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.

[CosmicRocker]

... They do fine calibration of the IMU on a regular basis - (normally cited as a 'QFE' I believe) - and I'm sure one would have occurred very close to the final location.

Thanks for that tip. I am currently trying to identify the latest fine calibration of the IMU, in order to determine when the last, most accurate, attitude was known. Apparently, it is actually called a QFA (get Quick Fine Attitude). The latest one I am sure of was on sol 2148. There might have been one done on sol 2163, but I am not sure. I am still a newbie with regard to digging through the Analyst's Notebook.

I grabbed a new quaternion from sol 2149 to see what Spirit's orientation looked like on the sol after the QFA. The results are below. Although the tilts are almost the same as those James posted earlier for the last known location(~50 sols later), the heading is about 25 degrees closer to north. I wonder, is there another Fine Attitude adjustment that is not "Quick" that I should be looking for?

CODE

ORIGIN_ROTATION_QUATERNION     = (0.96302, -0.160651, 0.0309119, -0.214075)            

heading  -23.937463611379624    degrees
attitude   7.372538578449687    degrees
bank     -17.376799086843732    degrees

[AndyG]

Looking at these angles makes me wonder what the real pointing accuracy of a MER is. Or "was", for Spirit.

I mean, a figure down in the 10^-15 of a degree range equates to an angle of around six inches at one light year. Almost-sort-of handy when doing the maths on multiple quaternion rotations (and then rounding down) but essentially meaningless in any real sense.

Andy