<?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__1506_0800666410_000rxl__07315225530588170004___j02</logical_identifier>
    <version_id>1.0</version_id>
    <title>Mars2020 PIXL_ENG RXL Observational Product - pe__1506_0800666410_000rxl__07315225530588170004___j02 </title>
    <information_model_version>1.16.0.0</information_model_version>
    <product_class>Product_Observational</product_class>
    <Alias_List>
      <Alias>
        <alternate_id>PE__1506_0800666410_000RXL__07315225530588170004___J02</alternate_id>
        <comment>VICAR PRODUCT_ID</comment>
      </Alias>
    </Alias_List>
    <Modification_History>
      <Modification_Detail>
        <modification_date>2025-11-04</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>2025-05-16T11:39:20.218Z</start_date_time>
      <stop_date_time nilReason="missing" xsi:nil="true"/>
      <local_mean_solar_time>21:01:45.703</local_mean_solar_time>
      <local_true_solar_time>21:14:36</local_true_solar_time>
      <solar_longitude unit="deg">84.0693</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>800666410</mars2020:spacecraft_clock_start>
          <mars2020:spacecraft_clock_partition>1</mars2020:spacecraft_clock_partition>
          <mars2020:sol_number>1506</mars2020:sol_number>
          <mars2020:start_local_mean_solar_time>Sol-01506M21:01:45.703</mars2020:start_local_mean_solar_time>
          <mars2020:start_local_true_solar_time>21:14:36</mars2020:start_local_true_solar_time>
          <mars2020:start_local_true_solar_time_sol>1506</mars2020:start_local_true_solar_time_sol>
          <mars2020:start_solar_longitude unit="deg">84.0693</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">3.15523</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">0.747976</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">-2.64595</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">-2.44539</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">-2.02317</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">2.91423</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">1.568</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">-2.64671</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">-2.44701</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">-2.02498</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">2.91308</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">1.56835</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">0.060406</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>0.705262</geom:qcos>
                <geom:qsin1>-0.068402</geom:qsin1>
                <geom:qsin2>-0.0918364</geom:qsin2>
                <geom:qsin3>-0.699637</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">-61.4609</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">-61.6945</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">-49.5772</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">-64.2527</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">-63.6225</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">-64.1707</geom:index_value_temperature>
              </geom:Device_Temperature_Index>
            </geom:Device_Temperature>
            <geom:Vector_Device_Gravity>
              <geom:x_unit>-0.03382431629460633</geom:x_unit>
              <geom:y_unit>0.22498710838582303</geom:y_unit>
              <geom:z_unit>0.9737744691084216</geom:z_unit>
            </geom:Vector_Device_Gravity>
            <geom:Vector_Device_Gravity_Magnitude>
              <geom:x_acceleration unit="m/s**2">-0.0338243</geom:x_acceleration>
              <geom:y_acceleration unit="m/s**2">0.224987</geom:y_acceleration>
              <geom:z_acceleration unit="m/s**2">0.973774</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">0.000127832</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">4.26106e-05</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</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">0.0344938</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">-0.027652</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">0.00729917</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">0.008181</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>0.22663494725283218</geom:x_unit>
              <geom:y_unit>0.032076040008041935</geom:y_unit>
              <geom:z_unit>0.9734514514556483</geom:z_unit>
            </geom:Vector_Device_Gravity>
            <geom:Vector_Device_Gravity_Magnitude>
              <geom:x_acceleration unit="m/s**2">0.841797</geom:x_acceleration>
              <geom:y_acceleration unit="m/s**2">0.119141</geom:y_acceleration>
              <geom:z_acceleration unit="m/s**2">3.61572</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_73_1522_182_366_0_74_1136_254_0_0_553058817_0</local_identifier>
            <local_identifier>rover_nav_frame_73_1522_182_366_0_74_1136_254_0_0_553058817_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>73</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>DRIVE</geom:index_id>
                  <geom:index_value_number>1522</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>POSE</geom:index_id>
                  <geom:index_value_number>182</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>ARM</geom:index_id>
                  <geom:index_value_number>366</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>74</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>RSM</geom:index_id>
                  <geom:index_value_number>1136</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>HGA</geom:index_id>
                  <geom:index_value_number>254</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>553058817</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">-106.545</geom:x_position>
              <geom:y_position unit="m">-220.243</geom:y_position>
              <geom:z_position unit="m">48.6027</geom:z_position>
            </geom:Vector_Origin_Offset>
            <geom:Quaternion_Plus_Direction>
              <geom:qcos>0.705235</geom:qcos>
              <geom:qsin1>-0.0691274</geom:qsin1>
              <geom:qsin2>-0.0922583</geom:qsin2>
              <geom:qsin3>-0.699538</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>73</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_73_1522_182_366_0_74_1136_254_0_0_553058817_0</local_identifier>
            <local_identifier>rsm_head_frame_73_1522_182_366_0_74_1136_254_0_0_553058817_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>73</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>DRIVE</geom:index_id>
                  <geom:index_value_number>1522</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>POSE</geom:index_id>
                  <geom:index_value_number>182</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>ARM</geom:index_id>
                  <geom:index_value_number>366</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>74</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>RSM</geom:index_id>
                  <geom:index_value_number>1136</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>HGA</geom:index_id>
                  <geom:index_value_number>254</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>553058817</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>0.913052</geom:qcos>
              <geom:qsin1>-0.00225444</geom:qsin1>
              <geom:qsin2>-0.407826</geom:qsin2>
              <geom:qsin3>-0.00292388</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>73</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>DRIVE</geom:index_id>
                  <geom:index_value_number>1522</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>POSE</geom:index_id>
                  <geom:index_value_number>182</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>ARM</geom:index_id>
                  <geom:index_value_number>366</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>74</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>RSM</geom:index_id>
                  <geom:index_value_number>1136</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>HGA</geom:index_id>
                  <geom:index_value_number>254</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_73_1522_182_366_0_74_1136_254_0_0_553058817_0</local_identifier>
            <local_identifier>arm_turret_frame_73_1522_182_366_0_74_1136_254_0_0_553058817_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>73</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>DRIVE</geom:index_id>
                  <geom:index_value_number>1522</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>POSE</geom:index_id>
                  <geom:index_value_number>182</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>ARM</geom:index_id>
                  <geom:index_value_number>366</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>74</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>RSM</geom:index_id>
                  <geom:index_value_number>1136</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>HGA</geom:index_id>
                  <geom:index_value_number>254</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>553058817</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">2.20339</geom:x_position>
              <geom:y_position unit="m">-0.149731</geom:y_position>
              <geom:z_position unit="m">-0.436506</geom:z_position>
            </geom:Vector_Origin_Offset>
            <geom:Quaternion_Plus_Direction>
              <geom:qcos>0.608281</geom:qcos>
              <geom:qsin1>0.605932</geom:qsin1>
              <geom:qsin2>-0.360495</geom:qsin2>
              <geom:qsin3>-0.364533</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>73</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>DRIVE</geom:index_id>
                  <geom:index_value_number>1522</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>POSE</geom:index_id>
                  <geom:index_value_number>182</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>ARM</geom:index_id>
                  <geom:index_value_number>366</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>74</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>RSM</geom:index_id>
                  <geom:index_value_number>1136</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>HGA</geom:index_id>
                  <geom:index_value_number>254</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_73_1522_182_366_0_74_1136_254_0_0_553058817_0</local_identifier>
            <local_identifier>arm_pixl_frame_73_1522_182_366_0_74_1136_254_0_0_553058817_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>73</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>DRIVE</geom:index_id>
                  <geom:index_value_number>1522</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>POSE</geom:index_id>
                  <geom:index_value_number>182</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>ARM</geom:index_id>
                  <geom:index_value_number>366</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>74</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>RSM</geom:index_id>
                  <geom:index_value_number>1136</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>HGA</geom:index_id>
                  <geom:index_value_number>254</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>553058817</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">2.21456</geom:x_position>
              <geom:y_position unit="m">-0.145015</geom:y_position>
              <geom:z_position unit="m">-0.078872</geom:z_position>
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            <geom:Quaternion_Plus_Direction>
              <geom:qcos>0.687883</geom:qcos>
              <geom:qsin1>0.173551</geom:qsin1>
              <geom:qsin2>-0.683367</geom:qsin2>
              <geom:qsin3>0.172355</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>73</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>DRIVE</geom:index_id>
                  <geom:index_value_number>1522</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>POSE</geom:index_id>
                  <geom:index_value_number>182</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>ARM</geom:index_id>
                  <geom:index_value_number>366</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>74</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>RSM</geom:index_id>
                  <geom:index_value_number>1136</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>HGA</geom:index_id>
                  <geom:index_value_number>254</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_73_1522_182_366_0_74_1136_254_0_0_553058817_0</local_identifier>
            <local_identifier>pixl_base_frame_73_1522_182_366_0_74_1136_254_0_0_553058817_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>73</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>DRIVE</geom:index_id>
                  <geom:index_value_number>1522</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>POSE</geom:index_id>
                  <geom:index_value_number>182</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>ARM</geom:index_id>
                  <geom:index_value_number>366</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>74</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>RSM</geom:index_id>
                  <geom:index_value_number>1136</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>HGA</geom:index_id>
                  <geom:index_value_number>254</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>553058817</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">2.21456</geom:x_position>
              <geom:y_position unit="m">-0.145015</geom:y_position>
              <geom:z_position unit="m">-0.078872</geom:z_position>
            </geom:Vector_Origin_Offset>
            <geom:Quaternion_Plus_Direction>
              <geom:qcos>0.687883</geom:qcos>
              <geom:qsin1>0.173551</geom:qsin1>
              <geom:qsin2>-0.683367</geom:qsin2>
              <geom:qsin3>0.172355</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>73</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>DRIVE</geom:index_id>
                  <geom:index_value_number>1522</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>POSE</geom:index_id>
                  <geom:index_value_number>182</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>ARM</geom:index_id>
                  <geom:index_value_number>366</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>74</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>RSM</geom:index_id>
                  <geom:index_value_number>1136</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>HGA</geom:index_id>
                  <geom:index_value_number>254</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>73</geom:index_value_number>
            </geom:Motion_Counter_Index>
            <geom:Motion_Counter_Index>
              <geom:index_id>DRIVE</geom:index_id>
              <geom:index_value_number>1522</geom:index_value_number>
            </geom:Motion_Counter_Index>
            <geom:Motion_Counter_Index>
              <geom:index_id>POSE</geom:index_id>
              <geom:index_value_number>182</geom:index_value_number>
            </geom:Motion_Counter_Index>
            <geom:Motion_Counter_Index>
              <geom:index_id>ARM</geom:index_id>
              <geom:index_value_number>366</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>74</geom:index_value_number>
            </geom:Motion_Counter_Index>
            <geom:Motion_Counter_Index>
              <geom:index_id>RSM</geom:index_id>
              <geom:index_value_number>1136</geom:index_value_number>
            </geom:Motion_Counter_Index>
            <geom:Motion_Counter_Index>
              <geom:index_id>HGA</geom:index_id>
              <geom:index_value_number>254</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>553058817</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>1</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>800711414:60817</msn_surface:command_dispatch_sclk>
          <msn_surface:request_id>0</msn_surface:request_id>
          <msn_surface:boot_counter>8441</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_0800711469-36813-2.dat</msn_surface:telemetry_source_name>
          <msn_surface:transport_protocol>Data Product</msn_surface:transport_protocol>
          <msn_surface:communication_session_id>0</msn_surface:communication_session_id>
          <msn_surface:telemetry_source_start_time>2025-137T00:10:20.138Z</msn_surface:telemetry_source_start_time>
          <msn_surface:telemetry_source_sclk_start>800711469.368</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>2025-05-17T06:06:10.452Z</msn_surface:earth_received_start_date_time>
          <msn_surface:earth_received_stop_date_time>2025-05-17T06:16:18.874Z</msn_surface:earth_received_stop_date_time>
          <msn_surface:download_priority>31</msn_surface:download_priority>
          <msn_surface:data_size>1574188</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>1574188</msn_surface:telemetry_source_size>
          <msn_surface:telemetry_source_checksum>24869</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__1506_0800666410_000rxl__07315225530588170004___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__1506_0800666410_000e08__07315225530588170000___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__1507_0800704107_000e34__07315225530588172347___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__1506_0800666467_000esf__07315225530588170001___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__1506_0800666556_000esf__07315225530588170002___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__1506_0800666582_000esf__07315225530588170002___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__1506_0800668276_000esf__07315225530588170003___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__1506_0800668302_000esf__07315225530588170004___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__1506_0800668419_000esf__07315225530588170005___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__1506_0800669006_000esf__07315225530588170045___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__1506_0800669871_000esf__07315225530588170085___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__1506_0800670435_000esf__07315225530588170125___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__1506_0800670753_000esf__07315225530588170147___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__1506_0800670790_000esf__07315225530588170148___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__1506_0800671193_000esf__07315225530588170166___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__1506_0800672023_000esf__07315225530588170206___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__1506_0800672593_000esf__07315225530588170246___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__1506_0800672836_000esf__07315225530588170262___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__1506_0800673330_000esf__07315225530588170286___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__1506_0800673907_000esf__07315225530588170326___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__1506_0800674472_000esf__07315225530588170366___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__1506_0800674629_000esf__07315225530588170376___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__1506_0800675145_000esf__07315225530588170406___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__1506_0800675744_000esf__07315225530588170446___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>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1506_0800676386_000esf__07315225530588170490___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__1506_0800676947_000esf__07315225530588170526___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__1507_0800677512_000esf__07315225530588170566___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__1507_0800678051_000esf__07315225530588170604___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__1507_0800678120_000esf__07315225530588170606___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__1507_0800678757_000esf__07315225530588170646___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__1507_0800679321_000esf__07315225530588170686___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__1507_0800679777_000esf__07315225530588170718___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>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1507_0800680557_000esf__07315225530588170766___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__1507_0800681730_000esf__07315225530588170846___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__1507_0800682330_000esf__07315225530588170886___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__1507_0800682899_000esf__07315225530588170926___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__1507_0800683191_000esf__07315225530588170946___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__1507_0800683228_000esf__07315225530588170947___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__1507_0800683528_000esf__07315225530588170967___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__1507_0800684095_000esf__07315225530588171007___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__1507_0800684660_000esf__07315225530588171047___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>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1507_0800685338_000esf__07315225530588171087___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__1507_0800685970_000esf__07315225530588171127___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__1507_0800686534_000esf__07315225530588171167___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__1507_0800686665_000esf__07315225530588171175___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__1507_0800687137_000esf__07315225530588171207___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__1507_0800687714_000esf__07315225530588171247___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__1507_0800688287_000esf__07315225530588171287___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__1507_0800688335_000esf__07315225530588171289___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__1507_0800688955_000esf__07315225530588171327___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__1507_0800689586_000esf__07315225530588171367___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__1507_0800690128_000esf__07315225530588171403___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__1507_0800690237_000esf__07315225530588171407___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__1507_0800690804_000esf__07315225530588171447___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__1507_0800691434_000esf__07315225530588171487___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__1507_0800691863_000esf__07315225530588171517___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__1507_0800692048_000esf__07315225530588171527___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__1507_0800692613_000esf__07315225530588171567___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__1507_0800693179_000esf__07315225530588171607___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__1507_0800693527_000esf__07315225530588171631___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__1507_0800693793_000esf__07315225530588171647___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__1507_0800694361_000esf__07315225530588171687___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__1507_0800694932_000esf__07315225530588171727___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__1507_0800695198_000esf__07315225530588171745___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__1507_0800695239_000esf__07315225530588171746___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__1507_0800695559_000esf__07315225530588171768___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__1507_0800696130_000esf__07315225530588171808___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__1507_0800696696_000esf__07315225530588171848___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__1507_0800696880_000esf__07315225530588171860___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__1507_0800697314_000esf__07315225530588171888___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__1507_0800697881_000esf__07315225530588171928___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__1507_0800698447_000esf__07315225530588171968___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__1507_0800698560_000esf__07315225530588171974___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__1507_0800699068_000esf__07315225530588172008___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__1507_0800699639_000esf__07315225530588172048___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__1507_0800700205_000esf__07315225530588172088___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__1507_0800700796_000esf__07315225530588172128___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__1507_0800701366_000esf__07315225530588172168___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__1507_0800701856_000esf__07315225530588172202___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__1507_0800701906_000esf__07315225530588172203___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__1507_0800702014_000esf__07315225530588172209___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__1507_0800702580_000esf__07315225530588172249___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>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1507_0800703549_000esf__07315225530588172317___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__1507_0800703593_000esf__07315225530588172318___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__1507_0800703777_000esf__07315225530588172330___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__1507_0800704065_000esf__07315225530588172347___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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      <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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      <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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      <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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      <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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      <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>
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