MSL Structures SPK File =============================================================================== This SPK file contains locations of various MSL structures and science and engineering instruments. Version and Date -------------------------------------------------------- Version 0.1 -- Mon Aug 6 10:37:30 PDT 2012 -- Boris Semenov/NAIF Initial Release. Contact Information ---------------------------------------------------------------------- Boris Semenov, NAIF/JPL, Boris.Semenov@jpl.nasa.gov Related SPICE Kernels ---------------------------------------------------------------------- Descriptions/definitions from the MSL Frames Kernel (FK) file are required in order to understand objects and frames with respect to which the locations are defined in this SPK file. References ---------------------------------------------------------------------- 1. ``Frames Required Reading'' 2. ``SP-Kernel Required Reading'' 3. ``C-Kernel Required Reading'' 4. MSL Frame Kernel, Latest Version Additional references are provided at the beginning of each section. List of Structures ---------------------------------------------------------------------- This table lists names, ID codes, center ID codes, and reference frame names for MSL structures, the locations of which are provided in this SPK file. Additional information including diagrams and PINPOINT inputs is provided in the sections below the table. NAME ID CENTER FRAME ------------------------- ------- ------- ---------------------- MSL_ROVER -76000 -76 MSL_ROVER MSL_HAZCAM_BACK_LEFT_A -76141 -76 MSL_ROVER MSL_HAZCAM_BACK_LEFT_B -76143 -76 MSL_ROVER MSL_HAZCAM_BACK_RIGHT_A -76142 -76 MSL_ROVER MSL_HAZCAM_BACK_RIGHT_B -76144 -76 MSL_ROVER MSL_HAZCAM_FRONT_LEFT_A -76131 -76 MSL_ROVER MSL_HAZCAM_FRONT_LEFT_B -76133 -76 MSL_ROVER MSL_HAZCAM_FRONT_RIGHT_A -76132 -76 MSL_ROVER MSL_HAZCAM_FRONT_RIGHT_B -76134 -76 MSL_ROVER MSL_MARDI -76160 -76 MSL_ROVER MSL_RSM_HEAD -76205 -76 MSL_ROVER MSL_MASTCAM_LEFT -76210 -76205 MSL_RSM_HEAD MSL_MASTCAM_RIGHT -76220 -76205 MSL_RSM_HEAD MSL_NAVCAM_LEFT_A -76231 -76205 MSL_RSM_HEAD MSL_NAVCAM_LEFT_B -76233 -76205 MSL_RSM_HEAD MSL_NAVCAM_RIGHT_A -76232 -76205 MSL_RSM_HEAD MSL_NAVCAM_RIGHT_B -76234 -76205 MSL_RSM_HEAD MSL_CHEMCAM_RMI -76243 -76205 MSL_RSM_HEAD MSL_CHEMCAM_LIBS_LASER -76241 -76243 MSL_CHEMCAM_RMI MSL_CHEMCAM_LIBS_CAM -76242 -76243 MSL_CHEMCAM_RMI MSL_RA_BASE -76300 -76000 MSL_ROVER MSL_RA_SHOULDER_AZ -76301 -76300 MSL_RA_BASE MSL_RA_SHOULDER_EL -76302 -76301 MSL_RA_SHOULDER_AZ MSL_RA_ELBOW -76303 -76302 MSL_RA_SHOULDER_EL MSL_RA_WRIST -76304 -76303 MSL_RA_ELBOW MSL_RA_TURRET -76305 -76304 MSL_RA_WRIST MSL_RA_TURRET_HEAD -76306 -76305 MSL_RA_TURRET MSL_MAHLI_REF -76310 -76306 MSL_MAHLI_REF MSL_APXS_REF -76320 -76306 MSL_APXS_REF MSL_PADS_REF -76330 -76306 MSL_PADS_REF MSL_DRT_REF -76340 -76306 MSL_DRT_REF MSL_CHIMRA_REF -76350 -76306 MSL_CHIMRA_REF MSL_MAHLI -76311 -76310 MSL_MAHLI_REF MSL_APXS -76321 -76320 MSL_APXS_REF MSL_PADS -76331 -76330 MSL_PADS_REF MSL_DRT -76341 -76340 MSL_DRT_REF MSL_CHIMRA -76351 -76350 MSL_CHIMRA_REF MSL_HGA_AZ -76122 -76000 MSL_ROVER MSL_HGA_EL -76124 -76122 MSL_HGA_AZ MSL_HGA -76125 -76124 MSL_HGA_EL MSL_RAD -76150 -76000 MSL_ROVER MSL_REMS_UVS -76170 -76000 MSL_ROVER MSL_REMS_BOOM1_TIP -76256 -76000 MSL_ROVER MSL_REMS_BOOM2_TIP -76266 -76000 MSL_ROVER MSL_SAM_1_INLET -76184 -76000 MSL_ROVER MSL_SAM_2_INLET -76185 -76000 MSL_ROVER MSL_CHEMIN_INLET -76186 -76000 MSL_ROVER MSL_FD_RESTRAINT_PORT -76401 -76000 MSL_ROVER MSL_FD_RESTRAINT_SBRD -76402 -76000 MSL_ROVER MSL_FD_DECK_SIDE_PORT -76403 -76000 MSL_ROVER MSL_FD_DECK_FRONT_PORT -76404 -76000 MSL_ROVER MSL_FD_DECK_CENTER_PORT -76405 -76000 MSL_ROVER MSL_FD_DECK_CENTER_SBRD -76406 -76000 MSL_ROVER MSL_FD_DECK_FRONT_SBRD -76407 -76000 MSL_ROVER MSL_FD_OCM_PORT -76408 -76000 MSL_ROVER MSL_FD_OCM_CENTER -76409 -76000 MSL_ROVER MSL_FD_OCM_STARBOARD -76410 -76000 MSL_ROVER MSL_SCI_OBS_TRAY -76411 -76000 MSL_ROVER MSL_ENG_OBS_TRAY -76412 -76000 MSL_ROVER MSL_BIT_BOX_1_TARGET -76413 -76000 MSL_ROVER MSL_BIT_BOX_2_TARGET -76414 -76000 MSL_ROVER MSL_OCM_LOCATION_1 -76415 -76000 MSL_ROVER MSL_OCM_LOCATION_2 -76416 -76000 MSL_ROVER MSL_OCM_LOCATION_3 -76417 -76000 MSL_ROVER MSL_OCM_LOCATION_4 -76418 -76000 MSL_ROVER MSL_OCM_LOCATION_5 -76419 -76000 MSL_ROVER MSL_OCM_LOCATION_6 -76420 -76000 MSL_ROVER MSL_APXS_CALTARGET -76421 -76000 MSL_ROVER MSL_MAHLI_CALTARGET -76422 -76000 MSL_ROVER MSL_CCAM_CAL1 -76423 -76000 MSL_ROVER MSL_CCAM_CAL2 -76424 -76000 MSL_ROVER MSL_CCAM_CAL3 -76425 -76000 MSL_ROVER MSL_CCAM_CAL4 -76426 -76000 MSL_ROVER MSL_CCAM_CAL5 -76427 -76000 MSL_ROVER MSL_CCAM_CAL6 -76428 -76000 MSL_ROVER MSL_CCAM_CAL7 -76429 -76000 MSL_ROVER MSL_CCAM_CAL8 -76430 -76000 MSL_ROVER MSL_CCAM_CAL9 -76431 -76000 MSL_ROVER MSL_CCAM_CAL10 -76432 -76000 MSL_ROVER MSL_MCAM_CAL -76433 -76000 MSL_ROVER Rover Mechanical Origin Location =========================================================================== References ---------- 1. D-34642_3PCS_v1-sfp-05.pdf Rover Mechanical Origin Location Diagram ---------------------------------------- Rover -Y side view: ------------------- _ | | RSM `-' | HGA | .```. . | | o --- .-' \ RTG RA | RM `._.' | .-' \ -|- |-.--------(*)--------' .- --- o---------o--------o| | | .-' ^ |.-------o----. |-.-' | .-`--------------`-.--' | 1120.5 mm | .-----`o------. | .-|-. .-|-. .-|-. | | o | | o | | o | v `._.' <-------x.' `._.' --- Xr | | | Zr v Yr is into the page. Rover -Z side ("top") view: --------------------------- .-----. .-----. .-----. | | | | | | | | | | | `--|--' `-- Yr `--|--' `----------o- ^ -----o------' ..-.------- | ------. RTG RSM || | | |--------. || | | |-------.| RA |`- <----(*)x | || | | Xr RM HGA |-------'| -o---------|--------|o-| =====-o---------' | `-------------------' .----------o---------o------. .--|--. .--|--. .--|--. | | | | | | | | | | | | `-----' `-----' `-----' 90.02 mm -->|-|<------ Zr is into the page. Rover Mechanical Origin Location -------------------------------- ---------------------------------------------------------------------- STRUCTURE X Y Z CENTER/REF_FRAME ---------- --------- --------- --------- ----------------------------- MSL_ROVER 0.090020 0.000000 -1.120500 MSL/MSL_ROVER ---------------------------------------------------------------------- PINPOINT Inputs for Rover Mechanical Origin Location ---------------------------------------------------- This table lists ID codes, centers ID codes, and reference frame names for MSL structures, the locations of which are provided in the PINPOINT input block below: STRUCTURE ID CENTER FRAME ------------------------- ------- ------- ----------------------- MSL_ROVER -76000 -76 MSL_ROVER PINPOINT requires coordinates provided in _XYZ keyword be in km. \begindata SITES += ( 'MSL_ROVER' ) MSL_ROVER_IDCODE = -76000 MSL_ROVER_CENTER = -76 MSL_ROVER_FRAME = 'MSL_ROVER' MSL_ROVER_XYZ = ( 0.0000900 0.0000000 -0.0011205 ) MSL_ROVER_BOUNDS = ( @2011-01-01, @2030-01-01 ) \begintext HAZCAM and MARDI Locations =========================================================================== References ---------- 1. Latest HAZCAM and MARDI CAHVORE models: CAMERA CAHVORE MODEL FILE ------------------------ ---------------------------------------------- MSL_HAZCAM_BACK_LEFT_A MSL_CAL_003_SN_0211-RHAZL-FLIGHT-RCE-A.cahvore MSL_HAZCAM_BACK_LEFT_B MSL_CAL_003_SN_0212-RHAZL-FLIGHT-RCE-B.cahvore MSL_HAZCAM_BACK_RIGHT_A MSL_CAL_003_SN_0217-RHAZR-FLIGHT-RCE-A.cahvore MSL_HAZCAM_BACK_RIGHT_B MSL_CAL_003_SN_0207-RHAZR-FLIGHT-RCE-B.cahvore MSL_HAZCAM_FRONT_LEFT_A MSL_CAL_003_SN_0205-FHAZL-FLIGHT-RCE-A.cahvore MSL_HAZCAM_FRONT_LEFT_B MSL_CAL_003_SN_0208-FHAZL-FLIGHT-RCE-B.cahvore MSL_HAZCAM_FRONT_RIGHT_A MSL_CAL_003_SN_0213-FHAZR-FLIGHT-RCE-A.cahvore MSL_HAZCAM_FRONT_RIGHT_B MSL_CAL_003_SN_0209-FHAZR-FLIGHT-RCE-B.cahvore MSL_MARDI MSL_CAL_002_SN_3001-MARDI-FLIGHT.cahvor 2. MSL_CamSIS_v1.32_4-11-12.pdf 3. MSL_MMM_SIS_053112_final.pdf 4. D-34651-A_PPPCS_Vol9-rvw-27.pdf HAZCAM Locations Diagram ------------------------ Rover -Y side view: ------------------- _ | | RSM `-' | HGA | .```. . | | o --- .-' \ RTG RA | `._.' | .-' \ -|- |-.-------------------' .- o---------o--------o| | | .-' |.-------o----. |-.-' HFxx (*)(*)-----------`-.--(*) HBxx | MARDI .-----`o------. .-|-. .-|-. .-|-. | o | | o | | o | `._.' <-------x.' `._.' Xr | | | Zr v Yr is into the page. Rover -Z side ("top") view: --------------------------- .-----. .-----. .-----. | | | | | | | | | | | `--|--' `-- Yr `--|--' `----------o- ^ -----o------' ..-.------- | ------(*) HBLB || | RSM | (*) HBRB . HFRA (*)| | | | -.| RA HFRB (*)`- <-------x | || RTG | HFLA (*) Xr HGA | -'| -o---------|--- HFLB (*) =====-o(*) HBLA ' | `-------------------(*) HBRA .--(*)-----o---------o------. .--|--. MARDI .--|--. .--|--. | | | | | | | | | | | | `-----' `-----' `-----' Zr is into the page. HAZCAM and MARDI Location Data ------------------------------ From [1], relative to the rover navigation frame (CENTER = -76, FRAME = MSL_ROVER): STRUCTURE X, m Y, m Z, m ------------------------ ------- ------- ------- MSL_HAZCAM_BACK_LEFT_B -0.9757 0.5522 -0.7800 MSL_HAZCAM_BACK_RIGHT_B -0.9752 0.4519 -0.7801 MSL_HAZCAM_BACK_LEFT_A -0.9762 -0.4553 -0.7798 MSL_HAZCAM_BACK_RIGHT_A -0.9768 -0.5555 -0.7796 MSL_HAZCAM_FRONT_RIGHT_A 1.0326 0.0779 -0.7082 MSL_HAZCAM_FRONT_RIGHT_B 1.0331 -0.0049 -0.7081 MSL_HAZCAM_FRONT_LEFT_A 1.0328 -0.0887 -0.7085 MSL_HAZCAM_FRONT_LEFT_B 1.0330 -0.1714 -0.7079 MSL_MARDI 0.7616 -0.6483 -0.7017 PINPOINT Inputs for HAZCAM Locations ------------------------------------ This table lists ID codes, centers ID codes, and reference frame names for MSL structures, the locations of which are provided in the PINPOINT input block below: STRUCTURE ID CENTER FRAME ------------------------- ------- ------- ---------------------- MSL_HAZCAM_BACK_LEFT_A -76141 -76 MSL_ROVER MSL_HAZCAM_BACK_LEFT_B -76143 -76 MSL_ROVER MSL_HAZCAM_BACK_RIGHT_A -76142 -76 MSL_ROVER MSL_HAZCAM_BACK_RIGHT_B -76144 -76 MSL_ROVER MSL_HAZCAM_FRONT_LEFT_A -76131 -76 MSL_ROVER MSL_HAZCAM_FRONT_LEFT_B -76133 -76 MSL_ROVER MSL_HAZCAM_FRONT_RIGHT_A -76132 -76 MSL_ROVER MSL_HAZCAM_FRONT_RIGHT_B -76134 -76 MSL_ROVER MSL_MARDI -76160 -76 MSL_ROVER PINPOINT requires coordinates provided in _XYZ keyword be in km. \begindata SITES += ( 'MSL_HAZCAM_BACK_LEFT_A' ) MSL_HAZCAM_BACK_LEFT_A_IDCODE = -76141 MSL_HAZCAM_BACK_LEFT_A_CENTER = -76 MSL_HAZCAM_BACK_LEFT_A_FRAME = 'MSL_ROVER' MSL_HAZCAM_BACK_LEFT_A_XYZ = ( -0.0009762 -0.0004553 -0.0007798 ) MSL_HAZCAM_BACK_LEFT_A_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_HAZCAM_BACK_LEFT_B' ) MSL_HAZCAM_BACK_LEFT_B_IDCODE = -76143 MSL_HAZCAM_BACK_LEFT_B_CENTER = -76 MSL_HAZCAM_BACK_LEFT_B_FRAME = 'MSL_ROVER' MSL_HAZCAM_BACK_LEFT_B_XYZ = ( -0.0009757 0.0005522 -0.0007800 ) MSL_HAZCAM_BACK_LEFT_B_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_HAZCAM_BACK_RIGHT_A' ) MSL_HAZCAM_BACK_RIGHT_A_IDCODE = -76142 MSL_HAZCAM_BACK_RIGHT_A_CENTER = -76 MSL_HAZCAM_BACK_RIGHT_A_FRAME = 'MSL_ROVER' MSL_HAZCAM_BACK_RIGHT_A_XYZ = ( -0.0009768 -0.0005555 -0.0007796 ) MSL_HAZCAM_BACK_RIGHT_A_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_HAZCAM_BACK_RIGHT_B' ) MSL_HAZCAM_BACK_RIGHT_B_IDCODE = -76144 MSL_HAZCAM_BACK_RIGHT_B_CENTER = -76 MSL_HAZCAM_BACK_RIGHT_B_FRAME = 'MSL_ROVER' MSL_HAZCAM_BACK_RIGHT_B_XYZ = ( -0.0009752 0.0004519 -0.0007801 ) MSL_HAZCAM_BACK_RIGHT_B_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_HAZCAM_FRONT_LEFT_A' ) MSL_HAZCAM_FRONT_LEFT_A_IDCODE = -76131 MSL_HAZCAM_FRONT_LEFT_A_CENTER = -76 MSL_HAZCAM_FRONT_LEFT_A_FRAME = 'MSL_ROVER' MSL_HAZCAM_FRONT_LEFT_A_XYZ = ( 0.0010328 -0.0000887 -0.0007085 ) MSL_HAZCAM_FRONT_LEFT_A_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_HAZCAM_FRONT_LEFT_B' ) MSL_HAZCAM_FRONT_LEFT_B_IDCODE = -76133 MSL_HAZCAM_FRONT_LEFT_B_CENTER = -76 MSL_HAZCAM_FRONT_LEFT_B_FRAME = 'MSL_ROVER' MSL_HAZCAM_FRONT_LEFT_B_XYZ = ( 0.0010330 -0.0001714 -0.0007079 ) MSL_HAZCAM_FRONT_LEFT_B_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_HAZCAM_FRONT_RIGHT_A' ) MSL_HAZCAM_FRONT_RIGHT_A_IDCODE = -76132 MSL_HAZCAM_FRONT_RIGHT_A_CENTER = -76 MSL_HAZCAM_FRONT_RIGHT_A_FRAME = 'MSL_ROVER' MSL_HAZCAM_FRONT_RIGHT_A_XYZ = ( 0.0010326 0.0000779 -0.0007082 ) MSL_HAZCAM_FRONT_RIGHT_A_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_HAZCAM_FRONT_RIGHT_B' ) MSL_HAZCAM_FRONT_RIGHT_B_IDCODE = -76134 MSL_HAZCAM_FRONT_RIGHT_B_CENTER = -76 MSL_HAZCAM_FRONT_RIGHT_B_FRAME = 'MSL_ROVER' MSL_HAZCAM_FRONT_RIGHT_B_XYZ = ( 0.0010331 -0.0000049 -0.0007081 ) MSL_HAZCAM_FRONT_RIGHT_B_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_MARDI' ) MSL_MARDI_IDCODE = -76160 MSL_MARDI_CENTER = -76 MSL_MARDI_FRAME = 'MSL_ROVER' MSL_MARDI_XYZ = ( 0.0007616 -0.0006483 -0.0007017 ) MSL_MARDI_BOUNDS = ( @2011-01-01, @2030-01-01 ) \begintext RSM Point and Instrument Locations =========================================================================== References ---------- 1. Latest NAVCAM, MASTCAM, and CHEMCAM RMI CAHVORE models: CAMERA CAHVORE MODEL FILE ------------------ ---------------------------------------------- MSL_MASTCAM_LEFT MSL_CAL_003_SN_3003_FILTER_0_FOCUS_02315-MCAML-FLIGHT.cahvor MSL_MASTCAM_RIGHT MSL_CAL_003_SN_3004_FILTER_0_FOCUS_02702-MCAMR-FLIGHT.cahvor MSL_NAVCAM_LEFT_A MSL_CAL_004_SN_0216-NAVL-FLIGHT-RCE-A.cahvor MSL_NAVCAM_LEFT_B MSL_CAL_004_SN_0215-NAVL-FLIGHT-RCE-B.cahvor MSL_NAVCAM_RIGHT_A MSL_CAL_004_SN_0206-NAVR-FLIGHT-RCE-A.cahvor MSL_NAVCAM_RIGHT_B MSL_CAL_004_SN_0218-NAVR-FLIGHT-RCE-B.cahvor MSL_CHEMCAM_RMI MSL_CAL_003_SN_0001_FOCUS_12658-RMI-FLIGHT.cahv 2. MSL_CamSIS_v1.32_4-11-12.pdf 3. MSL_MMM_SIS_053112_final.pdf 4. D-34651-A_PPPCS_Vol9-rvw-27.pdf RSM Point and Instrument Locations Diagram ------------------------------------------ RSM point location (intersection of AZ and EL axes): Rover -Y side view: ------------------- _ RSM (*) --- `-' ^ | HGA | | .```. . | | | o --- .-' \ RTG | RA | `._.' | .-' \ | -|- |-.-------------------' .- | o---------o--------o| | | .-' | 1.9061 m |.-------o----. |-.-' | .-`--------------`-.--' | | .-----`o------. | .-|-. .-|-. .-|-. | | o | | o | | o | v `._.' <-------x.' `._.' --- Xr | | | Zr v Yr is into the page. 0.8044 m |<------->| Rover -Z side ("top") view: --------------------------- .-----. .-----. .-----. | | | | | | | | | | | `--|--' `-- Yr `--|--' `--.-.-----o- ^ -----o------' | .| |------- | ------. v RSM |(*) | |--------. --- || | | |-------.| | 0.5594 m RA |`-'<-------x | || RTG --- | | Xr HGA |-------'| ^ -o---------|--------|o-| =====-o---------' | | `-------------------' .----------o---------o------. .--|--. .--|--. .--|--. | | | | | | | | | | | | `-----' `-----' `-----' Zr is into the page. RSM instrument locations (focal points): RSM head +X ("front") view: .-------------------------------------. | RMI .---. | | / \ | | | (*) | | | \ / | | `---' | '-.-.--------------|--------------.-.-' NRA (*) .---. .---. (*) NLA - |(*)| |(*)| - NRB (*) `---' `---' (*) NLB `-' MR ML `-' Xh Yh <-------o ----- EL axis | | | Zh v Xh is out of the page. | | AZ axis | RSM head -Z ("top") view: .-------------------------------------. | | | ML | | Zh (*) | | Yh <-------x RMI | ----- EL axis | | (*) | | (*) | | | MR | | '-(*)--------------v--------------(*)-' NR* Xh NL* Zh is into the page. AZ axis is into the page. RSM Point and Instrument Locations Data --------------------------------------- RSM point location, from [1], relative to the rover frame (CENTER = -76, FRAME = MSL_ROVER): STRUCTURE X, m Y, m Z, m ------------------------ ------- ------- ------- MSL_RSM_HEAD 0.8044 0.5594 -1.9061 Instrument locations, from [1], relative to the RSM head frame (CENTER = -76205, FRAME = MSL_RSM_HEAD): STRUCTURE X, m Y, m Z, m ------------------------ ------- ------- ------- MSL_MASTCAM_LEFT -0.0374 -0.1258 -0.0653 MSL_MASTCAM_RIGHT 0.0678 0.1179 -0.0653 MSL_NAVCAM_LEFT_A 0.1151 -0.2139 -0.0819 MSL_NAVCAM_LEFT_B 0.1153 -0.2138 -0.0338 MSL_NAVCAM_RIGHT_A 0.1132 0.2097 -0.0817 MSL_NAVCAM_RIGHT_B 0.1141 0.2098 -0.0341 MSL_CHEMCAM_RMI 0.0752 -0.1116 -0.2138 CHEMCAM LIBS laser and camera locations relative to CHEMCAM RMI: STRUCTURE X, m Y, m Z, m ------------------------ ------- ------- ------- MSL_CHEMCAM_LIBS_LASER 0.0 0.0 0.0 MSL_CHEMCAM_LIBS_CAM 0.0 0.0 0.0 PINPOINT Inputs for RSM Point and Instrument Locations ------------------------------------------------------ This table lists ID codes, centers ID codes, and reference frame names for MSL structures, the locations of which are provided in the PINPOINT input block below: STRUCTURE ID CENTER FRAME ------------------------- ------- ------- ---------------------- MSL_RSM_HEAD -76205 -76 MSL_ROVER MSL_MASTCAM_LEFT -76210 -76205 MSL_RSM_HEAD MSL_MASTCAM_RIGHT -76220 -76205 MSL_RSM_HEAD MSL_NAVCAM_LEFT_A -76231 -76205 MSL_RSM_HEAD MSL_NAVCAM_LEFT_B -76233 -76205 MSL_RSM_HEAD MSL_NAVCAM_RIGHT_A -76232 -76205 MSL_RSM_HEAD MSL_NAVCAM_RIGHT_B -76234 -76205 MSL_RSM_HEAD MSL_CHEMCAM_RMI -76243 -76205 MSL_RSM_HEAD MSL_CHEMCAM_LIBS_LASER -76241 -76243 MSL_CHEMCAM_RMI MSL_CHEMCAM_LIBS_CAM -76242 -76243 MSL_CHEMCAM_RMI PINPOINT requires coordinates provided in _XYZ keyword be in km. \begindata SITES += ( 'MSL_RSM_HEAD' ) MSL_RSM_HEAD_IDCODE = -76205 MSL_RSM_HEAD_CENTER = -76 MSL_RSM_HEAD_FRAME = 'MSL_ROVER' MSL_RSM_HEAD_XYZ = ( 0.0008044 0.0005594 -0.0019061 ) MSL_RSM_HEAD_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_MASTCAM_LEFT' ) MSL_MASTCAM_LEFT_IDCODE = -76210 MSL_MASTCAM_LEFT_CENTER = -76205 MSL_MASTCAM_LEFT_FRAME = 'MSL_RSM_HEAD' MSL_MASTCAM_LEFT_XYZ = ( -0.0000374 -0.0001258 -0.0000653 ) MSL_MASTCAM_LEFT_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_MASTCAM_RIGHT' ) MSL_MASTCAM_RIGHT_IDCODE = -76220 MSL_MASTCAM_RIGHT_CENTER = -76205 MSL_MASTCAM_RIGHT_FRAME = 'MSL_RSM_HEAD' MSL_MASTCAM_RIGHT_XYZ = ( 0.0000678 0.0001179 -0.0000653 ) MSL_MASTCAM_RIGHT_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_NAVCAM_LEFT_A' ) MSL_NAVCAM_LEFT_A_IDCODE = -76231 MSL_NAVCAM_LEFT_A_CENTER = -76205 MSL_NAVCAM_LEFT_A_FRAME = 'MSL_RSM_HEAD' MSL_NAVCAM_LEFT_A_XYZ = ( 0.0001151 -0.0002139 -0.0000819 ) MSL_NAVCAM_LEFT_A_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_NAVCAM_LEFT_B' ) MSL_NAVCAM_LEFT_B_IDCODE = -76233 MSL_NAVCAM_LEFT_B_CENTER = -76205 MSL_NAVCAM_LEFT_B_FRAME = 'MSL_RSM_HEAD' MSL_NAVCAM_LEFT_B_XYZ = ( 0.0001153 -0.0002138 -0.0000338 ) MSL_NAVCAM_LEFT_B_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_NAVCAM_RIGHT_A' ) MSL_NAVCAM_RIGHT_A_IDCODE = -76232 MSL_NAVCAM_RIGHT_A_CENTER = -76205 MSL_NAVCAM_RIGHT_A_FRAME = 'MSL_RSM_HEAD' MSL_NAVCAM_RIGHT_A_XYZ = ( 0.0001132 0.0002097 -0.0000817 ) MSL_NAVCAM_RIGHT_A_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_NAVCAM_RIGHT_B' ) MSL_NAVCAM_RIGHT_B_IDCODE = -76234 MSL_NAVCAM_RIGHT_B_CENTER = -76205 MSL_NAVCAM_RIGHT_B_FRAME = 'MSL_RSM_HEAD' MSL_NAVCAM_RIGHT_B_XYZ = ( 0.0001141 0.0002098 -0.0000341 ) MSL_NAVCAM_RIGHT_B_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_CHEMCAM_RMI' ) MSL_CHEMCAM_RMI_IDCODE = -76243 MSL_CHEMCAM_RMI_CENTER = -76205 MSL_CHEMCAM_RMI_FRAME = 'MSL_RSM_HEAD' MSL_CHEMCAM_RMI_XYZ = ( 0.0000752 -0.0001116 -0.0002138 ) MSL_CHEMCAM_RMI_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_CHEMCAM_LIBS_LASER' ) MSL_CHEMCAM_LIBS_LASER_IDCODE = -76241 MSL_CHEMCAM_LIBS_LASER_CENTER = -76243 MSL_CHEMCAM_LIBS_LASER_FRAME = 'MSL_CHEMCAM_RMI' MSL_CHEMCAM_LIBS_LASER_XYZ = ( 0.0000000 0.0000000 0.0000000 ) MSL_CHEMCAM_LIBS_LASER_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_CHEMCAM_LIBS_CAM' ) MSL_CHEMCAM_LIBS_CAM_IDCODE = -76242 MSL_CHEMCAM_LIBS_CAM_CENTER = -76243 MSL_CHEMCAM_LIBS_CAM_FRAME = 'MSL_CHEMCAM_RMI' MSL_CHEMCAM_LIBS_CAM_XYZ = ( 0.0000000 0.0000000 0.0000000 ) MSL_CHEMCAM_LIBS_CAM_BOUNDS = ( @2011-01-01, @2030-01-01 ) \begintext RA Structures and Instruments Locations =========================================================================== References ---------- 1. sa_pppcs_vol6_20090109.pdf 2. MSL_kinematics_tree.xml 3. Latest MAHLI CAHVORE model: CAMERA CAHVORE MODEL FILE -------------- --------------------------------------------------- MSL_MAHLI MSL_CAL_002_SN_3002_FOCUS_12594-MAHLI-FLIGHT.cahvor RA Structures and Instruments Location Diagrams ------------------------------------------------ RA side view: ------------- Shoulder/Az Turret axis axis | x0 | x1| a1 | a2 | a3 | |<--->|<->|----|<--------------->|<--------------->| | | | | | | a4 | | ---->|---|<- | | | | v //////// Xbase .___. V d6 --- //o------> | o | --- | //|////// | o------> --- | z1 /|/////// ._|_. Xtr | d5 | | | | .-.Xsh_az .-. |\ . | --- Ybase V | o----x->----> =======| x------> =====|=| x------> --- | ._|_. `| Xsh_el `|' Xelb V `|' Xwr ^ | z0 | | | Ztr | | | | | | | --- o------> V V Ysh_el V Yelb V Ywr ^ | Xrm Zsh_az | | | V Yr, Ybase, Ysh_az, Ytr are out of page; Zrm Zsh_el, Zelb, Zwr are into page. RA top view: ------------ Shoulder/El Elbow Wrist axis axis axis | x0 | x1| a1 | a2 | a3 | |<--->|<->|----|<--------------->|<--------------->| | | | | | | a4 | | ---->|---|<- | | ////// Zsh_el Zelb Zwr /Rover// ^ ^ ^ | y1 //////// .|. .|. | v ////Xbase ||| ||| | | --- //x----->| | Xsh_el | | | Xelb ._|_. Xwr v --- //| | x----x->----> | x------> -------| x------> --- ^ //|//`|'|__ Xsh_az |__|__|------------| | | | //|///|/ \ `-----------' / '---' | d4 | //V///|/ `-----------------' APXS .-'. / Xtr | | y0 Ybase//V/ Ysh_az | x------> --- | ///// MAHLI `|' ^ | | | V | --- x------> Xrm V Ytr | | | Zr, Zbase, Zsh_az, Ysh_el, V Yrm Yelb, Ywr, and Ztr are all into the page RA Head top view: ----------------- ^ Xapxs_ref Yapxs_ref / Xchimra_ref ^. ^ / `. .' /x.(b5,0,c5) (b2,0,c2) x `. .-------. / / `-> `. `. | `./ Ychimra_ref `. `.---. `. .------..' `. |==== | / \----. (b3,0,c3) | | x------> |--x----> | \ | Xtr ' | Xpads_ref `------ `. | . \ |=|== / `-|-' \----' v / / V \ \ Ypads_ref Ymahli_ref <-./ / Ytr \ \ (b1,0,c1)`x./ \.x'(b4,0,c4) / <-' \ / Ydrt_ref \ Xmahli_ref V V Xdrt_ref Ztr is into the page. Z*ref are into the page. b* are translations from the turret head to the tool reference point along the X axis of the tool frame. c* are translations from the Ztr to the tool reference point along the Z axis of the tool frame. Actual RA dimensions -------------------- Relative positions between RA joints and tools with respect to appropriate frames can be "constructed" from a1..a5, d1..d5, x0..z0 and x1..z1, b1..b5, and c1..c5 shown on the diagrams above as follows: ---------------------------------------------------------------------- Link# X Y Z CENTER/REF_FRAME ---------- --------- --------- --------- ----------------------------- BASE x0 y0 z0 ROVER/ROVER SH/AZ x1 y1 z1 RA_BASE/RA_BASE SH/EL a1 0.0 0.0 RA_SHOULDER_AZ/RA_SHOULDER_AZ ELBOW a2 0.0 0.0 RA_SHOULDER_EL/RA_SHOULDER_EL WRIST a3 0.0 0.0 RA_ELBOW/RA_ELBOW TURRET (a) -a4 -d5 -d4 RA_WRIST/RA_WRIST HEAD (b) 0.0 0.0 -d6 RA_TURRET/RA_TURRET MAHLI_REF b1 0.0 c1 RA_TURRET_HEAD/MAHLI_REF APXS_REF b2 0.0 c2 RA_TURRET_HEAD/APXS_REF PADS_REF b3 0.0 c3 RA_TURRET_HEAD/PADS_REF DRT_REF b4 0.0 c4 RA_TURRET_HEAD/DRT_REF CHIMRA_REF b5 0.0 c5 RA_TURRET_HEAD/CHIMRA_REF MAHLI (c) 0.0 0.0 0.0 MAHLI_REF/MAHLI_REF APXS 0.0 0.0 0.0 APXS_REF/APXS_REF PADS 0.0 0.0 0.0 PADS_REF/PADS_REF DRT 0.0 0.0 0.0 DRT_REF/DRT_REF CHIMRA 0.0 0.0 0.0 CHIMRA_REF/CHIMRA_REF ---------------------------------------------------------------------- (a) This translation combines translations from Wrist Joint (in [2])/ ARM4 (in [1]) to Turret Joint (in [2])/ARM5 (in [1]) by elements a4 and d4 and from Turret Joint/ARM5 to Turret (in [2])/ARM6 (in [1]) by element d5. (b) Turret head is called Tool Center in [2]. (c) Location of MAHLI relative to MAHLI_REF is derived from the MAHLI CAHVORE model. Nominally it is set to (0,0,0). Same with the actual numbers from [1]: ---------------------------------------------------------------------- Link# X, m Y, m Z, m CENTER/REF_FRAME ---------- --------- --------- --------- ----------------------------- BASE +0.82746 -0.561597 +0.224803 ROVER/ROVER SH/AZ +0.285 +0.1095 +0.04101 RA_BASE/RA_BASE SH/EL +0.155865 0.0 0.0 RA_SHOULDER_AZ/RA_SHOULDER_AZ ELBOW +0.826258 0.0 0.0 RA_SHOULDER_EL/RA_SHOULDER_EL WRIST +0.786501 0.0 0.0 RA_ELBOW/RA_ELBOW TURRET -0.144429 -0.169434 -0.167437 RA_WRIST/RA_WRIST HEAD 0.0 0.0 -0.07176 RA_TURRET/RA_TURRET MAHLI_REF +0.29826 0.0 -0.00998 RA_TURRET_HEAD/MAHLI_REF APXS_REF +0.29904 0.0 -0.01024 RA_TURRET_HEAD/APXS_REF PADS_REF +0.29147 0.0 0.00000 RA_TURRET_HEAD/PADS_REF DRT_REF +0.296642 0.0 -0.014989 RA_TURRET_HEAD/DRT_REF CHIMRA_REF +0.35581 0.0 -0.07409 RA_TURRET_HEAD/CHIMRA_REF MAHLI 0.0 0.0 0.0 MAHLI_REF/MAHLI_REF APXS 0.0 0.0 0.0 APXS_REF/APXS_REF PADS 0.0 0.0 0.0 PADS_REF/PADS_REF DRT 0.0 0.0 0.0 DRT_REF/DRT_REF CHIMRA 0.0 0.0 0.0 CHIMRA_REF/CHIMRA_REF ---------------------------------------------------------------------- For MAHLI based on [3]: ---------------------------------------------------------------------- Link# X, m Y, m Z, m CENTER/REF_FRAME ---------- --------- --------- --------- ----------------------------- MSL_MAHLI -0.0425 0.0022 -0.0021 MAHLI_REF/MAHLI_REF ---------------------------------------------------------------------- PINPOINT Inputs for RA Locations --------------------------------- This table lists ID codes, centers ID codes, and reference frame names for MSL structures, the locations of which are provided in the PINPOINT input block below: STRUCTURE ID CENTER FRAME ------------------------- ------- ------- ----------------------- MSL_RA_BASE -76300 -76000 MSL_ROVER MSL_RA_SHOULDER_AZ -76301 -76300 MSL_RA_BASE MSL_RA_SHOULDER_EL -76302 -76301 MSL_RA_SHOULDER_AZ MSL_RA_ELBOW -76303 -76302 MSL_RA_SHOULDER_EL MSL_RA_WRIST -76304 -76303 MSL_RA_ELBOW MSL_RA_TURRET -76305 -76304 MSL_RA_WRIST MSL_RA_TURRET_HEAD -76306 -76305 MSL_RA_TURRET MSL_MAHLI_REF -76310 -76306 MSL_MAHLI_REF MSL_APXS_REF -76320 -76306 MSL_APXS_REF MSL_PADS_REF -76330 -76306 MSL_PADS_REF MSL_DRT_REF -76340 -76306 MSL_DRT_REF MSL_CHIMRA_REF -76350 -76306 MSL_CHIMRA_REF MSL_MAHLI -76311 -76310 MSL_MAHLI_REF MSL_APXS -76321 -76320 MSL_APXS_REF MSL_PADS -76331 -76330 MSL_PADS_REF MSL_DRT -76341 -76340 MSL_DRT_REF MSL_CHIMRA -76351 -76350 MSL_CHIMRA_REF PINPOINT requires coordinates provided in _XYZ keyword be in km. \begindata SITES += ( 'MSL_RA_BASE' ) MSL_RA_BASE_IDCODE = -76300 MSL_RA_BASE_CENTER = -76000 MSL_RA_BASE_FRAME = 'MSL_ROVER' MSL_RA_BASE_XYZ = ( 0.0008275 -0.0005616 0.0002248 ) MSL_RA_BASE_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_RA_SHOULDER_AZ' ) MSL_RA_SHOULDER_AZ_IDCODE = -76301 MSL_RA_SHOULDER_AZ_CENTER = -76300 MSL_RA_SHOULDER_AZ_FRAME = 'MSL_RA_BASE' MSL_RA_SHOULDER_AZ_XYZ = ( 0.0002850 0.0001095 0.0000410 ) MSL_RA_SHOULDER_AZ_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_RA_SHOULDER_EL' ) MSL_RA_SHOULDER_EL_IDCODE = -76302 MSL_RA_SHOULDER_EL_CENTER = -76301 MSL_RA_SHOULDER_EL_FRAME = 'MSL_RA_SHOULDER_AZ' MSL_RA_SHOULDER_EL_XYZ = ( 0.0001559 0.0000000 0.0000000 ) MSL_RA_SHOULDER_EL_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_RA_ELBOW' ) MSL_RA_ELBOW_IDCODE = -76303 MSL_RA_ELBOW_CENTER = -76302 MSL_RA_ELBOW_FRAME = 'MSL_RA_SHOULDER_EL' MSL_RA_ELBOW_XYZ = ( 0.0008263 0.0000000 0.0000000 ) MSL_RA_ELBOW_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_RA_WRIST' ) MSL_RA_WRIST_IDCODE = -76304 MSL_RA_WRIST_CENTER = -76303 MSL_RA_WRIST_FRAME = 'MSL_RA_ELBOW' MSL_RA_WRIST_XYZ = ( 0.0007865 0.0000000 0.0000000 ) MSL_RA_WRIST_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_RA_TURRET' ) MSL_RA_TURRET_IDCODE = -76305 MSL_RA_TURRET_CENTER = -76304 MSL_RA_TURRET_FRAME = 'MSL_RA_WRIST' MSL_RA_TURRET_XYZ = ( -0.0001444 -0.0001694 -0.0001674 ) MSL_RA_TURRET_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_RA_TURRET_HEAD' ) MSL_RA_TURRET_HEAD_IDCODE = -76306 MSL_RA_TURRET_HEAD_CENTER = -76305 MSL_RA_TURRET_HEAD_FRAME = 'MSL_RA_TURRET' MSL_RA_TURRET_HEAD_XYZ = ( 0.0000000 0.0000000 -0.0000718 ) MSL_RA_TURRET_HEAD_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_MAHLI_REF' ) MSL_MAHLI_REF_IDCODE = -76310 MSL_MAHLI_REF_CENTER = -76306 MSL_MAHLI_REF_FRAME = 'MSL_MAHLI_REF' MSL_MAHLI_REF_XYZ = ( 0.0002983 0.0000000 -0.0000100 ) MSL_MAHLI_REF_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_APXS_REF' ) MSL_APXS_REF_IDCODE = -76320 MSL_APXS_REF_CENTER = -76306 MSL_APXS_REF_FRAME = 'MSL_APXS_REF' MSL_APXS_REF_XYZ = ( 0.0002990 0.0000000 -0.0000102 ) MSL_APXS_REF_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_PADS_REF' ) MSL_PADS_REF_IDCODE = -76330 MSL_PADS_REF_CENTER = -76306 MSL_PADS_REF_FRAME = 'MSL_PADS_REF' MSL_PADS_REF_XYZ = ( 0.0002915 0.0000000 0.0000000 ) MSL_PADS_REF_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_DRT_REF' ) MSL_DRT_REF_IDCODE = -76340 MSL_DRT_REF_CENTER = -76306 MSL_DRT_REF_FRAME = 'MSL_DRT_REF' MSL_DRT_REF_XYZ = ( 0.0002966 0.0000000 -0.0000150 ) MSL_DRT_REF_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_CHIMRA_REF' ) MSL_CHIMRA_REF_IDCODE = -76350 MSL_CHIMRA_REF_CENTER = -76306 MSL_CHIMRA_REF_FRAME = 'MSL_CHIMRA_REF' MSL_CHIMRA_REF_XYZ = ( 0.0003558 0.0000000 -0.0000741 ) MSL_CHIMRA_REF_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_MAHLI' ) MSL_MAHLI_IDCODE = -76311 MSL_MAHLI_CENTER = -76310 MSL_MAHLI_FRAME = 'MSL_MAHLI_REF' MSL_MAHLI_XYZ = ( -0.0000425 0.0000022 -0.0000021 ) MSL_MAHLI_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_APXS' ) MSL_APXS_IDCODE = -76321 MSL_APXS_CENTER = -76320 MSL_APXS_FRAME = 'MSL_APXS_REF' MSL_APXS_XYZ = ( 0.0000000 0.0000000 0.0000000 ) MSL_APXS_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_PADS' ) MSL_PADS_IDCODE = -76331 MSL_PADS_CENTER = -76330 MSL_PADS_FRAME = 'MSL_PADS_REF' MSL_PADS_XYZ = ( 0.0000000 0.0000000 0.0000000 ) MSL_PADS_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_DRT' ) MSL_DRT_IDCODE = -76341 MSL_DRT_CENTER = -76340 MSL_DRT_FRAME = 'MSL_DRT_REF' MSL_DRT_XYZ = ( 0.0000000 0.0000000 0.0000000 ) MSL_DRT_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_CHIMRA' ) MSL_CHIMRA_IDCODE = -76351 MSL_CHIMRA_CENTER = -76350 MSL_CHIMRA_FRAME = 'MSL_CHIMRA_REF' MSL_CHIMRA_XYZ = ( 0.0000000 0.0000000 0.0000000 ) MSL_CHIMRA_BOUNDS = ( @2011-01-01, @2030-01-01 ) \begintext HGA Point and Center Locations =========================================================================== References ---------- 1. FSW parameters, July 2012 2. Drawing 10253071-C HGA Point and Center Locations Diagram -------------------------------------- Rover -Y side view: ------------------- "point" X ->|--------|<---- _ "center" X | | RSM ->|---|<---- `-' | HGA | | .```. . v | | o -o- .-' \ RTG --- RA | RM `._.' | .-' \ | "point" Z -|- |-.--------(*)--------' .- --- o---------o--------o| | | .-' ^ |.-------o----. |-.-' | .-`--------------`-.--' | .-----`o------. .-|-. .-|-. .-|-. | o | | o | | o | `._.' <-------x.' `._.' Xr | | | Zr v Yr is into the page. Rover -Z side ("top") view: --------------------------- .-----. .-----. .-----. | | | | | | | | | | | `--|--' `-- Yr `--|--' `----------o- ^ -----o------' ..-.------- | ------. RTG RSM || | | |--------. | || | | |-------.| v RA |`- <----(*)x | || --- | | Xr RM HGA |-------'| | "point" Y -o---------|--------|o-| ==o==-o---------' --- | `-------------------' ^ .----------o---------o------. | .--|--. .--|--. .--|--. | | | | | | | | | | | | `-----' `-----' `-----' Zr is into the page. HGA Point and Center Locations Data ----------------------------------- Relative positions of HGA gimbal points computed from [1] and center set based on [2] are: ---------------------------------------------------------------------- Link# X, m Y, m Z, m CENTER/REF_FRAME ---------- --------- --------- --------- ----------------------------- HGA_AZ -0.272363 -0.387315 -0.307797 ROVER/ROVER HGA_EL 0.000006 -0.002316 -0.000043 HGA_AZ/HGA_AZ HGA 0.21 0.0 0.0 HGA_EL/HGA_EL PINPOINT Inputs for HGA Point and Center Locations ------------------------------------------------------ This table lists ID codes, centers ID codes, and reference frame names for MSL structures, the locations of which are provided in the PINPOINT input block below: STRUCTURE ID CENTER FRAME ------------------------- ------- ------- ---------------------- MSL_HGA_AZ -76122 -76000 MSL_ROVER MSL_HGA_EL -76124 -76122 MSL_HGA_AZ MSL_HGA -76125 -76124 MSL_HGA_EL PINPOINT requires coordinates provided in _XYZ keyword be in km. \begindata SITES += ( 'MSL_HGA_AZ' ) MSL_HGA_AZ_IDCODE = -76122 MSL_HGA_AZ_CENTER = -76000 MSL_HGA_AZ_FRAME = 'MSL_ROVER' MSL_HGA_AZ_XYZ = ( -0.0002724 -0.0003873 -0.0003078 ) MSL_HGA_AZ_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_HGA_EL' ) MSL_HGA_EL_IDCODE = -76124 MSL_HGA_EL_CENTER = -76122 MSL_HGA_EL_FRAME = 'MSL_HGA_AZ' MSL_HGA_EL_XYZ = ( 0.0000000 -0.0000023 -0.0000000 ) MSL_HGA_EL_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_HGA' ) MSL_HGA_IDCODE = -76125 MSL_HGA_CENTER = -76124 MSL_HGA_FRAME = 'MSL_HGA_EL' MSL_HGA_XYZ = ( 0.0002100 0.0000000 0.0000000 ) MSL_HGA_BOUNDS = ( @2011-01-01, @2030-01-01 ) \begintext Other Instruments and Target Locations =========================================================================== References ---------- 1. sa_pppcs_vol6_20090109.pdf 2. MSL_kinematics_tree.xml Other Instruments and Target Location Diagram --------------------------------------------- TBD Other Instruments and Target Location Data --------------------------------------------- From [2], relative to the rover mechanical frame: STRUCTURE X,m Y,m Z,m ----------------------- --------- --------- --------- MSL_RAD 0.07460 -0.35300 -0.01500 MSL_REMS_UVS 0.51559 0.24647 -0.02350 MSL_REMS_BOOM1_TIP 0.60574 0.73228 -0.42565 MSL_REMS_BOOM2_TIP 0.91812 0.56618 -0.39265 MSL_SAM_1_INLET 0.71266 0.17541 -0.03040 MSL_SAM_2_INLET 0.64621 0.15187 -0.03040 MSL_CHEMIN_INLET 0.67469 -0.12267 -0.02840 MSL_FD_RESTRAINT_PORT -0.82486 -0.46612 -0.12765 MSL_FD_RESTRAINT_SBRD -0.82463 0.46735 -0.12813 MSL_FD_DECK_SIDE_PORT 0.40927 -0.44240 -0.00038 MSL_FD_DECK_FRONT_PORT 0.78201 -0.30267 -0.00067 MSL_FD_DECK_CENTER_PORT 0.78202 -0.00105 -0.00062 MSL_FD_DECK_CENTER_SBRD 0.78216 0.22915 -0.00047 MSL_FD_DECK_FRONT_SBRD 0.78236 0.43178 -0.00039 MSL_FD_OCM_PORT 0.93185 -0.09357 -0.01641 MSL_FD_OCM_CENTER 0.93185 0.06653 -0.05335 MSL_FD_OCM_STARBOARD 0.93185 0.16915 0.03559 MSL_SCI_OBS_TRAY 1.15900 0.51800 0.15800 MSL_ENG_OBS_TRAY 1.22200 0.51800 0.15800 MSL_BIT_BOX_1_TARGET 1.14000 0.15003 0.30575 MSL_BIT_BOX_2_TARGET 1.15038 0.48409 0.38821 MSL_OCM_LOCATION_1 0.93007 0.22850 -0.00750 MSL_OCM_LOCATION_2 0.93007 0.14112 0.02917 MSL_OCM_LOCATION_3 0.93007 0.09153 -0.03134 MSL_OCM_LOCATION_4 0.93007 0.01820 0.01757 MSL_OCM_LOCATION_5 0.93007 -0.20878 -0.05409 MSL_OCM_LOCATION_6 0.95237 -0.10402 0.08788 MSL_APXS_CALTARGET 1.04904 -0.39121 0.46975 MSL_MAHLI_CALTARGET 1.04904 -0.39121 0.36600 MSL_CCAM_CAL1 -0.85021 0.55754 -0.19062 MSL_CCAM_CAL2 -0.85021 0.53135 -0.19062 MSL_CCAM_CAL3 -0.85021 0.50515 -0.19062 MSL_CCAM_CAL4 -0.85021 0.47896 -0.19062 MSL_CCAM_CAL5 -0.85021 0.45277 -0.19062 MSL_CCAM_CAL6 -0.83656 0.54445 -0.17309 MSL_CCAM_CAL7 -0.83656 0.51825 -0.17309 MSL_CCAM_CAL8 -0.83656 0.49206 -0.17309 MSL_CCAM_CAL9 -0.83656 0.46586 -0.17309 MSL_CCAM_CAL10 -0.83558 0.43848 -0.17183 MSL_MCAM_CAL -0.37520 0.51401 -0.21889 PINPOINT Inputs for RA Locations --------------------------------- This table lists ID codes, centers ID codes, and reference frame names for MSL structures, the locations of which are provided in the PINPOINT input block below: STRUCTURE ID CENTER FRAME ------------------------- ------- ------- ---------------------- MSL_RAD -76150 -76000 MSL_ROVER MSL_REMS_UVS -76170 -76000 MSL_ROVER MSL_REMS_BOOM1_TIP -76256 -76000 MSL_ROVER MSL_REMS_BOOM2_TIP -76266 -76000 MSL_ROVER MSL_SAM_1_INLET -76184 -76000 MSL_ROVER MSL_SAM_2_INLET -76185 -76000 MSL_ROVER MSL_CHEMIN_INLET -76186 -76000 MSL_ROVER MSL_FD_RESTRAINT_PORT -76401 -76000 MSL_ROVER MSL_FD_RESTRAINT_SBRD -76402 -76000 MSL_ROVER MSL_FD_DECK_SIDE_PORT -76403 -76000 MSL_ROVER MSL_FD_DECK_FRONT_PORT -76404 -76000 MSL_ROVER MSL_FD_DECK_CENTER_PORT -76405 -76000 MSL_ROVER MSL_FD_DECK_CENTER_SBRD -76406 -76000 MSL_ROVER MSL_FD_DECK_FRONT_SBRD -76407 -76000 MSL_ROVER MSL_FD_OCM_PORT -76408 -76000 MSL_ROVER MSL_FD_OCM_CENTER -76409 -76000 MSL_ROVER MSL_FD_OCM_STARBOARD -76410 -76000 MSL_ROVER MSL_SCI_OBS_TRAY -76411 -76000 MSL_ROVER MSL_ENG_OBS_TRAY -76412 -76000 MSL_ROVER MSL_BIT_BOX_1_TARGET -76413 -76000 MSL_ROVER MSL_BIT_BOX_2_TARGET -76414 -76000 MSL_ROVER MSL_OCM_LOCATION_1 -76415 -76000 MSL_ROVER MSL_OCM_LOCATION_2 -76416 -76000 MSL_ROVER MSL_OCM_LOCATION_3 -76417 -76000 MSL_ROVER MSL_OCM_LOCATION_4 -76418 -76000 MSL_ROVER MSL_OCM_LOCATION_5 -76419 -76000 MSL_ROVER MSL_OCM_LOCATION_6 -76420 -76000 MSL_ROVER MSL_APXS_CALTARGET -76421 -76000 MSL_ROVER MSL_MAHLI_CALTARGET -76422 -76000 MSL_ROVER MSL_CCAM_CAL1 -76423 -76000 MSL_ROVER MSL_CCAM_CAL2 -76424 -76000 MSL_ROVER MSL_CCAM_CAL3 -76425 -76000 MSL_ROVER MSL_CCAM_CAL4 -76426 -76000 MSL_ROVER MSL_CCAM_CAL5 -76427 -76000 MSL_ROVER MSL_CCAM_CAL6 -76428 -76000 MSL_ROVER MSL_CCAM_CAL7 -76429 -76000 MSL_ROVER MSL_CCAM_CAL8 -76430 -76000 MSL_ROVER MSL_CCAM_CAL9 -76431 -76000 MSL_ROVER MSL_CCAM_CAL10 -76432 -76000 MSL_ROVER MSL_MCAM_CAL -76433 -76000 MSL_ROVER PINPOINT requires coordinates provided in _XYZ keyword be in km. \begindata SITES += ( 'MSL_RAD' ) MSL_RAD_IDCODE = -76150 MSL_RAD_CENTER = -76000 MSL_RAD_FRAME = 'MSL_ROVER' MSL_RAD_XYZ = ( 0.0000746 -0.0003530 -0.0000150 ) MSL_RAD_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_REMS_UVS' ) MSL_REMS_UVS_IDCODE = -76170 MSL_REMS_UVS_CENTER = -76000 MSL_REMS_UVS_FRAME = 'MSL_ROVER' MSL_REMS_UVS_XYZ = ( 0.0005156 0.0002465 -0.0000235 ) MSL_REMS_UVS_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_REMS_BOOM1_TIP' ) MSL_REMS_BOOM1_TIP_IDCODE = -76256 MSL_REMS_BOOM1_TIP_CENTER = -76000 MSL_REMS_BOOM1_TIP_FRAME = 'MSL_ROVER' MSL_REMS_BOOM1_TIP_XYZ = ( 0.0006057 0.0007323 -0.0004256 ) MSL_REMS_BOOM1_TIP_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_REMS_BOOM2_TIP' ) MSL_REMS_BOOM2_TIP_IDCODE = -76266 MSL_REMS_BOOM2_TIP_CENTER = -76000 MSL_REMS_BOOM2_TIP_FRAME = 'MSL_ROVER' MSL_REMS_BOOM2_TIP_XYZ = ( 0.0009181 0.0005662 -0.0003926 ) MSL_REMS_BOOM2_TIP_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_SAM_1_INLET' ) MSL_SAM_1_INLET_IDCODE = -76184 MSL_SAM_1_INLET_CENTER = -76000 MSL_SAM_1_INLET_FRAME = 'MSL_ROVER' MSL_SAM_1_INLET_XYZ = ( 0.0007127 0.0001754 -0.0000304 ) MSL_SAM_1_INLET_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_SAM_2_INLET' ) MSL_SAM_2_INLET_IDCODE = -76185 MSL_SAM_2_INLET_CENTER = -76000 MSL_SAM_2_INLET_FRAME = 'MSL_ROVER' MSL_SAM_2_INLET_XYZ = ( 0.0006462 0.0001519 -0.0000304 ) MSL_SAM_2_INLET_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_CHEMIN_INLET' ) MSL_CHEMIN_INLET_IDCODE = -76186 MSL_CHEMIN_INLET_CENTER = -76000 MSL_CHEMIN_INLET_FRAME = 'MSL_ROVER' MSL_CHEMIN_INLET_XYZ = ( 0.0006747 -0.0001227 -0.0000284 ) MSL_CHEMIN_INLET_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_FD_RESTRAINT_PORT' ) MSL_FD_RESTRAINT_PORT_IDCODE = -76401 MSL_FD_RESTRAINT_PORT_CENTER = -76000 MSL_FD_RESTRAINT_PORT_FRAME = 'MSL_ROVER' MSL_FD_RESTRAINT_PORT_XYZ = ( -0.0008249 -0.0004661 -0.0001277 ) MSL_FD_RESTRAINT_PORT_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_FD_RESTRAINT_SBRD' ) MSL_FD_RESTRAINT_SBRD_IDCODE = -76402 MSL_FD_RESTRAINT_SBRD_CENTER = -76000 MSL_FD_RESTRAINT_SBRD_FRAME = 'MSL_ROVER' MSL_FD_RESTRAINT_SBRD_XYZ = ( -0.0008246 0.0004674 -0.0001281 ) MSL_FD_RESTRAINT_SBRD_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_FD_DECK_SIDE_PORT' ) MSL_FD_DECK_SIDE_PORT_IDCODE = -76403 MSL_FD_DECK_SIDE_PORT_CENTER = -76000 MSL_FD_DECK_SIDE_PORT_FRAME = 'MSL_ROVER' MSL_FD_DECK_SIDE_PORT_XYZ = ( 0.0004093 -0.0004424 -0.0000004 ) MSL_FD_DECK_SIDE_PORT_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_FD_DECK_FRONT_PORT' ) MSL_FD_DECK_FRONT_PORT_IDCODE = -76404 MSL_FD_DECK_FRONT_PORT_CENTER = -76000 MSL_FD_DECK_FRONT_PORT_FRAME = 'MSL_ROVER' MSL_FD_DECK_FRONT_PORT_XYZ = ( 0.0007820 -0.0003027 -0.0000007 ) MSL_FD_DECK_FRONT_PORT_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_FD_DECK_CENTER_PORT' ) MSL_FD_DECK_CENTER_PORT_IDCODE = -76405 MSL_FD_DECK_CENTER_PORT_CENTER = -76000 MSL_FD_DECK_CENTER_PORT_FRAME = 'MSL_ROVER' MSL_FD_DECK_CENTER_PORT_XYZ = ( 0.0007820 -0.0000010 -0.0000006 ) MSL_FD_DECK_CENTER_PORT_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_FD_DECK_CENTER_SBRD' ) MSL_FD_DECK_CENTER_SBRD_IDCODE = -76406 MSL_FD_DECK_CENTER_SBRD_CENTER = -76000 MSL_FD_DECK_CENTER_SBRD_FRAME = 'MSL_ROVER' MSL_FD_DECK_CENTER_SBRD_XYZ = ( 0.0007822 0.0002291 -0.0000005 ) MSL_FD_DECK_CENTER_SBRD_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_FD_DECK_FRONT_SBRD' ) MSL_FD_DECK_FRONT_SBRD_IDCODE = -76407 MSL_FD_DECK_FRONT_SBRD_CENTER = -76000 MSL_FD_DECK_FRONT_SBRD_FRAME = 'MSL_ROVER' MSL_FD_DECK_FRONT_SBRD_XYZ = ( 0.0007824 0.0004318 -0.0000004 ) MSL_FD_DECK_FRONT_SBRD_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_FD_OCM_PORT' ) MSL_FD_OCM_PORT_IDCODE = -76408 MSL_FD_OCM_PORT_CENTER = -76000 MSL_FD_OCM_PORT_FRAME = 'MSL_ROVER' MSL_FD_OCM_PORT_XYZ = ( 0.0009318 -0.0000936 -0.0000164 ) MSL_FD_OCM_PORT_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_FD_OCM_CENTER' ) MSL_FD_OCM_CENTER_IDCODE = -76409 MSL_FD_OCM_CENTER_CENTER = -76000 MSL_FD_OCM_CENTER_FRAME = 'MSL_ROVER' MSL_FD_OCM_CENTER_XYZ = ( 0.0009318 0.0000665 -0.0000534 ) MSL_FD_OCM_CENTER_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_FD_OCM_STARBOARD' ) MSL_FD_OCM_STARBOARD_IDCODE = -76410 MSL_FD_OCM_STARBOARD_CENTER = -76000 MSL_FD_OCM_STARBOARD_FRAME = 'MSL_ROVER' MSL_FD_OCM_STARBOARD_XYZ = ( 0.0009318 0.0001691 0.0000356 ) MSL_FD_OCM_STARBOARD_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_SCI_OBS_TRAY' ) MSL_SCI_OBS_TRAY_IDCODE = -76411 MSL_SCI_OBS_TRAY_CENTER = -76000 MSL_SCI_OBS_TRAY_FRAME = 'MSL_ROVER' MSL_SCI_OBS_TRAY_XYZ = ( 0.0011590 0.0005180 0.0001580 ) MSL_SCI_OBS_TRAY_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_ENG_OBS_TRAY' ) MSL_ENG_OBS_TRAY_IDCODE = -76412 MSL_ENG_OBS_TRAY_CENTER = -76000 MSL_ENG_OBS_TRAY_FRAME = 'MSL_ROVER' MSL_ENG_OBS_TRAY_XYZ = ( 0.0012220 0.0005180 0.0001580 ) MSL_ENG_OBS_TRAY_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_BIT_BOX_1_TARGET' ) MSL_BIT_BOX_1_TARGET_IDCODE = -76413 MSL_BIT_BOX_1_TARGET_CENTER = -76000 MSL_BIT_BOX_1_TARGET_FRAME = 'MSL_ROVER' MSL_BIT_BOX_1_TARGET_XYZ = ( 0.0011400 0.0001500 0.0003058 ) MSL_BIT_BOX_1_TARGET_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_BIT_BOX_2_TARGET' ) MSL_BIT_BOX_2_TARGET_IDCODE = -76414 MSL_BIT_BOX_2_TARGET_CENTER = -76000 MSL_BIT_BOX_2_TARGET_FRAME = 'MSL_ROVER' MSL_BIT_BOX_2_TARGET_XYZ = ( 0.0011504 0.0004841 0.0003882 ) MSL_BIT_BOX_2_TARGET_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_OCM_LOCATION_1' ) MSL_OCM_LOCATION_1_IDCODE = -76415 MSL_OCM_LOCATION_1_CENTER = -76000 MSL_OCM_LOCATION_1_FRAME = 'MSL_ROVER' MSL_OCM_LOCATION_1_XYZ = ( 0.0009301 0.0002285 -0.0000075 ) MSL_OCM_LOCATION_1_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_OCM_LOCATION_2' ) MSL_OCM_LOCATION_2_IDCODE = -76416 MSL_OCM_LOCATION_2_CENTER = -76000 MSL_OCM_LOCATION_2_FRAME = 'MSL_ROVER' MSL_OCM_LOCATION_2_XYZ = ( 0.0009301 0.0001411 0.0000292 ) MSL_OCM_LOCATION_2_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_OCM_LOCATION_3' ) MSL_OCM_LOCATION_3_IDCODE = -76417 MSL_OCM_LOCATION_3_CENTER = -76000 MSL_OCM_LOCATION_3_FRAME = 'MSL_ROVER' MSL_OCM_LOCATION_3_XYZ = ( 0.0009301 0.0000915 -0.0000313 ) MSL_OCM_LOCATION_3_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_OCM_LOCATION_4' ) MSL_OCM_LOCATION_4_IDCODE = -76418 MSL_OCM_LOCATION_4_CENTER = -76000 MSL_OCM_LOCATION_4_FRAME = 'MSL_ROVER' MSL_OCM_LOCATION_4_XYZ = ( 0.0009301 0.0000182 0.0000176 ) MSL_OCM_LOCATION_4_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_OCM_LOCATION_5' ) MSL_OCM_LOCATION_5_IDCODE = -76419 MSL_OCM_LOCATION_5_CENTER = -76000 MSL_OCM_LOCATION_5_FRAME = 'MSL_ROVER' MSL_OCM_LOCATION_5_XYZ = ( 0.0009301 -0.0002088 -0.0000541 ) MSL_OCM_LOCATION_5_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_OCM_LOCATION_6' ) MSL_OCM_LOCATION_6_IDCODE = -76420 MSL_OCM_LOCATION_6_CENTER = -76000 MSL_OCM_LOCATION_6_FRAME = 'MSL_ROVER' MSL_OCM_LOCATION_6_XYZ = ( 0.0009524 -0.0001040 0.0000879 ) MSL_OCM_LOCATION_6_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_APXS_CALTARGET' ) MSL_APXS_CALTARGET_IDCODE = -76421 MSL_APXS_CALTARGET_CENTER = -76000 MSL_APXS_CALTARGET_FRAME = 'MSL_ROVER' MSL_APXS_CALTARGET_XYZ = ( 0.0010490 -0.0003912 0.0004698 ) MSL_APXS_CALTARGET_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_MAHLI_CALTARGET' ) MSL_MAHLI_CALTARGET_IDCODE = -76422 MSL_MAHLI_CALTARGET_CENTER = -76000 MSL_MAHLI_CALTARGET_FRAME = 'MSL_ROVER' MSL_MAHLI_CALTARGET_XYZ = ( 0.0010490 -0.0003912 0.0003660 ) MSL_MAHLI_CALTARGET_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_CCAM_CAL1' ) MSL_CCAM_CAL1_IDCODE = -76423 MSL_CCAM_CAL1_CENTER = -76000 MSL_CCAM_CAL1_FRAME = 'MSL_ROVER' MSL_CCAM_CAL1_XYZ = ( -0.0008502 0.0005575 -0.0001906 ) MSL_CCAM_CAL1_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_CCAM_CAL2' ) MSL_CCAM_CAL2_IDCODE = -76424 MSL_CCAM_CAL2_CENTER = -76000 MSL_CCAM_CAL2_FRAME = 'MSL_ROVER' MSL_CCAM_CAL2_XYZ = ( -0.0008502 0.0005313 -0.0001906 ) MSL_CCAM_CAL2_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_CCAM_CAL3' ) MSL_CCAM_CAL3_IDCODE = -76425 MSL_CCAM_CAL3_CENTER = -76000 MSL_CCAM_CAL3_FRAME = 'MSL_ROVER' MSL_CCAM_CAL3_XYZ = ( -0.0008502 0.0005052 -0.0001906 ) MSL_CCAM_CAL3_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_CCAM_CAL4' ) MSL_CCAM_CAL4_IDCODE = -76426 MSL_CCAM_CAL4_CENTER = -76000 MSL_CCAM_CAL4_FRAME = 'MSL_ROVER' MSL_CCAM_CAL4_XYZ = ( -0.0008502 0.0004790 -0.0001906 ) MSL_CCAM_CAL4_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_CCAM_CAL5' ) MSL_CCAM_CAL5_IDCODE = -76427 MSL_CCAM_CAL5_CENTER = -76000 MSL_CCAM_CAL5_FRAME = 'MSL_ROVER' MSL_CCAM_CAL5_XYZ = ( -0.0008502 0.0004528 -0.0001906 ) MSL_CCAM_CAL5_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_CCAM_CAL6' ) MSL_CCAM_CAL6_IDCODE = -76428 MSL_CCAM_CAL6_CENTER = -76000 MSL_CCAM_CAL6_FRAME = 'MSL_ROVER' MSL_CCAM_CAL6_XYZ = ( -0.0008366 0.0005445 -0.0001731 ) MSL_CCAM_CAL6_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_CCAM_CAL7' ) MSL_CCAM_CAL7_IDCODE = -76429 MSL_CCAM_CAL7_CENTER = -76000 MSL_CCAM_CAL7_FRAME = 'MSL_ROVER' MSL_CCAM_CAL7_XYZ = ( -0.0008366 0.0005182 -0.0001731 ) MSL_CCAM_CAL7_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_CCAM_CAL8' ) MSL_CCAM_CAL8_IDCODE = -76430 MSL_CCAM_CAL8_CENTER = -76000 MSL_CCAM_CAL8_FRAME = 'MSL_ROVER' MSL_CCAM_CAL8_XYZ = ( -0.0008366 0.0004921 -0.0001731 ) MSL_CCAM_CAL8_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_CCAM_CAL9' ) MSL_CCAM_CAL9_IDCODE = -76431 MSL_CCAM_CAL9_CENTER = -76000 MSL_CCAM_CAL9_FRAME = 'MSL_ROVER' MSL_CCAM_CAL9_XYZ = ( -0.0008366 0.0004659 -0.0001731 ) MSL_CCAM_CAL9_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_CCAM_CAL10' ) MSL_CCAM_CAL10_IDCODE = -76432 MSL_CCAM_CAL10_CENTER = -76000 MSL_CCAM_CAL10_FRAME = 'MSL_ROVER' MSL_CCAM_CAL10_XYZ = ( -0.0008356 0.0004385 -0.0001718 ) MSL_CCAM_CAL10_BOUNDS = ( @2011-01-01, @2030-01-01 ) SITES += ( 'MSL_MCAM_CAL' ) MSL_MCAM_CAL_IDCODE = -76433 MSL_MCAM_CAL_CENTER = -76000 MSL_MCAM_CAL_FRAME = 'MSL_ROVER' MSL_MCAM_CAL_XYZ = ( -0.0003752 0.0005140 -0.0002189 ) MSL_MCAM_CAL_BOUNDS = ( @2011-01-01, @2030-01-01 ) \begintext