KPL/IK

MI/LISM/SELENE Instrument Kernel
===========================================================================

   This Multiband Imager (MI) instrument kernel (I-kernel) contains
   the instrument mounting offset, fields-of-view specifications, and optics 
   and detector parameters. Details of MI instrument are described in 
   Ohtake et al., 2007. 

Version and Date
---------------------------------------------------------------------------
   Version 1.05-- October 7, 2009 M. Ohtake, Y.Yokota (JAXA)

    - Angles of LISM_TC1_HEAD and LISM_TC2_HEAD were updated.
    - Comment of distortion equation is corrected.

   Version 1.04-- June 18, 2009 M. Ohtake, Y.Yokota (JAXA)
   (Same as Version 1.03test-- May 8, 2008 -- M. Ohtake, Y.Yokota (JAXA))

     Pitch angle of LISM_MI_V_HEAD is corrected from  -0.0899 to
     -0.0486deg (Delta angle is 0.0413 deg).

   Version 1.03-- December 7, 2007 -- M. Ohtake, J. Haruyama, Y.Yokota (JAXA)

    - ANGLES of the Frames (from -131310 to -131370) were updated
      by using the laboratory measurement values. 
    - Pixel coordinates of Along-track center are corrected.
    - Comments were updated.

   Version 1.02 -- October 10, 2007 -- Y.Yokota (JAXA)

      FOV_BOUNDARY_CORNERS data for Level 2A software were corrected.

   Version 1.0  -- October 2, 2007 -- Naru Hirata (Univ. of Aizu.),
                  Makiko Ohtake (JAXA), Jun'ichi Haruyama (JAXA),
                  Tsuneo Matsunaga (NIES), Y.Yokota (JAXA)

      Initial version after launch.
      Preliminary versions have been developed since March 14, 2005.

References
---------------------------------------------------------------------------
Ohtake et al., 2007 **** TBD ****
Kodama et al., 2007 **** TBD ****


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


MI NAIF IDs
---------------------------------------------------------------------------

   The following NAIF IDs are assigned to individual MI sensors and bands:

       Sensor                                  NAIF ID
      ------------------------------------------------
       LISM_MI-VIS1 ( 415 nm)                  -131331
       LISM_MI-VIS2 ( 750 nm)                  -131332
       LISM_MI-VIS3 ( 900 nm)                  -131333
       LISM_MI-VIS4 ( 950 nm)                  -131334
       LISM_MI-VIS5 (1000 nm)                  -131335
       LISM_MI-NIR1 (1000 nm)                  -131341
       LISM_MI-NIR2 (1050 nm)                  -131342
       LISM_MI-NIR3 (1250 nm)                  -131343
       LISM_MI-NIR4 (1550 nm)                  -131344
      ------------------------------------------------

      \begindata

      NAIF_BODY_NAME                += ( 'LISM_MI-VIS1' )
      NAIF_BODY_CODE                += ( -131331 )
      NAIF_BODY_NAME                += ( 'LISM_MI-VIS2' )
      NAIF_BODY_CODE                += ( -131332 )
      NAIF_BODY_NAME                += ( 'LISM_MI-VIS3' )
      NAIF_BODY_CODE                += ( -131333 )
      NAIF_BODY_NAME                += ( 'LISM_MI-VIS4' )
      NAIF_BODY_CODE                += ( -131334 )
      NAIF_BODY_NAME                += ( 'LISM_MI-VIS5' )
      NAIF_BODY_CODE                += ( -131335 )
      NAIF_BODY_NAME                += ( 'LISM_MI-NIR1' )
      NAIF_BODY_CODE                += ( -131341 )
      NAIF_BODY_NAME                += ( 'LISM_MI-NIR2' )
      NAIF_BODY_CODE                += ( -131342 )
      NAIF_BODY_NAME                += ( 'LISM_MI-NIR3' )
      NAIF_BODY_CODE                += ( -131343 )
      NAIF_BODY_NAME                += ( 'LISM_MI-NIR4' )
      NAIF_BODY_CODE                += ( -131344 )

      \begintext

Optical Parameters
---------------------------------------------------------------------------

      -----------------------------------------------------------------
             parameter                    MI-VIS              
      -----------------------------------------------------------------
      Focal Length, mm, VIS1                    65.4
      Focal Length, mm, VIS2                    65.3
      Focal Length, mm, VIS3                    65.4
      Focal Length, mm, VIS4                    65.4
      Focal Length, mm, VIS5                    65.4
      f/ratio                             f/3.7
      IFOV, rad/pixel                     0.0002000
      Field of view (rad)
          Cross-track                     0.1919862
          Along-track                     0.0002000
      -----------------------------------------------------------------

      -----------------------------------------------------------------
             parameter                    MI-NIR              
      -----------------------------------------------------------------
      Focal Length, mm, NIR1                    64.9
      Focal Length, mm, NIR2                    64.9
      Focal Length, mm, NIR3                    65.0
      Focal Length, mm, NIR4                    65.2
      f/ratio                             f/3.7
      IFOV, rad/pixel                     0.0006200
      Field of view (rad)
          Cross-track                     0.1919862
          Along-track                     0.0006200
      -----------------------------------------------------------------

   These values are incorporated in the keywords below; pixel sizes 
   are converted to MILLIMETERS.
                    ^^^^^^^^^^^

      \begindata

      INS-131331_FOCAL_LENGTH = (  65.4    ) 
      INS-131331_F_NUMBER     = (  3.7       )
      INS-131332_FOCAL_LENGTH = (  65.3    ) 
      INS-131332_F_NUMBER     = (  3.7       )
      INS-131333_FOCAL_LENGTH = (  65.4    ) 
      INS-131333_F_NUMBER     = (  3.7       )
      INS-131334_FOCAL_LENGTH = (  65.4    ) 
      INS-131334_F_NUMBER     = (  3.7       )
      INS-131335_FOCAL_LENGTH = (  65.4    ) 
      INS-131335_F_NUMBER     = (  3.7       )

      INS-131341_FOCAL_LENGTH = (  64.9    ) 
      INS-131341_F_NUMBER     = (  3.7       )
      INS-131342_FOCAL_LENGTH = (  64.9    ) 
      INS-131342_F_NUMBER     = (  3.7       )
      INS-131343_FOCAL_LENGTH = (  65.0    ) 
      INS-131343_F_NUMBER     = (  3.7       )
      INS-131344_FOCAL_LENGTH = (  65.2    ) 
      INS-131344_F_NUMBER     = (  3.7       )

      \begintext

Mounting Alignment
---------------------------------------------------------------------------

Detector CCD Parameters
---------------------------------------------------------------------------

      -----------------------------------------------------------------
             parameter                    MI-VIS              MI-NIR
      -----------------------------------------------------------------
      Pixel Size, mm
          Cross-track                     0.013                0.040
          Along-track                     0.013                0.040
      Virtual Detector Array Size (*1)
          Cross-track                      962                  320
          Along-track                        1                    1
      Virtual Detector Array Center (*2)
          Cross-track                     484.0               160.0
       -----------------------------------------------------------------

   (*1) Virtual Detector is one-dimensional sensor which is defined on the
        two-dimensional physical CCD plane.

   (*2) Center of the first pixel is defined as "1.0".


       Actual Band Order on detectors (*** Comments are TBD ***)
       ------------------------------------------------
       LISM_MI-VIS1 ( 415 nm)                  -131331
       LISM_MI-VIS2 ( 750 nm)                  -131332
       LISM_MI-VIS5 (1000 nm)                  -131335
       LISM_MI-VIS4 ( 950 nm)                  -131334
       LISM_MI-VIS3 ( 900 nm)                  -131333
       ------------------------------------------------
       LISM_MI-NIR3 (1250 nm)                  -131343
       LISM_MI-NIR4 (1550 nm)                  -131344
       LISM_MI-NIR1 (1000 nm)                  -131341
       LISM_MI-NIR2 (1050 nm)                  -131342
       ------------------------------------------------

      \begindata

      INS-131331_PIXEL_SAMPLES  = ( 962         )
      INS-131331_PIXEL_LINES    = ( 962         )
      INS-131331_CENTER         = ( 484.0, 1.0 )       
      INS-131331_PIXEL_SIZE     = ( 0.013     )

      INS-131332_PIXEL_SAMPLES  = ( 962         )
      INS-131332_PIXEL_LINES    = ( 962         )
      INS-131332_CENTER         = ( 484.0, 1.0 )       
      INS-131332_PIXEL_SIZE     = ( 0.013     )

      INS-131335_PIXEL_SAMPLES  = ( 962         )
      INS-131335_PIXEL_LINES    = ( 962         )
      INS-131335_CENTER         = ( 484.0, 1.0 )       
      INS-131335_PIXEL_SIZE     = ( 0.013     )

      INS-131334_PIXEL_SAMPLES  = ( 962         )
      INS-131334_PIXEL_LINES    = ( 962         )
      INS-131334_CENTER         = ( 484.0, 1.0 )       
      INS-131334_PIXEL_SIZE     = ( 0.013     )

      INS-131333_PIXEL_SAMPLES  = ( 962         )
      INS-131333_PIXEL_LINES    = ( 962         )
      INS-131333_CENTER         = ( 484.0, 1.0 )       
      INS-131333_PIXEL_SIZE     = ( 0.013     )

      INS-131343_PIXEL_SAMPLES  = ( 320          )
      INS-131343_PIXEL_LINES    = ( 240          )
      INS-131343_CENTER         = ( 160.0, 1.0 )       
      INS-131343_PIXEL_SIZE     = ( 0.040     )

      INS-131344_PIXEL_SAMPLES  = ( 320          )
      INS-131344_PIXEL_LINES    = ( 240          )
      INS-131344_CENTER         = ( 160.0, 1.0 )       
      INS-131344_PIXEL_SIZE     = ( 0.040     )

      INS-131341_PIXEL_SAMPLES  = ( 320          )
      INS-131341_PIXEL_LINES    = ( 240          )
      INS-131341_CENTER         = ( 160.0, 1.0 )       
      INS-131341_PIXEL_SIZE     = ( 0.040     )

      INS-131342_PIXEL_SAMPLES  = ( 320          )
      INS-131342_PIXEL_LINES    = ( 240          )
      INS-131342_CENTER         = ( 160.0, 1.0 )       
      INS-131342_PIXEL_SIZE     = ( 0.040     )

      \begintext



FOV Definitions
---------------------------------------------------------------------------


   In this section, definitions for FOVs of MI-VIS and  MI-NIR are described
   in a format consistent required by the SPICE (CSPICE) function GETFOV
   (getfov_c).

   On each focal plane of  MI-VIS and  MI-NIR, a two-dimensional CCD is 
   located. Virtual one-dimensional detector is defined for each band on 
   the two-dimensional physical CCD plane. Hereafter it is treated as
   one-dimensional detector array.

   The direction along the row of pixels of each band is defined to be 
   Y axis. The +Y is the direction toward the radiator side from the 
   detectors. Z axis is defined to be "ideal" boresight. 


                       Corner pixel
                      view direction 
                           ^
         Center pixel       \             X(Along-track)
            view   <.        \           ^   CCD plane
          direction  `-.      \          |
                        `-.    \         |     .^ -Y(Cross-track)
                           `-.  \        |   .'
                              `-.\    F  | .'
                     <-----------`o.-----o'  Detector line in
                   Z        Focal  \`-.  | .  the CCD plane
                            point   \  `-*'
                                     \ .'| Center pixel
                                      *  |
                                  Corner
                                   pixel           

   The data from which the view directions for the corner pixels
   have been computed are provided in the camera geometric calibration
   references (Kodama et al., 2007). 

   The "actual" boresight vector (INS<INSTID>_BORESIGHT) is along the
   view direction of the "center" pixel.

   Corner vectors (FOV_BOUNDARY_CORNERS) are defined as line-of-sight 
   vectors from the middle points of the upper and lower edges of corner 
   pixels. We note that these  points are A and B, but not C and D in the
   below diagram. These corner vectors are only used in LISM Level 2A:


     C      A                                       A'      C'
    /      /                                         \       \
   o------o-------o------o-------o-----     ---o------o-------o
   |              |              |             |              |
   |  Pixel no.1  |  Pixel no.2  |    ....     |  Last Pixel  |
   |              |              |             |              |
   |              |              |             |              |
   o------o-------o------o-------o-----     ---o------o-------o
    \      \                                         /       /
     D      B                                       B'      D'


   When the coordinates of the first and last pixel of each CCD are 
   (Xf,Yf) and (Xl,Yl) and those of the two middle pixels of the first
   and last pixels are (Xm1,Ym1) and (Xm2,Ym2), the FOV definition can
   be expressed as: 

         INS<INSTID>_FOV_FRAME            = 'LISM_TC1_HEAD'
         INS<INSTID>_FOV_SHAPE            = 'RECTANGLE'
         INS<INSTID>_BORESIGHT            = (
                                             -Xm, -(Ym1+Ym2)/2, FL 
                                            )
         INS<INSTID>_FOV_BOUNDARY_CORNERS = (
                                           -(Xf-HP),     -Yf,     FL
                                           -(Xf+HP),     -Yf,     FL
                                           -(Xl+HP),     -Yl,     FL
                                           -(Xl-HP),     -Yl,     FL
                                            )

   where HP is 1/2 of the pixel size [mm], and FL is the focal length.

      \begindata

         INS-131331_FOV_FRAME            = 'LISM_MI_V_HEAD'
         INS-131331_FOV_SHAPE            = 'RECTANGLE'
         INS-131331_BORESIGHT            = (
                                            6.2543   -0.0201   65.4000
                                           )
         INS-131331_FOV_BOUNDARY_CORNERS = (
                                            6.2608    6.2654   65.4000 
                                            6.2478    6.2654   65.4000 
                                            6.2478   -6.2406   65.4000 
                                            6.2608   -6.2406   65.4000 
                                           )

         INS-131332_FOV_FRAME            = 'LISM_MI_V_HEAD'
         INS-131332_FOV_SHAPE            = 'RECTANGLE'
         INS-131332_BORESIGHT            = (
                                            3.1270   -0.0208   65.3000
                                           )
         INS-131332_FOV_BOUNDARY_CORNERS = (
                                            3.1335    6.2647   65.3000 
                                            3.1205    6.2647   65.3000 
                                            3.1205   -6.2413   65.3000 
                                            3.1335   -6.2413   65.3000 
                                           )

         INS-131335_FOV_FRAME            = 'LISM_MI_V_HEAD'
         INS-131335_FOV_SHAPE            = 'RECTANGLE'
         INS-131335_BORESIGHT            = (
                                           -0.0060   -0.0187   65.4000
                                           )
         INS-131335_FOV_BOUNDARY_CORNERS = (
                                            0.0005    6.2668   65.4000 
                                           -0.0125    6.2668   65.4000 
                                           -0.0125   -6.2392   65.4000 
                                            0.0005   -6.2392   65.4000 
                                           )

         INS-131334_FOV_FRAME            = 'LISM_MI_V_HEAD'
         INS-131334_FOV_SHAPE            = 'RECTANGLE'
         INS-131334_BORESIGHT            = (
                                           -3.1416   -0.0171   65.4000
                                           )
         INS-131334_FOV_BOUNDARY_CORNERS = (
                                           -3.1351    6.2684   65.4000 
                                           -3.1481    6.2684   65.4000 
                                           -3.1481   -6.2376   65.4000 
                                           -3.1351   -6.2376   65.4000 
                                           )

         INS-131333_FOV_FRAME            = 'LISM_MI_V_HEAD'
         INS-131333_FOV_SHAPE            = 'RECTANGLE'
         INS-131333_BORESIGHT            = (
                                           -6.2723   -0.0170   65.4000
                                           )
         INS-131333_FOV_BOUNDARY_CORNERS = (
                                           -6.2658    6.2685   65.4000 
                                           -6.2788    6.2685   65.4000 
                                           -6.2788   -6.2375   65.4000 
                                           -6.2658   -6.2375   65.4000 
                                           )

         INS-131343_FOV_FRAME            = 'LISM_MI_N_HEAD'
         INS-131343_FOV_SHAPE            = 'RECTANGLE'
         INS-131343_BORESIGHT            = (
                                           4.5004    -0.0013   65.0000
                                           )
         INS-131343_FOV_BOUNDARY_CORNERS = (
                                           4.5204     6.3787   65.0000 
                                           4.4804     6.3787   65.0000 
                                           4.4804    -6.4213   65.0000 
                                           4.5204    -6.4213   65.0000 
                                           )

         INS-131344_FOV_FRAME            = 'LISM_MI_N_HEAD'
         INS-131344_FOV_SHAPE            = 'RECTANGLE'
         INS-131344_BORESIGHT            = (
                                           1.4998     0.0028   65.2000
                                           )
         INS-131344_FOV_BOUNDARY_CORNERS = (
                                           1.5198     6.3828   65.2000 
                                           1.4798     6.3828   65.2000 
                                           1.4798    -6.4172   65.2000 
                                           1.5198    -6.4172   65.2000 
                                           )

         INS-131341_FOV_FRAME            = 'LISM_MI_N_HEAD'
         INS-131341_FOV_SHAPE            = 'RECTANGLE'
         INS-131341_BORESIGHT            = (
                                           -1.5114   -0.0084   64.9000
                                           )
         INS-131341_FOV_BOUNDARY_CORNERS = (
                                           -1.4914    6.3716   64.9000 
                                           -1.5314    6.3716   64.9000 
                                           -1.5314   -6.4284   64.9000 
                                           -1.4914   -6.4284   64.9000 
                                           )

         INS-131342_FOV_FRAME            = 'LISM_MI_N_HEAD'
         INS-131342_FOV_SHAPE            = 'RECTANGLE'
         INS-131342_BORESIGHT            = (
                                            -4.513   -0.0118   64.9000
                                           )
         INS-131342_FOV_BOUNDARY_CORNERS = (
                                            -4.4930   6.3682   64.9000 
                                            -4.5330   6.3682   64.9000 
                                            -4.5330  -6.4318   64.9000 
                                            -4.4930  -6.4318   64.9000 
                                           )

      \begintext

SELENE/LISM NAIF frame IDs
---------------------------------------------------------------------------

   The following NAIF IDs are assigned to individual LISM frames and sensors:

      Definition of the keywords used in these assignment are attached
      at bottom of the table.
                                               NAIF ID
      ------------------------------------------------
       SELENE_M                                   -131
       SELENE_M_SPACECRAFT                     -131000

       LISM_LRU_SP                             -131310
       LISM_SP                                 -131311
       LISM_SP_HIGH                            -131312

       LISM_LRU_TC_MI                          -131320

       LISM_MI_V_HEAD                          -131330
       LISM_MI_N_HEAD                          -131340

       LISM_MI-VIS1                            -131331
       LISM_MI-VIS2                            -131332
       LISM_MI-VIS3                            -131333
       LISM_MI-VIS4                            -131334
       LISM_MI-VIS5                            -131335
       LISM_MI-NIR1                            -131341
       LISM_MI-NIR2                            -131342
       LISM_MI-NIR3                            -131343
       LISM_MI-NIR4                            -131344

       LISM_TC1_HEAD                           -131350
       LISM_TC2_HEAD                           -131370

       LISM_TC1                                -131351
       LISM_TC2                                -131371

       LISM_TC1_WDF  (Double DCT Full)         -131352
       LISM_TC1_WTF  (Double Through Full)     -131353
       LISM_TC1_SDF  (Single DCT Full)         -131354
       LISM_TC1_STF  (Single Through Full)     -131355
       LISM_TC1_WDN  (Double DCT Nominal)      -131356
       LISM_TC1_WTN  (Double Through Nominal)  -131357
       LISM_TC1_SDN  (Single DCT Nominal)      -131358
       LISM_TC1_STN  (Single Through Nominal)  -131359
       LISM_TC1_WDH  (Double DCT Half)         -131360
       LISM_TC1_WTH  (Double Through Half)     -131361
       LISM_TC1_SDH  (Single DCT Half)         -131362
       LISM_TC1_STH  (Single Through Half)     -131363
       LISM_TC1_SSH  (Single SP_support Half)  -131364

       LISM_TC2_WDF  (Double DCT Full)         -131372
       LISM_TC2_WTF  (Double Through Full)     -131373
       LISM_TC2_SDF  (Single DCT Full)         -131374
       LISM_TC2_STF  (Single Through Full)     -131375
       LISM_TC2_WDN  (Double DCT Nominal)      -131376
       LISM_TC2_WTN  (Double Through Nominal)  -131377
       LISM_TC2_SDN  (Single DCT Nominal)      -131378
       LISM_TC2_STN  (Single Through Nominal)  -131379
       LISM_TC2_WDH  (Double DCT Half)         -131380
       LISM_TC2_WTH  (Double Through Half)     -131381
       LISM_TC2_SDH  (Single DCT Half)         -131382
       LISM_TC2_STH  (Single Through Half)     -131383
       LISM_TC2_SSH  (Single SP_support Half)  -131384

   Definition of the keywords
       SELENE_M: SELENE mission
       SELENE_M_SPACECRAFT: SELENE main satellite
       LISM_LRU_SP: LISM Radiometer SP Unit
       LISM_SP: SP nominal resolution
       LISM_SP_HIGH: SP high resolution
       LISM_LRU_TC_MI: LISM Radiometer TC/MI Unit
       LISM_MI_V_HEAD: MI-VIS optics
       LISM_MI_N_HEAD: MI-NIR optics
       LISM_TC1_HEAD: TC1 optics
       LISM_TC2_HEAD: TC2 optics

SELENE/LISM Frames
---------------------------------------------------------------------------

   The following SELENE/LISM frames are defined in this kernel file:

           Name                  Relative to           Type       NAIF ID
      ======================  ===================  ============   =======

      SELENE_M_SPACECRAFT     J2000                CK             -131000
      LISM_LRU_SP             SELENE_M             FIXED          -131310
      LISM_LRU_TC_MI          SELENE_M             FIXED          -131320
      LISM_MI_V_HEAD          LISM_LRU_TC_MI       FIXED          -131330
      LISM_MI_N_HEAD          LISM_LRU_TC_MI       FIXED          -131340
      LISM_TC1_HEAD           LISM_LRU_TC_MI       FIXED          -131350
      LISM_TC2_HEAD           LISM_LRU_TC_MI       FIXED          -131370


SELENE/LISM Frame Tree
--------------------------------------

   The diagram below shows the SELENE/LISM frame hierarchy.


                               "J2000" INERTIAL
           +-----------------------------------------------------+
           |                          |                          |
           |<-pck                     |                          |<-pck
           |                          |                          |
           V                          |                          V
       "MOON_ME"                      |                     "IAU_EARTH"
     MOON BODY-FIXED                  |<-ck               EARTH BODY-FIXED
     ---------------                  |                   ----------------
                                      V
                            "SELENE_M_SPACECRAFT"
           +-----------------------------------------------------+
           |                                                     |
           |<-fixed                                              |<-fixed
           |                                                     |
           V                                                     V
    "LISM_LRU_TC_MI"                                       "LISM_LRU_SP"
    -----------------------------------------------+       -------------
           |            |             |            |
           |<-fixed     |             |<-fixed     |
           |            |             |            |
           V            |             V            |
    "LISM_TC1_HEAD"     |      "LISM_MI_V_HEAD"    |
    ---------------     |      --------------      |
                        |                          |
                        |<-fixed                   |<-fixed
                        |                          |
                        V                          V
                 "LISM_TC2_HEAD"            "LISM_MI_N_HEAD"
                 ---------------            ----------------

   \begindata

      FRAME_SELENE_M_SPACECRAFT       = -131000
      FRAME_-131000_NAME              = 'SELENE_M_SPACECRAFT'
      FRAME_-131000_CLASS             =  3
      FRAME_-131000_CLASS_ID          = -131000
      FRAME_-131000_CENTER            = -131
      CK_-131000_SCLK                 = -131
      CK_-131000_SPK                  = -131

      FRAME_LISM_LRU_SP               =  -131310
      FRAME_-131310_NAME              = 'LISM_LRU_SP'
      FRAME_-131310_CLASS             =  4
      FRAME_-131310_CLASS_ID          =  -131310
      FRAME_-131310_CENTER            =  -131
      TKFRAME_-131310_RELATIVE        = 'SELENE_M_SPACECRAFT'
      TKFRAME_-131310_SPEC            = 'ANGLES'
      TKFRAME_-131310_UNITS           = 'DEGREES'
      TKFRAME_-131310_AXES            = ( 3,   2,   1   )
      TKFRAME_-131310_ANGLES          = ( 0.1429, -0.0202, 0.0689 )

      FRAME_LISM_LRU_TC_MI            =  -131320
      FRAME_-131320_NAME              = 'LISM_LRU_TC_MI'
      FRAME_-131320_CLASS             =  4
      FRAME_-131320_CLASS_ID          =  -131320
      FRAME_-131320_CENTER            =  -131
      TKFRAME_-131320_RELATIVE        = 'SELENE_M_SPACECRAFT'
      TKFRAME_-131320_SPEC            = 'ANGLES'
      TKFRAME_-131320_UNITS           = 'DEGREES'
      TKFRAME_-131320_AXES            = ( 3,   2,   1   )
      TKFRAME_-131320_ANGLES          = ( 0.0099, 0.0396, -0.0179 )

      FRAME_LISM_MI_V_HEAD            =  -131330
      FRAME_-131330_NAME              = 'LISM_MI_V_HEAD'
      FRAME_-131330_CLASS             =  4
      FRAME_-131330_CLASS_ID          =  -131330
      FRAME_-131330_CENTER            =  -131
      TKFRAME_-131330_RELATIVE        = 'LISM_LRU_TC_MI'
      TKFRAME_-131330_SPEC            = 'ANGLES'
      TKFRAME_-131330_UNITS           = 'DEGREES'
      TKFRAME_-131330_AXES            = ( 3,   2,   1   )
      TKFRAME_-131330_ANGLES          = ( 0.0138, -0.0486, -0.0536 )

      FRAME_LISM_MI_N_HEAD            =  -131340
      FRAME_-131340_NAME              = 'LISM_MI_N_HEAD'
      FRAME_-131340_CLASS             =  4
      FRAME_-131340_CLASS_ID          =  -131340
      FRAME_-131340_CENTER            =  -131
      TKFRAME_-131340_RELATIVE        = 'LISM_LRU_TC_MI'
      TKFRAME_-131340_SPEC            = 'ANGLES'
      TKFRAME_-131340_UNITS           = 'DEGREES'
      TKFRAME_-131340_AXES            = ( 3,   2,   1   )
      TKFRAME_-131340_ANGLES          = ( 0.0232, -0.0068, -0.0332 )

      FRAME_LISM_TC1_HEAD             =  -131350
      FRAME_-131350_NAME              = 'LISM_TC1_HEAD'
      FRAME_-131350_CLASS             =  4
      FRAME_-131350_CLASS_ID          =  -131350
      FRAME_-131350_CENTER            =  -131
      TKFRAME_-131350_RELATIVE        = 'LISM_LRU_TC_MI'
      TKFRAME_-131350_SPEC            = 'ANGLES'
      TKFRAME_-131350_UNITS           = 'DEGREES'
      TKFRAME_-131350_AXES            = ( 3,   2,   1   )
      TKFRAME_-131350_ANGLES          = ( 0.04903647, -14.97465222, 0.05110624 )

      FRAME_LISM_TC2_HEAD             =  -131370
      FRAME_-131370_NAME              = 'LISM_TC2_HEAD'
      FRAME_-131370_CLASS             =  4
      FRAME_-131370_CLASS_ID          =  -131370
      FRAME_-131370_CENTER            =  -131
      TKFRAME_-131370_RELATIVE        = 'LISM_LRU_TC_MI'
      TKFRAME_-131370_SPEC            = 'ANGLES'
      TKFRAME_-131370_UNITS           = 'DEGREES'
      TKFRAME_-131370_AXES            = ( 3,   2,   1   )
      TKFRAME_-131370_ANGLES          = ( -0.04379912, 15.01058661, 0.09222246 )

   \begintext
   
Distortion information
---------------------------------------------------------------------------
  Line-of-sight vector of pixel no. n can be expressed as below.

   Distortion coefficients information:
     INS<INSTID>_DISTORTION_COEF_X  = ( a0, a1, a2, a3)
     INS<INSTID>_DISTORTION_COEF_Y  = ( b0, b1, b2, b3),

   Distance r from the center:
     r = - (n - INS<INSTID>_CENTER) * INS<INSTID>_PIXEL_SIZE.

   Line-of-sight vector v is calculated as
     v[X] = INS<INSTID>BORESIGHT[X]
            +a0 +a1*r +a2*r^2 +a3*r^3 ,
     v[Y] = INS<INSTID>BORESIGHT[Y]
            +r +a0 +a1*r +a2*r^2 +a3*r^3 ,
     v[Z] = INS<INSTID>BORESIGHT[Z] .


   \begindata

      INS-131331_DISTORTION_COEF_X  = (
                                       -1.7347e-18,  6.5562e-4, -1.7224e-4
                                      )
      INS-131331_DISTORTION_COEF_Y  = (
                                        2.3130e-18, -1.7082e-3,  5.0717e-5
                                      )
      INS-131332_DISTORTION_COEF_X  = (
                                        2.8912e-19,  3.8886e-4, -8.4176e-5
                                      )
      INS-131332_DISTORTION_COEF_Y  = (
                                       -2.0238e-18,  2.6316e-3,  4.9624e-5
                                      )
      INS-131333_DISTORTION_COEF_X  = (
                                        2.3130e-18, -2.2133e-4,  2.6768e-4
                                      )
      INS-131333_DISTORTION_COEF_Y  = (
                                        1.0119e-18, -1.6243e-3,  1.6044e-5
                                      )
      INS-131334_DISTORTION_COEF_X  = (
                                        1.1565e-18, -9.5157e-6,  1.4639e-4
                                      )
      INS-131334_DISTORTION_COEF_Y  = (
                                       -1.3010e-18,  2.4813e-3, -2.3439e-5
                                      )
      INS-131335_DISTORTION_COEF_X  = (
                                        2.8912e-19,  2.0899e-4,  4.7727e-5
                                      )
      INS-131335_DISTORTION_COEF_Y  = (
                                       -1.0119e-18,  3.4982e-3,  1.9597e-5
                                      )
      INS-131341_DISTORTION_COEF_X  = (
                                      -9.0474e-4, -2.4390e-3,
                                      -2.5248e-5,  2.8753e-5
                                      )
      INS-131341_DISTORTION_COEF_Y  = (
                                      -1.7747e-4,  2.4504e-3,
                                       1.0338e-4, -4.7280e-5
                                      )
      INS-131342_DISTORTION_COEF_X  = (
                                      -1.4361e-3, -3.7386e-3,
                                       3.0261e-5,  3.7848e-5
                                      )
      INS-131342_DISTORTION_COEF_Y  = (
                                      -9.2563e-4, -1.3992e-3,
                                       2.0318e-4, -1.6216e-5
                                      )
      INS-131343_DISTORTION_COEF_X  = (
                                      -2.6566e-4,  4.3774e-4,
                                      -2.8387e-4, -4.6355e-6
                                      )
      INS-131343_DISTORTION_COEF_Y  = (
                                       1.1552e-3, -2.5034e-3,
                                       2.7161e-4, -1.2621e-5
                                      )
      INS-131344_DISTORTION_COEF_X  = (
                                      -5.0560e-3,  9.5244e-5,
                                      -1.2675e-4, -1.3607e-5
                                      )
      INS-131344_DISTORTION_COEF_Y  = (
                                      -4.2265e-3,  7.2037e-5,
                                       2.9845e-4, -3.4799e-5
                                      )
   \begintext
