LIST OF FIGURES
| 1.1 | IMP Image Capture and Retrieval |
| 1.2 | Pointing Parallax |
| 2.1 | VICAR Image Organization |
| 2.2 | Template of Mars Pathfinder IMP EDR PDS Label |
| 2.3 | Sample VICAR Image File Name |
| 2.4 | Sample PDS Data File Name |
LIST OF TABLES
| 1.1 | Maximum Data Set Size for Mars Pathfinder IMP Image Data File |
| 1.2 | VICAR Software for Mars Pathfinder IMP Image Data Files |
| 2.2 | File Extensions and Data File Types |
ACRONYMS AND ABBREVIATIONS
| AIM | Attitude and Information Management |
| ASCII | American Standard Code for Information Interchange |
| CAHV | Camera model described by four vectors C, A, H and V |
| CAHVOR | Camera model CAHV with CCD and non-linear distortions taken into account |
| CCD | Charge-Coupled Device |
| EDR | Experiment Data Record |
| FEI | File Exchange Interface |
| IMP | Imager for Mars Pathfinder |
| JPEG | Joint Photographic Experts Group |
| MFX | Mars Surface Fixed coordinate frame |
| MIPL | Multimission Image Processing Laboratory |
| MIPS | Multimission Image Processing Subsystem (old name for MIPL) |
| MPF | Mars Pathfinder |
| NAIF | Navigation and Ancillary Information Facility |
| PDS | Planetary Data System |
| SFDU | Standard Formatted Data Unit |
| SIS | Software Interface Specification |
| TBD | To Be Determined |
| VICAR | Video Image Communication and Retrieval system |
| WMS | Working Mission Storage |
ACTION ITEMS FOR CLOSURE
| none |
1.0 INTRODUCTION
This specification describes the image data products to be delivered to the Imager for Mars Pathfinder (IMP) Team of the Mars Pathfinder Project (MPF) by the Multimission Image Processing Laboratory (MIPL). The specifications of the software that produce the products described herein are beyond the scope of this document. Applicable documents used in producing this specification include:
- Planetary Data System Standards Reference, JPL D-7669, Part 2.
- Planetary Science Data Dictionary Document, JPL D-7116, Rev D.
- IMP Flight Software Telemetry Format, University of Arizona, January 1995.
- VICAR File Format, JPL, R. Deen, Interoffice Memorandum 384-92-196, September 1992.
- IMP Calibration Report, University of Arizona, April 1997.
- DISRSOFT Image Processing Document, N. Thomas, J. Stüwe, Max-Planck Institute for Aeronomie, Version 1.5, July 12, 1994.
- Mars Pathfinder AIM Phasing and Coordinate Frame Document, JPL D-12103, PF-300-4.0-04.
- IMP Flight Software Command Format, University of Arizona, January 1995.
- Users Guide to The Imager for Mars Pathfinder, Version 1.3, University of Arizona, February 3, 1997.
1.1 Notation
This documentation uses the "Committee on Data Management and Computation" (CODMAC) data level numbering system. The data files referred to in this document are considered "level 2" or "Edited Data" (equivalent to NASA level 0). The data files are generated from "level 1" or "Raw Data" which is the telemetry packets within the project specific Standard Formatted Data Unit (SFDU) record.1.2 Product and Transferal Mechanism
The image data files and labels generated by MIPL software for Mars Pathfinder will be transferred electronically to the IMP Team via the File Exchange Interface (FEI). Each image file will be generated as a VICAR labelled file. A separate, Planetary Data System (PDS) data file will be associated with each image file, but delivered to or generated by the IMP Team upon request. The image data files may be generated on any one of the following platforms: Sun Sparcstation running Solaris, Sun Sparcstation running SunOS, Silicon Graphics running IRIX.1.3 Image Data Processing
In order to understand the image processing and nomenclature of the data products, it is useful to understand how the IMP camera operates. Figure 1.1 shows a diagram of how an image is captured and retrieved by the IMP camera. The main points to note are that the stereo images are rotated differently on the CCD chip and that the flight software operates on the CCD's coordinate frame not the images'. There are also additional CCD elements that are used to help correct for dark current and shutter effects.After the IMP "exposes" the imaging portion of the CCD, the image is shifted into a storage area of the CCD where it will not accumulate more exposure (there is no mechanical shutter on the IMP). The data in the storage area is then moved into a shift register that will read out the image data and the CCD calibration elements. The full size of the image area the flight software can process is a 256 by 256 area. In order to minimize border effects between different imaging components (left, right and dark pixel regions), only 248 lines are normally processed.
This diagram shows the basic structure of the IMP camera head and how a scene is imaged. Various components are show for reference purposes. This diagram is not even close to engineering specifications, and some liberties have been take regarding the geometry of some of the components.The data packaged in the data files will be decoded, decompressed IMP image data in single frame form as an Experiment Data Record (EDR). The single frame form of a standard image data file has the maximum dimensions of 256 lines by 256 samples. The other image data files and their data sizes are listed in Table 1.1. Single image frames can be mosaicked to produce a larger image. The VICAR software used to generate the image data set products is described in Table 1.2.
As mentioned, the IMP commands use CCD coordinates, while the EDR refers to image coordinates. All EDR images are annotated with sub-framing information (even for full frame images). Where Line and Sample '1' are in the upper left corner of a rotated image (up is pointing up, not to a side). The nominal image frame of the IMP is a subframe starting at line 3 and sample 1, and consisting of 248 lines of 256 samples. The command system for the IMP utilizes the offset for this nominal frame as the starting point for any commanded subframe. Hence a subframe defined to start at image line 10, will actually start at image line 13 (nominal plus subframe offset). This allows for unexpected results if a commanded subframe defines the number of lines greater than the actual number of CCD lines, (i.e., nominal_offset + subframe_offset + number_of_lines can be greater than 256). This did occur on a number of observations.
| Image Type | Image Size lines x samples | Pixel Size (bits) | Description |
| Image Data regular observations |
256 x 256 | 16 | Image data is unsigned and rotated from the way it is generated in the camera. Right images have been rotated counter-clockwise, left images have been rotated clockwise. |
| Dark Strip | 256 x 8 | 16 | Calibration data retrieved from a covered area of the CCD. |
| Null Strip | 256 x 4 | 16 | Calibration data retrieved from the readout register of the IMP camera. |
| Flat Field special observations used for calibration |
256 x 256 | 16 | Flat Field data is unsigned and rotated from the way it is generated in the camera. Right images have been rotated counter-clockwise, left images have been rotated clockwise. |
| Dark Field Also referred to as Dark Current; special observations used for calibration |
256 x 256 | 16 | Dark Field data is unsigned and rotated from the way it is generated in the camera. Right images have been rotated counter-clockwise, left images have been rotated clockwise. |
| Histogram | 1 x 4096 | 16 | Histogram data contains a 4096 element histogram table. Each sample corresponds to the count of Dn values in the target image. |
| Summed | 2 x 256 | 32 | All rows and columns are summed. The first record is the result of the row summing where each sample is the sum of all the pixels from the corresponding row. The second record is the result of column summing. |
NOTE: Due to on-board JPEG compression, it is possible to generate Dn values greater than 4095 (the largest value the camera electronics can generate). This is due to the lossy compression algorithm of the JPEG. The label item ERROR_PIXELS will identify the number of pixels that are greater than the nominal 4095 maximum.
| Application | Description |
| MPFTELEMPROC | Fetches the image Standard Formatted Data Unit (SFDU) records from the Telemetry Delivery Subsystem (TDS), and reconstructs the image file from the telemetry data. If a version of this image exisits in the Working Mission Storage (WMS), the image data is compared to the WMS version. If the new version has more data than the existing version, it replaces the WMS version. This application produces a VICAR image file with a subset of descriptive label items. It also accesses the catalog and SPICE kernels to supplement the ancillary image information from the telemetry data. |
| MPFCAT2LAB | Updates the VICAR label based on information stored in the MIPL/MPF catalog. |
| MPFCAHV | Updates the label of an uncorrected image to contain a corrected CAHV camera model. The program requires an accurate quaternion to generate proper results. |
| MPF_IMP_CHIP | Creates an index page of 16 IMP images on one 8 by 10 quick-look print. Each image is annotated with observation identification, timing, pointing, compression and filter information. This same program is capable of generating a systematic film product that also includes a standard 16 step gray wedge. |
| MPFMAP | Produces polar coordinate mosaics (azimuth versus elevation) from uncorrected input images using a CAHVOR camera model. |
| MPFMOS | Produces pinhole camera mosaics using uncorrected input images and a CAHVOR camera model. |
| MPFNAV | Generates an updated azimuth and elevation based on comparison with existing image data that can be directly compared. |
| MPFPDSLBL | Converts the VICAR EDR into a PDS compliant labelled image file. |
| MPFVIEW | Calculates the distance to selectable points in a stereo image data set. |
1.4 Coordinate System Components
The following paragraphs discuss the various types of coordinate system components. In some cases the project definitions of the coordinate systems are modified to a more standard use.1.4.1 Coordinate Frames
The MPF Project defined six different coordinate systems to identify spacecraft origin during the different mission phases (See Mars Pathfinder AIM Phasing and Coordinate Frame Document, reference 7). The following paragraphs discuss the four coordinate systems and components used by EDR generation for supporting surface operation.
NOTE: For the identified coordinate systems, the EDR SIS and the EDR data files differ from the project definitions in that the Z-axis is positive in the "up" direction (for surface operations).In all coordinate frames, the pointing is based on the returned science data packets. There are a number of methods used to calculate the pointing of the IMP, each with its own meaning. The "METHOD" label items (e.g., INSTRUMENT_AZIMUTH_METHOD) should be checked to identify what was used. The default method is to use the telemetry values for the motor steps and calculate the pointing using a conversion algorithm, yielding bore-site pointing values.
1.4.1.1 Lander Frame
The Lander Frame, identified as the L Frame, is a coordinate system that is fixed to the geometry of the lander. Most of the pointing information identified in the IMP EDR label items references this coordinate system.1.4.1.2 IMP Frame
The IMP Frame is oriented such that all of the axes are collinear to the Lander Frame. The origin of the IMP Frame is offset from the Lander frame (See the MPF AIM Phasing document for the correct offset distances).NOTE: For the purpose of identifying camera pointing, this document treats the Lander and IMP Frames as identical. When commanding the pointing to a known object, the pointing vectors from the origins of the two coordinate systems will NOT be parallel, but converge at the object, basically an exaggerated parallax effect. See Figure 1.2. for a diagram showing the angles between the origins of collinear coordinate systems and an object.
This diagram shows the pointing angles from the different reference frames if the target of the pointing is a known object. The gimbal origin is also shown in this diagram to show the true ramifications of the pointing problems. The spacecraft coordinate systems and their origin offsets are not accurately represented; however the concept is.NOTE: The orientation of the Z-Axis in this drawing reflects the usage in this document and not the Project defined meaning.
1.4.1.3 Local Level Frame
The Local Level Frame, identified as the M Frame, shares the same origin as the Lander Frame. The orientation of the coordinate frame is defined relative to the Mars areocentric coordinate system.1.4.1.4 Mars Surface Fixed Frame
The Mars Surface Fixed Frame, identified as MFX Frame, is oriented such that all of the axes are collinear to the Local Level Frame. Originally the origin of the MFX is identical to the M Frame, but can be offset due to pedal movement, air-bag settling or other translational effects.NOTE: For the purpose of identifying camera pointing, this document treates the Local Level and Mars Surface Fixed Frames as identical. This assumption has similar parallax problems as treating the IMP- and L-Frame pointing as identical. However, the origin offset between the Local Level and Mars Surface Fixed frames is not anticipated to be as large, reducing the parallax effect.
1.4.2 Planetocentric
Center normal coordinate system. For Pathfinder, this is based on the gravitational vector derived from the lander's accellerometers.1.4.3 Quaternion
The quaternion is the coordinate transform or rotation between the Lander Frame and the Local Level Frame. The VICAR label defines the quaternion using the NAIF notation of the cosine of the rotation angle followed by the sine of the rotation angle multipled by each component of the unit vector of the axis of rotation.The following brief excerpt discussing quaternions was taken from the NAIF distributed SPICELIB documentation:
Quaternions are four dimensional vectors, on which a particular kind of arithmetic is defined. The quaternions that have norm equal to 1 are called 'unit quaternions'. Unit quaternions may be associated with rotations in the following way: if a rotation R has unit vector n = (n1, n2, n3) as an axis and w as a rotation angle, then we represent R by
Q = ( cos(w/2), sin(w/2) n1, sin(w/2) n2, sin(w/2) n3 )As you might suspect, this association is not unique: substituting (w + 2*pi) for w, we see that -Q is also a representation for R. If we choose the rotation axis and angle of R so that the angle lies in [0, pi], then there is a unique quaternion representing R, except in the case where R is a rotation by pi radians.The main interest of quaternion multiplication is that we can actually carry out composition of rotations using the multiplication defined on the quaternions. If quaternions Q1 and Q2 represent rotations R1 and R2, then Q2*Q1 represents R2(R1). So the mapping from unit quaternions to rotations is a group homomorphism, where the 'multiplication' operation on the rotations is functional composition.
2.0 DETAILED SPECIFICATION
The following section describes in greater detail the files to be received by the IMP Team.2.1 Structure and Organization Overview
For each archived IMP image, one file is created, an image data file with an attached PDS label. This file constitutes a set of data to be managed and archived by MIPL as one unit.The image data will be a single image frame captured by the IMP camera . The maximum size of the image frame is 256 lines by 256 samples, however, the nominal image frame size is 248 lines by 256 samples. The construction of the IMP camera created an area of overlap between the right and left image views and the elmination of 8 lines from each removes this artifact.
2.1.1 MIPL Local Image File
An image file consists of two major parts: the image header, which describes many aspects of the image, and the image area, which contains the actual image data. The image header and image area are stored as a standard VICAR image. Additional information about the basic VICAR image structure and content is described in the "VICAR File Format" document (reference 4). The line and sample numbering of the image data starts with an origin of (1,1) at the upper left of the image with increasing values both to the right and down. See figure 2.1 for a graphical representation of a nominal IMP EDR.
This figure identifies the basic structure of the VICAR IMP EDR data file. There is an ASCII label at the beginning of the file followed by the image data and an optional ancillary VICAR label in cases where not enough space was allocated for the label at the beginning of the file.
2.1.2 PDS Archived Label File
Every archived image data file contains a PDS label. This label conforms to the Planetary Data System standard for ancillary data management. The label contains information regarding the observation which produced the image. This observation information includes general descriptors such as observation sequence name and time tags of the start of image acquisition, camera and spacecraft state parameters, data compression information, viewing and lighting geometry, spacecraft position and camera pointing, image dimensions, and processing history. This PDS labelled image is the IMP Team defined standard for transferring data between home institutions.The PDS label is an object-oriented file; the object to which the label refers is denoted by a statement of the form:
^object = locationin which the carat character '^' (also called a pointer in this context) indicates that the object starts at the given location. In an attached label, the location denotes the starting record or byte. For example:
^IMAGE = 3indicates that the IMAGE object begins at record 3 of the file.
All labels contain 80-byte fixed-length records, with a carriage return character (ASCII 13) in the 79th byte and a line feed character (ASCII 10) in the 80th byte. This allows the files to be read by the HFS, MacOS, DOS, OS2, UNIX, and VMS operating systems. The labels are padded with NULL characters to form an integral number of records equal in length to the data file records.
Figure 2.2 is a template of the IMP EDR PDS label. See Appendix A for detailed definitions and formatting information for the label items. Also, note that label item values which are capitalized or those values enclosed in quotes but not italicized represent label item values to be written verbatim.
Text inside broken brackets, '<' and '>', identify the type of data that is valid for a label value.
PDS_VERSION_ID = PDS3
/* FILE CHARACTERISTICS */
RECORD_TYPE = FIXED_LENGTH
RECORD_BYTES = number of bytes per record in the file
FILE_RECORDS = total number of records in the file
LABEL_RECORDS = number of records in the file containing
only label information
/* POINTERS TO DATA OBJECTS */
^IMAGE = first record in file containing image data
/* IDENTIFICATION DATA ELEMENTS */
DATA_SET_ID = "MPFL-M-IMP-2-EDR-V1.0"
DATA_SET_NAME = "MPF LANDER MARS IMAGER FOR MARS PATHFINDER 2
EDR V1.0"
PRODUCER_ID = "MIPL OF JPL"
PRODUCER_FULL_NAME = "ALLAN J. RUNKLE"
PRODUCER_INSTITUTION_NAME = "MULTIMISSION IMAGE PROCESSING LABORATORY,
JET PROPULSION LAB"
PRODUCT_ID = "IMP_EDR-<sclkstrtcnt>-<image_observation_
type>-<image_id>"
IMAGE_ID = nnnnnnnnnn
COMMAND_SEQUENCE_NUMBER = nnnn
IMAGE_OBSERVATION_TYPE = <REGULAR, DARK_CURRENT, FLAT_FIELD,
HISTOGRAM, SUMMATION, DARK_STRIP,
NULL_STRIP>
FRAME_ID = <LEFT, RIGHT, BOTH, HALFL>
MISSION_NAME = "MARS PATHFINDER"
INSTRUMENT_HOST_NAME = "MARS PATHFINDER LANDER"
INSTRUMENT_NAME = "IMAGER FOR MARS PATHFINDER"
INSTRUMENT_ID = "IMP"
TARGET_NAME = planetary body, feature, or region
OBSERVATION_NAME = purpose of observation
IMAGE_TIME = yyyy-mm-ddThh:mm:ss.fffZ
PLANET_DAY_NUMBER = nn
MPF_LOCAL_TIME = hh:mm:ss
SPACECRAFT_CLOCK_START_COUNT = nnnnnnnnnn
EARTH_RECEIVED_START_TIME = yyyy-mm-ddThh:mm:ss.fffZ
EARTH_RECEIVED_STOP_TIME = yyyy-mm-ddThh:mm:ss.fffZ
PRODUCT_CREATION_TIME = yyyy-mm-ddThh:mm:ss.fffZ
/* DESCRIPTIVE DATA ELEMENTS */
EXPECTED_PACKETS = n
RECEIVED_PACKETS = n
APPLICATION_PACKET_ID = n
APPLICATION_PACKET_NAME = group name associated with APID
EXPOSURE_DURATION = f.ffff
EXPOSURE_TYPE = <AUTO, INCREMENTAL, MANUAL, PRETIMED, NONE>
EXPOSURE_COUNT = n
AUTO_EXPOSURE_DATA_CUT = n
AUTO_EXPOSURE_PIXEL_FRACTION = f.ffff
ERROR_PIXELS = n
FILTER_NAME = <"L440_R440", "L450_R670", "L885_R947",
"L925_R935", "L935_R990", "L670_R670",
"L800_R750", "L860_R-DIOPTER", "L900_R600",
"L930_R530", "L1000_R480", "L965_R965">
FILTER_NUMBER = n
INSTRUMENT_TEMPERATURE = (f.ffff, f.ffff)
INSTRUMENT_TEMPERATURE_COUNT = (n, n)
INSTRUMENT_DEPLOYMENT_STATE = <"STOWED", "DEPLOYED", "UNKNOWN">
DETECTOR_PIXEL_HEIGHT = f.ffff
DETECTOR_PIXEL_WIDTH = f.ffff
SOURCE_PRODUCT_ID = standard SPICE kernel names for PCK, SPK, etc
SOFTWARE_NAME = name of MPF telemetry processing software
SOFTWARE_VERSION_ID = version of MPF telemetry processing software
PROCESSING_HISTORY_TEXT = "CODMAC LEVEL 1 TO LEVEL 2 CONVERSION VIA
JPL/MIPL MPFTELEMPROC"
/* GEOMETRY DATA ELEMENTS */
INSTRUMENT_AZIMUTH = f.ffff
AZIMUTH_FOV = f.ffff
AZIMUTH_MOTOR_CLICKS = n
INSTRUMENT_AZIMUTH_METHOD = <"TELEMETRY", "MPFNAV-MIPS", "BACKLASH-UOFA">
INSTRUMENT_ELEVATION = f.ffff
ELEVATION_FOV = f.ffff
ELEVATION_MOTOR_CLICKS = n
INSTRUMENT_ELEVATION_METHOD = <"TELEMETRY", "MPFNAV-MIPS", "BACKLASH-UOFA">
SURFACE_BASED_INST_AZIMUTH = f.ffff
SURFACE_BASED_INST_ELEVATION = f.ffff
SURFACE_BASED_INST_METHOD = "L_FRAME-QUATERNION"
POSITIVE_ELEVATION_DIRECTION = UP
SOLAR_AZIMUTH = f.ffff
SOLAR_ELEVATION = f.ffff
LANDER_SURFACE_QUATERNION = (f.ffff, f.ffff, f.ffff, f.ffff)
/* IMP FLIGHT SOFTWARE COMMAND DATA ELEMENTS */
COMMAND_NAME = name of the uplinked command
COMMAND_DESC = text which describes the uplinked command
TLM_CMD_DISCREPANCY_FLAG = <TRUE, FALSE>
DOWNLOAD_TYPE = <NONE, DS, IM, DSIM, NS, DSNS, IMNS, DSIMNS>
DARK_CURRENT_DOWNLOAD_FLAG = <TRUE, FALSE>
DARK_CURRENT_CORRECTION_FLAG = <TRUE, FALSE>
FLAT_FIELD_CORRECTION_FLAG = <TRUE, FALSE>
BAD_PIXEL_REPLACEMENT_FLAG = <TRUE, FALSE>
SHUTTER_EFFECT_CORRECTION_FLAG = <TRUE, FALSE>
SQRT_COMPRESSION_FLAG = <TRUE, FALSE>
/* COMPRESSION DATA ELEMENTS */
INST_CMPRS_BLK_SIZE = (n, n)
INST_CMPRS_BLOCKS = n
INST_CMPRS_MODE = n
INST_CMPRS_PARAM = n
INST_CMPRS_QUALITY = n
INST_CMPRS_QUANTZ_TBL_ID = name or code identifying the reference table
used for quantization in the frequency domain
for on-board transform compression
INST_CMPRS_QUANTZ_TYPE = TABULAR
INST_CMPRS_SYNC_BLKS = n
INST_CMPRS_NAME = <"RICE ADAPTIVE VARIABLE-LENGTH CODING
(RICE)", "JPEG DIRECT COSINE TRANSFORM (DCT)">
INST_CMPRS_RATE = f.ffff
INST_CMPRS_RATIO = f.ffff
PIXEL_AVERAGING_HEIGHT = n
PIXEL_AVERAGING_WIDTH = n
RICE_START_OPTION = n
RICE_OPTION_VALUE = n
SQRT_MINIMUM_PIXEL = n
SQRT_MAXIMUM_PIXEL = n
/* IMAGE OBJECT DATA ELEMENTS */
OBJECT = IMAGE
INTERCHANGE_FORMAT = BINARY
LINES = n
LINE_SAMPLES = n
BANDS = 1
SAMPLE_TYPE = MSB_UNSIGNED_INTEGER
SAMPLE_BITS = <8, 16, or 32>
SAMPLE_BIT_MASK = <2#11111111#, 2#0000111111111111#, or
2#11111111111111111111111111111111#>
MAXIMUM = n
MEAN = f.ffff
MEDIAN = n
MINIMUM = n
STANDARD_DEVIATION = f.ffff
FIRST_LINE = n
FIRST_LINE_SAMPLE = n
CHECKSUM = <32 bit unsigned integer>
END_OBJECT = IMAGE
END
2.2 File Naming Conventions
The following naming convention standard for IMP image data files is to be maintained by MIPL as a means of files management.2.2.1 VICAR Image Data File Names
For all data files stored in the MIPL Working Mission Storage (WMS), the filenames will be constructed with five parts as shown below in Figure 2.3.
Instrument Identifier - The instrument identifier will always be the lowercase letter 'i', representing an EDR from the IMP camera.Time Reference Number - The time reference number will be the 10-digit Spacecraft Clock Start Count, as described in Appendix A. The Spacecraft Clock Start Count is the same for left, right, null strip and dark strip images.
Frame Identifier - The frame identifier will be a one character letter, 'l', 'r', 's', or 'n', referring to an image generated from the left, right, dark or null IMP frame respectively.
File Extension - The file extension is a three character mnemonic. Table 2.1 shows the possible file extensions and the data files they represent.
Table 2.1. - File Extensions and Data File Types
Data File Types File Extension Image .img Dark Strip .str Null Strip .nul Flat Field .flt Dark Current .drk Histogram .hst Summed .sum Image Reference Number - Finally, the image reference number is the 10-digit Image ID appended onto the file extension. The reference number is procedurally divided into three parts, the sequence ID, version and image ID. The sequence ID is the most significant 4 digits, the version the middle two digits and the image ID the least significant 4 digits.
2.2.2 PDS Data File Names
The PDS data filenames will be constructed with four of the five VICAR image data filename components as shown below in Figure 2.4.
Instrument Identifier - The instrument identifier will be the uppercase letter 'I'.Time Reference Number - The time reference number will be the least significant 6-digits of the Spacecraft Clock Start Count (the 4 most significant digits will be used as part of the directory hierarchy storing the image files).
Frame Identifier - The frame identifier will be a one character letter, 'L', 'R', 'S', or 'N', referring to an image generated from the left, right, dark or null IMP frame respectively.
File Extension - Finally, the file extension will be one of seven three-character mnemonics shown in Table 2.1 for the VICAR Image File Extensions (except in uppercase).
APPENDIX A
IMP PDS/VICAR EDR Label Items
IMP PDS/VICAR EDR Label Items
A.1 IMP PDS/VICAR EDR Label Items
The following pages list alphabetically the label items which are contained in the PDS attached and VICAR labels associated with each image file. The list is broken into three sections. The first section contains the label items that will be in every image file. The second section defines the additional label items that are present in the PDS distributed image files. The third section defines the label items that will be in a mosaicked VICAR image file.
Table A.1 - Common IMP Label Items
| Label Item | Description | Data Type (organization) |
Valid Values |
|---|---|---|---|
| APPLICATION_PACKET_ID | Classifies the telemetry packet from which the image data was obtained. This packet ID is extracted from the telemetry download. This value is based on a set of values specified in the Downlink Telemetry Documents (JPL). This acronym is APID. | integer | (see IMP specification, ref. 3) |
| AUTO_EXPOSURE_DATA_CUT | A value indicating a base for pixel values using AUTO_EXPOSURE_PIXEL_FRACTION as the percentage of pixels wanted above that value. | integer | [0, 4095] |
| AUTO_EXPOSURE_PIXEL_FRACTION | Fraction of pixels wanted to exceed AUTO_EXPOSURE_DATA_CUT, expressed as a percentage. This field is valid only if EXPOSURE_TYPE is AUTO. | floating point | [0, 100.0] |
| AZIMUTH_FOV | The angular coverage of the imaged scene measured horizontally with respect to the image plane in spacecraft coordinates. This is a simple multiplication of the number of samples by the field of view of each pixel. | floating point | [0.0, 360.0] |
| AZIMUTH_MOTOR_CLICKS | Azimuth received from the telemetry, measured in IMP motor step position counts from the low hard stop. | integer | [0, 1023] |
| BAD_PIXEL_REPLACEMENT_FLAG | Indicates whether or not bad pixel replacement processing command was issued to the flight software. If set TRUE, certain pixels of the image will be replaced based on a bad pixel table. | character (array) | TRUE, FALSE |
| CAMERA_ORIENTATION_QUATERNION | A set of four values that define a rotation about the IMP coordinate system origin pointing to the direction of camera boresight. the values are stored in NAIF representation of Cosine, X, Y, Z. | double (array of 4 elements) | N.A. |
| COMMAND_NAME | Uplinked command name as found in the Mars Pathfinder Command Dictionary, appendix A, D-12500. | varchar (20) | IMP_IMAGE_AZ_EL, IMP_IMAGE_VECTOR, IMP_IMAGE_OBJECT, IMP_IMAGE_LCLVEC, IMP_IMAGE_LCLGRD |
| DARK_CURRENT_CORRECTION_FLAG | Indicates that dark current correction processing command was issued to the flight software and the image is to be adjusted by an on-board dark current correction image. | character (array) | TRUE, FALSE |
| DOWNLOAD_TYPE | Command parameter identifying the image data to be downloaded; any or all of the image data (IM), dark current strip (DS), and null pixel data (NS). | varchar (10) | NONE, DS, IM, DSIM, NS, DSNS, IMNS, DSIMNS |
| EARTH_RECEIVED_START_TIME | Identifies the earliest time a packet was received that contained data for the image. | character array | YYYY-MM-DDThh:mm:ss.fffZ |
| EARTH_RECEIVED_STOP_TIME | Identifies the latest time a packet was received that contained data for the image. | character array | YYYY-MM-DDThh:mm:ss.fffZ |
| ELEVATION_FOV | The angular coverage of the imaged scene measured vertically with respect to the image plane in spacecraft coordinates. This is a simple multiplication of the number of lines by the field of view of each pixel. | floating point | [0.0, 90.0] |
| ELEVATION_MOTOR_CLICKS | Elevation received from telemetry, measured in IMP motor step position counts from the low hard stop. | integer | [0, 1023] |
| ERROR_PIXELS | Count of the number of pixels that are outside of the valid Dn range (0 to 4095). The count is taken after all decompression and post decompression processing has been completed. | integer | <any positive value> |
| EXPECTED_PACKETS | Total number of telemetry packets which constitute a complete image, an image without missing data. | integer | <any positive value> |
| EXPOSURE_COUNT | Maximum number of exposures to take. Valid values are dependent on EXPOSURE_TYPE. | integer | [0, 16] |
| EXPOSURE_DURATION | Integration time for manual and auto exposure, measured in milliseconds. Integration Time in IMP Telemetry Format specification from the U. of Arizona. | floating point | [0.5, 32767.5] |
| EXPOSURE_TYPE | Exposure type for the image: auto, manual, pre-timed, incremental or none. Auto exposure allows for adjusting the exposure time based on a previous exposure. Manual exposure is a single exposure with a set expose time. Pre-timed exposure uses the very last expose time used, regardless of what kind of exposure it was. No exposure indicates that the command moves only the camera and doesn't take an exposure. | character (array) | AUTO, INCREMENTAL, MANUAL, PRETIMED, NONE PDS limits this length to 8 characters |
| FILTER_NAME | The name of the instrument filter through which the image was acquired. The number in the name refers to the effective wave length in nm of the filter for the left (L) or right (R) image. | character (array) | for flt 0, "L440_R440" for flt 1, "L450_R670" for flt 2, "L885_R947" for flt 3, "L925_R935" for flt 4, "L935_R990" for flt 5, "L670_R670" for flt 6, "L800_R750" for flt 7, "L860_R-DIOPTER" for flt 8, "L900_R600" for flt 9, "L930_R530" for flt 10, "L1000_R480" for flt 11, "L965_R965" |
| FILTER_NUMBER | The number of the instrument filter through which the image was acquired. | integer | [0, 11] |
| FIRST_LINE | Indicates the line within a source image that corresponds to the first line in the sub-image. | integer | [1, 256] |
| FIRST_LINE_SAMPLE | Indicates the sample within a source image that corresponds to the first sample in the sub-image. | integer | [1, 256] |
| FLAT_FIELD_CORRECTION_FLAG | Indicates whether or not flat field correction processing command was issued to the flight software. If set TRUE, the image is to be adjusted by an on-board flat field correction image. | character (array) | TRUE, FALSE |
| FOCAL_CENTER_VECTOR | Position of the entrance pupil point of the camera lens (focal
center) measured relative to the Local Level coordinate frame (M
Frame) [7]. Corresponds to the C vector in the CAHV camera model. |
floating point (array of 3 elements) | N.A. |
| FRAME_ID | Provides an identification for a particular instrument frame. The IMP camera nominally operates in a mode where both the left and right images are exposed and transfered into the frame buffer. Then either the RIGHT, LEFT or BOTH frames are transmitted. It is also possible to quickly only transfer the left frame (HALFL) if there are concerns about the length of the shutter time. | character (array) | LEFT, RIGHT, BOTH, HALFL |
| HORIZONTAL_IMAGE_PLANE_VECTOR | H = H' +
xcA, where H' is a unit
vector parallel to the x-axis in the camera's image plane, and
xc is the point of intersection of a perpendicular dropped
from the exit pupil point of the camera lens. H', A', V'
are mutually orthogonal. All the vectors are defined in the Local Level coordinate frame (M Frame) [7]. Corresponds to the H vector in the CAHV camera model. |
floating point (array of 3 elements) | N.A. |
| IMAGE_ID | 10-digit number that uniquely identifies the observation
parameters of an image. The most significant 4 digits identify the
command sequence that contains the imaging command. If the image ID
is even and non-zero, then this is the left frame from the camera. If
the image ID is one greater than the left frame image ID (odd), then
this is the right frame of a stereo image.
NOTE: During operations, a small number of IMAGE_IDs were reused with
different command parameters. This eliminates the uniqueness of the
IMAGE_ID for these images. |
integer | <any positive value> |
| IMAGE_OBSERVATION_TYPE | Image data type as specified in the image packet as image information bits. The image data type defines the format and type of image data. Except for SUMMATION and HISTOGRAM, all the image observation types basically identify normal imaging data, Please refer to secion 1.3 for a better discussion of the meaning of these values. | character (array) | REGULAR, DARK_CURRENT, FLAT_FIELD, HISTOGRAM, SUMMATION, DARK_STRIP, NULL_STRIP PDS limit of 10 character length |
| IMAGE_TIME | Time at which the image was acquired, recorded in UTC format. Corresponds to SPACECRAFT_CLOCK_START_COUNT. | character (array) | YYYY-MM-DDThh:mm:ss.fffZ |
| INST_CMPRS_BLK_SIZE | Dimension of a block for on-board compression; line dimension of the block is the first element, followed by the sample dimension of the block. | integer (array) | for Rice, (1*n) where n ranges from 4 to 24. for JPEG, (8,8) |
| INST_CMPRS_BLOCKS | Number of blocks used to spatially segment the image file prior to on-board compression. | integer | <any positive value that is the image number of pixels divided by the block area> |
| INST_CMPRS_MODE | Selects on-board compression target of image quality or compression factor in conjunction with Huffman or arithmetic entropy encoding with or without LCT. Odd modes select image quality, while even modes select compression factor as a target. Modes 1,2,5,6 use Huffman encoding; modes 3,4,7,8 use arithmetic encoding. Modes 5 through 8 use LCT; mode 9 defines RICE compression. | integer | [1, 9] |
| INST_CMPRS_NAME | The type of on-board compression used for data storage and transmission. Contents of this value should be the full, unabbreviated, non-acronym name of coding or compression type. Examples of encoding types include but are not limited to Integer Cosine Transform (ICT), Block Truncation Coding (BTC), Discrete Cosine Transform (DCT), Joint Photographic Experts Group (JPEG) Standard DCT. | character (array) | "Rice Adaptive Variable-length Coding (RICE)" or "JPEG Discrete Cosine Transform (DCT)" or NONE |
| INST_CMPRS_PARAM | JPEG specific variable. Selects on-board compression rate by image quality or by compression factor, based on selected on-board compression mode. | integer | if compression mode is odd, [1, 99]; if compression mode is even, [2, 225]. |
| INST_CMPRS_QUALITY | JPEG specific variable If an odd IMP compression mode is used for on-board compression, this is the desired image quality index. If an even IMP compression mode is used, this is the resultant image quality used to reach a desired on-board compression factor. | integer | <any positive number> |
| INST_CMPRS_QUANTZ_TBL_ID |
This name or code identifies the reference table used for quantization in the frequency domain for on-board transform compression. This name or code should be specific enough to allow the user of the data to have sufficient information to reference the quantization table used to compress the data. | character (array) | [0, 15] |
| INST_CMPRS_RATE | Average number of bits needed to represent a pixel for an on-board compressed image. | floating point | <any positive value> |
| INST_CMPRS_RATIO | Ratio in bytes of the original, uncompressed data file length to its compressed form. For example, a compression ratio of 5.00 means that on average, for every five bytes of input data, one byte of on-board compressed data was generated. | floating point | <any positive value> |
| INST_CMPRS_SYNC_BLKS | Rice specific variable. Number of compressed blocks between sync markers. | integer | [1, 1024] |
| INSTRUMENT_AZIMUTH | Azimuth of camera at which image scene was captured, measured in degrees clockwise with respect to the Yl axis of the Mars Pathfinder Lander Coordinate Frame (L Frame). See Mars Pathfinder AIM Phasing and Coordinate Frame Document (reference 7). | floating point | [0, 360.0] |
| INSTRUMENT_AZIMUTH_METHOD | Identifies the method used to calculate the azimuth. | character (array) | TELEMETRY MPFNAV-MIPS BACKLASH-UOA |
| INSTRUMENT_DEPLOYMENT_STATE | Defines the position of the IMP mast | character (array) | STOWED, DEPLOYED, UNKNOWN |
| INSTRUMENT_ELEVATION | Elevation of camera at which image scene was captured, measured in degrees with respect to the Xl/Yl plane of the Mars Pathfinder Lander Coordinate Frame (L Frame). Positive degrees are measured above the Xl/Yl plane (negative Zl direction). See Mars Pathfinder AIM Phasing and Coordinate Frame Document (reference 7). | floating point | [-90.0, 90.0] |
| INSTRUMENT_ELEVATION_METHOD | Identifies the method used to calculate the elevation | character (array) | TELEMETRY MPFNAV-MIPS BACKLASH-UOA |
| INSTRUMENT_ID | Acronym of instrument name | character (array) | IMP |
| INSTRUMENT_NAME | Full name of an instrument. | character (array) | "Imager for Mars Pathfinder" |
| INSTRUMENT_TEMPERATURE | The temperature of the sensor (CCD) array and camera head when the image was acquired, measured in degrees Celsius. | floating point (array of 2 elements) | <any positive value> |
| INSTRUMENT_TEMPERATURE_COUNT | The raw temperature counts of the CCD and camera head when the image was taken. | integer (array of 2 elements) | [0, 255] |
| LANDER_SURFACE_QUATERNION | A set of four values the define the relationship between the Lander Frame and Local Level Frame coordinate systems [7]. The values are stored in NAIF representation of cosine, X, Y, Z. | double (array of 4 elements) | N.A |
| MAXIMUM | The maximum Dn value in the image file, between the IMP CCD valid range (0 to 4095). | integer | [0, 4095] |
| MEAN | The mean pixel value for the pixels within the valid Dn range. | floating point | [0.0, 4095.0] |
| MEDIAN | The median pixel value for the pixels within the valid Dn range. This value will be at most 8 Dn greater than or equal to the true median value. | integer | [0, 4095] |
| MINIMUM | The minimum Dn value in the image file, between the IMP CCD valid range (0 to 4095). | integer | [0, 4095] |
| MISSION_NAME | A major planetary mission or project. | character (array) | MARS PATHFINDER |
| MLL_MFX_OFFSET_METHOD | Identifies the method used to calculate the MLL_MFX offset vector | character (array) | NOT_DETERMINED MPFVIEW-MIPS |
| MLL_MFX_OFFSET_VECTOR | An array of X, Y, and Z offsets in millimeters from the origin of the Lander Frame (L Frame) to the Mars Surface Fixed Frame (MFX Frame). [7] | floating point (array of 3 elements) | N.A. |
| MPF_LOCAL_TIME | Reference time based on the IAU standard for the Martian prime meridian. For detailed description, see the Report of the IAU/IAG/COSPAR Working Group on Cartographic Coordinates and Rotational Elements of the Planets and Satellites: 1991. | character (array) | hh:mm:ss |
| OBSERVATION_NAME | Idfentifies the purpose of the observation sequence. Obtained from the IMP e-kernel. | chacter (array) | N.A. |
| PIXEL_AVERAGING_HEIGHT | Block height for pixel averaging prior to image compression. | integer | [1, 255] required that mod( LINES / (PIXEL_AVERAGING_HEIGHT)) = 0 |
| PIXEL_AVERAGING_WIDTH | Block width for pixel averaging prior to image compression. | integer | [1, 255] required that mod(SAMPLES / (PIXEL_AVERAGING_WIDTH)) = 0 |
| PLANET_DAY_NUMBER | The Martian day on which the image was taken. This is a counter that starts with '1' as the first day of surface operations. '0' refers to a pre surface operations image. | integer | <any positve number> |
| POINTING_DIRECTION_VECTOR | A unit vector A in the direction in which the
camera is pointed; the direction of the symmetry axis of the camera
lens as measure in the Local Level coordinate frame (M Frame) [7]. Corresponds to the A vector in the CAHV camera model. |
floating point (array of 3 elements) | <TBD> |
| PRODUCER_ID | Short name or acronym for the producer or producing team/group of a data set. | string (array) | MIPS OF JPL |
| PRODUCT_CREATION_TIME | Defines the UTC time when a product was created. | time | YYYY-MM-DDThh:mm:ss.fffZ |
| PRODUCT_ID | A permanent, unique identifier assigned to a data product by its producer. | character (array) | "IMP_EDR-<SCLK_start_count>- <image_observation_type>-<image id>" |
| RECEIVED_PACKETS | Total number of telemetry packets which constitute the reconstructed image. | integer | <any positive value> |
| RICE_OPTION_VALUE | RICE compressor specific variable. | integer | between 2 and (data precision - start_option + 1) |
| RICE_START_OPTION | RICE compressor specific variable. | integer | between 0 and the data precision of pixels |
| SHUTTER_EFFECT_CORRECTION_FLAG | Indicates whether or not the shutter, or fixed-pattern removal command was issued to the flight software. If set TRUE, the image is to be adjusted by an on-board algorithm. | character (array) | TRUE, FALSE |
| SOFTWARE_NAME | Identifies the name of the telemetry processing software used to generate the image data. | character (array) | N.A. |
| SOFTWARE_VERSION_ID | Identifies the version of the telemetry processing software used to generate the image data. | character (array) | N.A. |
| SOURCE_PRODUCT_ID | Filenames of SPICE kernels used to produce image data and derived data. | character (array) | <standard SPICE kernel names for PCK, SPK, etc.> |
| SPACECRAFT_CLOCK_START_COUNT | Lander time in seconds at which the image was acquired. Image Generation Time in the IMP Telemetry Format specification from the U. of Azirona. Corresponds to IMAGE_TIME. | integer | N.A. |
| SPACECRAFT_NAME | Full, unabbreviated name of a spacecraft. | character (array) | MARS PATHFINDER LANDER |
| SQRT_COMPRESSION_FLAG | Indicates whether or not the square root compression command was issued to the flight software. If set TRUE, the image is to be square root compressed on-board from a 12 bit pixel down to an 8 bit pixel. | character (array) | TRUE, FALSE |
| SQRT_MAXIMUM_PIXEL | Maximum pixel value in 12-bit image prior to square root compression. | integer | [0, 4095] |
| SQRT_MINIMUM_PIXEL | Minimum pixel value in 12-bit image prior to square root compression. | integer | [0, 4095] |
| STANDARD_DEVIATION | Standard deviation of the valid pixel values around the mean Dn value. | floating point | [0.0, 4095.0] |
| SURFACE_BASED_INST_AZIMUTH | Azimuth of IMP camera measured in the Mars Surface Fixed frame (MFX frame). Azimuth is measured positively in degrees clockwise from the Martian north (spin axis), projected onto the local gravity horizontal plane (plane perpendicular to the gravity vector). Also generally known as NORTH_AZIMUTH. Mars Local Level or surface fixed coordinate system. See Mars Pathfinder AIM Phasing and Coordinate Frame Document (reference 7). | floating point | [0.0, 360.0] |
| SURFACE_BASED_INST_ELEVATION | Elevation of IMP camera measured in the Mars Surface Fixed frame (MFX frame). Elevation is measured in degrees up from the Mars Local Level or Surface Fixed X,Y plane (negative Z direction). See Mars Pathfinder AIM Phasing and Coordinate Frame Document (reference 7). | floating point | [-90.0, 90.0] |
| SURFACE_BASED_INST_METHOD | Identifies the method used to calculate the surface based camera pointing. | character (array) | TELEMETRY MPFNAV-MIPS BACKLASH-UOA |
| TARGET_NAME | Identifies a target, be it a planetary body, region or feature. | character (array) | <Mars or some Martian feature> |
| TLM_CMD_DISCREPANCY_FLAG | Indicator of mismatch(es) found between IMP commands uplinked and
IMP telemetry. The fields checked when determining this flag are: APPLICATION_PACKET_ID |
character (array) | TRUE, FALSE |
| VERTICAL_IMAGE_PLANE_VECTOR | V = V' +
ycA, where V' is a unit
vector parallel to the y-axis in the camera's image plane, and
yc is the point of intersection of a perpendicular dropped
from the exit pupil point of the camera lens. H', A', V'
are mutually orthogonal. All the vectors are defined in the Local Level coordinate frame (M Frame) [7]. Corresponds to the V vector in the CAHV camera model. |
floating point (array of 3 elements) | N.A. |
Table A.2 - PDS IMP Label Items
| Label Item | Description | Data Type (organization) |
Valid Values |
|---|---|---|---|
| ^IMAGE1 | Pointer to the first record of the image data portion in a PDS file. | integer | <any positive number> |
| APPLICATION_PACKET_NAME | Group name associated with APID. An example is "Lander image of the Rover" for APID #26. | character (array) | <any descriptive text> |
| BANDS | Indicates the number of spectral bands in the image. | integer | 1 |
| CHECKSUM | An unsigned 32-bit sum of every byte of data in the image data object. | integer | <any positive value> |
| COMMAND_DESC | Text which describes the uplinked command as found in COMMAND_NAME element. | varchar (200) | <text taken directly from the Mars Pathfinder Command Dictionary, appendix A, D-12500> |
| DARK_CURRENT_DOWNLOAD_FLAG | Indicates if a dark current strip of the CCD was downlinked along with the image data. | character (array) | TRUE, FALSE |
| DATA_SET_ID | A unique alphanumeric identifier for a data set or a data product. This identifier consists of the identifiers for spacecraft, target, instrument, processing level, product acronym, and version number. | character (array) | "MPFL-M-IMP-2-EDR-V1.0" |
| DATA_SET_NAME | Full name given to a data set or product. This is an unabbreviated version of the DATA_SET_ID. | character (array) | "MPF Lander Mars Imager for Mars Pathfinder 2 EDR V1.0" |
| DETECTOR_PIXEL_HEIGHT | Height of pixel spacing measured in microns. | floating point | 23.0 |
| DETECTOR_PIXEL_WIDTH | Width of pixel spacing measured in microns. | floating point | 23.0 |
| FILE_RECORDS1 | Number of physical file records in a PDS data file. | integer | <any positive value> |
| INST_CMPRS_DESC | Textual description of the instrument compression type, which should include a reference to a journal paper, published text or some other publicly available, published material which definitively describes the on-board compression type. | character (array) | N.A. |
| INST_CMPRS_QUANTZ_TYPE | Method of quantization used for the output of transform coders. | character (array) | TABULAR |
| INTERCHANGE_FORMAT | Manner in which data elements are stored. | character (array) | BINARY |
| LABEL_RECORDS1 | Number of physical file records in a PDS data file that contain only label information. | integer | <any positive value> |
| LINES | Total number of pixels along the vertical axis of an image. | integer | <any positive value> |
| LINE_SAMPLES | Total number of pixels along the horizontal axis of an image. | integer | <any positive value> |
| PDS_VERSION_ID | The version number of the PDS standards documents that is valid when a data product is created. | character
(array) | PDS3 |
| POSITIVE_ELEVATION_DIRECTION | The direction in which elevation is measured in positive degrees for an observer on the surface of a body. The elevation is measured with respect to the azimuthal reference plane. A value of UP indicates that the elevation is measured positively upwards, i.e., the zenith point would be at +90 degrees and the nadir point at -90 degrees. DOWN indicates that the elevation is measured positively downwards; the zenith point would be at -90 degrees and the nadir point at +90 degrees. | character (array) | UP |
| PROCESSING_HISTORY_TEXT | Textual summation that provides an entry for each processing step and program used in generating a particular data file in the context of the Ground Data System. | character (array) | N.A. |
| PRODUCER_FULL_NAME | Full, unabbreviated name of the individual mainly responsible for the production of the data set. | string (array) | "Allan J. Runkle" |
| PRODUCER_INSTITUTION_NAME | Identifies the institution associated with the production of the data set. | string (array) | "Multi-mission Image Processing Subsystem, Jet Propulsion Lab" |
| RECORD_BYTES1 | Number of bytes in a physical file record, including record terminators and separators. | integer | <number _samples> * <bytes/pixel> * <number_bands> |
| RECORD_TYPE1 | Record format of a file. | character (array) | FIXED_LENGTH |
| SAMPLE_BITS | Indicates the stored number of bits, or units of binary information, contained in a line_sample value. | integer | 16, 32 |
| SAMPLE_BIT_MASK | Identifies the active bits in a sample. | character | 2#0000111111111111# or mask of 32 bits(all on) |
| SAMPLE_TYPE | Data storage representation of sample value. | character (array) | MSB_UNSIGNED_
INTEGER |
| SOLAR_AZIMUTH | The angular distance in a horizontal direction of the sun relative to north for a particular image, measured in degrees clockwise in a spherical coordinate system. | floating point | [0, 360.0] |
| SOLAR_ELEVATION | The angular distance in a vertical direction of the sun relative to the horizon as seen by the camera, measured in degrees up in a spherical coordinate system. | floating point | [-90.0, 90.0] |
1 for PDS files only
Table A.3 - Mosaic IMP Label Items
| Label Item | Description | Data Type (organization) |
Valid Values |
|---|---|---|---|
| AZIMUTH_OF_SAMPLE_ONE2 | Identifies azimuth of the first column in the local Level coordinate frame (L-Frame). | floating point | <any positive number> |
| MAP_PROJECTION_TYPE2 | Identifies the type of projection characteristic of a given map. | character (array) | SIMPLE_ CYLINDRICAL, POLAR_SIMPLE _CYLINDRICAL |
| MOSAIC_REFERENCE_AZIMUTH2 | Recomputed commanded azimuth of camera used to construct the image mosaic in the local Level coordinate frame (L-Frame). | floating point | <TBD> |
| MOSAIC_REFERENCE_ELEVATION2 | Recomputed commanded elevation of camera used to construct the image mosaic in the local Level coordinate frame (L-Frame). | floating point | <TBD> |
| MOSAIC_REFERENCE_LINE2 | Line number of the upper left corner of the mosaic in CAHV pixel coordinates. | floating point | <TBD> |
| MOSAIC_REFERENCE_SAMPLE2 | Sample number of the upper left corner of the mosaic in CAHV pixel coordinates. | floating point | <TBD> |
| MOSAIC_RESOLUTION2 | The ratio of one pixel to the distance measured in degrees between any two adjacent rows or two adjacent columns in a mosaicked image. | floating point | N.A. |
| NADIR_LINE2 | Line to which the nadir projects provided the horizon is level in the image. Otherwise, it is the line to which -90 degrees elevation projects in local camera coordinates. | floating point | N.A. |
| NADIR_SAMPLE2 | Sample to which the nadir projects provided the horizon is level in the image. Otherwise, it is the sample to which -90 degrees elevation projects in local camera coordinates. | floating point | N.A. |
| ORIENTATION2 | Textual description of mosaicked image orientation with respect to the North pole of the target body. | character (array) | "zero azimuth is up" |
| RADIAL_MOSAIC_RESOLUTION2 | The number of pixels per degree in the direction out from the nadir point. | floating point | N.A. |
| ZERO_ELEVATION_IMAGE_LINE2 | Line in image at which zero elevation is found. | integer | N.A. |
2 for Mosaic products only
NOTE: Mosaic images do not contain any other property labels other than the Mosaic Property label. The other property labels would not contain accurate information and would be more misleading than helpful.
APPENDIX B
IMP VICAR Property Labels
B.1 IMP VICAR Property Labels
The following pages contain alphabetical listings of the VICAR label items which are placed in the header of each image file. The listings are arranged by VICAR property name.
AZIMUTH_MOTOR_CLICKS
CAMERA_ORIENTATION_QUATERNION
ELEVATION_FOV
ELEVATION_MOTOR_CLICKS
FOCAL_CENTER_VECTOR
HORIZONTAL_IMAGE_PLANE_VECTOR
INSTRUMENT_AZIMUTH
INSTRUMENT_AZIMUTH_METHOD
INSTRUMENT_ELEVATION
INSTRUMENT_ELEVATION_METHOD
LANDER_SURFACE_QUATERNION
MLL_MFX_OFFSET_METHOD
MLL_MFX_OFFSET_VECTOR
POINTING_DIRECTION_VECTOR
SURFACE_BASED_INST_AZIMUTH
SURFACE_BASED_INST_ELEVATION
SURFACE_BASED_INST_METHOD
VERTICAL_IMAGE_PLANE_VECTOR
INST_CMPRS_BLK_SIZE
INST_CMPRS_BLOCKS
INST_CMPRS_MODE
INST_CMPRS_NAME
INST_CMPRS_PARAM
INST_CMPRS_QUALITY
INST_CMPRS_QUANTZ_TBL_ID
INST_CMPRS_RATE
INST_CMPRS_RATIO
INST_CMPRS_SYNC_BLKS
PIXEL_AVERAGING_HEIGHT
PIXEL_AVERAGING_WIDTH
RICE_OPTION_VALUE
RICE_START_OPTION
SQRT_MAXIMUM_PIXEL
SQRT_MINIMUM_PIXEL
AUTO_EXPOSURE_DATA_CUT
AUTO_EXPOSURE_PIXEL_FRACTION
BAD_PIXEL_REPLACEMENT_FLAG
COMMAND_NAME
DARK_CURRENT_CORRECTION_FLAG
DOWNLOAD_TYPE
EXPOSURE_COUNT
FLAT_FIELD_CORRECTION_FLAG
SHUTTER_EFFECT_CORRECTION_FLAG
SQRT_COMPRESSION_FLAG
(valid for mosaics only)
AZIMUTH_OF_SAMPLE_ONE
MAP_PROJECTION_TYPE
MOSAIC_REFERENCE_AZIMUTH
MOSAIC_REFERENCE_ELEVATION
MOSAIC_REFERENCE_LINE
MOSAIC_REFERENCE_SAMPLE
MOSAIC_RESOLUTION
NADIR_LINE
NADIR_SAMPLE
ORIENTATION
RADIAL_MOSAIC_RESOLUTION
ZERO_ELEVATION_IMAGE_LINE
EARTH_RECEIVED_START_TIME
EARTH_RECEIVED_STOP_TIME
EXPECTED_PACKETS
INSTRUMENT_ID
INSTRUMENT_NAME
MISSION_NAME
PRODUCER_ID
PRODUCT_CREATION_TIME
PRODUCT_ID
RECEIVED_PACKETS
SOFTWARE_NAME
SOFTWARE_VERSION_ID
SOURCE_PRODUCT_ID
SPACECRAFT_NAME
TLM_CMD_DISCREPANCY_FLAG
APPLICATION_PACKET_ID
ERROR_PIXELS
EXPOSURE_DURATION
EXPOSURE_TYPE
FILTER_NAME
FILTER_NUMBER
FIRST_LINE
FIRST_LINE_SAMPLE
FRAME_ID
IMAGE_ID
IMAGE_OBSERVATION_TYPE
IMAGE_TIME
INSTRUMENT_DEPLOYMENT_STATE
INSTRUMENT_TEMPERATURE
INSTRUMENT_TEMPERATURE_COUNT
MAXIMUM
MEAN
MEDIAN
MINIMUM
MPF_LOCAL_TIME
OBSERVATION_NAME
PLANET_DAY_NUMBER
SPACECRAFT_CLOCK_START_COUNT
STANDARD_DEVIATION
TARGET_NAME
APPLICATION_PACKET_NAME
BANDS
CHECKSUM
COMMAND_DESC
DARK_CURRENT_DOWNLOAD_FLAG
DATA_SET_ID
DATA_SET_NAME
DETECTOR_PIXEL_HEIGHT
DETECTOR_PIXEL_WIDTH
INST_CMPRS_DESC
INST_CMPRS_QUANTZ_TYPE
INTERCHANGE_FORMAT
LINES
LINE_SAMPLES
PDS_VERSION_ID
PROCESSING_HISTORY_TEXT
PRODUCER_FULL_NAME
PRODUCER_INSTITUTION_NAME
SAMPLE_BITS
SAMPLE_BIT_MASK
SAMPLE_TYPE
SOLAR_AZIMUTH
SOLAR_ELEVATION
APPENDIX C
IMPSOFT Label Description
C.1 IMPSOFT Label Description
The following pages describe the sequence of IMP DISRSOFT header fields.
| IMPSOFT LABEL Item & Name |
Description and/or FSW Structure Element (PDS keyword in boldface) |
|
|---|---|---|
| 0 | H_TYPE | Header type (D=DISR, I=IMP)='I' |
| 1 | H_DIRECTORY | Directory file was last stored in |
| 2 | H_FILENAME | Filename file was stored as |
| 3 | H_FILETIME | Time file was last written by D_WRITE |
| 4 | H_LENGTH | Length of header string array |
| 5 | H_DIMENSION | Number of dimensions in data ='2' |
| 6 | H_XSIZE | Number of columns (default(256, strip=8), or cmd->col_max -
cmd->col_min +1) telem->num_rows PDS LINE_SAMPLES |
| 7 | H_YSIZE | Number of rows (default(256, strip=8), or cmd->row_max -
cmd->row_min +1) telem->num_cols PDS LINES |
| 8 | H_ZSIZE | Number of images unused |
| 9 | H_DATATYPE | Type of data = DB_WORD PDS SAMPLE_BITS |
| 10 | H_EXTENSION | Position in header where extension area starts |
| 11 | H_EXTRA | Position in header where extra area starts |
| 12 | H_PROCESS | Position in header where processing area starts PDS PROCESSING_HISTORY_TEXT |
| <end of required DISRSOFT header fields> | ||
| 13 | H_PURPOSE | Purpose of observation bce d_purpose PDS APPLICATION_PACKET_NAME |
| 14 | H_SUBJECT | Subject of observation bce d_subject PDS TARGET_NAME |
| 15 | H_DATE | Date observation made PDS IMAGE_TIME |
| 16 | H_ENGINEER | Engineer responsible bce d_operator PDS PRODUCER_FULL_NAME |
| 17 | H_SITE | Site of observation bce d_site PDS PRODUCER_INSTITUTION_NAME |
| 18 | H_SET_NAME | Text description of data set bce PDS DATA_SET_NAME |
| 19 | H_PRODUCT_ID | Unique identifier of image amongst all PDS products PDS PRODUCT_ID |
| 20 | H_EXPOSURE_COUN | Multiple exposure loop counter for auto expose, flat fields, dark
fields cmd->expose_count PDS EXPOSURE_COUNT |
| 21 | H_OPTICS_TEMP | Camera optics temperature in [K] |
| 22 | H_CCDTEMP | On chip CCD temperature in [K] bce computed from telem->ccd_temperature PDS INSTRUMENT_TEMPERATURE |
| 23 | H_REF_TEMP | CCD electronics reference temperature (MPAE field) |
| 24 | H_ELEVATION_R0 | obsolete field for camera elevation (raw counts) |
| 25 | H_FRAME | CCD frame number cmd->frame (NOTE: overall exposure frame, not image frame) PDS FRAME_ID |
| 26 | H_EXPOSURE_TYPE | CCD exposure type cmd->expose_type PDS EXPOSURE_TYPE |
| 27 | H_AUTO_DATA_CUT | Auto Exposure cutoff pixel value cmd->data_num PDS AUTO_EXPOSURE_DATA_CUT |
| 28 | H_AUTO_PERCENT | Auto Exposure target % of pixels above cutoff value
cmd->pixel_frac PDS AUTO_EXPOSURE_PIXEL_FRACTION |
| 29 | H_AUTO_DFLT_TIM | Auto Exposure initial exposure time cmd->integration_time |
| 30 | H_DETECTOR | Detector type (CCD, IR, PHOTOMETER) (MPAE field) |
| 31 | H_SENSOR_ID | Sensor ID number (MPAE field) |
| 32 | H_COL_MIN | starting column of subframe cmd->col_min (if subframing) PDS FIRST_LINE_SAMPLE |
| 33 | H_COL_MAX | last column of subframe cmd->col_max (if subframing) PDS FIRST_LINE_SAMPLE+ SAMPLES- 1 |
| 34 | H_ROW_MIN | top row of subframe cmd->row_min (if subframing) PDS LINE_SAMPLE |
| 35 | H_ROW_MAX | bottom row of subframe cmd->row_max (if subframing) PDS FIRST_LINE+ LINES - 1 |
| 36 | H_EXPTIME | integration time [sec] for CCD measurement
(float)cmd->integration_time/2000. (S.B. telem->) PDS EXPOSURE_DURATION |
| 37 | H_IMAGE_TIME | start time of exposure PDS IMAGE_TIME |
| 38 | H_ABSCAL | Absolute calibration factor used |
| 39 | H_LOCAL_TIME | PDS LOCAL_TIME |
| 40 | H_COMP_RATE | bits/pixel (only if compression is used) PDS INST_CMPRS_RATE |
| 41 | H_COMP_TYPE | compression type "None", "Lossless","Huffman|Arithmetic
Quality|Ratio" cmd->compression_type (convert to string) PDS INST_CMPRS_NAME |
| 42 | H_COMP_QUALITY | quality factor for compression cmd->compression_value (if jpeg quality compression) (telem->cmpr_data_1 if jpeg compression) PDS INST_CMPRS_QUALITY |
| 43 | H_COMP_RATIO | compression ratio cmd->compression_value (if jpeg ratio compression) PDS INST_CMPRS_RATIO |
| 44 | H_Q_TABLE | Q table for compression cmd->Q_table (if doing jpeg compression) PDS INST_CMPRS_QUANTZ_TBL_ID |
| 45 | H_AC_TABLE | AC table for Huffman compression cmd->AC_table (if doing jpeg huffman compression) |
| 46 | H_DC_TABLE | DC table for Huffman compression cmd->DC_table (if doing jpeg huffman compression) |
| 47 | H_SQRT_COMPRESS | Square root compression/correction type cmd->sqrt_type (if used) (telem->image_info[1:3]) PDS SQRT_COMPRESSION_FLAG |
| 48 | H_BLOCK_SIZE | Obsolete?? |
| 49 | H_CCD_SIDE | CCD side exposed for this image cmd->frame PDS FRAME_ID |
| 50 | H_COORD_XL | image coordinates (lower x) (MPAE field) |
| 51 | H_COORD_YL | image coordinates (lower y) (MPAE field) |
| 52 | H_COORD_XU | image coordinates (upper x) (MPAE field) |
| 53 | H_COORD_YU | image coordinates (upper y) (MPAE field) |
| 54 | H_FILTER | filter number in use cmd->filter_num (telem->filter_num) PDS FILTER_NUMBER |
| 55 | H_GAIN | gain factor (MPAE) |
| 56 | H_DC_OFFSET | DC offset (MPAE) |
| 57 | H_FILTER_NAME | filter in use PDS FILTER_NAME |
| 58 | H_PIXEL_AVG_H | block height for pixel averaging prior to image compression
PDS PIXEL_AVERAGING_HEIGHT |
| 59 | H_PIXEL_AVG_W | block width for pixel averaging prior to image compression PDS PIXEL_AVERAGING_WIDTH |
| 60 | H_TIMING_GEN | timing generator code (MPAE) |
| 61 | H_CAMERA | BB/EM/FM model (MPAE) |
| 62 | H_VACUUM | vacuum or not (yes or no) (MPAE) |
| 63 | H_OPTICS | additional optics on bench (MPAE) |
| 64 | H_TESTLAMP | external test lamp (MPAE) |
| 65 | H_SHUT_TIME | opening time of CCD test shutter (MPAE) |
| 66 | H_LED_TIME | LED on time (MPAE) |
| 67 | H_SC_LAT | Latitude on target body at which the spacecraft rests PDS SUB_SPACECRAFT_LATITUDE |
| 68 | H_SC_LON | Longitude on target body at which the spacecraft rests PDS SUB_SPACECRAFT_LONGITUDE |
| 69 | H_SPIKE_CORRECT | |
| 70 | H_DARK_CORRECT | dark correction flag PDS DARK_CURRENT_CORRECTION_FLAG |
| 71 | H_FLAT_CORRECT | flat field correction flag PDS FLAT_FIELD_CORRECTION_FLAG |
| 72 | H_BADPIX_CORRECT | bad pixel correction flag PDS BAD_PIXEL_REPLACEMENT_FLAG |
| 73 | H_SHUTTER_CORRE | shutter effect correction flag PDS SHUTTER_EFFECT_CORRECTION_FLAG |
| 74 | H_IMAGE_MIN | Minimum pixel value on the image telem->min_val (only if doing sqrt compression) PDS SQRT_MINIMUM_PIXEL_VALUE |
| 75 | H_IMAGE_MAX | Maximum pixel value on the image telem->max_val (only if doing sqrt compression) PDS SQRT_MAXIMUM_PIXEL_VALUE |
| 76 | H_RICE_BLOCK | Block size for Rice compression telem->block PDS INST_CMPRS_BLK_SIZE (for RICE only) |
| 77 | H_RICE_OPTION | Start option for Rice compression telem->cmpr_data_1 PDS RICE_START_OPTION |
| 78 | H_RICE_NUMBER | Number of options in Rice compression telem->cmpr_data_2 PDS RICE_OPTION_VALUE |
| 79 | H_SYNC_INTERVAL | Compression synchronization interval telem->sync PDS INST_CMPRS_SYNC_BLK |
| 80 | H_GSE_REV | GSE revision creating data set |
| 81 | H_CONFIG_FILE | configuration file associated with data set |
| 82 | H_TEST_LOG | test log filename generating data |
| 83 | H_REC_BEG | first record of this data set in test log |
| 84 | H_REC_END | last record of this data set in test log |
| 85 | H_PIXEL_UNITS | units of pixels |
| 86 | H_SET_ID | data set id PDS DATA_SET_ID |
| 87 | H_SET_NUMBER | sequential number of this data set telem->image_id (cmd->image_id) |
| 88 | H_MISSION_TIME | mission time in seconds PDS SPACECRAFT_CLOCK_START_COUNT |
| 89 | H_CYCLE_NUMBER | sequential number of cycles |
| 90 | H_CYCLE_TYPE | cycle type |
| 91 | H_SOLAR_AZIMUTH | sun azimuth (degrees) PDS SOLAR_AZIMUTH |
| 92 | H_SOLAR_ELEV | sun elevation (degrees) PDS SOLAR_ELEVATION |
| 93 | H_NORTH_AZIMUTH | Angle between north pole and image center |
| 94 | H_IR_MEAS | number of IR sets performed during cycle |
| 95 | H_VIOLET_MEAS | number of violet sets performed during cycle |
| 96 | H_AZIMUTH | camera azimuth (degrees) relative to IMP frame base PDS INSTRUMENT_AZIMUTH |
| 97 | H_ELEVATION | camera elevation (degrees) relative to IMP frame base PDS INSTURMENT_ELEVATION |
| 98 | H_AZIMUTH_FOV | azimuth field-of-view of scene (degrees) PDS AZIMUTHAL_FOV |
| 99 | H_ELEVATION_FOV | elevation field-of-view of image (degrees) PDS ELEVATIONAL_FOV |
| 100 | H_FOCAL_LENGTH | Camera focal length (mm) |
| 101 | H_PIXEL_HEIGHT | height of a pixel (microns) PDS DETECTOR_PIXEL_HEIGHT |
| 102 | H_PIXEL_WIDTH | width of a pixel (microns) PDS DETECTOR_PIXEL_WIDTH |
| 103 | H_COMP_TIME | DCT compression time (seconds) |
| 104 | H_COMP_RECORD | DCT compression records |
| 105 | H_PACKET_ID | JPL telemetry packet id cmd ->packet_id PDS APPLICATION_PACKET_ID |
| 106 | H_PACKETS_SENT | number of packets expected in image telem->of_total PDS EXPECTED_PACKETS |
| 107 | H_PACKETS_RCVD | number of packets actually received bce packet count PDS RECEIVED_PACKETS |
| 108 | H_DEPLOY_STATE | PDS INSTRUMENT_DEPLOYMENT_STATE |
| 109 | H_PARAMETER_TBL | |
| 110 | H_FLAT_FIELD_TBL | |
| 111 | H_BADPIXEL_TBL | |
| 112 | H_DARKCURRENT_I | |
| 113 | H_MFX_FRAME_AZ | camera azimuth measured in the Mars Surface Fixed frame (MFX
frame) PDS SURFACE_BASED_INST_AZIMUTH |
| 114 | H_MFX_FRAME_EL | camera elevation measured in the Mars Surface Fixed frame (MFX
frame) PDS SURFACE_BASED_INST_ELEVATION |
| 115 | H_COMP_ACTUAL | PDS INST_CMPRS_RATIO |
| 116 | H_MOSAIC_LINE | mosaic pointing reference line PDS MOSAIC_REFERENCE_LINE |
| 117 | H_MOSAIC_SAMPLE | mosaic pointing reference sample PDS MOSAIC_REFERENCE_SAMPLE |
| 118 | H_MOSAIC_AZIMUT | recomputed camera azimuth of mosaic PDS MOSAIC_REFERENCE_AZIMUTH |
| 119 | H_MOSAIC_ELEV | recomputed camera elevation of mosaic PDS MOSAIC_REFERENCE_ELEVATION |
| 120 | H_PROJECTION | projection type of map PDS MAP_PROJECTION_TYPE |
| 121 | H_ORIENTATION | mosaic orientation relative to North pole PDS ORIENTATION |
| 122 | H_RESOLUTION | mosaic resolution PDS MOSAIC_RESOLUTION |
| 123 | H_RADIAL_RES | pixels per degree at nadir point in mosaic PDS RADIAL_MOSAIC_RESOLUTION |
| 124 | H_FIRST_AZIMUTH | |
| 125 | H_ZERO_ELEV | image line for zero elevation PDS ZERO_ELEVATION_IMAGE_LINE |
| 126 | H_NADIR_LINE | image line where nadir projects PDS NADIR_LINE |
| 127 | H_NADIR_SAMPLE | image sample where nadir projects PDS NADIR_SAMPLE |
| 128 | H_CAL_TMP_SORS | cal. source voltage |
| 129 | H_CCDLUG_TEMP | CCD thermal lug temperature [K} |
| 130 | H_COORD_TYPE | coordinate system used in image request cmd->coor_type |
| 131 | H_DIRECTION_VEC | camera pointing direction vector cmd { x_az, y_el, z_z } iff coor_type == COOR_UNIT_VEC PDS POINTING_DIRECTION_VECTOR |
| 132 | H_DIR_Y | camera pointing, y component of vector cmd { x_az, y_el, z_z } iff coor_type == COOR_UNIT_VEC |
| 133 | H_DIR_Z | camera pointing, z component of vector cmd { x_az, y_el, z_z } iff coor_type == COOR_UNIT_VEC |
| 134 | H_L_FRAME_AZ | camera azimuth measured in the Lander frame PDS LANDER_FRAME_CAMERA_AZIMUTH |
| 135 | H_L_FRAME_EL | camera elevation measured in the Lander frame PDS LANDER_FRAME_CAMERA_ELEVATION |
| 136 | H_AUX_BRD_VOLT | divided 12V in volts |
| 137 | H_CPU_BRD_VOLT | divided 5V in volts |
| 138 | H_ADC_OFFSET | 0V input; ADC offset |
| 139 | H_ADC_GAIN | 2.5 input; gain of ADC |
| /* Calibration Header Fields */ | ||
| 140 | H_TEST_TYPE | calibration test type string bce: ? |
| 141 | H_TARGET_DISTAN | calibration distance to target (cm) float bce: ? |
| 142 | H_SERIES | calibration LSF/MSF Series string bce: ? |
| 143 | H_ENV_CHAMBER | calibration environmental chamber string bce: ? |
| 144 | H_CAL_CCD_TEMP | calibration external ccd temperature [K] bce: ? |
| 145 | H_BASEPLATE_TEMP | calibration baseplate temperature [K] float bce: ? |
| 146 | H_PRESSURE | calibration pressure (Torr) float bce: ? |
| 147 | H_STAGE_POSITN | calibration linear stage position (mm) float bce: ? |
| 148 | H_STAGE_ROT | calibration rotary stage position (degrees) float bce: ? |
| 149 | H_TARGET_TYPE | calibration target type string bce: ? |
| 150 | H_MONO_WAVELEN | calibration monochromoeter wavelength (nm) float bce: ? |
| 151 | H_MONO_BANDWID | calibration monochrometer bandwidth (nm) float bce: ? |
| 152 | H_STD_DETECTOR | calibration standard detector float bce: ? |
| 153 | H_POLARIZATION | calibration polarization angle float bce: ? |
| 154 | H_SLIT_WIDTH | calibration slit width (mm) float bce: ? |
| 155 | H_HW_MODEL | hardware model (flight, proto, engineer) |
| 156 | H_NUM_BINS | number of IR bins for data collection |
| 157 | H_SURF_LAMP_REP | surface lamp rep. number |
| 158 | H_SUN_LAMP_REP | sun sensor LED rep. number |
| 159 | H_CAL1_VOLT1 | voltage on cal. lamp 1 |
| 160 | H_QUATERNION | camera orientation quaternion (first array element) PDS LANDER_SURFACE_QUATERNION |
| 161 | H_Q_Y | second array element of quaterion PDS LANDER_SURFACE__QUATERNION |
| 162 | H_Q_Z | third array element of quaterion PDS LANDER_SURFACE_QUATERNION |
| 163 | H_Q_W | fourth array element of quaterion PDS LANDER_SURFACE_QUATERNION |
| 164 | H_FOCAL_VECTOR | camera model focal center position (first element of vector)
PDS FOCAL_CENTER_VECTOR |
| 165 | H_F_Y | second element of focal center vector PDS FOCAL_CENTER_VECTOR |
| 166 | H_F_Z | third element of focal center vector PDS FOCAL_CENTER_VECTOR |
| 167 | H_HORIZONTAL_V | image plane horizontal direction vector (first element of vector)
PDS HORIZONTAL_IMAGE_PLANE_VECTOR |
| 168 | H_H_Y | second element of horizontal direction vector PDS HORIZONTAL_IMAGE_PLANE_VECTOR |
| 169 | H_H_Z | third element of horizontal direction vector PDS HORIZONTAL_IMAGE_PLANE_VECTOR |
| 170 | H_VERTICAL_VEC | image plane vertical direction vector (first element of vector)
PDS VERTICAL_IMAGE_PLANE_VECTOR |
| 171 | H_V_Y | image plane vertical direction vector (second element of vector)
PDS VERTICAL_IMAGE_PLANE_VECTOR |
| 172 | H_V_Z | image plane vertical direction vector (third element of vector)
PDS VERTICAL_IMAGE_PLANE_VECTOR |
| 173 | H_NUM_HEAT | number of heaters tested |
| 174 | H_NUM_TRIPLET | number of sun triplets in data set |
| 175 | H_NUM_TIME_PAIRS | number of time data pairs |
| 176 | H_DUMP_START | address of first word in dump |
| 177 | H_DUMP_LEN | number of words in dump set |
| 178 | H_DUMP_FLAG | packing flag |
| 179 | H_MESSAGE | message type code |
| 180 | H_MESSAGE_ID | additional information code |
| 181 | H_NUM_BAD | number of bad ranges in RAM or EEPROM |
| 182 | H_LOTS_BAD | flag - lots bad RAM or EEPROM areas |
| 183 | H_CCDTEMP_R | raw CCD temperature telem->ccd_temperature PDS INST_TEMPERATURE |
| 184 | H_EXPTIME_R | raw exposure time reading telem-> integration_time (cmd->integration_time) PDS EXPOSURE_DURATION |
| 185 | H_MISSION_TIME_R | raw mission time reading telem -> image_time PDS SPACECRAFT_CLOCK_START_COUNT |
| 186 | H_AZIMUTH_R | raw azimuth reading cmd->azimuth (telem->azimuth) PDS AZIMUTH_MOTOR_CLICKS |
| 187 | H_ELEVATION_R | raw elevation counts cmd->elevation (telem->elevation) PDS ELEVATION_MOTOR_CLICKS |
| 188 | H_SPIN_R | raw spin rate reading |
| 189 | H_TARGET_AZ_R | raw target azimuth |
| 190 | H_ACTUAL_AZ_R | raw actual azimuth |
| 191 | H_IR_CHP_TMPB_R | raw IR chip temperature start |
| 192 | H_IR_CHP_TMPE_R | raw IR chip temperature end |
| 193 | H_PRECHARGE_R | raw average precharge voltage |
| 194 | H_IR_COL_TIME_R | raw IR collection time used |
| 195 | H_CAL_TMP_SORS_R | raw cal. source voltage |
| 196 | H_CCDLUG_TEMP_R | raw CCD thermal lug temperature |
| 197 | H_STRAP_TEMP_R | raw strap temperature |
| 198 | H_OPTICS_TEMP_R | raw conduit temperature |
| 199 | H_VIOLET_TEMP_R | raw violet temperature |
| 200 | H_SH_AUX_TEMP_R | raw SH aux board temp |
| 201 | H_SH_BOX_TEMP_R | raw SH box temperature |
| 202 | H_EA_BOX_TEMP_R | raw EA box temperature |
| 203 | H_AUX_BRD_VOLT_R | raw divided 12V |
| 204 | H_CPU_BRD_VOLT_R | raw divided 5V |
| 205 | H_ADC_OFFSET_R | raw 0V input |
| 206 | H_ADC_GAIN_R | raw 2.5V input |
| 207 | H_CAL1_VOLT1_R | raw cal. lamp 1 voltage |
| 208 | H_CAL1_VOLT2_R | raw cal. lamp 1 voltage |
| 209 | H_CAL2_VOLT1_R | raw cal. lamp 2 voltage |
| 210 | H_CAL2_VOLT2_R | raw cal. lamp 2 voltage |
| 211 | H_CAL3_VOLT1_R | raw cal. lamp 3 voltage |
| 212 | H_CAL3_VOLT2_R | raw cal. lamp 3 voltage |
| 213 | H_SURF_VOLT1_R | raw surf. lamp voltage |
| 214 | H_SURF_VOLT2_R | raw surf. lamp voltage |
| 215 | H_SUN_LED_VLT1_R | raw sun sensor LED volt |
| 216 | H_SUN_LED_VLT2_R | raw sun sensor LED volt |
| 217 | H_OBJECTIVE | objective of test |
| 218 | H_DUMMY | flag for dummy detector |
| 219 | H_MODEL | DISR model for MMC |
| 220 | H_DCOFFSETU_R | raw ADC value of DC offset voltage, ULIS |
| 221 | H_DCOFFSETD_R | raw ADC value of DC offset voltage, DLIS |
| 222 | H_IMP_FRM_ORG_X | X offset in meters from the Mars Surface Fixed Frame (MFX frame)
to the origin of the IMP Frame. PDS MLL_MFX_OFFSET_VECTOR |
| 223 | H_IMP_FRM_ORG_Y | Y offset in meters from the Mars Surface Fixed Frame (MFX frame)
to the origin of the IMP Frame. PDS MLL_MFX_OFFSET_VECTOR |
| 224 | H_IMP_FRM_ORG_Z | Z offset in meters from the Mars Surface Fixed Frame (MFX frame)
to the origin of the IMP Frame. PDS MLL_MFX_OFFSET_VECTOR |
| 225 | H_SUN_SOURCE | source of spin data |
| 226 | H_OGSE_STATUS | status of OGSE |
| 227 | H_OGSE_MSG | last msg from EGSE displayed on OGSE |
| 228 | H_OGSE_LAMP | lamp current |
| 229 | H_OGSE_SUNFILE1 | path of sun pulse file |
| 230 | H_OGSE_SUNFILE2 | path of sun pulse file |
| 231 | H_OGSE_SAMP | sun amplitude current |
| 232 | H_OGSE_SUNTABLE | sun table |
| 233 | H_OGSE_RPM | sun pulse RPM |
| 234 | H_OGSE_SPAN | sun pulse span value |
| 235 | H_OGSE_SIDEC | Si detector reference |
| 236 | H_OGSE_GEDEC | Ge detector reference |
| 237 | H_OGSE_EXTDEC | external detector reference |
| 238 | H_OGSE_5V | 5V reference |
| 239 | H_OGSE_TEMP | internal temperature |
| 240 | H_OGSE_SSS_TEMP | sun sensor stimulator temp. |
| 241 | H_OGSE_GN | analog ground noise |
| 242 | H_TELEM_SOFT | PDS SOFTWARE_NAME |
| 243 | H_IMAGE_TYPE | Image data type as specified in the image packet (regular image,
dark current, flat field, etc.) PDS IMAGE_OBSERVATION_TYPE |
| 244 through 252 | (not used) | |