InSight HP3/RAD Release Notes Users are encouraged to provide comments to the PDS Geosciences Node if errors are found either in data or in documentation in this archive. Please send comments by e-mail or U.S. mail to: PDS Geosciences Node Washington University Dept. of Earth and Planetary Sciences 1 Brookings Drive St. Louis, MO 63130 U.S.A. Web: http://pds-geosciences.wustl.edu Email: geosci@wunder.wustl.edu This document, release_notes.txt, contains release notes and errata concerning the InSight HP3 and RAD archives. It is updated with each release of HP3 and RAD data. Section A of this document contains an entry for each HP3/RAD 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: 16 Release Date: 2023-03-31 Comments HP3-TEM: No TEM data were acquired in this release period. Comments HP3-RAD: No RAD data were acquired in this release period. ------------------------------------------------------------ Release Number: in-between releases Release Date: 2023-01-11 TEM Data Coverage: 2021-03-22 through 2021-05-13 (Sols 824-874) Products have been updated in the following collections: urn:nasa:pds:insight_hp3_tem:data_tem_calibrated urn:nasa:pds:insight_hp3_tem:data_tem_raw Comments HP3-TEM: Products urn:nasa:pds:insight_hp3_tem:data_tem_raw:hp3_tem_raw_00824_20210322_065444 and urn:nasa:pds:insight_hp3_tem:data_tem_calibrated:hp3_tem_cal_00824_20210322_065444 have been updated to include the data for Sols 871-874, which had previously been omitted. ------------------------------------------------------------ Release Number: 15 Release Date: 2023-01-03 Comments HP3-TEM: No TEM data were acquired in this release period. Comments HP3-RAD: No RAD data were acquired in this release period. ------------------------------------------------------------ Release Number: 14 Release Date: 2022-10-01 RAD Data Coverage: 2022-04-04 through 2022-05-28 (Sols 1192-1245) TEM Data Coverage: 2022-04-14 through 2022-04-17 (Sols 1201-1204) New products have been added to these collections: urn:nasa:pds:insight_rad:data_calibrated urn:nasa:pds:insight_rad:data_derived urn:nasa:pds:insight_rad:data_raw urn:nasa:pds:insight_hp3_tem:data_tem_calibrated urn:nasa:pds:insight_hp3_tem:data_tem_raw Comments HP3-TEM: One additional thermal conductivity measurement was performed using the TEM-A sensors in the final mole configuration. The measurement covers the timeframes of Sol 1201-1204. The measurement configuration is identical to the Sol 1157-1160, Sol 795-798, Sol 824-827, Sol 871-874, and Sol 1068-1071 measurements. There has also been no change to the configuration of the temperature sensors on the HP3 tether. Comments HP3-RAD: RAD measurements continued mostly at the usual dawn (~6AM) and mid-day (1PM) times. Measurements are infrequent due to the decreasing energy availability. The last pair of measurements occurred on sol 1245 (28th of May 2022) during a beginning dust storm. HP3 has not been switched on since that time and unless there is an event cleaning the solar arrays, this is most likely the last data from HP3. There is no evidence for a drift of the calibration in this data-set. No data products were updated at this time but there may be a final refinement of the calibration that could require the updating of the HP3-RAD data product. ------------------------------------------------------------ Release Number: 13 Release Date: 2022-07-01 RAD Data Coverage: 2022-01-01 through 2022-03-28 (Sols 1102-1185) TEM Data Coverage: 2022-02-27 through 2022-03-03 (Sols 1157-1160) New products have been added to these collections: urn:nasa:pds:insight_rad:data_calibrated urn:nasa:pds:insight_rad:data_derived urn:nasa:pds:insight_rad:data_raw urn:nasa:pds:insight_hp3_tem:data_tem_calibrated urn:nasa:pds:insight_hp3_tem:data_tem_raw Comments HP3-TEM: One additional thermal conductivity measurement was performed using the TEM-A sensors in the final mole configuration. The measurement covers the timeframes of Sol 1157-1160. The measurement configuration is identical to the Sol 795-798, Sol 824-827, Sol 871-874, and Sol 1068-1071 measurements. There has also been no change to the configuration of the temperature sensors on the HP3 tether. Comments HP3-RAD: RAD measurements continued mostly at the usual dawn (~6AM) and mid-day (1PM) times. Due to a dust storm, no RAD data was collected between sols 1102 and 1142. Extraordinary observations are high sampling rate measurements during the transit of Phobos on sol 1163 and continous measurements of the diurnal curve over sols 1175 and 1176. There is no indication of a calibration drift in this period. ------------------------------------------------------------ Release Number: 12 Release Date: 2022-04-01 RAD Data Coverage: 2021-11-09 through 2021-12-31 (Sols 1050-1100) TEM Data Coverage: 2021-11-28 through 2021-12-01 (Sols 1068-1071) New products have been added to these collections: urn:nasa:pds:insight_rad:data_calibrated urn:nasa:pds:insight_rad:data_derived urn:nasa:pds:insight_rad:data_raw urn:nasa:pds:insight_hp3_tem:data_tem_calibrated urn:nasa:pds:insight_hp3_tem:data_tem_raw Comments HP3-TEM: One additional thermal conductivity measurement was performed using the TEM-A sensors in the final mole configuration. The measurement covers the timeframes of Sol 1068-1071. The measurement configuration is identical to the Sol 824-827 and Sol 871-874 measurements. There has also been no change to the configuration of the temperature sensors on the HP3 tether. Comments HP3-RAD: In this period there was more energy available and HP3-RAD conducted several measurements of the diurnal curve in addition to more frequent observations at 6 AM and 1 PM. The sensitivity of thermopile 2C dropped approximately by 1%, which has been corrected in the calibration. ------------------------------------------------------------ Release Number: 11 RAD Release Date: 2022-01-04 RAD Data Coverage: 2021-07-01 through 2021-09-30 (data on Sols 983, 991, 993) New products have been added to these collections: urn:nasa:pds:insight_rad:data_calibrated urn:nasa:pds:insight_rad:data_derived urn:nasa:pds:insight_rad:data_raw Comments HP3-TEM: No TEM data was acquired in this release period. Comments HP3-RAD: Energy remained scarce and RAD observations were limited to 6 AM and 1 PM observations. There were technical issue with the low temperatures of the HP3 electronics, which resulted in HP3 being off for most of the release period prior to the solar conjunction. Consequently only the minimum and maximum surface temperatures of only three sols (983, 991, and 993) were recorded. ------------------------------------------------------------ Release Number: 10 Release Date: 2021-10-01 RAD Data Coverage: 2021-04-06 through 2021-06-28 (Sols 839-919) TEM Data Coverage: 2021-03-22 through 2021-05-13 (Sols 824-874) New products have been added to these collections: urn:nasa:pds:insight_rad:data_calibrated urn:nasa:pds:insight_rad:data_derived urn:nasa:pds:insight_rad:data_raw urn:nasa:pds:insight_hp3_tem:data_tem_calibrated urn:nasa:pds:insight_hp3_tem:data_tem_raw Products have been updated in the following collections: urn:nasa:pds:insight_rad:data_calibrated urn:nasa:pds:insight_rad:data_derived This affects products from releases 5-9, specifically: urn:nasa:pds:insight_rad:data_calibrated:hp3_rad_cal_00390_20200101_120222 urn:nasa:pds:insight_rad:data_calibrated:hp3_rad_cal_00478_20200401_121608 urn:nasa:pds:insight_rad:data_calibrated:hp3_rad_cal_00567_20200701_125545 urn:nasa:pds:insight_rad:data_calibrated:hp3_rad_cal_00670_20201014_095833 urn:nasa:pds:insight_rad:data_calibrated:hp3_rad_cal_00746_20210101_072936 urn:nasa:pds:insight_rad:data_derived:hp3_rad_der_00390_20200101_120222 urn:nasa:pds:insight_rad:data_derived:hp3_rad_der_00478_20200401_121608 urn:nasa:pds:insight_rad:data_derived:hp3_rad_der_00567_20200701_125545 urn:nasa:pds:insight_rad:data_derived:hp3_rad_der_00670_20201014_095833 urn:nasa:pds:insight_rad:data_derived:hp3_rad_der_00746_20210101_072936 Comments HP3-TEM: Two additional thermal conductivity measurements were performed using the TEM-A sensors in the final mole configuration. Measurements cover the timeframes of Sol 824-827 and Sol 871-874. The measurement configuration is identical to the Sol 795-798 measurement. There has also been no change to the configuration of the temperature sensors on the HP3 tether. Comments HP3-RAD: Energy remained scarce and RAD observations were limited to 6 AM and 1 PM observations about once a week. The self calibration measurements in previous data release periods turned out to be insufficiently reproducible to accurately correct for the sensitivity drift of sensor 2C. Due to the energy scarcity it was not possible to perform the self calibration more frequently to statistically reduce the uncertainty of the sensitivity estimate. To provide a better estimate of the surface temperature in field of view (FoV) 2, the spot farther from the lander, we cross-calibrate the sensitivity of sensor 2C so that the difference between its calibrated brightness temperature and that of the broadband sensor of FoV 1 (Sensor 1B) remains approximately the same as it was before the begin of the drift in sol 325. Prior to sol 325 this difference remains constant within 2-3 K outside of periods when the lander shadow significantly affects FoV1 (before sol 100 and between sol 500 and 800). Additional evidence about sensitivity comes from the cooling rate between 18 and 20 hours local solar time. This cooling rate varies with atmospheric opacity but is the same for FOV1 and FOV2 within 1-2 K/h prior to sol 325. The results of the cross-calibration agree with the results of the frequent self-calibration in the period of release 4 (sols 300 to 390). Overall the sensitivity drift of sensor 2C is an initially rapid and then slowing increase of sensitivity after sol 325, which was already corrected for by self-calibration for release 4, followed by a slower decrease of sensitivity after sol 390. This decrease levelled out after sol ~650. The leading hypothesis for the cause of this drift is a small leak occurring on sol 325, resulting in a loss of Krypton fillgas. This loss of pressure would increase sensitivity due the decrease of thermal conductivity within the sensor package. Diffusion of CO2 into the sensor package would then increase thermal conductivity and thus reduce sensitivity. The values used to represent this sensitivity drift for the two instrument temperature setpoints T_SH currently in use are provided in section B, table B1 of these release notes. ------------------------------------------------------------ Release Number: 9 RAD Release Date: 2021-07-01 TEM Release Date: 2021-07-23 RAD Data Coverage: 2021-01-01 through 2021-03-29 (Sols 746-830) TEM Data Coverage: 2020-10-25 through 2021-02-23 (Sols 680-798) New products have been added to these collections: urn:nasa:pds:insight_rad:data_calibrated urn:nasa:pds:insight_rad:data_derived urn:nasa:pds:insight_rad:data_raw urn:nasa:pds:insight_hp3_tem:data_statil_calibrated urn:nasa:pds:insight_hp3_tem:data_statil_raw urn:nasa:pds:insight_hp3_tem:data_tem_calibrated urn:nasa:pds:insight_hp3_tem:data_tem_raw Comments: Operations of the radiometer were scarce due to insufficient energy but a number of observations of minimum and maximum temperature were acquired. In addition, the temperature response to a Phobos transit was acquired on sol 773. Several self calibrations were performed to characterize the drift of sensor 2C (see previous release notes), but the reproducibility was insufficient to provide a reliable estimate of the new sensitivity or ongoing sensitivity drift. We continue to use the old sensitivity in this release however we note that the true surface temperature is likely at the low end of the interval defined by the field of view 2 temperature and its uncertainty in the calibrated and derived data products. We will determine a best estimate of the new sensitivity and provide revised data of this and the previous two releases in the future. Two thermal conductivity measurements were performed using the TEM-A sensors. Each measurement consists of two sols of background temperature monitoring followed by a 24 h active heating phase. Measurements cover the timeframes of sol 680 to sol 683 as well as sol 795 to sol 798. Both measurements were performed with the mole fully buried in the regolith. Mole tip depth during the measurements is estimated to be 0.37 m. A hammering was commanded in-between the two measurements, implying that the measurement configuration may vary between them. Due to the fact that measurements were performed at shallow depth, the TLM sensor did not provide any data. Also, temperature sensors on the tether were not pulled into the soil and sensor depths cannot be defined. These invalid data are indicated as 9999 in the archived data. Out of the 14 temperature sensors on the tether, the bottom-most sensors 13 and 14 were exposed to the sun and atmosphere, while all other sensors remain inside the HP3 support structure. ------------------------------------------------------------ Release Number: 8 Release Date: 2021-04-01 Data Coverage: 2020-10-14 through 2020-12-08 (Sols 669-722) New products have been added to these collections: urn:nasa:pds:insight_rad:data_calibrated urn:nasa:pds:insight_rad:data_derived urn:nasa:pds:insight_rad:data_raw Comments: Operations of the radiometer were again restricted due to energy scarcity. Only one diurnal temperature curve was measured on sol 696/697. Otherwise activities were restricted to occasional measurements of the approximate minimum and maximum temperatures shortly before 6 and 13 hours of local solar time, respectively. Discontinuities in this diurnal temperature curve indicate that sensor 2C again experienced a change in sensitivity, which is currently characterized with self calibration measurements. The calibrated data in this release still use the calibration coefficients known to be inaccurate, however the uncertainty of the data in the calibrated and derived data product is adjusted to reflect an estimated 10% error in the sensitivity. The products of release 7 and 8 will be updated as soon as the new sensitivity is better understood. ------------------------------------------------------------ Release Number: 7 Release Date: 2021-01-04 Data Coverage: 2020-07-01 through 2020-10-12 (Sols 567-668) New products have been added to these collections: urn:nasa:pds:insight_rad:data_calibrated urn:nasa:pds:insight_rad:data_derived urn:nasa:pds:insight_rad:data_raw Comments: With this data release the RAD archive now includes almost one year of surface data, starting on sol 14. Due to insufficient availability of energy during this season with high dust opacity, the activities of this instrument were very limited. Only one diurnal curve was measured on sol 602/603. Otherwise activities were restricted to occasional measurements of the approximate minimum and maximum temperatures shortly before 6 and 13 hours of local solar time, respectively. Self calibration requires more energy and it was decided to use the scarce energy for science measurements instead, since changes to the calibration, e.g. from deposition of dust on the filter windows, can likely be interpolated for this period using future self-calibration measurements with only a small loss of accuracy. This however means that the data in this release might have to be modified in the future, if the self-calibration measurements indicate that a drift of calibration coefficients has occurred. ------------------------------------------------------------ Release Number: 6 Release Date: 2020-10-01 Data Coverage: 2020-04-01 through 2020-06-30 (Sols 478-567) New products have been added to these collections: urn:nasa:pds:insight_rad:data_calibrated urn:nasa:pds:insight_rad:data_derived urn:nasa:pds:insight_rad:data_raw Comments: The self-calibration data acquired during this release period do not show clear evidence of an ongoing sensor drift and the previous coefficients continue to be used for data calibration. The data of this release period includes observations during Phobos eclipses on sols 495, 498 and 501. FOV1, observing near the lander is increasingly affected by the passage of the solar panel shadow in the afternoon and early morning. ------------------------------------------------------------ Release Number: 5 Release Date: 2020-07-01 Data Coverage: 2020-01-01 through 2020-03-31 (Sols 390-478) New products have been added to these collections: urn:nasa:pds:insight_rad:data_calibrated urn:nasa:pds:insight_rad:data_derived urn:nasa:pds:insight_rad:data_raw Comments: The data in this release do not show evidence of an ongoing drift of sensor 2C, and they are calibrated using a constant sensitivity. The resolution of calibration measurements is not sufficient to exclude the possibility that a slow drift is still ongoing, which might be revealed by calibration measurements later. In this case the data of this release will likely be calibrated again, using a time varying sensitivity representing the drift. ------------------------------------------------------------ Release Number: 4 Release Date: 2020-04-01 Data Coverage: 2019-10-01 through 2019-12-31 (Sols 300-390) New products have been added to these collections: urn:nasa:pds:insight_rad:data_calibrated urn:nasa:pds:insight_rad:data_derived urn:nasa:pds:insight_rad:data_raw Comments: On of the radiometer sensors (2C, field of view 2 broadband sensor) experienced a significant drift of its calibration. On about sol 325 the brightness temperatures derived from this sensor started to progressively diverge from expected seasonal trends and the trends observed by the other sensors. The normal self-calibrations are run once per four weeks while new commands are uplinked once per week. The next performed self-calibration on sol 340 confirmed an increase in sensitivity. Following, more frequently scheduled calibrations showed that the drift continued to increase sensitivity and reached an apparently stable state at some point after sol 355. The exact timeline of the drift is however not well resolved by the self-calibrations and we assume that the sensitivity exponentially decays to the new state with a half life of 18 sols, starting on sol 325. It is possibly that better understanding of the root cause of this drift would lead us to modifying this timeline. This would result in an update of the calibrated and derived datasets in this release, however any changes will likely stay within the range of uncertainty provided in this release. ------------------------------------------------------------ Release Number: 3 Release Date: 2020-01-01 Data Coverage: 2019-07-01 through 2019-09-30 (Sols 210-299) New products have been added to these collections: urn:nasa:pds:insight_rad:data_calibrated urn:nasa:pds:insight_rad:data_derived urn:nasa:pds:insight_rad:data_raw Comments: Due to the conjunction the radiometer was off after sol 263. A typographical error in the release number 2 comments data coverage has been corrected. The table in the release notes for release 1A provided operation mode codes that are inconsistent with those in the raw data files. The raw data files provide the operation mode codes as they are used by the flight software, which are: Ops mode # | Description -----------|-------------------------------------------------------------- 0 | no operation mode, controlled by ground commands 65-66 | standard mode - not used due to technical issues 33-34 | hourly mode 97-98 | single mode 129-130 | calibration mode - only usable for science under certain conditions |(Temperature calibration target = temperature sensorhead) ------------------------------------------------------------ Release Number: 2 Release Date: 2019-09-26 Data Coverage: 2019-04-01 through 2019-06-30 (Sols 122-210) New products have been added to these collections: urn:nasa:pds:insight_rad:data_calibrated urn:nasa:pds:insight_rad:data_derived urn:nasa:pds:insight_rad:data_raw Comments: On about Sol 150 a jump in measured voltages about +4 microvolt has been observed in all channels of ADC-1 in the RAD Sensorhead. This offset has been corrected in all calibrated and derived data from sol 150 on, but not in the raw data. ------------------------------------------------------------ Release Number: 1, part 2 Release Date: 2019-06-26 Data Coverage: 2018-11-26 through 2019-03-31 (Sols 1-122) New products have been added to these collections: urn:nasa:pds:insight_rad:data_calibrated urn:nasa:pds:insight_rad:data_derived Products have been revised in these collections: urn:nasa:pds:insight_rad:data_raw Comments: The raw data table has been updated to extend through 2019-03-31 as well. For the calibrated and derived data products only those data vectors are used that can be calibrated. That means only data with operation modes 0-98 (see table below) and acquired while the instrument is within 0.1 K of its target temperature setpoint are used. Also, all data before 2018-12-11T07:30:42.598Z have been excluded because the dust cover was still closed. During ground calibration it was discovered that calibration uncertainties are larger than expected. The calibration coefficient also had to be updated using data gathered after landing on Mars, before the opening of the dust cover/calibration target. This results in large systematic errors in the sensors using narrow spectral bandpasses, i.e. sensors 1A, 1C, 2A, 2B. The derived data products are based on the calibrated data of sensors 1B and 2C. Assumed is a surface emissivity of 0.98 with an uncertainty of 0.02. (Morgan et al., A Pre-Landing Assessment of Regolith Properties at the InSight Landing Site. Space Sci Rev (2018) 214:104. doi:10.1007/s11214-018-0537-y.) The documentation (SIS) currently (2018-03-06) does not provide which of the three spectral filters is used in each of the six thermopile sensors. The spectral bandpasses are described in section 2.6.3.5 of the HP3 PDS SIS are given for each sensor in the following table: Sensor | Spectral Filter --------+------------------------ 1A | 8-10µm Bandpass 1B | 8-14µm Bandpass 1C | 16-19µm Bandpass 2A | 16-19µm Bandpass 2B | 8-10µm Bandpass 2C | 8-14µm Bandpass Raw data tables include a number indicating what operation mode was used. The modes are the following: Ops mode # | Description -----------|-------------------------------------------------------------- 0 | no operation mode, controlled by ground commands 65-66 | standard mode - not used due to technical issues 33-34 | hourly mode 97-98 | single mode 129-130 | calibration mode - only usable for science under certain conditions |(Temperature calibration target = Temperature Sensorhead) ------------------------------------------------------------ Release Number: 1, part 1 Release Date: 2019-04-22 Data Coverage: 2018-11-26 through 2019-02-28 (Sols 1-92) New products have been added to these collections: urn:nasa:pds:insight_rad:data_raw Products have been revised in these collections: none Comments: The first release of InSight data by PDS takes place in two parts. In Part 1 only raw data products are released. In Part 2, one month later, the calibrated versions of those products are released. Subsequent InSight releases are scheduled for every three months and will include both raw and calibrated products. ******** SECTION B ******** The self-calibration results are applied to the data by modifying one or more of the three calibration coefficients described in the RAD calibration paper (doi:10.1029/2020EA001086). The initial calibration coefficients are provided for each sensor and each instrument operating temperature T_SH in table 2 of that paper. These coeffiecients are an offset voltage C ([C] = µV), sensitivity to instrument heaters H ([H] = µV/W), and sensitivity to radiative heat flux of the observed surface S ([S] = µV/W). The updated coefficient is denoted by a prime and valid after the mission sol provided in the first column of the following table. Table B 1: Changes to published calibration coefficients sol | Coefficient change --------+--------------------------------------------------------------------- 154 | All ADC1 channels, specifically thermopile 1A, 1B, 1C: | C' = C - 4µV --------+--------------------------------------------------------------------- 326 | Sensitivity of thermopile 2C: | S' = S * ( x - (x-1) * exp( -(sol - 325)/18)) | x = [ 1.0173243 , 1.0617046 , 1.1231704] | for T_SH = [238.7 K, 268.7 K, 298.7 K] respectively --------+--------------------------------------------------------------------- | Sensitivity of thermopile 2C interpolated from the following values: | | T_SH = 238.7 K: | T_SH = 298.7 K: +------------------+------------------ 390 | S = 549.52 V/W | S = 366.66 V/W 464 | S = 540.94 V/W | S = 360.95 V/W 625 | S = 506.66 V/W | S = 342.85 V/W 752 | S = 490.47 V/W | S = 334.28 V/W 919 | S = 490.47 V/W | S = 334.28 V/W 1000 | S = 485.47 V/W | S = 332.50 V/W 1185 | S = 485.47 V/W | S = 332.50 V/W Previous versions of the SIS documentation did not provide which of the three spectral filters is used in each of the six thermopile sensors. The spectral bandpasses are described in section 2.6.3.5 of the HP3 PDS SIS are given for each sensor in the following table: Table B 2: Identification of spectral bandpasses for the different sensors Sensor | Spectral Filter --------+------------------------ 1A | 8-10µm Bandpass 1B | 8-14µm Bandpass 1C | 16-19µm Bandpass 2A | 16-19µm Bandpass 2B | 8-10µm Bandpass 2C | 8-14µm Bandpass The SIS further does not clarify what the RAD operation mode codes provided in the raw data files mean. This information is provided in the following table. Table B 3: Identification codes of RAD software operation modes provided in the RAD raw data tables Ops mode # | Description -----------|-------------------------------------------------------------- 0 | no operation mode, controlled by ground commands 65-66 | standard mode - not used due to technical issues 33-34 | hourly mode 97-98 | single mode 129-130 | calibration mode - only usable for science under certain conditions |(Temperature calibration target = Temperature Sensorhead)