Data Set Overview : An IDD Reachability map contains information about whether or not the instruments on the IDD can reach (contact or image) the object or location represented by each pixel in the scene. It is derived from the XYZ and Surface Normal (UVW) products. The geometry of the reachability map matches the linearized reference, XYZ, and Surface Normal (UVW) images, in that each pixel in the file directly corresponds to the pixel at the same location in theother products. The reachability map is a 16-band byte image in standard Band Sequential order. Thus for each pixel there are 16 values. These values represent reachability for each of the 4 IDD instruments in each of its 4 configurations. The mapping between band number and instrument/configuration is given by the INSTRUMENT_BAND_ID and CONFIGURATION_BAND_ID labels. The value of the pixel is interpreted according to the instrument. For RAT, 0 means the pixel is not reachable in that configuration, while any other number represents the maximum preload in integer Newtons that can be applied at that point. For all other instruments, 0 means the pixel is not reachable by that instrument in that configuration, while 255 means that the pixel is reachable. Processing : MER Camera Payload RDRs are considered Level 3 (Calibrated Data equivalent to NASA Level 1-A), Level 4 (Resampled Data equivalent to NASA Level 1-B), or Level 5 (Derived Data equivalent to NASA Level 1-C, 2 or 3). The RDRs are to be reconstructed from Level 2 edited data, and are to be assembled into complete images that may include radiometric and/or geometric correction. MER Camera Payload EDRs and RDRs will be generated by JPL's Multimission Image Processing Laboratory (MIPL) under the OPGS subsystem of the MER GDS. RDRs will also be generated by the Athena Pancam Science and Microscopic Imager Science Teams under the SOAS subsystem of the GDS. RDR data products will be generated by, but not limited to, MIPL using the Mars Suite of VICAR image processing software at JPL, the Athena Pancam Science Team using IDL software at Cornell University and JPL, and the Microscopic Imager Science Team using ISIS software at USGS (Flagstaff) and JPL. The RDRs produced will be processed data. The input will be one or more Camera EDR or RDR data products and the output will be formatted according to this SIS. Additional meta-data may be added by the software to the PDS label. Data : RDR products generated by MIPL will have a VICAR label wrapped by a PDS label, and their structure can include the optional EOL label after the binary data. RDR products not generated by MIPL may contain only a PDS label. Or, RDR products conforming to a standard other than PDS, such as JPEG compressed or certain Terrain products, are acceptable without a PDS header during mission operations, but may not be archivable. The RDR data product is comprised of radiometrically decalibrated and/or camera model corrected and/or geometrically altered versions of the raw camera data, in both single and multi-frame (mosaic) form. Most RDR data products will have PDS labels, or if generated by MIPL (OPGS), dual PDS/VICAR labels. Non-labeled RDRs include JPEG compressed products and the Terrain products. Software : The MIPL Mars Program Suite was used to generate these RDRs. Media/Format : The data set will initially be delivered and kept online. Upon Mission completion, the Hazcam Operations RDRs will be delivered to PDS on DVD.

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