Dictionary:PDS4 Keyword

VICAR Property.VICAR Keyword

General Definition

Mars 2020-Specific Information

XPath

Valid Values (attribute)
Children (class)

Data Type
Units

 img:active_flag

ZSTACK_REQUEST_PARMS. GROUP_APPLICABILITY_FLAG

The active_flag attribute indicates whether or not the data processing described by the parent class is active. In general, the presence of the parent class implies it is active and thus active_flag is optional. The primary purpose for active_flag is to either explicitly indicate a correction is not active (for example, if it normally is but was explicitly turned off), or to be able to provide parameters for historical reasons that may no longer be relevant to a current correction.

ASCII_Boolean

 mars2020:active_flight_computer

The active_flight_computer indicates which flight computer "string" (separate sets of electronics) was active when a product was acquired. For Mars 2020 there are two redundant flight computers called "strings", also known as Rover Compute Elements (RCEs). Either string, A or B, may be active at any given time.

1) "A"

2) "B"

ASCII_Short_String_Collapsed

 msn:active_flight_computer

IDENTIFICATION. ACTIVE_FLIGHT_STRING_ID

Identifies which of potentially several flight computers were used for this observation.

Mars 2020 Specific:
For M2020 there are two redundant flight computers (called "strings"), also known as Rover Compute Elements (RCE's). Either string (A or B) may be active at any given time.

1) "A"

2) "B"

ASCII_Short_String_Collapsed

 msn:active_flight_imu

Identifies which of potentially several inertial measurement units (IMUs) were used for this observation.

ASCII_Short_String_Collapsed

 msn_surface:activity_id

IDENTIFICATION. ACTIVITY_ID

Identifier specifying the activity this observation is a part of.

Mars 2020 Specific:
The general operational usage of this field is to group related datasets together by science or engineering applicaiton or theme, such as frames in a mosaic.

ASCII_Short_String_Collapsed

 msn_surface:activity_notes

Provides additional notes regarding the activity.

ASCII_Text_Preserved

 Alias

The Alias class provides a single alternate name and identification for this product in this or some other archive or data system.

1) alternate_id

2) alternate_title

3) comment

 Alias_List

The Alias_List class provides a list of paired alternate names and identifications for this product in this or some other archive or data system.

1) Alias

 alternate_id

IDENTIFICATION. PRODUCT_ID

The alternate_id attribute provides an additional identifier supplied by the data provider.

Mars 2020 Specific:
For M2020, it is the filename minus the extension.

ASCII_Short_String_Collapsed

 img:analog_offset

INSTRUMENT_STATE_PARMS. DC_OFFSET
INSTRUMENT_STATE_PARMS. OFFSET_MODE_ID

The analog_offset attribute identifies the analog value that is subtracted from the signal prior to the analog/digital conversion.

Mars 2020 Specific:
For M2020 this field has been co-opted for other uses and no longer retains this meaning. See INSTRUMENT_MODE_ID keyword.

ASCII_Integer

 msss_cam_mh:analog_offset

The analog_offset attribute identifies the analog value that is subtracted from the signal prior to the analog/digital conversion.

ASCII_Integer

 msn_surface:application_id

TELEMETRY. APPLICATION_PROCESS_ID

The application_id (often abbreviated APID) attribute identifies the process, or source, which created the data. This can include information such as an identification of the instrument which generated the telemetry stream, its operating mode at the time of data acquisition, and any onboard compression of the data.

Mars 2020 Specific:
For M2020, the Application Process Identifier (APID) identifies the data type encapsulated in the packet, including whether the packet is a data product packet or a non-data product packet. M2020 shall implement the following APID assignments (all numbers below are in decimal, all ranges are inclusive):

a) APID 2047 is used for Idle Packets.
b) APID 2040-2046 will not be produced by M2020 as these APIDs are reserved by the CCSDS standard.
c) APID 0 will not be produced by M2020 .
d) APID 1 is reserved for X-band time correlation packets.
e) APIDs 2-99 are assigned to non-data product packets. Individual values will be assigned to particular packet types as they are identified. Definitions of these packet formats are defined in this document. Definition of APID assignments is included in the Rover Flight Software APID XML.
f) APIDs 100-2039 are assigned to RCE Flight Software data product packets. Definition of APID assignments is included in the Rover Flight Software APID XML.
g) APIDs 1500-2039 are reserved for SSE (Simulation and Support Equipment) product types.

(Above text from M2020 FGICD Volume 1, Rev A)

For M2020, only APID Names uniquely identify Data Product types across all FSW versions. For this reason, the integer APIDs are not documented here.


See also APPLICATION_PROCESS_NAME and Appendix A.

ASCII_NonNegative_Integer

 msn_surface:application_name

TELEMETRY. APPLICATION_PROCESS_NAME

The application_name attribute provides the name associated with the source or process which created the data.

Mars 2020 Specific:
For M2020, only APID Names uniquely identify Data Product types across all FSW versions.

See also APPLICATION_PROCESS_ID and Appendix A.

ASCII_Short_String_Collapsed

 Array_2D_Image

The Array 2D Image class is an extension of the Array 2D class and defines a two dimensional image.

1) Array_2D

2) offset

3) axes

4) name

5) local_identifier

6) axis_index_order

7) md5_checksum

8) description

9) Display_2D_Image

10) Axis_Array

11) Element_Array

12) Special_Constants

13) Object_Statistics

14) Digital_Object

15) Local_Internal_Reference

 Array_3D_Image

The Array 3D Image class is an extension of the Array 3D class and defines a three dimensional image.

1) Array_3D

2) offset

3) axes

4) name

5) local_identifier

6) axis_index_order

7) md5_checksum

8) description

9) Axis_Array

10) Element_Array

11) Special_Constants

12) Object_Statistics

13) Digital_Object

14) Local_Internal_Reference

 img:array_band_number

The array_band_number is the image plane (band) in the array that corresponds to the optical filter with which the image was acquired.

ASCII_NonNegative_Integer

 geom:Articulation_Device_Parameters

The Articulation_Device_Parameters class contains those attributes and sub-classes that describe an articulation device. An articulation device is anything that can move independently of the spacecraft to which it is attached. Examples include mast heads, wheel bogies, arms, filter wheel, scan platforms.

1) local_identifier

2) geom:device_id

3) geom:device_name

4) geom:device_mode

5) geom:device_phase

6) geom:selected_instrument_id

7) geom:Device_Angle

8) geom:Device_Component_State

9) geom:Device_Motor_Counts

10) geom:Device_Pose

11) geom:Vector_Device_Gravity

12) geom:Vector_Device_Gravity_Magnitude

13) geom:Device_Temperature

14) geom:Coordinate_Space_Present

15) geom:Coordinate_Space_Reference

16) geom:Commanded_Geometry

 img:atmospheric_opacity

The atmospheric opacity (tau) value used in radiometric correction.

ASCII_Real

 img:atmospheric_opacity_reference

The atmospheric opacity (tau) target value to which the image was corrected.

ASCII_Real

 geom:attitude_propagation_counter

Count in clock units of how long it has been since the last IMU reset, which relates to how good the attitude measurement is due to IMU drift.

ASCII_Real

 author_list

The author_list attribute contains a semi-colon-separated list of names of people to be cited as authors of the associated product. The general format for individual names is: SURNAME, GIVEN NAME(s). Initials may be used in lieu of given name(s). If the name contains a suffix ("Jr.", "Sr.", "III", etc.) it should be placed before the comma (,). Do not include the word "and" before the final author. All authors should be listed explicitly - do not elide the list using "et al.".

UTF8_Text_Preserved

 msn_surface:auto_delete_flag

TELMETRY. AUTO_DELETE_FLAG

Indicates if the product was to be automatically deleted onboard after it is transmitted.

ASCII_Boolean

 img:auto_exposure_data_cut

MINI_HEADER. AUTO_EXPOSURE_DATA_CUT
OBSERVATION_REQUEST_PARMS. AUTO_EXPOSURE_DATA_CUT

The auto_exposure_data_cut attribute specifies the DN value which a specified fraction of pixels is permitted to exceed. The fraction is specified using the auto_exposure_data_fraction attribute.

ASCII_Integer

 img:auto_exposure_percent

MINI_HEADER. AUTO_EXPOSURE_PERCENT
OBSERVATION_REQUEST_PARMS. AUTO_EXPOSURE_PERCENT

The auto_exposure_percent attribute specifies the auto-exposure early-termination percent. If the desired DN (auto_exposure_data_cut) is within this percentage of the measured DN (the DN at which the percentage of pixels above that DN equals or exceeds the auto_exposure_pixel_fraction), then the auto exposure algorithm is terminated and the calculated time is accepted.

ASCII_Real

 img:auto_exposure_pixel_fraction

MINI_HEADER. AUTO_EXPOSURE_PIXEL_FRACTION
OBSERVATION_REQUEST_PARMS. AUTO_EXPOSURE_PIXEL_FRACTION

The auto_exposure_pixel_fraction attribute specifies the percentage of pixels whose DN values may exceed the auto_expsoure_data_cut.

ASCII_Real

 img:Autoexposure

The Autoexposure class contains attributes used to identify or describe the algorithm used to automatically calculate the proper exposure time. This is generally based on some kind of histogram analysis. The specific autoexposure algorithm used is defined in the processing_algorithm attribute, and the specific set of attributes needed to describe it will vary based on the algorithm. Examples of autoexposure algorithms include "Maki 2003" used on MER, MSL ECAMs, M2020 ECAMS; "Maurice 2012" used on MSL ChemCam; "Smith 1997" used on Mars Pathfinder Imager.

1) img:Data_Processing

2) img:auto_exposure_data_cut

3) img:active_flag

4) img:auto_exposure_percent

5) img:processing_venue

6) img:auto_exposure_pixel_fraction

7) img:processing_algorithm

8) img:auto_exposure_lower_threshold

9) img:sequence_number

10) img:auto_exposure_lower_limit

11) img:auto_exposure_roi_first_line

12) img:auto_exposure_roi_first_sample

13) img:auto_exposure_roi_lines

14) img:auto_exposure_roi_samples

15) img:auto_exposure_upper_threshold

16) img:auto_exposure_upper_limit

17) img:max_auto_exposure_iteration_count

18) img:exposure_table

19) img:exposure_table_update_flag

20) img:valid_maximum_pixel

21) img:valid_minimum_pixel

 img:autofocus_step_count

The autofocus_step_count attribute specifies the number of steps (images) to be taken by an autofocus algorithm.

ASCII_NonNegative_Integer

 img:autofocus_step_size

IMAGE_REQUEST_PARMS. INSTRUMENT_FOCUS_STEP_SIZE
OBSERVATION_REQUEST_PARMS. INSTRUMENT_FOCUS_STEP_SIZE

The autofocus_step_size attribute specifies the size in motor counts of each (or the initial) step taken by the focus adjustment mechanism in an autofocus algorithm.

Mars 2020 Specific:
For MCZ cameras on M2020, specifies the size in motor counts of each (or the initial) step taken by the focus adjustment mechanism in an autofocus algorithm.

ASCII_NonNegative_Integer

 axes

SYSTEM. NB

The axes attribute provides a count of the axes.

1) "2"

ASCII_NonNegative_Integer

 Axis_Array

The Axis Array class is used as a component of the array class and defines an axis of the array.

1) axis_name

2) local_identifier

3) elements

4) unit

5) sequence_number

6) Band_Bin_Set

 axis_index_order

The axis_index_order attribute provides the axis index that varies fastest with respect to storage order.

1) "Last Index Fastest"

ASCII_Short_String_Collapsed

 axis_name

The axis_name attribute provides a word or combination of words by which the axis is known.

ASCII_Short_String_Collapsed

 img:bad_pixel_replacement_flag

INSTRUMENT_STATE_PARMS. BAD_PIXEL_REPLACEMENT_FLAG

If true, specifies whether or not bad pixel replacement processing was requested or completed. See bad_pixel_replacement_table_id.

ASCII_Boolean

 img:bad_pixel_replacement_table_id

INSTRUMENT_STATE_PARMS. BAD_PIXEL_REPLACEMENT_ID

Specifies the table used to replace bad pixels. A bad pixel table typically lists the location of each bad pixel on a detector. The specific table used is mission-specific.

ASCII_Short_String_Collapsed

 disp:blue_channel_band

The blue_channel_band attribute identifies the number of the band, along the band axis, that should be loaded, by default, into the blue channel of a display device. The first band along the band axis has band number 1.

ASCII_Integer

 msn_surface:boot_counter

TELEMETRY. BOOT_COUNT

Counter indicating the number of times the spacecraft flight software has been booted. The intent is that this is a global counter that can uniquely identify the current FSW boot, so other counters that reset at boot time can be disambiguated.

ASCII_Short_String_Collapsed

 img:Brightness_Correction

The Brightness_Correction class describes brightness corrections that were applied to an image or mosaic. Brightness correction is the process of adjusting the DN values of adjacent frames in a mosaic so they match visually. It may also involve contrast or vignetting adjustments. The result may no longer be radiometrically calibrated due to the adjustments. The processing_algorithm child of Brightness_Correction describes the type of brightness correction, and should correspond to the classes within Brightness_Correction_Image. If the algorithm is "MIXED", multiple algorithms were used, in which case the specific information in each Brightness_Correction_Image must be used.

1) img:Data_Processing

2) img:active_flag

3) img:processing_venue

4) img:processing_algorithm

5) img:sequence_number

6) img:Brightness_Correction_File

7) img:Brightness_Correction_Image

 img:Brightness_Correction_File

DERIVED_IMAGE_PARMS. BRIGHTNESS_CORRECTION_FILE

The Brightness_Correction_File identifies a file containing brightness correction information. The project SIS should define the format of this file. Correction information may appear in the file, in instances of the Brightness_Correction_Image class, or both (if both, they should be consistent).

1) img:Data_Processing_File

2) description

3) name

4) Internal_Reference

5) External_Reference

 img:Brightness_Correction_Image

The Brighness_Correction_Image class describes the brightness correction that was applied to a single image, whether alone or part of a mosaic. The image this correction applies to may be identified via the enclosed Internal_Reference, or via the order in which the Brightness_Correction_Image objects appear (which matches the order given in Input_Product_List).

1) Internal_Reference

2) img:Brightness_Correction_Linear

3) img:Brightness_Correction_HSI_Linear

 img:Brightness_Correction_Linear

The Brightness_Correction_Linear class describes a simple linear brightness correction, with an additive (brightness_offset) and multiplicative (brightness_scale) factor applied. The result is: output = input * brightness_scale + brightness_offset. If there are multiple bands, the same correction is applied to each band.

1) img:brightness_scale

2) img:brightness_offset

 img:brightness_offset

The brightness_offset attribute defines the additive factor used for a linear brightness correction.

ASCII_Real

 img:brightness_scale

The brightness_scale attribute defines the multiplicative factor used for a linear brightness correction.

ASCII_Real

 Bundle

The Bundle class describes a collection of collections.

1) bundle_type

2) description

3) Conceptual_Object

 Bundle_Member_Entry

The Bundle Member Entry class provides a member reference to a collection.

1) lid_reference

2) lidvid_reference

3) member_status

4) reference_type

 bundle_type

The bundle_type attribute provides a classification for the bundle.

1) "Archive"

2) "Supplemental"

ASCII_Short_String_Collapsed

 geom:c0

The first coefficient of a polynomial.

ASCII_Real

 geom:c1

The second coefficient of a polynomial.

ASCII_Real

 geom:c2

The third coefficient of a polynomial.

ASCII_Real

 geom:CAHV_Model

The CAHV model is a linear, perspective-projection camera model (equivalent to a pinhole camera). It consists of four 3-vectors (C,A,H,V) that describe the internal and external camera model parameters needed to translate between 2D image coordinates and 3D world coordinates. C (Vector_Center) is the 3D position of the pinhole (center of the entrance pupil). A (Vector_Axis) is a unit vector normal to the image plane pointing outward. H (Vector_Horizontal) is a composite vector encoding three quantities: H' (a vector in the image plane perpendicular to the vertical columns), Hs (the distance between the lens center and image plane, measured in horizontal pixels), and Hc (the horizontal image coordinate directly under C when moving parallel to A). V (Vector_Vertical) similarly composites the analogous V', Vs, and Vc in the vertical direction.

1) geom:Vector_Center

2) geom:Vector_Axis

3) geom:Vector_Horizontal

4) geom:Vector_Vertical

 geom:CAHVOR_Model

The CAHVOR model is built upon CAHV (see CAHV_Model), adding radial (barrel or pincushion) distortion to the linear model. It adds two more 3-vectors to CAHV. O (Vector_Optical) is a unit vector representing the axis of symmetry for the radial distortion. R (Radial_Terms) contains the coefficients of a polynomial function that describes the radial distortion.

1) geom:CAHV_Model

2) geom:Vector_Center

3) geom:Vector_Optical

4) geom:Radial_Terms

5) geom:Vector_Axis

6) geom:Vector_Horizontal

7) geom:Vector_Vertical

 geom:CAHVORE_Model

The CAHVORE model is built upon CAHVOR (see CAHVOR_Model), adding support for fisheye lenses. It adds one more 3-vector and two scalars to CAHVOR. E (Entrance_Terms) contains the coefficients of a polynomial function used to model movement of the entrance pupil. The two scalars, cahvore_model_type and cahvore_model_parameter, together specify the type of lens being modeled.

1) geom:CAHVOR_Model

2) geom:cahvore_model_type

3) geom:cahvore_model_parameter

4) geom:Entrance_Terms

5) geom:Vector_Center

6) geom:Vector_Optical

7) geom:Radial_Terms

8) geom:Vector_Axis

9) geom:Vector_Horizontal

10) geom:Vector_Vertical

 geom:cahvore_model_parameter

GEOMETRIC_CAMERA_MODEL. MODEL_COMPONENT_9

The cahvore_parameter_type attribute is a scalar floating-point number used for CAHVORE Type 3 models (see cahvore_model_type). If the parameter is 1.0, the model is identical to type 1; if 0.0, it is identical to type 2. Most fish-eye lenses use a value in between.

ASCII_Real

 geom:cahvore_model_type

GEOMETRIC_CAMERA_MODEL. MODEL_COMPONENT_8

The cahvore_model_type attribute indicates which variant of the CAHVORE model to use. Type 1 is a perspective-projection model, similar to CAHV and CAHVOR except for the moving entrance pupil. Type 2 is a fish-eye lens model reflecting fundamentally different geometry. Type 3 is a generalization that includes the first two, and is used for most fisheye-type lenses (see cahvore_model_parameter).

1) "1"

2) "2"

3) "3"

ASCII_Integer

 geom:calibration_source_id

GEOMETRIC_CAMERA_MODEL. CALIBRATION_SOURCE_ID

The calibration_source_id is used to identify the source used in calibrating the instrument.

ASCII_Short_String_Collapsed

 geom:Camera_Model_Parameters

A camera model describes the mathematical relationship between the coordinates of a point in 3-dimensional space and its projection onto a 2-dimensional image plane. There are numerous types of camera models.

1) geom:model_type

2) geom:calibration_source_id

3) geom:solution_id

4) Internal_Reference

5) geom:CAHV_Model

6) geom:CAHVOR_Model

7) geom:CAHVORE_Model

8) geom:PSPH_Model

9) geom:Reference_Frame_Identification

10) geom:Coordinate_Space_Reference

11) geom:Quaternion_Model_Transform

12) geom:Vector_Model_Transform

13) geom:Interpolation

 img_surface:camera_model_serial_number

Specifies the manufacturer's serial number for the camera for which the camera model was derived. This should match instrument_serial_number in most cases; generally speaking a mismatch should only occur during testing/development.

ASCII_Short_String_Collapsed

 img_surface:camera_product_id

The camera_product_id attribute specifies a numeric identifier assigned by the instrument to this specific observation.

ASCII_Short_String_Collapsed

 msss_cam_mh:camera_product_id

Identifier assigned by the camera to this image (aka CDPID). The identifier is unique among all products stored on the camera at the time of acquisition, but is not necessarily unique across the mission.

ASCII_NonNegative_Integer

 cart:Cartography

The Cartography class provides a description of how a 3D sphere, spheroid, or elliptical spheroid or the celestial sphere is mapped onto a plane.

1) Local_Internal_Reference

2) cart:Spatial_Domain

3) cart:Secondary_Spatial_Domain

4) cart:Spatial_Reference_Information

 img:center_filter_wavelength

INSTRUMENT_STATE_PARMS. CENTER_FILTER_WAVELENGTH

The center_filter_wavelength attribute provides the wavelength of the center of the passband, or the peak transmissivity, for an instrument filter.

ASCII_Real

Units_of_Length

 Citation_Information

The Citation_Information class provides specific fields often used in citing the product in journal articles, abstract services, and other reference contexts.

1) author_list

2) editor_list

3) publication_year

4) doi

5) keyword

6) description

 img:Col_Sum

Describes a Column Summation product, which is a single row containing the sum of all pixels in each column of the image.

1) img:download_priority

2) img:product_flag

 Collection

The Collection class provides a description of a set of products.

1) collection_type

2) description

 collection_type

The collection_type attribute provides a classification for the collection.

1) "Browse"

2) "Calibration"

3) "Context"

4) "Data"

5) "Document"

6) "Geometry"

7) "Miscellaneous"

8) "SPICE Kernel"

9) "XML Schema"

ASCII_Short_String_Collapsed

 disp:color_display_axis

The color_display_axis attribute identifies, by name, the axis of an Array (or Array subclass) that is intended to be displayed in the color dimension of a display device. I.e., bands from this dimension will be loaded into the red, green, and blue bands of the display device. The value of this attribute must match the value of one, and only one, axis_name attribute in an Axis_Array class of the associated Array.

ASCII_Short_String_Collapsed

 disp:Color_Display_Settings

The Color_Display_Settings class provides guidance to data users on how to display a multi-banded Array object on a color-capable display device.

1) disp:color_display_axis

2) comment

3) disp:red_channel_band

4) disp:green_channel_band

5) disp:blue_channel_band

 img:Color_Filter_Array

The Color_Filter_Array class describes whether or not an image was acquired using a Color Filter Array (CFA) and if so, whether and how the CFA pattern was removed. A CFA is a method for making color images using one exposure on a single sensor plane, where microfilters of different wavelengths are put in front of pixels in a specific pattern. The most common pattern is the Bayer pattern, which has a red, blue, and two green pixels in every 2x2 pixel square. Although generally used for RGB color, CFA filters can be of any number and wavelength (see color_filter_array_type).

1) img:Data_Processing

2) img:color_filter_array_type

3) img:active_flag

4) img:color_filter_array_state

5) img:processing_venue

6) img:processing_algorithm

7) img:sequence_number

 img:color_filter_array_state

INSTRUMENT_STATE_PARMS. BAYER_METHOD

Specifies whether the image still has a CFA pattern ("Encoded"), the CFA pattern has been removed ("Decoded") or it never had a pattern ("No CFA").

1) "Decoded"

2) "Encoded"

3) "No CFA"

ASCII_Short_String_Collapsed

 img:color_filter_array_type

INSTRUMENT_STATE_PARMS. CFA_TYPE

Defines the type of Color Filter Array (CFA) used to encode multiple colors in a single exposure. The most common example of this is the Bayer pattern. This is optional if there is no CFA. Additional attributes, specific to each CFA type, define whether or not the CFA pattern has been removed, and if so, how (e.g. bayer_algorithm).

1) "Bayer RGGB"

2) "None"

ASCII_Short_String_Collapsed

 img:color_subsampling_mode

COMPRESSION_PARMS. INST_CMPRS_COLOR_MODE

The color_subsampling_mode attribute specifies the JPEG color subsampling mode used during compression. Valid values: '4:2:2' - 4:2:2 chroma subsampling, which is the typical case, '4:4:4' - 4:4:4 chroma sampling, which indicates no subsampling, 'Grayscale' - indicates a grayscale image

Mars 2020 Specific:
For M2020, this is the JPEG color subsampling mode. COLOR_MODE_GRAY indicates a grayscale image, COLOR_MODE_422 indicates 4:2:2 chroma
subsampling (the typical case), and COLOR_MODE_444 indicates 4:4:4 chroma sampling (no subsampling). The keyword is not applicable if the INST_CMPRS_NAME is not JPEG and may be omitted.

1) "COLOR_MODE_GRAY"

2) "N/A"

3) "COLOR_MODE_422"

4) "COLOR_MODE_444"

ASCII_Short_String_Collapsed

 msn_surface:command_dispatch_sclk

TELEMETRY. COMMAND_DISPATCH_SCLK

Specifies the spacecraft clock time at which the command execution was started.

Mars 2020 Specific:
The subseconds for this SCLK are expressed not in milliseconds but rather in counts, where each count is 1/65536 of a second. This is indicated in the PDS4 label (but not the VICAR/ODL label) by a ":" rather than a "." separating the integer and subsecond components of the SCLK.

ASCII_Short_String_Collapsed

 msn_surface:Command_Execution

The Command_Execution class contains information about how the command that acquired this data was executed, such as sequence or activity.

1) msn_surface:sequence_id

2) msn_surface:sequence_version_id

3) msn_surface:sequence_execution_count

4) msn_surface:command_sequence_number

5) msn_surface:command_source_id

6) msn_surface:command_dispatch_sclk

7) msn_surface:observation_id

8) msn_surface:request_id

9) msn_surface:boot_counter

10) msn_surface:rtt_version

 msn_surface:command_sequence_number

IDENTIFICATION. COMMAND_SEQUENCE_NUMBER

The command_sequence_number attribute provides a numeric identifier for a sequence of commands sent to a spacecraft or instrument.

Mars 2020 Specific:
For M2020, this is the command number which identifies the specific generating command within the specified sequence.

ASCII_NonNegative_Integer

 msn_surface:command_source_id

OBSERVATION_REQUEST_PARMS . SOURCE_ID

Specifies where the command that triggered acquisition of this data came from. This may be "GROUND" for ground commanding, or the name of a flight software module that initiated the request.

Mars 2020 Specific:
For M2020, it identifies the FSW element that requested the image, i.e. what was the source of the command. The field is based on the value for IMAGE_ID and the mappings are per convention; there is no guarantee that the mappings are used in this way during operations.

1) "GND"

2) "NAVF"

3) "NAVR"

4) "NAVS"

5) "HAFIQ"

6) "SUN"

7) "FAULT"

8) "VTT"

9) "ARMC"

10) "ARMF"

11) "WATCH"

12) "VISODOM"

13) "SPARE1"

14) "SPARE2"

15) "SPARE3"

16) "SPARE4"

ASCII_Short_String_Collapsed

 geom:command_type

OBSERVATION_REQUEST_PARMS. INSTRUMENT_COORDINATE_TYPE

Specifies how the device was commanded.

1) "Angle_Absolute"

2) "Angle_Relative"

3) "Joint_Absolute"

4) "Joint_Relative"

5) "XYZ"

6) "No_Motion"

7) "No_Motion_No_Arb"

8) "None"

ASCII_Short_String_Collapsed

 geom:Commanded_Geometry

Specifies how the device was commanded in order to achieve the state represented in the enclosing Articulation_Device_Parameters. Commands are often at a higher level, e.g. point at this location or move to this XYZ, which is translated by flight software to the actual pose of the device. Certain forms of command are measured in a coordinate frame; this is specified by the Coordinate_Space_Reference in this class (if not present, the Coordinate_Space_Reference in the Articulation_Device_Parameters parent should be assumed).

1) geom:command_type

2) geom:Device_Angle

3) geom:Commanded_Position

4) geom:Coordinate_Space_Reference

 img:Commanded_Parameters

The Commanded_Parameters class contains attributes used to identify or describe the commands sent to a spacecraft to perform one or more actions resulting in the acquisition of the current data product. These are distinct from similar values in the root Imaging class which indicate the state of the image as acquired.

1) description

2) img:Brightness_Correction

3) img:Col_Sum

4) img:Color_Filter_Array

5) img:Color_Processing

6) img:Dark_Current_Correction

7) img:Detector

8) img:Downsampling

9) img:Exposure

10) img:Flat_Field_Correction

11) img:Focus

12) img:Focus_Stack

13) img:Frame

14) img:High_Dynamic_Range

15) img:Histogram

16) img:Illumination

17) img:Image_Filter

18) img:Image_Mask

19) img:Onboard_Compression

20) img:Optical_Filter

21) img:Optical_Properties

22) img:Pointing_Correction

23) img:Radiometric_Correction

24) img:Reference_Pixel

25) img:Row_Sum

26) img:Sampling

27) img:Shutter_Subtraction

28) img:Spatial_Filter

29) img:Subframe

30) img:Thumbnail

31) img:Tiling

32) img:Video

 img_surface:Commanded_Parameters

The Commanded_Parameters class contains attributes used to identify or describe the commands sent to a spacecraft to perform one or more actions resulting in the acquisition of the current data product. These are distinct from similar values in the root Surface_Imaging class which indicate the state of the image as acquired

1) img_surface:Instrument_Information

2) img_surface:Image_Identifiers

 msn_surface:Commanded_Parameters

The Commanded_Parameters class contains attributes used to identify or describe the commands sent to a spacecraft to perform one or more actions resulting in the acquisition of the current data product. These are distinct from similar values in the root Surface_Mission_Information class which indicate the state of the data as acquired.

1) msn_surface:download_priority

 geom:Commanded_Position

OBSERVATION_REQUEST_PARMS. INSTRUMENT_COORDINATE
OBSERVATION_REQUEST_PARMS. INSTRUMENT_COORDINATE_NAME

Specifies a Cartesian position used in commanding the device.

1) geom:Vector_Cartesian_Position_Base

2) geom:x_position

3) geom:y_position

4) geom:z_position

 comment

The comment attribute is a character string expressing one or more remarks or thoughts relevant to the object.

ASCII_Text_Preserved

 msn_surface:communication_session_id

TELEMETRY. COMMUNICATION_SESSION_ID

Identifies the communication session used to acquire this data.

Mars 2020 Specific:
For M2020, this is the active communication session ID at the timeof MPDU (Metadata Protocol Data Unit) creation. The MPDU is the first PDU (Protocol Data Unit) produced for a data product, and contains general and M2020 specific metadata. It is wholly contained in a single packet. A value of 0 means the value is not set.

ASCII_Short_String_Collapsed

 img:Companding

The Companding class describes whether or not data is or has had its bit depth reduced (for example conversion from 12 to 8 bits via a lookup table or bit scaling), the venue where it occurred (Software or Hardware), and the method used to complete the companding. The processing_algorithm attribute specifies how data was companded. Generally this will either be via a lookup table (such as a square root encoding), or by shifting bits to preserve the high order bits and discard the low order bits. The value of this keyword is mission specific but there are recommended values that should apply across missions when possible: NONE - no scaling. LUTn - use the numbered lookup table. Lookup tables are defined in the mission SIS. It is preferred for "n" to be a number but it could be a name, for example LUT_MMM_3 to indicate LUT 3 for the MMM instruments (on MSL). MSB_BITn - Shift to make bit "n" the most significant. Bits start numbering at 0 so MSB_BIT7 means no shift for a 12->8 bit companding, while MSB_BIT11 means to shift right 4 bits for a 12->8 bit companding. AUTOSHIFT - Data should be shifted to preserve the highest value. This value should only appear in a command echo; one of the MSB_BITn values should be used in downlinked data to specify what the actual shift was.

1) img:Data_Processing

2) img:companding_state

3) img:active_flag

4) img:early_scaling

5) img:processing_venue

6) img:processing_algorithm

7) img:sequence_number

8) img:Companding_File

9) img:Companding_Table

 img:companding_state

INSTRUMENT_STATE_PARMS. SAMPLE_BIT_METHOD

The companding_state attribute specifies whether the data is or has had its bit depth reduced, for example conversion from 12 to 8 bits via a lookup table or bit scaling. Valid values: None - values have not been companded. Companded - values are currently companded. Expanded - values have been companded but are now expanded back to original size.

Mars 2020 Specific:
For M2020, the bit scaling is a 12-bit to 8-bit scaling and can be performed onboard via hardware and/or software , or on the ground in an inverse operation.

1) "Companded"

2) "Expanded"

3) "None"

ASCII_Short_String_Collapsed

 Context_Area

The Context Area provides context information for a product.

1) comment

2) Time_Coordinates

3) Primary_Result_Summary

4) Investigation_Area

5) Observing_System

6) Target_Identification

7) Mission_Area

8) Discipline_Area

 geom:Coordinate_Space_Definition

The Coordinate_Space classes are typically used for lander/rover geometry while the Coordinate_System construction is used for orbiter/flyby geometry.

1) local_identifier

2) geom:positive_azimuth_direction

3) geom:positive_elevation_direction

4) geom:quaternion_measurement_method

5) geom:Coordinate_Space_Present

6) geom:Vector_Origin_Offset

7) geom:Quaternion_Plus_Direction

8) geom:Coordinate_Space_Reference

9) geom:Coordinate_Space_Quality

 geom:coordinate_space_frame_type

*. COORDINATE_SYSTEM_NAME

The coordinate_space_frame_type attribute identifies the type of frame being described, such as SITE, LOCAL_LEVEL, LANDER, ROVER, ARM, etc. When combined with Coordinate_Space_Index and the optional solution_id in the Coordinate_Space_Indexed class, this serves to fully name an instance of a coordinate space.

1) "SITE_FRAME"

2) "ROVER_NAV_FRAME"

3) "ROVER_MECH_FRAME"

4) "LOCAL_LEVEL_FRAME"

5) "RSM_HEAD_FRAME"

6) "ARM_TURRET_FRAME"

7) "ARM_DRILL_FRAME"

8) "ARM_DOCKING_POST_FRAME"

9) "ARM_PIXL_FRAME"

10) "ARM_GDRT_FRAME"

11) "ARM_FCS_FRAME"

12) "ARM_WATSON_FRAME"

13) "ARM_SHERLOC_FRAME"

14) "ARM_CUSTOM_TCP_FRAME"

15) "PIXL_BASE_FRAME"

16) "PIXL_SENSOR_FRAME"

17) "HELI_G_FRAME"

18) "HELI_M_FRAME"

19) "HELI_S1_FRAME"

20) "HELI_S2_FRAME"

21) "CINT_FRAME"

22) "MCMF_FRAME"

23) "MCZ_CAL_PRIMARY"

24) "DRILL_BIT_TIP"

25) "MEDA_RDS"

ASCII_Short_String_Collapsed

 geom:Coordinate_Space_Index

*. REFERENCE_COORD_SYSTEM_INDEX

Identifies a coordinate space using an index value given in an identified list.

1) geom:List_Index_No_Units

2) geom:index_sequence_number

3) geom:index_name

4) geom:index_id

5) geom:index_value_number

 geom:Coordinate_Space_Indexed

The Coordinate_Space_Indexed class contains the attributes and classes identifying the indexed coordinate space.

1) geom:coordinate_space_frame_type

2) geom:solution_id

3) geom:Coordinate_Space_Index

 geom:Coordinate_Space_Present

The Coordinate_Space_Present class includes the attributes that identifies the coordinate space presently being defined.

1) geom:Coordinate_Space_Identification

2) geom:Coordinate_Space_Indexed

3) geom:Coordinate_Space_SPICE

4) Local_Internal_Reference

 geom:Coordinate_Space_Quality

Parameters that indicate the quality of the coordinate space knowledge.

1) geom:quaternion_measurement_method

2) geom:attitude_propagation_counter

3) geom:attitude_propagation_duration

 geom:Coordinate_Space_Reference

The Coordinate_Space_Reference class includes the attributes that identify the coordinate space being used to express coordinates in the class in which it appears.

1) geom:Coordinate_Space_Identification

2) geom:Coordinate_Space_Indexed

3) geom:Coordinate_Space_SPICE

4) Local_Internal_Reference

 copyright

The copyright attribute is a character string giving information about the exclusive right to make copies, license, and otherwise exploit an object, whether physical or digital.

ASCII_Text_Preserved

 img_surface:correlation_average_scale

Contains the "average" scale factor for the correlation. In other words, given the reference image, scale it by this amount to match the target image. This scale factor is not precisely defined; it is determined in different ways by different correlation programs. The intent is to provide a "hint" for users of the correlation without requiring a full set of transform coefficients.

ASCII_Real

 img_surface:correlation_overlap_percentage

Contains the percentage of the reference image that could overlap, geometrically speaking, with the target image. It does not indicate the actual correlation percentage, but rather what might correlate ideally. This can be used to distinguish, for example, nearly perfect correlation in a small overlapping area vs. very poor correlation over the entire image - both of which could have the same correlation_pixel_count). This percentage is not precisely defined; it is an approximation intended to facilitate culling of results.

ASCII_Real

 img_surface:correlation_pixel_count

Contains a count of the number of pixels that successfully correlated in the image.

ASCII_NonNegative_Integer

 creation_date_time

IDENTIFICATION. PRODUCT_CREATION_TIME

The creation_date_time attribute provides a date and time when the object was created.

ASCII_Date_Time_YMD

 mars2020:current_value

The current_value attribute provides provides the current, in the specified units, of an imaging instrument or some part of the imaging instrument.

ASCII_Real

Units_of_Current

 cart:Cylindrical

This is an in-situ projection used for (non-stereo) panoramas. Each image row represents a constant elevation and each image column represents a constant azimuth, from a given point of view. The image scale in degrees per pixel is constant across the image.

1) cart:pixel_scale_x

2) cart:pixel_scale_y

3) cart:maximum_elevation

4) cart:minimum_elevation

5) cart:start_azimuth

6) cart:stop_azimuth

7) cart:zero_elevation_line

8) cart:Vector_Projection_Origin

 cart:Cylindrical_Perspective

This is an in-situ projection that is a hybrid. Each column is a vertical slice from a pinhole camera (Perspective projection), while the columns are spaced evenly in azimuth (Cylindrical projection). It is most useful for viewing panoramas in stereo.

1) cart:pixel_scale_x

2) cart:pixel_scale_y

3) cart:maximum_elevation

4) cart:minimum_elevation

5) cart:projection_azimuth

6) cart:projection_elevation

7) cart:projection_elevation_line

8) cart:start_azimuth

9) cart:stop_azimuth

10) cart:projection_axis_offset

11) cart:Vector_Projection_Origin

12) cart:Vector_Projection_Z_Axis

13) cart:Vector_Projection_Z_Axis_Initial

 img:Dark_Current_Correction

Specifies how dark current removal was performed on this image.

1) img:Data_Processing

2) img:striping_count

3) img:active_flag

4) img:striping_overlap_rows

5) img:processing_venue

6) img:processing_algorithm

7) img:sequence_number

 mars2020:data_length

SCAM_MINI_HEADER. DATA_LENGTH

Specifies the size of the image (in the telemetry stream) in bytes for SuperCam RMI.

ASCII_NonNegative_Integer

 msn_surface:data_size

TELEMETRY. IMAGE_DATA_SIZE

The data_size specifies number of bytes in the compressed data stream, not including headers.

Mars 2020 Specific:
For Mastcam-Z, Watson, and ACI, specifies the size of the image data product on the camera DEA.

For SkyCam, reports the size of the telemetered image data in bytes, i.e. the sum of the Image Data fields of all the segments of the image.

ASCII_NonNegative_Integer

 data_type

The data_type attribute provides the hardware representation used to store a value in Element_Array.

1) "ComplexLSB16"

2) "ComplexLSB8"

3) "ComplexMSB16"

4) "ComplexMSB8"

5) "IEEE754LSBDouble"

6) "IEEE754LSBSingle"

7) "IEEE754MSBDouble"

8) "IEEE754MSBSingle"

9) "SignedBitString"

10) "SignedByte"

11) "SignedLSB2"

12) "SignedLSB4"

13) "SignedLSB8"

14) "SignedMSB2"

15) "SignedMSB4"

16) "SignedMSB8"

17) "UnsignedBitString"

18) "UnsignedByte"

19) "UnsignedLSB2"

20) "UnsignedLSB4"

21) "UnsignedLSB8"

22) "UnsignedMSB2"

23) "UnsignedMSB4"

24) "UnsignedMSB8"

ASCII_Short_String_Collapsed

 img:decomposition_stages

COMPRESSION_PARMS. INST_DECOMP_STAGES
IMAGE_REQUEST_PARMS. INST_DECOMP_STAGES
REFERENCE_PIXEL_REQUEST_PARMS. INST_DECOMP_STAGES
THUMBNAIL_REQUEST_PARMS. INST_DECOMP_STAGES

The decomposition_stages attribute identifies the number of stages of decomposition.

ASCII_NonNegative_Integer

 img:deferred_flag

COMPRESSION_PARMS. INST_CMPRS_DEFERRED_FLAG
IMAGE_REQUEST_PARMS. INST_CMPRS_DEFERRED_FLAG
REFERENCE_PIXEL_REQUEST_PARMS. INST_CMPRS_DEFERRED_FLAG
REFERENCE_REQUEST_PARMS. INST_CMPRS_DEFERRED_FLAG
THUMBNAIL_REQUEST_PARMS. INST_CMPRS_DEFERRED_FLAG

The deferred_flag attribute specifies whether compression was done at the time of image acquisition, or was deferred until later (typically at downlink time).

Mars 2020 Specific:
For M2020, deferred compression is commonly used with MCZ to downlink differently-compressed versions of the same image; the image is stored onboard in raw form. Deferred compression is specified but not currently implemented for the engineering cameras.

ASCII_Boolean

 geom:Derived_Geometry

The Derived_Geometry class is a container for surface based observations (lander or rover). It is used to provide some geometric quantities relative to a specific Reference Coordinate Space.

1) geom:target_name

2) geom:incidence_angle

3) geom:emission_angle

4) geom:phase_angle

5) geom:instrument_azimuth

6) geom:instrument_elevation

7) geom:solar_azimuth

8) geom:solar_elevation

9) geom:start_azimuth

10) geom:stop_azimuth

11) geom:target_heliocentric_distance

12) geom:solar_image_clock_angle

13) geom:Vector_Solar_Direction

14) geom:Coordinate_Space_Reference

 img_surface:derived_image_type_name

DERIVED_IMAGE_PARMS. DERIVED_IMAGE_TYPE

The derived_image_type_name attribute specifies how to interpret the pixel values in a derived image (or colloquially, the type of the derived image itself). Valid values vary per mission depending on the products produced.

1) "IMAGE"

2) "DISPARITY_MAP"

3) "DISPARITY_LINE_MAP"

4) "DISPARITY_SAMPLE_MAP"

5) "DISPARITY_ERROR_MAP"

6) "DELTA_DISPARITY_MAP"

7) "DELTA_DISPARITY_LINE_MAP"

8) "DELTA_DISPARITY_SAMPLE_MAP"

9) "MASK"

10) "XYZ_MAP"

11) "XYZ_ERROR_MAP"

12) "X_MAP"

13) "Y_MAP"

14) "Z_MAP"

15) "ANGLE_MAP"

16) "RANGE_MAP"

17) "RANGE_ERROR_MAP"

18) "UVW_MAP"

19) "U_MAP"

20) "V_MAP"

21) "W_MAP"

22) "ROUGHNESS_MAP"

23) "REACHABILITY_MAP"

24) "PRELOAD_MAP"

25) "SLOPE_MAP"

26) "RADIAL_SLOPE_MAP"

27) "SLOPE_HEADING_MAP"

28) "SLOPE_MAGNITUDE"

29) "NORTHERLY_TILT_MAP"

30) "SOLAR_ENERGY_MAP"

31) "IEP_MAP"

ASCII_Short_String_Collapsed

 img_surface:Derived_Product_Parameters

The Derived_Product_Parameters class contains attributes used to identify and describe processing performed on products in order to produce a higher level product.

1) img_surface:derived_image_type_name

2) img_surface:horizon_mask_elevation

3) img_surface:Placement_Target_Instrument

4) img_surface:Vector_Range_Origin

5) geom:Coordinate_Space_Reference

 description

The description attribute provides a statement, picture in words, or account that describes or is otherwise relevant to the object.

UTF8_Text_Preserved

 img:Detector

The Detector class contains attributes describing the state of the instrument detector. These are values directly read from the detector and do not necessarily reflect the state of the image after onboard processing. For example, the entire image may be read into memory and then subframed in software, in which case the subframe attributes in this class reflect the entire image (as read from the detector), whereas those in the Subframe class represent the final subframe results.

1) img:first_line

2) img:first_sample

3) img:lines

4) img:samples

5) img:detector_to_image_rotation

6) img:detector_to_image_flip

7) img:erase_count

8) img:readout_rate

9) img:gain_mode_id

10) img:gain_number

11) img:analog_offset

12) img:bad_pixel_replacement_flag

13) img:bad_pixel_replacement_table_id

14) img:instrument_idle_timeout

15) img:early_image_return

16) img:parameter_table_id

17) img:Special_Point

18) Internal_Reference

 img:detector_to_image_flip

INSTRUMENT_STATE_PARMS. DETECTOR_TO_IMAGE_FLIP

The detector_to_image_flip attribute indicates whether and how the image was flipped (mirror image) along its optical path through an instrument, from detector to final image orientation. "Horizontal" means a left-to-right flip, while "Vertical" means a top-to-bottom-flip. Note that if both this attribute and detector_to_image_rotation exist, the flip is assumed to have happened before the rotation.

Mars 2020 Specific:
All M2020 CacheCam images are flipped vertically.

1) "Vertical"

ASCII_Short_String_Collapsed

 img:detector_to_image_rotation

INSTRUMENT_STATE_PARMS. DETECTOR_TO_IMAGE_ROTATION

The detector_to_image_rotation attribute specifies the clockwise rotation, in degrees, that was applied to an image along its optical path through an instrument, from detector to final image orientation. Note that if both this attribute and detector_to_image_flip exist, the flip is assumed to have happened before the rotation.

ASCII_Real

Units_of_Angle

 geom:Device_Angle

OBSERVATION_REQUEST_PARMS. INSTRUMENT_COORDINATE
OBSERVATION_REQUEST_PARMS. INSTRUMENT_COORDINATE_NAME

The Device_Angle class is a container for the set of angles between the various components or devices of the spacecraft.

1) local_identifier

2) geom:Device_Angle_Index

 geom:Device_Angle_Index

The Device_Angle class is a container for the set of angles the spacecraft device specified in the parent Articulation_Device_Parameters class.

1) geom:List_Index_Angle

2) geom:index_value_angle

3) geom:index_sequence_number

4) geom:index_name

5) geom:index_id

 geom:Device_Component_State

The Device_Component_State class is a container for the states of the various components of the articulation device.

1) local_identifier

2) geom:Device_Component_State_Index

 img:Device_Component_State

The Device_Component_State class describes the state of one component of an imaging instrument or other imaging device. The meaning of "state" is device-specific.

1) img:Device_Parameters

2) img:device_state

3) img:device_name

4) img:device_id

5) img:sequence_number

 geom:Device_Component_State_Index

The Device_Component_State_Index class is a container for one state of a component of the articulation device.

1) geom:List_Index_Text

2) geom:index_sequence_number

3) geom:index_name

4) geom:index_id

5) geom:index_value_string

 img:Device_Component_States

The Device_Component_States class provides a container for the set of states of a component of an imaging instrument or other imaging device.

1) img:Device_Component_State

 mars2020:Device_Current

The Device_Current class provides the current of some point on an imaging instrument or other imaging device.

1) mars2020:device_name

2) mars2020:current_value

 mars2020:Device_Currents