PDS_VERSION_ID                    = PDS3

/* FILE DATA ELEMENTS */

RECORD_TYPE                       = FIXED_LENGTH
RECORD_BYTES                      = 256
FILE_RECORDS                      = 232
LABEL_RECORDS                     = 99

/* POINTERS TO DATA OBJECTS */

^IMAGE_HEADER                = ("FRB_452622192SLPLT0311330FHAZ00202M1.IMG"
                                     ,100)
^IMAGE                       = ("FRB_452622192SLPLT0311330FHAZ00202M1.IMG"
                                     ,169)

/* IDENTIFICATION DATA ELEMENTS */

MSL:ACTIVE_FLIGHT_STRING_ID       = B
COMMAND_SEQUENCE_NUMBER           = 0
FRAME_ID                          = "RIGHT"
FRAME_TYPE                        = STEREO
IMAGE_ID                          = "22"
IMAGE_TYPE                        = THUMBNAIL
MSL:IMAGE_ACQUIRE_MODE            = IMAGE
INSTRUMENT_HOST_ID                = "MSL"
INSTRUMENT_HOST_NAME              = "MARS SCIENCE LABORATORY"
INSTRUMENT_ID                     = "FHAZ_RIGHT_B"
INSTRUMENT_NAME                   = "FRONT HAZARD AVOIDANCE CAMERA RIGHT 
                                     STRING B"
INSTRUMENT_SERIAL_NUMBER          = "209"
INSTRUMENT_TYPE                   = "IMAGING CAMERA"
INSTRUMENT_VERSION_ID             = "FM"
MSL:LOCAL_MEAN_SOLAR_TIME         = "Sol-00621M12:39:20.849"
LOCAL_TRUE_SOLAR_TIME             = "13:05:03"
MISSION_NAME                      = "MARS SCIENCE LABORATORY"
MISSION_PHASE_NAME                = "PRIMARY SURFACE MISSION"
OBSERVATION_ID                    = "UNK"
PLANET_DAY_NUMBER                 = 621
MSL:LOCAL_TRUE_SOLAR_TIME_SOL     = 621
PRODUCER_INSTITUTION_NAME         = "MULTIMISSION INSTRUMENT PROCESSING 
                                     LAB, JET PROPULSION LAB"
PRODUCT_CREATION_TIME             = 2014-08-22T03:20:50.000
PRODUCT_VERSION_ID                = "V1.0 D-38107"
RELEASE_ID                        = "0007"
MSL:REQUEST_ID                    = "0"
ROVER_MOTION_COUNTER              = (31,1330,293,490,8,90,2734,1620,12,0)
ROVER_MOTION_COUNTER_NAME         = ("SITE","DRIVE","POSE","ARM","CHIMRA",
                                     "DRILL","RSM","HGA","DRT","IC")
SEQUENCE_ID                       = "fhaz00202"
SEQUENCE_VERSION_ID               = "3"
SOLAR_LONGITUDE                   = 126.486
SPACECRAFT_CLOCK_CNT_PARTITION    = 1
SPACECRAFT_CLOCK_START_COUNT      = "452622192.367"
SPACECRAFT_CLOCK_STOP_COUNT       = "452622192.812"
START_TIME                        = 2014-05-06T04:33:58.896
STOP_TIME                         = 2014-05-06T04:33:59.340
TARGET_NAME                       = "MARS"
TARGET_TYPE                       = PLANET
DATA_SET_ID                       = "MSL-M-HAZCAM-5-RDR-V1.0"
DATA_SET_NAME                     = "MSL MARS HAZARD AVOIDANCE CAMERA 5 RDR
                                      V1.0"
GEOMETRY_PROJECTION_TYPE          = LINEARIZED
SOURCE_PRODUCT_ID                 = ("FRB_452622192EDR_T0311330FHAZ00202M1"
                                     ,
                                     "FLB_452622192EDR_T0311330FHAZ00202M1")
PRODUCT_ID                        = "FRB_452622192SLPLT0311330FHAZ00202M1"

/* TELEMETRY DATA ELEMENTS */

APPLICATION_PROCESS_ID            = 365
APPLICATION_PROCESS_NAME          = "ImgThumbIcerFhr"
EARTH_RECEIVED_START_TIME         = 2014-05-06T10:25:52.855
EARTH_RECEIVED_STOP_TIME          = 2014-05-06T10:25:17.005
EXPECTED_PACKETS                  = 1
RECEIVED_PACKETS                  = 1
SPICE_FILE_NAME                   = "chronos.msl"
TELEMETRY_PROVIDER_ID             = "MPCS_MSL_DP"
MSL:TELEMETRY_SOURCE_HOST_NAME    = "mslsmsampcs1"
TELEMETRY_SOURCE_NAME             = "ImgThumbIcerFhr_0452622192-24091-2.dat"
MSL:TELEMETRY_SOURCE_TYPE         = "DATA PRODUCT"
MSL:COMMUNICATION_SESSION_ID      = "36214"
DOWNLOAD_PRIORITY                 = 17
MSL:EXPECTED_TRANSMISSION_PATH    = "3851"
MSL:FLIGHT_SOFTWARE_MODE          = "8"
FLIGHT_SOFTWARE_VERSION_ID        = "176239599"
MSL:PRODUCT_COMPLETION_STATUS     = COMPLETE_CHECKSUM_PASS
MSL:PRODUCT_TAG                   = "0"
MSL:SEQUENCE_EXECUTION_COUNT      = 1
MSL:TELEMETRY_SOURCE_SIZE         = 1461
MSL:TELEMETRY_SOURCE_CHECKSUM     = 64839
MSL:TELEMETRY_SOURCE_START_TIME   = 2014-126T04:33:58.896
MSL:TELEMETRY_SOURCE_SCLK_START   = "452622192.240"
MSL:STRIPING_COUNT                = 0
MSL:STRIPING_OVERLAP_ROWS         = 0
MSL:AUTO_DELETE_FLAG              = "FALSE"
MSL:TRANSMISSION_PATH             = "65535"
MSL:VIRTUAL_CHANNEL_ID            = "32"

/* HISTORY DATA ELEMENTS */

GROUP                             = PDS_HISTORY_PARMS
  SOFTWARE_NAME                   = "MSLEDRGEN"
  SOFTWARE_VERSION_ID             = "V1.0 04-01-2011"
  PROCESSING_HISTORY_TEXT         = "CODMAC LEVEL 1 TO LEVEL 2 CONVERSION 
                                     VIA JPL/MIPL MSLEDRGEN"
END_GROUP                         = PDS_HISTORY_PARMS

/* CAMERA_MODEL DATA ELEMENTS */

GROUP                             = GEOMETRIC_CAMERA_MODEL_PARMS
  CALIBRATION_SOURCE_ID           = "3"
  MODEL_TYPE                      = CAHV
  MODEL_COMPONENT_ID              = ("C","A","H","V")
  MODEL_COMPONENT_NAME            = ("CENTER","AXIS","HORIZONTAL","VERTICAL")
  MODEL_COMPONENT_UNIT            = ("meter","N/A","pixel","pixel")
  MODEL_COMPONENT_1               = (1.03314,-0.004912,-0.708098)
  MODEL_COMPONENT_2               = (0.708174,0.000388777,0.706038)
  MODEL_COMPONENT_3               = (21.6017,17.0602,21.5071)
  MODEL_COMPONENT_4               = (10.8299,0.0330145,34.5237)
  REFERENCE_COORD_SYSTEM_NAME     = "ROVER_NAV_FRAME"
  REFERENCE_COORD_SYSTEM_INDEX    = (31,1330,293,490,8,90,2734,1620,12,0)
  MSL:INTERPOLATION_METHOD        = NONE
END_GROUP                         = GEOMETRIC_CAMERA_MODEL_PARMS

/* COORDINATE SYSTEM STATE: ROVER */

GROUP                             = ROVER_COORD_SYSTEM_PARMS
  MSL:SOLUTION_ID                 = "telemetry"
  COORDINATE_SYSTEM_NAME          = "ROVER_NAV_FRAME"
  COORDINATE_SYSTEM_INDEX         = (31,1330,293,490,8,90,2734,1620,12,0)
  COORDINATE_SYSTEM_INDEX_NAME    = ("SITE","DRIVE","POSE","ARM","CHIMRA",
                                     "DRILL","RSM","HGA","DRT","IC")
  ORIGIN_OFFSET_VECTOR            = (-85.4875,-59.027,1.74495)
  ORIGIN_ROTATION_QUATERNION      = (0.883861,0.0242966,0.0756982,-0.460944)
  POSITIVE_AZIMUTH_DIRECTION      = CLOCKWISE
  POSITIVE_ELEVATION_DIRECTION    = UP
  QUATERNION_MEASUREMENT_METHOD   = FINE
  REFERENCE_COORD_SYSTEM_NAME     = "SITE_FRAME"
  REFERENCE_COORD_SYSTEM_INDEX    = 31
END_GROUP                         = ROVER_COORD_SYSTEM_PARMS

/* COORDINATE SYSTEM STATE: SITE */

GROUP                             = SITE_COORD_SYSTEM_PARMS
  MSL:SOLUTION_ID                 = "telemetry"
  COORDINATE_SYSTEM_NAME          = "SITE_FRAME"
  COORDINATE_SYSTEM_INDEX         = 31
  COORDINATE_SYSTEM_INDEX_NAME    = "SITE"
  ORIGIN_OFFSET_VECTOR            = (-158.193,112.316,-3.3277)
  ORIGIN_ROTATION_QUATERNION      = (1.0,0.0,0.0,0.0)
  POSITIVE_AZIMUTH_DIRECTION      = CLOCKWISE
  POSITIVE_ELEVATION_DIRECTION    = UP
  REFERENCE_COORD_SYSTEM_NAME     = "SITE_FRAME"
  REFERENCE_COORD_SYSTEM_INDEX    = 30
END_GROUP                         = SITE_COORD_SYSTEM_PARMS

/* COORDINATE SYSTEM STATE: REMOTE SENSING MAST */

GROUP                             = RSM_COORD_SYSTEM_PARMS
  MSL:SOLUTION_ID                 = "telemetry"
  COORDINATE_SYSTEM_NAME          = "RSM_HEAD_FRAME"
  COORDINATE_SYSTEM_INDEX         = (31,1330,293,490,8,90,2734,1620,12,0)
  COORDINATE_SYSTEM_INDEX_NAME    = ("SITE","DRIVE","POSE","ARM","CHIMRA",
                                     "DRILL","RSM","HGA","DRT","IC")
  ORIGIN_OFFSET_VECTOR            = (0.8045,0.559285,-1.90608)
  ORIGIN_ROTATION_QUATERNION      = (0.685009,0.175285,-0.17464,0.685229)
  POSITIVE_AZIMUTH_DIRECTION      = CLOCKWISE
  POSITIVE_ELEVATION_DIRECTION    = UP
  REFERENCE_COORD_SYSTEM_NAME     = "ROVER_NAV_FRAME"
  REFERENCE_COORD_SYSTEM_INDEX    = (31,1330,293,490,8,90,2734,1620,12,0)
END_GROUP                         = RSM_COORD_SYSTEM_PARMS

/* COORDINATE SYSTEM STATE: ROBOTIC ARM */

GROUP                             = ARM_COORD_SYSTEM_PARMS
  MSL:SOLUTION_ID                 = "telemetry"
  COORDINATE_SYSTEM_NAME          = "ARM_DRILL_FRAME"
  COORDINATE_SYSTEM_INDEX         = (31,1330,293,490,8,90,2734,1620,12,0)
  COORDINATE_SYSTEM_INDEX_NAME    = ("SITE","DRIVE","POSE","ARM","CHIMRA",
                                     "DRILL","RSM","HGA","DRT","IC")
  ORIGIN_OFFSET_VECTOR            = (2.60518,0.24576,0.795942)
  ORIGIN_ROTATION_QUATERNION      = (0.70133,-0.140996,0.689408,-0.113894)
  POSITIVE_AZIMUTH_DIRECTION      = CLOCKWISE
  POSITIVE_ELEVATION_DIRECTION    = UP
  REFERENCE_COORD_SYSTEM_NAME     = "ROVER_MECH_FRAME"
  REFERENCE_COORD_SYSTEM_INDEX    = (31,1330,293,490,8,90,2734,1620,12,0)
END_GROUP                         = ARM_COORD_SYSTEM_PARMS

/* ARTICULATION DEVICE STATE: REMOTE SENSING MAST */

GROUP                             = RSM_ARTICULATION_STATE_PARMS
  ARTICULATION_DEVICE_ID          = "RSM"
  ARTICULATION_DEVICE_NAME        = "REMOTE SENSING MAST"
  ARTICULATION_DEVICE_ANGLE       = (4.73822 <rad>,1.08711 <rad>,0.0 <rad>,
                                     0.0 <rad>,0.0 <rad>,0.0 <rad>,
                                     4.7434 <rad>,1.09142 <rad>)
  ARTICULATION_DEVICE_ANGLE_NAME  = ("AZIMUTH-MEASURED",
                                     "ELEVATION-MEASURED",
                                     "AZIMUTH-REQUESTED",
                                     "ELEVATION-REQUESTED","AZIMUTH-INITIAL"
                                     ,"ELEVATION-INITIAL","AZIMUTH-FINAL",
                                     "ELEVATION-FINAL")
  ARTICULATION_DEVICE_MODE        = DEPLOYED
END_GROUP                         = RSM_ARTICULATION_STATE_PARMS

/* ARTICULATION DEVICE STATE: ROBOTIC ARM */

GROUP                             = ARM_ARTICULATION_STATE_PARMS
  ARTICULATION_DEVICE_ID          = "ARM"
  ARTICULATION_DEVICE_NAME        = "SAMPLE ARM"
  ARTICULATION_DEVICE_ANGLE       = (0.361477 <rad>,-0.378431 <rad>,
                                     1.40897 <rad>,0.506755 <rad>,
                                     6.24469 <rad>,0.360353 <rad>,
                                     -0.376707 <rad>,1.40714 <rad>,
                                     0.506318 <rad>,6.24036 <rad>)
  ARTICULATION_DEVICE_ANGLE_NAME  = ("JOINT 1 AZIMUTH-ENCODER",
                                     "JOINT 2 ELEVATION-ENCODER",
                                     "JOINT 3 ELBOW-ENCODER",
                                     "JOINT 4 WRIST-ENCODER",
                                     "JOINT 5 TURRET-ENCODER",
                                     "JOINT 1 AZIMUTH-RESOLVER",
                                     "JOINT 2 ELEVATION-RESOLVER",
                                     "JOINT 3 ELBOW-RESOLVER",
                                     "JOINT 4 WRIST-RESOLVER",
                                     "JOINT 5 TURRET-RESOLVER")
  ARTICULATION_DEVICE_MODE        = "FREE SPACE"
  ARTICULATION_DEVICE_TEMP        = (-17.9428 <degC>,-21.5416 <degC>,
                                     -19.4155 <degC>,-19.9067 <degC>,
                                     -11.7213 <degC>)
  ARTICULATION_DEVICE_TEMP_NAME   = ("AZIMUTH JOINT","ELEVATION JOINT",
                                     "ELBOW JOINT","WRIST JOINT",
                                     "TURRET JOINT")
  ARTICULATION_DEV_INSTRUMENT_ID  = "DRILL"
  ARTICULATION_DEV_VECTOR         = (-0.156212,-0.0268356,0.987359)
  ARTICULATION_DEV_VECTOR_NAME    = "GRAVITY"
  CONTACT_SENSOR_STATE            = ("NO CONTACT","NO CONTACT","NO CONTACT"
                                     ,"NO CONTACT","NO CONTACT","NO CONTACT"
                                     ,"NO CONTACT","CLOSED")
  CONTACT_SENSOR_STATE_NAME       = ("MAHLI SWITCH 1","MAHLI SWITCH 2",
                                     "DRT SWITCH 1","DRT SWITCH 2",
                                     "DRILL SWITCH 1","DRILL SWITCH 2",
                                     "APXS DOOR SWITCH","APXS SWITCH")
END_GROUP                         = ARM_ARTICULATION_STATE_PARMS

/* ARTICULATION DEVICE STATE: MOBILITY CHASSIS */

GROUP                             = CHASSIS_ARTICULATION_ST_PARMS
  ARTICULATION_DEVICE_ID          = "CHASSIS"
  ARTICULATION_DEVICE_NAME        = "MOBILITY CHASSIS"
  ARTICULATION_DEVICE_ANGLE       = (8.52212e-05 <rad>,-0.000127832 <rad>,
                                     -0.000170442 <rad>,-0.0 <rad>,
                                     -0.0359147 <rad>,-0.0323853 <rad>,
                                     0.0275015 <rad>,-0.0278836 <rad>)
  ARTICULATION_DEVICE_ANGLE_NAME  = ("LEFT FRONT WHEEL","RIGHT FRONT WHEEL"
                                     ,"LEFT REAR WHEEL","RIGHT REAR WHEEL",
                                     "LEFT BOGIE","RIGHT BOGIE",
                                     "LEFT DIFFERENTIAL",
                                     "RIGHT DIFFERENTIAL")
  ARTICULATION_DEVICE_MODE        = DEPLOYED
END_GROUP                         = CHASSIS_ARTICULATION_ST_PARMS

/* ARTICULATION DEVICE STATE: HIGH GAIN ANTENNA */

GROUP                             = HGA_ARTICULATION_STATE_PARMS
  ARTICULATION_DEVICE_ID          = "HGA"
  ARTICULATION_DEVICE_NAME        = "HIGH GAIN ANTENNA"
  ARTICULATION_DEVICE_ANGLE       = (2.22619e-05 <rad>,-0.784997 <rad>)
  ARTICULATION_DEVICE_ANGLE_NAME  = ("AZIMUTH","ELEVATION")
  ARTICULATION_DEVICE_MODE        = DEPLOYED
END_GROUP                         = HGA_ARTICULATION_STATE_PARMS

/* OBSERVATION REQUEST */

GROUP                             = OBSERVATION_REQUEST_PARMS
  COMMAND_INSTRUMENT_ID           = "FRONT_HAZCAM_RIGHT"
  AUTO_EXPOSURE_DATA_CUT          = 2000
  AUTO_EXPOSURE_PERCENT           = 5.0
  AUTO_EXPOSURE_PIXEL_FRACTION    = 1.0
  BAD_PIXEL_REPLACEMENT_FLAG      = "TRUE"
  DETECTOR_ERASE_COUNT            = 2
  EARLY_PIXEL_SCALE_FLAG          = "FALSE"
  EARLY_IMAGE_RETURN_FLAG         = "FALSE"
  EXPOSURE_TYPE                   = AUTO
  EXPOSURE_SCALE_FACTOR           = 1.0
  EXPOSURE_DURATION_COUNT         = 25
  EXPOSURE_TABLE_ID               = "FHAZCAM_R"
  EXPOSURE_TBL_UPDATE_FLAG        = "TRUE"
  FLAT_FIELD_CORRECTION_FLAG      = "FALSE"
  INSTRUMENT_COORDINATE           = "N/A"
  INSTRUMENT_COORDINATE_NAME      = "N/A"
  MSL:INSTRUMENT_COORD_FRAME_ID   = "NONE"
  MSL:INSTRUMENT_COORD_FRAME_INDEX= "N/A"
  INSTRUMENT_IDLE_TIMEOUT         = 300 <s>
  MAX_AUTO_EXPOS_ITERATION_COUNT  = 6
  SHUTTER_CORRECTION_MODE_ID      = "ALWAYS"
  SHUTTER_CORRECT_THRESH_COUNT    = 5
  SOURCE_ID                       = "GND"
END_GROUP                         = OBSERVATION_REQUEST_PARMS

/* IMAGE REQUEST */

GROUP                             = IMAGE_REQUEST_PARMS
  SOURCE_ID                       = "GND"
  GROUP_APPLICABILITY_FLAG        = "TRUE"
  DOWNLOAD_PRIORITY               = 58
  PIXEL_DOWNSAMPLE_OPTION         = NONE
  PIXEL_AVERAGING_HEIGHT          = 1
  PIXEL_AVERAGING_WIDTH           = 1
  SAMPLE_BIT_MODE_ID              = "NONE"
  INST_CMPRS_MODE                 = 1
  INST_CMPRS_RATE                 = 4.0
  INST_CMPRS_QUALITY              = 0
  INST_CMPRS_FILTER               = E
  INST_CMPRS_SEGMENTS             = 32
  INST_DECOMP_STAGES              = 4
END_GROUP                         = IMAGE_REQUEST_PARMS

/* SUBFRAME REQUEST */

GROUP                             = SUBFRAME_REQUEST_PARMS
  SOURCE_ID                       = "GND"
  GROUP_APPLICABILITY_FLAG        = "FALSE"
  SUBFRAME_TYPE                   = NONE
  FIRST_LINE                      = 1
  FIRST_LINE_SAMPLE               = 1
  LINES                           = 1024
  LINE_SAMPLES                    = 1024
END_GROUP                         = SUBFRAME_REQUEST_PARMS

/* THUMBNAIL REQUEST */

GROUP                             = THUMBNAIL_REQUEST_PARMS
  SOURCE_ID                       = "GND"
  GROUP_APPLICABILITY_FLAG        = "TRUE"
  DOWNLOAD_PRIORITY               = 0
  LINES                           = 64
  LINE_SAMPLES                    = 64
  SAMPLE_BIT_MODE_ID              = "NONE"
  INST_CMPRS_MODE                 = 1
  INST_CMPRS_RATE                 = 1.0
  INST_CMPRS_QUALITY              = 0
  INST_CMPRS_FILTER               = E
  INST_CMPRS_SEGMENTS             = 32
  INST_DECOMP_STAGES              = 4
END_GROUP                         = THUMBNAIL_REQUEST_PARMS

/* COLUMN SUMMATION REQUEST */

GROUP                             = COLUMN_SUM_REQUEST_PARMS
  SOURCE_ID                       = "GND"
  GROUP_APPLICABILITY_FLAG        = "FALSE"
  DOWNLOAD_PRIORITY               = 58
END_GROUP                         = COLUMN_SUM_REQUEST_PARMS

/* REFERENCE PIXEL REQUEST */

GROUP                             = REFERENCE_PIXEL_REQUEST_PARMS
  SOURCE_ID                       = "GND"
  GROUP_APPLICABILITY_FLAG        = "FALSE"
  DOWNLOAD_PRIORITY               = 58
  INST_CMPRS_MODE                 = 3
  INST_CMPRS_RATE                 = 12.0
  INST_CMPRS_QUALITY              = 0
  INST_CMPRS_FILTER               = E
  INST_CMPRS_SEGMENTS             = 32
  INST_DECOMP_STAGES              = 4
END_GROUP                         = REFERENCE_PIXEL_REQUEST_PARMS

/* HISTOGRAM REQUEST */

GROUP                             = HISTOGRAM_REQUEST_PARMS
  SOURCE_ID                       = "GND"
  GROUP_APPLICABILITY_FLAG        = "FALSE"
  DOWNLOAD_PRIORITY               = 58
END_GROUP                         = HISTOGRAM_REQUEST_PARMS

/* INSTRUMENT STATE RESULTS */

GROUP                             = INSTRUMENT_STATE_PARMS
  AZIMUTH_FOV                     = 126.216 <deg>
  ELEVATION_FOV                   = 126.221 <deg>
  BAD_PIXEL_REPLACEMENT_ID        = "1"
  DETECTOR_FIRST_LINE             = 1
  DETECTOR_LINES                  = 1024
  DETECTOR_TO_IMAGE_ROTATION      = 90.0
  DOWNSAMPLE_METHOD               = SOFTWARE
  EXPOSURE_COUNT                  = 2
  EXPOSURE_DURATION               = 445.44 <ms>
  EXPOSURE_DURATION_COUNT         = 87
  FLAT_FIELD_CORRECTION_FLAG      = "FALSE"
  FLAT_FIELD_CORRECTION_PARM      = (0.0,0.0,0.0,0.0,0.0)
  INSTRUMENT_MODE_ID              = "FULL_FRAME"
  INSTRUMENT_TEMPERATURE          = (0.0 <degC>,-5.169 <degC>,
                                     -2.51708 <degC>,0.0 <degC>,0.0 <degC>,
                                     2.37998 <degC>,1.18788 <degC>,
                                     0.0 <degC>,-18.7765 <degC>,
                                     -20.8683 <degC>,-17.7381 <degC>,
                                     -17.1036 <degC>,-2.45951 <degC>,
                                     -5.62222 <degC>,-2.71347 <degC>,
                                     -5.65223 <degC>,8.44035 <degC>,
                                     0.0 <degC>,0.0 <degC>,8.00135 <degC>,
                                     -19.2169 <degC>,-12.3482 <degC>,
                                     -18.1333 <degC>,-9.52631 <degC>)
  INSTRUMENT_TEMPERATURE_NAME     = ("A_FRONT_LEFT_HAZ_CCD",
                                     "A_FRONT_LEFT_HAZ_ELECTRONICS",
                                     "A_FRONT_RIGHT_HAZ_CCD",
                                     "A_FRONT_RIGHT_HAZ_ELECTRONICS",
                                     "A_REAR_LEFT_HAZ_CCD",
                                     "A_REAR_LEFT_HAZ_ELECTRONICS",
                                     "A_REAR_RIGHT_HAZ_CCD",
                                     "A_REAR_RIGHT_HAZ_ELECTRONICS",
                                     "A_LEFT_NAV_CCD",
                                     "A_LEFT_NAV_ELECTRONICS",
                                     "A_RIGHT_NAV_CCD",
                                     "A_RIGHT_NAV_ELECTRONICS",
                                     "B_FRONT_LEFT_HAZ_CCD",
                                     "B_FRONT_LEFT_HAZ_ELECTRONICS",
                                     "B_FRONT_RIGHT_HAZ_CCD",
                                     "B_FRONT_RIGHT_HAZ_ELECTRONICS",
                                     "B_REAR_LEFT_HAZ_CCD",
                                     "B_REAR_LEFT_HAZ_ELECTRONICS",
                                     "B_REAR_RIGHT_HAZ_CCD",
                                     "B_REAR_RIGHT_HAZ_ELECTRONICS",
                                     "B_LEFT_NAV_CCD",
                                     "B_LEFT_NAV_ELECTRONICS",
                                     "B_RIGHT_NAV_CCD",
                                     "B_RIGHT_NAV_ELECTRONICS")
  OFFSET_MODE_ID                  = "4095"
  PIXEL_AVERAGING_HEIGHT          = 16
  PIXEL_AVERAGING_WIDTH           = 16
  SAMPLE_BIT_METHOD               = NONE
  SAMPLE_BIT_MODE_ID              = "NONE"
  SHUTTER_EFFECT_CORRECTION_FLAG  = "TRUE"
END_GROUP                         = INSTRUMENT_STATE_PARMS

/* INSTRUMENT INITIAL STATE RESULTS */

GROUP                             = INITIAL_STATE_PARMS
  ROVER_MOTION_COUNTER            = (31,1330,293,490,8,90,2734,1620,12,0)
  ROVER_MOTION_COUNTER_NAME       = ("SITE","DRIVE","POSE","ARM","CHIMRA",
                                     "DRILL","RSM","HGA","DRT","IC")
  ORIGIN_OFFSET_VECTOR            = (-85.4875,-59.027,1.74495)
  ORIGIN_ROTATION_QUATERNION      = (0.883861,0.0242966,0.0756982,-0.460944)
  QUATERNION_MEASUREMENT_METHOD   = FINE
END_GROUP                         = INITIAL_STATE_PARMS

/* COMPRESSION RESULTS */

GROUP                             = COMPRESSION_PARMS
  ERROR_PIXELS                    = 1
  INST_CMPRS_FILTER               = E
  INST_CMPRS_MODE                 = 1
  INST_CMPRS_NAME                 = "ICER"
  INST_CMPRS_QUALITY              = 8
  INST_CMPRS_RATE                 = 1.0
  INST_CMPRS_RATIO                = 12.0
  INST_CMPRS_SEGMENTS             = 1
  INST_CMPRS_SEGMENT_QUALITY      = 8.78931
  INST_CMPRS_SEGMENT_STATUS       = "0"
  INST_CMPRS_SEG_FIRST_LINE       = 1
  INST_CMPRS_SEG_FIRST_LINE_SAMP  = 1
  INST_CMPRS_SEG_LINES            = 64
  INST_CMPRS_SEG_SAMPLES          = 64
  INST_CMPRS_SEG_MISSING_PIXELS   = "N/A"
  INST_DECOMP_STAGES              = 4
END_GROUP                         = COMPRESSION_PARMS

/* DERIVED GEOMETRY DATA ELEMENTS: ROVER FRAME */

GROUP                             = ROVER_DERIVED_GEOMETRY_PARMS
  INSTRUMENT_AZIMUTH              = 0.495789 <deg>
  INSTRUMENT_ELEVATION            = -44.8421 <deg>
  REFERENCE_COORD_SYSTEM_INDEX    = (31,1330,293,490,8,90,2734,1620,12,0)
  REFERENCE_COORD_SYSTEM_NAME     = "ROVER_NAV_FRAME"
  SOLAR_AZIMUTH                   = 22.3999 <deg>
  SOLAR_ELEVATION                 = 52.989 <deg>
  SUN_VIEW_DIRECTION              = (0.556549,0.229391,-0.798519)
END_GROUP                         = ROVER_DERIVED_GEOMETRY_PARMS

/* DERIVED GEOMETRY DATA ELEMENTS: SITE FRAME */

GROUP                             = SITE_DERIVED_GEOMETRY_PARMS
  INSTRUMENT_AZIMUTH              = 306.58 <deg>
  INSTRUMENT_ELEVATION            = -35.8255 <deg>
  POSITIVE_AZIMUTH_DIRECTION      = CLOCKWISE
  REFERENCE_COORD_SYSTEM_INDEX    = 31
  REFERENCE_COORD_SYSTEM_NAME     = "SITE_FRAME"
  SOLAR_AZIMUTH                   = 327.57 <deg>
  SOLAR_ELEVATION                 = 60.6146 <deg>
END_GROUP                         = SITE_DERIVED_GEOMETRY_PARMS

/* DERIVED IMAGE DATA ELEMENTS */

GROUP                             = DERIVED_IMAGE_PARMS
  MSL:RADIANCE_OFFSET             = 0.0 <W.m**-2.sr**-1.nm**-1>
  MSL:RADIANCE_SCALING_FACTOR     = 1.0e-05 <W.m**-2.sr**-1.nm**-1>
  RADIOMETRIC_CORRECTION_TYPE     = MIPLRAD
  REFERENCE_COORD_SYSTEM_INDEX    = 31
  MSL:INPUT_PRODUCT_ID            = ("FRB_452622192XYZLT0311330FHAZ00202M1"
                                     ,
                                     "FRB_452622192UVSLT0311330FHAZ00202M1")
  DERIVED_IMAGE_TYPE              = SLOPE_MAP
  REFERENCE_COORD_SYSTEM_NAME     = "SITE_FRAME"
END_GROUP                         = DERIVED_IMAGE_PARMS

/* IMAGE DATA ELEMENTS */

OBJECT                            = IMAGE
  INTERCHANGE_FORMAT              = BINARY
  LINES                           = 64
  LINE_SAMPLES                    = 64
  SAMPLE_TYPE                     = IEEE_REAL
  SAMPLE_BITS                     = 32
  BANDS                           = 1
  BAND_STORAGE_TYPE               = BAND_SEQUENTIAL
  FIRST_LINE                      = 1
  FIRST_LINE_SAMPLE               = 1
  SAMPLE_BIT_MASK                 = 2#0111111111111111#
  INVALID_CONSTANT                = 0.0
  MISSING_CONSTANT                = 0.0
END_OBJECT                        = IMAGE

/* VICAR IMAGE HEADER DATA ELEMENTS */

OBJECT                            = IMAGE_HEADER
 HEADER_TYPE                      = VICAR2
 INTERCHANGE_FORMAT               = ASCII
 BYTES                            = 17664
 ^DESCRIPTION                     = "VICAR2.TXT"
END_OBJECT                        = IMAGE_HEADER

/* ODL IMAGE HEADER DATA ELEMENTS */

OBJECT                            = ODL_HEADER
 HEADER_TYPE                      = ODL
 INTERCHANGE_FORMAT               = ASCII
 BYTES                            = 25344
 ^DESCRIPTION                     = "ODL.TXT"
END_OBJECT                        = ODL_HEADER
END