KPL/IK

\beginlabel
PDS_VERSION_ID               = PDS3
RECORD_TYPE                  = STREAM
RECORD_BYTES                 = "N/A"
^SPICE_KERNEL                = "lro_lroc_v18.ti"
MISSION_NAME                 = "LUNAR RECONNAISSANCE ORBITER"
SPACECRAFT_NAME              = "LUNAR RECONNAISSANCE ORBITER"
DATA_SET_ID                  = "LRO-L-SPICE-6-V1.0"
KERNEL_TYPE_ID               = IK
PRODUCT_ID                   = "lro_lroc_v18.ti"
PRODUCT_CREATION_TIME        = 2014-03-24T12:52:24
PRODUCER_ID                  = "LROC SOC/ASU"
MISSION_PHASE_NAME           = {
                               LAUNCH,
                               CRUISE,
                               "LUNAR ORBIT ACQUISITION",
                               COMMISSIONING,
                               "NOMINAL MISSION",
                               "SCIENCE MISSION",
                               "EXTENDED MISSION"
                               }
PRODUCT_VERSION_TYPE         = ACTUAL
PLATFORM_OR_MOUNTING_NAME    = "LRO ORBITER"
START_TIME                   = "N/A"
STOP_TIME                    = "N/A"
SPACECRAFT_CLOCK_START_COUNT = "N/A"
SPACECRAFT_CLOCK_STOP_COUNT  = "N/A"
TARGET_NAME                  = MOON
INSTRUMENT_NAME              = "LUNAR RECONNAISSANCE ORBITER CAMERA"
NAIF_INSTRUMENT_ID           = {
                               -85600,
                               -85610,
                               -85620,
                               -85621,
                               -85626,
                               -85631,
                               -85632,
                               -85633,
                               -85634,
                               -85635,
                               -85641,
                               -85642
                               }
SOURCE_PRODUCT_ID            = "N/A"
NOTE                         = "See comments in the file for details"
OBJECT                       = SPICE_KERNEL
  INTERCHANGE_FORMAT         = ASCII
  KERNEL_TYPE                = INSTRUMENT
  DESCRIPTION                = "SPICE IK file containing FOV and internal
                               geometry parameters for the LROC Narrow 
                               Angle Camera (NAC) and LROC Wide Angle
                               Camera (WAC)."
END_OBJECT                   = SPICE_KERNEL
\endlabel


===========================================================================
  $Id: lro_lroc_v18.ti,v 1.8 2014/03/24 12:52:24 espeyerer Exp espeyerer $
===========================================================================

Lunar Reconnaissance Orbiter Camera (LROC) Instrument Kernel
===========================================================================

 This Lunar Reconnaissance Orbiter Camera instrument kernel (I-kernel)
 contains the instrument geometric parameters for the LROC Narrow Angle
 Camera (NAC) and LROC Wide Angle Camera (WAC).


Version and Date
---------------------------------------------------------------------------

 Version 18.0 -- March 24, 2014     -- Emerson Speyerer, ASU

         Updated the focal length and boresight parameters for the 360nm 
         band to use the correct NAIF ID 

 Version 17.0 -- November 1, 2013   -- Emerson Speyerer, ASU
         
         Added documentation for loading a kernel into MICE (MATLAB SPICE
         utility)
          
         Reformatted background documentation for readability
         
         Changed the modeled NAC-R boresight sample to account for sample
         mirroring during EDR and CDR generation
         
         Added wavelength dependent internal orientation parameters (focal 
         length, boresight, distortion coefficients) for the LROC WAC
         
         Moved deprecated WAC VIS and UV parameters with the prefix of
         INS-85621 and INS-85626 to the end of the IK for clarity.  These 
         parameters remain in order to maintain backwards compatibility 
         with older software packages (ISIS 3.4.4 or earlier)
         
         Changed WAC pixel size value to keep the units consistent with 
         the NAC and previous documentation
         
         Updated the center line and sample for NAC and WAC detector to
         correspond to the LROC pixel coordinate definition
         
         Updated IFOV values for the NAC and changed the parameter from a 
         two entry array to a single value to match the WAC IFOV parameters
         
         Replaced the field of view parameters for each camera with a 10 
         point polygon.  The new WAC field of views are broken up into 
         individual bands

 Version 16.0 -- November 1, 2010   -- Emerson Speyerer, ASU
	     
         Improved documentation and updated WAC field of view dimensions
         and sensor parameters
 
 Version 15.0 -- August 25, 2010    -- Jeff Anderson, USGS
 
         Improved WAC documentation and updated values to reflect corrected
         detector offsets used in the WAC camera model
 
 Version 14.0 -- August 18, 2010    -- Kris Becker, USGS
 
         Changed the sign of the NACL and NACR distortion parameters to
         match the calibration report.  Add additional keywords/values for 
         the WAC to more fully describe the WAC detector/filter design
 
 Version 13.0 -- May 13, 2010       -- Ernest Bowman-Cisneros, ASU
         
         Incorporating comments from NAIF regarding content and structure
         of kernel file
 
 Version 12.0 -- May 10, 2010       -- Jacob Danton, ASU
         
         Incorporating changes from ASU development work
 
 Version 11.0 -- February 17, 2010  -- Jacob Danton, ASU
         
         Refinements of changes provided by USGS
 
 Version 10.0 -- February 12, 2010  -- Jacob Danton, ASU
         
         Refinements of changes provided by USGS
 
 Version  9.0 -- February 12, 2010  -- Jacob Danton, ASU
         
         Incorporating changes from Kris Becker, USGS
 
 Version  8.0 -- August 25, 2009    -- Jacob Danton, ASU
         
         Refinement on changes to support lrowaccal
 
 Version  7.0 -- August 5, 2009     -- Jacob Danton, ASU
         
         Changes to support lrowaccal to look for different BW cubes for
         different filters
 
 Version  6.0 -- July 30, 2009      -- Jacob Danton, ASU
         
         Incorporating changes from ASU development work
 
 Version  5.0 -- July 20, 2009      -- Jacob Danton, ASU
         
         Change values for the variables INS-85610_ITRANSS/ITRANSL and
         INS-85610_TRANX/TRANY
 
 Version  4.0 -- July 20, 2009      -- Jacob Danton, ASU
         
         Incorporating changes from ASU development work
 
 Version  3.0 -- February 12, 2009  -- Jacob Danton, ASU
         
         Refinement of values based on developement work, including
         feedback from USGS
 
 Version  2.0 -- February 12, 2009  -- Jacob Danton, ASU
         
         First large scale changes to support development work on
         autotarget application
 
 Version  1.0 -- April 7, 2006      -- Ernest Bowman-Cisneros, ASU
 
         Initial release


 References
---------------------------------------------------------------------------

   1. Kernel Pool Required Reading, available online at
      http://naif.jpl.nasa.gov
   2. LRO Frames Definition Kernel (FK), latest version
   3. Robinson et al. (2010) Lunar Reconnaissance Orbiter Camera (LROC)
      Instrument Overview, Space Science Reviews 150, 81-124, 
      DOI: 10.1007/s11214-010-9634-2
   4. Speyerer et al. (2013) Pre-Flight and On-Orbit Geometric Calibration
      of the Lunar Reconnaissance Orbiter Camera
   5. LRO Wide Angle Geometric Calibration, P. Thomas, LROC Internal
      Report, July 14, 2008
   6. LRO NAC Geometric Calibration, S. Brylow, D. Humm, M. Robinson,
      P. Thomas, M. Tschimmel, LROC Internal Report, July 14, 2008


 Contact Information
---------------------------------------------------------------------------
   Direct questions, comments or concerns about the contents of this kernel
   should be sent to:

   Ernest Bowman-Cisneros, ASU, lroc-dn@ser.asu.edu


 Implementation Notes
---------------------------------------------------------------------------

   This file is used by the SPICE system as follows: programs that make use
   of this frame kernel must "load" the kernel normally during program
   initialization.  Loading the kernel associates the data items with
   their names in a data structure called the "kernel pool".  The SPICELIB
   routine FURNSH loads a kernel into the pool as shown below:

      FORTRAN: (SPICELIB)

         CALL FURNSH ( frame_kernel_name )

      C: (CSPICE)

         furnsh_c ( frame_kernel_name );

      IDL: (ICY)

         cspice_furnsh, frame_kernel_name

      MATLAB: (MICE)

         cspice_furnsh( 'frame_kernel_name' );
         
   In order for a program or routine to extract data from the pool, the
   SPICELIB routines GDPOOL, GIPOOL, and GCPOOL are used.  See [1] for
   more details.

   This file was created and may be updated with a text editor or word
   processor.


 Naming Conventions
---------------------------------------------------------------------------

   All names referencing values in this Instrument Kernel (IK) start with 
   the characters 'INS' followed by the NAIF LRO spacecraft ID number (-85) 
   and then followed by a NAIF three digit code for an LROC camera or 
   specific WAC filter:
   
         Table 1: LROC Instrument IDs
         -----------------------------   -----------   ------------
                  Frame Name               NAIF ID        Comments
         -----------------------------   -----------   ------------
           LRO_LROCNACL                    -85600
           LRO_LROCNACR                    -85610
           LRO_LROCWAC                     -85620      *Deprecated*
           LRO_LROCWAC_VIS                 -85621      *Deprecated*
           LRO_LROCWAC_UV                  -85626      *Deprecated*
           LRO_LROCWAC_VIS_FILTER_1        -85631         415 nm
           LRO_LROCWAC_VIS_FILTER_2        -85632         566 nm
           LRO_LROCWAC_VIS_FILTER_3        -85633         604 nm
           LRO_LROCWAC_VIS_FILTER_4        -85634         643 nm
           LRO_LROCWAC_VIS_FILTER_5        -85635         689 nm
           LRO_LROCWAC_UV_FILTER_1         -85641         321 nm
           LRO_LROCWAC_UV_FILTER_2         -85642         360 nm
         -----------------------------   -----------   ------------

   The remainder of the name is an underscore character followed by the
   unique name of the data item.  For example, the focal length in the
   LRO_LROCNACL frame (see [2]) is specified by:

      INS-85600_FOCAL_LENGTH

   The upper bound on the length of the name of any data item identifier
   is 32 characters.

   If the same item is included in more than one file, or if the same item
   appears more than once within a single file, the latest value supersedes
   any earlier values.


 LROC Description
---------------------------------------------------------------------------

   From [3]:

   The two NACs, designated NAC-Left (NAC-L) and NAC-Right (NAC-R), are
   designed to provide 0.5 m scale panchromatic images over a combined 5-km
   swath from an altitude of 50 km. Each NAC utilizes a 700-mm focal-length 
   telescope that images onto a 5064-pixel charge coupled device (CCD) 
   line-array, providing an IFOV of 10 microradians and a cross-track 
   field-of-view of 2.86 degrees each, which yields a total ground track 
   swath-width for both cameras of 5-km at the nominal 50-km altitude. Each 
   NAC internal buffer holds 256 MB of uncompressed data, enough for a 
   full-swath image 25-km in length or a 2x binned image 52-km long. The 
   NAC data are sampled to 12-bits, then companded (bit compression) to 
   8-bits. Prior to downlink an additional lossless first-difference 
   Huffman compression is applied.

   The WAC is designed to provide global imaging at a scale of 100 m/pixel
   in seven color bands over a 105-km swath in monochrome mode and 57-km
   in color mode from an altitude of 50 km. The LROC WAC uses a 1024 by 
   1024 pixel CCD that has seven narrow-band interference filters bonded 
   to the detector. Two of the filters are in the ultraviolet (UV) and five 
   are in the visible. The WAC has two short-focal-length lenses, one UV 
   and one visible, both of which image onto the same detector. From the 
   nominal 50-km altitude orbit in monochrome imaging mode, the WAC will 
   provide a nadir pixel scale of 75 m/pixel at nadir (98 m/pixel at far 
   field). In the UV system, the nadir pixel scale is 384 m/pixel. The 
   seven-band color filter array provides different sections of the CCD 
   with different bandpasses. Repeated imaging at a rate such that each of 
   the narrow framelets (14 lines x 1024 samples for VIS and 16 lines x 512 
   samples for UV) of each color band overlap provides continuous coverage 
   in any one color ("push-frame imaging"). The layout of the WAC filters 
   is similar to the MRO MARCI instrument as described in Bell et al. 
   (2009). WAC pixel values are digitized to 11-bits and subsequently 
   companded to 8-bit values. After transmission to the SCS, the WAC data 
   have a lossless first-difference Huffman compression that is applied 
   prior to downlink.

 LROC Geometric Calibration
---------------------------------------------------------------------------

   From [4]:

   Prior to launch, the interior orientation parameters (i.e. principal
   point, calibrated focal length and optical distortion) for all three 
   cameras were characterized at Malin Space Science Systems in San Diego, 
   CA. Due to the large minimum focusing distance, the NACs could not 
   directly image a calibration target inside the laboratory environment. 
   Therefore, the LROC team adopted a goniometric calibration technique 
   [Hallert, 1960; Schuster and Braunecker, 2000] in which a collimator 
   projects a target that is subsequently imaged by the camera that is 
   attached to a rotary stage to enable precise measurements across the 
   detector. Once installed on the spacecraft, the instrument integration 
   team measured the relative pointing of each instrument with respect to 
   the reference frame of the spacecraft bus. The NAC and WAC camera model
   incorporated these orientation parameters through variables defined 
   inside the text based LROC Instrument Kernel (this file) and LRO Frames 
   Kernel [2].


   The mission architecture and instrument suite of LRO enable precise and 
   accurate measurements of the lunar surface. Leveraging the precision
   orbit determination efforts led by the LOLA and GRAIL team and the 
   precise LROC WAC-derived global terrain model (GLD100) [Mazarico et al. 
   2011; Scholten et al. 2012; Mazarico et al. 2013], the LROC team 
   improved the exterior orientation parameters for all three cameras and 
   refined the interior orientation parameters for the WAC. This work is 
   based on locating a small set of independent ground control points in 
   high-resolution images and measuring the offsets between many thousands 
   co-registered orthorectified images.


   Notes concerning pre-flight WAC measurements:
   ---------------------------------------------

   The pre-flight derived optical parameters (e.g., boresight, sample 
   offsets, line offsets, and distortion coefficients) for the WAC were 
   computed in the laboratory using Ground Support Equipment (GSE) [5]. The
   laboratory GSE produced 1032 sample x 128 line calibration images
   which were used to compute the pre-flight WAC optical parameters.  All
   optical parameters documented in the calibration report [5] are relative 
   to these 1032 x 128 images.

   It is important to note after the WAC was integrated with the spacecraft
   it read out only selected areas (framelets) of the detector which were  
   1024 samples wide, not 1032.  In flight offsets were computed in order 
   to update the GSE optical parameters from a 1032 sample system to a 1024 
   sample system.  The updates from GSE 1032 coordinates to detector 1024 
   coordinates occurred in version 15 of this kernel.


 Pixel Coordinate Definition:
---------------------------------------------------------------------------

   The LROC NAC and WAC images are composed of a raster of pixels.  These
   pixels represent finite areas and not discrete points. The center of the 
   upper left pixel is defined as line and sample (1.0, 1.0).  The upper 
   left corner of the upper left pixel has the coordinates (0.5, 0.5), 
   while the lower right corner of the upper left pixel has the coordinates 
   (1.499,1.499). The sample and line numbers increase as one progresses to 
   the right and down in the image or detector.

         Figure 1: LROC Pixel Definition
         
         (0.5,0.5)
              *-------------------*-------------------*---->
              |                   |                   |
              |                   |                   |    Sample
              |                   |                   |  Coordinate
              |       (1,1)       |       (2,1)       |     (+)
              |         *         |         *         |
              |                   |                   |
              |                   |                   |
              |                   |                   |
              |      (1.499,1.499)|                   |
              *-------------------*-------------------*---
              |                   | (1.5,1.5)         |
              |                   |                   |
              |
              v   Line Coordinate (+)



 LROC First Order Optical Parameters:
---------------------------------------------------------------------------

   The following section contains the first order optical parameters for
   the two LROC NACs and WAC measured prior to launch at Malin Space
   Science Systems and from models derived from on-orbit observations. The
   first order optical parameters for the WAC are wavelength dependent due
   to chromatic aberrations in the WAC visible and ultraviolet optical 
   system. 
   
   From [4]:
   
   As white light enters the optical system, the light refracts at 
   different magnitudes as a function of wavelength causing the single 
   original incident ray to disperse in a spectral spread of color 
   [Mahajan, 1998; Fiete, 2013]. This lateral chromatic aberration effect, 
   also known as “chromatic difference in magnification” introduces 
   variation to the effective focal length for each WAC band. As a second 
   order effect, the slight changes to the magnification causes small 
   variations in the point of refraction as the light passes through the 
   various optical elements thus introducing small differences in the 
   computed optical distortion coefficients [Sidney, 2002; Mallon and
   Whelan, 2007; Wighton et al., 2011].

   Please refer to the "Pre-Flight and On-Orbit Geometric Calibration of
   the Lunar Reconnaissance Orbiter Camera" [3] and "Lunar Reconnaissance 
   Orbiter Camera (LROC) Instrument Overview" [4] papers for more 
   information about the values described here and the methods used to 
   derive them.
   
   Optical Parameter Definitions:

         Effective Focal Length: Distance along the optical axis from the
            perspective center to the detector (units of mm)
   
         F/ratio (or f-number): Ratio of the effective focal length to the
            dimeter of the entrance pupil (effective aperture)
   
         Spectral Band: Wavelength range (or spectral response) of the
            optics

         Boresight Line and Sample (principal point): Point at which the
            optical axis intersects the detector array
            
         IFOV (Instantaneous field of view): Angle subtended by a single
            detector element on the axis of the optical system

   Narrow Angle Camera (NAC):

         Table 2: First Order NAC Optical Parameters
         -------------------------------   -----------   -----------
                 Parameter, Unit              NAC-L         NAC-R
         -------------------------------   -----------   -----------
          Effective Focal Length, mm          699.62       701.57
            Estimated Uncertainty, mm           0.08         0.09
          F/Ratio, unitless                    3.577        3.590
          Spectral Band, nm                  400-760      400-760
          Boresight Sample, pixel               2548         2496
          Boresight Line, pixel                    0            0
          IFOV, radians/pixel
              Cross-track                   10.0054E-6   9.9776E-6
              Along-track                   10.0054E-6   9.9776E-6
         -------------------------------   -----------   ---------
         
   Wide Angle Camera (WAC):

         Table 3: Wavelength Dependent WAC Focal Lengths
         --------   ------------   ------------------------------
          Filter     Wavelength      Effective Focal Length, mm
         --------   ------------   ------------------------------
           Vis 1       415 nm                5.9983909
           Vis 2       566 nm                6.0193387
           Vis 3       604 nm                6.0247535
           Vis 4       643 nm                6.0308669
           Vis 5       689 nm                6.0377111

           UV 1        321 nm                4.6690884
           UV 2        360 nm                4.7120818
         --------   ------------   ------------------------------


         Table 4: Wavelength Dependent Boresight
         --------   ------------   ---------------   ---------------
          Filter     Wavelength     Sample, pixel      Line, pixel
         --------   ------------   ---------------   ---------------
           Vis 1       415 nm         509.5696          775.8181
           Vis 2       566 nm         509.5445          775.7541
           Vis 3       604 nm         509.5379          775.7578
           Vis 4       643 nm         509.5297          775.7545
           Vis 5       689 nm         509.5314          775.7604

           UV 1        321 nm         513.5482          295.4784
           UV 2        360 nm         513.5601          295.4764
         --------   ------------   ---------------   ---------------
         

         Table 5: LROC WAC IFOV (Cross-track and along-track values
         are the same) with and without the 4x4 pixel averaging for the UV.
         --------   ------------   ---------------   ---------------
          Filter     Wavelength         IFOV,        IFOV (averaged)
                                    radians/pixel     radians/pixel
         --------   ------------   ---------------   ---------------
           Vis 1       415 nm         1.5004E-3           n/a
           Vis 2       566 nm         1.4952E-3           n/a
           Vis 3       604 nm         1.4938E-3           n/a
           Vis 4       643 nm         1.4923E-3           n/a
           Vis 5       689 nm         1.4906E-3           n/a

           UV 1        321 nm         1.9276E-3        7.7101E-3
           UV 2        360 nm         1.9100E-3        7.6398E-3
         --------   ------------   ---------------   ---------------

         The F/ratio was measured prior to launch to be 5.052 for the 
         visible bands and 5.650 for the UV bands. Additional information
         about the individual WAC filters can be found in the filter
         section of this IK.

   The NAC and WAC parameter values above are given in the keywords below 
   in the same units.
          
   Narrow Angle Camera Left (NAC-L):
        
         \begindata
         INS-85600_FOCAL_LENGTH       = 699.62
         INS-85600_F/RATIO            = 3.577
         INS-85600_WAVELENGTH_RANGE   = ( 400 760 )
         INS-85600_BORESIGHT_SAMPLE   = 2548
         INS-85600_BORESIGHT_LINE     = 0
         INS-85600_IFOV               = 10.0054E-6
         \begintext
    
   Narrow Angle Camera Right (NAC-R):
     
         \begindata
         INS-85610_FOCAL_LENGTH       = 701.57
         INS-85610_F/RATIO            = 3.590
         INS-85610_WAVELENGTH_RANGE   = ( 400 760 )
         INS-85610_BORESIGHT_SAMPLE   = 2496
         INS-85610_BORESIGHT_LINE     = 0
         INS-85610_IFOV               = 9.9776E-6
         \begintext
          

   Wide Angle Camera VIS Filter 1 (415nm):
         
         \begindata
         INS-85631_FOCAL_LENGTH      = 5.9983909
         INS-85631_F/RATIO           = 5.052
         INS-85631_BORESIGHT_SAMPLE  = 509.5696
         INS-85631_BORESIGHT_LINE    = 775.8181
         INS-85631_IFOV              = 1.5004E-3
         \begintext

   Wide Angle Camera VIS Filter 2 (566nm):
  
         \begindata
         INS-85632_FOCAL_LENGTH      = 6.0193387
         INS-85632_F/RATIO           = 5.052
         INS-85632_BORESIGHT_SAMPLE  = 509.5445
         INS-85632_BORESIGHT_LINE    = 775.7541
         INS-85632_IFOV              = 1.4952E-3
         \begintext

   Wide Angle Camera VIS Filter 3 (604nm):
  
         \begindata
         INS-85633_FOCAL_LENGTH      = 6.0247535
         INS-85633_F/RATIO           = 5.052
         INS-85633_BORESIGHT_SAMPLE  = 509.5379
         INS-85633_BORESIGHT_LINE    = 775.7578
         INS-85633_IFOV              = 1.4938E-3
         \begintext

   Wide Angle Camera VIS Filter 4 (643nm):
  
         \begindata
         INS-85634_FOCAL_LENGTH      = 6.0308669
         INS-85634_F/RATIO           = 5.052
         INS-85634_BORESIGHT_SAMPLE  = 509.5297
         INS-85634_BORESIGHT_LINE    = 775.7545
         INS-85634_IFOV              = 1.4923E-3
         \begintext
   
   Wide Angle Camera VIS Filter 5 (689nm):
  
         \begindata
         INS-85635_FOCAL_LENGTH      = 6.0377111
         INS-85635_F/RATIO           = 5.052
         INS-85635_BORESIGHT_SAMPLE  = 509.5314
         INS-85635_BORESIGHT_LINE    = 775.7604
         INS-85635_IFOV              = 1.4906E-3
         \begintext

   Wide Angle Camera UV Filter 1 (321nm):
  
         \begindata
         INS-85641_FOCAL_LENGTH      = 4.6690884
         INS-85641_F/RATIO           = 5.650
         INS-85641_BORESIGHT_SAMPLE  = 513.5482
         INS-85641_BORESIGHT_LINE    = 295.4784
         INS-85641_IFOV              = 1.9276E-3
         \begintext

   Wide Angle Camera UV Filter 2 (360nm):
  
         \begindata
         INS-85642_FOCAL_LENGTH      = 4.7120818
         INS-85642_F/RATIO           = 5.650
         INS-85642_BORESIGHT_SAMPLE  = 513.5601
         INS-85642_BORESIGHT_LINE    = 295.4764
         INS-85642_IFOV              = 1.9100E-3
         \begintext
         

 LROC Detector Parameters:
---------------------------------------------------------------------------

   The following section contains the sensor parameters for the LROC NAC 
   and WAC. Both NACs use a Kodak KLI-5001G detector with a pixel pitch of
   7 um (7*10^-3 mm), while the common detector used for the WAC Vis and UV
   bands has a pixel pitch of 9um (9*10^-3 mm).
   
         Table 5: LROC Detector Parameters
         -------------------------------   ---------   ---------
                 Parameter, Units             NAC         WAC
         -------------------------------   ---------   ---------
                 Pixel pitch, mm            7.0E-3      9.0E-3
                 Samples, pixels             5064        1024
                  Lines, pixels                 1        1024
             CCD Center sample, pixel        2532.5      512.5
              CCD Center line, pixel            1        512.5
         -------------------------------   ---------   ---------

   The following NAIF keywords define the sensor:

   Narrow Angle Camera Left (NAC-L):
        
         \begindata
         INS-85600_PIXEL_SAMPLES     = 5064
         INS-85600_PIXEL_LINES       = 1
         INS-85600_PIXEL_PITCH       = 7.0E-3
         INS-85600_PIXEL_SIZE        = ( 7.0E-3 7.0E-3 )
         INS-85600_CCD_CENTER        = ( 2532.5 1.0 )
         \begintext

   Narrow Angle Camera Right (NAC-R):
         
         \begindata
         INS-85610_PIXEL_SAMPLES     = 5064
         INS-85610_PIXEL_LINES       = 1
         INS-85610_PIXEL_PITCH       = 7.0E-3
         INS-85610_PIXEL_SIZE        = ( 7.0E-3 7.0E-3 )
         INS-85610_CCD_CENTER        = ( 2532.5 1.0 )
         \begintext

   Wide Angle Camera VIS Filter 1 (415nm):

         \begindata
         INS-85631_PIXEL_SAMPLES     = 1024
         INS-85631_PIXEL_LINES       = 1024
         INS-85631_PIXEL_PITCH       = 9.0E-3
         INS-85631_PIXEL_SIZE        = ( 9.0E-3 9.0E-3 )
         INS-85631_CCD_CENTER        = ( 512.5  512.5  )
         \begintext
 
   Wide Angle Camera VIS Filter 2 (566nm):

         \begindata
         INS-85632_PIXEL_SAMPLES     = 1024
         INS-85632_PIXEL_LINES       = 1024
         INS-85632_PIXEL_PITCH       = 9.0E-3
         INS-85632_PIXEL_SIZE        = ( 9.0E-3 9.0E-3 )
         INS-85632_CCD_CENTER        = ( 512.5  512.5  )
         \begintext
         
   Wide Angle Camera VIS Filter 3 (604nm):

         \begindata
         INS-85633_PIXEL_SAMPLES     = 1024
         INS-85633_PIXEL_LINES       = 1024
         INS-85633_PIXEL_PITCH       = 9.0E-3
         INS-85633_PIXEL_SIZE        = ( 9.0E-3 9.0E-3 )
         INS-85633_CCD_CENTER        = ( 512.5  512.5  )
         \begintext
         
   Wide Angle Camera VIS Filter 4 (643nm):

         \begindata
         INS-85634_PIXEL_SAMPLES     = 1024
         INS-85634_PIXEL_LINES       = 1024
         INS-85634_PIXEL_PITCH       = 9.0E-3
         INS-85634_PIXEL_SIZE        = ( 9.0E-3 9.0E-3 )
         INS-85634_CCD_CENTER        = ( 512.5  512.5  )
         \begintext
         
   Wide Angle Camera VIS Filter 5 (689nm):

         \begindata
         INS-85635_PIXEL_SAMPLES     = 1024
         INS-85635_PIXEL_LINES       = 1024
         INS-85635_PIXEL_PITCH       = 9.0E-3
         INS-85635_PIXEL_SIZE        = ( 9.0E-3 9.0E-3 )
         INS-85635_CCD_CENTER        = ( 512.5  512.5  )
         \begintext


   Wide Angle Camera UV Filter 1 (321nm):

         \begindata
         INS-85641_PIXEL_SAMPLES     = 1024
         INS-85641_PIXEL_LINES       = 1024
         INS-85641_PIXEL_PITCH       = 9.0E-3
         INS-85641_PIXEL_SIZE        = ( 9.0E-3 9.0E-3 )
         INS-85641_CCD_CENTER        = ( 512.5  512.5  )
         \begintext
 
   Wide Angle Camera UV Filter 2 (360nm):

         \begindata
         INS-85642_PIXEL_SAMPLES     = 1024
         INS-85642_PIXEL_LINES       = 1024
         INS-85642_PIXEL_PITCH       = 9.0E-3
         INS-85642_PIXEL_SIZE        = ( 9.0E-3 9.0E-3 )
         INS-85642_CCD_CENTER        = ( 512.5  512.5  )
         \begintext



 LROC NAC Detector Layout:
---------------------------------------------------------------------------

   The following section contains the layout information for the LROC 
   NAC-Left and NAC-Right detectors. Figure 2 depicts the layout for the 
   two NAC instruments.  The “1” in the figure identifies the location of 
   the first pixel in the 5064 sample array for all NAC EDR and CDR 
   products. Note: the first pixel for the NAC-R is captured on the 
   opposite side, but the image is flipped when generating the EDR and 
   subsequent CDR products. The change in orientation also causes the 
   positive y-axis to flip from positive right to positive left.



         Figure 2: Overall NAC detector layout (not to scale)

                    NAC-Left                    NAC-Right              ∧
                                                                       |
                                   [1--------------B--------------*]  Dir.
        [1--------------B---------------]                              of
         *                           <-->  ~130 pixel overlap         flight
                                                                       |
                        x--->                  <---x                   V
                      +Y,NAC-L                +Y,NAC-R

            1 = Sample #1 in LROC NAC-Left and Right EDR/CDR Files
            * = Sample #1 in original LROC NAC Science Files
            B = NAC boresight
        x---> = Positive Y axis for each NAC

   
   Given the geometry of the detector and optical system, sample 1 on the
   NAC-L detector has a focal plane coordinate of -17.829 mm and the sample
   1 on the NAC-R detector has a focal plane coordinate of 17.465 mm.

   The NACs are mounted off nadir at 1.39° in opposite directions to provide
   a 5.67° combined across-track FOV (~10,000 pixels) with ~135 pixels of
   overlap between image pairs [3]. The NACs were set slightly offset 
   (0.08°) in the down-track direction to enable jitter analysis during 
   post-processing. This overlap is not constant and is characterized with 
   a set of dynamic frames which the LROC team distributes through a set of 
   CKs (soc31 and lrolc) and the current frames kernel 
   (lro_frames_2014011_v01.tf or later). Please use this IK with the latest 
   LRO FK and the LROC generated CKs to ensure proper image 
   orthorectification.


 LROC WAC Detector Layout:
---------------------------------------------------------------------------

   The following section contains the detector layout information for the 
   LROC WAC.
   
   From [4]:
   
   The WAC is a push-frame camera capable of providing images in seven 
   different color bands: 321, 360, 415, 566, 604, 643, and 689 nm. Like a 
   push-broom camera, the WAC uses the motion of the spacecraft to build a 
   complete 2-dimensional image. However, instead of capturing a single 
   line, a push-frame camera acquires multiple lines, called framelets, 
   during each integration. Light enters the WAC through two sets of 
   optics, one designed for the visible bands and the second for the two 
   ultraviolet wavelengths. At the base of the ultraviolet optics is a 
   prism that redirects the light to a common CCD mounted under the visible 
   optics. Seven narrow-band interference filters bonded over the detector 
   array enable the WAC to acquire color images. The camera operates in two 
   modes: monochrome and color. In the monochrome mode, nominally the 643nm 
   band, the WAC acquires framelets that consist of 1024 samples and 14 
   lines. In color mode, the WAC acquires framelets for all seven bands, 
   however due to limitations in the readout rate of the CCD array each 
   visible framelet is limited to 704 samples and 14 lines. During the read 
   out of the two ultraviolet framelets, which are each 512 samples and 16 
   lines, the framelets are binned (pixel averaging) on the spacecraft 
   (4 × 4 pixels) resulting in a 128 × 4 pixel UV framelet. This strategy 
   increases the signal-to-noise ratio for both ultraviolet bands, but 
   reduces the ground sampling distance.
   
   
         Figure 3: WAC Detector Layout (not to scale)
         +----------------------------------------------------+
         |                                                    |
         |              <-UV mono/color 512 px->              |
         |                                                    |
         |              [------- 321 nm -------]              |
         |                                                    |
         |              [------- 360 nm -------]              |
         |                                                    |
         |                                                    |
         |                                                    |
         |                                                    |
         |                                                    |
         |  <--------VIS mono  mode (1024 samples)--------->  |
         |          <-VIS color mode (704 samples)->          |
         |                                                    |
         | [<----- [------------ 415 nm ------------] ----->] |
         | [<----- [------------ 566 nm ------------] ----->] |
         | [<----- [------------ 604 nm ------------] ----->] |
         | [<----- [------------ 643 nm ------------] ----->] |
         | [<----- [------------ 689 nm ------------] ----->] |
         |                                                    |
         |                                                    |
         +----------------------------------------------------+
         
         
   Visible Filters
   ---------------

         Table 6: WAC Visible Filter
         --------  ------ -------------- ------------ ------- -------
          Filter    Band   Band Center,   Bandwidth,   Start    End
            #         #        nm             nm       Line     Line
         --------  ------ -------------- ------------ ------- -------
            1         3        415            36        703     716
            2         4        566            20        728     741
            3         5        604            20        754     767
            4         6        643            23        781     794
            5         7        689            39        806     819
         --------  ------ -------------- ------------ ------- -------

         
         Figure 4: VIS filter layout summarized in table 6

                                      ^
         Line Number                  | s/c velocity
         -----------                  v
           703 +-----------------------------------------------+
               |                                               |
               | VIS Filter 1                                  | 14 rows
               |                                               |
           716 +-----------------------------------------------+
           728 +---------------------------------(11 dark rows)+
               |                                               |
               | VIS Filter 2                                  | 14 rows
               |                    +Xvis                      |
           741 +---------------       ^        ----------------+
      1    754 +---------------       |        ---(12 dark rows)+
      1        |                      |                        |
      7        | VIS Filter 3         x---->                   | 14 rows
               |                  +Zvis  +Yvis                 |
      l    767 +--------------                 ----------------+
      i    781 +---------------------------------(13 dark rows)+
      n        |                                               |
      e        | VIS Filter 4                                  | 14 rows
      s        |                                               |
           794 +-----------------------------------------------+
           806 +---------------------------------(11 dark rows)+
               |                                               |
               | VIS Filter 5                                  | 14 rows
               |                                               |
           819 +-----------------------------------------------+
                            704 or 1024 columns

   
   The set of keywords below contains wavelength center, bandwidth and
   detector offsets for each VIS filter.

         \begindata
         
         INS-85631_FILTER_BANDID     = 3
         INS-85631_FILTER_BANDCENTER = 415
         INS-85631_FILTER_BANDWIDTH  = 36
         INS-85631_FILTER_OFFSET     = 703

         INS-85632_FILTER_BANDID     = 4
         INS-85632_FILTER_BANDCENTER = 566
         INS-85632_FILTER_BANDWIDTH  = 20
         INS-85632_FILTER_OFFSET     = 728

         INS-85633_FILTER_BANDID     = 5
         INS-85633_FILTER_BANDCENTER = 604
         INS-85633_FILTER_BANDWIDTH  = 20
         INS-85633_FILTER_OFFSET     = 754

         INS-85634_FILTER_BANDID     = 6
         INS-85634_FILTER_BANDCENTER = 643
         INS-85634_FILTER_BANDWIDTH  = 23
         INS-85634_FILTER_OFFSET     = 781

         INS-85635_FILTER_BANDID     = 7
         INS-85635_FILTER_BANDCENTER = 689
         INS-85635_FILTER_BANDWIDTH  = 39
         INS-85635_FILTER_OFFSET     = 806
         
         \begintext

   The following parameters describe the how the line and samples in each
   WAC framelet are translated into line and samples on the detector array.
   Due to readout limitations, WAC color observations do not read out all 
   1024 samples.  Instead, the middle 704 samples are read from the
   detector.

   The WAC can acquire images in several difference operation modes: Color 
   (VIS and UV), VIS only, UV Only, BW (704 samples), and BW (1024 
   samples). Typically, WAC images are acquired in either Color mode or in 
   BW mode #3 where all 1024 samples are captured. BW modes #2 and $3 are 
   also referred to as polar mode since they are used primarily for 
   gathering multi-temporal sequences of the polar regions.  The following 
   tables and parameters define the sample offsets for each mode id and 
   mode number. The sample offset refers to the number of samples skipped 
   on the left side of the WAC CCD.


         Table 7: WAC operating mode and sample offset for VIS bands
         -------------------- ------  ---------- ---------- ---------------
          INSTRUMENT_MODE_ID   MODE    COMPRESS   IMAGE NS   SAMPLE OFFSET
         -------------------- ------  ---------- ---------- ---------------
                 COLOR           0         no        704           160
		 COLOR           1        yes        704           160
                  VIS            0         no        704           160
		  VIS            1        yes        704           160
                   BW            0         no        704           160
                   BW            1        yes        704           160
                   BW            2         no       1024            0
                   BW            3        yes       1024            0
         -------------------- ------  ---------- ---------- --------------- 

         \begindata

         INS-85631_COLOR_SAMPLE_OFFSET = 160
         INS-85631_VIS_SAMPLE_OFFSET   = 160
         INS-85631_BW0_SAMPLE_OFFSET   = 160
         INS-85631_BW1_SAMPLE_OFFSET   = 160
         INS-85631_BW2_SAMPLE_OFFSET   = 0
         INS-85631_BW3_SAMPLE_OFFSET   = 0

         INS-85632_COLOR_SAMPLE_OFFSET = 160
         INS-85632_VIS_SAMPLE_OFFSET   = 160
         INS-85632_BW0_SAMPLE_OFFSET   = 160
         INS-85632_BW1_SAMPLE_OFFSET   = 160
         INS-85632_BW2_SAMPLE_OFFSET   = 0
         INS-85632_BW3_SAMPLE_OFFSET   = 0

         INS-85633_COLOR_SAMPLE_OFFSET = 160
         INS-85633_VIS_SAMPLE_OFFSET   = 160
         INS-85633_BW0_SAMPLE_OFFSET   = 160
         INS-85633_BW1_SAMPLE_OFFSET   = 160
         INS-85633_BW2_SAMPLE_OFFSET   = 0
         INS-85633_BW3_SAMPLE_OFFSET   = 0

         INS-85634_COLOR_SAMPLE_OFFSET = 160
         INS-85634_VIS_SAMPLE_OFFSET   = 160
         INS-85634_BW0_SAMPLE_OFFSET   = 160
         INS-85634_BW1_SAMPLE_OFFSET   = 160
         INS-85634_BW2_SAMPLE_OFFSET   = 0
         INS-85634_BW3_SAMPLE_OFFSET   = 0

         INS-85635_COLOR_SAMPLE_OFFSET = 160
         INS-85635_VIS_SAMPLE_OFFSET   = 160
         INS-85635_BW0_SAMPLE_OFFSET   = 160
         INS-85635_BW1_SAMPLE_OFFSET   = 160
         INS-85635_BW2_SAMPLE_OFFSET   = 0
         INS-85635_BW3_SAMPLE_OFFSET   = 0

         \begintext

    UV Filters
   ------------

         Table 8: WAC UV Filter
         --------  ------ -------------- ------------ ------- -------
          Filter    Band   Band Center,   Bandwidth,   Start    End
            #         #        nm             nm       Line     Line
         --------  ------ -------------- ------------ ------- -------
            1         1       321             32        244     259
            2         2       360             15        302     317
         --------  ------ -------------- ------------ ------- -------

         Figure 4: UV filter layout summarized in table 8

                                    ^
         Line Number                | s/c velocity
         -----------                v
       7
       4    244 +-----------------------------------------------+
                | UV Filter 1                                   | 16 rows
       l    259 |-----------------------------------------------|
       i    302 +---------------------------------(42 dark rows)+
       n        | UV Filter 2                                   | 16 rows
       e    317 +-----------------------------------------------+
       s                          512 columns

   
   Note:All values for the UV filters are before averaging. All images have
   4x4 pixel averaging performed on chip, and thus the UV are 128 pixels by 
   4 lines.

   The set of keywords below contains wavelength center, bandwidth and
   detector row ranges for each UV filter.

         \begindata

         INS-85641_FILTER_BANDID     = 1
         INS-85641_FILTER_BANDCENTER = 321
         INS-85641_FILTER_BANDWIDTH  = 32
         INS-85641_FILTER_OFFSET     = 244

         INS-85642_FILTER_BANDID     = 2
         INS-85642_FILTER_BANDCENTER = 360
         INS-85642_FILTER_BANDWIDTH  = 15
         INS-85642_FILTER_OFFSET     = 302

        \begintext

   The following parameters describe how the line and samples in each
   WAC UV framelet are translated into line and samples on the detector 
   array in natve pixel geometry (before averaging).

         Table 9: WAC operating mode and sample offset for UV bands
         --------------------  --------  ----------  ---------------
          INSTRUMENT_MODE_ID     MODE      NATIVE     SAMPLE OFFSET
                                          IMAGE NS
         --------------------  --------  ----------  ---------------
                 COLOR          0 or 1      512           264
                   UV           0 or 1      512           264
         --------------------  --------  ----------  ---------------

         \begindata

         INS-85641_COLOR_SAMPLE_OFFSET = 264
         INS-85641_UV_SAMPLE_OFFSET    = 264
         INS-85641_BW0_SAMPLE_OFFSET   = 264
         INS-85641_BW1_SAMPLE_OFFSET   = 264
         INS-85641_BW2_SAMPLE_OFFSET   = 0
         INS-85641_BW3_SAMPLE_OFFSET   = 0

         INS-85642_COLOR_SAMPLE_OFFSET = 264
         INS-85642_UV_SAMPLE_OFFSET    = 264
         INS-85642_BW0_SAMPLE_OFFSET   = 264
         INS-85642_BW1_SAMPLE_OFFSET   = 264
         INS-85642_BW2_SAMPLE_OFFSET   = 0
         INS-85642_BW3_SAMPLE_OFFSET   = 0

         \begintext





 LROC Field of View Parameters:
---------------------------------------------------------------------------

   This section contains definitions for both NACs and each WAC filter
   field of views (FOVs). These definitions are provided in a format 
   consistent with the format required by the SPICE (CSPICE) function 
   GETFOV (getfov_c).
   
   This kernel defines the FOV for each NAC camera as well as each of the
   LROC WAC filters:
   

         Table 8: LROC FOV IDs
         -------------  --------------------------
             Name                 Frame
         -------------  --------------------------
             NAC-L            LRO_LROCNACL
             NAC-R            LRO_LROCNACL
          WAC (415 nm)   LRO_LROCWAC_VIS_FILTER_1
          WAC (566 nm)   LRO_LROCWAC_VIS_FILTER_2
          WAC (604 nm)   LRO_LROCWAC_VIS_FILTER_3
          WAC (643 nm)   LRO_LROCWAC_VIS_FILTER_4
          WAC (689 nm)   LRO_LROCWAC_VIS_FILTER_5
          WAC (321 nm)   LRO_LROCWAC_UV_FILTER_1
          WAC (360 nm)   LRO_LROCWAC_UV_FILTER_2
         -------------  --------------------------


   Each of the LROC FOVs is defined by a polygon made of 10 points.  For 
   the two NACs, point 1, 5, 6, 10 describe the instantaneous FOV for the 
   entire line array.  Points 2, 4, 7, and 9 describe the instantaneous FOV
   for the unmasked portion of the array.  Points 3 and 8 are midpoints
   measurements located at the boresight sample. Each point takes into 
   account the location of the NAC boresight and optical distortion.


         Figure 10: NAC FOV Definition

         1    2                     3                      4    5
         *----*---------------------*----------------------*----*
         |mask                                              mask|
         |mask                                              mask|
         *----*---------------------*----------------------*----*
         10   9                     8                      7    6
        

   
   For the WAC FOV parameters, point 1, 5, 6, 10 describe the corners of
   the instantaneous FOV for monochrome framelet, while points 2, 4, 7, and 
   8 describe the instantaneous FOV for the portion of the array read 
   during color observation.  Points 3 and 8 are midpoints measurements 
   located at the boresight sample. All points can be used to get get the 
   general shape of the individual framelet. Each point takes into account 
   the location of the wavelength dependent boresight, focal length and
   optical distortion and exclude masked pixels.
   

         Figure 7: WAC FOV Definition

         1        2                 3                  4        5
         *--------*-----------------*------------------*--------*
         |  mono                                          mono  |
         |  only                                          only  |
         *--------*-----------------*------------------*--------*
         10       9                 8                  7        6
         
         <-------------------- Mono  Image --------------------->
                   <---------- Color Image ----------->



   Narrow Angle Camera Left (NAC-L):
         \begindata
         INS-85600_FOV_FRAME            = 'LRO_LROCNACL'
         INS-85600_FOV_SHAPE            = 'POLYGON'
         INS-85600_BORESIGHT            = ( 0.0 0.0 1.0 )
         INS-85600_FOV_BOUNDARY_CORNERS = (  4.9738E-6 -2.5336E-2 1.0
                                             4.9747E-6 -2.4943E-2 1.0
                                             5.0027E-6  0.0000E+0 1.0
                                             4.9750E-6  2.4805E-2 1.0
                                             4.9745E-6  2.5032E-2 1.0
                                            -4.9745E-6  2.5032E-2 1.0
                                            -4.9750E-6  2.4805E-2 1.0
                                            -5.0027E-6  0.0000E+0 1.0
                                            -4.9747E-6 -2.4943E-2 1.0
                                            -4.9738E-6 -2.5336E-2 1.0 )
         \begintext


   Narrow Angle Camera Right (NAC-R):
         \begindata
         INS-85610_FOV_FRAME            = 'LRO_LROCNACR'
         INS-85610_FOV_SHAPE            = 'POLYGON'
         INS-85610_BORESIGHT            = ( 0.0 0.0 1.0 )
         INS-85610_FOV_BOUNDARY_CORNERS = ( -4.9595E-6 -2.5472E-2 1.0
                                            -4.9604E-6 -2.5080E-2 1.0
                                            -4.9888E-6  0.0000E+0 1.0
                                            -4.9616E-6  2.4520E-2 1.0
                                            -4.9611E-6  2.4756E-2 1.0
                                             4.9611E-6  2.4756E-2 1.0
                                             4.9616E-6  2.4520E-2 1.0
                                             4.9888E-6  0.0000E+0 1.0
                                             4.9604E-6 -2.5080E-2 1.0
                                             4.9595E-6 -2.5472E-2 1.0 )
         \begintext

   Wide Angle Camera VIS Filter 1 (415nm):
         \begindata
         INS-85631_FOV_FRAME            = 'LRO_LROCWAC_VIS_FILTER_1'
         INS-85631_FOV_SHAPE            = 'POLYGON'
         INS-85631_BORESIGHT            = ( 0.0 0.0 1.0 )
         INS-85631_FOV_BOUNDARY_CORNERS = (  1.4621E-1 -9.9906E-1 1.0
                                             1.2423E-1 -5.9295E-1 1.0
                                             1.0979E-1  0.0000E+0 1.0
                                             1.2471E-1  6.0358E-1 1.0
                                             1.4811E-1  1.0300E+0 1.0
                                             1.2136E-1  1.0275E+0 1.0
                                             1.0224E-1  6.0239E-1 1.0
                                             9.0048E-2  0.0000E+0 1.0
                                             1.0185E-1 -5.9179E-1 1.0
                                             1.1981E-1 -9.9659E-1 1.0 )
         \begintext

   Wide Angle Camera VIS Filter 2 (566nm):
         \begindata
         INS-85632_FOV_FRAME            = 'LRO_LROCWAC_VIS_FILTER_2'
         INS-85632_FOV_SHAPE            = 'POLYGON'
         INS-85632_BORESIGHT            = ( 0.0 0.0 1.0 )
         INS-85632_FOV_BOUNDARY_CORNERS = (  9.4975E-2 -9.8954E-1 1.0
                                             8.0858E-2 -5.8847E-1 1.0
                                             7.1551E-2  0.0000E+0 1.0
                                             8.1173E-2  5.9911E-1 1.0
                                             9.6197E-2  1.0202E+0 1.0
                                             6.9902E-2  1.0186E+0 1.0
                                             5.9004E-2  5.9838E-1 1.0
                                             5.2021E-2  0.0000E+0 1.0
                                             5.8776E-2 -5.8776E-1 1.0
                                             6.9015E-2 -9.8803E-1 1.0 )
         \begintext

   Wide Angle Camera VIS Filter 3 (604 nm):
         \begindata
         INS-85633_FOV_FRAME            = 'LRO_LROCWAC_VIS_FILTER_3'
         INS-85633_FOV_SHAPE            = 'POLYGON'
         INS-85633_BORESIGHT            = ( 0.0 0.0 1.0 )
         INS-85633_FOV_BOUNDARY_CORNERS = (  4.3116E-2 -9.8593E-1 1.0
                                             3.6725E-2 -5.8661E-1 1.0
                                             3.2517E-2  0.0000E+0 1.0
                                             3.6867E-2  5.9723E-1 1.0
                                             4.3670E-2  1.0165E+0 1.0
                                             1.7568E-2  1.0159E+0 1.0
                                             1.4833E-2  5.9696E-1 1.0
                                             1.3084E-2  0.0000E+0 1.0
                                             1.4776E-2 -5.8635E-1 1.0
                                             1.7345E-2 -9.8538E-1 1.0  )
         \begintext

   Wide Angle Camera VIS Filter 4 (643 nm):
         \begindata
         INS-85634_FOV_FRAME            = 'LRO_LROCWAC_VIS_FILTER_4'
         INS-85634_FOV_SHAPE            = 'POLYGON'
         INS-85634_BORESIGHT            = ( 0.0 0.0 1.0 )
         INS-85634_FOV_BOUNDARY_CORNERS = ( -1.0367E-2 -9.8327E-1 1.0
                                            -8.8386E-3 -5.8558E-1 1.0
                                            -7.8282E-3  0.0000E+0 1.0
                                            -8.8728E-3  5.9620E-1 1.0
                                            -1.0500E-2  1.0138E+0 1.0
                                            -3.6536E-2  1.0142E+0 1.0
                                            -3.0873E-2  5.9641E-1 1.0
                                            -2.7237E-2  0.0000E+0 1.0
                                            -3.0754E-2 -5.8578E-1 1.0
                                            -3.6074E-2 -9.8369E-1 1.0 )
         \begintext

   Wide Angle Camera VIS Filter 5 (689nm):
         \begindata
         INS-85635_FOV_FRAME            = 'LRO_LROCWAC_VIS_FILTER_5'
         INS-85635_FOV_SHAPE            = 'POLYGON'
         INS-85635_BORESIGHT            = ( 0.0 0.0 1.0 )
         INS-85635_FOV_BOUNDARY_CORNERS = (  -5.9730E-2 -9.8274E-1 1.0
                                            -5.0927E-2 -5.8529E-1 1.0
                                            -4.5114E-2  0.0000E+0 1.0
                                            -5.1124E-2  5.9590E-1 1.0
                                            -6.0494E-2  1.0132E+0 1.0
                                            -8.6619E-2  1.0146E+0 1.0
                                            -7.3181E-2  5.9654E-1 1.0
                                            -6.4564E-2  0.0000E+0 1.0
                                            -7.2899E-2 -5.8591E-1 1.0
                                            -8.5523E-2 -9.8406E-1 1.0 )
         \begintext

   Wide Angle Camera UV Filter 1 (321 nm):
         \begindata
         INS-85641_FOV_FRAME            = 'LRO_LROCWAC_UV_FILTER_1'
         INS-85641_FOV_SHAPE            = 'POLYGON'
         INS-85641_BORESIGHT            = ( 0.0 0.0 1.0 )
         INS-85641_FOV_BOUNDARY_CORNERS = (  1.1130E-1 -5.5241E-1 1.0
                                             1.1130E-1 -5.5241E-1 1.0
                                             9.6841E-2  0.0000E+0 1.0
                                             1.1189E-1  5.6405E-1 1.0
                                             1.1189E-1  5.6405E-1 1.0
                                             8.4782E-2  5.6245E-1 1.0
                                             8.4782E-2  5.6245E-1 1.0
                                             7.3427E-2  0.0000E+0 1.0
                                             8.4343E-2 -5.5087E-1 1.0
                                             8.4343E-2 -5.5087E-1 1.0 )
         \begintext

   Wide Angle Camera UV Filter 2 (321nm):
         \begindata
         INS-85642_FOV_FRAME            = 'LRO_LROCWAC_UV_FILTER_2'
         INS-85642_FOV_SHAPE            = 'POLYGON'
         INS-85642_BORESIGHT            = ( 0.0 0.0 1.0 )
         INS-85642_FOV_BOUNDARY_CORNERS = ( -1.7570E-2 -5.4320E-1 1.0
                                            -1.7570E-2 -5.4320E-1 1.0
                                            -1.5327E-2  0.0000E+0 1.0
                                            -1.7659E-2  5.5449E-1 1.0
                                            -1.7659E-2  5.5449E-1 1.0
                                            -4.4109E-2  5.5498E-1 1.0
                                            -4.4109E-2  5.5498E-1 1.0
                                            -3.8276E-2  0.0000E+0 1.0
                                            -4.3886E-2 -5.4367E-1 1.0
                                            -4.3886E-2 -5.4367E-1 1.0 )
         \begintext


LROC NAC Distortion Model Parameters
---------------------------------------------------------------------------

   Following the geometric calibration described above and in [4], optical
   distortion coefficients were modeled prior to launch for each NAC. 
   
   The LROC NAC distortion model has the following form:

      xd = (sample - BORESIGHT_SAMPLE) * PIXEL_PITCH
      r  = xd

      xc = xd / (1+k1*r^2)

   where "xd" is the distorted position (the measured position), "k1" is 
   the distortion coefficients, and "r" is the distance from the optical 
   center, and "xc" is the corrected focal plane positions in mm.  Recall 
   the NAC CCDs are line scan cameras (single line CCD) so yd = 0 and 
   subsequently yc = 0 is always true.

   The keywords below contain the unitless optical distortion coefficients
   for each NAC:

   Narrow Angle Camera Left (NAC-L):
         \begindata
         INS-85600_OD_K                 = 1.81E-5
         \begintext

   Narrow Angle Camera Right (NAC-R):
         \begindata
         INS-85610_OD_K                 = 1.83E-5
         \begintext


   The NAC camera model uses the following keywords to compute focal plane
   coordinates from CCD coordinates:

   Narrow Angle Camera Left (NAC-L):
         \begindata
         INS-85600_TRANSX               = ( 0.0  0.0     7.0E-3 )
         INS-85600_TRANSY               = ( 0.0  7.0E-3  0.0    )
         \begintext

   Narrow Angle Camera Right (NAC-R):
         \begindata
         INS-85610_TRANSX               = ( 0.0  0.0,   -7.0E-3 )
         INS-85610_TRANSY               = ( 0.0 -7.0E-3  0.0    )
         \begintext

   The NAC camera model uses the following keywords to compute CCD 
   coordinates from focal plane coordinates:

   Narrow Angle Camera Left (NAC-L):
         \begindata
         INS-85600_ITRANSS              = ( 0.0    0.0     142.857  )
         INS-85600_ITRANSL              = ( 0.0  142.857     0.0    )
         \begintext

   Narrow Angle Camera Right (NAC-R):
         \begindata
         INS-85610_ITRANSS              = ( 0.0    0.0    -142.8571 )
         INS-85610_ITRANSL              = ( 0.0 -142.8571    0.0    )
         \begintext


LROC WAC Distortion Model Parameters
---------------------------------------------------------------------------

   Following the geometric calibration described above and in [4], optical
   distortion coefficients were modeled in-flight by registering thousands 
   of WAC and NAC images. This model resulted in a distortion model with 
   the following form (note: the form of the equation differs from the 
   equation used for the NAC optical distortion):
   
      xc=xd*(1+k1*r^2+k2*r^4+k3*r^6)
      yc=yd*(1+k1*r^2+k2*r^4+k3*r^6)
      
      where r=sqrt (xd^2 + yd^2)

   where "xd" and "yd" are the distorted position (the measured position), 
   "k1", "k2" and "k3" are the distortion coefficients, "r" is the distance 
   from the optical center, and "xc" and "yc" are the corrected focal plane 
   positions in mm.  The following equations are used to calculate the
   distorted position from the framelet line and sample in the image:
   
   WAC-VIS (415, 566, 604, 643, and 689 nm):
      xd = (sample + SAMPLE_OFFSET - BORESIGHT_SAMPLE - 1) * PIXEL_PITCH
      yd = ( line  + FILTER_OFFSET -  BORESIGHT_LINE  - 1) * PIXEL_PITCH
      
   WAC-UV (321 and 360 nm):
      xd = ((sample*4)+SAMPLE_OFFSET-BORESIGHT_SAMPLE-2.5) * PIXEL_PITCH
      yd = ((line*4)  +FILTER_OFFSET- BORESIGHT_LINE -2.5) * PIXEL_PITCH

   The keywords below contain the unitless optical distortion coefficients
   for each WAC band:

   Wide Angle Camera VIS Filter 1 (415nm):
         \begindata
         INS-85631_OD_K  = ( 0.011386711675385400
                             0.000147045813479870
                             5.038005020438670E-6 )
         \begintext

   Wide Angle Camera VIS Filter 2 (566nm):
         \begindata
         INS-85632_OD_K  = ( 0.011330137284110200
                             0.000147788496863675
                             4.870907327326350E-6 )
         \begintext

   Wide Angle Camera VIS Filter 3 (604nm):
         \begindata
         INS-85633_OD_K  = ( 0.011302901258765900
                             0.000147434788741622
                             4.928415719467750E-6 )
         \begintext

   Wide Angle Camera VIS Filter 4 (643nm):
         \begindata
         INS-85634_OD_K  = ( 0.011310945216635900
                             0.000144463288593614
                             4.887542512911270E-6 )
         \begintext

   Wide Angle Camera VIS Filter 5 (689nm):
         \begindata
         INS-85635_OD_K  = ( 0.011256422654674700
                             0.000146609439724495
                             4.808691643457560E-6 )
         \begintext

   Wide Angle Camera UV Filter 1 (315nm):
         \begindata
         INS-85641_OD_K  = ( 0.025824582751554600
                             4.661394835922340E-5
                             0.000144650735580122 )
         \begintext

   Wide Angle Camera UV Filter 2 (360nm):
         \begindata
         INS-85642_OD_K  = ( 0.025144400734802000
                             0.000226010616709640
                             0.000124071862326273 )
         \begintext


   The LROC WAC Camera Model in ISIS uses the following keywords to compute
   focal plane coordinates from CCD coordinates (these values include a 
   slight twist due to decentering in the optics):
   
   Wide Angle Camera VIS Filter 1 (415nm):
         \begindata
         INS-85631_TRANSX   = ( 0.0  0.000000590365231 -0.008999999980637 )
         INS-85631_TRANSY   = ( 0.0  0.008999999980637  0.000000590365231 )
         \begintext

   Wide Angle Camera VIS Filter 2 (566nm):
         \begindata
         INS-85632_TRANSX   = ( 0.0  0.000000216143494 -0.008999999997405 )
         INS-85632_TRANSY   = ( 0.0  0.008999999997405  0.000000216143494 )
         \begintext

   Wide Angle Camera VIS Filter 3 (604nm):
         \begindata
         INS-85633_TRANSX   = ( 0.0 -0.000000085741007 -0.008999999999592 )
         INS-85633_TRANSY   = ( 0.0  0.008999999999592 -0.000000085741007 )
         \begintext

   Wide Angle Camera VIS Filter 4 (643nm):
         \begindata
         INS-85634_TRANSX   = ( 0.0 -0.000002600831484 -0.008999999624204 )
         INS-85634_TRANSY   = ( 0.0  0.008999999624204 -0.000002600831484 )
         \begintext

   Wide Angle Camera VIS Filter 5 (689nm):
         \begindata
         INS-85635_TRANSX   = ( 0.0 -0.000000668455587 -0.008999999975176 )
         INS-85635_TRANSY   = ( 0.0  0.008999999975176 -0.000000668455587 )
         \begintext

   Wide Angle Camera UV Filter 1 (315nm):
         \begindata
         INS-85641_TRANSX   = ( 0.0  0.000000311994535 -0.008999999994592 )
         INS-85641_TRANSY   = ( 0.0  0.008999999994592  0.000000311994535 )
         \begintext

   Wide Angle Camera UV Filter 2 (360nm):
         \begindata
         INS-85642_TRANSX   = ( 0.0  0.000001425859353 -0.008999999887051 )
         INS-85642_TRANSY   = ( 0.0  0.008999999887051  0.000001425859353 )
         \begintext


   The LROC WAC Camera Model in ISIS uses the following keywords to compute 
   CCD coordinates from focal plane coordinates (these values include a 
   slight twist due to decentering in the optics):


   Wide Angle Camera VIS Filter 1 (415nm):
         \begindata
         INS-85631_ITRANSS  = ( 0.0    0.0072884596481  111.1111108720638 )
         INS-85631_ITRANSL  = ( 0.0 -111.1111108720638    0.0072884596481 )
         \begintext

   Wide Angle Camera VIS Filter 2 (566nm):
         \begindata
         INS-85632_ITRANSS  = ( 0.0    0.0026684381921  111.1111110790686 )
         INS-85632_ITRANSL  = ( 0.0 -111.1111110790686    0.0026684381921 )
         \begintext

   Wide Angle Camera VIS Filter 3 (604nm):
         \begindata
         INS-85633_ITRANSS  = ( 0.0   -0.0010585309475  111.1111111060689 )
         INS-85633_ITRANSL  = ( 0.0 -111.1111111060689   -0.0010585309475 )
         \begintext

   Wide Angle Camera VIS Filter 4 (643nm):
         \begindata
         INS-85634_ITRANSS  = ( 0.0   -0.0321090306666  111.1111064716567 )
         INS-85634_ITRANSL  = ( 0.0 -111.1111064716567   -0.0321090306666 )
         \begintext

   Wide Angle Camera VIS Filter 5 (689nm):
         \begindata
         INS-85635_ITRANSS  = ( 0.0   -0.0082525381149  111.1111108046414 )
         INS-85635_ITRANSL  = ( 0.0 -111.1111108046414   -0.0082525381149 )
         \begintext

   Wide Angle Camera UV Filter 1 (315nm):
         \begindata
         INS-85641_ITRANSS  = ( 0.0   -0.0038517843825  111.1111110443480 )
         INS-85641_ITRANSL  = ( 0.0 -111.1111110443480   -0.0038517843825 )
         \begintext

   Wide Angle Camera UV Filter 2 (360nm):
         \begindata
         INS-85642_ITRANSS  = ( 0.0    0.0176032018930  111.1111097166839 )
         INS-85642_ITRANSL  = ( 0.0 -111.1111097166839    0.0176032018930 )
         \begintext


Deprecated LROC WAC Optical Parameters
---------------------------------------------------------------------------

   This section contains the deprecated optical parameters for the LROC
   WAC. These values were defined in v16 and earlier versions of the LROC 
   IK.  These values remain in the IK so that scripts and older versions
   of ISIS (3.4.4 and prior) continue to run. However, these values should 
   not be used if at all possible.

         Table 11: First Order WAC Optical Parameters (*Deprecated*)
         -------------------------------   ---------   ---------
                 Parameter, Units           WAC-VIS      WAC-UV
         -------------------------------   ---------   ---------
          Effective Focal Length, mm         6.013       4.693
          F/Ratio, unitless                  5.052       5.650
          Spectral Band, nm           #see section describing filters#
          Boresight Sample, pixel            513.9       515.3
          Boresight Line, pixel              778.2       298.1
         -------------------------------   ---------   ---------


   Wide Angle Camera Visible Bands (WAC-VIS):
         
         First Order Optical Parameters:
         \begindata
         INS-85621_FOCAL_LENGTH          = 6.013
         INS-85621_F/RATIO               = 5.052
         INS-85621_BORESIGHT_SAMPLE      = 513.9
         INS-85621_BORESIGHT_LINE        = 778.2
         INS-85621_IFOV                  = 0.001498
         \begintext

         Detector Parameters:
         \begindata
         INS-85621_PIXEL_SAMPLES         = 1024
         INS-85621_PIXEL_LINES           = 1024
         INS-85621_PIXEL_PITCH           = 0.009
         INS-85621_PIXEL_SIZE            = ( 9  9 )
         INS-85621_CCD_CENTER            = ( 511.5 511.5 )
         \begintext

         Detector Layout:
         \begindata
         INS-85621_FILTER_BANDID         = (3 4 5 6 7)
         INS-85621_FILTER_BANDCENTER     = (415 566 604 643 689)
         INS-85621_FILTER_BANDWIDTH      = (36 20 20 23 39)
         INS-85621_FILTER_OFFSET         = (703  728  754  781 806)
         INS-85621_COLOR_SAMPLE_OFFSET   = 160
         INS-85621_VIS_SAMPLE_OFFSET     = 160
         INS-85621_BW0_SAMPLE_OFFSET     = 160
         INS-85621_BW1_SAMPLE_OFFSET     = 160
         INS-85621_BW2_SAMPLE_OFFSET     = 0
         INS-85621_BW3_SAMPLE_OFFSET     = 0
         \begintext

         FOV parameters:
         \begindata
         INS-85621_FOV_FRAME             = 'LRO_LROCWAC_VIS'
         INS-85621_FOV_SHAPE             = 'RECTANGLE'
         INS-85621_BORESIGHT             = ( 0.0 0.0 1.0 )
         INS-85621_FOV_CLASS_SPEC        = 'ANGLES'
         INS-85621_FOV_REF_VECTOR        = ( 0.0 1.0 0.0 )
         INS-85621_FOV_REF_ANGLE         = 45.8
         INS-85621_FOV_CROSS_ANGLE       = 45.8
         INS-85621_FOV_ANGLE_UNITS       = 'DEGREES'
         INS-85621_FOV_ANGULAR_SIZE      = ( 1.60  0.0210 )
         \begintext

         Optical Distortion Parameters:
         \begindata
         INS-85621_OD_K                  = ( -0.0099 -0.0005 )
         INS-85621_TRANSX                = ( 0.0  0.0    -0.009 )
         INS-85621_TRANSY                = ( 0.0  0.009   0.0 )
         INS-85621_ITRANSS               = ( 0.0 0.0 111.11111111111 )
         INS-85621_ITRANSL               = ( 0.0 -111.11111111111 0.0 )
         \begintext

   Wide Angle Camera Ultraviolet Bands (WAC-UV):
         
         First Order Optical Parameters:
         \begindata
         INS-85626_FOCAL_LENGTH          = 4.693
         INS-85626_F/RATIO               = 5.65
         INS-85626_BORESIGHT_SAMPLE      = 515.3
         INS-85626_BORESIGHT_LINE        = 298.1
         INS-85626_IFOV                  = 0.00198
         \begintext

         Detector Parameters:
         \begindata
         INS-85626_PIXEL_SAMPLES         = 1024
         INS-85626_PIXEL_LINES           = 1024
         INS-85626_PIXEL_PITCH           = 0.009
         INS-85626_PIXEL_SIZE            = ( 9 9 )
         INS-85626_CCD_CENTER            = ( 511.5  511.5 )
         \begintext

         Detector Layout:
         \begindata
         INS-85626_FILTER_BANDID         = (1 2)
         INS-85626_FILTER_BANDCENTER     = (321 360)
         INS-85626_FILTER_BANDWIDTH      = (32 15)
         INS-85626_FILTER_OFFSET         = (244  302)
         INS-85626_COLOR_SAMPLE_OFFSET   = 264
         INS-85626_UV_SAMPLE_OFFSET      = 264
         INS-85626_BW0_SAMPLE_OFFSET     = 264
         INS-85626_BW1_SAMPLE_OFFSET     = 264
         INS-85626_BW2_SAMPLE_OFFSET     = 0
         INS-85626_BW3_SAMPLE_OFFSET     = 0
         \begintext

         FOV parameters:
         \begindata
         INS-85626_FOV_FRAME             = 'LRO_LROCWAC_UV'
         INS-85626_FOV_SHAPE             = 'RECTANGLE'
         INS-85626_BORESIGHT             = ( 0.0 0.0 1.0 )
         INS-85626_FOV_CLASS_SPEC        = 'ANGLES'
         INS-85626_FOV_REF_VECTOR        = ( 0.0 1.0 0.0 )
         INS-85626_FOV_REF_ANGLE         = 30.1
         INS-85626_FOV_CROSS_ANGLE       = 30.1
         INS-85626_FOV_ANGLE_UNITS       = 'DEGREES'
         INS-85626_FOV_ANGULAR_SIZE      = ( 1.05  0.0307 )
         \begintext

         Optical Distortion Parameters:
         \begindata
         INS-85626_OD_K                  = ( -0.024 -0.0007 )
         INS-85626_TRANSX                = ( 0.0  0.0    -0.009 )
         INS-85626_TRANSY                = ( 0.0  0.009   0.0 )
         INS-85626_ITRANSS               = ( 0.0 0.0 111.11111111111 )
         INS-85626_ITRANSL               = ( 0.0 -111.11111111111 0.0 )
         \begintext



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

Platform ID
---------------------------------------------------------------------------

  \begindata

  INS-85600_PLATFORM_ID           = -85000
  INS-85610_PLATFORM_ID           = -85000
  INS-85620_PLATFORM_ID           = -85000
  INS-85621_PLATFORM_ID           = -85620
  INS-85626_PLATFORM_ID           = -85620
  INS-85631_PLATFORM_ID           = -85620
  INS-85632_PLATFORM_ID           = -85620
  INS-85633_PLATFORM_ID           = -85620
  INS-85634_PLATFORM_ID           = -85620
  INS-85635_PLATFORM_ID           = -85620
  INS-85641_PLATFORM_ID           = -85620
  INS-85642_PLATFORM_ID           = -85620

  \begintext

NAIF ID Code to Name Mapping
---------------------------------------------------------------------------

   \begindata
   
   NAIF_BODY_NAME += 'LRO_LROCNACL'
   NAIF_BODY_CODE += -85600

   NAIF_BODY_NAME += 'LRO_LROCNACR'
   NAIF_BODY_CODE += -85610

   NAIF_BODY_NAME += 'LRO_LROCWAC'
   NAIF_BODY_CODE += -85620

   NAIF_BODY_NAME += 'LRO_LROCWAC_VIS'
   NAIF_BODY_CODE += -85621
      
   NAIF_BODY_NAME += 'LRO_LROCWAC_UV'
   NAIF_BODY_CODE += -85626

   NAIF_BODY_NAME += 'LRO_LROCWAC_VIS_FILTER_1'
   NAIF_BODY_CODE += -85631

   NAIF_BODY_NAME += 'LRO_LROCWAC_VIS_FILTER_2'
   NAIF_BODY_CODE += -85632

   NAIF_BODY_NAME += 'LRO_LROCWAC_VIS_FILTER_3'
   NAIF_BODY_CODE += -85633

   NAIF_BODY_NAME += 'LRO_LROCWAC_VIS_FILTER_4'
   NAIF_BODY_CODE += -85634

   NAIF_BODY_NAME += 'LRO_LROCWAC_VIS_FILTER_5'
   NAIF_BODY_CODE += -85635

   NAIF_BODY_NAME += 'LRO_LROCWAC_UV_FILTER_1'
   NAIF_BODY_CODE += -85641

   NAIF_BODY_NAME += 'LRO_LROCWAC_UV_FILTER_2'
   NAIF_BODY_CODE += -85642

  \begintext

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