Rover Orientation Data, Where can one find detailed rover orientation data? Options

[CosmicRocker]

I am trying to quantify Spirit's final resting orientation, but I would generally like to learn how to determine the orientation of either rover for any particular sol. I'm sure this data is in the MMB files somewhere, but I haven't been able to identify it. Likewise, I am sure it is somewhere in the Analyst's Notebook database and/or the Pancam data tracking database, but again, I can't find it.

Spirit's final orientation is the main thing I am looking for, but any orientation assistance would be greatly appreciated.

Thanks.

[djellison]

The PDS label label for just about every image, I think, includes a lot of orientation data. It's huge - but here's a segment of it

CODE

......

ROVER_MOTION_COUNTER             = (138, 1230, 11, 148, 221)
ROVER_MOTION_COUNTER_NAME        = (SITE, DRIVE, IDD, PMA, HGA)

.....

/* COORDINATE SYSTEM STATE: ROVER */

GROUP                            = ROVER_COORDINATE_SYSTEM
  COORDINATE_SYSTEM_INDEX        = (138, 1230, 11, 148, 221)
  COORDINATE_SYSTEM_INDEX_NAME   = (SITE, DRIVE, IDD, PMA, HGA)
  COORDINATE_SYSTEM_NAME         = ROVER_FRAME
  ORIGIN_OFFSET_VECTOR           = (-0.227241, 0.177903, 0.0358358)
  ORIGIN_ROTATION_QUATERNION     = (0.885949, -0.169903, 0.00321267,
                                    -0.431529)
  POSITIVE_AZIMUTH_DIRECTION     = CLOCKWISE
  POSITIVE_ELEVATION_DIRECTION   = UP
  QUATERNION_MEASUREMENT_METHOD  = COARSE
  REFERENCE_COORD_SYSTEM_INDEX   = 138
  REFERENCE_COORD_SYSTEM_NAME    = SITE_FRAME
END_GROUP                        = ROVER_COORDINATE_SYSTEM

/* COORDINATE SYSTEM STATE: INSTRUMENT DEPLOYMENT DEVICE */

GROUP                            = IDD_COORDINATE_SYSTEM
  COORDINATE_SYSTEM_INDEX        = (138, 1230, 11, 148, 221)
  COORDINATE_SYSTEM_INDEX_NAME   = (SITE, DRIVE, IDD, PMA, HGA)
  COORDINATE_SYSTEM_NAME         = MI_FRAME
  ORIGIN_OFFSET_VECTOR           = (0.998908, -0.112816, -0.124504)
  ORIGIN_ROTATION_QUATERNION     = (0.559273, -0.497552, -0.443273, 0.493117)
  POSITIVE_AZIMUTH_DIRECTION     = CLOCKWISE
  POSITIVE_ELEVATION_DIRECTION   = DOWN
  REFERENCE_COORD_SYSTEM_INDEX   = (138, 1230, 11, 148, 221)
  REFERENCE_COORD_SYSTEM_NAME    = ROVER_FRAME
END_GROUP                        = IDD_COORDINATE_SYSTEM

/* ARTICULATION DEVICE STATE: PANCAM MAST ASSEMBLY */

GROUP                            = PMA_ARTICULATION_STATE
  ARTICULATION_DEVICE_ID         = "PMA"
  ARTICULATION_DEVICE_NAME       = "PANCAM MAST ASSEMBLY"
  ARTICULATION_DEVICE_ANGLE      = (0.553583 <rad>, 0.69753 <rad>,
                                    0.553568 <rad>, 0.69766 <rad>,
                                    1.21798 <rad>, -0.296728 <rad>)
  ARTICULATION_DEVICE_ANGLE_NAME = ("AZIMUTH-MEASURED", "ELEVATION-MEASURED",
                                    "AZIMUTH-REQUESTED",
                                    "ELEVATION-REQUESTED", "AZIMUTH-INITIAL",
                                    "ELEVATION-INITIAL")
  ARTICULATION_DEVICE_MODE       = DEPLOYED
END_GROUP                        = PMA_ARTICULATION_STATE

/* ARTICULATION DEVICE STATE: HIGH GAIN ANTENNA */

GROUP                            = HGA_ARTICULATION_STATE
  ARTICULATION_DEVICE_ID         = "HGA"
  ARTICULATION_DEVICE_NAME       = "HIGH GAIN ANTENNA"
  ARTICULATION_DEVICE_ANGLE      = (2.88001 <rad>, 0.0198442 <rad>)
  ARTICULATION_DEVICE_ANGLE_NAME = (AZIMUTH, ELEVATION)
END_GROUP                        = HGA_ARTICULATION_STATE

/* ARTICULATION DEVICE STATE: FILTER */

GROUP                            = FILTER_ARTICULATION_STATE
  ARTICULATION_DEVICE_ID         = "FILTER"
  ARTICULATION_DEVICE_NAME       = "FILTER ACTUATORS"
  ARTICULATION_DEV_POSITION      = (8, 8, 1)
  ARTICULATION_DEV_POSITION_ID   = ("PANCAM_L8_440NM_SOL_ND5",
                                    "PANCAM_R8_880NM_SOL_ND5", "MI_CLOSED")
  ARTICULATION_DEV_POSITION_NAME = ("LEFT PANCAM FILTER", "RIGHT PANCAM
                                    FILTER", "MI DUST COVER")
END_GROUP                        = FILTER_ARTICULATION_STATE

/* ARTICULATION DEVICE STATE: INSTRUMENT DEPLOYMENT DEVICE */

GROUP                            = IDD_ARTICULATION_STATE
  ARTICULATION_DEVICE_ID         = "IDD"
  ARTICULATION_DEVICE_NAME       = "INSTRUMENT DEPLOYMENT DEVICE"
  ARTICULATION_DEVICE_ANGLE      = (-0.118184 <rad>, -0.899982 <rad>,
                                    1.53029 <rad>, 2.38935 <rad>,
                                    1.5708 <rad>, -0.126481 <rad>,
                                    -0.903681 <rad>, 1.53503 <rad>,
                                    2.38834 <rad>, 1.516 <rad>)
  ARTICULATION_DEVICE_ANGLE_NAME = ("JOINT 1 AZIMUTH-ENCODER", "JOINT 2
                                    ELEVATION-ENCODER", "JOINT 3
                                    ELBOW-ENCODER", "JOINT 4 WRIST-ENCODER",
                                    "JOINT 5 TURRET-ENCODER", "JOINT 1
                                    AZIMUTH-POTENTIOMETER", "JOINT 2
                                    ELEVATION-POTENTIOMETER", "JOINT 3
                                    ELBOW-POTENTIOMETER", "JOINT 4
                                    WRIST-POTENTIOMETER", "JOINT 5
                                    TURRET-POTENTIOMETER")
  ARTICULATION_DEVICE_MODE       = "FREE SPACE"
  ARTICULATION_DEVICE_TEMP       = (-23.8068 <degC>, -14.6212 <degC>)
  ARTICULATION_DEVICE_TEMP_NAME  = ("AZIMUTH JOINT 1", "TURRET JOINT 5")
  ARTICULATION_DEV_VECTOR        = (0.140944, -0.303824, 0.942245)
  ARTICULATION_DEV_INSTRUMENT_ID = "MI"
  ARTICULATION_DEV_VECTOR_NAME   = GRAVITY
  CONTACT_SENSOR_STATE           = ("NO CONTACT", "NO CONTACT", CONTACT,
                                    CONTACT, "NO CONTACT", "NO CONTACT", OPEN,
                                    "NO CONTACT")
  CONTACT_SENSOR_STATE_NAME      = ("MI SWITCH 1", "MI SWITCH 2", "RAT SWITCH
                                    1", "RAT SWITCH 2", "MB SWITCH 1", "MB
                                    SWITCH 2", "APXS DOOR SWITCH", "APXS
                                    CONTACT SWITCH")
END_GROUP                        = IDD_ARTICULATION_STATE

/* COORDINATE SYSTEM STATE: PANCAM MAST ASSEMBLY */

GROUP                            = PMA_COORDINATE_SYSTEM
  COORDINATE_SYSTEM_INDEX        = (138, 1230, 11, 148, 221)
  COORDINATE_SYSTEM_INDEX_NAME   = (SITE, DRIVE, IDD, PMA, HGA)
  COORDINATE_SYSTEM_NAME         = MAST_FRAME
  ORIGIN_OFFSET_VECTOR           = (0.45781, 0.02779, -1.09668)
  ORIGIN_ROTATION_QUATERNION     = (0.894388, -0.100912, 0.35272, 0.255881)
  POSITIVE_AZIMUTH_DIRECTION     = CLOCKWISE
  POSITIVE_ELEVATION_DIRECTION   = UP
  REFERENCE_COORD_SYSTEM_INDEX   = (138, 1230, 11, 148, 221)
  REFERENCE_COORD_SYSTEM_NAME    = ROVER_FRAME
END_GROUP                        = PMA_COORDINATE_SYSTEM

/* ARTICULATION DEVICE STATE: MOBILITY CHASSIS */

GROUP                            = CHASSIS_ARTICULATION_STATE
  ARTICULATION_DEVICE_ID         = "CHASSIS"
  ARTICULATION_DEVICE_NAME       = "MOBILITY CHASSIS"
  ARTICULATION_DEVICE_ANGLE      = (-0.0120352 <rad>, 0.00844853 <rad>,
                                    -0.0256182 <rad>, -0.0516135 <rad>,
                                    -0.382922 <rad>, -0.459977 <rad>,
                                    0.158197 <rad>)
  ARTICULATION_DEVICE_ANGLE_NAME = ("LEFT FRONT WHEEL POTENTIOMETER", "RIGHT
                                    FRONT WHEEL POTENTIOMETER", "LEFT REAR
                                    WHEEL POTENTIOMETER", "RIGHT REAR WHEEL
                                    POTENTIOMETER", "LEFT BOGIE
                                    POTENTIOMETER", "RIGHT BOGIE
                                    POTENTIOMETER", "DIFFERENTIAL BOGIE
                                    POTENTIOMETER")
  ARTICULATION_DEVICE_MODE       = DEPLOYED
END_GROUP                        = CHASSIS_ARTICULATION_STATE


....

/* DERIVED GEOMETRY DATA ELEMENTS: ROVER FRAME */

GROUP                            = ROVER_DERIVED_GEOMETRY_PARMS
  INSTRUMENT_AZIMUTH             = 31.9313 <deg>
  INSTRUMENT_ELEVATION           = 43.0455 <deg>
  REFERENCE_COORD_SYSTEM_INDEX   = (138, 1230, 11, 148, 221)
  REFERENCE_COORD_SYSTEM_NAME    = ROVER_FRAME
END_GROUP                        = ROVER_DERIVED_GEOMETRY_PARMS

/* DERIVED GEOMETRY DATA ELEMENTS: SITE FRAME */

GROUP                            = SITE_DERIVED_GEOMETRY_PARMS
  INSTRUMENT_AZIMUTH             = -38.2947 <deg>
  INSTRUMENT_ELEVATION           = 42.3127 <deg>
  REFERENCE_COORD_SYSTEM_INDEX   = 138
  REFERENCE_COORD_SYSTEM_NAME    = SITE_FRAME
  SOLAR_AZIMUTH                  = 326.775 <deg>
  SOLAR_ELEVATION                = 45.0107 <deg>
END_GROUP                        = SITE_DERIVED_GEOMETRY_PARMS

That basically includes the complete 'state' of the vehicle. IDD, PMA, Wheels, Chassis, suspension...everything.