Added load test for msl mastcam (#561)

DAFETF NAIF DAF ENCODED TRANSFER FILE

'DAF/SPK '

'2'

'6'

'SPKMERGE                                                    '

BEGIN_ARRAY 1 16

'MARS -to- ROVER, LOCALIZED              '

'23AC4A8578F996^8'

'23AC4B84A5435^8'

'-4C'

'1F3'

'271E'

'9'

16

'-9B717FC874B4A^3'

'8F0C00BF1949C^3'

'-11791C7BB95EDC^3'

'0^0'

'0^0'

'0^0'

'-9B717FC874B4A^3'

'8F0C00BF1949C^3'

'-11791C7BB95EDC^3'

'0^0'

'0^0'

'0^0'

'23A29B2243782C^8'

'23D7918F325EB^8'

'1^1'

'2^1'

END_ARRAY 1 16

BEGIN_ARRAY 2 12

'DE-0425LE-0425                          '

'23AC4A8578F996^8'

'23AC4B84A5435^8'

'1F3'

'4'

'1'

'2'

12

'E0BD34^7'

'500208^8'

'0^0'

'0^0'

'0^0'

'0^0'

'0^0'

'0^0'

'-41F634C^8'

'A0041^8'

'8^1'

'1^1'

END_ARRAY 2 12

BEGIN_ARRAY 3 39

'DE-0425LE-0425                          '

'23AC4A8578F996^8'

'23AC4B84A5435^8'

'A'

'0'

'1'

'2'

39

'23ACEF4^8'

'A8C^5'

'-182D9A9BFB179A^5'

'-2476E10E336A1A^4'

'-B8A3486486B768^1'

'-17AA1DC98AB4BF^0'

'11F6AC565388EC^-1'

'-2003202CA7FB1C^-2'

'4696DD82DA8E3C^-3'

'-436A0DEA81049C^-4'

'-3D906B8CD195B2^-5'

'1B327152242364^-5'

'-3FEA99EE1E579A^-6'

'F8FBAE76383698^5'

'887854CAE5193^3'

'-11006081023A6B^2'

'-220754DC10457C^0'

'6130AF671931E8^-2'

'-E83B72F00F3BD8^-3'

'-1054721423B0A2^-3'

'6924BC38A4542^-4'

'-E7BBE4454FE7B8^-5'

'10DF04C3BBF7EA^-5'

'6972E9D5ED0014^-7'

'699181548D915C^5'

'4B5504F8DBFD08^3'

'-6CC66492AE1BE^1'

'-FBD23530BA2778^-1'

'2FD92127C74098^-2'

'-459AE2252BA5E8^-3'

'-1037663F52D79C^-3'

'3F25DF0A901AB6^-4'

'-7565B9626659D8^-5'

'631E5CFD949408^-6'

'A1EB36F8F8AFA8^-7'

'23A2634^8'

'1518^6'

'23^2'

'1^1'

END_ARRAY 3 39

BEGIN_ARRAY 4 39

'DE-0425LE-0425                          '

'23AC4A8578F996^8'

'23AC4B84A5435^8'

'4'

'0'

'1'

'2'

39

'23A2634^8'

'1518^6'

'B00002EDB937A^7'

'-E969C89A1E30B^6'

'-124A7464F0595F^6'

'5BC1A06B5D9C2^4'

'23748F27DC7DA2^3'

'-13F1FE0C9663BC^2'

'3F34782E51C96^-1'

'33F60EE49FB7BE^-1'

'-105C286C7007F7^-2'

'-5CC38010013918^-4'

'46B8CA23A8F87C^-5'

'5E380908FD46FC^7'

'1B7983B2777E94^7'

'-9AA49B4B5E614^5'

'-6AD04684E06BC8^4'

'288E91E21C135^3'

'642F8C265138A^1'

'-7A1ABF128E0F28^0'

'14546AFA061D2B^-1'

'FE8B1E89D51F3^-3'

'-970B125DFF63B^-4'

'2922FD19E7EA68^-5'

'266DE7098D312C^7'

'CFEDC8716ABDF8^6'

'-3F081D8B041946^5'

'-337818D362154^4'

'11A5420BC9C15C^3'

'3690DC976B5E3C^1'

'-381D8BE2BE2D4E^0'

'7EDFB99588D58^-2'

'7BD3086CA25FB8^-3'

'-44B07AB7EBC32C^-4'

'1A9A8AA68474EE^-5'

'238D4B4^8'

'2A3^6'

'23^2'

'1^1'

END_ARRAY 4 39

TOTAL_ARRAYS 4

 ~NAIF/SPC BEGIN COMMENTS~

; /Users/arsanders/data/msl/kernels/2264ML0121141200805116C00_DRCL_0.bsp LOG FILE

; Created 2023-09-11/17:50:25.00.

;

; BEGIN SPKMERGE COMMANDS

LEAPSECONDS_KERNEL = /Users/arsanders/isis_efs/isis_data/base/kernels/lsk/naif0012.tls

SPK_KERNEL = /Users/arsanders/data/msl/kernels/2264ML0121141200805116C00_DRCL_0.bsp

SOURCE_SPK_KERNEL = /Users/arsanders/isis_efs/isis_data/msl/kernels/spk/msl_surf_rover_loc.bsp

    INCLUDE_COMMENTS = NO

    BODIES           = -76

    BEGIN_TIME       = 2018 DEC 19 12:16:00.289

    END_TIME         = 2018 DEC 19 12:20:15.462

SOURCE_SPK_KERNEL = /Users/arsanders/isis_efs/isis_data/msl/kernels/spk/de425s.bsp

    INCLUDE_COMMENTS = NO

    BODIES           = 4, 10, 499

    BEGIN_TIME       = 2018 DEC 19 12:16:00.289

    END_TIME         = 2018 DEC 19 12:20:15.462

; END SPKMERGE COMMANDS

 ~NAIF/SPC END COMMENTS~

DAFETF NAIF DAF ENCODED TRANSFER FILE

'DAF/SPK '

'2'

'6'

'SPKMERGE                                                    '

BEGIN_ARRAY 1 16

'MARS -to- ROVER, LOCALIZED              '

'23AC4D556F80C2^8'

'23AC4E52CC2CCC^8'

'-4C'

'1F3'

'271E'

'9'

16

'-9B717FC874B4A^3'

'8F0C00BF1949C^3'

'-11791C7BB95EDC^3'

'0^0'

'0^0'

'0^0'

'-9B717FC874B4A^3'

'8F0C00BF1949C^3'

'-11791C7BB95EDC^3'

'0^0'

'0^0'

'0^0'

'23A29B2243782C^8'

'23D7918F325EB^8'

'1^1'

'2^1'

END_ARRAY 1 16

BEGIN_ARRAY 2 12

'DE-0425LE-0425                          '

'23AC4D556F80C2^8'

'23AC4E52CC2CCC^8'

'1F3'

'4'

'1'

'2'

12

'E0BD34^7'

'500208^8'

'0^0'

'0^0'

'0^0'

'0^0'

'0^0'

'0^0'

'-41F634C^8'

'A0041^8'

'8^1'

'1^1'

END_ARRAY 2 12

BEGIN_ARRAY 3 39

'DE-0425LE-0425                          '

'23AC4D556F80C2^8'

'23AC4E52CC2CCC^8'

'A'

'0'

'1'

'2'

39

'23ACEF4^8'

'A8C^5'

'-182D9A9BFB179A^5'

'-2476E10E336A1A^4'

'-B8A3486486B768^1'

'-17AA1DC98AB4BF^0'

'11F6AC565388EC^-1'

'-2003202CA7FB1C^-2'

'4696DD82DA8E3C^-3'

'-436A0DEA81049C^-4'

'-3D906B8CD195B2^-5'

'1B327152242364^-5'

'-3FEA99EE1E579A^-6'

'F8FBAE76383698^5'

'887854CAE5193^3'

'-11006081023A6B^2'

'-220754DC10457C^0'

'6130AF671931E8^-2'

'-E83B72F00F3BD8^-3'

'-1054721423B0A2^-3'

'6924BC38A4542^-4'

'-E7BBE4454FE7B8^-5'

'10DF04C3BBF7EA^-5'

'6972E9D5ED0014^-7'

'699181548D915C^5'

'4B5504F8DBFD08^3'

'-6CC66492AE1BE^1'

'-FBD23530BA2778^-1'

'2FD92127C74098^-2'

'-459AE2252BA5E8^-3'

'-1037663F52D79C^-3'

'3F25DF0A901AB6^-4'

'-7565B9626659D8^-5'

'631E5CFD949408^-6'

'A1EB36F8F8AFA8^-7'

'23A2634^8'

'1518^6'

'23^2'

'1^1'

END_ARRAY 3 39

BEGIN_ARRAY 4 39

'DE-0425LE-0425                          '

'23AC4D556F80C2^8'

'23AC4E52CC2CCC^8'

'4'

'0'

'1'

'2'

39

'23A2634^8'

'1518^6'

'B00002EDB937A^7'

'-E969C89A1E30B^6'

'-124A7464F0595F^6'

'5BC1A06B5D9C2^4'

'23748F27DC7DA2^3'

'-13F1FE0C9663BC^2'

'3F34782E51C96^-1'

'33F60EE49FB7BE^-1'

'-105C286C7007F7^-2'

'-5CC38010013918^-4'

'46B8CA23A8F87C^-5'

'5E380908FD46FC^7'

'1B7983B2777E94^7'

'-9AA49B4B5E614^5'

'-6AD04684E06BC8^4'

'288E91E21C135^3'

'642F8C265138A^1'

'-7A1ABF128E0F28^0'

'14546AFA061D2B^-1'

'FE8B1E89D51F3^-3'

'-970B125DFF63B^-4'

'2922FD19E7EA68^-5'

'266DE7098D312C^7'

'CFEDC8716ABDF8^6'

'-3F081D8B041946^5'

'-337818D362154^4'

'11A5420BC9C15C^3'

'3690DC976B5E3C^1'

'-381D8BE2BE2D4E^0'

'7EDFB99588D58^-2'

'7BD3086CA25FB8^-3'

'-44B07AB7EBC32C^-4'

'1A9A8AA68474EE^-5'

'238D4B4^8'

'2A3^6'

'23^2'

'1^1'

END_ARRAY 4 39

TOTAL_ARRAYS 4

 ~NAIF/SPC BEGIN COMMENTS~

; /Users/arsanders/data/msl/kernels/2264ML0121141200805116C00_DRCL_1.bsp LOG FILE

; Created 2023-09-11/17:50:32.00.

;

; BEGIN SPKMERGE COMMANDS

LEAPSECONDS_KERNEL = /Users/arsanders/isis_efs/isis_data/base/kernels/lsk/naif0012.tls

SPK_KERNEL = /Users/arsanders/data/msl/kernels/2264ML0121141200805116C00_DRCL_1.bsp

SOURCE_SPK_KERNEL = /Users/arsanders/isis_efs/isis_data/msl/kernels/spk/msl_surf_rover_loc.bsp

    INCLUDE_COMMENTS = NO

    BODIES           = -76

    BEGIN_TIME       = 2018 DEC 19 12:28:00.252

    END_TIME         = 2018 DEC 19 12:32:13.614

SOURCE_SPK_KERNEL = /Users/arsanders/isis_efs/isis_data/msl/kernels/spk/de425s.bsp

    INCLUDE_COMMENTS = NO

    BODIES           = 4, 10, 499

    BEGIN_TIME       = 2018 DEC 19 12:28:00.252

    END_TIME         = 2018 DEC 19 12:32:13.614

; END SPKMERGE COMMANDS

 ~NAIF/SPC END COMMENTS~

KPL/SCLK

MSL SCLK File

===========================================================================

     This file is a SPICE spacecraft clock (SCLK) kernel containing

     information required for MSL spacecraft on-board clock to UTC

     conversion.

Production/History of this SCLK file

--------------------------------------------------------

     This file was generated by the NAIF utility program MAKCLK, version

     3.5.2, from the most recent MSL spacecraft SCLKvSCET file (see

     corresponding sections of these comments for a copy of the source

     SCLKvSCET file and MAKCLK setup file).

Usage

--------------------------------------------------------

     This file must be loaded into the user's program by a call to the

     FURNSH subroutine

          CALL FURNSH( 'this_file_name' )

     in order to use the SPICELIB SCLK family of subroutines to convert

     MSL spacecraft on-board clock to ET and vice versa.

SCLK Format

--------------------------------------------------------

     The on-board clock, the conversion for which is provided by this SCLK

     file, consists of two fields:

          SSSSSSSSSS-FFFFF

     where:

          SSSSSSSSSS -- count of on-board seconds

          FFFFF      -- count of fractions of a second with one fraction

                        being 1/65536 of a second; normally this field value

                        is within 0..65535 range.

References

--------------------------------------------------------

         1.   SCLK Required Reading Document

         2.   MAKCLK User's Guide Document

         3.   SFOC SCLKvSCET SIS Document

Inquiries

--------------------------------------------------------

     If you have any questions regarding this file contact NAIF  at JPL

           Charles H. Acton, Jr

           (818) 354-3869

           Chuck.Acton@jpl.nasa.gov

           Boris V. Semenov

           (818) 354-8136

           Boris.Semenov@jpl.nasa.gov

Source SCLKvSCET File

--------------------------------------------------------

     CCSD3ZS00001$$sclk$$NJPL3KS0L015$$scet$$

     MISSION_NAME=MSL;

     SPACECRAFT_NAME=MARS_SCIENCE_LABORATORY;

     DATA_SET_ID=SCLK_SCET;

     FILE_NAME=MSL_76_SCLKSCET.00019;

     PRODUCT_CREATION_TIME=2022-229T12:27:15.000;

     PRODUCT_VERSION_ID=00019;

     PRODUCER_ID=DSMS_TIME_SERVICES;

     APPLICABLE_START_TIME=2022-230T00:00:00.000;

     APPLICABLE_STOP_TIME=2023-358T15:16:11.000;

     MISSION_ID=33;

     SPACECRAFT_ID=76;

     CCSD3RE00000$$scet$$NJPL3IS00613$$data$$

     *____SCLK0_____    ________SCET0___________ _DUT__ __SCLKRATE__

      0000000000.000    2000-001T11:58:55.816 64.184  1.000000000

      0189345665.000    2006-001T00:00:00.816 64.184  0.000010000

      0189345666.000    2006-001T00:00:00.817 65.184  1.000000000

      0284040066.000    2009-001T00:00:00.815 65.184  0.001000000

      0284040067.000    2009-001T00:00:00.816 66.184  1.000000000

      0375075862.000    2011-324T15:43:15.816 66.184  0.995566030

      0375076862.000    2011-324T15:59:51.382 66.184  1.000007536

      0375077191.000    2011-324T16:05:20.385 66.184  1.000004134

      0375078191.000    2011-324T16:22:00.389 66.184  1.000009564

      0375163622.000    2011-325T16:05:52.206 66.184  0.999958637

      0375164622.000    2011-325T16:22:32.165 66.184  1.000009114

      0375235601.000    2011-326T12:05:31.812 66.184  0.999997081

      0375236601.000    2011-326T12:22:11.809 66.184  1.000009250

      0375410971.000    2011-328T12:48:23.422 66.184  1.000010108

      0375411971.000    2011-328T13:05:03.432 66.184  1.000008880

      0375950039.000    2011-334T18:32:56.210 66.184  0.999889040

      0375951039.000    2011-334T18:49:36.099 66.184  1.000008973

      0380648630.000    2012-024T03:43:29.250 66.184  1.000550348

      0380649630.000    2012-024T04:00:09.801 66.184  1.000009187

      0392778715.000    2012-164T13:13:26.231 66.184  0.996915113

      0392779715.000    2012-164T13:30:03.146 66.184  1.000009272

      0394372698.000    2012-183T00:00:00.916 66.184  0.001000000

      0394372699.000    2012-183T00:00:00.917 67.184  1.000009272

      0396387693.000    2012-206T07:43:33.600 67.184  0.999848543

      0396388693.000    2012-206T08:00:13.449 67.184  1.000009275

      0434589485.000    2013-282T11:25:59.761 67.184  1.001583303

      0434590485.000    2013-282T11:42:41.345 67.184  1.000009438

      0488979811.000    2015-182T00:00:00.669 67.184  0.001000000

      0488979812.000    2015-182T00:00:00.670 68.184  1.000009438

      0536499363.000    2017-001T00:00:00.159 68.184  0.001000000

      0536499364.000    2017-001T00:00:00.160 69.184  1.000009438

      0626394666.000    2019-311T11:09:10.592 69.184  1.003346471

      0626395666.000    2019-311T11:25:53.938 69.184  1.000009575

      0655335115.000    2020-281T10:14:40.033 69.184  0.996931000

      0655336115.000    2020-281T10:31:16.964 69.184  1.000009464

      0707809507.000    2022-157T18:36:05.572 69.184  0.999115094

      0707810507.000    2022-157T18:52:44.687 69.184  1.000007602

      0709438101.000    2022-176T14:59:31.061 69.184  1.000009738

      0709439101.000    2022-176T15:16:11.071 69.184  1.000007639

      0713969869.000    2022-229T01:49:33.682 69.184  1.000007639

      0713970869.000    2022-229T02:06:13.689 69.184  1.000009464

     CCSD3RE00000$$data$$CCSD3RE00000$$sclk$$

MAKCLK Setup file

--------------------------------------------------------

     SCLKSCET_FILE          = MSL_76_SCLKSCET.00019.clean

     OLD_SCLK_KERNEL        = /ods/cedl/strategic/naif/misc/work/sclkscet/msl_template.tsc

     FILE_NAME              = MSL_76_SCLKSCET.00019.tsc

     NAIF_SPACECRAFT_ID     = -76

     LEAPSECONDS_FILE       = /ods/cedl/strategic/naif/kernels/lsk/msl.tls

     PARTITION_TOLERANCE    = 2560

     LOG_FILE               = MSL_76_SCLKSCET.00019.log

Kernel DATA

--------------------------------------------------------

\begindata

SCLK_KERNEL_ID           = ( @2022-08-18/20:50:01.82 )

SCLK_DATA_TYPE_76        = ( 1 )

SCLK01_TIME_SYSTEM_76    = ( 2 )

SCLK01_N_FIELDS_76       = ( 2 )

SCLK01_MODULI_76         = ( 4294967296 65536 )

SCLK01_OFFSETS_76        = ( 0 0 )

SCLK01_OUTPUT_DELIM_76   = ( 3 )

SCLK_PARTITION_START_76  = ( 0.0000000000000E+00 )

SCLK_PARTITION_END_76    = ( 2.8147497671065E+14 )

SCLK01_COEFFICIENTS_76   = (

    0.0000000000000E+00     -3.5763036976277E-10     1.0000000000053E+00

    1.2408957566976E+13     1.8934566600100E+08     9.9999999998944E-01

    1.8614849830912E+13     2.8404006700000E+08     1.0000000000000E+00

    2.4580971692032E+13     3.7507586200000E+08     9.9556599998474E-01

    2.4581037228032E+13     3.7507685756600E+08     1.0000091186048E+00

    2.4581058789376E+13     3.7507718656900E+08     1.0000040000081E+00

    2.4581124325376E+13     3.7507818657300E+08     1.0000095632730E+00

    2.4586723131392E+13     3.7516361839000E+08     9.9995900005102E-01

    2.4586788667392E+13     3.7516461834900E+08     1.0000091153724E+00

    2.4591440347136E+13     3.7523559799600E+08     9.9999699997902E-01

    2.4591505883136E+13     3.7523659799300E+08     1.0000092504443E+00

    2.4602933395456E+13     3.7541096960600E+08     1.0000099999905E+00

    2.4602998931456E+13     3.7541196961600E+08     1.0000088799185E+00

    2.4638261755904E+13     3.7595004239400E+08     9.9988899999857E-01

    2.4638327291904E+13     3.7595104228300E+08     1.0000089728970E+00

    2.4946188615680E+13     3.8064867543400E+08     1.0005509999990E+00

    2.4946254151680E+13     3.8064967598500E+08     1.0000091870079E+00

    2.5741145866240E+13     3.9277887241500E+08     9.9691500002146E-01

    2.5741211402240E+13     3.9277986933000E+08     1.0000092725350E+00

    2.5845609201664E+13     3.9437286810100E+08     1.0000092719879E+00

    2.5977663848448E+13     3.9638788078400E+08     9.9984899997711E-01

    2.5977729384448E+13     3.9638888063300E+08     1.0000092749909E+00

    2.8481256488960E+13     4.3459002694500E+08     1.0015840000510E+00

    2.8481322024960E+13     4.3459102852900E+08     1.0000094379730E+00

    3.2045780959232E+13     4.8898086885400E+08     1.0000094380099E+00

    3.5160022319104E+13     5.3650086934400E+08     1.0000094380016E+00

    4.1051400830976E+13     6.2639701977600E+08     1.0033459999561E+00

    4.1051466366976E+13     6.2639802312200E+08     1.0000095749923E+00

    4.2948042096640E+13     6.5533774921700E+08     9.9693099999428E-01

    4.2948107632640E+13     6.5533874614800E+08     1.0000094639965E+00

    4.6387003850752E+13     7.0781263475600E+08     9.9911500000954E-01

    4.6387069386752E+13     7.0781363387100E+08     1.0000076026331E+00

    4.6493735387136E+13     7.0944124024500E+08     1.0000099999905E+00

    4.6493800923136E+13     7.0944224025500E+08     1.0000076391023E+00

    4.6790729334784E+13     7.1397304286600E+08     1.0000069999695E+00

    4.6790794870784E+13     7.1397404287300E+08     1.0000094640000E+00 )

\begintext

KPL/IK

MSL_MASTCAM_LEFT Instrument Kernel

==============================================================================

Version and Date

----------------------------------------------------------

   Tue Jul 31 15:46:20 PDT 2012

Pedigree

----------------------------------------------------------

   This IK was generated by a script. All nominal parameters provided

   in this IK were obtained from the camera CDR materials; all actual

   parameters were copied/derived from the camera CAHVOR(E) model file

   'MSL_CAL_003_SN_3003_FILTER_0_FOCUS_02315-MCAML-FLIGHT.cahvor'.

Camera CCD Dimensions

----------------------------------------------------------

   The camera CCD dimensions are provided in the keywords below. The

   pixels are numbered left-to-right, top-to-bottom with the top-left

   pixel indexed (0,0).

   \begindata

      INS-76210_FOV_CENTER_PIXEL      = ( 823.5, 599.5 )

      INS-76210_PIXEL_SAMPLES         = ( 1648 )

      INS-76210_PIXEL_LINES           = ( 1200 )

   \begintext

Camera Boresight and Distortion Center Locations

----------------------------------------------------------

   The camera boresight and distortion center locations in pixel

   coordinates, computed from the model data using these formulas:

      boresight sample  =  H dot A

      boresight line    =  V dot A

      distortion sample = (O dot H) / (O dot A)

      distortion line   = (O dot V) / (O dot A)

   are:

   \begindata

      INS-76210_BORESIGHT_PIXEL       = ( 829.18782212, 601.33514402 )

      INS-76210_DISTORTION_PIXEL      = ( 837.77915717, 592.14046615 )

   \begintext

Nominal Camera Parameters

----------------------------------------------------------

   The nominal camera focal length and physical pixel size, both in

   millimeters, along with the nominal pixel IFOV, in degrees, are provided

   in the keywords below.

   \begindata

      INS-76210_FOCAL_LENGTH          = ( 34 )

      INS-76210_PIXEL_SIZE            = ( 0.0074 )

      INS-76210_IFOV_NOMINAL          = (    0.01247026 )

   \begintext

Camera FOV Definition

----------------------------------------------------------

   To better reflect distortion in the camera optics the FOV is defined as

   a polygonal pyramid with the tip at the camera focal point and the edges

   along the view directions of the corner pixels and the side-middle pixels.

   Specifically the boundary vectors provided in the FOV_BOUNDARY

   keyword corresponds to view directions of the centers of these

   pixels provided in this order:

                     (    0.0,    0.0 )

                     (  823.5,    0.0 )

                     ( 1647.0,    0.0 )

                     ( 1647.0,  599.5 )

                     ( 1647.0, 1199.0 )

                     (  823.5, 1199.0 )

                     (    0.0, 1199.0 )

                     (    0.0,  599.5 )

   The boresight direction corresponds to the view direction of the center

   pixel, (823.5,599.5).

   All directions are unit vectors specified in the 'MSL_MASTCAM_LEFT'

   frame.

   \begindata

      INS-76210_FOV_FRAME             = ( 'MSL_MASTCAM_LEFT' )

      INS-76210_FOV_SHAPE             = ( 'POLYGON' )

      INS-76210_FOV_CLASS_SPEC        = ( 'CORNERS' )

      INS-76210_BORESIGHT             = (

                                    -0.00000000  -0.00000000   1.00000000

                                         )

      INS-76210_FOV_BOUNDARY          = (

                                     0.17483767   0.12730492   0.97633255

                                    -0.00000000   0.12834274   0.99172987

                                    -0.17476887   0.12719345   0.97635940

                                    -0.17553059  -0.00005566   0.98447398

                                    -0.17480715  -0.12735688   0.97633124

                                     0.00001620  -0.12838394   0.99172454

                                     0.17491070  -0.12728511   0.97632205

                                     0.17557293   0.00003780   0.98446643

                                         )

   \begintext

Actual Camera IFOV

----------------------------------------------------------

   The actual average vertical and horizontal pixel IFOVs were computed by

   dividing the angular extent between the view directions of pixels

   (823.5,0) and (823.5,1199) for the vertical direction and between

   (0,599.5) and (1647,599.5) for the horizontal direction by the number

   of pixels minus 1. The average IFOV is simply an average of the

   vertical and horizontal IFOVs.

   In the keywords below the IFOVs are provided in degrees.

   \begindata

      INS-76210_IFOV_VERTICAL         = ( 0.01230196 )

      INS-76210_IFOV_HORIZONTAL       = ( 0.01227780 )

      INS-76210_IFOV                  = ( 0.01228988 )

   \begintext

Source CAHVOR(E) Parameters

   The keywords below contain parameters of the CAHVOR(E) model from

   which all actual camera parameters provided in this file have been

   derived. Note that the reference quaternion (CAHVOR_QUAT) is not a

   SPICE-style but an engineering style quaternion (s1,s2,s3,c.)

   \begindata

      INS-76210_CAHVOR_FILE  = ( 'MSL_CAL_003_SN_3003_FILTER_0_FOCUS_02315-MCAML-FLIGHT.cahvor' )

      INS-76210_CAHVOR_MODEL = ( ' CAHVOR ' )

      INS-76210_CAHVOR_DIMS  = (  1648 1200 )

      INS-76210_CAHVOR_C     = (       0.767151      0.433709     -1.971648 )

      INS-76210_CAHVOR_A     = (       0.999664      0.025047      0.006727 )

      INS-76210_CAHVOR_H     = (     712.373106   4664.465028     33.182389 )

      INS-76210_CAHVOR_V     = (     570.612488    -14.279011   4648.733195 )

      INS-76210_CAHVOR_O     = (       0.999627      0.026908      0.004759 )

      INS-76210_CAHVOR_R     = (      -0.000151     -0.139189     -1.250336 )

      INS-76210_CAHVOR_HS    = (    4645.242086 )

      INS-76210_CAHVOR_HC    = (     829.187822 )

      INS-76210_CAHVOR_VS    = (    4644.882626 )

      INS-76210_CAHVOR_VC    = (     601.335144 )

      INS-76210_CAHVOR_THETA = (      -1.571004 )

      INS-76210_CAHVOR_POS   = ( 0.80436 0.55942 -1.90608 )

      INS-76210_CAHVOR_QUAT  = ( 0.00001 -0.00325 -0.00104 0.99999 )

   \begintext