<?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__1653_0813727069_000rxl__07913826135485450004___j04</logical_identifier>
    <version_id>1.0</version_id>
    <title>Mars2020 PIXL_ENG RXL Observational Product - pe__1653_0813727069_000rxl__07913826135485450004___j04 </title>
    <information_model_version>1.16.0.0</information_model_version>
    <product_class>Product_Observational</product_class>
    <Alias_List>
      <Alias>
        <alternate_id>PE__1653_0813727069_000RXL__07913826135485450004___J04</alternate_id>
        <comment>VICAR PRODUCT_ID</comment>
      </Alias>
    </Alias_List>
    <Modification_History>
      <Modification_Detail>
        <modification_date>2026-03-03</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>2025-10-14T15:38:43.050Z</start_date_time>
      <stop_date_time nilReason="missing" xsi:nil="true"/>
      <local_mean_solar_time>23:56:58.651</local_mean_solar_time>
      <local_true_solar_time>00:31:27</local_true_solar_time>
      <solar_longitude unit="deg">155.146</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>813727069</mars2020:spacecraft_clock_start>
          <mars2020:spacecraft_clock_partition>1</mars2020:spacecraft_clock_partition>
          <mars2020:sol_number>1654</mars2020:sol_number>
          <mars2020:start_local_mean_solar_time>Sol-01653M23:56:58.651</mars2020:start_local_mean_solar_time>
          <mars2020:start_local_true_solar_time>00:31:27</mars2020:start_local_true_solar_time>
          <mars2020:start_local_true_solar_time_sol>1654</mars2020:start_local_true_solar_time_sol>
          <mars2020:start_solar_longitude unit="deg">155.146</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">3.15197</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">0.751811</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">3.15901</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">0.750475</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">-2.61042</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">-2.46678</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">-2.05649</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">2.95728</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">1.58283</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">-2.61038</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">-2.46882</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">-2.05861</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">2.95656</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">1.58328</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">0.0601877</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>0.0186718</geom:qcos>
                <geom:qsin1>0.0810234</geom:qsin1>
                <geom:qsin2>0.098147</geom:qsin2>
                <geom:qsin3>0.991692</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">-44.1602</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">-41.269</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">-46.4438</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">-32.4468</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">-18.9383</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">-60.1506</geom:index_value_temperature>
              </geom:Device_Temperature_Index>
            </geom:Device_Temperature>
            <geom:Vector_Device_Gravity>
              <geom:x_unit>0.16436593910037628</geom:x_unit>
              <geom:y_unit>0.19163792899576498</geom:y_unit>
              <geom:z_unit>0.9676046414904517</geom:z_unit>
            </geom:Vector_Device_Gravity>
            <geom:Vector_Device_Gravity_Magnitude>
              <geom:x_acceleration unit="m/s**2">0.164366</geom:x_acceleration>
              <geom:y_acceleration unit="m/s**2">0.191638</geom:y_acceleration>
              <geom:z_acceleration unit="m/s**2">0.967605</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">-0.000340885</geom:index_value_angle>
              </geom:Device_Angle_Index>
              <geom:Device_Angle_Index>
                <geom:index_id>LEFT REAR WHEEL STEER MOTOR</geom:index_id>
                <geom:index_value_angle unit="rad">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">0.000426106</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">-0.000383265</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">0.0195617</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">0.00461002</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">0.0101289</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>0.15905766013408612</geom:x_unit>
              <geom:y_unit>0.19737844085213258</geom:y_unit>
              <geom:z_unit>0.9673377961392032</geom:z_unit>
            </geom:Vector_Device_Gravity>
            <geom:Vector_Device_Gravity_Magnitude>
              <geom:x_acceleration unit="m/s**2">0.591797</geom:x_acceleration>
              <geom:y_acceleration unit="m/s**2">0.734375</geom:y_acceleration>
              <geom:z_acceleration unit="m/s**2">3.59912</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">1.13444</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_79_1382_170_340_0_72_910_340_0_0_613548545_0</local_identifier>
            <local_identifier>rover_nav_frame_79_1382_170_340_0_72_910_340_0_0_613548545_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>79</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>DRIVE</geom:index_id>
                  <geom:index_value_number>1382</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>POSE</geom:index_id>
                  <geom:index_value_number>170</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>ARM</geom:index_id>
                  <geom:index_value_number>340</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>72</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>RSM</geom:index_id>
                  <geom:index_value_number>910</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>HGA</geom:index_id>
                  <geom:index_value_number>340</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>613548545</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">45.2405</geom:x_position>
              <geom:y_position unit="m">27.8407</geom:y_position>
              <geom:z_position unit="m">-12.2154</geom:z_position>
            </geom:Vector_Origin_Offset>
            <geom:Quaternion_Plus_Direction>
              <geom:qcos>0.0185557</geom:qcos>
              <geom:qsin1>0.0819359</geom:qsin1>
              <geom:qsin2>0.0980017</geom:qsin2>
              <geom:qsin3>0.991634</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>79</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_79_1382_170_340_0_72_910_340_0_0_613548545_0</local_identifier>
            <local_identifier>rsm_head_frame_79_1382_170_340_0_72_910_340_0_0_613548545_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>79</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>DRIVE</geom:index_id>
                  <geom:index_value_number>1382</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>POSE</geom:index_id>
                  <geom:index_value_number>170</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>ARM</geom:index_id>
                  <geom:index_value_number>340</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>72</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>RSM</geom:index_id>
                  <geom:index_value_number>910</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>HGA</geom:index_id>
                  <geom:index_value_number>340</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>613548545</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>0.913827</geom:qcos>
              <geom:qsin1>-0.00290474</geom:qsin1>
              <geom:qsin2>-0.40607</geom:qsin2>
              <geom:qsin3>-0.00441538</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>79</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>DRIVE</geom:index_id>
                  <geom:index_value_number>1382</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>POSE</geom:index_id>
                  <geom:index_value_number>170</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>ARM</geom:index_id>
                  <geom:index_value_number>340</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>72</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>RSM</geom:index_id>
                  <geom:index_value_number>910</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>HGA</geom:index_id>
                  <geom:index_value_number>340</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_79_1382_170_340_0_72_910_340_0_0_613548545_0</local_identifier>
            <local_identifier>arm_turret_frame_79_1382_170_340_0_72_910_340_0_0_613548545_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>79</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>DRIVE</geom:index_id>
                  <geom:index_value_number>1382</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>POSE</geom:index_id>
                  <geom:index_value_number>170</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>ARM</geom:index_id>
                  <geom:index_value_number>340</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>72</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>RSM</geom:index_id>
                  <geom:index_value_number>910</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>HGA</geom:index_id>
                  <geom:index_value_number>340</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>613548545</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">2.16418</geom:x_position>
              <geom:y_position unit="m">-0.129325</geom:y_position>
              <geom:z_position unit="m">-0.411137</geom:z_position>
            </geom:Vector_Origin_Offset>
            <geom:Quaternion_Plus_Direction>
              <geom:qcos>0.614771</geom:qcos>
              <geom:qsin1>0.612953</geom:qsin1>
              <geom:qsin2>-0.355968</geom:qsin2>
              <geom:qsin3>-0.34588</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>79</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>DRIVE</geom:index_id>
                  <geom:index_value_number>1382</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>POSE</geom:index_id>
                  <geom:index_value_number>170</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>ARM</geom:index_id>
                  <geom:index_value_number>340</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>72</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>RSM</geom:index_id>
                  <geom:index_value_number>910</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>HGA</geom:index_id>
                  <geom:index_value_number>340</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_79_1382_170_340_0_72_910_340_0_0_613548545_0</local_identifier>
            <local_identifier>arm_pixl_frame_79_1382_170_340_0_72_910_340_0_0_613548545_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>79</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>DRIVE</geom:index_id>
                  <geom:index_value_number>1382</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>POSE</geom:index_id>
                  <geom:index_value_number>170</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>ARM</geom:index_id>
                  <geom:index_value_number>340</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>72</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>RSM</geom:index_id>
                  <geom:index_value_number>910</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>HGA</geom:index_id>
                  <geom:index_value_number>340</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>613548545</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">2.16882</geom:x_position>
              <geom:y_position unit="m">-0.120921</geom:y_position>
              <geom:z_position unit="m">-0.0534258</geom:z_position>
            </geom:Vector_Origin_Offset>
            <geom:Quaternion_Plus_Direction>
              <geom:qcos>0.679283</geom:qcos>
              <geom:qsin1>0.181716</geom:qsin1>
              <geom:qsin2>-0.68513</geom:qsin2>
              <geom:qsin3>0.190134</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>79</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>DRIVE</geom:index_id>
                  <geom:index_value_number>1382</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>POSE</geom:index_id>
                  <geom:index_value_number>170</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>ARM</geom:index_id>
                  <geom:index_value_number>340</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>72</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>RSM</geom:index_id>
                  <geom:index_value_number>910</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>HGA</geom:index_id>
                  <geom:index_value_number>340</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_79_1382_170_340_0_72_910_340_0_0_613548545_0</local_identifier>
            <local_identifier>pixl_base_frame_79_1382_170_340_0_72_910_340_0_0_613548545_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>79</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>DRIVE</geom:index_id>
                  <geom:index_value_number>1382</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>POSE</geom:index_id>
                  <geom:index_value_number>170</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>ARM</geom:index_id>
                  <geom:index_value_number>340</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>72</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>RSM</geom:index_id>
                  <geom:index_value_number>910</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>HGA</geom:index_id>
                  <geom:index_value_number>340</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>613548545</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">2.16882</geom:x_position>
              <geom:y_position unit="m">-0.120921</geom:y_position>
              <geom:z_position unit="m">-0.0534258</geom:z_position>
            </geom:Vector_Origin_Offset>
            <geom:Quaternion_Plus_Direction>
              <geom:qcos>0.679283</geom:qcos>
              <geom:qsin1>0.181716</geom:qsin1>
              <geom:qsin2>-0.68513</geom:qsin2>
              <geom:qsin3>0.190134</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>79</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>DRIVE</geom:index_id>
                  <geom:index_value_number>1382</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>POSE</geom:index_id>
                  <geom:index_value_number>170</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>ARM</geom:index_id>
                  <geom:index_value_number>340</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>72</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>RSM</geom:index_id>
                  <geom:index_value_number>910</geom:index_value_number>
                </geom:Coordinate_Space_Index>
                <geom:Coordinate_Space_Index>
                  <geom:index_id>HGA</geom:index_id>
                  <geom:index_value_number>340</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>79</geom:index_value_number>
            </geom:Motion_Counter_Index>
            <geom:Motion_Counter_Index>
              <geom:index_id>DRIVE</geom:index_id>
              <geom:index_value_number>1382</geom:index_value_number>
            </geom:Motion_Counter_Index>
            <geom:Motion_Counter_Index>
              <geom:index_id>POSE</geom:index_id>
              <geom:index_value_number>170</geom:index_value_number>
            </geom:Motion_Counter_Index>
            <geom:Motion_Counter_Index>
              <geom:index_id>ARM</geom:index_id>
              <geom:index_value_number>340</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>72</geom:index_value_number>
            </geom:Motion_Counter_Index>
            <geom:Motion_Counter_Index>
              <geom:index_id>RSM</geom:index_id>
              <geom:index_value_number>910</geom:index_value_number>
            </geom:Motion_Counter_Index>
            <geom:Motion_Counter_Index>
              <geom:index_id>HGA</geom:index_id>
              <geom:index_value_number>340</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>613548545</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>813758248:55588</msn_surface:command_dispatch_sclk>
          <msn_surface:request_id>0</msn_surface:request_id>
          <msn_surface:boot_counter>9365</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>527360693</msn_surface:flight_software_version_id>
          <msn_surface:telemetry_source_name>PixlSciDec_0813758303-25571-2.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>2025-288T00:19:17.688Z</msn_surface:telemetry_source_start_time>
          <msn_surface:telemetry_source_sclk_start>813758303.255</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>2025-10-15T11:50:33.924Z</msn_surface:earth_received_start_date_time>
          <msn_surface:earth_received_stop_date_time>2025-10-15T12:02:21.281Z</msn_surface:earth_received_stop_date_time>
          <msn_surface:download_priority>31</msn_surface:download_priority>
          <msn_surface:data_size>1121452</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>1121452</msn_surface:telemetry_source_size>
          <msn_surface:telemetry_source_checksum>47622</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__1653_0813727069_000rxl__07913826135485450004___j04</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__1653_0813727069_000e08__07913826135485450000___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__1654_0813754502_000e34__07913826135485451664___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__1653_0813727124_000esf__07913826135485450001___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__1653_0813727222_000esf__07913826135485450002___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__1653_0813727248_000esf__07913826135485450002___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__1654_0813728917_000esf__07913826135485450003___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__1654_0813728944_000esf__07913826135485450004___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__1654_0813729048_000esf__07913826135485450005___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__1654_0813729694_000esf__07913826135485450045___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__1654_0813730588_000esf__07913826135485450085___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__1654_0813731221_000esf__07913826135485450125___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__1654_0813731573_000esf__07913826135485450147___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__1654_0813731612_000esf__07913826135485450148___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__1654_0813731913_000esf__07913826135485450166___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__1654_0813732772_000esf__07913826135485450206___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__1654_0813733469_000esf__07913826135485450246___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__1654_0813734163_000esf__07913826135485450286___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__1654_0813734864_000esf__07913826135485450319___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__1654_0813735068_000esf__07913826135485450326___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__1654_0813735634_000esf__07913826135485450366___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__1654_0813736298_000esf__07913826135485450406___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__1654_0813736865_000esf__07913826135485450446___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__1654_0813737427_000esf__07913826135485450486___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__1654_0813737507_000esf__07913826135485450490___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__1654_0813738037_000esf__07913826135485450526___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__1654_0813738598_000esf__07913826135485450566___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__1654_0813739161_000esf__07913826135485450606___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__1654_0813739728_000esf__07913826135485450646___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__1654_0813739951_000esf__07913826135485450661___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__1654_0813740340_000esf__07913826135485450686___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__1654_0813740904_000esf__07913826135485450726___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__1654_0813741466_000esf__07913826135485450766___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__1654_0813742030_000esf__07913826135485450806___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__1654_0813742405_000esf__07913826135485450832___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__1654_0813742452_000esf__07913826135485450833___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__1654_0813742662_000esf__07913826135485450847___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__1654_0813743225_000esf__07913826135485450887___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__1654_0813743795_000esf__07913826135485450927___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__1654_0813744358_000esf__07913826135485450967___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__1654_0813744885_000esf__07913826135485451004___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__1654_0813744925_000esf__07913826135485451005___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__1654_0813744987_000esf__07913826135485451008___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__1654_0813745551_000esf__07913826135485451048___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__1654_0813746114_000esf__07913826135485451088___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__1654_0813746687_000esf__07913826135485451128___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__1654_0813747429_000esf__07913826135485451177___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>
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    <Internal_Reference>
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      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
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    <Internal_Reference>
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      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
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    <Internal_Reference>
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      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
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    <Internal_Reference>
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      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
    </Internal_Reference>
    <Internal_Reference>
      <lid_reference>urn:nasa:pds:mars2020_pixl:data_raw_ancillary:pc__1654_0813750178_000esf__07913826135485451369___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__1654_0813750742_000esf__07913826135485451409___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__1654_0813751316_000esf__07913826135485451449___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__1654_0813751878_000esf__07913826135485451489___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__1654_0813752317_000esf__07913826135485451519___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__1654_0813753078_000esf__07913826135485451570___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__1654_0813753640_000esf__07913826135485451610___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__1654_0813754212_000esf__07913826135485451650___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__1654_0813754441_000esf__07913826135485451663___j.csv</lid_reference>
      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
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    <Internal_Reference>
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      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
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    <Internal_Reference>
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      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
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    <Internal_Reference>
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      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
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    <Internal_Reference>
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      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
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    <Internal_Reference>
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      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
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    <Internal_Reference>
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      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
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      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
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      <reference_type>data_to_raw_product</reference_type>
      <comment>Reference pointer to the raw product.</comment>
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      <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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        <Field_Delimited>
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          <data_type>ASCII_Real</data_type>
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        </Field_Delimited>
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          <data_type>ASCII_Real</data_type>
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          <description>The line number (y value) of an MCC image for a PIXL X-ray beam location calculated using the Beam Geometry Tool Version 3.0</description>
        </Field_Delimited>
        <Field_Delimited>
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          <data_type>ASCII_Real</data_type>
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          <description>The sample number (x value) of an MCC image for a PIXL X-ray beam location calculated using the Beam Geometry Tool Version 3.0</description>
        </Field_Delimited>
        <Field_Delimited>
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          <data_type>ASCII_Real</data_type>
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          <description>The line number (y value) of an MCC image for a PIXL X-ray beam location calculated using the Beam Geometry Tool Version 3.0</description>
        </Field_Delimited>
        <Field_Delimited>
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          <field_number>11</field_number>
          <data_type>ASCII_Real</data_type>
          <unit>pixels</unit>
          <description>The sample number (x value) of an MCC image for a PIXL X-ray beam location calculated using the Beam Geometry Tool Version 3.0</description>
        </Field_Delimited>
        <Field_Delimited>
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          <data_type>ASCII_Real</data_type>
          <unit>pixels</unit>
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