PDS_VERSION_ID = PDS3 RECORD_TYPE = STREAM OBJECT = TEXT NOTE = "Release notes and errata for the MSL ECAM RDR data set (ERRATA.TXT)" PUBLICATION_DATE = 2018-10-01 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 Engineering Camera RDR archive on volumes MSLNAV_1XXX and MSLHAZ_1XXX. During the course of the MSL mission the ECAM 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: 17 RELEASE DATE: 2018-03-16 DATA COVERAGE: 2017-08-01 to 2017-11-08 (Sols 1773-1869) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: ECAM RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None This release includes no new errata. RELEASE NUMBER: 16 RELEASE DATE: 2017-12-05 DATA COVERAGE: 2016-03-26 to 2017-08-01 (Sols 1649-1772) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: ECAM RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None 1. An issue has been identified regarding the application of non-rotated flat field files to the radiometric correction process. This affects the current release as well as all previous releases. See SECTION B, entry #6, for additional detail. RELEASE NUMBER: 15 RELEASE DATE: 2017-08-01 DATA COVERAGE: 2016-11-09 to 2017-03-26 (Sols 1515-1648) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: ECAM RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None This release includes no new errata. RELEASE NUMBER: 14 RELEASE DATE: 2017-03-16 DATA COVERAGE: 2016-08-01 to 2016-11-09 (Sols 1418-1514) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: ECAM RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None This release includes no new errata. RELEASE NUMBER: 13 RELEASE DATE: 2016-12-05 DATA COVERAGE: 2016-03-27 to 2016-08-01 (Sols 1294-1417) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: ECAM RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None 1. New product types have been included in the /EXTRAS directory. See SECTION B, entry #5, for additional detail. RELEASE NUMBER: 12 RELEASE DATE: 2016-08-01 DATA COVERAGE: 2015-11-10 to 2016-03-27 (Sols 1160-1293) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: ECAM RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None This release includes no new errata. RELEASE NUMBER: 11 RELEASE DATE: 2016-03-16 DATA COVERAGE: 2015-08-02 to 2015-11-10 (Sols 1063-1159) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: ECAM RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None This release includes no new errata. 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: ECAM RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None This release includes no new errata. 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: ECAM RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None This release includes no new errata. 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: ECAM RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None This release includes no new errata. 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: ECAM RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None 1. During the archive volume generation process, an issue was identified involving the CONTACT_SENSOR_STATE, CONTACT_SENSOR_STATE_NAME, STEREO_PRODUCT, LINEARIZATION_MODE and SAMPLE_BIT_MASK keywords for products from Releases 1- 7. See SECTION B for additional detail. 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: ECAM RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None This release includes no new errata. RELEASE NUMBER: 5 RELEASE DATE: 2014-03-17 DATA COVERAGE: 2013-08-10 to 2013-11-10 (Sols 360-449) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: ECAM RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None This release includes no new errata. 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: ECAM RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None This release includes no new errata. RELEASE NUMBER: 3 RELEASE DATE: 2013-08-27 DATA COVERAGE: 2013-02-06 to 2013-05-10 (Sols 180-269) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: ECAM RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None 1. The CALIB directory has not been populated for this release. The documents and calibration files described in the Camera SIS are not available in this release. All other previously identified errata have been corrected in the Release 3 products. RELEASE NUMBER: 2 RELEASE DATE: 2013-06-10 DATA COVERAGE: 2012-08-06 to 2013-02-06 (Sols 0-179) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: ECAM RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None 1. Due to a flight software bug present when MSL landed, the SEQUENCE_ID is incorrectly reflected as "AUT_04096". This bug affects ECAM data products collected through Sol 2, and impacts both filenames and the SEQUENCE_ID in the product label. 2. The CALIB directory has not been populated for this release. The documents and calibration files described in the Camera SIS are not available in this release. 3. The MODEL_TRANSFORM_VECTOR and MODEL_TRANSFORM_QUATERNION keywords have nonsensical values and should be ignored. The values should have been the calibration pose for data acquired with flight software versions prior to 10.6. The calibration pose is available in the MSL_mast.point file in the CALIB directory of this volume. This bug affects all products from Release 2. 4. The millisecond value of the SCLK was incorrectly computed for the MSL:LOCAL_MEAN_SOLAR_TIME and MSL:TELEMETRY_SOURCE_SCLK_START keywords. Specifically, only 2 digits of the millisecond value were being extracted from the source telemetry data product. This 2-digit value was then incorrectly 0 padded with a zero just to the right of the decimal place. Therefore, there is always a 0 value in the tenths position of the Fine portion of the SCLK. This bug affects all products from Release 2. For example, for the data product label, file NLA_412503611EDR_M0060000NCAM00533M1.LBL : Current values: MSL:LOCAL_MEAN_SOLAR_TIME = "Sol-00169M14:40:14.027" MSL:TELEMETRY_SOURCE_SCLK_START = "412503611.034" Correct values: MSL:LOCAL_MEAN_SOLAR_TIME = "Sol-00169M14:40:14.271" MSL:TELEMETRY_SOURCE_SCLK_START = "412503611.341" 5. The following keywords are missing from the IMAGE OBJECT in the detached PDS labels for all products from Release 2: FIRST_LINE FIRST_LINE_SAMPLE INVALID_CONSTANT MISSING_CONSTANT SAMPLE_BIT_MASK RELEASE NUMBER: 1 RELEASE DATE: 2013-03-20 DATA COVERAGE: 2012-08-06 to 2012-11-05 (Sols 0-89) PRODUCT TYPES RELEASED FOR THIS ARCHIVE: ECAM RDR PRODUCT TYPES UPDATED FOR THIS ARCHIVE: None The products included in Release 1 have been superseded by products included in Release 2. ******** SECTION B ******** This section is provided for general notes concerning the archive as a whole. 1. PDS labels are not present for the parameter, inverse lookup and camera model files in the CALIB directory. Because these files are used with operational software in their current form, PDS labels are not expected before the end of mission. 2. 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 Camera SIS, plus all products and PDS labels. The CONTACT_SENSOR_STATE_NAME values are incorrectly identified in the Camera SIS, plus all products and PDS labels. Values for this keyword should be mapped as follows: MAHLI SWITCH 1 -> MAHLI SWITCH 2B MAHLI SWITCH 2 -> MAHLI SWITCH 2A DRT SWITCH 1 -> MAHLI SWITCH 1B DRT SWITCH 2 -> MAHLI SWITCH 1A DRILL SWITCH 1 -> DRILL SWITCH 2 DRILL SWITCH 2 -> DRILL SWITCH 1 APXS DOOR SWITCH -> APXS CONTACT SWITCH 2 APXS CONTACT SWITCH -> APXS CONTACT SWITCH 1 3. The STEREO_PRODUCT_ID and LINEARIZATION_MODE keywords are missing from all linearized product and PDS labels. 4. The SAMPLE_BIT_MASK keyword in the product and detached PDS labels does not apply for non-image products (any product type below "DRW" in the "Image RDR Product Type Description" table in Section 6.1.1 of the Camera SIS). This keyword should be ignored for non-image products. The keyword in general has no meaning for floating point data. For image RDR products (e.g. ILT, RAD, RAS) and non-image integer data files (e.g. MDS, MXY, ARM) assume the bit mask is all 1's for the number of SAMPLE_BITS. 5. Beginning with Release 13, there are new products related to updated Chemcam Finder mosaics: an MCR (risk mask), an MCE (error mask), and an MCF (combined risk and error mask.) These products are used during the Chemcam Finder mosaic generation, and are located in the /EXTRAS directory. These new product types will be documented in a future release of the Data Product SIS. Values in some of the MCR product PDS labels have a PRODUCT_ID keyword length greater than the PDS3 standard maximum length of 40 characters. However, as these products reside in the /EXTRAS directory, they are not subject to PDS3 standards compliance. 6. The flat field files listed below and delivered in the CALIB directory of this volume have not been rotated from the detector readout frame to match the DETECTOR_TO_IMAGE rotation applied to flight images. These flat field files were applied without rotation to the radiometrically corrected products on this volume. This directly affects the RAD/RAS products and mosaics. This indirectly affects RDR products derived from the RAD/RAS (including stereo products). Additionally, the FLAT_FIELD_FILE_NAME and FLAT_FIELD_FILE_DESC keywords are absent from the product labels. Navcam Left A-Side: MSL_FLAT_SN_0216.IMG and MSL_FLAT_SN_0216_V01.IMG Navcam Right A-Side: MSL_FLAT_SN_0206.IMG and MSL_FLAT_SN_0206_V01.IMG Navcam Left B-Side: MSL_FLAT_SN_0215.IMG and MSL_FLAT_SN_0215_V01.IMG Navcam Right B-Side: MSL_FLAT_SN_0218.IMG and MSL_FLAT_SN_0218_V01.IMG To be consistent with the flight EDR images, the flat fields need to be rotated prior to being applied. The flat fields for the A-side Navcam and the B-side right eye Navcam should be rotated 90 degrees clockwise. The B-side left Navcam flat field should be rotated 90 degrees counter-clockwise. Users may remove the effects of the non-rotated flat fields on the RAD/RAS products by multiplying those products by the non-rotated V01 flat fields for the associated camera serial number currently available in the CALIB directory. To get the originally intended product, users can then divide by a flat field rotated as specified above. Preliminary assessment shows that stereo data derived from the unrotated flat fields is within expected error bounds. Stereo coverage and quality may improve with corrected flat fields. These issues will be addressed in a future release of the Navcam RDR and mosaic products. 7. The ORIGIN_OFFSET_VECTOR in the ARM_COORDINATE_SYSTEM label group is incorrect. The value is reported by the rover in Rover Mechanical frame; this is supposed to be converted to Rover Nav frame by the telemetry processor. However, the conversion is incomplete; only the X value has been adjusted, not the Z value. Furthermore, the value is incorrectly marked (via REFERENCE_COORD_SYSTEM_NAME) as being in ROVER_MECH frame. In order to get the value in Rover Nav frame, take the given value and add -1.1205 to the Z coordinate. This completes the conversion (Y is identical between the frames). To get the value in Rover Mechanical frame, subtract 0.09002 from the X coordinate. This reverses the partial conversion done by the telemetry processor.