Mars 2020 ECAM Release Notes 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 USA Web: http://img.pds.nasa.gov/index.html Email: pds.img@jpl.nasa.gov This document, release_notes.txt, contains release notes and errata concerning the Mars2020 ECAM archives. It is updated with each release of ECAM data. Section A of this document contains an entry for each ECAM 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: 9 Release Date: 2024-03-29 Data Coverage: 2023-08-31 to 2024-01-01 (Sols 900-1019) New products for Sols 780-899 have been added to these collections: urn:nasa:pds:mars2020_cachecam_ops_raw:browse urn:nasa:pds:mars2020_cachecam_ops_raw:data urn:nasa:pds:mars2020_hazcam_ops_raw:browse urn:nasa:pds:mars2020_hazcam_ops_raw:data urn:nasa:pds:mars2020_navcam_ops_raw:browse urn:nasa:pds:mars2020_navcam_ops_raw:data urn:nasa:pds:mars2020_edlcam_ops_raw:browse urn:nasa:pds:mars2020_edlcam_ops_raw:data urn:nasa:pds:mars2020_edlcam_ops_calibrated:browse urn:nasa:pds:mars2020_edlcam_ops_calibrated:data urn:nasa:pds:mars2020_cachecam_calibrated_raw:browse urn:nasa:pds:mars2020_cachecam_calibrated_raw:data urn:nasa:pds:mars2020_hazcam_ops_calibrated:browse urn:nasa:pds:mars2020_hazcam_ops_calibrated:data urn:nasa:pds:mars2020_hazcam_ops_stereo:data urn:nasa:pds:mars2020_hazcam_ops_mosaic:browse urn:nasa:pds:mars2020_hazcam_ops_mosaic:data urn:nasa:pds:mars2020_hazcam_ops_mesh:data urn:nasa:pds:mars2020_navcam_ops_calibrated:browse urn:nasa:pds:mars2020_navcam_ops_calibrated:data urn:nasa:pds:mars2020_navcam_ops_stereo:data urn:nasa:pds:mars2020_navcam_ops_mosaic:browse urn:nasa:pds:mars2020_navcam_ops_mosaic:data urn:nasa:pds:mars2020_navcam_ops_mesh:data Comments: 1. For multi-tile reconstructed Cachecam products, the INPUT_PRODUCT_ID in the DERIVED_IMAGE_PARMS Group only lists one input product instead of the full list of input products. 2. XYZ Error Metric (XYE) products are not included in Releases 1-9 and will be included in a future release. 3. Some radiometrically corrected products (RAF, RAD, RAS, RZS) have been processed without any flat fields applied. These products can be identified because the FLAT_FIELD_FILE_NAME is not included in the image label. 4. Some mosaics may not include all data for a given location. Some mosaics may include arm documentation imaging, resulting in what appears to be floating hardware. 5. On Sol 152, EDLCam images were acquired after sunset as part of an instrument health check. The low light levels resulted in greenish and bluish hues in the the rover downlook and uplook images. 6. On Sols 649, 650, 653, 654, 655, and 658 a bracketed exposure technique was used for Sample Depot Construction imaging with the Front Hazcams, Navcams and Cachecam. For Front Hazcam and Navcam, the bracketed exposures were used to ensure stereo coverage for sample tube documentation, regardless of lighting conditions. For Cachecam, the bracketed exposures were used to highlight different portions of the tube seal prior to tube drop. The bracketed exposure images can be identified by the following sequence-ids: fhaz08111, ncam08111, and cach00202. It is expected that some of this imaging will be saturated and some will be underexposed. 7. For JPEG compressed images, the INST_CMPRS_QUALITY items in the IMAGE_REQUEST_PARMS and THUMBNAIL_REQUEST_PARMS groups are incorrectly being valued as 0. The correct value can be obtained from the INST_CMPRS_QUALITY item in the COMPRESSION_PARMS group. 8. Some CYL, VRT, POL, and CYP mosaics have XYZ overlays assigned with a different Sol than the RZS mosaic product. For this reason, XYZ overlays were not included in this release and will be reprocessed in a future release once corrected. The FDR products for the mosaics can be found in the DERIVED_IMAGE_PARMS.INPUT_PRODUCT_ID label item, which can then be used to identify the associated XYZ products. 9. The gravity vector (ARM_ARTICULATION_STATE.ARTICULATION_DEV_VECTOR) is incorrect in two ways: 1) Rotation sense is backwards 2) It is a unit vector when it should have a magnitude The correct value can be derived as follows: Compare the given vector to a vector of (0,0,1), determining the rotation between those vectors (dot product for angle, cross product for axis), and then apply the reverse rotation (negate the angle) to the (0,0,1) vector. The magnitude of the vector should be the acceleration of gravity on Mars, which is a constant 3.71098 m/s^2. 10. Tile-specific metadata in multi-tile reconstructed FDRs may be inaccurate. The FDR label contains a single value for keywords in the INSTRUMENT_STATE_PARMS, IDENTIFICATION, TELEMETRY, and *REQUEST_PARMS groups, where these values may differ across tiles. For tile-specific metadata, refer to the TDRs directly. 11. During Releases 7 and 8, most browse products were unintentionally excluded from the mars2020_hazcam_ops_mosaic bundle. These missing products have been included in Release 9. ------------------------------------------------------------ Release Number: 8 Release Date: 2023-11-27 Data Coverage: 2023-04-30 to 2023-08-31 (Sols 780-899) New products for Sols 780-899 have been added to these collections: urn:nasa:pds:mars2020_cachecam_ops_raw:browse urn:nasa:pds:mars2020_cachecam_ops_raw:data urn:nasa:pds:mars2020_hazcam_ops_raw:browse urn:nasa:pds:mars2020_hazcam_ops_raw:data urn:nasa:pds:mars2020_navcam_ops_raw:browse urn:nasa:pds:mars2020_navcam_ops_raw:data urn:nasa:pds:mars2020_edlcam_ops_raw:browse urn:nasa:pds:mars2020_edlcam_ops_raw:data urn:nasa:pds:mars2020_edlcam_ops_calibrated:browse urn:nasa:pds:mars2020_edlcam_ops_calibrated:data urn:nasa:pds:mars2020_cachecam_calibrated_raw:browse urn:nasa:pds:mars2020_cachecam_calibrated_raw:data urn:nasa:pds:mars2020_hazcam_ops_calibrated:browse urn:nasa:pds:mars2020_hazcam_ops_calibrated:data urn:nasa:pds:mars2020_hazcam_ops_stereo:data urn:nasa:pds:mars2020_hazcam_ops_mosaic:browse urn:nasa:pds:mars2020_hazcam_ops_mosaic:data urn:nasa:pds:mars2020_hazcam_ops_mesh:data urn:nasa:pds:mars2020_navcam_ops_calibrated:browse urn:nasa:pds:mars2020_navcam_ops_calibrated:data urn:nasa:pds:mars2020_navcam_ops_stereo:data urn:nasa:pds:mars2020_navcam_ops_mosaic:browse urn:nasa:pds:mars2020_navcam_ops_mosaic:data urn:nasa:pds:mars2020_navcam_ops_mesh:data Comments: 1. For multi-tile reconstructed Cachecam products, the INPUT_PRODUCT_ID in the DERIVED_IMAGE_PARMS Group only lists one input product instead of the full list of input products. 2. XYZ Error Metric (XYE) products are not included in Releases 1-8 and will be included in a future release. 3. Some radiometrically corrected products (RAF, RAD, RAS, RZS) have been processed without any flat fields applied. These products can be identified because the FLAT_FIELD_FILE_NAME is not included in the image label. 4. Some mosaics may not include all data for a given location. Some mosaics may include arm documentation imaging, resulting in what appears to be floating hardware. 5. On Sol 152, EDLCam images were acquired after sunset as part of an instrument health check. The low light levels resulted in greenish and bluish hues in the the rover downlook and uplook images. 6. On Sols 649, 650, 653, 654, 655, and 658 a bracketed exposure technique was used for Sample Depot Construction imaging with the Front Hazcams, Navcams and Cachecam. For Front Hazcam and Navcam, the bracketed exposures were used to ensure stereo coverage for sample tube documentation, regardless of lighting conditions. For Cachecam, the bracketed exposures were used to highlight different portions of the tube seal prior to tube drop. The bracketed exposure images can be identified by the following sequence-ids: fhaz08111, ncam08111, and cach00202. It is expected that some of this imaging will be saturated and some will be underexposed. 7. For JPEG compressed images, the INST_CMPRS_QUALITY items in the IMAGE_REQUEST_PARMS and THUMBNAIL_REQUEST_PARMS groups are incorrectly being valued as 0. The correct value can be obtained from the INST_CMPRS_QUALITY item in the COMPRESSION_PARMS group. 8. We are now delivering Vision Compute Element (VCE) products and have reprocessed these products from the start of the mission. These products have been added to the following collections: urn:nasa:pds:mars2020_navcam_ops_calibrated:browse urn:nasa:pds:mars2020_navcam_ops_calibrated:data urn:nasa:pds:mars2020_navcam_ops_stereo:data urn:nasa:pds:mars2020_navcam_ops_mesh:data VCE products are 4x4 downsampled (1280x960) greyscale images with 8 bits per pixel. These images are used as part of onboard autonomous Computer Vision operations, e.g., Hazard Detection and Visual Odometry for autonomous driving. 9. Some CYL, VRT, POL, and CYP mosaics have XYZ overlays assigned with a different Sol than the RZS mosaic product. For this reason, XYZ overlays were not included in this release and will be reprocessed in a future release once corrected. The FDR products for the mosaics can be found in the DERIVED_IMAGE_PARMS.INPUT_PRODUCT_ID label item, which can then be used to identify the associated XYZ products. 10. The gravity vector (ARM_ARTICULATION_STATE.ARTICULATION_DEV_VECTOR) is incorrect in two ways: 1) Rotation sense is backwards 2) It is a unit vector when it should have a magnitude The correct value can be derived as follows: Compare the given vector to a vector of (0,0,1), determining the rotation between those vectors (dot product for angle, cross product for axis), and then apply the reverse rotation (negate the angle) to the (0,0,1) vector. The magnitude of the vector should be the acceleration of gravity on Mars, which is a constant 3.71098 m/s^2. 11. Tile-specific metadata in multi-tile reconstructed FDRs may be inaccurate. The FDR label contains a single value for keywords in the INSTRUMENT_STATE_PARMS, IDENTIFICATION, TELEMETRY, and *REQUEST_PARMS groups, where these values may differ across tiles. For tile-specific metadata, refer to the TDRs directly. 12. During Releases 7 and 8, most browse products were unintentionally excluded from the mars2020_hazcam_ops_mosaic bundle. These products will be included in a future release. The corresponding IMG data products are available in the data collection and can be used in the meantime. ------------------------------------------------------------ Release Number: 7 Release Date: 2023-07-27 Data Coverage: 2022-12-28 to 2023-04-30 (Sols 660-779) New products for Sols 660-779 have been added to these collections: urn:nasa:pds:mars2020_cachecam_ops_raw:browse urn:nasa:pds:mars2020_cachecam_ops_raw:data urn:nasa:pds:mars2020_hazcam_ops_raw:browse urn:nasa:pds:mars2020_hazcam_ops_raw:data urn:nasa:pds:mars2020_navcam_ops_raw:browse urn:nasa:pds:mars2020_navcam_ops_raw:data urn:nasa:pds:mars2020_edlcam_ops_raw:browse urn:nasa:pds:mars2020_edlcam_ops_raw:data urn:nasa:pds:mars2020_edlcam_ops_calibrated:browse urn:nasa:pds:mars2020_edlcam_ops_calibrated:data urn:nasa:pds:mars2020_cachecam_calibrated_raw:browse urn:nasa:pds:mars2020_cachecam_calibrated_raw:data urn:nasa:pds:mars2020_hazcam_ops_calibrated:browse urn:nasa:pds:mars2020_hazcam_ops_calibrated:data urn:nasa:pds:mars2020_hazcam_ops_stereo:browse urn:nasa:pds:mars2020_hazcam_ops_stereo:data urn:nasa:pds:mars2020_hazcam_ops_mosaic:browse urn:nasa:pds:mars2020_hazcam_ops_mosaic:data urn:nasa:pds:mars2020_hazcam_ops_mesh:data urn:nasa:pds:mars2020_navcam_ops_calibrated:browse urn:nasa:pds:mars2020_navcam_ops_calibrated:data urn:nasa:pds:mars2020_navcam_ops_stereo:browse urn:nasa:pds:mars2020_navcam_ops_stereo:data urn:nasa:pds:mars2020_navcam_ops_mosaic:browse urn:nasa:pds:mars2020_navcam_ops_mosaic:data urn:nasa:pds:mars2020_navcam_ops_mesh:data Comments: 1. For multi-tile reconstructed Cachecam products, the INPUT_PRODUCT_ID in the DERIVED_IMAGE_PARMS Group only lists one input product instead of the full list of input products. 2. XYZ Error Metric (XYE) products are not included in Releases 1-7 and will be included in a future release. 3. Some radiometrically corrected products (RAF, RAD, RAS, RZS) have been processed without any flat fields applied. These products can be identified because the FLAT_FIELD_FILE_NAME is not included in the image label. 4. Some mosaics may not include all data for a given location. Some mosaics may include arm documentation imaging, resulting in what appears to be floating hardware. 5. On Sol 152, EDLCam images were acquired after sunset as part of an instrument health check. The low light levels resulted in greenish and bluish hues in the the rover downlook and uplook images. 6. On Sols 649, 650, 653, 654, 655, and 658 a bracketed exposure technique was used for Sample Depot Construction imaging with the Front Hazcams, Navcams and Cachecam. For Front Hazcam and Navcam, the bracketed exposures were used to ensure stereo coverage for sample tube documentation, regardless of lighting conditions. For Cachecam, the bracketed exposures were used to highlight different portions of the tube seal prior to tube drop. The bracketed exposure images can be identified by the following sequence-ids: fhaz08111, ncam08111, and cach00202. It is expected that some of this imaging will be saturated and some will be underexposed. 7. For JPEG compressed images, the INST_CMPRS_QUALITY items in the IMAGE_REQUEST_PARMS and THUMBNAIL_REQUEST_PARMS groups are incorrectly being valued as 0. The correct value can be obtained from the INST_CMPRS_QUALITY item in the COMPRESSION_PARMS group. ------------------------------------------------------------ Release Number: 6 Release Date: 2023-03-24 Data Coverage: 2022-8-27 to 2022-12-28 (Sols 540-659 + late arriving 0-539) New products for Sols 540-659 have been added to these collections: urn:nasa:pds:mars2020_cachecam_ops_raw:browse urn:nasa:pds:mars2020_cachecam_ops_raw:data urn:nasa:pds:mars2020_hazcam_ops_raw:browse urn:nasa:pds:mars2020_hazcam_ops_raw:data urn:nasa:pds:mars2020_navcam_ops_raw:browse urn:nasa:pds:mars2020_navcam_ops_raw:data urn:nasa:pds:mars2020_edlcam_ops_raw:browse urn:nasa:pds:mars2020_edlcam_ops_raw:data urn:nasa:pds:mars2020_edlcam_ops_calibrated:browse urn:nasa:pds:mars2020_edlcam_ops_calibrated:data urn:nasa:pds:mars2020_cachecam_calibrated_raw:browse urn:nasa:pds:mars2020_cachecam_calibrated_raw:data urn:nasa:pds:mars2020_hazcam_ops_calibrated:browse urn:nasa:pds:mars2020_hazcam_ops_calibrated:data urn:nasa:pds:mars2020_hazcam_ops_stereo:browse urn:nasa:pds:mars2020_hazcam_ops_stereo:data urn:nasa:pds:mars2020_hazcam_ops_mosaic:browse urn:nasa:pds:mars2020_hazcam_ops_mosaic:data urn:nasa:pds:mars2020_hazcam_ops_mesh:data urn:nasa:pds:mars2020_navcam_ops_calibrated:browse urn:nasa:pds:mars2020_navcam_ops_calibrated:data urn:nasa:pds:mars2020_navcam_ops_stereo:browse urn:nasa:pds:mars2020_navcam_ops_stereo:data urn:nasa:pds:mars2020_navcam_ops_mosaic:browse urn:nasa:pds:mars2020_navcam_ops_mosaic:data urn:nasa:pds:mars2020_navcam_ops_mesh:data Products have been revised in these collections: urn:nasa:pds:mars2020_hazcam_ops_calibrated:data urn:nasa:pds:mars2020_cachecam_ops_raw:browse urn:nasa:pds:mars2020_cachecam_ops_raw:data Comments: 1. We are now delivering late arriving data products, which were received outside the sol range in previous releases. 2. Cachecam products from Sol 0 to 539 have been reprocessed to flip the images around the vertical axis and correct the SUBFRAME_REQUEST_PARMS:FIRST_LINE metadata in the label. 3. For multi-tile reconstructed Cachecam products, the INPUT_PRODUCT_ID in the DERIVED_IMAGE_PARMS Group only lists one input product instead of the full list of input products. 4. XYZ Error Metric (XYE) products are not included in Releases 1-6 and will be included in a future release. 5. Some radiometrically corrected products (RAF, RAD, RAS, RZS) have been processed without any flat fields applied. These products can be identified because the FLAT_FIELD_FILE_NAME is not included in the image label. 6. Automatically generated mosaics are now available. Some mosaics may not include all data for a given location. Some mosaics may include arm documentation imaging, resulting in what appears to be floating hardware. 7. On Sol 152, EDLCam images were acquired after sunset as part of an instrument health check. The low light levels resulted in greenish and bluish hues in the the rover downlook and uplook images. 8. On Sols 649, 650, 653, 654, 655, and 658 a bracketed exposure technique was used for Sample Depot Construction imaging with the Front Hazcams, Navcams and Cachecam. For Front Hazcam and Navcam, the bracketed exposures were used to ensure stereo coverage for sample tube documentation, regardless of lighting conditions. For Cachecam, the bracketed exposures were used to highlight different portions of the tube seal prior to tube drop. The bracketed exposure images can be identified by the following sequence-ids: fhaz08111, ncam08111, and cach00202. It is expected that some of this imaging will be saturated and some will be underexposed. ------------------------------------------------------------ Release Number: 5 Release Date: 2022-11-21 Data Coverage: 2022-04-25 to 2022-26-22 (Sols 420-539) New products for Sols 420-539 have been added to these collections: urn:nasa:pds:mars2020_cachecam_ops_raw:browse urn:nasa:pds:mars2020_cachecam_ops_raw:data urn:nasa:pds:mars2020_hazcam_ops_raw:browse urn:nasa:pds:mars2020_hazcam_ops_raw:data urn:nasa:pds:mars2020_navcam_ops_raw:browse urn:nasa:pds:mars2020_navcam_ops_raw:data New products for Sols 0-539 have been added to these collections: urn:nasa:pds:mars2020_edlcam_ops_raw:browse urn:nasa:pds:mars2020_edlcam_ops_raw:data urn:nasa:pds:mars2020_edlcam_ops_calibrated:browse urn:nasa:pds:mars2020_edlcam_ops_calibrated:data New products for Sols 180-539 have been added to these collections: urn:nasa:pds:mars2020_cachecam_ops_calibrated:browse urn:nasa:pds:mars2020_cachecam_ops_calibrated:data urn:nasa:pds:mars2020_hazcam_ops_calibrated:browse urn:nasa:pds:mars2020_hazcam_ops_calibrated:data urn:nasa:pds:mars2020_hazcam_ops_stereo:browse urn:nasa:pds:mars2020_hazcam_ops_stereo:data urn:nasa:pds:mars2020_hazcam_ops_mosaic:browse urn:nasa:pds:mars2020_hazcam_ops_mosaic:data urn:nasa:pds:mars2020_hazcam_ops_mesh:data urn:nasa:pds:mars2020_navcam_ops_calibrated:browse urn:nasa:pds:mars2020_navcam_ops_calibrated:data urn:nasa:pds:mars2020_navcam_ops_stereo:browse urn:nasa:pds:mars2020_navcam_ops_stereo:data urn:nasa:pds:mars2020_navcam_ops_mosaic:browse urn:nasa:pds:mars2020_navcam_ops_mosaic:data urn:nasa:pds:mars2020_navcam_ops_mesh:data Products have been revised in these collections: None. Comments: 1. XYZ Error Metric (XYE) products are not included in Releases 1-5 and will be included in a future release. 2. Cachecam images are acquired through the use of a mirror in the optical path. The raw product generation software is not handling the effect of the mirror properly. This issue affects all Cachecam products delivered to PDS through release 5. a. Pixels are flipped around the horizontal axis when they should be flipped around the vertical axis. b. Image metadata are affected as follows: the SUBFRAME_REQUEST_PARMS:FIRST_LINE does not accurately reflect the location of the high resolution tile on the detector. The INSTRUMENT_STATE_PARMS:DETECTOR_FIRST_LINE accurately reflects the commanded subframe first line and can be used instead. 3. Some radiometrically corrected products (RAF, RAD, RAS, RZS) have been processed without any flat fields applied. These products can be identified because the FLAT_FIELD_FILE_NAME is not included in the image label. 4. This release includes mosaics manually generated by the Instrument Data Subsystem for Operations (IDSO) team during tactical operations for Sols 180 - 539. Archive quality mosaics were not automatically generated during this time period and may be provided in a future release. 5. On Sol 152, EDLCam images were acquired after sunset as part of an instrument health check. The low light levels resulted in greenish and bluish hues in the the rover downlook and uplook images. ------------------------------------------------------------ Release Number: 4 Release Date: 2022-06-30 Data Coverage: 2021-12-23 to 2022-04-24 (Sols 0-419) New products for Sols 300 - 419 have been added to these collections: urn:nasa:pds:mars2020_cachecam_ops_raw:browse urn:nasa:pds:mars2020_cachecam_ops_raw:data urn:nasa:pds:mars2020_hazcam_ops_raw:browse urn:nasa:pds:mars2020_hazcam_ops_raw:data urn:nasa:pds:mars2020_navcam_ops_raw:browse urn:nasa:pds:mars2020_navcam_ops_raw:data New products for Sols 0 - 419 have been added to these collections: urn:nasa:pds:mars2020_edlcam_ops_raw:browse urn:nasa:pds:mars2020_edlcam_ops_raw:data urn:nasa:pds:mars2020_edlcam_ops_calibrated:browse urn:nasa:pds:mars2020_edlcam_ops_calibrated:data New products for Sols 90 - 179 have been added to these collections: urn:nasa:pds:mars2020_cachecam_ops_calibrated:browse urn:nasa:pds:mars2020_cachecam_ops_calibrated:data urn:nasa:pds:mars2020_hazcam_ops_calibrated:browse urn:nasa:pds:mars2020_hazcam_ops_calibrated:data urn:nasa:pds:mars2020_hazcam_ops_stereo:browse urn:nasa:pds:mars2020_hazcam_ops_stereo:data urn:nasa:pds:mars2020_hazcam_ops_mosaic:browse urn:nasa:pds:mars2020_hazcam_ops_mosaic:data urn:nasa:pds:mars2020_hazcam_ops_mesh:data urn:nasa:pds:mars2020_navcam_ops_calibrated:browse urn:nasa:pds:mars2020_navcam_ops_calibrated:data urn:nasa:pds:mars2020_navcam_ops_stereo:browse urn:nasa:pds:mars2020_navcam_ops_stereo:data urn:nasa:pds:mars2020_navcam_ops_mosaic:browse urn:nasa:pds:mars2020_navcam_ops_mosaic:data urn:nasa:pds:mars2020_navcam_ops_mesh:data Products have been revised in these collections: None. Comments: 1. The mars2020_cachecam_ops_calibrated, mars2020_hazcam_ops_calibrated, mars2020_hazcam_ops_stereo, mars2020_hazcam_ops_mosaic, mars2020_hazcam_ops_mesh, mars2020_navcam_ops_calibrated, mars2020_navcam_ops_stereo, mars2020_navcam_ops_mosaic, and mars2020_navcam_ops_mesh bundles now include products from Sols 0-179. Products from Sols 180-419 will be delivered to these bundles in a future release. 2. Cachecam images are acquired through the use of a mirror in the optical path. The raw product generation software is not handling the effect of the mirror properly. This issue affects all Cachecam products delivered to PDS through release 4. a. Pixels are flipped around the horizontal axis when they should be flipped around the vertical axis. b. Image metadata are affected as follows: the SUBFRAME_REQUEST_PARMS:FIRST_LINE does not accurately reflect the location of the high resolution tile on the detector. The INSTRUMENT_STATE_PARMS:DETECTOR_FIRST_LINE accurately reflects the commanded subframe first line and can be used instead. 3. Bias test images on sols 144, 172, 173 were commanded with manual exposure of 0.00005 seconds and are expected to be dark. 4. Hazcam and Navcam calibrated, stereo, mosaic, and mesh bundles were not validated by the ECAM team prior to delivery to PDS. Any issues reported in these products will be addressed in a future release. 5. In the mars2020_navcam_ops_raw and mars2020_hazcam_ops_raw bundles, EDR product types were decompanded using the incorrect inverse lookup table for Sols 0-15. These products will be regenerated with the correct inverse lookup tables and included in a future release. 6. Occasionally, the mask applied (MXY) to prevent stereo data on the rover hardware in the masked rover XYZ (XYM) has an additional polygon mask that obscures the workspace in the Front Hazcam image. These products have been reprocessed with an updated mask using the special character flag "S". 7. Some radiometrically corrected products (RAF, RAD, RAS, RZS) have been processed without any flat fields applied. These products can be identified because the FLAT_FIELD_FILE_NAME is not included in the image label. 8. This release includes mosaics manually generated by the Instrument Data Subsystem for Operations (IDSO) team during tactical operations for sols 0 - 89. Archive quality mosaics were not automatically generated during this time period and may be provided in a future release. 9. There are no (delivered) TDRs in the mars2020_cachecam_ops_calibrated bundle for sols 90-179. ------------------------------------------------------------ Release Number: 3 Release Date: 2022-03-03 Data Coverage: 2021-02-18 to 2021-12-22 (Sols 0-299) New products have been added to these collections: urn:nasa:pds:mars2020_cachecam_ops_raw:browse urn:nasa:pds:mars2020_cachecam_ops_raw:data urn:nasa:pds:mars2020_cachecam_ops_calibrated:browse urn:nasa:pds:mars2020_cachecam_ops_calibrated:data urn:nasa:pds:mars2020_edlcam_ops_raw:browse urn:nasa:pds:mars2020_edlcam_ops_raw:data urn:nasa:pds:mars2020_edlcam_ops_calibrated:browse urn:nasa:pds:mars2020_edlcam_ops_calibrated:data urn:nasa:pds:mars2020_hazcam_ops_raw:browse urn:nasa:pds:mars2020_hazcam_ops_raw:data urn:nasa:pds:mars2020_hazcam_ops_calibrated:browse urn:nasa:pds:mars2020_hazcam_ops_calibrated:data urn:nasa:pds:mars2020_hazcam_ops_stereo:browse urn:nasa:pds:mars2020_hazcam_ops_stereo:data urn:nasa:pds:mars2020_hazcam_ops_mosaic:browse urn:nasa:pds:mars2020_hazcam_ops_mosaic:data urn:nasa:pds:mars2020_hazcam_ops_mesh:data urn:nasa:pds:mars2020_navcam_ops_raw:browse urn:nasa:pds:mars2020_navcam_ops_raw:data urn:nasa:pds:mars2020_navcam_ops_calibrated:browse urn:nasa:pds:mars2020_navcam_ops_calibrated:data urn:nasa:pds:mars2020_navcam_ops_stereo:browse urn:nasa:pds:mars2020_navcam_ops_stereo:data urn:nasa:pds:mars2020_navcam_ops_mosaic:browse urn:nasa:pds:mars2020_navcam_ops_mosaic:data urn:nasa:pds:mars2020_navcam_ops_mesh:data Products have been revised in these collections: None. Comments: 1. The mars2020_cachecam_ops_calibrated, mars2020_hazcam_ops_calibrated, mars2020_hazcam_ops_stereo, mars2020_hazcam_ops_mosaic, mars2020_hazcam_ops_mesh, mars2020_navcam_ops_calibrated, mars2020_navcam_ops_stereo, mars2020_navcam_ops_mosaic, and mars2020_navcam_ops_mesh bundles include products from Sols 0-89. Products from Sols 90-299 will be delivered to these bundles in a future release. 2. Cachecam images are acquired through the use of a mirror in the optical path. The raw product generation software is not handling the effect of the mirror properly. This issue affects all Cachecam products delivered to PDS through release 3. a. Pixels are flipped around the horizontal axis when they should be flipped around the vertical axis. b. Image metadata are affected as follows: the SUBFRAME_REQUEST_PARMS:FIRST_LINE does not accurately reflect the location of the high resolution tile on the detector. The INSTRUMENT_STATE_PARMS:DETECTOR_FIRST_LINE is correct and can be used instead. 3. In early operations the look-up tables used to map 12-bit DNs from the detector to 8-bit DNs in the data products were evolving and did not stabilize until Sol 16. As a result there is significant quantization noise visible in some of the images on Sols 9 - 15. 4. Hazcam stereo and mesh bundles have not been validated by the ECAM team prior to delivery to PDS. Any issues reported in these products will be addressed in a future release. 5. In the mars2020_navcam_ops_raw and mars2020_hazcam_ops_raw bundles, EDR product types were decompanded using the incorrect inverse lookup table for Sols 0-15. These products will be regenerated with the correct inverse lookup tables and included in a future release. 6. Occasionally, the mask applied (MXY) to prevent stereo data on the rover hardware in the masked rover XYZ (XYM) has an additional polygon mask that obscures the workspace in the Front Hazcam image. These products have been reprocessed with an updated mask using the special character flag "S". 7. Some radiometrically corrected products (RAF, RAD, RAS, RZS) have been processed without any flat fields applied. These products can be identified because the FLAT_FIELD_FILE_NAME is not included in the image label. 8. This release includes mosaics manually generated by the Instrument Data Subsystem for Operations (IDSO) team during tactical operations for sols 0 - 89. Archive quality mosaics were not automatically generated during this time period and may be provided in a future release. ------------------------------------------------------------ Release Number: 2 Release Date: 2021-11-19 Data Coverage: 2021-05-21 to 2021-08-21 (Sols 90-179) For ease of use, the mars2020_ecam bundle is split into bundles organized by camera pair and data processing level. See urn:nasa:pds:mars2020_mission:document_camera:mars2020_camera_bundle_sis.pdf for additional detail. New products have been added to these collections: urn:nasa:pds:mars2020_cachecam_ops_raw:browse urn:nasa:pds:mars2020_cachecam_ops_raw:data urn:nasa:pds:mars2020_edlcam_ops_raw:browse urn:nasa:pds:mars2020_edlcam_ops_raw:data urn:nasa:pds:mars2020_hazcam_ops_raw:browse urn:nasa:pds:mars2020_hazcam_ops_raw:data urn:nasa:pds:mars2020_navcam_ops_raw:browse urn:nasa:pds:mars2020_navcam_ops_raw:data Products have been revised in these collections: None. Comments: 1. Bias test images on sols 144, 172, 173 were commanded with manual exposure of 0.00005 seconds and are expected to be dark. 2. Archive product versioning does not map directly to Surface OPS (SOPS) product versioning. Not all SOPS products are archived, only the highest (best) version is included. Due to IDS pipeline reprocessing constraints, the archive product version will always be equal to or higher than what is in SOPS. See Section 3.5.3 in the M2020 Camera Bundle SIS for a full description. 3. The mars2020_cachecam_ops_raw, mars2020_hazcam_ops_raw, and mars2020_navcam_ops_raw bundles contain LIDVID reference pointers to browse images that incorrectly omit the extension, causing the pointer to the browse images LID to be broken. 4. We are in the process of redelivering Sols 0-89 raw data in the new bundle structure, which the bundles are divided by instrument (cachecam, edlcam, hazcam, and navcam) and processing level (raw, calibrated, stereo, and mosaic). We are also working on delivering Sol 0-179 calibrated, stereo, and mosaic data in the new bundle structure. 5. The SUBFRAME_REQUEST_PARMS:FIRST_LINE does not accurately reflect the location of the high resolution tile on the detector. The INSTRUMENT_STATE_PARMS:DETECTOR_FIRST_LINE is correct and can be used instead. 6. In the mars2020_cachecam_ops_calibrated bundle, the IDX and IDM product types are incorrectly located in the ids/rdr directory instead of the ids/fdr directory. 7. In the mars2020_navcam_ops_raw and mars2020_hazcam_ops_raw bundles, EDR product types were decompanded using the incorrect inverse lookup table for Sols 0-15. These products will be regenerated with the correct inverse lookup tables and included in a future release. ------------------------------------------------------------ Release Number: 1 Release Date: 2021-08-21 Data Coverage: 2021-02-18 to 2021-05-20 (Sols 0-89) New products have been added to these collections: urn:nasa:pds:mars2020_ecam:browse urn:nasa:pds:mars2020_ecam:data urn:nasa:pds:mars2020_ecam:document Products have been revised in these collections: None. 1. Entry, Descent and Lander Camera and Microphone products: a. For Release 1, see the m2020_edlcam_raw collection for the full set of audio and video products downlinked in the first 90 sols. Future releases for the mars2020_ecam bundle will include all of the processed audio/video files from the EDLCAM, including the full set of metadata. b. Still frame images from the videos are available in this release. The project's operational software extracts 1 of 10 single frame images of the MPEG and all uncompressed frames returned from the EDL cameras. This same software is used to generate the archive products. See the 2020_edlcam_raw collection for the full set of audio and video products downlinked in the first 90 sols. 2. Arm Reachability (ARM), Scenario Based Reachability Goodness (GRN, GRA, GRC), and Scenario Based Overall Goodness (GUN, GUA, GUC) products are not included in Release 1 as these products were not being used during tactical operations. 3. The Lander Visual System Camera CINT_COORDINATE_SYSTEM group in the FDR labels will contain the same values of the EDRs and are not updated with a more accurate descent trajectory. These values will be updated in a future release. 4. INSTRUMENT_NAME keyword should be LANDER VISION SYSTEM CAMERA in Lander Vision System Camera product labels. 5. SEQUENCE_VERSION_ID keyword value of 0 for EDLCAM images indicates the image was acquired by an autonomous behavior and not in a sequence. 6. The mars2020_ecam bundle contains LIDVID reference pointers to browse images that incorrectly omit the extension, causing the pointer to the browse images LID to be broken. ******** SECTION B ******** 1.Data Products and Labels generated with CRUISE flight software. The Cruise FSW was inherited from MSL with minimal updates including only those required to make cameras functional for early post-landing imaging. These issues affect ECAM data products acquired through Sol 4: a. Due to a cruise flight software bug, two steering motor values are incorrectly swapped in the IDPH (rover state metadata) that is included with the image data product. This is not corrected in the attached VICAR image label or the detached PDS4 label. Under the CHASSIS_ARTICULATION_STATE Group the RIGHT FRONT WHEEL STEER MOTOR and LEFT REAR WHEEL STEER MOTOR values should be swapped. VICAR Label CHASSIS_ARTICULATION_STATE (Group) ARTICULATION_DEVICE_ANGLE[] 8 items ARTICULATION_DEVICE_ANGLE[0] CORRECT ARTICULATION_DEVICE_ANGLE[1] -> ARTICULATION_DEVICE_ANGLE[2] ARTICULATION_DEVICE_ANGLE[2] -> ARTICULATION_DEVICE_ANGLE[1] ARTICULATION_DEVICE_ANGLE[3] CORRECT ARTICULATION_DEVICE_ANGLE[4] CORRECT ARTICULATION_DEVICE_ANGLE[5] CORRECT ARTICULATION_DEVICE_ANGLE[6] CORRECT ARTICULATION_DEVICE_ANGLE[7] CORRECT PDS4 XML Label CHASSIS MOBILITY CHASSIS DEPLOYED RIGHT FRONT WHEEL STEER MOTOR swap with LEFT REAR WHEEL STEER MOTOR LEFT REAR WHEEL STEER MOTOR swap with RIGHT FRONT WHEEL STEER MOTOR b. Most inherited MSL keywords that are invalid for M2020 are identified in the VICAR label where the GROUP_APPLICABILITY_FLAG is set to FALSE. The following keywords in the TELEMETRY group are invalid and should be disregarded: i. STRIPING_COUNT ii. STRIPING_OVERLAP_ROWS c. Downsampling is not reported intuitively by the cruise flight software and the DOWNSAMPLE_METHOD is always set to NONE. In order to determine downsampling and the area of the detector covered by an image, see the OFFSET_MODE_ID. Consult the Mars2020 Camera SIS for look-up values mapping the OFFSET_MODE_ID to the camera modes available.