msl_isd.json

{
  "isis_camera_version": 1,
  "image_lines": 433,
  "image_samples": 1155,
  "name_platform": "MARS SCIENCE LABORATORY",
  "name_sensor": "MAST CAMERA LEFT",
  "reference_height": {
    "maxheight": 1000,
    "minheight": -1000,
    "unit": "m"
  },
  "name_model": "USGS_ASTRO_FRAME_SENSOR_MODEL",
  "center_ephemeris_time": 425464444.31059295,
  "radii": {
    "semimajor": 3396.19,
    "semiminor": 3376.2,
    "unit": "km"
  },
  "body_rotation": {
    "time_dependent_frames": [
      10014,
      1
    ],
    "ck_table_start_time": 425464444.31059295,
    "ck_table_end_time": 425464444.31059295,
    "ck_table_original_size": 1,
    "ephemeris_times": [
      425464444.31059295
    ],
    "quaternions": [
      [
        -0.3111029220382162,
        0.292626263442782,
        -0.12526858565003654,
        0.8954845745695672
      ]
    ],
    "angular_velocities": [
      [
        3.162350134281008e-05,
        -2.880835690431447e-05,
        5.6518282037876144e-05
      ]
    ],
    "reference_frame": 1
  },
  "instrument_pointing": {
    "time_dependent_frames": [
      -76204,
      -76203,
      -76202,
      -76201,
      -76000,
      -76910,
      -76900,
      10014,
      1
    ],
    "ck_table_start_time": 425464444.31059295,
    "ck_table_end_time": 425464444.31059295,
    "ck_table_original_size": 1,
    "ephemeris_times": [
      425464444.31059295
    ],
    "quaternions": [
      [
        -0.870607032237154,
        -0.41166816887963575,
        0.10721763059879191,
        0.24713780333911683
      ]
    ],
    "angular_velocities": [
      [
        -0.0009156719741978306,
        0.0058287520982844825,
        0.004314081712021549
      ]
    ],
    "reference_frame": 1,
    "constant_frames": [
      -76506,
      -76210,
      -76205,
      -76204
    ],
    "constant_rotation": [
      0.8528510135475437,
      -0.5155672701725544,
      0.08267731622245661,
      0.522051131665568,
      0.8450736601653287,
      -0.11538251523291816,
      -0.010380973828478912,
      0.14156588155906463,
      0.9898744044376425
    ]
  },
  "naif_keywords": {
    "BODY499_RADII": [
      3396.19,
      3396.19,
      3376.2
    ],
    "BODY_FRAME_CODE": 10014,
    "BODY_CODE": 499,
    "FRAME_-76210_NAME": "MSL_MASTCAM_LEFT",
    "INS-76210_CAHVOR_H": [
      712.373106,
      4664.465028,
      33.182389
    ],
    "TKFRAME_-76210_UNITS": "DEGREES",
    "INS-76210_IFOV_VERTICAL": 0.01230196,
    "INS-76210_CAHVOR_O": [
      0.999627,
      0.026908,
      0.004759
    ],
    "INS-76210_CAHVOR_R": [
      -0.000151,
      -0.139189,
      -1.250336
    ],
    "INS-76210_CAHVOR_V": [
      570.612488,
      -14.279011,
      4648.733195
    ],
    "INS-76210_CAHVOR_FILE": "MSL_CAL_003_SN_3003_FILTER_0_FOCUS_02315-MCAML-FLIGHT.cahvor",
    "INS-76210_DISTORTION_PIXEL": [
      837.77915717,
      592.14046615
    ],
    "TKFRAME_-76210_AXES": [
      2.0,
      1.0,
      3.0
    ],
    "TKFRAME_-76210_SPEC": "ANGLES",
    "INS-76210_FOCAL_LENGTH": 34.0,
    "INS-76210_CAHVOR_QUAT": [
      1e-05,
      -0.00325,
      -0.00104,
      0.99999
    ],
    "INS-76210_CAHVOR_POS": [
      0.80436,
      0.55942,
      -1.90608
    ],
    "INS-76210_FOV_BOUNDARY": [
      0.17483767,
      0.12730492,
      0.97633255,
      -0.0,
      0.12834274,
      0.99172987,
      -0.17476887,
      0.12719345,
      0.9763594,
      -0.17553059
    ],
    "INS-76210_PIXEL_LINES": 1200.0,
    "INS-76210_CAHVOR_MODEL": " CAHVOR",
    "INS-76210_PIXEL_SIZE": 0.0074,
    "INS-76210_CAHVOR_HC": 829.187822,
    "INS-76210_IFOV_NOMINAL": 0.01247026,
    "INS-76210_CAHVOR_HS": 4645.242086,
    "INS-76210_BORESIGHT_PIXEL": [
      829.18782212,
      601.33514402
    ],
    "FRAME_-76210_CLASS_ID": -76210.0,
    "INS-76210_FOV_CENTER_PIXEL": [
      823.5,
      599.5
    ],
    "INS-76210_FOV_CLASS_SPEC": "CORNERS",
    "INS-76210_BORESIGHT": [
      -0.0,
      -0.0,
      1.0
    ],
    "INS-76210_CAHVOR_THETA": -1.5710039999999998,
    "INS-76210_IFOV": 0.01228988,
    "TKFRAME_-76210_RELATIVE": "MSL_RSM_HEAD",
    "FRAME_-76210_CLASS": 4.0,
    "INS-76210_CAHVOR_DIMS": [
      1648.0,
      1200.0
    ],
    "INS-76210_FOV_SHAPE": "POLYGON",
    "INS-76210_PIXEL_SAMPLES": 1648.0,
    "INS-76210_IFOV_HORIZONTAL": 0.0122778,
    "INS-76210_CAHVOR_VC": 601.335144,
    "INS-76210_CAHVOR_VS": 4644.882626,
    "TKFRAME_-76210_ANGLES": [
      -90.01,
      1.484,
      89.655
    ],
    "FRAME_-76210_CENTER": -76.0,
    "INS-76210_CAHVOR_A": [
      0.999664,
      0.025047,
      0.006727
    ],
    "INS-76210_CAHVOR_C": [
      0.767151,
      0.433709,
      -1.971648
    ],
    "INS-76210_FOV_FRAME": "MSL_MASTCAM_LEFT",
    "BODY499_POLE_DEC": [
      52.8865,
      -0.0609,
      0.0
    ],
    "BODY499_POLE_RA": [
      317.68143,
      -0.1061,
      0.0
    ],
    "BODY499_PM": [
      176.63,
      350.89198226,
      0.0
    ]
  },
  "detector_sample_summing": 1,
  "detector_line_summing": 1,
  "focal_length_model": {
    "focal_length": 34.0
  },
  "detector_center": {
    "line": 204.49249153912598,
    "sample": 531.5803770657237
  },
  "focal2pixel_lines": [
    0,
    136.4988453771169,
    0
  ],
  "focal2pixel_samples": [
    0,
    0, 
    136.4988453771169
  ],
  "optical_distortion": {
    "radial": {
      "coefficients": [
        0.0,
        0.0,
        0.0
      ]
    }
  },
  "starting_detector_line": 0,
  "starting_detector_sample": 0,
  "instrument_position": {
    "spk_table_start_time": 425464444.31059295,
    "spk_table_end_time": 425464444.31059295,
    "spk_table_original_size": 1,
    "ephemeris_times": [
      425464444.31059295
    ],
    "positions": [
      [
        19.352315600118366,
        -2866.349279636208,
        -1812.2459779909707
      ]
    ],
    "velocities": [
      [
        0.21420905135331522,
        0.058390826795071835,
        -0.09009439237302709
      ]
    ],
    "reference_frame": 1
  },
  "sun_position": {
    "spk_table_start_time": 425464444.31059295,
    "spk_table_end_time": 425464444.31059295,
    "spk_table_original_size": 1,
    "ephemeris_times": [
      425464444.31059295
    ],
    "positions": [
      [
        -89641519.41770834,
        -189639690.92454755,
        -84561321.11240509
      ]
    ],
    "velocities": [
      [
        21.32603665570356,
        -10.394636832105462,
        -5.343616815332323
      ]
    ],
    "reference_frame": 1
  }
}