PDS4 Geometry Discipline Data Dictionary User’s Guide
Last edited: 2026-02-09
Introduction
Purpose of this User’s Guide
This User’s Guide provides an overview of the Geometry Discipline Data Dictionary. The guide details how to include the dictionary in a PDS4 label, describes the organization of the dictionary’s classes and attributes, provides definitions for these classes and attributes, and lists example excerpts from labels that use them.
Audience
This User’s Guide should be useful to data providers intending to archive Geometry data with PDS as well as PDS Nodes who are working with these data providers.
Overview of the Geometry Discipline Data Dictionary
The Geometry Discipline Data Dictionary contains classes and attributes specific to the Geometry discipline.
Steward: Madison N. Hughes, PDS Geosciences Node, mnhughes@wustl.edu
Document Outline
How to Include the Geometry Discipline Data Dictionary in a PDS4 Label
The dictionary consists of a set of files with names in the form PDS4_GEOM_xxxx_yyyy.ext, where
xxxx = the PDS4 Information Model version, e.g. 1P00
yyyy = the Geometry Discipline Data Dictionary version, e.g. 19B0
and the file extensions are
.csv = A comma-separated value table of dictionary attributes
.JSON = The dictionary contents in JSON format
.sch = The dictionary “rules” as an XML Schematron file
.txt = The report generated when the dictionary was built
.xml = The PDS4 label that describes this set of files
.xsd = The dictionary contents as an XML schema file
Only the schema and Schematron files are needed for validating a PDS4 label.
The latest version of this dictionary may be found on the PDS web site at https://pds.nasa.gov/datastandards/dictionaries/index.shtml#geom.
The following is an example showing the use of this dictionary in a PDS4 label.
<?xml version="1.0" encoding="UTF-8"?>
<?xml-model href="https://pds.nasa.gov/pds4/pds/v1/PDS4_PDS_1P00.sch" schematypens="http://purl.oclc.org/dsdl/schematron"?>
<?xml-model href="https://pds.nasa.gov/pds4/geom/v1/PDS4_GEOM_1P00_19B0.sch" schematypens="http://purl.oclc.org/dsdl/schematron"?>
<Product_Observational xmlns="http://pds.nasa.gov/pds4/pds/v1"
xmlns:geom="http://pds.nasa.gov/pds4/geom/v1"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:schemaLocation="https://pds.nasa.gov/pds4/pds/v1/PDS4_PDS_1P00.xsd
https://pds.nasa.gov/pds4/geom/v1/PDS4_GEOM_1P00_19B0.xsd">
The following is a schematic example showing the location of every Geometry Discipline Data Dictionary class and attribute in a PDS4 label. Note that not all classes and attributes may be mutually compatible, and the example does not include any recursion, even if recursion is allowed.
<Observation_Area>
...
<Discipline_Area>
<geom:Coordinate_Space_Identification>
<geom:Coordinate_Space_Indexed>
<geom:coordinate_space_frame_type/>
<geom:solution_id/>
<geom:Coordinate_Space_Index>
<geom:index_sequence_number/>
<geom:index_name/>
<geom:index_id/>
<geom:index_value_number/>
</geom:Coordinate_Space_Index>
</geom:Coordinate_Space_Indexed>
<geom:Coordinate_Space_SPICE>
<geom:body_spice_name/>
<geom:frame_spice_name/>
</geom:Coordinate_Space_SPICE>
<geom:Local_Internal_Reference>
</geom:Local_Internal_Reference>
</geom:Coordinate_Space_Identification>
<geom:Geometry>
<geom:SPICE_Kernel_Files>
<geom:comment/>
<geom:SPICE_Kernel_Identification>
<geom:kernel_type/>
<geom:spice_kernel_file_name/>
<geom:kernel_provenance/>
<geom:Internal_Reference>
</geom:Internal_Reference>
</geom:SPICE_Kernel_Identification>
</geom:SPICE_Kernel_Files>
<geom:Expanded_Geometry>
<geom:Local_Internal_Reference>
</geom:Local_Internal_Reference>
<geom:Internal_Reference>
</geom:Internal_Reference>
</geom:Expanded_Geometry>
<geom:Image_Display_Geometry>
<geom:Local_Internal_Reference>
</geom:Local_Internal_Reference>
<geom:Display_Direction>
<geom:comment/>
<geom:horizontal_display_axis/>
<geom:horizontal_display_direction/>
<geom:vertical_display_axis/>
<geom:vertical_display_direction/>
</geom:Display_Direction>
<geom:Central_Body_Identification>
<geom:local_identifier/>
<geom:body_spice_name/>
<geom:name/>
<geom:Internal_Reference>
</geom:Internal_Reference>
</geom:Central_Body_Identification>
<geom:Geometry_Target_Identification>
<geom:local_identifier/>
<geom:body_spice_name/>
<geom:name/>
<geom:Internal_Reference>
</geom:Internal_Reference>
</geom:Geometry_Target_Identification>
<geom:Object_Orientation_North_East>
<geom:north_azimuth/>
<geom:east_azimuth/>
<geom:Reference_Frame_Identification>
<geom:local_identifier/>
<geom:frame_spice_name/>
<geom:name/>
<geom:comment/>
<geom:Internal_Reference>
</geom:Internal_Reference>
</geom:Reference_Frame_Identification>
</geom:Object_Orientation_North_East>
<geom:Object_Orientation_RA_Dec>
<geom:reference_pixel_location/>
<geom:right_ascension_hour_angle/>
<geom:right_ascension_angle/>
<geom:declination_angle/>
<geom:celestial_north_clock_angle/>
<geom:ecliptic_north_clock_angle/>
<geom:Reference_Pixel>
<geom:vertical_coordinate_pixel/>
<geom:horizontal_coordinate_pixel/>
</geom:Reference_Pixel>
<geom:Reference_Frame_Identification>
</geom:Reference_Frame_Identification>
</geom:Object_Orientation_RA_Dec>
<geom:Object_Orientation_Clock_Angles>
<geom:celestial_north_clock_angle/>
<geom:celestial_east_clock_angle/>
<geom:ecliptic_north_clock_angle/>
<geom:ecliptic_east_clock_angle/>
<geom:central_body_north_pole_clock_angle/>
<geom:central_body_positive_pole_clock_angle/>
<geom:target_north_pole_clock_angle/>
<geom:target_positive_pole_clock_angle/>
<geom:sun_direction_clock_angle/>
</geom:Object_Orientation_Clock_Angles>
<geom:Quaternion_Plus_To_From>
<geom:qcos/>
<geom:qsin1/>
<geom:qsin2/>
<geom:qsin3/>
<geom:Rotate_From>
<geom:local_identifier/>
<geom:frame_spice_name/>
<geom:name/>
<geom:comment/>
<geom:Internal_Reference>
</geom:Internal_Reference>
</geom:Rotate_From>
<geom:Rotate_To>
<geom:local_identifier/>
<geom:frame_spice_name/>
<geom:name/>
<geom:comment/>
<geom:Internal_Reference>
</geom:Internal_Reference>
</geom:Rotate_To>
</geom:Quaternion_Plus_To_From>
</geom:Image_Display_Geometry>
<geom:Geometry_Orbiter>
<geom:geometry_reference_time_utc/>
<geom:geometry_start_time_utc/>
<geom:geometry_stop_time_utc/>
<geom:geometry_reference_time_tdb/>
<geom:Orbiter_Identification>
<geom:Central_Body_Identification>
</geom:Central_Body_Identification>
<geom:Geometry_Target_Identification>
</geom:Geometry_Target_Identification>
<geom:Coordinate_System_Identification>
<geom:coordinate_system_type/>
<geom:coordinate_system_time_utc/>
<geom:comment/>
<geom:Coordinate_System_Origin_Identification>
<geom:local_identifier/>
<geom:body_spice_name/>
<geom:name/>
<geom:Internal_Reference>
</geom:Internal_Reference>
</geom:Coordinate_System_Origin_Identification>
<geom:Reference_Frame_Identification>
</geom:Reference_Frame_Identification>
</geom:Coordinate_System_Identification>
</geom:Orbiter_Identification>
<geom:Pixel_Dimensions>
<geom:pixel_field_of_view_method/>
<geom:horizontal_pixel_field_of_view/>
<geom:vertical_pixel_field_of_view/>
<geom:Pixel_Size_Projected>
<geom:reference_location/>
<geom:distance/>
<geom:horizontal_pixel_footprint/>
<geom:vertical_pixel_footprint/>
</geom:Pixel_Size_Projected>
</geom:Pixel_Dimensions>
<geom:Distances>
<geom:comment/>
<geom:Distances_Specific>
<geom:spacecraft_geocentric_distance/>
<geom:spacecraft_heliocentric_distance/>
<geom:spacecraft_central_body_distance/>
<geom:spacecraft_target_center_distance/>
<geom:spacecraft_target_boresight_intercept_distance/>
<geom:spacecraft_target_subspacecraft_distance/>
<geom:target_geocentric_distance/>
<geom:target_heliocentric_distance/>
<geom:target_ssb_distance/>
</geom:Distances_Specific>
<geom:Distances_Min_Max>
<geom:minimum_spacecraft_geocentric_distance/>
<geom:maximum_spacecraft_geocentric_distance/>
<geom:minimum_spacecraft_heliocentric_distance/>
<geom:maximum_spacecraft_heliocentric_distance/>
<geom:minimum_spacecraft_central_body_distance/>
<geom:maximum_spacecraft_central_body_distance/>
<geom:minimum_spacecraft_target_center_distance/>
<geom:maximum_spacecraft_target_center_distance/>
<geom:minimum_spacecraft_target_boresight_intercept_distance/>
<geom:maximum_spacecraft_target_boresight_intercept_distance/>
<geom:minimum_spacecraft_target_subspacecraft_distance/>
<geom:maximum_spacecraft_target_subspacecraft_distance/>
<geom:minimum_target_geocentric_distance/>
<geom:maximum_target_geocentric_distance/>
<geom:minimum_target_heliocentric_distance/>
<geom:maximum_target_heliocentric_distance/>
<geom:minimum_target_ssb_distance/>
<geom:maximum_target_ssb_distance/>
</geom:Distances_Min_Max>
<geom:Distances_Start_Stop>
<geom:start_spacecraft_geocentric_distance/>
<geom:stop_spacecraft_geocentric_distance/>
<geom:start_spacecraft_heliocentric_distance/>
<geom:stop_spacecraft_heliocentric_distance/>
<geom:start_spacecraft_central_body_distance/>
<geom:stop_spacecraft_central_body_distance/>
<geom:start_spacecraft_target_center_distance/>
<geom:stop_spacecraft_target_center_distance/>
<geom:start_spacecraft_target_boresight_intercept_distance/>
<geom:stop_spacecraft_target_boresight_intercept_distance/>
<geom:start_spacecraft_target_subspacecraft_distance/>
<geom:stop_spacecraft_target_subspacecraft_distance/>
<geom:start_target_geocentric_distance/>
<geom:stop_target_geocentric_distance/>
<geom:start_target_heliocentric_distance/>
<geom:stop_target_heliocentric_distance/>
<geom:start_target_ssb_distance/>
<geom:stop_target_ssb_distance/>
</geom:Distances_Start_Stop>
<geom:Distance_Generic>
<geom:distance/>
<geom:Observer_Identification>
<geom:local_identifier/>
<geom:body_spice_name/>
<geom:name/>
<geom:Internal_Reference>
</geom:Internal_Reference>
</geom:Observer_Identification>
<geom:Geometry_Target_Identification>
</geom:Geometry_Target_Identification>
</geom:Distance_Generic>
</geom:Distances>
<geom:Surface_Geometry>
<geom:comment/>
<geom:Surface_Geometry_Specific>
<geom:subsolar_azimuth/>
<geom:subsolar_latitude/>
<geom:subsolar_longitude/>
<geom:subspacecraft_azimuth/>
<geom:subspacecraft_latitude/>
<geom:subspacecraft_longitude/>
<geom:Pixel_Intercept>
<geom:reference_pixel_location/>
<geom:pixel_latitude/>
<geom:pixel_longitude/>
<geom:Reference_Pixel>
</geom:Reference_Pixel>
</geom:Pixel_Intercept>
<geom:Footprint_Vertices>
<geom:Pixel_Intercept>
</geom:Pixel_Intercept>
</geom:Footprint_Vertices>
</geom:Surface_Geometry_Specific>
<geom:Surface_Geometry_Min_Max>
<geom:minimum_latitude/>
<geom:maximum_latitude/>
<geom:minimum_longitude/>
<geom:maximum_longitude/>
<geom:minimum_subsolar_azimuth/>
<geom:maximum_subsolar_azimuth/>
<geom:minimum_subsolar_latitude/>
<geom:maximum_subsolar_latitude/>
<geom:minimum_subsolar_longitude/>
<geom:maximum_subsolar_longitude/>
<geom:minimum_subspacecraft_azimuth/>
<geom:maximum_subspacecraft_azimuth/>
<geom:minimum_subspacecraft_latitude/>
<geom:maximum_subspacecraft_latitude/>
<geom:minimum_subspacecraft_longitude/>
<geom:maximum_subspacecraft_longitude/>
</geom:Surface_Geometry_Min_Max>
<geom:Surface_Geometry_Start_Stop>
<geom:lat_long_method/>
<geom:start_latitude/>
<geom:stop_latitude/>
<geom:start_longitude/>
<geom:stop_longitude/>
<geom:start_subsolar_azimuth/>
<geom:stop_subsolar_azimuth/>
<geom:start_subsolar_latitude/>
<geom:stop_subsolar_latitude/>
<geom:start_subsolar_longitude/>
<geom:stop_subsolar_longitude/>
<geom:start_subspacecraft_azimuth/>
<geom:stop_subspacecraft_azimuth/>
<geom:start_subspacecraft_latitude/>
<geom:stop_subspacecraft_latitude/>
<geom:start_subspacecraft_longitude/>
<geom:stop_subspacecraft_longitude/>
</geom:Surface_Geometry_Start_Stop>
</geom:Surface_Geometry>
<geom:Illumination_Geometry>
<geom:comment/>
<geom:Illumination_Specific>
<geom:reference_location/>
<geom:reference_pixel_location/>
<geom:emission_angle/>
<geom:incidence_angle/>
<geom:phase_angle/>
<geom:solar_elongation/>
<geom:Reference_Pixel>
</geom:Reference_Pixel>
</geom:Illumination_Specific>
<geom:Illumination_Min_Max>
<geom:minimum_emission_angle/>
<geom:maximum_emission_angle/>
<geom:minimum_incidence_angle/>
<geom:maximum_incidence_angle/>
<geom:minimum_phase_angle/>
<geom:maximum_phase_angle/>
<geom:minimum_solar_elongation/>
<geom:maximum_solar_elongation/>
</geom:Illumination_Min_Max>
<geom:Illumination_Start_Stop>
<geom:start_emission_angle/>
<geom:stop_emission_angle/>
<geom:start_incidence_angle/>
<geom:stop_incidence_angle/>
<geom:start_phase_angle/>
<geom:stop_phase_angle/>
<geom:start_solar_elongation/>
<geom:stop_solar_elongation/>
</geom:Illumination_Start_Stop>
</geom:Illumination_Geometry>
<geom:Vectors>
<geom:comment/>
<geom:Vectors_Cartesian_Specific>
<geom:Vector_Cartesian_Position_Central_Body_To_Spacecraft>
<geom:x_position/>
<geom:light_time_correction_applied/>
<geom:y_position/>
<geom:z_position/>
<geom:Coordinate_System_Identification>
</geom:Coordinate_System_Identification>
</geom:Vector_Cartesian_Position_Central_Body_To_Spacecraft>
<geom:Vector_Cartesian_Position_Central_Body_To_Target>
<geom:x_position/>
<geom:light_time_correction_applied/>
<geom:y_position/>
<geom:z_position/>
<geom:Coordinate_System_Identification>
</geom:Coordinate_System_Identification>
</geom:Vector_Cartesian_Position_Central_Body_To_Target>
<geom:Vector_Cartesian_Position_Spacecraft_To_Target>
<geom:x_position/>
<geom:light_time_correction_applied/>
<geom:y_position/>
<geom:z_position/>
<geom:Coordinate_System_Identification>
</geom:Coordinate_System_Identification>
</geom:Vector_Cartesian_Position_Spacecraft_To_Target>
<geom:Vector_Cartesian_Position_SSB_To_Central_Body>
<geom:x_position/>
<geom:light_time_correction_applied/>
<geom:y_position/>
<geom:z_position/>
<geom:Coordinate_System_Identification>
</geom:Coordinate_System_Identification>
</geom:Vector_Cartesian_Position_SSB_To_Central_Body>
<geom:Vector_Cartesian_Position_SSB_To_Spacecraft>
<geom:x_position/>
<geom:light_time_correction_applied/>
<geom:y_position/>
<geom:z_position/>
<geom:Coordinate_System_Identification>
</geom:Coordinate_System_Identification>
</geom:Vector_Cartesian_Position_SSB_To_Spacecraft>
<geom:Vector_Cartesian_Position_SSB_To_Target>
<geom:x_position/>
<geom:light_time_correction_applied/>
<geom:y_position/>
<geom:z_position/>
<geom:Coordinate_System_Identification>
</geom:Coordinate_System_Identification>
</geom:Vector_Cartesian_Position_SSB_To_Target>
<geom:Vector_Cartesian_Position_Sun_To_Central_Body>
<geom:x_position/>
<geom:light_time_correction_applied/>
<geom:y_position/>
<geom:z_position/>
<geom:Coordinate_System_Identification>
</geom:Coordinate_System_Identification>
</geom:Vector_Cartesian_Position_Sun_To_Central_Body>
<geom:Vector_Cartesian_Position_Sun_To_Spacecraft>
<geom:x_position/>
<geom:light_time_correction_applied/>
<geom:y_position/>
<geom:z_position/>
<geom:Coordinate_System_Identification>
</geom:Coordinate_System_Identification>
</geom:Vector_Cartesian_Position_Sun_To_Spacecraft>
<geom:Vector_Cartesian_Position_Sun_To_Target>
<geom:x_position/>
<geom:light_time_correction_applied/>
<geom:y_position/>
<geom:z_position/>
<geom:Coordinate_System_Identification>
</geom:Coordinate_System_Identification>
</geom:Vector_Cartesian_Position_Sun_To_Target>
<geom:Vector_Cartesian_Position_Earth_To_Central_Body>
<geom:x_position/>
<geom:light_time_correction_applied/>
<geom:y_position/>
<geom:z_position/>
<geom:Coordinate_System_Identification>
</geom:Coordinate_System_Identification>
</geom:Vector_Cartesian_Position_Earth_To_Central_Body>
<geom:Vector_Cartesian_Position_Earth_To_Spacecraft>
<geom:x_position/>
<geom:light_time_correction_applied/>
<geom:y_position/>
<geom:z_position/>
<geom:Coordinate_System_Identification>
</geom:Coordinate_System_Identification>
</geom:Vector_Cartesian_Position_Earth_To_Spacecraft>
<geom:Vector_Cartesian_Position_Earth_To_Target>
<geom:x_position/>
<geom:light_time_correction_applied/>
<geom:y_position/>
<geom:z_position/>
<geom:Coordinate_System_Identification>
</geom:Coordinate_System_Identification>
</geom:Vector_Cartesian_Position_Earth_To_Target>
<geom:Vector_Cartesian_Velocity_Spacecraft_Relative_To_Central_Body>
<geom:x_velocity/>
<geom:light_time_correction_applied/>
<geom:y_velocity/>
<geom:z_velocity/>
<geom:Coordinate_System_Identification>
</geom:Coordinate_System_Identification>
</geom:Vector_Cartesian_Velocity_Spacecraft_Relative_To_Central_Body>
<geom:Vector_Cartesian_Velocity_Spacecraft_Relative_To_Target>
<geom:x_velocity/>
<geom:light_time_correction_applied/>
<geom:y_velocity/>
<geom:z_velocity/>
<geom:Coordinate_System_Identification>
</geom:Coordinate_System_Identification>
</geom:Vector_Cartesian_Velocity_Spacecraft_Relative_To_Target>
<geom:Vector_Cartesian_Velocity_Spacecraft_Relative_To_Earth>
<geom:x_velocity/>
<geom:light_time_correction_applied/>
<geom:y_velocity/>
<geom:z_velocity/>
<geom:Coordinate_System_Identification>
</geom:Coordinate_System_Identification>
</geom:Vector_Cartesian_Velocity_Spacecraft_Relative_To_Earth>
<geom:Vector_Cartesian_Velocity_Spacecraft_Relative_To_SSB>
<geom:x_velocity/>
<geom:light_time_correction_applied/>
<geom:y_velocity/>
<geom:z_velocity/>
<geom:Coordinate_System_Identification>
</geom:Coordinate_System_Identification>
</geom:Vector_Cartesian_Velocity_Spacecraft_Relative_To_SSB>
<geom:Vector_Cartesian_Velocity_Spacecraft_Relative_To_Sun>
<geom:x_velocity/>
<geom:light_time_correction_applied/>
<geom:y_velocity/>
<geom:z_velocity/>
<geom:Coordinate_System_Identification>
</geom:Coordinate_System_Identification>
</geom:Vector_Cartesian_Velocity_Spacecraft_Relative_To_Sun>
<geom:Vector_Cartesian_Velocity_Target_Relative_To_Central_Body>
<geom:x_velocity/>
<geom:light_time_correction_applied/>
<geom:y_velocity/>
<geom:z_velocity/>
<geom:Coordinate_System_Identification>
</geom:Coordinate_System_Identification>
</geom:Vector_Cartesian_Velocity_Target_Relative_To_Central_Body>
<geom:Vector_Cartesian_Velocity_Target_Relative_To_Spacecraft>
<geom:x_velocity/>
<geom:light_time_correction_applied/>
<geom:y_velocity/>
<geom:z_velocity/>
<geom:Coordinate_System_Identification>
</geom:Coordinate_System_Identification>
</geom:Vector_Cartesian_Velocity_Target_Relative_To_Spacecraft>
<geom:Vector_Cartesian_Velocity_Target_Relative_To_Earth>
<geom:x_velocity/>
<geom:light_time_correction_applied/>
<geom:y_velocity/>
<geom:z_velocity/>
<geom:Coordinate_System_Identification>
</geom:Coordinate_System_Identification>
</geom:Vector_Cartesian_Velocity_Target_Relative_To_Earth>
<geom:Vector_Cartesian_Velocity_Target_Relative_To_SSB>
<geom:x_velocity/>
<geom:light_time_correction_applied/>
<geom:y_velocity/>
<geom:z_velocity/>
<geom:Coordinate_System_Identification>
</geom:Coordinate_System_Identification>
</geom:Vector_Cartesian_Velocity_Target_Relative_To_SSB>
<geom:Vector_Cartesian_Velocity_Target_Relative_To_Sun>
<geom:x_velocity/>
<geom:light_time_correction_applied/>
<geom:y_velocity/>
<geom:z_velocity/>
<geom:Coordinate_System_Identification>
</geom:Coordinate_System_Identification>
</geom:Vector_Cartesian_Velocity_Target_Relative_To_Sun>
</geom:Vectors_Cartesian_Specific>
<geom:Vectors_Planetocentric_Specific>
<geom:Vector_Planetocentric_Position_Central_Body_To_Spacecraft>
<geom:radius_position/>
<geom:light_time_correction_applied/>
<geom:longitude_position/>
<geom:latitude_position/>
<geom:Coordinate_System_Identification>
</geom:Coordinate_System_Identification>
</geom:Vector_Planetocentric_Position_Central_Body_To_Spacecraft>
<geom:Vector_Planetocentric_Position_Central_Body_To_Target>
<geom:radius_position/>
<geom:light_time_correction_applied/>
<geom:longitude_position/>
<geom:latitude_position/>
<geom:Coordinate_System_Identification>
</geom:Coordinate_System_Identification>
</geom:Vector_Planetocentric_Position_Central_Body_To_Target>
<geom:Vector_Planetocentric_Position_Spacecraft_To_Target>
<geom:radius_position/>
<geom:light_time_correction_applied/>
<geom:longitude_position/>
<geom:latitude_position/>
<geom:Coordinate_System_Identification>
</geom:Coordinate_System_Identification>
</geom:Vector_Planetocentric_Position_Spacecraft_To_Target>
<geom:Vector_Planetocentric_Velocity_Spacecraft_Relative_To_Target>
<geom:radial_velocity/>
<geom:light_time_correction_applied/>
<geom:longitude_velocity/>
<geom:latitude_velocity/>
<geom:Coordinate_System_Identification>
</geom:Coordinate_System_Identification>
</geom:Vector_Planetocentric_Velocity_Spacecraft_Relative_To_Target>
<geom:Vector_Planetocentric_Velocity_Target_Relative_To_Central_Body>
<geom:radial_velocity/>
<geom:light_time_correction_applied/>
<geom:longitude_velocity/>
<geom:latitude_velocity/>
<geom:Coordinate_System_Identification>
</geom:Coordinate_System_Identification>
</geom:Vector_Planetocentric_Velocity_Target_Relative_To_Central_Body>
<geom:Vector_Planetocentric_Velocity_Target_Relative_To_Spacecraft>
<geom:radial_velocity/>
<geom:light_time_correction_applied/>
<geom:longitude_velocity/>
<geom:latitude_velocity/>
<geom:Coordinate_System_Identification>
</geom:Coordinate_System_Identification>
</geom:Vector_Planetocentric_Velocity_Target_Relative_To_Spacecraft>
</geom:Vectors_Planetocentric_Specific>
<geom:Generic_Vectors>
<geom:comment/>
<geom:Vector_Cartesian_Position_Generic>
<geom:x_position/>
<geom:light_time_correction_applied/>
<geom:y_position/>
<geom:z_position/>
<geom:Observer_Identification>
</geom:Observer_Identification>
<geom:Coordinate_System_Identification>
</geom:Coordinate_System_Identification>
<geom:Geometry_Target_Identification>
</geom:Geometry_Target_Identification>
</geom:Vector_Cartesian_Position_Generic>
<geom:Vector_Cartesian_Velocity_Generic>
<geom:x_velocity/>
<geom:light_time_correction_applied/>
<geom:y_velocity/>
<geom:z_velocity/>
<geom:Observer_Identification>
</geom:Observer_Identification>
<geom:Coordinate_System_Identification>
</geom:Coordinate_System_Identification>
<geom:Geometry_Target_Identification>
</geom:Geometry_Target_Identification>
</geom:Vector_Cartesian_Velocity_Generic>
<geom:Vector_Cartesian_Acceleration_Generic>
<geom:x_acceleration/>
<geom:light_time_correction_applied/>
<geom:y_acceleration/>
<geom:z_acceleration/>
<geom:Observer_Identification>
</geom:Observer_Identification>
<geom:Coordinate_System_Identification>
</geom:Coordinate_System_Identification>
<geom:Geometry_Target_Identification>
</geom:Geometry_Target_Identification>
</geom:Vector_Cartesian_Acceleration_Generic>
<geom:Vector_Planetocentric_Position_Generic>
<geom:radius_position/>
<geom:light_time_correction_applied/>
<geom:longitude_position/>
<geom:latitude_position/>
<geom:Observer_Identification>
</geom:Observer_Identification>
<geom:Coordinate_System_Identification>
</geom:Coordinate_System_Identification>
<geom:Geometry_Target_Identification>
</geom:Geometry_Target_Identification>
</geom:Vector_Planetocentric_Position_Generic>
<geom:Vector_Planetocentric_Velocity_Generic>
<geom:radial_velocity/>
<geom:light_time_correction_applied/>
<geom:longitude_velocity/>
<geom:latitude_velocity/>
<geom:Observer_Identification>
</geom:Observer_Identification>
<geom:Coordinate_System_Identification>
</geom:Coordinate_System_Identification>
<geom:Geometry_Target_Identification>
</geom:Geometry_Target_Identification>
</geom:Vector_Planetocentric_Velocity_Generic>
</geom:Generic_Vectors>
</geom:Vectors>
<geom:Quaternion_Plus_To_From>
</geom:Quaternion_Plus_To_From>
</geom:Geometry_Orbiter>
<geom:Geometry_Lander>
<geom:geometry_state/>
<geom:description/>
<geom:local_identifier/>
<geom:Articulation_Device_Parameters>
<geom:local_identifier/>
<geom:device_id/>
<geom:device_name/>
<geom:device_mode/>
<geom:device_phase/>
<geom:selected_instrument_id/>
<geom:Device_Angle>
<geom:local_identifier/>
<geom:Device_Angle_Index>
<geom:index_value_angle/>
<geom:index_sequence_number/>
<geom:index_name/>
<geom:index_id/>
</geom:Device_Angle_Index>
</geom:Device_Angle>
<geom:Device_Component_State>
<geom:local_identifier/>
<geom:Device_Component_State_Index>
<geom:index_sequence_number/>
<geom:index_name/>
<geom:index_id/>
<geom:index_value_string/>
</geom:Device_Component_State_Index>
</geom:Device_Component_State>
<geom:Device_Motor_Counts>
<geom:local_identifier/>
<geom:Device_Motor_Counts_Index>
<geom:index_sequence_number/>
<geom:index_name/>
<geom:index_id/>
<geom:index_value_number/>
</geom:Device_Motor_Counts_Index>
</geom:Device_Motor_Counts>
<geom:Device_Pose>
<geom:name/>
<geom:Quaternion_Plus_Direction>
<geom:qcos/>
<geom:qsin1/>
<geom:rotation_direction/>
<geom:qsin2/>
<geom:qsin3/>
</geom:Quaternion_Plus_Direction>
<geom:Vector_Origin_Offset>
<geom:x_position/>
<geom:y_position/>
<geom:z_position/>
</geom:Vector_Origin_Offset>
</geom:Device_Pose>
<geom:Vector_Device_Gravity>
<geom:x_unit/>
<geom:y_unit/>
<geom:z_unit/>
</geom:Vector_Device_Gravity>
<geom:Vector_Device_Gravity_Magnitude>
<geom:x_acceleration/>
<geom:y_acceleration/>
<geom:z_acceleration/>
</geom:Vector_Device_Gravity_Magnitude>
<geom:Device_Temperature>
<geom:local_identifier/>
<geom:Device_Temperature_Index>
<geom:index_sequence_number/>
<geom:index_name/>
<geom:index_id/>
<geom:index_value_temperature/>
<geom:index_value_number/>
</geom:Device_Temperature_Index>
</geom:Device_Temperature>
<geom:Coordinate_Space_Present>
<geom:Coordinate_Space_Indexed>
<geom:coordinate_space_frame_type/>
<geom:solution_id/>
<geom:Coordinate_Space_Index>
<geom:index_sequence_number/>
<geom:index_name/>
<geom:index_id/>
<geom:index_value_number/>
</geom:Coordinate_Space_Index>
</geom:Coordinate_Space_Indexed>
<geom:Coordinate_Space_SPICE>
<geom:body_spice_name/>
<geom:frame_spice_name/>
</geom:Coordinate_Space_SPICE>
<geom:Local_Internal_Reference>
</geom:Local_Internal_Reference>
</geom:Coordinate_Space_Present>
<geom:Coordinate_Space_Reference>
<geom:Coordinate_Space_Indexed>
</geom:Coordinate_Space_Indexed>
<geom:Coordinate_Space_SPICE>
</geom:Coordinate_Space_SPICE>
<geom:Local_Internal_Reference>
</geom:Local_Internal_Reference>
</geom:Coordinate_Space_Reference>
<geom:Commanded_Geometry>
<geom:command_type/>
<geom:Device_Angle>
</geom:Device_Angle>
<geom:Commanded_Position>
<geom:x_position/>
<geom:y_position/>
<geom:z_position/>
</geom:Commanded_Position>
<geom:Coordinate_Space_Reference>
</geom:Coordinate_Space_Reference>
</geom:Commanded_Geometry>
</geom:Articulation_Device_Parameters>
<geom:Camera_Model_Parameters>
<geom:model_type/>
<geom:calibration_source_id/>
<geom:solution_id/>
<geom:Internal_Reference>
</geom:Internal_Reference>
<geom:CAHV_Model>
<geom:Vector_Center>
<geom:x_position/>
<geom:y_position/>
<geom:z_position/>
</geom:Vector_Center>
<geom:Vector_Axis>
<geom:x_unit/>
<geom:y_unit/>
<geom:z_unit/>
</geom:Vector_Axis>
<geom:Vector_Horizontal>
<geom:x_pixel/>
<geom:y_pixel/>
<geom:z_pixel/>
</geom:Vector_Horizontal>
<geom:Vector_Vertical>
<geom:x_pixel/>
<geom:y_pixel/>
<geom:z_pixel/>
</geom:Vector_Vertical>
</geom:CAHV_Model>
<geom:CAHVOR_Model>
<geom:Vector_Center>
</geom:Vector_Center>
<geom:Vector_Optical>
<geom:x_unit/>
<geom:y_unit/>
<geom:z_unit/>
</geom:Vector_Optical>
<geom:Radial_Terms>
<geom:c0/>
<geom:c1/>
<geom:c2/>
</geom:Radial_Terms>
<geom:Vector_Axis>
</geom:Vector_Axis>
<geom:Vector_Horizontal>
</geom:Vector_Horizontal>
<geom:Vector_Vertical>
</geom:Vector_Vertical>
</geom:CAHVOR_Model>
<geom:CAHVORE_Model>
<geom:cahvore_model_type/>
<geom:cahvore_model_parameter/>
<geom:Entrance_Terms>
<geom:c0/>
<geom:c1/>
<geom:c2/>
</geom:Entrance_Terms>
<geom:Vector_Center>
</geom:Vector_Center>
<geom:Vector_Optical>
</geom:Vector_Optical>
<geom:Radial_Terms>
</geom:Radial_Terms>
<geom:Vector_Axis>
</geom:Vector_Axis>
<geom:Vector_Horizontal>
</geom:Vector_Horizontal>
<geom:Vector_Vertical>
</geom:Vector_Vertical>
</geom:CAHVORE_Model>
<geom:PSPH_Model>
<geom:psph_model_scale_x/>
<geom:psph_model_scale_y/>
<geom:Vector_Center>
</geom:Vector_Center>
<geom:Vector_Axis_X>
<geom:x_unit/>
<geom:y_unit/>
<geom:z_unit/>
</geom:Vector_Axis_X>
<geom:Vector_Axis_Y>
<geom:x_unit/>
<geom:y_unit/>
<geom:z_unit/>
</geom:Vector_Axis_Y>
<geom:Vector_Normal_X>
<geom:x_unit/>
<geom:y_unit/>
<geom:z_unit/>
</geom:Vector_Normal_X>
<geom:Vector_Normal_Y>
<geom:x_unit/>
<geom:y_unit/>
<geom:z_unit/>
</geom:Vector_Normal_Y>
</geom:PSPH_Model>
<geom:Reference_Frame_Identification>
</geom:Reference_Frame_Identification>
<geom:Coordinate_Space_Reference>
</geom:Coordinate_Space_Reference>
<geom:Quaternion_Model_Transform>
<geom:qcos/>
<geom:qsin1/>
<geom:qsin2/>
<geom:qsin3/>
</geom:Quaternion_Model_Transform>
<geom:Vector_Model_Transform>
<geom:x/>
<geom:y/>
<geom:z/>
</geom:Vector_Model_Transform>
<geom:Interpolation>
<geom:interpolation_algorithm/>
<geom:interpolation_variable/>
<geom:interpolation_value/>
<geom:interpolation_sequence/>
</geom:Interpolation>
</geom:Camera_Model_Parameters>
<geom:Coordinate_Space_Definition>
<geom:local_identifier/>
<geom:positive_azimuth_direction/>
<geom:positive_elevation_direction/>
<geom:quaternion_measurement_method/>
<geom:Coordinate_Space_Present>
</geom:Coordinate_Space_Present>
<geom:Vector_Origin_Offset>
</geom:Vector_Origin_Offset>
<geom:Quaternion_Plus_Direction>
</geom:Quaternion_Plus_Direction>
<geom:Coordinate_Space_Reference>
</geom:Coordinate_Space_Reference>
<geom:Coordinate_Space_Quality>
<geom:quaternion_measurement_method/>
<geom:attitude_propagation_counter/>
<geom:attitude_propagation_duration/>
</geom:Coordinate_Space_Quality>
</geom:Coordinate_Space_Definition>
<geom:Derived_Geometry>
<geom:target_name/>
<geom:incidence_angle/>
<geom:emission_angle/>
<geom:phase_angle/>
<geom:instrument_azimuth/>
<geom:instrument_elevation/>
<geom:solar_azimuth/>
<geom:solar_elevation/>
<geom:start_azimuth/>
<geom:stop_azimuth/>
<geom:target_heliocentric_distance/>
<geom:solar_image_clock_angle/>
<geom:Vector_Solar_Direction>
<geom:x_unit/>
<geom:y_unit/>
<geom:z_unit/>
</geom:Vector_Solar_Direction>
<geom:Coordinate_Space_Reference>
</geom:Coordinate_Space_Reference>
</geom:Derived_Geometry>
<geom:Motion_Counter>
<geom:name/>
<geom:local_identifier/>
<geom:Motion_Counter_Index>
<geom:index_sequence_number/>
<geom:index_name/>
<geom:index_id/>
<geom:index_value_number/>
</geom:Motion_Counter_Index>
</geom:Motion_Counter>
</geom:Geometry_Lander>
</geom:Geometry>
<geom:List_Index_Angle>
<geom:index_value_angle/>
<geom:index_sequence_number/>
<geom:index_name/>
<geom:index_id/>
</geom:List_Index_Angle>
<geom:List_Index_Base>
<geom:index_sequence_number/>
<geom:index_name/>
<geom:index_id/>
</geom:List_Index_Base>
<geom:List_Index_Length>
<geom:index_sequence_number/>
<geom:index_name/>
<geom:index_id/>
<geom:index_value_length/>
</geom:List_Index_Length>
<geom:List_Index_No_Units>
<geom:index_sequence_number/>
<geom:index_name/>
<geom:index_id/>
<geom:index_value_number/>
</geom:List_Index_No_Units>
<geom:List_Index_Temperature>
<geom:index_sequence_number/>
<geom:index_name/>
<geom:index_id/>
<geom:index_value_temperature/>
<geom:index_value_number/>
</geom:List_Index_Temperature>
<geom:List_Index_Text>
<geom:index_sequence_number/>
<geom:index_name/>
<geom:index_id/>
<geom:index_value_string/>
</geom:List_Index_Text>
<geom:Polynomial_Coefficients_1>
<geom:c0/>
</geom:Polynomial_Coefficients_1>
<geom:Polynomial_Coefficients_2>
<geom:c0/>
<geom:c1/>
</geom:Polynomial_Coefficients_2>
<geom:Polynomial_Coefficients_3>
<geom:c0/>
<geom:c1/>
<geom:c2/>
</geom:Polynomial_Coefficients_3>
<geom:Vector_Cartesian_Acceleration_Base>
<geom:x_acceleration/>
<geom:y_acceleration/>
<geom:z_acceleration/>
</geom:Vector_Cartesian_Acceleration_Base>
<geom:Vector_Cartesian_Acceleration_Extended_Base>
<geom:x_acceleration/>
<geom:light_time_correction_applied/>
<geom:y_acceleration/>
<geom:z_acceleration/>
<geom:Coordinate_System_Identification>
<geom:coordinate_system_type/>
<geom:coordinate_system_time_utc/>
<geom:comment/>
<geom:Coordinate_System_Origin_Identification>
<geom:local_identifier/>
<geom:body_spice_name/>
<geom:name/>
<geom:Internal_Reference>
</geom:Internal_Reference>
</geom:Coordinate_System_Origin_Identification>
<geom:Reference_Frame_Identification>
<geom:local_identifier/>
<geom:frame_spice_name/>
<geom:name/>
<geom:comment/>
<geom:Internal_Reference>
</geom:Internal_Reference>
</geom:Reference_Frame_Identification>
</geom:Coordinate_System_Identification>
</geom:Vector_Cartesian_Acceleration_Extended_Base>
<geom:Vector_Cartesian_No_Units>
<geom:x/>
<geom:y/>
<geom:z/>
</geom:Vector_Cartesian_No_Units>
<geom:Vector_Cartesian_Pixel>
<geom:x_pixel/>
<geom:y_pixel/>
<geom:z_pixel/>
</geom:Vector_Cartesian_Pixel>
<geom:Vector_Cartesian_Position_Base>
<geom:x_position/>
<geom:y_position/>
<geom:z_position/>
</geom:Vector_Cartesian_Position_Base>
<geom:Vector_Cartesian_Position_Extended_Base>
<geom:x_position/>
<geom:light_time_correction_applied/>
<geom:y_position/>
<geom:z_position/>
<geom:Coordinate_System_Identification>
<geom:coordinate_system_type/>
<geom:coordinate_system_time_utc/>
<geom:comment/>
<geom:Coordinate_System_Origin_Identification>
<geom:local_identifier/>
<geom:body_spice_name/>
<geom:name/>
<geom:Internal_Reference>
</geom:Internal_Reference>
</geom:Coordinate_System_Origin_Identification>
<geom:Reference_Frame_Identification>
<geom:local_identifier/>
<geom:frame_spice_name/>
<geom:name/>
<geom:comment/>
<geom:Internal_Reference>
</geom:Internal_Reference>
</geom:Reference_Frame_Identification>
</geom:Coordinate_System_Identification>
</geom:Vector_Cartesian_Position_Extended_Base>
<geom:Vector_Cartesian_Unit>
<geom:x_unit/>
<geom:y_unit/>
<geom:z_unit/>
</geom:Vector_Cartesian_Unit>
<geom:Vector_Cartesian_Velocity_Base>
<geom:x_velocity/>
<geom:y_velocity/>
<geom:z_velocity/>
</geom:Vector_Cartesian_Velocity_Base>
<geom:Vector_Cartesian_Velocity_Extended_Base>
<geom:x_velocity/>
<geom:light_time_correction_applied/>
<geom:y_velocity/>
<geom:z_velocity/>
<geom:Coordinate_System_Identification>
<geom:coordinate_system_type/>
<geom:coordinate_system_time_utc/>
<geom:comment/>
<geom:Coordinate_System_Origin_Identification>
<geom:local_identifier/>
<geom:body_spice_name/>
<geom:name/>
<geom:Internal_Reference>
</geom:Internal_Reference>
</geom:Coordinate_System_Origin_Identification>
<geom:Reference_Frame_Identification>
<geom:local_identifier/>
<geom:frame_spice_name/>
<geom:name/>
<geom:comment/>
<geom:Internal_Reference>
</geom:Internal_Reference>
</geom:Reference_Frame_Identification>
</geom:Coordinate_System_Identification>
</geom:Vector_Cartesian_Velocity_Extended_Base>
<geom:Vector_Planetocentric_Position_Base>
<geom:radius_position/>
<geom:longitude_position/>
<geom:latitude_position/>
</geom:Vector_Planetocentric_Position_Base>
<geom:Vector_Planetocentric_Position_Extended_Base>
<geom:radius_position/>
<geom:light_time_correction_applied/>
<geom:longitude_position/>
<geom:latitude_position/>
<geom:Coordinate_System_Identification>
<geom:coordinate_system_type/>
<geom:coordinate_system_time_utc/>
<geom:comment/>
<geom:Coordinate_System_Origin_Identification>
<geom:local_identifier/>
<geom:body_spice_name/>
<geom:name/>
<geom:Internal_Reference>
</geom:Internal_Reference>
</geom:Coordinate_System_Origin_Identification>
<geom:Reference_Frame_Identification>
<geom:local_identifier/>
<geom:frame_spice_name/>
<geom:name/>
<geom:comment/>
<geom:Internal_Reference>
</geom:Internal_Reference>
</geom:Reference_Frame_Identification>
</geom:Coordinate_System_Identification>
</geom:Vector_Planetocentric_Position_Extended_Base>
<geom:Vector_Planetocentric_Velocity_Base>
<geom:radial_velocity/>
<geom:longitude_velocity/>
<geom:latitude_velocity/>
</geom:Vector_Planetocentric_Velocity_Base>
<geom:Vector_Planetocentric_Velocity_Extended_Base>
<geom:radial_velocity/>
<geom:light_time_correction_applied/>
<geom:longitude_velocity/>
<geom:latitude_velocity/>
<geom:Coordinate_System_Identification>
<geom:coordinate_system_type/>
<geom:coordinate_system_time_utc/>
<geom:comment/>
<geom:Coordinate_System_Origin_Identification>
<geom:local_identifier/>
<geom:body_spice_name/>
<geom:name/>
<geom:Internal_Reference>
</geom:Internal_Reference>
</geom:Coordinate_System_Origin_Identification>
<geom:Reference_Frame_Identification>
<geom:local_identifier/>
<geom:frame_spice_name/>
<geom:name/>
<geom:comment/>
<geom:Internal_Reference>
</geom:Internal_Reference>
</geom:Reference_Frame_Identification>
</geom:Coordinate_System_Identification>
</geom:Vector_Planetocentric_Velocity_Extended_Base>
</Discipline_Area>
...
</Observation_Area>
The namespace for the Geometry Discipline Data Dictionary is http://pds.nasa.gov/pds4/geom/v1, abbreviated “geom:”.
Organization of Classes and Attributes
Class Organization
Below is a structured list showing the organization of classes, ordered by appearance in the PDS4 label. Each class name is linked to its complete definition in the Definitions section.
Attributes by Class
The attributes immediately under each class (if any) are listed below. Both classes and attributes are ordered by appearance in the PDS4 label; however, each class is listed only once, even if that class can appear in more than one place in a PDS4 label. Each class and attribute name is linked to its complete definition in the Definitions section.
Coordinate_Space_Identification (attribute list)
Coordinate_Space_Indexed (attribute list)
Coordinate_Space_Index (attribute list)
Coordinate_Space_SPICE (attribute list)
Local_Internal_Reference (attribute list)
Geometry (attribute list)
SPICE_Kernel_Files (attribute list)
SPICE_Kernel_Identification (attribute list)
Internal_Reference (attribute list)
Expanded_Geometry (attribute list)
Image_Display_Geometry (attribute list)
Display_Direction (attribute list)
Central_Body_Identification (attribute list)
Geometry_Target_Identification (attribute list)
Object_Orientation_North_East (attribute list)
Reference_Frame_Identification (attribute list)
Object_Orientation_RA_Dec (attribute list)
Reference_Pixel (attribute list)
Object_Orientation_Clock_Angles (attribute list)
Quaternion_Plus_To_From (attribute list)
Rotate_From (attribute list)
Rotate_To (attribute list)
Geometry_Orbiter (attribute list)
Orbiter_Identification (attribute list)
Coordinate_System_Identification (attribute list)
Coordinate_System_Origin_Identification (attribute list)
Pixel_Dimensions (attribute list)
Pixel_Size_Projected (attribute list)
Distances (attribute list)
Distances_Specific (attribute list)
Distances_Min_Max (attribute list)
Distances_Start_Stop (attribute list)
Distance_Generic (attribute list)
Observer_Identification (attribute list)
Surface_Geometry (attribute list)
Surface_Geometry_Specific (attribute list)
Pixel_Intercept (attribute list)
Footprint_Vertices (attribute list)
Surface_Geometry_Min_Max (attribute list)
Surface_Geometry_Start_Stop (attribute list)
Illumination_Geometry (attribute list)
Illumination_Specific (attribute list)
Illumination_Min_Max (attribute list)
Illumination_Start_Stop (attribute list)
Vectors (attribute list)
Vectors_Cartesian_Specific (attribute list)
Vector_Cartesian_Position_Central_Body_To_Spacecraft (attribute list)
Vector_Cartesian_Position_Central_Body_To_Target (attribute list)
Vector_Cartesian_Position_Spacecraft_To_Target (attribute list)
Vector_Cartesian_Position_SSB_To_Central_Body (attribute list)
Vector_Cartesian_Position_SSB_To_Spacecraft (attribute list)
Vector_Cartesian_Position_SSB_To_Target (attribute list)
Vector_Cartesian_Position_Sun_To_Central_Body (attribute list)
Vector_Cartesian_Position_Sun_To_Spacecraft (attribute list)
Vector_Cartesian_Position_Sun_To_Target (attribute list)
Vector_Cartesian_Position_Earth_To_Central_Body (attribute list)
Vector_Cartesian_Position_Earth_To_Spacecraft (attribute list)
Vector_Cartesian_Position_Earth_To_Target (attribute list)
Vector_Cartesian_Velocity_Spacecraft_Relative_To_Central_Body (attribute list)
Vector_Cartesian_Velocity_Spacecraft_Relative_To_Target (attribute list)
Vector_Cartesian_Velocity_Spacecraft_Relative_To_Earth (attribute list)
Vector_Cartesian_Velocity_Spacecraft_Relative_To_SSB (attribute list)
Vector_Cartesian_Velocity_Spacecraft_Relative_To_Sun (attribute list)
Vector_Cartesian_Velocity_Target_Relative_To_Central_Body (attribute list)
Vector_Cartesian_Velocity_Target_Relative_To_Spacecraft (attribute list)
Vector_Cartesian_Velocity_Target_Relative_To_Earth (attribute list)
Vector_Cartesian_Velocity_Target_Relative_To_SSB (attribute list)
Vector_Cartesian_Velocity_Target_Relative_To_Sun (attribute list)
Vectors_Planetocentric_Specific (attribute list)
Vector_Planetocentric_Position_Central_Body_To_Spacecraft (attribute list)
Vector_Planetocentric_Position_Central_Body_To_Target (attribute list)
Vector_Planetocentric_Position_Spacecraft_To_Target (attribute list)
Vector_Planetocentric_Velocity_Spacecraft_Relative_To_Target (attribute list)
Vector_Planetocentric_Velocity_Target_Relative_To_Central_Body (attribute list)
Vector_Planetocentric_Velocity_Target_Relative_To_Spacecraft (attribute list)
Generic_Vectors (attribute list)
Vector_Cartesian_Position_Generic (attribute list)
Vector_Cartesian_Velocity_Generic (attribute list)
Vector_Cartesian_Acceleration_Generic (attribute list)
Vector_Planetocentric_Position_Generic (attribute list)
Vector_Planetocentric_Velocity_Generic (attribute list)
Geometry_Lander (attribute list)
Articulation_Device_Parameters (attribute list)
Device_Angle (attribute list)
Device_Angle_Index (attribute list)
Device_Component_State (attribute list)
Device_Component_State_Index (attribute list)
Device_Motor_Counts (attribute list)
Device_Motor_Counts_Index (attribute list)
Device_Pose (attribute list)
Quaternion_Plus_Direction (attribute list)
Vector_Origin_Offset (attribute list)
Vector_Device_Gravity (attribute list)
Vector_Device_Gravity_Magnitude (attribute list)
Device_Temperature (attribute list)
Device_Temperature_Index (attribute list)
Coordinate_Space_Present (attribute list)
Coordinate_Space_Reference (attribute list)
Commanded_Geometry (attribute list)
Commanded_Position (attribute list)
Camera_Model_Parameters (attribute list)
CAHV_Model (attribute list)
Vector_Center (attribute list)
Vector_Axis (attribute list)
Vector_Horizontal (attribute list)
Vector_Vertical (attribute list)
CAHVOR_Model (attribute list)
Vector_Optical (attribute list)
Radial_Terms (attribute list)
CAHVORE_Model (attribute list)
Entrance_Terms (attribute list)
PSPH_Model (attribute list)
Vector_Axis_X (attribute list)
Vector_Axis_Y (attribute list)
Vector_Normal_X (attribute list)
Vector_Normal_Y (attribute list)
Quaternion_Model_Transform (attribute list)
Vector_Model_Transform (attribute list)
Interpolation (attribute list)
Coordinate_Space_Definition (attribute list)
Coordinate_Space_Quality (attribute list)
Derived_Geometry (attribute list)
Vector_Solar_Direction (attribute list)
Motion_Counter (attribute list)
Motion_Counter_Index (attribute list)
List_Index_Angle (attribute list)
List_Index_Base (attribute list)
List_Index_Length (attribute list)
List_Index_No_Units (attribute list)
List_Index_Temperature (attribute list)
List_Index_Text (attribute list)
Polynomial_Coefficients_1 (attribute list)
Polynomial_Coefficients_2 (attribute list)
Polynomial_Coefficients_3 (attribute list)
Vector_Cartesian_Acceleration_Base (attribute list)
Vector_Cartesian_Acceleration_Extended_Base (attribute list)
Vector_Cartesian_No_Units (attribute list)
Vector_Cartesian_Pixel (attribute list)
Vector_Cartesian_Position_Base (attribute list)
Vector_Cartesian_Position_Extended_Base (attribute list)
Vector_Cartesian_Unit (attribute list)
Vector_Cartesian_Velocity_Base (attribute list)
Vector_Cartesian_Velocity_Extended_Base (attribute list)
Vector_Planetocentric_Position_Base (attribute list)
Vector_Planetocentric_Position_Extended_Base (attribute list)
Vector_Planetocentric_Velocity_Base (attribute list)
Vector_Planetocentric_Velocity_Extended_Base (attribute list)
Definitions
Classes (in alphabetical order)
Articulation_Device_Parameters
The Articulation_Device_Parameters class contains those attributes and sub-classes that describe an articulation device. An articulation device is anything that can move independently of the spacecraft to which it is attached. Examples include mast heads, wheel bogies, arms, filter wheel, scan platforms.
Minimum occurrences: 0
Maximum occurrences: unbounded
CAHVORE_Model
The CAHVORE model is built upon CAHVOR (see CAHVOR_Model), adding support for fisheye lenses. It adds one more 3-vector and two scalars to CAHVOR. E (Entrance_Terms) contains the coefficients of a polynomial function used to model movement of the entrance pupil. The two scalars, cahvore_model_type and cahvore_model_parameter, together specify the type of lens being modeled.
Minimum occurrences: 1
Maximum occurrences: 1
CAHVOR_Model
The CAHVOR model is built upon CAHV (see CAHV_Model), adding radial (barrel or pincushion) distortion to the linear model. It adds two more 3-vectors to CAHV. O (Vector_Optical) is a unit vector representing the axis of symmetry for the radial distortion. R (Radial_Terms) contains the coefficients of a polynomial function that describes the radial distortion.
Minimum occurrences: 1
Maximum occurrences: 1
CAHV_Model
The CAHV model is a linear, perspective-projection camera model (equivalent to a pinhole camera). It consists of four 3-vectors (C,A,H,V) that describe the internal and external camera model parameters needed to translate between 2D image coordinates and 3D world coordinates. C (Vector_Center) is the 3D position of the pinhole (center of the entrance pupil). A (Vector_Axis) is a unit vector normal to the image plane pointing outward. H (Vector_Horizontal) is a composite vector encoding three quantities: H’ (a vector in the image plane perpendicular to the vertical columns), Hs (the distance between the lens center and image plane, measured in horizontal pixels), and Hc (the horizontal image coordinate directly under C when moving parallel to A). V (Vector_Vertical) similarly composites the analogous V’, Vs, and Vc in the vertical direction.
Minimum occurrences: 1
Maximum occurrences: 1
Camera_Model_Parameters
A camera model describes the mathematical relationship between the coordinates of a point in 3-dimensional space and its projection onto a 2-dimensional image plane. There are numerous types of camera models.
Minimum occurrences: 0
Maximum occurrences: unbounded
Central_Body_Identification
The Central_Body_Identification class uniquely identifies the body that is the central body associated with an observation (e.g., Saturn for Saturn system observations).
Minimum occurrences: 0
Maximum occurrences: 1
Commanded_Geometry
Specifies how the device was commanded in order to achieve the state represented in the enclosing Articulation_Device_Parameters. Commands are often at a higher level, e.g. point at this location or move to this XYZ, which is translated by flight software to the actual pose of the device. Certain forms of command are measured in a coordinate frame; this is specified by the Coordinate_Space_Reference in this class (if not present, the Coordinate_Space_Reference in the Articulation_Device_Parameters parent should be assumed).
Minimum occurrences: 1
Maximum occurrences: unbounded
Commanded_Position
Specifies a Cartesian position used in commanding the device.
Minimum occurrences: 0
Maximum occurrences: 1
Coordinate_Space_Definition
The Coordinate_Space classes are typically used for lander/rover geometry while the Coordinate_System construction is used for orbiter/flyby geometry.
Minimum occurrences: 0
Maximum occurrences: unbounded
Coordinate_Space_Identification
The Coordinate_Space_Identification class uniquely identifies a coordinate space (i.e., reference frame + position) with respect to which the values of the attributes in the containing class are defined.
Minimum occurrences: 1
Maximum occurrences: 1
Coordinate_Space_Index
Identifies a coordinate space using an index value given in an identified list.
Minimum occurrences: 1
Maximum occurrences: unbounded
Coordinate_Space_Indexed
The Coordinate_Space_Indexed class contains the attributes and classes identifying the indexed coordinate space.
Minimum occurrences: 1
Maximum occurrences: unbounded
Coordinate_Space_Present
The Coordinate_Space_Present class includes the attributes that identifies the coordinate space presently being defined.
in Articulation_Device_Parameters:
Minimum occurrences: 1
Maximum occurrences: unbounded
in Coordinate_Space_Definition:
Minimum occurrences: 1
Maximum occurrences: 1
Coordinate_Space_Quality
Parameters that indicate the quality of the coordinate space knowledge.
Minimum occurrences: 0
Maximum occurrences: 1
Coordinate_Space_Reference
The Coordinate_Space_Reference class includes the attributes that identify the coordinate space being used to express coordinates in the class in which it appears.
in Articulation_Device_Parameters:
Minimum occurrences: 1
Maximum occurrences: unbounded
-
Minimum occurrences: 1
Maximum occurrences: 1
-
Minimum occurrences: 0
Maximum occurrences: 1
in Coordinate_Space_Definition:
Minimum occurrences: 1
Maximum occurrences: 1
in Derived_Geometry:
Minimum occurrences: 0
Maximum occurrences: 1
Coordinate_Space_SPICE
Identifies a coordinate space using SPICE names for the frame and origin.
Minimum occurrences: 1
Maximum occurrences: unbounded
Coordinate_System_Identification
The Coordinate_System_Identification class fully describes a coordinate system. This class is typically used for orbiter/flyby geometry while the Coordinate_Space construction is used for lander/rover geometry. Coordinate_System_Identification provides the reference frame, coordinate system type (cartesian, planetocentric, etc.), origin, and the instantiation time of the system when appropriate. The instantiation time (coordinate_system_time_utc) is used when a rotating frame has been ‘frozen’ at a particular epoch. Instantiation time is not needed for inertial or rotating frames.
Minimum occurrences: 0
Maximum occurrences: 1
Coordinate_System_Origin_Identification
The Coordinate_System_Origin_Identification class uniquely identifies the “body” that is the origin of a coordinate system. Typically body centered coordinate systems place the origin at the center of mass of the body. In addition to physical bodies, the origin may be defined at a point in space such as a system barycenter. Note that the origin of coordinate system does not necessarily correspond to either end point of a vector.
Minimum occurrences: 1
Maximum occurrences: 1
Derived_Geometry
The Derived_Geometry class is a container for surface based observations (lander or rover). It is used to provide some geometric quantities relative to a specific Reference Coordinate Space.
Minimum occurrences: 0
Maximum occurrences: unbounded
Device_Angle
The Device_Angle class is a container for the set of angles between the various components or devices of the spacecraft.
in Articulation_Device_Parameters:
Minimum occurrences: 1
Maximum occurrences: unbounded
-
Minimum occurrences: 0
Maximum occurrences: 1
Device_Angle_Index
The Device_Angle class is a container for the set of angles the spacecraft device specified in the parent Articulation_Device_Parameters class.
Minimum occurrences: 1
Maximum occurrences: unbounded
Device_Component_State
The Device_Component_State class is a container for the states of the various components of the articulation device.
Minimum occurrences: 1
Maximum occurrences: unbounded
Device_Component_State_Index
The Device_Component_State_Index class is a container for one state of a component of the articulation device.
Minimum occurrences: 1
Maximum occurrences: unbounded
Device_Motor_Counts
The Device_Motor_Counts class is a container for the classes that describe the motor step count information for device components.
Minimum occurrences: 1
Maximum occurrences: unbounded
Device_Motor_Counts_Index
The Device_Motor_Counts_Index class is a container for the attributes that describe the motor step count information for a single motor on a device.
Minimum occurrences: 1
Maximum occurrences: unbounded
Device_Pose
Defines the pose of this articulation device. The name indicates what exactly is being measured and how, and disambiguates if there is more than one Device_Pose. For example, Mars 2020 has “arm_attitude_reference”, which indicates the pose of the rover that was used to calculate gravity droop of the arm. The interpretation of the pose is mission-specific; see the mission documentation.
Minimum occurrences: 1
Maximum occurrences: unbounded
Device_Temperature
The Device_Temperature class is a container for all available device temperatures of an articulated device and/or part(s) of a device.
Minimum occurrences: 1
Maximum occurrences: unbounded
Device_Temperature_Index
The Device_Temperature_Index class specifies the attributes describing the temperature of one device or some part of a device.
Minimum occurrences: 1
Maximum occurrences: unbounded
Display_Direction
Note: For all image objects, the expectation is that the image orientation will be given using the disp:Display_Direction class. In the unusual case where an image object does not have an associated disp:Display_Direction class, then, and only then, Display_Direction class defined here should be present. The Display_Direction class specifies which two of the dimensions of an Array object should be displayed and how they should be displayed in the vertical (line) and horizontal (sample) dimensions of a display device. This class is essentially the same as the class of the same name in the Display Dictionary, and is redefined here for convenience.
Minimum occurrences: 0
Maximum occurrences: 1
Distance_Generic
The distance between the two objects, both of which must be specified.
Minimum occurrences: 0
Maximum occurrences: unbounded
Distances
The Distances class is a container of distance classes.
Minimum occurrences: 0
Maximum occurrences: 1
Distances_Min_Max
The Distances_Min_Max class is a container class for named distances given as minimum-maximum pairs. For distance, if either the minimum or maximum parameter is given, both must be provided.
Minimum occurrences: 0
Maximum occurrences: 1
Distances_Specific
The Distances_Specific class is a container class for specific distances defined in this dictionary.
Minimum occurrences: 0
Maximum occurrences: 1
Distances_Start_Stop
The Distances_Start_Stop class is a container class for named distances given as pairs corresponding to the beginning and end of the observation. For a distance, if either the start or stop parameter is given, both must be provided. If any values from this class are included in the label, the parameters geometry_start_time_utc and geometry_stop_time_utc must be given in the enclosing Geometry_Orbiter class.
Minimum occurrences: 0
Maximum occurrences: 1
Entrance_Terms
The Entrance_Terms contains the coefficients of a polynomial function used to model movement of the entrance pupil.
Minimum occurrences: 1
Maximum occurrences: 1
Expanded_Geometry
The Expanded_Geometry class provides a mechanism to reference additional geometric metadata contained in a separate object or product (e.g., a table of metadata).
Minimum occurrences: 0
Maximum occurrences: 1
Footprint_Vertices
The Footprint_Vertices class provides a set of latitude and longitude pairs which are the vertices of a polygon representing the projected footprint of the field of view on the target surface (or on a map). Note this is intended for products such as maps, or where the target fills the field of view. The vertices should be listed either in clockwise or counterclockwise order.
Minimum occurrences: 0
Maximum occurrences: 1
Generic_Vectors
The Generic_Vectors class is a container class for all of the build your own vector templates.
Minimum occurrences: 0
Maximum occurrences: 1
Geometry
The Geometry class is a container for all geometric information in the label. The Image_Display_Geometry class should have one instance if the primary data object is an Array object for which two of the dimensions are suitable for display in the vertical (line) and horizontal (sample) dimensions of a display device. Multiple instances of the Image_Display_Geometry class are only appropriate if the data product contains multiple Array objects and the orientations of the various objects are not the same.
Minimum occurrences: 1
Maximum occurrences: 1
Geometry_Lander
The Geometry_Lander class is a container for all geometric information in the label relating to a landed spacecraft, including rovers.
Minimum occurrences: 0
Maximum occurrences: unbounded
Geometry_Orbiter
The Geometry_Orbiter class is a container for geometric information (positions, velocities, orientations, etc.) relevant to orbiter or flyby spacecraft observations. If any of the contained classes or attributes have central body, and or target in the class or attribute name (e.g., spacecraft_to_central_body_distance, Vector_Planetocentric_Position_Spacecraft_To_Target), then the central body and or target must be identified in this class. If more than one geometry_reference_time_utc, target or central body need to be identified to fully describe the data, use multiple instances of the Geometry_Orbiter class. Do not use Coordinate_System at this level if more than one coordinate system is used in the contained classes. If more than one coordinate system is used, specify Coordinate_System in each of the subordinate classes where it is appropriate.
Minimum occurrences: 0
Maximum occurrences: unbounded
Geometry_Target_Identification
The object to which the associated set of geometric parameters are given. Within the Geometry dictionary context, a “Target” is the body on the “to” end of a vector, or other translation through space.
in Distance_Generic:
Minimum occurrences: 1
Maximum occurrences: 1
-
Minimum occurrences: 0
Maximum occurrences: 1
-
Minimum occurrences: 0
Maximum occurrences: 1
in Vector_Cartesian_Acceleration_Generic:
Minimum occurrences: 1
Maximum occurrences: 1
in Vector_Cartesian_Position_Generic:
Minimum occurrences: 1
Maximum occurrences: 1
in Vector_Cartesian_Velocity_Generic:
Minimum occurrences: 1
Maximum occurrences: 1
in Vector_Planetocentric_Position_Generic:
Minimum occurrences: 1
Maximum occurrences: 1
in Vector_Planetocentric_Velocity_Generic:
Minimum occurrences: 1
Maximum occurrences: 1
Illumination_Geometry
The Illumination_Geometry class is a container for illumination geometry classes.
Minimum occurrences: 0
Maximum occurrences: 1
Illumination_Min_Max
The Illumination_Min_Max class contains attributes providing illumination parameters as minimum/maximum pairs. For any given illumination parameter if one of minimum or maximum is given, both must be given. If a target is specified using the Geometry_Target_Identification class in the Orbiter_Identification class under the same parent Geometry_Orbiter class, the min-max pairs for each illumination parameter provide the range of that parameter in the observation on that target. Otherwise the pair provides the range for the entire field of view.
Minimum occurrences: 0
Maximum occurrences: 1
Illumination_Specific
The Illumination_Specific class contains attributes providing illumination parameters at a single location in the field of view. That location is specified by using one, and only one of reference_location, reference_pixel_location, or Reference_Pixel, If reference_location is used, and indicates a point on a target, the target must be the one specified using Geometry_Target_Identification in the parent Geometry_Orbiter class. The provided value for each illumination attribute must correspond to the time given by geometry_reference_time_utc.
Minimum occurrences: 0
Maximum occurrences: 1
Illumination_Start_Stop
The Illumination_Start_Stop class contains attributes providing illumination parameters as pairs corresponding to the beginning and end of the observation. If either the start or stop parameter is given, both must be provided. If any values from this class are included in the label, the parameters geometry_start_time_utc and geometry_stop_time_utc must be given in the enclosing Geometry_Orbiter class. If a target is specified using the Geometry_Target_Identification class in the Orbiter_Identification class under the parent Geometry_Orbiter class, the start-stop pairs for each illumination parameter provide the range of that parameter in the observation on that target. Otherwise the pair provides the range for the entire field of view.
Minimum occurrences: 0
Maximum occurrences: 1
Image_Display_Geometry
Image_Display_Geometry class provides an unambiguous description of the orientation of the image contents. This class assumes an image is displayed as described by a disp:Display_Direction class elsewhere in the label. In the unusual case where an image object does not have an associated disp:Display_Direction class, then, and only then, the optionalgeom:Display_Direction class in this class should be present. Coupled with the information in the associated Display_Direction class, any one of the Object_Orientation_* classes should allow unambiguous orientation of the contents of the image. The Local_Internal_Reference class is used to identify the object to which this instance of the Image_Display_Geometry class applies, and must be used if there is more than one instance of Image_Display_Geometry in the label. The appropriate value for local_reference_type is image_display_to_object. The Object_Orientation_North_East class is typically used for instruments for which the entire field of view is a portion of the target surface (e.g., instruments on Mars orbital spacecraft); otherwise use Object_Orientation_RA_Dec (e.g., flyby missions, missions with orbit radii much larger than the target radius such as Voyager or Cassini). At least one of these must be used. The two *_Identification classes used here are Central_Body (e.g., Saturn if you are using Planetocentric or planetographic coordinates in the Saturn system) and Target when the described object in the FoV is not the Central_Body. For example giving the orientation of the pole of Enceladus in Saturn Planetocentric coordinates, Central_Body = Saturn, Target = Enceladus. Bottom line: put in enough information so someone else can figure out the orientation of the field of view. We also offer an option to provide the pointing information as a quaternion.
Minimum occurrences: 0
Maximum occurrences: unbounded
Internal_Reference
The Internal_Reference class is used to cross-reference other products in PDS4-compliant registries of PDS and its recognized international partners.
-
Minimum occurrences: 0
Maximum occurrences: unbounded
in Central_Body_Identification:
Minimum occurrences: 0
Maximum occurrences: 1
in Coordinate_System_Origin_Identification:
Minimum occurrences: 0
Maximum occurrences: 1
-
Minimum occurrences: 0
Maximum occurrences: unbounded
in Geometry_Target_Identification:
Minimum occurrences: 0
Maximum occurrences: 1
-
Minimum occurrences: 0
Maximum occurrences: 1
in Reference_Frame_Identification:
Minimum occurrences: 0
Maximum occurrences: 1
in Rotate_From:
Minimum occurrences: 0
Maximum occurrences: 1
in Rotate_To:
Minimum occurrences: 0
Maximum occurrences: 1
in SPICE_Kernel_Identification:
Minimum occurrences: 0
Maximum occurrences: 1
Interpolation
The Interpolation class defines how the camera model was interpolated from the calibration models. Interpolation is used to create models in a variable space (e.g., focus, zoom) between points at which calibration was performed. If more than one dimension of variables were interpolated, multiple Interpolation objects can exist, with interpolation_sequence defining the order.
Minimum occurrences: 0
Maximum occurrences: unbounded
List_Index_Angle
Used when the list values are angles.
Minimum occurrences: 1
Maximum occurrences: 1
List_Index_Base
The List_Index class is an abstract class designed to enable the use of indexed lists. The minimum requirement is at least one of sequence number, name or “id”, plus the set of values themselves.
Minimum occurrences: 1
Maximum occurrences: 1
List_Index_Length
Used when the list values are lengths.
Minimum occurrences: 1
Maximum occurrences: 1
List_Index_No_Units
Used when the list values have no units.
Minimum occurrences: 1
Maximum occurrences: 1
List_Index_Temperature
Used when the list values are temperatures. They may also have accompanying temperature counts using index_value_number.
Minimum occurrences: 1
Maximum occurrences: 1
List_Index_Text
Used when the list values are strings.
Minimum occurrences: 1
Maximum occurrences: 1
Local_Internal_Reference
The Local Internal_Reference class is used to cross-reference other Description Objects in a PDS4 label.
in Coordinate_Space_Identification:
Minimum occurrences: 1
Maximum occurrences: unbounded
-
Minimum occurrences: 1
Maximum occurrences: unbounded
in Coordinate_Space_Reference:
Minimum occurrences: 1
Maximum occurrences: unbounded
-
Minimum occurrences: 0
Maximum occurrences: unbounded
-
Minimum occurrences: 0
Maximum occurrences: 1
Motion_Counter
The Motion_Counter class provides a set of integers that describe a (potentially) unique location (position / orientation) for a rover or other movable object. Each time an event occurs that results in a movement, a new motion counter value is created. This includes intentional motion due to drive commands, as well as potential motion due to other articulating devices, such as arms or antennae. This motion counter (or part of it) is used as a reference to define instances of coordinate systems that can move such as SITE or ROVER frames. The motion counter is defined in a mission-specific manner. Although the original intent was to have incrementing indices (e.g., MER), the motion counter could also contain any integer values that conform to the above definition, such as time or spacecraft clock values.
Minimum occurrences: 0
Maximum occurrences: unbounded
Motion_Counter_Index
The Motion_Counter_Index class identifies and populates one element of a Motion_Counter list. The class should be repeated for each element of the list.
Minimum occurrences: 1
Maximum occurrences: unbounded
Object_Orientation_Clock_Angles
The Object_Orientation_Clock_Angles class provides several clock angles which can be used to describe the orientation of the field of view with respect to various external references such as Celestial or Equatorial North.
Minimum occurrences: 1
Maximum occurrences: unbounded
Object_Orientation_North_East
The Object_Orientation_North_East class provides the parameters needed to describe the orientation of an external coordinate system relative to the image coordinate frame as described by the Display_Direction class.
Minimum occurrences: 1
Maximum occurrences: unbounded
Object_Orientation_RA_Dec
The Object_Orientation_RA_Dec class provides the parameters needed to describe the orientation of the celestial reference frame relative to the image coordinate frame as described by the Display_Direction class.
Minimum occurrences: 1
Maximum occurrences: unbounded
Observer_Identification
Within the Geometry dictionary context, an “Observer” is the body on the “from” end of a vector, or other translation through space.
Minimum occurrences: 1
Maximum occurrences: 1
Orbiter_Identification
The Orbiter_Identification class is a container of classes used to establish global identifications for the Geometry_Orbiter class.
Minimum occurrences: 0
Maximum occurrences: 1
PSPH_Model
A new camera model designed to perform better fisheye-image rectification prior to 1D stereo correlation. The primary innovation is the use of a unit projection sphere rather than an image plane. For epipolar alignment between stereo cameras the rows (for a left/right pair) or the columns (for an up/down pair) of both must lie along the same plane. Thus we use a pair of planes to define the rows and columns. Each plane will rotate around a static dedicated axis passing through the sphere center. Pixels will be located where the planes intersect with each other and the unit sphere.
Minimum occurrences: 1
Maximum occurrences: 1
Pixel_Dimensions
The Pixel_Dimensions class contains information regarding pixel size.
Minimum occurrences: 0
Maximum occurrences: 1
Pixel_Intercept
The Pixel_Intercept class provides the latitude and longitude on the surface of the target for the projection of the specified pixel. The pixel is specified using either reference_pixel_location or Reference_Pixel. Although each of these is optional, one must be used.
-
Minimum occurrences: 2
Maximum occurrences: unbounded
-
Minimum occurrences: 0
Maximum occurrences: unbounded
Pixel_Size_Projected
The Pixel_Size_Projected class gives the size, in units of length (e.g., kilometers) of the projection of a pixel onto the surface of the target which is specified in the parent Geometry_Orbiter class. The reference_location attribute is used to identify the specific point on the target.
Minimum occurrences: 0
Maximum occurrences: unbounded
Polynomial_Coefficients_1
The Polynomial_Coefficients_1 class provides a one polynomial coefficient.
Minimum occurrences: 1
Maximum occurrences: 1
Polynomial_Coefficients_2
The Polynomial_Coefficients_2 class provides two polynomial coefficients.
Minimum occurrences: 1
Maximum occurrences: 1
Polynomial_Coefficients_3
The Polynomial_Coefficients_3 class provides three polynomial coefficients.
Minimum occurrences: 1
Maximum occurrences: 1
Quaternion_Model_Transform
The Quaternion_Model_Transform class specifies, along with Vector_Model_Transform class, the transform used for the camera model in an image. Camera models created by the calibration process have associated with them a pose, comprised of the position (offset) and orientation (quaternion) of the camera at the time it was calibrated. The model is transformed (“pointed”) for a specific image by computing, generally using articulation device kinematics, a final pose for the image. The camera model is then translated and rotated from the calibration to final pose. This class specifies the quaternion portion of the final pose.
Minimum occurrences: 0
Maximum occurrences: 1
Quaternion_Plus_Direction
Quaternion_Plus_Direction provides the four elements of a quaternion and its direction of rotation. The two end point frames must be identified in the enclosing class. See the definition of Quaternion_Base for more details on the quaternion classes in this dictionary.
in Coordinate_Space_Definition:
Minimum occurrences: 1
Maximum occurrences: 1
in Device_Pose:
Minimum occurrences: 0
Maximum occurrences: 1
Quaternion_Plus_To_From
Quaternion_Plus_To_From provides the four elements of a quaternion, plus attributes which identify the initial (Rotate_From) and final (Rotate_To) frames of the rotation. See the defintion of Quaternion_Base for more details on the quaternion classes in this dictionary.
in Geometry_Orbiter:
Minimum occurrences: 0
Maximum occurrences: 1
-
Minimum occurrences: 0
Maximum occurrences: unbounded
Radial_Terms
Radial_Terms contains the coefficients of a polynomial function used to describe the radial distortion of the camera.
Minimum occurrences: 1
Maximum occurrences: 1
Reference_Frame_Identification
The Reference_Frame_Identification class is a base class for identifying reference frames. These are frames in the NAIF sense, i.e., three orthogonal axes with a specified orientation, but without a fixed origin.
Minimum occurrences: 1
Maximum occurrences: 1
Reference_Pixel
The Reference_Pixel class provides the pixel coordinates, line and sample, to which values in the containing class apply. Integer values indicate the center of the pixel. Sub-pixel values are permitted. For pixel_sample, the leading edge (left edge for sample increasing to the right) has a value 0.5 less than the integer value at the center, and the value for the trailing edge is the center integer value + 0.5. For pixel_line, the leading and trailing edges (top and bottom respectively for line increasing downward) again are -0.5 and +0.5 with respect to the center integer value.
Minimum occurrences: 0
Maximum occurrences: 1
Rotate_From
A quaternion rotates one reference frame to another reference frame. The Rotate_From class identifies the initial frame.
Minimum occurrences: 1
Maximum occurrences: 1
Rotate_To
A quaternion rotates a one reference frame to another reference frame. The Rotate_To class identifies the destination frame.
Minimum occurrences: 1
Maximum occurrences: 1
SPICE_Kernel_Files
The SPICE_Kernel_Files class provides references to the SPICE files used when calculating geometric values.
Minimum occurrences: 0
Maximum occurrences: 1
SPICE_Kernel_Identification
The SPICE_Kernel_Identification class optionally includes the SPICE kernel type and provides two alternatives for identifying the product: LIDVID using Internal_Reference, and the file name of the kernel file. Although optional, LIDVID should be given if one is available. The optional kernel_provenance attribute indicates whether the kernel is a predict or reconstructed kernel, or some combination of the two, or if it is a kernel type for which such distinctions do not apply.
Minimum occurrences: 1
Maximum occurrences: unbounded
Surface_Geometry
The Surface_Geometry class is a container for surface geometry classes.
Minimum occurrences: 0
Maximum occurrences: 1
Surface_Geometry_Min_Max
The Surface_Geometry_Min_Max class contains attributes providing surface geometry parameters as minimum/maximum pairs. For any given parameter if one of minimum or maximum is given, both must be given. The min-max pairs for each parameter provide the range of that parameter in the observation for the target specified using the Geometry_Target_Identification class in the Orbiter_Identification class under the parent Geometry_Orbiter class.
Minimum occurrences: 0
Maximum occurrences: 1
Surface_Geometry_Specific
The Surface_Geometry_Specific class contains classes and attributes for various points on the surface of the target designated in the enclosing Geometry_Orbiter.
Minimum occurrences: 0
Maximum occurrences: 1
Surface_Geometry_Start_Stop
The Surface_Geometry_Start_Stop class contains attributes providing surface geometry parameters given as pairs corresponding to the beginning and end of the observation. For a parameter, if either the start or stop parameter is given, both must be provided. If any values from this class are included in the label, the parameters geometry_start_time_utc and geometry_stop_time_utc must be given in the enclosing Geometry_Orbiter class.
Minimum occurrences: 0
Maximum occurrences: 1
Vector_Axis
The Vector_Axis is a unit vector that describes the axis of the camera, defined as the normal to the image plane.
Minimum occurrences: 1
Maximum occurrences: 1
Vector_Axis_X
Unit column-plane rotation axis, passing through the sphere center, typically vertical and pointing down so that positive rotations (by the right-hand rule) will rotate the forward half of the plane in the (rightward) direction of increasing column (as projected on the forward hemisphere).
Minimum occurrences: 1
Maximum occurrences: 1
Vector_Axis_Y
Unit row-plane rotation axis, passing through the sphere center, typically horizontal and pointing left so that positive rotations (by the right-hand rule) will rotate the forward half of the plane in the (downward) direction of increasing row (as projected on the forward hemisphere).
Minimum occurrences: 1
Maximum occurrences: 1
Vector_Cartesian_Acceleration_Base
The Vector_Cartesian_Acceleration_Base is a three dimensional, rectangular coordinates vector. Uses units of linear acceleration. The included attributes are not sufficient to identify the endpoints of the vector.
Minimum occurrences: 1
Maximum occurrences: 1
Vector_Cartesian_Acceleration_Extended_Base
The Vector_Cartesian_Acceleration_Extended_Base is a three dimensional, rectangular coordinates vector. Uses units of linear acceleration. The included attributes are not sufficient to identify the endpoints of the vector. While the class Coordinate_System_Identification is optional, it must be used here if the coordinate system has not been specified in the enclosing class.
Minimum occurrences: 1
Maximum occurrences: 1
Vector_Cartesian_Acceleration_Generic
Vector_Cartesian_Acceleration_Generic is a three dimensional, rectangular coordinates vector. Uses units of linear acceleration. Includes attributes to identify the endpoints of the vector. While the class Coordinate_System_Identification is optional, it must be used here if the coordinate system has not been specified in the enclosing class.
Minimum occurrences: 1
Maximum occurrences: unbounded
Vector_Cartesian_No_Units
This is a generic vector in Cartesian space. The “x”, “y”, and “z” component have no units.
Minimum occurrences: 1
Maximum occurrences: 1
Vector_Cartesian_Pixel
This a Cartesian pixel vector generally used in camera models.
Minimum occurrences: 1
Maximum occurrences: 1
Vector_Cartesian_Position_Base
The Vector_Cartesian_Position_Base is a three dimensional, rectangular coordinates vector. Uses units of length. The included attributes are not sufficient to identify the endpoints of the vector.
Minimum occurrences: 1
Maximum occurrences: 1
Vector_Cartesian_Position_Central_Body_To_Spacecraft
The Vector_Cartesian_Position_Central_Body_To_Spacecraft is a linear, rectangular coordinates vector from the center of mass of the central body (e.g., planet) to the spacecraft. While the class Coordinate_System_Identification is optional, it must be used here if the coordinate system has not been specified in the enclosing class.
Minimum occurrences: 1
Maximum occurrences: unbounded
Vector_Cartesian_Position_Central_Body_To_Target
The Vector_Cartesian_Position_Central_Body_To_Target is a linear, rectangular coordinates vector from the center of mass of the central body (e.g., planet) to the target specified in the parent Geometry_Orbiter class. While the class Coordinate_System_Identification is optional, it must be used here if the coordinate system has not been specified in the enclosing class.
Minimum occurrences: 1
Maximum occurrences: unbounded
Vector_Cartesian_Position_Earth_To_Central_Body
The Vector_Cartesian_Position_Earth_To_Central_Body is a linear, rectangular coordinates vector from the Earth to the central body (e.g., planet). While the class Coordinate_System_Identification is optional, it must be used here if the coordinate system has not been specified in the enclosing class.
Minimum occurrences: 1
Maximum occurrences: unbounded
Vector_Cartesian_Position_Earth_To_Spacecraft
The Vector_Cartesian_Position_Earth_To_Spacecraft is a linear, rectangular coordinates vector from the Earth to the spacecraft. While the class Coordinate_System_Identification is optional, it must be used here if the coordinate system has not been specified in the enclosing class.
Minimum occurrences: 1
Maximum occurrences: unbounded
Vector_Cartesian_Position_Earth_To_Target
The Vector_Cartesian_Position_Earth_To_Target is a linear, rectangular coordinates vector from the Earth to the target specified in the parent Geometry_Orbiter class. While the class Coordinate_System_Identification is optional, it must be used here if the coordinate system has not been specified in the enclosing class.
Minimum occurrences: 1
Maximum occurrences: unbounded
Vector_Cartesian_Position_Extended_Base
The Vector_Cartesian_Position_Extended_Base is a three dimensional, rectangular coordinates vector. Uses units of length. The included attributes are not sufficient to identify the endpoints of the vector. While the class Coordinate_System_Identification is optional, it must be used here if the coordinate system has not been specified in the enclosing class.
Minimum occurrences: 1
Maximum occurrences: 1
Vector_Cartesian_Position_Generic
Vector_Cartesian_Position_Generic is a three dimensional, rectangular coordinates vector. Uses units of length. Includes attributes to identify the endpoints of the vector. While the class Coordinate_System_Identification is optional, it must be used here if the coordinate system has not been specified in the enclosing class.
Minimum occurrences: 1
Maximum occurrences: unbounded
Vector_Cartesian_Position_SSB_To_Central_Body
The Vector_Cartesian_Position_SSB_To_Central_Body is a linear, rectangular coordinates vector from the Solar System Barycenter to the central body (e.g., planet). While the class Coordinate_System_Identification is optional, it must be used here if the coordinate system has not been specified in the enclosing class.
Minimum occurrences: 1
Maximum occurrences: unbounded
Vector_Cartesian_Position_SSB_To_Spacecraft
The Vector_Cartesian_Position_SSB_To_Spacecraft is a linear, rectangular coordinates vector from the Solar System Barycenter to the spacecraft. While the class Coordinate_System_Identification is optional, it must be used here if the coordinate system has not been specified in the enclosing class.
Minimum occurrences: 1
Maximum occurrences: unbounded
Vector_Cartesian_Position_SSB_To_Target
The Vector_Cartesian_Position_SSB_To_Target is a linear, rectangular coordinates vector from the Solar System Barycenter to the target specified in the parent Geometry_Orbiter class. While the class Coordinate_System_Identification is optional, it must be used here if the coordinate system has not been specified in the enclosing class.
Minimum occurrences: 1
Maximum occurrences: unbounded
Vector_Cartesian_Position_Spacecraft_To_Target
The Vector_Cartesian_Position_Spacecraft_To_Target is a linear, rectangular coordinates vector from the spacecraft to the target specified in the parent Geometry_Orbiter class. While the class Coordinate_System_Identification is optional, it must be used here if the coordinate system has not been specified in the enclosing class.
Minimum occurrences: 1
Maximum occurrences: unbounded
Vector_Cartesian_Position_Sun_To_Central_Body
The Vector_Cartesian_Position_Sun_To_Central_Body is a linear, rectangular coordinates vector from the Sun to the central body (e.g., planet). While the class Coordinate_System_Identification is optional, it must be used here if the coordinate system has not been specified in the enclosing class.
Minimum occurrences: 1
Maximum occurrences: unbounded
Vector_Cartesian_Position_Sun_To_Spacecraft
The Vector_Cartesian_Position_Sun_To_Spacecraft is a linear, rectangular coordinates vector from the Sun to the spacecraft. While the class Coordinate_System_Identification is optional, it must be used here if the coordinate system has not been specified in the enclosing class.
Minimum occurrences: 1
Maximum occurrences: unbounded
Vector_Cartesian_Position_Sun_To_Target
The Vector_Cartesian_Position_Sun_To_Target is a linear, rectangular coordinates vector from the Sun to the target specified in the parent Geometry_Orbiter class. While the class Coordinate_System_Identification is optional, it must be used here if the coordinate system has not been specified in the enclosing class.
Minimum occurrences: 1
Maximum occurrences: unbounded
Vector_Cartesian_Unit
This is a generic unit vector in Cartesian space. The “x”, “y”, and “z” component have no units and are restricted to values between -1.0 and 1.0 inclusive. Further the length of the vector square root of the (sum of the squares of the components) must be 1.0.
Minimum occurrences: 1
Maximum occurrences: 1
Vector_Cartesian_Velocity_Base
The Vector_Cartesian_Velocity_Base is a three dimensional, rectangular coordinates vector. Uses units of linear velocity. The included attributes are not sufficient to identify the endpoints of the vector.
Minimum occurrences: 1
Maximum occurrences: 1
Vector_Cartesian_Velocity_Extended_Base
The Vector_Cartesian_Velocity_Extended_Base is a three dimensional, rectangular coordinates vector. Uses units of linear velocity. The included attributes are not sufficient to identify the endpoints of the vector. While the class Coordinate_System_Identification is optional, it must be used here if the coordinate system has not been specified in the enclosing class.
Minimum occurrences: 1
Maximum occurrences: 1
Vector_Cartesian_Velocity_Generic
Vector_Cartesian_Velocity_Generic is a three dimensional, rectangular coordinates vector. Uses units of linear velocity. Includes attributes to identify the endpoints of the vector. While the class Coordinate_System_Identification is optional, it must be used here if the coordinate system has not been specified in the enclosing class.
Minimum occurrences: 1
Maximum occurrences: unbounded
Vector_Cartesian_Velocity_Spacecraft_Relative_To_Central_Body
The Vector_Cartesian_Velocity_Spacecraft_Relative_To_Central_Body is a velocity vector in rectangular coordinates that gives the velocity of the spacecraft with respect to the central body (e.g., planet). While the class Coordinate_System_Identification is optional, it must be used here if the coordinate system has not been specified in the enclosing class.
Minimum occurrences: 1
Maximum occurrences: unbounded
Vector_Cartesian_Velocity_Spacecraft_Relative_To_Earth
The Vector_Cartesian_Velocity_Spacecraft_Relative_To_Earth is a velocity vector in rectangular coordinates that gives the velocity of the spacecraft with respect to Earth. While the class Coordinate_System_Identification is optional, it must be used here if the coordinate system has not been specified in the enclosing class.
Minimum occurrences: 1
Maximum occurrences: unbounded
Vector_Cartesian_Velocity_Spacecraft_Relative_To_SSB
The Vector_Cartesian_Velocity_Spacecraft_Relative_To_SSB is a velocity vector in rectangular coordinates that gives the velocity of the spacecraft with respect to the Solar System Barycenter. While the class Coordinate_System_Identification is optional, it must be used here if the coordinate system has not been specified in the enclosing class.
Minimum occurrences: 1
Maximum occurrences: unbounded
Vector_Cartesian_Velocity_Spacecraft_Relative_To_Sun
Vector_Cartesian_Velocity_Spacecraft_Relative_To_Sun is a velocity vector in rectangular coordinates that gives the velocity of the spacecraft with respect to the center of the Sun. While the class Coordinate_System_Identification is optional, it must be used here if the coordinate system has not been specified in the enclosing class.
Minimum occurrences: 1
Maximum occurrences: unbounded
Vector_Cartesian_Velocity_Spacecraft_Relative_To_Target
The Vector_Cartesian_Velocity_Spacecraft_Relative_To_Target is a velocity vector in rectangular coordinates that gives the velocity of the spacecraft with respect to the target specified in the parent Geometry_Orbiter class. While the class Coordinate_System_Identification is optional, it must be used here if the coordinate system has not been specified in the enclosing class.
Minimum occurrences: 1
Maximum occurrences: unbounded
Vector_Cartesian_Velocity_Target_Relative_To_Central_Body
The Vector_Cartesian_Velocity_Target_Relative_To_Central_Body is a velocity vector in rectangular coordinates that gives the velocity of the designated target with respect to the central body (e.g., planet). While the class Coordinate_System_Identification is optional, it must be used here if the coordinate system has not been specified in the enclosing class.
Minimum occurrences: 1
Maximum occurrences: unbounded
Vector_Cartesian_Velocity_Target_Relative_To_Earth
The Vector_Cartesian_Velocity_Target_Relative_To_Earth is a velocity vector in rectangular coordinates that gives the velocity of the designated target with respect to Earth. While the class Coordinate_System_Identification is optional, it must be used here if the coordinate system has not been specified in the enclosing class.
Minimum occurrences: 1
Maximum occurrences: unbounded
Vector_Cartesian_Velocity_Target_Relative_To_SSB
The Vector_Cartesian_Velocity_Target_Relative_To_SSB is a velocity vector in rectangular coordinates that gives the velocity of the designated target with respect to the Solar System Barycenter. While the class Coordinate_System_Identification is optional, it must be used here if the coordinate system has not been specified in the enclosing class.
Minimum occurrences: 1
Maximum occurrences: unbounded
Vector_Cartesian_Velocity_Target_Relative_To_Spacecraft
The Vector_Cartesian_Velocity_Target_Relative_To_Spacecraft is a velocity vector in rectangular coordinates that gives the velocity of the designated target with respect to the spacecraft. While the class Coordinate_System_Identification is optional, it must be used here if the coordinate system has not been specified in the enclosing class.
Minimum occurrences: 1
Maximum occurrences: unbounded
Vector_Cartesian_Velocity_Target_Relative_To_Sun
Vector_Cartesian_Velocity_Target_Relative_To_Sun is a velocity vector in rectangular coordinates that gives the velocity of the designated target with respect to the center of the sun. While the class Coordinate_System_Identification is optional, it must be used here if the coordinate system has not been specified in the enclosing class.
Minimum occurrences: 1
Maximum occurrences: unbounded
Vector_Center
The Vector_Center describes the location of the entrance pupil of a camera.
Minimum occurrences: 1
Maximum occurrences: 1
Vector_Device_Gravity
The Vector_Device_Gravity class is a unit vector that specifies the direction of an external force acting on the articulation device, in the spacecraft’s coordinate system, at the time the pose was computed.
Minimum occurrences: 1
Maximum occurrences: unbounded
Vector_Device_Gravity_Magnitude
The Vector_Device_Gravity_Magnitude class is a vector (with magnitude) that specifies the direction of an external force acting on the articulation device, in the spacecraft’s coordinate system, at the time the pose was computed.
Minimum occurrences: 1
Maximum occurrences: unbounded
Vector_Horizontal
The Vector_Horizonal is a composite vector encoding three quantities: H’ (a vector in the image plane perpendicular to the vertical columns), Hs (the distance between the lens center and image plane, measured in horizontal pixels), and Hc (the horizontal image coordinate directly under C when moving parallel to A). H’ is often thought of as describing the orientation of rows in space, but is actually perpendicular to the columns.
Minimum occurrences: 1
Maximum occurrences: 1
Vector_Model_Transform
The Vector_Model_Transform class specifies, along with the Quaternion_Model_Transform class, the transform used for the camera model in this image. Camera models created by the calibration process have associated with them a pose, comprised of the position (offset) and orientation (quaternion) of the camera at the time it was calibrated. The model is transformed (“pointed”) for a specific image by computing, generally using articulation device kinematics, a final pose for the image. The camera model is then translated and rotated from the calibration to final pose. This class specifies the offset portion of the final pose.
Minimum occurrences: 0
Maximum occurrences: 1
Vector_Normal_X
Unit normal vector to the column plane when x equals zero, pointing in the same direction as the cross product of axis x with an outward-pointing vector that also lies in the plane.
Minimum occurrences: 1
Maximum occurrences: 1
Vector_Normal_Y
Unit normal vector to the row plane when y equals zero, pointing in the same direction as the cross product of axis x with an outward-pointing vector that also lies in the plane.
Minimum occurrences: 1
Maximum occurrences: 1
Vector_Optical
The Vector_Optical is a unit vector that describes the axis of symmetry for radial distortion in the camera.
Minimum occurrences: 1
Maximum occurrences: 1
Vector_Origin_Offset
The Vector_Origin_Offset class contains attributes that specify the offset from the reference coordinate system’s origin to the origin of the coordinate system. It is the location of the current system’s origin as measured in the reference system.
in Coordinate_Space_Definition:
Minimum occurrences: 1
Maximum occurrences: 1
in Device_Pose:
Minimum occurrences: 0
Maximum occurrences: 1
Vector_Planetocentric_Position_Base
The Vector_Planetocentric_Position_Base is a three dimensional spherical vector (radius, longitude, latitude) with the angular coordinates defined to be consistent with the Planetocentric coordinate system. Uses linear units for the radius dimension, and angular units for the other two dimensions. The included attributes are not sufficient to identify the endpoints of the vector.
Minimum occurrences: 1
Maximum occurrences: 1
Vector_Planetocentric_Position_Central_Body_To_Spacecraft
The Vector_Planetocentric_Position_Central_Body_To_Spacecraft is a spherical position vector in Planetocentric coordinates. It extends from the center of mass of the central body (e.g., planet) to the spacecraft. While the class Coordinate_System_Identification is optional, it must be used here if the coordinate system has not been specified in the enclosing class.
Minimum occurrences: 1
Maximum occurrences: unbounded
Vector_Planetocentric_Position_Central_Body_To_Target
The Vector_Planetocentric_Position_Central_Body_To_Target is a spherical position vector in Planetocentric coordinates. It extends from the center of mass of the central body (e.g., planet) to the target specified in the parent Geometry_Orbiter class. While the class Coordinate_System_Identification is optional, it must be used here if the coordinate system has not been specified in the enclosing class.
Minimum occurrences: 1
Maximum occurrences: unbounded
Vector_Planetocentric_Position_Extended_Base
The Vector_Planetocentric_Position_Extended_Base is a three dimensional spherical vector (radius, longitude, latitude) with the angular coordinates defined to be consistent with the Planetocentric coordinate system. Uses linear units for the radius dimension, and angular units for the other two dimensions. The included attributes are not sufficient to identify the endpoints of the vector. While the class Coordinate_System_Identification is optional, it must be used here if the coordinate system has not been specified in the enclosing class.
Minimum occurrences: 1
Maximum occurrences: 1
Vector_Planetocentric_Position_Generic
The Vector_Planetocentric_Position_Generic is a three dimensional spherical vector (radius, longitude, latitude) with the angular coordinates defined to be consistent with the Planetocentric coordinate system. Uses linear units for the radius dimension, and angular units for the other two dimensions. Includes attributes to identify the endpoints of the vector. While the class Coordinate_System_Identification is optional, it must be used here if the coordinate system has not been specified in the enclosing class.
Minimum occurrences: 1
Maximum occurrences: unbounded
Vector_Planetocentric_Position_Spacecraft_To_Target
The Vector_Planetocentric_Position_Spacecraft_To_Target is a spherical position vector in Planetocentric coordinates. It extends from the spacecraft to the target specified in the parent Geometry_Orbiter class. While the class Coordinate_System_Identification is optional, it must be used here if the coordinate system has not been specified in the enclosing class.
Minimum occurrences: 1
Maximum occurrences: unbounded
Vector_Planetocentric_Velocity_Base
The Vector_Planetocentric_Velocity_Base is a three dimensional spherical vector (radius, longitude, latitude) with the angular coordinates defined to be consistent with the Planetocentric coordinate system. Uses linear velocity units for the radius dimension, and angular velocity units for the other two dimensions. The included attributes are not sufficient to identify the endpoints of the vector.
Minimum occurrences: 1
Maximum occurrences: 1
Vector_Planetocentric_Velocity_Extended_Base
The Vector_Planetocentric_Velocity_Extended_Base is a three dimensional spherical vector (radius, longitude, latitude) with the angular coordinates defined to be consistent with the Planetocentric coordinate system. Uses linear velocity units for the radius dimension, and angular velocity units for the other two dimensions. The included attributes are not sufficient to identify the endpoints of the vector. While the class Coordinate_System_Identification is optional, it must be used here if the coordinate system has not been specified in the enclosing class.
Minimum occurrences: 1
Maximum occurrences: 1
Vector_Planetocentric_Velocity_Generic
The Vector_Planetocentric_Velocity_Generic is a three dimensional spherical vector (radius, longitude, latitude) with the angular coordinates defined to be consistent with the Planetocentric coordinate system. Uses linear velocity units for the radius dimension, and angular velocity units for the other two dimensions. Includes attributes to identify the endpoints of the vector. While the class Coordinate_System_Identification is optional, it must be used here if the coordinate system has not been specified in the enclosing class.
Minimum occurrences: 1
Maximum occurrences: unbounded
Vector_Planetocentric_Velocity_Spacecraft_Relative_To_Target
The Vector_Planetocentric_Velocity_Spacecraft_Relative_To_Target is a spherical velocity vector in Planetocentric coordinates that gives the velocity of the spacecraft with respect to the designated target. While the class Coordinate_System_Identification is optional, it must be used here if the coordinate system has not been specified in the enclosing class.
Minimum occurrences: 1
Maximum occurrences: unbounded
Vector_Planetocentric_Velocity_Target_Relative_To_Central_Body
The Vector_Planetocentric_Velocity_Target_Relative_To_Central_Body is a spherical velocity vector in Planetocentric coordinates that gives the velocity of the target with respect to the central body. While the class Coordinate_System_Identification is optional, it must be used here if the coordinate system has not been specified in the enclosing class.
Minimum occurrences: 1
Maximum occurrences: unbounded
Vector_Planetocentric_Velocity_Target_Relative_To_Spacecraft
The Vector_Planetocentric_Velocity_Target_Relative_To_Spacecraft is a spherical velocity vector in Planetocentric coordinates that gives the velocity of the target with respect to the spacecraft. While the class Coordinate_System_Identification is optional, it must be used here if the coordinate system has not been specified in the enclosing class.
Minimum occurrences: 1
Maximum occurrences: unbounded
Vector_Solar_Direction
Unit vector pointing in the direction of the Sun at the time of the observation.
Minimum occurrences: 0
Maximum occurrences: 1
Vector_Vertical
The Vector_Vertical is a composite vector encoding three quantities: V’ (a vector in the image plane perpendicular to the horizontal rows), Vs (the distance between the lens center and image plane, measured in vertical pixels), and Vc (the vertical image coordinate directly under C when moving parallel to A). V’ is often thought of as describing the orientation of columns in space, but is actually perpendicular to the rows.
Minimum occurrences: 1
Maximum occurrences: 1
Vectors
The Vectors class is a container of vector classes.
Minimum occurrences: 0
Maximum occurrences: 1
Vectors_Cartesian_Specific
The Vectors_Cartesian_Specific class is a container class for all cartesian vectors with pre-identified endpoints.
Minimum occurrences: 0
Maximum occurrences: 1
Vectors_Planetocentric_Specific
The Vectors_Planetocentric_Specific class is a container class for all planetocentric vectors with pre-identified endpoints.
Minimum occurrences: 0
Maximum occurrences: 1
Attributes (in alphabetical order)
attitude_propagation_counter
Count in clock units of how long it has been since the last IMU reset, which relates to how good the attitude measurement is due to IMU drift.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
attitude_propagation_duration
The number of seconds for how long it has been since the last IMU reset, which relates to how good the attitude measurement is due to IMU drift.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
body_spice_name
The body_spice_name attribute is a NAIF-recognized string identifier for a physical object (spacecraft, planet, instrument transmitter, system barycenter, etc.), associated with the data.
PDS4 data type: ASCII_Short_String_Collapsed
Valid values: N/A
Minimum Length: 1
Maximum Length: 255
Nillable: No
in Central_Body_Identification:
Minimum occurrences: 0
Maximum occurrences: 1
in Coordinate_System_Origin_Identification:
Minimum occurrences: 0
Maximum occurrences: 1
in Geometry_Target_Identification:
Minimum occurrences: 0
Maximum occurrences: 1
-
Minimum occurrences: 0
Maximum occurrences: 1
-
Minimum occurrences: 1
Maximum occurrences: 1
c0
The first coefficient of a polynomial.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
c1
The second coefficient of a polynomial.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
c2
The third coefficient of a polynomial.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
cahvore_model_parameter
The cahvore_parameter_type attribute is a scalar floating-point number used for CAHVORE Type 3 models (see cahvore_model_type). If the parameter is 1.0, the model is identical to type 1; if 0.0, it is identical to type 2. Most fish-eye lenses use a value in between.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
cahvore_model_type
The cahvore_model_type attribute indicates which variant of the CAHVORE model to use. Type 1 is a perspective-projection model, similar to CAHV and CAHVOR except for the moving entrance pupil. Type 2 is a fish-eye lens model reflecting fundamentally different geometry. Type 3 is a generalization that includes the first two, and is used for most fisheye-type lenses (see cahvore_model_parameter).
PDS4 data type: ASCII_Integer
Valid values:
1
Description: A perspective-projection model, similar to CAHV and CAHVOR except for the moving entrance pupil
2
Description: A fish-eye lens model reflecting fundamentally different geometry
3
Description: A generalization that includes the first two, and is used for most fisheye-type lenses
Minimum value: -9223372036854775808
Maximum value: 9223372036854775807
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
calibration_source_id
The calibration_source_id is used to identify the source used in calibrating the instrument.
PDS4 data type: ASCII_Short_String_Collapsed
Valid values: N/A
Minimum Length: 1
Maximum Length: 255
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
celestial_east_clock_angle
The celestial_east_clock_angle attribute specifies the direction of celestial east at the center of an image. It is measured from the ‘upward’ direction, clockwise to the direction toward celestial east, assuming the image is displayed as defined by the Display_Direction class.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 360
Nillable: No
Minimum occurrences: 1
Maximum occurrences: unbounded
celestial_north_clock_angle
The celestial_north_clock_angle attribute specifies the direction of celestial north at the center of an image. It is measured from the ‘upward’ direction, clockwise to the direction toward celestial north, assuming the image is displayed as defined by the Display_Direction class.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 360
Nillable: Yes
-
Minimum occurrences: 1
Maximum occurrences: 2
in Object_Orientation_Clock_Angles:
Minimum occurrences: 1
Maximum occurrences: unbounded
central_body_north_pole_clock_angle
The central_body_north_pole_clock_angle element specifies the direction of the central body’s (e.g., planet’s)rotation axis in an image. It is measured from the ‘upward’ direction in the image, clockwise to the direction of the northern rotational pole as projected into the image plane, assuming the image is displayed as defined by the Display_Direction class. The north pole of a planet or any of its satellites in the solar system is the pole of the rotation axis that is in the same celestial hemisphere relative to the invariable plane of the solar system as Earth’s North pole.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 360
Nillable: No
Minimum occurrences: 1
Maximum occurrences: unbounded
central_body_positive_pole_clock_angle
The central_body_positive_pole_clock_angle element specifies the direction of the central body’s rotation axis in an image. It is measured from the ‘upward’ direction in the image, clockwise to the direction of the positive rotational pole as projected into the image plane, assuming the image is displayed as defined by the Display_Direction class. The positive pole is defined as the pole toward which the thumb points when the fingers of the right hand are curled in the body’s direction of rotation.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 360
Nillable: No
Minimum occurrences: 1
Maximum occurrences: unbounded
command_type
Specifies how the device was commanded.
PDS4 data type: ASCII_Short_String_Collapsed
Valid values:
Angle_Absolute
Description: Specifies an absolute pointing direction for the device. This is distinct from Joint_Absolute in that the angle is measured in a coordinate frame rather than direct joint angles.
Angle_Relative
Description: Specifies a pointing direction change relative to the prior pointing. This is distinct from Joint_Relative in that the angle is measured in a coordinate frame rather than direct joint angles.
Joint_Absolute
Description: Specifies absolute joint angles.
Joint_Relative
Description: Specifies joint angles as a delta relative to the prior pointing..
No_Motion
Description: Specifies no motion from the previous observation.
No_Motion_No_Arb
Description: Specifies no motion from the previous observation, but also does not reserve the resource (thus no arbitration).
None
Description: Unspecified commanding.
XYZ
Description: Specifies a pointing target as an XYZ coordinate in a given coordinate frame.
Minimum Length: 1
Maximum Length: 255
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
comment
The comment attribute is a character string expressing one or more remarks or thoughts relevant to the object.
PDS4 data type: ASCII_Short_String_Collapsed
Valid values: N/A
Minimum Length: 1
Maximum Length: 255
Nillable: No
in Surface_Geometry:
Minimum occurrences: 0
Maximum occurrences: 1
-
Minimum occurrences: 0
Maximum occurrences: unbounded
in Vectors:
Minimum occurrences: 0
Maximum occurrences: 1
-
Minimum occurrences: 0
Maximum occurrences: 1
in Reference_Frame_Identification:
Minimum occurrences: 0
Maximum occurrences: 1
in Rotate_From:
Minimum occurrences: 0
Maximum occurrences: 1
in Rotate_To:
Minimum occurrences: 0
Maximum occurrences: 1
in Generic_Vectors:
Minimum occurrences: 0
Maximum occurrences: 1
in Distances:
Minimum occurrences: 0
Maximum occurrences: 1
-
Minimum occurrences: 0
Maximum occurrences: 1
in Coordinate_System_Identification:
Minimum occurrences: 0
Maximum occurrences: 1
coordinate_space_frame_type
The coordinate_space_frame_type attribute identifies the type of frame being described, such as SITE, LOCAL_LEVEL, LANDER, ROVER, ARM, etc. When combined with Coordinate_Space_Index and the optional solution_id in the Coordinate_Space_Indexed class, this serves to fully name an instance of a coordinate space.
PDS4 data type: ASCII_Short_String_Collapsed
Valid values:
AEGIS_1
Description: AEGIS target number 1. AEGIS is a component of rover software that selects targets for further investigation based on user defined parameters.
AEGIS_2
Description: AEGIS target number 2. AEGIS is a component of rover software that selects targets for further investigation based on user defined parameters.
AEGIS_3
Description: AEGIS target number 3. AEGIS is a component of rover software that selects targets for further investigation based on user defined parameters.
AEGIS_4
Description: AEGIS target number 4. AEGIS is a component of rover software that selects targets for further investigation based on user defined parameters.
AEGIS_5
Description: AEGIS target number 5. AEGIS is a component of rover software that selects targets for further investigation based on user defined parameters.
APXS_Frame
Description: Frame defining the APXS instrument on a movable arm.
ARM_CUSTOM_TCP_FRAME
Description: Frame describing a user-defined Tool Control Point for a movable arm.
ARM_DOCKING_POST_FRAME
Description: Frame describing the docking post on a movable arm.
ARM_DRILL_FRAME
Description: Frame describing the drill on a movable arm.
ARM_DRT_FRAME
Description: Frame describing the Dust Removal Tool on a movable arm.
ARM_FCS_FRAME
Description: Frame describing the FCS (Facility Contact Switch) device on a movable arm.
ARM_FRAME
Description: Frame describing a defined portion of a movable arm.
ARM_GDRT_FRAME
Description: Frame describing the GDRT (Gaseous Dust Removal Tool) device on a movable arm.
ARM_MAHLI_FRAME
Description: Frame describing the MAHLI instrument on a movable arm.
ARM_PIXL_FRAME
Description: Frame describing the PIXL instrument on a movable arm.
ARM_PORTION_FRAME
Description: Frame describing the sample portioner device on a movable arm.
ARM_SCOOP_TCP_FRAME
Description: Frame describing the Tool Control Point for the scoop on a movable arm.
ARM_SCOOP_TIP_FRAME
Description: Frame describing the tip of a scoop on a movable arm.
ARM_SHERLOC_FRAME
Description: Frame describing the SHERLOC instrument on a movable arm.
ARM_TURRET_FRAME
Description: Frame describing the turret on a movable arm.
ARM_WATSON_FRAME
Description: Frame describing the Watson instrument component on a movable arm.
Arm_Custom_TCP_Frame
Description: Frame describing a user-defined Tool Control Point for a movable arm.
Arm_DRT_Frame
Description: Frame describing the Dust Removal Tool on a movable arm.
Arm_Docking_Post_Frame
Description: Frame describing the docking post on a movable arm.
Arm_Drill_Frame
Description: Frame describing the drill on a movable arm.
Arm_FCS_Frame
Description: Frame describing the FCS (Facility Contact Switch) device on a movable arm.
Arm_Frame
Description: Frame describing a defined portion of a movable arm.
Arm_GDRT_Frame
Description: Frame describing the GDRT (Gaseous Dust Removal Tool) device on a movable arm.
Arm_MAHLI_Frame
Description: Frame describing the MAHLI instrument on a movable arm.
Arm_PIXL_Frame
Description: Frame describing the PIXL instrument on a movable arm.
Arm_Portion_Frame
Description: Frame describing the sample portioner device on a movable arm.
Arm_SHERLOC_Frame
Description: Frame describing the SHERLOC instrument on a movable arm.
Arm_Scoop_TCP_Frame
Description: Frame describing the Tool Control Point for the scoop on a movable arm.
Arm_Scoop_TIP_Frame
Description: Frame describing the tip of a scoop on a movable arm.
Arm_Turret_Frame
Description: Frame describing the turret on a movable arm.
Arm_WATSON_Frame
Description: Frame describing the Watson instrument component on a movable arm.
CINT_FRAME
Description: Frame describing the LVS camera during descent.
CINT_Frame
Description: Frame describing the LVS camera during descent.
DRILL_BIT_TIP
Description: Frame centered on the tip of the drill.
HELI_G_FRAME
Description: Helicopter frame defined attached to the ground at takeoff.
HELI_M_FRAME
Description: Helicopter frame roughly analogous to ROVER_MECH_FRAME.
HELI_S1_FRAME
Description: Helicopter frame roughly analogous to ROVER_NAV_FRAME defined for IMU #1.
HELI_S2_FRAME
Description: Helicopter frame roughly analogous to ROVER_NAV_FRAME defined for IMU #2.
Heli_G_Frame
Description: Helicopter frame defined attached to the ground at takeoff.
Heli_M_Frame
Description: Helicopter frame roughly analogous to ROVER_MECH_FRAME.
Heli_S1_Frame
Description: Helicopter frame roughly analogous to ROVER_NAV_FRAME defined for IMU #1.
Heli_S2_Frame
Description: Helicopter frame roughly analogous to ROVER_NAV_FRAME defined for IMU #2.
LANDER_FRAME
Description: Analogous to ROVER_NAV_FRAME for non-mobile missions.
LOCAL_LEVEL_FRAME
Description: Frame coincident with ROVER_NAV/LANDER_FRAME that is oriented according to cartographic directions and gravity.
Lander_Frame
Description: Analogous to ROVER_NAV_FRAME for non-mobile missions.
Local_Level_Frame
Description: Frame coincident with ROVER_NAV/LANDER_FRAME that is oriented according to cartographic directions and gravity.
MB_Frame
Description: None
MCMF_FRAME
Description: Mars Centered Mars Fixed Frame defined with origin at the planet center.
MCMF_Frame
Description: Mars Centered Mars Fixed Frame defined with origin at the planet center.
MCZ_CAL_PRIMARY
Description: Primary Mastcam-Z calibration target.
MEDA_RDS
Description: Radiation and Dust Sensor for the MEDA instruments.
MI_Frame
Description: None
Mast_Frame
Description: None
ORBITAL
Description: A surface frame for use with orbital images, where the origin is defined relative to the equator and prime meridan or another orbital frame.
Orbital
Description: A surface frame for use with orbital images, where the origin is defined relative to the equator and prime meridan or another orbital frame.
PIXL_BASE_FRAME
Description: Frame describing the base of the PIXL instrument.
PIXL_Base_Frame
Description: Frame describing the base of the PIXL instrument.
PIXL_SENSOR_FRAME
Description: Frame describing the movable sensor head of the PIXL instrument.
PIXL_Sensor_Frame
Description: Frame describing the movable sensor head of the PIXL instrument.
PIXL_TOOL
Description: Frame for PIXL instrument.
PIXL_Tool
Description: Frame for PIXL instrument.
ROVER_FRAME
Description: Frame that is attached to the rover and moves with the rover (in both position and orientation). Often synonymous with ROVER_NAV_FRAME.
ROVER_MECH_FRAME
Description: Frame generally similar to ROVER_NAV_FRAME but with different origin and possibly axis orientation that is more conducive to mechanical operations (“MECH” for “Mechanical”). The origin is typically (but not necessarily) tied to a specific bit of hardware.
ROVER_NAV_FRAME
Description: Frame attached to the rover oriented with respect to the rover that moves with the rover (“NAV” for “Navigation”). The origin is generally in a location conducive to navigation (e.g. at the center of turning between the middle wheels at nominal ground level on MSL/M20 type rovers) which may not be attached to any physical hardware.
RSM_FRAME
Description: Frame defining a Remote Sensing Mast.
RSM_Frame
Description: Frame defining a Remote Sensing Mast.
RSM_HEAD_FRAME
Description: Frame defining a Remote Sensing Mast.
RSM_Head_Frame
Description: Frame defining a Remote Sensing Mast.
Rat_Frame
Description: None
Rover_Frame
Description: None
Rover_Mech_Frame
Description: Frame generally similar to ROVER_NAV_FRAME but with different origin and possibly axis orientation that is more conducive to mechanical operations (“MECH” for “Mechanical”). The origin is typically (but not necessarily) tied to a specific bit of hardware.
Rover_Nav_Frame
Description: Frame attached to the rover oriented with respect to the rover that moves with the rover (“NAV” for “Navigation”). The origin is generally in a location conducive to navigation (e.g. at the center of turning between the middle wheels at nominal ground level on MSL/M20 type rovers) which may not be attached to any physical hardware.
SAM1
Description: Sample Analysis at Mars frame 1 (used by MSL)
SAM2
Description: Sample Analysis at Mars frame 2 (used by MSL)
SITE_FRAME
Description: Instance of LOCAL_LEVEL_FRAME that is fixed to the ground. Used for local operations to reduce error propagation due to position uncertainty.
SUN
Description: Frame centered on the sun. Generally used for pointing instruments at the sun, rather than 3D position.
Site_Frame
Description: Instance of LOCAL_LEVEL_FRAME that is fixed to the ground. Used for local operations to reduce error propagation due to position uncertainty.
TOOL_FRAME
Description: Tool frame is used to indicate the frame associated with the currently selected (or activated) “tool”, in contexts where the specific frame is unknown or does not matter. “Tools” are typically devices on an arm such as a drill, microscopic imager, contact spectrometer, etc.
TURRET_FRAME
Description: Frame based on a turret mechanism.
Tool_Frame
Description: Tool frame is used to indicate the frame associated with the currently selected (or activated) “tool”, in contexts where the specific frame is unknown or does not matter. “Tools” are typically devices on an arm such as a drill, microscopic imager, contact spectrometer, etc.
Turret_Frame
Description: Frame based on a turret mechanism.
WHEEL_LF
Description: Frame for left front wheel.
WHEEL_LM
Description: Frame for left middle wheel.
WHEEL_LR
Description: Frame for left rear wheel.
WHEEL_RF
Description: Frame for right front wheel.
WHEEL_RM
Description: Frame for right middle wheel.
WHEEL_RR
Description: Frame for right rear wheel.
Wheel_LF
Description: Frame for left front wheel.
Wheel_LM
Description: Frame for left middle wheel.
Wheel_LR
Description: Frame for left rear wheel.
Wheel_RF
Description: Frame for right front wheel.
Wheel_RM
Description: Frame for right middle wheel.
Wheel_RR
Description: Frame for right rear wheel.
Minimum Length: 1
Maximum Length: 255
Nillable: Yes
Minimum occurrences: 1
Maximum occurrences: 1
coordinate_system_time_utc
The coordinate_system_time_utc provides the instantiation time for the coordinate system.
PDS4 data type: ASCII_Date_Time_YMD_UTC
Valid values: N/A
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
coordinate_system_type
The coordinate_system_type distinguishes between options such as rectangular, spherical, planetocentric, etc.
PDS4 data type: ASCII_Short_String_Collapsed
Valid values:
Azimuth-Elevation
Description: The coordinate system uses azimuth-elevation coordinates. Azimuth: angle from +X axis to projection of position vector on x-y plane increases in clockwise direction (-180 to +180). Elevation: angle between position vector and x-y plane (-90 to +90).
Cartesian
Description: The coordinate system uses rectangular coordinates.
Planetocentric
Description: The coordinate system uses planetocentric coordinates. Planetocentric longitude increases positively eastward (-180 to +180). Planetocentric latitude increases positively northward (-90 to +90). For planets and their satellites the +Z axis (+90 latitude) always points to the north side of the invariable plane (the plane whose normal vector is the angular momentum vector of the solar system). For dwarf planets, asteroids and comets the IAU defines their positive pole such that their spin is in the right hand sense about their positive pole. The positive pole may point above or below the invariable plane of the solar system. This revision by the IAU Working Group (2006) inverts what had been the direction of the north pole for Pluto, Charon and Ida.
Planetodetic
Description: The coordinate system uses planetodetic coordinates. For planets and their satellites the +Z axis (+90 latitude) always points to the north side of the invariable plane (the plane whose normal vector is the angular momentum vector of the solar system). Planetodetic longitude increases positively eastward (-180 to +180). Planetodetic latitude is tied to a reference ellipsoid. For a point, P, on a reference ellipsoid, angle measured from X-Y plane to the surface normal at the point of interest. For other points, equals latitude at the nearest point on the reference ellipsoid. Increases positively northward (-90 to +90).
Planetographic
Description: The coordinate system uses planetographic coordinates. For planet and satellite planetographic coordinate systems: Planetographic longitude is usually defined such that the sub-observer longitude increases with time as seen by a distant, fixed observer (0 to 360). The earth, moon and sun are exceptions; planetographic longitude is positive east by default (0 to 360). Planetographic latitude is planetodetic latitude (-90 to +90). For dwarf planets, asteroids and comets: there are multiple, inconsistent standards. Currently, for these objects, PDS permits planetographic coordinates to be provided in addition to, not in lieu of, either planetocentric or planetodetic coordinates.
Spherical
Description: The coordinate system uses spherical coordinates. Longitude: angle from +X axis to projection of position vector on X-Y plane increases in clockwise direction (0 to 360). Colatitude: angle between +Z axis and position vector (0 to 180).
Minimum Length: 1
Maximum Length: 255
Nillable: Yes
Minimum occurrences: 1
Maximum occurrences: 1
declination_angle
The declination_angle (Dec) attribute provides the value of an angle on the celestial sphere, measured north from the celestial equator to the point in question. (For points south of the celestial equator, negative values are used.) Declination is used in conjunction with right ascension (right_ascension_angle or right_ascension_hour_angle) to specify a point on the sky.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -90
Maximum value: 90
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
description
The description attribute provides a statement, picture in words, or account that describes or is otherwise relevant to the object.
PDS4 data type: UTF8_Text_Preserved
Valid values: N/A
Minimum Length: 1
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
device_id
The device_id attribute specifies the abbreviated identification of an articulation device.
PDS4 data type: ASCII_Short_String_Collapsed
Valid values: N/A
Minimum Length: 1
Maximum Length: 255
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
device_mode
The device_mode attribute specifies the deployment state (i.e., physical configuration) of an articulation device at the time of data acquisition. Examples include ‘Arm Vibe’, ‘Deployed’, ‘Free Space’, ‘Stowed’. Note: the value set for this attribute is mission-specific and should be declared in a mission-specific dictionary.
PDS4 data type: ASCII_Short_String_Collapsed
Valid values: N/A
Minimum Length: 1
Maximum Length: 255
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
device_name
The device_name attribute specifies the common name of an articulation device.
PDS4 data type: ASCII_Short_String_Collapsed
Valid values: N/A
Minimum Length: 1
Maximum Length: 255
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
device_phase
The device_phase attribute specifies the current phase of the mission, from an articulation-device-centric point of view.
PDS4 data type: ASCII_Short_String_Collapsed
Valid values: N/A
Minimum Length: 1
Maximum Length: 255
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
distance
The distance attribute provides the scalar distance between to objects or points.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
east_azimuth
Assuming the image is displayed as defined by the Display_Direction class, the east_azimuth attribute provides the value of the angle between a line from the image center to the east and a reference line in the image plane. The reference line is a horizontal line from the image center to the middle right edge of the image. This angle is measured from the reference line and increases in a clockwise direction.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 360
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
ecliptic_east_clock_angle
The ecliptic_east_clock_angle attribute specifies the direction of ecliptic east at the center of an image. It is measured from the ‘upward’ direction, clockwise to the direction toward ecliptic east, assuming the image is displayed as defined by the Display_Direction class.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 360
Nillable: No
Minimum occurrences: 1
Maximum occurrences: unbounded
ecliptic_north_clock_angle
The ecliptic_north_clock_angle attribute specifies the direction of ecliptic north at the center of an image. It is measured from the ‘upward’ direction, clockwise to the direction toward ecliptic north, assuming the image is displayed as defined by the Display_Direction class.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 360
Nillable: Yes
-
Minimum occurrences: 1
Maximum occurrences: 2
in Object_Orientation_Clock_Angles:
Minimum occurrences: 1
Maximum occurrences: unbounded
emission_angle
The emission_angle element provides a measure of the relationship between the instrument viewing position and the surface normal vector at the intercept point. Specifically, it is the angle, measured at the intercept point, between the local surface normal vector and a vector in the direction of the outgoing photon to the observing instrument. The emission_angle varies from 0 degrees when the spacecraft is viewing the subspacecraft point (nadir viewing) to 90 degrees when the intercept is tangent to the surface of the target body. Thus, higher values of emission_angle indicate more oblique viewing of the target. In the context of planetary rings, the local surface normal vector is always on the side of the ring plane illuminated by the light source. Thus, the emission_angle varies from 0 degrees when the spacecraft is viewing the illuminated side of the rings face-on, to 90 degrees when viewing the rings edge-on (that is, the spacecraft is in the ring plane), to 180 degrees when the spacecraft is viewing the unlit side of the rings face-on.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 180
Nillable: No
-
Minimum occurrences: 1
Maximum occurrences: 4
in Derived_Geometry:
Minimum occurrences: 1
Maximum occurrences: unbounded
frame_spice_name
The frame_spice_name attribute is a NAIF-recognized string identifier for a reference frame associated with the data.
PDS4 data type: ASCII_Short_String_Collapsed
Valid values: N/A
Minimum Length: 1
Maximum Length: 255
Nillable: No
in Reference_Frame_Identification:
Minimum occurrences: 0
Maximum occurrences: 1
in Rotate_From:
Minimum occurrences: 0
Maximum occurrences: 1
in Rotate_To:
Minimum occurrences: 0
Maximum occurrences: 1
-
Minimum occurrences: 1
Maximum occurrences: 1
geometry_reference_time_tdb
The geometry reference time given in the ‘Barycentric Dynamical Time’ system, as a number of elapsed seconds since the J2000 epoch. This is consistent with the definition of ‘ephemeris time’ as used in the SPICE toolkit. The value must correspond to the time specified in the geometry_reference_time_utc attribute.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
geometry_reference_time_utc
For some observations, geometric parameters are given as instantaneous values at a specific time. Another set of instantaneous parameters are the parameters which give the minimum and maximum values in the product. In some cases, these range values are all calculated for the same time. If the label includes single valued geometric parameters or min/max range parameters determined for a specific time, geometry_reference_time_utc gives the time for which these values were calculated and must be given in the label. For some instruments, particularly those with relatively large exposure durations, (e.g., push broom cameras, many imaging spectrometers), many geometric quantities are given as ranges. If those range parameters are associated with the beginning and end of the observation (start_parameter/stop_parameter), geometry_start_time_utc/stop_time must be given. Comments within the label should be used to ensure the parameter vs. time association is unambiguous.
PDS4 data type: ASCII_Date_Time_YMD_UTC
Valid values: N/A
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 3
geometry_start_time_utc
The pair of geometry_start_time_utc/geometry_stop_time_utc may be given in the label for any observation. The pair is generally used for fairly long duration observations (a substantial portion of an hour to several hours). geometry_start_time_utc gives the time at the beginning of the observation. When either geometry_start_time_utc or geometry_stop_time_utc is given, both must be provided. Within the Geometry discipline, there are two options for providing geometric parameters as a range of values. A parameter may be given as a pair where the parameter values are those at the beginning and end of the observation (start_parameter, stop_parameter). If a (start_parameter, stop_parameter) pair is used for any geometric parameter, the pair (geometry_start_time_utc/geometry_stop_time_utc) must be given. Another option to provide geometric parameters as a pair is (minimum_parameter, maximum_parameter) defining a range of values where the values are the minimum and maximum values of that parameter for the entire observation. Comments within the label should be used to ensure the parameter vs. time association is unambiguous.
PDS4 data type: ASCII_Date_Time_YMD_UTC
Valid values: N/A
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 3
geometry_state
Specifies the state or configuration of this instance of Geometry_Lander applies. Use of this attribute enables multiple instances of Geometry_Lander, describing the geometry under different conditions. Note that it is legal for more than one instance to have the same geometry_state, in which case the local_identifier should be used to differentiate the instances, along with description. If not present, the semantics of “Telemetry” should be assumed. It is not required that instances be retained; a derived product may have an Adjusted instance but remove the Telemetry one, for example.
PDS4 data type: ASCII_Short_String_Collapsed
Valid values: N/A
Minimum Length: 1
Maximum Length: 255
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
geometry_stop_time_utc
The pair of geometry_start_time_utc/geometry_stop_time_utc may be given in the label for any observation. The pair is generally used for fairly long duration observations (a substantial portion of an hour to several hours). geometry_stop_time_utc gives the time at the end of the observation. When either geometry_start_time_utc or geometry_stop_time_utc is given, both must be provided. Within the Geometry discipline, there are two options for providing geometric parameters as a range of values. A parameter may be given as a pair where the parameter values are those at the beginning and end of the observation (start_parameter, stop_parameter). If a (start_parameter, stop_parameter) pair is used for any geometric parameter, the pair (geometry_start_time_utc/geometry_stop_time_utc) must be given. Another option to provide geometric parameters as a pair is (minimum_parameter, maximum_parameter) defining a range of values where the values are the minimum and maximum values of that parameter for the entire observation. Comments within the label should be used to ensure the parameter vs. time association is unambiguous.
PDS4 data type: ASCII_Date_Time_YMD_UTC
Valid values: N/A
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 3
horizontal_coordinate_pixel
horizontal_coordinate_pixel (sample) is the horizontal coordinate of a specific pixel.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
horizontal_display_axis
The horizontal_display_axis attribute identifies, by name, the axis of an Array (or Array subclass) that is intended to be displayed in the horizontal or “sample” dimension on a display device. The value of this attribute must match the value of one, and only one, axis_name attribute in an Axis_Array class of the associated Array.
PDS4 data type: ASCII_Short_String_Collapsed
Valid values: N/A
Minimum Length: 1
Maximum Length: 255
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
horizontal_display_direction
The horizontal_display_direction attribute specifies the direction across the screen of a display device that data along the horizontal axis of an Array is supposed to be displayed.
PDS4 data type: ASCII_Short_String_Collapsed
Valid values:
Left to Right
Description: Data along the horizontal axis of an array should be displayed from left to right.
Right to Left
Description: Data along the horizontal axis of an array should be displayed from right to left.
Minimum Length: 1
Maximum Length: 255
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
horizontal_pixel_field_of_view
The horizontal_pixel_field_of_view provides the angular measure of the horizontal field of view of a single pixel, and is sometimes referred to as the instantaneous field of view. The pixel_field_of_view_method attribute will designate the method used to determine this value. If the pixel_field_of_view_method attribute is not specified, see the camera documentation for more details.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 360
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
horizontal_pixel_footprint
The horizontal_pixel_footprint provides the the size of the horizontal field of view of a single pixel projected onto the target specified in the parent Geometry_Orbiter class.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
incidence_angle
The incidence_angle element provides a measure of the lighting condition at the intercept point. Specifically, it is the angle, measured at the intercept point, between a vector in the direction of an incoming photon from the illumination source and the local surface normal vector. The incidence_angle varies from 0 degrees when the intercept point coincides with the subsolar point to 90 degrees when the intercept is tangent to the surface of the target body. In the context of planetary rings, the local surface normal vector is always on the side of the ring plane illuminated by the light source. Thus, the incidence_angle varies from 0 degrees if the light source illuminates the rings face-on, to 90 degrees if the light source illuminates the rings edge-on.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 180
Nillable: No
-
Minimum occurrences: 1
Maximum occurrences: 4
in Derived_Geometry:
Minimum occurrences: 1
Maximum occurrences: unbounded
index_id
The index_id attribute supplies a short name (identifier) for the associated value in a group of related values.
PDS4 data type: ASCII_Short_String_Collapsed
Valid values: N/A
Minimum Length: 1
Maximum Length: 255
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 3
index_name
The index_name attribute supplies the formal name for the associated value in a group of related values.
PDS4 data type: ASCII_Short_String_Collapsed
Valid values: N/A
Minimum Length: 1
Maximum Length: 255
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 3
index_sequence_number
The index_sequence_number attribute supplies the sequence identifier for the associated value in a group of related values.
PDS4 data type: ASCII_Short_String_Collapsed
Valid values: N/A
Minimum Length: 1
Maximum Length: 255
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 3
index_value_angle
The index_value_angle attribute provides the value of an angle as named by the associated index_id, index_name, or index_sequence_number.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 0
Maximum occurrences: unbounded
index_value_length
The index_value_length attribute provides the value of a length as named by the associated index_id or index_name.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 0
Maximum occurrences: unbounded
index_value_number
The index_value_number attribute provides the value with no applicable units as named by the associated index_id or index_name.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 0
Maximum occurrences: unbounded
index_value_string
The index_value attribute provides the string value as named by the associated index_id or index_name.
PDS4 data type: ASCII_Short_String_Collapsed
Valid values: N/A
Minimum Length: 1
Maximum Length: 255
Nillable: No
Minimum occurrences: 0
Maximum occurrences: unbounded
index_value_temperature
The index_value_temperature attribute provides the value of a temperature as named by the associated index_id or index_name.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 0
Maximum occurrences: unbounded
instrument_azimuth
The instrument_azimuth attribute specifies the value for an instrument’s rotation in the horizontal direction. It may be measured from a low hard stop, or relative to a coordinate frame. Although it may be used for any instrument where it makes sense, it is primarily intended for use in surface-based instruments that measure pointing in terms of azimuth and elevation. If this value is expressed using a coordinate system, the coordinate system is specified by the Coordinate_Space_Reference class. The interpretation of exactly what part of the instrument is being pointed is mission-specific. It could be the boresight, the camera head direction, the CAHV camera model A vector direction, or any of a number of other things. As such, for multimission use this value should be used mostly as an approximation, e.g. identifying scenes which might contain a given object.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 1
Maximum occurrences: unbounded
instrument_elevation
The instrument_elevation attribute specifies the value for an instrument’s rotation in the vertical direction. It may be usually measured from a low hard stop, or relative to a coordinate frame. Although it may be used for any instrument where it makes sense, it is primarily intended for use in surface-based instruments that measure pointing in terms of azimuth and elevation. If this value is expressed using a coordinate system, the coordinate system is specified by the Coordinate_Space_Reference class. The interpretation of exactly what part of the instrument is being pointed is mission-specific. It could be the boresight, the camera head direction, the CAHV camera model A vector direction, or any of a number of other things. As such, for multimission use this value should be used mostly as an approximation, e.g. identifying scenes that might contain a given object.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 1
Maximum occurrences: unbounded
interpolation_algorithm
The interpolation_algorithm defines how interpolation was performed. For example, “Piecewise Bilinear” does a piecewise bilinear interpolation between calibration models nearest to the interpolation_value.
PDS4 data type: ASCII_Short_String_Collapsed
Valid values: N/A
Minimum Length: 1
Maximum Length: 255
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
interpolation_sequence
When more than one dimension is interpolated, interpolation_sequence define the ordering. Sequence value 1 was interpolated first, directly from calibration; sequence value 2 was interpolated from those results, etc.
PDS4 data type: ASCII_Integer
Valid values: N/A
Minimum value: 0
Maximum value: 9223372036854775807
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
interpolation_value
The interpolation_value specifies the value of the variable to which the model was interpolated. The interpretation of the value depends on what the variable is and should be documented in the mission documentation.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
interpolation_variable
The interpolation_variable defines the parameter across which interpolation is being performed. Examples of variables include Focus, Zoom, and Temperature.
PDS4 data type: ASCII_Short_String_Collapsed
Valid values: N/A
Minimum Length: 1
Maximum Length: 255
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
kernel_provenance
The kernel_provenance attribute indicates whether a kernel file is a predict kernel, a reconstructed kernel, some combination of the two, or a kernel for which the distinction is not applicable.
PDS4 data type: ASCII_Short_String_Collapsed
Valid values:
Mixed
Description: This kernel contains both reconstructed and predicted portions (e.g. a reconstructed spacecraft trajectory SPK with a run-out predicted tail).
Predicted
Description: This kernel is a predict kernel (e.g. a pre-encounter predicted spacecraft trajectory SPK ).
Provenance Not Applicable
Description: This kernel does not fit into any of the other categories (e.g., LSKs, SCLKs, text PCKs).
Reconstructed
Description: This kernel is reconstructed based on improved information (e.g. a post-encounter reconstructed spacecraft trajectory SPK based on improved navigation information).
Minimum Length: 1
Maximum Length: 255
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
kernel_type
The kernel_type attribute identifies the type of SPICE kernel.
PDS4 data type: ASCII_Short_String_Collapsed
Valid values:
CK
Description: SPICE_Kernel is type CK (orientation kernel)
DBK
Description: SPICE_Kernel is type DBK (database kernel)
DSK
Description: SPICE_Kernel is type DSK (digital shape kernel)
EK
Description: SPICE_Kernel is type EK (events kernel)
FK
Description: SPICE_Kernel is type FK (frames kernel)
IK
Description: SPICE_Kernel is type IK (instrument kernel)
LSK
Description: SPICE_Kernel is type LSK (leap seconds kernel)
MK
Description: SPICE_Kernel is type MK (meta kernel, which names SPICE kernels to be used together)
PCK
Description: SPICE_Kernel is type PCL (planetary constants kernel)
SCLK
Description: SPICE_Kernel is type SCLK (spacecraft clock kernel)
SPK
Description: SPICE_Kernel is type SPK (ephemeris kernel)
Minimum Length: 1
Maximum Length: 255
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
lat_long_method
The lat_long_method is used with the attributes start_latitude, stop_latitude, start_longitude and stop_longitude. For most observations these parameters would be multivalued. lat_long_method is used to characterize the start and stop latitude and longitude. The possible values are: ‘center’ indicating the latitude and longitude values are those at the center of the field of view at the beginning and end of the observation. ‘median’ indicating the latitude and longitude values are the median values at the beginning and end of the observation. ‘mean’ indicating the latitude and longitude values are the mean values at the beginning and end of the observation.
PDS4 data type: ASCII_Short_String_Collapsed
Valid values:
Center
Description: The latitude and longitude values given using start_ and stop_ latitude and longitude are those at the center of the field of view at the beginning and end of the observation.
Mean
Description: The latitude and longitude values given using start_ and stop_ latitude and longitude are the mean values at the beginning and end of the observation.
Median
Description: The latitude and longitude values given using start_ and stop_ latitude and longitude are the median values at the beginning and end of the observation.
Minimum Length: 1
Maximum Length: 255
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
latitude_position
The latitude component of a Planetocentric position vector. Planetocentric latitude is the angle between the equator plane and a vector connecting the point of interest and the origin of the coordinate system. Latitudes are defined to be positive in the northern (as defined by the IAU) hemisphere.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -90
Maximum value: 90
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
latitude_velocity
The latitude component of a Planetocentric velocity vector. Planetocentric latitude is the angle between the equator plane and a vector connecting the point of interest and the origin of the coordinate system. Latitudes are defined to be positive in the northern (as defined by the IAU) hemisphere.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
light_time_correction_applied
The light_time_correction_applied indicates whether or not light travel time correction and stellar aberration correction were used when calculating the values in the enclosing class. The attribute is nillable with nill_reason = unknown, but only for migrated data. Note: generally, received light travel time is calculated unless a transmitter (e.g., radar, radio) was involved in which the calculation typically is transmitted light time.
PDS4 data type: ASCII_Short_String_Collapsed
Valid values:
None
Description: Neither light travel time nor stellar aberration was used when calculating the values in the enclosing class.
Received_Light_Time
Description: Received light travel time, but not stellar aberration was used when calculating the values in the enclosing class.
Received_Light_Time_Stellar_Abb
Description: Received light travel time and stellar aberration were used when calculating the values in the enclosing class.
Transmitted_Light_Time
Description: Transmitted light travel time, but not stellar aberration was used when calculating the values in the enclosing class.
Transmitted_Light_Time_Stellar_Abb
Description: Transmitted light travel time and stellar aberration were used when calculating the values in the enclosing class.
Minimum Length: 1
Maximum Length: 255
Nillable: Yes
Minimum occurrences: 1
Maximum occurrences: 1
local_identifier
The local_identifier attribute provides a character string which uniquely identifies the containing object within the label.
PDS4 data type: ASCII_Local_Identifier
Valid values: N/A
Minimum Length: 1
Maximum Length: 255
Nillable: No
in Central_Body_Identification:
Minimum occurrences: 0
Maximum occurrences: 1
in Coordinate_System_Origin_Identification:
Minimum occurrences: 0
Maximum occurrences: 1
in Geometry_Target_Identification:
Minimum occurrences: 0
Maximum occurrences: 1
-
Minimum occurrences: 0
Maximum occurrences: 1
in Device_Angle:
Minimum occurrences: 0
Maximum occurrences: 1
-
Minimum occurrences: 0
Maximum occurrences: 1
in Articulation_Device_Parameters:
Minimum occurrences: 0
Maximum occurrences: unbounded
in Reference_Frame_Identification:
Minimum occurrences: 0
Maximum occurrences: 1
in Rotate_From:
Minimum occurrences: 0
Maximum occurrences: 1
in Rotate_To:
Minimum occurrences: 0
Maximum occurrences: 1
in Geometry_Lander:
Minimum occurrences: 0
Maximum occurrences: 1
in Motion_Counter:
Minimum occurrences: 0
Maximum occurrences: 1
-
Minimum occurrences: 0
Maximum occurrences: 1
-
Minimum occurrences: 0
Maximum occurrences: 1
in Coordinate_Space_Definition:
Minimum occurrences: 1
Maximum occurrences: unbounded
longitude_position
The longitudinal component of a Planetocentric position vector. Planetocentric longitude is measured from the IAU approved prime meridian for the body and increases toward the east.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 360
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
longitude_velocity
The longitudinal component of a Planetocentric velocity vector. Planetocentric longitude is measured from the IAU approved prime meridian for the body and increases toward the east.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
maximum_emission_angle
The maximum_emission_angle element provides the largest value during the observation for the emission angle at the target specified in the parent Geometry_Orbiter class.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 180
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
maximum_incidence_angle
The maximum_incidence_angle element provides the largest value during the observation for the incidence angle at the target specified in the parent Geometry_Orbiter class.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 180
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
maximum_latitude
The maximum_latitude attribute identifies the final end of the range of values for Planetocentric latitude in an image.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -90
Maximum value: 90
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
maximum_longitude
The maximum_longitude attribute identifies the final end of the range of values for Planetocentric longitude in an image. Note that since Planetocentric longitude has values in [0,360], if the range in the product crosses the prime meridian, the value of minimum_longitude will be greater than the value of the maximum_longitude.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 360
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
maximum_phase_angle
The maximum_phase_angle element provides the largest value during the observation for the phase angle at the target specified in the parent Geometry_Orbiter class.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 180
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
maximum_solar_elongation
The maximum_solar_elongation element provides the largest value during the observation for the solar elongation.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 180
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
maximum_spacecraft_central_body_distance
The maximum_spacecraft_central_body_distance attribute provides the largest value during the observation for the distance between the spacecraft and the center of the central body (e.g., the center of Mars when opperating in the Mars system).
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
maximum_spacecraft_geocentric_distance
The maximum_spacecraft_geocentric_distance attribute provides the largest value during the observation for the distance between the spacecraft and the center of Earth.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
maximum_spacecraft_heliocentric_distance
The maximum_spacecraft_heliocentric_distance attribute provides the largest value during the observation for the distance between the spacecraft and the center of the Sun.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
maximum_spacecraft_target_boresight_intercept_distance
The maximum_spacecraft_target_boresight_intercept_distance attribute provides the largest value during the observation for the distance between the spacecraft and the boresight vector intercept point on the surface of the target specified in the parent Geometry_Orbiter class.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
maximum_spacecraft_target_center_distance
The maximum_spacecraft_target_center_distance attribute provides the largest value during the observation for the distance between the spacecraft and the center of the target specified in the parent Geometry_Orbiter class.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
maximum_spacecraft_target_subspacecraft_distance
The maximum_spacecraft_target_subspacecraft_distance attribute provides the largest value during the observation for the distance between the spacecraft and the subspacecraft point on the surface of the target specified in the parent Geometry_Orbiter class.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
maximum_subsolar_azimuth
The maximum_subsolar_azimuth attribute identifies the final end of the range of values for subsolar azimuth in an image. Note that since subsolar azimuth has values in [0,360], if the range in the image crosses the horizontal reference corresponding to zero, the value of minimum_subsolar_azimuth will be greater than the value of the maximum_subsolar_azimuth.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 360
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
maximum_subsolar_latitude
The maximum_subsolar_latitude attribute identifies the final end of the range of values for subsolar latitude in an image.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -90
Maximum value: 90
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
maximum_subsolar_longitude
The maximum_subsolar_longitude attribute identifies the final end of the range of values for subsolar longitude in an image. Note that since subsolar longitude has values in [0,360], if the range in the product crosses the prime meridian, the value of minimum_subsolar_longitude will be greater than the value of the maximum_subsolar_longitude.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 360
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
maximum_subspacecraft_azimuth
The maximum_subspacecraft_azimuth attribute identifies the final end of the range of values for subspacecraft azimuth in an image. Note that since subspacecraft azimuth has values in [0,360], if the range in the image crosses the horizontal reference corresponding to zero, the value of minimum_subspacecraft_azimuth will be greater than the value of the maximum_subspacecraft_azimuth.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 360
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
maximum_subspacecraft_latitude
The maximum_subspacecraft_latitude attribute identifies the final end of the range of values for subspacecraft latitude in an image.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -90
Maximum value: 90
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
maximum_subspacecraft_longitude
The maximum_subspacecraft_longitude attribute identifies the final end of the range of values for subspacecraft longitude in an image. Note that since subspacecraft longitude has values in [0,360], if the range in the product crosses the prime meridian, the value of minimum_subspacecraft_longitude will be greater than the value of the maximum_subspacecraft_longitude.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 360
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
maximum_target_geocentric_distance
The maximum_target_geocentric_distance attribute provides the largest value for the distance between the center of the target and the center of the Earth during the observation.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
maximum_target_heliocentric_distance
The maximum_target_heliocentric_distance attribute provides the largest value for the distance between the center of the target and the center of the Sun during the observation.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
maximum_target_ssb_distance
The maximum_target_ssb_distance attribute provides the largest value for the distance between the center of the target and the Solar System Barycenter during the observation.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
minimum_emission_angle
The minimum_emission_angle attribute provides the smallest value during the observation for the emission angle at the target specified in the parent Geometry_Orbiter class.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 180
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
minimum_incidence_angle
The minimum_incidence_angle attribute provides the smallest value during the observation for the incidence angle at the target specified in the parent Geometry_Orbiter class.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 180
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
minimum_latitude
The minimum_latitude attribute identifies the initial end of the range of values for Planetocentric latitude in an image.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -90
Maximum value: 90
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
minimum_longitude
The minimum_longitude attribute identifies the initial end of the range of values for Planetocentric longitude. Note that since Planetocentric longitude has values in [0,360], if the range in the product crosses the prime meridian, the value of minimum_longitude will be greater than the value of the maximum_longitude.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 360
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
minimum_phase_angle
The minimum_phase_angle attribute provides the smallest value during the observation for the phase angle at the target specified in the parent Geometry_Orbiter class.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 180
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
minimum_solar_elongation
The minimum_solar_elongation attribute provides the smallest value during the observation for the solar elongation.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 180
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
minimum_spacecraft_central_body_distance
The minimum_spacecraft_central_body_distance attribute provides the smallest value during the observation for the distance between the spacecraft and the center of the central body (e.g., the center of Mars when opperating in the Mars system).
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
minimum_spacecraft_geocentric_distance
The minimum_spacecraft_geocentric_distance attribute provides the smallest value during the observation for the distance between the spacecraft and the center of Earth.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
minimum_spacecraft_heliocentric_distance
The minimum_spacecraft_heliocentric_distance attribute provides the smallest value during the observation for the distance between the spacecraft and the center of the Sun.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
minimum_spacecraft_target_boresight_intercept_distance
The minimum_spacecraft_target_boresight_intercept_distance attribute provides the smallest value during the observation for the distance between the spacecraft and the boresight vector intercept point on the surface of the target specified in the parent Geometry_Orbiter class.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
minimum_spacecraft_target_center_distance
The minimum_spacecraft_target_center_distance attribute provides the smallest value during the observation for the distance between the spacecraft and the center of the target specified in the parent Geometry_Orbiter class.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
minimum_spacecraft_target_subspacecraft_distance
The minimum_spacecraft_target_subspacecraft_distance attribute provides the smallest value during the observation for the distance between the spacecraft and the subspacecraft point on the surface of the target specified in the parent Geometry_Orbiter class.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
minimum_subsolar_azimuth
The minimum_subsolar_azimuth attribute identifies the initial end of the range of values for subsolar azimuth in an image. Note that since subsolar azimuth has values in [0,360], if the range in the image crosses the horizontal reference corresponding to zero, the value of minimum_subsolar_azimuth will be greater than the value of the maximum_subsolar_azimuth.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 360
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
minimum_subsolar_latitude
The minimum_subsolar_latitude attribute identifies the initial end of the range of values for subsolar latitude in an image.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -90
Maximum value: 90
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
minimum_subsolar_longitude
The minimum_subsolar_longitude attribute identifies the initial end of the range of values for subsolar longitude. Note that since subsolar longitude has values in [0,360], if the range in the product crosses the prime meridian, the value of minimum_subsolar_longitude will be greater than the value of the maximum_subsolar_longitude.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 360
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
minimum_subspacecraft_azimuth
The minimum_subspacecraft_azimuth attribute identifies the initial end of the range of values for subspacecraft azimuth in an image. Note that since subspacecraft azimuth has values in [0,360], if the range in the image crosses the horizontal reference corresponding to zero, the value of minimum_subspacecraft_azimuth will be greater than the value of the maximum_subspacecraft_azimuth.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 360
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
minimum_subspacecraft_latitude
The minimum_subspacecraft_latitude attribute identifies the initial end of the range of values for subspacecraft latitude in an image.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -90
Maximum value: 90
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
minimum_subspacecraft_longitude
The minimum_subspacecraft_longitude attribute identifies the initial end of the range of values for subspacecraft longitude. Note that since subspacecraft longitude has values in [0,360], if the range in the product crosses the prime meridian, the value of minimum_subspacecraft_longitude will be greater than the value of the maximum_subspacecraft_longitude.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 360
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
minimum_target_geocentric_distance
The minimum_target_geocentric_distance attribute provides the smallest value for the distance between the center of the target and the center of the Earth during the observation.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
minimum_target_heliocentric_distance
The minimum_target_heliocentric_distance attribute provides the smallest value for the distance between the center of the target and the center of the Sun during the observation.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
minimum_target_ssb_distance
The minimum_target_ssb_distance attribute provides the smallest value for the distance between the center of the target and the Solar System Barycenter during the observation.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
model_type
The model_type attribute specifies an identifier for the type or kind of model. The value should be one of a well defined set, providing an application program with sufficient information to know how to handle the rest of the parameters within the model. This value will correlate directly with the specific camera model class that is a subclass of the Camera_Model_Parameters class.
PDS4 data type: ASCII_Short_String_Collapsed
Valid values:
CAHV
Description: The CAHV model is a linear, perspective-projection camera model (equivalent to a pinhole camera).
CAHVOR
Description: The CAHVOR model is built upon CAHV (see CAHV_Model), adding radial (barrel or pincushion) distortion to the linear model.
CAHVORE
Description: The CAHVORE model is built upon CAHVOR (see CAHVOR_Model), adding support for fisheye lenses.
PSPH
Description: The PSPH model is designed to perform better fisheye-image rectification prior to 1D stereo correlation.
Minimum Length: 1
Maximum Length: 255
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
name
The name attribute provides a word or combination of words by which the object is known.
PDS4 data type: UTF8_Short_String_Collapsed
Valid values: N/A
Minimum Length: 1
Maximum Length: 255
Nillable: No
in Device_Pose:
Minimum occurrences: 1
Maximum occurrences: 1
in Central_Body_Identification:
Minimum occurrences: 0
Maximum occurrences: 1
in Coordinate_System_Origin_Identification:
Minimum occurrences: 0
Maximum occurrences: 1
in Geometry_Target_Identification:
Minimum occurrences: 0
Maximum occurrences: 1
-
Minimum occurrences: 0
Maximum occurrences: 1
in Reference_Frame_Identification:
Minimum occurrences: 0
Maximum occurrences: 1
in Rotate_From:
Minimum occurrences: 0
Maximum occurrences: 1
in Rotate_To:
Minimum occurrences: 0
Maximum occurrences: 1
in Motion_Counter:
Minimum occurrences: 0
Maximum occurrences: 1
north_azimuth
Assuming the image is displayed as defined by the Display_Direction class, the north_azimuth attribute provides the value of the angle between a line from the image center to the north pole and a reference line in the image plane. The reference line is a horizontal line from the image center to the middle right edge of the image. This angle is measured from the reference line and increases in a clockwise direction.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 360
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
phase_angle
The phase_angle element provides a measure of the relationship between the instrument viewing position and incident illumination (such as solar light). Specifically, it is the angle, measured at the intercept point, between a vector in the direction of an incoming photon from the illumination source and a vector in the direction of an outgoing photon to the observing instrument. If illumination is from behind the instrument, phase_angle will be small.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 180
Nillable: No
-
Minimum occurrences: 1
Maximum occurrences: 4
in Derived_Geometry:
Minimum occurrences: 1
Maximum occurrences: unbounded
pixel_field_of_view_method
The pixel_field_of_view_method provides the method used to get the values of the horizontal/vertical_pixel_field_view attributes. If the pixel field of view does not vary across the camera field of view, then this value is ‘constant’. If the pixel field of view does vary across the camera field of view, the pixel field of view can be determined either by the center pixel of the camera or the average field of view of the pixel. See the camera documentation for more details.
PDS4 data type: ASCII_Short_String_Collapsed
Valid values:
Average
Description: Pixel field of view varies across the camera field of view and represents the average FOV of the pixel
Central Pixel
Description: Pixel field of view varies across the camera field of view and represents the FOV of the central pixel of the camera
Constant
Description: Pixel field of view does not vary across the camera field of view
Minimum Length: 1
Maximum Length: 255
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
pixel_latitude
The pixel_latitude attribute gives the value of the planetocentric latitude on the target of the projection of a specified pixel.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -90
Maximum value: 90
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
pixel_longitude
The pixel_longitude attribute gives the value of the planetocentric longitude on the target of the projection of a specified pixel.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 360
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
positive_azimuth_direction
The positive_azimuth_direction attribute specifies the direction in which azimuth is measured in positive degrees for an observer on the surface of a body. The azimuth is measured with respect to the elevation reference plane. A value of ‘clockwise’ indicates that azimuth is measured positively clockwise, and ‘counterclockwise’ indicates that azimuth increases positively counter-clockwise.
PDS4 data type: ASCII_Short_String_Collapsed
Valid values:
CCW
Description: Indicates that azimuth is measured positively Counter-clockwise.
CW
Description: Indicates that azimuth is measured positively Clockwise.
Clockwise
Description: Indicates that azimuth is measured positively Clockwise.
Counterclockwise
Description: Indicates that azimuth is measured positively Counter-clockwise.
Minimum Length: 1
Maximum Length: 255
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
positive_elevation_direction
The positive_elevation_direction attribute provides the direction in which elevation is measured in positive degrees for an observer on the surface of a body. The elevation is measured with respect to the azimuthal reference plane. A value of UP or ZENITH indicates that elevation is measured positively upwards, i.e., the zenith point would be at +90 degrees and the nadir point at -90 degrees. DOWN or NADIR indicates that the elevation is measured positively downwards; the zenith point would be at -90 degrees and the nadir point at +90 degrees.
PDS4 data type: ASCII_Short_String_Collapsed
Valid values:
Down
Description: Indicates that the elevation is measured positively downwards, i.e. the zenith point would be at -90 degrees and the nadir point at +90 degrees.
Nadir
Description: Indicates that the elevation is measured positively downwards, i.e. the zenith point would be at -90 degrees and the nadir point at +90 degrees.
Up
Description: Indicates that elevation is measured positively upwards, i.e., the zenith point would be at +90 degrees and the nadir point at -90 degrees.
Zenith
Description: Indicates that elevation is measured positively upwards, i.e., the zenith point would be at +90 degrees and the nadir point at -90 degrees.
Minimum Length: 1
Maximum Length: 255
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
psph_model_scale_x
Column scale factor to convert between x coordinate and rotation around axis x, expressed in radians/pixel.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
psph_model_scale_y
Column scale factor to convert between y coordinate and rotation around axis y, expressed in radians/pixel.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
qcos
qcos is the scalar component of a quaternion. qcos = cos(theta/2), where theta is the angle of rotation.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
qsin1
qsin1 is the first element of the vector component of a quaternion. qsin1 = x*sin(theta/2) where theta is the angle of rotation and (x,y,z) is the unit vector around which the rotation occurs.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
qsin2
qsin2 is the second element of the vector component of a quaternion. qsin2 = y*sin(theta/2) where theta is the angle of rotation and (x,y,z) is the unit vector around which the rotation occurs.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
qsin3
qsin3 is the third element of the vector component of a quaternion. qsin3 = z*sin(theta/2) where theta is the angle of rotation and (x,y,z) is the unit vector around which the rotation occurs.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
quaternion_measurement_method
Specifies the method by which the coordinate space was measured. This provides an indication of the quality of the definition.
PDS4 data type: ASCII_Short_String_Collapsed
Valid values:
Bundle_Adjustment
Description: Coordinate space position and/or orientation was refined using a bundle adjustment process, minimizing error with respect to some fixed reference (such as an orbital map).
Coarse
Description: The attitude estimate is complete (3-axis), but crude.
Fine
Description: The attitude estimate is complete.
Sun_Find
Description: Coordinate space orientation rotation was measured by finding the location of the sun in one or more images and comparing that to where the sun actually was at that time.
Tilt_Only
Description: The attitude estimate is only good for tilt (2-axis) determination.
Unknown
Description: The attitude should not be trusted.
Minimum Length: 1
Maximum Length: 255
Nillable: No
-
Minimum occurrences: 1
Maximum occurrences: 1
in Coordinate_Space_Definition:
Minimum occurrences: 0
Maximum occurrences: 1
radial_velocity
The radial component of a spherical or cylindrical velocity vector.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
radius_position
The radial component of a spherical or cylindrical position vector (e.g., the radius coordinate in Planetocentric coordinates).
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
reference_location
The reference_location indicates the position to which values in the containing class apply. If the reference location is on a target, the target is the one specified in the parent Geometry_Orbiter class.
PDS4 data type: ASCII_Short_String_Collapsed
Valid values:
Boresight Intercept Point
Description: Values were determined for the point where the boresight vector intersects the designated target.
Constant
Description: Constant is used when the pixel scale does not vary, e.g., for telecentric lenses, maps, or cameras that look at constant, fixed targets, such as microscope stages.
Subspacecraft Point
Description: Values were determined for the subspacecraft point on the designated target.
Target Center
Description: Values were determined for the center of the designated target.
Minimum Length: 1
Maximum Length: 255
Nillable: No
-
Minimum occurrences: 1
Maximum occurrences: 1
-
Minimum occurrences: 0
Maximum occurrences: 1
reference_pixel_location
The reference_pixel_location indicates the position of the pixel to which values in the containing class apply.
PDS4 data type: ASCII_Short_String_Collapsed
Valid values:
Center
Description: Values were determined for the intersection of a vector through the center of the field of view with the specified target.
Lower Left Corner
Description: Values were determined for the intersection of a vector through the lower left corner of the field of view with the specified target.
Lower Right Corner
Description: Values were determined for the intersection of a vector through the lower right corner of the field of view with the specified target.
Upper Left Corner
Description: Values were determined for the intersection of a vector through the upper left corner of the field of view with the specified target.
Upper Right Corner
Description: Values were determined for the intersection of a vector through the upper right corner of the field of view with the specified target.
Minimum Length: 1
Maximum Length: 255
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
right_ascension_angle
The right_ascension_angle attribute provides the value of right ascension (RA) as an angle. Right ascension is measured from the vernal equinox or the first point of Aries, which is the place on the celestial sphere where the Sun crosses the celestial equator from south to north at the March equinox. Right ascension is measured continuously in a full circle from that equinox towards the east. Right ascension is used in conjunction with the declination attribute to specify a point on the sky. Note Right Ascension also may be given in hour angles in which case the appropriate attribute is right_ascension_hour_angle.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 360
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
right_ascension_hour_angle
The right_ascension_hour_angle attribute provides the value of right ascension (RA) as in terms of hour angles (hh.xxx…). Right ascension is measured from the vernal equinox or the first point of Aries, which is the place on the celestial sphere where the Sun crosses the celestial equator from south to north at the March equinox. Right ascension is measured continuously in a full circle from that equinox towards the east. Right ascension is used in conjunction with the declination attribute to specify a point on the sky.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
rotation_direction
The rotation_direction attribute identifies the direction of the rotation for a specific quaternion. This is used when the two frames involved are unambiguously identifed in the enclosing classes.
PDS4 data type: ASCII_Short_String_Collapsed
Valid values:
Forward
Description: Reference frames are generally defined sequentially from a base reference frame (e.g., base frames might be ICRF, IAU Mars, or the landing site from which a rover begins its exploration). rotation_direction = Forward corresponds to rotation in the ‘direction’ from the base frame.
From Base
Description: Reference frames are generally defined sequentially from a base reference frame (e.g., base frames might be ICRF, IAU Mars, or the landing site from which a rover begins its exploration). rotation_direction = Away From Base corresponds to rotation in the ‘direction’ from the base frame.
Present to Reference
Description: The quaternion rotates the frame identifed by Coordinate_Space_Present to the frame identified by Coordinate_Space_Reference.
Reference to Present
Description: The quaternion rotates the frame identifed by Coordinate_Space_Reference to the frame identified by Coordinate_Space_Present.
Reverse
Description: Reference frames are generally defined sequentially from a base reference frame (e.g., base frames might be ICRF, IAU Mars, or the landing site from which a rover begins its exploration). rotation_direction = Reverse corresponds to rotation toward the base frame.
Toward Base
Description: Reference frames are generally defined sequentially from a base reference frame (e.g., base frames might be ICRF, IAU Mars, or the landing site from which a rover begins its exploration). rotation_direction = Toward Base corresponds to rotation toward the base frame.
Minimum Length: 1
Maximum Length: 255
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
selected_instrument_id
The selected_instrument_id attribute specifies an abbreviated name or acronym that identifies the selected instrument mounted on the articulation device.
PDS4 data type: ASCII_Short_String_Collapsed
Valid values: N/A
Minimum Length: 1
Maximum Length: 255
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
solar_azimuth
The solar_azimuth attribute specifies one of two angular measurements indicating the direction to the Sun as measured from a specific point on the surface of a planet (eg., from a lander or rover). The positive direction of azimuth is set by the positive_azimuth_direction attribute in the reference coordinate space. The azimuth is measured in the clockwise or counterclockwise direction (as viewed from above) with the meridian passing through the positive spin axis of the planet (i.e., the north pole) defining the zero reference.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0.0
Maximum value: 360.0
Nillable: No
Minimum occurrences: 1
Maximum occurrences: unbounded
solar_elevation
The solar_elevation attribute specifies one of two angular measurements indicating the direction to the Sun as measured from a specific point on the surface of a planet (eg., from a lander or rover). The positive direction of the elevation is set by the positive_elevation_direction attribute in the reference coordinate space. The elevation is measured from the plane which is normal to the line passing between the surface point and the planet’s center of mass, and that intersects the surface point.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -90.0
Maximum value: 90.0
Nillable: No
Minimum occurrences: 1
Maximum occurrences: unbounded
solar_elongation
The solar_elongation element gives the angle between the line of sight of observation and the direction of the Sun. Note: For IRAS: The line of sight of observation is the boresight of the telescope as measured by the satellite sun sensor.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 180
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 4
solar_image_clock_angle
Describes the direction of the sun in terms of the image plane, defined as a clock angle (clockwise) around the center of the image with 0 pointing to the top of the image, with respect to the display orientation (usually defined by disp:vertical_display_direction).
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 1
Maximum occurrences: unbounded
solution_id
The solution_id attribute specifies the unique identifier for the solution set to which the values in the group belong. For certain kinds of information, such as pointing correction (pointing models) and rover localization (coordinate system definitions), the “true” value is unknown and only estimates of the true value exist. Thus, more than one set of estimates may exist simultaneously, each valid for its intended purpose. Each of these sets is called a “solution” to the unknown true value. The solution_id attribute is used to identify which solution is being expressed by the containing group. No specific naming convention is defined here, however it is recommended that projects adopt one. The intent is to be able to identify who created the solution, and why. Possible components of the naming convention include user, institution, purpose, request ID, version, program, date/time.
PDS4 data type: ASCII_Short_String_Collapsed
Valid values: N/A
Minimum Length: 1
Maximum Length: 255
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
spacecraft_central_body_distance
The spacecraft_central_body_distance attribute provides the scalar distance between the spacecraft and the center of the central body (e.g., the center of Mars when opperating in the Mars system).
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 1
Maximum occurrences: unbounded
spacecraft_geocentric_distance
The spacecraft_geocentric_distance attribute provides the scalar distance between the spacecraft and the center of Earth.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 1
Maximum occurrences: unbounded
spacecraft_heliocentric_distance
The spacecraft_heliocentric_distance attribute provides the scalar distance between the spacecraft and the center of the Sun.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 1
Maximum occurrences: unbounded
spacecraft_target_boresight_intercept_distance
The spacecraft_target_boresight_intercept_distance attribute provides the scalar distance between the spacecraft and the boresight vector intercept point on the surface of the target specified in the parent Geometry_Orbiter class.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 1
Maximum occurrences: unbounded
spacecraft_target_center_distance
The spacecraft_target_center_distance attribute provides the scalar distance between the spacecraft and the center of the target specified in the parent Geometry_Orbiter class.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 1
Maximum occurrences: unbounded
spacecraft_target_subspacecraft_distance
The spacecraft_target_subspacecraft_distance attribute provides the scalar distance between the spacecraft and the subspacecraft point on the surface of the target specified in the parent Geometry_Orbiter class.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 1
Maximum occurrences: unbounded
spice_kernel_file_name
The spice_kernel_file_name attribute provides the file name of a SPICE kernel file used to process the data or to produce geometric quantities given in the label.
PDS4 data type: ASCII_File_Name
Valid values: N/A
Minimum Length: 1
Maximum Length: 255
Regex Pattern: a-zA-Z0-9*[.][a-zA-Z0-9]+
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
start_azimuth
The start_azimuth attribute specifies the angular distance from a fixed reference position at which an image or observation starts. Azimuth is measured in a spherical coordinate system, in a plane normal to the principal axis. Azimuth values increase according to the right hand rule relative to the positive direction of the principal axis of the spherical coordinate system. When applied to a site or surface projection coordinate space, specifies the azimuth of the left edge of the output map. Applies to Cylindrical and Cylindrical-Perspective projections only.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0.0
Maximum value: 360.0
Nillable: No
Minimum occurrences: 1
Maximum occurrences: unbounded
start_emission_angle
The start_emission_angle attribute provides the value at the beginning of the observation (geometry_start_time_utc) for the emission angle at the target specified in the parent Geometry_Orbiter class.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 180
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
start_incidence_angle
The start_incidence_angle attribute provides the value at the beginning of the observation (geometry_start_time_utc) for the incidence angle at the target specified in the parent Geometry_Orbiter class.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 180
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
start_latitude
The start_latitude attribute identifies the value of the Planetocentric latitude at the beginning of the observation (geometry_start_time_utc). When either start_latitude or stop_latitude is used, both must be used. In addition the attribute lat_long_method must be used.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -90
Maximum value: 90
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
start_longitude
The start_longitude attribute identifies the value of the Planetocentric longitude at the beginning of the observation (geometry_start_time_utc).
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 360
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
start_phase_angle
The start_phase_angle attribute provides the value at the beginning of the observation (geometry_start_time_utc) for the phase angle at the target specified in the parent Geometry_Orbiter class.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 180
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
start_solar_elongation
The start_solar_elongation attribute provides the value at the beginning of the observation (geometry_start_time_utc) for the solar elongation.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 180
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
start_spacecraft_central_body_distance
The start_spacecraft_central_body_distance attribute provides the scalar distance at the beginning of the observation (geometry_start_time_utc) between the spacecraft and the center of the central body (e.g., the center of Mars when opperating in the Mars system).
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
start_spacecraft_geocentric_distance
The start_spacecraft_geocentric_distance attribute provides the scalar distance at the beginning of the observation (geometry_start_time_utc) between the spacecraft and the center of Earth.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
start_spacecraft_heliocentric_distance
The start_spacecraft_heliocentric_distance attribute provides the scalar distance at the beginning of the observation (geometry_start_time_utc) between the spacecraft and the center of the Sun.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
start_spacecraft_target_boresight_intercept_distance
The start_spacecraft_target_boresight_intercept_distance attribute provides the scalar distance at the beginning of the observation (geometry_start_time_utc) between the spacecraft and the boresight vector intercept point on the surface of the target specified in the parent Geometry_Orbiter class.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
start_spacecraft_target_center_distance
The start_spacecraft_target_center_distance attribute provides the scalar distance at the beginning of the observation (geometry_start_time_utc) between the spacecraft and the center of the target specified in the parent Geometry_Orbiter class.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
start_spacecraft_target_subspacecraft_distance
The start_spacecraft_target_subspacecraft_distance attribute provides the scalar distance at the beginning of the observation (geometry_start_time_utc) between the spacecraft and the subspacecraft point on the surface of the target specified in the parent Geometry_Orbiter class.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
start_subsolar_azimuth
The start_subsolar_azimuth attribute identifies the value of the subsolar azimuth at the beginning of the observation (geometry_start_time_utc).
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 360
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
start_subsolar_latitude
The start_subsolar_latitude attribute identifies the value of the subsolar latitude at the beginning of the observation (geometry_start_time_utc).
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -90
Maximum value: 90
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
start_subsolar_longitude
The start_subsolar_longitude attribute identifies the value of the subsolar longitude at the beginning of the observation (geometry_start_time_utc).
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 360
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
start_subspacecraft_azimuth
The start_subspacecraft_azimuth attribute identifies the value of the subspacecraft azimuth at the beginning of the observation (geometry_start_time_utc).
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 360
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
start_subspacecraft_latitude
The start_subspacecraft_latitude attribute identifies the value of the subspacecraft latitude at the beginning of the observation (geometry_start_time_utc).
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -90
Maximum value: 90
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
start_subspacecraft_longitude
The start_subspacecraft_longitude attribute identifies the value of the subspacecraft longitude at the beginning of the observation (geometry_start_time_utc).
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 360
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
start_target_geocentric_distance
The start_target_geocentric_distance attribute provides the scalar distance between the center of the target and the center of the Earth at the beginning of the observation (geometry_start_time_utc).
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
start_target_heliocentric_distance
The start_target_heliocentric_distance attribute provides the scalar distance between the center of the target and the center of the Sun at the beginning of the observation (geometry_start_time_utc).
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
start_target_ssb_distance
The start_target_ssb_distance attribute provides the scalar distance between the center of the target and the Solar System Barycenter at the beginning of the observation (geometry_start_time_utc).
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
stop_azimuth
The stop_azimuth attribute specifies the angular distance from a fixed reference position at which an image or observation stops. Azimuth is measured in a spherical coordinate system, in a plane normal to the principal axis. Azimuth values increase according to the right hand rule relative to the positive direction of the principal axis of the spherical coordinate system. When applied to a site or surface projection coordinate space, specifies the azimuth of the right edge of the output map. Applies to Cylindrical and Cylindrical-Perspective projections only.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0.0
Maximum value: 360.0
Nillable: No
Minimum occurrences: 1
Maximum occurrences: unbounded
stop_emission_angle
The stop_emission_angle attribute provides the value at the end of the observation (geometry_stop_time_utc) for the emission angle at the target specified in the parent Geometry_Orbiter class.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 180
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
stop_incidence_angle
The stop_incidence_angle attribute provides the value at the end of the observation (geometry_stop_time_utc) for the incidence angle at the target specified in the parent Geometry_Orbiter class.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 180
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
stop_latitude
The stop_latitude attribute identifies the value of the Planetocentric latitude at the end of the observation (geometry_stop_time_utc). When either start_latitude or stop_latitude is used, both must be used. In addition the attribute lat_long_method must be used.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -90
Maximum value: 90
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
stop_longitude
The stop_longitude attribute identifies the value of the Planetocentric longitude at the end of the observation (geometry_stop_time_utc).
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 360
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
stop_phase_angle
The stop_phase_angle attribute provides the value at the end of the observation (geometry_stop_time_utc) for the phase angle at the target specified in the parent Geometry_Orbiter class.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 180
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
stop_solar_elongation
The stop_solar_elongation attribute provides the value at the end of the observation (geometry_stop_time_utc) for the solar elongation.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 180
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
stop_spacecraft_central_body_distance
The stop_spacecraft_central_body_distance attribute provides the scalar distance at the end of the observation (geometry_stop_time_utc) between the spacecraft and the center of the central body (e.g., the center of Mars when opperating in the Mars system).
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
stop_spacecraft_geocentric_distance
The stop_spacecraft_geocentric_distance attribute provides the scalar distance at the end of the observation (geometry_stop_time_utc) between the spacecraft and the center of Earth.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
stop_spacecraft_heliocentric_distance
The stop_spacecraft_heliocentric_distance attribute provides the scalar distance at the end of the observation (geometry_stop_time_utc) between the spacecraft and the center of the Sun.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
stop_spacecraft_target_boresight_intercept_distance
The stop_spacecraft_target_boresight_intercept_distance attribute provides the scalar distance at the end of the observation (geometry_stop_time_utc) between the spacecraft and the boresight vector intercept point on the surface of the target specified in the parent Geometry_Orbiter class.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
stop_spacecraft_target_center_distance
The stop_spacecraft_target_center_distance attribute provides the scalar distance at the end of the observation (geometry_stop_time_utc) between the spacecraft and the center of the target specified in the parent Geometry_Orbiter class.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
stop_spacecraft_target_subspacecraft_distance
The stop_spacecraft_target_subspacecraft_distance attribute provides the scalar distance at the end of the observation (geometry_stop_time_utc) between the spacecraft and the subspacecraft point on the surface of the target specified in the parent Geometry_Orbiter class.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
stop_subsolar_azimuth
The stop_subsolar_azimuth attribute identifies the value of the subsolar azimuth at the end of the observation (geometry_stop_time_utc).
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 360
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
stop_subsolar_latitude
The stop_subsolar_latitude attribute identifies the value of the subsolar latitude at the end of the observation (geometry_stop_time_utc).
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -90
Maximum value: 90
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
stop_subsolar_longitude
The stop_subsolar_longitude attribute identifies the value of the subsolar longitude at the end of the observation (geometry_stop_time_utc).
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 360
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
stop_subspacecraft_azimuth
The stop_subspacecraft_azimuth attribute identifies the value of the subspacecraft azimuth at the end of the observation (geometry_stop_time_utc).
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 360
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
stop_subspacecraft_latitude
The stop_subspacecraft_latitude attribute identifies the value of the subspacecraft latitude at the end of the observation (geometry_stop_time_utc).
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -90
Maximum value: 90
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
stop_subspacecraft_longitude
The stop_subspacecraft_longitude attribute identifies the value of the subspacecraft longitude at the end of the observation (geometry_stop_time_utc).
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 360
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
stop_target_geocentric_distance
The stop_target_geocentric_distance attribute provides the scalar distance between the center of the target and the center of the Earth at the end of the observation (geometry_stop_time_utc).
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
stop_target_heliocentric_distance
The stop_target_heliocentric_distance attribute provides the scalar distance between the center of the target and the center of the Sun at the end of the observation (geometry_stop_time_utc).
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
stop_target_ssb_distance
The stop_target_ssb_distance attribute provides the scalar distance between the center of the target and the Solar System Barycenter at the end of the observation (geometry_stop_time_utc).
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
subsolar_azimuth
The subsolar_azimuth attribute provides the value of the angle between the line from the center of an image to the subsolar point on the target and a horizontal reference line (in the image plane) extending from the image center to the middle right edge of the image. The values of this angle increase in a clockwise direction.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 360
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
subsolar_latitude
The subsolar_latitude attribute gives the value of the planetocentric latitude at the subsolar point on the target.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -90
Maximum value: 90
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
subsolar_longitude
The subsolar_longitude attribute gives the value of the planetocentric longitude at the subsolar point on the target.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 360
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
subspacecraft_azimuth
The subspacecraft_azimuth attribute provides the value of the angle between the line from the center of an image to the subspacecraft point on the target and a horizontal reference line (in the image plane) extending from the image center to the middle right edge of the image. The values of this angle increase in a clockwise direction.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 360
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
subspacecraft_latitude
The subspacecraft_latitude attribute gives the value of the planetocentric latitude at the subspacecraft point on the target.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -90
Maximum value: 90
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
subspacecraft_longitude
The subspacecraft_longitude attribute gives the value of the planetocentric longitude at the subspacecraft point on the target.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 360
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
sun_direction_clock_angle
The sun_direction_clock_angle attribute specifies the direction of the sun as an angle measured from a line ‘upward’ from the center of the field of view, clockwise to the direction toward sun, assuming the image is displayed as defined by the Display_Direction class.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 360
Nillable: No
Minimum occurrences: 1
Maximum occurrences: unbounded
target_geocentric_distance
The target_geocentric_distance attribute provides the scalar distance between the center of the target and the center of the Earth.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 1
Maximum occurrences: unbounded
target_heliocentric_distance
The target_heliocentric_distance attribute provides the scalar distance between the center of the target and the center of the Sun.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 1
Maximum occurrences: unbounded
target_name
Specifies the name of the target location for items in this class.
PDS4 data type: ASCII_Short_String_Collapsed
Valid values: N/A
Minimum Length: 1
Maximum Length: 255
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
target_north_pole_clock_angle
The target_north_pole_clock_angle element specifies the direction of the target body’s rotation axis in an image. It is measured from the ‘upward’ direction in the image, clockwise to the direction of the northern rotational pole as projected into the image plane, assuming the image is displayed as defined by the Display_Direction class. The north pole of a planet or any of its satellites in the solar system is the pole of the rotation axis that is in the same celestial hemisphere relative to the invariable plane of the solar system as Earth’s North pole.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 360
Nillable: No
Minimum occurrences: 1
Maximum occurrences: unbounded
target_positive_pole_clock_angle
The target_positive_pole_clock_angle element specifies the direction of the target body’s rotation axis in an image. It is measured from the ‘upward’ direction in the image, clockwise to the direction of the positive rotational pole as projected into the image plane, assuming the image is displayed as defined by the Display_Direction class. The positive pole is defined as the pole toward which the thumb points when the fingers of the right hand are curled in the body’s direction of rotation.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 360
Nillable: No
Minimum occurrences: 1
Maximum occurrences: unbounded
target_ssb_distance
The target_ssb_distance attribute provides the scalar distance between the center of the target and the Solar System Barycenter.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 1
Maximum occurrences: unbounded
vertical_coordinate_pixel
vertical_coordinate_pixel (line) is the vertical coordinate of a specific pixel.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
vertical_display_axis
The vertical_display_axis attribute identifies, by name, the axis of an Array (or Array subclass) that is intended to be displayed in the vertical or “line” dimension on a display device. The value of this attribute must match the value of one, and only one, axis_name attribute in an Axis_Array class of the associated Array.
PDS4 data type: ASCII_Short_String_Collapsed
Valid values: N/A
Minimum Length: 1
Maximum Length: 255
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
vertical_display_direction
The vertical_display_direction attribute specifies the direction along the screen of a display device that data along the vertical axis of an Array is supposed to be displayed.
PDS4 data type: ASCII_Short_String_Collapsed
Valid values:
Bottom to Top
Description: Data along the vertical axis of an array should be displayed from the bottom to the top of the display device.
Top to Bottom
Description: Data along the vertical axis of an array should be displayed from the top to the bottom of the display device.
Minimum Length: 1
Maximum Length: 255
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
vertical_pixel_field_of_view
The vertical_pixel_field_of_view provides the angular measure of the vertical field of view of a single pixel, and is sometimes referred to as the instantaneous field of view. The pixel_field_of_view_method attribute will designate the method used to determine this value. If the pixel_field_of_view_method attribute is not specified, see the camera documentation for more details.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: 0
Maximum value: 360
Nillable: No
Minimum occurrences: 0
Maximum occurrences: 1
vertical_pixel_footprint
The vertical_pixel_footprint provides the size of the vertical field of view of a single pixel projected onto the target specified in the parent Geometry_Orbiter class.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
x
The x component of a Cartesian vector which has no units.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
x_acceleration
The x component of a Cartesian acceleration vector.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
x_pixel
The x component of a Cartesian pixel vector; typically used in cameral models.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
x_position
The x component of a Cartesian position vector.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
x_unit
The x component of a unit Cartesian vector.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1
Maximum value: 1
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
x_velocity
The x component of a Cartesian velocity vector.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
y
The y component of a Cartesian vector which has no units.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
y_acceleration
The y component of a Cartesian acceleration vector.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
y_pixel
The y component of a Cartesian pixel vector; typically used in cameral models.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
y_position
The y component of a Cartesian position vector.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
y_unit
The y component of a unit Cartesian vector.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1
Maximum value: 1
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
y_velocity
The y component of a Cartesian velocity vector.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
z
The z component of a Cartesian vector which has no units.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
z_acceleration
The z component of a Cartesian acceleration vector.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
z_pixel
The z component of a Cartesian pixel vector; typically used in cameral models.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
z_position
The z component of a Cartesian position vector.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
z_unit
The z component of a unit Cartesian vector.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1
Maximum value: 1
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
z_velocity
The z component of a Cartesian velocity vector.
PDS4 data type: ASCII_Real
Valid values: N/A
Minimum value: -1.7976931348623157e+308
Maximum value: 1.7976931348623157e+308
Nillable: No
Minimum occurrences: 1
Maximum occurrences: 1
Examples
Example PDS4 label snippet from urn:nasa:pds:mro_crism_ddr_1001:data_ddr:msp00002f9e_01_de214l_ddr1::1.0:
<Discipline_Area>
...
<geom:Geometry>
<geom:SPICE_Kernel_Files>
<geom:SPICE_Kernel_Identification>
<geom:kernel_type>SCLK</geom:kernel_type>
<geom:spice_kernel_file_name>MRO_SCLKSCET.00018.65536.tsc</geom:spice_kernel_file_name>
<geom:kernel_provenance>Reconstructed</geom:kernel_provenance>
</geom:SPICE_Kernel_Identification>
<geom:SPICE_Kernel_Identification>
<geom:kernel_type>FK</geom:kernel_type>
<geom:spice_kernel_file_name>mro_v08.tf</geom:spice_kernel_file_name>
<geom:kernel_provenance>Reconstructed</geom:kernel_provenance>
</geom:SPICE_Kernel_Identification>
<geom:SPICE_Kernel_Identification>
<geom:kernel_type>FK</geom:kernel_type>
<geom:spice_kernel_file_name>MRO_CRISM_FK_0000_000_N_1.TF</geom:spice_kernel_file_name>
<geom:kernel_provenance>Reconstructed</geom:kernel_provenance>
</geom:SPICE_Kernel_Identification>
<geom:SPICE_Kernel_Identification>
<geom:kernel_type>IK</geom:kernel_type>
<geom:spice_kernel_file_name>MRO_CRISM_IK_0000_000_N_1.TI</geom:spice_kernel_file_name>
<geom:kernel_provenance>Reconstructed</geom:kernel_provenance>
</geom:SPICE_Kernel_Identification>
<geom:SPICE_Kernel_Identification>
<geom:kernel_type>LSK</geom:kernel_type>
<geom:spice_kernel_file_name>naif0008.tls</geom:spice_kernel_file_name>
<geom:kernel_provenance>Reconstructed</geom:kernel_provenance>
</geom:SPICE_Kernel_Identification>
<geom:SPICE_Kernel_Identification>
<geom:kernel_type>PCK</geom:kernel_type>
<geom:spice_kernel_file_name>pck00008.tpc</geom:spice_kernel_file_name>
<geom:kernel_provenance>Reconstructed</geom:kernel_provenance>
</geom:SPICE_Kernel_Identification>
<geom:SPICE_Kernel_Identification>
<geom:kernel_type>CK</geom:kernel_type>
<geom:spice_kernel_file_name>mro_sc_2006-11-08.bc</geom:spice_kernel_file_name>
<geom:kernel_provenance>Reconstructed</geom:kernel_provenance>
</geom:SPICE_Kernel_Identification>
<geom:SPICE_Kernel_Identification>
<geom:kernel_type>CK</geom:kernel_type>
<geom:spice_kernel_file_name>mro_sc_2006-11-09.bc</geom:spice_kernel_file_name>
<geom:kernel_provenance>Reconstructed</geom:kernel_provenance>
</geom:SPICE_Kernel_Identification>
<geom:SPICE_Kernel_Identification>
<geom:kernel_type>CK</geom:kernel_type>
<geom:spice_kernel_file_name>mro_sc_2006-11-10.bc</geom:spice_kernel_file_name>
<geom:kernel_provenance>Reconstructed</geom:kernel_provenance>
</geom:SPICE_Kernel_Identification>
<geom:SPICE_Kernel_Identification>
<geom:kernel_type>CK</geom:kernel_type>
<geom:spice_kernel_file_name>mro_sc_2006-11-11.bc</geom:spice_kernel_file_name>
<geom:kernel_provenance>Reconstructed</geom:kernel_provenance>
</geom:SPICE_Kernel_Identification>
<geom:SPICE_Kernel_Identification>
<geom:kernel_type>CK</geom:kernel_type>
<geom:spice_kernel_file_name>mro_sc_2006-11-12.bc</geom:spice_kernel_file_name>
<geom:kernel_provenance>Reconstructed</geom:kernel_provenance>
</geom:SPICE_Kernel_Identification>
<geom:SPICE_Kernel_Identification>
<geom:kernel_type>CK</geom:kernel_type>
<geom:spice_kernel_file_name>mro_sc_2006-11-13.bc</geom:spice_kernel_file_name>
<geom:kernel_provenance>Reconstructed</geom:kernel_provenance>
</geom:SPICE_Kernel_Identification>
<geom:SPICE_Kernel_Identification>
<geom:kernel_type>CK</geom:kernel_type>
<geom:spice_kernel_file_name>mro_sc_2006-11-14.bc</geom:spice_kernel_file_name>
<geom:kernel_provenance>Reconstructed</geom:kernel_provenance>
</geom:SPICE_Kernel_Identification>
<geom:SPICE_Kernel_Identification>
<geom:kernel_type>CK</geom:kernel_type>
<geom:spice_kernel_file_name>mro_sc_2006-11-15.bc</geom:spice_kernel_file_name>
<geom:kernel_provenance>Reconstructed</geom:kernel_provenance>
</geom:SPICE_Kernel_Identification>
<geom:SPICE_Kernel_Identification>
<geom:kernel_type>CK</geom:kernel_type>
<geom:spice_kernel_file_name>mro_sc_2006-11-16.bc</geom:spice_kernel_file_name>
<geom:kernel_provenance>Reconstructed</geom:kernel_provenance>
</geom:SPICE_Kernel_Identification>
<geom:SPICE_Kernel_Identification>
<geom:kernel_type>CK</geom:kernel_type>
<geom:spice_kernel_file_name>mro_sc_2006-11-17.bc</geom:spice_kernel_file_name>
<geom:kernel_provenance>Reconstructed</geom:kernel_provenance>
</geom:SPICE_Kernel_Identification>
<geom:SPICE_Kernel_Identification>
<geom:kernel_type>CK</geom:kernel_type>
<geom:spice_kernel_file_name>mro_sc_2006-11-18.bc</geom:spice_kernel_file_name>
<geom:kernel_provenance>Reconstructed</geom:kernel_provenance>
</geom:SPICE_Kernel_Identification>
<geom:SPICE_Kernel_Identification>
<geom:kernel_type>CK</geom:kernel_type>
<geom:spice_kernel_file_name>mro_sc_2006-11-19.bc</geom:spice_kernel_file_name>
<geom:kernel_provenance>Reconstructed</geom:kernel_provenance>
</geom:SPICE_Kernel_Identification>
<geom:SPICE_Kernel_Identification>
<geom:kernel_type>CK</geom:kernel_type>
<geom:spice_kernel_file_name>mro_sc_2006-11-20.bc</geom:spice_kernel_file_name>
<geom:kernel_provenance>Reconstructed</geom:kernel_provenance>
</geom:SPICE_Kernel_Identification>
<geom:SPICE_Kernel_Identification>
<geom:kernel_type>CK</geom:kernel_type>
<geom:spice_kernel_file_name>mro_sc_2006-11-21.bc</geom:spice_kernel_file_name>
<geom:kernel_provenance>Reconstructed</geom:kernel_provenance>
</geom:SPICE_Kernel_Identification>
<geom:SPICE_Kernel_Identification>
<geom:kernel_type>CK</geom:kernel_type>
<geom:spice_kernel_file_name>mro_sc_2006-11-22.bc</geom:spice_kernel_file_name>
<geom:kernel_provenance>Reconstructed</geom:kernel_provenance>
</geom:SPICE_Kernel_Identification>
<geom:SPICE_Kernel_Identification>
<geom:kernel_type>CK</geom:kernel_type>
<geom:spice_kernel_file_name>spck_2006_312_r_1.bc</geom:spice_kernel_file_name>
<geom:kernel_provenance>Reconstructed</geom:kernel_provenance>
</geom:SPICE_Kernel_Identification>
<geom:SPICE_Kernel_Identification>
<geom:kernel_type>CK</geom:kernel_type>
<geom:spice_kernel_file_name>spck_2006_313_r_1.bc</geom:spice_kernel_file_name>
<geom:kernel_provenance>Reconstructed</geom:kernel_provenance>
</geom:SPICE_Kernel_Identification>
<geom:SPICE_Kernel_Identification>
<geom:kernel_type>CK</geom:kernel_type>
<geom:spice_kernel_file_name>spck_2006_314_r_1.bc</geom:spice_kernel_file_name>
<geom:kernel_provenance>Reconstructed</geom:kernel_provenance>
</geom:SPICE_Kernel_Identification>
<geom:SPICE_Kernel_Identification>
<geom:kernel_type>CK</geom:kernel_type>
<geom:spice_kernel_file_name>spck_2006_315_r_1.bc</geom:spice_kernel_file_name>
<geom:kernel_provenance>Reconstructed</geom:kernel_provenance>
</geom:SPICE_Kernel_Identification>
<geom:SPICE_Kernel_Identification>
<geom:kernel_type>CK</geom:kernel_type>
<geom:spice_kernel_file_name>spck_2006_316_r_1.bc</geom:spice_kernel_file_name>
<geom:kernel_provenance>Reconstructed</geom:kernel_provenance>
</geom:SPICE_Kernel_Identification>
<geom:SPICE_Kernel_Identification>
<geom:kernel_type>CK</geom:kernel_type>
<geom:spice_kernel_file_name>spck_2006_317_r_1.bc</geom:spice_kernel_file_name>
<geom:kernel_provenance>Reconstructed</geom:kernel_provenance>
</geom:SPICE_Kernel_Identification>
<geom:SPICE_Kernel_Identification>
<geom:kernel_type>CK</geom:kernel_type>
<geom:spice_kernel_file_name>spck_2006_318_r_1.bc</geom:spice_kernel_file_name>
<geom:kernel_provenance>Reconstructed</geom:kernel_provenance>
</geom:SPICE_Kernel_Identification>
<geom:SPICE_Kernel_Identification>
<geom:kernel_type>CK</geom:kernel_type>
<geom:spice_kernel_file_name>spck_2006_319_r_1.bc</geom:spice_kernel_file_name>
<geom:kernel_provenance>Reconstructed</geom:kernel_provenance>
</geom:SPICE_Kernel_Identification>
<geom:SPICE_Kernel_Identification>
<geom:kernel_type>CK</geom:kernel_type>
<geom:spice_kernel_file_name>spck_2006_320_r_1.bc</geom:spice_kernel_file_name>
<geom:kernel_provenance>Reconstructed</geom:kernel_provenance>
</geom:SPICE_Kernel_Identification>
<geom:SPICE_Kernel_Identification>
<geom:kernel_type>CK</geom:kernel_type>
<geom:spice_kernel_file_name>spck_2006_321_r_1.bc</geom:spice_kernel_file_name>
<geom:kernel_provenance>Reconstructed</geom:kernel_provenance>
</geom:SPICE_Kernel_Identification>
<geom:SPICE_Kernel_Identification>
<geom:kernel_type>CK</geom:kernel_type>
<geom:spice_kernel_file_name>spck_2006_322_r_1.bc</geom:spice_kernel_file_name>
<geom:kernel_provenance>Reconstructed</geom:kernel_provenance>
</geom:SPICE_Kernel_Identification>
<geom:SPICE_Kernel_Identification>
<geom:kernel_type>CK</geom:kernel_type>
<geom:spice_kernel_file_name>spck_2006_323_r_1.bc</geom:spice_kernel_file_name>
<geom:kernel_provenance>Reconstructed</geom:kernel_provenance>
</geom:SPICE_Kernel_Identification>
<geom:SPICE_Kernel_Identification>
<geom:kernel_type>CK</geom:kernel_type>
<geom:spice_kernel_file_name>spck_2006_324_r_1.bc</geom:spice_kernel_file_name>
<geom:kernel_provenance>Reconstructed</geom:kernel_provenance>
</geom:SPICE_Kernel_Identification>
<geom:SPICE_Kernel_Identification>
<geom:kernel_type>CK</geom:kernel_type>
<geom:spice_kernel_file_name>spck_2006_325_r_1.bc</geom:spice_kernel_file_name>
<geom:kernel_provenance>Reconstructed</geom:kernel_provenance>
</geom:SPICE_Kernel_Identification>
<geom:SPICE_Kernel_Identification>
<geom:kernel_type>SPK</geom:kernel_type>
<geom:spice_kernel_file_name>de410.bsp</geom:spice_kernel_file_name>
<geom:kernel_provenance>Reconstructed</geom:kernel_provenance>
</geom:SPICE_Kernel_Identification>
<geom:SPICE_Kernel_Identification>
<geom:kernel_type>SPK</geom:kernel_type>
<geom:spice_kernel_file_name>mro_cruise.bsp</geom:spice_kernel_file_name>
<geom:kernel_provenance>Reconstructed</geom:kernel_provenance>
</geom:SPICE_Kernel_Identification>
<geom:SPICE_Kernel_Identification>
<geom:kernel_type>SPK</geom:kernel_type>
<geom:spice_kernel_file_name>mro_ab.bsp</geom:spice_kernel_file_name>
<geom:kernel_provenance>Reconstructed</geom:kernel_provenance>
</geom:SPICE_Kernel_Identification>
<geom:SPICE_Kernel_Identification>
<geom:kernel_type>SPK</geom:kernel_type>
<geom:spice_kernel_file_name>mro_psp.bsp</geom:spice_kernel_file_name>
<geom:kernel_provenance>Reconstructed</geom:kernel_provenance>
</geom:SPICE_Kernel_Identification>
<geom:SPICE_Kernel_Identification>
<geom:kernel_type>SPK</geom:kernel_type>
<geom:spice_kernel_file_name>mro_psp_rec.bsp</geom:spice_kernel_file_name>
<geom:kernel_provenance>Reconstructed</geom:kernel_provenance>
</geom:SPICE_Kernel_Identification>
</geom:SPICE_Kernel_Files>
<geom:Geometry_Orbiter>
<geom:geometry_start_time_utc>2006-11-12T06:03:19.074Z</geom:geometry_start_time_utc>
<geom:geometry_stop_time_utc>2006-11-12T06:06:19.003Z</geom:geometry_stop_time_utc>
<geom:Orbiter_Identification>
<geom:Geometry_Target_Identification>
<geom:name>Mars</geom:name>
</geom:Geometry_Target_Identification>
</geom:Orbiter_Identification>
<geom:Distances>
<geom:Distances_Specific>
<geom:target_heliocentric_distance unit="km">235913328.707360</geom:target_heliocentric_distance>
<geom:spacecraft_target_center_distance unit="km">3687.045950</geom:spacecraft_target_center_distance>
</geom:Distances_Specific>
</geom:Distances>
</geom:Geometry_Orbiter>
</geom:Geometry>
...
</Discipline_Area>
Example PDS4 label snippet from urn:nasa:pds:mer_pancam_photometry:data_finalsols:2p298938988iofb1e5p2384l2c2_photometry::1.0:
<Discipline_Area>
...
<geom:Geometry>
<geom:SPICE_Kernel_Files>
<geom:SPICE_Kernel_Identification>
<geom:spice_kernel_file_name>chronos.mer</geom:spice_kernel_file_name>
</geom:SPICE_Kernel_Identification>
</geom:SPICE_Kernel_Files>
<geom:Geometry_Lander>
<geom:Motion_Counter>
<geom:name>Rover Motion Counter</geom:name>
<local_identifier>Rover_Motion_Counter</local_identifier>
<geom:Motion_Counter_Index>
<geom:index_name>Site</geom:index_name>
<geom:index_value_number>137</geom:index_value_number>
</geom:Motion_Counter_Index>
<geom:Motion_Counter_Index>
<geom:index_name>Drive</geom:index_name>
<geom:index_value_number>249</geom:index_value_number>
</geom:Motion_Counter_Index>
<geom:Motion_Counter_Index>
<geom:index_name>IDD</geom:index_name>
<geom:index_value_number>143</geom:index_value_number>
</geom:Motion_Counter_Index>
<geom:Motion_Counter_Index>
<geom:index_name>PMA</geom:index_name>
<geom:index_value_number>315</geom:index_value_number>
</geom:Motion_Counter_Index>
<geom:Motion_Counter_Index>
<geom:index_name>HGA</geom:index_name>
<geom:index_value_number>346</geom:index_value_number>
</geom:Motion_Counter_Index>
</geom:Motion_Counter>
</geom:Geometry_Lander>
</geom:Geometry>
</Discipline_Area>
Example PDS4 label snippet from urn:nasa:pds:kplo-shadowcam:data-raw:m050203503se::1.0:
<Discipline_Area>
<geom:Geometry>
<geom:Geometry_Orbiter>
<geom:geometry_reference_time_utc>2024-03-08T00:33:04.180651Z</geom:geometry_reference_time_utc>
<geom:Orbiter_Identification>
<geom:Central_Body_Identification>
<geom:body_spice_name>EARTH</geom:body_spice_name>
<geom:name>Earth</geom:name>
<Internal_Reference>
<lid_reference>urn:nasa:pds:context:target:planet.earth</lid_reference>
<reference_type>geometry_to_body</reference_type>
</Internal_Reference>
</geom:Central_Body_Identification>
<geom:Geometry_Target_Identification>
<geom:body_spice_name>MOON</geom:body_spice_name>
<geom:name>Moon</geom:name>
<Internal_Reference>
<lid_reference>urn:nasa:pds:context:target:satellite.earth.moon</lid_reference>
<reference_type>geometry_to_body</reference_type>
</Internal_Reference>
</geom:Geometry_Target_Identification>
<geom:Coordinate_System_Identification>
<geom:coordinate_system_type>Planetocentric</geom:coordinate_system_type>
<geom:Coordinate_System_Origin_Identification>
<geom:body_spice_name>MOON</geom:body_spice_name>
<geom:name>Moon</geom:name>
<Internal_Reference>
<lid_reference>urn:nasa:pds:context:target:satellite.earth.moon</lid_reference>
<reference_type>geometry_to_body</reference_type>
</Internal_Reference>
</geom:Coordinate_System_Origin_Identification>
<geom:Reference_Frame_Identification>
<geom:frame_spice_name>KPLO_SHC_A</geom:frame_spice_name>
<geom:name>ShadowCam</geom:name>
<Internal_Reference>
<lid_reference>urn:kari:kpds:context:instrument:kplo.shc</lid_reference>
<reference_type>geometry_to_reference_frame</reference_type>
</Internal_Reference>
</geom:Reference_Frame_Identification>
</geom:Coordinate_System_Identification>
</geom:Orbiter_Identification>
<geom:Pixel_Dimensions>
<geom:pixel_field_of_view_method>Central Pixel</geom:pixel_field_of_view_method>
<geom:Pixel_Size_Projected>
<geom:distance unit="km">1837.863</geom:distance>
<geom:horizontal_pixel_footprint unit="m">1.7256</geom:horizontal_pixel_footprint>
<geom:vertical_pixel_footprint unit="m">3.086</geom:vertical_pixel_footprint>
</geom:Pixel_Size_Projected>
</geom:Pixel_Dimensions>
<geom:Distances>
<geom:Distances_Specific>
<geom:spacecraft_target_subspacecraft_distance unit="km">100.557</geom:spacecraft_target_subspacecraft_distance>
<geom:target_heliocentric_distance unit="km">148194655.537</geom:target_heliocentric_distance>
</geom:Distances_Specific>
</geom:Distances>
<geom:Surface_Geometry>
<geom:Surface_Geometry_Specific>
<geom:Pixel_Intercept>
<geom:reference_pixel_location>Center</geom:reference_pixel_location>
<geom:pixel_latitude unit="deg">16.729696</geom:pixel_latitude>
<geom:pixel_longitude unit="deg">354.035502</geom:pixel_longitude>
</geom:Pixel_Intercept>
<geom:subsolar_latitude unit="deg">-0.744</geom:subsolar_latitude>
<geom:subsolar_longitude unit="deg">208.833</geom:subsolar_longitude>
<geom:subspacecraft_latitude unit="deg">16.729829</geom:subspacecraft_latitude>
<geom:subspacecraft_longitude unit="deg">354.035453</geom:subspacecraft_longitude>
</geom:Surface_Geometry_Specific>
</geom:Surface_Geometry>
<geom:Illumination_Geometry>
<geom:Illumination_Specific>
<geom:reference_location>Boresight Intercept Point</geom:reference_location>
<geom:emission_angle unit="deg">0.003</geom:emission_angle>
<geom:incidence_angle unit="deg">142.194</geom:incidence_angle>
<geom:phase_angle unit="deg">142.192</geom:phase_angle>
</geom:Illumination_Specific>
</geom:Illumination_Geometry>
</geom:Geometry_Orbiter>
</geom:Geometry>
...
</Discipline_Area>
Example PDS4 label snippet from urn:nasa:pds:mars2020_imgops:data_rmi_imgops:lrf_0050_0671384429_129eby_n0031950scam01050_0200i6j::2.0:
<Discipline_Area>
...
<geom:Geometry>
<geom:SPICE_Kernel_Files>
<geom:SPICE_Kernel_Identification>
<geom:spice_kernel_file_name>chronos.m2020_ops210303_v1</geom:spice_kernel_file_name>
</geom:SPICE_Kernel_Identification>
</geom:SPICE_Kernel_Files>
<geom:Geometry_Lander>
<geom:geometry_state>Telemetry</geom:geometry_state>
<geom:description>Geometry as reported by the spacecraft in telemetry</geom:description>
<local_identifier>geom_telemetry_state</local_identifier>
<geom:Articulation_Device_Parameters>
<geom:device_id>RSM</geom:device_id>
<geom:device_name>REMOTE SENSING MAST</geom:device_name>
<geom:device_mode>DEPLOYED</geom:device_mode>
<geom:Device_Angle>
<geom:Device_Angle_Index>
<geom:index_id>AZIMUTH FINAL-RESOLVER</geom:index_id>
<geom:index_value_angle unit="rad">0.13336</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>ELEVATION FINAL-RESOLVER</geom:index_id>
<geom:index_value_angle unit="rad">1.08131</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>AZIMUTH INITIAL-RESOLVER</geom:index_id>
<geom:index_value_angle unit="rad">0.142708</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>ELEVATION INITIAL-RESOLVER</geom:index_id>
<geom:index_value_angle unit="rad">1.08157</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>AZIMUTH REQUESTED</geom:index_id>
<geom:index_value_angle unit="rad">0.13799</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>ELEVATION REQUESTED</geom:index_id>
<geom:index_value_angle unit="rad">1.08378</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>AZIMUTH FINAL-ENCODER</geom:index_id>
<geom:index_value_angle unit="rad">0.138015</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>ELEVATION FINAL-ENCODER</geom:index_id>
<geom:index_value_angle unit="rad">1.08373</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>AZIMUTH INITIAL-ENCODER</geom:index_id>
<geom:index_value_angle unit="rad">0.147366</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>ELEVATION INITIAL-ENCODER</geom:index_id>
<geom:index_value_angle unit="rad">1.08405</geom:index_value_angle>
</geom:Device_Angle_Index>
</geom:Device_Angle>
<geom:Device_Temperature>
<geom:Device_Temperature_Index>
<geom:index_id>NAVCAM LEFT CAMERA PLATE</geom:index_id>
<geom:index_value_temperature unit="degC">-19.9337</geom:index_value_temperature>
</geom:Device_Temperature_Index>
<geom:Device_Temperature_Index>
<geom:index_id>NAVCAM RIGHT CAMERA PLATE</geom:index_id>
<geom:index_value_temperature unit="degC">-22.3957</geom:index_value_temperature>
</geom:Device_Temperature_Index>
</geom:Device_Temperature>
</geom:Articulation_Device_Parameters>
<geom:Articulation_Device_Parameters>
<geom:device_id>ARM</geom:device_id>
<geom:device_name>SAMPLE ARM</geom:device_name>
<geom:selected_instrument_id>WATSON</geom:selected_instrument_id>
<geom:Device_Angle>
<geom:Device_Angle_Index>
<geom:index_id>JOINT 1 AZIMUTH-HALL SENSOR</geom:index_id>
<geom:index_value_angle unit="rad">1.57291</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>JOINT 2 ELEVATION-HALL SENSOR</geom:index_id>
<geom:index_value_angle unit="rad">-0.286141</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>JOINT 3 ELBOW-HALL SENSOR</geom:index_id>
<geom:index_value_angle unit="rad">-2.81942</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>JOINT 4 WRIST-HALL SENSOR</geom:index_id>
<geom:index_value_angle unit="rad">3.11076</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>JOINT 5 TURRET-HALL SENSOR</geom:index_id>
<geom:index_value_angle unit="rad">4.86046</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>JOINT 1 AZIMUTH-RESOLVER</geom:index_id>
<geom:index_value_angle unit="rad">1.57242</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>JOINT 2 ELEVATION-RESOLVER</geom:index_id>
<geom:index_value_angle unit="rad">-0.285657</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>JOINT 3 ELBOW-RESOLVER</geom:index_id>
<geom:index_value_angle unit="rad">-2.82089</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>JOINT 4 WRIST-RESOLVER</geom:index_id>
<geom:index_value_angle unit="rad">3.10984</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>JOINT 5 TURRET-RESOLVER</geom:index_id>
<geom:index_value_angle unit="rad">4.86077</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>SCS DOCKING CLOCK ANGLE</geom:index_id>
<geom:index_value_angle unit="rad">0.0602604</geom:index_value_angle>
</geom:Device_Angle_Index>
</geom:Device_Angle>
<geom:Device_Component_State>
<geom:Device_Component_State_Index>
<geom:index_id>PRELOAD_VALUE</geom:index_id>
<geom:index_value_string>0</geom:index_value_string>
</geom:Device_Component_State_Index>
<geom:Device_Component_State_Index>
<geom:index_id>PRELOAD_TOOL</geom:index_id>
<geom:index_value_string>WATSON</geom:index_value_string>
</geom:Device_Component_State_Index>
</geom:Device_Component_State>
<geom:Device_Component_State>
<geom:Device_Component_State_Index>
<geom:index_id>FACILITY CONTACT SENSOR A</geom:index_id>
<geom:index_value_string>NO CONTACT</geom:index_value_string>
</geom:Device_Component_State_Index>
<geom:Device_Component_State_Index>
<geom:index_id>FACILITY CONTACT SENSOR B</geom:index_id>
<geom:index_value_string>NO CONTACT</geom:index_value_string>
</geom:Device_Component_State_Index>
<geom:Device_Component_State_Index>
<geom:index_id>DRILL STABILIZER 1</geom:index_id>
<geom:index_value_string>NO CONTACT</geom:index_value_string>
</geom:Device_Component_State_Index>
<geom:Device_Component_State_Index>
<geom:index_id>DRILL STABILIZER 2</geom:index_id>
<geom:index_value_string>NO CONTACT</geom:index_value_string>
</geom:Device_Component_State_Index>
<geom:Device_Component_State_Index>
<geom:index_id>DOCK 1</geom:index_id>
<geom:index_value_string>NO CONTACT</geom:index_value_string>
</geom:Device_Component_State_Index>
<geom:Device_Component_State_Index>
<geom:index_id>DOCK 2</geom:index_id>
<geom:index_value_string>NO CONTACT</geom:index_value_string>
</geom:Device_Component_State_Index>
<geom:Device_Component_State_Index>
<geom:index_id>DOCK 3</geom:index_id>
<geom:index_value_string>NO CONTACT</geom:index_value_string>
</geom:Device_Component_State_Index>
<geom:Device_Component_State_Index>
<geom:index_id>DOCK 4</geom:index_id>
<geom:index_value_string>NO CONTACT</geom:index_value_string>
</geom:Device_Component_State_Index>
</geom:Device_Component_State>
<geom:Device_Temperature>
<geom:Device_Temperature_Index>
<geom:index_id>AZIMUTH JOINT</geom:index_id>
<geom:index_value_temperature unit="degC">-30.2288</geom:index_value_temperature>
</geom:Device_Temperature_Index>
<geom:Device_Temperature_Index>
<geom:index_id>ELEVATION JOINT</geom:index_id>
<geom:index_value_temperature unit="degC">-26.7067</geom:index_value_temperature>
</geom:Device_Temperature_Index>
<geom:Device_Temperature_Index>
<geom:index_id>ELBOW JOINT</geom:index_id>
<geom:index_value_temperature unit="degC">-19.0049</geom:index_value_temperature>
</geom:Device_Temperature_Index>
<geom:Device_Temperature_Index>
<geom:index_id>WRIST JOINT</geom:index_id>
<geom:index_value_temperature unit="degC">-20.6965</geom:index_value_temperature>
</geom:Device_Temperature_Index>
<geom:Device_Temperature_Index>
<geom:index_id>TURRET JOINT</geom:index_id>
<geom:index_value_temperature unit="degC">-35.3106</geom:index_value_temperature>
</geom:Device_Temperature_Index>
<geom:Device_Temperature_Index>
<geom:index_id>DEFLECTION BODY DELTA TEMPERATURE</geom:index_id>
<geom:index_value_temperature unit="degC">0.0</geom:index_value_temperature>
</geom:Device_Temperature_Index>
<geom:Device_Temperature_Index>
<geom:index_id>DEFLECTION ARM DELTA TEMPERATURE</geom:index_id>
<geom:index_value_temperature unit="degC">-39.3098</geom:index_value_temperature>
</geom:Device_Temperature_Index>
</geom:Device_Temperature>
</geom:Articulation_Device_Parameters>
<geom:Articulation_Device_Parameters>
<geom:device_id>CHASSIS</geom:device_id>
<geom:device_name>MOBILITY CHASSIS</geom:device_name>
<geom:device_mode>DEPLOYED</geom:device_mode>
<geom:Device_Angle>
<geom:Device_Angle_Index>
<geom:index_id>LEFT FRONT WHEEL STEER MOTOR</geom:index_id>
<geom:index_value_angle unit="rad">4.26106e-05</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>RIGHT FRONT WHEEL STEER MOTOR</geom:index_id>
<geom:index_value_angle unit="rad">-0.00127832</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>LEFT REAR WHEEL STEER MOTOR</geom:index_id>
<geom:index_value_angle unit="rad">-4.26106e-05</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>RIGHT REAR WHEEL STEER MOTOR</geom:index_id>
<geom:index_value_angle unit="rad">4.26106e-05</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>LEFT BOGIE</geom:index_id>
<geom:index_value_angle unit="rad">0.0551918</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>RIGHT BOGIE</geom:index_id>
<geom:index_value_angle unit="rad">-0.0215051</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>LEFT DIFFERENTIAL</geom:index_id>
<geom:index_value_angle unit="rad">0.00230504</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>RIGHT DIFFERENTIAL</geom:index_id>
<geom:index_value_angle unit="rad">0.0116871</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>LEFT FRONT WHEEL DRIVE MOTOR</geom:index_id>
<geom:index_value_angle unit="rad">0.0</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>RIGHT FRONT WHEEL DRIVE MOTOR</geom:index_id>
<geom:index_value_angle unit="rad">0.0</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>LEFT MIDDLE WHEEL DRIVE MOTOR</geom:index_id>
<geom:index_value_angle unit="rad">0.0</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>RIGHT MIDDLE WHEEL DRIVE MOTOR</geom:index_id>
<geom:index_value_angle unit="rad">0.0</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>LEFT REAR WHEEL DRIVE MOTOR</geom:index_id>
<geom:index_value_angle unit="rad">0.0</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>RIGHT REAR WHEEL DRIVE MOTOR</geom:index_id>
<geom:index_value_angle unit="rad">0.0</geom:index_value_angle>
</geom:Device_Angle_Index>
</geom:Device_Angle>
<geom:Vector_Device_Gravity>
<geom:x_unit>-3.9421636155334935E-4</geom:x_unit>
<geom:y_unit>-0.0019710871901479155</geom:y_unit>
<geom:z_unit>0.9999979797023337</geom:z_unit>
</geom:Vector_Device_Gravity>
<geom:Vector_Device_Gravity_Magnitude>
<geom:x_acceleration unit="m/s**2">-0.00146484</geom:x_acceleration>
<geom:y_acceleration unit="m/s**2">-0.00732422</geom:y_acceleration>
<geom:z_acceleration unit="m/s**2">3.71582</geom:z_acceleration>
</geom:Vector_Device_Gravity_Magnitude>
</geom:Articulation_Device_Parameters>
<geom:Articulation_Device_Parameters>
<geom:device_id>HGA</geom:device_id>
<geom:device_name>HIGH GAIN ANTENNA</geom:device_name>
<geom:device_mode>DEPLOYED</geom:device_mode>
<geom:Device_Angle>
<geom:Device_Angle_Index>
<geom:index_id>AZIMUTH</geom:index_id>
<geom:index_value_angle unit="rad">1.13452</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>ELEVATION</geom:index_id>
<geom:index_value_angle unit="rad">-0.785009</geom:index_value_angle>
</geom:Device_Angle_Index>
</geom:Device_Angle>
</geom:Articulation_Device_Parameters>
<geom:Articulation_Device_Parameters>
<geom:device_id>DRILL</geom:device_id>
<geom:device_name>DRILL</geom:device_name>
<geom:device_mode>INVALID POSE</geom:device_mode>
<geom:Device_Angle>
<geom:Device_Angle_Index>
<geom:index_id>SPINDLE OUTPUT POSITION-RESOLVER</geom:index_id>
<geom:index_value_angle unit="rad">2265.72</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>CHUCK POSITION-RESOLVER</geom:index_id>
<geom:index_value_angle unit="rad">-0.468715</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>PERCUSS POSITION-RESOLVER</geom:index_id>
<geom:index_value_angle unit="rad">0.0</geom:index_value_angle>
</geom:Device_Angle_Index>
</geom:Device_Angle>
</geom:Articulation_Device_Parameters>
<geom:Articulation_Device_Parameters>
<geom:device_id>SCS</geom:device_id>
<geom:device_name>SAMPLE CACHE SYSTEM</geom:device_name>
<geom:device_mode>EMPTY</geom:device_mode>
<geom:Device_Angle>
<geom:Device_Angle_Index>
<geom:index_id>SCS BIT CAROUSEL-HALL SENSOR</geom:index_id>
<geom:index_value_angle unit="rad">-1.39662</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>SCS BIT CAROUSEL-RESOLVER</geom:index_id>
<geom:index_value_angle unit="rad">-1.39571</geom:index_value_angle>
</geom:Device_Angle_Index>
</geom:Device_Angle>
</geom:Articulation_Device_Parameters>
<geom:Articulation_Device_Parameters>
<geom:device_id>SHA</geom:device_id>
<geom:device_name>SAMPLE HANDLING ARM</geom:device_name>
<geom:Device_Angle>
<geom:Device_Angle_Index>
<geom:index_id>SHA JOINT 1 Z-HALL SENSOR</geom:index_id>
<geom:index_value_angle unit="rad">0.0179931</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>SHA JOINT 2 SHOULDER-HALL SENSOR</geom:index_id>
<geom:index_value_angle unit="rad">-0.239298</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>SHA JOINT 3 ELBOW-HALL SENSOR</geom:index_id>
<geom:index_value_angle unit="rad">2.68485</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>SHA JOINT 1 Z-RESOLVER</geom:index_id>
<geom:index_value_angle unit="rad">0.0</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>SHA JOINT 2 SHOULDER-RESOLVER</geom:index_id>
<geom:index_value_angle unit="rad">-0.239698</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>SHA JOINT 3 ELBOW-RESOLVER</geom:index_id>
<geom:index_value_angle unit="rad">2.68397</geom:index_value_angle>
</geom:Device_Angle_Index>
</geom:Device_Angle>
</geom:Articulation_Device_Parameters>
<geom:Camera_Model_Parameters>
<geom:model_type>CAHV</geom:model_type>
<geom:calibration_source_id>1</geom:calibration_source_id>
<geom:CAHV_Model>
<geom:Vector_Center>
<geom:x_position unit="m">0.840641</geom:x_position>
<geom:y_position unit="m">0.676759</geom:y_position>
<geom:z_position unit="m">-2.19275</geom:z_position>
</geom:Vector_Center>
<geom:Vector_Axis>
<geom:x_unit>-0.845915</geom:x_unit>
<geom:y_unit>-0.531705</geom:y_unit>
<geom:z_unit>-0.0416555</geom:z_unit>
</geom:Vector_Axis>
<geom:Vector_Horizontal>
<geom:x_pixel>8279.85</geom:x_pixel>
<geom:y_pixel>-80438.1</geom:y_pixel>
<geom:z_pixel>-291.596</geom:z_pixel>
</geom:Vector_Horizontal>
<geom:Vector_Vertical>
<geom:x_pixel>38130.9</geom:x_pixel>
<geom:y_pixel>4180.11</geom:y_pixel>
<geom:z_pixel>69888.3</geom:z_pixel>
</geom:Vector_Vertical>
</geom:CAHV_Model>
<geom:Coordinate_Space_Reference>
<geom:Coordinate_Space_Indexed>
<geom:coordinate_space_frame_type>ROVER_NAV_FRAME</geom:coordinate_space_frame_type>
<geom:Coordinate_Space_Index>
<geom:index_id>SITE</geom:index_id>
<geom:index_value_number>3</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>DRIVE</geom:index_id>
<geom:index_value_number>1950</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>POSE</geom:index_id>
<geom:index_value_number>4</geom:index_value_number>
</geom:Coordinate_Space_Index>
</geom:Coordinate_Space_Indexed>
</geom:Coordinate_Space_Reference>
<geom:Quaternion_Model_Transform>
<geom:qcos>0.0550875</geom:qcos>
<geom:qsin1>-0.249146</geom:qsin1>
<geom:qsin2>-0.0129946</geom:qsin2>
<geom:qsin3>-0.966811</geom:qsin3>
</geom:Quaternion_Model_Transform>
<geom:Vector_Model_Transform>
<geom:x>0.804896</geom:x>
<geom:y>0.559435</geom:y>
<geom:z>-1.91903</geom:z>
</geom:Vector_Model_Transform>
</geom:Camera_Model_Parameters>
<geom:Coordinate_Space_Definition>
<local_identifier>ROVER_NAV_FRAME_3_1950_4_0_0_0_108_102_0_0</local_identifier>
<local_identifier>ROVER_NAV_FRAME_3_1950_4_0_0_0_108_102_0_0_TELEMETRY</local_identifier>
<geom:positive_azimuth_direction>Clockwise</geom:positive_azimuth_direction>
<geom:positive_elevation_direction>Up</geom:positive_elevation_direction>
<geom:Coordinate_Space_Present>
<geom:Coordinate_Space_Indexed>
<geom:coordinate_space_frame_type>ROVER_NAV_FRAME</geom:coordinate_space_frame_type>
<geom:Coordinate_Space_Index>
<geom:index_id>SITE</geom:index_id>
<geom:index_value_number>3</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>DRIVE</geom:index_id>
<geom:index_value_number>1950</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>POSE</geom:index_id>
<geom:index_value_number>4</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>ARM</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>SHA</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>DRILL</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>RSM</geom:index_id>
<geom:index_value_number>108</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>HGA</geom:index_id>
<geom:index_value_number>102</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>BITCAR</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>SEAL</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:solution_id>TELEMETRY</geom:solution_id>
</geom:Coordinate_Space_Indexed>
</geom:Coordinate_Space_Present>
<geom:Vector_Origin_Offset>
<geom:x_position unit="m">10.3131</geom:x_position>
<geom:y_position unit="m">65.9943</geom:y_position>
<geom:z_position unit="m">0.715083</geom:z_position>
</geom:Vector_Origin_Offset>
<geom:Quaternion_Plus_Direction>
<geom:qcos>0.00131628</geom:qcos>
<geom:qsin1>0.000646026</geom:qsin1>
<geom:qsin2>-0.000920782</geom:qsin2>
<geom:qsin3>0.999999</geom:qsin3>
<geom:rotation_direction>Forward</geom:rotation_direction>
</geom:Quaternion_Plus_Direction>
<geom:Coordinate_Space_Reference>
<geom:Coordinate_Space_Indexed>
<geom:coordinate_space_frame_type>SITE_FRAME</geom:coordinate_space_frame_type>
<geom:Coordinate_Space_Index>
<geom:index_id>SITE</geom:index_id>
<geom:index_value_number>3</geom:index_value_number>
</geom:Coordinate_Space_Index>
</geom:Coordinate_Space_Indexed>
</geom:Coordinate_Space_Reference>
<geom:Coordinate_Space_Quality>
<geom:quaternion_measurement_method>Sun_Find</geom:quaternion_measurement_method>
</geom:Coordinate_Space_Quality>
</geom:Coordinate_Space_Definition>
<geom:Coordinate_Space_Definition>
<local_identifier>RSM_HEAD_FRAME_3_1950_4_0_0_0_108_102_0_0</local_identifier>
<local_identifier>RSM_HEAD_FRAME_3_1950_4_0_0_0_108_102_0_0_TELEMETRY</local_identifier>
<geom:positive_azimuth_direction>Clockwise</geom:positive_azimuth_direction>
<geom:positive_elevation_direction>Up</geom:positive_elevation_direction>
<geom:Coordinate_Space_Present>
<geom:Coordinate_Space_Indexed>
<geom:coordinate_space_frame_type>RSM_HEAD_FRAME</geom:coordinate_space_frame_type>
<geom:Coordinate_Space_Index>
<geom:index_id>SITE</geom:index_id>
<geom:index_value_number>3</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>DRIVE</geom:index_id>
<geom:index_value_number>1950</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>POSE</geom:index_id>
<geom:index_value_number>4</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>ARM</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>SHA</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>DRILL</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>RSM</geom:index_id>
<geom:index_value_number>108</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>HGA</geom:index_id>
<geom:index_value_number>102</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>BITCAR</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>SEAL</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:solution_id>TELEMETRY</geom:solution_id>
</geom:Coordinate_Space_Indexed>
</geom:Coordinate_Space_Present>
<geom:Vector_Origin_Offset>
<geom:x_position unit="m">0.804896</geom:x_position>
<geom:y_position unit="m">0.559435</geom:y_position>
<geom:z_position unit="m">-1.91903</geom:z_position>
</geom:Vector_Origin_Offset>
<geom:Quaternion_Plus_Direction>
<geom:qcos>0.0550875</geom:qcos>
<geom:qsin1>-0.249146</geom:qsin1>
<geom:qsin2>-0.0129946</geom:qsin2>
<geom:qsin3>-0.966811</geom:qsin3>
<geom:rotation_direction>Forward</geom:rotation_direction>
</geom:Quaternion_Plus_Direction>
<geom:Coordinate_Space_Reference>
<geom:Coordinate_Space_Indexed>
<geom:coordinate_space_frame_type>ROVER_NAV_FRAME</geom:coordinate_space_frame_type>
<geom:Coordinate_Space_Index>
<geom:index_id>SITE</geom:index_id>
<geom:index_value_number>3</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>DRIVE</geom:index_id>
<geom:index_value_number>1950</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>POSE</geom:index_id>
<geom:index_value_number>4</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>ARM</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>SHA</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>DRILL</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>RSM</geom:index_id>
<geom:index_value_number>108</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>HGA</geom:index_id>
<geom:index_value_number>102</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>BITCAR</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>SEAL</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
</geom:Coordinate_Space_Indexed>
</geom:Coordinate_Space_Reference>
</geom:Coordinate_Space_Definition>
<geom:Coordinate_Space_Definition>
<local_identifier>TURRET_FRAME_3_1950_4_0_0_0_108_102_0_0</local_identifier>
<local_identifier>TURRET_FRAME_3_1950_4_0_0_0_108_102_0_0_TELEMETRY</local_identifier>
<geom:positive_azimuth_direction>Clockwise</geom:positive_azimuth_direction>
<geom:positive_elevation_direction>Up</geom:positive_elevation_direction>
<geom:Coordinate_Space_Present>
<geom:Coordinate_Space_Indexed>
<geom:coordinate_space_frame_type>TURRET_FRAME</geom:coordinate_space_frame_type>
<geom:Coordinate_Space_Index>
<geom:index_id>SITE</geom:index_id>
<geom:index_value_number>3</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>DRIVE</geom:index_id>
<geom:index_value_number>1950</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>POSE</geom:index_id>
<geom:index_value_number>4</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>ARM</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>SHA</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>DRILL</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>RSM</geom:index_id>
<geom:index_value_number>108</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>HGA</geom:index_id>
<geom:index_value_number>102</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>BITCAR</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>SEAL</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:solution_id>TELEMETRY</geom:solution_id>
</geom:Coordinate_Space_Indexed>
</geom:Coordinate_Space_Present>
<geom:Vector_Origin_Offset>
<geom:x_position unit="m">1.08465</geom:x_position>
<geom:y_position unit="m">-0.429047</geom:y_position>
<geom:z_position unit="m">-1.40261</geom:z_position>
</geom:Vector_Origin_Offset>
<geom:Quaternion_Plus_Direction>
<geom:qcos>0.997183</geom:qcos>
<geom:qsin1>-0.00159368</geom:qsin1>
<geom:qsin2>0.000841571</geom:qsin2>
<geom:qsin3>0.0749847</geom:qsin3>
<geom:rotation_direction>Forward</geom:rotation_direction>
</geom:Quaternion_Plus_Direction>
<geom:Coordinate_Space_Reference>
<geom:Coordinate_Space_Indexed>
<geom:coordinate_space_frame_type>ROVER_NAV_FRAME</geom:coordinate_space_frame_type>
<geom:Coordinate_Space_Index>
<geom:index_id>SITE</geom:index_id>
<geom:index_value_number>3</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>DRIVE</geom:index_id>
<geom:index_value_number>1950</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>POSE</geom:index_id>
<geom:index_value_number>4</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>ARM</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>SHA</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>DRILL</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>RSM</geom:index_id>
<geom:index_value_number>108</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>HGA</geom:index_id>
<geom:index_value_number>102</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>BITCAR</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>SEAL</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
</geom:Coordinate_Space_Indexed>
</geom:Coordinate_Space_Reference>
</geom:Coordinate_Space_Definition>
<geom:Coordinate_Space_Definition>
<local_identifier>ARM_WATSON_FRAME_3_1950_4_0_0_0_108_102_0_0</local_identifier>
<local_identifier>ARM_WATSON_FRAME_3_1950_4_0_0_0_108_102_0_0_TELEMETRY</local_identifier>
<geom:positive_azimuth_direction>Clockwise</geom:positive_azimuth_direction>
<geom:positive_elevation_direction>Up</geom:positive_elevation_direction>
<geom:Coordinate_Space_Present>
<geom:Coordinate_Space_Indexed>
<geom:coordinate_space_frame_type>ARM_WATSON_FRAME</geom:coordinate_space_frame_type>
<geom:Coordinate_Space_Index>
<geom:index_id>SITE</geom:index_id>
<geom:index_value_number>3</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>DRIVE</geom:index_id>
<geom:index_value_number>1950</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>POSE</geom:index_id>
<geom:index_value_number>4</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>ARM</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>SHA</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>DRILL</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>RSM</geom:index_id>
<geom:index_value_number>108</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>HGA</geom:index_id>
<geom:index_value_number>102</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>BITCAR</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>SEAL</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:solution_id>TELEMETRY</geom:solution_id>
</geom:Coordinate_Space_Indexed>
</geom:Coordinate_Space_Present>
<geom:Vector_Origin_Offset>
<geom:x_position unit="m">1.01786</geom:x_position>
<geom:y_position unit="m">-0.760246</geom:y_position>
<geom:z_position unit="m">-1.4157</geom:z_position>
</geom:Vector_Origin_Offset>
<geom:Quaternion_Plus_Direction>
<geom:qcos>0.633384</geom:qcos>
<geom:qsin1>-0.00160347</geom:qsin1>
<geom:qsin2>-0.000822763</geom:qsin2>
<geom:qsin3>-0.773835</geom:qsin3>
<geom:rotation_direction>Forward</geom:rotation_direction>
</geom:Quaternion_Plus_Direction>
<geom:Coordinate_Space_Reference>
<geom:Coordinate_Space_Indexed>
<geom:coordinate_space_frame_type>ROVER_NAV_FRAME</geom:coordinate_space_frame_type>
<geom:Coordinate_Space_Index>
<geom:index_id>SITE</geom:index_id>
<geom:index_value_number>3</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>DRIVE</geom:index_id>
<geom:index_value_number>1950</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>POSE</geom:index_id>
<geom:index_value_number>4</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>ARM</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>SHA</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>DRILL</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>RSM</geom:index_id>
<geom:index_value_number>108</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>HGA</geom:index_id>
<geom:index_value_number>102</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>BITCAR</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>SEAL</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
</geom:Coordinate_Space_Indexed>
</geom:Coordinate_Space_Reference>
</geom:Coordinate_Space_Definition>
<geom:Derived_Geometry>
<geom:instrument_azimuth unit="deg">186.309</geom:instrument_azimuth>
<geom:instrument_elevation unit="deg">-29.0427</geom:instrument_elevation>
<geom:solar_azimuth unit="deg">77.7284</geom:solar_azimuth>
<geom:solar_elevation unit="deg">66.699</geom:solar_elevation>
<geom:Vector_Solar_Direction>
<geom:x_unit>0.0840752</geom:x_unit>
<geom:y_unit>0.386524</geom:y_unit>
<geom:z_unit>-0.918439</geom:z_unit>
</geom:Vector_Solar_Direction>
<geom:Coordinate_Space_Reference>
<geom:Coordinate_Space_Indexed>
<geom:coordinate_space_frame_type>ROVER_NAV_FRAME</geom:coordinate_space_frame_type>
<geom:Coordinate_Space_Index>
<geom:index_id>SITE</geom:index_id>
<geom:index_value_number>3</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>DRIVE</geom:index_id>
<geom:index_value_number>1950</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>POSE</geom:index_id>
<geom:index_value_number>4</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>ARM</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>SHA</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>DRILL</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>RSM</geom:index_id>
<geom:index_value_number>108</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>HGA</geom:index_id>
<geom:index_value_number>102</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>BITCAR</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>SEAL</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
</geom:Coordinate_Space_Indexed>
</geom:Coordinate_Space_Reference>
</geom:Derived_Geometry>
<geom:Derived_Geometry>
<geom:target_name>SuperCam Calibration Target</geom:target_name>
<geom:incidence_angle unit="deg">49.2748</geom:incidence_angle>
<geom:phase_angle unit="deg">56.2162</geom:phase_angle>
<geom:instrument_azimuth unit="deg">6.09582</geom:instrument_azimuth>
<geom:instrument_elevation unit="deg">-28.9805</geom:instrument_elevation>
<geom:solar_azimuth unit="deg">257.997</geom:solar_azimuth>
<geom:solar_elevation unit="deg">66.0889</geom:solar_elevation>
<geom:Coordinate_Space_Reference>
<geom:Coordinate_Space_Indexed>
<geom:coordinate_space_frame_type>SITE_FRAME</geom:coordinate_space_frame_type>
<geom:Coordinate_Space_Index>
<geom:index_id>SITE</geom:index_id>
<geom:index_value_number>3</geom:index_value_number>
</geom:Coordinate_Space_Index>
</geom:Coordinate_Space_Indexed>
</geom:Coordinate_Space_Reference>
</geom:Derived_Geometry>
<geom:Derived_Geometry>
<geom:target_name>Mars</geom:target_name>
<geom:target_heliocentric_distance unit="km">2.43024e+08</geom:target_heliocentric_distance>
</geom:Derived_Geometry>
<geom:Motion_Counter>
<geom:name>RMC</geom:name>
<geom:Motion_Counter_Index>
<geom:index_id>SITE</geom:index_id>
<geom:index_value_number>3</geom:index_value_number>
</geom:Motion_Counter_Index>
<geom:Motion_Counter_Index>
<geom:index_id>DRIVE</geom:index_id>
<geom:index_value_number>1950</geom:index_value_number>
</geom:Motion_Counter_Index>
<geom:Motion_Counter_Index>
<geom:index_id>POSE</geom:index_id>
<geom:index_value_number>4</geom:index_value_number>
</geom:Motion_Counter_Index>
<geom:Motion_Counter_Index>
<geom:index_id>ARM</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Motion_Counter_Index>
<geom:Motion_Counter_Index>
<geom:index_id>SHA</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Motion_Counter_Index>
<geom:Motion_Counter_Index>
<geom:index_id>DRILL</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Motion_Counter_Index>
<geom:Motion_Counter_Index>
<geom:index_id>RSM</geom:index_id>
<geom:index_value_number>108</geom:index_value_number>
</geom:Motion_Counter_Index>
<geom:Motion_Counter_Index>
<geom:index_id>HGA</geom:index_id>
<geom:index_value_number>102</geom:index_value_number>
</geom:Motion_Counter_Index>
<geom:Motion_Counter_Index>
<geom:index_id>BITCAR</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Motion_Counter_Index>
<geom:Motion_Counter_Index>
<geom:index_id>SEAL</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Motion_Counter_Index>
</geom:Motion_Counter>
</geom:Geometry_Lander>
</geom:Geometry>
...
</Discipline_Area>
Example PDS4 label snippet from urn:nasa:pds:mars2020_mastcamz_ops_calibrated:data:zl2_0445_0706443429_363rad_t0250214zcam03366_110300j::2.0:
<Discipline_Area>
...
<geom:Geometry>
<geom:SPICE_Kernel_Files>
<geom:SPICE_Kernel_Identification>
<geom:spice_kernel_file_name>chronos.m2020_ops210303_v1</geom:spice_kernel_file_name>
</geom:SPICE_Kernel_Identification>
</geom:SPICE_Kernel_Files>
<geom:Geometry_Lander>
<geom:geometry_state>Telemetry</geom:geometry_state>
<geom:description>Geometry as reported by the spacecraft in telemetry</geom:description>
<local_identifier>geom_telemetry_state</local_identifier>
<geom:Articulation_Device_Parameters>
<geom:device_id>RSM</geom:device_id>
<geom:device_name>REMOTE SENSING MAST</geom:device_name>
<geom:device_mode>DEPLOYED</geom:device_mode>
<geom:Device_Angle>
<geom:Device_Angle_Index>
<geom:index_id>AZIMUTH FINAL-RESOLVER</geom:index_id>
<geom:index_value_angle unit="rad">2.44864</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>ELEVATION FINAL-RESOLVER</geom:index_id>
<geom:index_value_angle unit="rad">1.09329</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>AZIMUTH INITIAL-RESOLVER</geom:index_id>
<geom:index_value_angle unit="rad">2.53138</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>ELEVATION INITIAL-RESOLVER</geom:index_id>
<geom:index_value_angle unit="rad">1.00343</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>AZIMUTH REQUESTED</geom:index_id>
<geom:index_value_angle unit="rad">2.4533</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>ELEVATION REQUESTED</geom:index_id>
<geom:index_value_angle unit="rad">1.0959</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>AZIMUTH FINAL-ENCODER</geom:index_id>
<geom:index_value_angle unit="rad">2.4533</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>ELEVATION FINAL-ENCODER</geom:index_id>
<geom:index_value_angle unit="rad">1.09587</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>AZIMUTH INITIAL-ENCODER</geom:index_id>
<geom:index_value_angle unit="rad">2.53591</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>ELEVATION INITIAL-ENCODER</geom:index_id>
<geom:index_value_angle unit="rad">1.00607</geom:index_value_angle>
</geom:Device_Angle_Index>
</geom:Device_Angle>
<geom:Device_Temperature>
<geom:Device_Temperature_Index>
<geom:index_id>NAVCAM LEFT CAMERA PLATE</geom:index_id>
<geom:index_value_temperature unit="degC">-15.7796</geom:index_value_temperature>
</geom:Device_Temperature_Index>
<geom:Device_Temperature_Index>
<geom:index_id>NAVCAM RIGHT CAMERA PLATE</geom:index_id>
<geom:index_value_temperature unit="degC">-19.5222</geom:index_value_temperature>
</geom:Device_Temperature_Index>
</geom:Device_Temperature>
<geom:Commanded_Geometry>
<geom:command_type>No_Motion</geom:command_type>
<geom:Device_Angle>
<geom:Device_Angle_Index>
<geom:index_name>Unknown</geom:index_name>
<geom:index_value_angle unit="rad">0.0</geom:index_value_angle>
</geom:Device_Angle_Index>
</geom:Device_Angle>
</geom:Commanded_Geometry>
</geom:Articulation_Device_Parameters>
<geom:Articulation_Device_Parameters>
<geom:device_id>ARM</geom:device_id>
<geom:device_name>SAMPLE ARM</geom:device_name>
<geom:selected_instrument_id>DOCKING POST</geom:selected_instrument_id>
<geom:Device_Angle>
<geom:Device_Angle_Index>
<geom:index_id>JOINT 1 AZIMUTH-HALL SENSOR</geom:index_id>
<geom:index_value_angle unit="rad">1.57291</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>JOINT 2 ELEVATION-HALL SENSOR</geom:index_id>
<geom:index_value_angle unit="rad">-0.286141</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>JOINT 3 ELBOW-HALL SENSOR</geom:index_id>
<geom:index_value_angle unit="rad">-2.81942</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>JOINT 4 WRIST-HALL SENSOR</geom:index_id>
<geom:index_value_angle unit="rad">3.11068</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>JOINT 5 TURRET-HALL SENSOR</geom:index_id>
<geom:index_value_angle unit="rad">4.86046</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>JOINT 1 AZIMUTH-RESOLVER</geom:index_id>
<geom:index_value_angle unit="rad">1.57232</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>JOINT 2 ELEVATION-RESOLVER</geom:index_id>
<geom:index_value_angle unit="rad">-0.285633</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>JOINT 3 ELBOW-RESOLVER</geom:index_id>
<geom:index_value_angle unit="rad">-2.82144</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>JOINT 4 WRIST-RESOLVER</geom:index_id>
<geom:index_value_angle unit="rad">3.10981</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>JOINT 5 TURRET-RESOLVER</geom:index_id>
<geom:index_value_angle unit="rad">4.86115</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>SCS DOCKING CLOCK ANGLE</geom:index_id>
<geom:index_value_angle unit="rad">0.0600421</geom:index_value_angle>
</geom:Device_Angle_Index>
</geom:Device_Angle>
<geom:Device_Component_State>
<geom:Device_Component_State_Index>
<geom:index_id>PRELOAD_VALUE</geom:index_id>
<geom:index_value_string>0</geom:index_value_string>
</geom:Device_Component_State_Index>
<geom:Device_Component_State_Index>
<geom:index_id>PRELOAD_TOOL</geom:index_id>
<geom:index_value_string>DOCKING POST</geom:index_value_string>
</geom:Device_Component_State_Index>
</geom:Device_Component_State>
<geom:Device_Component_State>
<geom:Device_Component_State_Index>
<geom:index_id>FACILITY CONTACT SENSOR A</geom:index_id>
<geom:index_value_string>NO CONTACT</geom:index_value_string>
</geom:Device_Component_State_Index>
<geom:Device_Component_State_Index>
<geom:index_id>FACILITY CONTACT SENSOR B</geom:index_id>
<geom:index_value_string>NO CONTACT</geom:index_value_string>
</geom:Device_Component_State_Index>
<geom:Device_Component_State_Index>
<geom:index_id>DRILL STABILIZER 1</geom:index_id>
<geom:index_value_string>NO CONTACT</geom:index_value_string>
</geom:Device_Component_State_Index>
<geom:Device_Component_State_Index>
<geom:index_id>DRILL STABILIZER 2</geom:index_id>
<geom:index_value_string>NO CONTACT</geom:index_value_string>
</geom:Device_Component_State_Index>
<geom:Device_Component_State_Index>
<geom:index_id>DOCK 1</geom:index_id>
<geom:index_value_string>NO CONTACT</geom:index_value_string>
</geom:Device_Component_State_Index>
<geom:Device_Component_State_Index>
<geom:index_id>DOCK 2</geom:index_id>
<geom:index_value_string>NO CONTACT</geom:index_value_string>
</geom:Device_Component_State_Index>
<geom:Device_Component_State_Index>
<geom:index_id>DOCK 3</geom:index_id>
<geom:index_value_string>NO CONTACT</geom:index_value_string>
</geom:Device_Component_State_Index>
<geom:Device_Component_State_Index>
<geom:index_id>DOCK 4</geom:index_id>
<geom:index_value_string>NO CONTACT</geom:index_value_string>
</geom:Device_Component_State_Index>
</geom:Device_Component_State>
<geom:Device_Pose>
<geom:name>arm_attitude_reference</geom:name>
<geom:Quaternion_Plus_Direction>
<geom:qcos>0.704803</geom:qcos>
<geom:qsin1>-0.0706213</geom:qsin1>
<geom:qsin2>0.0760767</geom:qsin2>
<geom:qsin3>-0.701768</geom:qsin3>
<geom:rotation_direction>Forward</geom:rotation_direction>
</geom:Quaternion_Plus_Direction>
</geom:Device_Pose>
<geom:Device_Temperature>
<geom:Device_Temperature_Index>
<geom:index_id>AZIMUTH JOINT</geom:index_id>
<geom:index_value_temperature unit="degC">-39.7362</geom:index_value_temperature>
</geom:Device_Temperature_Index>
<geom:Device_Temperature_Index>
<geom:index_id>ELEVATION JOINT</geom:index_id>
<geom:index_value_temperature unit="degC">-40.322</geom:index_value_temperature>
</geom:Device_Temperature_Index>
<geom:Device_Temperature_Index>
<geom:index_id>ELBOW JOINT</geom:index_id>
<geom:index_value_temperature unit="degC">-32.2912</geom:index_value_temperature>
</geom:Device_Temperature_Index>
<geom:Device_Temperature_Index>
<geom:index_id>WRIST JOINT</geom:index_id>
<geom:index_value_temperature unit="degC">-36.5628</geom:index_value_temperature>
</geom:Device_Temperature_Index>
<geom:Device_Temperature_Index>
<geom:index_id>TURRET JOINT</geom:index_id>
<geom:index_value_temperature unit="degC">-46.4838</geom:index_value_temperature>
</geom:Device_Temperature_Index>
<geom:Device_Temperature_Index>
<geom:index_id>DEFLECTION BODY DELTA TEMPERATURE</geom:index_id>
<geom:index_value_temperature unit="degC">0.0</geom:index_value_temperature>
</geom:Device_Temperature_Index>
<geom:Device_Temperature_Index>
<geom:index_id>DEFLECTION ARM DELTA TEMPERATURE</geom:index_id>
<geom:index_value_temperature unit="degC">-41.0597</geom:index_value_temperature>
</geom:Device_Temperature_Index>
</geom:Device_Temperature>
<geom:Vector_Device_Gravity>
<geom:x_unit>0.20635797176158457</geom:x_unit>
<geom:y_unit>-0.007228209010878198</geom:y_unit>
<geom:z_unit>0.9784498661070684</geom:z_unit>
</geom:Vector_Device_Gravity>
<geom:Vector_Device_Gravity_Magnitude>
<geom:x_acceleration unit="m/s**2">0.206358</geom:x_acceleration>
<geom:y_acceleration unit="m/s**2">-0.00722821</geom:y_acceleration>
<geom:z_acceleration unit="m/s**2">0.97845</geom:z_acceleration>
</geom:Vector_Device_Gravity_Magnitude>
</geom:Articulation_Device_Parameters>
<geom:Articulation_Device_Parameters>
<geom:device_id>CHASSIS</geom:device_id>
<geom:device_name>MOBILITY CHASSIS</geom:device_name>
<geom:device_mode>DEPLOYED</geom:device_mode>
<geom:Device_Angle>
<geom:Device_Angle_Index>
<geom:index_id>LEFT FRONT WHEEL STEER MOTOR</geom:index_id>
<geom:index_value_angle unit="rad">4.26106e-05</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>RIGHT FRONT WHEEL STEER MOTOR</geom:index_id>
<geom:index_value_angle unit="rad">-0.000127832</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>LEFT REAR WHEEL STEER MOTOR</geom:index_id>
<geom:index_value_angle unit="rad">-0.000213053</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>RIGHT REAR WHEEL STEER MOTOR</geom:index_id>
<geom:index_value_angle unit="rad">0.000426106</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>LEFT BOGIE</geom:index_id>
<geom:index_value_angle unit="rad">0.0160963</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>RIGHT BOGIE</geom:index_id>
<geom:index_value_angle unit="rad">0.00499211</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>LEFT DIFFERENTIAL</geom:index_id>
<geom:index_value_angle unit="rad">0.0157508</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>RIGHT DIFFERENTIAL</geom:index_id>
<geom:index_value_angle unit="rad">-0.00272702</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>LEFT FRONT WHEEL DRIVE MOTOR</geom:index_id>
<geom:index_value_angle unit="rad">0.0</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>RIGHT FRONT WHEEL DRIVE MOTOR</geom:index_id>
<geom:index_value_angle unit="rad">0.0</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>LEFT MIDDLE WHEEL DRIVE MOTOR</geom:index_id>
<geom:index_value_angle unit="rad">0.0</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>RIGHT MIDDLE WHEEL DRIVE MOTOR</geom:index_id>
<geom:index_value_angle unit="rad">0.0</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>LEFT REAR WHEEL DRIVE MOTOR</geom:index_id>
<geom:index_value_angle unit="rad">0.0</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>RIGHT REAR WHEEL DRIVE MOTOR</geom:index_id>
<geom:index_value_angle unit="rad">0.0</geom:index_value_angle>
</geom:Device_Angle_Index>
</geom:Device_Angle>
<geom:Vector_Device_Gravity>
<geom:x_unit>-0.0080201598163349</geom:x_unit>
<geom:y_unit>-0.20628864997957977</geom:y_unit>
<geom:z_unit>0.9784583128197761</geom:z_unit>
</geom:Vector_Device_Gravity>
<geom:Vector_Device_Gravity_Magnitude>
<geom:x_acceleration unit="m/s**2">-0.0297852</geom:x_acceleration>
<geom:y_acceleration unit="m/s**2">-0.766113</geom:y_acceleration>
<geom:z_acceleration unit="m/s**2">3.63379</geom:z_acceleration>
</geom:Vector_Device_Gravity_Magnitude>
</geom:Articulation_Device_Parameters>
<geom:Articulation_Device_Parameters>
<geom:device_id>HGA</geom:device_id>
<geom:device_name>HIGH GAIN ANTENNA</geom:device_name>
<geom:device_mode>DEPLOYED</geom:device_mode>
<geom:Device_Angle>
<geom:Device_Angle_Index>
<geom:index_id>AZIMUTH</geom:index_id>
<geom:index_value_angle unit="rad">1.13443</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>ELEVATION</geom:index_id>
<geom:index_value_angle unit="rad">-0.784997</geom:index_value_angle>
</geom:Device_Angle_Index>
</geom:Device_Angle>
</geom:Articulation_Device_Parameters>
<geom:Articulation_Device_Parameters>
<geom:device_id>DRILL</geom:device_id>
<geom:device_name>DRILL</geom:device_name>
<geom:device_mode>DRILL</geom:device_mode>
<geom:Device_Angle>
<geom:Device_Angle_Index>
<geom:index_id>SPINDLE OUTPUT POSITION-RESOLVER</geom:index_id>
<geom:index_value_angle unit="rad">-0.610797</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>CHUCK POSITION-RESOLVER</geom:index_id>
<geom:index_value_angle unit="rad">-0.468847</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>PERCUSS POSITION-RESOLVER</geom:index_id>
<geom:index_value_angle unit="rad">0.0</geom:index_value_angle>
</geom:Device_Angle_Index>
</geom:Device_Angle>
</geom:Articulation_Device_Parameters>
<geom:Articulation_Device_Parameters>
<geom:device_id>SCS</geom:device_id>
<geom:device_name>SAMPLE CACHE SYSTEM</geom:device_name>
<geom:device_mode>SEAL ACTIVATED</geom:device_mode>
<geom:Device_Angle>
<geom:Device_Angle_Index>
<geom:index_id>SCS BIT CAROUSEL-HALL SENSOR</geom:index_id>
<geom:index_value_angle unit="rad">80.2859</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>SCS BIT CAROUSEL-RESOLVER</geom:index_id>
<geom:index_value_angle unit="rad">74.0026</geom:index_value_angle>
</geom:Device_Angle_Index>
</geom:Device_Angle>
</geom:Articulation_Device_Parameters>
<geom:Articulation_Device_Parameters>
<geom:device_id>SHA</geom:device_id>
<geom:device_name>SAMPLE HANDLING ARM</geom:device_name>
<geom:Device_Angle>
<geom:Device_Angle_Index>
<geom:index_id>SHA JOINT 1 Z-HALL SENSOR</geom:index_id>
<geom:index_value_angle unit="rad">0.0179931</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>SHA JOINT 2 SHOULDER-HALL SENSOR</geom:index_id>
<geom:index_value_angle unit="rad">-0.239406</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>SHA JOINT 3 ELBOW-HALL SENSOR</geom:index_id>
<geom:index_value_angle unit="rad">2.68496</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>SHA JOINT 1 Z-RESOLVER</geom:index_id>
<geom:index_value_angle unit="rad">0.0</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>SHA JOINT 2 SHOULDER-RESOLVER</geom:index_id>
<geom:index_value_angle unit="rad">-0.23953</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>SHA JOINT 3 ELBOW-RESOLVER</geom:index_id>
<geom:index_value_angle unit="rad">2.68459</geom:index_value_angle>
</geom:Device_Angle_Index>
</geom:Device_Angle>
</geom:Articulation_Device_Parameters>
<geom:Camera_Model_Parameters>
<geom:model_type>CAHVOR</geom:model_type>
<geom:calibration_source_id>1</geom:calibration_source_id>
<geom:CAHVOR_Model>
<geom:Vector_Center>
<geom:x_position unit="m">0.763526</geom:x_position>
<geom:y_position unit="m">0.431354</geom:y_position>
<geom:z_position unit="m">-1.96582</geom:z_position>
</geom:Vector_Center>
<geom:Vector_Axis>
<geom:x_unit>0.674862</geom:x_unit>
<geom:y_unit>-0.558159</geom:y_unit>
<geom:z_unit>0.482737</geom:z_unit>
</geom:Vector_Axis>
<geom:Vector_Horizontal>
<geom:x_pixel>1262.66</geom:x_pixel>
<geom:y_pixel>1359.61</geom:y_pixel>
<geom:z_pixel>24.7946</geom:z_pixel>
</geom:Vector_Horizontal>
<geom:Vector_Vertical>
<geom:x_pixel>-615.792</geom:x_pixel>
<geom:y_pixel>549.758</geom:y_pixel>
<geom:z_pixel>1660.55</geom:z_pixel>
</geom:Vector_Vertical>
<geom:Vector_Optical>
<geom:x_unit>0.677623</geom:x_unit>
<geom:y_unit>-0.560592</geom:y_unit>
<geom:z_unit>0.476003</geom:z_unit>
</geom:Vector_Optical>
<geom:Radial_Terms>
<geom:c0>6.85556e-05</geom:c0>
<geom:c1>0.520787</geom:c1>
<geom:c2>-0.014993</geom:c2>
</geom:Radial_Terms>
</geom:CAHVOR_Model>
<geom:Coordinate_Space_Reference>
<geom:Coordinate_Space_Indexed>
<geom:coordinate_space_frame_type>ROVER_NAV_FRAME</geom:coordinate_space_frame_type>
<geom:Coordinate_Space_Index>
<geom:index_id>SITE</geom:index_id>
<geom:index_value_number>25</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>DRIVE</geom:index_id>
<geom:index_value_number>214</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>POSE</geom:index_id>
<geom:index_value_number>6</geom:index_value_number>
</geom:Coordinate_Space_Index>
</geom:Coordinate_Space_Indexed>
</geom:Coordinate_Space_Reference>
<geom:Quaternion_Model_Transform>
<geom:qcos>0.90868</geom:qcos>
<geom:qsin1>-0.0855879</geom:qsin1>
<geom:qsin2>-0.229092</geom:qsin2>
<geom:qsin3>-0.338368</geom:qsin3>
</geom:Quaternion_Model_Transform>
<geom:Vector_Model_Transform>
<geom:x>0.805018</geom:x>
<geom:y>0.559397</geom:y>
<geom:z>-1.91903</geom:z>
</geom:Vector_Model_Transform>
<geom:Interpolation>
<geom:interpolation_algorithm>Piecewise Bilinear</geom:interpolation_algorithm>
<geom:interpolation_variable>Zoom</geom:interpolation_variable>
<geom:interpolation_value>9600.0</geom:interpolation_value>
</geom:Interpolation>
</geom:Camera_Model_Parameters>
<geom:Coordinate_Space_Definition>
<local_identifier>ROVER_NAV_FRAME_25_214_6_0_0_0_142_106_0_0</local_identifier>
<local_identifier>ROVER_NAV_FRAME_25_214_6_0_0_0_142_106_0_0_TELEMETRY</local_identifier>
<geom:positive_azimuth_direction>Clockwise</geom:positive_azimuth_direction>
<geom:positive_elevation_direction>Up</geom:positive_elevation_direction>
<geom:Coordinate_Space_Present>
<geom:Coordinate_Space_Indexed>
<geom:coordinate_space_frame_type>ROVER_NAV_FRAME</geom:coordinate_space_frame_type>
<geom:Coordinate_Space_Index>
<geom:index_id>SITE</geom:index_id>
<geom:index_value_number>25</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>DRIVE</geom:index_id>
<geom:index_value_number>214</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>POSE</geom:index_id>
<geom:index_value_number>6</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>ARM</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>SHA</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>DRILL</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>RSM</geom:index_id>
<geom:index_value_number>142</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>HGA</geom:index_id>
<geom:index_value_number>106</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>BITCAR</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>SEAL</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:solution_id>TELEMETRY</geom:solution_id>
</geom:Coordinate_Space_Indexed>
</geom:Coordinate_Space_Present>
<geom:Vector_Origin_Offset>
<geom:x_position unit="m">-8.04223</geom:x_position>
<geom:y_position unit="m">-62.9697</geom:y_position>
<geom:z_position unit="m">0.380571</geom:z_position>
</geom:Vector_Origin_Offset>
<geom:Quaternion_Plus_Direction>
<geom:qcos>0.704803</geom:qcos>
<geom:qsin1>-0.0706213</geom:qsin1>
<geom:qsin2>0.0760767</geom:qsin2>
<geom:qsin3>-0.701768</geom:qsin3>
<geom:rotation_direction>Forward</geom:rotation_direction>
</geom:Quaternion_Plus_Direction>
<geom:Coordinate_Space_Reference>
<geom:Coordinate_Space_Indexed>
<geom:coordinate_space_frame_type>SITE_FRAME</geom:coordinate_space_frame_type>
<geom:Coordinate_Space_Index>
<geom:index_id>SITE</geom:index_id>
<geom:index_value_number>25</geom:index_value_number>
</geom:Coordinate_Space_Index>
</geom:Coordinate_Space_Indexed>
</geom:Coordinate_Space_Reference>
<geom:Coordinate_Space_Quality>
<geom:quaternion_measurement_method>Sun_Find</geom:quaternion_measurement_method>
<geom:attitude_propagation_counter>0.0</geom:attitude_propagation_counter>
</geom:Coordinate_Space_Quality>
</geom:Coordinate_Space_Definition>
<geom:Coordinate_Space_Definition>
<local_identifier>RSM_HEAD_FRAME_25_214_6_0_0_0_142_106_0_0</local_identifier>
<local_identifier>RSM_HEAD_FRAME_25_214_6_0_0_0_142_106_0_0_TELEMETRY</local_identifier>
<geom:positive_azimuth_direction>Clockwise</geom:positive_azimuth_direction>
<geom:positive_elevation_direction>Up</geom:positive_elevation_direction>
<geom:Coordinate_Space_Present>
<geom:Coordinate_Space_Indexed>
<geom:coordinate_space_frame_type>RSM_HEAD_FRAME</geom:coordinate_space_frame_type>
<geom:Coordinate_Space_Index>
<geom:index_id>SITE</geom:index_id>
<geom:index_value_number>25</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>DRIVE</geom:index_id>
<geom:index_value_number>214</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>POSE</geom:index_id>
<geom:index_value_number>6</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>ARM</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>SHA</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>DRILL</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>RSM</geom:index_id>
<geom:index_value_number>142</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>HGA</geom:index_id>
<geom:index_value_number>106</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>BITCAR</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>SEAL</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:solution_id>TELEMETRY</geom:solution_id>
</geom:Coordinate_Space_Indexed>
</geom:Coordinate_Space_Present>
<geom:Vector_Origin_Offset>
<geom:x_position unit="m">0.805018</geom:x_position>
<geom:y_position unit="m">0.559397</geom:y_position>
<geom:z_position unit="m">-1.91903</geom:z_position>
</geom:Vector_Origin_Offset>
<geom:Quaternion_Plus_Direction>
<geom:qcos>0.90868</geom:qcos>
<geom:qsin1>-0.0855879</geom:qsin1>
<geom:qsin2>-0.229092</geom:qsin2>
<geom:qsin3>-0.338368</geom:qsin3>
<geom:rotation_direction>Forward</geom:rotation_direction>
</geom:Quaternion_Plus_Direction>
<geom:Coordinate_Space_Reference>
<Local_Internal_Reference>
<local_identifier_reference>ROVER_NAV_FRAME_25_214_6_0_0_0_142_106_0_0</local_identifier_reference>
<local_reference_type>to_reference_coordinate_space</local_reference_type>
</Local_Internal_Reference>
</geom:Coordinate_Space_Reference>
<geom:Coordinate_Space_Quality>
<geom:quaternion_measurement_method>Unknown</geom:quaternion_measurement_method>
</geom:Coordinate_Space_Quality>
</geom:Coordinate_Space_Definition>
<geom:Coordinate_Space_Definition>
<local_identifier>ARM_TURRET_FRAME_25_214_6_0_0_0_142_106_0_0</local_identifier>
<local_identifier>ARM_TURRET_FRAME_25_214_6_0_0_0_142_106_0_0_TELEMETRY</local_identifier>
<geom:positive_azimuth_direction>Clockwise</geom:positive_azimuth_direction>
<geom:positive_elevation_direction>Up</geom:positive_elevation_direction>
<geom:Coordinate_Space_Present>
<geom:Coordinate_Space_Indexed>
<geom:coordinate_space_frame_type>ARM_TURRET_FRAME</geom:coordinate_space_frame_type>
<geom:Coordinate_Space_Index>
<geom:index_id>SITE</geom:index_id>
<geom:index_value_number>25</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>DRIVE</geom:index_id>
<geom:index_value_number>214</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>POSE</geom:index_id>
<geom:index_value_number>6</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>ARM</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>SHA</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>DRILL</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>RSM</geom:index_id>
<geom:index_value_number>142</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>HGA</geom:index_id>
<geom:index_value_number>106</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>BITCAR</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>SEAL</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:solution_id>TELEMETRY</geom:solution_id>
</geom:Coordinate_Space_Indexed>
</geom:Coordinate_Space_Present>
<geom:Vector_Origin_Offset>
<geom:x_position unit="m">1.08468</geom:x_position>
<geom:y_position unit="m">-0.429726</geom:y_position>
<geom:z_position unit="m">-1.40212</geom:z_position>
</geom:Vector_Origin_Offset>
<geom:Quaternion_Plus_Direction>
<geom:qcos>0.997173</geom:qcos>
<geom:qsin1>-0.00230189</geom:qsin1>
<geom:qsin2>0.00088511</geom:qsin2>
<geom:qsin3>0.0750983</geom:qsin3>
<geom:rotation_direction>Forward</geom:rotation_direction>
</geom:Quaternion_Plus_Direction>
<geom:Coordinate_Space_Reference>
<geom:Coordinate_Space_Indexed>
<geom:coordinate_space_frame_type>ROVER_NAV_FRAME</geom:coordinate_space_frame_type>
<geom:Coordinate_Space_Index>
<geom:index_id>SITE</geom:index_id>
<geom:index_value_number>25</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>DRIVE</geom:index_id>
<geom:index_value_number>214</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>POSE</geom:index_id>
<geom:index_value_number>6</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>ARM</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>SHA</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>DRILL</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>RSM</geom:index_id>
<geom:index_value_number>142</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>HGA</geom:index_id>
<geom:index_value_number>106</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>BITCAR</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
</geom:Coordinate_Space_Indexed>
</geom:Coordinate_Space_Reference>
<geom:Coordinate_Space_Quality>
<geom:quaternion_measurement_method>Unknown</geom:quaternion_measurement_method>
</geom:Coordinate_Space_Quality>
</geom:Coordinate_Space_Definition>
<geom:Coordinate_Space_Definition>
<local_identifier>ARM_DOCKING_POST_FRAME_25_214_6_0_0_0_142_106_0_0</local_identifier>
<local_identifier>ARM_DOCKING_POST_FRAME_25_214_6_0_0_0_142_106_0_0_TELEMETRY</local_identifier>
<geom:positive_azimuth_direction>Clockwise</geom:positive_azimuth_direction>
<geom:positive_elevation_direction>Up</geom:positive_elevation_direction>
<geom:Coordinate_Space_Present>
<geom:Coordinate_Space_Indexed>
<geom:coordinate_space_frame_type>ARM_DOCKING_POST_FRAME</geom:coordinate_space_frame_type>
<geom:Coordinate_Space_Index>
<geom:index_id>SITE</geom:index_id>
<geom:index_value_number>25</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>DRIVE</geom:index_id>
<geom:index_value_number>214</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>POSE</geom:index_id>
<geom:index_value_number>6</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>ARM</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>SHA</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>DRILL</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>RSM</geom:index_id>
<geom:index_value_number>142</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>HGA</geom:index_id>
<geom:index_value_number>106</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>BITCAR</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>SEAL</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:solution_id>TELEMETRY</geom:solution_id>
</geom:Coordinate_Space_Indexed>
</geom:Coordinate_Space_Present>
<geom:Vector_Origin_Offset>
<geom:x_position unit="m">1.37761</geom:x_position>
<geom:y_position unit="m">-0.385546</geom:y_position>
<geom:z_position unit="m">-1.40276</geom:z_position>
</geom:Vector_Origin_Offset>
<geom:Quaternion_Plus_Direction>
<geom:qcos>0.997174</geom:qcos>
<geom:qsin1>-0.00230922</geom:qsin1>
<geom:qsin2>0.000882401</geom:qsin2>
<geom:qsin3>0.0750887</geom:qsin3>
<geom:rotation_direction>Forward</geom:rotation_direction>
</geom:Quaternion_Plus_Direction>
<geom:Coordinate_Space_Reference>
<Local_Internal_Reference>
<local_identifier_reference>ROVER_NAV_FRAME_25_214_6_0_0_0_142_106_0_0</local_identifier_reference>
<local_reference_type>to_reference_coordinate_space</local_reference_type>
</Local_Internal_Reference>
</geom:Coordinate_Space_Reference>
<geom:Coordinate_Space_Quality>
<geom:quaternion_measurement_method>Unknown</geom:quaternion_measurement_method>
</geom:Coordinate_Space_Quality>
</geom:Coordinate_Space_Definition>
<geom:Derived_Geometry>
<geom:instrument_azimuth unit="deg">-39.6912</geom:instrument_azimuth>
<geom:instrument_elevation unit="deg">-28.7207</geom:instrument_elevation>
<geom:Coordinate_Space_Reference>
<Local_Internal_Reference>
<local_identifier_reference>ROVER_NAV_FRAME_25_214_6_0_0_0_142_106_0_0</local_identifier_reference>
<local_reference_type>to_reference_coordinate_space</local_reference_type>
</Local_Internal_Reference>
</geom:Coordinate_Space_Reference>
</geom:Derived_Geometry>
<geom:Derived_Geometry>
<geom:instrument_azimuth unit="deg">-123.248</geom:instrument_azimuth>
<geom:instrument_elevation unit="deg">-35.4692</geom:instrument_elevation>
<geom:solar_azimuth unit="deg">190.613</geom:solar_azimuth>
<geom:solar_elevation unit="deg">51.1815</geom:solar_elevation>
<geom:Coordinate_Space_Reference>
<geom:Coordinate_Space_Indexed>
<geom:coordinate_space_frame_type>SITE_FRAME</geom:coordinate_space_frame_type>
<geom:Coordinate_Space_Index>
<geom:index_id>SITE</geom:index_id>
<geom:index_value_number>25</geom:index_value_number>
</geom:Coordinate_Space_Index>
</geom:Coordinate_Space_Indexed>
</geom:Coordinate_Space_Reference>
</geom:Derived_Geometry>
<geom:Motion_Counter>
<geom:name>RMC</geom:name>
<geom:Motion_Counter_Index>
<geom:index_id>SITE</geom:index_id>
<geom:index_value_number>25</geom:index_value_number>
</geom:Motion_Counter_Index>
<geom:Motion_Counter_Index>
<geom:index_id>DRIVE</geom:index_id>
<geom:index_value_number>214</geom:index_value_number>
</geom:Motion_Counter_Index>
<geom:Motion_Counter_Index>
<geom:index_id>POSE</geom:index_id>
<geom:index_value_number>6</geom:index_value_number>
</geom:Motion_Counter_Index>
<geom:Motion_Counter_Index>
<geom:index_id>ARM</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Motion_Counter_Index>
<geom:Motion_Counter_Index>
<geom:index_id>SHA</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Motion_Counter_Index>
<geom:Motion_Counter_Index>
<geom:index_id>DRILL</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Motion_Counter_Index>
<geom:Motion_Counter_Index>
<geom:index_id>RSM</geom:index_id>
<geom:index_value_number>142</geom:index_value_number>
</geom:Motion_Counter_Index>
<geom:Motion_Counter_Index>
<geom:index_id>HGA</geom:index_id>
<geom:index_value_number>106</geom:index_value_number>
</geom:Motion_Counter_Index>
<geom:Motion_Counter_Index>
<geom:index_id>BITCAR</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Motion_Counter_Index>
<geom:Motion_Counter_Index>
<geom:index_id>SEAL</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Motion_Counter_Index>
</geom:Motion_Counter>
</geom:Geometry_Lander>
</geom:Geometry>
...
</Discipline_Area>
Example PDS4 label snippet from urn:nasa:pds:mars2020_navcam_ops_calibrated:data:nlf_0314_0694827040_022fdr_n0090000ncam00501_0a0295j::1.0:
<Discipline_Area>
...
<geom:Geometry>
<geom:SPICE_Kernel_Files>
<geom:SPICE_Kernel_Identification>
<geom:spice_kernel_file_name>chronos.m2020_ops210303_v1</geom:spice_kernel_file_name>
</geom:SPICE_Kernel_Identification>
</geom:SPICE_Kernel_Files>
<geom:Geometry_Lander>
<geom:geometry_state>Telemetry</geom:geometry_state>
<geom:description>Geometry as reported by the spacecraft in telemetry</geom:description>
<local_identifier>geom_telemetry_state</local_identifier>
<geom:Articulation_Device_Parameters>
<geom:device_id>RSM</geom:device_id>
<geom:device_name>REMOTE SENSING MAST</geom:device_name>
<geom:device_mode>DEPLOYED</geom:device_mode>
<geom:Device_Angle>
<geom:Device_Angle_Index>
<geom:index_id>AZIMUTH FINAL-RESOLVER</geom:index_id>
<geom:index_value_angle unit="rad">1.59776</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>ELEVATION FINAL-RESOLVER</geom:index_id>
<geom:index_value_angle unit="rad">2.02499</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>AZIMUTH INITIAL-RESOLVER</geom:index_id>
<geom:index_value_angle unit="rad">0.0339389</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>ELEVATION INITIAL-RESOLVER</geom:index_id>
<geom:index_value_angle unit="rad">2.02152</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>AZIMUTH REQUESTED</geom:index_id>
<geom:index_value_angle unit="rad">1.60552</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>ELEVATION REQUESTED</geom:index_id>
<geom:index_value_angle unit="rad">2.02375</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>AZIMUTH FINAL-ENCODER</geom:index_id>
<geom:index_value_angle unit="rad">1.60552</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>ELEVATION FINAL-ENCODER</geom:index_id>
<geom:index_value_angle unit="rad">2.02375</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>AZIMUTH INITIAL-ENCODER</geom:index_id>
<geom:index_value_angle unit="rad">0.0385377</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>ELEVATION INITIAL-ENCODER</geom:index_id>
<geom:index_value_angle unit="rad">2.02359</geom:index_value_angle>
</geom:Device_Angle_Index>
</geom:Device_Angle>
<geom:Device_Temperature>
<geom:Device_Temperature_Index>
<geom:index_id>NAVCAM LEFT CAMERA PLATE</geom:index_id>
<geom:index_value_temperature unit="degC">-15.7796</geom:index_value_temperature>
</geom:Device_Temperature_Index>
<geom:Device_Temperature_Index>
<geom:index_id>NAVCAM RIGHT CAMERA PLATE</geom:index_id>
<geom:index_value_temperature unit="degC">-15.686</geom:index_value_temperature>
</geom:Device_Temperature_Index>
</geom:Device_Temperature>
<geom:Commanded_Geometry>
<geom:command_type>No_Motion</geom:command_type>
<geom:Device_Angle>
<geom:Device_Angle_Index>
<geom:index_name>Unknown</geom:index_name>
<geom:index_value_angle unit="rad">0.0</geom:index_value_angle>
</geom:Device_Angle_Index>
</geom:Device_Angle>
</geom:Commanded_Geometry>
</geom:Articulation_Device_Parameters>
<geom:Articulation_Device_Parameters>
<geom:device_id>ARM</geom:device_id>
<geom:device_name>SAMPLE ARM</geom:device_name>
<geom:selected_instrument_id>WATSON</geom:selected_instrument_id>
<geom:Device_Angle>
<geom:Device_Angle_Index>
<geom:index_id>JOINT 1 AZIMUTH-HALL SENSOR</geom:index_id>
<geom:index_value_angle unit="rad">-1.75795</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>JOINT 2 ELEVATION-HALL SENSOR</geom:index_id>
<geom:index_value_angle unit="rad">-2.12703</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>JOINT 3 ELBOW-HALL SENSOR</geom:index_id>
<geom:index_value_angle unit="rad">-0.958683</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>JOINT 4 WRIST-HALL SENSOR</geom:index_id>
<geom:index_value_angle unit="rad">-0.0425635</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>JOINT 5 TURRET-HALL SENSOR</geom:index_id>
<geom:index_value_angle unit="rad">6.00919</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>JOINT 1 AZIMUTH-RESOLVER</geom:index_id>
<geom:index_value_angle unit="rad">-1.75789</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>JOINT 2 ELEVATION-RESOLVER</geom:index_id>
<geom:index_value_angle unit="rad">-2.12876</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>JOINT 3 ELBOW-RESOLVER</geom:index_id>
<geom:index_value_angle unit="rad">-0.959944</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>JOINT 4 WRIST-RESOLVER</geom:index_id>
<geom:index_value_angle unit="rad">-0.0424461</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>JOINT 5 TURRET-RESOLVER</geom:index_id>
<geom:index_value_angle unit="rad">6.00943</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>SCS DOCKING CLOCK ANGLE</geom:index_id>
<geom:index_value_angle unit="rad">0.0599876</geom:index_value_angle>
</geom:Device_Angle_Index>
</geom:Device_Angle>
<geom:Device_Component_State>
<geom:Device_Component_State_Index>
<geom:index_id>PRELOAD_VALUE</geom:index_id>
<geom:index_value_string>0</geom:index_value_string>
</geom:Device_Component_State_Index>
<geom:Device_Component_State_Index>
<geom:index_id>PRELOAD_TOOL</geom:index_id>
<geom:index_value_string>WATSON</geom:index_value_string>
</geom:Device_Component_State_Index>
</geom:Device_Component_State>
<geom:Device_Component_State>
<geom:Device_Component_State_Index>
<geom:index_id>FACILITY CONTACT SENSOR A</geom:index_id>
<geom:index_value_string>NO CONTACT</geom:index_value_string>
</geom:Device_Component_State_Index>
<geom:Device_Component_State_Index>
<geom:index_id>FACILITY CONTACT SENSOR B</geom:index_id>
<geom:index_value_string>NO CONTACT</geom:index_value_string>
</geom:Device_Component_State_Index>
<geom:Device_Component_State_Index>
<geom:index_id>DRILL STABILIZER 1</geom:index_id>
<geom:index_value_string>NO CONTACT</geom:index_value_string>
</geom:Device_Component_State_Index>
<geom:Device_Component_State_Index>
<geom:index_id>DRILL STABILIZER 2</geom:index_id>
<geom:index_value_string>NO CONTACT</geom:index_value_string>
</geom:Device_Component_State_Index>
<geom:Device_Component_State_Index>
<geom:index_id>DOCK 1</geom:index_id>
<geom:index_value_string>NO CONTACT</geom:index_value_string>
</geom:Device_Component_State_Index>
<geom:Device_Component_State_Index>
<geom:index_id>DOCK 2</geom:index_id>
<geom:index_value_string>NO CONTACT</geom:index_value_string>
</geom:Device_Component_State_Index>
<geom:Device_Component_State_Index>
<geom:index_id>DOCK 3</geom:index_id>
<geom:index_value_string>NO CONTACT</geom:index_value_string>
</geom:Device_Component_State_Index>
<geom:Device_Component_State_Index>
<geom:index_id>DOCK 4</geom:index_id>
<geom:index_value_string>NO CONTACT</geom:index_value_string>
</geom:Device_Component_State_Index>
</geom:Device_Component_State>
<geom:Device_Pose>
<geom:name>arm_attitude_reference</geom:name>
<geom:Quaternion_Plus_Direction>
<geom:qcos>0.428359</geom:qcos>
<geom:qsin1>0.0722588</geom:qsin1>
<geom:qsin2>0.0260822</geom:qsin2>
<geom:qsin3>-0.900337</geom:qsin3>
<geom:rotation_direction>Forward</geom:rotation_direction>
</geom:Quaternion_Plus_Direction>
</geom:Device_Pose>
<geom:Device_Temperature>
<geom:Device_Temperature_Index>
<geom:index_id>AZIMUTH JOINT</geom:index_id>
<geom:index_value_temperature unit="degC">-5.0131</geom:index_value_temperature>
</geom:Device_Temperature_Index>
<geom:Device_Temperature_Index>
<geom:index_id>ELEVATION JOINT</geom:index_id>
<geom:index_value_temperature unit="degC">-7.8988</geom:index_value_temperature>
</geom:Device_Temperature_Index>
<geom:Device_Temperature_Index>
<geom:index_id>ELBOW JOINT</geom:index_id>
<geom:index_value_temperature unit="degC">-5.32508</geom:index_value_temperature>
</geom:Device_Temperature_Index>
<geom:Device_Temperature_Index>
<geom:index_id>WRIST JOINT</geom:index_id>
<geom:index_value_temperature unit="degC">-1.52938</geom:index_value_temperature>
</geom:Device_Temperature_Index>
<geom:Device_Temperature_Index>
<geom:index_id>TURRET JOINT</geom:index_id>
<geom:index_value_temperature unit="degC">0.137267</geom:index_value_temperature>
</geom:Device_Temperature_Index>
<geom:Device_Temperature_Index>
<geom:index_id>DEFLECTION BODY DELTA TEMPERATURE</geom:index_id>
<geom:index_value_temperature unit="degC">0.0</geom:index_value_temperature>
</geom:Device_Temperature_Index>
<geom:Device_Temperature_Index>
<geom:index_id>DEFLECTION ARM DELTA TEMPERATURE</geom:index_id>
<geom:index_value_temperature unit="degC">-33.8681</geom:index_value_temperature>
</geom:Device_Temperature_Index>
</geom:Device_Temperature>
<geom:Vector_Device_Gravity>
<geom:x_unit>-0.10776996883562377</geom:x_unit>
<geom:y_unit>-0.10887096851724222</geom:y_unit>
<geom:z_unit>0.9881967142382565</geom:z_unit>
</geom:Vector_Device_Gravity>
<geom:Vector_Device_Gravity_Magnitude>
<geom:x_acceleration unit="m/s**2">-0.10777</geom:x_acceleration>
<geom:y_acceleration unit="m/s**2">-0.108871</geom:y_acceleration>
<geom:z_acceleration unit="m/s**2">0.988197</geom:z_acceleration>
</geom:Vector_Device_Gravity_Magnitude>
</geom:Articulation_Device_Parameters>
<geom:Articulation_Device_Parameters>
<geom:device_id>CHASSIS</geom:device_id>
<geom:device_name>MOBILITY CHASSIS</geom:device_name>
<geom:device_mode>DEPLOYED</geom:device_mode>
<geom:Device_Angle>
<geom:Device_Angle_Index>
<geom:index_id>LEFT FRONT WHEEL STEER MOTOR</geom:index_id>
<geom:index_value_angle unit="rad">-4.26106e-05</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>RIGHT FRONT WHEEL STEER MOTOR</geom:index_id>
<geom:index_value_angle unit="rad">-4.26106e-05</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>LEFT REAR WHEEL STEER MOTOR</geom:index_id>
<geom:index_value_angle unit="rad">-4.26106e-05</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>RIGHT REAR WHEEL STEER MOTOR</geom:index_id>
<geom:index_value_angle unit="rad">0.000127832</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>LEFT BOGIE</geom:index_id>
<geom:index_value_angle unit="rad">-0.108384</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>RIGHT BOGIE</geom:index_id>
<geom:index_value_angle unit="rad">0.00230399</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>LEFT DIFFERENTIAL</geom:index_id>
<geom:index_value_angle unit="rad">0.0353432</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>RIGHT DIFFERENTIAL</geom:index_id>
<geom:index_value_angle unit="rad">-0.0214265</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>LEFT FRONT WHEEL DRIVE MOTOR</geom:index_id>
<geom:index_value_angle unit="rad">0.0</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>RIGHT FRONT WHEEL DRIVE MOTOR</geom:index_id>
<geom:index_value_angle unit="rad">0.0</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>MIDDLE LEFT WHEEL DRIVE MOTOR</geom:index_id>
<geom:index_value_angle unit="rad">0.0</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>MIDDLE RIGHT WHEEL DRIVE MOTOR</geom:index_id>
<geom:index_value_angle unit="rad">0.0</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>LEFT REAR WHEEL DRIVE MOTOR</geom:index_id>
<geom:index_value_angle unit="rad">0.0</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>RIGHT REAR WHEEL DRIVE MOTOR</geom:index_id>
<geom:index_value_angle unit="rad">0.0</geom:index_value_angle>
</geom:Device_Angle_Index>
</geom:Device_Angle>
<geom:Vector_Device_Gravity>
<geom:x_unit>-0.14998134610569644</geom:x_unit>
<geom:y_unit>0.017335846465737347</geom:y_unit>
<geom:z_unit>0.9885368299904864</geom:z_unit>
</geom:Vector_Device_Gravity>
<geom:Vector_Device_Gravity_Magnitude>
<geom:x_acceleration unit="m/s**2">-0.557617</geom:x_acceleration>
<geom:y_acceleration unit="m/s**2">0.0644531</geom:y_acceleration>
<geom:z_acceleration unit="m/s**2">3.67529</geom:z_acceleration>
</geom:Vector_Device_Gravity_Magnitude>
</geom:Articulation_Device_Parameters>
<geom:Articulation_Device_Parameters>
<geom:device_id>HGA</geom:device_id>
<geom:device_name>HIGH GAIN ANTENNA</geom:device_name>
<geom:device_mode>DEPLOYED</geom:device_mode>
<geom:Device_Angle>
<geom:Device_Angle_Index>
<geom:index_id>AZIMUTH</geom:index_id>
<geom:index_value_angle unit="rad">1.13444</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>ELEVATION</geom:index_id>
<geom:index_value_angle unit="rad">-0.784997</geom:index_value_angle>
</geom:Device_Angle_Index>
</geom:Device_Angle>
</geom:Articulation_Device_Parameters>
<geom:Articulation_Device_Parameters>
<geom:device_id>DRILL</geom:device_id>
<geom:device_name>DRILL</geom:device_name>
<geom:device_mode>DRILL</geom:device_mode>
<geom:Device_Angle>
<geom:Device_Angle_Index>
<geom:index_id>SPINDLE OUTPUT POSITION-RESOLVER</geom:index_id>
<geom:index_value_angle unit="rad">5.57861</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>CHUCK POSITION-RESOLVER</geom:index_id>
<geom:index_value_angle unit="rad">-0.468715</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>PERCUSS POSITION-RESOLVER</geom:index_id>
<geom:index_value_angle unit="rad">0.0</geom:index_value_angle>
</geom:Device_Angle_Index>
</geom:Device_Angle>
</geom:Articulation_Device_Parameters>
<geom:Articulation_Device_Parameters>
<geom:device_id>SCS</geom:device_id>
<geom:device_name>SAMPLE CACHE SYSTEM</geom:device_name>
<geom:device_mode>FILLED</geom:device_mode>
<geom:Device_Angle>
<geom:Device_Angle_Index>
<geom:index_id>SCS BIT CAROUSEL-HALL SENSOR</geom:index_id>
<geom:index_value_angle unit="rad">44.4266</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>SCS BIT CAROUSEL-RESOLVER</geom:index_id>
<geom:index_value_angle unit="rad">38.1444</geom:index_value_angle>
</geom:Device_Angle_Index>
</geom:Device_Angle>
</geom:Articulation_Device_Parameters>
<geom:Articulation_Device_Parameters>
<geom:device_id>SHA</geom:device_id>
<geom:device_name>SAMPLE HANDLING ARM</geom:device_name>
<geom:Device_Angle>
<geom:Device_Angle_Index>
<geom:index_id>SHA JOINT 1 Z-HALL SENSOR</geom:index_id>
<geom:index_value_angle unit="rad">0.0244656</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>SHA JOINT 2 SHOULDER-HALL SENSOR</geom:index_id>
<geom:index_value_angle unit="rad">1.18848</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>SHA JOINT 3 ELBOW-HALL SENSOR</geom:index_id>
<geom:index_value_angle unit="rad">1.07695</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>SHA JOINT 1 Z-RESOLVER</geom:index_id>
<geom:index_value_angle unit="rad">0.0</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>SHA JOINT 2 SHOULDER-RESOLVER</geom:index_id>
<geom:index_value_angle unit="rad">1.18837</geom:index_value_angle>
</geom:Device_Angle_Index>
<geom:Device_Angle_Index>
<geom:index_id>SHA JOINT 3 ELBOW-RESOLVER</geom:index_id>
<geom:index_value_angle unit="rad">1.07677</geom:index_value_angle>
</geom:Device_Angle_Index>
</geom:Device_Angle>
</geom:Articulation_Device_Parameters>
<geom:Camera_Model_Parameters>
<geom:model_type>CAHVORE</geom:model_type>
<geom:calibration_source_id>1</geom:calibration_source_id>
<geom:CAHVORE_Model>
<geom:Vector_Center>
<geom:x_position unit="m">0.591534</geom:x_position>
<geom:y_position unit="m">0.465558</geom:y_position>
<geom:z_position unit="m">-2.02622</geom:z_position>
</geom:Vector_Center>
<geom:Vector_Axis>
<geom:x_unit>0.00920777</geom:x_unit>
<geom:y_unit>-0.908304</geom:y_unit>
<geom:z_unit>-0.418229</geom:z_unit>
</geom:Vector_Axis>
<geom:Vector_Horizontal>
<geom:x_pixel>745.556</geom:x_pixel>
<geom:y_pixel>-581.84</geom:y_pixel>
<geom:z_pixel>-270.125</geom:z_pixel>
</geom:Vector_Horizontal>
<geom:Vector_Vertical>
<geom:x_pixel>6.3519</geom:x_pixel>
<geom:y_pixel>-750.04</geom:y_pixel>
<geom:z_pixel>468.718</geom:z_pixel>
</geom:Vector_Vertical>
<geom:Vector_Optical>
<geom:x_unit>0.0106242</geom:x_unit>
<geom:y_unit>-0.908333</geom:y_unit>
<geom:z_unit>-0.418133</geom:z_unit>
</geom:Vector_Optical>
<geom:Radial_Terms>
<geom:c0>1.736e-06</geom:c0>
<geom:c1>0.0501396</geom:c1>
<geom:c2>-0.0171254</geom:c2>
</geom:Radial_Terms>
<geom:Entrance_Terms>
<geom:c0>-8.0e-09</geom:c0>
<geom:c1>1.0e-08</geom:c1>
<geom:c2>-2.9e-08</geom:c2>
</geom:Entrance_Terms>
<geom:cahvore_model_type>2</geom:cahvore_model_type>
<geom:cahvore_model_parameter>0.0</geom:cahvore_model_parameter>
</geom:CAHVORE_Model>
<geom:Coordinate_Space_Reference>
<geom:Coordinate_Space_Indexed>
<geom:coordinate_space_frame_type>ROVER_NAV_FRAME</geom:coordinate_space_frame_type>
<geom:Coordinate_Space_Index>
<geom:index_id>SITE</geom:index_id>
<geom:index_value_number>9</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>DRIVE</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>POSE</geom:index_id>
<geom:index_value_number>506</geom:index_value_number>
</geom:Coordinate_Space_Index>
</geom:Coordinate_Space_Indexed>
</geom:Coordinate_Space_Reference>
<geom:Quaternion_Model_Transform>
<geom:qcos>0.69286</geom:qcos>
<geom:qsin1>0.153904</geom:qsin1>
<geom:qsin2>0.153838</geom:qsin2>
<geom:qsin3>-0.687454</geom:qsin3>
</geom:Quaternion_Model_Transform>
<geom:Vector_Model_Transform>
<geom:x>0.804966</geom:x>
<geom:y>0.559373</geom:y>
<geom:z>-1.91903</geom:z>
</geom:Vector_Model_Transform>
<geom:Interpolation>
<geom:interpolation_algorithm>Piecewise Bilinear</geom:interpolation_algorithm>
<geom:interpolation_variable>Temperature</geom:interpolation_variable>
<geom:interpolation_value>-15.7796</geom:interpolation_value>
</geom:Interpolation>
</geom:Camera_Model_Parameters>
<geom:Coordinate_Space_Definition>
<local_identifier>ROVER_NAV_FRAME_9_0_506_1912_1294_952_4162_1442_82_42</local_identifier>
<local_identifier>ROVER_NAV_FRAME_9_0_506_1912_1294_952_4162_1442_82_42_TELEMETRY</local_identifier>
<geom:positive_azimuth_direction>Clockwise</geom:positive_azimuth_direction>
<geom:positive_elevation_direction>Up</geom:positive_elevation_direction>
<geom:Coordinate_Space_Present>
<geom:Coordinate_Space_Indexed>
<geom:coordinate_space_frame_type>ROVER_NAV_FRAME</geom:coordinate_space_frame_type>
<geom:Coordinate_Space_Index>
<geom:index_id>SITE</geom:index_id>
<geom:index_value_number>9</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>DRIVE</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>POSE</geom:index_id>
<geom:index_value_number>506</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>ARM</geom:index_id>
<geom:index_value_number>1912</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>SHA</geom:index_id>
<geom:index_value_number>1294</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>DRILL</geom:index_id>
<geom:index_value_number>952</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>RSM</geom:index_id>
<geom:index_value_number>4162</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>HGA</geom:index_id>
<geom:index_value_number>1442</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>BITCAR</geom:index_id>
<geom:index_value_number>82</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>SEAL</geom:index_id>
<geom:index_value_number>42</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:solution_id>TELEMETRY</geom:solution_id>
</geom:Coordinate_Space_Indexed>
</geom:Coordinate_Space_Present>
<geom:Vector_Origin_Offset>
<geom:x_position unit="m">0.0</geom:x_position>
<geom:y_position unit="m">0.0</geom:y_position>
<geom:z_position unit="m">0.0</geom:z_position>
</geom:Vector_Origin_Offset>
<geom:Quaternion_Plus_Direction>
<geom:qcos>0.428436</geom:qcos>
<geom:qsin1>0.0718908</geom:qsin1>
<geom:qsin2>0.0254764</geom:qsin2>
<geom:qsin3>-0.900348</geom:qsin3>
<geom:rotation_direction>Forward</geom:rotation_direction>
</geom:Quaternion_Plus_Direction>
<geom:Coordinate_Space_Reference>
<Local_Internal_Reference>
<local_identifier_reference>SITE_FRAME_9</local_identifier_reference>
<local_reference_type>to_reference_coordinate_space</local_reference_type>
</Local_Internal_Reference>
</geom:Coordinate_Space_Reference>
<geom:Coordinate_Space_Quality>
<geom:quaternion_measurement_method>Sun_Find</geom:quaternion_measurement_method>
<geom:attitude_propagation_counter>0.0</geom:attitude_propagation_counter>
</geom:Coordinate_Space_Quality>
</geom:Coordinate_Space_Definition>
<geom:Coordinate_Space_Definition>
<local_identifier>SITE_FRAME_9</local_identifier>
<local_identifier>SITE_FRAME_9_TELEMETRY</local_identifier>
<geom:positive_azimuth_direction>Clockwise</geom:positive_azimuth_direction>
<geom:positive_elevation_direction>Up</geom:positive_elevation_direction>
<geom:Coordinate_Space_Present>
<geom:Coordinate_Space_Indexed>
<geom:coordinate_space_frame_type>SITE_FRAME</geom:coordinate_space_frame_type>
<geom:Coordinate_Space_Index>
<geom:index_id>SITE</geom:index_id>
<geom:index_value_number>9</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:solution_id>TELEMETRY</geom:solution_id>
</geom:Coordinate_Space_Indexed>
</geom:Coordinate_Space_Present>
<geom:Vector_Origin_Offset>
<geom:x_position unit="m">-78.5516</geom:x_position>
<geom:y_position unit="m">-93.1537</geom:y_position>
<geom:z_position unit="m">5.25963</geom:z_position>
</geom:Vector_Origin_Offset>
<geom:Quaternion_Plus_Direction>
<geom:qcos>1.0</geom:qcos>
<geom:qsin1>0.0</geom:qsin1>
<geom:qsin2>0.0</geom:qsin2>
<geom:qsin3>0.0</geom:qsin3>
<geom:rotation_direction>Forward</geom:rotation_direction>
</geom:Quaternion_Plus_Direction>
<geom:Coordinate_Space_Reference>
<geom:Coordinate_Space_Indexed>
<geom:coordinate_space_frame_type>SITE_FRAME</geom:coordinate_space_frame_type>
<geom:Coordinate_Space_Index>
<geom:index_id>SITE</geom:index_id>
<geom:index_value_number>8</geom:index_value_number>
</geom:Coordinate_Space_Index>
</geom:Coordinate_Space_Indexed>
</geom:Coordinate_Space_Reference>
<geom:Coordinate_Space_Quality>
<geom:quaternion_measurement_method>Unknown</geom:quaternion_measurement_method>
</geom:Coordinate_Space_Quality>
</geom:Coordinate_Space_Definition>
<geom:Coordinate_Space_Definition>
<local_identifier>RSM_HEAD_FRAME_9_0_506_1912_1294_952_4162_1442_82_42</local_identifier>
<local_identifier>RSM_HEAD_FRAME_9_0_506_1912_1294_952_4162_1442_82_42_TELEMETRY</local_identifier>
<geom:positive_azimuth_direction>Clockwise</geom:positive_azimuth_direction>
<geom:positive_elevation_direction>Up</geom:positive_elevation_direction>
<geom:Coordinate_Space_Present>
<geom:Coordinate_Space_Indexed>
<geom:coordinate_space_frame_type>RSM_HEAD_FRAME</geom:coordinate_space_frame_type>
<geom:Coordinate_Space_Index>
<geom:index_id>SITE</geom:index_id>
<geom:index_value_number>9</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>DRIVE</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>POSE</geom:index_id>
<geom:index_value_number>506</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>ARM</geom:index_id>
<geom:index_value_number>1912</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>SHA</geom:index_id>
<geom:index_value_number>1294</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>DRILL</geom:index_id>
<geom:index_value_number>952</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>RSM</geom:index_id>
<geom:index_value_number>4162</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>HGA</geom:index_id>
<geom:index_value_number>1442</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>BITCAR</geom:index_id>
<geom:index_value_number>82</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>SEAL</geom:index_id>
<geom:index_value_number>42</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:solution_id>TELEMETRY</geom:solution_id>
</geom:Coordinate_Space_Indexed>
</geom:Coordinate_Space_Present>
<geom:Vector_Origin_Offset>
<geom:x_position unit="m">0.804966</geom:x_position>
<geom:y_position unit="m">0.559373</geom:y_position>
<geom:z_position unit="m">-1.91903</geom:z_position>
</geom:Vector_Origin_Offset>
<geom:Quaternion_Plus_Direction>
<geom:qcos>0.69286</geom:qcos>
<geom:qsin1>0.153904</geom:qsin1>
<geom:qsin2>0.153838</geom:qsin2>
<geom:qsin3>-0.687454</geom:qsin3>
<geom:rotation_direction>Forward</geom:rotation_direction>
</geom:Quaternion_Plus_Direction>
<geom:Coordinate_Space_Reference>
<Local_Internal_Reference>
<local_identifier_reference>ROVER_NAV_FRAME_9_0_506_1912_1294_952_4162_1442_82_42</local_identifier_reference>
<local_reference_type>to_reference_coordinate_space</local_reference_type>
</Local_Internal_Reference>
</geom:Coordinate_Space_Reference>
<geom:Coordinate_Space_Quality>
<geom:quaternion_measurement_method>Unknown</geom:quaternion_measurement_method>
</geom:Coordinate_Space_Quality>
</geom:Coordinate_Space_Definition>
<geom:Coordinate_Space_Definition>
<local_identifier>ARM_TURRET_FRAME_9_0_506_1912_1294_952_4162_1442_82_42</local_identifier>
<local_identifier>ARM_TURRET_FRAME_9_0_506_1912_1294_952_4162_1442_82_42_TELEMETRY</local_identifier>
<geom:positive_azimuth_direction>Clockwise</geom:positive_azimuth_direction>
<geom:positive_elevation_direction>Up</geom:positive_elevation_direction>
<geom:Coordinate_Space_Present>
<geom:Coordinate_Space_Indexed>
<geom:coordinate_space_frame_type>ARM_TURRET_FRAME</geom:coordinate_space_frame_type>
<geom:Coordinate_Space_Index>
<geom:index_id>SITE</geom:index_id>
<geom:index_value_number>9</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>DRIVE</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>POSE</geom:index_id>
<geom:index_value_number>506</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>ARM</geom:index_id>
<geom:index_value_number>1912</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>SHA</geom:index_id>
<geom:index_value_number>1294</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>DRILL</geom:index_id>
<geom:index_value_number>952</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>RSM</geom:index_id>
<geom:index_value_number>4162</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>HGA</geom:index_id>
<geom:index_value_number>1442</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>BITCAR</geom:index_id>
<geom:index_value_number>82</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>SEAL</geom:index_id>
<geom:index_value_number>42</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:solution_id>TELEMETRY</geom:solution_id>
</geom:Coordinate_Space_Indexed>
</geom:Coordinate_Space_Present>
<geom:Vector_Origin_Offset>
<geom:x_position unit="m">1.59706</geom:x_position>
<geom:y_position unit="m">0.348628</geom:y_position>
<geom:z_position unit="m">-1.21858</geom:z_position>
</geom:Vector_Origin_Offset>
<geom:Quaternion_Plus_Direction>
<geom:qcos>0.00106859</geom:qcos>
<geom:qsin1>0.675265</geom:qsin1>
<geom:qsin2>0.737575</geom:qsin2>
<geom:qsin3>-0.000476947</geom:qsin3>
<geom:rotation_direction>Forward</geom:rotation_direction>
</geom:Quaternion_Plus_Direction>
<geom:Coordinate_Space_Reference>
<Local_Internal_Reference>
<local_identifier_reference>ROVER_NAV_FRAME_9_0_506_1912_1294_952_4162_1442_82_42</local_identifier_reference>
<local_reference_type>to_reference_coordinate_space</local_reference_type>
</Local_Internal_Reference>
</geom:Coordinate_Space_Reference>
<geom:Coordinate_Space_Quality>
<geom:quaternion_measurement_method>Unknown</geom:quaternion_measurement_method>
</geom:Coordinate_Space_Quality>
</geom:Coordinate_Space_Definition>
<geom:Coordinate_Space_Definition>
<local_identifier>ARM_WATSON_FRAME_9_0_506_1912_1294_952_4162_1442_82_42</local_identifier>
<local_identifier>ARM_WATSON_FRAME_9_0_506_1912_1294_952_4162_1442_82_42_TELEMETRY</local_identifier>
<geom:positive_azimuth_direction>Clockwise</geom:positive_azimuth_direction>
<geom:positive_elevation_direction>Up</geom:positive_elevation_direction>
<geom:Coordinate_Space_Present>
<geom:Coordinate_Space_Indexed>
<geom:coordinate_space_frame_type>ARM_WATSON_FRAME</geom:coordinate_space_frame_type>
<geom:Coordinate_Space_Index>
<geom:index_id>SITE</geom:index_id>
<geom:index_value_number>9</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>DRIVE</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>POSE</geom:index_id>
<geom:index_value_number>506</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>ARM</geom:index_id>
<geom:index_value_number>1912</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>SHA</geom:index_id>
<geom:index_value_number>1294</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>DRILL</geom:index_id>
<geom:index_value_number>952</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>RSM</geom:index_id>
<geom:index_value_number>4162</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>HGA</geom:index_id>
<geom:index_value_number>1442</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>BITCAR</geom:index_id>
<geom:index_value_number>82</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:Coordinate_Space_Index>
<geom:index_id>SEAL</geom:index_id>
<geom:index_value_number>42</geom:index_value_number>
</geom:Coordinate_Space_Index>
<geom:solution_id>TELEMETRY</geom:solution_id>
</geom:Coordinate_Space_Indexed>
</geom:Coordinate_Space_Present>
<geom:Vector_Origin_Offset>
<geom:x_position unit="m">1.291</geom:x_position>
<geom:y_position unit="m">0.205621</geom:y_position>
<geom:z_position unit="m">-1.20427</geom:z_position>
</geom:Vector_Origin_Offset>
<geom:Quaternion_Plus_Direction>
<geom:qcos>0.000222225</geom:qcos>
<geom:qsin1>-0.21687</geom:qsin1>
<geom:qsin2>0.9762</geom:qsin2>
<geom:qsin3>-0.0011489</geom:qsin3>
<geom:rotation_direction>Forward</geom:rotation_direction>
</geom:Quaternion_Plus_Direction>
<geom:Coordinate_Space_Reference>
<Local_Internal_Reference>
<local_identifier_reference>ROVER_NAV_FRAME_9_0_506_1912_1294_952_4162_1442_82_42</local_identifier_reference>
<local_reference_type>to_reference_coordinate_space</local_reference_type>
</Local_Internal_Reference>
</geom:Coordinate_Space_Reference>
<geom:Coordinate_Space_Quality>
<geom:quaternion_measurement_method>Unknown</geom:quaternion_measurement_method>
</geom:Coordinate_Space_Quality>
</geom:Coordinate_Space_Definition>
<geom:Derived_Geometry>
<geom:instrument_azimuth unit="deg">269.827</geom:instrument_azimuth>
<geom:instrument_elevation unit="deg">25.17</geom:instrument_elevation>
<geom:solar_azimuth unit="deg">38.0508</geom:solar_azimuth>
<geom:solar_elevation unit="deg">23.2881</geom:solar_elevation>
<geom:Vector_Solar_Direction>
<geom:x_unit>0.723309</geom:x_unit>
<geom:y_unit>0.566144</geom:y_unit>
<geom:z_unit>-0.395354</geom:z_unit>
</geom:Vector_Solar_Direction>
<geom:Coordinate_Space_Reference>
<Local_Internal_Reference>
<local_identifier_reference>ROVER_NAV_FRAME_9_0_506_1912_1294_952_4162_1442_82_42</local_identifier_reference>
<local_reference_type>to_reference_coordinate_space</local_reference_type>
</Local_Internal_Reference>
</geom:Coordinate_Space_Reference>
</geom:Derived_Geometry>
<geom:Derived_Geometry>
<geom:instrument_azimuth unit="deg">136.558</geom:instrument_azimuth>
<geom:instrument_elevation unit="deg">25.7329</geom:instrument_elevation>
<geom:solar_azimuth unit="deg">272.057</geom:solar_azimuth>
<geom:solar_elevation unit="deg">29.4129</geom:solar_elevation>
<geom:Coordinate_Space_Reference>
<Local_Internal_Reference>
<local_identifier_reference>SITE_FRAME_9</local_identifier_reference>
<local_reference_type>to_reference_coordinate_space</local_reference_type>
</Local_Internal_Reference>
</geom:Coordinate_Space_Reference>
</geom:Derived_Geometry>
<geom:Motion_Counter>
<geom:name>RMC</geom:name>
<geom:Motion_Counter_Index>
<geom:index_id>SITE</geom:index_id>
<geom:index_value_number>9</geom:index_value_number>
</geom:Motion_Counter_Index>
<geom:Motion_Counter_Index>
<geom:index_id>DRIVE</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Motion_Counter_Index>
<geom:Motion_Counter_Index>
<geom:index_id>POSE</geom:index_id>
<geom:index_value_number>506</geom:index_value_number>
</geom:Motion_Counter_Index>
<geom:Motion_Counter_Index>
<geom:index_id>ARM</geom:index_id>
<geom:index_value_number>1912</geom:index_value_number>
</geom:Motion_Counter_Index>
<geom:Motion_Counter_Index>
<geom:index_id>SHA</geom:index_id>
<geom:index_value_number>1294</geom:index_value_number>
</geom:Motion_Counter_Index>
<geom:Motion_Counter_Index>
<geom:index_id>DRILL</geom:index_id>
<geom:index_value_number>952</geom:index_value_number>
</geom:Motion_Counter_Index>
<geom:Motion_Counter_Index>
<geom:index_id>RSM</geom:index_id>
<geom:index_value_number>4162</geom:index_value_number>
</geom:Motion_Counter_Index>
<geom:Motion_Counter_Index>
<geom:index_id>HGA</geom:index_id>
<geom:index_value_number>1442</geom:index_value_number>
</geom:Motion_Counter_Index>
<geom:Motion_Counter_Index>
<geom:index_id>BITCAR</geom:index_id>
<geom:index_value_number>82</geom:index_value_number>
</geom:Motion_Counter_Index>
<geom:Motion_Counter_Index>
<geom:index_id>SEAL</geom:index_id>
<geom:index_value_number>42</geom:index_value_number>
</geom:Motion_Counter_Index>
</geom:Motion_Counter>
</geom:Geometry_Lander>
<geom:Geometry_Lander>
<geom:geometry_state>Initial</geom:geometry_state>
<geom:description>Initial state of geometry before onboard updates (e.g. visual odometry)</geom:description>
<local_identifier>geom_initial_state</local_identifier>
<geom:Motion_Counter>
<geom:name>RMC</geom:name>
<geom:Motion_Counter_Index>
<geom:index_id>SITE</geom:index_id>
<geom:index_value_number>9</geom:index_value_number>
</geom:Motion_Counter_Index>
<geom:Motion_Counter_Index>
<geom:index_id>DRIVE</geom:index_id>
<geom:index_value_number>0</geom:index_value_number>
</geom:Motion_Counter_Index>
<geom:Motion_Counter_Index>
<geom:index_id>POSE</geom:index_id>
<geom:index_value_number>506</geom:index_value_number>
</geom:Motion_Counter_Index>
<geom:Motion_Counter_Index>
<geom:index_id>ARM</geom:index_id>
<geom:index_value_number>1912</geom:index_value_number>
</geom:Motion_Counter_Index>
<geom:Motion_Counter_Index>
<geom:index_id>SHA</geom:index_id>
<geom:index_value_number>1294</geom:index_value_number>
</geom:Motion_Counter_Index>
<geom:Motion_Counter_Index>
<geom:index_id>DRILL</geom:index_id>
<geom:index_value_number>952</geom:index_value_number>
</geom:Motion_Counter_Index>
<geom:Motion_Counter_Index>
<geom:index_id>RSM</geom:index_id>
<geom:index_value_number>4162</geom:index_value_number>
</geom:Motion_Counter_Index>
<geom:Motion_Counter_Index>
<geom:index_id>HGA</geom:index_id>
<geom:index_value_number>1442</geom:index_value_number>
</geom:Motion_Counter_Index>
<geom:Motion_Counter_Index>
<geom:index_id>BITCAR</geom:index_id>
<geom:index_value_number>82</geom:index_value_number>
</geom:Motion_Counter_Index>
<geom:Motion_Counter_Index>
<geom:index_id>SEAL</geom:index_id>
<geom:index_value_number>42</geom:index_value_number>
</geom:Motion_Counter_Index>
</geom:Motion_Counter>
</geom:Geometry_Lander>
</geom:Geometry>
...
</Discipline_Area>
Example PDS4 label snippet from urn:nasa:pds:messenger_mdis_1001:nac_edr:en0066113370m::1.0:
<Discipline_Area>
...
<geom:Geometry>
<geom:Image_Display_Geometry>
<geom:Display_Direction>
<geom:horizontal_display_axis>Sample</geom:horizontal_display_axis>
<geom:horizontal_display_direction>Left to Right</geom:horizontal_display_direction>
<geom:vertical_display_axis>Line</geom:vertical_display_axis>
<geom:vertical_display_direction>Top to Bottom</geom:vertical_display_direction>
</geom:Display_Direction>
<geom:Object_Orientation_RA_Dec>
<geom:Reference_Pixel>
<!-- RA_DEC_REF_PIXEL (center) -->
<geom:vertical_coordinate_pixel unit="pixel">256</geom:vertical_coordinate_pixel>
<geom:horizontal_coordinate_pixel unit="pixel">256</geom:horizontal_coordinate_pixel>
</geom:Reference_Pixel>
<geom:reference_pixel_location>Center</geom:reference_pixel_location>
<geom:right_ascension_angle unit="deg">193.57142</geom:right_ascension_angle>
<!-- RIGHT_ASCENSION -->
<geom:declination_angle unit="deg">3.65744</geom:declination_angle>
<!-- DECLINATION -->
<geom:celestial_north_clock_angle unit="deg">20.538</geom:celestial_north_clock_angle>
<!-- (180 - TWIST_ANGLE) -->
<geom:Reference_Frame_Identification>
<geom:name>J2000</geom:name>
</geom:Reference_Frame_Identification>
</geom:Object_Orientation_RA_Dec>
<geom:Object_Orientation_RA_Dec>
<!-- reticle point right ascension and declination -->
<geom:Reference_Pixel>
<!-- upper left reticle -->
<geom:vertical_coordinate_pixel unit="pixel">1</geom:vertical_coordinate_pixel>
<geom:horizontal_coordinate_pixel unit="pixel">1</geom:horizontal_coordinate_pixel>
</geom:Reference_Pixel>
<geom:reference_pixel_location>Center</geom:reference_pixel_location>
<geom:right_ascension_angle unit="deg">194.52990</geom:right_ascension_angle>
<!-- RETICLE_POINT_RA [1] -->
<geom:declination_angle unit="deg">4.10103</geom:declination_angle>
<!-- RETICLE_POINT_DECLINATION [1]-->
<geom:celestial_north_clock_angle unit="deg">20.538</geom:celestial_north_clock_angle>
<!-- (180 - TWIST_ANGLE) -->
<geom:Reference_Frame_Identification>
<geom:name>J2000</geom:name>
</geom:Reference_Frame_Identification>
</geom:Object_Orientation_RA_Dec>
<geom:Object_Orientation_RA_Dec>
<!-- reticle point right ascension and declination -->
<geom:Reference_Pixel>
<!-- upper right reticle -->
<geom:vertical_coordinate_pixel unit="pixel">1</geom:vertical_coordinate_pixel>
<geom:horizontal_coordinate_pixel unit="pixel">512</geom:horizontal_coordinate_pixel>
</geom:Reference_Pixel>
<geom:reference_pixel_location>Center</geom:reference_pixel_location>
<geom:right_ascension_angle unit="deg">193.13710</geom:right_ascension_angle>
<!-- RETICLE_POINT_RA [1] -->
<geom:declination_angle unit="deg">4.62073</geom:declination_angle>
<!-- RETICLE_POINT_DECLINATION [1]-->
<geom:celestial_north_clock_angle unit="deg">20.538</geom:celestial_north_clock_angle>
<!-- (180 - TWIST_ANGLE) -->
<geom:Reference_Frame_Identification>
<geom:name>J2000</geom:name>
</geom:Reference_Frame_Identification>
</geom:Object_Orientation_RA_Dec>
<geom:Object_Orientation_RA_Dec>
<!-- reticle point right ascension and declination -->
<geom:Reference_Pixel>
<!-- lower left reticle -->
<geom:vertical_coordinate_pixel unit="pixel">512</geom:vertical_coordinate_pixel>
<geom:horizontal_coordinate_pixel unit="pixel">1</geom:horizontal_coordinate_pixel>
</geom:Reference_Pixel>
<geom:reference_pixel_location>Center</geom:reference_pixel_location>
<geom:right_ascension_angle unit="deg">194.01102</geom:right_ascension_angle>
<!-- RETICLE_POINT_RA [1] -->
<geom:declination_angle unit="deg">2.70233</geom:declination_angle>
<!-- RETICLE_POINT_DECLINATION [1]-->
<geom:celestial_north_clock_angle unit="deg">20.538</geom:celestial_north_clock_angle>
<!-- (180 - TWIST_ANGLE) -->
<geom:Reference_Frame_Identification>
<geom:name>J2000</geom:name>
</geom:Reference_Frame_Identification>
</geom:Object_Orientation_RA_Dec>
<geom:Object_Orientation_RA_Dec>
<!-- reticle point right ascension and declination -->
<geom:Reference_Pixel>
<!-- lower right reticle -->
<geom:vertical_coordinate_pixel unit="pixel">512</geom:vertical_coordinate_pixel>
<geom:horizontal_coordinate_pixel unit="pixel">512</geom:horizontal_coordinate_pixel>
</geom:Reference_Pixel>
<geom:reference_pixel_location>Center</geom:reference_pixel_location>
<geom:right_ascension_angle unit="deg">192.60923</geom:right_ascension_angle>
<!-- RETICLE_POINT_RA [1] -->
<geom:declination_angle unit="deg">3.22527</geom:declination_angle>
<!-- RETICLE_POINT_DECLINATION [1]-->
<geom:celestial_north_clock_angle unit="deg">20.538</geom:celestial_north_clock_angle>
<!-- (180 - TWIST_ANGLE) -->
<geom:Reference_Frame_Identification>
<geom:name>J2000</geom:name>
</geom:Reference_Frame_Identification>
</geom:Object_Orientation_RA_Dec>
</geom:Image_Display_Geometry>
<geom:Geometry_Orbiter>
<geom:geometry_start_time_utc>2006-09-07T10:49:30.8481Z</geom:geometry_start_time_utc>
<!-- START_TIME -->
<geom:geometry_stop_time_utc>2006-09-07T10:49:30.9080Z</geom:geometry_stop_time_utc>
<!-- STOP_TIME -->
<geom:Distances>
<geom:Distances_Specific>
<geom:spacecraft_central_body_distance unit="km">45488131.57301</geom:spacecraft_central_body_distance>
<!-- TARGET_CENTER_DISTANCE -->
<geom:spacecraft_heliocentric_distance unit="km">91848927.57160</geom:spacecraft_heliocentric_distance>
<!-- SPACECRAFT_SOLAR_DISTANCE -->
<geom:target_heliocentric_distance unit="km">107477348.47574</geom:target_heliocentric_distance>
<!-- SOLAR_DISTANCE -->
</geom:Distances_Specific>
</geom:Distances>
<geom:Surface_Geometry>
<geom:Surface_Geometry_Specific>
<geom:subsolar_latitude unit="deg">-2.54713</geom:subsolar_latitude>
<!-- SUB_SOLAR_LATITUDE -->
<geom:subsolar_longitude unit="deg">165.93962</geom:subsolar_longitude>
<!-- SUB_SOLAR_LONGITUDE -->
<geom:subspacecraft_latitude unit="deg">-7.46977</geom:subspacecraft_latitude>
<!-- SUB_SPACECRAFT_LATITUDE -->
<geom:subspacecraft_longitude unit="deg">223.97177</geom:subspacecraft_longitude>
<!-- SUB_SPACECRAFT_LONGITUDE -->
</geom:Surface_Geometry_Specific>
</geom:Surface_Geometry>
<geom:Vectors>
<geom:Vectors_Cartesian_Specific>
<geom:Vector_Cartesian_Position_Spacecraft_To_Target>
<!-- SC_TARGET_POSITION_VECTOR -->
<geom:x_position unit="km">44189983.32423</geom:x_position>
<geom:y_position unit="km">10379531.03758</geom:y_position>
<geom:z_position unit="km">-2946323.68343</geom:z_position>
<geom:light_time_correction_applied>Received_Light_Time_Stellar_Abb</geom:light_time_correction_applied>
</geom:Vector_Cartesian_Position_Spacecraft_To_Target>
<!-- SC_SUN_POSITION_VECTOR -->
<geom:Vector_Cartesian_Position_Sun_To_Spacecraft>
<geom:x_position unit="km">-28569152.01038</geom:x_position>
<geom:y_position unit="km">80694440.20494</geom:y_position>
<geom:z_position unit="km">33293188.03406</geom:z_position>
<geom:light_time_correction_applied>Received_Light_Time_Stellar_Abb</geom:light_time_correction_applied>
</geom:Vector_Cartesian_Position_Sun_To_Spacecraft>
<geom:Vector_Cartesian_Velocity_Spacecraft_Relative_To_Sun>
<!-- SC_SUN_VELOCITY_VECTOR -->
<geom:x_velocity unit="km/s">39.19590</geom:x_velocity>
<geom:y_velocity unit="km/s">16.09593</geom:y_velocity>
<geom:z_velocity unit="km/s">4.97735</geom:z_velocity>
<geom:light_time_correction_applied>Received_Light_Time_Stellar_Abb</geom:light_time_correction_applied>
</geom:Vector_Cartesian_Velocity_Spacecraft_Relative_To_Sun>
</geom:Vectors_Cartesian_Specific>
</geom:Vectors>
</geom:Geometry_Orbiter>
</geom:Geometry>
...
</Discipline_Area>
Edit History
See also: GEOM change log.
2026-02-09 Madison N. Hughes