PDS_VERSION_ID       = PDS3
LABEL_REVISION_NOTE  = "2013-05-20"
RECORD_TYPE          = STREAM

OBJECT               = INSTRUMENT
  INSTRUMENT_HOST_ID = MSL
  INSTRUMENT_ID      = MAHLI

  OBJECT             = INSTRUMENT_INFORMATION
    INSTRUMENT_NAME  = "MARS HAND LENS IMAGER CAMERA"
    INSTRUMENT_TYPE  = "CAMERA"
    INSTRUMENT_DESC  = "

  Instrument Overview
  ===================

The Mars Science Laboratory (MSL) Mars Hand Lens Imager (MAHLI) 
investigation uses a 2-megapixel color camera with a focusable 
macro lens aboard the rover, Curiosity, to investigate stratigraphy 
and grain-scale texture, structure, mineralogy, and morphology of 
geologic materials in northwestern Gale crater.  Of particular 
interest is the stratigraphic record of a ~5 km thick layered rock 
sequence exposed on the slopes of Aeolis Mons (also known as Mount 
Sharp). The instrument consists of three parts, a camera head 
mounted on the turret at the end of a robotic arm, an electronics 
and data storage assembly located inside the rover body, and a 
calibration target mounted on the robotic arm shoulder azimuth 
actuator housing.  MAHLI can acquire in-focus images at working 
distances from ~2.1 cm to infinity. At the minimum working distance, 
image pixel scale is ~14 microns per pixel and very coarse silt grains 
can be resolved. At the working distance of the Mars Exploration Rover 
Microscopic Imager cameras aboard Spirit and Opportunity, MAHLI's 
resolution is comparable at ~30 microns per pixel.  Onboard capabilities 
include autofocus, auto-exposure, sub-framing, video imaging, 
Bayer pattern color interpolation, lossy and lossless compression, 
focus merging of up to 8 focus stack images, white light and longwave 
ultraviolet (365 nm) illumination of nearby subjects, and 8 gigabytes 
of non-volatile memory data storage.

For further information about the MAHLI instrument, please see
EDGETTETAL2012.

For futher information about the MAHLI characterization and calibration
status from August 2008 - February 2015 including supplementary files,
please see EDGETTETAL2015.

"
  END_OBJECT         = INSTRUMENT_INFORMATION
  
  OBJECT             = INSTRUMENT_REFERENCE_INFO
    REFERENCE_KEY_ID = "EDGETTETAL2012"
  END_OBJECT         = INSTRUMENT_REFERENCE_INFO

  OBJECT             = INSTRUMENT_REFERENCE_INFO
    REFERENCE_KEY_ID = "EDGETTETAL2015"
  END_OBJECT         = INSTRUMENT_REFERENCE_INFO

END_OBJECT           = INSTRUMENT

END