<?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__1458_0796401545_000rxl__07100565328737290004___j05</logical_identifier>
    <version_id>1.0</version_id>
    <title>Mars2020 PIXL_ENG RXL Observational Product - pe__1458_0796401545_000rxl__07100565328737290004___j05 </title>
    <information_model_version>1.16.0.0</information_model_version>
    <product_class>Product_Observational</product_class>
    <Alias_List>
      <Alias>
        <alternate_id>PE__1458_0796401545_000RXL__07100565328737290004___J05</alternate_id>
        <comment>VICAR PRODUCT_ID</comment>
      </Alias>
    </Alias_List>
    <Modification_History>
      <Modification_Detail>
        <modification_date>2025-07-15</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>2025-03-28T02:57:41.313Z</start_date_time>
      <stop_date_time nilReason="missing" xsi:nil="true"/>
      <local_mean_solar_time>20:01:57.164</local_mean_solar_time>
      <local_true_solar_time>20:04:46</local_true_solar_time>
      <solar_longitude unit="deg">62.4998</solar_longitude>
    </Time_Coordinates>
    <Investigation_Area>
      <name>Mars 2020: Perseverance Rover</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>The Mars 2020 Perseverance Rover</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>Planetary Instrument for X-ray Lithochemistry (PIXL)</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>796401545</mars2020:spacecraft_clock_start>
          <mars2020:spacecraft_clock_partition>1</mars2020:spacecraft_clock_partition>
          <mars2020:sol_number>1458</mars2020:sol_number>
          <mars2020:start_local_mean_solar_time>Sol-01458M20:01:57.164</mars2020:start_local_mean_solar_time>
          <mars2020:start_local_true_solar_time>20:04:46</mars2020:start_local_true_solar_time>
          <mars2020:start_local_true_solar_time_sol>1458</mars2020:start_local_true_solar_time_sol>
          <mars2020:start_solar_longitude unit="deg">62.4998</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">3.15511</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">0.751715</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">3.15906</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">0.443395</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">-0.306582</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">1.99285</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">-0.110439</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">4.91149</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">0.442258</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">-0.305147</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">1.9921</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">-0.110007</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">4.91164</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">0.0604424</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>0.593977</geom:qcos>
                <geom:qsin1>-0.0787741</geom:qsin1>
                <geom:qsin2>0.127516</geom:qsin2>
                <geom:qsin3>-0.790396</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">-67.4082</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">-69.5032</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">-74.8022</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">-71.4405</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">-71.516</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">-89.5344</geom:index_value_temperature>
              </geom:Device_Temperature_Index>
            </geom:Device_Temperature>
            <geom:Vector_Device_Gravity>
              <geom:x_unit>0.27600887595363477</geom:x_unit>
              <geom:y_unit>-0.10799595146349843</geom:y_unit>
              <geom:z_unit>0.9550685707645837</geom:z_unit>
            </geom:Vector_Device_Gravity>
            <geom:Vector_Device_Gravity_Magnitude>
              <geom:x_acceleration unit="m/s**2">0.276009</geom:x_acceleration>
              <geom:y_acceleration unit="m/s**2">-0.107996</geom:y_acceleration>
              <geom:z_acceleration unit="m/s**2">0.955069</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">8.52212e-05</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">-0.000340885</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">-0.000255663</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">-0.000340885</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">0.00536544</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">-0.0681151</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">-0.0898785</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">0.103506</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>-0.02381021277293134</geom:x_unit>
              <geom:y_unit>-0.29466784742052293</geom:y_unit>
              <geom:z_unit>0.9553030584397096</geom:z_unit>
            </geom:Vector_Device_Gravity>
            <geom:Vector_Device_Gravity_Magnitude>
              <geom:x_acceleration unit="m/s**2">-0.0883789</geom:x_acceleration>
              <geom:y_acceleration unit="m/s**2">-1.09375</geom:y_acceleration>
              <geom:z_acceleration unit="m/s**2">3.5459</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">1.13456</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">-0.785009</geom:index_value_angle>
              </geom:Device_Angle_Index>
            </geom:Device_Angle>
          </geom:Articulation_Device_Parameters>
          <geom:Coordinate_Space_Definition>
            <local_identifier>rover_nav_frame_71_56_100_226_0_68_666_306_0_0_532873729_0</local_identifier>
            <local_identifier>rover_nav_frame_71_56_100_226_0_68_666_306_0_0_532873729_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>71</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>DRIVE</geom:index_id>
                  <geom:index_value_number>56</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>POSE</geom:index_id>
                  <geom:index_value_number>100</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>ARM</geom:index_id>
                  <geom:index_value_number>226</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>68</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>RSM</geom:index_id>
                  <geom:index_value_number>666</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>HGA</geom:index_id>
                  <geom:index_value_number>306</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>532873729</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">-2.05245</geom:x_position>
              <geom:y_position unit="m">-5.56757</geom:y_position>
              <geom:z_position unit="m">0.716664</geom:z_position>
            </geom:Vector_Origin_Offset>
            <geom:Quaternion_Plus_Direction>
              <geom:qcos>0.593825</geom:qcos>
              <geom:qsin1>-0.0799634</geom:qsin1>
              <geom:qsin2>0.126436</geom:qsin2>
              <geom:qsin3>-0.790564</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>71</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_71_56_100_226_0_68_666_306_0_0_532873729_0</local_identifier>
            <local_identifier>rsm_head_frame_71_56_100_226_0_68_666_306_0_0_532873729_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>71</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>DRIVE</geom:index_id>
                  <geom:index_value_number>56</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>POSE</geom:index_id>
                  <geom:index_value_number>100</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>ARM</geom:index_id>
                  <geom:index_value_number>226</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>68</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>RSM</geom:index_id>
                  <geom:index_value_number>666</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>HGA</geom:index_id>
                  <geom:index_value_number>306</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>532873729</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>0.913813</geom:qcos>
              <geom:qsin1>-0.00226925</geom:qsin1>
              <geom:qsin2>-0.406118</geom:qsin2>
              <geom:qsin3>-0.00297991</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>71</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>DRIVE</geom:index_id>
                  <geom:index_value_number>56</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>POSE</geom:index_id>
                  <geom:index_value_number>100</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>ARM</geom:index_id>
                  <geom:index_value_number>226</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>68</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>RSM</geom:index_id>
                  <geom:index_value_number>666</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>HGA</geom:index_id>
                  <geom:index_value_number>306</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_71_56_100_226_0_68_666_306_0_0_532873729_0</local_identifier>
            <local_identifier>arm_turret_frame_71_56_100_226_0_68_666_306_0_0_532873729_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>71</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>DRIVE</geom:index_id>
                  <geom:index_value_number>56</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>POSE</geom:index_id>
                  <geom:index_value_number>100</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>ARM</geom:index_id>
                  <geom:index_value_number>226</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>68</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>RSM</geom:index_id>
                  <geom:index_value_number>666</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>HGA</geom:index_id>
                  <geom:index_value_number>306</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>532873729</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">2.26066</geom:x_position>
              <geom:y_position unit="m">0.215701</geom:y_position>
              <geom:z_position unit="m">-0.484828</geom:z_position>
            </geom:Vector_Origin_Offset>
            <geom:Quaternion_Plus_Direction>
              <geom:qcos>0.625839</geom:qcos>
              <geom:qsin1>0.561864</geom:qsin1>
              <geom:qsin2>-0.439082</geom:qsin2>
              <geom:qsin3>-0.315977</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>71</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>DRIVE</geom:index_id>
                  <geom:index_value_number>56</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>POSE</geom:index_id>
                  <geom:index_value_number>100</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>ARM</geom:index_id>
                  <geom:index_value_number>226</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>68</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>RSM</geom:index_id>
                  <geom:index_value_number>666</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>HGA</geom:index_id>
                  <geom:index_value_number>306</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_71_56_100_226_0_68_666_306_0_0_532873729_0</local_identifier>
            <local_identifier>arm_pixl_frame_71_56_100_226_0_68_666_306_0_0_532873729_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>71</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>DRIVE</geom:index_id>
                  <geom:index_value_number>56</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>POSE</geom:index_id>
                  <geom:index_value_number>100</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>ARM</geom:index_id>
                  <geom:index_value_number>226</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>68</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>RSM</geom:index_id>
                  <geom:index_value_number>666</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>HGA</geom:index_id>
                  <geom:index_value_number>306</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>532873729</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">2.23469</geom:x_position>
              <geom:y_position unit="m">0.280387</geom:y_position>
              <geom:z_position unit="m">-0.133843</geom:z_position>
            </geom:Vector_Origin_Offset>
            <geom:Quaternion_Plus_Direction>
              <geom:qcos>0.665964</geom:qcos>
              <geom:qsin1>0.0868205</geom:qsin1>
              <geom:qsin2>-0.707775</geom:qsin2>
              <geom:qsin3>0.219106</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>71</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>DRIVE</geom:index_id>
                  <geom:index_value_number>56</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>POSE</geom:index_id>
                  <geom:index_value_number>100</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>ARM</geom:index_id>
                  <geom:index_value_number>226</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>68</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>RSM</geom:index_id>
                  <geom:index_value_number>666</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>HGA</geom:index_id>
                  <geom:index_value_number>306</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_71_56_100_226_0_68_666_306_0_0_532873729_0</local_identifier>
            <local_identifier>pixl_base_frame_71_56_100_226_0_68_666_306_0_0_532873729_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>71</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>DRIVE</geom:index_id>
                  <geom:index_value_number>56</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>POSE</geom:index_id>
                  <geom:index_value_number>100</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>ARM</geom:index_id>
                  <geom:index_value_number>226</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>68</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>RSM</geom:index_id>
                  <geom:index_value_number>666</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>HGA</geom:index_id>
                  <geom:index_value_number>306</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>532873729</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">2.23469</geom:x_position>
              <geom:y_position unit="m">0.280387</geom:y_position>
              <geom:z_position unit="m">-0.133843</geom:z_position>
            </geom:Vector_Origin_Offset>
            <geom:Quaternion_Plus_Direction>
              <geom:qcos>0.665964</geom:qcos>
              <geom:qsin1>0.0868205</geom:qsin1>
              <geom:qsin2>-0.707775</geom:qsin2>
              <geom:qsin3>0.219106</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>71</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>DRIVE</geom:index_id>
                  <geom:index_value_number>56</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>POSE</geom:index_id>
                  <geom:index_value_number>100</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>ARM</geom:index_id>
                  <geom:index_value_number>226</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>68</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>RSM</geom:index_id>
                  <geom:index_value_number>666</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>HGA</geom:index_id>
                  <geom:index_value_number>306</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>71</geom:index_value_number>
            </geom:Motion_Counter_Index>
            <geom:Motion_Counter_Index>
              <geom:index_id>DRIVE</geom:index_id>
              <geom:index_value_number>56</geom:index_value_number>
            </geom:Motion_Counter_Index>
            <geom:Motion_Counter_Index>
              <geom:index_id>POSE</geom:index_id>
              <geom:index_value_number>100</geom:index_value_number>
            </geom:Motion_Counter_Index>
            <geom:Motion_Counter_Index>
              <geom:index_id>ARM</geom:index_id>
              <geom:index_value_number>226</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>68</geom:index_value_number>
            </geom:Motion_Counter_Index>
            <geom:Motion_Counter_Index>
              <geom:index_id>RSM</geom:index_id>
              <geom:index_value_number>666</geom:index_value_number>
            </geom:Motion_Counter_Index>
            <geom:Motion_Counter_Index>
              <geom:index_id>HGA</geom:index_id>
              <geom:index_value_number>306</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>532873729</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>796442844:6431</msn_surface:command_dispatch_sclk>
          <msn_surface:request_id>0</msn_surface:request_id>
          <msn_surface:boot_counter>8134</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_0796442900-10149-2.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>2025-087T14:26:56.796Z</msn_surface:telemetry_source_start_time>
          <msn_surface:telemetry_source_sclk_start>796442900.101</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>2025-03-29T01:49:40.173Z</msn_surface:earth_received_start_date_time>
          <msn_surface:earth_received_stop_date_time>2025-03-29T02:37:27.309Z</msn_surface:earth_received_stop_date_time>
          <msn_surface:download_priority>31</msn_surface:download_priority>
          <msn_surface:data_size>4856816</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>4856816</msn_surface:telemetry_source_size>
          <msn_surface:telemetry_source_checksum>4886</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__1458_0796401545_000rxl__07100565328737290004___j05</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__1458_0796401545_000e08__07100565328737290000___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__1459_0796438042_000e34__07100565328737292354___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__1458_0796401597_000esf__07100565328737290001___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__1458_0796401687_000esf__07100565328737290002___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__1458_0796401714_000esf__07100565328737290002___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__1458_0796403438_000esf__07100565328737290003___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__1458_0796403461_000esf__07100565328737290004___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__1458_0796403570_000esf__07100565328737290005___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__1458_0796404150_000esf__07100565328737290045___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__1458_0796404174_000esf__07100565328737290046___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__1458_0796404735_000esf__07100565328737290086___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__1458_0796405305_000esf__07100565328737290126___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__1458_0796405623_000esf__07100565328737290148___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__1458_0796405942_000esf__07100565328737290166___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__1458_0796406505_000esf__07100565328737290206___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__1458_0796407080_000esf__07100565328737290246___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__1458_0796407324_000esf__07100565328737290262___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__1458_0796407362_000esf__07100565328737290263___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__1458_0796407713_000esf__07100565328737290287___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__1458_0796408277_000esf__07100565328737290327___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__1458_0796408853_000esf__07100565328737290367___j.csv</lid_reference>
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    <Internal_Reference>
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      <comment>Reference pointer to the raw product.</comment>
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      <comment>Reference pointer to the raw product.</comment>
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      <comment>Reference pointer to the raw product.</comment>
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    <Internal_Reference>
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      <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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      <comment>Reference pointer to the raw product.</comment>
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      <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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    <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>
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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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      <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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    <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>
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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>
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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>
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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>
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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>
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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>
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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>
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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>
      <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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      <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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      <comment>Reference pointer to the raw product.</comment>
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