PDS_VERSION_ID = PDS3 RECORD_TYPE = STREAM OBJECT = TEXT PUBLICATION_DATE = 2013-05-20 NOTE = "Release notes and errata for MSL MAHLI EDR and RDR volumes" END_OBJECT = TEXT END 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.TXT, contains release notes and errata identified in the MSL MAHLI EDR and RDR archive on volumes MSLMHL_0XXX. During the course of the MSL mission the MAHLI 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, in order from newest to oldest. 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: 10 RELEASE DATE: 2015-12-04 DATA COVERAGE: 2015-03-28 to 2015-08-02 (Sols 939-1062) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: MAHLI EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: 18 EDR .LBLs & 552 RDR .LBLs 1. Updated product types Incorrect information was found in some sol 303 and 687 RATIONALE_DESC keywords. RATIONALE_DESC has been corrected and the following product's .LBLs have been updated to include PRODUCT_VERSION_ID = V2.0 and V4.0. The data products themselves have not changed. PICNOs with updated LBLs in RELEASE 0010: ------------------------- 0303MH0002910020103720{C,I}{0,1} 0687MH0004160000203990M{0,F}0- 0687MH0004160000203997M{0,F}0 0687MH0004160000203990Q01- 0687MH0004160000203997Q01 2. MAHLI Characterization and Calibration Status Report A technical paper entitled, "Curiosity's Robotic Arm-Mounted Mars Hand Lens Imager (MAHLI): Characterization and Calibration Status" has been added to the DOCUMENT directory, MAHLI_TECH_REPT_0001.PDF. This paper documents the status and results of the MAHLI characterization and calibration from August 2008 to February 2015. The supplementary files for this paper can be found online at the following DOI: doi:10.13140/RG.2.1.3798.5447 or a copy of the files can be requested by emailing mmmdata@msss.com. **************************************************************** **************************************************************** RELEASE NUMBER: 9 RELEASE DATE: 2015-07-31 DATA COVERAGE: 2014-11-10 to 2015-03-28 (Sols 805-938) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: MAHLI EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: 206 EDR .LBLs & 716 RDR .LBLs 1. Updated product types Incorrect information was found in some PRE_ATLO (DEV, CAL), sol 46, and sol 47 RATIONALE_DESC keywords. RATIONALE_DESC has been corrected and the following product's .LBLs have been updated to include PRODUCT_VERSION_ID = V4.0. The data products themselves have not changed. PICNOs with updated LBLs in RELEASE 0009: ------------------------- DEV_MH0808110000000442B00 DEV_MH0808110010000443B00 CAL_MH0809790300001250B00 0046MH0000090010100121{C,E}0{0,1} 0046MH0000120000100165R00 0046MH0000120000100165T01 0046MH0000120000100166S00 0046MH0000120000100166U01 0046MH0000120000100167R00 0046MH0000120000100167T01 0046MH0000120000100168S00 0046MH0000120000100168U01 0046MH0000120000100169R00 0046MH0000120000100169T01 0046MH0000120000100170S00 0046MH0000120000100170U01 0046MH0000120000100171R00 0046MH0000120000100171T01 0046MH0000120000100172S00 0046MH0000120000100172U01 0047MH0000130010100174{C,E}0{0,1} 0047MH0000140010100176{C,E}0{0,1} 0047MH0000140010100178{C,E}0{0,1} 0047MH0000150010100180{C,E}0{0,1} 0047MH0000090010100182{C,E}0{0,1} 0047MH0000120000100226R00 0047MH0000120000100226T01 0047MH0000120000100227S00 0047MH0000120000100227U01 0047MH0000120000100228R00 0047MH0000120000100228T01 0047MH0000120000100229S00 0047MH0000120000100229U01 0047MH0000120000100230R00 0047MH0000120000100230T01 0047MH0000120000100231S00 0047MH0000120000100231U01 0047MH0000120000100232R00 0047MH0000120000100232T01 0047MH0000120000100233S00 0047MH0000120000100233U01 PICNO range with updated LBLs in RELEASE 0009: ------------------------- 0046MH0000090000100120I01- 0046MH0000110050100164I01 0046MH0000090010100122C00- 0046MH0000090020100126C00 0046MH0000100010100131{C,E}0{0,1}- 0046MH0000100020100132{C,E}0{0,1} 0046MH0000100030100135C00- 0046MH0000100030100138C00 0046MH0000100010100142{C,E}0{0,1}- 0046MH0000100020100143{C,E}0{0,1} 0046MH0000100030100146C00- 0046MH0000100030100149C00 0046MH0000110010100153{C,E}0{0,1}- 0046MH0000110040100156{C,E}0{0,1} 0046MH0000110050100160C00- 0046MH0000110050100162C00 0047MH0000130000100173I01- 0047MH0000110050100225I01 0047MH0000090020100184C00- 0047MH0000090020100186C00 0047MH0000100010100192{C,E}0{0,1}- 0047MH0000100020100193{C,E}0{0,1} 0047MH0000100030100197C00- 0047MH0000100030100199C00 0047MH0000100010100203{C,E}0{0,1}- 0047MH0000100020100204{C,E}0{0,1} 0047MH0000100030100208C00- 0047MH0000100030100210C00 0047MH0000110010100214{C,E}0{0,1}- 0047MH0000110020100217{C,E}0{0,1} 0047MH0000110050100220C00- 0047MH0000110050100223C00 2. The following products were created with incorrect PICNOs for the following reason: sequence:mhli00468, sol:895 Assigned PICNO range Expected PICNO range -------------------------- -------------------------- 0895MH0000000000302751I01- 0895MH0046800000302751I01- 0895MH0000000000302770I01 0895MH0046800900302770I01 0895MH0000000000302752C00 0895MH0046800100302752C00 0895MH0000000000302762C00 0895MH0046800100302762C00 sequence:mhli00469, sol:895 Assigned PICNO range Expected PICNO range -------------------------- -------------------------- 0895MH0000000000302771I01- 0895MH0046900000302771I01- 0895MH0000000000302780I01 0895MH0046900900302780I01 0895MH0000000000302772C00 0895MH0046900100302772C00 Reason: The sequences, mhli00468 and mhli00469, were mistakenly commanded with tracking ID 0. The result is that neither the sequence ID nor the sequence line (command counter) were included in the PICNO, which is why the PICNO is populated with zeros. 3. Unintentional dark images due to unreasonable exposure parameters chosen for nighttime imaging sequence:mhli00444, sol:808 PICNO CDPID --------------------------------- ----- 0808MH0004440000300750I01 750 0808MH0004440010300751{C,I}0{0,1} 751 0808MH0004440020300752I01 752 0808MH0004440030300753{C,I}0{0,1} 753 Reason: These images are completely dark due to incorrectly commanded exposure settings that did not allow the exposure to go long enough for the scene required. 4. Out of focus images likely due to camera movement during acquisition sequence:mhli00408 & mhli00409, sol:883 PICNO range CDPID range -------------------------- ----------- 0883MH0004080000302619{C,I}0{0,1} 2619 0883MH0004080030302622{C,I}0{0,1} 2622 0883MH0004090000302627{C,I}0{0,1}- 2627-2630 0883MH0004090030302630{C,I}0{0,1} sequence:mhli00473, sol:910 PICNO range CDPID range -------------------------- ----------- 0910MH0004730000303033{C,I}0{0,1}- 3033-3036 0910MH0004730030303036{C,I}0{0,1} Reason: These images are out of focus as a result of camera movement (e.g., wind) that occurred when the images were acquired rather than a commanding error or the camera failing to find focus. 5. Updates to CONTACT_SENSOR_STATE and CONTACT_SENSOR_STATE_NAME Changes have been made to two keywords in the .LBL files, CONTACT_SENSOR_STATE and CONTACT_SENSOR_STATE_NAME. Please see Section B, below, for more details. 6. Clarification of the "SEQUENCE_ID" in the data product .LBL 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 (.LBL). This is the case when the MAHLI 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 and, as a result, certain original information is not retained such as the Sequence ID and Tracking ID. To address this, the missing information is extracted from the thumbnail of the original data product and inserted into the new product. This results in a data product whose information is complete and contains the missing information from the original. **************************************************************** **************************************************************** RELEASE NUMBER: 8 RELEASE DATE: 2015-03-16 DATA COVERAGE: 2014-08-03 to 2014-11-10 (Sols 708-804) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: MAHLI EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None No new errata have been identified in this release. **************************************************************** **************************************************************** RELEASE NUMBER: 7 RELEASE DATE: 2014-12-05 DATA COVERAGE: 2014-03-28 to 2014-08-03 (Sols 584-707) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: MAHLI EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: 16 EDR .LBLs & 16 RDR .LBLs 1. Updated product types Incorrect information was found in some sol 276 and 277 RATIONALE_DESC keywords. RATIONALE_DESC has been corrected and the following product's .LBLs have been updated to include PRODUCT_VERSION_ID = V4.0. The data products themselves have not changed. PICNOs with updated LBLs in RELEASE 0007: ------------------------- 0276MH0002650000103019R00 0276MH0002650000103019T01 0276MH0002650000103020S00 0276MH0002650000103020U01 0276MH0002650000103021R00 0276MH0002650000103021T01 0276MH0002650000103022S00 0276MH0002650000103022U01 0277MH0002650000103043R00 0277MH0002650000103043T01 0277MH0002650000103044S00 0277MH0002650000103044U01 0277MH0002650000103045R00 0277MH0002650000103045T01 0277MH0002650000103046S00 0277MH0002650000103046U01 2. Product missing various keyword values due to the Sol 615 MAHLI fault sequence: mhli00393, sol: 615 PICNO ------------------------- 0615MH0004030000203467C00 A previously unknown MAHLI flight software limitation caused the MAHLI instrument to fault while acquiring mhli00393. This resulted in the above product being retrieved with a new sequence from the data saved on the MAHLI DEA. Not all of the necessary metadata needed to populate the .LBL file are stored in the mini-header of the products on the DEA. Therefore, affected keywords were filled in with NULL values for this product. In addition, the fault made it impossible for the flight software to create a thumbnail for this product. 3. Clarification of the "SEQUENCE_ID" in the data product .LBL 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 (.LBL). This is the case when the MAHLI 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 and, as a result, certain original information is not retained such as the Sequence ID and Tracking ID. To address this, the missing information is extracted from the thumbnail of the original data product and inserted into the new product. This results in a data product whose information is complete and contains the missing information from the original. **************************************************************** **************************************************************** RELEASE NUMBER: 6 RELEASE DATE: 2014-08-01 DATA COVERAGE: 2013-11-10 to 2014-03-28 (Sols 450-583) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: MAHLI EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None 1. Clarification of the "SEQUENCE_ID" in the data product .LBL 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 (.LBL). This is the case when the MAHLI 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 and, as a result, certain original information is not retained such as the Sequence ID and Tracking ID. To address this, the missing information is extracted from the thumbnail of the original data product and inserted into the new product. This results in a data product whose information is complete and contains the missing information from the original. **************************************************************** **************************************************************** RELEASE NUMBER: 5 RELEASE DATE: 2014-03-17 DATA COVERAGE: 2013-08-11 to 2013-11-10 (Sols 360-449) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: MAHLI EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None 1. Processing artifacts in RDRs A few images' RDR products appear to show column banding artifacts. This is a software issue where the processing is performed too aggressively on the scene content. PICNO CDPID ------------------------- ----- 0394MH0003060010104377C00 4377 0394MH0003060010104387C00 4387 2. Clarification of the "SEQUENCE_ID" in the data product .LBL 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 (.LBL). This is the case when the MAHLI 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 and, as a result, certain original information is not retained such as the Sequence ID and Tracking ID. To address this, the missing information is extracted from the thumbnail of the original data product and inserted into the new product. This results in a data product whose information is complete and contains the missing information from the original. **************************************************************** **************************************************************** RELEASE NUMBER: 4 RELEASE DATE: 2013-12-13 DATA COVERAGE: 2013-05-09 to 2013-08-10 (Sols 270-359) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: MAHLI EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None 1. Unexpected jail bar artifacts in extreme-contrast images A thumbnail and full frame acquired on sol 327 exhibit jail bar artifacts around the middle of the image. These artifacts are a result of the extreme contrast in the scene over a great distance, the time of day of acquisition, some over-exposure, and how the camera handles exposure and focus. While these artifacts have been observed before in images that have been intentionally overexposed, this is the first time these artifacts have appeared unintentionally. As a result, the camera is being commanded slightly differently to avoid future occurrences. PICNO CDPID ------------------------- ----- 0327MH0003050000104151H01 4151 0327MH0003050000104151C00 4151 2. Thumbnails for type A (raster 16 bit image) products Thumbnails associated with type A products display a multitude of colors; this is not unexpected. Type A is a raster 16 bit image meant for image calibration only. Thumbnails created from this image type do not have colors representative of the full size image due to a lack of companding to 8 bits and, therefore, are not technically useful except for confirmation of image acquisition. PICNO CDPID ------------------------- ----- 0270MH0002490050200001I01 1 3. Clarification of the "SEQUENCE_ID" in the data product .LBL 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 (.LBL). This is the case when the MAHLI 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 and, as a result, certain original information is not retained such as the Sequence ID and Tracking ID. To address this, the missing information is extracted from the thumbnail of the original data product and inserted into the new product. This results in a data product whose information is complete and contains the missing information from the original. **************************************************************** **************************************************************** RELEASE NUMBER: 3 RELEASE DATE: 2013-08-30 DATA COVERAGE: 2013-02-06 to 2013-05-08 (Sols 180-269) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: MAHLI EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None 1. The following products failed to compress resulting in a different product type being downlinked than was originally commanded and a mismatch in compression values between the thumbnail and corresponding image: PICNO CDPID ------------------------- ----- 0058MH0000250010100440B00 440 Reason: On sol 18 an issue was discovered with the MMM compression algorithm. The algorithm assumes the uncompressed image size is the largest data volume size the image can be. However, after compressing the images, the resulting image ended up being larger in data volume size than the original, uncompressed image size (due to scene activity). Consequently, a warning was issued from the DEA and an error report was filed, and no image was received. As a result these products had to be recovered uncompressed by a separate sequence. This creates a discrepancy between what type of image was originally commanded versus what type of image is downlinked. For the above image, a type C (lossless) image was commanded; however, the recovered image is a type B (raster 8-bit) image. This can also be seen in the thumbnail, type I, (which states compression = -101) and the recovered image, type B, (which states compression = 0). 2. The following onboard products failed to compress. They were originally commanded as JPEGs and received as such. The PI decided that he wanted these products returned as lossless images. They were commanded to be downlinked again with compression = -101 however they failed to compress due to the issue with the MMM compression algorithm explained above. As a result, they were commanded once again, however, this time with compression = 0. PICNO CDPID ------------------------- ----- 0058MH0000260010100379B00 379 0058MH0000260020100380B00 380 0058MH0000260020100381B00 381 0058MH0000260020100382B00 382 0058MH0000260020100383B00 383 0058MH0000260010100389B00 389 0058MH0000260020100390B00 390 0058MH0000260020100391B00 391 0058MH0000260020100392B00 392 0058MH0000260020100393B00 393 0058MH0000270010100399B00 399 0058MH0000270020100404B00 404 0058MH0000280030100415B00 415 0058MH0000240020100435B00 435 0058MH0000250020100441B00 441 0058MH0000250030100446B00 446 0060MH0000350010100548B00 548 0060MH0000360020100555B00 555 0074MH0000350010100811B00 811 3. The following products were created with incorrect PICNOs for the following reason: sequence:mhli00196, sol:162 Assigned PICNO range Expected PICNO range -------------------------- -------------------------- 0162MH0000000000101952C00- 0162MH0019600100101952C00- 0162MH0000000000101958C00 0162MH0019601000101958C00 Reason: The sequence, mhli00196, was mistakenly commanded with tracking ID 0. The result is that neither the sequence ID nor the sequence line (command counter) were included in the PICNO, which is why the PICNO is populated with zeros. The original thumbnails were downlinked as type "I" products in RELEASE 0002. These were commanded to be returned as lossless and thus the "C" product type designation. 4. Clarification of the "SEQUENCE_ID" in the data product .LBL 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 (.LBL). This is the case when the MAHLI 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. **************************************************************** **************************************************************** RELEASE NUMBER: 2 RELEASE DATE: 2013-06-10 DATA COVERAGE: 2012-11-06 to 2013-02-05 (Sols 90-179) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: MAHLI EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None 1. The following products were created with incorrect PICNOs for the following reason: sequence:mhli00196, sol:162 Assigned PICNO range Expected PICNO range ------------------------------ ------------------------------ 0162MH0000000000101950{I,E}01- 0162MH0019600100101950{I,E}01- 0162MH0000000000101959{I,E}01 0162MH0019601000101959{I,E}01 Reason: The sequence, mhli00196, was mistakenly commanded with tracking ID 0. The result is that neither the sequence ID nor the sequence line (command counter) were included in the PICNO, which is why the PICNO is populated with zeros. 2. Incorrect LED states PICNO range CDPID range ------------------------------ ----------- 0165MH0001880180102011O01- 2011-2025 0165MH0001880180102025O01 0165MH0001880180102011J00- 2011-2025 0165MH0001880180102025J00 0165MH0001880200102027P01- 2027-2041 0165MH0001880200102041P01 0165MH0001880210102043{N,Q}01- 2043-2055 0165MH0001880210102057{N,Q}01 Reason: When these images were acquired, all of the MAHLI LEDs were off. In the PDS labels, MSL:LED_STATE_FLAG = ( ON, ON, OFF ) states the white LEDs were powered on which is incorrect. This is a result of a known bug in the MAHLI software. 3. Clarification of the "SEQUENCE_ID" in the data product .LBL 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 (.LBL). This is the case when the MAHLI 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. **************************************************************** **************************************************************** RELEASE NUMBER: 1 RELEASE DATE: 2013-06-10 DATA COVERAGE: 2008-08-15 to 2008-10-16 (PRE_ATLO) 2010-11-05 to 2011-11-08 (ATLO) 2012-03-12, 2012-04-20, 2012-06-14 (Cruise) 2012-08-06 to 2012-11-05 (Sols 0-89) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: MAHLI EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None 1. PRE_ATLO products This data set includes images acquired during the camera development phase (DEV_), stand-alone (instrument) thermal vacuum testing (TVC_), stand-alone (instrument) calibration (CAL_), and delivery (DEL_) of the MAHLI instrument to JPL-Caltech from August 15, 2008 to October 16, 2008. MAHLI was not integrated with the rover, mechanically nor electronically, at any point during this phase. Note that several of the keywords in this data set are N/A, NULL, or UNK due to the fact that the camera was not integrated with the rover. Yet the same label format and keywords used for surface data are used for this data set. Therefore keywords in the RSM_COORDINATE_SYSTEM_PARMS or ARM_ARTICULATION_STATE_PARMS, for example, are not applicable. Another example includes some products with true height and width values in the IMAGE object but are reported as NULL within the IMAGE_REQUEST_PARMS group. This data set only includes MhliImage products; no other product types were produced during the PRE_ATLO phase. Note that the empirically determinable relationship between motor count, working distance (and range for focus merge range map products), and image scale applicable to data acquired on Earth and Mars by the flight MAHLI instrument is not applicable to PRE_ATLO data acquired before the final integration of the MAHLI camera head. This means that the relationship between motor count and working distance (and range for focus merge range map products) is not applicable for data acquired before 26 August 2008. No RDRs were produced for this data set because some of the PRE_ATLO data were used as calibration input for production of surface mission RDRs. 2. ALTO products This data set includes images acquired during the Assembly, Test, and Launch Operations (ATLO) (ATL_) phase from November 5, 2010 to November 11, 2011. MAHLI was integrated with or at least connected to the rover when MAHLI data were acquired during this period. Six ATLO tests were conducted with the spacecraft clock (SCLK) set to a future date, i.e., for the rover to test a future case such as Cruise; Entry, Descent and Landing (EDL); or Surface operations (e.g. a test in which the rover simulates operations during Sol N on Mars). For these particular ATLO data, this means that the label information states that the data acquired were acquired on a date in 2012 or 2013, when in fact they were acquired on a date in 2010 and 2011. The RATIONALE_DESC keyword specifies the actual date of acquisition in terms of local time at the test venue. 285 different products acquired during ATLO have SCLK times set to some time in the future. For example, product ATL_MH0063000000000119B00 has the following information: LOCAL_MEAN_SOLAR_TIME = Sol-00150M09:03:32.597 IMAGE_TIME = 2013-01-07T02:06:34.757 RATIONALE_DESC = "System Test 6 - venue Jet Propulsion Laboratory - Pasadena - California - local date 29 November 2010 - image CheMin and SAM sample inlets on rover deck - no mechanism actuation after dust cover opening - not in focus as expected" In addition, the PATH_NAME in the EDRINDEX.TAB file indicates the UTC date on which the image was acquired during ATLO. PATH_NAME = DATA/EDR/ATLO/2010_11_30/ Setting a future SCLK also effected the following keywords, all of which report a future time or date: MSL:LOCAL_MEAN_SOLAR_TIME LOCAL_TRUE_SOLAR_TIME PLANET_DAY_NUMBER IMAGE_TIME START_TIME STOP_TIME MSL:TELEMETRY_SOURCE_START_TIME MSL:TELEMETRY_SOURCE_SCLK_START MSL:INSTRUMENT_CLOCK_START_COUNT a. Images without thumbnails In general, the data received from MAHLI during ATLO met all test requirements. If a product, whether a thumbnail or an image, was not received from the rover or test venue, the loss was determined to be acceptable because the products that were received met or exceeded the requirements established for the given test. The first 20 products acquired in ALTO were MhliUtilTest products which produced images but not corresponding thumbnails. This was expected. The next 206 products acquired in ATLO, during the period covered by November 2010 through January 2011, did not have corresponding archivable thumbnails because the proper software infrastructure that enables miniheader creation for thumbnails was unavailable. Production and downlink of thumbnails was not required for the successful completion of MAHLI ATLO tests until the testing which began in February 2011. A few other products did not produce thumbnails because the version of the flight software at the time was unable to create thumbnails for MhliRangemap products. The following products are missing a corresponding thumbnail for this reason: ATL_MH0080050070000574S00 ATL_MH0080020060000716S00 ATL_MH0080020060000733S00 ATL_MH0080020060001004S00 ATL_MH1103020000001006S00 Some tests did not require the creation of a thumbnail as it was not needed. The following product is missing its corresponding thumbnail for this reason: ATL_MH1103020000001005R00 b. Thumbnails without images In general, the images received from MAHLI during ATLO met all test requirements. If a product, whether a thumbnail or an image, was not received from the rover or test venue, the loss was determined to be acceptable because the products that were received met or exceeded the requirements established for the given test. Thus, not all ATLO thumbnails have a corresponding image. In some cases, the thumbnail yielded enough information to satisfy the test requirements and the image was intentionally not returned. In other cases, the image was a corrupt partial product and did not have enough information to create a valid image product. The following thumbnail products are missing a corresponding image for this reason: ATL_MH0090000270001034I01 ATL_MH0090000720001079I01 ATL_MH0090000990001106I01 ATL_MH0090001120001119I01 Finally, despite having a valid thumbnail, one video product was 0-sized: ATL_MH1105040000001300Q01 c. No RDRs were produced for the ATLO data set because some of the ATLO data were used as calibration input for production of surface mission RDRs. 3. CRUISE products During cruise, a single sequence was run on 3 different dates, March 12, 2012, April 20, 2012, and June 14, 2012. Each execution acquired four images (with no mechanism motion): one 10-second exposure, one 20-second exposure, and two images with 2 second exposures and the white light LEDs on. At the end of acquisition, the products were erased. a. In the PDS labels, SEQUENCE_ID = aut_04096 for all MAHLI EDR cruise images. This is a known rover flight software bug. b. No RDRs were produced for this data set. 4. In the PDS labels, SEQUENCE_ID = aut_04096 for all MAHLI EDR and RDR images. This is a known rover flight software bug. This bug was fixed during the Flight Software update on sol 5. This applies to data downlinked on sol 1. 5. The following products were created with incorrect PICNOs for the following reasons: sequence:mhli00002, sol:10 Assigned PICNO Expected PICNO ----------------------------- ----------------------------- 0010MH0000000030100003{I,E}01 0010MH0000020010100003{I,E}01 Reason: The MMM GDS was updated on sol 13 to include sequence ID as part of the PICNO. PICNOs downlinked prior to that point do not follow the current GDS and do not include sequence ID. The exception to this is the first MAHLI sequence executed, mhli00000; because it has all zeros in the sequence name and it was the first image, it was fortuitously named correctly. 6. The following products failed to compress resulting in a different product type being downlinked than was originally commanded and a mismatch in compression values between the thumbnail and corresponding image: PICNO CDPID ------------------------- ----- 0058MH0000250010100440E01 440 Reason: On sol 18 an issue was discovered with the MMM compression algorithm. The algorithm assumes the uncompressed image size is the largest data volume size the image can be. However, after compressing the images, the resulting image ended up being larger in data volume size than the original, uncompressed image size (due to scene activity). Consequently, a warning was issued from the DEA and an error report was filed, and no image was received. As a result these products had to be recovered uncompressed by a separate sequence. This creates a discrepancy between what type of image was originally commanded versus what type of image is downlinked. For the above image, a type C (lossless) image was commanded; however, the recovered image is a type B (raster 8-bit) image. This can also be seen in the thumbnail, type I, (which states compression = -101) and the recovered image, type E, (which states compression = -95). 7. Clarification of the "SEQUENCE_ID" in the data product .LBL 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 (.LBL). This is the case when the MAHLI 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. ******** SECTION B ******** This section is provided for general notes concerning the archive as a whole. 1. In Releases 0001-0008, the CONTACT_SENSOR_STATE keyword indicates values of "OPEN" and "CLOSED" when these values should be "CONTACT" and "NO CONTACT", respectively. This mis-mapping appears in the MSL_MMM_EDR_RDR_DPSIS.PDF SIS, plus all products and PDS labels. Starting with Release 0009 and onwards, this issue has been corrected in the MSL_MMM_EDR_RDR_DPSIS.PDF SIS plus all products and PDS labels. 2. In Releases 0001-0008, the CONTACT_SENSOR_STATE_NAME values are incorrectly identified in the MSL_MMM_EDR_RDR_DPSIS.PDF SIS, plus all products and PDS labels. Based on flight software, values for this keyword are correct in Release 0009 onwards. Releases 0001-0008 (Incorrect) Bit mapping: ------------------------------------------- Bit 0 - "MALHI SWITCH 1" Bit 1 - "MALHI SWITCH 2" Bit 2 - "DRT SWITCH 1" Bit 3 - "DRT SWITCH 2" Bit 4 - "DRILL SWITCH 1" Bit 5 - "DRILL SWITCH 2" Bit 6 - "APXS DOOR SWITCH" Bit 7 - "APXS CONTACT SWITCH" Release 0009 and onwards (Correct) Bit mapping: ----------------------------------------------- Bit 0 - "APXS CONTACT SWITCH 1" Bit 1 - "APXS CONTACT SWITCH 2" Bit 2 - "DRILL SWITCH 1" Bit 3 - "DRILL SWITCH 2" Bit 4 - "MALHI SWITCH 1A" Bit 5 - "MALHI SWITCH 1B" Bit 6 - "MALHI SWITCH 2A" Bit 7 - "MALHI SWITCH 2B"