Mars Pathfinder Project

Mars Pathfinder
Imager for Mars Pathfinder
Experiment Data Record
Compact Disc - Read Only Memory
Software Interface Specification

D-14590
PF-400-8.02
July, 1998
Version 1.8

Elizabeth Duxbury

JPL
Jet Propulsion Laboratory
4800 Oak Grove Drive
Pasadena, California 91109-8099

List of Tables
Acronyms and Abbreviations
Action Items for Closure

1.1 Content Overview
1.2 Scope
1.3 Applicable Documents

2.1 Operations Perspective
2.11 Data Source, Destinations, and Transfer Method
2.12 Generation Method and Frequency
2.2 Volume and Size
2.3 Interface Medium Characteristics
2.4 Backup and Duplicate Copies

3.1 Format
3.1.1 Disc Format
3.1.2 File Formats
3.1.2.1 Text Files
3.1.2.2 Document Files
3.1.2.3 Catalog Files
3.1.2.4 Tabular Files
3.1.2.5 PDS Label Files
3.1.2.6 Data Files
3.2 Content
3.2.1 Volume Set
3.2.2 Directories
3.2.2.1 Root Directory
3.2.2.2 Catalog Subdirectory
3.2.2.3 Document Subdirectory
3.2.2.4 Gazetteer Subdirectory
3.2.2.5 Index Subdirectory
3.2.2.6 Data Subdirectories
3.2.2.7 Browse Subdirectory

A    PDS KEYWORDS AND THEIR DEFINITIONS

A.1 IMAGE AND TABLE LABEL KEYWORDS

B.1 AAREADME.TXT

C.1 INDEX.LBL
C.2 COMMAND.LBL
C.3 EDRINDEX.LBL
C.4 GAZETTER.LBL

D.1 IXXXXXXR.LBL

E.1 VOLDESC.CAT

1.0 INTRODUCTION
 
1.1 Content Overview

This Software Interface Specification (SIS) describes the form and content of the Imager for Mars Pathfinder (IMP) Experiment Data Record (EDR) Compact Disc - Read Only Memory (CD-ROM).

The IMP EDR CD-ROMs shall be generated by the Multi-mission Image Processing Subsystem (MIPS) at the Jet Propulsion Laboratory in order to distribute the data acquired by the IMP to the project scientists and later to the Planetary Data System (PDS).

An attached PDS label shall be included with each data file. Documentation files shall be provided which inform the user about the organization and content of each disc, the definition of the labels, and the index files containing information about all the data files stored in the data set.

All PDS label formats and documentation are based on the Planetary Data System Data Preparation Workbook (reference 1).

All data formats are based on the Planetary Science Data Dictionary Document (PSDD) (reference 3).

 
1.2 Scope

The specifications in this document apply to all IMP EDR CD-ROMs that are produced during the Mars Pathfinder mission.

 
1.3 Applicable Documents

Applicable documents used in producing this specification include:

1. Planetary Data System Data Preparation Workbook, JPL D-7669, Part 1.
2. Planetary Data System Standards Reference, JPL D-7669, Part 2.
3. Planetary Science Data Dictionary Document, JPL D-7116.
4. Information Processing - Volume and File Structure of CD-ROM for Information Interchange, ISO 9660-1988.
5. Imager for Mars Pathfinder Experiment Data Record, JPL D-12003.
6. Archive Generation, Validation, and Transfer Plan, JPL D-14432, PF-400-8.0.
7. Mars Pathfinder AIM Phasing and Coordinate Frame Document, JPL D-12103, PF-300-4.0-04

2.0 INTERFACE CHARACTERISTICS
 
2.1 Operations Perspective
 
2.1.1 Data Source, Destinations, and Transfer Method

IMP EDR CD-ROMs shall be produced by MIPS for distribution to the Mars Pathfinder Project. MIPS shall use freely available CD-ROM publishing software, which shall reside at MIPS, to produce premastered CD-WOs for delivery and release to the mastering vendor for production of CD-ROMs. The mastering vendor will ship the discs to MIPS for distribution and archiving. Copies of the CDs will be archived with the Imaging Node of the PDS and with the National Space Science Data Center.

 
2.1.2 Generation Method and Frequency

The IMP EDR CD-ROM data shall be generated using MIPS software. The EDR data processing includes decoding and decompressing the IMP image data in single frame form. These data products conform to NASA level 0 or CODMAC level 2 data products. (A more complete description of the EDRs is available in the IMP EDR SIS, reference 5, a copy of which will be included on the CDs.) MIPS will then pre-master the data to CD-WO.

The CD-ROMs shall be produced as rapidly as possible on a best efforts basis. It is intended that the first CD volume should be published within six months of receipt of the data.

 
2.2 Volume and Size

Each CD-ROM shall contain at most 650 Mbytes of data. Within this limitation, as many data files as can fit on a CD-ROM will be included. This is expected to result in the publication of a three volume set.

 
2.3 Interface Medium Characteristics

IMP EDR CD-ROM physical characteristics shall conform to ISO-9660 level 1 industry standards (reference 4).

 
2.4 Backup and Duplicate Copies

The CD-ROM contents shall be stored on magnetic disc until a validated master has been produced. CD-WO copies of the disc shall be retained at MIPS.

3.0 CD-ROM CONTENT AND FORMAT

This section describes in detail the format and content of the IMP EDR CD-ROM.

 
3.1 Format

IMP EDR CD-ROM data shall be formatted in accordance with Planetary Data System specifications (references 1-3). The format is described below.

 
3.1.1 Disc Format

The IMP EDR CD-ROM format shall be compatible with various computer systems including IBM PC, Apple Macintosh, Sun, and Digital VAX. However, the data files will not contain extended attribute records, so users of older VMS systems may have dificulty reading them. The EDR CD-ROM format shall be in accordance with the ISO-9660 level 1 Interchange Standard (reference 4).

 
3.1.2 File Formats

The following paragraphs describe file formats for the various kinds of files contained on the CD-ROMs.

 
3.1.2.1 Text Files

Text files (.TXT suffix) may exist in any directory, including the root directory. They are ASCII files with attached PDS labels, and provide information about the data on the CD (as in the AAREADME.TXT file) or about data in a specific directory. All text files are streams of bytes with both a carriage return character (ASCII 13) and a line feed character (ASCII 10) as the line terminator. This allows the files to be read by the HFS, DOS, UNIX, and VMS operating systems.

The following is a sample PDS label for an AAREADME.TXT file.

PDS_VERSION_ID         = PDS3
RECORD_TYPE            = STREAM

OBJECT                 = TEXT
  PUBLICATION_DATE     = 1997-07-04
  INTERCHANGE_FORMAT   = ASCII
  NOTE                 = "This file describes the format and content of
                          this CD-ROM."
END_OBJECT             = TEXT
END

 
3.1.2.2 Document Files

Document files exist in the document directory, and include textual material describing the mission, spacecraft, instruments, data sets, and calibration. The MPF Image Browser also consists of HTML formatted document files, located in the browse directory. Possible formats for these documents include Adobe Portable Document Format (".PDF"), HyperText Markup Language (".HTM"), and plain ASCII (".ASC"). At least one copy of each document file must be in either plain ASCII or HTML. Illustrations and images for these documents are stored in separate GIF or JPEG formatted files, which are also considered to be document files.

All ASCII and HTML files are streams of bytes with both a carriage return character (ASCII 13) and a line feed character (ASCII 10) as the line terminator. The ASCII files can be read on any operating system. The HTML files can be read with most World Wide Web browsers that are capable of displaying tables. The PDF documents are a binary format that can be read with the Adobe Acrobat Reader, available from "http://www.adobe.com". GIF and JPEG images can be displayed using many commonly available image display programs.

All document files are described by detached PDS labels. The PDS label file has the same name as the document file(s) it describes, with the extension ".LBL", unless the single label describes multiple files that make up the same document, (ex., "CALIB001.GIF", "CALIB002.GIF", "CALIB003.GIF"). In this case, the label file has a similar name to the document, ex. "CALIB.LBL". The following is a sample detached PDS label file, entitled "VOLSIS.LBL", describing this document, found in the "VOLSIS.HTM" and "VOLSIS.PDF" files.

PDS_VERSION_ID         = PDS3
RECORD_TYPE            = STREAM
^HTML_DOCUMENT         = "VOLSIS.HTM"
^PDF_DOCUMENT          = "VOLSIS.PDF"

OBJECT                 = HTML_DOCUMENT
  DOCUMENT_NAME        = "Mars Pathfinder IMP EDR CD-ROM SIS"
  DOCUMENT_TOPIC_TYPE  = VOLUME_SIS
  INTERCHANGE_FORMAT   = ASCII
  DOCUMENT_FORMAT      = HTML
  PUBLICATION_DATE     = 1998-07-01
END_OBJECT             = HTML_DOCUMENT

OBJECT                 = PDF_DOCUMENT
  DOCUMENT_NAME        = "Mars Pathfinder IMP EDR CD-ROM SIS"
  DOCUMENT_TOPIC_TYPE  = VOLUME_SIS
  INTERCHANGE_FORMAT   = BINARY
  DOCUMENT_FORMAT      = PDF
  PUBLICATION_DATE     = 1998-07-01
END_OBJECT             = PDF_DOCUMENT
END

 
3.1.2.3 Catalog Files

Catalog files (".CAT" suffix) exist in the catalog directory, with the exception of the VOLDESC.CAT file which is located in the root directory. These are ASCII files formatted as PDS catalog objects (see reference 2). All catalog files are streams of bytes with both a carriage return character and a line feed character as the line terminator. This allows the files to be read by the HFS, DOS, UNIX, and VMS operating systems.

Copies of some catalog files are also included in HTML format. These files are indicated with the suffix ".HTM" and are kept in the document, rather than the catalog, directory.

 
3.1.2.4 Tabular Files

Tabular files (.TAB suffix) are ASCII files formatted for direct reading into many database management systems on various computers. All fields are separated by commas, and character fields are enclosed in double quotation marks ("). (Character fields are padded with spaces to keep quotation marks in the same columns.) Character fields are left justified, and numeric fields are right justified. The "START_BYTE" and "BYTES" values listed in the labels 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.

All tabular files are described by detached PDS labels. The PDS label file has the same name as the data file it describes, with the extension .LBL; for example, the file INDEX.TAB is accompanied by the detached label file INDEX.LBL in the same directory.

 
3.1.2.5 PDS Label Files

PDS label files (.LBL suffix) are located in many directories. They are descriptive labels (see reference 4) and may be either attached to or detached from their associated files.

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

^object = location

^INDEX_TABLE = "INDEX.TAB"

^IMAGE = 3

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

n	is the starting record or byte number of the object, counting from the beginning of the file (unless specified as bytes, this is assumed to be records),
<BYTES>	indicates that the number given is in units of bytes,
filename	is the upper-case file name,
ext	is the upper-case file extension,
dirlist	is a UNIX style, forward slash-delimited path-list of parent directories, in upper case, that specifies the object file directory (used only when the object is not in the same directory as the label file). The list begins at directory level below the root directory of the CD-ROM. 'dirlist/' may be omitted when the object being described is located either in the same directory as the detached label, or in a subdirectory named 'label' that is located in a higher level of the directory tree, typically the CD-ROM root itself.

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, DOS, Unix, and VMS operating systems.

 
3.1.2.6 Data Files

The detailed specifications for the formats of the image files are described in a Software Interface Specification published by MIPS (reference 5) and in the DATASET.CAT file, both of which are included on the CDs. The image files are all uncompressed 16-bit PDS formatted files with attached PDS labels.

 
3.2 Content

The following paragraphs describe the content of the CD-ROMs.

 
3.2.1 Volume Set

The IMP EDR CD-ROM volume set is numbered MPIM_0001 through MPIM_0003. Each CD in the set will contain the same directory structure, with the exception of the data subdirectories, which will vary from one CD to another, as they are named on the basis of time.

 
3.2.2 Directories

The IMP EDR CD-ROM directory structure consists of one ROOT directory, a BROWSE subdirectory, a CATALOG subdirectory, a DOCUMENT subdirectory, a GAZETTER subdirectory, an INDEX subdirectory, and multiple data subdirectories. The data subdirectories are divided first on the basis of target, then on the basis of command sequence number, and finally on the basis of planet day number or "sol".

The root directory contains files describing the content and format of the CD-ROMs. The catalog subdirectory contains the completed catalog templates for the instrument and data set included on the volume. Any other templates (mission, instrument host, reference, and personnel) that are available at the time the CDs are created will also be included. The gazetteer directory includes a gazetteer of the informal names of the rocks and other features at the MPF landing site, in tabular format. Files in the index directory include tables of label items describing the observation of each EDR frame, and PDS labels which in turn describe the index tables. Each index table entry is generated after the corresponding EDR file is processed in the CD generation procedure. The INDEX tables on each CD-ROM shall only reflect those files contained on that CD-ROM. Separate, cumulative index files which contain a complete listing of all EDRs on the set, will also be included on the volumes.

Files in each of the data subdirectories consist of an EDR data file with an associated attached PDS label, organized in sub-directories first by target, sequence number, and sol. The following tables describe the content and source of files in the CD-ROM directories. (Source indicates the group providing the current version of a file.)

 
3.2.2.1 Root Directory

The following table lists the files in the root directory. The ERRATA.TXT file may not be present on all CDs, as it will document errors discovered on previous CDs in the set.

 
3.2.2.2 Catalog Subdirectory

The files in this directory contain textual information about many aspects of the mission and data, and are written in a format that may be loaded into the PDS Central Node's Data Set Catalog. The following table lists the files in the catalog subdirectory.

 
3.2.2.3 Document Subdirectory

This directory contains textual files describing the data sets and instruments, plus any other supplementary information available at the time the CDs are ready to be published.

 
3.2.2.4 Gazetteer Subdirectory

The files in this directory contain textual and tabular information about the named features at the Mars Pathfinder landing site. Please note that this information is provided as a convenience to researchers, and that the names assigned to features here have not been approved by the International Astronomical Union. Also note, that only those files which are available at the time the data is ready for CD mastering will be included. Thus, no guarantee is made that all the described files will be included.

 
3.2.2.5 Index Subdirectory

The following table lists the files in the index subdirectory.

 
3.2.2.6 Data Subdirectories

The data directories that contain the image EDRs are first subdivided on the basis of target, then on the basis of command sequence number, and finally by spacecraft clock start count. Thus the pathname for any image will be constructed as follows:

The division of images by target is done primarily on the basis of the observational intent of an image, as indicated by the OBSERVATION_NAME and IMAGE_OBSERVATION_TYPE. The targets include both planetary bodies such as Mars, Phobos, the Sun, and generic "Star", as well as specific objects like calibration targets, and the Rover and Lander. One of the reasons this was done is so that IMP images that were taken primarily for the support of other instrument experiments will all be collected in a single location. However, users of the data should be aware that useful "Mars" images will be scattered throughout the directory heirarchy. For example, an image taken specifically to study the windsocks, and therefore included in the WINDSOCK directory, may also be useful for studying the geological features visible in the background. The targets do not include specific features on Mars like "Barnacle Bill" or "Yogi". Most of the images containing these features will be classified under the general target "MARS". To find images containing specific features, please consult the gazetteer. (See section 3.2.2.4.)

The list of the target directory names and their meanings is shown in the table below. Also included is a list of the command sequences that will be included in each target directory.

The next level of subdirectories are divided by command sequence number. The command sequence number usually represents a set of commands designed to carry out a particular task. These command sequences were often repeated regularly, and resulted in the production of varying numbers of images. A list of the command sequence numbers and their corresponding observation names is provided in the following table. The "Target" column shows which top-level directory each sequence is stored in on the CDs.

In cases where two targets are listed, the images have been placed in a target directory based on the IMAGE_OBSERVATION_TYPE, pointing angle, or visual inspection. (The target for observations which include either Phobos or Deimos and a star were determined by Nicolas Thomas of the Max Planch Institut fur Aeronomie in Germany.)

The final level of directory subdivision is by spacecraft clock start count or "sclk". The first four digits of the ten-digit sclk are used in the directory name; the remaining six digits are used in the file names. The directory name begins with a "c", indicating that the number that follows is a clock count, and ends with "xxx", indicating a range of numbers in the directory. The following table shows the spacecraft clock count range and the command sequences of the images that were acquired each "sol" or planet day number. The planet day number is the Martian day since surface operations began, with the day of the Mars Pathfinder landing being "1" (July 4, 1997). Negative sols refer to data acquired before the spacecraft landed. The last day when science data was returned from the surface was sol 83 (September 27, 1997).

A sample data directory structure might look like this:

      APXSSITE----SEQ0071-----C1246XXX
                  SEQ0072-----C1246XXX
      CALIMG------SEQ0007-----C1246XXX
                     |--------C1247XXX
                     :
                     :
                  SEQ0015-----C1246XXX
                     |--------C1248XXX
                     :
                     :
      PHOBOS------SEQ0155-----C1247XXX
                     :
                     :

The contents of the data subdirectories are image files with attached PDS labels, as shown in the following table.

According to PDS and ISO-9660 level 1 standards, filenames on the CDs are limited to the "8.3" format, ie., eight characters, followed by a period ".", followed by a three character extension. Therefore, the names for the individual images will consist of an instrument identifier, followed by the six least significant digits of the spacecraft clock count, followed by a single character frame identifier, followed by a three character representation of the image observation type. The filenames will be of the form WXXXXXXY.ZZZ, where:

Given the combination of directory name and filename, the complete spacecraft clock count can be determined for any image from the table above. The image filenames may not be unique; it is always best to use the product id when looking for a unique image identifier.

 
3.2.2.7 Browse Subdirectory

The browse directory contains HTML, GIF, and JPEG files designed to allow for the easy perusal of the data on the CD. This HTML "browser" begins at the top level with the INDEX.HTM file in the BROWSE directory. Beneath this, the browse directory contains a directory structure identical to that of the data subdirectories. Each of these browse subdirectories contains JPEG-formatted thumbnail-sized and GIF-formatted full-sized versions of the images in the equivalent data directory. They also contain HTML files describing both the individual images, and whole directories.

The GIF and JPEG files, and the HTML files describing individual images, all have identical names to the images they describe, except that the file extensions have been changed to ".GIF", ".JPG", and ".HTM" respectively. PDS labels with ".LBL" extensions are also present, describing the other files in each directory.

A    PDS KEYWORDS AND THEIR DEFINITIONS

 
A.1    IMAGE AND TABLE LABEL KEYWORDS

The following table lists, in alphabetical order, the PDS keywords that are used in the IMP EDR image labels and the INDEX, COMMAND, and EDRINDEX tables that describe them. Any keywords that are shown in lower case characters are used solely as column names in the tables, and are therefore not necessarily formal PDS keywords. Please note that the definitions provided are often specific to the Mars Pathfinder mission. Formal PDS definitions are available in the Planetary Science Data Dictionary (reference 3).

Many of these definitions make reference to various MPF-specific coordinate systems. For details, please see the Mars Pathfinder AIM Phasing and Coordinate Frame Document (reference 7) or the DATASET.CAT file, which is included on the IMP EDR CDs.

There are also a variety of keywords and terms used below which are related to the various data compression methods used on-board the spacecraft. For details on these, please see the DATASET.CAT file.

PDS Keyword	Mars Pathfinder Definition
APPLICATION PACKET ID	The id of the telemetry packet queue to which the image data was directed. For details see application packet name.
APPLICATION PACKET NAME	The name associated with the telemetry packet queue to which the image data was directed. The queues are distinguished on the basis of type and priority of data. The ids and names that were used during the mission are shown below: APPLICATION PACKET ID APPLICATION PACKET NAME 3 TECH_IMG 15 SCI_IMG_1 19 SCI_IMG_2 20 OPS_IMG_1 21 OPS_IMG_23 22 ENG_IMG 26 RVR_IMG 32 IMG_ASI 34 SCI_IMG_3 40 SCI_IMG_4
atmos flag	A flag that indicates that the given observation was directed at the sun.
AUTO EXPOSURE DATA CUT	The DN value which a specified fraction of pixels is permitted to exceed. The fraction is specified using the auto exposure pixel fraction keyword. Valid range: 0 to 4095
AUTO EXPOSURE PIXEL FRACTION	The percentage of pixels whose value is higher than the number specified by the auto exposure data cut keyword. This field is only applicable if the exposure type is set to AUTO or INCREMENTAL. Valid range: 0 to 100
AZIMUTH FOV	The angular measure of the horizontal field of view of an imaged scene. For MPF, "horizontal" is measured in the x-y plane of the IMP coordinate system.
AZIMUTH MOTOR CLICKS	The number of motor step counts the camera rotated in the horizontal direction from the low hard stop. Since each step count is 0.553 degrees, the approximate azimuthal position of the camera can be derived from this value. Valid range is 0 to 1023.
BAD PIXEL REPLACEMENT FLAG	Indicates whether or not bad pixel replacement processing was completed. If set to TRUE, certain pixels in the image were replaced based on a bad pixel table. Valid values: TRUE, FALSE.
BANDS	The number of spectral bands in the image. Value: 1
CHECKSUM	An unsigned 32-bit sum of every byte of data in the image data object.
COMMAND DESC command description	The textual description associated with a COMMAND NAME. The valid values for the IMP EDRs are shown below. Command Name Command Description IMP_IMAGE_AZ_EL This is the image taken by the IMP using absolute azimuth & elevation as the coordinate system IMP_IMAGE_LCLGRD This is the image taken by the IMP using a grid location in the local level coordinate system IMP_IMAGE_LCLVEC This is the image taken by the IMP using a unit vector in the local level coordinate system IMP_IMAGE_OBJECT This is the image taken by the IMP using an IVP object to identify where to point IMP_IMAGE_VECTOR This is the image taken by the IMP using a unit vector in the IMP camera coordinate system
COMMAND NAME	The name of an uplinked command sent to a spacecraft or instrument. For the IMP EDRs, this indicates the method the IMP camera was instructed to use to determine its pointing direction. For details, see command desc.
COMMAND SEQUENCE NUMBER	A numeric identifier for a sequence of commands sent to a spacecraft or instrument. For the IMP EDRs, these are specifically the commands sent to the IMP camera, ordering it to perform a particular task. Valid range is 1 to 9999. For a complete list of the command sequence numbers used during the mission and their descriptions, see Table 3.2.2.6.B of this document.
command version number	The version number of the command. The commands (ie., IMAGE_IDs) were intended to be unique, but in a few cases they were re-used with different command parameters. This keyword was added to distinguish between differing versions of the commands. Valid range is 1 to 9, where the lowest version number reflects the oldest version of a command.
DARK CURRENT CORRECTION FLAG	A flag indicating whether or not a dark current correction was applied to the image. For MPF, this correction was applied to the image on board the spacecraft, before the image was transmitted to Earth. Valid values: TRUE, FALSE
DARK CURRENT DOWNLOAD FLAG	A flag indicating whether or not an image of the dark strip area of the CCD was downlinked along with the image data. Valid values: TRUE, FALSE
DATA SET ID	A unique alphanumeric identifier for a data set. Value: MPFL-M-IMP-2-EDR-V1.0
DATA SET NAME	The full name given to a data set. Typically identifies the instrument that acquired the data, the target of that instrument, and the processing level of the data. Value: MPF LANDER MARS IMAGER FOR MARS PATHFINDER 2 EDR V1.0
DETECTOR PIXEL HEIGHT	The height of a pixel in the CCD sensor measured in microns. Value: 23.0
DETECTOR PIXEL WIDTH	The width of a pixel in the CCD sensor measured in microns. Value: 23.0
DOWNLOAD TYPE	Specifies which image data to download, any or all of: image data (IM), dark current strip (DS), and null pixel data (NS). Valid values: NONE, DS, IM, DSIM, NS, DSNS, IMNS, DSIMNS
EARTH RECEIVED START TIME	Identifies the earliest time that a telemetry packet containing data for the image was received. Has the form "YYYY-MM-DDThh:mm:ss.fffZ".
EARTH RECEIVED STOP TIME	Identifies the latest time that a telemetry packet containing data for the image was received. Has the form "YYYY-MM-DDThh:mm:ss.fffZ".
ELEVATION FOV	The angular measure of the vertical field of view of an imaged scene. For MPF, "vertical" is measured along the ZIMP axis of the IMP coordinate system.
ELEVATION MOTOR CLICKS	The number of motor step counts the camera rotated in the vertical direction from the low hard stop. Since each step count is 0.553 degrees, the approximate elevational position of the camera can be derived from this value. Valid range is 0 to 1023.
ERROR PIXELS	After all decompression and post decompression processing has been completed, this is the number of pixels that are outside the valid DN range of 0 to 4095.
EXPECTED PACKETS	The total number of telemetry packets which constitute a complete image, ie., an image without missing data.
EXPOSURE COUNT	Maximum number of exposures taken. Value is dependant on exposure type. Valid range: 0 - 16
EXPOSURE DURATION	Provides the value of the time interval between the opening and closing of an instrument aperture. The IMP camera does not have a shutter in the traditional sense, so for MPF this value is the integration time for manual and auto exposure, measured in milliseconds.
EXPOSURE TYPE	Exposure type for the image. Valid values: AUTO, INCREMENTAL, MANUAL, PRETIMED, NONE. The auto and incremental exposures iterate off a starting value to determine the exposure time. For auto exposures, the value is preset. Incremental exposures start with the exposure time of the previous exposure. Manual exposure is a single exposure with a set exposure time. Pre-timed exposure uses the very last exposure time used, regardless of the type of exposure that it was. No exposure indicates that the command moves only the camera and doesn't take an exposure.
file name	This is the name of the PDS formatted file as it is stored on the CD-ROM archive media. For the IMP EDRs, it consists of the instrument identifier "I", followed by the six least significant digits of the spacecraft clock start count, followed by a frame identifier (L=left, R=right, S=dark strip, N=null strip), followed by a 3 character extension. The extension indicates the image observation type as follows: IMG=regular, STR=dark strip, NUL=null strip, FLT=flat field, DRK=dark current, HST=histogram, and SUM=summation. (Note that the latter two values were never used.)
FILE RECORDS	The number of physical file records, including both label records and data records, in a file.
FILTER NAME	The name of the instrument filter through which the image was acquired. The numbers refer to the effective wavelength in nm of the filter for the left (L) or right (R) eye. FILTER NUMBER FILTER NAME APPLICATION 0 L440_R440 Stereo, Geology 1 L450_R670 Solar 2 L885_R947 Solar 3 L925_R935 Solar 4 L935_R990 Solar 5 L670_R670 Stereo, Geology 6 L800_R750 Geology 7 L860_R-DIOPTER Geology 8 L900_R600 Geology 9 L930_R530 Stereo, Ranging, Geology 10 L1000_R480 Geology 11 L965_R965 Stereo, Ranging, Geology
FILTER NUMBER	The number of the instrument filter through which the image was acquired. (See filter name for details.)
FIRST LINE	The line within a source image that corresponds to the first line in the sub-image. For the IMP EDRs, the source image is the complete 256x256 image area within the CCD.
FIRST LINE SAMPLE	The sample within a source image that corresponds to the first sample in the sub-image. For the IMP EDRs, the source image is the complete 256x256 image area within the CCD.
FLAT FIELD CORRECTION FLAG	Indicates whether or not a flat field correction was applied to the image. For MPF, this correction was applied to the image on board the spacecraft, before the image was transmitted to Earth. Valid values: TRUE, FALSE
FRAME ID	Provides an identification for a particular instrument frame. Valid values are LEFT, RIGHT, BOTH, and HALFL. The IMP camera nominally operates in a mode where both the left and right images are exposed and transferred into the frame buffer simultaneously. Then either the RIGHT, LEFT, or BOTH frames are transmitted. For even shorter shutter times, the left image only may be transferred into the frame buffer (HALFL). The presence of BOTH in this field indicates that the image should be part of a stereo pair.
grid position x, grid position y, grid position z	The x (north/south), y (east/west), and z (vertical) components of a position defining the IMP pointing, measured with respect to the Martian Local Level Coordinate Frame (M Frame). Positive x is north, positive y is east, and positive z is down. Units are measured in meters. For details, see [MELLSTROM&LAU1996].
histogram flag	A flag to indicate that the product returned was a histogram.
^IMAGE	A pointer to the first record of the image data within a PDS image file.
IMAGE ID	Uniquely identifies the observation parameters of an image. The most significant four digits identify the command sequence that contains the imaging command. The middle two digits indicate the version of the command sequence, and the right four digits identify the image within a single imaging sequence. If the image id is even and non-zero, it is a left frame image. If the image id is one greater than the left frame image id (and therefore odd), it is the right frame of a stereo image. NOTE: During operations, a small number of image ids were re-used with different command parameters. This eliminates the uniqueness of the image id for those images. The TLM CMD DISCREPANCY FLAG may be useful in identifying images that have this problem.
IMAGE OBSERVATION TYPE	Identifies the type or purpose of an observation. Valid values are shown in the table below. Observation Type Description REGULAR A normal image file. DARK_CURRENT A calibration image acquired by using the shortest exposure time possible and pointing the camera downwards to exclude external light. FLAT_FIELD A calibration image acquired by looking at a uniformly illuminated target (in this case, the sky). HISTOGRAM A single record file containing 4096 values, each of which is a count of the number of corresponding DN-valued pixels in the image. SUMMATION A two record file containg first the sums of the image columns, and then the sums of the image rows. DARK_STRIP A calibration image collected from a covered area of the CCD. NULL_STRIP A calibration image collected from the readout register of the CCD.
IMAGE TIME	Date and time at which the image was acquired, recorded in UTC system format. Shown as: "YYYY-MM-DDThh:mm:ss.fffZ".
INST CMPRS BLK SIZE	The dimensions of a block for on-board compression. In the PDS labels, the value is a two dimensional array, where the first value is the line dimension of the block, and the second value is the sample dimension of the block. In the EDRINDEX.TAB file, it is a single value, the product of the line dimension and the sample dimension.
INST CMPRS BLOCKS	The number of blocks used to spatially segment the image file prior to compression.
INST CMPRS MODE	The targetted image quality or compression factor for on-board compression. Compression is obtained with Huffman or arithmetic entropy encoding, with or without LCT. Odd modes specify a targetted image quality, whereas even modes specify a targetted compression factor. Modes 1,2,5,6 utilize Huffman encoding; modes 3,4,7,8 use arithmetic encoding. Modes 5,6,7,8 use LCT. Mode 9 specifies RICE compression. Valid values: 1 to 9. (See inst cmprs name.)
INST CMPRS NAME	The type of on-board compression used for data storage and transmission. Valid values are shown below: INST CMPRS MODE INST CMPRS NAME N/A NULL 1 JPEG DISCRETE COSINE TRANSFORM (DCT); HUFFMAN/QUALITY 2 JPEG DISCRETE COSINE TRANSFORM (DCT); HUFFMAN/RATIO 3 JPEG DISCRETE COSINE TRANSFORM (DCT); ARITHMETIC/QUALITY 4 JPEG DISCRETE COSINE TRANSFORM (DCT); ARITHMETIC/RATIO 5 JPEG DISCRETE COSINE TRANSFORM (DCT); HUFFMAN/QUALITY/LCT 6 JPEG DISCRETE COSINE TRANSFORM (DCT); HUFFMAN/RATIO/LCT 7 JPEG DISCRETE COSINE TRANSFORM (DCT); ARITHMETIC/QUALITY/LCT 8 JPEG DISCRETE COSINE TRANSFORM (DCT); ARITHMETIC/RATIO/LCT 9 RICE ADAPTIVE VARIABLE-LENGTH CODING (RICE)
INST CMPRS PARAM	This is a JPEG specific variable. It selects the on-board compression rate by image quality or by compression factor, based on selected on-board compression mode.
INST CMPRS QUALITY	A 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.
INST CMPRS QUANTZ TBL ID	The identifier for 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.
INST CMPRS QUANTZ TYPE	The method of quantization used for the output of transform coders. Valid value: TABULAR
INST CMPRS RATE	The average number of bits needed to represent a pixel for an on-board compressed image.
INST CMPRS RATIO	The ratio of the size, in bytes, of the original uncompressed data file to its compressed form.
INST CMPRS SYNC BLKS	RICE specific variable. Number of compressed blocks between sync markers.
INSTRUMENT AZIMUTH	One of two angular measurements of the pointing direction of the instrument. The azimuth is measured positively in the clockwise direction (as viewed from above) from a fixed reference direction. The angle is measured in the x-y plane of the instrument's coordinate system, which is not necessarily co-linear with the surface fixed coordinate system. Note that for the MPF IMP, the reference direction is the YIMP axis of the IMP coordinate frame, and is co-linear with the YL axis of the lander coordinate frame. Valid values: 0 to 360 degrees
INSTRUMENT AZIMUTH METHOD	Identifies the method used to calculate the instrument azimuth from the azimuth motor clicks. Valid values: TELEMETRY, MPFNAV-MIPS, BACKLASH-UOFA
INSTRUMENT DEPLOYMENT STATE	Indicates whether or not the IMP camera had been deployed to the end of its 62 cm mast at the time the image was acquired. Valid values are STOWED and DEPLOYED.
INSTRUMENT ELEVATION	One of two angular measurements of the pointing direction of the instrument. The positive direction of the elevation is set by the positive elevation direction data element, which for MPF is UP. The elevation is measured with respect to the plane which is co-planar with the x-y plane of the instrument's coordinate system and which intersects the elevation axis around which the camera rotates. This is not necessarily co-linear with the surface fixed coordinate system. Valid values: -90 degrees (nadir) to +90 degrees (zenith)
INSTRUMENT ELEVATION METHOD	Identifies the method used to calculate the instrument elevation from the elevation motor clicks. Valid values: TELEMETRY, MPFNAV-MIPS, BACKLASH-UOFA
INSTRUMENT HOST NAME	The full name of the host on which an instrument is based. Value: MARS PATHFINDER LANDER
INSTRUMENT ID	An abbreviated name or acronym which identifies an instrument. Value: IMP
INSTRUMENT NAME	The full name of an instrument. Value: IMAGER FOR MARS PATHFINDER
INSTRUMENT TEMPERATURE instrument ccd temperature, instrument head temperature	The temperature, in degrees Celcius, of the CCD sensor array and the camera head when the image was acquired. This is an array of two elements. (The values in the index tables are stored in two separate columns named instrument ccd temperature and instrument head temperature, respectively.)
INSTRUMENT TEMPERATURE COUNT	The raw temperature counts of the CCD and camera head when the image was acquired. This is an array of two elements.
INTERCHANGE FORMAT	The manner in which the data elements are stored. Value: BINARY
ivp target name	Identifies the image vector pointing object at which the IMP camera was aimed. Valid values include SUN, EARTH, and PHOBOS. Note that the camera was "tricked" into pointing at other objects (like Deimos or stars) by directing it to point at Phobos, but re-defining the position of Phobos in the sky.
LABEL RECORDS	The number of physical file records that contain only label information. The number of data records in a file is determined by subtracting the number of label records from the number of file records.
LANDER SURFACE QUATERNION lander surface quaternion x, lander surface quaternion y, lander surface quaternion z, lander surface quaternion a	An array of four values that define the relationship between the lander coordinate frame and the local level coordinate frame. These values are listed in the NAIF defined order of "cosine, x, y, z". (In the index tables, these values are split out into four separate columns.)
LINE SAMPLES	The total number of pixels along the horizontal axis of an image.
LINES	The total number of pixels along the vertical axis of an image.
MAXIMUM	The maximum DN value in the image file. For the IMP, this range is 0 - 4095.
MEAN	The average of the DN values in the image array. For MPF, this is the average of only those pixels within the valid DN range of 0 to 4095.
MEDIAN	The median of the DN values in the image array. For MPF, this is the median value of only those pixels within the valid DN range of 0 to 4095. This value will be at most 8 DN greater than or equal to the true median value.
MINIMUM	The minimum DN value in the image file. For the IMP, this range is 0 - 4095.
MISSION NAME	A major planetary mission or project. Value: MARS PATHFINDER.
MPF LOCAL TIME	Local time at the lander site on the surface of Mars, measured in local hours, minutes, and seconds, from midnight. Local hours are defined as one twenty-fourth of a local solar day. Local minutes are one sixtieth of a local hour, and local seconds are one sixtieth of a local minute. Format is hh:mm:ss. Based on the IAU standard for the Martian prime meridian. See [DAVIESETAL1994] for more details.
OBSERVATION NAME	The purpose of an observation or sequence of commands. See Table 3.2.2.6.B in this document for a complete listing of the values.
packet map mask	A series of binary digits identifying which of the expected packets were actually received. The bits are to be read left to right. Ie., the first packet is represented by the leftmost bit.
path name	Path to directory containing file. This path is shown in UNIX format. It begins at the root level of the CD. It has a trailing slash, but no leading slash.
PDS VERSION ID	The version number of the PDS standards documents that is valid when a data product label is created. For the Mars Pathfinder IMP EDRs, the version is 'PDS3'.
PIXEL AVERAGING HEIGHT	The vertical dimension, in pixels, of the area over which pixels were averaged prior to image compression.
PIXEL AVERAGING WIDTH	The horizontal dimension, in pixels, of the area over which pixels were averaged prior to image compression.
PLANET DAY NUMBER	The Martian day (ie., sidereal day, equal to a rotation of 360 degrees) on which the image was taken. Starts with 1 as the first day of surface operations, the day the spacecraft landed. Negative values refer to pre-surface images.
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 elevation is measured positively upwards, ie., 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.
PROCESSING HISTORY TEXT	A textual summary of the processing used to produce the image file.
PRODUCER FULL NAME	The full name of the individual mainly responsible for the production of a data set. Value: ALLAN J. RUNKLE
PRODUCER ID	A short name or acronym for the producer or producing team/group of a dataset. Value: MIPL OF JPL
PRODUCER INSTITUTION NAME	A university, research center, NASA center, or other institution associated with the production of a data set. This would generally be an institution associated with the producer full name. Value: MULTIMISSION IMAGE PROCESSING LABORATORY, JET PROPULSION LAB
PRODUCT CREATION TIME	Defines the UTC time when a product was created or last modified. Has the form "YYYY-MM-DDThh:mm:ss.fffZ".
PRODUCT ID	A permanent, unique identifier assigned to each data product. For the IMP EDRs, this is constructed from the words "IMP_EDR" followed by the spacecraft clock start count, followed by the image observation type, followed by the image id.
RECEIVED PACKETS	The total number of telemetry packets which constitute a reconstructed image.
RECORD BYTES	The number of bytes in a physical file record, including record terminators and separators.
RECORD TYPE	The record format of a file. Value: FIXED_LENGTH
RICE OPTION VALUE	RICE compressor specific variable.
RICE START OPTION	RICE compressor specific variable.
SAMPLE BIT MASK	A mask identifying the active bits in a sample.
SAMPLE BITS	The number of bits, or units of binary information contained in a line sample value.
SAMPLE TYPE	The data storage representation of a sample value. Value: MSB_UNSIGNED_INTEGER
SHUTTER EFFECT CORRECTION FLAG	Indicates whether or not a shutter effect correction was applied to the image. The shutter effect correction involves the removal from the image of the shutter, or fixed-pattern. For MPF, this correction was applied to the image on board the spacecraft, before the image was transmitted to Earth. Valid values: TRUE, FALSE
SOFTWARE NAME	The name of the telemetry processing software used to generate the image data.
SOFTWARE VERSION ID	Indicates the version or development level of a program or a program library used to generate the data.
SOLAR AZIMUTH	One of two angular measurements indicating the position of the Sun as measured from a specific point on the surface of a planet (ex., from a lander or rover). The azimuth is measured positively in the clockwise direction (as viewed from above) with the meridian passing through the positive spin axis of the planet (ie., the north pole) defining the zero reference.
SOLAR ELEVATION	One of two angular measurements indicating the position of the Sun as measured from a specific point on the surface of a planet (ex., from a lander or rover). The positive direction of the elevation is set by the positive elevation direction data element. It is measured from the plane which is perpendicular to the line passing between the observer and the planet's center and which intersects the observer.
SOURCE PRODUCT ID	Identifies a product used as input to create a new product. For MPF, this refers to the filenames of the SPICE kernels used to produce the image and its ancillary data.
SPACECRAFT CLOCK START COUNT	The value of the lander clock (in seconds) at which the image was acquired.
SQRT COMPRESSION FLAG	Indicates whether or not square root compression was applied to the image. For MPF, this compression was performed onboard the lander, prior to transmission of the data to Earth. It involved the compression of the pixels from 12 bits down to 8 bits.
SQRT MAXIMUM PIXEL	The maximum pixel value in a 12-bit image prior to square root compression.
SQRT MINIMUM PIXEL	The minimum pixel value in a 12-bit image prior to square root compression.
STANDARD DEVIATION	The standard deviation of the DN values in the image array. For MPF, this is calculated on only those pixels within the valid DN range of 0 to 4095.
subframe flag	A flag to indicate that the image is not full size. Valid values: TRUE, FALSE
sum flag	A flag to indicate that the product returned is a "summation" file. For the IMP EDRs, this means that it contains two records, the first a list of the sums of the image columns, and the second a list of the sums of the image rows. Valid values: TRUE, FALSE
SURFACE BASED INST AZIMUTH	One of two angular measurements of the pointing direction of the instrument. The azimuth is measured positively in the clockwise direction (as viewed from above) with the meridian passing through the positive spin axis ("north pole") defining the zero reference. The surface based inst azimuth is derived from the instrument pointing and spacecraft orientation. It is co-linear with the surface fixed coordinate system, but the origin of the observation may not be co-incident with the origin of the surface fixed frame. Note that the surface based inst azimuth describes the pointing direction of the instrument rather than the angular coordinates of the target of the observation. If there has been any significant change over time in the position of the observing instrument, this data element cannot be used to uniquely describe the vector to a viewed object. See surface based inst elevation.
SURFACE BASED INST ELEVATION	One of two angular measurements of the pointing direction of the instrument. The positive direction of the elevation is set by the positive elevation direction data element. It is measured from the plane which is perpendicular to the local gravity vector and which intersects the elevation axis around which the instrument rotates. The surface based inst elevation is derived from the instrument pointing and spacecraft orientation. It is co-linear with the surface fixed coordinate system, but the origin of the observation may not be co-incident with the origin of the surface fixed frame. Note that the surface based inst elevation describes the pointing direction of the instrument rather than the angular coordinates of the target of the observation. If there has been any change over time in the position of the observing instrument, this data element can not be used to uniquely describe the vector to a viewed object. Assuming a flat surface, and combined with the height of the instrument above the surface, it can be used to determine the position of an object; however, given realistic non-flat surfaces, observations from another point of origin are required to determine an object's distance.
SURFACE BASED INST METHOD	Identifies the method used to calculate the surface based instrument pointing. Valid values: NULL, L_FRAME-QUATERNION
TARGET NAME	Identifies the intended target of an observation. Can be either a planetary body or a physical object. For the IMP, this is the intended target of the observation, and may not accurately represent what is actually in an image frame. Valid values: ALTAIR, APXS SITE, ARCTURUS, CALIMG, DEIMOS, LANDER, MAG(NETIC TARGET), MARS, PHOBOS, ROVER, SKY, SUN, VEGA, and WINDSOCK. Note that this list does not include specific feature names like "Barnacle Bill" and "Yogi". For details on feature names, please consult the gazetteer on the IMP CDs.
TLM CMD DISCREPANCY FLAG	Indicates whether or not discrepancies were found between the IMP uplinked commands and the downlinked telemetry. The fields checked when determining this flag are: APPLICATION_PACKET_ID EXPOSURE_TYPE FILTER_NUMBER FRAME_ID INST_CMPRS_MODE LINES LINE_SAMPLES PIXEL_AVERAGING_HEIGHT PIXEL_AVERAGING_WIDTH SQRT_COMPRESSION_FLAG Valid values: TRUE, FALSE
vector component x, vector component y, vector component z	The x, y, and z components of a unit vector which defines the commanded IMP pointing. The vector is defined with respect to one of two possible coordinate frames, indicated by the command name. If the command name is IMP_IMAGE_VECTOR, the coordinate system is the IMP camera frame (IMP Frame); if the command name is IMP_IMAGE_LCLVEC, the coordinate system is the Martian Local Level Frame (M Frame). Valid range: -1.0 to 1.0
volume id	Identifies the CD volume containing the named file. For the IMP EDRs, this consists of the identifier "MPIM_" followed by the four digit volume number.

³The actual application packet name is "OPS_IMP_2"; however IMP is a typographical error and should be IMG.

B    AAREADME FILE

The AAREADME.TXT file contains general information about the contents and format of the CD-ROM.

 
B.1    AAREADME.TXT

PDS_VERSION_ID         = PDS3
RECORD_TYPE            = STREAM
OBJECT                 = TEXT
  PUBLICATION_DATE     = 1998-07-01
  INTERCHANGE_FORMAT   = ASCII
  NOTE                 = "AAREADME.TXT for Mars Pathfinder IMP EDR
                          Archive CD-ROMs."
END_OBJECT             = TEXT
END


		MARS PATHFINDER IMP EDR ARCHIVE CD-ROM

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 VOLSIS 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 CUMINDEX.TAB is accompanied
by the detached label file CUMINDEX.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 <BYTES>
    ^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 formatted 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 descripton 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
   |   |   |- [SEQVVVV]        browse images and JPEG thumbnails.  Directories
   |   |   |   |- [CWWWWXXX]   beneath this have an identical structure to the
   |   |   |   |   |           data directories.
   |
   |- [UUUUUUUU]               Data directories containing PDS formatted
   |   |- [SEQVVVV]            image files.  These directories are subdivided
   |   |   |- [CWWWWXXX]       first by target (UUUUUUUU), then by command
   |   |   |   |- IYYYYYYZ.IMG 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.
   |
   |                           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 168-527
    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:

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

C    TABLE LABELS

 
C.1    INDEX.LBL

The INDEX.LBL file describes the structure of the INDEX.TAB file, which contains a selected set of parameters describing each EDR image file on the CD volume. The CUMINDEX.LBL and CUMINDEX.TAB files are very similar to these, except that they contain all the IMP images from all three volumes.

PDS_VERSION_ID            = PDS3

RECORD_TYPE               = FIXED_LENGTH
RECORD_BYTES              = 409
FILE_RECORDS              = 4661
DESCRIPTION               = "INDEX.TAB lists all the IMP EDR image
                             files on this volume, along with a
                             selected set of parameters describing
                             them."
^INDEX_TABLE              = "INDEX.TAB"

DATA_SET_ID               = "MPFL-M-IMP-2-EDR-V1.0"
MISSION_NAME              = "MARS PATHFINDER"
INSTRUMENT_HOST_NAME      = "MARS PATHFINDER LANDER"
INSTRUMENT_NAME           = "IMAGER FOR MARS PATHFINDER"

OBJECT                    = INDEX_TABLE
  INTERCHANGE_FORMAT      = ASCII
  ROW_BYTES               = 409
  ROWS                    = 4661
  COLUMNS                 = 24
  INDEX_TYPE              = SINGLE
  INDEXED_FILE_NAME       = {"*.DRK","*.FLT","*.HST","*.IMG",
                             "*.NUL","*.STR","*.SUM"}

  OBJECT                  = COLUMN
    NAME                  = PRODUCT_ID
    DATA_TYPE             = CHARACTER
    START_BYTE            = 2
    BYTES                 = 42
    DESCRIPTION           = "A permanent, unique identifier assigned
                             to each data product.  For the IMP EDRs,
                             this is constructed from the words
                             'IMP_EDR' followed by the spacecraft
                             clock start count, followed by the image
                             observation type, followed by the image id."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = VOLUME_ID
    DATA_TYPE             = CHARACTER
    START_BYTE            = 47
    BYTES                 = 9
    DESCRIPTION           = "Identifies the CD volume containing the
                             named file.  For the IMP EDRs, this
                             consists of the identifier 'MPIM_'
                             followed by the four digit volume
                             number."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = PATH_NAME
    DATA_TYPE             = CHARACTER
    START_BYTE            = 59
    BYTES                 = 26
    DESCRIPTION           = "Path to directory containing file.  This
                             path is shown in UNIX format.  It begins
                             at the root level of the CD.  It has a
                             trailing slah, but no leading slash."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = FILE_NAME
    DATA_TYPE             = CHARACTER
    START_BYTE            = 88
    BYTES                 = 12
    DESCRIPTION           = "This is the name of the PDS formatted
                             file as it is stored on the CD-ROM
                             archive media.  For the IMP EDRs, it
                             consists of the instrument identifier
                             'I', followed by the six least
                             significant digits of the spacecraft
                             clock start count, followed by a frame
                             identifier (L=left, R=right, S=dark
                             strip, N=null strip), followed by a 3
                             character extension.  The extension
                             indicates the image observation type as
                             follows: IMG=regular, STR=dark strip,
                             NUL=null strip, FLT=flat field, DRK=dark
                             current, HST=histogram, and
                             SUM=summation.  (Note that the latter two
                             values were never used.)"
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = SPACECRAFT_CLOCK_START_COUNT
    DATA_TYPE             = ASCII_INTEGER
    START_BYTE            = 102
    BYTES                 = 10
    DESCRIPTION           = "The value of the lander clock (in
                             seconds) at which the image was
                             acquired."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = IMAGE_OBSERVATION_TYPE
    DATA_TYPE             = CHARACTER
    START_BYTE            = 114
    BYTES                 = 12
    DESCRIPTION           = "Identifies the type or purpose of an
                             observation.  Valid values are
                             REGULAR, DARK_CURRENT, FLAT_FIELD,
                             HISTOGRAM, SUMMATION, DARK_STRIP, and
                             NULL_STRIP.  For the meanings of these
                             values, please see appendix A of the IMP
                             EDR CD-ROM SIS."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = COMMAND_SEQUENCE_NUMBER
    DATA_TYPE             = ASCII_INTEGER
    START_BYTE            = 128
    BYTES                 = 4
    DESCRIPTION           = "Identifies a set of commands sent to
                             the IMP camera, ordering it to perform
                             a particular task.  Valid range is 1
                             to 9999.  For a complete list of the
                             command sequence numbers used during
                             the mission and their descriptions, see
                             section 3.2.2.7 of the IMP EDR CD-ROM
                             SIS."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = IMAGE_ID
    DATA_TYPE             = ASCII_INTEGER
    START_BYTE            = 133
    BYTES                 = 10
    DESCRIPTION           = "Uniquely identifies the observation
                             parameters of an image.  The most
                             significant four digits identify the
                             command sequence that contains the
                             imaging command.  The middle two
                             digits indicate the version of the
                             command sequence, and the right four
                             digits identify the image within a
                             single imaging sequence."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = FRAME_ID
    DATA_TYPE             = CHARACTER
    START_BYTE            = 145
    BYTES                 = 9
    DESCRIPTION           = "Provides an identification for a
                             particular instrument frame.  Valid
                             values are LEFT, RIGHT, BOTH, and
                             HALFL.  The IMP camera nominally
                             operates in a mode where both the
                             left and right images are exposed and
                             transferred into the frame buffer
                             simultaneously.  Then either the
                             RIGHT, LEFT, or BOTH frames are
                             transmitted.  For even shorter
                             shutter times, the left image only
                             may be transferred into the frame
                             buffer (HALFL).  The presence of
                             BOTH in this field indicates that
                             the image should be part of a stereo
                             pair."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = INSTRUMENT_DEPLOYMENT_STATE
    DATA_TYPE             = CHARACTER
    START_BYTE            = 157
    BYTES                 = 8
    DESCRIPTION           = "Indicates whether or not the IMP camera
                             had been deployed to the end of its mast.
                             Valid values are STOWED and DEPLOYED."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = FILTER_NAME
    DATA_TYPE             = CHARACTER
    START_BYTE            = 168
    BYTES                 = 14
    DESCRIPTION           = "The name of the instrument filter
                             through which the image was acquired.
                             The numbers refer to the effective
                             wavelength in nm of the filter for
                             the left (L) or right (R) image.

                              FILTER   FILTER
                              NUMBER    NAME             APPLICATION
                             -----------------------------------------------
                                 0    L440_R440       Stereo, Geology
                                 1    L450_R670       Solar
                                 2    L885_R947       Solar
                                 3    L925_R935       Solar
                                 4    L935_R990       Solar
                                 5    L670_R670       Stereo, Geology
                                 6    L800_R750       Geology
                                 7    L860_R-DIOPTER  Geology
                                 8    L900_R600       Geology
                                 9    L930_R530       Stereo, Ranging, Geology
                                10    L1000_R480      Geology
                                11    L965_R965       Stereo, Ranging, Geology
                            "
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = FILTER_NUMBER
    DATA_TYPE             = ASCII_INTEGER
    START_BYTE            = 184
    BYTES                 = 2
    DESCRIPTION           = "The number of the instrument filter
                             through which the image was acquired.
                             (See FILTER_NAME for details.)"
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = IMAGE_TIME
    DATA_TYPE             = TIME
    START_BYTE            = 187
    BYTES                 = 24
    DESCRIPTION           = "Date and time at which the image was
                             acquired, recorded in UTC system format.
                             Shown as YYYY-MM-DDThh:mm:ss.fffZ"
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = PRODUCT_CREATION_TIME
    DATA_TYPE             = TIME
    START_BYTE            = 212
    BYTES                 = 24
    DESCRIPTION           = "Defines the UTC time a product was
                             created or last modified.  Has the form
                             YYYY-MM-DDThh:mm:ss.fffZ"
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = EARTH_RECEIVED_START_TIME
    DATA_TYPE             = TIME
    START_BYTE            = 237
    BYTES                 = 24
    DESCRIPTION           = "Identifies the earliest time that a
                             telemetry packet containing data for
                             the image was received.  Has the form
                             YYYY-MM-DDThh:mm:ss.fffZ"
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = EARTH_RECEIVED_STOP_TIME
    DATA_TYPE             = TIME
    START_BYTE            = 262
    BYTES                 = 24
    DESCRIPTION           = "Identifies the latest time that a
                             telemetry packet containing data for
                             the image was received.  Has the form
                             YYYY-MM-DDThh:mm:ss.fffZ"
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = PLANET_DAY_NUMBER
    DATA_TYPE             = ASCII_INTEGER
    START_BYTE            = 287
    BYTES                 = 4
    DESCRIPTION           = "The Martian day (ie., sidereal day,
                             equal to a rotation of 360 degrees)
                             on which the image was taken.  Starts
                             with 1 as the first day of surface
                             operations, the day the spacecraft
                             landed.  Negative values refer to
                             pre-surface images."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = MPF_LOCAL_TIME
    DATA_TYPE             = CHARACTER
    START_BYTE            = 293
    BYTES                 = 8
    DESCRIPTION           = "Local time at the lander site on the
                             surface of Mars, measured in local
                             hours, minutes, and seconds, from
                             midnight.  Local hours are defined as
                             one twenty-fourth of a local solar day.
                             Local minutes are one sixtieth of a
                             local hour, and local seconds are one
                             sixtieth of a local minute.  Format is
                             hh:mm:ss.  Based on the IAU standard
                             for the Martian prime meridian.  See
                             [DAVIESETAL1994] for more details."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = TARGET_NAME
    DATA_TYPE             = CHARACTER
    START_BYTE            = 304
    BYTES                 = 8
    DESCRIPTION           = "Identifies the intended target of an
                             observation.  Can be either a planetary
                             body or a physical object.  The following
                             is the list of targets imaged by the IMP:

                             APXSSITE,   ALTAIR,     ARCTURUS,
                             CALIMG,     DEIMOS,     LANDER,
                             MAG,        MARS,       PHOBOS,
                             ROVER,      SKY,        SUN,
                             VEGA,       WINDSOCKS
                            "
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = AZIMUTH_MOTOR_CLICKS
    DATA_TYPE             = ASCII_INTEGER
    START_BYTE            = 314
    BYTES                 = 4
    DESCRIPTION           = "The number of motor step counts the
                             camera rotated in the horizontal direction
                             from the low hard stop.  Since each step
                             count is 0.553 degrees, the azimuthal
                             position of the camera can be derived
                             from this value.  Valid range is 0 to
                             1023."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = ELEVATION_MOTOR_CLICKS
    DATA_TYPE             = ASCII_INTEGER
    START_BYTE            = 319
    BYTES                 = 4
    DESCRIPTION           = "The number of motor step counts the
                             camera rotated in the vertical direction
                             from the low hard stop.  Since each step
                             count is 0.553 degrees, the elevational
                             position of the camera can be derived
                             from this value.  Valid range is 0 to
                             1023."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = SURFACE_BASED_INST_AZIMUTH
    DATA_TYPE             = ASCII_REAL
    START_BYTE            = 324
    BYTES                 = 8
    DESCRIPTION           = "One of two angular measurements of the
                             pointing direction of the instrument.
                             The azimuth is measured positively in the
                             clockwise direction (as viewed from
                             above) with the meridian passing through
                             the positive spin axis ('north pole')
                             defining the zero reference.  The angle
                             is measured in the local gravity
                             horizontal plane, ie., a plane
                             perpendicular to the local gravity
                             vector."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = SURFACE_BASED_INST_ELEVATION
    DATA_TYPE             = ASCII_REAL
    START_BYTE            = 333
    BYTES                 = 8
    DESCRIPTION           = "One of two angular measurements of the
                             pointing direction of the instrument.
                             For the Mars Pathfinder IMP EDRs,
                             elevation is measured positively upwards
                             from the plane which is perpendicular to
                             the local gravity vector and which
                             intersects the elevation axis around with
                             the camera rotates.  Valid values: -90
                             degrees (nadir) to +90 degrees (zenith)."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = OBSERVATION_NAME
    DATA_TYPE             = CHARACTER
    START_BYTE            = 343
    BYTES                 = 64
    DESCRIPTION           = "The intended purpose of an observation or
                             sequence of commands.  See table
                             3.2.2.7.B in the IMP EDR CD-ROM SIS for a
                             complete listing of the values."
  END_OBJECT              = COLUMN

END_OBJECT                = INDEX_TABLE
END

C.2    COMMAND.LBL

The COMMAND.LBL file describes the structure of the COMMAND.TAB file, which contains descriptive parameters describing each command, or IMAGE_ID, used to command the IMP camera. The IMAGE_IDs can be used as a common key with the EDRINDEX.TAB file to create a relational database.

PDS_VERSION_ID            = PDS3

RECORD_TYPE               = FIXED_LENGTH
RECORD_BYTES              = 469
FILE_RECORDS              = 7223
DESCRIPTION               = "COMMAND.TAB provides a detailed description
                             of the commands used on the Mars
                             Pathfinder mission.  Note that these are
                             the values that were commanded, and may
                             in some instances differ from the values
                             that were actually used, which are shown
                             in the EDRINDEX.TAB file.  The records in
                             this table are keyed on the IMAGE_ID,
                             which represents an individual command
                             with a set of unique command parameters.
                             Each command usually produced multiple
                             images."
^TABLE                    = "COMMAND.TAB"

DATA_SET_ID               = "MPFL-M-IMP-2-EDR-V1.0"
MISSION_NAME              = "MARS PATHFINDER"
INSTRUMENT_HOST_NAME      = "MARS PATHFINDER LANDER"
INSTRUMENT_NAME           = "IMAGER FOR MARS PATHFINDER"

OBJECT                    = TABLE
  INTERCHANGE_FORMAT      = ASCII
  ROW_BYTES               = 469
  ROWS                    = 7223
  COLUMNS                 = 43

  OBJECT                  = COLUMN
    NAME                  = IMAGE_ID
    DATA_TYPE             = ASCII_INTEGER
    START_BYTE            = 1
    BYTES                 = 10
    FORMAT                = "I10"
    DESCRIPTION           = "Uniquely identifies the observation
                             parameters of an image.  The most
                             significant four digits identify the
                             command sequence that contains the
                             imaging command.  The middle two
                             digits indicate the version of the
                             command sequence, and the right four
                             digits identify the image within a
                             single imaging sequence."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = COMMAND_VERSION_NUMBER
    DATA_TYPE             = ASCII_INTEGER
    START_BYTE            = 12
    BYTES                 = 1
    FORMAT                = "I1"
    DESCRIPTION           = "The version number of the command.  The
                             commands (ie., IMAGE_IDs) were intended
                             to be unique, but in a few cases they
                             were re-used with different command
                             parameters.  This keyword was added to
                             distinguish between differing versions of
                             the commands.  Valid range is 1 to 9,
                             where the lowest version number reflects
                             the oldest version of a command."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = APPLICATION_PACKET_ID
    DATA_TYPE             = ASCII_INTEGER
    START_BYTE            = 14
    BYTES                 = 2
    FORMAT                = "I2"
    DESCRIPTION           = "The id of the telemetry packet queue to
                             which the image data was directed."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = AUTO_EXPOSURE_DATA_CUT
    DATA_TYPE             = ASCII_INTEGER
    START_BYTE            = 17
    BYTES                 = 4
    FORMAT                = "I4"
    DESCRIPTION           = "The DN value which a specified fraction
                             of pixels is permitted to exceed.  Valid
                             range: 0 to 4095."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = AUTO_EXPOSURE_PIXEL_FRACTION
    DATA_TYPE             = ASCII_REAL
    START_BYTE            = 22
    BYTES                 = 6
    FORMAT                = "F6.2"
    DESCRIPTION           = "The percentage of pixels whose value is
                             higher than the auto exposure data cut.
                             This field isonly applicable if the
                             exposure type is set to AUTO or
                             INCREMENTAL.  Valid range: 0 to 100."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = AZIMUTH_MOTOR_CLICKS
    DATA_TYPE             = ASCII_INTEGER
    START_BYTE            = 29
    BYTES                 = 3
    FORMAT                = "I3"
    DESCRIPTION           = "The number of motor step counts the
                             camera rotated in the horizontal direction
                             from the low hard stop.  Since each step
                             count is 0.553 degrees, the azimuthal
                             position of the camera can be derived
                             from this value.  Valid range is 0 to
                             1023."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = BAD_PIXEL_REPLACEMENT_FLAG
    DATA_TYPE             = CHARACTER
    START_BYTE            = 34
    BYTES                 = 1
    FORMAT                = "A1"
    DESCRIPTION           = "Indicates whether or not bad pixel
                             replacement processing was completed.  If
                             set to 'T' (TRUE), certain pixels in the
                             image were replaced based on a bad pixel
                             table.  Valid values: T, F."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = COMMAND_DESCRIPTION
    DATA_TYPE             = CHARACTER
    START_BYTE            = 38
    BYTES                 = 94
    FORMAT                = "A94"
    DESCRIPTION           = "The textual description associated with a
                             command name."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = COMMAND_NAME
    DATA_TYPE             = CHARACTER
    START_BYTE            = 135
    BYTES                 = 16
    FORMAT                = "A16"
    DESCRIPTION           = "The name of an uplinked command sent to a
                             spacecraft or instrument.  For the IMP
                             EDRs, this indicates the method the IMP
                             camera was instructed to use to determine
                             its pointing direction.  Valid values:
                             IMP_IMAGE_AZ_EL, IMP_IMAGE_LCLGRD,
                             IMP_IMAGE_LCLVEC, IMP_IMAGE_OBJECT,
                             IMP_IMAGE_VECTOR."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = DARK_CURRENT_CORRECTION_FLAG
    DATA_TYPE             = CHARACTER
    START_BYTE            = 154
    BYTES                 = 1
    FORMAT                = "A1"
    DESCRIPTION           = "A flag indicating whether or not a dark
                             current correction was applied to the
                             image.  For MPF, this correction was
                             applied to the image on board the
                             spacecraft, before the image was
                             transmitted to Earth.  Valid values: T, F."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = DOWNLOAD_TYPE
    DATA_TYPE             = CHARACTER
    START_BYTE            = 158
    BYTES                 = 6
    FORMAT                = "A6"
    DESCRIPTION           = "Specifies which image data to download,
                             any or all of: image data (IM), dark
                             current strip (DS), and null pixel data
                             (NS).  Valid values: NONE, DS, IM, DSIM,
                             NS, DSNS, IMNS, DSIMNS."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = ELEVATION_MOTOR_CLICKS
    DATA_TYPE             = ASCII_INTEGER
    START_BYTE            = 166
    BYTES                 = 3
    FORMAT                = "I3"
    DESCRIPTION           = "The number of motor step counts the
                             camera rotated in the vertical direction
                             from the low hard stop.  Since each step
                             count is 0.553 degrees, the elevational
                             position of the camera can be derived
                             from this value.  Valid range is 0 to
                             1023."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = EXPOSURE_COUNT
    DATA_TYPE             = ASCII_INTEGER
    START_BYTE            = 170
    BYTES                 = 1
    FORMAT                = "I1"
    DESCRIPTION           = "Maximum number of exposures taken.  Value
                             is dependant on exposure type.  Valid
                             range: 0 - 16."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = EXPOSURE_DURATION
    DATA_TYPE             = ASCII_REAL
    START_BYTE            = 172
    BYTES                 = 7
    FORMAT                = "F7.1"
    DESCRIPTION           = "The commanded integration time for MANUAL
                             and AUTO exposures, measured in
                             milliseconds."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = EXPOSURE_TYPE
    DATA_TYPE             = CHARACTER
    START_BYTE            = 181
    BYTES                 = 6
    FORMAT                = "A6"
    DESCRIPTION           = "Exposure type for the image.  Valid
                             values: AUTO, INCR (incremental), MANUAL,
                             PRETMD (pretimed), and NONE.  AUTO
                             exposure automatically adjusts the
                             exposure time by iterating off of a
                             pre-set exposure time.  INCR exposure
                             also automatically adjusts the exposure
                             time, but iterates off of the exposure
                             time from the previous image.  MANUAL
                             exposure is a single exposure with a set
                             exposure time.  PRETMD exposure uses the
                             last exposure time used, regardless of
                             the type of exposure it was.  NONE
                             indicates that the command moves only the
                             camera and doesn't take an exposure."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = FILTER_NAME
    DATA_TYPE             = CHARACTER
    START_BYTE            = 190
    BYTES                 = 14
    FORMAT                = "A14"
    DESCRIPTION           = "The name of the instrument filter
                             through which the image was acquired.
                             The numbers refer to the effective
                             wavelength in nm of the filter for
                             the left (L) or right (R) image.

                              FILTER   FILTER
                              NUMBER    NAME             APPLICATION
                             -----------------------------------------------
                                 0    L440_R440       Stereo, Geology
                                 1    L450_R670       Solar
                                 2    L885_R947       Solar
                                 3    L925_R935       Solar
                                 4    L935_R990       Solar
                                 5    L670_R670       Stereo, Geology
                                 6    L800_R750       Geology
                                 7    L860_R-DIOPTER  Geology
                                 8    L900_R600       Geology
                                 9    L930_R530       Stereo, Ranging, Geology
                                10    L1000_R480      Geology
                                11    L965_R965       Stereo, Ranging, Geology
                            "
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = FILTER_NUMBER
    DATA_TYPE             = ASCII_INTEGER
    START_BYTE            = 206
    BYTES                 = 2
    FORMAT                = "I2"
    DESCRIPTION           = "The number of the instrument filter
                             through which the image was acquired.
                             (See FILTER_NAME for details.)"
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = FIRST_LINE
    DATA_TYPE             = ASCII_INTEGER
    START_BYTE            = 209
    BYTES                 = 3
    FORMAT                = "I3"
    DESCRIPTION           = "The line within a source image that
                             corresponds to the first line in the
                             sub-image.  For the IMP EDRs, the source
                             image is the complete 256x256 image area
                             within the CCD."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = FIRST_LINE_SAMPLE
    DATA_TYPE             = ASCII_INTEGER
    START_BYTE            = 213
    BYTES                 = 3
    FORMAT                = "I3"
    DESCRIPTION           = "The sample within a source image that
                             corresponds to the first sample in the
                             sub-image.  For the IMP EDRs, the source
                             image is the complete 256x256 image area
                             within the CCD."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = FLAT_FIELD_CORRECTION_FLAG
    DATA_TYPE             = CHARACTER
    START_BYTE            = 218
    BYTES                 = 1
    FORMAT                = "A1"
    DESCRIPTION           = "Indicates whether or not a flat field
                             correction was applied to the image.  For
                             MPF, this correction was applied to the
                             image on board the spacecraft, before the
                             image was transmitted to Earth.  Valid
                             values: T, F."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = FRAME_ID
    DATA_TYPE             = CHARACTER
    START_BYTE            = 222
    BYTES                 = 5
    FORMAT                = "A5"
    DESCRIPTION           = "Provides an identification for a
                             particular instrument frame.  Valid
                             values are LEFT, RIGHT, BOTH, and
                             HALFL.  The IMP camera nominally
                             operates in a mode where both the
                             left and right images are exposed and
                             transferred into the frame buffer
                             simultaneously.  Then either the
                             RIGHT, LEFT, or BOTH frames are
                             transmitted.  For even shorter
                             shutter times, the left image only
                             may be transferred into the frame
                             buffer (HALFL).  The presence of
                             BOTH in this field indicates that
                             the image should be part of a stereo
                             pair."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = GRID_POSITION_X
    DATA_TYPE             = ASCII_REAL
    START_BYTE            = 229
    BYTES                 = 8
    FORMAT                = "F8.4"
    DESCRIPTION           = "The north / south component of a positon
                             defining the IMP pointing, measured with
                             respect to the Martian Local Level
                             Coordinate Frame (M Frame).  A positive
                             value indicates that the position was to
                             the north of the lander; a negative value
                             indicates it was to the south.  The
                             magnitude gives the distance, in meters,
                             between the position and an east / west
                             line drawn through the center of the
                             lander base petal."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = GRID_POSITION_Y
    DATA_TYPE             = ASCII_REAL
    START_BYTE            = 238
    BYTES                 = 8
    FORMAT                = "F8.4"
    DESCRIPTION           = "The east / west component of a positon
                             defining the IMP pointing, measured with
                             respect to the Martian Local Level
                             Coordinate Frame (M Frame).  A positive
                             value indicates that the position was to
                             the east of the lander; a negative value
                             indicates it was to the west.  The
                             magnitude gives the distance, in meters,
                             between the position and an north / south
                             line drawn through the center of the
                             lander base petal."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = GRID_POSITION_Z
    DATA_TYPE             = ASCII_REAL
    START_BYTE            = 247
    BYTES                 = 7
    FORMAT                = "F7.4"
    DESCRIPTION           = "The vertical component of a position
                             defining the IMP pointing, measured with
                             respect to the Martian Local Level
                             Coordinate Frame (M Frame).  A positive
                             value indicates that the position was
                             below the lander base petal; a negative
                             value indicates that it was above the
                             base petal."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = HISTOGRAM_FLAG
    DATA_TYPE             = CHARACTER
    START_BYTE            = 256
    BYTES                 = 1
    FORMAT                = "A1"
    DESCRIPTION           = "A flag to indicate that the product
                             returned was a histogram.  Valid values:
                             T, F."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = INST_CMPRS_MODE
    DATA_TYPE             = ASCII_INTEGER
    START_BYTE            = 259
    BYTES                 = 1
    FORMAT                = "I1"
    DESCRIPTION           = "The targetted image quality or
                             compression factor for on-board
                             compression.  Compression is obtained
                             with Huffman or arithmetic entropy
                             encoding, with or without LCT.  Odd modes
                             specify a targetted image quality,
                             whereas even modes specify a targetted
                             compression factor.  Modes 1,2,5,6
                             utilize Huffman encoding; modes 3,4,7,8
                             use arithmetic encoding.  Modes 5,6,7,8
                             use LCT.  Mode 9 specifies RICE
                             compression.  Valid values: 1 to 9."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = INST_CMPRS_NAME
    DATA_TYPE             = CHARACTER
    START_BYTE            = 262
    BYTES                 = 60
    FORMAT                = "A60"
    DESCRIPTION           = "The type of on-board compression used for
                             data storage and transmission."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = INST_CMPRS_PARAM
    DATA_TYPE             = ASCII_INTEGER
    START_BYTE            = 324
    BYTES                 = 2
    FORMAT                = "I2"
    DESCRIPTION           = "This is a JPEG compression specific
                             variable.  It specifies the on-board
                             compression rate as image quality or
                             compression factor, based on the selected
                             instrument compression mode."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = INST_CMPRS_QUANTZ_TBL_ID
    DATA_TYPE             = ASCII_INTEGER
    START_BYTE            = 327
    BYTES                 = 1
    FORMAT                = "I1"
    DESCRIPTION           = "The identifier for 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."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = IVP_TARGET_NAME
    DATA_TYPE             = CHARACTER
    START_BYTE            = 330
    BYTES                 = 6
    FORMAT                = "A6"
    DESCRIPTION           = "Specifies the image vector pointing
                             object at which the IMP camera was aimed.
                             Valid values include SUN, EARTH, PHOBOS,
                             and NULL.  Note that the camera was
                             'tricked' into pointing at other objects
                             (like Deimos or stars) by directing it to
                             point to Phobos, but redefining the
                             position of Phobos in the sky."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = LINES
    DATA_TYPE             = ASCII_INTEGER
    START_BYTE            = 338
    BYTES                 = 3
    FORMAT                = "I3"
    DESCRIPTION           = "The total number of pixels along the
                             vertical axis of an image."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = LINE_SAMPLES
    DATA_TYPE             = ASCII_INTEGER
    START_BYTE            = 342
    BYTES                 = 3
    FORMAT                = "I3"
    DESCRIPTION           = "The total number of pixels along the
                             horizontal axis of an image."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = PIXEL_AVERAGING_HEIGHT
    DATA_TYPE             = ASCII_INTEGER
    START_BYTE            = 346
    BYTES                 = 1
    FORMAT                = "I1"
    DESCRIPTION           = "The vertical dimension, in pixels, of the
                             area over which pixels were averaged
                             prior to image compression."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = PIXEL_AVERAGING_WIDTH
    DATA_TYPE             = ASCII_INTEGER
    START_BYTE            = 348
    BYTES                 = 1
    FORMAT                = "I1"
    DESCRIPTION           = "The horizontal dimension, in pixels, of
                             the area over which pixels were averaged
                             prior to image compression."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = SHUTTER_EFFECT_CORRECTION_FLAG
    DATA_TYPE             = CHARACTER
    START_BYTE            = 351
    BYTES                 = 1
    FORMAT                = "A1"
    DESCRIPTION           = "Indicates whether or not a shutter effect
                             correction was applied to the image.  The
                             shutter effect correction involves the
                             removal from the image of the shutter or
                             fixed-pattern.  For MPF, this correction
                             was applied to the image on board the
                             spacecraft, before the image was
                             transmitted to Earth.  Valid values: T, F."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = SOURCE_PRODUCT_ID
    DATA_TYPE             = CHARACTER
    START_BYTE            = 355
    BYTES                 = 16
    FORMAT                = "A16"
    DESCRIPTION           = "Identifies a product used as input to
                             create a new product.  For MPF, this
                             refers to the filenames of the SPICE
                             kernels used to produce the image and its
                             ancillary data."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = SQRT_COMPRESSION_FLAG
    DATA_TYPE             = CHARACTER
    START_BYTE            = 374
    BYTES                 = 1
    FORMAT                = "A1"
    DESCRIPTION           = "Indicates whether or not square root
                             compression was applied to the image.
                             For MPF, this compression was performed
                             on-board the lander, prior to
                             transmission of the data to Earth.  It
                             involved the compression of the pixels
                             from 12 bits down to 8 bits.  Valid
                             values: T, F."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = SUBFRAME_FLAG
    DATA_TYPE             = CHARACTER
    START_BYTE            = 378
    BYTES                 = 1
    FORMAT                = "A1"
    DESCRIPTION           = "A flag to indicate that the image is not
                             full size.  Valid values: T, F."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = SUM_FLAG
    DATA_TYPE             = CHARACTER
    START_BYTE            = 382
    BYTES                 = 1
    FORMAT                = "A1"
    DESCRIPTION           = "A flag to indicate that the product
                             returned is a 'summation' file.  For the
                             IMP EDRs, this means that it contains two
                             records, the first a list of the sums of
                             the image columns, and the second a list
                             of the sums of the image rows.  Valid
                             values: T, F."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = ATMOS_FLAG
    DATA_TYPE             = CHARACTER
    START_BYTE            = 386
    BYTES                 = 1
    FORMAT                = "A1"
    DESCRIPTION           = "A flag that indicates that the given
                             observation was directed at the sun.
                             Valid values: T, F."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = OBSERVATION_NAME
    DATA_TYPE             = CHARACTER
    START_BYTE            = 390
    BYTES                 = 56
    FORMAT                = "A56"
    DESCRIPTION           = "The intended purpose of an observation or
                             sequence of commands.  See table
                             3.2.2.7.B in the IMP EDR CD-ROM SIS for a
                             complete listing of the values."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = VECTOR_COMPONENT_X
    DATA_TYPE             = ASCII_REAL
    START_BYTE            = 448
    BYTES                 = 6
    FORMAT                = "F6.3"
    DESCRIPTION           = "The x component of a unit vector which
                             defines the IMP pointing.  The vector is
                             defined with respect to one of two
                             possible coordinate frames, indicated by
                             the command name.  If the command name is
                             IMP_IMAGE_VECTOR, the coordinate system
                             is the IMP camera frame (IMP Frmae); if
                             the command name is IMP_IMAGE_LCLVEC, the
                             coordinate system is the Martian Local
                             Level Frame (M Frame).  Valid range: -1.0
                             to 1.0."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = VECTOR_COMPONENT_Y
    DATA_TYPE             = ASCII_REAL
    START_BYTE            = 455
    BYTES                 = 6
    FORMAT                = "F6.3"
    DESCRIPTION           = "The y component of a unit vector which
                             defines the IMP pointing.  The vector is
                             defined with respect to one of two
                             possible coordinate frames, indicated by
                             the command name.  If the command name is
                             IMP_IMAGE_VECTOR, the coordinate system
                             is the IMP camera frame (IMP Frmae); if
                             the command name is IMP_IMAGE_LCLVEC, the
                             coordinate system is the Martian Local
                             Level Frame (M Frame).  Valid range: -1.0
                             to 1.0."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = VECTOR_COMPONENT_Z
    DATA_TYPE             = ASCII_REAL
    START_BYTE            = 462
    BYTES                 = 6
    FORMAT                = "F6.3"
    DESCRIPTION           = "The z component of a unit vector which
                             defines the IMP pointing.  The vector is
                             defined with respect to one of two
                             possible coordinate frames, indicated by
                             the command name.  If the command name is
                             IMP_IMAGE_VECTOR, the coordinate system
                             is the IMP camera frame (IMP Frmae); if
                             the command name is IMP_IMAGE_LCLVEC, the
                             coordinate system is the Martian Local
                             Level Frame (M Frame).  Valid range: -1.0
                             to 1.0."
  END_OBJECT              = COLUMN

END_OBJECT                = TABLE
END

C.3    EDRINDEX.LBL

The EDRINDEX.LBL file describes the structure of the EDRINDEX.TAB file, which contains a detailed listing of many parameters describing each EDR image. The only parameters which were used during the mission which have not been included here are those specifically pertaining to active mission operations.

PDS_VERSION_ID            = PDS3

RECORD_TYPE               = FIXED_LENGTH
RECORD_BYTES              = 777
FILE_RECORDS              = 16661
DESCRIPTION               = "EDRINDEX.TAB lists all IMP EDR image
                             files on this set of 3 CD volumes.  It
                             includes most of the parameters from the
                             project database except those that were
                             applicable only to mission operations."
^INDEX_TABLE              = "EDRINDEX.TAB"

DATA_SET_ID               = "MPFL-M-IMP-2-EDR-V1.0"
MISSION_NAME              = "MARS PATHFINDER"
INSTRUMENT_HOST_NAME      = "MARS PATHFINDER LANDER"
INSTRUMENT_NAME           = "IMAGER FOR MARS PATHFINDER"

OBJECT                    = INDEX_TABLE
  INTERCHANGE_FORMAT      = ASCII
  ROW_BYTES               = 777
  ROWS                    = 16661
  COLUMNS                 = 63
  INDEX_TYPE              = CUMULATIVE
  INDEXED_FILE_NAME       = {"*.DRK","*.FLT","*.HST","*.IMG",
                             "*.NUL","*.STR","*.SUM"}

  OBJECT                  = COLUMN
    NAME                  = SPACECRAFT_CLOCK_START_COUNT
    DATA_TYPE             = ASCII_INTEGER
    START_BYTE            = 1
    BYTES                 = 10
    FORMAT                = "I10"
    DESCRIPTION           = "The value of the lander clock (in
                             seconds) at which the image was
                             acquired."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = IMAGE_ID
    DATA_TYPE             = ASCII_INTEGER
    START_BYTE            = 12
    BYTES                 = 10
    FORMAT                = "I10"
    DESCRIPTION           = "Uniquely identifies the observation
                             parameters of an image.  The most
                             significant four digits identify the
                             command sequence that contains the
                             imaging command.  The middle two
                             digits indicate the version of the
                             command sequence, and the right four
                             digits identify the image within a
                             single imaging sequence."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = IMAGE_OBSERVATION_TYPE
    DATA_TYPE             = CHARACTER
    START_BYTE            = 24
    BYTES                 = 12
    FORMAT                = "A12"
    DESCRIPTION           = "Identifies the type or purpose of an
                             observation.  Valid values are
                             REGULAR, DARK_CURRENT, FLAT_FIELD,
                             HISTOGRAM, SUMMATION, DARK_STRIP, and
                             NULL_STRIP.  For the meanings of these
                             values, please see appendix A of the IMP
                             EDR CD-ROM SIS."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = PRODUCT_ID
    DATA_TYPE             = CHARACTER
    START_BYTE            = 39
    BYTES                 = 42
    FORMAT                = "A42"
    DESCRIPTION           = "A permanent, unique identifier assigned
                             to each data product.  For the IMP EDRs,
                             this is constructed from the words
                             'IMP_EDR' followed by the spacecraft
                             clock start count, followed by the image
                             observation type, followed by the image id."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = VOLUME_ID
    DATA_TYPE             = CHARACTER
    START_BYTE            = 84
    BYTES                 = 9
    FORMAT                = "A9"
    DESCRIPTION           = "Identifies the CD volume containing the
                             named file.  For the IMP EDRs, this
                             consists of the identifier 'MPIM_'
                             followed by the four digit volume
                             number."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = PATH_NAME
    DATA_TYPE             = CHARACTER
    START_BYTE            = 96
    BYTES                 = 26
    FORMAT                = "A26"
    DESCRIPTION           = "Path to directory containing file.  This
                             path is shown in UNIX format.  It begins
                             at the root level of the CD.  It has a
                             trailing slah, but no leading slash."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = FILE_NAME
    DATA_TYPE             = CHARACTER
    START_BYTE            = 125
    BYTES                 = 12
    FORMAT                = "A12"
    DESCRIPTION           = "This is the name of the PDS formatted
                             file as it is stored on the CD-ROM
                             archive media.  For the IMP EDRs, it
                             consists of the instrument identifier
                             'I', followed by the six least
                             significant digits of the spacecraft
                             clock start count, followed by a frame
                             identifier (L=left, R=right, S=dark
                             strip, N=null strip), followed by a 3
                             character extension.  The extension
                             indicates the image observation type as
                             follows: IMG=regular, STR=dark strip,
                             NUL=null strip, FLT=flat field, DRK=dark
                             current, HST=histogram, and
                             SUM=summation.  (Note that the latter two
                             values were never used.)"
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = APPLICATION_PACKET_ID
    DATA_TYPE             = ASCII_INTEGER
    START_BYTE            = 139
    BYTES                 = 2
    FORMAT                = "I2"
    DESCRIPTION           = "The id of the telemetry packet queue to
                             which the image data was directed."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = INSTRUMENT_AZIMUTH
    DATA_TYPE             = ASCII_REAL
    START_BYTE            = 142
    BYTES                 = 8
    FORMAT                = "F8.4"
    DESCRIPTION           = "One of two angular measurements of the
                             pointing direction of the instrument.
                             The azimuth is measured positively in the
                             clockwise direction (as viewed from
                             above) from a fixed reference direction.
                             The angle is measured in the x-y plane of
                             the instrument's coordinate system, which
                             is not necessarily co-linear with the
                             surface fixed coordinate system."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = INSTRUMENT_AZIMUTH_METHOD
    DATA_TYPE             = CHARACTER
    START_BYTE            = 152
    BYTES                 = 9
    FORMAT                = "A9"
    DESCRIPTION           = "Identifies the method used to calculate
                             the instrument azimuth from the azimuth
                             motor clicks.  Valid values: TELEMETRY,
                             MPFNAV-MIPS, BACKLASH-UOFA."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = AZIMUTH_FOV
    DATA_TYPE             = ASCII_REAL
    START_BYTE            = 163
    BYTES                 = 7
    FORMAT                = "F7.4"
    DESCRIPTION           = "The angular measure of the horizontal
                             field of view of an imaged scene.  For
                             MPF, 'horizontal' is measured in the x-y
                             plane of the IMP coordinate system."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = AZIMUTH_MOTOR_CLICKS
    DATA_TYPE             = ASCII_INTEGER
    START_BYTE            = 171
    BYTES                 = 3
    FORMAT                = "I3"
    DESCRIPTION           = "The number of motor step counts the
                             camera rotated in the horizontal direction
                             from the low hard stop.  Since each step
                             count is 0.553 degrees, the azimuthal
                             position of the camera can be derived
                             from this value.  Valid range is 0 to
                             1023."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = INSTRUMENT_ELEVATION
    DATA_TYPE             = ASCII_REAL
    START_BYTE            = 175
    BYTES                 = 8
    FORMAT                = "F8.4"
    DESCRIPTION           = "One of two angular measurements of the
                             pointing direction of the instrument.
                             The elevation is measured with respect to
                             the plane which is co-planar with the x-y
                             plane of the instrument's coordinate
                             system (in this case the IMP Frame) and
                             which intersects the elevation axis
                             around which the instrument rotates.  For
                             the Mars Pathfinder IMP EDRs, the
                             elevation is measured positive upwards.
                             Valid values: -90 degrees (nadir) to +90
                             degrees (zenith)."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = INSTRUMENT_ELEVATION_METHOD
    DATA_TYPE             = CHARACTER
    START_BYTE            = 185
    BYTES                 = 9
    FORMAT                = "A9"
    DESCRIPTION           = "Identifies the method used to calculate
                             the instrument elevation from the
                             elevation motor clicks.  Valid values:
                             TELEMETRY, MPFNAV-MIPS, BACKLASH-UOFA."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = ELEVATION_FOV
    DATA_TYPE             = ASCII_REAL
    START_BYTE            = 196
    BYTES                 = 7
    FORMAT                = "F7.4"
    DESCRIPTION           = "The angular measure of the vertical field
                             of view of an imaged scene.  For MPF,
                             'vertical' is measured along the Z-IMP
                             axis of the IMP coordinate system."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = ELEVATION_MOTOR_CLICKS
    DATA_TYPE             = ASCII_INTEGER
    START_BYTE            = 204
    BYTES                 = 3
    FORMAT                = "I3"
    DESCRIPTION           = "The number of motor step counts the
                             camera rotated in the vertical direction
                             from the low hard stop.  Since each step
                             count is 0.553 degrees, the elevational
                             position of the camera can be derived
                             from this value.  Valid range is 0 to
                             1023."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = EXPECTED_PACKETS
    DATA_TYPE             = ASCII_INTEGER
    START_BYTE            = 208
    BYTES                 = 3
    FORMAT                = "I3"
    DESCRIPTION           = "The total number of telemetry packets
                             which constitute a complete image, ie.,
                             an image without missing data."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = RECEIVED_PACKETS
    DATA_TYPE             = ASCII_INTEGER
    START_BYTE            = 212
    BYTES                 = 3
    FORMAT                = "I3"
    DESCRIPTION           = "The total number of telemetry packets
                             which constitute a reconstructed image."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = EXPOSURE_DURATION
    DATA_TYPE             = ASCII_REAL
    START_BYTE            = 216
    BYTES                 = 7
    FORMAT                = "F7.1"
    DESCRIPTION           = "The integration time for MANUAL and AUTO
                             exposures, measured in milliseconds."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = FILTER_NAME
    DATA_TYPE             = CHARACTER
    START_BYTE            = 225
    BYTES                 = 14
    FORMAT                = "A14"
    DESCRIPTION           = "The name of the instrument filter
                             through which the image was acquired.
                             The numbers refer to the effective
                             wavelength in nm of the filter for
                             the left (L) or right (R) image.

                              FILTER   FILTER
                              NUMBER    NAME             APPLICATION
                             -----------------------------------------------
                                 0    L440_R440       Stereo, Geology
                                 1    L450_R670       Solar
                                 2    L885_R947       Solar
                                 3    L925_R935       Solar
                                 4    L935_R990       Solar
                                 5    L670_R670       Stereo, Geology
                                 6    L800_R750       Geology
                                 7    L860_R-DIOPTER  Geology
                                 8    L900_R600       Geology
                                 9    L930_R530       Stereo, Ranging, Geology
                                10    L1000_R480      Geology
                                11    L965_R965       Stereo, Ranging, Geology
                            "
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = FILTER_NUMBER
    DATA_TYPE             = ASCII_INTEGER
    START_BYTE            = 241
    BYTES                 = 2
    FORMAT                = "I2"
    DESCRIPTION           = "The number of the instrument filter
                             through which the image was acquired.
                             (See FILTER_NAME for details.)"
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = COMMAND_SEQUENCE_NUMBER
    DATA_TYPE             = ASCII_INTEGER
    START_BYTE            = 244
    BYTES                 = 4
    FORMAT                = "I4"
    DESCRIPTION           = "Identifies a set of commands sent to
                             the IMP camera, ordering it to perform
                             a particular task.  Valid range is 1
                             to 9999.  For a complete list of the
                             command sequence numbers used during
                             the mission and their descriptions, see
                             section 3.2.2.7 of the IMP EDR CD-ROM
                             SIS."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = IMAGE_TIME
    DATA_TYPE             = TIME
    START_BYTE            = 249
    BYTES                 = 24
    FORMAT                = "A24"
    DESCRIPTION           = "Date and time at which the image was
                             acquired, recorded in UTC system format.
                             Shown as YYYY-MM-DDThh:mm:ss.fffZ"
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = INST_CMPRS_BLK_SIZE
    DATA_TYPE             = ASCII_INTEGER
    START_BYTE            = 274
    BYTES                 = 3
    FORMAT                = "I3"
    DESCRIPTION           = "Dimension of a block for on-board
                             compression."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = INST_CMPRS_BLOCKS
    DATA_TYPE             = ASCII_INTEGER
    START_BYTE            = 278
    BYTES                 = 4
    FORMAT                = "I4"
    DESCRIPTION           = "Number of blocks used to spatially
                             segment the image file prior to
                             compression."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = INST_CMPRS_MODE
    DATA_TYPE             = ASCII_INTEGER
    START_BYTE            = 283
    BYTES                 = 1
    FORMAT                = "I1"
    DESCRIPTION           = "The targetted image quality or
                             compression factor for on-board
                             compression.  Compression is obtained
                             with Huffman or arithmetic entropy
                             encoding, with or without LCT.  Odd modes
                             specify a targetted image quality,
                             whereas even modes specify a targetted
                             compression factor.  Modes 1,2,5,6
                             utilize Huffman encoding; modes 3,4,7,8
                             use arithmetic encoding.  Modes 5,6,7,8
                             use LCT.  Mode 9 specifies RICE
                             compression.  Valid values: 1 to 9."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = INST_CMPRS_NAME
    DATA_TYPE             = CHARACTER
    START_BYTE            = 286
    BYTES                 = 60
    FORMAT                = "A60"
    DESCRIPTION           = "The type of on-board compression used for
                             data storage and transmission."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = INST_CMPRS_PARAM
    DATA_TYPE             = ASCII_INTEGER
    START_BYTE            = 348
    BYTES                 = 3
    FORMAT                = "I3"
    DESCRIPTION           = "This is a JPEG compression specific
                             variable.  It specifies the on-board
                           copmression rate as image quality or
                           compression factor, based on the selected
                           instrument compression mode."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = INST_CMPRS_QUANTZ_TBL_ID
    DATA_TYPE             = ASCII_INTEGER
    START_BYTE            = 352
    BYTES                 = 3
    FORMAT                = "I3"
    DESCRIPTION           = "The identifier for 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."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = INST_CMPRS_QUALITY
    DATA_TYPE             = ASCII_INTEGER
    START_BYTE            = 356
    BYTES                 = 3
    FORMAT                = "I3"
    DESCRIPTION           = "A 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."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = INST_CMPRS_RATE
    DATA_TYPE             = ASCII_REAL
    START_BYTE            = 360
    BYTES                 = 6
    FORMAT                = "F6.3"
    DESCRIPTION           = "The average number of bits needed to
                             represent a pixel for an ob-board
                             compressed image."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = INST_CMPRS_RATIO
    DATA_TYPE             = ASCII_REAL
    START_BYTE            = 367
    BYTES                 = 8
    FORMAT                = "F8.2"
    DESCRIPTION           = "The ratio of the size, in bytes, of the
                             original uncompressed data file to its
                             compressed form."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = INST_CMPRS_SYNC_BLKS
    DATA_TYPE             = ASCII_INTEGER
    START_BYTE            = 376
    BYTES                 = 4
    FORMAT                = "I4"
    DESCRIPTION           = "A RICE specific variable.  The number of
                             compressed blocks between synchronization
                             counters."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = INSTRUMENT_DEPLOYMENT_STATE
    DATA_TYPE             = CHARACTER
    START_BYTE            = 382
    BYTES                 = 8
    FORMAT                = "A8"
    DESCRIPTION           = "Indicates whether or not the IMP camera
                             had been deployed to the end of its mast.
                             Valid values are STOWED and DEPLOYED."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = INSTRUMENT_CCD_TEMPERATURE
    DATA_TYPE             = ASCII_REAL
    START_BYTE            = 392
    BYTES                 = 5
    FORMAT                = "F5.1"
    DESCRIPTION           = "The temperature, in degrees Celcius, of
                             the CCD sensor array when the image was
                             acquired."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = INSTRUMENT_HEAD_TEMPERATURE
    DATA_TYPE             = ASCII_REAL
    START_BYTE            = 398
    BYTES                 = 5
    FORMAT                = "F5.1"
    DESCRIPTION           = "The temperature, in degrees Celcius, of
                             the camera head when the image was
                             acquired."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = LINES
    DATA_TYPE             = ASCII_INTEGER
    START_BYTE            = 404
    BYTES                 = 3
    FORMAT                = "I3"
    DESCRIPTION           = "The total number of pixels along the
                             vertical axis of an image."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = LINE_SAMPLES
    DATA_TYPE             = ASCII_INTEGER
    START_BYTE            = 408
    BYTES                 = 3
    FORMAT                = "I3"
    DESCRIPTION           = "The total number of pixels along the
                             horizontal axis of an image."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = LANDER_SURFACE_QUATERNION_X
    DATA_TYPE             = ASCII_REAL
    START_BYTE            = 412
    BYTES                 = 7
    FORMAT                = "F7.4"
    DESCRIPTION           = "One of four values that define the
                             relationship between the lander
                             coordinate frame and the local level
                             coordinate frame."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = LANDER_SURFACE_QUATERNION_Y
    DATA_TYPE             = ASCII_REAL
    START_BYTE            = 420
    BYTES                 = 7
    FORMAT                = "F7.4"
    DESCRIPTION           = "One of four values that define the
                             relationship between the lander
                             coordinate frame and the local level
                             coordinate frame."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = LANDER_SURFACE_QUATERNION_Z
    DATA_TYPE             = ASCII_REAL
    START_BYTE            = 428
    BYTES                 = 7
    FORMAT                = "F7.4"
    DESCRIPTION           = "One of four values that define the
                             relationship between the lander
                             coordinate frame and the local level
                             coordinate frame."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = LANDER_SURFACE_QUATERNION_A
    DATA_TYPE             = ASCII_REAL
    START_BYTE            = 436
    BYTES                 = 7
    FORMAT                = "F7.4"
    DESCRIPTION           = "One of four values that define the
                             relationship between the lander
                             coordinate frame and the local level
                             coordinate frame."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = PLANET_DAY_NUMBER
    DATA_TYPE             = ASCII_INTEGER
    START_BYTE            = 444
    BYTES                 = 4
    FORMAT                = "I4"
    DESCRIPTION           = "The Martian day (ie., sidereal day,
                             equal to a rotation of 360 degrees)
                             on which the image was taken.  Starts
                             with 1 as the first day of surface
                             operations, the day the spacecraft
                             landed.  Negative values refer to
                             pre-surface images."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = MPF_LOCAL_TIME
    DATA_TYPE             = CHARACTER
    START_BYTE            = 450
    BYTES                 = 8
    FORMAT                = "A8"
    DESCRIPTION           = "Local time at the lander site on the
                             surface of Mars, measured in local
                             hours, minutes, and seconds, from
                             midnight.  Local hours are defined as
                             one twenty-fourth of a local solar day.
                             Local minutes are one sixtieth of a
                             local hour, and local seconds are one
                             sixtieth of a local minute.  Format is
                             hh:mm:ss.  Based on the IAU standard
                             for the Martian prime meridian.  See
                             [DAVIES1994] for more details."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = PACKET_MAP_MASK
    DATA_TYPE             = CHARACTER
    START_BYTE            = 461
    BYTES                 = 116
    FORMAT                = "A116"
    DESCRIPTION           = "A series of binary digits identifying
                             which of the expected packets were
                             actually received.  The bits are to be
                             read left to right.  Ie., the first
                             packet is represented by the leftmost
                             bit."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = PIXEL_AVERAGING_HEIGHT
    DATA_TYPE             = ASCII_INTEGER
    START_BYTE            = 579
    BYTES                 = 1
    FORMAT                = "I1"
    DESCRIPTION           = "The vertical dimension, in pixels, of the
                             area over which pixels were averaged
                             prior to image compression."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = PIXEL_AVERAGING_WIDTH
    DATA_TYPE             = ASCII_INTEGER
    START_BYTE            = 581
    BYTES                 = 1
    FORMAT                = "I1"
    DESCRIPTION           = "The horizontal dimension, in pixels, of
                             the area over which pixels were averaged
                             prior to image compression."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = PRODUCT_CREATION_TIME
    DATA_TYPE             = TIME
    START_BYTE            = 583
    BYTES                 = 24
    FORMAT                = "A24"
    DESCRIPTION           = "Defines the UTC time was a product was
                             created or last modified.  Has the form
                             YYYY-MM-DDThh:mm:ss.fffZ"
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = RICE_OPTION_VALUE
    DATA_TYPE             = ASCII_INTEGER
    START_BYTE            = 608
    BYTES                 = 3
    FORMAT                = "I3"
    DESCRIPTION           = "A RICE compressor specific variable."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = RICE_START_OPTION
    DATA_TYPE             = ASCII_INTEGER
    START_BYTE            = 612
    BYTES                 = 3
    FORMAT                = "I3"
    DESCRIPTION           = "A RICE compressor specific variable."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = SOFTWARE_NAME
    DATA_TYPE             = CHARACTER
    START_BYTE            = 617
    BYTES                 = 16
    FORMAT                = "A16"
    DESCRIPTION           = "The name of the telemetry processing
                             software used to generate the image
                             data."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = SOFTWARE_VERSION_ID
    DATA_TYPE             = CHARACTER
    START_BYTE            = 636
    BYTES                 = 8
    FORMAT                = "A8"
    DESCRIPTION           = "The version of the telemetry processing
                             software used to generate the image
                             data."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = SOLAR_AZIMUTH
    DATA_TYPE             = ASCII_REAL
    START_BYTE            = 646
    BYTES                 = 8
    FORMAT                = "F8.4"
    DESCRIPTION           = "One of two angular measurements
                             indicating the position of the Sun as
                             measured from a specific point on the
                             surface of a planet (ex., from a lander
                             or rover).  The azimuth is measured
                             positively in the clockwise direction (as
                             viewed from above) with the meridian
                             passing through the positive spin axis of
                             the planet (ie., the north pole) defining
                             the zero reference."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = SOLAR_ELEVATION
    DATA_TYPE             = ASCII_REAL
    START_BYTE            = 655
    BYTES                 = 8
    FORMAT                = "F8.4"
    DESCRIPTION           = "One of two angular measurements
                             indicating the position of the Sun as
                             measured from a specific point on the
                             surface of a planet (ex., from a lander
                             or rover).  The positive direction of the
                             elevation is set by the
                             positive_elevation_direction data
                             element.  It is measured from the plane
                             which is perpendicular to the line
                             passing between the observer and the
                             planet's center and which intersects the
                             observer."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = SQRT_MAXIMUM_PIXEL
    DATA_TYPE             = ASCII_INTEGER
    START_BYTE            = 664
    BYTES                 = 4
    FORMAT                = "I4"
    DESCRIPTION           = "The maximum pixel value in a 12-bit image
                             prior to square root compression."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = SQRT_MINIMUM_PIXEL
    DATA_TYPE             = ASCII_INTEGER
    START_BYTE            = 669
    BYTES                 = 3
    FORMAT                = "I3"
    DESCRIPTION           = "The minimum pixel value in a 12-bit image
                             prior to square root compression."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = EARTH_RECEIVED_START_TIME
    DATA_TYPE             = TIME
    START_BYTE            = 673
    BYTES                 = 24
    FORMAT                = "A24"
    DESCRIPTION           = "Identifies the earliest time that a
                             telemetry packet containing data for
                             image was received.  Has the form
                             YYYY-MM-DDThh:mm:ss.fffZ"
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = EARTH_RECEIVED_STOP_TIME
    DATA_TYPE             = TIME
    START_BYTE            = 698
    BYTES                 = 24
    FORMAT                = "A24"
    DESCRIPTION           = "Identifies the latest time that a
                             telemetry packet containing data for
                             image was received.  Has the form
                             YYYY-MM-DDThh:mm:ss.fffZ"
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = SURFACE_BASED_INST_AZIMUTH
    DATA_TYPE             = ASCII_REAL
    START_BYTE            = 723
    BYTES                 = 8
    FORMAT                = "F8.4"
    DESCRIPTION           = "One of two angular measurements of the
                             pointing direction of the instrument.
                             The azimuth is measured positively in the
                             clockwise direction (as viewed from
                             above) with the meridian passing through
                             the positive spin axis ('north pole')
                             defining the zero reference.  The angle
                             is measured in the local gravity
                             horizontal plane, ie., a plane
                             perpendicular to the local gravity
                             vector."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = SURFACE_BASED_INST_ELEVATION
    DATA_TYPE             = ASCII_REAL
    START_BYTE            = 732
    BYTES                 = 8
    FORMAT                = "F8.4"
    DESCRIPTION           = "One of two angular measurements of the
                             pointing direction of the instrument.
                             For the Mars Pathfinder IMP EDRs,
                             elevation is measured positively upwards
                             from the plane which is perpendicular to
                             the local gravity vector and which
                             intersects the elevation axis around with
                             the camera rotates.  Valid values: -90
                             degrees (nadir) to +90 degrees (zenith)."
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = SURFACE_BASED_INST_METHOD
    DATA_TYPE             = CHARACTER
    START_BYTE            = 742
    BYTES                 = 18
    FORMAT                = "A18"
    DESCRIPTION           = "Identifies the method used to calculate
                             the surface based instrument pointing.
                             Valid values: NULL, L_FRAME-QUATERNION"
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = TARGET_NAME
    DATA_TYPE             = CHARACTER
    START_BYTE            = 763
    BYTES                 = 8
    FORMAT                = "A8"
    DESCRIPTION           = "Identifies the intended target of an
                             observation.  Can be either a planetary
                             body or a physical object.  The following
                             is the list of targets imaged by the IMP:

                             APXSSITE,   ALTAIR,     ARCTURUS,
                             CALIMG,     DEIMOS,     LANDER,
                             MAG,        MARS,       PHOBOS,
                             ROVER,      SKY,        SUN,
                             VEGA,       WINDSOCKS
                            "
  END_OBJECT              = COLUMN

  OBJECT                  = COLUMN
    NAME                  = TLM_CMD_DISCREPANCY_FLAG
    DATA_TYPE             = CHARACTER
    START_BYTE            = 774
    BYTES                 = 1
    FORMAT                = "A1"
    DESCRIPTION           = "Indicates whether or not discrepancies
                             were found between the IMP uplinked
                             commands and the downlinked telemetry.
                             Valid values: 'T' and 'F'."
  END_OBJECT              = COLUMN

END_OBJECT                = INDEX_TABLE
END

C.4    GAZETTER.LBL

The GAZETTER.LBL file describes the structure of the GAZETTER.TAB file, which contains a listing of some of the informal feature names at the Mars Pathfinder landing site.

PDS_VERSION_ID       = PDS3

RECORD_TYPE          = FIXED_LENGTH
RECORD_BYTES         = 104
FILE_RECORDS         = 91
^TABLE               = "GAZETTER.TAB"

OBJECT               = TABLE
  NAME               = "Mars Pathfinder Landing Site Gazetteer"
  INTERCHANGE_FORMAT = ASCII
  ROWS               = 91
  COLUMNS            = 9
  ROW_BYTES          = 104
  DESCRIPTION        = "This table is a gazetteer of the names
                        informally assigned to many of the rocks and
                        other local small features visible near the
                        Mars Pathfinder landing site."

  OBJECT             = COLUMN
    NAME             = TARGET_NAME
    DATA_TYPE        = CHARACTER
    START_BYTE       = 2
    BYTES            = 8
    FORMAT           = "A8"
    DESCRIPTION      = "The planet or satellite on which the feature
                        is located."
  END_OBJECT         = COLUMN

  OBJECT             = COLUMN
    NAME             = SEARCH_FEATURE_NAME
    DATA_TYPE        = CHARACTER
    START_BYTE       = 13
    BYTES            = 20
    FORMAT           = "A20"
    DESCRIPTION      = "The geographical feature name with all
                        diacritical marks stripped off.  This name is
                        stored in upper case only so that it can be
                        used for sorting and search purposes."
  END_OBJECT         = COLUMN

  OBJECT             = COLUMN
    NAME             = DIACRITIC_FEATURE_NAME
    DATA_TYPE        = CHARACTER
    START_BYTE       = 36
    BYTES            = 20
    FORMAT           = "A20"
    DESCRIPTION      = "The geographical feature name containing
                        standard diacritical information.  Only one
                        feature in the Pathfinder table requires a
                        diacritical mark, and that is Souffle, which
                        has an acute accent on the 'e'."
  END_OBJECT         = COLUMN

  OBJECT             = COLUMN
    NAME             = GRID_POSITION_X
    DATA_TYPE        = ASCII_REAL
    START_BYTE       = 58
    BYTES            = 6
    FORMAT           = "F6.2"
    UNIT             = METER
    DESCRIPTION      = "The north / south component of the object's
                        position.  A positive value indicates that the
                        object was north of the lander; a negative
                        value indicates it was to the south.  The
                        magnitude gives the distance between the
                        object and an east / west line drawn through
                        the center of the lander base petal (the
                        origin of Mars Local Level coordinate frame)."
  END_OBJECT         = COLUMN

  OBJECT             = COLUMN
    NAME             = GRID_POSITION_Y
    DATA_TYPE        = ASCII_REAL
    START_BYTE       = 65
    BYTES            = 6
    FORMAT           = "F6.2"
    UNIT             = METER
    DESCRIPTION      = "The east / west component of the object's
                        position.  A positive value indicates that the
                        object was east of the lander; a negative
                        value indicates that it was to the west.  The
                        magnitude gives the distance between the
                        object and a north / south line drawn through
                        the center of the lander base petal (the
                        origin of the Mars Local Level coordinate frame)."
  END_OBJECT         = COLUMN

  OBJECT             = COLUMN
    NAME             = FEATURE_DISTANCE
    DATA_TYPE        = ASCII_REAL
    START_BYTE       = 72
    BYTES            = 6
    FORMAT           = "F6.2"
    UNIT             = METER
    DESCRIPTION      = "The object's distance from the origin of the
                        Mars Local Level coordinate frame."
  END_OBJECT         = COLUMN

  OBJECT             = COLUMN
    NAME             = FEATURE_WIDTH
    DATA_TYPE        = ASCII_REAL
    START_BYTE       = 79
    BYTES            = 5
    FORMAT           = "F5.2"
    UNIT             = METER
    DESCRIPTION      = "The horizontal size of the object: the width
                        of its maximum intersection with any plane
                        perpendicular to the IMP camera's line of
                        sight.  Estimated by virtual measurement."
  END_OBJECT         = COLUMN

  OBJECT             = COLUMN
    NAME             = FEATURE_HEIGHT
    DATA_TYPE        = ASCII_REAL
    START_BYTE       = 85
    BYTES            = 5
    FORMAT           = "F5.2"
    UNIT             = METER
    DESCRIPTION      = "The vertical size of the feature.  Consider a
                        diagonal line segment drawn from the highest
                        point of a rock to a point where it touches
                        the Mars surface or extends below it.  Taking
                        that line segment as the hypoteneus of a right
                        triangle, the length of the vertical side is
                        the height of the rock.  The distance was
                        determined by virtual measurement, using the
                        following technique:

                          (i) find the lowest point (maximum Z value) of
                              the Martian surface in close proximity to
                              a rock by moving the cursor around in
                              MarsMap,
                         (ii) finding the highest point on the rock
                              (minimum Z value) by moving the cursor
                              over the rock in Marsmap, and
                        (iii) taking the difference of the Z values."
  END_OBJECT         = COLUMN

  OBJECT             = COLUMN
    NAME             = FEATURE_TYPE
    DATA_TYPE        = CHARACTER
    START_BYTE       = 92
    BYTES            = 10
    FORMAT           = "A10"
    UNIT             = "N/A"
    DESCRIPTION      = "This is used to distinguish rock-like objects
                        from a few other named surface features.  The
                        types used, which are not the usual list of
                        IAU feature types visible from orbit, are:

                        ROCK:   Any object that superficially appears
                                to be a rock, although many of them
                                may later be interpreted to be crust,
                                clods, conglomerates, etc.
                        DUNE:   Used for Mermaid Dune.
                        AREA:   An extended area that bears a name for
                                easy reference.  Used for Baker's
                                Bench and Photometry Flats."
  END_OBJECT         = COLUMN

END_OBJECT           = TABLE
END

D    SAMPLE PDS IMAGE LABEL

 
D.1    IXXXXXXR.LBL

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, LEFT_HALF>
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

E    VOLUME DESCRIPTION FILE

This file contains a description of the contents of the CD in a human and machine readable format.

 
E.1    VOLDESC.CAT

PDS_VERSION_ID               = PDS3

OBJECT                       = VOLUME
  VOLUME_SERIES_NAME         = "MISSION TO MARS"
  VOLUME_SET_NAME            = "MARS PATHFINDER: THE IMAGER FOR MARS
                                PATHFINDER EDR"
  VOLUME_SET_ID              = "USA_NASA_PDS_MPIM_00XX"
  VOLUMES                    = 3
  VOLUME_NAME                = "VOLUME 1: IMP EDRS 1229455934 - 1247913223"
  VOLUME_ID                  = "MPIM_0001"
  VOLUME_FORMAT              = "ISO-9660"
  VOLUME_VERSION_ID          = "VERSION 1"
  MEDIUM_TYPE                = "CD-ROM"
  DATA_SET_ID                = "MPFL-M-IMP-2-EDR-V1.0"
  PUBLICATION_DATE           = 1998-07-01
  DESCRIPTION                = "This volume contains images taken by
                                the Imager for Mars Pathfinder on July
                                4 through July 18, 1997 (plus a few
                                pre-landing calibration images).  The
                                images are Experiment Data Records, which
                                have been decoded and decompressed in
                                single frame form, but not calibrated
                                or radiometrically corrected.  The
                                volume also contains detailed
                                documentation about the mission,
                                spacecraft, instrument, and data set,
                                as well as calibration information,
                                a gazetteer, an HTML image browser,
                                and index tables."

  OBJECT                     = DATA_PRODUCER
    INSTITUTION_NAME         = "JET PROPULSION LABORATORY"
    FACILITY_NAME            = "MULTIMISSION IMAGE PROCESSING LABORATORY"
    FULL_NAME                = "ALLAN J. RUNKLE"
    ADDRESS_TEXT             = "JET PROPULSION LABORATORY\n
                                4800 OAK GROVE DRIVE\n
                                MAILSTOP 168-414\n
                                PASADENA, CA 91109\n
                                USA"
    TELEPHONE_NUMBER         = "8183546006"
    ELECTRONIC_MAIL_TYPE     = "INTERNET"
    ELECTRONIC_MAIL_ID       = "allan.j.runkle@jpl.nasa.gov"
  END_OBJECT                 = DATA_PRODUCER

  OBJECT                     = DATA_SUPPLIER
    INSTITUTION_NAME         = "JET PROPULSION LABORATORY"
    FACILITY_NAME            = "MULTIMISSION IMAGE PROCESSING LABORATORY"
    FULL_NAME                = "SUSAN K. LAVOIE"
    DISCIPLINE_NAME          = "IMAGE PROCESSING"
    NODE_NAME                = "IMAGING"
    ADDRESS_TEXT             = "JET PROPULSION LABORATORY\n
                                4800 OAK GROVE DRIVE\n
                                MAILSTOP 168-527\n
                                PASADENA, CA 91109\n
                                USA"
    TELEPHONE_NUMBER         = "8183545677"
    ELECTRONIC_MAIL_TYPE     = "INTERNET"
    ELECTRONIC_MAIL_ID       = "susan.k.lavoie@jpl.nasa.gov"
  END_OBJECT                 = DATA_SUPPLIER

  OBJECT                     = CATALOG
    ^DATA_SET_CATALOG        = "DATASET.CAT"
    ^INSTRUMENT_CATALOG      = "INST.CAT"
    ^INSTRUMENT_HOST_CATALOG = "INSTHOST.CAT"
    ^MISSION_CATALOG         = "MISSION.CAT"
    ^PERSONNEL_CATALOG       = "PERSON.CAT"
    ^REFERENCE_CATALOG       = "REF.CAT"
  END_OBJECT                 = CATALOG

END_OBJECT                   = VOLUME
END