Mars 2020 Rover PLACES Bundle Release Notes Users are encouraged to provide comments to the PDS Geosciences Node if errors are found either in data or in documentation in this archive. Please send comments by e-mail or U.S. mail to the Geosciences Node: PDS Geosciences Node Washington University Dept. of Earth and Planetary Sciences 1 Brookings Drive St. Louis, MO 63130 U.S.A. Web: https://pds-geosciences.wustl.edu Email: geosci@wunder.wustl.edu This document, release_notes.txt, contains release notes and errata concerning the Mars 2020 Rover PLACES Bundle. It is updated with each bundle release. Section A of this document contains an entry for each bundle release with general information about the contents of the release, in decreasing release order. 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 ******** ------------------------------------------------------------ Note that the PLACES bundle was first released with the third release of Mars 2020 data. Rather than maintain a separate versioning scheme for the PLACES bundle, we instead keep in sync with the rest of the Mars 2020 data releases; therefore, the first Rover PLACES release is release 3. ------------------------------------------------------------ Release Number: 9 Release Date: 2023-03-29 Release 9 covers all data 2022-02-18 23:00 PST through 2024-02-07 12:25 PST, or approximately sols 0-1055 PLACES Release Note: For release 9, due to technical difficulties, the ROVER,n,0 entries in best_interp.csv and best_tactical.csv have been eliminated for all sites. The information is available, however. The position is by definition the same as the SITE,n entry, so that information can be used. For orientation (roll, pitch, yaw, and quaternion), the information can be obtained by looking at the ROVER,n,0 entries in telemetry.csv (for multiple poses, pick the highest pose). The localization process used does not (currently) adjust orientation so those fields are the same as telemetry. We hope to have this resolved (with the ROVER,n,0 entries restored) in a future release. ------------------------------------------------------------ Release Number: 8 Release Date: 2023-11-27 Release 8 covers all data 2022-02-18 23:00 PST through 2023-09-19 18:05 PST, or approximately sols 0-911 PLACES Release Note: For release 8, due to technical difficulties, the ROVER,n,0 entries in best_interp.csv and best_tactical.csv have been eliminated for all sites. The information is available, however. The position is by definition the same as the SITE,n entry, so that information can be used. For orientation (roll, pitch, yaw, and quaternion), the information can be obtained by looking at the ROVER,n,0 entries in telemetry.csv (for multiple poses, pick the highest pose). The localization process used does not (currently) adjust orientation so those fields are the same as telemetry. We hope to have this resolved (with the ROVER,n,0 entries restored) in a future release. ------------------------------------------------------------ Release Number: 7 Release Date: 2023-07-27 Release 7 covers all data 2022-02-18 23:00 PST through 2023-05-26 05:00 PST, or approximately sols 0-803 PLACES Release Note: For release 7, due to technical difficulties, the ROVER,n,0 entries in best_interp.csv and best_tactical.csv have been eliminated for all sites. The information is available, however. The position is by definition the same as the SITE,n entry, so that information can be used. For orientation (roll, pitch, yaw, and quaternion), the information can be obtained by looking at the ROVER,n,0 entries in telemetry.csv (for multiple poses, pick the highest pose). The localization process used does not (currently) adjust orientation so those fields are the same as telemetry. We hope to have this resolved (with the ROVER,n,0 entries restored) in a future release. ------------------------------------------------------------ Release Number: 6 Release Date: 2023-03-24 Release 6 covers all data 2022-02-18 23:00 PST through 2023-01-19 11:05 PST, or approximately sols 0-681 PLACES Release Note: For release 6, due to technical difficulties, the ROVER,n,0 entries in best_interp.csv and best_tactical.csv have been eliminated for all sites. The information is available, however. The position is by definition the same as the SITE,n entry, so that information can be used. For orientation (roll, pitch, yaw, and quaternion), the information can be obtained by looking at the ROVER,n,0 entries in telemetry.csv (for multiple poses, pick the highest pose). The localization process used does not (currently) adjust orientation so those fields are the same as telemetry. We hope to have this resolved (with the ROVER,n,0 entries restored) in a future release. ------------------------------------------------------------ Release Number: 5 Release Date: 2022-11-21 Release 5 covers all data 2022-02-18 23:00 PST through 2022-09-12 01:56 PST, or approximately sols 0-555. PLACES Release Note: For release 5, due to technical difficulties, the ROVER,n,0 entries in best_interp.csv and best_tactical.csv have been eliminated for all sites. The information is available, however. The position is by definition the same as the SITE,n entry, so that information can be used. For orientation (roll, pitch, yaw, and quaternion), the information can be obtained by looking at the ROVER,n,0 entries in telemetry.csv (for multiple poses, pick the highest pose). The localization process used does not (currently) adjust orientation so those fields are the same as telemetry. We hope to have this resolved (with the ROVER,n,0 entries restored) in a future release. ------------------------------------------------------------ Release Number: 4 Release Date: 2022-07-06 Release 4 covers all data 2022-02-18 23:00 PST through 2022-04-24 16:00 PST, or approximately sols 0-419. PLACES Release Note: For release 4, due to technical difficulties, the ROVER,n,0 entries in best_interp.csv and best_tactical.csv have been eliminated for all sites. The information is available, however. The position is by definition the same as the SITE,n entry, so that information can be used. For orientation (roll, pitch, yaw, and quaternion), the information can be obtained by looking at the ROVER,n,0 entries in telemetry.csv (for multiple poses, pick the highest pose). The localization process used does not (currently) adjust orientation so those fields are the same as telemetry. We hope to have this resolved (with the ROVER,n,0 entries restored) in a future release. ------------------------------------------------------------ Release Number: 3 Release Date: 2022-03-22 Release 3 covers all data through 2022-02-18 23:00 PST, or approximately sols 0-355. ---- Not all mechanisms are ready for release at this time. Once the appropriate development is done for the missing mechanisms in operations, all existing data will be run through the PLACES ingesters to populate the database for the entire mission for these mechanisms. The missing mechanisms are: SHA DRILL Suspension ---- For the mechanisms that are available, not all data sources are currently being ingested into PLACES. This results in holes or gaps in the data set. Future releases will likely include additional data throughout the sol range to fill those gaps. ---- Wheel rotation data for the Drive mechanism is not available at this time, and may never be available due to limitations in available telemetry. ---- There are known issues and inconsistencies in the spacecraft clock SCLK table. These are being addressed in operations and will be fixed in future Rover PLACES deliveries. These issues generally manifest as overlapping SCLK ranges, but also include clearly invalid SCLKs such as 0 or 1. Users are advised to ignore any such anomalies. If feasible, please report issues you discover (other than SCLKs of 0 or 1) to the data providers. ---- The browse and collection labels contain a pointer to the instrument context product. In the case of PLACES, there is no specific instrument, so "rover" is use as the instrument. Consideration is being given to including a pointer to the "rover" instrument context product in all labels in future releases. ---- The data_maps collection label has an External_Reference to a page describing the map construction (the pointer is also in the SIS). Consideration is being given to including this reference in the actual map and DEM image labels in future releases. ------------------------------------------------------------ ******** SECTION B ******** Note that PLACES is based on rover motion counter (RMC), not Sol. For a given release, the sol range of data included in the Rover PLACES bundle is greater than the nominal range for the other Mars 2020 instruments. For example, the nominal sol range for Release 3 is 0-299. On sol 299, the rover was at Site 9. It was still at Site 9 at the time the Rover PLACES database was snapshotted for this release. Thus, Release 3 covers all data available at the time the release was generated, up to 2022-02-18 23:00 PST, or sols 0-355. In general, each PLACES delivery will include all data for the nominal sol range, but will go beyond that to some extent (either to the next Site increment or to data current when the database snapshot was taken).