PDS_VERSION_ID = PDS3 RECORD_TYPE = STREAM OBJECT = TEXT PUBLICATION_DATE = 2013-05-20 NOTE = "Release notes and errata for MSL MARDI 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 MARDI EDR and RDR archive on volumes MSLMRD_0XXX. During the course of the MSL mission the MARDI 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: MARDI EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None No new errata have been identified in this release. **************************************************************** **************************************************************** 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: MARDI EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None 1. Drive video with incorrect Camera Data Product Identifiers (CDPID) On sol 651, mrdi00249 acquired 278 frames of a video of a drive. The resulting products had incorrect CDPIDs due to a MARDI flight software bug. While the PICNOs and .LBL files were manually changed to contain the correct CDPID, the binary .DAT files still retain the original, incorrect CDPIDs that were actually downlinked from the rover. PICNO range CDPID range -------------------------- ----------- 0651MD0002490000101736M01- 1736-1749 0651MD0002490000101749M01 0651MD0002490000101751M01- 1751-1758 0651MD0002490000101758M01 2. 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. 3. Updates to the MARDI camera model The camera model has been updated for MARDI. Please see Section B, below, for more details. **************************************************************** **************************************************************** 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: MARDI EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None 1. Drive video with lower than expected number of saved images On sol 787, the drive video contained several unexpected skips, or no apparent overlap between frames. These were seen between the following images: PICNO range CDPID range ------------------------------ ----------- 0787MD0003310010102747{M,Q}01- 2747-2748 0787MD0003310010102748{M,Q}01 0787MD0003310010102757{M,Q}01- 2757-2758 0787MD0003310010102758{M,Q}01 0787MD0003310010102761{M,Q}01- 2761-2762 0787MD0003310010102762Q01 0787MD0003310010102762Q01- 2762-2763 0787MD0003310010102763{M,Q}01 0787MD0003310010102763{M,Q}01- 2763-2764 0787MD0003310010102764{M,Q}01 0787MD0003310010102781{M,Q}01- 2781-2782 0787MD0003310010102782{M,Q}01 While this is a MARDI flight software issue and an error report was filed, it should be noted that there is nothing wrong with the products themselves. The PICNOs are correct and the CDPIDs are sequential. The issue is only apparent when the images are played as a video; the video occasionally "jumps" due to the lack of overlap between frames. **************************************************************** **************************************************************** 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: MARDI EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None 1. Drive video with incorrect Camera Data Product Identifiers (CDPID) On sol 651, mrdi00249 acquired 278 frames of a video of a drive. The resulting products had incorrect CDPIDs due to a MARDI flight software bug. While the PICNOs and .LBL files were manually changed to contain the correct CDPID, the binary .DAT files still retain the original, incorrect CDPIDs that were actually downlinked from the rover. PICNO range CDPID range -------------------------- ----------- 0651MD0002490000101736Q01- 1736-2013 0651MD0002490000102013Q01 0651MD0002490000101808M01- 1808-1810 0651MD0002490000101810M01 0651MD0002490000101843M01- 1843-1845 0651MD0002490000101845M01 2. Drive video saturation The sol 651 drive video was severely overexposed. The rover orientation before the drive had the MARDI viewing a shadowed surface, which is when autoexposure ran. However, once the drive began (and after autoexposure had already run), the rover did a turn and the exposed surface under the MARDI was in sun light causing nearly all the images in the video to be overexposed. PICNO range CDPID range -------------------------- ----------- 0651MD0002490000101736Q01- 1736-2013 0651MD0002490000102013Q01 0651MD0002490000101808M01- 1808-1810 0651MD0002490000101810M01 0651MD0002490000101843M01- 1843-1845 0651MD0002490000101845M01 3. Twilight image DN levels are lower than expected On sol 660, a commanding error in mrdi00259 caused the autoexposure algorithm to fail. The resulting image has DN values of ~0-12 (black) and excessive EMI noise. This image was also downlinked uncompressed and exhibited the same DN values and EMI noise. PICNO ----------------------------- 0660MD0002590000102023{I,E}01 0660MD0002590000102023B00 **************************************************************** **************************************************************** 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: MARDI 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 MARDI 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: 5 RELEASE DATE: 2014-03-17 DATA COVERAGE: 2013-08-11 to 2013-11-10 (Sols 360-449) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: MARDI 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 MARDI 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: 4 RELEASE DATE: 2013-12-13 DATA COVERAGE: 2013-05-09 to 2013-08-10 (Sols 270-359) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: MARDI 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 MARDI 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: 3 RELEASE DATE: 2013-08-30 DATA COVERAGE: 2013-02-06 to 2013-05-08 (Sols 180-269) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: MARDI EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None 1. The MARDI EDL imaging sequence was part of the spacecraft Entry, Descent, and Landing (EDL) action. This required the sequence to be hardcoded into the EDL timeline instead of being run as an imaging sequence that is uplinked a few sols prior to execution, as is done during landed operations. Therefore, for all EDL data: SEQUENCE_ID = aut_04096 In addition, as noted in the PDS Data Product SIS, any image acquired during EDL is assigned the product identifier 000000000. The following is the first PICNO generated from the EDL sequence: 0000MD0000000000100001{I,E}01 All MARDI images acquired post-EDL conform to the PICNO scheme outlined in the PDS Data Product SIS. 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 MARDI 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: MARDI EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None 1. The MARDI EDL imaging sequence was part of the spacecraft Entry, Descent, and Landing (EDL) action. This required the sequence to be hardcoded into the EDL timeline instead of being run as an imaging sequence that is uplinked a few sols prior to execution, as is done during landed operations. Therefore, for all EDL data: SEQUENCE_ID = aut_04096 In addition, as noted in the PDS Data Product SIS, any image acquired during EDL is assigned the product identifier 000000000. The following is the first PICNO generated from the EDL sequence: 0000MD0000000000100001{I,E}01 All MARDI images acquired post-EDL conform to the PICNO scheme outlined in the PDS Data Product SIS. 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 MARDI 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: 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: MARDI EDR & RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None 1. CRUISE products During cruise, a single checkout sequence was run on 3 different dates, March 12, 2012, April 20, 2012, and June 14, 2012. Each execution acquired two images plus an 8-image EDL practice video. At the end of acquisition, the products were erased. a. Missing video product During the April 20, 2012 checkout, the MARDI cruise sequence executed successfully and thumbnails were received for both images plus all 8 images of the EDL video. However, only the 2 image products and 7 of the 8 video products were received. One video product never made it to the group. The thumbnail, CRU_MD0000060030000019Q01_XXXX does not have a corresponding video product. b. In the PDS labels, SEQUENCE_ID = aut_04096 for all MARDI EDR cruise images. This is a known rover flight software bug. c. No RDRs were produced for this data set. 2. The MARDI EDL imaging sequence was part of the spacecraft Entry, Descent, and Landing (EDL) action. This required the sequence to be hardcoded into the EDL timeline instead of being run as an imaging sequence that is uplinked a few sols prior to execution, as is done during landed operations. Therefore, for all EDL data: SEQUENCE_ID = aut_04096 In addition, as noted in the PDS Data Product SIS, any image acquired during EDL is assigned the product identifier 000000000. The following is the first PICNO generated from the EDL sequence: 0000MD0000000000100001{I,E}01 All MARDI images acquired post-EDL conform to the PICNO scheme outlined in the PDS Data Product SIS. 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 MARDI 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" 3. In Releases 0001-0008, the MARDI orientation in the camera model is incorrect. In previous releases, the values in the camera model had been flipped 180 degrees. For Release 0009 and onwards, the orientation of the MARDI in the camera model is reverted to its nominal values, i.e., the MARDI is pointing straight down in the rover frame with "up" in the image pointing to the rear of the rover.