350691) POSITIVE_AZIMUTH_DIRECTION='CLOCKWISE' POSITIVE_ELEVATION_DIRECTION='DOWN' REFERENCE_COORD_SYSTEM_INDEX=(119,197,0,0,0) REFERENCE_COORD_SYSTEM_NAME='ROVER_FRAME' PROPERTY='PMA_ARTICULATION_STATE' ARTICULATION_DEVICE_ID='PMA' ARTICULATION_DEVICE_NAME='PANCAM MAST ASSEMBLY' ARTICULATION_DEVICE_ANGLE=(-0.0816279,-1.5708,0.0,0.0,0.0,0.0) ARTICULATION_DEVICE_ANGLE__UNIT=('rad','rad','rad','rad','rad','rad') ARTICULATION_DEVICE_ANGLE_NAME=('AZIMUTH-MEASURED','ELEVATION-MEASURED','AZIMUTH-REQUESTED','ELEVATION-REQUESTED','AZIMUTH-INITIAL','ELEVATION-INITIAL') ARTICULATION_DEVICE_MODE='DEPLOYED' PROPERTY='HGA_ARTICULATION_STATE' ARTICULATION_DEVICE_ID='HGA' ARTICULATION_DEVICE_NAME='HIGH GAIN ANTENNA' ARTICULATION_DEVICE_ANGLE=(2.87998,0.0200071) ARTICULATION_DEVICE_ANGLE__UNIT=('rad','rad') ARTICULATION_DEVICE_ANGLE_NAME=('AZIMUTH','ELEVATION') PROPERTY='FILTER_ARTICULATION_STATE' ARTICULATION_DEVICE_ID='FILTER' ARTICULATION_DEVICE_NAME='FILTER ACTUATORS' ARTICULATION_DEV_POSITION=(7,7,1) ARTICULATION_DEV_POSITION_ID=('PANCAM_L7_440NM','PANCAM_R7_1001NM','MI_CLOSED') ARTICULATION_DEV_POSITION_NAME=('LEFT PANCAM FILTER','RIGHT PANCAM FILTER','MI DUST COVER') PROPERTY='IDD_ARTICULATION_STATE' ARTICULATION_DEVICE_ID='IDD' ARTICULATION_DEVICE_NAME='INSTRUMENT DEPLOYMENT DEVICE' ARTICULATION_DEVICE_ANGLE=(1.92581,0.00606054,2.88332,3.40951,0.0153619,1.90458,-0.000387321,2.88263,3.42243,-0.0138305) ARTICULATION_DEVICE_ANGLE__UNIT=('rad','rad','rad','rad','rad','rad','rad','rad','rad','rad') ARTICULATION_DEVICE_ANGLE_NAME=('JOINT 1 AZIMUTH-ENCODER','JOINT 2 ELEVATION-ENCODER','JOINT 3 ELBOW-ENCODER','JOINT 4 WRIST-ENCODER','JOINT 5 TURRET-ENCODER','JOINT 1 AZIMUTH-POTENTIOMETER','JOINT 2 ELEVATION-POTENTIOMETER','JOINT 3 ELBOW-POTENTIOMETER','JOINT 4 WRIST-POTENTIOMETER','JOINT 5 TURRET-POTENTIOMETER') ARTICULATION_DEVICE_MODE='FREE SPACE' ARTICULATION_DEVICE_TEMP=(-20.7221,-21.7111) ARTICULATION_DEVICE_TEMP__UNIT=('degC','degC') ARTICULATION_DEVICE_TEMP_NAME=('AZIMUTH JOINT 1','TURRET JOINT 5') ARTICULATION_DEV_VECTOR=(-0.088164,-0.023271,0.995834) ARTICULATION_DEV_INSTRUMENT_ID='MB' ARTICULATION_DEV_VECTOR_NAME='GRAVITY' CONTACT_SENSOR_STATE=('NO CONTACT','NO CONTACT','CONTACT','CONTACT','NO CONTACT','NO CONTACT','OPEN','NO CONTACT') CONTACT_SENSOR_STATE_NAME=('MI SWITCH 1','MI SWITCH 2','RAT SWITCH 1','RAT SWITCH 2','MB SWITCH 1','MB SWITCH 2','APXS DOOR SWITCH','APXS CONTACT SWITCH') PROPERTY='PMA_COORDINATE_SYSTEM' COORDINATE_SYSTEM_INDEX=(119,197,0,0,0) COORDINATE_SYSTEM_INDEX_NAME=('SITE','DRIVE','IDD','PMA','HGA') COORDINATE_SYSTEM_NAME='MAST_FRAME' ORIGIN_OFFSET_VECTOR=(0.45781,0.02779,-1.09668) ORIGIN_ROTATION_QUATERNION=(0.725302,-0.0267867,-0.687329,-0.0282666) POSITIVE_AZIMUTH_DIRECTION='CLOCKWISE' POSITIVE_ELEVATION_DIRECTION='UP' REFERENCE_COORD_SYSTEM_INDEX=(119,197,0,0,0) REFERENCE_COORD_SYSTEM_NAME='ROVER_FRAME' PROPERTY='CHASSIS_ARTICULATION_STATE' ARTICULATION_DEVICE_ID='CHASSIS' ARTICULATION_DEVICE_NAME='MOBILITY CHASSIS' ARTICULATION_DEVICE_ANGLE=(-0.0299155,0.0028542,-0.0202897,-0.0305026,-0.0711056,-0.117006,-0.0570401) ARTICULATION_DEVICE_ANGLE__UNIT=('rad','rad','rad','rad','rad','rad','rad') ARTICULATION_DEVICE_ANGLE_NAME=('LEFT FRONT WHEEL POTENTIOMETER','RIGHT FRONT WHEEL POTENTIOMETER','LEFT REAR WHEEL POTENTIOMETER','RIGHT REAR WHEEL POTENTIOMETER','LEFT BOGIE POTENTIOMETER','RIGHT BOGIE POTENTIOMETER','DIFFERENTIAL BOGIE POTENTIOMETER') ARTICULATION_DEVICE_MODE='DEPLOYED' PROPERTY='OBSERVATION_REQUEST_PARMS' SOURCE_ID='NAV COMMANDED' COMMAND_INSTRUMENT_ID='FRONT_HAZCAM_LEFT' FILTER_NAME='NONE' AUTO_EXPOSURE_DATA_CUT=2500 AUTO_EXPOSURE_PERCENT=20.0 AUTO_EXPOSURE_PIXEL_FRACTION=5.0 BAD_PIXEL_REPLACEMENT_FLAG='TRUE' DETECTOR_ERASE_COUNT=2 EARLY_PIXEL_SCALE_FLAG='TRUE' EARLY_IMAGE_RETURN_FLAG='TRUE' EXPOSURE_TYPE='AUTO' EXPOSURE_SCALE_FACTOR=1.0 EXPOSURE_DURATION_COUNT=100 EXPOSURE_TABLE_ID='FHAZCAM_L' EXPOSURE_TBL_UPDATE_FLAG='TRUE' FLAT_FIELD_CORRECTION_FLAG='TRUE' INSTRUMENT_COORDINATE='N/A' INSTRUMENT_COORDINATE_ID='NONE' INSTRUMENT_BORESIGHT_ID='UNK' INSTRUMENT_IDLE_TIMEOUT=300 INSTRUMENT_IDLE_TIMEOUT__UNIT='s' MAX_AUTO_EXPOS_ITERATION_COUNT=6 SHUTTER_CORRECTION_MODE_ID='FALSE' SHUTTER_CORRECT_THRESH_COUNT=0 PROPERTY='IMAGE_REQUEST_PARMS' SOURCE_ID='NAV COMMANDED' GROUP_APPLICABILITY_FLAG='TRUE' DOWNLOAD_PRIORITY=0 PIXEL_DOWNSAMPLE_OPTION='HW_SW' PIXEL_AVERAGING_HEIGHT=4 PIXEL_AVERAGING_WIDTH=4 SAMPLE_BIT_MODE_ID='LUT5' INST_CMPRS_MODE=1 INST_CMPRS_RATE=12.0 INST_CMPRS_QUALITY=0 INST_CMPRS_FILTER='E' INST_DECOMP_STAGES=4 INST_CMPRS_SEGMENTS=6 PROPERTY='REFERENCE_PIXEL_REQUEST_PARMS' SOURCE_ID='NAV COMMANDED' GROUP_APPLICABILITY_FLAG='FALSE' DOWNLOAD_PRIORITY=70 INST_CMPRS_MODE=1 INST_CMPRS_RATE=12.0 INST_CMPRS_QUALITY=0 INST_CMPRS_FILTER='E' INST_DECOMP_STAGES=3 INST_CMPRS_SEGMENTS=1 PROPERTY='THUMBNAIL_REQUEST_PARMS' SOURCE_ID='NAV COMMANDED' GROUP_APPLICABILITY_FLAG='TRUE' DOWNLOAD_PRIORITY=0 LINES=64 LINE_SAMPLES=64 SAMPLE_BIT_MODE_ID='NONE' INST_CMPRS_MODE=1 INST_CMPRS_RATE=1.0 INST_CMPRS_QUALITY=0 INST_CMPRS_FILTER='E' INST_DECOMP_STAGES=4 INST_CMPRS_SEGMENTS=1 PROPERTY='SUBFRAME_REQUEST_PARMS' SOURCE_ID='NAV COMMANDED' GROUP_APPLICABILITY_FLAG='FALSE' SUBFRAME_TYPE='NONE' FIRST_LINE=1 FIRST_LINE_SAMPLE=1 LINES=1024 LINE_SAMPLES=1024 PROPERTY='ROW_SUM_REQUEST_PARMS' SOURCE_ID='NAV COMMANDED' GROUP_APPLICABILITY_FLAG='FALSE' DOWNLOAD_PRIORITY=70 PROPERTY='COLUMN_SUM_REQUEST_PARMS' SOURCE_ID='NAV COMMANDED' GROUP_APPLICABILITY_FLAG='FALSE' DOWNLOAD_PRIORITY=70 PROPERTY='SUN_FIND_REQUEST_PARMS' SOURCE_ID='NAV COMMANDED' GROUP_APPLICABILITY_FLAG='FALSE' LINES=63 LINE_SAMPLES=63 PROPERTY='HISTOGRAM_REQUEST_PARMS' SOURCE_ID='NAV COMMANDED' GROUP_APPLICABILITY_FLAG='FALSE' DOWNLOAD_PRIORITY=70 PROPERTY='INSTRUMENT_STATE_PARMS' AZIMUTH_FOV=117.342 AZIMUTH_FOV__UNIT='deg' ELEVATION_FOV=117.342 ELEVATION_FOV__UNIT='deg' BAD_PIXEL_REPLACEMENT_ID='19' DETECTOR_FIRST_LINE=1 DETECTOR_LINES=1024 DETECTOR_TO_IMAGE_ROTATION=90.0 DOWNSAMPLE_METHOD='BOTH' EXPOSURE_COUNT=1 EXPOSURE_DURATION=465.92 EXPOSURE_DURATION__UNIT='ms' EXPOSURE_DURATION_COUNT=91 FILTER_NAME='PANCAM_L7_440NM' FILTER_NUMBER=7 FLAT_FIELD_CORRECTION_FLAG='TRUE' FLAT_FIELD_CORRECTION_PARM=(511.5,511.5,2.08204e-06,-2.51926e-12,1.50351e-18) INSTRUMENT_MODE_ID='4X1SUMMATION_FRAME' INSTRUMENT_TEMPERATURE=(-5.68174,-2.12126,-3.52065,-2.7966,-3.56449,0.0,-18.3105,-17.7858,0.0) INSTRUMENT_TEMPERATURE__UNIT=('degC','degC','degC','degC','degC','degC','degC','degC','degC') INSTRUMENT_TEMPERATURE_NAME=('FRONT HAZ ELECTRONICS','REAR HAZ ELECTRONICS','LEFT PAN ELECTRONICS','LEFT PAN CCD','RIGHT PAN CCD','LEFT NAV CCD','MI CCD','MI ELECTRONICS','DESCENT CAMERA CCD') OFFSET_MODE_ID='4050' PIXEL_AVERAGING_HEIGHT=16 PIXEL_AVERAGING_WIDTH=16 SAMPLE_BIT_METHOD='SOFTWARE_INVERTED' SAMPLE_BIT_MODE_ID='LUT5' SHUTTER_EFFECT_CORRECTION_FLAG='FALSE' SUN_FIND_FLAG='FALSE' SUN_FIND_PARM=(0.0,0.0,0.0) SUN_FIND_PARM_NAME=('WINDOW SIZE','BRIGHTNESS THRESHOLD','SUMMED BRIGHTNESS') SUN_LINE=-1 SUN_LINE_SAMPLE=-1 SUN_VIEW_POSITION=(0.0,0.0,0.0) SUN_VIEW_DIRECTION=(0.0,0.0,0.0) PROPERTY='COMPRESSION_PARMS' ERROR_PIXELS=0 INST_CMPRS_DESC='Lossy compression algorithm developed at JPL' INST_CMPRS_FILTER='E' INST_CMPRS_MODE=2 INST_CMPRS_NAME='ICER ADAPTIVE VARIABLE-LENGTH CODING (ICER)' INST_CMPRS_RATE=1.29883 INST_CMPRS_RATIO=6.1594 INST_CMPRS_SEGMENTS=1 INST_CMPRS_SEGMENT_STATUS='0' INST_CMPRS_SEG_FIRST_LINE=1 INST_CMPRS_SEG_FIRST_LINE_SAMP=1 INST_CMPRS_SEG_LINES=64 INST_CMPRS_SEG_SAMPLES=64 INST_CMPRS_SEG_MISSING_PIXELS='N/A' INST_CMPRS_SEGMENT_QUALITY=3.75889 INST_DECOMP_STAGES=4 PROPERTY='ROVER_DERIVED_GEOMETRY_PARMS' INSTRUMENT_AZIMUTH='NULL' INSTRUMENT_ELEVATION='NULL' REFERENCE_COORD_SYSTEM_INDEX=(119,197,0,0,0) REFERENCE_COORD_SYSTEM_NAME='ROVER_FRAME' PROPERTY='SITE_DERIVED_GEOMETRY_PARMS' INSTRUMENT_AZIMUTH='NULL' INSTRUMENT_ELEVATION='NULL' REFERENCE_COORD_SYSTEM_INDEX=119 REFERENCE_COORD_SYSTEM_NAME='SITE_FRAME' SOLAR_AZIMUTH=283.1 SOLAR_AZIMUTH__UNIT='deg' SOLAR_ELEVATION=88.3264 SOLAR_ELEVATION__UNIT='deg' PROPERTY='IMAGE_DATA' CHECKSUM=7.58012e+06 FIRST_LINE=1 FIRST_LINE_SAMPLE=1 MAXIMUM=3701.0 MEAN=1850.62 MEDIAN=2244.0 MINIMUM=294.0 SAMPLE_BIT_MASK='2#0000111111111111#' STANDARD_DEVIATION=939.343 INVALID_CONSTANT=(0.0,0.0,0.0) MISSING_CONSTANT=(0.0,0.0,0.0) PROPERTY='GEOMETRIC_CAMERA_MODEL' CALIBRATION_SOURCE_ID='58' MODEL_TYPE='CAHV' MODEL_COMPONENT_ID=('C','A','H','V') MODEL_COMPONENT_NAME=('CENTER','AXIS','HORIZONTAL','VERTICAL') MODEL_COMPONENT_UNIT=('METER','N/A','PIXEL','PIXEL') MODEL_COMPONENT_1=(0.606583,-0.036214,-0.234717) MODEL_COMPONENT_2=(0.719904,-0.0114232,0.693979) MODEL_COMPONENT_3=(22.9025,17.1991,21.9154) MODEL_COMPONENT_4=(10.6085,-0.244091,34.3816) REFERENCE_COORD_SYSTEM_INDEX=(119,197,0,0,0) REFERENCE_COORD_SYSTEM_NAME='ROVER_FRAME' PROPERTY='DERIVED_IMAGE_PARMS' REFERENCE_COORD_SYSTEM_NAME='SITE_FRAME' REFERENCE_COORD_SYSTEM_INDEX=119 DERIVED_IMAGE_TYPE='SLOPE_MAP' TASK='MERTELEM' USER='dalex' DAT_TIM='Mon May 22 21:32:07 2006' TASK='MERINVER' USER='dalex' DAT_TIM='Fri May 26 05:51:33 2006' TASK='MARSCAHV' USER='dalex' DAT_TIM='Fri May 26 23:39:20 2006' INP='/oss/meraover/archive/archive/surface/tactical/staging/opgs/edrgen/temp/rdrstuffARC_631_720/cahvARC_631_720/inpbuffARC_631_720/2F185312536ITHAJCPF0006L0M1.IMG' OUT='/oss/meraover/archive/archive/surface/tactical/staging/opgs/edrgen/temp/rdrstuffARC_631_720/cahvARC_631_720/outbuffARC_631_720/2F185312536THNAJCPF0006L0M1.VIC' POINT_METHOD='cahv_fov=min' TASK='MARSXYZ' USER='dalex' DAT_TIM='Tue May 30 17:17:15 2006' INP=('/oss/meraover/archive/archive/surface/tactical/staging/opgs/edrgen/temp/rdrstuffARC_631_720/xyzARC_631_720/inpbuffARC_631_720/2F185312536THNAJCPF0006L0M1.IMG','/oss/meraover/archive/archive/surface/tactical/staging/opgs/edrgen/temp/rdrstuffARC_631_720/xyzARC_631_720/inpbuffARC_631_720/2F185312536THNAJCPF0006R0M1.IMG') OUT='/oss/meraover/archive/archive/surface/tactical/staging/opgs/edrgen/temp/rdrstuffARC_631_720/xyzARC_631_720/outbuffARC_631_720/2F185312536XYNAJCPF0006L0M1.VIC' DISPAR='/oss/meraover/archive/archive/surface/tactical/staging/opgs/edrgen/temp/rdrstuffARC_631_720/xyzARC_631_720/inpbuffARC_631_720/2F185312536DINAJCPF0006L0M1.IMG' ERROR=0.005 ABSERROR=0.05 LINEDISP=2.0 AVGLINEDISP=0.75 ZLIMITS=(-40.0,40.0) POINT_METHOD='mer=label' TASK='MARSUVW' USER='dalex' DAT_TIM='Fri Jun 2 00:06:05 2006' INP='/oss/meraover/archive/archive/surface/tactical/staging/opgs/edrgen/temp/rdrstuffARC_631_720/slopeARC_631_720/inpbuffARC_631_720/2F185312536XYNAJCPF0006L0M1.IMG' OUT='/tmp/SLLARC_631_720_tempfile3_24813.tmp' SEPARATION=0.8 ERROR=5.0 MIN_POINTS=100 RADIUS=200 REJECT=5.0 X_CENTER=0.0 Y_CENTER=0.0 BOX_RADIUS=1000000.0 FLIP_THRESH=0.8 FLIP_DIST=3.0 SLOPE='SLOPE' POINT_METHOD='mer=label' COORD='SITE' TASK='COPY' USER='dalex' DAT_TIM='Fri Jun 2 00:06:05 2006' TASK='F2' USER='dalex' DAT_TIM='Fri Jun 2 00:06:05 2006' FUNCTION='(IN3/IN3) * (180/3.14159 * (3.14159/2 + ATAN(IN3/SQRT((IN1*IN1)+(IN2*IN2)))))' TASK='COPY' USER='dalex' DAT_TIM='Tue Jun 13 18:05:01 2006'