Mars Exploration Rover (MER) Project

Engineering Camera Calibration Report

 

 

 

 

 

 

Approved:

 

 

 

Justin Maki, MER Imaging Scientist

 

 

Joy Crisp, MER Project Scientist

 

 

John Callas, MER Science Manager

 

 

 

 

 

 

 

 

MER 420-6-786
JPL D-25540


Author:  Justin Maki

 

7/19/04

 

Jet Propulsion Laboratory


Change Log

 

Date

Change Notes

Release

07/19/2004

Initial Release

Initial

 

 

 

 

 

 

 

 

 


1      Introduction. 3

1.1       Document Scope. 3

1.2       Background. 3

1.3       References. 3

2      Calibration Data. 3

2.1       Deliverables. 3

2.2       Data Set Description. 3

2.3       Subsystem Calibration. 3

2.4       System-level calibration. 3

3      Analysis. 3

3.1       Geometric Calibration. 3

3.2       Relative Responsivity (flat fields) 3

3.3       Absolute Responsivity. 3

3.4       Dark Current 3

3.5       Pointing Characterization. 3

Appendix A – Geometric Camera Models. 3

Appendix B.  MER flat fields. 3

 


1         Introduction

1.1         Document Scope

This document describes the results of the Mars Exploration Rover (MER) Engineering Camera pre-launch calibration effort.

 

The pre-launch calibration of the MER Engineering Cameras focused primarily on the geometric calibration of the cameras at the system-level (i.e., flight cameras mounted on the rover prior to launch).  These calibration data were used to derive a geometric “camera model” for each individual camera.

 

Although the calibration focused mainly on the geometric aspects of the cameras, effort was made to measure relative (flat field) and absolute responsivities.  The results of this effort are described in sections 3.2 and 3.2.

1.2         Background

There are 14 Flight Model (FM) Engineering cameras (7 on Spirit and 7 on Opportunity).  This report describes the analysis of the calibration data from the FM Engineering Cameras.

 

 

Camera Set Designator

Rover Number

Mission Letter

Vehicle Name

FM-1

2

A

Spirit

FM-2

1

B

Opportunity

 

Table 1.1.  MER camera and venue nomenclature.

 

In addition to the FM cameras, there are also 14 (EM) Engineering Cameras in the MER Testbed (6 cameras in the Surface System Testbed (SSTB), 4 on the SSTB-lite, 2 in the Flight Software Testbed (FSWTB) 1 in the CETB, and 1 non-testbed camera.  While a subset of the EM cameras has been geometrically calibrated, the analyses of those data are not included in this report.

1.3         References

For information on the MER Engineering Cameras (and the MER Imaging System in general), see the JGR paper by Maki et al., 2003

 

Maki, J. N., et al., Mars Exploration Rover Engineering Cameras, J. Geophys. Res., 108(E12), 8071,doi:10.1029/2003JE002077, 2003.)

 

Detailed information about the camera models can be found in the following:

 

Gennery, D. B., Least-squares camera calibration including lens distortion and automatic editing of calibration points, in Calibration and Orientation of Cameras in Computer Vision, ch. 5, edited by A. Grun and T. Huang, pp. 123–136, Springer-Verlag, New York, 2001.

 

Yakimovsky, Y., and R. Cunningham, A system for extracting three-dimensional measurements from a stereo pair of TV cameras, January 7, 1977, Comput. Graph. Image Process., 7, 195–210, 1978.

 

2         Calibration Data

2.1         Deliverables

 

The Engineering Camera calibration effort focused on the following deliverables (listed in order of priority):

 

Item

Priority

Deliverable

Geometric calibration of all MER cameras at the system-level

Highest

CAHVOR(E) Camera Model files.

Relative responsivity (flat field) calibration of the Navcams and Hazcams

Medium

Flat field correction images.

Absolute responsivity of the Navcams and Hazcams

Low

Responsivity coefficients

Additional calibration data were gathered for purposes of characterizing detector dark current and detector read noise.  Analysis of those data are not included in this report.

Lowest

None

 

Table 2.1.  Calibration deliverables.

2.2         Data Set Description

 

The MER Engineering Camera calibration data are divided into two types:  The subsystem calibration (also called “camera standalone”) and the system-level calibration (in which the cameras were mounted on the rover and controlled through the rover avionics).

 

The types of data acquired for each camera are listed in table 2.2.

 

 

Table 2.2:  MER Engineering Camera calibration data set at a glance.

2.3         Subsystem Calibration

 

The subsystem camera calibration was performed before the cameras were delivered to ATLO (Assembly Test and Launch Operations).  Approximately 16,800 Engineering Camera images were collected during the subsystem calibration.  These data are stored in the PDS “deep archive” and are organized by serial number according to the descriptors listed in table 2.3.

 

Descriptor

Camera

Number of Images

mer_camera_cal_sn_102_edr

MER B, Left Navcam

1009

mer_camera_cal_sn_106_edr

MER A Rear Left Hazcam

1168

mer_camera_cal_sn_107_edr

MER A Front Left Navcam

1171

mer_camera_cal_sn_108_edr

MER A Rear Right Hazcam

936

mer_camera_cal_sn_109_edr

MER A Front Right Hazcam

1026

mer_camera_cal_sn_112_edr

MER A Left Navcam

1058

mer_camera_cal_sn_113_edr

MER A Right Navcam

972

mer_camera_cal_sn_117_edr

MER B Right Navcam

996

mer_camera_cal_sn_118_edr

MER A DESCENT Imager

2501

mer_camera_cal_sn_119_edr

MER B Rear Left Hazcam

928

mer_camera_cal_sn_120_edr

MER B Front Left Hazcam

1013

mer_camera_cal_sn_121_edr

MER B Rear Right Hazcam

912

mer_camera_cal_sn_122_edr

MER B Front Left Hazcam

668

mer_camera_cal_sn_123_edr

MER B Descent Imager

2480

 

Total Number of Images

16838

 

Table 2.3.  List of MER subsystem-level Engineering Camera Calibration data.  These data will be delivered to the PDS as a deep archive delivery.

2.4         System-level calibration

 

The system-level calibration was performed while the cameras were on the flight vehicles.  Approximately 5,800 image data products were collected as part of the ATLO calibration effort.  These data are stored in the PDS deep archive and are organized by serial number according to the descriptors listed in table 2.4:

 

Descriptor

Camera

Number of Images

Mer_atlo1_descent_edr

MER B Descent Imager

148

Mer_atlo1_fcam_edr

MER B Front Hazcam

522

Mer_atlo1_ncam_edr

MER B Navcam

1965

Mer_atlo1_rcam_edr

MER B Rear Hazcam

338

Mer_atlo2_descent_edr

MER A Descent Imager

181

Mer_atlo2_fcam_edr

MER A Front Hazcam

453

Mer_atlo2_ncam_edr

MER A Navcam

1972

Mer_atlo2_rcam_edr

MER A Rear Hazcam

257

 

Total Number of Images

5836

Table 2.4.  List of MER system-level Engineering Camera Calibration data.  These data will be delivered to the PDS as a deep archive delivery.

 

3         Analysis

3.1         Geometric Calibration

 

All of the MER Engineering Cameras have been geometrically calibrated at the system level using the data listed in table 2.4.  The derived results are stored in a CAHVOR(E) camera model file (see references in section 1.3 for more information regarding the CAHVOR(E) camera models).  The entire set of CAVHOR(E) camera models for the MER flight cameras are provided in Appendix A.

 

The CAHVOR(E) camera model describes the relationship between the 2-dimensional detector frame and the 3-dimensional real-world frame.  The camera models enable ray tracing, general image projection/reprojection, and the removal of geometric lens distortion.  These projection techniques apply to the generation of epipolar aligned images for stereo processing, mosaic generation, and stereo ranging.  For more information regarding the camera models used on MER, see the references listed in section 1.3

 

3.2         Relative Responsivity (flat fields)

 

All 14 of the flight MER Engineering camera flat field response patterns were measured during the subsystem calibration (table 2.1).  These measurements were done at ambient temperatures (+20 C), at cold temperatures (-120), and at various transitional temperatures between –120 and +20 C.  The derived flat field files are listed in table 3.1.

 

Flat Field Filename

MER_FLAT_SN_102.IMG

MER_FLAT_SN_106.IMG

MER_FLAT_SN_107.IMG

MER_FLAT_SN_108.IMG

MER_FLAT_SN_109.IMG

MER_FLAT_SN_112.IMG

MER_FLAT_SN_113.IMG

MER_FLAT_SN_117.IMG

MER_FLAT_SN_119.IMG

MER_FLAT_SN_120.IMG

MER_FLAT_SN_121.IMG

MER_FLAT_SN_122.IMG

 

Table 3.1.  Engineering Camera derived flat field files.

 

See Appendix B for a comparison of the actual derived flat field data to the modelled response.  The files listed in table 3.1 will be delivered to the PDS deep archive.

 

3.3         Absolute Responsivity

 

Absolute responsivity measurements were made at the subsystem level (table 2.4).  Due to the relatively low prioritization of this task during pre-launch data reduction, the responsivity measurements have not been derived from this data set.  However, estimates of the absolute responsivity were derived by comparing Navcam/Hazcam images to Pancam images of the same target.  The results of these “proxy” responsivity estimates are shown in table 3.2

 

Vehicle

Camera

Camera Serial Number

R0 in units of (W/(m2 st nm)/(DN/sec.)

R1 in units of (W/(m2 st nm)/(DN/sec.)

MER-A

Left Navcam

112

1.496E-05

1.437E-09

MER-A

Right Navcam

113

1.496E-05

1.437E-09

MER-A

Left Front Hazcam

107

1.496E-05

1.437E-09

MER-A

Right Front Hazcam

109

1.496E-05

1.437E-09

MER-A

Left Rear Hazcam

106

1.496E-05

1.437E-09

MER-A

Right Rear Hazcam

108

1.496E-05

1.437E-09

MER-B

Left Navcam

102

1.496E-05

1.437E-09

MER-B

Right Navcam

117

2.693E-05

1.437E-09

MER-B

Left Front Hazcam

120

1.496E-05

1.437E-09

MER-B

Right Front Hazcam

122

1.496E-05

1.437E-09

MER-B

Left Rear Hazcam

119

1.496E-05

1.437E-09

MER-B

Right Rear Hazcam

121

1.496E-05

1.437E-09

 

Table 3.2.  Navcam/Hazcam absolute responsivity estimates.  All of the Engineering Cameras have approximately identical responsivities, with the exception of Navcam SN 117, which is less sensitive than the average MER Engineering Camera by approximately a factor of 1.8.  The responsivity as a function of temperature, R(T) = R0 + R1*T, where T is the temperature in degrees C.

3.4         Dark Current

 

Engineering Camera dark current data have been collected for all cameras and have been verified to be similar to that of the Pancam and MI cameras.  For more information on the MER camera dark current, see the Pancam and MI calibration reports.  The dark current values from the MER Engineering Cameras are less than 1% of the total signal of a well-exposed pixel at typical Martian operating temperatures.

3.5         Pointing Characterization

 

The ability of the PMA to point to a target was characterized during ATLO.  The PMA units on both rovers exhibited virtually identical pointing characteristics.

 


Table 3.2  Pointing performance for the Spirit PMA, as measured in ATLO.

 


Appendix A – Geometric Camera Models

 

MER A Camera Models

MER B Camera Models

 

Filename: /oss/mera/ops/ops/surface/tactical/staging/ssw/products/./050/028/d0148-000-0006_001_0141097355-043.dat

Type: img_model - Camera Model Tables

Spacecraft: MER A (SCID=254)

DVT:2004-173T13:41:16.734 - 0141097355.043

Packetized: 2004-174T18:49:51.415 - 0141202270.052

ERT:2004-174T19:25:12.107

APID=50 Subtype=28 Version=0

[Front Left Hazcam]

Camera Model ID: 58

Camera Serial Number: 107

Camera ID: Front Left Hazcam

Filter Position: No filter/unknown

Model Class: CAHVORE

Model Type: 3

Model Parameter: 0.370000

Array Center Vector length 3

[0]

Center Vector: 0.606185

[1]

Center Vector: -0.043367

[2]

Center Vector: -0.234891

Array Axis Vector length 3

[0]

Axis Vector: 0.712013

[1]

Axis Vector: 0.037316

[2]

Axis Vector: 0.701174

Array Horizontal Vector length 3

[0]

Horizontal Vector: 353.340667

[1]

Horizontal Vector: 474.872862

[2]

Horizontal Vector: 350.820311

Array Vertical Vector length 3

[0]

Vertical Vector: 44.010163

[1]

Vertical Vector: 16.904013

[2]

Vertical Vector: 683.916158

Array Optical Vector length 3

[0]

Optical Vector: 0.712953

[1]

Optical Vector: 0.038186

[2]

Optical Vector: 0.700171

Array Radial Distortion Terms length 3

[0]

Radial Distortion Terms: 0.000003

[1]

Radial Distortion Terms: -0.013032

[2]

Radial Distortion Terms: -0.007540

Array Entrance Pupil Terms length 3

[0]

Entrance Pupil Terms: 0.000942

[1]

Entrance Pupil Terms: 0.002280

[2]

Entrance Pupil Terms: 0.001613

Array Camera Reference Vector length 3

[0]

Camera Reference Vector: 0.000000

[1]

Camera Reference Vector: 0.000000

[2]

Camera Reference Vector: 0.000000

Array Camera Reference Quaternion length 4

[0]

Camera Reference Quaternion: 0.000000

[1]

Camera Reference Quaternion: 0.000000

[2]

Camera Reference Quaternion: 0.000000

[3]

Camera Reference Quaternion: 1.000000

Camera Temperature: 20.000000

[Front Right Hazcam]

Camera Model ID: 59

Camera Serial Number: 109

Camera ID: Front Right Hazcam

Filter Position: No filter/unknown

Model Class: CAHVORE

Model Type: 3

Model Parameter: 0.370000

Array Center Vector length 3

[0]

Center Vector: 0.605777

[1]

Center Vector: 0.055065

[2]

Center Vector: -0.235306

Array Axis Vector length 3

[0]

Axis Vector: 0.702176

[1]

Axis Vector: -0.007688

[2]

Axis Vector: 0.711962

Array Horizontal Vector length 3

[0]

Horizontal Vector: 347.882684

[1]

Horizontal Vector: 451.204960

[2]

Horizontal Vector: 357.288613

Array Vertical Vector length 3

[0]

Vertical Vector: 39.944126

[1]

Vertical Vector: -7.191921

[2]

Vertical Vector: 688.965306

Array Optical Vector length 3

[0]

Optical Vector: 0.701760

[1]

Optical Vector: -0.012920

[2]

Optical Vector: 0.712296

Array Radial Distortion Terms length 3

[0]

Radial Distortion Terms: 0.000028

[1]

Radial Distortion Terms: -0.013534

[2]

Radial Distortion Terms: -0.007456

Array Entrance Pupil Terms length 3

[0]

Entrance Pupil Terms: 0.000568

[1]

Entrance Pupil Terms: 0.001915

[2]

Entrance Pupil Terms: 0.002274

Array Camera Reference Vector length 3

[0]

Camera Reference Vector: 0.000000

[1]

Camera Reference Vector: 0.000000

[2]

Camera Reference Vector: 0.000000

Array Camera Reference Quaternion length 4

[0]

Camera Reference Quaternion: 0.000000

[1]

Camera Reference Quaternion: 0.000000

[2]

Camera Reference Quaternion: 0.000000

[3]

Camera Reference Quaternion: 1.000000

Camera Temperature: 20.000000

[Rear Left Hazcam]

Camera Model ID: 60

Camera Serial Number: 106

Camera ID: Rear Left Hazcam

Filter Position: No filter/unknown

Model Class: CAHVORE

Model Type: 3

Model Parameter: 0.370000

Array Center Vector length 3

[0]

Center Vector: -0.352830

[1]

Center Vector: 0.027840

[2]

Center Vector: -0.220359

Array Axis Vector length 3

[0]

Axis Vector: -0.820494

[1]

Axis Vector: -0.017232

[2]

Axis Vector: 0.571396

Array Horizontal Vector length 3

[0]

Horizontal Vector: -414.354735

[1]

Horizontal Vector: -461.547168

[2]

Horizontal Vector: 286.204206

Array Vertical Vector length 3

[0]

Vertical Vector: -170.157896

[1]

Vertical Vector: -9.813575

[2]

Vertical Vector: 669.513537

Array Optical Vector length 3

[0]

Optical Vector: -0.818510

[1]

Optical Vector: -0.020424

[2]

Optical Vector: 0.574129

Array Radial Distortion Terms length 3

[0]

Radial Distortion Terms: 0.000022

[1]

Radial Distortion Terms: -0.012974

[2]

Radial Distortion Terms: -0.007563

Array Entrance Pupil Terms length 3

[0]

Entrance Pupil Terms: 0.000972

[1]

Entrance Pupil Terms: 0.001178

[2]

Entrance Pupil Terms: 0.001015

Array Camera Reference Vector length 3

[0]

Camera Reference Vector: 0.000000

[1]

Camera Reference Vector: 0.000000

[2]

Camera Reference Vector: 0.000000

Array Camera Reference Quaternion length 4

[0]

Camera Reference Quaternion: 0.000000

[1]

Camera Reference Quaternion: 0.000000

[2]

Camera Reference Quaternion: 0.000000

[3]

Camera Reference Quaternion: 1.000000

Camera Temperature: 20.000000

[Rear Right Hazcam]

Camera Model ID: 61

Camera Serial Number: 108

Camera ID: Rear Right Hazcam

Filter Position: No filter/unknown

Model Class: CAHVORE

Model Type: 3

Model Parameter: 0.370000

Array Center Vector length 3

[0]

Center Vector: -0.352856

[1]

Center Vector: -0.071599

[2]

Center Vector: -0.220484

Array Axis Vector length 3

[0]

Axis Vector: -0.817110

[1]

Axis Vector: 0.006074

[2]

Axis Vector: 0.576450

Array Horizontal Vector length 3

[0]

Horizontal Vector: -413.667588

[1]

Horizontal Vector: -448.794903

[2]

Horizontal Vector: 287.678977

Array Vertical Vector length 3

[0]

Vertical Vector: -170.387722

[1]

Vertical Vector: 1.125681

[2]

Vertical Vector: 673.049507

Array Optical Vector length 3

[0]

Optical Vector: -0.815498

[1]

Optical Vector: 0.004208

[2]

Optical Vector: 0.578744

Array Radial Distortion Terms length 3

[0]

Radial Distortion Terms: 0.000011

[1]

Radial Distortion Terms: -0.015912

[2]

Radial Distortion Terms: -0.006998

Array Entrance Pupil Terms length 3

[0]

Entrance Pupil Terms: 0.000920

[1]

Entrance Pupil Terms: 0.001679

[2]

Entrance Pupil Terms: 0.002273

Array Camera Reference Vector length 3

[0]

Camera Reference Vector: 0.000000

[1]

Camera Reference Vector: 0.000000

[2]

Camera Reference Vector: 0.000000

Array Camera Reference Quaternion length 4

[0]

Camera Reference Quaternion: 0.000000

[1]

Camera Reference Quaternion: 0.000000

[2]

Camera Reference Quaternion: 0.000000

[3]

Camera Reference Quaternion: 1.000000

Camera Temperature: 20.000000

[Left Navcam]

Camera Model ID: 174

Camera Serial Number: 112

Camera ID: Left Navcam

Filter Position: No filter/unknown

Model Class: CAHVOR

Model Type: 0

Model Parameter: 0.000000

Array Center Vector length 3

[0]

Center Vector: 0.427748

[1]

Center Vector: 0.114460

[2]

Center Vector: -1.248564

Array Axis Vector length 3

[0]

Axis Vector: -0.989991

[1]

Axis Vector: -0.011243

[2]

Axis Vector: 0.140682

Array Horizontal Vector length 3

[0]

Horizontal Vector: -450.458717

[1]

Horizontal Vector: -1193.412639

[2]

Horizontal Vector: 75.082092

Array Vertical Vector length 3

[0]

Vertical Vector: -344.660526

[1]

Vertical Vector: 4.426849

[2]

Vertical Vector: 1249.216269

Array Optical Vector length 3

[0]

Optical Vector: -0.987140

[1]

Optical Vector: 0.115434

[2]

Optical Vector: 0.110584

Array Radial Distortion Terms length 3

[0]

Radial Distortion Terms: 0.019876

[1]

Radial Distortion Terms: -0.014281

[2]

Radial Distortion Terms: 0.020876

Array Entrance Pupil Terms length 3

[0]

Entrance Pupil Terms: 0.000000

[1]

Entrance Pupil Terms: 0.000000

[2]

Entrance Pupil Terms: 0.000000

Array Camera Reference Vector length 3

[0]

Camera Reference Vector: 0.457810

[1]

Camera Reference Vector: 0.027790

[2]

Camera Reference Vector: -1.096680

Array Camera Reference Quaternion length 4

[0]

Camera Reference Quaternion: 0.070093

[1]

Camera Reference Quaternion: 0.001171

[2]

Camera Reference Quaternion: 0.997401

[3]

Camera Reference Quaternion: -0.016658

Camera Temperature: 20.000000

[Right Navcam]

Camera Model ID: 175

Camera Serial Number: 113

Camera ID: Right Navcam

Filter Position: No filter/unknown

Model Class: CAHVOR

Model Type: 0

Model Parameter: 0.000000

Array Center Vector length 3

[0]

Center Vector: 0.435019

[1]

Center Vector: -0.085753

[2]

Center Vector: -1.249092

Array Axis Vector length 3

[0]

Axis Vector: -0.988104

[1]

Axis Vector: -0.049381

[2]

Axis Vector: 0.145646

Array Horizontal Vector length 3

[0]

Horizontal Vector: -452.075834

[1]

Horizontal Vector: -1233.255239

[2]

Horizontal Vector: 79.557598

Array Vertical Vector length 3

[0]

Vertical Vector: -342.762187

[1]

Vertical Vector: -13.628939

[2]

Vertical Vector: 1273.248298

Array Optical Vector length 3

[0]

Optical Vector: -0.989044

[1]

Optical Vector: -0.039669

[2]

Optical Vector: 0.142189

Array Radial Distortion Terms length 3

[0]

Radial Distortion Terms: 0.000300

[1]

Radial Distortion Terms: -0.004874

[2]

Radial Distortion Terms: 0.018766

Array Entrance Pupil Terms length 3

[0]

Entrance Pupil Terms: 0.000000

[1]

Entrance Pupil Terms: 0.000000

[2]

Entrance Pupil Terms: 0.000000

Array Camera Reference Vector length 3

[0]

Camera Reference Vector: 0.457810

[1]

Camera Reference Vector: 0.027790

[2]

Camera Reference Vector: -1.096680

Array Camera Reference Quaternion length 4

[0]

Camera Reference Quaternion: 0.070093

[1]

Camera Reference Quaternion: 0.001171

[2]

Camera Reference Quaternion: 0.997401

[3]

Camera Reference Quaternion: -0.016658

Camera Temperature: 20.000000

[Left Pancam, filter L1]

Camera Model ID: 176

Camera Serial Number: 104

Camera ID: Left Pancam

Filter Position: Pancam Left-Eye Filter L1: empty

Model Class: CAHVOR

Model Type: 0

Model Parameter: 0.000000

Array Center Vector length 3

[0]

Center Vector: 0.401265

[1]

Center Vector: 0.163027

[2]

Center Vector: -1.245082

Array Axis Vector length 3

[0]

Axis Vector: -0.989679

[1]

Axis Vector: -0.046318

[2]

Axis Vector: 0.135607

Array Horizontal Vector length 3

[0]

Horizontal Vector: -349.960356

[1]

Horizontal Vector: -3576.595824

[2]

Horizontal Vector: 44.320764

Array Vertical Vector length 3

[0]

Vertical Vector: -10.046627

[1]

Vertical Vector: -28.461764

[2]

Vertical Vector: 3591.399075

Array Optical Vector length 3

[0]

Optical Vector: -0.991056

[1]

Optical Vector: -0.047812

[2]

Optical Vector: 0.124591

Array Radial Distortion Terms length 3

[0]

Radial Distortion Terms: 0.022997

[1]

Radial Distortion Terms: 0.024872

[2]

Radial Distortion Terms: -0.407146

Array Entrance Pupil Terms length 3

[0]

Entrance Pupil Terms: 0.000000

[1]

Entrance Pupil Terms: 0.000000

[2]

Entrance Pupil Terms: 0.000000

Array Camera Reference Vector length 3

[0]

Camera Reference Vector: 0.457810

[1]

Camera Reference Vector: 0.027790

[2]

Camera Reference Vector: -1.096680

Array Camera Reference Quaternion length 4

[0]

Camera Reference Quaternion: 0.070093

[1]

Camera Reference Quaternion: 0.001171

[2]

Camera Reference Quaternion: 0.997401

[3]

Camera Reference Quaternion: -0.016658

Camera Temperature: 20.000000

[Left Pancam, filter L2]

Camera Model ID: 177

Camera Serial Number: 104

Camera ID: Left Pancam

Filter Position: Pancam Left-Eye Filter L2: 750 nm

Model Class: CAHVOR

Model Type: 0

Model Parameter: 0.000000

Array Center Vector length 3

[0]

Center Vector: 0.401265

[1]

Center Vector: 0.163027

[2]

Center Vector: -1.245082

Array Axis Vector length 3

[0]

Axis Vector: -0.989679

[1]

Axis Vector: -0.046318

[2]

Axis Vector: 0.135607

Array Horizontal Vector length 3

[0]

Horizontal Vector: -349.960356

[1]

Horizontal Vector: -3576.595824

[2]

Horizontal Vector: 44.320764

Array Vertical Vector length 3

[0]

Vertical Vector: -10.046627

[1]

Vertical Vector: -28.461764

[2]

Vertical Vector: 3591.399075

Array Optical Vector length 3

[0]

Optical Vector: -0.991056

[1]

Optical Vector: -0.047812

[2]

Optical Vector: 0.124591

Array Radial Distortion Terms length 3

[0]

Radial Distortion Terms: 0.022997

[1]

Radial Distortion Terms: 0.024872

[2]

Radial Distortion Terms: -0.407146

Array Entrance Pupil Terms length 3

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Entrance Pupil Terms: 0.000000

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Entrance Pupil Terms: 0.000000

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Entrance Pupil Terms: 0.000000

Array Camera Reference Vector length 3

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Camera Reference Vector: -1.096680

Array Camera Reference Quaternion length 4

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Camera Reference Quaternion: 0.997401

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Camera Reference Quaternion: -0.016658

Camera Temperature: 20.000000

[Left Pancam, filter L3]

Camera Model ID: 178

Camera Serial Number: 104

Camera ID: Left Pancam

Filter Position: Pancam Left-Eye Filter L3: 670 nm

Model Class: CAHVOR

Model Type: 0

Model Parameter: 0.000000

Array Center Vector length 3

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Center Vector: -1.245082

Array Axis Vector length 3

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Axis Vector: -0.989679

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Axis Vector: -0.046318

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Axis Vector: 0.135607

Array Horizontal Vector length 3

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Horizontal Vector: -349.960356

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Horizontal Vector: -3576.595824

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Horizontal Vector: 44.320764

Array Vertical Vector length 3

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Vertical Vector: -28.461764

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Vertical Vector: 3591.399075

Array Optical Vector length 3

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Optical Vector: -0.991056

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Optical Vector: -0.047812

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Optical Vector: 0.124591

Array Radial Distortion Terms length 3

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Array Entrance Pupil Terms length 3

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Entrance Pupil Terms: 0.000000

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Entrance Pupil Terms: 0.000000

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Array Camera Reference Vector length 3

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Camera Reference Vector: 0.457810

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Array Camera Reference Quaternion length 4

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Camera Reference Quaternion: 0.997401

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Camera Reference Quaternion: -0.016658

Camera Temperature: 20.000000

[Left Pancam, filter L4]

Camera Model ID: 179

Camera Serial Number: 104

Camera ID: Left Pancam

Filter Position: Pancam Left-Eye Filter L4: 600 nm

Model Class: CAHVOR

Model Type: 0

Model Parameter: 0.000000

Array Center Vector length 3

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Center Vector: 0.401265

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Center Vector: -1.245082

Array Axis Vector length 3

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Axis Vector: -0.989679

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Axis Vector: 0.135607

Array Horizontal Vector length 3

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Horizontal Vector: -349.960356

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Horizontal Vector: -3576.595824

[2]

Horizontal Vector: 44.320764

Array Vertical Vector length 3

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Vertical Vector: 3591.399075

Array Optical Vector length 3

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Optical Vector: -0.991056

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Optical Vector: -0.047812

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Array Radial Distortion Terms length 3

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Array Entrance Pupil Terms length 3

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Entrance Pupil Terms: 0.000000

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Entrance Pupil Terms: 0.000000

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Array Camera Reference Vector length 3

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Array Camera Reference Quaternion length 4

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Camera Reference Quaternion: 0.997401

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Camera Reference Quaternion: -0.016658

Camera Temperature: 20.000000

[Left Pancam, filter L5]

Camera Model ID: 180

Camera Serial Number: 104

Camera ID: Left Pancam

Filter Position: Pancam Left-Eye Filter L5: 530 nm

Model Class: CAHVOR

Model Type: 0

Model Parameter: 0.000000

Array Center Vector length 3

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Center Vector: 0.401265

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Center Vector: 0.163027

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Center Vector: -1.245082

Array Axis Vector length 3

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Axis Vector: -0.989679

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Axis Vector: -0.046318

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Axis Vector: 0.135607

Array Horizontal Vector length 3

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Horizontal Vector: -349.960356

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Horizontal Vector: -3576.595824

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Horizontal Vector: 44.320764

Array Vertical Vector length 3

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Vertical Vector: -28.461764

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Vertical Vector: 3591.399075

Array Optical Vector length 3

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Optical Vector: -0.991056

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Optical Vector: -0.047812

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Optical Vector: 0.124591

Array Radial Distortion Terms length 3

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Array Entrance Pupil Terms length 3

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Entrance Pupil Terms: 0.000000

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Entrance Pupil Terms: 0.000000

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Entrance Pupil Terms: 0.000000

Array Camera Reference Vector length 3

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Camera Reference Vector: 0.457810

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Camera Reference Vector: -1.096680

Array Camera Reference Quaternion length 4

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Camera Reference Quaternion: 0.997401

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Camera Reference Quaternion: -0.016658

Camera Temperature: 20.000000

[Left Pancam, filter L6]

Camera Model ID: 181

Camera Serial Number: 104

Camera ID: Left Pancam

Filter Position: Pancam Left-Eye Filter L6: 480 nm

Model Class: CAHVOR

Model Type: 0

Model Parameter: 0.000000

Array Center Vector length 3

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Center Vector: 0.401265

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Center Vector: 0.163027

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Center Vector: -1.245082

Array Axis Vector length 3

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Axis Vector: -0.989679

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Axis Vector: -0.046318

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Axis Vector: 0.135607

Array Horizontal Vector length 3

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Horizontal Vector: -349.960356

[1]

Horizontal Vector: -3576.595824

[2]

Horizontal Vector: 44.320764

Array Vertical Vector length 3

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Vertical Vector: -10.046627

[1]

Vertical Vector: -28.461764

[2]

Vertical Vector: 3591.399075

Array Optical Vector length 3

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Optical Vector: -0.991056

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Optical Vector: -0.047812

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Optical Vector: 0.124591

Array Radial Distortion Terms length 3

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Radial Distortion Terms: 0.022997

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Array Entrance Pupil Terms length 3

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Entrance Pupil Terms: 0.000000

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Entrance Pupil Terms: 0.000000

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Entrance Pupil Terms: 0.000000

Array Camera Reference Vector length 3

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Camera Reference Vector: 0.457810

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Camera Reference Vector: -1.096680

Array Camera Reference Quaternion length 4

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Camera Reference Quaternion: 0.070093

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Camera Reference Quaternion: 0.001171

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Camera Reference Quaternion: 0.997401

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Camera Reference Quaternion: -0.016658

Camera Temperature: 20.000000

[Left Pancam, filter L7]

Camera Model ID: 182

Camera Serial Number: 104

Camera ID: Left Pancam

Filter Position: Pancam Left-Eye Filter L7: 450 nm

Model Class: CAHVOR

Model Type: 0

Model Parameter: 0.000000

Array Center Vector length 3

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Center Vector: 0.401265

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Center Vector: 0.163027

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Center Vector: -1.245082

Array Axis Vector length 3

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Axis Vector: -0.989679

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Axis Vector: -0.046318

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Axis Vector: 0.135607

Array Horizontal Vector length 3

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Horizontal Vector: -349.960356

[1]

Horizontal Vector: -3576.595824

[2]

Horizontal Vector: 44.320764

Array Vertical Vector length 3

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Vertical Vector: -10.046627

[1]

Vertical Vector: -28.461764

[2]

Vertical Vector: 3591.399075

Array Optical Vector length 3

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Optical Vector: -0.991056

[1]

Optical Vector: -0.047812

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Optical Vector: 0.124591

Array Radial Distortion Terms length 3

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Radial Distortion Terms: 0.022997

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Radial Distortion Terms: 0.024872

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Array Entrance Pupil Terms length 3

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Entrance Pupil Terms: 0.000000

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Entrance Pupil Terms: 0.000000

[2]

Entrance Pupil Terms: 0.000000

Array Camera Reference Vector length 3

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Camera Reference Vector: 0.457810

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Camera Reference Vector: 0.027790

[2]

Camera Reference Vector: -1.096680

Array Camera Reference Quaternion length 4

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Camera Reference Quaternion: 0.070093

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Camera Reference Quaternion: 0.001171

[2]

Camera Reference Quaternion: 0.997401

[3]

Camera Reference Quaternion: -0.016658

Camera Temperature: 20.000000

[Left Pancam, filter L8]

Camera Model ID: 183

Camera Serial Number: 104

Camera ID: Left Pancam

Filter Position: Pancam Left-Eye Filter L8: 440 nm - Solar ND

Model Class: CAHVOR

Model Type: 0

Model Parameter: 0.000000

Array Center Vector length 3

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Center Vector: 0.401265

[1]

Center Vector: 0.163027

[2]

Center Vector: -1.245082

Array Axis Vector length 3

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Axis Vector: -0.989679

[1]

Axis Vector: -0.046318

[2]

Axis Vector: 0.135607

Array Horizontal Vector length 3

[0]

Horizontal Vector: -349.960356

[1]

Horizontal Vector: -3576.595824

[2]

Horizontal Vector: 44.320764

Array Vertical Vector length 3

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Vertical Vector: -10.046627

[1]

Vertical Vector: -28.461764

[2]

Vertical Vector: 3591.399075

Array Optical Vector length 3

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Optical Vector: -0.991056

[1]

Optical Vector: -0.047812

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Optical Vector: 0.124591

Array Radial Distortion Terms length 3

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Radial Distortion Terms: 0.022997

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Radial Distortion Terms: 0.024872

[2]

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Array Entrance Pupil Terms length 3

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Entrance Pupil Terms: 0.000000

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Entrance Pupil Terms: 0.000000

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Entrance Pupil Terms: 0.000000

Array Camera Reference Vector length 3

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Camera Reference Vector: 0.457810

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Camera Reference Vector: 0.027790

[2]

Camera Reference Vector: -1.096680

Array Camera Reference Quaternion length 4

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Camera Reference Quaternion: 0.070093

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Camera Reference Quaternion: 0.001171

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Camera Reference Quaternion: 0.997401

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Camera Reference Quaternion: -0.016658

Camera Temperature: 20.000000

[Right Pancam, filter R1]

Camera Model ID: 184

Camera Serial Number: 103

Camera ID: Right Pancam

Filter Position: Pancam Right-Eye Filter R1: 450 nm

Model Class: CAHVOR

Model Type: 0

Model Parameter: 0.000000

Array Center Vector length 3

[0]

Center Vector: 0.413705

[1]

Center Vector: -0.135215

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Center Vector: -1.246372

Array Axis Vector length 3

[0]

Axis Vector: -0.990622

[1]

Axis Vector: -0.007005

[2]

Axis Vector: 0.136451

Array Horizontal Vector length 3

[0]

Horizontal Vector: -474.046354

[1]

Horizontal Vector: -3554.067848

[2]

Horizontal Vector: 56.808555

Array Vertical Vector length 3

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Vertical Vector: -4.611697

[1]

Vertical Vector: -13.887297

[2]

Vertical Vector: 3586.811043

Array Optical Vector length 3

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Optical Vector: -0.993079

[1]

Optical Vector: 0.017077

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Optical Vector: 0.116202

Array Radial Distortion Terms length 3

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Radial Distortion Terms: 0.022082

[1]

Radial Distortion Terms: -0.033675

[2]

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Array Entrance Pupil Terms length 3

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Entrance Pupil Terms: 0.000000

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Entrance Pupil Terms: 0.000000

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Entrance Pupil Terms: 0.000000

Array Camera Reference Vector length 3

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Camera Reference Vector: 0.457810

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Camera Reference Vector: 0.027790

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Camera Reference Vector: -1.096680

Array Camera Reference Quaternion length 4

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Camera Reference Quaternion: 0.070093

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Camera Reference Quaternion: 0.001171

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Camera Reference Quaternion: 0.997401

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Camera Reference Quaternion: -0.016658

Camera Temperature: 20.000000

[Right Pancam, filter R2]

Camera Model ID: 185

Camera Serial Number: 103

Camera ID: Right Pancam

Filter Position: Pancam Right-Eye Filter R2: 750 nm

Model Class: CAHVOR

Model Type: 0

Model Parameter: 0.000000

Array Center Vector length 3

[0]

Center Vector: 0.413705

[1]

Center Vector: -0.135215

[2]

Center Vector: -1.246372

Array Axis Vector length 3

[0]

Axis Vector: -0.990622

[1]

Axis Vector: -0.007005

[2]

Axis Vector: 0.136451

Array Horizontal Vector length 3

[0]

Horizontal Vector: -474.046354

[1]

Horizontal Vector: -3554.067848

[2]

Horizontal Vector: 56.808555

Array Vertical Vector length 3

[0]

Vertical Vector: -4.611697

[1]

Vertical Vector: -13.887297

[2]

Vertical Vector: 3586.811043

Array Optical Vector length 3

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Optical Vector: -0.993079

[1]

Optical Vector: 0.017077

[2]

Optical Vector: 0.116202

Array Radial Distortion Terms length 3

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Radial Distortion Terms: 0.022082

[1]

Radial Distortion Terms: -0.033675

[2]

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Array Entrance Pupil Terms length 3

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Entrance Pupil Terms: 0.000000

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Entrance Pupil Terms: 0.000000

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Entrance Pupil Terms: 0.000000

Array Camera Reference Vector length 3

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Camera Reference Vector: 0.457810

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Camera Reference Vector: 0.027790

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Camera Reference Vector: -1.096680

Array Camera Reference Quaternion length 4

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Camera Reference Quaternion: 0.070093

[1]

Camera Reference Quaternion: 0.001171

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Camera Reference Quaternion: 0.997401

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Camera Reference Quaternion: -0.016658

Camera Temperature: 20.000000

[Right Pancam, filter R3]

Camera Model ID: 186

Camera Serial Number: 103

Camera ID: Right Pancam

Filter Position: Pancam Right-Eye Filter R3: 800 nm

Model Class: CAHVOR

Model Type: 0

Model Parameter: 0.000000

Array Center Vector length 3

[0]

Center Vector: 0.413705

[1]

Center Vector: -0.135215

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Center Vector: -1.246372

Array Axis Vector length 3

[0]

Axis Vector: -0.990622

[1]

Axis Vector: -0.007005

[2]

Axis Vector: 0.136451

Array Horizontal Vector length 3

[0]

Horizontal Vector: -474.046354

[1]

Horizontal Vector: -3554.067848

[2]

Horizontal Vector: 56.808555

Array Vertical Vector length 3

[0]

Vertical Vector: -4.611697

[1]

Vertical Vector: -13.887297

[2]

Vertical Vector: 3586.811043

Array Optical Vector length 3

[0]

Optical Vector: -0.993079

[1]

Optical Vector: 0.017077

[2]

Optical Vector: 0.116202

Array Radial Distortion Terms length 3

[0]

Radial Distortion Terms: 0.022082

[1]

Radial Distortion Terms: -0.033675

[2]

Radial Distortion Terms: 0.611672

Array Entrance Pupil Terms length 3

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Entrance Pupil Terms: 0.000000

[1]

Entrance Pupil Terms: 0.000000

[2]

Entrance Pupil Terms: 0.000000

Array Camera Reference Vector length 3

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Camera Reference Vector: 0.457810

[1]

Camera Reference Vector: 0.027790

[2]

Camera Reference Vector: -1.096680

Array Camera Reference Quaternion length 4

[0]

Camera Reference Quaternion: 0.070093

[1]

Camera Reference Quaternion: 0.001171

[2]

Camera Reference Quaternion: 0.997401

[3]

Camera Reference Quaternion: -0.016658

Camera Temperature: 20.000000

[Right Pancam, filter R4]

Camera Model ID: 187

Camera Serial Number: 103

Camera ID: Right Pancam

Filter Position: Pancam Right-Eye Filter R4: 860 nm

Model Class: CAHVOR

Model Type: 0

Model Parameter: 0.000000

Array Center Vector length 3

[0]

Center Vector: 0.413705

[1]

Center Vector: -0.135215

[2]

Center Vector: -1.246372

Array Axis Vector length 3

[0]

Axis Vector: -0.990622

[1]

Axis Vector: -0.007005

[2]

Axis Vector: 0.136451

Array Horizontal Vector length 3

[0]

Horizontal Vector: -474.046354

[1]

Horizontal Vector: -3554.067848

[2]

Horizontal Vector: 56.808555

Array Vertical Vector length 3

[0]

Vertical Vector: -4.611697

[1]

Vertical Vector: -13.887297

[2]

Vertical Vector: 3586.811043

Array Optical Vector length 3

[0]

Optical Vector: -0.993079

[1]

Optical Vector: 0.017077

[2]

Optical Vector: 0.116202

Array Radial Distortion Terms length 3

[0]

Radial Distortion Terms: 0.022082

[1]

Radial Distortion Terms: -0.033675

[2]

Radial Distortion Terms: 0.611672

Array Entrance Pupil Terms length 3

[0]

Entrance Pupil Terms: 0.000000

[1]

Entrance Pupil Terms: 0.000000

[2]

Entrance Pupil Terms: 0.000000

Array Camera Reference Vector length 3

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Camera Reference Vector: 0.457810

[1]

Camera Reference Vector: 0.027790

[2]

Camera Reference Vector: -1.096680

Array Camera Reference Quaternion length 4

[0]

Camera Reference Quaternion: 0.070093

[1]

Camera Reference Quaternion: 0.001171

[2]

Camera Reference Quaternion: 0.997401

[3]

Camera Reference Quaternion: -0.016658

Camera Temperature: 20.000000

[Right Pancam, filter R5]

Camera Model ID: 188

Camera Serial Number: 103

Camera ID: Right Pancam

Filter Position: Pancam Right-Eye Filter R5: 900 nm

Model Class: CAHVOR

Model Type: 0

Model Parameter: 0.000000

Array Center Vector length 3

[0]

Center Vector: 0.413705

[1]

Center Vector: -0.135215

[2]

Center Vector: -1.246372

Array Axis Vector length 3

[0]

Axis Vector: -0.990622

[1]

Axis Vector: -0.007005

[2]

Axis Vector: 0.136451

Array Horizontal Vector length 3

[0]

Horizontal Vector: -474.046354

[1]

Horizontal Vector: -3554.067848

[2]

Horizontal Vector: 56.808555

Array Vertical Vector length 3

[0]

Vertical Vector: -4.611697

[1]

Vertical Vector: -13.887297

[2]

Vertical Vector: 3586.811043

Array Optical Vector length 3

[0]

Optical Vector: -0.993079

[1]

Optical Vector: 0.017077

[2]

Optical Vector: 0.116202

Array Radial Distortion Terms length 3

[0]

Radial Distortion Terms: 0.022082

[1]

Radial Distortion Terms: -0.033675

[2]

Radial Distortion Terms: 0.611672

Array Entrance Pupil Terms length 3

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Entrance Pupil Terms: 0.000000

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Entrance Pupil Terms: 0.000000

[2]

Entrance Pupil Terms: 0.000000

Array Camera Reference Vector length 3

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Camera Reference Vector: 0.457810

[1]

Camera Reference Vector: 0.027790

[2]

Camera Reference Vector: -1.096680

Array Camera Reference Quaternion length 4

[0]

Camera Reference Quaternion: 0.070093

[1]

Camera Reference Quaternion: 0.001171

[2]

Camera Reference Quaternion: 0.997401

[3]

Camera Reference Quaternion: -0.016658

Camera Temperature: 20.000000

[Right Pancam, filter R6]

Camera Model ID: 189

Camera Serial Number: 103

Camera ID: Right Pancam

Filter Position: Pancam Right-Eye Filter R6: 930 nm

Model Class: CAHVOR

Model Type: 0

Model Parameter: 0.000000

Array Center Vector length 3

[0]

Center Vector: 0.413705

[1]

Center Vector: -0.135215

[2]

Center Vector: -1.246372

Array Axis Vector length 3

[0]

Axis Vector: -0.990622

[1]

Axis Vector: -0.007005

[2]

Axis Vector: 0.136451

Array Horizontal Vector length 3

[0]

Horizontal Vector: -474.046354

[1]

Horizontal Vector: -3554.067848

[2]

Horizontal Vector: 56.808555

Array Vertical Vector length 3

[0]

Vertical Vector: -4.611697

[1]

Vertical Vector: -13.887297

[2]

Vertical Vector: 3586.811043

Array Optical Vector length 3

[0]

Optical Vector: -0.993079

[1]

Optical Vector: 0.017077

[2]

Optical Vector: 0.116202

Array Radial Distortion Terms length 3

[0]

Radial Distortion Terms: 0.022082

[1]

Radial Distortion Terms: -0.033675

[2]

Radial Distortion Terms: 0.611672

Array Entrance Pupil Terms length 3

[0]

Entrance Pupil Terms: 0.000000

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Entrance Pupil Terms: 0.000000

[2]

Entrance Pupil Terms: 0.000000

Array Camera Reference Vector length 3

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Camera Reference Vector: 0.457810

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Camera Reference Vector: 0.027790

[2]

Camera Reference Vector: -1.096680

Array Camera Reference Quaternion length 4

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Camera Reference Quaternion: 0.070093

[1]

Camera Reference Quaternion: 0.001171

[2]

Camera Reference Quaternion: 0.997401

[3]

Camera Reference Quaternion: -0.016658

Camera Temperature: 20.000000

[Right Pancam, filter R7]

Camera Model ID: 190

Camera Serial Number: 103

Camera ID: Right Pancam

Filter Position: Pancam Right-Eye Filter R7: 985 nm

Model Class: CAHVOR

Model Type: 0

Model Parameter: 0.000000

Array Center Vector length 3

[0]

Center Vector: 0.413705

[1]

Center Vector: -0.135215

[2]

Center Vector: -1.246372

Array Axis Vector length 3

[0]

Axis Vector: -0.990622

[1]

Axis Vector: -0.007005

[2]

Axis Vector: 0.136451

Array Horizontal Vector length 3

[0]

Horizontal Vector: -474.046354

[1]

Horizontal Vector: -3554.067848

[2]

Horizontal Vector: 56.808555

Array Vertical Vector length 3

[0]

Vertical Vector: -4.611697

[1]

Vertical Vector: -13.887297

[2]

Vertical Vector: 3586.811043

Array Optical Vector length 3

[0]

Optical Vector: -0.993079

[1]

Optical Vector: 0.017077

[2]

Optical Vector: 0.116202

Array Radial Distortion Terms length 3

[0]

Radial Distortion Terms: 0.022082

[1]

Radial Distortion Terms: -0.033675

[2]

Radial Distortion Terms: 0.611672

Array Entrance Pupil Terms length 3

[0]

Entrance Pupil Terms: 0.000000

[1]

Entrance Pupil Terms: 0.000000

[2]

Entrance Pupil Terms: 0.000000

Array Camera Reference Vector length 3

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Camera Reference Vector: 0.457810

[1]

Camera Reference Vector: 0.027790

[2]

Camera Reference Vector: -1.096680

Array Camera Reference Quaternion length 4

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Camera Reference Quaternion: 0.070093

[1]

Camera Reference Quaternion: 0.001171

[2]

Camera Reference Quaternion: 0.997401

[3]

Camera Reference Quaternion: -0.016658

Camera Temperature: 20.000000

[Right Pancam, filter R8]

Camera Model ID: 191

Camera Serial Number: 103

Camera ID: Right Pancam

Filter Position: Pancam Right-Eye Filter R8: 880 nm - Solar ND

Model Class: CAHVOR

Model Type: 0

Model Parameter: 0.000000

Array Center Vector length 3

[0]

Center Vector: 0.413705

[1]

Center Vector: -0.135215

[2]

Center Vector: -1.246372

Array Axis Vector length 3

[0]

Axis Vector: -0.990622

[1]

Axis Vector: -0.007005

[2]

Axis Vector: 0.136451

Array Horizontal Vector length 3

[0]

Horizontal Vector: -474.046354

[1]

Horizontal Vector: -3554.067848

[2]

Horizontal Vector: 56.808555

Array Vertical Vector length 3

[0]

Vertical Vector: -4.611697

[1]

Vertical Vector: -13.887297

[2]

Vertical Vector: 3586.811043

Array Optical Vector length 3

[0]

Optical Vector: -0.993079

[1]

Optical Vector: 0.017077

[2]

Optical Vector: 0.116202

Array Radial Distortion Terms length 3

[0]

Radial Distortion Terms: 0.022082

[1]

Radial Distortion Terms: -0.033675

[2]

Radial Distortion Terms: 0.611672

Array Entrance Pupil Terms length 3

[0]

Entrance Pupil Terms: 0.000000

[1]

Entrance Pupil Terms: 0.000000

[2]

Entrance Pupil Terms: 0.000000

Array Camera Reference Vector length 3

[0]

Camera Reference Vector: 0.457810

[1]

Camera Reference Vector: 0.027790

[2]

Camera Reference Vector: -1.096680

Array Camera Reference Quaternion length 4

[0]

Camera Reference Quaternion: 0.070093

[1]

Camera Reference Quaternion: 0.001171

[2]

Camera Reference Quaternion: 0.997401

[3]

Camera Reference Quaternion: -0.016658

Camera Temperature: 20.000000

[EDL Descent Imager]

Camera Model ID: 171

Camera Serial Number: 118

Camera ID: EDL Descent Imager

Filter Position: No filter/unknown

Model Class: CAHVOR

Model Type: 0

Model Parameter: 0.000000

Array Center Vector length 3

[0]

Center Vector: -0.000954

[1]

Center Vector: -0.865025

[2]

Center Vector: 0.006423

Array Axis Vector length 3

[0]

Axis Vector: 0.003038

[1]

Axis Vector: -0.334895

[2]

Axis Vector: 0.942251

Array Horizontal Vector length 3

[0]

Horizontal Vector: -2.773939

[1]

Horizontal Vector: -1329.587622

[2]

Horizontal Vector: 78.976148

Array Vertical Vector length 3

[0]

Vertical Vector: 1227.942274

[1]

Vertical Vector: -171.111650

[2]

Vertical Vector: 468.829410

Array Optical Vector length 3

[0]

Optical Vector: 0.035227

[1]

Optical Vector: -0.324036

[2]

Optical Vector: 0.945389

Array Radial Distortion Terms length 3

[0]

Radial Distortion Terms: 0.001160

[1]

Radial Distortion Terms: -0.002318

[2]

Radial Distortion Terms: 0.021769

Array Entrance Pupil Terms length 3

[0]

Entrance Pupil Terms: 0.000000

[1]

Entrance Pupil Terms: 0.000000

[2]

Entrance Pupil Terms: 0.000000

Array Camera Reference Vector length 3

[0]

Camera Reference Vector: 0.000000

[1]

Camera Reference Vector: 0.000000

[2]

Camera Reference Vector: 0.000000

Array Camera Reference Quaternion length 4

[0]

Camera Reference Quaternion: 0.000000

[1]

Camera Reference Quaternion: 0.000000

[2]

Camera Reference Quaternion: 0.000000

[3]

Camera Reference Quaternion: 1.000000

Camera Temperature: 20.000000

[Microscopic Imager, Cover Closed]

Camera Model ID: 173

Camera Serial Number: 105

Camera ID: Microscopic Imager

Filter Position: Microscopic Imager Cover Closed

Model Class: CAHVOR

Model Type: 0

Model Parameter: 0.000000

Array Center Vector length 3

[0]

Center Vector: 1.058880

[1]

Center Vector: -0.054903

[2]

Center Vector: 0.275421

Array Axis Vector length 3

[0]

Axis Vector: -0.005821

[1]

Axis Vector: 0.058380

[2]

Axis Vector: 0.998277

Array Horizontal Vector length 3

[0]

Horizontal Vector: 26.031857

[1]

Horizontal Vector: -2337.838852

[2]

Horizontal Vector: 631.369970

Array Vertical Vector length 3

[0]

Vertical Vector: 2365.204651

[1]

Vertical Vector: 57.405196

[2]

Vertical Vector: 525.651774

Array Optical Vector length 3

[0]

Optical Vector: -0.061672

[1]

Optical Vector: 0.126116

[2]

Optical Vector: 0.990097

Array Radial Distortion Terms length 3

[0]

Radial Distortion Terms: 0.007629

[1]

Radial Distortion Terms: -0.104219

[2]

Radial Distortion Terms: 0.624037

Array Entrance Pupil Terms length 3

[0]

Entrance Pupil Terms: 0.000000

[1]

Entrance Pupil Terms: 0.000000

[2]

Entrance Pupil Terms: 0.000000

Array Camera Reference Vector length 3

[0]

Camera Reference Vector: 1.048823

[1]

Camera Reference Vector: -0.053605

[2]

Camera Reference Vector: 0.328496

Array Camera Reference Quaternion length 4

[0]

Camera Reference Quaternion: -0.027773

[1]

Camera Reference Quaternion: 0.011828

[2]

Camera Reference Quaternion: 0.707667

[3]

Camera Reference Quaternion: 0.705901

Camera Temperature: 20.000000

[Microscopic Imager, Cover Open]

Camera Model ID: 172

Camera Serial Number: 105

Camera ID: Microscopic Imager

Filter Position: Microscopic Imager Cover Open

Model Class: CAHVOR

Model Type: 0

Model Parameter: 0.000000

Array Center Vector length 3

[0]

Center Vector: 1.058880

[1]

Center Vector: -0.054903

[2]

Center Vector: 0.275421

Array Axis Vector length 3

[0]

Axis Vector: -0.005821

[1]

Axis Vector: 0.058380

[2]

Axis Vector: 0.998277

Array Horizontal Vector length 3

[0]

Horizontal Vector: 26.031857

[1]

Horizontal Vector: -2337.838852

[2]

Horizontal Vector: 631.369970

Array Vertical Vector length 3

[0]

Vertical Vector: 2365.204651

[1]

Vertical Vector: 57.405196

[2]

Vertical Vector: 525.651774

Array Optical Vector length 3

[0]

Optical Vector: -0.061672

[1]

Optical Vector: 0.126116

[2]

Optical Vector: 0.990097

Array Radial Distortion Terms length 3

[0]

Radial Distortion Terms: 0.007629

[1]

Radial Distortion Terms: -0.104219

[2]

Radial Distortion Terms: 0.624037

Array Entrance Pupil Terms length 3

[0]

Entrance Pupil Terms: 0.000000

[1]

Entrance Pupil Terms: 0.000000

[2]

Entrance Pupil Terms: 0.000000

Array Camera Reference Vector length 3

[0]

Camera Reference Vector: 1.048823

[1]

Camera Reference Vector: -0.053605

[2]

Camera Reference Vector: 0.328496

Array Camera Reference Quaternion length 4

[0]

Camera Reference Quaternion: -0.027773

[1]

Camera Reference Quaternion: 0.011828

[2]

Camera Reference Quaternion: 0.707667

[3]

Camera Reference Quaternion: 0.705901

Camera Temperature: 20.000000

 

 

Filename: /oss/merb/flight/ops/lc/downlink/data_prods/staging/ssw/products/./050/028/p0001-001-0028_001_0124528157-209.dat

Type: img_model - Camera Model Tables

Spacecraft: MER B (SCID=253)

DVT:2003-346T19:09:17.816 - 0124528157.209

Packetized: 2003-350T02:32:24.377 - 0124814015.109

ERT:2003-350T03:08:42.308

APID=50 Subtype=28 Version=0

[Front Left Hazcam]

Camera Model ID: 33

Camera Serial Number: 120

Camera ID: Front Left Hazcam

Filter Position: No filter/unknown

Model Class: CAHVORE

Model Type: 3

Model Parameter: 0.370000

Array Center Vector length 3

[0]

Center Vector: 0.609331

[1]

Center Vector: -0.041064

[2]

Center Vector: -0.233849

Array Axis Vector length 3

[0]

Axis Vector: 0.703447

[1]

Axis Vector: -0.005161

[2]

Axis Vector: 0.710729

Array Horizontal Vector length 3

[0]

Horizontal Vector: 351.361730

[1]

Horizontal Vector: 452.204294

[2]

Horizontal Vector: 353.494013

Array Vertical Vector length 3

[0]

Vertical Vector: 35.806531

[1]

Vertical Vector: -1.751429

[2]

Vertical Vector: 682.704520

Array Optical Vector length 3

[0]

Optical Vector: 0.704402

[1]

Optical Vector: -0.006062

[2]

Optical Vector: 0.709775

Array Radial Distortion Terms length 3

[0]

Radial Distortion Terms: 0.000003

[1]

Radial Distortion Terms: -0.012015

[2]

Radial Distortion Terms: -0.007525

Array Entrance Pupil Terms length 3

[0]

Entrance Pupil Terms: 0.001442

[1]

Entrance Pupil Terms: 0.001522

[2]

Entrance Pupil Terms: 0.000483

Array Camera Reference Vector length 3

[0]

Camera Reference Vector: 0.000000

[1]

Camera Reference Vector: 0.000000

[2]

Camera Reference Vector: 0.000000

Array Camera Reference Quaternion length 4

[0]

Camera Reference Quaternion: 0.000000

[1]

Camera Reference Quaternion: 0.000000

[2]

Camera Reference Quaternion: 0.000000

[3]

Camera Reference Quaternion: 1.000000

Camera Temperature: 20.000000

[Front Right Hazcam]

Camera Model ID: 34

Camera Serial Number: 122

Camera ID: Front Right Hazcam

Filter Position: No filter/unknown

Model Class: CAHVORE

Model Type: 3

Model Parameter: 0.370000

Array Center Vector length 3

[0]

Center Vector: 0.609774

[1]

Center Vector: 0.060081

[2]

Center Vector: -0.234332

Array Axis Vector length 3

[0]

Axis Vector: 0.706252

[1]

Axis Vector: 0.034860

[2]

Axis Vector: 0.707102

Array Horizontal Vector length 3

[0]

Horizontal Vector: 353.645269

[1]

Horizontal Vector: 476.675400

[2]

Horizontal Vector: 350.756881

Array Vertical Vector length 3

[0]

Vertical Vector: 33.985059

[1]

Vertical Vector: 19.794709

[2]

Vertical Vector: 683.515455

Array Optical Vector length 3

[0]

Optical Vector: 0.707943

[1]

Optical Vector: 0.036219

[2]

Optical Vector: 0.705340

Array Radial Distortion Terms length 3

[0]

Radial Distortion Terms: 0.000008

[1]

Radial Distortion Terms: -0.012790

[2]

Radial Distortion Terms: -0.007496

Array Entrance Pupil Terms length 3

[0]

Entrance Pupil Terms: 0.001158

[1]

Entrance Pupil Terms: 0.001904

[2]

Entrance Pupil Terms: 0.000674

Array Camera Reference Vector length 3

[0]

Camera Reference Vector: 0.000000

[1]

Camera Reference Vector: 0.000000

[2]

Camera Reference Vector: 0.000000

Array Camera Reference Quaternion length 4

[0]

Camera Reference Quaternion: 0.000000

[1]

Camera Reference Quaternion: 0.000000

[2]

Camera Reference Quaternion: 0.000000

[3]

Camera Reference Quaternion: 1.000000

Camera Temperature: 20.000000

[Rear Left Hazcam]

Camera Model ID: 35

Camera Serial Number: 119

Camera ID: Rear Left Hazcam

Filter Position: No filter/unknown

Model Class: CAHVORE

Model Type: 3

Model Parameter: 0.370000

Array Center Vector length 3

[0]

Center Vector: -0.352486

[1]

Center Vector: 0.029107

[2]

Center Vector: -0.219509

Array Axis Vector length 3

[0]

Axis Vector: -0.817454

[1]

Axis Vector: 0.003886

[2]

Axis Vector: 0.575981

Array Horizontal Vector length 3

[0]

Horizontal Vector: -412.111787

[1]

Horizontal Vector: -454.507817

[2]

Horizontal Vector: 294.672076

Array Vertical Vector length 3

[0]

Vertical Vector: -153.453457

[1]

Vertical Vector: 5.657748

[2]

Vertical Vector: 667.135065

Array Optical Vector length 3

[0]

Optical Vector: -0.816478

[1]

Optical Vector: 0.005312

[2]

Optical Vector: 0.577352

Array Radial Distortion Terms length 3

[0]

Radial Distortion Terms: 0.000005

[1]

Radial Distortion Terms: -0.013636

[2]

Radial Distortion Terms: -0.007433

Array Entrance Pupil Terms length 3

[0]

Entrance Pupil Terms: 0.002913

[1]

Entrance Pupil Terms: 0.002490

[2]

Entrance Pupil Terms: 0.001988

Array Camera Reference Vector length 3

[0]

Camera Reference Vector: 0.000000

[1]

Camera Reference Vector: 0.000000

[2]

Camera Reference Vector: 0.000000

Array Camera Reference Quaternion length 4

[0]

Camera Reference Quaternion: 0.000000

[1]

Camera Reference Quaternion: 0.000000

[2]

Camera Reference Quaternion: 0.000000

[3]

Camera Reference Quaternion: 1.000000

Camera Temperature: 20.000000

[Rear Right Hazcam]

Camera Model ID: 36

Camera Serial Number: 121

Camera ID: Rear Right Hazcam

Filter Position: No filter/unknown

Model Class: CAHVORE

Model Type: 3

Model Parameter: 0.370000

Array Center Vector length 3

[0]

Center Vector: -0.352347

[1]

Center Vector: -0.071376

[2]

Center Vector: -0.218263

Array Axis Vector length 3

[0]

Axis Vector: -0.797769

[1]

Axis Vector: -0.005895

[2]

Axis Vector: 0.602934

Array Horizontal Vector length 3

[0]

Horizontal Vector: -403.318552

[1]

Horizontal Vector: -459.244833

[2]

Horizontal Vector: 306.418265

Array Vertical Vector length 3

[0]

Vertical Vector: -142.127421

[1]

Vertical Vector: -1.605314

[2]

Vertical Vector: 680.026212

Array Optical Vector length 3

[0]

Optical Vector: -0.798053

[1]

Optical Vector: -0.008088

[2]

Optical Vector: 0.602532

Array Radial Distortion Terms length 3

[0]

Radial Distortion Terms: 0.000005

[1]

Radial Distortion Terms: -0.012461

[2]

Radial Distortion Terms: -0.007520

Array Entrance Pupil Terms length 3

[0]

Entrance Pupil Terms: 0.003556

[1]

Entrance Pupil Terms: 0.003197

[2]

Entrance Pupil Terms: 0.000849

Array Camera Reference Vector length 3

[0]

Camera Reference Vector: 0.000000

[1]

Camera Reference Vector: 0.000000

[2]

Camera Reference Vector: 0.000000

Array Camera Reference Quaternion length 4

[0]

Camera Reference Quaternion: 0.000000

[1]

Camera Reference Quaternion: 0.000000

[2]

Camera Reference Quaternion: 0.000000

[3]

Camera Reference Quaternion: 1.000000

Camera Temperature: 20.000000

[Left Navcam]

Camera Model ID: 196

Camera Serial Number: 102

Camera ID: Left Navcam

Filter Position: No filter/unknown

Model Class: CAHVOR

Model Type: 0

Model Parameter: 0.000000

Array Center Vector length 3

[0]

Center Vector: 0.411970

[1]

Center Vector: 0.105641

[2]

Center Vector: -1.249215

Array Axis Vector length 3

[0]

Axis Vector: -0.972195

[1]

Axis Vector: -0.193555

[2]

Axis Vector: 0.131811

Array Horizontal Vector length 3

[0]

Horizontal Vector: -247.726578

[1]

Horizontal Vector: -1296.609863

[2]

Horizontal Vector: 67.858466

Array Vertical Vector length 3

[0]

Vertical Vector: -331.070280

[1]

Vertical Vector: -63.484371

[2]

Vertical Vector: 1279.291928

Array Optical Vector length 3

[0]

Optical Vector: -0.964543

[1]

Optical Vector: -0.215917

[2]

Optical Vector: 0.151779

Array Radial Distortion Terms length 3

[0]

Radial Distortion Terms: 0.000960

[1]

Radial Distortion Terms: -0.002183

[2]

Radial Distortion Terms: 0.018547

Array Entrance Pupil Terms length 3

[0]

Entrance Pupil Terms: 0.000000

[1]

Entrance Pupil Terms: 0.000000

[2]

Entrance Pupil Terms: 0.000000

Array Camera Reference Vector length 3

[0]

Camera Reference Vector: 0.457290

[1]

Camera Reference Vector: 0.026050

[2]

Camera Reference Vector: -1.096200

Array Camera Reference Quaternion length 4

[0]

Camera Reference Quaternion: 0.065924

[1]

Camera Reference Quaternion: 0.006818

[2]

Camera Reference Quaternion: 0.992507

[3]

Camera Reference Quaternion: -0.102653

Camera Temperature: 20.000000

[Right Navcam]

Camera Model ID: 197

Camera Serial Number: 117

Camera ID: Right Navcam

Filter Position: No filter/unknown

Model Class: CAHVOR

Model Type: 0

Model Parameter: 0.000000

Array Center Vector length 3

[0]

Center Vector: 0.452404

[1]

Center Vector: -0.090348

[2]

Center Vector: -1.248825

Array Axis Vector length 3

[0]

Axis Vector: -0.967006

[1]

Axis Vector: -0.212014

[2]

Axis Vector: 0.141240

Array Horizontal Vector length 3

[0]

Horizontal Vector: -246.433204

[1]

Horizontal Vector: -1294.549308

[2]

Horizontal Vector: 69.794922

Array Vertical Vector length 3

[0]

Vertical Vector: -329.064749

[1]

Vertical Vector: -75.301543

[2]

Vertical Vector: 1273.320289

Array Optical Vector length 3

[0]

Optical Vector: -0.959404

[1]

Optical Vector: -0.246709

[2]

Optical Vector: 0.136667

Array Radial Distortion Terms length 3

[0]

Radial Distortion Terms: 0.001281

[1]

Radial Distortion Terms: -0.011721

[2]

Radial Distortion Terms: 0.036593

Array Entrance Pupil Terms length 3

[0]

Entrance Pupil Terms: 0.000000

[1]

Entrance Pupil Terms: 0.000000

[2]

Entrance Pupil Terms: 0.000000

Array Camera Reference Vector length 3

[0]

Camera Reference Vector: 0.457290

[1]

Camera Reference Vector: 0.026050

[2]

Camera Reference Vector: -1.096200

Array Camera Reference Quaternion length 4

[0]

Camera Reference Quaternion: 0.065924

[1]

Camera Reference Quaternion: 0.006818

[2]

Camera Reference Quaternion: 0.992507

[3]

Camera Reference Quaternion: -0.102653

Camera Temperature: 20.000000

[Left Pancam, filter L1]

Camera Model ID: 198

Camera Serial Number: 115

Camera ID: Left Pancam

Filter Position: Pancam Left-Eye Filter L1: empty

Model Class: CAHVOR

Model Type: 0

Model Parameter: 0.000000

Array Center Vector length 3

[0]

Center Vector: 0.382152

[1]

Center Vector: 0.149178

[2]

Center Vector: -1.246381

Array Axis Vector length 3

[0]

Axis Vector: -0.965675

[1]

Axis Vector: -0.224240

[2]

Axis Vector: 0.131104

Array Horizontal Vector length 3

[0]

Horizontal Vector: 315.089938

[1]

Horizontal Vector: -3647.728413

[2]

Horizontal Vector: 47.302857

Array Vertical Vector length 3

[0]

Vertical Vector: -20.801368

[1]

Vertical Vector: -26.864694

[2]

Vertical Vector: 3660.536632

Array Optical Vector length 3

[0]

Optical Vector: -0.962756

[1]

Optical Vector: -0.233389

[2]

Optical Vector: 0.136490

Array Radial Distortion Terms length 3

[0]

Radial Distortion Terms: 0.000998

[1]

Radial Distortion Terms: 0.003762

[2]

Radial Distortion Terms: -0.057232

Array Entrance Pupil Terms length 3

[0]

Entrance Pupil Terms: 0.000000

[1]

Entrance Pupil Terms: 0.000000

[2]

Entrance Pupil Terms: 0.000000

Array Camera Reference Vector length 3

[0]

Camera Reference Vector: 0.457290

[1]

Camera Reference Vector: 0.026050

[2]

Camera Reference Vector: -1.096200

Array Camera Reference Quaternion length 4

[0]

Camera Reference Quaternion: 0.065924

[1]

Camera Reference Quaternion: 0.006818

[2]

Camera Reference Quaternion: 0.992507

[3]

Camera Reference Quaternion: -0.102653

Camera Temperature: 20.000000

[Left Pancam, filter L2]

Camera Model ID: 199

Camera Serial Number: 115

Camera ID: Left Pancam

Filter Position: Pancam Left-Eye Filter L2: 750 nm

Model Class: CAHVOR

Model Type: 0

Model Parameter: 0.000000

Array Center Vector length 3

[0]

Center Vector: 0.382152

[1]

Center Vector: 0.149178

[2]

Center Vector: -1.246381

Array Axis Vector length 3

[0]

Axis Vector: -0.965675

[1]

Axis Vector: -0.224240

[2]

Axis Vector: 0.131104

Array Horizontal Vector length 3

[0]

Horizontal Vector: 315.089938

[1]

Horizontal Vector: -3647.728413

[2]

Horizontal Vector: 47.302857

Array Vertical Vector length 3

[0]

Vertical Vector: -20.801368

[1]

Vertical Vector: -26.864694

[2]

Vertical Vector: 3660.536632

Array Optical Vector length 3

[0]

Optical Vector: -0.962756

[1]

Optical Vector: -0.233389

[2]

Optical Vector: 0.136490

Array Radial Distortion Terms length 3

[0]

Radial Distortion Terms: 0.000998

[1]

Radial Distortion Terms: 0.003762

[2]

Radial Distortion Terms: -0.057232

Array Entrance Pupil Terms length 3

[0]

Entrance Pupil Terms: 0.000000

[1]

Entrance Pupil Terms: 0.000000

[2]

Entrance Pupil Terms: 0.000000

Array Camera Reference Vector length 3

[0]

Camera Reference Vector: 0.457290

[1]

Camera Reference Vector: 0.026050

[2]

Camera Reference Vector: -1.096200

Array Camera Reference Quaternion length 4

[0]

Camera Reference Quaternion: 0.065924

[1]

Camera Reference Quaternion: 0.006818

[2]

Camera Reference Quaternion: 0.992507

[3]

Camera Reference Quaternion: -0.102653

Camera Temperature: 20.000000

[Left Pancam, filter L3]

Camera Model ID: 200

Camera Serial Number: 115

Camera ID: Left Pancam

Filter Position: Pancam Left-Eye Filter L3: 670 nm

Model Class: CAHVOR

Model Type: 0

Model Parameter: 0.000000

Array Center Vector length 3

[0]

Center Vector: 0.382152

[1]

Center Vector: 0.149178

[2]

Center Vector: -1.246381

Array Axis Vector length 3

[0]

Axis Vector: -0.965675

[1]

Axis Vector: -0.224240

[2]

Axis Vector: 0.131104

Array Horizontal Vector length 3

[0]

Horizontal Vector: 315.089938

[1]

Horizontal Vector: -3647.728413

[2]

Horizontal Vector: 47.302857

Array Vertical Vector length 3

[0]

Vertical Vector: -20.801368

[1]

Vertical Vector: -26.864694

[2]

Vertical Vector: 3660.536632

Array Optical Vector length 3

[0]

Optical Vector: -0.962756

[1]

Optical Vector: -0.233389

[2]

Optical Vector: 0.136490

Array Radial Distortion Terms length 3

[0]

Radial Distortion Terms: 0.000998

[1]

Radial Distortion Terms: 0.003762

[2]

Radial Distortion Terms: -0.057232

Array Entrance Pupil Terms length 3

[0]

Entrance Pupil Terms: 0.000000

[1]

Entrance Pupil Terms: 0.000000

[2]

Entrance Pupil Terms: 0.000000

Array Camera Reference Vector length 3

[0]

Camera Reference Vector: 0.457290

[1]

Camera Reference Vector: 0.026050

[2]

Camera Reference Vector: -1.096200

Array Camera Reference Quaternion length 4

[0]

Camera Reference Quaternion: 0.065924

[1]

Camera Reference Quaternion: 0.006818

[2]

Camera Reference Quaternion: 0.992507

[3]

Camera Reference Quaternion: -0.102653

Camera Temperature: 20.000000

[Left Pancam, filter L4]

Camera Model ID: 201

Camera Serial Number: 115

Camera ID: Left Pancam

Filter Position: Pancam Left-Eye Filter L4: 600 nm

Model Class: CAHVOR

Model Type: 0

Model Parameter: 0.000000

Array Center Vector length 3

[0]

Center Vector: 0.382152

[1]

Center Vector: 0.149178

[2]

Center Vector: -1.246381

Array Axis Vector length 3

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Axis Vector: -0.965675

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Axis Vector: -0.224240

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Axis Vector: 0.131104

Array Horizontal Vector length 3

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Horizontal Vector: 315.089938

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Horizontal Vector: -3647.728413

[2]

Horizontal Vector: 47.302857

Array Vertical Vector length 3

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Vertical Vector: -26.864694

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Vertical Vector: 3660.536632

Array Optical Vector length 3

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Optical Vector: -0.962756

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Optical Vector: -0.233389

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Array Radial Distortion Terms length 3

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Array Entrance Pupil Terms length 3

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Entrance Pupil Terms: 0.000000

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Entrance Pupil Terms: 0.000000

Array Camera Reference Vector length 3

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Camera Reference Vector: 0.026050

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Camera Reference Vector: -1.096200

Array Camera Reference Quaternion length 4

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Camera Reference Quaternion: 0.992507

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Camera Reference Quaternion: -0.102653

Camera Temperature: 20.000000

[Left Pancam, filter L5]

Camera Model ID: 202

Camera Serial Number: 115

Camera ID: Left Pancam

Filter Position: Pancam Left-Eye Filter L5: 530 nm

Model Class: CAHVOR

Model Type: 0

Model Parameter: 0.000000

Array Center Vector length 3

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Array Axis Vector length 3

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Axis Vector: -0.224240

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Axis Vector: 0.131104

Array Horizontal Vector length 3

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Horizontal Vector: 315.089938

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Horizontal Vector: -3647.728413

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Horizontal Vector: 47.302857

Array Vertical Vector length 3

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Vertical Vector: -26.864694

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Vertical Vector: 3660.536632

Array Optical Vector length 3

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Optical Vector: -0.962756

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Optical Vector: -0.233389

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Array Radial Distortion Terms length 3

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Array Entrance Pupil Terms length 3

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Entrance Pupil Terms: 0.000000

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Entrance Pupil Terms: 0.000000

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Entrance Pupil Terms: 0.000000

Array Camera Reference Vector length 3

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Camera Reference Vector: 0.457290

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Camera Reference Vector: -1.096200

Array Camera Reference Quaternion length 4

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Camera Reference Quaternion: 0.065924

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Camera Reference Quaternion: 0.006818

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Camera Reference Quaternion: 0.992507

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Camera Reference Quaternion: -0.102653

Camera Temperature: 20.000000

[Left Pancam, filter L6]

Camera Model ID: 203

Camera Serial Number: 115

Camera ID: Left Pancam

Filter Position: Pancam Left-Eye Filter L6: 480 nm

Model Class: CAHVOR

Model Type: 0

Model Parameter: 0.000000

Array Center Vector length 3

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Center Vector: 0.382152

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Center Vector: 0.149178

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Array Axis Vector length 3

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Axis Vector: -0.965675

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Axis Vector: -0.224240

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Axis Vector: 0.131104

Array Horizontal Vector length 3

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Horizontal Vector: 315.089938

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Horizontal Vector: -3647.728413

[2]

Horizontal Vector: 47.302857

Array Vertical Vector length 3

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Vertical Vector: -20.801368

[1]

Vertical Vector: -26.864694

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Vertical Vector: 3660.536632

Array Optical Vector length 3

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Optical Vector: -0.962756

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Optical Vector: -0.233389

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Optical Vector: 0.136490

Array Radial Distortion Terms length 3

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Array Entrance Pupil Terms length 3

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Entrance Pupil Terms: 0.000000

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Entrance Pupil Terms: 0.000000

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Entrance Pupil Terms: 0.000000

Array Camera Reference Vector length 3

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Camera Reference Vector: 0.457290

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Camera Reference Vector: 0.026050

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Camera Reference Vector: -1.096200

Array Camera Reference Quaternion length 4

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Camera Reference Quaternion: 0.065924

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Camera Reference Quaternion: 0.006818

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Camera Reference Quaternion: 0.992507

[3]

Camera Reference Quaternion: -0.102653

Camera Temperature: 20.000000

[Left Pancam, filter L7]

Camera Model ID: 204

Camera Serial Number: 115

Camera ID: Left Pancam

Filter Position: Pancam Left-Eye Filter L7: 450 nm

Model Class: CAHVOR

Model Type: 0

Model Parameter: 0.000000

Array Center Vector length 3

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Center Vector: 0.382152

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Center Vector: 0.149178

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Center Vector: -1.246381

Array Axis Vector length 3

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Axis Vector: -0.965675

[1]

Axis Vector: -0.224240

[2]

Axis Vector: 0.131104

Array Horizontal Vector length 3

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Horizontal Vector: 315.089938

[1]

Horizontal Vector: -3647.728413

[2]

Horizontal Vector: 47.302857

Array Vertical Vector length 3

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Vertical Vector: -20.801368

[1]

Vertical Vector: -26.864694

[2]

Vertical Vector: 3660.536632

Array Optical Vector length 3

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Optical Vector: -0.962756

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Optical Vector: -0.233389

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Optical Vector: 0.136490

Array Radial Distortion Terms length 3

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Array Entrance Pupil Terms length 3

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Entrance Pupil Terms: 0.000000

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Entrance Pupil Terms: 0.000000

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Entrance Pupil Terms: 0.000000

Array Camera Reference Vector length 3

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Camera Reference Vector: 0.457290

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Camera Reference Vector: 0.026050

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Camera Reference Vector: -1.096200

Array Camera Reference Quaternion length 4

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Camera Reference Quaternion: 0.065924

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Camera Reference Quaternion: 0.006818

[2]

Camera Reference Quaternion: 0.992507

[3]

Camera Reference Quaternion: -0.102653

Camera Temperature: 20.000000

[Left Pancam, filter L8]

Camera Model ID: 205

Camera Serial Number: 115

Camera ID: Left Pancam

Filter Position: Pancam Left-Eye Filter L8: 440 nm - Solar ND

Model Class: CAHVOR

Model Type: 0

Model Parameter: 0.000000

Array Center Vector length 3

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Center Vector: 0.382152

[1]

Center Vector: 0.149178

[2]

Center Vector: -1.246381

Array Axis Vector length 3

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Axis Vector: -0.965675

[1]

Axis Vector: -0.224240

[2]

Axis Vector: 0.131104

Array Horizontal Vector length 3

[0]

Horizontal Vector: 315.089938

[1]

Horizontal Vector: -3647.728413

[2]

Horizontal Vector: 47.302857

Array Vertical Vector length 3

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Vertical Vector: -20.801368

[1]

Vertical Vector: -26.864694

[2]

Vertical Vector: 3660.536632

Array Optical Vector length 3

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Optical Vector: -0.962756

[1]

Optical Vector: -0.233389

[2]

Optical Vector: 0.136490

Array Radial Distortion Terms length 3

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Radial Distortion Terms: 0.000998

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Radial Distortion Terms: 0.003762

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Array Entrance Pupil Terms length 3

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Entrance Pupil Terms: 0.000000

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Entrance Pupil Terms: 0.000000

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Entrance Pupil Terms: 0.000000

Array Camera Reference Vector length 3

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Camera Reference Vector: 0.457290

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Camera Reference Vector: 0.026050

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Camera Reference Vector: -1.096200

Array Camera Reference Quaternion length 4

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Camera Reference Quaternion: 0.065924

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Camera Reference Quaternion: 0.006818

[2]

Camera Reference Quaternion: 0.992507

[3]

Camera Reference Quaternion: -0.102653

Camera Temperature: 20.000000

[Right Pancam, filter R1]

Camera Model ID: 206

Camera Serial Number: 114

Camera ID: Right Pancam

Filter Position: Pancam Right-Eye Filter R1: 450 nm

Model Class: CAHVOR

Model Type: 0

Model Parameter: 0.000000

Array Center Vector length 3

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Center Vector: 0.443429

[1]

Center Vector: -0.142099

[2]

Center Vector: -1.246638

Array Axis Vector length 3

[0]

Axis Vector: -0.974596

[1]

Axis Vector: -0.180627

[2]

Axis Vector: 0.132429

Array Horizontal Vector length 3

[0]

Horizontal Vector: 176.690830

[1]

Horizontal Vector: -3612.502474

[2]

Horizontal Vector: 64.120658

Array Vertical Vector length 3

[0]

Vertical Vector: -34.618632

[1]

Vertical Vector: -6.528287

[2]

Vertical Vector: 3620.840003

Array Optical Vector length 3

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Optical Vector: -0.973043

[1]

Optical Vector: -0.185358

[2]

Optical Vector: 0.137249

Array Radial Distortion Terms length 3

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Radial Distortion Terms: 0.013087

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Radial Distortion Terms: 0.023504

[2]

Radial Distortion Terms: -0.374157

Array Entrance Pupil Terms length 3

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Entrance Pupil Terms: 0.000000

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Entrance Pupil Terms: 0.000000

[2]

Entrance Pupil Terms: 0.000000

Array Camera Reference Vector length 3

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Camera Reference Vector: 0.457290

[1]

Camera Reference Vector: 0.026050

[2]

Camera Reference Vector: -1.096200

Array Camera Reference Quaternion length 4

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Camera Reference Quaternion: 0.065924

[1]

Camera Reference Quaternion: 0.006818

[2]

Camera Reference Quaternion: 0.992507

[3]

Camera Reference Quaternion: -0.102653

Camera Temperature: 20.000000

[Right Pancam, filter R2]

Camera Model ID: 207

Camera Serial Number: 114

Camera ID: Right Pancam

Filter Position: Pancam Right-Eye Filter R2: 750 nm

Model Class: CAHVOR

Model Type: 0

Model Parameter: 0.000000

Array Center Vector length 3

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Center Vector: 0.443429

[1]

Center Vector: -0.142099

[2]

Center Vector: -1.246638

Array Axis Vector length 3

[0]

Axis Vector: -0.974596

[1]

Axis Vector: -0.180627

[2]

Axis Vector: 0.132429

Array Horizontal Vector length 3

[0]

Horizontal Vector: 176.690830

[1]

Horizontal Vector: -3612.502474

[2]

Horizontal Vector: 64.120658

Array Vertical Vector length 3

[0]

Vertical Vector: -34.618632

[1]

Vertical Vector: -6.528287

[2]

Vertical Vector: 3620.840003

Array Optical Vector length 3

[0]

Optical Vector: -0.973043

[1]

Optical Vector: -0.185358

[2]

Optical Vector: 0.137249

Array Radial Distortion Terms length 3

[0]

Radial Distortion Terms: 0.013087

[1]

Radial Distortion Terms: 0.023504

[2]

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Array Entrance Pupil Terms length 3

[0]

Entrance Pupil Terms: 0.000000

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Entrance Pupil Terms: 0.000000

[2]

Entrance Pupil Terms: 0.000000

Array Camera Reference Vector length 3

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Camera Reference Vector: 0.457290

[1]

Camera Reference Vector: 0.026050

[2]

Camera Reference Vector: -1.096200

Array Camera Reference Quaternion length 4

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Camera Reference Quaternion: 0.065924

[1]

Camera Reference Quaternion: 0.006818

[2]

Camera Reference Quaternion: 0.992507

[3]

Camera Reference Quaternion: -0.102653

Camera Temperature: 20.000000

[Right Pancam, filter R3]

Camera Model ID: 208

Camera Serial Number: 114

Camera ID: Right Pancam

Filter Position: Pancam Right-Eye Filter R3: 800 nm

Model Class: CAHVOR

Model Type: 0

Model Parameter: 0.000000

Array Center Vector length 3

[0]

Center Vector: 0.443429

[1]

Center Vector: -0.142099

[2]

Center Vector: -1.246638

Array Axis Vector length 3

[0]

Axis Vector: -0.974596

[1]

Axis Vector: -0.180627

[2]

Axis Vector: 0.132429

Array Horizontal Vector length 3

[0]

Horizontal Vector: 176.690830

[1]

Horizontal Vector: -3612.502474

[2]

Horizontal Vector: 64.120658

Array Vertical Vector length 3

[0]

Vertical Vector: -34.618632

[1]

Vertical Vector: -6.528287

[2]

Vertical Vector: 3620.840003

Array Optical Vector length 3

[0]

Optical Vector: -0.973043

[1]

Optical Vector: -0.185358

[2]

Optical Vector: 0.137249

Array Radial Distortion Terms length 3

[0]

Radial Distortion Terms: 0.013087

[1]

Radial Distortion Terms: 0.023504

[2]

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Array Entrance Pupil Terms length 3

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Entrance Pupil Terms: 0.000000

[1]

Entrance Pupil Terms: 0.000000

[2]

Entrance Pupil Terms: 0.000000

Array Camera Reference Vector length 3

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Camera Reference Vector: 0.457290

[1]

Camera Reference Vector: 0.026050

[2]

Camera Reference Vector: -1.096200

Array Camera Reference Quaternion length 4

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Camera Reference Quaternion: 0.065924

[1]

Camera Reference Quaternion: 0.006818

[2]

Camera Reference Quaternion: 0.992507

[3]

Camera Reference Quaternion: -0.102653

Camera Temperature: 20.000000

[Right Pancam, filter R4]

Camera Model ID: 209

Camera Serial Number: 114

Camera ID: Right Pancam

Filter Position: Pancam Right-Eye Filter R4: 860 nm

Model Class: CAHVOR

Model Type: 0

Model Parameter: 0.000000

Array Center Vector length 3

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Center Vector: 0.443429

[1]

Center Vector: -0.142099

[2]

Center Vector: -1.246638

Array Axis Vector length 3

[0]

Axis Vector: -0.974596

[1]

Axis Vector: -0.180627

[2]

Axis Vector: 0.132429

Array Horizontal Vector length 3

[0]

Horizontal Vector: 176.690830

[1]

Horizontal Vector: -3612.502474

[2]

Horizontal Vector: 64.120658

Array Vertical Vector length 3

[0]

Vertical Vector: -34.618632

[1]

Vertical Vector: -6.528287

[2]

Vertical Vector: 3620.840003

Array Optical Vector length 3

[0]

Optical Vector: -0.973043

[1]

Optical Vector: -0.185358

[2]

Optical Vector: 0.137249

Array Radial Distortion Terms length 3

[0]

Radial Distortion Terms: 0.013087

[1]

Radial Distortion Terms: 0.023504

[2]

Radial Distortion Terms: -0.374157

Array Entrance Pupil Terms length 3

[0]

Entrance Pupil Terms: 0.000000

[1]

Entrance Pupil Terms: 0.000000

[2]

Entrance Pupil Terms: 0.000000

Array Camera Reference Vector length 3

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Camera Reference Vector: 0.457290

[1]

Camera Reference Vector: 0.026050

[2]

Camera Reference Vector: -1.096200

Array Camera Reference Quaternion length 4

[0]

Camera Reference Quaternion: 0.065924

[1]

Camera Reference Quaternion: 0.006818

[2]

Camera Reference Quaternion: 0.992507

[3]

Camera Reference Quaternion: -0.102653

Camera Temperature: 20.000000

[Right Pancam, filter R5]

Camera Model ID: 210

Camera Serial Number: 114

Camera ID: Right Pancam

Filter Position: Pancam Right-Eye Filter R5: 900 nm

Model Class: CAHVOR

Model Type: 0

Model Parameter: 0.000000

Array Center Vector length 3

[0]

Center Vector: 0.443429

[1]

Center Vector: -0.142099

[2]

Center Vector: -1.246638

Array Axis Vector length 3

[0]

Axis Vector: -0.974596

[1]

Axis Vector: -0.180627

[2]

Axis Vector: 0.132429

Array Horizontal Vector length 3

[0]

Horizontal Vector: 176.690830

[1]

Horizontal Vector: -3612.502474

[2]

Horizontal Vector: 64.120658

Array Vertical Vector length 3

[0]

Vertical Vector: -34.618632

[1]

Vertical Vector: -6.528287

[2]

Vertical Vector: 3620.840003

Array Optical Vector length 3

[0]

Optical Vector: -0.973043

[1]

Optical Vector: -0.185358

[2]

Optical Vector: 0.137249

Array Radial Distortion Terms length 3

[0]

Radial Distortion Terms: 0.013087

[1]

Radial Distortion Terms: 0.023504

[2]

Radial Distortion Terms: -0.374157

Array Entrance Pupil Terms length 3

[0]

Entrance Pupil Terms: 0.000000

[1]

Entrance Pupil Terms: 0.000000

[2]

Entrance Pupil Terms: 0.000000

Array Camera Reference Vector length 3

[0]

Camera Reference Vector: 0.457290

[1]

Camera Reference Vector: 0.026050

[2]

Camera Reference Vector: -1.096200

Array Camera Reference Quaternion length 4

[0]

Camera Reference Quaternion: 0.065924

[1]

Camera Reference Quaternion: 0.006818

[2]

Camera Reference Quaternion: 0.992507

[3]

Camera Reference Quaternion: -0.102653

Camera Temperature: 20.000000

[Right Pancam, filter R6]

Camera Model ID: 211

Camera Serial Number: 114

Camera ID: Right Pancam

Filter Position: Pancam Right-Eye Filter R6: 930 nm

Model Class: CAHVOR

Model Type: 0

Model Parameter: 0.000000

Array Center Vector length 3

[0]

Center Vector: 0.443429

[1]

Center Vector: -0.142099

[2]

Center Vector: -1.246638

Array Axis Vector length 3

[0]

Axis Vector: -0.974596

[1]

Axis Vector: -0.180627

[2]

Axis Vector: 0.132429

Array Horizontal Vector length 3

[0]

Horizontal Vector: 176.690830

[1]

Horizontal Vector: -3612.502474

[2]

Horizontal Vector: 64.120658

Array Vertical Vector length 3

[0]

Vertical Vector: -34.618632

[1]

Vertical Vector: -6.528287

[2]

Vertical Vector: 3620.840003

Array Optical Vector length 3

[0]

Optical Vector: -0.973043

[1]

Optical Vector: -0.185358

[2]

Optical Vector: 0.137249

Array Radial Distortion Terms length 3

[0]

Radial Distortion Terms: 0.013087

[1]

Radial Distortion Terms: 0.023504

[2]

Radial Distortion Terms: -0.374157

Array Entrance Pupil Terms length 3

[0]

Entrance Pupil Terms: 0.000000

[1]

Entrance Pupil Terms: 0.000000

[2]

Entrance Pupil Terms: 0.000000

Array Camera Reference Vector length 3

[0]

Camera Reference Vector: 0.457290

[1]

Camera Reference Vector: 0.026050

[2]

Camera Reference Vector: -1.096200

Array Camera Reference Quaternion length 4

[0]

Camera Reference Quaternion: 0.065924

[1]

Camera Reference Quaternion: 0.006818

[2]

Camera Reference Quaternion: 0.992507

[3]

Camera Reference Quaternion: -0.102653

Camera Temperature: 20.000000

[Right Pancam, filter R7]

Camera Model ID: 212

Camera Serial Number: 114

Camera ID: Right Pancam

Filter Position: Pancam Right-Eye Filter R7: 985 nm

Model Class: CAHVOR

Model Type: 0

Model Parameter: 0.000000

Array Center Vector length 3

[0]

Center Vector: 0.443429

[1]

Center Vector: -0.142099

[2]

Center Vector: -1.246638

Array Axis Vector length 3

[0]

Axis Vector: -0.974596

[1]

Axis Vector: -0.180627

[2]

Axis Vector: 0.132429

Array Horizontal Vector length 3

[0]

Horizontal Vector: 176.690830

[1]

Horizontal Vector: -3612.502474

[2]

Horizontal Vector: 64.120658

Array Vertical Vector length 3

[0]

Vertical Vector: -34.618632

[1]

Vertical Vector: -6.528287

[2]

Vertical Vector: 3620.840003

Array Optical Vector length 3

[0]

Optical Vector: -0.973043

[1]

Optical Vector: -0.185358

[2]

Optical Vector: 0.137249

Array Radial Distortion Terms length 3

[0]

Radial Distortion Terms: 0.013087

[1]

Radial Distortion Terms: 0.023504

[2]

Radial Distortion Terms: -0.374157

Array Entrance Pupil Terms length 3

[0]

Entrance Pupil Terms: 0.000000

[1]

Entrance Pupil Terms: 0.000000

[2]

Entrance Pupil Terms: 0.000000

Array Camera Reference Vector length 3

[0]

Camera Reference Vector: 0.457290

[1]

Camera Reference Vector: 0.026050

[2]

Camera Reference Vector: -1.096200

Array Camera Reference Quaternion length 4

[0]

Camera Reference Quaternion: 0.065924

[1]

Camera Reference Quaternion: 0.006818

[2]

Camera Reference Quaternion: 0.992507

[3]

Camera Reference Quaternion: -0.102653

Camera Temperature: 20.000000

[Right Pancam, filter R8]

Camera Model ID: 213

Camera Serial Number: 114

Camera ID: Right Pancam

Filter Position: Pancam Right-Eye Filter R8: 880 nm - Solar ND

Model Class: CAHVOR

Model Type: 0

Model Parameter: 0.000000

Array Center Vector length 3

[0]

Center Vector: 0.443429

[1]

Center Vector: -0.142099

[2]

Center Vector: -1.246638

Array Axis Vector length 3

[0]

Axis Vector: -0.974596

[1]

Axis Vector: -0.180627

[2]

Axis Vector: 0.132429

Array Horizontal Vector length 3

[0]

Horizontal Vector: 176.690830

[1]

Horizontal Vector: -3612.502474

[2]

Horizontal Vector: 64.120658

Array Vertical Vector length 3

[0]

Vertical Vector: -34.618632

[1]

Vertical Vector: -6.528287

[2]

Vertical Vector: 3620.840003

Array Optical Vector length 3

[0]

Optical Vector: -0.973043

[1]

Optical Vector: -0.185358

[2]

Optical Vector: 0.137249

Array Radial Distortion Terms length 3

[0]

Radial Distortion Terms: 0.013087

[1]

Radial Distortion Terms: 0.023504

[2]

Radial Distortion Terms: -0.374157

Array Entrance Pupil Terms length 3

[0]

Entrance Pupil Terms: 0.000000

[1]

Entrance Pupil Terms: 0.000000

[2]

Entrance Pupil Terms: 0.000000

Array Camera Reference Vector length 3

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Camera Reference Vector: 0.457290

[1]

Camera Reference Vector: 0.026050

[2]

Camera Reference Vector: -1.096200

Array Camera Reference Quaternion length 4

[0]

Camera Reference Quaternion: 0.065924

[1]

Camera Reference Quaternion: 0.006818

[2]

Camera Reference Quaternion: 0.992507

[3]

Camera Reference Quaternion: -0.102653

Camera Temperature: 20.000000

[EDL Descent Imager]

Camera Model ID: 169

Camera Serial Number: 123

Camera ID: EDL Descent Imager

Filter Position: No filter/unknown

Model Class: CAHVOR

Model Type: 0

Model Parameter: 0.000000

Array Center Vector length 3

[0]

Center Vector: -0.000318

[1]

Center Vector: -0.864737

[2]

Center Vector: 0.004388

Array Axis Vector length 3

[0]

Axis Vector: -0.001537

[1]

Axis Vector: -0.334609

[2]

Axis Vector: 0.942356

Array Horizontal Vector length 3

[0]

Horizontal Vector: -0.817862

[1]

Horizontal Vector: -1319.884526

[2]

Horizontal Vector: 77.557951

Array Vertical Vector length 3

[0]

Vertical Vector: 1217.312286

[1]

Vertical Vector: -174.152524

[2]

Vertical Vector: 490.582537

Array Optical Vector length 3

[0]

Optical Vector: -0.008482

[1]

Optical Vector: -0.267211

[2]

Optical Vector: 0.963601

Array Radial Distortion Terms length 3

[0]

Radial Distortion Terms: 0.005004

[1]

Radial Distortion Terms: 0.002115

[2]

Radial Distortion Terms: 0.013527

Array Entrance Pupil Terms length 3

[0]

Entrance Pupil Terms: 0.000000

[1]

Entrance Pupil Terms: 0.000000

[2]

Entrance Pupil Terms: 0.000000

Array Camera Reference Vector length 3

[0]

Camera Reference Vector: 0.000000

[1]

Camera Reference Vector: 0.000000

[2]

Camera Reference Vector: 0.000000

Array Camera Reference Quaternion length 4

[0]

Camera Reference Quaternion: 0.000000

[1]

Camera Reference Quaternion: 0.000000

[2]

Camera Reference Quaternion: 0.000000

[3]

Camera Reference Quaternion: 1.000000

Camera Temperature: 20.000000

[Microscopic Imager, Cover Closed]

Camera Model ID: 195

Camera Serial Number: 110

Camera ID: Microscopic Imager

Filter Position: Microscopic Imager Cover Closed

Model Class: CAHVOR

Model Type: 0

Model Parameter: 0.000000

Array Center Vector length 3

[0]

Center Vector: 1.120980

[1]

Center Vector: 0.084947

[2]

Center Vector: 0.105077

Array Axis Vector length 3

[0]

Axis Vector: 0.025729

[1]

Axis Vector: -0.014067

[2]

Axis Vector: 0.999570

Array Horizontal Vector length 3

[0]

Horizontal Vector: -605.098814

[1]

Horizontal Vector: 2279.629747

[2]

Horizontal Vector: 576.574483

Array Vertical Vector length 3

[0]

Vertical Vector: -2269.908949

[1]

Vertical Vector: -629.901082

[2]

Vertical Vector: 571.473228

Array Optical Vector length 3

[0]

Optical Vector: -0.003143

[1]

Optical Vector: -0.044770

[2]

Optical Vector: 0.998992

Array Radial Distortion Terms length 3

[0]

Radial Distortion Terms: 0.001715

[1]

Radial Distortion Terms: 0.070042

[2]

Radial Distortion Terms: -0.724357

Array Entrance Pupil Terms length 3

[0]

Entrance Pupil Terms: 0.000000

[1]

Entrance Pupil Terms: 0.000000

[2]

Entrance Pupil Terms: 0.000000

Array Camera Reference Vector length 3

[0]

Camera Reference Vector: 1.121830

[1]

Camera Reference Vector: 0.083616

[2]

Camera Reference Vector: 0.160306

Array Camera Reference Quaternion length 4

[0]

Camera Reference Quaternion: -0.004108

[1]

Camera Reference Quaternion: 0.010736

[2]

Camera Reference Quaternion: -0.612627

[3]

Camera Reference Quaternion: 0.790289

Camera Temperature: 20.000000

[Microscopic Imager, Cover Open]

Camera Model ID: 194

Camera Serial Number: 110

Camera ID: Microscopic Imager

Filter Position: Microscopic Imager Cover Open

Model Class: CAHVOR

Model Type: 0

Model Parameter: 0.000000

Array Center Vector length 3

[0]

Center Vector: 1.120980

[1]

Center Vector: 0.084947

[2]

Center Vector: 0.105077

Array Axis Vector length 3

[0]

Axis Vector: 0.025729

[1]

Axis Vector: -0.014067

[2]

Axis Vector: 0.999570

Array Horizontal Vector length 3

[0]

Horizontal Vector: -605.098814

[1]

Horizontal Vector: 2279.629747

[2]

Horizontal Vector: 576.574483

Array Vertical Vector length 3

[0]

Vertical Vector: -2269.908949

[1]

Vertical Vector: -629.901082

[2]

Vertical Vector: 571.473228

Array Optical Vector length 3

[0]

Optical Vector: -0.003143

[1]

Optical Vector: -0.044770

[2]

Optical Vector: 0.998992

Array Radial Distortion Terms length 3

[0]

Radial Distortion Terms: 0.001715

[1]

Radial Distortion Terms: 0.070042

[2]

Radial Distortion Terms: -0.724357

Array Entrance Pupil Terms length 3

[0]

Entrance Pupil Terms: 0.000000

[1]

Entrance Pupil Terms: 0.000000

[2]

Entrance Pupil Terms: 0.000000

Array Camera Reference Vector length 3

[0]

Camera Reference Vector: 1.121830

[1]

Camera Reference Vector: 0.083616

[2]

Camera Reference Vector: 0.160306

Array Camera Reference Quaternion length 4

[0]

Camera Reference Quaternion: -0.004108

[1]

Camera Reference Quaternion: 0.010736

[2]

Camera Reference Quaternion: -0.612627

[3]

Camera Reference Quaternion: 0.790289

Camera Temperature: 20.000000

 

 


Appendix B.  MER flat fields

 

 


Figure A.1  Measured MER A Left Navcam Flat Field Response

 


Figure A.2  Measured MER A Right Navcam Flat Field Response

 

 


Figure A.3.  Measured MER B Left Navcam Flat Field Response

 


Figure A.4  Measured MER B Right Navcam Flat Field Response