Mars 2020 Mast Camera Zoom (Mastcam-Z) Science Calibrated Archive ----------------------------------------------------------------- Table of Contents 1. - Introduction 2. - Filename Decoder 3. - Understanding SCLK in the filename 4. - Bundle overview/contents 5. - Dust-Correction Radiance-Factor Calibrated Products 6. - LID Differences in Browse Products from EDR Camera SIS 7. - Information on Sequences 8. - Engineering Subframes 9. - Reading/Converting Image Pixel Values 10. - Contacts 11. - Acknowledgements 1. Introduction The Mastcam-Z Science Calibrated archive is compiled for the National Aeronautics and Space Administration (NASA) by Arizona State University personnel under the direction of Dr. James F Bell III Mastcam-Z Principal Investigator. Sydney Larriva, Data Archivist, is responsible for its compilation. This readme corresponds to the ASU data products found in data, browse, document, miscellaneous, and calibration_support collections. For more detailed information on RAD & IOF product calibration see the mastcamz_derived_product_sis.pdf in the document collection within this bundle. The image files are organized according to NASA's Planetary Data System (PDS) standards. An image file is organized as a PDS labeled file containing an "image object". 2. Filename Decoder --------------- Mastcam-Z Calibrated RDR 58-character Filename ----------------- IIB_PPPPVCCCCCCCCCC_TTTEEEGNLLLDDDDFFFFFFFFFSZZZOXXQRR.SSS -------------------------------------------------------------------------------- II: | Two-digit Instrument Identifier: “ZL”=Mastcam-Z left, |“ZR”=Mastcam-Z Right -------------------------------------------------------------------------------- B: |One-digit Filter number: Value 0-7 -------------------------------------------------------------------------------- PPPP: |Four-digit Primary Timestamp: Sol -------------------------------------------------------------------------------- V: |One-digit Mission Venue identifier (typically, “_” for surface) -------------------------------------------------------------------------------- CCCCCCCCCC: |Ten-digit Secondary Timestamp: SCLK -------------------------------------------------------------------------------- TTT: |Three-digit Tertiary timestamp: SCLK milliseconds -------------------------------------------------------------------------------- EEE: |Three-digit Product Type (ex. Standard “EDR”, calibrated "RAD") -------------------------------------------------------------------------------- G: |One-digit Geometry identifier (ex. “_”=raw, “L”=linearized) -------------------------------------------------------------------------------- O: |One-digit Thumbnail flag : “T”=Thumbnail, “N”=Non-Thumbnail -------------------------------------------------------------------------------- LLL: |Three-digit Site location count from the RMC where the data |were acquired -------------------------------------------------------------------------------- DDDD: |Four-digit Drive count position within a site location -------------------------------------------------------------------------------- FFFFFFFFF: |Nine-digit Sequence id where ZCAM is the first four digits followed |by a five-digit sequence id (ex. ZCAM00000, setup sequence) -------------------------------------------------------------------------------- SZZZ: |Four-digit Camera Specific- SZZZ where S = Stereo partner counter |and ZZZ = focal length (mm) -------------------------------------------------------------------------------- N: |One-digit Downsample resolution identifier where N= level of |downsampling and resolution= 2Nx 2N (ex. If level of downsampling |applied to the image is N=1 then 21x21= an image resolution of 2x2) -------------------------------------------------------------------------------- XX: |Two-digit Compression flag (ex. “00”=JPEG lossy compressed |thumbnail, “01-99”=JPEG lossy compressed quality level, |“LU”=Losslessly uncompressed) -------------------------------------------------------------------------------- Q: |One-digit Producer of product (ex. “J”=JPL, “A”=made at ASU ) -------------------------------------------------------------------------------- RR: |Two-digit Product Process Counter -------------------------------------------------------------------------------- SSS: |Three-digit extension (.IMG, .PNG etc..) -------------------------------------------------------------------------------- 3. Understanding SCLK in the filename Mastcam-Z Product Type Where Filename SCLK Comes From ------------------------------ ------------------------- ZCAM full, normal cmd dispatch ZCAM thumb, normal cmd dispatch ZCAM full, recovered mini header ZCAM thumb, recovered mini header ZCAM video full, normal mini header + frame*rate ZCAM video thumb, normal mini header + frame*rate ZCAM zstack/DM full, normal mini header ZCAM zstack/DM thumb, normal mini header ZCAM zstack/DM full, recovered mini header 4. Bundle Overview/Contents Top-level of bundle (mars2020_mastcamz_sci_calibrated) ------------------- readme.txt - The file you are currently reading. bundle.xml - A PDS4 required xml file with the full contents of the bundle. browse collection ------------------ The browse collection contains quickly viewable browse pngs of the ASU calibrated radiance (RAD) & radiance factor (IOF) data products. data collection --------------- The data collection contains the highest version radiance (RAD) and radiance factor (IOF) calibrated data products. document collection ------------------- The document collection contains documentation to help the user understand and use the science calibrated data. miscellaneous collection ------------------------ The miscellaneous collection contains products made using the Mastcam-Z science calibrated files. calibration support collection ------------------------------ Includes cruise and preflight raw data that supported calibration and classification of the instruments. Collection/file -------------- | -- | -- collection_browse.xml | -- collection_browse_inventory.csv | -- | -- | -- | -- calibration_support | -- | -- | -- bundle.xml | -- | -- collection_calibration_support.xml | -- collection_calibration_support_inventory.csv | -- | -- | -- | -- collection_data.xml | -- collection_data_inventory.csv | -- | -- | -- | -- | -- collection_document_inventory.csv | -- collection_document.xml | -- mastcamz_atmospheric_opacity_table.csv | -- mastcamz_atmospheric_opacity_table.xml | -- mastcamz_derived_product_sis_v1.8.pdf | -- mastcamz_derived_product_sis_v1.8.xml | -- mastcamz_img_inv.pdf | -- mastcamz_img_inv.xml | -- mastcamz_preflight_cal.pdf | -- mastcamz_preflight_cal.xml | -- mastcamz_radiometric_cal.pdf | -- mastcamz_radiometric_cal.xml | -- mastcamz_release_notes.txt | -- mastcamz_release_notes.xml | -- mastcamz_release1_image_mapping.csv | -- mastcamz_release1_image_mapping.xml | -- mastcamz_sequence_information_table.csv | -- mastcamz_sequence_information_table.xml | -- mastcamz_video_filename_mapping.csv | -- mastcamz_video_filename_mapping.xml | -- | -- | -- collection_miscellaneous.xml | -- collection_miscellaneous_inventory.csv | -- | -- readme.txt 5. Dust-Corrected Radiance-Factor Calibrated Products Beginning with Release 11, archived science data products are now generated with a dust-correction model applied to account for the accumulation of dust on the calibration targets over the course of the mission when generating radiance-factor calibrated data products (IOFs). Reprocessing previous releases 1-10 to apply the dust-correction model is planned for upcoming releases. 6. LID Differences in Browse Products from EDR Camera SIS The mastcamz_sci_calibrated bundle's browse products LID do not contain the ".png" suffix to the name for sols 1-1259. This differs from the M2020 EDR Camera SIS Section 3.5.2. Make note of this when searching for and validating data. This update is included in PDS release 13 and will be updated in future reprocessing efforts. 7. Information on Sequences ZCAM00[0-8]## - Engineering ZCAM009## - Data Management ZCAM0[1-2]### - Atmospheric ZCAM0[3-4]### - Multispectral ZCAM0[5-6]### - Hardware, Misc. ZCAM0[7-9]### - Geoscience Reusable sequences can be run as many times as we want - zcam03014 is an example of a reusable sequence. These sequences are left onboard the rover and are updated and deleted as needed. 8. Engineering Subframes Subframes are images that do not utilize the total pixel size that the Mastcam-Z cameras are capable of taking, which is 1648 pixels by 1200 pixels. Many scientific observations have been taken as subframed images, oftentimes to save space. A subset of these subframed images will only have an engineering purpose to assist in better scientific images. These images will be included in a scientific imaging sequence, to address things such as: setting focus, or setting exposure, or turning the Mastcam-Z Digital Electronics Assemblies (DEAs) on. These engineering-purpose subframed images are not intended for scientific use and they are quite small, usually 256x256 pixels or smaller, and are accompanied usually by larger scientific images of the same Sequence ID. 9. Reading/Converting Image Pixel Values If the image values of a data product are successfully read in, you should see either a 2-dimensional [m x n] or 3-dimensional [m x n x 3] array of 16-bit integer values (or floating-point if your tool automatically unscales the data). To convert the 16-bit pixel integer values, which are in units of Digital Number (DN), to radiometric floating-point numbers use the following equation below: (pixel integer value * SCALING_FACTOR) + OFFSET = radiometric floating-point value If you are wanting to convert DN to RAD, find the SCALING_FACTOR and OFFSET keywords in the RAD file's ODL or XML label. If you are wanting to convert DN to IOF, find these keywords above in the IOF file's ODL or XML label. 10. Contacts For Mastcam-Z questions: ------------------------------------------------------------------------------- Dr. James F Bell III Arizona State University ISTB4, Room 795 781 E Terrace Mall Tempe AZ 85287-6004 email : mcz-pds@asu.edu For overall content and design of the Mastcam-Z Science Calibration archive: ------------------------------------------------------------------------------- Sydney Larriva Arizona State University ISTB4, Room 631 781 E Terrace Mall Tempe AZ 85287-6004 email : mcz-pds@asu.edu 10. Acknowledgements We wish to thank the following people for their invaluable contributions to the production and review of this bundle: Alyssa Bailey, Alex Hayes, Kjartan Kinch, Ernest Cisneros, Kristen Paris, Michael Caplinger, Elsa Jensen, Laura Mehall, Kelsie Crawford, Corrine Rojas, Kathryn Powell, Chris Donaldson, Rachel Howson, Darian Dixon, Rachel Yingling, Michael Maimone, Louise Duflot