Mars Pathfinder IMP EDR Archive CD-ROM

Introduction
CD-ROM Format
File Formats
Data Calibration
Image Display
CD-ROM Contents
Image Browser
Whom to Contact for Information
Cognizant Persons & Acknowledgments

1. Introduction

This CD-ROM is one of three CD-ROMs that contain Mars Pathfinder IMP (Imager for Mars Pathfinder) EDR (Experiment Data Record) images and ancillary files. The spacecraft clock start count ranges of the images contained on the three volumes are shown below. Each volume also contains a complete set of documentation files that describe the archive EDR images. Each EDR image has an attached PDS label that describes the file structure and instrument parameters used for that image.

Volume ID	SCLK Range
MPIM_0001	1229455934 - 1247913223
MPIM_0002	1247913268 - 1249772261
MPIM_0003	1249772268 - 1254046834

The MPF IMP EDR products archived on this volume are the original products released by the Mars Pathfinder project. They have been converted from the VICAR format used during mission operations to a PDS format. Supporting documentation and label files conform to the Planetary Data System (PDS) Standards, Version 3.2, Jet Propulsion Laboratory (JPL) document number D-7669.

2. CD-ROM Format

This CD-ROM has been formatted so that a variety of computer systems (e.g., PC, Macintosh, and Sun) may access the data. Specifically, it is formatted according to the ISO-9660 level 1 Interchange Standard. For further information, refer to the ISO-9660 Standard Document: RF# ISO 9660-1988, April 15, 1988.

This CD-ROM does not contain any Extended Attribute Records (XARs). Thus, VAX/VMS users on older platforms may have some problems accessing files on this volume.

3. File Formats

The Mars Pathfinder IMP EDR images on this set of CD-ROMs are uncompressed, 16-bit files, labelled in conformance with PDS standards. Each image file is stored with a fixed length record format. There is an attached PDS label at the beginning of each image file that describes the content and format of the image. If the PDS label size is not an exact multiple of the file record length, padding is added after the end of the PDS label. Thus, the image object always starts on a record boundary. A more detailed specification of the image file format is given in the EDRSIS and files in the DOCUMENT directory.

All detached label and document files (with the exception of PDF formatted files) are stream format files, with a carriage return (ASCII 13) and a line feed character (ASCII 10) at the end of each record. This allows the files to be read by the MacOS, DOS, Unix, and VMS operating systems. The PDF documentation files are in the binary Adobe Portable Document Format. These files can be read with the Adobe Acrobat Reader, available from "http://www.adobe.com/". (If this URL has expired, contact the PDS Operator for more information. Contact information for the PDS is shown in section 8.)

All tabular files are described by detached PDS labels, which are label files having the same name as the data files they describe, with the extension .LBL. For example, the file INDEX.TAB is accompanied by the detached label file INDEX.LBL in the same directory. Tabular files are formatted so that they may be read directly into many database management systems (DBMS) or spreadsheet programs on various computers. All fields are separated by commas, and character fields are enclosed in double quotation marks ("). Character fields are left justified, and numeric fields are right justified. The "start byte" and "bytes" values listed in a PDS label do not include the commas between fields or the quotation marks surrounding character fields. The records are of fixed length, and the last two bytes of each record contain the ASCII carriage return and line feed characters. This allows a table to be treated as a fixed length record file on computers that support this file type and as a normal text file on other computers.

PDS labels are object-oriented. The object to which the label refers (e.g., IMAGE, TABLE, etc.) is denoted by a statement of the form:

^object = location

in which the carat character ('^', also called a pointer in this context) indicates that the object starts at the given location. For an object in the same file as the label, the location is an integer representing the starting record number of the object (the first record in the file is record 1). For an object located outside the label file, the location denotes the name of the file containing the object, along with the starting record or byte number. For example:

^IMAGE = ("C102.IMG",3)

indicates that the IMAGE object begins at record 3 of the file C102.IMG, in the same directory as the detached label file. Below is a list of the possible formats that use the ^object keyword.

^object = n ^object = n ^object = "filename.ext" ^object = ("filename.ext",n) ^object = ("filename.ext",n <BYTES>)

where:

`n`	starting record or byte number of the object, counting from beginning of the file (record 1, byte 1); default is record number.
`<BYTES>`	indicates that number given is in units of bytes.
`filename`	upper-case file name.
`ext`	upper-case file extension.

4. Data Calibration

Formal calibration files and software could not be prepared in time to be included on this set of CD volumes. These files will be made available on the CD archive of the IMP derived products. However, some information has already been written about the calibration of the IMP camera, the magnets mounted on the lander, and the windsocks mounted on the ASI/MET mast. This documentation is referenced in the REF.CAT file in the CATALOG directory. See in particular [CROWEETAL1997], [SMITHETAL1997A], and [REIDETAL1998].

5. Image Display

The PDS provides software for displaying PDS format images on a variety of computer platforms. The application program for image display is called NASAView, which has versions for SUN, Macintosh, and PC platforms. For some computer platforms, there is a NASAView version that will work as a Web Browser helper application.

Since the IMP data is 16-bit, some earlier versions of NASAView may not be able to display it. Versions 1.1.2 and later have been tested and are able to display this data.

It is the intention of PDS to distribute NASAView through its World Wide Web and FTP sites. Consult the PDS WWW site for the status of NASAView in terms of its capabilities and availability. The address for the PDS NASAView web site is:

http://pds.jpl.nasa.gov/license.html

(Complete contact information for the PDS is available below in section 8.)

6. CD-ROM Contents

Files on this CD-ROM are organized into a series of subdirectories below the top-level directory. The following table shows the structure and content of these directories. In the table, directory names are enclosed in square brackets ([ ]). (More details on the contents and structure of the CDs can be found in section 3.2 of the VOLSIS located in the DOCUMENT directory.)

File Contents

Top-level directory

|- AAREADME.TXT The file you are now reading.

|- AAREADME.HTM Hypertext version of the AAREADME.TXT file.

|- AAREADME.LBL PDS label describing the AAREADME.HTM file.

|- ERRATA.TXT List of comments and errors for this volume set.

|- ERRATA.HTM Hypertext version of the ERRATA.TXT file.

|- ERRATA.LBL PDS label describing the ERRATA.HTM file.

|- VOLDESC.CAT Description of the contents of this CD-ROM volume in PDS label format.

|

|- [CATALOG] Directory containing PDS catalog information about the Mars Pathfinder IMP EDR data set.

| |- CATINFO.TXT Description of files in the CATALOG directory.

| |- DATASET.CAT IMP EDR dataset description catalog object.

| |- INST.CAT IMP instrument description catalog object.

| |- INSTHOST.CAT MPF Lander description catalog object.

| |- MISSION.CAT MPF mission description catalog object.

| |- PERSON.CAT MPF personnel objects.

| |- REF.CAT MPF reference objects.

|

|- [DOCUMENT] Directory containing document files.

| |- DOCINFO.TXT Description of files in DOCUMENT directory.

| |- CONTACTS.* Contact information for MPF project personnel.

| |- DATASET.* MPF IMP EDR Dataset description.

| |- EDRSIS.* IMP Experiment Data Record SIS.

| |- IMPUG.* IMP User's Guide.

| |- INST.* Instrument description.

| |- INSTHOST.* MPF Lander description.

| |- MISSION.* Mars Pathfinder mission description.

| |- REF.* References related to MPF.

| |- VOLSIS.* MPF IMP EDR CD-ROM specification.

|

|- [GAZETTER] Directory containing a gazetteer of informal feature names at the MPF landing site.

| |- GAZINFO.TXT Description of files in the GAZETTER directory.

| |- GAZETTER.LBL PDS label for GAZETTER.TAB.

| |- GAZETTER.TAB Gazetteer in tabular format.

| |- GAZETTER.TXT Description of the gazetteer.

|

|- [INDEX] Directory containing index files.

| |- INDXINFO.TXT Description of files in the INDEX directory.

| |- INDEX.TAB Abbreviated volume index in tabular format.

| |- INDEX.LBL PDS label for INDEX.TAB.

| |- CUMINDEX.TAB Cumulative version of INDEX.TAB.

| |- CUMINDEX.LBL PDS label for CUMINDEX.TAB.

| |- EDRINDEX.TAB Detailed volume index in tabular format.

| |- EDRINDEX.LBL PDS label for EDRINDEX.TAB.

| |- COMMAND.TAB List of command parameters in tabular format.

| |- COMMAND.LBL PDS label for COMMAND.TAB.

|

|- [BROWSE] Directory containing the image browser.

| |- BROWSER.LBL PDS label for HTML files at top level of browser.

| |- BRWSINFO.TXT Description of files in the BROWSE directory.

| |- DD.HTM Definitions of PDS keywords used in browser.

| |- HELP.HTM Help file for browser.

| |- INDEX.HTM Top page of the browser. (Start here to use the browser.)

| |- [ICONS] Directory containing icons used in HTML pages.

| |- [UUUUUUUU] Target directories containing HTML pages, GIF browse images and JPEG thumbnails. Directories beneath this have an identical structure to the data directories.

| | |- [SEQVVVV]

| | | |- [CWWWWXXX]

|

|- [UUUUUUUU] Data directories containing PDS formatted image files. These directories are subdivided first by target (UUUUUUUU), then by command sequence number (where VVVV is the four digit number and finally by spacecraft clock start count (WWWW represents the four most significant digits of the clock count). Each of the bottom level directories contains PDS formatted data files where YYYYYY represents the six least significant digits of the SCLK and Z indicates the frame id, L=left, R=right.

| |- [SEQVVVV]

| | |- [CWWWWXXX]

| | | |- IYYYYYYZ.IMG

| | | |

| | | |

|

| The top-level data directories are:

|

|- [APXSSITE] Directory containing images of sites where the APXS instrument was deployed.

|

|

|- [CALIMG] Directory containing images taken for calibration purposes. This includes images of the radiometric and fiducial targets on the lander, flat field and dark current images, and readouts of the dark strip and null strip on the CCD.

|

|

|

|- [DEIMOS] Directory containing images targeted at Deimos.

|

|- [LANDER] Directory containing images targeted at parts of the lander to assess its status. This includes things like the airbag assessment pan and ramp deployment images.

|

|

|- [MAG] Directory containing images aimed at the various magnetic targets on the lander to study the magnetic properties of airborne particles.

|

|

|- [MARS] Directory containing the vast majority of the images, those which were taken primarily to view the Martian landscape. It includes most of the major panoramas, the super resolution images, and the change monitoring images.

|

|

|

|- [PHOBOS] Directory containing images targeted at Phobos.

|

|- [ROVER] Directory containing images taken to support Rover operations and investigations. This includes things like end of day sequences, movie sequences, navigation images, and soil experiment images.

|

|

|- [SKY] Directory containing a variety of images including those taken looking at both high elevations and at the horizon, and at a variety of times of day. (Some images may include the Sun.) Many were taken for the purpose of studying the atmosphere and the particles suspended in it.

|

|

|

|- [STAR] Directory containing images targeted at the stars Altair, Arcturus, and Vega. These are the one exception to the rule that target = directory name, since they are all grouped together in the "STAR" directory.

|

|

|

|

|- [SUN] Directory containing images targeted at the Sun, usually for the purpose of studying the atmosphere. In cases where a sequence of images, usually around sunset or sunrise, included some images with the sun and some without, the sequence has been included in the SKY directory.

|

|

|

|

|- [WINDSOCK] Directory containing images targeted at the windsocks on the ASI/MET mast.

|

|

	File	Contents
Top-level directory
`\|-`	`AAREADME.TXT`	The file you are now reading.
`\|-`	`AAREADME.HTM`	Hypertext version of the AAREADME.TXT file.
`\|-`	`AAREADME.LBL`	PDS label describing the AAREADME.HTM file.
`\|-`	`ERRATA.TXT`	List of comments and errors for this volume set.
`\|-`	`ERRATA.HTM`	Hypertext version of the ERRATA.TXT file.
`\|-`	`ERRATA.LBL`	PDS label describing the ERRATA.HTM file.
`\|-`	`VOLDESC.CAT`	Description of the contents of this CD-ROM volume in PDS label format.
`\|`
`\|-`	`[CATALOG]`	Directory containing PDS catalog information about the Mars Pathfinder IMP EDR data set.
`\|`	`\|-`	`CATINFO.TXT`	Description of files in the CATALOG directory.
`\|`	`\|-`	`DATASET.CAT`	IMP EDR dataset description catalog object.
`\|`	`\|-`	`INST.CAT`	IMP instrument description catalog object.
`\|`	`\|-`	`INSTHOST.CAT`	MPF Lander description catalog object.
`\|`	`\|-`	`MISSION.CAT`	MPF mission description catalog object.
`\|`	`\|-`	`PERSON.CAT`	MPF personnel objects.
`\|`	`\|-`	`REF.CAT`	MPF reference objects.
`\|`
`\|-`	`[DOCUMENT]`	Directory containing document files.
`\|`	`\|-`	`DOCINFO.TXT`	Description of files in DOCUMENT directory.
`\|`	`\|-`	`CONTACTS.*`	Contact information for MPF project personnel.
`\|`	`\|-`	`DATASET.*`	MPF IMP EDR Dataset description.
`\|`	`\|-`	`EDRSIS.*`	IMP Experiment Data Record SIS.
`\|`	`\|-`	`IMPUG.*`	IMP User's Guide.
`\|`	`\|-`	`INST.*`	Instrument description.
`\|`	`\|-`	`INSTHOST.*`	MPF Lander description.
`\|`	`\|-`	`MISSION.*`	Mars Pathfinder mission description.
`\|`	`\|-`	`REF.*`	References related to MPF.
`\|`	`\|-`	`VOLSIS.*`	MPF IMP EDR CD-ROM specification.
`\|`
`\|-`	`[GAZETTER]`	Directory containing a gazetteer of informal feature names at the MPF landing site.
`\|`	`\|-`	`GAZINFO.TXT`	Description of files in the GAZETTER directory.
`\|`	`\|-`	`GAZETTER.LBL`	PDS label for GAZETTER.TAB.
`\|`	`\|-`	`GAZETTER.TAB`	Gazetteer in tabular format.
`\|`	`\|-`	`GAZETTER.TXT`	Description of the gazetteer.
`\|`
`\|-`	`[INDEX]`	Directory containing index files.
`\|`	`\|-`	`INDXINFO.TXT`	Description of files in the INDEX directory.
`\|`	`\|-`	`INDEX.TAB`	Abbreviated volume index in tabular format.
`\|`	`\|-`	`INDEX.LBL`	PDS label for INDEX.TAB.
`\|`	`\|-`	`CUMINDEX.TAB`	Cumulative version of INDEX.TAB.
`\|`	`\|-`	`CUMINDEX.LBL`	PDS label for CUMINDEX.TAB.
`\|`	`\|-`	`EDRINDEX.TAB`	Detailed volume index in tabular format.
`\|`	`\|-`	`EDRINDEX.LBL`	PDS label for EDRINDEX.TAB.
`\|`	`\|-`	`COMMAND.TAB`	List of command parameters in tabular format.
`\|`	`\|-`	`COMMAND.LBL`	PDS label for COMMAND.TAB.
`\|`
`\|-`	`[BROWSE]`	Directory containing the image browser.
`\|`	`\|-`	`BROWSER.LBL`	PDS label for HTML files at top level of browser.
`\|`	`\|-`	`BRWSINFO.TXT`	Description of files in the BROWSE directory.
`\|`	`\|-`	`DD.HTM`	Definitions of PDS keywords used in browser.
`\|`	`\|-`	`HELP.HTM`	Help file for browser.
`\|`	`\|-`	`INDEX.HTM`	Top page of the browser. (Start here to use the browser.)
`\|`	`\|-`	`[ICONS]`	Directory containing icons used in HTML pages.
`\|`	`\|-`	`[UUUUUUUU]`	Target directories containing HTML pages, GIF browse images and JPEG thumbnails. Directories beneath this have an identical structure to the data directories.
`\|`	`\|`	`\|-`	`[SEQVVVV]`
`\|`	`\|`	`\|`	`\|-`	`[CWWWWXXX]`
`\|`
`\|-`	`[UUUUUUUU]`	Data directories containing PDS formatted image files. These directories are subdivided first by target (UUUUUUUU), then by command sequence number (where VVVV is the four digit number and finally by spacecraft clock start count (WWWW represents the four most significant digits of the clock count). Each of the bottom level directories contains PDS formatted data files where YYYYYY represents the six least significant digits of the SCLK and Z indicates the frame id, L=left, R=right.
`\|`	`\|-`	`[SEQVVVV]`
`\|`	`\|`	`\|-`	`[CWWWWXXX]`
`\|`	`\|`	`\|`	`\|-`	`IYYYYYYZ.IMG`
`\|`	`\|`	`\|`	`\|`
`\|`	`\|`	`\|`	`\|`
`\|`
`\|`	The top-level data directories are:
`\|`
`\|-`	`[APXSSITE]`	Directory containing images of sites where the APXS instrument was deployed.
`\|`
`\|`
`\|-`	`[CALIMG]`	Directory containing images taken for calibration purposes. This includes images of the radiometric and fiducial targets on the lander, flat field and dark current images, and readouts of the dark strip and null strip on the CCD.
`\|`
`\|`
`\|`
`\|-`	`[DEIMOS]`	Directory containing images targeted at Deimos.
`\|`
`\|-`	`[LANDER]`	Directory containing images targeted at parts of the lander to assess its status. This includes things like the airbag assessment pan and ramp deployment images.
`\|`
`\|`
`\|-`	`[MAG]`	Directory containing images aimed at the various magnetic targets on the lander to study the magnetic properties of airborne particles.
`\|`
`\|`
`\|-`	`[MARS]`	Directory containing the vast majority of the images, those which were taken primarily to view the Martian landscape. It includes most of the major panoramas, the super resolution images, and the change monitoring images.
`\|`
`\|`
`\|`
`\|-`	`[PHOBOS]`	Directory containing images targeted at Phobos.
`\|`
`\|-`	`[ROVER]`	Directory containing images taken to support Rover operations and investigations. This includes things like end of day sequences, movie sequences, navigation images, and soil experiment images.
`\|`
`\|`
`\|-`	`[SKY]`	Directory containing a variety of images including those taken looking at both high elevations and at the horizon, and at a variety of times of day. (Some images may include the Sun.) Many were taken for the purpose of studying the atmosphere and the particles suspended in it.
`\|`
`\|`
`\|`
`\|-`	`[STAR]`	Directory containing images targeted at the stars Altair, Arcturus, and Vega. These are the one exception to the rule that target = directory name, since they are all grouped together in the "STAR" directory.
`\|`
`\|`
`\|`
`\|`
`\|-`	`[SUN]`	Directory containing images targeted at the Sun, usually for the purpose of studying the atmosphere. In cases where a sequence of images, usually around sunset or sunrise, included some images with the sun and some without, the sequence has been included in the SKY directory.
`\|`
`\|`
`\|`
`\|`
`\|-`	`[WINDSOCK]`	Directory containing images targeted at the windsocks on the ASI/MET mast.
`\|`
`\|`

More specific details on the file naming conventions used for the image files are available in section 2.2.2 of the EDRSIS or Table 3.2.2.6.E of the VOLSIS, both of which are in the DOCUMENT directory.

7. Image Browser

The image browser contained on this volume is a HyperText Markup Language based system that provides a simple search and quick-look capability. The browser is organized on a different basis than the CD volume. The CD image directories are sorted by target, command sequence number, and spacecraft clock start count, while the browser pages are sorted by target and observation name. This was done because the observation name is more descriptive than the command sequence number and should help people unfamiliar with the data find an image they are interested in. However, there is some loose correspondence between observation names and command sequence numbers, so the command sequence numbers have been included alongside observation names in the browser. For details of the relationship between these two values, please see Table 3.2.2.6.B in the VOLSIS, located in the DOCUMENT directory.

The system consists of an HTML page for each image that displays a GIF version of the image and a limited portion of its respective label data. Each full resolution data file may be accessed directly from its corresponding HTML page.

To use the image browser, open up the BROWSE/INDEX.HTM file in your web browser. For a more comprehensive search engine and browser for the data, please used the Planetary Image Atlas, available from the WWW page of the PDS Imaging Node: " http://www-pdsimage.jpl.nasa.gov/PDS/".

8. Whom to Contact for Information

For questions concerning this volume set, contact:

PDS Imaging Node
Susan K. LaVoie
M/S 168-514
Jet Propulsion Laboratory
4800 Oak Grove Drive
Pasadena, CA 91109-8099
(818) 354-5677
WWW Site: http://www-pdsimage.jpl.nasa.gov/PDS/
E-mail: pds_imaging@www-pdsimage.jpl.nasa.gov

For general information related to the PDS, contact:

Planetary Data System, PDS Operator
M/S 202-101
Jet Propulsion Laboratory
4800 Oak Grove Drive
Pasadena, CA 91109-8099
(818) 354-4321
WWW Site: http://pds.jpl.nasa.gov/
E-mail: pds_operator@jpl.nasa.gov

9. Cognizant Persons & Acknowledgments

The IMP camera was supplied by Principal Investigator Peter Smith at the University of Arizona Lunar and Planetary Laboratory.

This volume set was designed and produced at the Jet Propulsion Laboratory, Pasadena, California by Elizabeth Duxbury. The following people provided assistance in various capacities:

PDS Standards, Keywords, etc:

Steve Hughes, Karen Law, Jean Mortellaro, and Betty Sword (PDS-CN JPL)
Eric Eliason and Janet Barrett (PDS-IMG, U.S. Geological Survey Flagstaff, Arizona)
Charles Acton (PDS-NAIF, JPL)
Joe Mafi (PDS-PPI UCLA, Los Angeles, California)

Data Preparation and Documentation:

Doug Alexander, Sue LaVoie, Jean Lorre, Justin Maki, Allan Runkle, and Pamela Woncik (Multimission Image Processing Laboratory, JPL)

Geometry Information:

Boris Semenov (PDS-NAIF, JPL)
Nicolas Thomas (Max Plank Institut fur Aeronomie, Katlenburg-Lindau, Germany)
Robin Vaughan and John Wellman (JPL)

MPF Project Support:

Kathleen Spellman, Susan Merrill, and Susan Roberts (JPL)

Calibration Information:

Haraldur Gunnlaugsson (Niels Bohr Institute for Astronomy, Copenhagen, Denmark)
Devon Crowe and Bob Reid (Lunar & Planetary Laboratory, University of Arizona, Tucson, Arizona)
Robert Sullivan (Cornell Univeristy, Ithaca, New York)

MPF Landing Site Gazetteer:

Bob Kanefsky, Ted Blackmon, Carol Stoker, and Eric Zbinden (NASA Ames, Moffett Field, California)
Nathan Bridges and Albert Haldemann (JPL)

Mars Pathfinder IMP Image Browser:

The image browser used on this CD was based largely on the HTML browser developed for the Viking Lander EDR archive CD-ROMs, which were produced by Edward A. Guinness, Thomas C. Stein, and Jennifer Herron of Washington University, St. Louis, MO.

CD Reviewers:

Thanks to Ed Guinness (PDS-GEO, Washington University, St. Louis, Missouri), Bob Reid (Lunar & Planetary Laboratory, University of Arizona, Tucson, Arizona), and Betty Sword (PDS-CN, JPL) for their helpful comments on this set of CDs.