<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<!-- MIPL PDS4 Velocity templates version: 8b7fe906a081fcabe0699b376cac54e77617b9a2 -->
<?xml-model href="https://pds.nasa.gov/pds4/pds/v1/PDS4_PDS_1G00.sch" schematypens="http://purl.oclc.org/dsdl/schematron"?>
<?xml-model href="https://pds.nasa.gov/pds4/geom/v1/PDS4_GEOM_1G00_1960.sch" schematypens="http://purl.oclc.org/dsdl/schematron"?>
<?xml-model href="https://pds.nasa.gov/pds4/proc/v1/PDS4_PROC_1G00_1210.sch" schematypens="http://purl.oclc.org/dsdl/schematron"?>
<?xml-model href="https://pds.nasa.gov/pds4/msn_surface/v1/PDS4_MSN_SURFACE_1G00_1220.sch" schematypens="http://purl.oclc.org/dsdl/schematron"?>
<?xml-model href="https://pds.nasa.gov/pds4/mission/mars2020/v1/PDS4_MARS2020_1G00_1010.sch" schematypens="http://purl.oclc.org/dsdl/schematron"?>

<Product_Observational xmlns="http://pds.nasa.gov/pds4/pds/v1" 
    xmlns:geom="http://pds.nasa.gov/pds4/geom/v1" 
    xmlns:img_surface="http://pds.nasa.gov/pds4/img_surface/v1" 
    xmlns:mars2020="http://pds.nasa.gov/pds4/mission/mars2020/v1" 
    xmlns:msn_surface="http://pds.nasa.gov/pds4/msn_surface/v1" 
    xmlns:pds="http://pds.nasa.gov/pds4/pds/v1" 
    xmlns:proc="http://pds.nasa.gov/pds4/proc/v1" 
    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" 
    xsi:schemaLocation="   http://pds.nasa.gov/pds4/pds/v1 https://pds.nasa.gov/pds4/pds/v1/PDS4_PDS_1G00.xsd   http://pds.nasa.gov/pds4/proc/v1 https://pds.nasa.gov/pds4/proc/v1/PDS4_PROC_1G00_1210.xsd      http://pds.nasa.gov/pds4/msn_surface/v1 https://pds.nasa.gov/pds4/msn_surface/v1/PDS4_MSN_SURFACE_1G00_1220.xsd   http://pds.nasa.gov/pds4/geom/v1 https://pds.nasa.gov/pds4/geom/v1/PDS4_GEOM_1G00_1960.xsd   http://pds.nasa.gov/pds4/mission/mars2020/v1 https://pds.nasa.gov/pds4/mission/mars2020/v1/PDS4_MARS2020_1G00_1010.xsd">
  <Identification_Area>
    <logical_identifier>urn:nasa:pds:mars2020_pixl:data_processed:pe__1238_0776880693_000rxl__05634384487910410004___j02</logical_identifier>
    <version_id>1.0</version_id>
    <title>Mars2020 PIXL_ENG RXL Observational Product - pe__1238_0776880693_000rxl__05634384487910410004___j02 </title>
    <information_model_version>1.16.0.0</information_model_version>
    <product_class>Product_Observational</product_class>
    <Alias_List>
      <Alias>
        <alternate_id>PE__1238_0776880693_000RXL__05634384487910410004___J02</alternate_id>
        <comment>VICAR PRODUCT_ID</comment>
      </Alias>
    </Alias_List>
    <Modification_History>
      <Modification_Detail>
        <modification_date>2024-11-12</modification_date>
        <version_id>1.0</version_id>
        <description>
            This version_id matches the Mars 2020 internal processing version 
            number, which provides consistency and tracability across both ops 
            and archive products.  Lower-numbered versions of this product thus 
            may not be present in this collection.  The collection inventory 
            lists all the versions of this product in the collection.
            </description>
      </Modification_Detail>
    </Modification_History>
  </Identification_Area>
  <Observation_Area>
    <Time_Coordinates>
      <start_date_time>2024-08-14T04:27:34.122Z</start_date_time>
      <stop_date_time nilReason="missing" xsi:nil="true"/>
      <local_mean_solar_time>22:36:48.227</local_mean_solar_time>
      <local_true_solar_time>21:49:38</local_true_solar_time>
      <solar_longitude unit="deg">311.331</solar_longitude>
    </Time_Coordinates>
    <Investigation_Area>
      <name>Mars2020</name>
      <type>Mission</type>
      <Internal_Reference>
        <lid_reference>urn:nasa:pds:context:investigation:mission.mars2020</lid_reference>
        <reference_type>data_to_investigation</reference_type>
        <comment>This is the PDS4 logical identifier for the Mars2020 Mission.</comment>
      </Internal_Reference>
    </Investigation_Area>
    <Observing_System>
      <Observing_System_Component>
        <name>Mars 2020</name>
        <type>Host</type>
        <Internal_Reference>
          <lid_reference>urn:nasa:pds:context:instrument_host:spacecraft.mars2020</lid_reference>
          <reference_type>is_instrument_host</reference_type>
          <comment>This is the PDS4 logical identifier for the Mars 2020 spacecraft.</comment>
        </Internal_Reference>
      </Observing_System_Component>
      <Observing_System_Component>
        <name>Pixl Engineering And Health</name>
        <type>Instrument</type>
        <Internal_Reference>
          <lid_reference>urn:nasa:pds:context:instrument:mars2020.pixl</lid_reference>
          <reference_type>is_instrument</reference_type>
          <comment>This is the PDS4 logical identifier for the Pixl Engineering And Health onboard the Mars 2020 spacecraft.</comment>
        </Internal_Reference>
      </Observing_System_Component>
    </Observing_System>
    <Target_Identification>
      <name>Mars</name>
      <type>Planet</type>
      <Internal_Reference>
        <lid_reference>urn:nasa:pds:context:target:planet.mars</lid_reference>
        <reference_type>data_to_target</reference_type>
        <comment>This is the PDS4 logical identifier for the planet - mars.</comment>
      </Internal_Reference>
    </Target_Identification>
    <Mission_Area>
      <mars2020:Mars2020_Parameters>
        <mars2020:Observation_Information>
          <mars2020:release_number>0000</mars2020:release_number>
          <mars2020:mission_phase_name>Surface Mission</mars2020:mission_phase_name>
          <mars2020:spacecraft_clock_start>776880693</mars2020:spacecraft_clock_start>
          <mars2020:spacecraft_clock_partition>1</mars2020:spacecraft_clock_partition>
          <mars2020:sol_number>1238</mars2020:sol_number>
          <mars2020:start_local_mean_solar_time>Sol-01238M22:36:48.227</mars2020:start_local_mean_solar_time>
          <mars2020:start_local_true_solar_time>21:49:38</mars2020:start_local_true_solar_time>
          <mars2020:start_local_true_solar_time_sol>1238</mars2020:start_local_true_solar_time_sol>
          <mars2020:start_solar_longitude unit="deg">311.331</mars2020:start_solar_longitude>
          <mars2020:active_flight_computer>A</mars2020:active_flight_computer>
        </mars2020:Observation_Information>
        <mars2020:PIXL_Parameters>
          <mars2020:pixl_motion_counter>0</mars2020:pixl_motion_counter>
          <mars2020:pdp_category>8</mars2020:pdp_category>
          <mars2020:pdp_category_name>HK Frame</mars2020:pdp_category_name>
          <mars2020:pdp_size>0</mars2020:pdp_size>
          <mars2020:pdp_nvm_usn nilReason="inapplicable" xsi:nil="true"/>
          <mars2020:pdp_nvm_chunks nilReason="inapplicable" xsi:nil="true"/>
          <mars2020:pdp_nvm_block nilReason="inapplicable" xsi:nil="true"/>
          <mars2020:pdp_nvm_page nilReason="inapplicable" xsi:nil="true"/>
          <mars2020:PIXL_Compression>
            <mars2020:inst_compression_mode>0</mars2020:inst_compression_mode>
            <mars2020:inst_compression_name>NONE</mars2020:inst_compression_name>
          </mars2020:PIXL_Compression>
        </mars2020:PIXL_Parameters>
      </mars2020:Mars2020_Parameters>
    </Mission_Area>
    <Discipline_Area>
      <geom:Geometry>
        <geom:SPICE_Kernel_Files>
          <geom:SPICE_Kernel_Identification>
            <geom:spice_kernel_file_name>chronos.m2020_ops210303_v1</geom:spice_kernel_file_name>
          </geom:SPICE_Kernel_Identification>
        </geom:SPICE_Kernel_Files>
        <geom:Geometry_Lander>
          <geom:geometry_state>Telemetry</geom:geometry_state>
          <geom:description>Geometry as reported by the spacecraft in telemetry</geom:description>
          <local_identifier>geom_telemetry_state</local_identifier>
          <geom:Articulation_Device_Parameters>
            <geom:device_id>RSM</geom:device_id>
            <geom:device_name>REMOTE SENSING MAST</geom:device_name>
            <geom:device_mode>DEPLOYED</geom:device_mode>
            <geom:Device_Angle>
              <geom:Device_Angle_Index>
                <geom:index_id>AZIMUTH FINAL-RESOLVER</geom:index_id>
                <geom:index_value_angle unit="rad">3.15171</geom:index_value_angle>
              </geom:Device_Angle_Index>
              <geom:Device_Angle_Index>
                <geom:index_id>ELEVATION FINAL-RESOLVER</geom:index_id>
                <geom:index_value_angle unit="rad">0.747856</geom:index_value_angle>
              </geom:Device_Angle_Index>
              <geom:Device_Angle_Index>
                <geom:index_id>AZIMUTH INITIAL-RESOLVER</geom:index_id>
                <geom:index_value_angle unit="rad">1e+30</geom:index_value_angle>
              </geom:Device_Angle_Index>
              <geom:Device_Angle_Index>
                <geom:index_id>ELEVATION INITIAL-RESOLVER</geom:index_id>
                <geom:index_value_angle unit="rad">1e+30</geom:index_value_angle>
              </geom:Device_Angle_Index>
              <geom:Device_Angle_Index>
                <geom:index_id>AZIMUTH REQUESTED</geom:index_id>
                <geom:index_value_angle unit="rad">1e+30</geom:index_value_angle>
              </geom:Device_Angle_Index>
              <geom:Device_Angle_Index>
                <geom:index_id>ELEVATION REQUESTED</geom:index_id>
                <geom:index_value_angle unit="rad">1e+30</geom:index_value_angle>
              </geom:Device_Angle_Index>
              <geom:Device_Angle_Index>
                <geom:index_id>AZIMUTH FINAL-ENCODER</geom:index_id>
                <geom:index_value_angle unit="rad">3.15903</geom:index_value_angle>
              </geom:Device_Angle_Index>
              <geom:Device_Angle_Index>
                <geom:index_id>ELEVATION FINAL-ENCODER</geom:index_id>
                <geom:index_value_angle unit="rad">0.750493</geom:index_value_angle>
              </geom:Device_Angle_Index>
              <geom:Device_Angle_Index>
                <geom:index_id>AZIMUTH INITIAL-ENCODER</geom:index_id>
                <geom:index_value_angle unit="rad">1e+30</geom:index_value_angle>
              </geom:Device_Angle_Index>
              <geom:Device_Angle_Index>
                <geom:index_id>ELEVATION INITIAL-ENCODER</geom:index_id>
                <geom:index_value_angle unit="rad">1e+30</geom:index_value_angle>
              </geom:Device_Angle_Index>
            </geom:Device_Angle>
          </geom:Articulation_Device_Parameters>
          <geom:Articulation_Device_Parameters>
            <geom:device_id>ARM</geom:device_id>
            <geom:device_name>SAMPLE ARM</geom:device_name>
            <geom:selected_instrument_id>PIXL</geom:selected_instrument_id>
            <geom:Device_Angle>
              <geom:Device_Angle_Index>
                <geom:index_id>JOINT 1 AZIMUTH-ENCODER</geom:index_id>
                <geom:index_value_angle unit="rad">-2.66253</geom:index_value_angle>
              </geom:Device_Angle_Index>
              <geom:Device_Angle_Index>
                <geom:index_id>JOINT 2 ELEVATION-ENCODER</geom:index_id>
                <geom:index_value_angle unit="rad">-2.447</geom:index_value_angle>
              </geom:Device_Angle_Index>
              <geom:Device_Angle_Index>
                <geom:index_id>JOINT 3 ELBOW-ENCODER</geom:index_id>
                <geom:index_value_angle unit="rad">-1.91377</geom:index_value_angle>
              </geom:Device_Angle_Index>
              <geom:Device_Angle_Index>
                <geom:index_id>JOINT 4 WRIST-ENCODER</geom:index_id>
                <geom:index_value_angle unit="rad">2.83321</geom:index_value_angle>
              </geom:Device_Angle_Index>
              <geom:Device_Angle_Index>
                <geom:index_id>JOINT 5 TURRET-ENCODER</geom:index_id>
                <geom:index_value_angle unit="rad">1.4894</geom:index_value_angle>
              </geom:Device_Angle_Index>
              <geom:Device_Angle_Index>
                <geom:index_id>JOINT 1 AZIMUTH-RESOLVER</geom:index_id>
                <geom:index_value_angle unit="rad">-2.66241</geom:index_value_angle>
              </geom:Device_Angle_Index>
              <geom:Device_Angle_Index>
                <geom:index_id>JOINT 2 ELEVATION-RESOLVER</geom:index_id>
                <geom:index_value_angle unit="rad">-2.44854</geom:index_value_angle>
              </geom:Device_Angle_Index>
              <geom:Device_Angle_Index>
                <geom:index_id>JOINT 3 ELBOW-RESOLVER</geom:index_id>
                <geom:index_value_angle unit="rad">-1.91612</geom:index_value_angle>
              </geom:Device_Angle_Index>
              <geom:Device_Angle_Index>
                <geom:index_id>JOINT 4 WRIST-RESOLVER</geom:index_id>
                <geom:index_value_angle unit="rad">2.83217</geom:index_value_angle>
              </geom:Device_Angle_Index>
              <geom:Device_Angle_Index>
                <geom:index_id>JOINT 5 TURRET-RESOLVER</geom:index_id>
                <geom:index_value_angle unit="rad">1.49004</geom:index_value_angle>
              </geom:Device_Angle_Index>
              <geom:Device_Angle_Index>
                <geom:index_id>SCS DOCKING CLOCK ANGLE</geom:index_id>
                <geom:index_value_angle unit="rad">0.0604787</geom:index_value_angle>
              </geom:Device_Angle_Index>
            </geom:Device_Angle>
            <geom:Device_Component_State>
              <geom:Device_Component_State_Index>
                <geom:index_id>PRELOAD_VALUE</geom:index_id>
                <geom:index_value_string>0</geom:index_value_string>
              </geom:Device_Component_State_Index>
              <geom:Device_Component_State_Index>
                <geom:index_id>PRELOAD_TOOL</geom:index_id>
                <geom:index_value_string>PIXL</geom:index_value_string>
              </geom:Device_Component_State_Index>
            </geom:Device_Component_State>
            <geom:Device_Component_State>
              <geom:Device_Component_State_Index>
                <geom:index_id>FACILITY CONTACT SENSOR A</geom:index_id>
                <geom:index_value_string>NO CONTACT</geom:index_value_string>
              </geom:Device_Component_State_Index>
              <geom:Device_Component_State_Index>
                <geom:index_id>FACILITY CONTACT SENSOR B</geom:index_id>
                <geom:index_value_string>NO CONTACT</geom:index_value_string>
              </geom:Device_Component_State_Index>
              <geom:Device_Component_State_Index>
                <geom:index_id>DRILL STABILIZER 1</geom:index_id>
                <geom:index_value_string>NO CONTACT</geom:index_value_string>
              </geom:Device_Component_State_Index>
              <geom:Device_Component_State_Index>
                <geom:index_id>DRILL STABILIZER 2</geom:index_id>
                <geom:index_value_string>NO CONTACT</geom:index_value_string>
              </geom:Device_Component_State_Index>
              <geom:Device_Component_State_Index>
                <geom:index_id>DOCK 1</geom:index_id>
                <geom:index_value_string>NO CONTACT</geom:index_value_string>
              </geom:Device_Component_State_Index>
              <geom:Device_Component_State_Index>
                <geom:index_id>DOCK 2</geom:index_id>
                <geom:index_value_string>NO CONTACT</geom:index_value_string>
              </geom:Device_Component_State_Index>
              <geom:Device_Component_State_Index>
                <geom:index_id>DOCK 3</geom:index_id>
                <geom:index_value_string>NO CONTACT</geom:index_value_string>
              </geom:Device_Component_State_Index>
              <geom:Device_Component_State_Index>
                <geom:index_id>DOCK 4</geom:index_id>
                <geom:index_value_string>NO CONTACT</geom:index_value_string>
              </geom:Device_Component_State_Index>
            </geom:Device_Component_State>
            <geom:Device_Pose>
              <geom:name>arm_attitude_reference</geom:name>
              <geom:Quaternion_Plus_Direction>
                <geom:qcos>0.0169718</geom:qcos>
                <geom:qsin1>-0.0645089</geom:qsin1>
                <geom:qsin2>0.00706882</geom:qsin2>
                <geom:qsin3>0.997748</geom:qsin3>
                <geom:rotation_direction>Forward</geom:rotation_direction>
              </geom:Quaternion_Plus_Direction>
            </geom:Device_Pose>
            <geom:Device_Temperature>
              <geom:Device_Temperature_Index>
                <geom:index_id>AZIMUTH JOINT</geom:index_id>
                <geom:index_value_temperature unit="degC">-32.7678</geom:index_value_temperature>
              </geom:Device_Temperature_Index>
              <geom:Device_Temperature_Index>
                <geom:index_id>ELEVATION JOINT</geom:index_id>
                <geom:index_value_temperature unit="degC">-31.782</geom:index_value_temperature>
              </geom:Device_Temperature_Index>
              <geom:Device_Temperature_Index>
                <geom:index_id>ELBOW JOINT</geom:index_id>
                <geom:index_value_temperature unit="degC">-22.1751</geom:index_value_temperature>
              </geom:Device_Temperature_Index>
              <geom:Device_Temperature_Index>
                <geom:index_id>WRIST JOINT</geom:index_id>
                <geom:index_value_temperature unit="degC">-19.1045</geom:index_value_temperature>
              </geom:Device_Temperature_Index>
              <geom:Device_Temperature_Index>
                <geom:index_id>TURRET JOINT</geom:index_id>
                <geom:index_value_temperature unit="degC">-26.9774</geom:index_value_temperature>
              </geom:Device_Temperature_Index>
              <geom:Device_Temperature_Index>
                <geom:index_id>DEFLECTION BODY DELTA TEMPERATURE</geom:index_id>
                <geom:index_value_temperature unit="degC">0</geom:index_value_temperature>
              </geom:Device_Temperature_Index>
              <geom:Device_Temperature_Index>
                <geom:index_id>DEFLECTION ARM DELTA TEMPERATURE</geom:index_id>
                <geom:index_value_temperature unit="degC">-41.0972</geom:index_value_temperature>
              </geom:Device_Temperature_Index>
            </geom:Device_Temperature>
            <geom:Vector_Device_Gravity>
              <geom:x_unit>-0.128487038583491</geom:x_unit>
              <geom:y_unit>0.016295504893392158</geom:y_unit>
              <geom:z_unit>0.991577297761659</geom:z_unit>
            </geom:Vector_Device_Gravity>
            <geom:Vector_Device_Gravity_Magnitude>
              <geom:x_acceleration unit="m/s**2">-0.128487</geom:x_acceleration>
              <geom:y_acceleration unit="m/s**2">0.0162955</geom:y_acceleration>
              <geom:z_acceleration unit="m/s**2">0.991577</geom:z_acceleration>
            </geom:Vector_Device_Gravity_Magnitude>
          </geom:Articulation_Device_Parameters>
          <geom:Articulation_Device_Parameters>
            <geom:device_id>CHASSIS</geom:device_id>
            <geom:device_name>MOBILITY CHASSIS</geom:device_name>
            <geom:device_mode>DEPLOYED</geom:device_mode>
            <geom:Device_Angle>
              <geom:Device_Angle_Index>
                <geom:index_id>LEFT FRONT WHEEL STEER MOTOR</geom:index_id>
                <geom:index_value_angle unit="rad">0.000298274</geom:index_value_angle>
              </geom:Device_Angle_Index>
              <geom:Device_Angle_Index>
                <geom:index_id>RIGHT FRONT WHEEL STEER MOTOR</geom:index_id>
                <geom:index_value_angle unit="rad">-0</geom:index_value_angle>
              </geom:Device_Angle_Index>
              <geom:Device_Angle_Index>
                <geom:index_id>LEFT REAR WHEEL STEER MOTOR</geom:index_id>
                <geom:index_value_angle unit="rad">-0.000127832</geom:index_value_angle>
              </geom:Device_Angle_Index>
              <geom:Device_Angle_Index>
                <geom:index_id>RIGHT REAR WHEEL STEER MOTOR</geom:index_id>
                <geom:index_value_angle unit="rad">-4.26106e-05</geom:index_value_angle>
              </geom:Device_Angle_Index>
              <geom:Device_Angle_Index>
                <geom:index_id>LEFT BOGIE</geom:index_id>
                <geom:index_value_angle unit="rad">-0.0383468</geom:index_value_angle>
              </geom:Device_Angle_Index>
              <geom:Device_Angle_Index>
                <geom:index_id>RIGHT BOGIE</geom:index_id>
                <geom:index_value_angle unit="rad">-0.0230412</geom:index_value_angle>
              </geom:Device_Angle_Index>
              <geom:Device_Angle_Index>
                <geom:index_id>LEFT DIFFERENTIAL</geom:index_id>
                <geom:index_value_angle unit="rad">0.00653084</geom:index_value_angle>
              </geom:Device_Angle_Index>
              <geom:Device_Angle_Index>
                <geom:index_id>RIGHT DIFFERENTIAL</geom:index_id>
                <geom:index_value_angle unit="rad">0.00662271</geom:index_value_angle>
              </geom:Device_Angle_Index>
              <geom:Device_Angle_Index>
                <geom:index_id>LEFT FRONT WHEEL DRIVE MOTOR</geom:index_id>
                <geom:index_value_angle unit="rad">0</geom:index_value_angle>
              </geom:Device_Angle_Index>
              <geom:Device_Angle_Index>
                <geom:index_id>RIGHT FRONT WHEEL DRIVE MOTOR</geom:index_id>
                <geom:index_value_angle unit="rad">0</geom:index_value_angle>
              </geom:Device_Angle_Index>
              <geom:Device_Angle_Index>
                <geom:index_id>MIDDLE LEFT WHEEL DRIVE MOTOR</geom:index_id>
                <geom:index_value_angle unit="rad">0</geom:index_value_angle>
              </geom:Device_Angle_Index>
              <geom:Device_Angle_Index>
                <geom:index_id>MIDDLE RIGHT WHEEL DRIVE MOTOR</geom:index_id>
                <geom:index_value_angle unit="rad">0</geom:index_value_angle>
              </geom:Device_Angle_Index>
              <geom:Device_Angle_Index>
                <geom:index_id>LEFT REAR WHEEL DRIVE MOTOR</geom:index_id>
                <geom:index_value_angle unit="rad">0</geom:index_value_angle>
              </geom:Device_Angle_Index>
              <geom:Device_Angle_Index>
                <geom:index_id>RIGHT REAR WHEEL DRIVE MOTOR</geom:index_id>
                <geom:index_value_angle unit="rad">0</geom:index_value_angle>
              </geom:Device_Angle_Index>
            </geom:Device_Angle>
            <geom:Vector_Device_Gravity>
              <geom:x_unit>-0.12720008559584983</geom:x_unit>
              <geom:y_unit>0.010786366181487926</geom:y_unit>
              <geom:z_unit>0.9918184271977444</geom:z_unit>
            </geom:Vector_Device_Gravity>
            <geom:Vector_Device_Gravity_Magnitude>
              <geom:x_acceleration unit="m/s**2">-0.472168</geom:x_acceleration>
              <geom:y_acceleration unit="m/s**2">0.0400391</geom:y_acceleration>
              <geom:z_acceleration unit="m/s**2">3.68164</geom:z_acceleration>
            </geom:Vector_Device_Gravity_Magnitude>
          </geom:Articulation_Device_Parameters>
          <geom:Articulation_Device_Parameters>
            <geom:device_id>HGA</geom:device_id>
            <geom:device_name>HIGH GAIN ANTENNA</geom:device_name>
            <geom:device_mode>DEPLOYED</geom:device_mode>
            <geom:Device_Angle>
              <geom:Device_Angle_Index>
                <geom:index_id>AZIMUTH</geom:index_id>
                <geom:index_value_angle unit="rad">1.13446</geom:index_value_angle>
              </geom:Device_Angle_Index>
              <geom:Device_Angle_Index>
                <geom:index_id>ELEVATION</geom:index_id>
                <geom:index_value_angle unit="rad">-0.785042</geom:index_value_angle>
              </geom:Device_Angle_Index>
            </geom:Device_Angle>
          </geom:Articulation_Device_Parameters>
          <geom:Coordinate_Space_Definition>
            <local_identifier>rover_nav_frame_56_3438_202_450_0_0_1144_430_0_0_448791041_0</local_identifier>
            <local_identifier>rover_nav_frame_56_3438_202_450_0_0_1144_430_0_0_448791041_0_telemetry</local_identifier>
            <geom:positive_azimuth_direction>Clockwise</geom:positive_azimuth_direction>
            <geom:positive_elevation_direction>Up</geom:positive_elevation_direction>
            <geom:Coordinate_Space_Present>
              <geom:Coordinate_Space_Indexed>
                <geom:coordinate_space_frame_type>ROVER_NAV_FRAME</geom:coordinate_space_frame_type>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>SITE</geom:index_id>
                  <geom:index_value_number>56</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>DRIVE</geom:index_id>
                  <geom:index_value_number>3438</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>POSE</geom:index_id>
                  <geom:index_value_number>202</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>ARM</geom:index_id>
                  <geom:index_value_number>450</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>SHA</geom:index_id>
                  <geom:index_value_number>0</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>DRILL</geom:index_id>
                  <geom:index_value_number>0</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>RSM</geom:index_id>
                  <geom:index_value_number>1144</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>HGA</geom:index_id>
                  <geom:index_value_number>430</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>BITCAR</geom:index_id>
                  <geom:index_value_number>0</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>SEAL</geom:index_id>
                  <geom:index_value_number>0</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>RTT</geom:index_id>
                  <geom:index_value_number>448791041</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>PMC</geom:index_id>
                  <geom:index_value_number>0</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:solution_id>TELEMETRY</geom:solution_id>
              </geom:Coordinate_Space_Indexed>
            </geom:Coordinate_Space_Present>
            <geom:Vector_Origin_Offset>
              <geom:x_position unit="m">-327.039</geom:x_position>
              <geom:y_position unit="m">-227.58</geom:y_position>
              <geom:z_position unit="m">-7.28374</geom:z_position>
            </geom:Vector_Origin_Offset>
            <geom:Quaternion_Plus_Direction>
              <geom:qcos>0.0169621</geom:qcos>
              <geom:qsin1>-0.0633139</geom:qsin1>
              <geom:qsin2>0.00698656</geom:qsin2>
              <geom:qsin3>0.997825</geom:qsin3>
              <geom:rotation_direction>Forward</geom:rotation_direction>
            </geom:Quaternion_Plus_Direction>
            <geom:Coordinate_Space_Reference>
              <geom:Coordinate_Space_Indexed>
                <geom:coordinate_space_frame_type>SITE_FRAME</geom:coordinate_space_frame_type>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>SITE</geom:index_id>
                  <geom:index_value_number>56</geom:index_value_number>
                </geom:Coordinate_Space_Index>
              </geom:Coordinate_Space_Indexed>
            </geom:Coordinate_Space_Reference>
            <geom:Coordinate_Space_Quality>
              <geom:quaternion_measurement_method>Sun_Find</geom:quaternion_measurement_method>
              <geom:attitude_propagation_counter>0</geom:attitude_propagation_counter>
            </geom:Coordinate_Space_Quality>
          </geom:Coordinate_Space_Definition>
          <geom:Coordinate_Space_Definition>
            <local_identifier>rsm_head_frame_56_3438_202_450_0_0_1144_430_0_0_448791041_0</local_identifier>
            <local_identifier>rsm_head_frame_56_3438_202_450_0_0_1144_430_0_0_448791041_0_telemetry</local_identifier>
            <geom:positive_azimuth_direction>Clockwise</geom:positive_azimuth_direction>
            <geom:positive_elevation_direction>Up</geom:positive_elevation_direction>
            <geom:Coordinate_Space_Present>
              <geom:Coordinate_Space_Indexed>
                <geom:coordinate_space_frame_type>RSM_HEAD_FRAME</geom:coordinate_space_frame_type>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>SITE</geom:index_id>
                  <geom:index_value_number>56</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>DRIVE</geom:index_id>
                  <geom:index_value_number>3438</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>POSE</geom:index_id>
                  <geom:index_value_number>202</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>ARM</geom:index_id>
                  <geom:index_value_number>450</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>SHA</geom:index_id>
                  <geom:index_value_number>0</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>DRILL</geom:index_id>
                  <geom:index_value_number>0</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>RSM</geom:index_id>
                  <geom:index_value_number>1144</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>HGA</geom:index_id>
                  <geom:index_value_number>430</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>BITCAR</geom:index_id>
                  <geom:index_value_number>0</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>SEAL</geom:index_id>
                  <geom:index_value_number>0</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>RTT</geom:index_id>
                  <geom:index_value_number>448791041</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>PMC</geom:index_id>
                  <geom:index_value_number>0</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:solution_id>TELEMETRY</geom:solution_id>
              </geom:Coordinate_Space_Indexed>
            </geom:Coordinate_Space_Present>
            <geom:Vector_Origin_Offset>
              <geom:x_position unit="m">0.805035</geom:x_position>
              <geom:y_position unit="m">0.559442</geom:y_position>
              <geom:z_position unit="m">-1.91903</geom:z_position>
            </geom:Vector_Origin_Offset>
            <geom:Quaternion_Plus_Direction>
              <geom:qcos>0.913022</geom:qcos>
              <geom:qsin1>-0.00297131</geom:qsin1>
              <geom:qsin2>-0.407875</geom:qsin2>
              <geom:qsin3>-0.00453318</geom:qsin3>
              <geom:rotation_direction>Forward</geom:rotation_direction>
            </geom:Quaternion_Plus_Direction>
            <geom:Coordinate_Space_Reference>
              <geom:Coordinate_Space_Indexed>
                <geom:coordinate_space_frame_type>ROVER_NAV_FRAME</geom:coordinate_space_frame_type>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>SITE</geom:index_id>
                  <geom:index_value_number>56</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>DRIVE</geom:index_id>
                  <geom:index_value_number>3438</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>POSE</geom:index_id>
                  <geom:index_value_number>202</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>ARM</geom:index_id>
                  <geom:index_value_number>450</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>SHA</geom:index_id>
                  <geom:index_value_number>0</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>DRILL</geom:index_id>
                  <geom:index_value_number>0</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>RSM</geom:index_id>
                  <geom:index_value_number>1144</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>HGA</geom:index_id>
                  <geom:index_value_number>430</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>BITCAR</geom:index_id>
                  <geom:index_value_number>0</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>SEAL</geom:index_id>
                  <geom:index_value_number>0</geom:index_value_number>
                </geom:Coordinate_Space_Index>
              </geom:Coordinate_Space_Indexed>
            </geom:Coordinate_Space_Reference>
            <geom:Coordinate_Space_Quality>
              <geom:quaternion_measurement_method>Unknown</geom:quaternion_measurement_method>
            </geom:Coordinate_Space_Quality>
          </geom:Coordinate_Space_Definition>
          <geom:Coordinate_Space_Definition>
            <local_identifier>arm_turret_frame_56_3438_202_450_0_0_1144_430_0_0_448791041_0</local_identifier>
            <local_identifier>arm_turret_frame_56_3438_202_450_0_0_1144_430_0_0_448791041_0_telemetry</local_identifier>
            <geom:positive_azimuth_direction>Clockwise</geom:positive_azimuth_direction>
            <geom:positive_elevation_direction>Up</geom:positive_elevation_direction>
            <geom:Coordinate_Space_Present>
              <geom:Coordinate_Space_Indexed>
                <geom:coordinate_space_frame_type>ARM_TURRET_FRAME</geom:coordinate_space_frame_type>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>SITE</geom:index_id>
                  <geom:index_value_number>56</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>DRIVE</geom:index_id>
                  <geom:index_value_number>3438</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>POSE</geom:index_id>
                  <geom:index_value_number>202</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>ARM</geom:index_id>
                  <geom:index_value_number>450</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>SHA</geom:index_id>
                  <geom:index_value_number>0</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>DRILL</geom:index_id>
                  <geom:index_value_number>0</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>RSM</geom:index_id>
                  <geom:index_value_number>1144</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>HGA</geom:index_id>
                  <geom:index_value_number>430</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>BITCAR</geom:index_id>
                  <geom:index_value_number>0</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>SEAL</geom:index_id>
                  <geom:index_value_number>0</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>RTT</geom:index_id>
                  <geom:index_value_number>448791041</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>PMC</geom:index_id>
                  <geom:index_value_number>0</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:solution_id>TELEMETRY</geom:solution_id>
              </geom:Coordinate_Space_Indexed>
            </geom:Coordinate_Space_Present>
            <geom:Vector_Origin_Offset>
              <geom:x_position unit="m">2.27828</geom:x_position>
              <geom:y_position unit="m">-0.126023</geom:y_position>
              <geom:z_position unit="m">-0.463514</geom:z_position>
            </geom:Vector_Origin_Offset>
            <geom:Quaternion_Plus_Direction>
              <geom:qcos>0.597279</geom:qcos>
              <geom:qsin1>0.610042</geom:qsin1>
              <geom:qsin2>-0.33782</geom:qsin2>
              <geom:qsin3>-0.396211</geom:qsin3>
              <geom:rotation_direction>Forward</geom:rotation_direction>
            </geom:Quaternion_Plus_Direction>
            <geom:Coordinate_Space_Reference>
              <geom:Coordinate_Space_Indexed>
                <geom:coordinate_space_frame_type>ROVER_NAV_FRAME</geom:coordinate_space_frame_type>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>SITE</geom:index_id>
                  <geom:index_value_number>56</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>DRIVE</geom:index_id>
                  <geom:index_value_number>3438</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>POSE</geom:index_id>
                  <geom:index_value_number>202</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>ARM</geom:index_id>
                  <geom:index_value_number>450</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>SHA</geom:index_id>
                  <geom:index_value_number>0</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>DRILL</geom:index_id>
                  <geom:index_value_number>0</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>RSM</geom:index_id>
                  <geom:index_value_number>1144</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>HGA</geom:index_id>
                  <geom:index_value_number>430</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>BITCAR</geom:index_id>
                  <geom:index_value_number>0</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>SEAL</geom:index_id>
                  <geom:index_value_number>0</geom:index_value_number>
                </geom:Coordinate_Space_Index>
              </geom:Coordinate_Space_Indexed>
            </geom:Coordinate_Space_Reference>
            <geom:Coordinate_Space_Quality>
              <geom:quaternion_measurement_method>Unknown</geom:quaternion_measurement_method>
            </geom:Coordinate_Space_Quality>
          </geom:Coordinate_Space_Definition>
          <geom:Coordinate_Space_Definition>
            <local_identifier>arm_pixl_frame_56_3438_202_450_0_0_1144_430_0_0_448791041_0</local_identifier>
            <local_identifier>arm_pixl_frame_56_3438_202_450_0_0_1144_430_0_0_448791041_0_telemetry</local_identifier>
            <geom:positive_azimuth_direction>Clockwise</geom:positive_azimuth_direction>
            <geom:positive_elevation_direction>Up</geom:positive_elevation_direction>
            <geom:Coordinate_Space_Present>
              <geom:Coordinate_Space_Indexed>
                <geom:coordinate_space_frame_type>ARM_PIXL_FRAME</geom:coordinate_space_frame_type>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>SITE</geom:index_id>
                  <geom:index_value_number>56</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>DRIVE</geom:index_id>
                  <geom:index_value_number>3438</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>POSE</geom:index_id>
                  <geom:index_value_number>202</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>ARM</geom:index_id>
                  <geom:index_value_number>450</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>SHA</geom:index_id>
                  <geom:index_value_number>0</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>DRILL</geom:index_id>
                  <geom:index_value_number>0</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>RSM</geom:index_id>
                  <geom:index_value_number>1144</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>HGA</geom:index_id>
                  <geom:index_value_number>430</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>BITCAR</geom:index_id>
                  <geom:index_value_number>0</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>SEAL</geom:index_id>
                  <geom:index_value_number>0</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>RTT</geom:index_id>
                  <geom:index_value_number>448791041</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>PMC</geom:index_id>
                  <geom:index_value_number>0</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:solution_id>TELEMETRY</geom:solution_id>
              </geom:Coordinate_Space_Indexed>
            </geom:Coordinate_Space_Present>
            <geom:Vector_Origin_Offset>
              <geom:x_position unit="m">2.30902</geom:x_position>
              <geom:y_position unit="m">-0.142256</geom:y_position>
              <geom:z_position unit="m">-0.107367</geom:z_position>
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            <geom:Quaternion_Plus_Direction>
              <geom:qcos>0.702504</geom:qcos>
              <geom:qsin1>0.19249</geom:qsin1>
              <geom:qsin2>-0.67024</geom:qsin2>
              <geom:qsin3>0.142176</geom:qsin3>
              <geom:rotation_direction>Forward</geom:rotation_direction>
            </geom:Quaternion_Plus_Direction>
            <geom:Coordinate_Space_Reference>
              <geom:Coordinate_Space_Indexed>
                <geom:coordinate_space_frame_type>ROVER_NAV_FRAME</geom:coordinate_space_frame_type>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>SITE</geom:index_id>
                  <geom:index_value_number>56</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>DRIVE</geom:index_id>
                  <geom:index_value_number>3438</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>POSE</geom:index_id>
                  <geom:index_value_number>202</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>ARM</geom:index_id>
                  <geom:index_value_number>450</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>SHA</geom:index_id>
                  <geom:index_value_number>0</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>DRILL</geom:index_id>
                  <geom:index_value_number>0</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>RSM</geom:index_id>
                  <geom:index_value_number>1144</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>HGA</geom:index_id>
                  <geom:index_value_number>430</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>BITCAR</geom:index_id>
                  <geom:index_value_number>0</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>SEAL</geom:index_id>
                  <geom:index_value_number>0</geom:index_value_number>
                </geom:Coordinate_Space_Index>
              </geom:Coordinate_Space_Indexed>
            </geom:Coordinate_Space_Reference>
            <geom:Coordinate_Space_Quality>
              <geom:quaternion_measurement_method>Unknown</geom:quaternion_measurement_method>
            </geom:Coordinate_Space_Quality>
          </geom:Coordinate_Space_Definition>
          <geom:Coordinate_Space_Definition>
            <local_identifier>pixl_base_frame_56_3438_202_450_0_0_1144_430_0_0_448791041_0</local_identifier>
            <local_identifier>pixl_base_frame_56_3438_202_450_0_0_1144_430_0_0_448791041_0_telemetry</local_identifier>
            <geom:positive_azimuth_direction>Clockwise</geom:positive_azimuth_direction>
            <geom:positive_elevation_direction>Up</geom:positive_elevation_direction>
            <geom:Coordinate_Space_Present>
              <geom:Coordinate_Space_Indexed>
                <geom:coordinate_space_frame_type>PIXL_BASE_FRAME</geom:coordinate_space_frame_type>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>SITE</geom:index_id>
                  <geom:index_value_number>56</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>DRIVE</geom:index_id>
                  <geom:index_value_number>3438</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>POSE</geom:index_id>
                  <geom:index_value_number>202</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>ARM</geom:index_id>
                  <geom:index_value_number>450</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>SHA</geom:index_id>
                  <geom:index_value_number>0</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>DRILL</geom:index_id>
                  <geom:index_value_number>0</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>RSM</geom:index_id>
                  <geom:index_value_number>1144</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>HGA</geom:index_id>
                  <geom:index_value_number>430</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>BITCAR</geom:index_id>
                  <geom:index_value_number>0</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>SEAL</geom:index_id>
                  <geom:index_value_number>0</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>RTT</geom:index_id>
                  <geom:index_value_number>448791041</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>PMC</geom:index_id>
                  <geom:index_value_number>0</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:solution_id>TELEMETRY</geom:solution_id>
              </geom:Coordinate_Space_Indexed>
            </geom:Coordinate_Space_Present>
            <geom:Vector_Origin_Offset>
              <geom:x_position unit="m">2.30902</geom:x_position>
              <geom:y_position unit="m">-0.142256</geom:y_position>
              <geom:z_position unit="m">-0.107367</geom:z_position>
            </geom:Vector_Origin_Offset>
            <geom:Quaternion_Plus_Direction>
              <geom:qcos>0.702504</geom:qcos>
              <geom:qsin1>0.19249</geom:qsin1>
              <geom:qsin2>-0.67024</geom:qsin2>
              <geom:qsin3>0.142176</geom:qsin3>
              <geom:rotation_direction>Forward</geom:rotation_direction>
            </geom:Quaternion_Plus_Direction>
            <geom:Coordinate_Space_Reference>
              <geom:Coordinate_Space_Indexed>
                <geom:coordinate_space_frame_type>ROVER_NAV_FRAME</geom:coordinate_space_frame_type>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>SITE</geom:index_id>
                  <geom:index_value_number>56</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>DRIVE</geom:index_id>
                  <geom:index_value_number>3438</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>POSE</geom:index_id>
                  <geom:index_value_number>202</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>ARM</geom:index_id>
                  <geom:index_value_number>450</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>SHA</geom:index_id>
                  <geom:index_value_number>0</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>DRILL</geom:index_id>
                  <geom:index_value_number>0</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>RSM</geom:index_id>
                  <geom:index_value_number>1144</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>HGA</geom:index_id>
                  <geom:index_value_number>430</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>BITCAR</geom:index_id>
                  <geom:index_value_number>0</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>SEAL</geom:index_id>
                  <geom:index_value_number>0</geom:index_value_number>
                </geom:Coordinate_Space_Index>
              </geom:Coordinate_Space_Indexed>
            </geom:Coordinate_Space_Reference>
            <geom:Coordinate_Space_Quality>
              <geom:quaternion_measurement_method>Unknown</geom:quaternion_measurement_method>
            </geom:Coordinate_Space_Quality>
          </geom:Coordinate_Space_Definition>
          <geom:Motion_Counter>
            <geom:name>RMC</geom:name>
            <geom:Motion_Counter_Index>
              <geom:index_id>SITE</geom:index_id>
              <geom:index_value_number>56</geom:index_value_number>
            </geom:Motion_Counter_Index>
            <geom:Motion_Counter_Index>
              <geom:index_id>DRIVE</geom:index_id>
              <geom:index_value_number>3438</geom:index_value_number>
            </geom:Motion_Counter_Index>
            <geom:Motion_Counter_Index>
              <geom:index_id>POSE</geom:index_id>
              <geom:index_value_number>202</geom:index_value_number>
            </geom:Motion_Counter_Index>
            <geom:Motion_Counter_Index>
              <geom:index_id>ARM</geom:index_id>
              <geom:index_value_number>450</geom:index_value_number>
            </geom:Motion_Counter_Index>
            <geom:Motion_Counter_Index>
              <geom:index_id>SHA</geom:index_id>
              <geom:index_value_number>0</geom:index_value_number>
            </geom:Motion_Counter_Index>
            <geom:Motion_Counter_Index>
              <geom:index_id>DRILL</geom:index_id>
              <geom:index_value_number>0</geom:index_value_number>
            </geom:Motion_Counter_Index>
            <geom:Motion_Counter_Index>
              <geom:index_id>RSM</geom:index_id>
              <geom:index_value_number>1144</geom:index_value_number>
            </geom:Motion_Counter_Index>
            <geom:Motion_Counter_Index>
              <geom:index_id>HGA</geom:index_id>
              <geom:index_value_number>430</geom:index_value_number>
            </geom:Motion_Counter_Index>
            <geom:Motion_Counter_Index>
              <geom:index_id>BITCAR</geom:index_id>
              <geom:index_value_number>0</geom:index_value_number>
            </geom:Motion_Counter_Index>
            <geom:Motion_Counter_Index>
              <geom:index_id>SEAL</geom:index_id>
              <geom:index_value_number>0</geom:index_value_number>
            </geom:Motion_Counter_Index>
            <geom:Motion_Counter_Index>
              <geom:index_id>RTT</geom:index_id>
              <geom:index_value_number>448791041</geom:index_value_number>
            </geom:Motion_Counter_Index>
            <geom:Motion_Counter_Index>
              <geom:index_id>PMC</geom:index_id>
              <geom:index_value_number>0</geom:index_value_number>
            </geom:Motion_Counter_Index>
          </geom:Motion_Counter>
        </geom:Geometry_Lander>
      </geom:Geometry>
      <msn_surface:Surface_Mission_Information>
        <msn_surface:Command_Execution>
          <msn_surface:sequence_id>pixl06000</msn_surface:sequence_id>
          <msn_surface:sequence_version_id>0</msn_surface:sequence_version_id>
          <msn_surface:sequence_execution_count>1</msn_surface:sequence_execution_count>
          <msn_surface:command_sequence_number>9</msn_surface:command_sequence_number>
          <msn_surface:command_dispatch_sclk>776938604:29925</msn_surface:command_dispatch_sclk>
          <msn_surface:request_id>0</msn_surface:request_id>
          <msn_surface:boot_counter>6853</msn_surface:boot_counter>
        </msn_surface:Command_Execution>
        <msn_surface:Telemetry>
          <msn_surface:application_id>36</msn_surface:application_id>
          <msn_surface:application_name>PixlSciDec</msn_surface:application_name>
          <msn_surface:provider_id>MPCS_M2020_DP</msn_surface:provider_id>
          <msn_surface:flight_software_version_id>475711935</msn_surface:flight_software_version_id>
          <msn_surface:telemetry_source_name>PixlSciDec_0776938660-23030-2.dat</msn_surface:telemetry_source_name>
          <msn_surface:transport_protocol>Data Product</msn_surface:transport_protocol>
          <msn_surface:communication_session_id>118</msn_surface:communication_session_id>
          <msn_surface:telemetry_source_start_time>2024-227T20:33:41.933Z</msn_surface:telemetry_source_start_time>
          <msn_surface:telemetry_source_sclk_start>776938660.230</msn_surface:telemetry_source_sclk_start>
          <msn_surface:product_completion_status>COMPLETE_CHECKSUM_PASS</msn_surface:product_completion_status>
          <msn_surface:earth_received_start_date_time>2024-08-15T04:29:47.778Z</msn_surface:earth_received_start_date_time>
          <msn_surface:earth_received_stop_date_time>2024-08-15T04:40:45.078Z</msn_surface:earth_received_stop_date_time>
          <msn_surface:download_priority>31</msn_surface:download_priority>
          <msn_surface:data_size>6185676</msn_surface:data_size>
          <msn_surface:expected_packets>0</msn_surface:expected_packets>
          <msn_surface:received_packets>0</msn_surface:received_packets>
          <msn_surface:telemetry_source_host_name>m20-sops-control-1</msn_surface:telemetry_source_host_name>
          <msn_surface:expected_transmission_path>128</msn_surface:expected_transmission_path>
          <msn_surface:transmission_path>65535</msn_surface:transmission_path>
          <msn_surface:flight_software_mode>SURFACE_NOMINAL</msn_surface:flight_software_mode>
          <msn_surface:telemetry_source_size>6185676</msn_surface:telemetry_source_size>
          <msn_surface:telemetry_source_checksum>3107</msn_surface:telemetry_source_checksum>
          <msn_surface:auto_delete_flag>false</msn_surface:auto_delete_flag>
          <msn_surface:virtual_channel_id>0</msn_surface:virtual_channel_id>
        </msn_surface:Telemetry>
      </msn_surface:Surface_Mission_Information>
      <proc:Processing_Information>
        <Local_Internal_Reference>
          <local_identifier_reference>pe__1238_0776880693_000rxl__05634384487910410004___j02</local_identifier_reference>
          <local_reference_type>processing_information_to_data_object</local_reference_type>
        </Local_Internal_Reference>
        <proc:Process>
          <proc:process_owner_institution_name>MULTIMISSION INSTRUMENT PROCESSING LAB,JET PROPULSION LAB</proc:process_owner_institution_name>
          <proc:Software>
            <proc:Software_Program>
              <proc:name>iSDS PIXL PGE SOFTWARE</proc:name>
              <proc:program_version>v1.6.8</proc:program_version>
              <proc:description>RDR GENERATION VIA JPL iSDS PGE RDR GENERATION SOFTWARE</proc:description>
            </proc:Software_Program>
          </proc:Software>
        </proc:Process>
      </proc:Processing_Information>
    </Discipline_Area>
  </Observation_Area>
  <Reference_List>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:document:pixl_bundle_sis</lid_reference>
      <reference_type>data_to_document</reference_type>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:document:pixl_edr_sis</lid_reference>
      <reference_type>data_to_document</reference_type>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:document:pixl_rdr_sis</lid_reference>
      <reference_type>data_to_document</reference_type>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pe__1238_0776880693_000e08__05634384487910410000___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pe__1239_0776930458_000e34__05634384487910413339___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1238_0776880852_000esf__05634384487910410001___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1238_0776880942_000esf__05634384487910410002___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1238_0776880964_000esf__05634384487910410002___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1238_0776882718_000esf__05634384487910410003___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1238_0776882742_000esf__05634384487910410004___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1238_0776882859_000esf__05634384487910410005___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1238_0776883434_000esf__05634384487910410045___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1238_0776883991_000esf__05634384487910410085___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1238_0776884555_000esf__05634384487910410125___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1238_0776885118_000esf__05634384487910410165___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1238_0776885677_000esf__05634384487910410205___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776886242_000esf__05634384487910410245___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776886428_000esf__05634384487910410257___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776886846_000esf__05634384487910410285___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776887407_000esf__05634384487910410325___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776887969_000esf__05634384487910410365___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776888527_000esf__05634384487910410405___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776889097_000esf__05634384487910410445___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
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      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
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      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
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      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
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      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
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      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
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      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
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      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
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      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
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      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
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      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
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      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
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      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
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      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
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      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
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      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776896488_000esf__05634384487910410965___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776897047_000esf__05634384487910411005___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
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      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
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      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776898217_000esf__05634384487910411085___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776898781_000esf__05634384487910411125___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776899340_000esf__05634384487910411165___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776899904_000esf__05634384487910411205___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776900468_000esf__05634384487910411245___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776900785_000esf__05634384487910411267___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776901064_000esf__05634384487910411285___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776901639_000esf__05634384487910411325___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776902197_000esf__05634384487910411365___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776902761_000esf__05634384487910411405___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776903324_000esf__05634384487910411445___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776903673_000esf__05634384487910411469___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776903925_000esf__05634384487910411485___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776904488_000esf__05634384487910411525___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776905051_000esf__05634384487910411565___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776905609_000esf__05634384487910411605___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776906167_000esf__05634384487910411645___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776906537_000esf__05634384487910411671___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776906764_000esf__05634384487910411685___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776907322_000esf__05634384487910411725___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776907881_000esf__05634384487910411765___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776908444_000esf__05634384487910411805___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776909004_000esf__05634384487910411845___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776909401_000esf__05634384487910411873___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776909601_000esf__05634384487910411885___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776910175_000esf__05634384487910411925___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776910733_000esf__05634384487910411965___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776911297_000esf__05634384487910412005___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776911890_000esf__05634384487910412045___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776912320_000esf__05634384487910412075___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776912493_000esf__05634384487910412085___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776913051_000esf__05634384487910412125___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776913620_000esf__05634384487910412165___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776914178_000esf__05634384487910412205___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776914737_000esf__05634384487910412245___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776915189_000esf__05634384487910412277___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776915341_000esf__05634384487910412285___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776915898_000esf__05634384487910412325___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776916457_000esf__05634384487910412365___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776917016_000esf__05634384487910412405___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776917577_000esf__05634384487910412445___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776918056_000esf__05634384487910412479___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776918179_000esf__05634384487910412485___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776918737_000esf__05634384487910412525___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776919296_000esf__05634384487910412565___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776919856_000esf__05634384487910412605___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776920417_000esf__05634384487910412645___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776920924_000esf__05634384487910412681___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776921015_000esf__05634384487910412685___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776921584_000esf__05634384487910412725___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776922142_000esf__05634384487910412765___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776922735_000esf__05634384487910412805___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
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      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776923307_000esf__05634384487910412845___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
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    <Internal_Reference>
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      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
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    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776923907_000esf__05634384487910412885___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
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    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776924466_000esf__05634384487910412925___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
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    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776925036_000esf__05634384487910412965___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
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    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776925599_000esf__05634384487910413005___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
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    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776926166_000esf__05634384487910413045___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
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    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776926189_000esf__05634384487910413046___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776926750_000esf__05634384487910413086___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
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    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776927325_000esf__05634384487910413126___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776927889_000esf__05634384487910413166___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776928450_000esf__05634384487910413206___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776929022_000esf__05634384487910413246___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
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    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776929584_000esf__05634384487910413286___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
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    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776929631_000esf__05634384487910413288___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
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    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1239_0776930182_000esf__05634384487910413326___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
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    <Internal_Reference>
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      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
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      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
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    <Internal_Reference>
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      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
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    <Internal_Reference>
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      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
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    <Internal_Reference>
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      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
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    <Internal_Reference>
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      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
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    <Internal_Reference>
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      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
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    <Internal_Reference>
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      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
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    <Internal_Reference>
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      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
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      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
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      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
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      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
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      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
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    <Internal_Reference>
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      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
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    <Internal_Reference>
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      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
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      <reference_type>data_to_raw_product</reference_type>
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      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
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      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
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      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
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