Data Set Overview
  =================
    An RA Reachability map contains information about whether or not the 
    instruments on the RA 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.

    More information is found in ALEXANDERETAL2008, LEMMONETAL2007, and
    LEMMONETAL2008.

  Processing
  ==========
    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 the other 
    products.

    The reachability map is a 12-band byte image in standard Band 
    Sequential order. Thus for each pixel there are 12 values. These 
    values represent reachability for each of the 6 RA instrument 
    placements in each of its 2 configurations. The mapping between band 
    number and instrument/configuration is given by the 
    INSTRUMENT_BAND_ID and CONFIGURATION_BAND_ID labels, and is 
    summarized in Table 5.2.6 of the data product SIS [ALEXANDERETAL2008].

    The value of the pixel is interpreted according to the instrument. 
    For SCOOP, 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.
    
  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 SSI Operations RDRs will be delivered to PDS 
    on DVD.

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