ODL_VERSION_ID                    = ODL3

/* FILE DATA ELEMENTS */

RECORD_TYPE                       = FIXED_LENGTH
RECORD_BYTES                      = 128
FILE_RECORDS                      = 380
LABEL_RECORDS                     = 196

/* POINTERS TO DATA OBJECTS */

^IMAGE_HEADER                = 197
^IMAGE                       = 317

/* IDENTIFICATION DATA ELEMENTS */

 ACTIVE_FLIGHT_STRING_ID          = "B"
 COMMAND_SEQUENCE_NUMBER          = 11
 FRAME_ID                         = "RIGHT"
 FRAME_TYPE                       = MONO
 GEOMETRY_PROJECTION_TYPE         = RAW
 IMAGE_ID                         = "22"
 IMAGE_TYPE                       = THUMBNAIL
 IMAGE_ACQUIRE_MODE               = IMAGE
 INSTRUMENT_HOST_ID               = "MSL"
 INSTRUMENT_HOST_NAME             = "MARS SCIENCE LABORATORY"
 INSTRUMENT_ID                    = "NAV_RIGHT_B"
 INSTRUMENT_NAME                  = "NAVIGATION CAMERA RIGHT STRING B"
 INSTRUMENT_SERIAL_NUMBER         = "218"
 INSTRUMENT_TYPE                  = "IMAGING CAMERA"
 INSTRUMENT_VERSION_ID            = "FM"
 LOCAL_MEAN_SOLAR_TIME            = "Sol-04401M18:40:27.295"
 LOCAL_TRUE_SOLAR_TIME            = "18:12:40"
 MISSION_NAME                     = "MARS SCIENCE LABORATORY"
 MISSION_PHASE_NAME               = "EXTENDED SURFACE MISSION"
 OBSERVATION_ID                   = "UNK"
 PLANET_DAY_NUMBER                = 4401
 LOCAL_TRUE_SOLAR_TIME_SOL        = "4400"
 PRODUCER_INSTITUTION_NAME        = "MULTIMISSION INSTRUMENT PROCESSING 
                                     LAB, JET PROPULSION LAB"
 PRODUCT_CREATION_TIME            = 2025-04-30T00:12:05.000
 PRODUCT_VERSION_ID               = "V1.0 D-38107"
 RELEASE_ID                       = "0039"
 REQUEST_ID                       = "0"
 ROVER_MOTION_COUNTER             = (112,534,4,0,0,0,1276,96,0,0)
 ROVER_MOTION_COUNTER_NAME        = ("SITE","DRIVE","POSE","ARM","CHIMRA",
                                     "DRILL","RSM","HGA","DRT","IC")
 SEQUENCE_ID                      = "ncam00545"
 SEQUENCE_VERSION_ID              = "12"
 SOLAR_LONGITUDE                  = 19.8425
 SPACECRAFT_CLOCK_CNT_PARTITION   = 1
 SPACECRAFT_CLOCK_START_COUNT     = "788211710.478"
 SPACECRAFT_CLOCK_STOP_COUNT      = "788211716.918"
 START_TIME                       = 2024-12-23T08:45:21.301
 STOP_TIME                        = 2024-12-23T08:45:27.741
 TARGET_NAME                      = "MARS"
 TARGET_TYPE                      = PLANET
 SOURCE_PRODUCT_ID                = "NRB_788211710EDR_T1120534NCAM00545M1"
 DATA_SET_ID                      = "MSL-M-NAVCAM-5-RDR-V2.0"
 DATA_SET_NAME                    = "MSL MARS NAVIGATION CAMERA 5 RDR V2.0"
 PRODUCT_ID                       = "NRB_788211710ILT_T1120534NCAM00545M1"

/* TELEMETRY DATA ELEMENTS */

 APPLICATION_PROCESS_ID           = 367
 APPLICATION_PROCESS_NAME         = "ImgThumbIcerNr"
 EARTH_RECEIVED_START_TIME        = 2024-12-23T14:29:04.920
 EARTH_RECEIVED_STOP_TIME         = 2024-12-23T14:28:12.568
 EXPECTED_PACKETS                 = 1
 RECEIVED_PACKETS                 = 1
 SPICE_FILE_NAME                  = "chronos.msl"
 TELEMETRY_PROVIDER_ID            = "MPCS_MSL_DP"
 TELEMETRY_SOURCE_HOST_NAME       = "mslsmsampcs1"
 TELEMETRY_SOURCE_NAME            = "ImgThumbIcerNr_0788211710-31370-1.dat"
 TELEMETRY_SOURCE_TYPE            = "DATA PRODUCT"
 COMMUNICATION_SESSION_ID         = "44011"
 DOWNLOAD_PRIORITY                = 17
 EXPECTED_TRANSMISSION_PATH       = "3851"
 FLIGHT_SOFTWARE_MODE             = "8"
 FLIGHT_SOFTWARE_VERSION_ID       = "451956328"
 PRODUCT_COMPLETION_STATUS        = COMPLETE_CHECKSUM_PASS
 PRODUCT_TAG                      = "0"
 SEQUENCE_EXECUTION_COUNT         = 1
 TELEMETRY_SOURCE_SIZE            = 1461
 TELEMETRY_SOURCE_CHECKSUM        = 6579
 TELEMETRY_SOURCE_START_TIME      = 2024-358T08:45:21.301
 TELEMETRY_SOURCE_SCLK_START      = "788211710.313"
 STRIPING_COUNT                   = 0
 STRIPING_OVERLAP_ROWS            = 0
 AUTO_DELETE_FLAG                 = "FALSE"
 TRANSMISSION_PATH                = "65535"
 VIRTUAL_CHANNEL_ID               = "32"

/* HISTORY DATA ELEMENTS */

 GROUP                            = PDS_HISTORY
   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

/* CAMERA_MODEL DATA ELEMENTS */

GROUP                             = GEOMETRIC_CAMERA_MODEL
  CALIBRATION_SOURCE_ID           = "7"
  MODEL_TYPE                      = CAHVOR
  MODEL_COMPONENT_ID              = ("C","A","H","V","O","R")
  MODEL_COMPONENT_NAME            = ("CENTER","AXIS","HORIZONTAL",
                                     "VERTICAL","OPTICAL","RADIAL")
  MODEL_COMPONENT_UNIT            = (METER,"N/A",PIXEL,PIXEL,"N/A","N/A")
  MODEL_COMPONENT_1               = (1.0273,0.517482,-1.98762)
  MODEL_COMPONENT_2               = (0.187876,-0.877775,-0.440678)
  MODEL_COMPONENT_3               = (80.4533,-11.4773,-14.101)
  MODEL_COMPONENT_4               = (13.3004,-60.7309,54.4174)
  MODEL_COMPONENT_5               = (0.187594,-0.879419,-0.437509)
  MODEL_COMPONENT_6               = (1.23092e-05,0.00189936,-0.00619825)
  REFERENCE_COORD_SYSTEM_NAME     = "ROVER_NAV_FRAME"
  REFERENCE_COORD_SYSTEM_INDEX    = (112,534,4,0,0,0,1276,96,0,0)
  INTERPOLATION_METHOD            = TEMPERATURE
  INTERPOLATION_VALUE             = -33.8164
END_GROUP                         = GEOMETRIC_CAMERA_MODEL

/* COORDINATE SYSTEM STATE: ROVER */

GROUP                             = ROVER_COORDINATE_SYSTEM
  SOLUTION_ID                     = "telemetry"
  COORDINATE_SYSTEM_NAME          = "ROVER_NAV_FRAME"
  COORDINATE_SYSTEM_INDEX         = (112,534,4,0,0,0,1276,96,0,0)
  COORDINATE_SYSTEM_INDEX_NAME    = ("SITE","DRIVE","POSE","ARM","CHIMRA",
                                     "DRILL","RSM","HGA","DRT","IC")
  ORIGIN_OFFSET_VECTOR            = (-13.0712,-64.152,5.11541)
  ORIGIN_ROTATION_QUATERNION      = (0.526906,0.0256285,-0.0672749,-0.846869)
  POSITIVE_AZIMUTH_DIRECTION      = CLOCKWISE
  POSITIVE_ELEVATION_DIRECTION    = UP
  QUATERNION_MEASUREMENT_METHOD   = FINE
  REFERENCE_COORD_SYSTEM_NAME     = "SITE_FRAME"
  REFERENCE_COORD_SYSTEM_INDEX    = 112
  POSE_QUALITY                    = FINAL
END_GROUP                         = ROVER_COORDINATE_SYSTEM

/* COORDINATE SYSTEM STATE: SITE */

GROUP                             = SITE_COORDINATE_SYSTEM
  SOLUTION_ID                     = "telemetry"
  COORDINATE_SYSTEM_NAME          = "SITE_FRAME"
  COORDINATE_SYSTEM_INDEX         = 112
  COORDINATE_SYSTEM_INDEX_NAME    = "SITE"
  ORIGIN_OFFSET_VECTOR            = (-55.2209,-349.221,4.17723)
  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    = 111
END_GROUP                         = SITE_COORDINATE_SYSTEM

/* COORDINATE SYSTEM STATE: REMOTE SENSING MAST */

GROUP                             = RSM_COORDINATE_SYSTEM
  SOLUTION_ID                     = "telemetry"
  COORDINATE_SYSTEM_NAME          = "RSM_HEAD_FRAME"
  COORDINATE_SYSTEM_INDEX         = (112,534,4,0,0,0,1276,96,0,0)
  COORDINATE_SYSTEM_INDEX_NAME    = ("SITE","DRIVE","POSE","ARM","CHIMRA",
                                     "DRILL","RSM","HGA","DRT","IC")
  ORIGIN_OFFSET_VECTOR            = (0.80447,0.55956,-1.90608)
  ORIGIN_ROTATION_QUATERNION      = (0.755597,0.144221,0.178153,-0.613624)
  POSITIVE_AZIMUTH_DIRECTION      = CLOCKWISE
  POSITIVE_ELEVATION_DIRECTION    = UP
  REFERENCE_COORD_SYSTEM_NAME     = "ROVER_NAV_FRAME"
  REFERENCE_COORD_SYSTEM_INDEX    = (112,534,4,0,0,0,1276,96,0,0)
END_GROUP                         = RSM_COORDINATE_SYSTEM

/* COORDINATE SYSTEM STATE: ROBOTIC ARM */

GROUP                             = ARM_COORDINATE_SYSTEM
  SOLUTION_ID                     = "telemetry"
  COORDINATE_SYSTEM_NAME          = "ARM_APXS_FRAME"
  COORDINATE_SYSTEM_INDEX         = (112,534,4,0,0,0,1276,96,0,0)
  COORDINATE_SYSTEM_INDEX_NAME    = ("SITE","DRIVE","POSE","ARM","CHIMRA",
                                     "DRILL","RSM","HGA","DRT","IC")
  ORIGIN_OFFSET_VECTOR            = (1.3305,-0.475527,-0.243927)
  ORIGIN_ROTATION_QUATERNION      = (0.996944,-0.0104865,-0.000831842,
                                     0.0774071)
  POSITIVE_AZIMUTH_DIRECTION      = CLOCKWISE
  POSITIVE_ELEVATION_DIRECTION    = UP
  REFERENCE_COORD_SYSTEM_NAME     = "ROVER_MECH_FRAME"
  REFERENCE_COORD_SYSTEM_INDEX    = (112,534,4,0,0,0,1276,96,0,0)
END_GROUP                         = ARM_COORDINATE_SYSTEM

/* ARTICULATION DEVICE STATE: REMOTE SENSING MAST */

GROUP                             = RSM_ARTICULATION_STATE
  ARTICULATION_DEVICE_ID          = "RSM"
  ARTICULATION_DEVICE_NAME        = "REMOTE SENSING MAST"
  ARTICULATION_DEVICE_ANGLE       = (1.80295 <rad>,2.04991 <rad>,
                                     1.80695 <rad>,2.05032 <rad>,
                                     2.4015 <rad>,2.05622 <rad>,
                                     1.80701 <rad>,2.05026 <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

/* ARTICULATION DEVICE STATE: ROBOTIC ARM */

GROUP                             = ARM_ARTICULATION_STATE
  ARTICULATION_DEVICE_ID          = "ARM"
  ARTICULATION_DEVICE_NAME        = "SAMPLE ARM"
  ARTICULATION_DEVICE_ANGLE       = (1.57217 <rad>,-0.277767 <rad>,
                                     -2.81631 <rad>,3.1211 <rad>,
                                     0.593786 <rad>,1.56851 <rad>,
                                     -0.277624 <rad>,-2.82588 <rad>,
                                     3.11663 <rad>,0.593194 <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        = (-20.4897 <degC>,-18.689 <degC>,
                                     -19.4155 <degC>,-19.9067 <degC>,
                                     -16.5459 <degC>)
  ARTICULATION_DEVICE_TEMP_NAME   = ("AZIMUTH JOINT","ELEVATION JOINT",
                                     "ELBOW JOINT","WRIST JOINT",
                                     "TURRET JOINT")
  ARTICULATION_DEV_INSTRUMENT_ID  = "APXS"
  ARTICULATION_DEV_VECTOR         = (0.0274871,0.140954,0.989635)
  ARTICULATION_DEV_VECTOR_NAME    = "GRAVITY"
  CONTACT_SENSOR_STATE            = ("NO CONTACT","NO CONTACT","NO CONTACT"
                                     ,"NO CONTACT","NO CONTACT","NO CONTACT"
                                     ,"NO CONTACT","NO CONTACT")
  CONTACT_SENSOR_STATE_NAME       = ("APXS CONTACT SWITCH 1",
                                     "APXS CONTACT SWITCH 2",
                                     "DRILL SWITCH 1","DRILL SWITCH 2",
                                     "MAHLI SWITCH 1A","MAHLI SWITCH 1B",
                                     "MAHLI SWITCH 2A","MAHLI SWITCH 2B")
END_GROUP                         = ARM_ARTICULATION_STATE

/* ARTICULATION DEVICE STATE: MOBILITY CHASSIS */

GROUP                             = CHASSIS_ARTICULATION_STATE
  ARTICULATION_DEVICE_ID          = "CHASSIS"
  ARTICULATION_DEVICE_NAME        = "MOBILITY CHASSIS"
  ARTICULATION_DEVICE_ANGLE       = (-0.0 <rad>,-0.0 <rad>,-0.0 <rad>,
                                     -0.0 <rad>,-0.0492707 <rad>,
                                     0.00965794 <rad>,0.0492841 <rad>,
                                     -0.0492935 <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_STATE

/* ARTICULATION DEVICE STATE: HIGH GAIN ANTENNA */

GROUP                             = HGA_ARTICULATION_STATE
  ARTICULATION_DEVICE_ID          = "HGA"
  ARTICULATION_DEVICE_NAME        = "HIGH GAIN ANTENNA"
  ARTICULATION_DEVICE_ANGLE       = (0.0 <rad>,-0.784997 <rad>)
  ARTICULATION_DEVICE_ANGLE_NAME  = ("AZIMUTH","ELEVATION")
  ARTICULATION_DEVICE_MODE        = DEPLOYED
END_GROUP                         = HGA_ARTICULATION_STATE

/* OBSERVATION REQUEST */

GROUP                             = OBSERVATION_REQUEST_PARMS
  COMMAND_INSTRUMENT_ID           = "NAVCAM_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               = "NAVCAM_R"
  EXPOSURE_TBL_UPDATE_FLAG        = "TRUE"
  FLAT_FIELD_CORRECTION_FLAG      = "FALSE"
  INSTRUMENT_COORDINATE           = (-0.628319 <rad>,0.05236 <rad>)
  INSTRUMENT_COORDINATE_NAME      = ("AZIMUTH","ELEVATION")
  INSTRUMENT_COORD_FRAME_ID       = "LL"
  INSTRUMENT_COORD_FRAME_INDEX    = 0
  INSTRUMENT_IDLE_TIMEOUT         = 300 <s>
  MAX_AUTO_EXPOS_ITERATION_COUNT  = 0
  SHUTTER_CORRECTION_MODE_ID      = "ALWAYS"
  SHUTTER_CORRECT_THRESH_COUNT    = 5
  INSTRUMENT_COORDINATE_TYPE      = AZEL_REL
  SOURCE_ID                       = "GND"
END_GROUP                         = OBSERVATION_REQUEST_PARMS

/* IMAGE REQUEST */

GROUP                             = IMAGE_REQUEST_PARMS
  SOURCE_ID                       = "GND"
  GROUP_APPLICABILITY_FLAG        = "TRUE"
  DOWNLOAD_PRIORITY               = 97
  PIXEL_DOWNSAMPLE_OPTION         = NONE
  PIXEL_AVERAGING_HEIGHT          = 1
  PIXEL_AVERAGING_WIDTH           = 1
  SAMPLE_BIT_MODE_ID              = "NONE"
  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                         = IMAGE_REQUEST_PARMS

/* SUBFRAME REQUEST */

GROUP                             = SUBFRAME_REQUEST_PARMS
  SOURCE_ID                       = "GND"
  GROUP_APPLICABILITY_FLAG        = "FALSE"
  SUBFRAME_TYPE                   = SW_ONLY
  FIRST_LINE                      = 2
  FIRST_LINE_SAMPLE               = 2
  LINES                           = 1022
  LINE_SAMPLES                    = 1022
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               = 97
END_GROUP                         = COLUMN_SUM_REQUEST_PARMS

/* REFERENCE PIXEL REQUEST */

GROUP                             = REFERENCE_PIXEL_REQUEST_PARMS
  SOURCE_ID                       = "GND"
  GROUP_APPLICABILITY_FLAG        = "FALSE"
  DOWNLOAD_PRIORITY               = 97
  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               = 97
END_GROUP                         = HISTOGRAM_REQUEST_PARMS

/* INSTRUMENT STATE RESULTS */

GROUP                             = INSTRUMENT_STATE_PARMS
  AZIMUTH_FOV                     = 45.5147 <deg>
  ELEVATION_FOV                   = 45.5282 <deg>
  BAD_PIXEL_REPLACEMENT_ID        = "1"
  DETECTOR_FIRST_LINE             = 1
  DETECTOR_LINES                  = 1024
  DETECTOR_TO_IMAGE_ROTATION      = 90.0
  DOWNSAMPLE_METHOD               = SOFTWARE
  EXPOSURE_COUNT                  = 1
  EXPOSURE_DURATION               = 6440.96 <ms>
  EXPOSURE_DURATION_COUNT         = 1258
  FLAT_FIELD_CORRECTION_FLAG      = "FALSE"
  FLAT_FIELD_CORRECTION_PARM      = (0.0,0.0,0.0,0.0,0.0)
  INSTRUMENT_MODE_ID              = "WINDOWED_FRAME"
  INSTRUMENT_TEMPERATURE          = (0.0 <degC>,-18.6163 <degC>,
                                     -19.6045 <degC>,0.0 <degC>,0.0 <degC>,
                                     -12.245 <degC>,-12.7941 <degC>,
                                     0.0 <degC>,-35.666 <degC>,
                                     -34.8544 <degC>,-35.0257 <degC>,
                                     -30.4061 <degC>,-20.2941 <degC>,
                                     -20.7443 <degC>,-20.4237 <degC>,
                                     -21.2465 <degC>,-5.73443 <degC>,
                                     0.0 <degC>,0.0 <degC>,-4.53907 <degC>,
                                     -35.844 <degC>,-31.4333 <degC>,
                                     -33.8164 <degC>,-18.0665 <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            = (112,534,4,0,0,0,1276,96,0,0)
  ROVER_MOTION_COUNTER_NAME       = ("SITE","DRIVE","POSE","ARM","CHIMRA",
                                     "DRILL","RSM","HGA","DRT","IC")
  ORIGIN_OFFSET_VECTOR            = (-13.0712,-64.152,5.11541)
  ORIGIN_ROTATION_QUATERNION      = (0.526906,0.0256285,-0.0672749,-0.846869)
  QUATERNION_MEASUREMENT_METHOD   = FINE
END_GROUP                         = INITIAL_STATE_PARMS

/* COMPRESSION RESULTS */

GROUP                             = COMPRESSION_PARMS
  ERROR_PIXELS                    = 0
  INST_CMPRS_FILTER               = E
  INST_CMPRS_MODE                 = 1
  INST_CMPRS_NAME                 = "ICER"
  INST_CMPRS_QUALITY              = 5
  INST_CMPRS_RATE                 = 1.0
  INST_CMPRS_RATIO                = 12.0
  INST_CMPRS_SEGMENTS             = 1
  INST_CMPRS_SEGMENT_QUALITY      = 5.53052
  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              = 282.161 <deg>
  INSTRUMENT_ELEVATION            = 26.3927 <deg>
  REFERENCE_COORD_SYSTEM_INDEX    = (112,534,4,0,0,0,1276,96,0,0)
  REFERENCE_COORD_SYSTEM_NAME     = "ROVER_NAV_FRAME"
  SOLAR_AZIMUTH                   = 34.3235 <deg>
  SOLAR_ELEVATION                 = 2.05366 <deg>
  SUN_VIEW_DIRECTION              = (0.825336,0.563503,-0.0358354)
END_GROUP                         = ROVER_DERIVED_GEOMETRY_PARMS

/* DERIVED GEOMETRY DATA ELEMENTS: SITE FRAME */

GROUP                             = SITE_DERIVED_GEOMETRY_PARMS
  INSTRUMENT_AZIMUTH              = 167.908 <deg>
  INSTRUMENT_ELEVATION            = 33.9283 <deg>
  POSITIVE_AZIMUTH_DIRECTION      = CLOCKWISE
  REFERENCE_COORD_SYSTEM_INDEX    = 112
  REFERENCE_COORD_SYSTEM_NAME     = "SITE_FRAME"
  SOLAR_AZIMUTH                   = 278.042 <deg>
  SOLAR_ELEVATION                 = -3.7991 <deg>
END_GROUP                         = SITE_DERIVED_GEOMETRY_PARMS

/* DERIVED IMAGE DATA ELEMENTS */

GROUP                             = DERIVED_IMAGE_PARMS
  INPUT_PRODUCT_ID                = "NRB_788211710EDR_T1120534NCAM00545M1"
  DERIVED_IMAGE_TYPE              = IMAGE
END_GROUP                         = DERIVED_IMAGE_PARMS

/* IMAGE DATA ELEMENTS */

OBJECT                            = IMAGE
  INTERCHANGE_FORMAT              = BINARY
  LINES                           = 64
  LINE_SAMPLES                    = 64
  SAMPLE_TYPE                     = MSB_INTEGER
  SAMPLE_BITS                     = 16
  BANDS                           = 1
  BAND_STORAGE_TYPE               = BAND_SEQUENTIAL
  FIRST_LINE                      = 1
  FIRST_LINE_SAMPLE               = 1
  INVALID_CONSTANT                = 0.0
  MISSING_CONSTANT                = 0.0
  SAMPLE_BIT_MASK                 = 2#0000111111111111#
END_OBJECT                        = IMAGE

/* IMAGE HEADER DATA ELEMENTS */

OBJECT                            = IMAGE_HEADER
 HEADER_TYPE                      = VICAR2
 INTERCHANGE_FORMAT               = ASCII
 BYTES                            = 15360
 ^DESCRIPTION                     = "VICAR2.TXT"
END_OBJECT                        = IMAGE_HEADER
END
                                                                                                                                                                                                                                                                     LBLSIZE=15360           FORMAT='HALF'  TYPE='IMAGE'  BUFSIZ=128  DIM=3  EOL=0  RECSIZE=128  ORG='BSQ'  NL=64  NS=64  NB=1  N1=64  N2=64  N3=1  N4=0  NBB=0  NLB=0  HOST='JAVA'  INTFMT='HIGH'  REALFMT='RIEEE'  BHOST='VAX-VMS'  BINTFMT='LOW'  BREALFMT='VAX'  BLTYPE=''  COMPRESS='NONE'  EOCI1=0  EOCI2=0  PROPERTY='IDENTIFICATION'  ACTIVE_FLIGHT_STRING_ID='B'  COMMAND_SEQUENCE_NUMBER=11  FRAME_ID='RIGHT'  FRAME_TYPE='MONO'  GEOMETRY_PROJECTION_TYPE='RAW'  IMAGE_ID='22'  IMAGE_TYPE='THUMBNAIL'  IMAGE_ACQUIRE_MODE='IMAGE'  INSTRUMENT_HOST_ID='MSL'  INSTRUMENT_HOST_NAME='MARS SCIENCE LABORATORY'  INSTRUMENT_ID='NAV_RIGHT_B'  INSTRUMENT_NAME='NAVIGATION CAMERA RIGHT STRING B'  INSTRUMENT_SERIAL_NUMBER=218  INSTRUMENT_TYPE='IMAGING CAMERA'  INSTRUMENT_VERSION_ID='FM'  LOCAL_MEAN_SOLAR_TIME='Sol-04401M18:40:27.295'  LOCAL_TRUE_SOLAR_TIME='18:12:40'  MISSION_NAME='MARS SCIENCE LABORATORY'  MISSION_PHASE_NAME='EXTENDED SURFACE MISSION'  OBSERVATION_ID='UNK'  PLANET_DAY_NUMBER=4401  LOCAL_TRUE_SOLAR_TIME_SOL=4400  PRODUCER_INSTITUTION_NAME='MULTIMISSION INSTRUMENT PROCESSING LAB, JET PROPULSION LAB'  PRODUCT_CREATION_TIME='2025-04-30T00:12:05.000'  PRODUCT_VERSION_ID='V1.0 D-38107'  RELEASE_ID='0039'  REQUEST_ID='0'  ROVER_MOTION_COUNTER=(112,534,4,0,0,0,1276,96,0,0)  ROVER_MOTION_COUNTER_NAME=('SITE','DRIVE','POSE','ARM','CHIMRA','DRILL','RSM','HGA','DRT','IC')  SEQUENCE_ID='ncam00545'  SEQUENCE_VERSION_ID='12'  SOLAR_LONGITUDE=19.8425  SPACECRAFT_CLOCK_CNT_PARTITION=1  SPACECRAFT_CLOCK_START_COUNT='788211710.478'  SPACECRAFT_CLOCK_STOP_COUNT='788211716.918'  START_TIME='2024-12-23T08:45:21.301'  STOP_TIME='2024-12-23T08:45:27.741'  TARGET_NAME='MARS'  TARGET_TYPE='PLANET'  SOURCE_PRODUCT_ID='NRB_788211710EDR_T1120534NCAM00545M1'  DATA_SET_ID='MSL-M-NAVCAM-5-RDR-V2.0'  DATA_SET_NAME='MSL MARS NAVIGATION CAMERA 5 RDR V2.0'  PRODUCT_ID='NRB_788211710ILT_T1120534NCAM00545M1'  PROPERTY='TELEMETRY'  APPLICATION_PROCESS_ID=367  APPLICATION_PROCESS_NAME='ImgThumbIcerNr'  EARTH_RECEIVED_START_TIME='2024-12-23T14:29:04.920'  EARTH_RECEIVED_STOP_TIME='2024-12-23T14:28:12.568'  EXPECTED_PACKETS=1  RECEIVED_PACKETS=1  SPICE_FILE_NAME='chronos.msl'  TELEMETRY_PROVIDER_ID='MPCS_MSL_DP'  TELEMETRY_SOURCE_HOST_NAME='mslsmsampcs1'  TELEMETRY_SOURCE_NAME='ImgThumbIcerNr_0788211710-31370-1.dat'  TELEMETRY_SOURCE_TYPE='DATA PRODUCT'  COMMUNICATION_SESSION_ID='44011'  DOWNLOAD_PRIORITY=17  EXPECTED_TRANSMISSION_PATH='3851'  FLIGHT_SOFTWARE_MODE='8'  FLIGHT_SOFTWARE_VERSION_ID='451956328'  PRODUCT_COMPLETION_STATUS='COMPLETE_CHECKSUM_PASS'  PRODUCT_TAG='0'  SEQUENCE_EXECUTION_COUNT=1  TELEMETRY_SOURCE_SIZE=1461  TELEMETRY_SOURCE_CHECKSUM=6579  TELEMETRY_SOURCE_START_TIME='2024-358T08:45:21.301'  TELEMETRY_SOURCE_SCLK_START='788211710.313'  STRIPING_COUNT=0  STRIPING_OVERLAP_ROWS=0  AUTO_DELETE_FLAG='FALSE'  TRANSMISSION_PATH='65535'  VIRTUAL_CHANNEL_ID='32'  PROPERTY='PDS_HISTORY'  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'  PROPERTY='ROVER_COORDINATE_SYSTEM'  SOLUTION_ID='telemetry'  COORDINATE_SYSTEM_NAME='ROVER_NAV_FRAME'  COORDINATE_SYSTEM_INDEX=(112,534,4,0,0,0,1276,96,0,0)  COORDINATE_SYSTEM_INDEX_NAME=('SITE','DRIVE','POSE','ARM','CHIMRA','DRILL','RSM','HGA','DRT','IC')  ORIGIN_OFFSET_VECTOR=(-13.0712,-64.152,5.11541)  ORIGIN_ROTATION_QUATERNION=(0.526906,0.0256285,-0.0672749,-0.846869)  POSITIVE_AZIMUTH_DIRECTION='CLOCKWISE'  POSITIVE_ELEVATION_DIRECTION='UP'  QUATERNION_MEASUREMENT_METHOD='FINE'  REFERENCE_COORD_SYSTEM_NAME='SITE_FRAME'  REFERENCE_COORD_SYSTEM_INDEX=112  POSE_QUALITY='FINAL'  PROPERTY='SITE_COORDINATE_SYSTEM'  SOLUTION_ID='telemetry'  COORDINATE_SYSTEM_NAME='SITE_FRAME'  COORDINATE_SYSTEM_INDEX=112  COORDINATE_SYSTEM_INDEX_NAME='SITE'  ORIGIN_OFFSET_VECTOR=(-55.2209,-349.221,4.17723)  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=111  PROPERTY='RSM_COORDINATE_SYSTEM'  SOLUTION_ID='telemetry'  COORDINATE_SYSTEM_NAME='RSM_HEAD_FRAME'  COORDINATE_SYSTEM_INDEX=(112,534,4,0,0,0,1276,96,0,0)  COORDINATE_SYSTEM_INDEX_NAME=('SITE','DRIVE','POSE','ARM','CHIMRA','DRILL','RSM','HGA','DRT','IC')  ORIGIN_OFFSET_VECTOR=(0.80447,0.55956,-1.90608)  ORIGIN_ROTATION_QUATERNION=(0.755597,0.144221,0.178153,-0.613624)  POSITIVE_AZIMUTH_DIRECTION='CLOCKWISE'  POSITIVE_ELEVATION_DIRECTION='UP'  REFERENCE_COORD_SYSTEM_NAME='ROVER_NAV_FRAME'  REFERENCE_COORD_SYSTEM_INDEX=(112,534,4,0,0,0,1276,96,0,0)  PROPERTY='ARM_COORDINATE_SYSTEM'  SOLUTION_ID='telemetry'  COORDINATE_SYSTEM_NAME='ARM_APXS_FRAME'  COORDINATE_SYSTEM_INDEX=(112,534,4,0,0,0,1276,96,0,0)  COORDINATE_SYSTEM_INDEX_NAME=('SITE','DRIVE','POSE','ARM','CHIMRA','DRILL','RSM','HGA','DRT','IC')  ORIGIN_OFFSET_VECTOR=(1.3305,-0.475527,-0.243927)  ORIGIN_ROTATION_QUATERNION=(0.996944,-0.0104865,-0.000831842,0.0774071)  POSITIVE_AZIMUTH_DIRECTION='CLOCKWISE'  POSITIVE_ELEVATION_DIRECTION='UP'  REFERENCE_COORD_SYSTEM_NAME='ROVER_MECH_FRAME'  REFERENCE_COORD_SYSTEM_INDEX=(112,534,4,0,0,0,1276,96,0,0)  PROPERTY='RSM_ARTICULATION_STATE'  ARTICULATION_DEVICE_ID='RSM'  ARTICULATION_DEVICE_NAME='REMOTE SENSING MAST'  ARTICULATION_DEVICE_ANGLE=(1.80295,2.04991,1.80695,2.05032,2.4015,2.05622,1.80701,2.05026)  ARTICULATION_DEVICE_ANGLE__UNIT=('rad','rad','rad','rad','rad','rad','rad','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'  PROPERTY='ARM_ARTICULATION_STATE'  ARTICULATION_DEVICE_ID='ARM'  ARTICULATION_DEVICE_NAME='SAMPLE ARM'  ARTICULATION_DEVICE_ANGLE=(1.57217,-0.277767,-2.81631,3.1211,0.593786,1.56851,-0.277624,-2.82588,3.11663,0.593194)  ARTICULATION_DEVICE_ANGLE__UNIT=('rad','rad','rad','rad','rad','rad','rad','rad','rad','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=(-20.4897,-18.689,-19.4155,-19.9067,-16.5459)  ARTICULATION_DEVICE_TEMP__UNIT=('degC','degC','degC','degC','degC')  ARTICULATION_DEVICE_TEMP_NAME=('AZIMUTH JOINT','ELEVATION JOINT','ELBOW JOINT','WRIST JOINT','TURRET JOINT')  ARTICULATION_DEV_INSTRUMENT_ID='APXS'  ARTICULATION_DEV_VECTOR=(0.0274871,0.140954,0.989635)  ARTICULATION_DEV_VECTOR_NAME='GRAVITY'  CONTACT_SENSOR_STATE=('NO CONTACT','NO CONTACT','NO CONTACT','NO CONTACT','NO CONTACT','NO CONTACT','NO CONTACT','NO CONTACT')  CONTACT_SENSOR_STATE_NAME=('APXS CONTACT SWITCH 1','APXS CONTACT SWITCH 2','DRILL SWITCH 1','DRILL SWITCH 2','MAHLI SWITCH 1A','MAHLI SWITCH 1B','MAHLI SWITCH 2A','MAHLI SWITCH 2B')  PROPERTY='CHASSIS_ARTICULATION_STATE'  ARTICULATION_DEVICE_ID='CHASSIS'  ARTICULATION_DEVICE_NAME='MOBILITY CHASSIS'  ARTICULATION_DEVICE_ANGLE=(-0.0,-0.0,-0.0,-0.0,-0.0492707,0.00965794,0.0492841,-0.0492935)  ARTICULATION_DEVICE_ANGLE__UNIT=('rad','rad','rad','rad','rad','rad','rad','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'  PROPERTY='HGA_ARTICULATION_STATE'  ARTICULATION_DEVICE_ID='HGA'  ARTICULATION_DEVICE_NAME='HIGH GAIN ANTENNA'  ARTICULATION_DEVICE_ANGLE=(0.0,-0.784997)  ARTICULATION_DEVICE_ANGLE__UNIT=('rad','rad')  ARTICULATION_DEVICE_ANGLE_NAME=('AZIMUTH','ELEVATION')  ARTICULATION_DEVICE_MODE='DEPLOYED'  PROPERTY='OBSERVATION_REQUEST_PARMS'  COMMAND_INSTRUMENT_ID='NAVCAM_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='NAVCAM_R'  EXPOSURE_TBL_UPDATE_FLAG='TRUE'  FLAT_FIELD_CORRECTION_FLAG='FALSE'  INSTRUMENT_COORDINATE=(-0.628319,0.05236)  INSTRUMENT_COORDINATE__UNIT=('rad','rad')  INSTRUMENT_COORDINATE_NAME=('AZIMUTH','ELEVATION')  INSTRUMENT_COORD_FRAME_ID='LL'  INSTRUMENT_COORD_FRAME_INDEX=0  INSTRUMENT_IDLE_TIMEOUT=300  INSTRUMENT_IDLE_TIMEOUT__UNIT='s'  MAX_AUTO_EXPOS_ITERATION_COUNT=0  SHUTTER_CORRECTION_MODE_ID='ALWAYS'  SHUTTER_CORRECT_THRESH_COUNT=5  INSTRUMENT_COORDINATE_TYPE='AZEL_REL'  SOURCE_ID='GND'  PROPERTY='IMAGE_REQUEST_PARMS'  SOURCE_ID='GND'  GROUP_APPLICABILITY_FLAG='TRUE'  DOWNLOAD_PRIORITY=97  PIXEL_DOWNSAMPLE_OPTION='NONE'  PIXEL_AVERAGING_HEIGHT=1  PIXEL_AVERAGING_WIDTH=1  SAMPLE_BIT_MODE_ID='NONE'  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  PROPERTY='SUBFRAME_REQUEST_PARMS'  SOURCE_ID='GND'  GROUP_APPLICABILITY_FLAG='FALSE'  SUBFRAME_TYPE='SW_ONLY'  FIRST_LINE=2  FIRST_LINE_SAMPLE=2  LINES=1022  LINE_SAMPLES=1022  PROPERTY='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  PROPERTY='ROW_SUM_REQUEST_PARMS'  SOURCE_ID='GND'  GROUP_APPLICABILITY_FLAG='FALSE'  DOWNLOAD_PRIORITY=97  PROPERTY='COLUMN_SUM_REQUEST_PARMS'  SOURCE_ID='GND'  GROUP_APPLICABILITY_FLAG='FALSE'  DOWNLOAD_PRIORITY=97  PROPERTY='REFERENCE_PIXEL_REQUEST_PARMS'  SOURCE_ID='GND'  GROUP_APPLICABILITY_FLAG='FALSE'  DOWNLOAD_PRIORITY=97  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  PROPERTY='HISTOGRAM_REQUEST_PARMS'  SOURCE_ID='GND'  GROUP_APPLICABILITY_FLAG='FALSE'  DOWNLOAD_PRIORITY=97  PROPERTY='INSTRUMENT_STATE_PARMS'  AZIMUTH_FOV=45.5147  AZIMUTH_FOV__UNIT='deg'  ELEVATION_FOV=45.5282  ELEVATION_FOV__UNIT='deg'  BAD_PIXEL_REPLACEMENT_ID='1'  DETECTOR_FIRST_LINE=1  DETECTOR_LINES=1024  DETECTOR_TO_IMAGE_ROTATION=90.0  DOWNSAMPLE_METHOD='SOFTWARE'  EXPOSURE_COUNT=1  EXPOSURE_DURATION=6440.96  EXPOSURE_DURATION__UNIT='ms'  EXPOSURE_DURATION_COUNT=1258  FLAT_FIELD_CORRECTION_FLAG='FALSE'  FLAT_FIELD_CORRECTION_PARM=(0.0,0.0,0.0,0.0,0.0)  INSTRUMENT_MODE_ID='WINDOWED_FRAME'  INSTRUMENT_TEMPERATURE=(0.0,-18.6163,-19.6045,0.0,0.0,-12.245,-12.7941,0.0,-35.666,-34.8544,-35.0257,-30.4061,-20.2941,-20.7443,-20.4237,-21.2465,-5.73443,0.0,0.0,-4.53907,-35.844,-31.4333,-33.8164,-18.0665)  INSTRUMENT_TEMPERATURE__UNIT=('degC','degC','degC','degC','degC','degC','degC','degC','degC','degC','degC','degC','degC','degC','degC','degC','degC','degC','degC','degC','degC','degC','degC','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'  PROPERTY='COMPRESSION_PARMS'  ERROR_PIXELS=0  INST_CMPRS_FILTER='E'  INST_CMPRS_MODE=1  INST_CMPRS_NAME='ICER'  INST_CMPRS_QUALITY=5  INST_CMPRS_RATE=1.0  INST_CMPRS_RATIO=12.0  INST_CMPRS_SEGMENTS=1  INST_CMPRS_SEGMENT_QUALITY=5.53052  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  PROPERTY='ROVER_DERIVED_GEOMETRY_PARMS'  INSTRUMENT_AZIMUTH__UNIT='deg'  INSTRUMENT_ELEVATION__UNIT='deg'  INSTRUMENT_AZIMUTH=282.161  INSTRUMENT_ELEVATION=26.3927  REFERENCE_COORD_SYSTEM_INDEX=(112,534,4,0,0,0,1276,96,0,0)  REFERENCE_COORD_SYSTEM_NAME='ROVER_NAV_FRAME'  SOLAR_AZIMUTH=34.3235  SOLAR_AZIMUTH__UNIT='deg'  SOLAR_ELEVATION=2.05366  SOLAR_ELEVATION__UNIT='deg'  SUN_VIEW_DIRECTION=(0.825336,0.563503,-0.0358354)  PROPERTY='SITE_DERIVED_GEOMETRY_PARMS'  INSTRUMENT_AZIMUTH__UNIT='deg'  INSTRUMENT_ELEVATION__UNIT='deg'  INSTRUMENT_AZIMUTH=167.908  INSTRUMENT_ELEVATION=33.9283  POSITIVE_AZIMUTH_DIRECTION='CLOCKWISE'  REFERENCE_COORD_SYSTEM_INDEX=112  REFERENCE_COORD_SYSTEM_NAME='SITE_FRAME'  SOLAR_AZIMUTH=278.042  SOLAR_AZIMUTH__UNIT='deg'  SOLAR_ELEVATION=-3.7991  SOLAR_ELEVATION__UNIT='deg'  PROPERTY='INITIAL_STATE_PARMS'  ROVER_MOTION_COUNTER=(112,534,4,0,0,0,1276,96,0,0)  ROVER_MOTION_COUNTER_NAME=('SITE','DRIVE','POSE','ARM','CHIMRA','DRILL','RSM','HGA','DRT','IC')  ORIGIN_OFFSET_VECTOR=(-13.0712,-64.152,5.11541)  ORIGIN_ROTATION_QUATERNION=(0.526906,0.0256285,-0.0672749,-0.846869)  QUATERNION_MEASUREMENT_METHOD='FINE'  PROPERTY='IMAGE_DATA'  FIRST_LINE=1  FIRST_LINE_SAMPLE=1  INVALID_CONSTANT=0.0  MISSING_CONSTANT=0.0  SAMPLE_BIT_MASK='2#0000111111111111#'  PROPERTY='DERIVED_IMAGE_PARMS'  INPUT_PRODUCT_ID='NRB_788211710EDR_T1120534NCAM00545M1'  DERIVED_IMAGE_TYPE='IMAGE'  PROPERTY='GEOMETRIC_CAMERA_MODEL'  CALIBRATION_SOURCE_ID='7'  MODEL_TYPE='CAHVOR'  MODEL_COMPONENT_ID=('C','A','H','V','O','R')  MODEL_COMPONENT_NAME=('CENTER','AXIS','HORIZONTAL','VERTICAL','OPTICAL','RADIAL')  MODEL_COMPONENT_UNIT=('METER','N/A','PIXEL','PIXEL','N/A','N/A')  MODEL_COMPONENT_1=(1.0273,0.517482,-1.98762)  MODEL_COMPONENT_2=(0.187876,-0.877775,-0.440678)  MODEL_COMPONENT_3=(80.4533,-11.4773,-14.101)  MODEL_COMPONENT_4=(13.3004,-60.7309,54.4174)  MODEL_COMPONENT_5=(0.187594,-0.879419,-0.437509)  MODEL_COMPONENT_6=(1.23092e-05,0.00189936,-0.00619825)  REFERENCE_COORD_SYSTEM_NAME='ROVER_NAV_FRAME'  REFERENCE_COORD_SYSTEM_INDEX=(112,534,4,0,0,0,1276,96,0,0)  INTERPOLATION_METHOD='TEMPERATURE'  INTERPOLATION_VALUE=-33.8164  TASK='TASK'  USER='mslopgs'  DAT_TIM='Wed Apr 30 00:12:05 2025'  TASK='LABEL'  USER='mslopgs'  DAT_TIM='Wed Apr 30 00:12:06 2025'  TASK='MARSINVE'  USER='mslopgs'  DAT_TIM='Wed Apr 30 01:23:18 2025'  INP='/proj/mslops-opgs-archive/workspace/opgs/matis/PDS_ARCHIVE8/workarea/inverterpipe/processque/NRB_788211710EDR_T1120534NCAM00545M1.VIC'  OUT='/proj/mslops-opgs-archive/workspace/opgs/matis/PDS_ARCHIVE8/workarea/inverterpipe/output/NRB_788211710ILT_T1120534NCAM00545M1.tmp'  DATA_SET_NAME='MSL MARS NAVIGATION CAMERA 5 RDR V2.0'  DATA_SET_ID='MSL-M-NAVCAM-5-RDR-V2.0'  TASK='MARSRELA'  USER='mslopgs'  DAT_TIM='Wed Apr 30 01:23:20 2025'  INP='/proj/mslops-opgs-archive/workspace/opgs/matis/PDS_ARCHIVE8/workarea/inverterpipe/output/NRB_788211710ILT_T1120534NCAM00545M1.tmp'  OUT='/proj/mslops-opgs-archive/workspace/opgs/matis/PDS_ARCHIVE8/workarea/inverterpipe/output/NRB_788211710ILT_T1120534NCAM00545M1.VIC'  CM='CM'  
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
 #%'),0479988?IHAAFKPMEC
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�	
 
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
$,'"$&,1-%#
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�


!(-0-''+,-142-,
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
#',0/,4?;26??::<===<<
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�

 #'+/38<;8@KE:?KKEDDDCCEF
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�


!$'*-048<ADEDDKSNDHRRMLLKIIKL
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�	
!#%')+.158:=@CFLQQNOSW[XRTZZWVUSQQRS
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�	$)-024689;>CHKMOQTW]b_X\efcbabcccba^[ZYY
�
�
�
�
�
�
�
�	
#')-27;?BDFHIKNRWZ\^`cflplejssnmmllmmmlieccc




"%*/37<AFJNQSUWY[^adgikmosx}zsw�|zwutvyyxuqonn
!$'*/47:?DJPUY]adeghjmprtvxy{����������������|zz!$&(*-146<BDDJSY_dhlpsvwvx{}���������������������������   !#$&),/136:>AEJOQSX`gnsvz~�����������������������������������*+,-.02468;?CGKOSWZ^chmt{���������������������������������������24:;;<>?@CGLQVZ_cddktxz�����������������������������������������9=GIGGIJKNSY_dhnsqox��������������������������������������������BFSTQRTUWZ_djpw�������������������������������������������������KOZ\Z[]`cfint{��������������������������������������������������UX`bacfjnquz������������������������������������������������_adfilpsw|���������������������������������
�����������kllnqtx|���������������������������������	
��	wwwxz}������������������������������	
!%&&%$$%$���������������������������������	
$,135677870&$&%%(+*'&������������������������������!'.5;@EHJKJGC?<:88<A>76���������������������������� #%')-3:AGMSY\\ZVTROKIJNSPHE��������������������������� $)-158<AHOU[bhkkieca]ZYZ^b_XS�������������������������

"%%#%)-38=CINRW\bipwzywspnkggimqlcc�����������������������	#+010./26<BHPY_dgjov}����~{ywvuvz}wos����������������������%.59::9:=AGMT\elqtvz����������������{���������������������	%-4:?ACDGJNSY`gmsy}�������������������������������������	#,27;AGLPTX[_diov{��������������������������������'/37;BJRZ`ehjmqw}�������������������������������
	

,36:>ENXbinqruz��������������������������������

#!".59>CJR\gnsvw{���������������������������������

#'%"&.4:AIPXajquy|���������������������������������	!%(((()*)()-2:DNV]dkqvy}���������������������������������
 #%'()+./../3<GRZ`gmrvz��������������������������������"',255438?IT\cinqv|��������������������������������
""!!"%*/48:;:<BIS^hnquz}���������������������������������#*,,+*+/468<@DBEJS`lpry}{~���������������������������������
#)-/--046;<<?CILS\ahklotz}����������������������������������
#(-./255<=:;>MS]fcbegel{������������������������������������!&-0.)+*0;@EFT[`ilpx��}�������������������������������������
(+% !8AI>NKDSYZdxzg�������������������������������������$!.,"$*F?,������	T�������������������������������������

�M
�
�
�
n
n
f
�
�
u
]
�
�
�q�x�������������������������������������
�F
�
Z
k
g
z
_
�
q
=
\
�
f
�
�
�
v
�
�
z

��Q������������������������������������
�
]
D
C
S
�
�
�
�
�
�
x
k
T
o
�
�
u
�
|
o
`
�
�
�
z
�
�
�A�]�����������~}m�������������
�
�
S
;
K
T
�
B
G
y
�
q
O
t
�
�
m
s
�
�
�
�
�
�
�
�
�
�
�
s
d
t
�
�
�=�GpteWS]jpS������������
�
2
2
J
l
H

b
L
!
Q

X
c
c
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
f
{
�
a
o
�
m
H
e
d
t
�
�
�-��HTI���������r
�
)



"
%
*
1
M


Z
?
_
a
v
�
�
�
�
�
�
~
�
X
n
�
�
�
y
�
�
�
�
�
x
s
v
m
e
_
>
=
Q
S
N
^
d
^
P
i
��������
y
�

/
%



!
@
E
=
q
j
s
p
b
�
�
�
|
o
}
{

�
{
�
�
�
c
j
�
�
w
�
o
d
Z
j
k
s
g
e
V
W
T
H
S
B
A
-
*
/
������
W���






"
&
7
G
[
O
*
2
K
3
:
_
�
�
�
R
|
�
�
�
�
�
m
�
�
�
�
^
}
f
b
L
,
5
I
^
`
m
c
U
I
'
&
!
:
E
<
}�~�e
k���
�
�


6
R
>
:
H
Z
E
w
b
m
m
w
�
}
�
|
�
�
�
�
�
�
�
�
y
b
�
�
�
�
�
\
K
6
[
i
�
R
r
u
\
\
+
Y
1
#
-
.
&zsF
f��
��
�
�

&
%
!
D
T
c
u
�
~
t
�
�
�
�
k
�
w
�
�
�
�
�
�
�
t
�
�
�
�
�
�
�
i
G
N
P
/
2
4
+
L
E
T
A

^
:
,
3
>
�
)
�

��

	


%
+
)
.
E
�
x
�
�
�
~
x
m
[
J
K
X
n
�
�
�
�
�
e
�
�
c
�
{
I
r
o
y
W
y
E
Y
S
C
+
k
4
�
`
5
w
%
9
Z
;
D
W��


�





4
6
3
=
W
y
�
`
v
}
�
�
x
f
[
r
�
~
^

�
�
�
|
=
g
h
s
�
V
p
Y
�
�
j
{
G
a
;
O
t
f
�
:
Z
d
l
[
D
:
F
p
f
U����


/
)

4
Y
T
;
=
O
d
v
n
\
j
�
z
a
Y
l
~
�
�
~
�
�
�

}
�
�
{
I
t
g
w
�
�
�
�
�
�
�
�
}
`
Q
Z
j
�
�
y
g
R
]
p
T
z
J�




!
'
%
7
M
I
4
&
#
<
_
Z
B
E
X
m
}
s
^
i
v
z
v
o
i
u
�
g
u
}
�
�
�
h
�
�
�
�
�
�
�
|
~
�
�
|
H
$

#
K
l
~
l
M
>
A
_
5
c



"
3
5
,


'
I
>
"
/
P
_
c
e
f
m
u
s
q
�
s
|
�
�
�
�
r
�

|
�
�
�
�
k
~
O
Y
u
}
n
[
J
U
o
u
m
_
O
L
V
j
z
`
3
,
7
5
.
,
$
%
$
)
.
*
&
4
H
G
A
T
l
`
F
R
o
r
h
h
p
�
�
|
~
|
}
�
�
�
�
l
q
|
�
}
]
b
b
*
C
U
o
u
w
l
\
[
d
l
p
c
N
H
J
J
N
Z
f
[
D
;
:
9
!
#
-
(

+
?
@
9
>
K
\
i
Z
C
V
|
�
u
q
u
�
�
y
�
}
e
c
s
�
�
�
v

�
�
m
q
�
y
i
m
|
�
�
�
�
�
r
r
v
j
W
L
E
@
>
B
K
S
Y
[
[
\
"
%
 
;
]
T
;
Q
w
r
Y
V
a
r
�
�
y
�
�
�
�
~
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
�
t
s
u
f
Q
S
a
f
g
h