Mars 2020 Mastcam-Z 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: PDS Cartography and Imaging Sciences Node U.S.G.S. Astrogeology Team 2255 North Gemini Drive Flagstaff, AZ 86001 U.S.A (928) 556-7126 Web: https://pds-imaging.jpl.nasa.gov/ Email: pds-img-usgs@usgs.gov This document, mastcamz_ops_release_notes.txt, contains release notes and errata concerning the Mars 2020 Mastcam-Z bundle. It is updated with each release Mastcam-Z data. Section A of this document contains an entry for each Mastcam-Z 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-SPECIFIC INFORMATION ******** Release Number: 9 Release Date: 2024-03-29 Data Coverage: 2023-08-31 to 2024-01-01 (Sols 900-1019) New products have been added to these collections: urn:nasa:pds:mars2020_mastcamz_ops_raw:data urn:nasa:pds:mars2020_mastcamz_ops_raw:browse urn:nasa:pds:mars2020_mastcamz_ops_calibrated:browse urn:nasa:pds:mars2020_mastcamz_ops_calibrated:data urn:nasa:pds:mars2020_mastcamz_ops_stereo:data urn:nasa:pds:mars2020_mastcamz_ops_mosaic:browse urn:nasa:pds:mars2020_mastcamz_ops_mosaic:data urn:nasa:pds:mars2020_mastcamz_ops_mesh:data 1. For Mastcam-Z ECR recovered products, the SCLK in the product filename has a 4msec discrepancy from the SCLK of the mini-header for the first image (frame = 0) in the set of GOP (group of pictures). The filename SCLK should match the SCLK in the mini-header. ------------------------------------------------------------ Release Number: 8 Release Date: 2023-11-27 Data Coverage: 2023-04-30 to 2023-08-31 (Sols 780-899) New products have been added to these collections: urn:nasa:pds:mars2020_mastcamz_ops_raw:data urn:nasa:pds:mars2020_mastcamz_ops_raw:browse 1. For Mastcam-Z ECR recovered products, the SCLK in the product filename has a 4msec discrepancy from the SCLK of the mini-header for the first image (frame = 0) in the set of GOP (group of pictures). The filename SCLK should match the SCLK in the mini-header. ------------------------------------------------------------ Release Number: 7 Release Date: 2023-07-27 Data Coverage: 2023-12-28 to 2023-04-30 (Sols 660-779) New products have been added to these collections: urn:nasa:pds:mars2020_mastcamz_ops_raw:data urn:nasa:pds:mars2020_mastcamz_ops_raw:browse 1. For Mastcam-Z ECR recovered products, the SCLK in the product filename has a 4msec discrepancy from the SCLK of the mini-header for the first image (frame = 0) in the set of GOP (group of pictures). The filename SCLK should match the SCLK in the mini-header. ------------------------------------------------------------ Release Number: 6 Release Date: 2023-03-24 Data Coverage: 2022-8-27 to 2022-12-28 (Sols 540-659) New products have been added to these collections: urn:nasa:pds:mars2020_mastcamz_ops_raw:data urn:nasa:pds:mars2020_mastcamz_ops_raw:browse 1. We are now delivering late arriving data products, which were received outside the sol range in previous releases. 2. For Mastcam-Z ECR recovered products, the SCLK in the product filename has a 4msec discrepancy from the SCLK of the mini-header for the first image (frame = 0) in the set of GOP (group of pictures). The filename SCLK should match the SCLK in the mini-header. ------------------------------------------------------------ Release Number: 5 Release Date: 2022-11-21 Data Coverage: 2022-04-25 to 2022-26-22 (Sols 420-539) New products have been added to these collections: urn:nasa:pds:mars2020_mastcamz_ops_raw:data urn:nasa:pds:mars2020_mastcamz_ops_raw:browse 1. The stretch applied to browse products has been altered in Release 5 to not apply any gamma correction for ECM and ECV product types that are 8-bit. 2. For Mastcam-Z ECR recovered products, the SCLK in the product filename has a 4msec discrepancy from the SCLK of the mini-header for the first image (frame = 0) in the set of GOP (group of pictures). The filename SCLK should match the SCLK in the mini-header. ------------------------------------------------------------ Release Number: 4 Release Date: 2022-07-22 Data Coverage: 2021-12-23 to 2022-04-24 (Sols 300-419) New products have been added to these collections: urn:nasa:pds:mars2020_mastcamz_ops_raw:data urn:nasa:pds:mars2020_mastcamz_ops_raw:browse Products have been revised in these collections (Sols 180-299): urn:nasa:pds:mars2020_mastcamz_ops_raw:data urn:nasa:pds:mars2020_mastcamz_ops_raw:browse 1. Recovered products There is a sol with products which were recovered from the rover at different encoding (JPEG 50 vs uncompressed) or were recovered tactically. Recovered products were downlinked for imaging and video sequences and are distinguishable through the label (Ex. a recovered right image will have MczRRecoveredProduct in the label where the image has MczRImage). Sols Sequences ----- --------- 0240 zcam08263 0240 zcam08264 2. Cloned products There are several sols with products which were cloned from the rover at different encoding (ex. JPEG 50 vs uncompressed) or were recovered tactically. Cloned products were downlinked for imaging and video sequences and are virtually indistinguishable through the label (Ex. a cloned right image will have MczRImage in the label where the original (non-cloned) image also has MczRImage). Sols Sequences ---- --------- 0255 zcam08278 0265 zcam08281 0286 zcam01008 0289 zcam01000 0290 zcam01000 0292 zcam01000 0294 zcam01000 0296 zcam01000 0297 zcam01012 0298 zcam01005 0300 zcam01012 0310 zcam01010 0344 zcam08371 0395 zcam08418 For every cloned product there is a corresponding identical non-cloned product (full resolution image). 3. Known label keyword issues Known label keyword issues are present for all sols in this release. The following ODL3 label keywords can report incorrect values when sequences are built using the first image to set up the commanding and indicate no change for the images that follow. ODL3 Keyword Description ------------------------------ --------------------------------- INSTRUMENT_ZOOM_POSITION_COUNT This can incorrectly report as "0" when commanded in a group of images where all products are using the same zoom position. The actual zoom position count value can be found in the ZOOM_POSITION_COUNT keyword or by looking in the label of the first image acquired in the sequence. COMMANDED_FOCAL_LENGTH This can incorrectly report as "26.0 " when commanded in a group of images where all products are using the same focal length. The actual focal length value can be found in the FOCAL_LENGTH keyword or by looking in the label of the first image acquired in the sequence. INSTRUMENT_FOCUS_MODE This keyword is unreliable. To determine if an image was commanded using manual or autofocus you should look to the INSTRUMENT_FOCUS_STEPS and INSTRUMENT_FOCUS_STEP_SIZE keywords. If “INSTRUMENT_FOCUS_STEPS = 1” and “INSTRUMENT_FOCUS_STEP_SIZE = 6” The image was commanded using manual focus, if “INSTRUMENT_FOCUS_STEPS = 0” and “INSTRUMENT_FOCUS_STEP_SIZE = 0” there is no change from the previous image in a sequence and you should look to the first image acquired in the sequence, otherwise it was commanded using autofocus. Four keywords in the ODL3 label and are not present in the PDS4 XML label. NONLINEAR_PIXEL_THRESH NONLINEAR_THRESH SATURATED_PIXEL_THRESH SATURATED_THRESH 5. Unexpected scene and image content Some images did not contain their intended target or the target was unobservable. The issues reported below are from error tracking during tactical shifts. sol Sequence Description ----- --------- ------------------------------------------------------------ 0307 zcam05072 Did not execute due to arm fault 0307 zcam08333 More hardware in frame than expected due to arm fault 0308 zcam00056 Incorrect merge products due to arm fault, merged sol 296 zcam05076 instead of 307 zcam05072 0308 zcam00064 Out of focus due to command error 0308 zcam00065 Out of focus due to command error 0346 zcam03314 Too saturated to pull spectra 0347 zcam03316 ZR images out of focus due to command error 0353 zcam08382 Mispointed, drive timed-out before predicted end of drive 0353 zcam03319 Mispointed, drive timed-out before predicted end of drive 0356 zcam08384 Mispointed, rim of crater is cutoff 0359 zcam08389 Mispointed, drive timed-out before predicted end of drive 0374 zcam05068 Did not execute due to arm fault 0374 zcam05069 Did not execute due to arm fault 0374 zcam05070 Did not execute due to arm fault 0374 zcam05071 Did not execute due to arm fault 0375 zcam00003 Did not execute due to arm fault 0375 zcam05072 3 instances of zcam05072 did not execute due to arm fault 0375 zcam00050 Incorrect merge products due to arm fault, merged sol 332 zcam05072 instead of 375 zcam5072 0384 zcam03337 Mispointed, drive timed-out before predicted end of drive 0384 zcam08412 Mispointed, drive timed-out before predicted end of drive 0385 zcam03338 Mispointed, drive timed-out before predicted end of drive 0385 zcam03339 Mispointed, over-shot the target 0385 zcam08413 Mispointed, drive timed-out before predicted end of drive 0385 zcam08414 Mispointed, drive timed-out before predicted end of drive 0401 zcam05100 Partially mispointed 0401 zcam05101 Mispointed, descent stage hardware is obstructed ------------------------------------------------------------ Release Number: 3 Release Date: 2022-03-22 Data Coverage: 2021-02-18 to 2021-12-22 (Sols 0-299) New products have been added to these collections: urn:nasa:pds:mars2020_mastcamz_ops_raw:data urn:nasa:pds:mars2020_mastcamz_ops_raw:browse urn:nasa:pds:mars2020_mastcamz_ops_calibrated:data urn:nasa:pds:mars2020_mastcamz_ops_calibrated:browse urn:nasa:pds:mars2020_mastcamz_ops_stereo:data urn:nasa:pds:mars2020_mastcamz_ops_stereo:browse urn:nasa:pds:mars2020_mastcamz_ops_mesh:data urn:nasa:pds:mars2020_mastcamz_ops_mesh:browse urn:nasa:pds:mars2020_mastcamz_ops_mosaic:data urn:nasa:pds:mars2020_mastcamz_ops_mosaic:browse Products have been revised in these collections: None. 1. The mars2020_mastcamz_ops_calibrated, mars2020_mastcamz_ops_stereo, mars2020_mastcamz_ops_mesh, and mars2020_mastcamz_ops_mosaic bundles include products from Sols 0-89. Products from Sols 90-299 will be delivered to these bundles in a future release. 2. 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. 3. Known label keyword issues Known label keyword issues are present for all sols in this release. The following ODL3 label keywords can report incorrect values when sequences are built using the first image to set up the commanding and indicate no change for the images that follow. ODL3 Keyword Description ------------------------------ --------------------------------- INSTRUMENT_ZOOM_POSITION_COUNT This can incorrectly report as "0" when commanded in a group of images where all products are using the same zoom position. The actual zoom position count value can be found in the ZOOM_POSITION_COUNT keyword or by looking in the label of the first image acquired in the sequence. COMMANDED_FOCAL_LENGTH This can incorrectly report as "26.0 " when commanded in a group of images where all products are using the same focal length. The actual focal length value can be found in the FOCAL_LENGTH keyword or by looking in the label of the first image acquired in the sequence. INSTRUMENT_FOCUS_MODE This keyword is unreliable. To determine if an image was commanded using manual or autofocus you should look to the INSTRUMENT_FOCUS_STEPS and INSTRUMENT_FOCUS_STEP_SIZE keywords. If “INSTRUMENT_FOCUS_STEPS = 1” and “INSTRUMENT_FOCUS_STEP_SIZE = 6” The image was commanded using manual focus, if “INSTRUMENT_FOCUS_STEPS = 0” and “INSTRUMENT_FOCUS_STEP_SIZE = 0” there is no change from the previous image in a sequence and you should look to the first image acquired in the sequence, otherwise it was commanded using autofocus. Four keywords in the ODL3 label and are not present in the PDS4 XML label. NONLINEAR_PIXEL_THRESH NONLINEAR_THRESH SATURATED_PIXEL_THRESH SATURATED_THRESH ------------------------------------------------------------ Release Number: 2 Release Date: 2021-11-19 Data Coverage: 2021-05-21 to 2021-08-21 (Sols 90-179) New products have been added to these collections: urn:nasa:pds:mars2020_mastcamz_ops_raw:data urn:nasa:pds:mars2020_mastcamz_ops_raw:browse Products have been revised in these collections: None. 1. Known label keyword issues Known label keyword issues are present for all sols in this release. The following ODL3 label keywords can report incorrect values when sequences are built using the first image to set up the commanding and indicate no change for the images that follow. ODL3 Keyword Description ------------------------------ --------------------------------- INSTRUMENT_ZOOM_POSITION_COUNT This can incorrectly report as "0" when commanded in a group of images where all products are using the same zoom position. The actual zoom position count value can be found in the ZOOM_POSITION_COUNT keyword or by looking in the label of the first image acquired in the sequence. COMMANDED_FOCAL_LENGTH This can incorrectly report as "26.0 " when commanded in a group of images where all products are using the same focal length. The actual focal length value can be found in the FOCAL_LENGTH keyword or by looking in the label of the first image acquired in the sequence. INSTRUMENT_FOCUS_MODE This keyword is unreliable. To determine if an image was commanded using manual or autofocus you should look to the INSTRUMENT_FOCUS_STEPS and INSTRUMENT_FOCUS_STEP_SIZE keywords. If “INSTRUMENT_FOCUS_STEPS = 1” and “INSTRUMENT_FOCUS_STEP_SIZE = 6” The image was commanded using manual focus, if “INSTRUMENT_FOCUS_STEPS = 0” and “INSTRUMENT_FOCUS_STEP_SIZE = 0” there is no change from the previous image in a sequence and you should look to the first image acquired in the sequence, otherwise it was commanded using autofocus. Four keywords in the ODL3 label and are not present in the PDS4 XML label. NONLINEAR_PIXEL_THRESH NONLINEAR_THRESH SATURATED_PIXEL_THRESH SATURATED_THRESH 2. The mars2020_mastcamz_ops_raw bundle contains LIDVID reference pointers to browse images that incorrectly omit the extension, causing the pointer to the browse images LID to be broken. 3. We are in the process of redelivering Sol 0-89 raw data in the new bundle structure, mars2020_mastcamz_ops_raw. We are also working on delivering Sols 0-179 calibrated, stereo, and mesh ops data. ------------------------------------------------------------ Release Number:1 Release Date: 2021-08-20 Data Coverage: 2021-02-18 through 2021-05-21 (Sols 0 to 89) New products have been added to these collections: urn:nasa:pds:mars2020_mastcamz:data_ids urn:nasa:pds:mars2020_mastcamz:browse_ids urn:nasa:pds:mars2020_mastcamz:document Products have been revised in these collections: None. 1. General comments Only RAD calibrated products have been included in this release, IOF calibrated products will be available in the second release. There are 9 sols(49,50,55,58,61,64,68,69,76) which have thumbnail products (instead of the full resolution image), where the video image products were deleted from the camera DEA (memory) prior to downlinking. Some image filenames in sols 1,2,3,and 4 have 'AUT' in place of 'ZCAM'. This is a known idio of cruise flight software. To determine the sequence, see the filename and label of the first image acquired. These products also have 'Scidata' in place of 'Image; in the labels. 2. Recovered products There are several sols with products which were recovered from the rover at different encoding (JPEG 50 vs uncompressed) or were recovered tactically. Recovered products were downlinked for imaging and video seqeunces and are distinguishable through the label (Ex. a recovered right image will have MczRRecoveredProduct in the label where the image has MczRImage). Sols Sequences ----- --------- 0011 zcam00015 0015 zcam07000 0047 zcam05001 0048 zcam05008 0049 zcam05009 0050 zcam05022 0055 zcam05009 0058 zcam05032 0061 zcam05036 0064 zcam05042 0067 zcam05050 0068 zcam05053 0069 zcam05053 0076 zcam05060 For every recovered product there is a corresponding identical non-recovered product (thumbnail or full resolution image). 3. Known label keyword issues Known label keyword issues are present for all sols in this release. The following ODL3 label keywords can report incorrect values when sequences are built using the first image to set up the commanding and indicate no change for the images that follow. ODL3 Keyword Description ------------------------------ --------------------------------- INSTRUMENT_ZOOM_POSITION_COUNT This can incorrectly report as "0" when commanded in a group of images where all products are using the same zoom position. The actual zoom position count value can be found in the ZOOM_POSITION_COUNT keyword or by looking in the label of the first image acquired in the sequence. COMMANDED_FOCAL_LENGTH This can incorrectly report as "26.0 " when commanded in a group of images where all products are using the same focal length. The actual focal length value can be found in the FOCAL_LENGTH keyword or by looking in the label of the first image acquired in the sequence. INSTRUMENT_FOCUS_MODE This keyword is unreliable. To determine if an image was commanded using manual or autofocus you should look to the INSTRUMENT_FOCUS_STEPS and INSTRUMENT_FOCUS_STEP_SIZE keywords. If “INSTRUMENT_FOCUS_STEPS = 1” and “INSTRUMENT_FOCUS_STEP_SIZE = 6” The image was commanded using manual focus, if “INSTRUMENT_FOCUS_STEPS = 0” and “INSTRUMENT_FOCUS_STEP_SIZE = 0” there is no change from the previous image in a sequence and you should look to the first image acquired in the sequence, otherwise it was commanded using autofocus. Four keywords in the ODL3 label and are not present in the PDS4 XML label. NONLINEAR_PIXEL_THRESH NONLINEAR_THRESH SATURATED_PIXEL_THRESH SATURATED_THRESH 4. Known product issues There are two different products with a matching filename. The A02 version is a video product and the A03 is a recovered video product. The recovered product does not correspond to the video product as shown below by their CDPIDs. File CDPID Product Type ---------------------------------------------------------- ------ -------------------- ZR0_0047_0671111038_503RAD_N0031416ZCAM05001_048050A02.IMG 1957 MczRVideo ZR0_0047_0671111038_503RAD_N0031416ZCAM05001_048050A03.IMG 1956 MczRRecoveredProduct 5. Unexpected scene and image content Some images did not contain their intended target or the target was unobservable. The issues reported below are from error tracking during tactical shifts. sol Sequence Description ----- --------- -------------------------------------------------------------------- 0023 zcam03003 Autofocus failure 0024 zcam08001 Autofocus failure 0026 zcam03004 Exposure commanding mistake for Z34 & Z79 L0 R0 subframes 0031 zcam05001 Video sequence was cutoff, 123/286 GOPs(group of pictures) acquired 0033 zcam08006 Mispointed 0041 zcam01504 Autofocus failure 0047 zcam05007 Autofocus failure 0054 zcam00901 Recover sequence was cutoff, 150/154 frames acquired 0055 zcam05016 Autofocus failure 0056 zcam05020 Autofocus failure 0057 zcam05030 Autofocus failure 0058 zcam05030 Autofocus failure 0063 zcam05037 Autofocus failure 0063 zcam05038 Autofocus failure 0063 zcam05039 Autofocus failure 0064 zcam05040 Autofocus failure 0066 zcam05045 Minor artifacts in the top few rows of the left frames 0067 zcam05050 Minor artifacts in the top few rows of the left frames 0070 zcam03121 Mispointed due to RSM motion fault, autofocus failure 0070 zcam03014 Mispointed due to RSM motion fault, autofocus failure 0070 zcam03122 Mispointed due to RSM motion fault, autofocus failure 0074 zcam05057 Ghosted residual charge, images look doubled. Minor artifacts in the top few rows of the left frames 0076 zcam05060 Minor artifacts in the top few rows of the left frames 0088 zcam08047 More hardware in frame than intended 6. Missing ZCAM products Some products were missed in the preparation of this release and therfore were not ASU calibrated. These will be included in a future release. sol Seqeunce Quantity ----- ---------- ----------------- 0031 zcam05001 1 video product 0048 zcam05008 3 video products 7. Browse products The current browse_asu products use unbayered data to generate the png. Some artifacts due to wavelength response are to be expected. These will be addressed in future releases. 8. The mars2020_mastcamz:data_ids collection 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: GENERAL INFORMATION FOR ALL RELEASES ******** General comments: 1. There is visible charge buildup in the first few frames of a video sequence. This is understood and expected behavior. 2. The introduction of zoom capability makes the radiometric calibration of Mastcam-Z considerably more complicated than that of MSL Mastcam or the other M20 cameras using MIPLRAD. The MIPLRAD-Z2 model does most, but not all, of what the science team radiometric correction process does. The results are generally within ~1%, making them close enough for many purposes, such as stereo analysis and tactical mosaics. However, the science team’s radiometric products should be used for any non-tactical analysis where radiometric precision is desired. For more information, please consult Section 7.1.1.3 of urn:nasa:pds:mars2020_mission:document_camera:mars2020_camera_bundle_sis.pdf.