diff --git a/bin/usgscsm_cam_test.cc b/bin/usgscsm_cam_test.cc
index e514c00a0639a522e354d99f6f08fdeae3ff2f0e..2e2b39566530b0016d598d40dbb52c8820dcf580 100644
--- a/bin/usgscsm_cam_test.cc
+++ b/bin/usgscsm_cam_test.cc
@@ -23,8 +23,9 @@ struct Options {
   std::string model;              // the .json file in isd or model state format
   std::string output_model_state; // the output model state in .json format
   int sample_rate;
-  double subpixel_offset, height_above_datum;
-  Options(): sample_rate(0), subpixel_offset(0.0), height_above_datum(0.0) {}
+  double subpixel_offset, height_above_datum, desired_precision;
+  Options(): sample_rate(0), subpixel_offset(0.0), height_above_datum(0.0), desired_precision(0.0)
+  {}
 };
 
 void printUsage(std::string const& progName) {
@@ -85,11 +86,15 @@ bool parseOptions(int argc, char **argv, Options & opt) {
     return false;
   }
 
+  if (parsed_options["desired-precision"].empty())
+    parsed_options["desired-precision"] = "0.001"; // set default value
+
   // Collect all other option values. If not set, the values will default to 0.
   opt.output_model_state = parsed_options["output-model-state"];
   opt.sample_rate        = sample_rate_double;
   opt.subpixel_offset    = atof(parsed_options["subpixel-offset"].c_str());
   opt.height_above_datum = atof(parsed_options["height-above-datum"].c_str());
+  opt.desired_precision  = atof(parsed_options["desired-precision"].c_str());
 
   return true;
 }
@@ -116,7 +121,8 @@ bool readFileInString(std::string const& filename, std::string & str) {
 }
 
 // Sort the errors and print some stats
-void printErrors(std::vector<double> & errors) {
+void printErrors(std::vector<double> & errors, double desired_precision,
+                 double max_achieved_precision) {
   std::sort(errors.begin(), errors.end());
 
   if (errors.empty()) {
@@ -129,6 +135,10 @@ void printErrors(std::vector<double> & errors) {
   std::cout << "Median: " << errors[errors.size()/2] << "\n";
   std::cout << "Max:    " << errors.back() << "\n";
   std::cout << "Count:  " << errors.size() << "\n";
+
+  std::cout << std::endl;
+  std::cout << "Desired precision: " << desired_precision << std::endl;
+  std::cout << "Max achieved precision: " << max_achieved_precision << std::endl;
 }
 
 double pixDiffNorm(csm::ImageCoord const& a, csm::ImageCoord const& b) {
@@ -237,17 +247,25 @@ int main(int argc, char **argv) {
     std::cout << "Row and column sample rate: " << opt.sample_rate << "\n";
     std::cout << "Subpixel offset for each pixel: " << opt.subpixel_offset << "\n";
     std::cout << "Ground height (relative to datum): " << opt.height_above_datum << "\n";
+    double max_achieved_precision = 0.0;
     std::vector<double> errors;
     for (int samp = 0; samp < image_size.samp; samp += opt.sample_rate) {
       for (int line = 0; line < image_size.line; line += opt.sample_rate) {
         csm::ImageCoord c(line + opt.subpixel_offset, samp + opt.subpixel_offset);
-        csm::EcefCoord ground = model->imageToGround(c, opt.height_above_datum);
-        csm::ImageCoord d = model->groundToImage(ground);
+        
+        double achieved_precision = 0.0;
+        csm::EcefCoord ground = model->imageToGround(c, opt.height_above_datum,
+                                                     opt.desired_precision, &achieved_precision);
+        max_achieved_precision = std::max(max_achieved_precision, achieved_precision);
+
+        csm::ImageCoord d = model->groundToImage(ground, opt.desired_precision,
+                                                 &achieved_precision);
+        max_achieved_precision = std::max(max_achieved_precision, achieved_precision);
         double error = pixDiffNorm(c, d);
         errors.push_back(error);
       }   
     }
-    printErrors(errors);
+    printErrors(errors, opt.desired_precision, max_achieved_precision);
   }
     
   return 0;
diff --git a/docs/source/tools/usgscsm_cam_test.rst b/docs/source/tools/usgscsm_cam_test.rst
index 19fa3281c9bc7f72026e752268a42efb1f0b85c0..3fb1b92ef80925173bd5c378de5b0821c82fb752 100644
--- a/docs/source/tools/usgscsm_cam_test.rst
+++ b/docs/source/tools/usgscsm_cam_test.rst
@@ -39,5 +39,9 @@ Command line options
     Let the ground be obtained from the datum for this camera by 
     adding to its radii this value (the units are meters).
 
+--desired-precision <double (default: 0.001)>
+    Use this value for operations (ground-to-image and image-to-ground)
+    which need a precision value. Measured in pixels.
+
 --help <no value>
     Print the usage message.
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index ebb29831819bbdb37a35fe9be700d1921a565b81..721ef0649fd445a3be7f28209aa5d747b703f96c 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -26,7 +26,7 @@ endif()
 # uses as input the output of the first test.
 # 1. Save the model state for an ISD camera model.
 add_test(NAME test_usgscsm_cam_test_save_state
-    COMMAND usgscsm_cam_test --model data/toughLroNacLineScan.json  --sample-rate 100 --subpixel-offset 0.3 --height-above-datum 2307.5 --output-model-state model_state.json
+    COMMAND usgscsm_cam_test --model data/toughLroNacLineScan.json  --sample-rate 100 --subpixel-offset 0.3 --height-above-datum 2307.5 --desired-precision 1e-8 --output-model-state model_state.json
     WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/tests)
 # 2. Load back the state and save it again.
 add_test(NAME test_usgscsm_cam_test_load_state
diff --git a/tests/Fixtures.h b/tests/Fixtures.h
index 8751032887ba4714f0dce2b14d0a208497abb275..35a2251846e0b3164c04d5d4acf879502e6b6c08 100644
--- a/tests/Fixtures.h
+++ b/tests/Fixtures.h
@@ -252,7 +252,7 @@ class OrbitalLineScanSensorModel : public ::testing::Test {
     isd.setFilename("data/orbitalLineScan.img");
     UsgsAstroPlugin cameraPlugin;
 
-    model =  std::shared_ptr<csm::Model>(cameraPlugin.constructModelFromISD(
+    model = std::shared_ptr<csm::Model>(cameraPlugin.constructModelFromISD(
       isd, UsgsAstroLsSensorModel::_SENSOR_MODEL_NAME));
     sensorModel = dynamic_cast<UsgsAstroLsSensorModel *>(model.get());
     
diff --git a/tests/data/ctxLineScan.json b/tests/data/ctxLineScan.json
new file mode 100644
index 0000000000000000000000000000000000000000..c69838e56c89a599692837b1059ce105a95d653b
--- /dev/null
+++ b/tests/data/ctxLineScan.json
@@ -0,0 +1,2516 @@
+{
+  "isis_camera_version": 1,
+  "image_lines": 11264,
+  "image_samples": 5000,
+  "name_platform": "Mars_Reconnaissance_Orbiter",
+  "name_sensor": "CONTEXT CAMERA",
+  "reference_height": {
+    "maxheight": 1000,
+    "minheight": -1000,
+    "unit": "m"
+  },
+  "name_model": "USGS_ASTRO_LINE_SCANNER_SENSOR_MODEL",
+  "interpolation_method": "lagrange",
+  "line_scan_rate": [
+    [
+      0.5,
+      -10.57126396894455,
+      0.001877
+    ]
+  ],
+  "starting_ephemeris_time": 316465854.27447015,
+  "center_ephemeris_time": 316465864.8457341,
+  "radii": {
+    "semimajor": 3396.19,
+    "semiminor": 3376.2,
+    "unit": "km"
+  },
+  "body_rotation": {
+    "time_dependent_frames": [
+      10014,
+      1
+    ],
+    "ck_table_start_time": 316465854.27447015,
+    "ck_table_end_time": 316465875.41699815,
+    "ck_table_original_size": 2,
+    "ephemeris_times": [
+      316465854.27447015,
+      316465875.41699815
+    ],
+    "quaternions": [
+      [
+        0.6772361094215446,
+        0.011538839651282475,
+        -0.31808509228316956,
+        0.6633550944571688
+      ],
+      [
+        0.6777329806654347,
+        0.011300490742532624,
+        -0.31809364920478556,
+        0.6628474456184517
+      ]
+    ],
+    "angular_velocities": [
+      [
+        3.162380988414122e-05,
+        -2.8804936954524096e-05,
+        5.6519852482766844e-05
+      ],
+      [
+        3.1623809884081394e-05,
+        -2.8804936955187485e-05,
+        5.651985248246224e-05
+      ]
+    ],
+    "reference_frame": 1
+  },
+  "instrument_pointing": {
+    "time_dependent_frames": [
+      -74000,
+      1
+    ],
+    "ck_table_start_time": 316465854.27447015,
+    "ck_table_end_time": 316465875.41699815,
+    "ck_table_original_size": 174,
+    "ephemeris_times": [
+      316465854.27447015,
+      316465854.3952846,
+      316465854.51609904,
+      316465854.6369135,
+      316465854.7577279,
+      316465854.87854236,
+      316465854.9993568,
+      316465855.12017125,
+      316465855.2409857,
+      316465855.36180013,
+      316465855.48261464,
+      316465855.6034291,
+      316465855.7242435,
+      316465855.84505796,
+      316465855.9658724,
+      316465856.08668685,
+      316465856.2075013,
+      316465856.32831573,
+      316465856.4491302,
+      316465856.5699446,
+      316465856.69075906,
+      316465856.8115735,
+      316465856.93238795,
+      316465857.0532024,
+      316465857.17401683,
+      316465857.2948313,
+      316465857.4156457,
+      316465857.53646016,
+      316465857.6572746,
+      316465857.77808905,
+      316465857.89890355,
+      316465858.019718,
+      316465858.14053243,
+      316465858.2613469,
+      316465858.3821613,
+      316465858.50297576,
+      316465858.6237902,
+      316465858.74460465,
+      316465858.8654191,
+      316465858.98623353,
+      316465859.107048,
+      316465859.2278624,
+      316465859.34867686,
+      316465859.4694913,
+      316465859.59030575,
+      316465859.7111202,
+      316465859.83193463,
+      316465859.9527491,
+      316465860.0735635,
+      316465860.194378,
+      316465860.31519246,
+      316465860.4360069,
+      316465860.55682135,
+      316465860.6776358,
+      316465860.79845023,
+      316465860.9192647,
+      316465861.0400791,
+      316465861.16089356,
+      316465861.281708,
+      316465861.40252244,
+      316465861.5233369,
+      316465861.64415133,
+      316465861.7649658,
+      316465861.8857802,
+      316465862.00659466,
+      316465862.1274091,
+      316465862.24822354,
+      316465862.369038,
+      316465862.61066693,
+      316465862.7314814,
+      316465862.8522958,
+      316465862.97311026,
+      316465863.0939247,
+      316465863.21473914,
+      316465863.3355536,
+      316465863.456368,
+      316465863.5771825,
+      316465863.6979969,
+      316465863.81881136,
+      316465863.9396258,
+      316465864.06044024,
+      316465864.1812547,
+      316465864.3020691,
+      316465864.42288357,
+      316465864.543698,
+      316465864.66451246,
+      316465864.7853269,
+      316465864.9061414,
+      316465865.02695584,
+      316465865.1477703,
+      316465865.2685847,
+      316465865.3893992,
+      316465865.5102136,
+      316465865.63102806,
+      316465865.7518425,
+      316465865.87265694,
+      316465865.9934714,
+      316465866.1142858,
+      316465866.23510027,
+      316465866.3559147,
+      316465866.47672915,
+      316465866.5975436,
+      316465866.71835804,
+      316465866.8391725,
+      316465866.9599869,
+      316465867.08080137,
+      316465867.20161587,
+      316465867.3224303,
+      316465867.44324476,
+      316465867.5640592,
+      316465867.68487364,
+      316465867.8056881,
+      316465867.9265025,
+      316465868.04731697,
+      316465868.1681314,
+      316465868.28894585,
+      316465868.4097603,
+      316465868.53057474,
+      316465868.6513892,
+      316465868.7722036,
+      316465868.89301807,
+      316465869.0138325,
+      316465869.13464695,
+      316465869.2554614,
+      316465869.37627584,
+      316465869.4970903,
+      316465869.6179048,
+      316465869.7387192,
+      316465869.85953367,
+      316465870.10116255,
+      316465870.221977,
+      316465870.34279144,
+      316465870.4636059,
+      316465870.5844203,
+      316465870.70523477,
+      316465870.8260492,
+      316465870.94686365,
+      316465871.0676781,
+      316465871.18849254,
+      316465871.309307,
+      316465871.4301214,
+      316465871.55093586,
+      316465871.6717503,
+      316465871.79256475,
+      316465871.91337925,
+      316465872.0341937,
+      316465872.15500814,
+      316465872.2758226,
+      316465872.396637,
+      316465872.51745147,
+      316465872.6382659,
+      316465872.75908035,
+      316465872.8798948,
+      316465873.00070924,
+      316465873.1215237,
+      316465873.2423381,
+      316465873.36315256,
+      316465873.483967,
+      316465873.60478145,
+      316465873.7255959,
+      316465873.84641033,
+      316465873.9672248,
+      316465874.0880392,
+      316465874.20885366,
+      316465874.32966816,
+      316465874.4504826,
+      316465874.57129705,
+      316465874.6921115,
+      316465874.81292593,
+      316465874.9337404,
+      316465875.0545548,
+      316465875.17536926,
+      316465875.2961837,
+      316465875.41699815
+    ],
+    "quaternions": [
+      [
+        0.7441637900990853,
+        0.1299747862505818,
+        0.5191863092477869,
+        0.3997153796567523
+      ],
+      [
+        0.7441271023767089,
+        0.12997831165527074,
+        0.5192292852020768,
+        0.39972671088661155
+      ],
+      [
+        0.7440902381974591,
+        0.12998222828874514,
+        0.5192725310860365,
+        0.39973788437905483
+      ],
+      [
+        0.7440546826314879,
+        0.1299858763087166,
+        0.5193145932533237,
+        0.39974823883107474
+      ],
+      [
+        0.7440186220436062,
+        0.1299901184597747,
+        0.5193574849024669,
+        0.399758254487548
+      ],
+      [
+        0.7439836773551145,
+        0.12999389566280892,
+        0.5193992243675409,
+        0.39976783343081074
+      ],
+      [
+        0.7439473575354031,
+        0.1299987981884254,
+        0.5194412581659772,
+        0.39977921531840915
+      ],
+      [
+        0.7439114648371328,
+        0.13000349100962308,
+        0.5194829846735726,
+        0.39979026181714206
+      ],
+      [
+        0.7438756492847495,
+        0.1300070943549709,
+        0.5195249327173753,
+        0.39980122323922035
+      ],
+      [
+        0.7438396702953288,
+        0.13001142074318453,
+        0.5195678949862097,
+        0.3998109276531522
+      ],
+      [
+        0.7438044086790289,
+        0.13001546662537491,
+        0.519609673448819,
+        0.39982091907032336
+      ],
+      [
+        0.7437686067161486,
+        0.1300183841463158,
+        0.519652032492916,
+        0.3998315202350629
+      ],
+      [
+        0.7437323816100279,
+        0.13002172095487122,
+        0.519694809347419,
+        0.3998422210847169
+      ],
+      [
+        0.7436961781172129,
+        0.13002571536412255,
+        0.5197374654594817,
+        0.39985281666589906
+      ],
+      [
+        0.7436607943084227,
+        0.13003027824825372,
+        0.5197799769948376,
+        0.3998618827326427
+      ],
+      [
+        0.743626521745152,
+        0.13003672492536555,
+        0.5198211533778945,
+        0.39986999741011736
+      ],
+      [
+        0.7435902616537065,
+        0.13004090566676793,
+        0.5198644963800527,
+        0.3998797207044305
+      ],
+      [
+        0.743553782729845,
+        0.13004477286939212,
+        0.5199079390848788,
+        0.39988981496657394
+      ],
+      [
+        0.743518176482351,
+        0.13005016169304,
+        0.5199503623297441,
+        0.3998991090226903
+      ],
+      [
+        0.7434820098326125,
+        0.13005361468014373,
+        0.5199931125254162,
+        0.3999096414066779
+      ],
+      [
+        0.7434454703417059,
+        0.13005634661089893,
+        0.5200355663763049,
+        0.39992147859086197
+      ],
+      [
+        0.7434091840328237,
+        0.13005889802147183,
+        0.5200799060987998,
+        0.39993044321901194
+      ],
+      [
+        0.7433733261381645,
+        0.1300624527975555,
+        0.5201235597538727,
+        0.39993916905890253
+      ],
+      [
+        0.7433375698520434,
+        0.13006675559212574,
+        0.5201666435990326,
+        0.39994819567428197
+      ],
+      [
+        0.7433016592969287,
+        0.1300707575717526,
+        0.5202090787099645,
+        0.39995844251481066
+      ],
+      [
+        0.7432651116319181,
+        0.1300754545824989,
+        0.5202519553909006,
+        0.3999690648761388
+      ],
+      [
+        0.7432300864854844,
+        0.13007826582583246,
+        0.5202937828497616,
+        0.3999788279776927
+      ],
+      [
+        0.7431943462340149,
+        0.13008170541479536,
+        0.5203364963284122,
+        0.39998855512482595
+      ],
+      [
+        0.7431594646102,
+        0.1300877667819765,
+        0.520378963421819,
+        0.3999961468839323
+      ],
+      [
+        0.7431231000303876,
+        0.1300918035896377,
+        0.5204219847128502,
+        0.4000064232828765
+      ],
+      [
+        0.7430868543069347,
+        0.13009627088909156,
+        0.5204649605250734,
+        0.4000163898174801
+      ],
+      [
+        0.7430512493661898,
+        0.130101205131776,
+        0.5205076727416167,
+        0.40002534901642156
+      ],
+      [
+        0.7430159722713028,
+        0.1301051268733158,
+        0.5205501637778516,
+        0.40003430840599297
+      ],
+      [
+        0.7429788193613325,
+        0.13010969305684544,
+        0.5205945090981856,
+        0.4000441211290488
+      ],
+      [
+        0.7429432754951242,
+        0.13011317881074724,
+        0.5206369605206003,
+        0.40005375318350583
+      ],
+      [
+        0.7429079360580477,
+        0.1301160901284304,
+        0.5206790516125979,
+        0.40006365348962625
+      ],
+      [
+        0.7428737315199142,
+        0.13011717714233675,
+        0.5207214543058177,
+        0.40007162640685034
+      ],
+      [
+        0.7428382401859668,
+        0.13011992992117946,
+        0.5207641319394948,
+        0.4000810813323068
+      ],
+      [
+        0.7428032955167858,
+        0.13012312332033624,
+        0.5208053117011404,
+        0.40009131988914864
+      ],
+      [
+        0.742768200924478,
+        0.13012661955672583,
+        0.5208473806442604,
+        0.4001005731740041
+      ],
+      [
+        0.7427328751935744,
+        0.1301302140493645,
+        0.5208896467135383,
+        0.4001099591922178
+      ],
+      [
+        0.7426964535095827,
+        0.1301328643825854,
+        0.5209329655093786,
+        0.4001203081542809
+      ],
+      [
+        0.742660107170617,
+        0.13013587289858763,
+        0.5209764815030972,
+        0.4001301357344925
+      ],
+      [
+        0.7426243488838122,
+        0.1301377251311738,
+        0.5210188818089674,
+        0.40014069243343675
+      ],
+      [
+        0.7425886126130739,
+        0.13014167930547915,
+        0.5210615423398831,
+        0.4001501778324261
+      ],
+      [
+        0.7425530598824218,
+        0.13014559361181727,
+        0.5211038734360502,
+        0.4001597566130622
+      ],
+      [
+        0.7425176021028418,
+        0.13014847756302197,
+        0.5211472032229095,
+        0.400168185802436
+      ],
+      [
+        0.7424816311923896,
+        0.13015165064899303,
+        0.5211900356379883,
+        0.400178112753438
+      ],
+      [
+        0.7424457038417852,
+        0.13015482959707328,
+        0.5212327389374033,
+        0.4001881170640202
+      ],
+      [
+        0.7424096785080131,
+        0.1301575058150264,
+        0.5212764750841368,
+        0.40019711325982543
+      ],
+      [
+        0.7423732473683555,
+        0.1301601261189037,
+        0.5213208440180365,
+        0.40020604787133796
+      ],
+      [
+        0.7423370675719022,
+        0.13016268799104608,
+        0.5213633712969223,
+        0.4002169259709065
+      ],
+      [
+        0.7423008880020886,
+        0.13016617497742802,
+        0.5214069081057814,
+        0.4002261794818344
+      ],
+      [
+        0.7422654348219292,
+        0.1301699840629058,
+        0.5214498495664112,
+        0.400234748497482
+      ],
+      [
+        0.7422293228569292,
+        0.13017323737456585,
+        0.5214938178867294,
+        0.40024337404720656
+      ],
+      [
+        0.7421933390060544,
+        0.1301765237444911,
+        0.5215375943384979,
+        0.40025199298998676
+      ],
+      [
+        0.7421573854409017,
+        0.1301802195650389,
+        0.5215815071044483,
+        0.4002602367412678
+      ],
+      [
+        0.7421218807648722,
+        0.13018340531826397,
+        0.5216245422528452,
+        0.40026894956923553
+      ],
+      [
+        0.7420846693089317,
+        0.1301864183405338,
+        0.5216689569793894,
+        0.4002790768705665
+      ],
+      [
+        0.7420489849378095,
+        0.13018987159250292,
+        0.5217113745761811,
+        0.40028882438225266
+      ],
+      [
+        0.7420131094906459,
+        0.13019331314914478,
+        0.521754243703523,
+        0.4002983334122644
+      ],
+      [
+        0.7419787021227113,
+        0.13019544407860678,
+        0.5217953611361552,
+        0.40030782284919275
+      ],
+      [
+        0.741942661166522,
+        0.13019916907433862,
+        0.5218385341668698,
+        0.4003171344972188
+      ],
+      [
+        0.7419071329789498,
+        0.13020404763368457,
+        0.5218802128683058,
+        0.4003270605783375
+      ],
+      [
+        0.7418714342425691,
+        0.13020664614927838,
+        0.521922940787008,
+        0.4003366686098982
+      ],
+      [
+        0.7418363220321479,
+        0.13020908800712588,
+        0.5219652733222017,
+        0.40034574827247416
+      ],
+      [
+        0.7418006035662813,
+        0.13021126003690192,
+        0.5220084618902786,
+        0.40035491507317433
+      ],
+      [
+        0.7417644759071763,
+        0.13021379879782416,
+        0.5220520025612536,
+        0.40036425353242616
+      ],
+      [
+        0.7416937689254707,
+        0.1302169619127574,
+        0.5221377277993222,
+        0.4003824286552833
+      ],
+      [
+        0.7416579142324692,
+        0.13021985478716502,
+        0.5221811161422762,
+        0.4003913206101749
+      ],
+      [
+        0.7416217189659962,
+        0.13022356187456618,
+        0.5222243917673017,
+        0.40040071744927447
+      ],
+      [
+        0.7415856177745143,
+        0.13022582438553107,
+        0.5222682403961747,
+        0.4004096542874366
+      ],
+      [
+        0.7415501391526738,
+        0.13022817923751762,
+        0.5223118485592776,
+        0.40041771353140904
+      ],
+      [
+        0.7415145436559244,
+        0.13023139119621122,
+        0.5223552237940505,
+        0.4004260062345015
+      ],
+      [
+        0.7414785780433375,
+        0.1302340788908941,
+        0.5223990312691241,
+        0.40043458283139255
+      ],
+      [
+        0.7414433798420823,
+        0.13023476803443865,
+        0.5224417339567802,
+        0.40044382165741865
+      ],
+      [
+        0.7414073834494327,
+        0.13023738007585056,
+        0.522485299163102,
+        0.400452779683308
+      ],
+      [
+        0.7413714624419662,
+        0.13024055029683507,
+        0.5225285958428433,
+        0.40046175880044366
+      ],
+      [
+        0.7413363855151973,
+        0.13024356987930344,
+        0.5225711685359608,
+        0.4004701609749699
+      ],
+      [
+        0.7413011633777815,
+        0.13024588568360124,
+        0.522614179938529,
+        0.40047848052600876
+      ],
+      [
+        0.7412656660675793,
+        0.13024802820096212,
+        0.5226575199151757,
+        0.4004869290442163
+      ],
+      [
+        0.7412301942365208,
+        0.13025083148723512,
+        0.5227006772445227,
+        0.4004953458619599
+      ],
+      [
+        0.7411938777627658,
+        0.13025383256615242,
+        0.5227448309354766,
+        0.4005039530379979
+      ],
+      [
+        0.7411577574287082,
+        0.13025681625556323,
+        0.5227883085335058,
+        0.40051307704354533
+      ],
+      [
+        0.7411216521578675,
+        0.13025939471698147,
+        0.5228320982656052,
+        0.400521889306868
+      ],
+      [
+        0.7410870147040972,
+        0.13026164451620792,
+        0.5228751801758553,
+        0.40052900838886707
+      ],
+      [
+        0.7410509488352656,
+        0.13026338305999716,
+        0.5229184143771642,
+        0.40053872992432266
+      ],
+      [
+        0.7410148404863661,
+        0.13026468470281202,
+        0.5229612675227053,
+        0.4005491614886839
+      ],
+      [
+        0.7409793474475257,
+        0.1302674968280454,
+        0.5230044048736929,
+        0.4005575843859512
+      ],
+      [
+        0.7409441132101613,
+        0.13026936633212408,
+        0.5230473563225335,
+        0.4005660698794187
+      ],
+      [
+        0.7409084243132226,
+        0.13027087113037436,
+        0.5230911784170881,
+        0.40057437009730573
+      ],
+      [
+        0.7408723367005152,
+        0.1302732888054455,
+        0.5231349172550731,
+        0.4005832114358504
+      ],
+      [
+        0.7408365967683793,
+        0.13027538180310025,
+        0.5231785263754797,
+        0.400591676553924
+      ],
+      [
+        0.7408022387149575,
+        0.13027699754715796,
+        0.523220522413798,
+        0.4005998401772486
+      ],
+      [
+        0.7407663011664162,
+        0.13027911638885137,
+        0.5232642853735282,
+        0.4006084454198357
+      ],
+      [
+        0.7407307078126989,
+        0.13028226013990069,
+        0.5233081428655539,
+        0.4006159492665542
+      ],
+      [
+        0.7406943030401957,
+        0.1302837035566483,
+        0.5233521622222246,
+        0.4006252866815629
+      ],
+      [
+        0.7406585101549705,
+        0.13028542454523623,
+        0.5233958112210415,
+        0.4006338781011347
+      ],
+      [
+        0.7406227439089933,
+        0.13028877741838626,
+        0.5234399317248379,
+        0.4006412654226133
+      ],
+      [
+        0.7405868344055944,
+        0.13029148981037972,
+        0.5234838217760012,
+        0.4006494187277506
+      ],
+      [
+        0.7405506625841193,
+        0.13029477509501822,
+        0.5235282463820178,
+        0.40065716388120376
+      ],
+      [
+        0.740514139339381,
+        0.13029620739271067,
+        0.5235722479067219,
+        0.40066670562879797
+      ],
+      [
+        0.7404775874089844,
+        0.1302978766997348,
+        0.5236164921363631,
+        0.4006758977469453
+      ],
+      [
+        0.7404432077947715,
+        0.13029950903965526,
+        0.5236589100690587,
+        0.40068346594275517
+      ],
+      [
+        0.7404081476669315,
+        0.1303012994716363,
+        0.5237013889799189,
+        0.40069215291159627
+      ],
+      [
+        0.740373021540214,
+        0.13030310366651618,
+        0.5237438955298961,
+        0.4007009134572271
+      ],
+      [
+        0.740337900411187,
+        0.13030386961753668,
+        0.5237862387931596,
+        0.4007102080411312
+      ],
+      [
+        0.7403022491499472,
+        0.13030508490094345,
+        0.5238294568754481,
+        0.40071918454456423
+      ],
+      [
+        0.7402666664868046,
+        0.13030634042302117,
+        0.5238731940573086,
+        0.4007273345833389
+      ],
+      [
+        0.7402310240643442,
+        0.13030717145786494,
+        0.5239170743816661,
+        0.40073553779351617
+      ],
+      [
+        0.7401946737670314,
+        0.13030751823482115,
+        0.523961669906734,
+        0.400744262699975
+      ],
+      [
+        0.7401583319279167,
+        0.1303082533799833,
+        0.5240062304492286,
+        0.4007528829954089
+      ],
+      [
+        0.7401221317506523,
+        0.13030947437645052,
+        0.5240504295429582,
+        0.4007615479015475
+      ],
+      [
+        0.7400880034418232,
+        0.13031019946310388,
+        0.5240929259739145,
+        0.4007687662748718
+      ],
+      [
+        0.7400527420689204,
+        0.13031215206891641,
+        0.5241360916977876,
+        0.40077679493604434
+      ],
+      [
+        0.7400164548930536,
+        0.13031612768941153,
+        0.5241799264391286,
+        0.4007851769587094
+      ],
+      [
+        0.7399801265186026,
+        0.1303187986794082,
+        0.5242240530402001,
+        0.4007936692144405
+      ],
+      [
+        0.7399439584765994,
+        0.13032055365849962,
+        0.5242683802229187,
+        0.4008018925935353
+      ],
+      [
+        0.7399088178649474,
+        0.1303212376212025,
+        0.5243112620754369,
+        0.4008104498780398
+      ],
+      [
+        0.7398724196125112,
+        0.13032231836102212,
+        0.524355770599583,
+        0.40081906375901594
+      ],
+      [
+        0.7398359971905724,
+        0.1303227550428494,
+        0.5244001739541538,
+        0.4008280608140182
+      ],
+      [
+        0.7398003441656783,
+        0.13032490794963691,
+        0.5244435167201429,
+        0.4008364590583944
+      ],
+      [
+        0.7397650007536521,
+        0.13032656233878062,
+        0.5244865614537892,
+        0.40084482990714176
+      ],
+      [
+        0.7397300138108087,
+        0.13032917205344965,
+        0.5245298179133936,
+        0.4008519473559602
+      ],
+      [
+        0.7396939045426411,
+        0.1303302254997405,
+        0.524573945435415,
+        0.40086049402999435
+      ],
+      [
+        0.7396578301568074,
+        0.13033121608816972,
+        0.5246175292266089,
+        0.4008697000633379
+      ],
+      [
+        0.7396235210522183,
+        0.13033429379955044,
+        0.5246591739733043,
+        0.40087750015652074
+      ],
+      [
+        0.7395879921084002,
+        0.13033630993088377,
+        0.5247028624406285,
+        0.40088521348295786
+      ],
+      [
+        0.7395524319139991,
+        0.13033814724870546,
+        0.5247457107828559,
+        0.400894134201113
+      ],
+      [
+        0.739481738666205,
+        0.13034057705458565,
+        0.5248331338869997,
+        0.40090930860561835
+      ],
+      [
+        0.7394450880812231,
+        0.1303415777882986,
+        0.5248770159823511,
+        0.40091913512037775
+      ],
+      [
+        0.7394088149580482,
+        0.1303432312052055,
+        0.5249210696017265,
+        0.40092782034862656
+      ],
+      [
+        0.7393729858449613,
+        0.13034555297183445,
+        0.5249644450321528,
+        0.4009363491568921
+      ],
+      [
+        0.7393373642806927,
+        0.13034859985054137,
+        0.5250081036614576,
+        0.40094388059338437
+      ],
+      [
+        0.7393014499018986,
+        0.1303516128980926,
+        0.5250526435818976,
+        0.40095080079166473
+      ],
+      [
+        0.7392658688435414,
+        0.1303525564068287,
+        0.525096061781301,
+        0.4009592399521136
+      ],
+      [
+        0.7392304704789054,
+        0.13035368901621242,
+        0.5251400341605421,
+        0.40096654698025064
+      ],
+      [
+        0.7391950826823509,
+        0.1303548592425129,
+        0.525184050696063,
+        0.40097375637885857
+      ],
+      [
+        0.7391596502121496,
+        0.13035585806718455,
+        0.5252281452706411,
+        0.4009809935413189
+      ],
+      [
+        0.7391234608100464,
+        0.13035705961842384,
+        0.5252732174087401,
+        0.40098827135078297
+      ],
+      [
+        0.7390881195244088,
+        0.1303597861369703,
+        0.525317701194254,
+        0.40099425251265264
+      ],
+      [
+        0.7390519620619584,
+        0.13036118910140715,
+        0.5253622714992788,
+        0.4010020466700322
+      ],
+      [
+        0.7390166673777984,
+        0.13036338396656758,
+        0.525406332505744,
+        0.4010086523024928
+      ],
+      [
+        0.7389810030796874,
+        0.13036443004930456,
+        0.5254505797025381,
+        0.40101606047080696
+      ],
+      [
+        0.7389459406321285,
+        0.13036506748268892,
+        0.5254945490301207,
+        0.40102284840537805
+      ],
+      [
+        0.7389106943380093,
+        0.13036540605682465,
+        0.5255389944854999,
+        0.40102944028054854
+      ],
+      [
+        0.7388750914968159,
+        0.13036708781931367,
+        0.5255827806528585,
+        0.40103710833324724
+      ],
+      [
+        0.7388399507653465,
+        0.13036951142124437,
+        0.5256270008790923,
+        0.40104310689961625
+      ],
+      [
+        0.7388041138952552,
+        0.1303696968289303,
+        0.5256712486595989,
+        0.4010510712775094
+      ],
+      [
+        0.7387685285144188,
+        0.13036950986521353,
+        0.525714886924675,
+        0.40105948416652704
+      ],
+      [
+        0.7387337464227246,
+        0.13037022070064508,
+        0.5257585013163144,
+        0.40106614883873426
+      ],
+      [
+        0.7386975565980846,
+        0.13037128618208454,
+        0.5258029262738417,
+        0.4010742204843309
+      ],
+      [
+        0.7386621505282455,
+        0.13037133931473546,
+        0.525846373804323,
+        0.40108245089895683
+      ],
+      [
+        0.7386263297636678,
+        0.13037236265348592,
+        0.5258905365222609,
+        0.4010901839142039
+      ],
+      [
+        0.7385908944093079,
+        0.13037296536931803,
+        0.5259343118023517,
+        0.40109784375568
+      ],
+      [
+        0.7385554923711878,
+        0.1303724759763731,
+        0.5259788777662361,
+        0.4011047523277595
+      ],
+      [
+        0.7385196324057388,
+        0.1303734080836724,
+        0.5260234247503844,
+        0.4011120586940978
+      ],
+      [
+        0.7384850206890254,
+        0.1303739719923343,
+        0.5260670984689355,
+        0.4011183236320014
+      ],
+      [
+        0.7384490195645722,
+        0.13037414678121387,
+        0.5261119212353681,
+        0.40112575794783156
+      ],
+      [
+        0.7384125657290012,
+        0.1303744397093357,
+        0.526157096378822,
+        0.4011335166427726
+      ],
+      [
+        0.73837666570314,
+        0.13037092895417218,
+        0.5262013884469826,
+        0.40114264199310373
+      ],
+      [
+        0.7383410837678962,
+        0.13037120939480573,
+        0.5262452189784976,
+        0.40115054690684077
+      ],
+      [
+        0.7383060852835857,
+        0.13037130984037812,
+        0.5262876877683906,
+        0.4011592149099055
+      ],
+      [
+        0.7382714437332304,
+        0.13037237891895562,
+        0.5263314852900657,
+        0.4011651602213447
+      ],
+      [
+        0.7382358698101589,
+        0.13037362070281883,
+        0.5263759507445214,
+        0.4011718809042789
+      ],
+      [
+        0.7381997230674827,
+        0.1303758502453821,
+        0.5264198080186715,
+        0.40118012445966283
+      ],
+      [
+        0.7381637987072455,
+        0.13037764201343902,
+        0.5264631339086626,
+        0.40118879019256576
+      ],
+      [
+        0.7381282175880632,
+        0.13037760003295162,
+        0.5265061091707515,
+        0.4011978723968926
+      ],
+      [
+        0.7380925251388366,
+        0.13037727657777826,
+        0.526549458976269,
+        0.40120675136160905
+      ],
+      [
+        0.7380564378174527,
+        0.13037748777502992,
+        0.5265937524365729,
+        0.40121493637756556
+      ],
+      [
+        0.7380201259627077,
+        0.13037809784150578,
+        0.5266387216104987,
+        0.4012225095600687
+      ],
+      [
+        0.7379848453049392,
+        0.13037831948464737,
+        0.5266828693495337,
+        0.4012293820775671
+      ],
+      [
+        0.7379491783483908,
+        0.13037828761356737,
+        0.5267280570040986,
+        0.4012356742097791
+      ],
+      [
+        0.7379136122337611,
+        0.1303792869612273,
+        0.5267724731190314,
+        0.40124245036594
+      ]
+    ],
+    "angular_velocities": [
+      [
+        -0.0003147131120969432,
+        -0.000827229863536755,
+        -0.0003104797258735743
+      ],
+      [
+        -0.00031601063463380897,
+        -0.0008275111103890033,
+        -0.00031029462292347736
+      ],
+      [
+        -0.00032540048580799593,
+        -0.0008291168077970768,
+        -0.0003100125883361037
+      ],
+      [
+        -0.0003249932990966731,
+        -0.0008248038349723671,
+        -0.00031610504274927
+      ],
+      [
+        -0.0003249063974086822,
+        -0.0008191012217536984,
+        -0.0003044876340912291
+      ],
+      [
+        -0.0003238933725699924,
+        -0.0008347420921215605,
+        -0.00030737759374948145
+      ],
+      [
+        -0.00031249485955860796,
+        -0.0008250078025942673,
+        -0.0003056468388384573
+      ],
+      [
+        -0.000321048476214366,
+        -0.0008246020106576262,
+        -0.0003110810291151877
+      ],
+      [
+        -0.00031653293110054943,
+        -0.0008283000129118656,
+        -0.0003055319260883586
+      ],
+      [
+        -0.0003236665009674185,
+        -0.0008250813673707813,
+        -0.000297404634661629
+      ],
+      [
+        -0.0003342040035151231,
+        -0.00082575979710502,
+        -0.00030509060617706237
+      ],
+      [
+        -0.000315740378652129,
+        -0.0008274212549173421,
+        -0.00031008037506715367
+      ],
+      [
+        -0.0003146503688945908,
+        -0.000827208542250565,
+        -0.0003053297861590974
+      ],
+      [
+        -0.00031857476334921263,
+        -0.0008379141825141103,
+        -0.00031671259220160224
+      ],
+      [
+        -0.0003218923144838692,
+        -0.0008284210627481985,
+        -0.0002926406539688801
+      ],
+      [
+        -0.00032415814512359723,
+        -0.0008186942825123936,
+        -0.0002938846564512623
+      ],
+      [
+        -0.0003240103068606966,
+        -0.0008333233504509738,
+        -0.00030537386582510704
+      ],
+      [
+        -0.0003217862706797063,
+        -0.0008328154704621574,
+        -0.00030391333151553866
+      ],
+      [
+        -0.00030856830333420314,
+        -0.0008309193415933464,
+        -0.00030258366379798087
+      ],
+      [
+        -0.00031658271032833726,
+        -0.0008282265323912005,
+        -0.0002978517915784206
+      ],
+      [
+        -0.0003272687649424342,
+        -0.0008244061417605372,
+        -0.0002981903730960409
+      ],
+      [
+        -0.0003245472909657308,
+        -0.0008334299948437198,
+        -0.0003031990206275131
+      ],
+      [
+        -0.00032118816878548903,
+        -0.0008276399254198612,
+        -0.0003049119458410538
+      ],
+      [
+        -0.00031840747326461737,
+        -0.000830088426976482,
+        -0.0003012286031702658
+      ],
+      [
+        -0.00031688718997111974,
+        -0.0008342933040000754,
+        -0.000296813755520297
+      ],
+      [
+        -0.00032441083412382765,
+        -0.0008269378186244014,
+        -0.00029889999437216977
+      ],
+      [
+        -0.0003204900434685084,
+        -0.0008242436031972,
+        -0.00029079885594437434
+      ],
+      [
+        -0.0003206506507983853,
+        -0.0008305554269919921,
+        -0.0002940830189367759
+      ],
+      [
+        -0.00032225422132927024,
+        -0.0008245344624662899,
+        -0.0002943435662259706
+      ],
+      [
+        -0.0003222634863927169,
+        -0.0008344637287798029,
+        -0.0003018414236785292
+      ],
+      [
+        -0.0003137847603842733,
+        -0.0008283376088946046,
+        -0.000297122921433624
+      ],
+      [
+        -0.0003204309956367322,
+        -0.000832440350200054,
+        -0.00029569644347721965
+      ],
+      [
+        -0.00032245260662637905,
+        -0.000834255446616397,
+        -0.00029166529079431195
+      ],
+      [
+        -0.0003251542330584846,
+        -0.0008300633767429344,
+        -0.0002859782667519453
+      ],
+      [
+        -0.00032825038769098856,
+        -0.0008292972065162838,
+        -0.00029863391760436096
+      ],
+      [
+        -0.00032734208951408934,
+        -0.0008296838305439712,
+        -0.0002943216339357656
+      ],
+      [
+        -0.00032275928343579246,
+        -0.0008383117425158942,
+        -0.00029343752577137003
+      ],
+      [
+        -0.00031586977345343165,
+        -0.0008317086692290554,
+        -0.00028255257484768447
+      ],
+      [
+        -0.0003134605543185075,
+        -0.0008228587380064096,
+        -0.0003087579371529289
+      ],
+      [
+        -0.0003263201229347252,
+        -0.0008329145116175687,
+        -0.0002883984968011322
+      ],
+      [
+        -0.0003240462008349135,
+        -0.0008225966660776006,
+        -0.00029143997068820657
+      ],
+      [
+        -0.00032210772305470717,
+        -0.000832177688369455,
+        -0.00029273045696953865
+      ],
+      [
+        -0.0003201751390086875,
+        -0.0008389612945965477,
+        -0.0002832380624083196
+      ],
+      [
+        -0.0003186117327927943,
+        -0.0008342821924377784,
+        -0.0002973315873068924
+      ],
+      [
+        -0.0003219711428748295,
+        -0.0008346992739091049,
+        -0.00028690992658441555
+      ],
+      [
+        -0.0003224083922855962,
+        -0.0008226552455644427,
+        -0.0002888886748112664
+      ],
+      [
+        -0.0003159912330190372,
+        -0.0008316683218250675,
+        -0.00028753441835466486
+      ],
+      [
+        -0.00032019353695179854,
+        -0.0008353899969705461,
+        -0.0002860382674933326
+      ],
+      [
+        -0.00031603048469738327,
+        -0.0008348491687220415,
+        -0.0002863080623856179
+      ],
+      [
+        -0.00031513072121653615,
+        -0.0008353887550746972,
+        -0.0002879304370458907
+      ],
+      [
+        -0.00032012237508542295,
+        -0.0008320328839874571,
+        -0.00028625030704485833
+      ],
+      [
+        -0.0003163171396097167,
+        -0.0008413277416754925,
+        -0.0002846305253135221
+      ],
+      [
+        -0.0003274111305828929,
+        -0.0008372738316117072,
+        -0.0002830975957869186
+      ],
+      [
+        -0.00032168714494446666,
+        -0.0008327878256884154,
+        -0.0002871117091502374
+      ],
+      [
+        -0.00031661665911695235,
+        -0.0008378680301770607,
+        -0.00028686211748601276
+      ],
+      [
+        -0.0003185762806370106,
+        -0.0008367662687715674,
+        -0.0002895472729478184
+      ],
+      [
+        -0.00031900936914188105,
+        -0.0008357293376451766,
+        -0.00028106922728487175
+      ],
+      [
+        -0.00033061057692704233,
+        -0.0008433304194719556,
+        -0.0002821932149037644
+      ],
+      [
+        -0.0003228977115119101,
+        -0.0008338486597772878,
+        -0.00027465247260109683
+      ],
+      [
+        -0.00031555598569788597,
+        -0.0008382098637991968,
+        -0.00028473709833578615
+      ],
+      [
+        -0.0003249738031358612,
+        -0.0008382798171780198,
+        -0.0002810270908156579
+      ],
+      [
+        -0.00031774001021828244,
+        -0.0008384702338371441,
+        -0.00027971481414075056
+      ],
+      [
+        -0.00032302664995628326,
+        -0.0008440032463937842,
+        -0.00027520067935289715
+      ],
+      [
+        -0.00032731912799090825,
+        -0.0008343566456720251,
+        -0.0002924416260899503
+      ],
+      [
+        -0.00032217296494849716,
+        -0.0008432900874338688,
+        -0.00028403429180577167
+      ],
+      [
+        -0.0003190555914373567,
+        -0.0008403310746695507,
+        -0.0002723439078970225
+      ],
+      [
+        -0.00031886338737313906,
+        -0.0008415861569335631,
+        -0.00027663796263368786
+      ],
+      [
+        -0.0003160693651933509,
+        -0.000842145420444745,
+        -0.0002917276662508768
+      ],
+      [
+        -0.0003171599707281814,
+        -0.0008393311085921322,
+        -0.0002711750005651743
+      ],
+      [
+        -0.00031916257368820545,
+        -0.0008369151475569971,
+        -0.00027381436377848503
+      ],
+      [
+        -0.0003339655738736736,
+        -0.0008303401126650446,
+        -0.00028256175576784
+      ],
+      [
+        -0.0003142201237372027,
+        -0.0008447090923226677,
+        -0.0002744513213271863
+      ],
+      [
+        -0.0003132869935483668,
+        -0.0008430166671771322,
+        -0.00027797262232050364
+      ],
+      [
+        -0.00032243467044095457,
+        -0.0008375838432692396,
+        -0.0002766360503885886
+      ],
+      [
+        -0.0003203249400818901,
+        -0.0008365927373656191,
+        -0.0002797691146362739
+      ],
+      [
+        -0.00031680872709747426,
+        -0.0008442904700479369,
+        -0.00026073351620436904
+      ],
+      [
+        -0.00030945171898952084,
+        -0.0008448608537364867,
+        -0.00027620146024659887
+      ],
+      [
+        -0.00032005665379332773,
+        -0.0008475475851817537,
+        -0.00027352994072666253
+      ],
+      [
+        -0.000322213347956605,
+        -0.00084827588373817,
+        -0.0002796991030350414
+      ],
+      [
+        -0.00031669747203078935,
+        -0.0008420710597208728,
+        -0.00027140549203902905
+      ],
+      [
+        -0.0003155921658389013,
+        -0.0008397735309983292,
+        -0.0002671763497924348
+      ],
+      [
+        -0.0003200095402877144,
+        -0.0008404951876756838,
+        -0.0002678166983407327
+      ],
+      [
+        -0.0003200529640233999,
+        -0.0008418716913212216,
+        -0.0002772282451215181
+      ],
+      [
+        -0.0003173673813682413,
+        -0.0008465186532589043,
+        -0.00027562372400947847
+      ],
+      [
+        -0.0003137510257088004,
+        -0.0008476537491196793,
+        -0.0002749829548921687
+      ],
+      [
+        -0.00032728752501553853,
+        -0.0008368272748053395,
+        -0.0002610165948995221
+      ],
+      [
+        -0.0003174280199246645,
+        -0.0008381424264815832,
+        -0.00026038730920912337
+      ],
+      [
+        -0.00031213155296659677,
+        -0.0008447897000381768,
+        -0.00027835105571974444
+      ],
+      [
+        -0.0003173002732800246,
+        -0.0008460452280410636,
+        -0.00027249460590567494
+      ],
+      [
+        -0.0003188187363212944,
+        -0.0008537268097362252,
+        -0.0002715651273342903
+      ],
+      [
+        -0.0003053719198208189,
+        -0.0008441813456910822,
+        -0.00025636365757444483
+      ],
+      [
+        -0.000317631316279495,
+        -0.0008401450985820902,
+        -0.00027669236737800534
+      ],
+      [
+        -0.00031502917679437925,
+        -0.0008448554808802467,
+        -0.0002734745135836007
+      ],
+      [
+        -0.00031255392554223934,
+        -0.000849068291900104,
+        -0.0002738974711385176
+      ],
+      [
+        -0.00031025082923631506,
+        -0.0008432620134019567,
+        -0.0002667618114252711
+      ],
+      [
+        -0.00032008398170128806,
+        -0.0008493358978302769,
+        -0.00026887250040744375
+      ],
+      [
+        -0.00031632640471044996,
+        -0.0008426412112365648,
+        -0.00026485643593988657
+      ],
+      [
+        -0.0003198034175760622,
+        -0.0008459915950740728,
+        -0.00025859973642077227
+      ],
+      [
+        -0.0003211392938469375,
+        -0.000853284963899708,
+        -0.0002618264682228121
+      ],
+      [
+        -0.0003155633671275406,
+        -0.0008372713359089437,
+        -0.00026735643698584145
+      ],
+      [
+        -0.00032168880189944386,
+        -0.0008429915375036301,
+        -0.00026033002514902015
+      ],
+      [
+        -0.0003053501551699658,
+        -0.000853186923499774,
+        -0.00026919879251546017
+      ],
+      [
+        -0.00031320236881935955,
+        -0.000844484255818152,
+        -0.0002679305370787178
+      ],
+      [
+        -0.0003178191795129862,
+        -0.0008478070326395531,
+        -0.0002633851853826264
+      ],
+      [
+        -0.00031297387624001504,
+        -0.0008511680240478083,
+        -0.0002650203745612616
+      ],
+      [
+        -0.0003122264078454315,
+        -0.000850486938290594,
+        -0.00026175684806766224
+      ],
+      [
+        -0.00031252692050330263,
+        -0.0008492782241502828,
+        -0.00025946933428144147
+      ],
+      [
+        -0.00031666444784861624,
+        -0.0008456844271069993,
+        -0.00026487605062721346
+      ],
+      [
+        -0.00031566386348478524,
+        -0.0008395736351354695,
+        -0.0002559370806652865
+      ],
+      [
+        -0.00031742302734035546,
+        -0.0008491446516298704,
+        -0.000254734545776719
+      ],
+      [
+        -0.0003172371045331429,
+        -0.0008550921361819129,
+        -0.0002585403899449253
+      ],
+      [
+        -0.0003121461997575523,
+        -0.0008497165970127183,
+        -0.0002621974729110475
+      ],
+      [
+        -0.0003135867518383745,
+        -0.0008546413204750438,
+        -0.0002681923504972239
+      ],
+      [
+        -0.0003158964621222687,
+        -0.0008455707848254852,
+        -0.0002562519250620728
+      ],
+      [
+        -0.00030585596553935355,
+        -0.0008468931447579175,
+        -0.00024690037134275877
+      ],
+      [
+        -0.00031878193610434716,
+        -0.0008526839986707874,
+        -0.0002607203104890926
+      ],
+      [
+        -0.00031750987489529163,
+        -0.0008495045889886628,
+        -0.00026723592938328035
+      ],
+      [
+        -0.0003144473172591922,
+        -0.0008581100504222892,
+        -0.00025965417121555004
+      ],
+      [
+        -0.00031309817289673034,
+        -0.0008507231314353576,
+        -0.0002539483372032404
+      ],
+      [
+        -0.0003171408983020922,
+        -0.0008507277491354029,
+        -0.0002672858505462904
+      ],
+      [
+        -0.00031089484361895007,
+        -0.0008532184162451425,
+        -0.0002491484314065306
+      ],
+      [
+        -0.0003183931852932819,
+        -0.0008477791808536208,
+        -0.0002605380611589484
+      ],
+      [
+        -0.0003182613985210594,
+        -0.0008517245390171656,
+        -0.0002593265384283622
+      ],
+      [
+        -0.0003111686043136654,
+        -0.000857546795530982,
+        -0.0002592627369614428
+      ],
+      [
+        -0.000312688845770857,
+        -0.0008550307983443981,
+        -0.0002475881730410279
+      ],
+      [
+        -0.00030418031103586864,
+        -0.0008580974017028847,
+        -0.0002586276944579741
+      ],
+      [
+        -0.0003058988021106908,
+        -0.0008521273194254616,
+        -0.0002546014601060062
+      ],
+      [
+        -0.00031498381273023046,
+        -0.0008555430176250077,
+        -0.00024681956633986504
+      ],
+      [
+        -0.00031140858923163587,
+        -0.0008519071238291984,
+        -0.00025522379333190056
+      ],
+      [
+        -0.0003086009557969636,
+        -0.0008530954263435198,
+        -0.00026288924508472024
+      ],
+      [
+        -0.00031322662174264283,
+        -0.0008506132149951668,
+        -0.00025834535478513285
+      ],
+      [
+        -0.000319379095352611,
+        -0.0008415115436086955,
+        -0.00025691195356180495
+      ],
+      [
+        -0.0003141331161612031,
+        -0.000857060221440633,
+        -0.0002530889650341212
+      ],
+      [
+        -0.0003097063240253382,
+        -0.0008576489716640122,
+        -0.0002502876160327338
+      ],
+      [
+        -0.0003129657176309221,
+        -0.0008588826328039068,
+        -0.00025105372840150626
+      ],
+      [
+        -0.0003127367520072196,
+        -0.0008579197829396446,
+        -0.00025768737607028986
+      ],
+      [
+        -0.000304106192812067,
+        -0.0008509259668753108,
+        -0.00025667902524601654
+      ],
+      [
+        -0.0003085746711564323,
+        -0.0008543959300519562,
+        -0.00025250977038534936
+      ],
+      [
+        -0.0003117983758057429,
+        -0.0008568704385125727,
+        -0.0002484166301952821
+      ],
+      [
+        -0.00030948217391670187,
+        -0.0008540866891509749,
+        -0.0002493987465071148
+      ],
+      [
+        -0.0003148370558508102,
+        -0.0008558088006495324,
+        -0.00025285982315269886
+      ],
+      [
+        -0.0003163447278433904,
+        -0.0008618037193884038,
+        -0.00025731901730952994
+      ],
+      [
+        -0.00030554284177862994,
+        -0.0008598065882977143,
+        -0.0002443540599679277
+      ],
+      [
+        -0.0003154175823281017,
+        -0.0008563164087375621,
+        -0.00024253729709467137
+      ],
+      [
+        -0.0003153966515103922,
+        -0.0008512825983187325,
+        -0.0002469626068048396
+      ],
+      [
+        -0.0003186490922984637,
+        -0.0008565352882976633,
+        -0.0002572711842056989
+      ],
+      [
+        -0.000324062277457024,
+        -0.0008636854148739694,
+        -0.00026305992699837645
+      ],
+      [
+        -0.0003171793319826288,
+        -0.0008559452185724165,
+        -0.0002479398761719124
+      ],
+      [
+        -0.00030958234748823055,
+        -0.000861435221942523,
+        -0.0002379015767517227
+      ],
+      [
+        -0.0003172235032683135,
+        -0.0008688524187900879,
+        -0.00024066577014883548
+      ],
+      [
+        -0.0003204761968642294,
+        -0.0008651265641116372,
+        -0.00024914364452508945
+      ],
+      [
+        -0.00031309487501015855,
+        -0.0008540500803155859,
+        -0.0002527925046298829
+      ],
+      [
+        -0.0003193844841499868,
+        -0.0008657810234660203,
+        -0.0002474049574257203
+      ],
+      [
+        -0.0003219009790988982,
+        -0.0008651798852256682,
+        -0.00023572323897367065
+      ],
+      [
+        -0.0003149485683416987,
+        -0.000864417668648283,
+        -0.0002376272158052014
+      ],
+      [
+        -0.000304789512096096,
+        -0.0008644934652182513,
+        -0.00024056176233666046
+      ],
+      [
+        -0.00031386778643354915,
+        -0.0008620455242374808,
+        -0.00024626896525610346
+      ],
+      [
+        -0.00031969055087499576,
+        -0.0008525065109948498,
+        -0.00023601389597496377
+      ],
+      [
+        -0.00031309087787038264,
+        -0.0008524299513604355,
+        -0.0002367764244312919
+      ],
+      [
+        -0.0003120275033888907,
+        -0.0008676241151355731,
+        -0.0002485233552256191
+      ],
+      [
+        -0.00031110778672154227,
+        -0.0008655627829082832,
+        -0.0002382258584458858
+      ],
+      [
+        -0.00031028042558194655,
+        -0.0008578424194012541,
+        -0.000232165536685242
+      ],
+      [
+        -0.00029923042707426814,
+        -0.0008569521341641372,
+        -0.000237664418651079
+      ],
+      [
+        -0.0003049562933255726,
+        -0.0008638028267849947,
+        -0.00023931191976395537
+      ],
+      [
+        -0.0003136608213634067,
+        -0.0008604112201790745,
+        -0.00024214806895780707
+      ],
+      [
+        -0.00031292948660036497,
+        -0.0008613289721928271,
+        -0.000247347785975839
+      ],
+      [
+        -0.00030876971588043585,
+        -0.0008678469798389986,
+        -0.0002389373512911071
+      ],
+      [
+        -0.00030731800518472776,
+        -0.0008688726768417906,
+        -0.00023281143280496966
+      ],
+      [
+        -0.00030878576224747516,
+        -0.0008629990518985109,
+        -0.0002385594861246758
+      ],
+      [
+        -0.0003062919242941613,
+        -0.000869255507995552,
+        -0.00024330670835912113
+      ],
+      [
+        -0.00030937782651191636,
+        -0.0008714931609659217,
+        -0.0002366594663827217
+      ],
+      [
+        -0.00031248733930910015,
+        -0.0008698497561725008,
+        -0.0002302634803044071
+      ],
+      [
+        -0.0003115908980437528,
+        -0.0008605495564056597,
+        -0.00023993490321472843
+      ],
+      [
+        -0.0003111889132756003,
+        -0.0008672550303331273,
+        -0.00023357656021190482
+      ]
+    ],
+    "reference_frame": 1,
+    "constant_frames": [
+      -74021,
+      -74000
+    ],
+    "constant_rotation": [
+      0.9999995608798441,
+      -1.5196024192803497e-05,
+      0.0009370214510594058,
+      1.527655207535669e-05,
+      0.9999999961910578,
+      -8.593317911879527e-05,
+      -0.0009370201416476763,
+      8.594745584079708e-05,
+      0.9999995573030465
+    ]
+  },
+  "naif_keywords": {
+    "BODY499_PM": [
+      176.63,
+      350.892,
+      0
+    ],
+    "BODY499_POLE_DEC": [
+      52.8865,
+      -0.0609,
+      0
+    ],
+    "BODY499_POLE_RA": [
+      317.681,
+      -0.1061,
+      0
+    ],
+    "BODY499_RADII": [
+      3396.19,
+      3396.19,
+      3376.2
+    ],
+    "BODY_CODE": 499,
+    "BODY_FRAME_CODE": 10014,
+    "FRAME_-74021_CENTER": -74,
+    "FRAME_-74021_CLASS": 4,
+    "FRAME_-74021_CLASS_ID": -74021,
+    "FRAME_-74021_NAME": "MRO_CTX",
+    "INS-74021_BORESIGHT_LINE": 0.430443,
+    "INS-74021_BORESIGHT_SAMPLE": 2543.46,
+    "INS-74021_CK_FRAME_ID": -74000,
+    "INS-74021_CK_REFERENCE_ID": -74900,
+    "INS-74021_FOCAL_LENGTH": 352.927,
+    "INS-74021_ITRANSL": [
+      0,
+      142.857,
+      0
+    ],
+    "INS-74021_ITRANSS": [
+      0,
+      0,
+      142.857
+    ],
+    "INS-74021_OD_K": [
+      -0.00734339,
+      2.83759e-05,
+      1.2842e-08
+    ],
+    "INS-74021_PIXEL_PITCH": 0.007,
+    "INS-74021_TRANSX": [
+      0,
+      0,
+      0.007
+    ],
+    "INS-74021_TRANSY": [
+      0,
+      0.007,
+      0
+    ],
+    "SCLK01_COEFFICIENTS_74999": [
+      0,
+      -631195000.0,
+      1,
+      3097280000000.0,
+      -583934000.0,
+      1,
+      5164030000000.0,
+      -552398000.0,
+      1,
+      7230770000000.0
+    ],
+    "SCLK01_MODULI_74999": [
+      4294970000.0,
+      65536
+    ],
+    "SCLK01_N_FIELDS_74999": 2,
+    "SCLK01_OFFSETS_74999": [
+      0,
+      0
+    ],
+    "SCLK01_OUTPUT_DELIM_74999": 1,
+    "SCLK01_TIME_SYSTEM_74999": 2,
+    "SCLK_DATA_TYPE_74999": 1,
+    "SCLK_PARTITION_END_74999": [
+      52973600000000.0,
+      56987100000000.0,
+      58187600000000.0,
+      60316700000000.0,
+      60877200000000.0,
+      61228300000000.0,
+      61339200000000.0,
+      61899100000000.0,
+      63521500000000.0,
+      65622300000000.0
+    ],
+    "SCLK_PARTITION_START_74999": [
+      0,
+      52973600000000.0,
+      56987100000000.0,
+      58187600000000.0,
+      60316700000000.0,
+      60877200000000.0,
+      61228300000000.0,
+      61339200000000.0,
+      61899100000000.0,
+      63521500000000.0
+    ],
+    "TKFRAME_-74021_ANGLES": [
+      0,
+      0,
+      0
+    ],
+    "TKFRAME_-74021_AXES": [
+      1,
+      2,
+      3
+    ],
+    "TKFRAME_-74021_RELATIVE": "MRO_CTX_BASE",
+    "TKFRAME_-74021_SPEC": "ANGLES",
+    "TKFRAME_-74021_UNITS": "DEGREES",
+    "CLOCK_ET_-74_0947661018:204_COMPUTED": "ad4346bee2dcb241"
+  },
+  "detector_sample_summing": 1,
+  "detector_line_summing": 1,
+  "focal_length_model": {
+    "focal_length": 352.927
+  },
+  "detector_center": {
+    "line": 0.430443,
+    "sample": 2542.96
+  },
+  "starting_detector_line": 0,
+  "starting_detector_sample": 0,
+  "focal2pixel_lines": [
+    0,
+    142.857,
+    0
+  ],
+  "focal2pixel_samples": [
+    0,
+    0,
+    142.857
+  ],
+  "optical_distortion": {
+    "radial": {
+      "coefficients": [
+        -0.00734339,
+        2.83759e-05,
+        1.2842e-08
+      ]
+    }
+  },
+  "instrument_position": {
+    "spk_table_start_time": 316465854.27447015,
+    "spk_table_end_time": 316465875.41699815,
+    "spk_table_original_size": 13,
+    "ephemeris_times": [
+      316465854.27447015,
+      316465856.8115735,
+      316465859.4694913,
+      316465862.1274091,
+      316465864.7853269,
+      316465866.1142858,
+      316465867.44324476,
+      316465868.7722036,
+      316465870.10116255,
+      316465871.4301214,
+      316465872.75908035,
+      316465874.0880392,
+      316465875.41699815
+    ],
+    "positions": [
+      [
+        3419.022363241668,
+        -862.0200223888532,
+        -1018.2304114653718
+      ],
+      [
+        3420.5338570127196,
+        -865.4786137938951,
+        -1010.434341005752
+      ],
+      [
+        3422.0968160737166,
+        -869.0967022657337,
+        -1002.2610000316968
+      ],
+      [
+        3423.638779740686,
+        -872.7094503641147,
+        -994.0815398079578
+      ],
+      [
+        3425.15973999312,
+        -876.3168362986203,
+        -985.8960110974418
+      ],
+      [
+        3425.912341418179,
+        -878.1185116728549,
+        -981.800986846687
+      ],
+      [
+        3426.6596890191922,
+        -879.918838278832,
+        -977.7044645289634
+      ],
+      [
+        3427.40178182713,
+        -881.7178134337366,
+        -973.6064506721916
+      ],
+      [
+        3428.1386189623886,
+        -883.5154344845505,
+        -969.5069512976264
+      ],
+      [
+        3428.870199381447,
+        -885.3116985398254,
+        -965.4059730971067
+      ],
+      [
+        3429.5965221898,
+        -887.1066030955687,
+        -961.3035220918924
+      ],
+      [
+        3430.317586433335,
+        -888.9001452305297,
+        -957.1996050185302
+      ],
+      [
+        3431.0333912473607,
+        -890.6923224705206,
+        -953.0942278535781
+      ]
+    ],
+    "velocities": [
+      [
+        0.5995232552450407,
+        -1.3641573359124815,
+        3.071709635226774
+      ],
+      [
+        0.5919874623162147,
+        -1.362251066166055,
+        3.0739341947118746
+      ],
+      [
+        0.5840897998710328,
+        -1.3602459626581804,
+        3.076246018418545
+      ],
+      [
+        0.5761890966522212,
+        -1.3582326339316109,
+        3.078538748244781
+      ],
+      [
+        0.5682854008099222,
+        -1.3562110915814323,
+        3.0808123693865923
+      ],
+      [
+        0.5643324454820761,
+        -1.3551972435914712,
+        3.081942008912152
+      ],
+      [
+        0.560378760020503,
+        -1.3541813464518102,
+        3.0830668655120634
+      ],
+      [
+        0.5564243507048594,
+        -1.3531634018373582,
+        3.0841869376920643
+      ],
+      [
+        0.5524692233275432,
+        -1.3521434113862816,
+        3.0853022243337054
+      ],
+      [
+        0.5485133845312408,
+        -1.3511213772348762,
+        3.086412724827086
+      ],
+      [
+        0.5445568399719591,
+        -1.3500973007089794,
+        3.0875184373513087
+      ],
+      [
+        0.5405995961278726,
+        -1.349071183570313,
+        3.0886193604535674
+      ],
+      [
+        0.5366416587694753,
+        -1.3480430273994424,
+        3.0897154928844253
+      ]
+    ],
+    "reference_frame": 1
+  },
+  "sun_position": {
+    "spk_table_start_time": 316465864.8457341,
+    "spk_table_end_time": 316465864.8457341,
+    "spk_table_original_size": 1,
+    "ephemeris_times": [
+      316465864.8457341
+    ],
+    "positions": [
+      [
+        127178697.97907963,
+        -188725880.59172267,
+        -89998561.6743975
+      ]
+    ],
+    "velocities": [
+      [
+        19.77950684646517,
+        9.77422679917887,
+        3.9489447909425945
+      ]
+    ],
+    "reference_frame": 1
+  }
+}
\ No newline at end of file