From 116e05b74b66da74bd1c34a6876cab334f931748 Mon Sep 17 00:00:00 2001
From: paarongiroux <47163875+paarongiroux@users.noreply.github.com>
Date: Mon, 7 Oct 2019 15:36:35 -0700
Subject: [PATCH] TGO Cassis ALE driver and light time to surface correction
(#295)
* Adds TGO Cassis ALE driver and adds light time to surface correction
* Add test data
* updated cassis and kaguya tests to get them running
---
ale/base/data_naif.py | 36 +-
ale/drivers/tgo_drivers.py | 66 +
...O-2016-11-26T22.32.14.582-RED-01000-B1.xsp | 770 ++++
...6-11-26T22.32.14.582-RED-01000-B1_isis.lbl | 473 ++
...ck_p_160312_191231_190601_sliced-143410.xc | 136 +
.../de-403-masses.tpc | 65 +
.../em16_tgo_cassis_v07.ti | 608 +++
.../em16_tgo_ops_v02.tf | 258 ++
...01_20170301_s20190703_v01_sliced-143000.xc | 2845 ++++++++++++
.../em16_tgo_step_20190823.tsc | 225 +
.../em16_tgo_v18.tf | 3662 +++++++++++++++
.../naif0012.tls | 152 +
.../pck00010.tpc | 4061 +++++++++++++++++
.../rssd0002.tf | 1424 ++++++
.../tgoCassisAddendum007.ti | 194 +
tests/pytests/test_cassis_drivers.py | 294 ++
tests/pytests/test_kaguya_drivers.py | 24 +-
17 files changed, 15276 insertions(+), 17 deletions(-)
create mode 100644 ale/drivers/tgo_drivers.py
create mode 100644 tests/pytests/data/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1.xsp
create mode 100644 tests/pytests/data/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1_isis.lbl
create mode 100644 tests/pytests/data/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1/cassis_ck_p_160312_191231_190601_sliced-143410.xc
create mode 100644 tests/pytests/data/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1/de-403-masses.tpc
create mode 100644 tests/pytests/data/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1/em16_tgo_cassis_v07.ti
create mode 100644 tests/pytests/data/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1/em16_tgo_ops_v02.tf
create mode 100644 tests/pytests/data/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1/em16_tgo_sc_spm_20161101_20170301_s20190703_v01_sliced-143000.xc
create mode 100644 tests/pytests/data/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1/em16_tgo_step_20190823.tsc
create mode 100644 tests/pytests/data/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1/em16_tgo_v18.tf
create mode 100644 tests/pytests/data/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1/naif0012.tls
create mode 100644 tests/pytests/data/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1/pck00010.tpc
create mode 100644 tests/pytests/data/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1/rssd0002.tf
create mode 100644 tests/pytests/data/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1/tgoCassisAddendum007.ti
create mode 100644 tests/pytests/test_cassis_drivers.py
diff --git a/ale/base/data_naif.py b/ale/base/data_naif.py
index bd53033..8527b3c 100644
--- a/ale/base/data_naif.py
+++ b/ale/base/data_naif.py
@@ -1,5 +1,6 @@
import spiceypy as spice
import numpy as np
+import scipy.constants
import ale
from ale.base.type_sensor import Framer
@@ -337,11 +338,36 @@ class NaifSpice():
# spkezr returns a vector from the observer's location to the aberration-corrected
# location of the target. For more information, see:
# https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/FORTRAN/spicelib/spkezr.html
- state, _ = spice.spkezr(target,
- time,
- self.reference_frame,
- self.light_time_correction,
- observer)
+ if self.correct_lt_to_surface and self.light_time_correction.upper() == 'LT+S':
+ obs_tar_state, obs_tar_lt = spice.spkezr(target,
+ time,
+ 'J2000',
+ self.light_time_correction,
+ observer)
+ # ssb to spacecraft
+ ssb_obs_state, ssb_obs_lt = spice.spkezr(observer,
+ time,
+ 'J2000',
+ 'NONE',
+ 'SSB')
+
+ radius_lt = (self.target_body_radii[2] + self.target_body_radii[0]) / 2 / (scipy.constants.c/1000.0)
+ adjusted_time = time - obs_tar_lt + radius_lt
+ ssb_tar_state, ssb_tar_lt = spice.spkezr(target,
+ adjusted_time,
+ 'J2000',
+ 'NONE',
+ 'SSB')
+ state = ssb_tar_state - ssb_obs_state
+ matrix = spice.sxform("J2000", self.reference_frame, time)
+ state = spice.mxvg(matrix, state, 6, 6);
+ else:
+ state, _ = spice.spkezr(target,
+ time,
+ self.reference_frame,
+ self.light_time_correction,
+ observer)
+
if self.swap_observer_target:
pos.append(-state[:3])
vel.append(-state[3:])
diff --git a/ale/drivers/tgo_drivers.py b/ale/drivers/tgo_drivers.py
new file mode 100644
index 0000000..a81215c
--- /dev/null
+++ b/ale/drivers/tgo_drivers.py
@@ -0,0 +1,66 @@
+from glob import glob
+import os
+
+import struct
+import pvl
+import spiceypy as spice
+import numpy as np
+
+from ale.base import Driver
+from ale.base.data_naif import NaifSpice
+from ale.base.label_isis import IsisLabel
+from ale.base.type_sensor import Framer
+
+class TGOCassisIsisLabelNaifSpiceDriver(Framer, IsisLabel, NaifSpice, Driver):
+ """
+ Driver for reading TGO Cassis ISIS3 Labels. These are Labels that have been ingested
+ into ISIS from PDS EDR images but have not been spiceinit'd yet.
+ """
+ @property
+ def instrument_id(self):
+ """
+ Returns an instrument id for unquely identifying the instrument, but often
+ also used to be piped into Spice Kernels to acquire IKIDs. Therefore they
+ the same ID the Spice expects in bods2c calls.
+ Expects instrument_id to be defined in the Pds3Label mixin. This should
+ be a string of the form CaSSIS
+
+ Returns
+ -------
+ : str
+ instrument id
+ """
+ id_lookup = {
+ 'CaSSIS': 'TGO_CASSIS',
+ }
+ return id_lookup[super().instrument_id]
+
+ @property
+ def ephemeris_start_time(self):
+ """
+ Returns the ephemeris_start_time of the image.
+ Expects spacecraft_clock_start_count to be defined. This should be a float
+ containing the start clock count of the spacecraft.
+ Expects spacecraft_id to be defined. This should be the integer Naif ID code
+ for the spacecraft.
+
+ Returns
+ -------
+ : float
+ ephemeris start time of the image.
+ """
+ return spice.utc2et(str(self.label['IsisCube']['Instrument']['StartTime']))
+
+ @property
+ def sensor_frame_id(self):
+ return -143420
+
+ @property
+ def sensor_model_version(self):
+ """
+ Returns
+ -------
+ : int
+ ISIS sensor model version
+ """
+ return 1
diff --git a/tests/pytests/data/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1.xsp b/tests/pytests/data/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1.xsp
new file mode 100644
index 0000000..89b96fc
--- /dev/null
+++ b/tests/pytests/data/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1.xsp
@@ -0,0 +1,770 @@
+DAFETF NAIF DAF ENCODED TRANSFER FILE
+'DAF/SPK '
+'2'
+'6'
+'SPKMERGE '
+BEGIN_ARRAY 1 39
+'DE-0721LE-0721 '
+'1FCC1EAE174B29^8'
+'1FCC24377061B7^8'
+'A'
+'0'
+'1'
+'2'
+39
+'1FCD874^8'
+'A8C^5'
+'7EB9214004AB84^5'
+'-AFA4575239476^3'
+'-1226D73F2FAC77^2'
+'51F8F97C4C8C24^-1'
+'-90DB673687649^-2'
+'6F4FF5A90E8C6^-4'
+'-F41B589FE583C^-4'
+'-27B2B38F13078^-4'
+'-418039FC6A82^-5'
+'-4890C9912C7AA4^-6'
+'-15C1FC2636FF23^-7'
+'7E8C47466C70B4^5'
+'1CD162EEB9034^4'
+'-3B6DB4D3C2B746^1'
+'1C5C94FD0CBCC8^0'
+'88529DB209B48^-2'
+'B54C5978E48DB^-3'
+'136EF49616DBFC^-3'
+'A7EB6EFA3E1D48^-5'
+'-11B915D31A45F^-5'
+'-4E5B790F67F628^-6'
+'-A303A7C5757CC^-7'
+'30951E7D45DC44^5'
+'CBD0E310FAF43^3'
+'-149A0E172F8874^1'
+'BAF39F75DB384^-1'
+'4FF3BC6ABE9AF^-2'
+'677BAD1005DB98^-3'
+'C083B96C0B7F78^-4'
+'9B38885540DBD^-5'
+'-2AEDBFCBE136E2^-6'
+'-225A32BA275108^-6'
+'-54F29541FC2B98^-7'
+'1FC2FB4^8'
+'1518^6'
+'23^2'
+'1^1'
+END_ARRAY 1 39
+BEGIN_ARRAY 2 39
+'DE-0721LE-0721 '
+'1FCC1EAE174B29^8'
+'1FCC24377061B7^8'
+'4'
+'0'
+'1'
+'2'
+39
+'1FD8134^8'
+'1518^6'
+'C5865818718648^7'
+'14DFA6D0D06EDE^6'
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+'-EFC4560F98D818^-4'
+'208CEE1467470E^-4'
+'1FBB1BA9FCA8F^6'
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+'-282888116C54B8^4'
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+'-4F703FB73E4B0C^0'
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+'E62E0F3097B9A8^6'
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+'AEF108F2EFC53^1'
+'-201BD2DEDB3E36^0'
+'-1BB77C0BEF8512^-1'
+'A66FED638EDC^-3'
+'6B2E8E82854AEC^-4'
+'-2655DA668309^-5'
+'1FC2FB4^8'
+'2A3^6'
+'23^2'
+'1^1'
+END_ARRAY 2 39
+BEGIN_ARRAY 3 54
+'MAR097 '
+'1FCC1EAE174B29^8'
+'1FCC24377061B7^8'
+'1F3'
+'4'
+'1'
+'3'
+54
+'1FCC0B9^8'
+'2A3^4'
+'1379C45ED0EA61^-3'
+'-5B587C92726B08^-3'
+'-7443BF205081C^-3'
+'1C218B4639A47F^-3'
+'130218AC4C740C^-3'
+'-26BBB4754FBA28^-4'
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+'-5754957427ACE^-7'
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+'0^0'
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+'-615F0517979B88^-6'
+'-5CBFC10B80DD0C^-6'
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+'-390A69491B300A^-7'
+'-160573ADB390E8^-7'
+'0^0'
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+'-514E220FE2B21^-6'
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+'-102C93FB0CA6F9^-7'
+'0^0'
+'1FCBE16^8'
+'546^4'
+'32^2'
+'1^1'
+END_ARRAY 3 54
+BEGIN_ARRAY 4 569
+'em16_tgo_fsp_048_01_20160314_20181231_v0'
+'1FCC1EAE174B29^8'
+'1FCC24377061B7^8'
+'-8F'
+'1F3'
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+569
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+'1FCC2442FBBFE8^8'
+'1FCC2452B647C5^8'
+'1FCC24627B4F31^8'
+'2^1'
+'6^1'
+'5^2'
+'1FCC1E5B4FF4E9^8'
+'1FCC24627B4F31^8'
+'1^1'
+'234^3'
+'1^1'
+'1^1'
+END_ARRAY 4 569
+TOTAL_ARRAYS 4
+ ~NAIF/SPC BEGIN COMMENTS~
+; /home/kberry/kernel_sliced_tgo_two/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1.bsp LOG FILE
+
+; Created 2019-09-06/14:09:03.00.
+;
+; BEGIN SPKMERGE COMMANDS
+
+LEAPSECONDS_KERNEL = /usgs/cpkgs/isis3/data/base/kernels/lsk/naif0012.tls
+
+SPK_KERNEL = /home/kberry/kernel_sliced_tgo_two/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1.bsp
+ SOURCE_SPK_KERNEL = /usgs/cpkgs/isis3/data/tgo/kernels/tspk/mar097.bsp
+ INCLUDE_COMMENTS = NO
+ BODIES = 4, 10, 499
+ BEGIN_TIME = 2016 NOV 26 22:20:25.908
+ END_TIME = 2016 NOV 26 22:44:03.256
+SOURCE_SPK_KERNEL = /usgs/cpkgs/isis3/data/tgo/kernels/spk/em16_tgo_fsp_048_01_20160314_20181231_v02.bsp
+ INCLUDE_COMMENTS = NO
+ BODIES = -143
+ BEGIN_TIME = 2016 NOV 26 22:20:25.908
+ END_TIME = 2016 NOV 26 22:44:03.256
+
+; END SPKMERGE COMMANDS
+ ~NAIF/SPC END COMMENTS~
diff --git a/tests/pytests/data/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1_isis.lbl b/tests/pytests/data/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1_isis.lbl
new file mode 100644
index 0000000..58f1e89
--- /dev/null
+++ b/tests/pytests/data/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1_isis.lbl
@@ -0,0 +1,473 @@
+Object = IsisCube
+ Object = Core
+ StartByte = 65537
+ Format = Tile
+ TileSamples = 512
+ TileLines = 256
+
+ Group = Dimensions
+ Samples = 2048
+ Lines = 256
+ Bands = 1
+ End_Group
+
+ Group = Pixels
+ Type = Real
+ ByteOrder = Lsb
+ Base = 0.0
+ Multiplier = 1.0
+ End_Group
+ End_Object
+
+ Group = Instrument
+ SpacecraftName = "TRACE GAS ORBITER"
+ InstrumentId = CaSSIS
+ TargetName = Mars
+ StartTime = 2016-11-26T22:32:14.582
+ SpacecraftClockStartCount = 2f01543131b1aa13
+ ExposureDuration = 1.920e-003 <seconds>
+ Filter = RED
+ Expanded = 1
+ SummingMode = 0
+ End_Group
+
+ Group = Archive
+ DataSetId = TBD
+ ProductVersionId = UNK
+ ProducerId = UBE
+ ProducerName = "Nicolas Thomas"
+ ProductCreationTime = 2017-10-03T10:49:49
+ FileName = CAS-MCO-2016-11-26T22.32.14.582-RED-01000--
+ B1
+ ScalingFactor = 1.00
+ Offset = 0.00
+ PredictMaximumExposureTime = 1.5274 <ms>
+ CassisOffNadirAngle = 50.470 <deg>
+ PredictedRepetitionFrequency = 351.9 <ms>
+ GroundTrackVelocity = 3.2356 <km/s>
+ ForwardRotationAngle = 68.821 <deg>
+ SpiceMisalignment = 8.487 <deg>
+ FocalLength = 0.8770 <m>
+ FNumber = 6.50
+ ExposureTimeCommand = 200
+ FrameletNumber = 0
+ NumberOfFramelets = 40
+ ImageFrequency = 1000000 <ms>
+ NumberOfWindows = 6
+ UniqueIdentifier = 100797368
+ UID = 100797368
+ ExposureTimestamp = 2f01543131b1aa13
+ ExposureTimePEHK = 1.920e-003 <ms>
+ PixelsPossiblySaturated = 0.39
+ IFOV = 1.140e-005
+ IFOVUnit = rad/px
+ FiltersAvailable = "BLU RED NIR PAN"
+ FocalLengthUnit = M
+ TelescopeType = "Three-mirror anastigmat with powered fold
+ mirror"
+ DetectorDescription = "2D Array"
+ PixelHeight = 10.0
+ PixelHeightUnit = MICRON
+ PixelWidth = 10.0
+ PixelWidthUnit = MICRON
+ DetectorType = "SI CMOS HYBRID (OSPREY 2K)"
+ ReadNoise = 61.0
+ ReadNoiseUnit = ELECTRON
+ MissionPhase = MCO
+ SubInstrumentIdentifier = 61.0
+ WindowCount = 1
+ Window1Binning = 0
+ Window1StartSample = 0
+ Window1EndSample = 2047
+ Window1StartLine = 354
+ Window1EndLine = 632
+ Window2Binning = 0
+ Window2StartSample = 0
+ Window2EndSample = 2047
+ Window2StartLine = 712
+ Window2EndLine = 967
+ Window3Binning = 0
+ Window3StartSample = 0
+ Window3EndSample = 2047
+ Window3StartLine = 1048
+ Window3EndLine = 1302
+ Window4Binning = 0
+ Window4StartSample = 0
+ Window4EndSample = 2047
+ Window4StartLine = 1409
+ Window4EndLine = 1662
+ Window5Binning = 0
+ Window5StartSample = 640
+ Window5EndSample = 767
+ Window5StartLine = 200
+ Window5EndLine = 208
+ Window6Binning = 0
+ Window6StartSample = 1280
+ Window6EndSample = 1407
+ Window6StartLine = 1850
+ Window6EndLine = 1858
+ YearDoy = 2016331
+ ObservationId = CRUS_049217_238_0
+ End_Group
+
+ Group = BandBin
+ FilterName = RED
+ Center = 840 <nm>
+ Width = 100 <nm>
+ NaifIkCode = -143422
+ End_Group
+
+ Group = Kernels
+ NaifFrameCode = -143400
+ LeapSecond = $base/kernels/lsk/naif0012.tls
+ TargetAttitudeShape = ($tgo/kernels/pck/pck00010.tpc,
+ $tgo/kernels/pck/de-403-masses.tpc)
+ TargetPosition = (Table, $tgo/kernels/tspk/de432s.bsp,
+ $tgo/kernels/tspk/mar097.bsp)
+ InstrumentPointing = (Table,
+ $tgo/kernels/ck/em16_tgo_sc_spm_20161101_2017-
+ 0301_s20190703_v01.bc,
+ $tgo/kernels/ck/cassis_ck_p_160312_191231_190-
+ 601.bc, $tgo/kernels/fk/em16_tgo_v18.tf,
+ $tgo/kernels/fk/em16_tgo_ops_v02.tf,
+ $tgo/kernels/fk/rssd0002.tf)
+ Instrument = $tgo/kernels/ik/em16_tgo_cassis_v07.ti
+ SpacecraftClock = $tgo/kernels/sclk/em16_tgo_step_20190823.tsc
+ InstrumentPosition = (Table,
+ $tgo/kernels/spk/em16_tgo_fsp_048_01_20160314-
+ _20181231_v02.bsp)
+ InstrumentAddendum = $tgo/kernels/iak/tgoCassisAddendum007.ti
+ ShapeModel = $base/dems/molaMarsPlanetaryRadius0005.cub
+ InstrumentPositionQuality = Predicted
+ InstrumentPointingQuality = Reconstructed
+ CameraVersion = 1
+ End_Group
+
+ Group = AlphaCube
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+Object = Label
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+ 0.99999765711961, 0.98482103650022, 0.17356149021485,
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+ Description = "Created by spiceinit"
+ Kernels = ($tgo/kernels/ck/em16_tgo_sc_spm_20161101_20170301_s2-
+ 0190703_v01.bc,
+ $tgo/kernels/ck/cassis_ck_p_160312_191231_190601.bc,
+ $tgo/kernels/fk/em16_tgo_v18.tf,
+ $tgo/kernels/fk/em16_tgo_ops_v02.tf,
+ $tgo/kernels/fk/rssd0002.tf)
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+ SpkTableStartTime = 533471602.76595
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+ Description = "Created by spiceinit"
+ Kernels = $tgo/kernels/spk/em16_tgo_fsp_048_01_20160314_201812-
+ 31_v02.bsp
+
+ Group = Field
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+ PoleRa = (317.68143, -0.1061, 0.0)
+ PoleDec = (52.8865, -0.0609, 0.0)
+ PrimeMeridian = (176.63, 350.89198226, 0.0)
+ Description = "Created by spiceinit"
+ Kernels = ($tgo/kernels/tspk/de432s.bsp,
+ $tgo/kernels/tspk/mar097.bsp,
+ $tgo/kernels/pck/pck00010.tpc,
+ $tgo/kernels/pck/de-403-masses.tpc)
+ SolarLongitude = 269.12863680949
+
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+ Kernels = ($tgo/kernels/tspk/de432s.bsp,
+ $tgo/kernels/tspk/mar097.bsp)
+
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+Object = NaifKeywords
+ BODY_CODE = 499
+ BODY499_RADII = (3396.19, 3396.19, 3376.2)
+ BODY_FRAME_CODE = 10014
+ INS-143400_SWAP_OBSERVER_TARGET = TRUE
+ INS-143400_LIGHTTIME_CORRECTION = LT+S
+ INS-143400_LT_SURFACE_CORRECT = TRUE
+ INS-143400_FOCAL_LENGTH = 874.9
+ INS-143400_PIXEL_PITCH = 0.01
+ INS-143400_TRANSX = (0.0, 0.01, 0.0)
+ INS-143400_TRANSY = (0.0, 0.0, 0.01)
+ INS-143400_ITRANSS = (0.0, 100.0, 0.0)
+ INS-143400_ITRANSL = (0.0, 0.0, 100.0)
+ INS-143400_BORESIGHT_SAMPLE = 1024.5
+ INS-143400_BORESIGHT_LINE = 1024.5
+ INS-143400_OD_A1_CORR = (0.0037613053094827, -0.013415415606581,
+ -1.86749521007237e-05, 1.0002135268184,
+ -4.32362371703953e-04,
+ -9.48065735350123e-04)
+ INS-143400_OD_A2_CORR = (9.9842559363676e-05, 0.0037354370795816,
+ -0.013329991887393, -2.15311328389359e-04,
+ 0.99529601553729, -0.018354271771078)
+ INS-143400_OD_A3_CORR = (-3.13320167004204e-05,
+ -7.35655125749807e-06,
+ -1.57664245066771e-05, 0.0037354946543915,
+ -0.014167194693093, 1.0)
+ INS-143400_OD_A1_DIST = (0.0021365879556062, -0.007117857650642,
+ 1.10355974742147e-05, 0.57360718262538,
+ 2.50884350194894e-04,
+ 5.50623913037132e-04)
+ INS-143400_OD_A2_DIST = (-5.69725741015406e-05,
+ 0.0021515590567915, -0.0071639299176719,
+ 1.24152787728634e-04, 0.57645954439243,
+ 0.010576940564854)
+ INS-143400_OD_A3_DIST = (1.78250771483506e-05,
+ 4.24592743471094e-06,
+ 9.51220699036653e-06, 0.0021515842542074,
+ -0.0066835595774833, 0.57374154097161)
+ INS-143400_FILTER_SAMPLES = 2048.0
+ INS-143400_FILTER_LINES = 2048.0
+End_Object
+End
diff --git a/tests/pytests/data/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1/cassis_ck_p_160312_191231_190601_sliced-143410.xc b/tests/pytests/data/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1/cassis_ck_p_160312_191231_190601_sliced-143410.xc
new file mode 100644
index 0000000..6c46fd0
--- /dev/null
+++ b/tests/pytests/data/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1/cassis_ck_p_160312_191231_190601_sliced-143410.xc
@@ -0,0 +1,136 @@
+DAFETF NAIF DAF ENCODED TRANSFER FILE
+'DAF/CK '
+'2'
+'6'
+'CASSIS TELESCOPE FRAME CRUISE PHASE ORIENTATION '
+BEGIN_ARRAY 1 115
+'TGO_CASSIS_TEL FRAME CRUISE PHASE ORIENT'
+'1542E6D0527^B'
+'15433F65E21^B'
+'-23032'
+'-23028'
+'3'
+'1'
+115
+'FFA75CABA1919^0'
+'0^0'
+'-D4F5C3AF67F31^-1'
+'0^0'
+'0^0'
+'F06DBB34D9B1F^-2'
+'0^0'
+'D2F374546798C8^0'
+'0^0'
+'-91096CD2A95F18^0'
+'0^0'
+'0^0'
+'0^0'
+'0^0'
+'D2F374546798C8^0'
+'0^0'
+'-91096CD2A95F18^0'
+'0^0'
+'0^0'
+'0^0'
+'0^0'
+'D2F374546798C8^0'
+'0^0'
+'-91096CD2A95F18^0'
+'0^0'
+'0^0'
+'-30CD8DAD988BD^-2'
+'0^0'
+'D937F727AAE078^0'
+'0^0'
+'-87784666EA028^0'
+'0^0'
+'0^0'
+'0^0'
+'0^0'
+'D937F727AAE078^0'
+'0^0'
+'-87784666EA028^0'
+'0^0'
+'0^0'
+'0^0'
+'0^0'
+'D937F727AAE078^0'
+'0^0'
+'-87784666EA028^0'
+'0^0'
+'0^0'
+'0^0'
+'0^0'
+'D937F727AAE078^0'
+'0^0'
+'-87784666EA028^0'
+'0^0'
+'0^0'
+'31F55371BE21E4^1'
+'0^0'
+'8560E321A801B8^0'
+'0^0'
+'DA824E17C5B2B^0'
+'0^0'
+'0^0'
+'0^0'
+'0^0'
+'8560E321A801B8^0'
+'0^0'
+'DA824E17C5B2B^0'
+'0^0'
+'0^0'
+'0^0'
+'0^0'
+'8560E321A801B8^0'
+'0^0'
+'DA824E17C5B2B^0'
+'0^0'
+'0^0'
+'-23BE8D44A53A14^-1'
+'0^0'
+'818B6DC3927A38^0'
+'0^0'
+'DCCDB221991F38^0'
+'0^0'
+'0^0'
+'0^0'
+'0^0'
+'818B6DC3927A38^0'
+'0^0'
+'DCCDB221991F38^0'
+'0^0'
+'0^0'
+'0^0'
+'0^0'
+'818B6DC3927A38^0'
+'0^0'
+'DCCDB221991F38^0'
+'0^0'
+'0^0'
+'0^0'
+'0^0'
+'1542E6D0527^B'
+'1542F7F1CB1375^B'
+'15430AB1CA9A4A^B'
+'15431231CA69D3^B'
+'154319B1CA395B^B'
+'15431D71CA211F^B'
+'15431F51CA1501^B'
+'15432121CA094B^B'
+'15432131CA08E3^B'
+'15432141CA087C^B'
+'154329F1C9D058^B'
+'15432A31C9CEBA^B'
+'15432D21C9BBBF^B'
+'15433F65E21^B'
+'1542E6D0527^B'
+'1^1'
+'E^1'
+END_ARRAY 1 115
+TOTAL_ARRAYS 1
+ ~NAIF/SPC BEGIN COMMENTS~
+This CK is for testing with the image: /home/kberry/kernel_sliced_tgo/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1.cub
+
+This CK was generated using the following command: {}
+ ~NAIF/SPC END COMMENTS~
diff --git a/tests/pytests/data/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1/de-403-masses.tpc b/tests/pytests/data/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1/de-403-masses.tpc
new file mode 100644
index 0000000..cbc4f4f
--- /dev/null
+++ b/tests/pytests/data/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1/de-403-masses.tpc
@@ -0,0 +1,65 @@
+This file was produced by Bill Taber on October 3, 1997.
+
+The values in this file are taken from the JPL Interoffice Memorandum
+(IOM 314.10-127 May 22, 1995) "JPL Planetary and Lunar Ephemerides,
+DE403/LE403" by Myles Standish, et al.
+
+
+The masses for the sun and planetary barycenters given in this file are
+derived from the masses used for the integration of the planetary
+ephemeris DE-403. In the ephemeris the values of the masses are given
+as ratios to of Solar GM to barycenter GM. These values are given here.
+
+ BODY1_GMSUN/GM = 6023600.0
+ BODY2_GMSUN/GM = 408523.71
+ BODY3_GMSUN/GM = 332946.048134
+ BODY4_GMSUN/GM = 3098708.0
+ BODY5_GMSUN/GM = 1047.3486
+ BODY6_GMSUN/GM = 3497.898
+ BODY7_GMSUN/GM = 22902.98
+ BODY8_GMSUN/GM = 19412.24
+ BODY9_GMSUN/GM = 135200000.0
+
+These values are used by other products that use DE-403 to provide
+gravitational force models for integration of trajectories.
+
+Given the mass ratios and the mass of the sun, you can compute the mass
+of any barycenter. These values are supplied in the text data given
+below. Note that the values provided are rounded to three decimal
+places.
+
+
+
+\begindata
+
+AU = 149597870.691
+
+BODY1_GM = 22032.080
+BODY2_GM = 324858.599
+BODY3_GM = 403503.235
+BODY4_GM = 42828.314
+BODY5_GM = 126712767.863
+BODY6_GM = 37940626.063
+BODY7_GM = 5794549.007
+BODY8_GM = 6836534.064
+BODY9_GM = 981.601
+BODY10_GM = 132712440023.310
+
+\begintext
+
+The masses of bodies other than the earth and moon are simply taken to
+be the masses of the barycenters given above. The masses of the earth
+and moon are taken from the referenced IOM.
+
+\begindata
+
+BODY199_GM = 22032.080
+BODY299_GM = 324858.599
+BODY301_GM = 4902.799
+BODY399_GM = 398600.436
+BODY499_GM = 42828.314
+BODY599_GM = 126712767.863
+BODY699_GM = 37940626.063
+BODY799_GM = 5794549.007
+BODY899_GM = 6836534.064
+BODY999_GM = 981.601
diff --git a/tests/pytests/data/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1/em16_tgo_cassis_v07.ti b/tests/pytests/data/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1/em16_tgo_cassis_v07.ti
new file mode 100644
index 0000000..39c9cfb
--- /dev/null
+++ b/tests/pytests/data/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1/em16_tgo_cassis_v07.ti
@@ -0,0 +1,608 @@
+KPL/IK
+
+CaSSIS Instrument Kernel
+===============================================================================
+
+ This instrument kernel (I-kernel) contains the ExoMars-2016 Trace Gas
+ Orbiter (TGO) Colour and Stereo Surface Imaging System (CaSSIS)
+ instrument optics, detector and field-of-view (FOV) parameters
+ definitions.
+
+
+Version and Date
+-------------------------------------------------------------------------------
+
+ Version 0.7 -- May 11, 2018 -- Stepanov Tulyakov, EPFL
+ Marc Costa Sitja, ESAC/ESA
+
+ Updated distortion model and focal length (all depended values,
+ like field of view, boresight are also updated).
+
+ Version 0.6 -- October 16, 2017 -- Jeannie Backer, USGS
+ Marc Costa Sitja, ESAC/ESA
+
+ Added description and keywords for distortion model.
+
+ Version 0.5 -- July 20, 2017 -- Marc Costa Sitja, ESAC/ESA
+ Antoine Pommerol, SPACE/UNIBE
+
+ Corrected typo as specified in [6]. Added FoV names and performed
+ minor decription data updates.
+
+ Version 0.4 -- January 31, 2017 -- Marc Costa Sitja, ESAC/ESA
+ Antoine Pommerol, SPACE/UNIBE
+
+ Corrected CaSSIS Filters' (TGO_CASSIS_*) FoVs boresights and the
+ corresponding diagram for since the +Yfsa axis was flipped as
+ indicated in [6].
+
+ Version 0.3 -- September 8, 2016 -- Marc Costa Sitja, ESAC/ESA
+ Jorge Diaz del Rio, ODC Space
+
+ Corrected cross angle values for CaSSIS Filters' (TGO_CASSIS_*) FoVs
+ since they were full angle instead of half angle.
+ Corrected minor text typos.
+
+ Version 0.2 -- August 2, 2016 -- Marc Costa Sitja, ESAC/ESA
+
+ Updated the NAIF IDs for CASSIS definitions.
+ Corrected all INS_*_FOV_REF_ANGLE from 1.333 deg (full-angle)
+ to 0.6665 (half-angle).
+ Corrected minor typos.
+
+ Preliminary version. Pending review by the CaSSIS instrument team.
+
+ Version 0.1 -- May 24, 2016 -- Jorge Diaz del Rio, ODC Space
+
+ Improved FoV definition comments by adding reference to the instrument
+ name on the definitions section header.
+
+ Version 0.0 -- May 22, 2016 -- Jorge Diaz del Rio, ODC Space
+
+ Preliminary version. Pending review by the TGO Science Operations and
+ CaSSIS instrument teams.
+
+
+References
+-------------------------------------------------------------------------------
+
+ 1. ``Frames Required Reading''
+
+ 2. ``Kernel Pool Required Reading''
+
+ 3. ``C-kernel Required Reading''
+
+ 4. ExoMars-2016 Frames Definition Kernel (FK), latest version.
+
+ 5. ``Colour and Stereo Surface Imaging System - CaSSIS,'' experiment
+ overview: http://www.cassis.unibe.ch/instrument/experiment_overview
+
+ 6. E-mail "CaSSIS kernel error?" from
+ Antoine Pommerol (antoine.pommerol@space.unibe.ch), 2017-01-25
+
+ 7. E-mail ``I-kernel. Follow-up on meeting'' from Nicholas Thomas
+ (nicolas.thomas@space.unibe.ch), 2017-09-18.
+
+ 8. E-mail ``CaSSIS IK update'' from Jeannie Backer
+ (jwbacker@usgs.gov), 2017-09-27.
+
+
+Contact Information
+-------------------------------------------------------------------------------
+
+ If you have any questions regarding this file contact SPICE support at ESA:
+
+ Marc Costa Sitja
+ (+34) 91-8131-457
+ mcosta@sciops.esa.int, esa_spice@sciops.esa.int
+
+ or SPICE support at IKI:
+
+ Alexander Abbakumov
+ +7 (495) 333-40-13
+ aabbakumov@romance.iki.rssi.ru
+
+ or NAIF at JPL:
+
+ Boris Semenov
+ (818) 354-8136
+ Boris.Semenov@jpl.nasa.gov
+
+
+Implementation Notes
+------------------------------------------------------------------------------
+
+ Applications that need SPICE I-kernel data must ``load'' the I-kernel file,
+ normally during program initialization. The SPICE routine FURNSH loads a
+ kernel file into the pool as shown below.
+
+ CALL FURNSH ( 'frame_kernel_name' ) -- FORTRAN
+ furnsh_c ( "frame_kernel_name" ); -- C
+ cspice_furnsh, frame_kernel_name -- IDL
+ cspice_furnsh( 'frame_kernel_name' ) -- MATLAB
+ furnsh( frame_kernel_name ) -- PYTHON*
+
+ Loading the kernel using the SPICELIB routine FURNSH causes the data
+ items and their associated values present in the kernel to become
+ associated with a data structure called the ``kernel pool''.
+
+ Once the file has been loaded, the SPICE routine GETFOV (getfov_c in
+ C, cspice_getfov in IDL and MATLAB and cspice.getfov in PYTHON) can be
+ used to retrieve FOV parameters for a given instrument or structure.
+
+ The application program may obtain the value(s) for any other IK data
+ item using the SPICELIB routines GDPOOL, GIPOOL, GCPOOL (gdpool_c, gipool_c,
+ gcpool_c in C, cspice_gdpool, cspice_gipool, cspice_gcpool in IDL and
+ MATLAB, cspice.gcpool in PYTHON). See [2] for details.
+
+ This file was created with, and can be updated with a text editor or
+ word processor.
+
+ * SPICEPY is a non-official, community developed Python wrapper for the
+ NAIF SPICE toolkit. Its development is managed on Github.
+ It is available at: https://github.com/AndrewAnnex/SpiceyPy
+
+
+Naming Conventions and Conventions for Specifying Data
+----------------------------------------------------------------------------
+
+ Data items are specified using ``keyword=value'' assignments [2].
+ All keywords referencing values in this I-kernel start with the
+ characters `INS' followed by the NAIF TGO instrument ID code,
+ constructed using the spacecraft ID number (-143) followed by the
+ NAIF three digit ID number for CaSSIS module. These IDs are
+ defined in [4] as follows:
+
+ Name NAIF ID
+ --------------------- ---------
+ TGO_CASSIS -143400
+ TGO_CASSIS_PAN -143421
+ TGO_CASSIS_RED -143422
+ TGO_CASSIS_NIR -143423
+ TGO_CASSIS_BLU -143424
+
+
+ The remainder of the keyword name is an underscore character
+ followed by the unique name of the data item. For example, the
+ CaSSIS camera boresight direction in the TGO_CASSIS frame is
+ specified by:
+
+ INS-143400_BORESIGHT
+
+
+ The upper bound on the length of the name of any data item 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.
+
+
+Instrument Description
+----------------------------------------------------------------------------
+
+ CaSSIS (Colour and Stereo Surface Imaging System) is a high resolution
+ imaging system designed to complement the data acquired by the other
+ payload on the ExoMars-2016 TGO. The instrument comprises a number of
+ sub-elements (see [5]):
+
+ Telescope:
+ ----------
+
+ The CaSSIS telescope was originally conceived as a three-mirror
+ anastigmat system (off-axis) with a fold mirror. The absence of a
+ central obscuration reduces the straylight by allowing simplified
+ baffling. The primary mirror is around 13.5 cm in diameter. The
+ mirrors are held in a carbon fiber reinforced polymer (CFRP)
+ structure. The focal plane will comprise a single silicon hybrid
+ detector with 4 colour filters mounted on it following the push-frame
+ technique.
+
+ Focal Plane System:
+ -------------------
+
+ The system is based upon a Raytheon Osprey 2048x2048 hybrid CMOS
+ detector. The detector can be read-out extremely quickly with 14
+ bit digital resolution. However, it remains a framing device
+ meaning that acquiring an un-smeared image along a rapidly moving
+ ground-track requires short exposures and a rapid imaging sequence.
+ The along-track dimension of the image is then built up and put
+ together on ground.
+
+ To avoid mechanisms the detector is covered with a single monolithic
+ rad-hard fused silica substrate with filters deposited on it.
+ Different coatings with different transmission properties cover the
+ substrate to produce the CaSSIS Filter Strip Assembly (FSA). The
+ transmissions are relatively broad because of signal to noise
+ considerations. Between the filters are small dark bands needed
+ to reduce spectral cross-talk.
+
+ Rotation mechanism:
+ -------------------
+
+ The telescope and focal plane are mounted on a rotation mechanism. This
+ solves two key problems. Firstly, the rotation of the spacecraft about
+ the nadir direction can be compensated for. Prior to image acquisition,
+ the imager can be rotated so that the lines are orthogonal to the
+ direction of motion. (In case of rotation mechanism failure, the
+ system would be able to acquire data but at reduced resolution and lower
+ signal to noise) Secondly, the rotation mechanism can be swiveled by
+ ~180 degrees to acquire a stereo image. Hence, the imager has been
+ designed to look 10 degrees ahead of the spacecraft for the first image
+ and 10 degrees behind to acquire the stereo pair. The time necessary to
+ complete the rotation drives the design of the rotation mechanism.
+
+ The rotation mechanism consists of a hollow shaft supported by two
+ ceramic bearings and driven by a worm gear, whereby the worm wheel is
+ integral part of the hollow shaft. The reduction ratio is ca. 200:1.
+
+ High-strength titanium alloys are used for the gear component, which
+ are hard coated to provide durability. The housing is made of AlBeMet.
+ A stepper motor (modified Port Escap P430) is connected to the worm
+ shaft via a bellow coupling. End switches are used for zeroing; backlash
+ is compensated by software and is calibrated in-flight.
+
+ A cable management system (the twist capsule) has been implemented to
+ support cables which go from the rotating part of the instrument to
+ fixed electronics box.
+
+
+ The following table provides the CaSSIS camera main parameters:
+
+ --------------------------------------------------
+ Parameter Value
+ --------------------------------- ---------------
+ Focal length, mm 874.9
+
+ Aperture diameter, mm 135.0
+
+ Nominal F# 6.48
+
+ Pixel size, microns 10.00x10.00
+
+ FoV, degrees
+ Full 1.341x1.341
+ Used 1.339x0.845
+
+ IFOV, micro-radians 114.31x114.31
+
+ Time between stereo images, s 46.91
+
+ Bits/px 14
+
+ Detector size, px 2048x2048
+
+ Image size, px 2048x256
+
+ #images/exposure 4
+
+ Filter center wavelength/bw, nm
+ PAN 675/250
+ Blue-Green 485/165
+ Red 840/100
+ IR 985/220
+ -------------------------------------------------
+
+
+Mounting Alignment
+----------------------------------------------------------------------------
+
+ Refer to the latest version of the ExoMars-2016 Frames Definition
+ Kernel (FK) [4] for the CaSSIS reference frame definitions and mounting
+ alignment information.
+
+
+CaSSIS Camera and Filters Apparent Field-of-View Layouts
+----------------------------------------------------------------------------
+
+ This diagram illustrates the CaSSIS Camera and Filters apparent FOV
+ layouts in the CaSSIS Filter Strip Assembly (TGO_CASSIS_FSA) reference
+ frame.
+
+
+ (1,1) (1,2048)
+ .-------------------------------------. ------------
+ | | ^
+ :=====================================: 354 |
+ : PAN Filter : |
+ :=====================================: 633 |
+ | | |
+ :=====================================: 712 |
+ : RED Filter : |
+ :=====================================: 967 |
+ <--------------------------o | 1.3330 deg
+ +Xfsa :==================|==================:1048 |
+ : NIR Filter : |
+ :==================|==================:1303 |
+ | | | |
+ :==================|==================:1389 |
+ : BLU Filter : |
+ :==================|==================:1644 |
+ | | | v
+ '------------------|------------------' ------------
+ (2048,1) v (2048,2048)
+ +Yfsa
+ | |
+ |<----------------------------------->|
+ | 1.341 deg |
+
+
+ The Filters FoV angles are as follows:
+
+ ------------------------------------------------------------------------
+ Filter Size (Px) Bsight offset,px(deg) FoV dim (x,y)
+ -------- ----------- ------------------------ --------------------
+ PAN 2048x280 -530px (-0.347073 deg) 1.3413 x 0.1834 deg
+ RED 2048x256 -184px (-0.120493 deg) 1.3413 x 0.1677 deg
+ NIR 2048x256 +152px (+0.099538 deg) 1.3413 x 0.1677 deg
+ BLU 2048x256 +493px (+0.322843 deg) 1.3413 x 0.1677 deg
+ ------------------------------------------------------------------------
+
+
+FOV Definition
+---------------------------------------------------------------------------
+
+ This section contains assignments defining the CaSSIS camera and its
+ filters FOVs. These definitions are based on the camera parameters
+ provided in the previous sections and are provided in a format
+ consistent with/required by the SPICE TOOLKIT function GETFOV.
+
+
+ CaSSIS Full (TGO_CASSIS) FoV:
+ ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+ The CaSSIS FOV is defined as a square pyramid with a full angle of
+ 1.340 degrees. It is defined with respect to the TGO_CASSIS_FSA
+ frame. The boresight and the cross-reference vectors are unit along
+ the +Z axis and the +X axis of the frame, respectively.
+
+ Please note that the FOV reference and cross angles are defined with half
+ angle values. The FoV definition corresponds to the NAIF Body Name:
+ TGO_CASSIS.
+
+ \begindata
+
+ INS-143400_NAME = 'TGO_CASSIS'
+ INS-143400_BORESIGHT = (
+ 0.000000 0.000000 1.000000
+ )
+ INS-143400_FOV_FRAME = 'TGO_CASSIS_FSA'
+ INS-143400_FOV_SHAPE = 'RECTANGLE'
+ INS-143400_FOV_CLASS_SPEC = 'ANGLES'
+ INS-143400_FOV_REF_VECTOR = (
+ 1.000000 0.000000 0.000000
+ )
+ INS-143400_FOV_REF_ANGLE = ( 0.670570 )
+ INS-143400_FOV_CROSS_ANGLE = ( 0.670570 )
+ INS-143400_FOV_ANGLE_UNITS = 'DEGREES'
+
+ \begintext
+
+
+ CaSSIS Filters' (TGO_CASSIS_*) FoVs:
+ ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+ The CaSSIS Filters (PAN, RED, NIR, BLU) FOVs are defined as rectangular
+ pyramids with respect to the TGO_CASSIS_FSA frame. The full-angle along
+ the cross-reference vector is the same for all filters and corresponds
+ to the full CaSSIS Field-of-View in that direction, 1.333000 degrees.
+ On the +Y direction, the Field-of-View is defined by the filter's
+ size in pixels. See the ``CaSSIS Camera and Filters Apparent Field-of-View
+ Layouts'' for further information.
+
+ The boresight of each filter is defined by the direction of the center
+ pixel of the given filter. Based on the offset in pixels (given in
+ the ``CaSSIS Camera and Filters Apparent Field-of-View Layouts'' section),
+ the required rotation angle, along the +X TGO_CASSIS_FSA axis is
+ computed, from which the filter's boresight is obtained:
+
+ Filter NAIF ID Angle, deg Bsight (x,y,z) in TGO_CASSIS_FSA
+ -------- ------- ------------ ----------------------------------
+ PAN -143421 -0.347073 ( 0.00000, -0.00606, 1 )
+ RED -143422 -0.120493 ( 0.00000, -0.00210, 1 )
+ NIR -143423 +0.099538 ( 0.00000, 0.00174, 1 )
+ BLU -143424 +0.322843 ( 0.00000, 0.00563, 1 )
+
+
+ Please note that the FoV reference and cross angles are defined with half
+ angle values. The FoV definitions correspond to the NAIF Body Names:
+ TGO_CASSIS_PAN, TGO_CASSIS_RED, TGO_CASSIS_NIR and TGO_CASSIS_BLU.
+
+ \begindata
+
+ INS-143421_NAME = 'TGO_CASSIS_PAN'
+ INS-143421_BORESIGHT = (
+ 0.0000000000 -0.0060578352 1.0000000000
+ )
+ INS-143421_FOV_FRAME = 'TGO_CASSIS_FSA'
+ INS-143421_FOV_SHAPE = 'RECTANGLE'
+ INS-143421_FOV_CLASS_SPEC = 'ANGLES'
+ INS-143421_FOV_REF_VECTOR = (
+ 1.0000000000 0.0000000000 0.0000000000
+ )
+ INS-143421_FOV_REF_ANGLE = ( 0.6705703437 )
+ INS-143421_FOV_CROSS_ANGLE = ( 0.0916795392 )
+ INS-143421_FOV_ANGLE_UNITS = 'DEGREES'
+
+
+ INS-143422_NAME = 'TGO_CASSIS_RED'
+ INS-143422_BORESIGHT = (
+ 0.0000000000 -0.0021030975 1.0000000000
+ )
+ INS-143422_FOV_FRAME = 'TGO_CASSIS_FSA'
+ INS-143422_FOV_SHAPE = 'RECTANGLE'
+
+ INS-143422_FOV_CLASS_SPEC = 'ANGLES'
+ INS-143422_FOV_REF_VECTOR = (
+ 1.0000000000 0.0000000000 0.0000000000
+ )
+ INS-143422_FOV_REF_ANGLE = ( 0.6705703437 )
+ INS-143422_FOV_CROSS_ANGLE = ( 0.0838212930 )
+ INS-143422_FOV_ANGLE_UNITS = 'DEGREES'
+
+
+ INS-143423_NAME = 'TGO_CASSIS_NIR'
+ INS-143423_BORESIGHT = (
+ 0.0000000000 0.0017373414 1.0000000000
+ )
+ INS-143423_FOV_FRAME = 'TGO_CASSIS_FSA'
+ INS-143423_FOV_SHAPE = 'RECTANGLE'
+ INS-143423_FOV_CLASS_SPEC = 'ANGLES'
+ INS-143423_FOV_REF_VECTOR = (
+ 1.000000 0.000000 0.000000
+ )
+ INS-143423_FOV_REF_ANGLE = ( 0.6705703437 )
+ INS-143423_FOV_CROSS_ANGLE = ( 0.0838212930 )
+ INS-143423_FOV_ANGLE_UNITS = 'DEGREES'
+
+
+ INS-143424_NAME = 'TGO_CASSIS_BLU'
+ INS-143424_BORESIGHT = (
+ 0.0000000000 0.0056349297 1.0000000000
+ )
+ INS-143424_FOV_FRAME = 'TGO_CASSIS_FSA'
+ INS-143424_FOV_SHAPE = 'RECTANGLE'
+ INS-143424_FOV_CLASS_SPEC = 'ANGLES'
+ INS-143424_FOV_REF_VECTOR = (
+ 1.0000000000 0.0000000000 0.0000000000
+ )
+ INS-143424_FOV_REF_ANGLE = ( 0.6705703437 )
+ INS-143424_FOV_CROSS_ANGLE = ( 0.0838212930 )
+ INS-143424_FOV_ANGLE_UNITS = 'DEGREES'
+
+ \begintext
+
+
+Optical Distortion
+--------------------------------------------------------
+
+ From [7] and [8]:
+
+ Given ideal image coordinates (x, y) and parameters of rational distortion
+ model A1, A2, A3 returns distorted image coordinates (i, j).
+
+
+ Correcting distorted coordinates:
+ ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+ Converting from distorted (i,j) to ideal (x,y).
+
+ Rational correction model provided by Stepan Tulyakov and Anoton Ivanov,
+ EPFL (Ecole Polytechnique Federale de Lausanne).
+
+ Model is described by following equations:
+
+ chi = [ i*i i*j, j*j, i, j, 1]
+
+ A1_corr * chi'
+ x = ----------------------
+ A3_corr * chi'
+
+ A2_corr * chi'
+ y = ----------------------
+ A3_corr * chi'
+
+ where (i, j) are distorted focal plane coordinates in millimeters,
+ (x, y) are ideal focal plane coordinates in millimeters, and
+ A1_corr, A2_corr, A3_corr are 1x6 vectors, parameters of the
+ \rational correction model.
+
+ \begindata
+
+ INS-143400_OD_A1_CORR = ( 0.00544124551618559,
+ 0.00242058700718023,
+ -2.48577907043558e-05,
+ 0.999359573639265,
+ -0.000130945991526083,
+ 0.00161016464782889 )
+ INS-143400_OD_A2_CORR = ( 9.8077090575503e-05,
+ 0.00543196976741689,
+ 0.00248552506455258,
+ -0.000360689689268798,
+ 0.997230456361333,
+ -0.01765423906529 )
+ INS-143400_OD_A3_CORR = ( -2.66362211929368e-05,
+ -4.18111444381442e-06,
+ -2.60434019407289e-05,
+ 0.00542860345347002,
+ 0.00164668822925175,
+ 1 )
+
+
+ \begintext
+
+
+ From this equation it follows that for every distorted coordinates
+ (i, j), there is a unique pair of undistorted coordinates (x, y).
+ However, converse is not true. To find distorted coordinates from ideal
+ coordinates we need to solve system of equations, that potentially has
+ several solutions.
+
+
+ Distorting ideal coordinates:
+ ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+ Converting from ideal (x,y) to distorted (i,j).
+
+ Rational correction model provided by Stepan Tulyakov and Anoton Ivanov,
+ EPFL (Ecole Polytechnique Federale de Lausanne).
+
+ Model is described by following equations:
+
+ chi = [ x*x, x*y, y*y, x, y, 1]
+
+ A1_dist * chi'
+ i = ----------------------
+ A3_dist * chi'
+
+ A2_dist * chi'
+ j = ----------------------
+ A3_dist * chi'
+
+ where (i, j) are distorted focal plane coordinates in millimeters,
+ (x, y) are ideal focal plane coordinates in millimeters, and
+ A1_dist, A2_dist, A3_dist are 1x6 vectors, parameters of the rational
+ distortion model, derived by Stepan Tulyakov and Anoton Ivanov, EPFL
+ (Ecole Polytechnique Federale de Lausanne).
+
+ \begindata
+
+ INS-143400_OD_A1_DIST = ( 0.0030962215897376,
+ 0.00193659543570966,
+ 1.43799661742481e-05,
+ 0.575732495892843,
+ 7.45445812599102e-05,
+ -0.000924338558685123 )
+ INS-143400_OD_A2_DIST = ( -5.61600987759384e-05,
+ 0.0031016957502374,
+ 0.00190053792058327,
+ 0.000208146838499972,
+ 0.576977522640326,
+ 0.010177651661487)
+ INS-143400_OD_A3_DIST = ( 1.52240896709669e-05,
+ 2.40452524963973e-06,
+ 1.5382711014407e-05,
+ 0.00310362726634607,
+ 0.00238330278037335,
+ 0.575374652906421 )
+
+ \begintext
+
+
+Platform ID
+---------------------------------------------------------------------------
+
+ This number is the NAIF instrument ID of the platform on which the
+ instrument mounted. For all CaSSIS components it is the spacecraft.
+
+ \begindata
+
+ INS-143421_PLATFORM_ID = ( -143000 )
+ INS-143422_PLATFORM_ID = ( -143000 )
+ INS-143423_PLATFORM_ID = ( -143000 )
+ INS-143424_PLATFORM_ID = ( -143000 )
+
+ \begintext
+
+
+End of IK file.
\ No newline at end of file
diff --git a/tests/pytests/data/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1/em16_tgo_ops_v02.tf b/tests/pytests/data/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1/em16_tgo_ops_v02.tf
new file mode 100644
index 0000000..939f020
--- /dev/null
+++ b/tests/pytests/data/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1/em16_tgo_ops_v02.tf
@@ -0,0 +1,258 @@
+KPL/FK
+
+Frame (FK) SPICE kernel file for TGO science operations frames
+===============================================================================
+
+ This frames kernel defines a number of frames used by the TGO
+ science operations centre to perform mission analysis and attitude
+ dependent science opportunity identification.
+
+ These frames can be used stand-alone, i.e. referring directly to them and
+ assuming they correspond to the TGO spacecraft reference frame, or
+ in combination with the TGO spacecraft frames. The latter will allow the
+ user to use the existing alignments and instrument frame definitions to
+ perform instrument specific mission analysis and attitude dependent
+ science opportunity identification. Please refer to the section ``Using
+ these frames'' for further details.
+
+
+Version and Date
+-------------------------------------------------------------------------------
+
+ Version 0.2 -- August 2, 2016 -- Marc Costa Sitja, ESAC/ESA
+
+ Removed ``TGO Mars Nadir orbit-aligned pointing'' frame definition for
+ there is no use case in ExoMars 2016 for it.
+ Corrected minor typos.
+
+ Version 0.1 -- June 6, 2016 -- Jorge Diaz del Rio, ODC Space
+
+ Update comments to reflect new file naming conventions for ExoMars 2016
+ frame kernels.
+
+ Version 0.0 -- May 22, 2016 -- Jorge Diaz del Rio, ODC Space
+
+ Initial version.
+
+
+References
+-------------------------------------------------------------------------------
+
+ [1] "Frames Required Reading"
+
+ [2] "Kernel Pool Required Reading"
+
+ [3] ``Science Operations Centre - Flight Dynamics - Pointing
+ Timeline-ICD'' EXM-GS-ICD-ESC-50003 Issue 1.4, 15-12-2015
+
+
+Contact Information
+-------------------------------------------------------------------------------
+
+ If you have any questions regarding this file contact SPICE support at
+ ESAC:
+
+ Marc Costa Sitja
+ (+34) 91-8131-457
+ mcosta@sciops.esa.int, esa_spice@sciops.esa.int
+
+ or SPICE support at IKI:
+
+ Anton Ledkov
+ +7 (495) 333-12-66
+ aledkov@rssi.ru
+
+ or NAIF at JPL:
+
+ Boris Semenov
+ (818) 354-8136
+ Boris.Semenov@jpl.nasa.gov
+
+
+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
+ routine that loads a kernel into the pool is 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' )
+
+ This file was created and may be updated with a text editor or word
+ processor.
+
+
+TGO Science Operations frame names and NAIF ID Codes
+-------------------------------------------------------------------------------
+
+ The following frame is defined in this kernel file:
+
+ SPICE Frame Name Long-name
+ ------------------------ ---------------------------------------------
+ TGO_MARS_NPO TGO Mars Nadir power-optimized pointing
+
+
+ These frame has the following centers, frame class and NAIF
+ ID:
+
+ SPICE Frame Name Center Class NAIF ID
+ ------------------------ --------------------- ------- ---------
+ TGO_MARS_NPO TGO DYNAMIC -143910
+
+
+ The keywords implementing that frame definitions is located in the
+ "TGO Science Operations Frame Definitions" section.
+
+
+General Notes About This File
+-------------------------------------------------------------------------------
+
+ About Required Data:
+ --------------------
+ All the dynamic frames defined in this file require at least one
+ of the following kernel types to be loaded prior to their evaluation,
+ normally during program initialization:
+
+ - Planetary and Satellite ephemeris data (SPK), i.e. de432, de405, etc;
+ - Spacecraft ephemeris data (SPK);
+
+ Note that loading different kernels will lead to different
+ orientations of the same frame at a given epoch, providing different
+ results from each other, in terms of state vectors referred to these
+ frames.
+
+
+ Using these frames
+ ------------------
+ These frames have been implemented to define the different pointing
+ profiles for the TGO spacecraft. These pointing profiles can be
+ used in two different ways:
+
+ [1] ``As is'' for analysis of offsets between the spacecraft
+ attitude defined in the corresponding CK and a given pointing
+ profile. Loading this kernel in combination with any TGO CK
+ will allow the user to perform this comparison between the
+ TGO_SPACECRAFT frame and any of the different frames defined
+ within this kernel.
+
+ [2] In combination with the TGO Frames kernel, to define
+ a default pointing profile for the whole duration of the mission
+ together with the spacecraft and instrument frames defined in the
+ TGO FK. In this way, instrument-specific mission analysis
+ activities, for which a particular pointing profile and knowledge
+ of the instruments is required, can be conducted without the need
+ for a spacecraft CK.
+
+ In order to define such default pointing profile, the latest
+ TGO frames kernel and this file shall be loaded before the
+ selected ``TGO spacecraft frame overwrite'' frame kernel. As
+ an example, imagine that the desired default pointing profile is
+ "Nadir power optimized with respect to Mars", then the furnish
+ (metakernel) file should contain the following sequence of frames
+ kernels, in the following order:
+
+ ...
+
+ $DATA/fk/em16_tgo_v00.tf
+ $DATA/fk/em16_tgo_ops_v00.tf
+ $DATA/fk/em16_tgo_sc_mars_npo_v01.tf
+
+ ...
+
+ (*) the example presents version 0.0 of the ExoMars-2016 frames
+ and TGO Science Operations frames kernels. Newer versions of
+ these files will produce the same results.
+
+ By loading the ``em16_tgo_sc_mars_npo_vNN.tf'' frames kernel last,
+ the spacecraft frame TGO_SPACECRAFT, which is defined as a CK-based
+ frame in the ``TGO frames kernel'', will be overwritten as a
+ type-4 fixed offset frame, mapping the TGO_SPACECRAFT frame to
+ the TGO_MARS_NPO frame defined in the ``TGO Science
+ Operations Frames Kernel'' (this) file.
+
+
+TGO Science Operations Frame Definitions
+-------------------------------------------------------------------------------
+
+ This section contains the definition of the TGO science operations
+ frames.
+
+
+TGO Mars Nadir power-optimized pointing frame (TGO_MARS_NPO)
+------------------------------------------------------------------------
+
+ Definition:
+ -----------
+ The TGO Mars Nadir power-optimized pointing frame is defined as follows
+ (from [3]):
+
+ - -Y axis is the primary vector and points from TGO to the
+ center of Mars (Nadir direction);
+
+ - -X axis is the secondary vector and is the orthogonal component
+ to the -Y axis of the Sun position relative to TGO;
+
+ - +Z axis completes the right-handed system;
+
+ - the original of this frame is the spacecraft's center of mass.
+
+ All vectors are geometric: no corrections are used.
+
+
+ Required Data:
+ --------------
+ This frame is defined as a two-vector frame.
+
+ Both the primary and the secondary vector are defined as an
+ 'observer-target position' vectors, therefore, the ephemeris data
+ required to compute both the TGO-Mars position and the TGO-Sun
+ position in J2000 frame have to be loaded before using this frame.
+
+
+ Remarks:
+ --------
+ Since the primary and secondary vectors of this frame are defined
+ based on the TGO-Mars position and TGO-Sun position vectors, the usage
+ of different ephemerides to compute these vectors may lead to different
+ frame orientation at given time.
+
+ \begindata
+
+ FRAME_TGO_MARS_NPO = -143910
+ FRAME_-143910_NAME = 'TGO_MARS_NPO'
+ FRAME_-143910_CLASS = 5
+ FRAME_-143910_CLASS_ID = -143910
+ FRAME_-143910_CENTER = -143
+ FRAME_-143910_RELATIVE = 'J2000'
+ FRAME_-143910_DEF_STYLE = 'PARAMETERIZED'
+ FRAME_-143910_FAMILY = 'TWO-VECTOR'
+ FRAME_-143910_PRI_AXIS = '-Y'
+ FRAME_-143910_PRI_VECTOR_DEF = 'OBSERVER_TARGET_POSITION'
+ FRAME_-143910_PRI_OBSERVER = 'TGO'
+ FRAME_-143910_PRI_TARGET = 'MARS'
+ FRAME_-143910_PRI_ABCORR = 'NONE'
+ FRAME_-143910_SEC_AXIS = '-X'
+ FRAME_-143910_SEC_VECTOR_DEF = 'OBSERVER_TARGET_POSITION'
+ FRAME_-143910_SEC_OBSERVER = 'TGO'
+ FRAME_-143910_SEC_TARGET = 'SUN'
+ FRAME_-143910_SEC_ABCORR = 'NONE'
+ FRAME_-143910_SEC_FRAME = 'J2000'
+
+ \begintext
+
diff --git a/tests/pytests/data/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1/em16_tgo_sc_spm_20161101_20170301_s20190703_v01_sliced-143000.xc b/tests/pytests/data/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1/em16_tgo_sc_spm_20161101_20170301_s20190703_v01_sliced-143000.xc
new file mode 100644
index 0000000..bde9a4f
--- /dev/null
+++ b/tests/pytests/data/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1/em16_tgo_sc_spm_20161101_20170301_s20190703_v01_sliced-143000.xc
@@ -0,0 +1,2845 @@
+DAFETF NAIF DAF ENCODED TRANSFER FILE
+'DAF/CK '
+'2'
+'6'
+'TGO CK; MEASURED; OBTAINED FROM TELEMETRY '
+BEGIN_ARRAY 1 2822
+'TGO MEASURED ATTITUDE '
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+'1^1'
+'16^3'
+END_ARRAY 1 2822
+TOTAL_ARRAYS 1
+ ~NAIF/SPC BEGIN COMMENTS~
+This CK is for testing with the image: /home/kberry/kernel_sliced_tgo/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1.cub
+
+This CK was generated using the following command: {}
+ ~NAIF/SPC END COMMENTS~
diff --git a/tests/pytests/data/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1/em16_tgo_step_20190823.tsc b/tests/pytests/data/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1/em16_tgo_step_20190823.tsc
new file mode 100644
index 0000000..b42d085
--- /dev/null
+++ b/tests/pytests/data/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1/em16_tgo_step_20190823.tsc
@@ -0,0 +1,225 @@
+KPL/SCLK
+
+ExoMars2016 TGO SCLK File by ESA SPICE Service
+===========================================================================
+
+ This file is a SPICE spacecraft clock (SCLK) kernel containing
+ information required for the ExoMars2016 TGO spacecraft
+ on-board clock to UTC conversion. This file was generated by the
+ ESA SPICE Service ADCSng TCP2SCLK Module from the most recent
+ TGO Time Correlation Packet (TCP) data on August 25, 2019.
+
+
+Production/History of this SCLK file
+--------------------------------------------------------
+
+ This SCLK kernel is intended to be used with CK files with
+ structure IDs on board the spacecraft TGO_SPACECRAFT.
+ The NAIF ID code for TGO_SPACECRAFT is -143000.
+
+
+Usage
+--------------------------------------------------------
+
+ This file must be loaded into the user's program by a call to the
+ FURNSH subroutine
+
+ CALL FURNSH ( 'this_file_name; ) -- FORTRAN
+ furnsh_c ( "this_file_name" ); -- C
+ cspice_furnsh, 'this_file_name' -- IDL
+ cspice_furnsh( 'this_file_name' ) -- MATLAB
+ spiceypy.furnsh( 'this_file_name' ) -- PYTHON
+
+ in order to use the SPICELIB SCLK family of subroutines to convert
+ TGO_SPACECRAFT spacecraft on-board clock to ET and vice versa.
+
+
+SCLK Format
+--------------------------------------------------------
+
+ The on-board clock, the conversion for which is provided by this SCLK
+ file, consists of two fields:
+
+ SSSSSSSSSS:FFFFF
+
+ where:
+
+ SSSSSSSSSS -- count of on-board seconds
+
+ FFFFF -- count of fractions of a second with one fraction
+ being 1/65536 of a second; normally this field value
+ is within 0..65536 range.
+
+
+References
+--------------------------------------------------------
+
+ [1] SCLK Required Reading Document
+
+ [2] TIME Required Reading Document
+
+ [3] KERNEL Pool Required Reading Document
+
+ [4] "ExoMars MCS Packetiser ICD'',
+ EXM-GS-ICD-ESC-32003, issue 1.1, 2014-02-05
+
+
+Contact Information
+------------------------------------------------------------------------
+
+ If you have any questions regarding this file contact the
+ ESA SPICE Service (ESS) at ESAC:
+
+ Marc Costa Sitja
+ (+34) 91-8131-457
+ esa_spice@sciops.esa.int, marc.costa@esa.int
+
+
+Kernel DATA
+--------------------------------------------------------
+
+ The data used to generate this kernels has been obtained from the
+ GDDS for TGO_SPACECRAFT and processed in order to insert an additional
+ time correlation packet (TCP) between each pair of original valid TCP
+ records to force continuity between them.
+
+ Each TCP record inserted has the UTC "validity start time" equal to
+ the time of the second TCP record in each pair minus 60 seconds. The
+ on-board clock (OBT) value for this extra packet is computed using the
+ gradient from the first TCP record in the pair, while the gradient of
+ the extra packet is computed so that the linear function ``passes''
+ through the extra packet's UTC/OBT point and through the second
+ packet's UTC/OBT point, thus forcing continuity between the two original
+ trends. When such a ``continuous'' data stream is processed, no additional
+ adjustments to the gradients are performed and the correlation function
+ stored in this SPICE SCLK file almost completely matches time correlation
+ in the GDDS (except for short intervals before each TCP record.)
+
+
+ \begindata
+
+ SCLK_KERNEL_ID = ( @2019-08-23/03:52:13.213796 )
+
+ SCLK_DATA_TYPE_143 = ( 1 )
+ SCLK01_TIME_SYSTEM_143 = ( 2 )
+ SCLK01_N_FIELDS_143 = ( 2 )
+ SCLK01_MODULI_143 = ( 4294967296 65536 )
+ SCLK01_OFFSETS_143 = ( 0 0 )
+ SCLK01_OUTPUT_DELIM_143 = ( 2 )
+
+ SCLK_PARTITION_START_143 = ( 0.0000000000000E+00 )
+
+ SCLK_PARTITION_END_143 = ( 2.8147497671065E+15 )
+
+ SCLK01_COEFFICIENTS_143 = (
+
+ 0.0000000000000E+00 5.1117692137800E+08 9.9999999998741E-01
+ 6.5176792440000E+09 5.1127637327191E+08 1.0000000382038E+00
+ 6.8056288860000E+09 5.1128076703493E+08 9.8323534029297E-01
+ 6.8096280910000E+09 5.1128082703493E+08 1.0000000819091E+00
+ 9.1947900100000E+09 5.1131722139914E+08 9.9999633671719E-01
+ 9.1987221850000E+09 5.1131728139914E+08 1.0000002399383E+00
+ 9.3561158640000E+09 5.1131968303667E+08 1.0055689243396E+00
+ 9.3600262470000E+09 5.1131974303667E+08 1.0000002363393E+00
+ 1.6967140493000E+10 5.1143581841575E+08 9.9435849043473E-01
+ 1.6971094962000E+10 5.1143587841575E+08 1.0000002548873E+00
+ 1.7077160760000E+10 5.1143749685180E+08 1.0057166901818E+00
+ 1.7081070569000E+10 5.1143755685180E+08 1.0000002934337E+00
+ 4.2293552044000E+10 5.1182226890126E+08 9.9959856067290E-01
+ 4.2297485783000E+10 5.1182232890126E+08 9.9998501457631E-01
+ 6.0298036312000E+10 5.1209699138879E+08 1.0020249410187E+00
+ 6.0301960526000E+10 5.1209705138879E+08 9.9999678119977E-01
+ 6.0349497730000E+10 5.1209777674662E+08 9.9785708299893E-01
+ 6.0353438334000E+10 5.1209783674662E+08 9.9998503186882E-01
+ 7.2246476542100E+11 5.2220070259924E+08 9.9956165152538E-01
+ 7.2246869930500E+11 5.2220076259924E+08 1.0000003295215E+00
+ 1.3115685270120E+12 5.3118971556902E+08 1.0019847130248E+00
+ 1.3115724513840E+12 5.3118977556902E+08 1.0000003851839E+00
+ 1.6660560882050E+12 5.3659876869285E+08 9.9882865234051E-01
+ 1.6660600249760E+12 5.3659882869285E+08 1.0000004470160E+00
+ 1.7356436472620E+12 5.3766059098214E+08 9.9860453658936E-01
+ 1.7356475849170E+12 5.3766065098214E+08 1.0000003598279E+00
+ 1.7486013697810E+12 5.3785831012480E+08 9.9995951797786E-01
+ 1.7486053021000E+12 5.3785837012480E+08 1.0000003997164E+00
+ 1.7487863794260E+12 5.3786113314661E+08 9.9999945499033E-01
+ 1.7487903115880E+12 5.3786119314661E+08 1.0000003742636E+00
+ 1.8372551944540E+12 5.3921106063891E+08 9.9968525444791E-01
+ 1.8372591278520E+12 5.3921112063891E+08 1.0000003774712E+00
+ 2.3016422312920E+12 5.4629704713322E+08 9.9885701632191E-01
+ 2.3016461679510E+12 5.4629710713322E+08 1.0000003435989E+00
+ 2.7365798326800E+12 5.5293367046727E+08 1.0006242891921E+00
+ 2.7365837623860E+12 5.5293373046727E+08 1.0000004025987E+00
+ 2.9765234507030E+12 5.5659492101459E+08 1.0008241968782E+00
+ 2.9765273796240E+12 5.5659498101459E+08 1.0000003988299E+00
+ 3.2565247054780E+12 5.6086740285207E+08 1.0011369927221E+00
+ 3.2565286331720E+12 5.6086746285207E+08 1.0000004218724E+00
+ 3.8641162366190E+12 5.7013851784161E+08 1.0013798069006E+00
+ 3.8641201633610E+12 5.7013857784161E+08 1.0000005897670E+00
+ 3.8995489208390E+12 5.7067917809947E+08 9.9902967730341E-01
+ 3.8995528568180E+12 5.7067923809948E+08 1.0000009708673E+00
+ 3.9052685097450E+12 5.7076645213157E+08 9.9886047070852E-01
+ 3.9052724463910E+12 5.7076651213157E+08 1.0000000863927E+00
+ 3.9092888945290E+12 5.7082779826481E+08 1.0008979935327E+00
+ 3.9092928231610E+12 5.7082785826481E+08 1.0000027314491E+00
+ 3.8995295489030E+12 5.7067888211959E+08 1.0054710268725E+00
+ 3.8995334596670E+12 5.7067894211959E+08 1.0000006765868E+00
+ 3.9211766563660E+12 5.7100919132029E+08 9.9871367984990E-01
+ 3.9211805935900E+12 5.7100925132029E+08 1.0000005610472E+00
+ 3.9831775128370E+12 5.7195524970077E+08 1.0000006391892E+00
+ 4.0187537248830E+12 5.7249809996934E+08 9.9829314098378E-01
+ 4.0187576637670E+12 5.7249815996934E+08 1.0000004707657E+00
+ 4.0239352700490E+12 5.7257716401154E+08 1.0000245084163E+00
+ 4.0239392021130E+12 5.7257722401154E+08 1.0000004712584E+00
+ 4.1659783347690E+12 5.7474457019675E+08 1.0002177869135E+00
+ 4.1659822660730E+12 5.7474463019675E+08 1.0000005061981E+00
+ 4.1771209497590E+12 5.7491459310748E+08 9.9995899741097E-01
+ 4.1771248820800E+12 5.7491465310748E+08 1.0000004914049E+00
+ 5.5349343336310E+12 5.9563319129696E+08 1.0017151571376E+00
+ 5.5349382590590E+12 5.9563325129696E+08 1.0000005107393E+00
+ 5.5632737381540E+12 5.9606561661629E+08 1.0000006357833E+00
+ 5.5632776703120E+12 5.9606567661629E+08 1.0000005125693E+00
+ 5.8480758997090E+12 6.0041135495150E+08 1.0000869056603E+00
+ 5.8480798315280E+12 6.0041141495150E+08 1.0000005160884E+00
+ 5.9207778610480E+12 6.0152069942169E+08 1.0000660207245E+00
+ 5.9207817929480E+12 6.0152075942169E+08 1.0000005188089E+00
+ 6.3049109638150E+12 6.0738210845362E+08 1.0003327721703E+00
+ 6.3049148946670E+12 6.0738216845362E+08 1.0000005221856E+00
+ 6.1875946446460E+12 6.0559200257100E+08 9.9982999846058E-01
+ 6.1875985774750E+12 6.0559206257100E+08 1.0000005299101E+00
+ 6.4416906851120E+12 6.0946920249841E+08 9.9972076715041E-01
+ 6.4416946183700E+12 6.0946926249841E+08 1.0000005273844E+00
+ 6.5341727467970E+12 6.1088036749717E+08 1.0000592840589E+00
+ 6.5341766787240E+12 6.1088042749717E+08 1.0000005358402E+00
+ 6.5732215046050E+12 6.1147620457852E+08 9.9997922870946E-01
+ 6.5732254368470E+12 6.1147626457852E+08 1.0000004938450E+00
+ 6.5593014728630E+12 6.1126380164424E+08 9.9987052890275E-01
+ 6.5593054055320E+12 6.1126386164424E+08 1.0000005354385E+00
+ 6.5938644901690E+12 6.1179119170927E+08 9.9987435454477E-01
+ 6.5938684228230E+12 6.1179125170927E+08 1.0000005176865E+00
+ 6.7144032523760E+12 6.1363046820025E+08 1.0000453485251E+00
+ 6.7144071843580E+12 6.1363052820025E+08 1.0000005217165E+00
+ 6.7301726871490E+12 6.1387109080731E+08 9.9999707242710E-01
+ 6.7301766193210E+12 6.1387115080731E+08 1.0000005204626E+00
+ 6.7362094712880E+12 6.1396320487084E+08 9.9999584805702E-01
+ 6.7362134034650E+12 6.1396326487084E+08 1.0000005127281E+00
+ 6.7417734770140E+12 6.1404810490380E+08 1.0000106186802E+00
+ 6.7417774091320E+12 6.1404816490380E+08 1.0000005074975E+00
+ 6.7968824430750E+12 6.1488900141974E+08 1.0002406686958E+00
+ 6.7968863742890E+12 6.1488906141974E+08 1.0000005377167E+00
+ 6.9108352006520E+12 6.1662778346007E+08 9.9996478184917E-01
+ 6.9108391329500E+12 6.1662784346007E+08 1.0000005317068E+00
+ 6.9557725011520E+12 6.1731347261189E+08 9.9995283632405E-01
+ 6.9557764334970E+12 6.1731353261189E+08 1.0000005323549E+00
+ 6.9974617478630E+12 6.1794960036942E+08 9.9995131158471E-01
+ 6.9974656802140E+12 6.1794966036942E+08 1.0000005239968E+00
+ 7.0637106938690E+12 6.1896047958889E+08 1.0000460404989E+00
+ 7.0637146258480E+12 6.1896053958889E+08 1.0000005308853E+00
+ 7.0884026932440E+12 6.1933724980163E+08 9.9998401130968E-01
+ 7.0884066254670E+12 6.1933730980163E+08 1.0000005268305E+00
+
+ )
+
+ \begintext
+
+
+End of SCLK file.
\ No newline at end of file
diff --git a/tests/pytests/data/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1/em16_tgo_v18.tf b/tests/pytests/data/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1/em16_tgo_v18.tf
new file mode 100644
index 0000000..b5ea617
--- /dev/null
+++ b/tests/pytests/data/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1/em16_tgo_v18.tf
@@ -0,0 +1,3662 @@
+KPL/FK
+
+Trace Gas Orbiter (TGO) Spacecraft Frames Kernel
+===============================================================================
+
+ This frame kernel contains a complete set of frame definitions for the
+ ExoMars 2016 Trace Gas Orbiter Spacecraft (TGO) including definitions for
+ the TGO structures and TGO science instrument frames. This kernel also
+ contains NAIF ID/name mapping for the TGO instruments.
+
+
+Version and Date
+------------------------------------------------------------------------
+
+ Version 1.8 -- August 8, 2019 -- Marc Costa Sitja, ESAC/ESA
+ Boris Semenov, NAIF/JPL
+
+ Corrected TGO_ACS_TIRVIM_SCAN_BASE frame to TGO_ACS_TIRVIM_SCAN.
+ Removed TGO_NOMAD_LNO_SCAN references in favour of TGO_NOMAD_LNO_FMM.
+ Renamed TGO_ACS_TIRVIM_SCAN_OCC_BSR references to
+ TGO_ACS_TIRVIM_SCAN_OCC_BS. Corrected several typos and diagrams.
+
+ Version 1.7 -- March 6, 2019 -- Marc Costa Sitja, ESAC/ESA
+ Marty Jean-Charles, CNES
+
+ Updated SA+Z_ZERO and SA-Z_ZERO frames; the normal of the SA was
+ antiparallel to the Sun vector.
+
+ Version 1.6 -- July 3, 2018 -- Marc Costa Sitja, ESAC/ESA
+ Nikolay Ignatiev, IKI
+
+ Corrected typo in TGO_ACS_TIRVIM_SUN frame definition and added
+ TGO_ACS_TIRVIM_SUN_BSR ID.
+
+ Version 1.5 -- June 18, 2018 -- Marc Costa Sitja, ESAC/ESA
+
+ Updated NOMAD UVIS Occultation and NOMAD SO Boresight alignments.
+
+ Version 1.4 -- May 15, 2018 -- Stepanov Tulyakov, EPFL
+ Marc Costa Sitja, ESAC/ESA
+
+ Updated CaSSIS rotations of CRU with respect to SC and FSA with
+ respect to TEL.
+ Added LGAs reference frames, corrected STR IDs and added
+ Structures IDs.
+
+ Version 1.3 -- March 29, 2018 -- Marc Costa Sitja, ESAC/ESA
+ Boris Semenov, NAIF/JPL
+
+ Added Star Tracker reference frames and spacecraft reference
+ frame for planning CKs.
+
+ Version 1.2 -- July 20, 2017 -- Marc Costa Sitja, ESAC/ESA
+
+ Corrected typo in NOMAD UVIS reference frame.
+
+ Version 1.1 -- July 20, 2017 -- Marc Costa Sitja, ESAC/ESA
+ Bernhard Geiger, ESAC/ESA
+
+ Updated ACS frame definitions, added TIRVIM frames and
+ implemented boresight misalignments.
+ Corrected typos in NOMAD frame and ID descriptions.
+
+ Version 1.0 -- January 15, 2017 -- Marc Costa Sitja, ESAC/ESA
+
+ Corrected several HGA IDs from -226 to -143.
+
+ Version 0.9 -- December 15, 2016 -- Marc Costa Sitja, ESAC/ESA
+
+ Updated NOMAD_SO definitions with Alejandro Cardesin.
+
+ Version 0.8 -- September 26, 2016 -- Marc Costa Sitja, ESAC/ESA
+
+ Corrected NOMAD UVIS Nadir Boresight misalignment.
+ Renamed the NOMAD LNO Scan mirror frame (TGO_NOMAD_LNO_SCAN) to
+ NOMAD LNO Flip Mirror Mechanism frame (TGO_NOMAD_LNO_FMM).
+ Renamed the NOMAD LNO nadir and occultation frames
+ (TGO_NOMAD_LNO_*) to NOMAD LNO nadir and occultation operations
+ frames (TGO_NOMAD_LNO_OPS_*).
+ Minor edits to some text after NOMAD instrument team review.
+ Added reference [18].
+
+ Version 0.7 -- August 11, 2016 -- Marc Costa Sitja, ESAC/ESA
+ Bernhard Geiger, ESAC/ESA
+ Alejandro Cardesin, ESAC/ESA
+
+ Added references [13], [14], [15], [16] and [17].
+ Updated Spacecraft drawings with Main Engine.
+ Corrected TGO Solar Array Frames and TGO High Gain Antenna
+ definitions as described in reference [13].
+ Separated the ACS NIR and the TRIVIM frames definitions sections.
+ Corrected rotation of the CaSSIS Filter Strip Assembly Frame.
+ Updated the NAIF IDs for CaSSIS definitions.
+ Corrected several typos and updated text and diagram information.
+ Updated NOMAD frames orientation with information provided by
+ I. Thomas ([15]).
+ Removed references to flip/scanning mirror in ACS NIR channel
+ frame definitions.
+ Updated ACS frames orientation with information provided by
+ A. Trokhimovskiy ([16]).
+ Corrected TGO_ACS_TIRVIM_SCAN frame definition.
+
+ Version 0.6 -- June 6, 2016 -- Jorge Diaz del Rio, ODC Space
+
+ Updated comments to exchange the Science Operations Frame Definitions
+ Kernel file name by the description of the data.
+
+ Version 0.5 -- May 31, 2016 -- Jorge Diaz del Rio, ODC Space
+
+ TGO_SA*_GIMBAL frame renamed to TGO_SA*_ZERO. Corrected typos in
+ comments. Added ``EXOMARS 2016 TGO'' and ``TRACE GAS ORBITER'' as
+ synonyms for TGO.
+
+ Version 0.4 -- May 20, 2016 -- Jorge Diaz del Rio, ODC Space
+ Anton Ledkov, IKI
+
+ Preliminary Version. Added ACS and NOMAD frames. Modified FREND
+ frame chain upon request from FREND Instrument Team. Corrected
+ CaSSIS CRU and FSA frames orientations. Added CaSSIS filter
+ name/ID mappings. Added SA and HGA frames. Added list of science
+ operations frames.
+
+ Version 0.3 -- March 17, 2016 -- Jorge Diaz del Rio, ODC Space
+
+ Preliminary Version. Corrected rotations in TGO_CASSIS_CRU and in
+ TGO_CASSIS_FSA frame definitions. Added FREND frames.
+
+ Version 0.2 -- March 11, 2016 -- Jorge Diaz del Rio, ODC Space
+
+ Preliminary Version. Added CaSSIS frames.
+
+ Version 0.1 -- January 26, 2016 -- Jorge Diaz del Rio, ODC Space
+
+ Preliminary Version. Added TGO_SPACECRAFT frame for its use with
+ test CK kernel.
+
+ Version 0.0 -- December 17, 2015 -- Jorge Diaz del Rio, ODC Space
+
+ Preliminary Version. Only TGO Name to NAIF ID mappings for their
+ use with test SPK kernel.
+
+ Version 0.0-draft -- May 26, 2015 -- Anton Ledkov, IKI
+
+ Draft Version.
+
+
+References
+------------------------------------------------------------------------
+
+ 1. ``Frames Required Reading'', NAIF
+
+ 2. ``Kernel Pool Required Reading'', NAIF
+
+ 3. ``C-Kernel Required Reading'', NAIF
+
+ 4. ``ExoMars: Science Operations Centre - Flight Dynamics - Pointing
+ Timeline-ICD,'' EXM-GS-ICD-ESC-50003, Issue 1.4, 15 December 2015
+
+ 5. ``CaSSIS Rotation Axis Determination Report'', EXM-CA-TRE-UBE-00112
+ Issue 0.7, 1 March 2016
+
+ 6. ``The Color and Stereo Surface Imaging System (CaSSIS) for ESA's
+ Trace Gas Orbiter.'' Eighth International Conference on Mars (2014)
+ N. Thomas et al.
+
+ 7. ``FREND Mechanical ICD Drawings,'' EXM-FR-DRW-IKI-0020, Issue 1.2,
+ 1 March 2015
+
+ 8. Email from FREND PM (Alexey Malakhov) on March 17, 2016 (Re. TGO FREND
+ FK/IK approach)
+
+ 9. ``High Resolution Middle Infrared Spectrometer, a Part of Atmospheric
+ Chemistry Suite (ACS) for ExoMars 2016 Trace Gas Orbiter'',
+ International Conference on Space Optics, Tenerife 7-10 October 2014
+
+ 10. ``NOMAD Experiment ICD'', EXM-PL-ICD-ESA-00025, Issue 2.7 2014-09-23
+
+ 11. ``Atmospheric Chemistry Suite (ACS): a Set of Infrared Spectrometers
+ for Atmospheric Measurements onboard ExoMars Trace Gas Orbiter'', A.
+ Trokhimovskiy et al.
+
+ 12. TGO Science Operations Frames Definition Kernel, latest version.
+
+ 13. ``EXOMARS OMB frame definitions and conventions'',
+ EXM-OM-TNO-AF-0361, Issue 3, 2011-10-14, Thales Alenia Space.
+
+ 14. ``EXOMARS Spacecraft Mechanical Interface Control Document'',
+ EXM-MS-ICD-AI-0019, Issue 12, 2015-08-10, Thales Alenia Space.
+
+ 15. Email from Ian Thomas <ian.thomas@aeronomie.be> ``[EM16-SOC]
+ [TGO] [SGS] [EM16.NOMAD] SPICE review and misalignment update by
+ 25th July'' on 25 July 2016.
+
+ 16. Email from Alexander Trokhimovskiy <a.trokh@gmail.com>
+ ``Re: [EM16-SOC] [TGO] [SGS] [EM16.ACS] [EM16.NOMAD] SPICE review
+ and misalignment update by 25th July'' on 27 July 2016.
+
+ 17. Email from Alexander Trokhimovskiy <a.trokh@gmail.com>
+ ``Re: [EM16-SOC] [TGO] [SGS] [EM16.ACS] [EM16.NOMAD] SPICE review
+ and misalignment update by 25th July'' on 11 August 2016.
+
+ 18. Email from Ian Thomas <ian.thomas@aeronomie.be> ``UVIS Nadir
+ Boresight Correction'' on 16 September 2016.
+
+ 19. ``Boresight Alignment'', ExoMars 2016 Confluence Page,
+ https://issues.cosmos.esa.int/exomarswiki/display/OE/Boresight+Alignment
+ Bernhard Geiger (ESAC/ESA), accessed on 19th July 2017.
+
+ 20. Email from Bernhard Geiger (ESAC/ESA) ``TGO Star Tracker boresights and
+ frames'' on 7th November 2017.
+
+ 21. ``ICD, EXOMARS HGA-A'', EXM-OM-ICD-MDA-0041-7, Louis-Philippe Lebel,
+ MacDonald, Dettwiler and Associates Corporation on 21st January 2015.
+
+ 22. Email from Ian Thomas <ian.thomas@aeronomie.be>``New SO and UVIS solar
+ boresight vectors' on 13 June 2018.
+
+
+Contact Information
+------------------------------------------------------------------------
+
+ If you have any questions regarding this file contact the
+ ESA SPICE Service (ESS) at ESAC:
+
+ Marc Costa Sitja
+ (+34) 91-8131-457
+ esa_spice@sciops.esa.int, marc.costa@esa.int
+
+ or SPICE support at IKI:
+
+ Alexander Abbakumov
+ +7 (495) 333-40-13
+ aabbakumov@romance.iki.rssi.ru
+
+ or NAIF at JPL:
+
+ Boris Semenov
+ +1 (818) 354-8136
+ Boris.Semenov@jpl.nasa.gov
+
+
+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' )
+
+ PYTHON: (SPICEYPY)*
+
+ 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 [2] for
+ more details.
+
+ This file was created and may be updated with a text editor or word
+ processor.
+
+ * SPICEPY is a non-official, community developed Python wrapper for the
+ NAIF SPICE toolkit. Its development is managed on Github.
+ It is available at: https://github.com/AndrewAnnex/SpiceyPy
+
+
+TGO NAIF ID Codes -- Summary Section
+------------------------------------------------------------------------
+
+ The following names and NAIF ID codes are assigned to the TGO spacecraft,
+ its structures and science instruments (the keywords implementing these
+ definitions are located in the section "TGO NAIF ID Codes -- Definition
+ Section" at the end of this file):
+
+ TGO Spacecraft and Spacecraft Structures names/IDs:
+
+ TGO -143 (synonyms: EXOMARS 2016 TGO,
+ EXOMARS TGO,
+ and TRACE GAS ORBITER)
+ TGO_STR-1 -143031
+ TGO_STR-2 -143032
+
+ ACS names/IDs:
+
+ TGO_ACS -143100
+ TGO_ACS_NIR_NAD -143111
+ TGO_ACS_NIR_OCC -143112
+ TGO_ACS_MIR -143120
+ TGO_ACS_TIRVIM -143130
+ TGO_ACS_TIRVIM_BBY -143131
+ TGO_ACS_TIRVIM_SPC -143132
+ TGO_ACS_TIRVIM_NAD -143133
+ TGO_ACS_TIRVIM_OCC -143134
+ TGO_ACS_TIRVIM_SUN -143140
+
+ FREND names/IDs:
+
+ TGO_FREND -143200
+ TGO_FREND_HE -143210
+ TGO_FREND_SC -143220
+
+ NOMAD names/IDs:
+
+ TGO_NOMAD -143300
+ TGO_NOMAD_LNO -143310
+ TGO_NOMAD_LNO_OPS_NAD -143311
+ TGO_NOMAD_LNO_OPS_OCC -143312
+ TGO_NOMAD_SO -143320
+ TGO_NOMAD_UVIS_NAD -143331
+ TGO_NOMAD_UVIS_OCC -143332
+
+ CaSSIS names/IDs:
+
+ TGO_CASSIS -143400
+ TGO_CASSIS_PAN -143421
+ TGO_CASSIS_RED -143422
+ TGO_CASSIS_NIR -143423
+ TGO_CASSIS_BLU -143424
+
+
+TGO Frames
+------------------------------------------------------------------------
+
+ The following TGO frames are defined in this kernel file:
+
+ Name Relative to Type NAIF ID
+ ====================== ========================== ======= =======
+
+ TGO Spacecraft and Spacecraft Structures frames:
+ ------------------------------------------------
+ TGO_SPACECRAFT J2000, CK -143000
+ TGO_SPACECRAFT_PLAN
+ TGO_SPACECRAFT_PLAN J2000 CK -143002
+ TGO_SA+Z_ZERO TGO_SPACECRAFT FIXED -143010
+ TGO_SA+Z TGO_SA+Z_ZERO CK -143011
+ TGO_SA-Z_ZERO TGO_SPACECRAFT FIXED -143012
+ TGO_SA-Z TGO_SA-Z_ZERO CK -143013
+ TGO_HGA_EL TGO_SPACECRAFT CK -143021
+ TGO_HGA_AZ TGO_HGA_EL CK -143022
+ TGO_HGA TGO_HGA_AZ FIXED -143025
+ TGO_LGA+Z TGO_SPACECRAFT FIXED -143031
+ TGO_LGA-Z TGO_SPACECRAFT FIXED -143032
+ TGO_LGA-X TGO_SPACECRAFT FIXED -143033
+ TGO_STR-1 TGO_SPACECRAFT FIXED -143041
+ TGO_STR-2 TGO_SPACECRAFT FIXED -143042
+
+ ACS frames:
+ -----------
+ TGO_ACS_NIR_BASE TGO_SPACECRAFT FIXED -143100
+ TGO_ACS_NIR_NAD TGO_ACS_NIR_BASE FIXED -143111
+ TGO_ACS_NIR_OCC TGO_ACS_NIR_BASE FIXED -143112
+ TGO_ACS_MIR TGO_SPACECRAFT FIXED -143120
+ TGO_ACS_TIRVIM_BASE TGO_SPACECRAFT FIXED -143105
+ TGO_ACS_TIRVIM_SCAN_ROT TGO_ACS_TIRVIM_BASE FIXED -143106
+ TGO_ACS_TIRVIM_SCAN TGO_ACS_TIRVIM_SCAN_ROT CK -143107
+ TGO_ACS_TIRVIM TGO_ACS_TIRVIM_SCAN FIXED -143130
+ TGO_ACS_TIRVIM_SCAN_BBY TGO_ACS_TIRVIM_BASE FIXED -143131
+ TGO_ACS_TIRVIM_SCAN_SPC TGO_ACS_TIRVIM_BASE FIXED -143132
+ TGO_ACS_TIRVIM_SCAN_NAD TGO_ACS_TIRVIM_BASE FIXED -143133
+ TGO_ACS_TIRVIM_SCAN_OCC TGO_ACS_TIRVIM_BASE FIXED -143134
+ TGO_ACS_TIRVIM_SCAN_OCC_BS TGO_ACS_TIRVIM_BASE FIXED -143135
+ TGO_ACS_TIRVIM_SUN TGO_ACS_TIRVIM_BASE FIXED -143140
+ TGO_ACS_TIRVIM_SUN_BSR TGO_ACS_TIRVIM_BASE FIXED -143141
+
+ FREND frames:
+ -------------
+ TGO_FREND TGO_SPACECRAFT FIXED -143200
+
+ NOMAD frames:
+ -------------
+ TGO_NOMAD_LNO_BASE TGO_SPACECRAFT FIXED -143300
+ TGO_NOMAD_LNO_FMM TGO_NOMAD_LNO_BASE CK -143305
+ TGO_NOMAD_LNO TGO_NOMAD_LNO_BASE FIXED -143310
+ TGO_NOMAD_LNO_OPS_NAD TGO_NOMAD_LNO_BASE FIXED -143311
+ TGO_NOMAD_LNO_OPS_OCC TGO_NOMAD_LNO_BASE FIXED -143312
+ TGO_NOMAD_SO TGO_SPACECRAFT FIXED -143320
+ TGO_NOMAD_UVIS_BASE TGO_SPACECRAFT FIXED -143330
+ TGO_NOMAD_UVIS_NAD TGO_NOMAD_UVIS_BASE FIXED -143331
+ TGO_NOMAD_UVIS_OCC TGO_NOMAD_UVIS_BASE FIXED -143332
+
+ CaSSIS frames:
+ --------------
+ TGO_CASSIS_CRU TGO_SPACECRAFT FIXED -143400
+ TGO_CASSIS_TEL TGO_CASSIS_CRU CK -143410
+ TGO_CASSIS_FSA TGO_CASSIS_TEL FIXED -143420
+
+
+ In addition, the following frames, in use by the ExoMars 2016 mission, are
+ defined in another kernel:
+
+ Name Relative to Type NAIF ID
+ ====================== ========================== ======= =======
+
+ ExoMars 2016 mission science operations frames (1):
+ ---------------------------------------------------
+ TGO_MARS_NPO J2000 DYNAMIC -143900
+
+ (1) This frame is defined in the ExoMars 2016 Science Operations
+ Frame Definitions kernel file (see [12]). This frame can be used
+ 'as is' or to define default TGO attitude profiles. In order
+ to use it for the latter together with this frames kernel,
+ additional fixed-offset frames kernel(s) need to be loaded. See
+ the section ``Using this frame'' in the comment area of this file
+ for further details.
+
+
+ExoMars 2016 Frames Hierarchy
+--------------------------------------------------------------------------
+
+ The diagram below shows the ExoMars 2016 frames hierarchy (except
+ for science operations frames):
+
+
+ "J2000" INERTIAL
+ +-----------------------------------------------------+
+ | | | |
+ |<-pck | | |<-pck
+ | | | |
+ v | | v
+ "IAU_MARS" | | "IAU_EARTH"
+ MARS BODY-FIXED | |<-ck EARTH BODY-FIXED
+ --------------- | | ----------------
+ | v
+ "TGO_LGA+Z" "TGO_LGA+X" | "TGO_SPACECRAFT_PLAN"
+ ----------- ----------- | ---------------------
+ ^ ^ | |
+ | | |<-ck |<-ck
+ |<-fixed |<-fixed | |
+ | | | |
+ | "TGO_LGA-Z" | | |
+ | ----------- | | |
+ | ^ | | |
+ | | | | |
+ | |<-fixed | v v
+ | | | "TGO_SPACECRAFT"
+ +------------------------------------------------------------+
+ | | . | | |
+ |<-fixed |<-fixed . |<-fixed |<-fixed ck->|
+ | | . | | |
+ v | . v v v
+ "TGO_SA+Z_ZERO" | . "TGO_STR-1" "TGO_STR-2" "TGO_HGA_EL"
+ --------------- | . ----------- ----------- ------------
+ | | . |
+ |<-ck v . ck->|
+ | "TGO_SA-Z_ZERO" . |
+ v --------------- . v
+ "TGO_SA+Z" | . "TGO_HGA_AZ"
+ ---------- |<-ck . ------------
+ | . |
+ v . fixed->|
+ "TGO_SA-Z" . |
+ ---------- . v
+ . "TGO_HGA"
+ . ---------
+ V
+ Individual instrument frame trees are provided
+ in the other sections of this file
+
+
+ Please refer to the ACS, CaSSIS, FREND and NOMAD sections for the frame
+ hierarchy of each payload; and to the TGO science operations frame
+ definitions kernel [12] for further details on these frame definitions.
+
+
+TGO Spacecraft and Spacecraft Structures Frames
+------------------------------------------------------------------------
+
+ This section of the file contains the definitions of the spacecraft
+ and spacecraft structures frames.
+
+ DISCLAIMER: The origin of the frames specified in the following
+ definitions are not implemented. The ``true'' origin of all frames
+ is in the center of the TGO_SPACECRAFT frame, the center of which
+ is defined by the position given by the SPK (ephemeris) kernel in
+ use.
+
+
+TGO Spacecraft Frames
+--------------------------------------
+
+ According to [4] the TGO spacecraft reference frame -- TGO_SPACECRAFT --
+ is defined as follows:
+
+ - +X axis is perpendicular to the launch vehicle interface plane
+ and points towards the Schiaparelli Entry, Descent and Landing
+ Demonstrator Module (EDM) attachment point;
+
+ - -Y axis is perpendicular to the payload Science Deck and points
+ towards the payload side; representing the reference spacecraft
+ line of sight towards Mars during science operations;
+
+ - +Z axis completes the right-handed frame.
+
+ - the origin of this frame is located at the centre of the launch
+ vehicle interface ring: at the bottom of the interface cylinder and
+ the top of the launch vehicle specific interface frame.
+
+
+ These diagrams illustrate the TGO_SPACECRAFT frame:
+
+ -X S/C side (Main Engine side) view:
+ ------------------------------------
+
+ ^
+ | toward Mars
+ |
+
+ Science Deck
+ ._____________.
+ .__ _______________. | | .______________ ___.
+ | \ \ \ | | / \ \ |
+ | / / \ | ___ | / / / |
+ | \ \ +Zsc | / _ +Xsc | .' \ \ |
+ | / / <--------x) |o | / / |
+ | \ \ .' | \_|_/ | `. \ \ |
+ | / / / | Main |Engine| \ / / |
+ .__\ \_______________/ | (ME) | | \_______________\ \__.
+ +Z Solar Array ._____ v +Ysc . -Z Solar Array
+ ._____.
+ .' `.
+ / \
+ . `. .' . +Xsc is into
+ | `o' | the page.
+ . | .
+ \ | /
+ `. .'
+ HGA ` --- '
+
+
+ -Y S/C side (Science Deck side) view:
+ -------------------------------------
+ _____
+ / \ EDM
+ | |
+ ._____________.
+ | | | |
+ |nom| |acs|
+ |___' '___|
+ o==/ /==================o<| |>o==================/ /==o
+ +Z Solar Array |--. .--| -Z Solar Array
+ |ca| |fr|
+ |--' +Xsc '--|
+ | ^ |
+ | | |
+ | | |
+ +Zsc .______|______.
+ <-------x\ `. ME
+ /______+Ysc_\
+ HGA `.|.' +Ysc is into the
+ page.
+
+ ``nom'' corresponds to ``NOMAD'';
+ ``acs'' corresponds to ``ACS'';
+ ``ca'' corresponds to ``CaSSIS''; and
+ ``fr'' corresponds to ``FREND''.
+
+
+ +Z S/C side view:
+ -----------------
+
+ ._________________.
+ | |
+ ============o= |
+ | SA+Z +Zsc_..--,
+ | <-----o-..__|
+ | +Xsc || ME
+ ._________________.|
+ o-o|/|
+ \|V +Ysc
+ o | :
+ \ |/
+ \|
+ HGA
+
+
+ Since the S/C bus attitude with respect to an inertial frame is provided
+ by a C-kernel (see [3] for more information), this frame is defined as
+ a CK-based frame.
+
+ These sets of keywords define the TGO_SPACECRAFT frame:
+
+ \begindata
+
+ FRAME_TGO_SPACECRAFT = -143000
+ FRAME_-143000_NAME = 'TGO_SPACECRAFT'
+ FRAME_-143000_CLASS = 3
+ FRAME_-143000_CLASS_ID = -143000
+ FRAME_-143000_CENTER = -143
+ CK_-143000_SCLK = -143
+ CK_-143000_SPK = -143
+ OBJECT_-143_FRAME = 'TGO_SPACECRAFT'
+
+ \begintext
+
+
+ An additional S/C bus reference frame is defined in order to accommodate
+ the C-kernels that have been generated with a fictional SCLK kernel. These
+ CK kernels contain predicted data and are used for long and mid term
+ planning.
+
+ The before-mentioned CKs are generated with a fictional SCLK kernel due to
+ the fact that successive updates of the real SCLK kernel will lead to
+ erroneous results for the predicted data provided by those kernels after
+ the last Time Correlation Packet that the real SCLK contains. The
+ alternative of re-generating the planning CKs with the latest SCLK kernel
+ is not considered.
+
+ In order to be able to use the long and mid term planning CKs with the
+ measured and short term planning CKs the planning CKs are generated with the
+ fictional SCLK and are defined relative to the TGO spacecraft planning
+ reference frame -- TGO_SPACECRAFT_PLAN --. Those planning CKs are then
+ appended with a CK segment generated with the real SCLK that maps the
+ TGO_SPACECRAFT_PLAN to the TGO_SPACECRAFT reference frame thus allowing
+ to use both planning and measured CK files together with correct results.
+
+ Note that when new SCLK are available the segment boundaries of the
+ planning CKs will be affected. Due to this reason, the mapping segments
+ boundaries are adjusted inwards by a minute on each side to get a better
+ chance of them always being within the original CK segment boundaries.
+
+ The TGO_SPACECRAFT_PLAN frame is defined as a CK-based frame. These sets of
+ keywords define the TGO_SPACECRAFT_PLAN frame.
+
+ \begindata
+
+ FRAME_TGO_SPACECRAFT_PLAN = -143002
+ FRAME_-143002_NAME = 'TGO_SPACECRAFT_PLAN'
+ FRAME_-143002_CLASS = 3
+ FRAME_-143002_CLASS_ID = -143002
+ FRAME_-143002_CENTER = -143
+ CK_-143002_SCLK = -143999
+ CK_-143002_SPK = -143
+
+ \begintext
+
+
+TGO Solar Array Frames
+--------------------------------------------------------------------------
+
+ TGO solar arrays are articulated (having one degree of freedom),
+ therefore the Solar Array frames, TGO_SA+Z and TGO_SA-Z, are
+ defined as CK frames with their orientation given relative to
+ TGO_SA+Z_ZERO and TGO_SA-Z_ZERO respectively.
+
+ TGO_SA+Z_ZERO and TGO_SA-Z_ZERO are two ``fixed-offset'' frames,
+ defined with respect to TGO_SPACECRAFT, as follows:
+
+ - +Z is parallel to the longest side of the array, positively
+ oriented from the yoke to the end of the wing;
+
+ - +X is antiparallel to the spacecraft bus +X axis, pointing
+ on the opposite direction to the EDM attachment side;
+
+ - +Y completes the right-handed frame.
+
+ - the origin of the frame is located at the yoke geometric
+ center.
+
+
+ Both Solar Array frames (TGO_SA+Z and TGO_SA-Z) are defined as
+ follows:
+
+ - +Z is parallel to the longest side of the array, positively oriented
+ from the yoke to the end of the wing;
+
+ - +X is normal to the solar array plane, the solar cells facing +Z;
+
+ - +Y completes the right-handed frame;
+
+ - the origin of the frame is located at the yoke geometric center.
+
+
+ The axis of rotation is parallel to the Z axis of the spacecraft and the
+ solar array frames.
+
+ This diagram illustrates the TGO_SA+Z_ZERO, TGO_SA+Z, TGO_SA-Z_ZERO
+ and TGO_SA-Z frames:
+
+ -X S/C side (Main Engine side) view:
+ ------------------------------------
+
+ ^
+ | toward Mars
+ |
+
+ +Ysa+z0 Science Deck
+ +Ysa+z ._____________.
+ .__ _______________. ^| | .______________ ___.
+ | \ \ \ || | / \ \ |
+ | / / +Zsa+z0 \ || _ +Xsa-z0 / +Zsa-z0 / / |
+ | \ \ +Zsa+z `.||+Zsc/ _ +Xsa-z.' +Zsa-z \ \ |
+ | / / <-------o| <----x)+Xsc |o--------> / / |
+ | \ \ .' +Xsa+z0|_/ ||`. \ \ |
+ | / / / +Xsa+z | || \ / / |
+ .__\ \_______________/ | v +Ysc |v \_______________\ \__.
+ +Z Solar Array .____________+Ysa-z0 -Z Solar Array
+ +Zsc ._____. +Ysa-z0
+ .' `.
+ / \
+ . `. .' . +Xsc is into the page;
+ | `o' | +Xsa+z, +Xsa+z0,
+ . | . +Xsa-z and +Xsa-z0 are
+ \ | / out of the page.
+ `. .'
+ HGA ` --- '
+
+
+ These sets of keywords define solar array frames:
+
+ \begindata
+
+ FRAME_TGO_SA+Z_ZERO = -143010
+ FRAME_-143010_NAME = 'TGO_SA+Z_ZERO'
+ FRAME_-143010_CLASS = 4
+ FRAME_-143010_CLASS_ID = -143010
+ FRAME_-143010_CENTER = -143
+ TKFRAME_-143010_RELATIVE = 'TGO_SPACECRAFT'
+ TKFRAME_-143010_SPEC = 'ANGLES'
+ TKFRAME_-143010_UNITS = 'DEGREES'
+ TKFRAME_-143010_AXES = ( 3, 1, 2 )
+ TKFRAME_-143010_ANGLES = ( 180.0, 0.0, 0.0 )
+
+ FRAME_TGO_SA+Z = -143011
+ FRAME_-143011_NAME = 'TGO_SA+Z'
+ FRAME_-143011_CLASS = 3
+ FRAME_-143011_CLASS_ID = -143011
+ FRAME_-143011_CENTER = -143
+ CK_-143011_SCLK = -143
+ CK_-143011_SPK = -143
+
+ FRAME_TGO_SA-Z_ZERO = -143012
+ FRAME_-143012_NAME = 'TGO_SA-Z_ZERO'
+ FRAME_-143012_CLASS = 4
+ FRAME_-143012_CLASS_ID = -143012
+ FRAME_-143012_CENTER = -143
+ TKFRAME_-143012_RELATIVE = 'TGO_SPACECRAFT'
+ TKFRAME_-143012_SPEC = 'ANGLES'
+ TKFRAME_-143012_UNITS = 'DEGREES'
+ TKFRAME_-143012_AXES = ( 1, 2, 3 )
+ TKFRAME_-143012_ANGLES = ( 180.0, 0.0, 180.0 )
+
+ FRAME_TGO_SA-Z = -143013
+ FRAME_-143013_NAME = 'TGO_SA-Z'
+ FRAME_-143013_CLASS = 3
+ FRAME_-143013_CLASS_ID = -143013
+ FRAME_-143013_CENTER = -143
+ CK_-143013_SCLK = -143
+ CK_-143013_SPK = -143
+
+ \begintext
+
+
+TGO High Gain Antenna Frame
+---------------------------
+
+ The TGO High Gain Antenna is attached to the +Y panel of the S/C bus
+ in the corner with the -X panel by a gimbal providing two degrees of
+ freedom and it articulates during flight to track Earth. To incorporate
+ rotations in the gimbal the HGA frame chain includes three frames:
+ TGO_HGA_EL, TGO_HGA_AZ, and TGO_HGA.
+
+ The first two frames are defined as CK-based frames and are
+ co-aligned with the spacecraft frame in the zero gimbal position. In
+ a non-zero position the TGO_HGA_EL is rotated from the spacecraft
+ frame by an elevation angle about +Y and the TGO_TGO_AZ frame is
+ rotated from the TGO_HGA_EL frame by an azimuth angle about +Z. These
+ rotations are stored in separated segments in CK files.
+
+ In [21] TGO_HGA frame is equivalent to the ``High Gain Antenna Functional
+ Frame (HGAF)''.
+
+ The TGO_HGA frame is defined as follows:
+
+ - +Z axis is in the antenna boresight direction;
+
+ - +X axis points from the gimbal toward the antenna dish
+ symmetry axis;
+
+ - +Y axis completes the right hand frame;
+
+ - the origin of the frame is located at the phase center
+ (theoretical and nominal location).
+
+ The TGO_HGA frame is defined a fixed offset frame relative to the
+ TGO_HGA_AZ frame and is rotated by -90 degrees about +X from it.
+
+ This diagram illustrates the TGO_HGA frames in the zero gimbal
+ position:
+
+ -X S/C side (Main Engine side) view:
+ ------------------------------------
+ ^
+ | toward Mars
+ |
+
+ Science Deck
+ ._____________.
+ .__ _______________. | | .______________ ___.
+ | \ \ \ | | / \ \ |
+ | / / \ | __ | / / / |
+ | \ \ +Zsc / _ +Xsc | .' \ \ |
+ | / / <------x) |o | / / |
+ | \ \ .' | \_|_/ | `. \ \ |
+ | / / / | | | \ / / |
+ .__\ \_______________+Zhga_az(*) | | \_______________\ \__.
+ +Z Solar Array +Zhga_el(*) v_+Ysc . -Z Solar Array
+ <------x +Xhga_az(*) +Xhga_el(*)
+ .' | `.
+ / | +Yhga_az(*)
+ . `. v +Zhga_el(*) +Xsc, +Xhga_az(*)
+ | Zhga o-------> and +Xhga_el(*) are
+ . | . +Yhga into the page; +Zhga
+ \ | / is out of the page.
+ `. | .'
+ HGA ` -V- '
+ +Xhga
+
+
+ * The TGO_HGA_AZ and TGO_HGA_EL frames are in zero gimbal position.
+
+
+ This set of keywords defines the HGA frame as a CK frame:
+
+ \begindata
+
+ FRAME_TGO_HGA_EL = -143021
+ FRAME_-143021_NAME = 'TGO_HGA_EL'
+ FRAME_-143021_CLASS = 3
+ FRAME_-143021_CLASS_ID = -143021
+ FRAME_-143021_CENTER = -143
+ CK_-143021_SCLK = -143
+ CK_-143021_SPK = -143
+
+ FRAME_TGO_HGA_AZ = -143022
+ FRAME_-143022_NAME = 'TGO_HGA_AZ'
+ FRAME_-143022_CLASS = 3
+ FRAME_-143022_CLASS_ID = -143022
+ FRAME_-143022_CENTER = -143
+ CK_-143022_SCLK = -143
+ CK_-143022_SPK = -143
+
+ FRAME_TGO_HGA = -143025
+ FRAME_-143025_NAME = 'TGO_HGA'
+ FRAME_-143025_CLASS = 4
+ FRAME_-143025_CLASS_ID = -143025
+ FRAME_-143025_CENTER = -143
+ TKFRAME_-143025_RELATIVE = 'TGO_HGA_AZ'
+ TKFRAME_-143025_SPEC = 'ANGLES'
+ TKFRAME_-143025_UNITS = 'DEGREES'
+ TKFRAME_-143025_ANGLES = ( 0.000, 90.000, 0.000 )
+ TKFRAME_-143025_AXES = ( 2, 1, 3 )
+
+ \begintext
+
+
+TGO Low Gain Antennae Frames
+----------------------------
+
+ The low gain antenna is an essential component of the S/C in an
+ emergency case. During and after separation, full antenna coverage is
+ necessary before a stable attitude is achieved, requiring three antennas
+ with spherical coverage. In case of S/C survival mode, the LGAs provide
+ the communication capability for recovery by ground operation.
+
+ TGO has three Low Gain Antennae installed in the +Z, -Z and -X panels of
+ the S/C bus -- TGO_LGA+Z, TGO_LGA-Z, TGO_LGA-X -- and are defined as
+ ``fixed-offset'', defined with respect to the TGO_SPACECRAFT frame as
+ follows (from [13]):
+
+ - +X axis is in the antenna boresight direction (nominally
+ co-aligned to the spacecraft +Z, -Z and -X axis);
+
+ - +Y axis is in the direction of the spacecraft +X axis;
+
+ - +Z completes the right hand frame;
+
+ - the origin of the frame is defined as a reference mounting hole
+ of each LGA.
+
+
+ This diagram illustrates the TGO Low Gain Antennae frames:
+
+ -X S/C side (Main Engine side) view:
+ ------------------------------------
+
+ ^
+ | toward Mars
+ |
+
+ Science Deck
+ ._____________.
+ .__ _______________. | | .______________ ___.
+ | \ \ +Zlga+z ^ ^ +Zlga-z \ \ |
+ | / / \ | +Zlga-x | / / / |
+ | \ \ `. | ^ / _ \ | .' \ \ |
+ | / / +Xlga+z <------o | | +Ylga-z x------> +Xlga-z / / |
+ | \ \ +Ylga+z| \___/ | `. \ \ |
+ | / / / | o----> +Ylga-x \ / / |
+ .__\ \_______________/ +Xlga-x | \_______________\ \__.
+ +Z Solar Array ._____________. -Z Solar Array
+ ._____.
+ .' `.
+ <--------x +Xsc / \ The TGO_SPACECRAFT frame
+ +Zsc | . `. .' . origin is conveniently
+ | | `o' | moved.
+ | . | .
+ v \ | /
+ +Ysc `. .' +Xsc, +Ylga-z is into
+ HGA ` --- ' the page; +Xlga-x and
+ +Ylga+z are out of
+ the page.
+
+
+ Since the SPICE frames subsystem calls for specifying the reverse
+ transformation--going from the instrument or structure frame to the
+ base frame--as compared to the description given above, the order of
+ rotations assigned to the TKFRAME_*_AXES keyword is also reversed
+ compared to the above text, and the signs associated with the
+ rotation angles assigned to the TKFRAME_*_ANGLES keyword are the
+ opposite from what is written in the above text.
+
+ \begindata
+
+ FRAME_TGO_LGA+Z = -143031
+ FRAME_-143031_NAME = 'TGO_LGA+Z'
+ FRAME_-143031_CLASS = 4
+ FRAME_-143031_CLASS_ID = -143031
+ FRAME_-143031_CENTER = -143
+ TKFRAME_-143031_RELATIVE = 'TGO_SPACECRAFT'
+ TKFRAME_-143031_SPEC = 'ANGLES'
+ TKFRAME_-143031_UNITS = 'DEGREES'
+ TKFRAME_-143031_AXES = ( 2, 1, 3 )
+ TKFRAME_-143031_ANGLES = ( 0.0, -90.0, -90.0 )
+
+ FRAME_TGO_LGA-Z = -143032
+ FRAME_-143032_NAME = 'TGO_LGA-Z'
+ FRAME_-143032_CLASS = 4
+ FRAME_-143032_CLASS_ID = -143032
+ FRAME_-143032_CENTER = -143
+ TKFRAME_-143032_RELATIVE = 'TGO_SPACECRAFT'
+ TKFRAME_-143032_SPEC = 'ANGLES'
+ TKFRAME_-143032_UNITS = 'DEGREES'
+ TKFRAME_-143032_AXES = ( 2, 1, 3 )
+ TKFRAME_-143032_ANGLES = ( 0.0, -90.0, +90.0 )
+
+ FRAME_TGO_LGA-X = -143033
+ FRAME_-143033_NAME = 'TGO_LGA-X'
+ FRAME_-143033_CLASS = 4
+ FRAME_-143033_CLASS_ID = -143033
+ FRAME_-143033_CENTER = -143
+ TKFRAME_-143033_RELATIVE = 'TGO_SPACECRAFT'
+ TKFRAME_-143033_SPEC = 'ANGLES'
+ TKFRAME_-143033_UNITS = 'DEGREES'
+ TKFRAME_-143033_AXES = ( 3, 1, 2 )
+ TKFRAME_-143033_ANGLES = ( 0.0, +90.0, 180.0 )
+
+ \begintext
+
+
+TGO Star Trackers Frames
+--------------------------------------------------------------------------
+
+ There are two Star Trackers (STRs) mounted mounted close to the PLM
+ Instruments, on a dedicated panel attached to the 2 PLM Bench panels with
+ their boresight canted 42 degrees from the spacecraft +X axis and with 5 deg
+ above the XZ plane towards the +Y axis. The nominal and redundant STR are
+ in mirror position with respect to the XY plane. This layout ensures a
+ large angle between STR boresight and Sun whatever mission phase and that
+ all S/C appendages (especially the Solar Arrays) are maintained outside of
+ the Sun Exclusion Angle. The redundant STR is not co-aligned with main unit
+ to minimize the risk of failure propagation in case of an unexpected
+ external straylight perturbation. The angle between the two boresight is
+ 83 degrees. The on-board software manages fully autonomously the power-on
+ of the STR until operational tracking mode is reached.
+
+ The Star Tracker STR-1 and STR-2 frames -- TGO_STR-1 and TGO_STR-2 -- are
+ defined as follows:
+
+ - +Z axis is anti-parallel to the direction of an incoming collimated
+ light ray which is parallel to the optical axis;
+
+ - +X axis is in the plane formed by the +Z axis and the vector from
+ the detector centre pointing along the positively counted detector
+ rows, perpendicular to the +Z axis
+
+ - +Y axis completes the right hand frame;
+
+ - the origin of the frame is is defined as the intersection of the
+ mounting interface plane and the +X Panel mounting hole.
+
+
+ These diagrams illustrate the Star Trackers frames:
+
+
+ -Y S/C side (Science Deck side) view:
+ -------------------------------------
+
+ +Zstr-2 _____ +Zstr-1
+ ^ / \ EDM ^
+ \ | | /
+ \ ._____________. /
+ \| | | |/
+ +Xstr-2 .o | | x. +Ystr-1
+ .' |___' '___| '.
+ o==/ /===============.' o | |>o='. ==============/ /==o
+ V | -. .--| V
+ -Ystr-2 | | | | +Xstr-1
+ |--' +Xsc '--|
+ | ^ |
+ | | | Ysc and +Ystr-1 are
+ | | | into the page.
+ +Zsc .______|______. Xstr-2 is out of the
+ <-------x `. ME page.
+ /______+Ysc \
+ HGA `.|.'
+
+
+ The rotation matrices from the Star Tracker frames to the S/C frame are
+ the matrices that result of the following quaternions (from [20]):
+
+
+ Quaternion = ( 0.40858701, 0.01988630, -0.91164303, -0.03958660 )
+ STR-1 -> SC q_0 q_1 q_2 q_3
+
+
+ Quaternion = ( 0.65510702, 0.31692499, -0.25880700, 0.63514697 )
+ STR-2 -> SC q_0 q_1 q_2 q_3
+
+
+ This is incorporated by the frame definitions below.
+
+ \begindata
+
+ FRAME_TGO_STR-1 = -143041
+ FRAME_-143041_NAME = 'TGO_STR-1'
+ FRAME_-143041_CLASS = 4
+ FRAME_-143041_CLASS_ID = -143041
+ FRAME_-143041_CENTER = -143
+ TKFRAME_-143041_RELATIVE = 'TGO_SPACECRAFT'
+ TKFRAME_-143041_SPEC = 'MATRIX'
+ TKFRAME_-143041_MATRIX = ( -0.66532202, -0.00390928, -0.74654627,
+ -0.06860763, 0.99607487, 0.05592719,
+ 0.74339734, 0.08842836, -0.66297875 )
+
+ FRAME_TGO_STR-2 = -143042
+ FRAME_-143042_NAME = 'TGO_STR-2'
+ FRAME_-143042_CLASS = 4
+ FRAME_-143042_CLASS_ID = -143042
+ FRAME_-143042_CENTER = -143
+ TKFRAME_-143042_RELATIVE = 'TGO_SPACECRAFT'
+ TKFRAME_-143042_SPEC = 'MATRIX'
+ TKFRAME_-143042_MATRIX = ( 0.05921395, -0.99622389, 0.06349536,
+ 0.66813407, -0.00770686, -0.74400099,
+ 0.74168091, 0.08647865, 0.66515477 )
+
+ \begintext
+
+
+ACS Frames
+------------------------------------------------------------------------
+
+ This section of the file contains the definitions of the Atmospheric
+ Chemistry Suite (ACS) instrument frames.
+
+
+ACS Frame Tree
+~~~~~~~~~~~~~~
+
+ The diagram below shows the ACS frame hierarchy.
+
+
+ "J2000" INERTIAL
+ +-----------------------------------------------------+
+ | | |
+ |<-pck | |<-pck
+ | | |
+ v | v
+ "IAU_MARS" | "IAU_EARTH"
+ MARS BODY-FIXED |<-ck EARTH BODY-FIXED
+ --------------- | ----------------
+ v
+ "TGO_SPACECRAFT"
+ +-----------------------------------------+
+ | | |
+ |<-fixed |<-fixed |<-fixed
+ | | |
+ v v |
+ "TGO_ACS_NIR_BASE" "TGO_ACS_MIR" |
+ +---------------------+ ------------- |
+ | | |
+ |<-fixed |<-fixed |
+ | | |
+ v v |
+ "TGO_ACS_NIR_NAD" "TGO_ACS_NIR_OCC" |
+ ----------------- ----------------- |
+ |
+ v
+ "TGO_ACS_TIRVIM_BASE"
+ +-------------------------------------------------------------------------+
+ | | | | | | | |
+ |<-fxd |<-fxd |<-fxd |<-fxd |<-fxd fixed->| fixed->| fixed->|
+ | | | | | | | |
+ | | | | v | v |
+ | | | | "TGO_ACS_TIRVIM_SCAN_BBY" | "TGO_ACS_TIRVIM_SUN" |
+ | | | | ------------------------- | -------------------- |
+ | | | v | v
+ | | | "TGO_ACS_TIRVIM_SCAN_SPC" | "TGO_ACS_TIRVIM_SUN_BSR"
+ | | | ------------------------- | ------------------------
+ | | v |
+ | | "TGO_ACS_TIRVIM_SCAN_NAD" |
+ | | ------------------------- |
+ | v v
+ | "TGO_ACS_TIRVIM_SCAN_OCC" "TGO_ACS_TIRVIM_SCAN_ROT"
+ | ------------------------- -------------------------
+ v |
+ "TGO_ACS_TIRVIM_SCAN_OCC_BS" ck->|
+ ---------------------------- |
+ v
+ "TGO_ACS_TIRVIM_SCAN"
+ ---------------------
+ |
+ fixed->|
+ |
+ v
+ "TGO_ACS_TIRVIM"
+ ----------------
+
+
+ACS TIRVIM Base Frame
+~~~~~~~~~~~~~~~~~~~~~
+
+ The ACS Thermal Infrared V-shape Interferometer Mounting Spectrometer
+ (TIRVIM) is rigidly mounted on the spacecraft Science Deck. Therefore,
+ the base frame associated with it -- the ACS TIRVIM Base frame,
+ TGO_ACS_TIRVIM_BASE -- is specified as a fixed offset frame
+ with its orientation given relative to the TGO_SPACECRAFT frame.
+
+ The ACS TIRVIM Base frame are defined as follows (from [9]):
+
+ - +X axis is along the nominal spectrometer mirror rotation axis, and
+ it is nominally co-aligned with the spacecraft +Z axis;
+
+ - +Z axis is co-aligned with the -Y spacecraft axis and it is along
+ the spectrometer boresight in "nadir" position;
+
+ - +Y axis completes the right-handed frame;
+
+ - the origin of this frame is located at the intersection of the
+ spectrometer scanning mirror rotation axis and mirror central axis.
+
+
+ These diagrams illustrate the nominal TGO_ACS_TIRVIM_BASE frame with
+ respect to the spacecraft frame.
+
+
+ -X S/C side (Main Engine side) view:
+ ------------------------------------
+
+
+ ^
+ | toward Mars
+ |
+ | ^ +Zacs_tirvim_base
+ |
+ Science deck |
+ .___________|_.
+ .__ _______________. | <-------o +Yacs_tirvim_base____ ___.
+ | \ \ \ | +Xacs_tirvim_base/ \ \ |
+ | / / \ | ___ | / / / |
+ | \ \ +Zsc | / _ +Xsc | .' \ \ |
+ | / / <--------x) |o | / / |
+ | \ \ .' | \_|_/ | `. \ \ |
+ | / / / | | | \ / / |
+ .__\ \_______________/ | | | \_______________\ \__.
+ +Z Solar Array ._____ v +Ysc . -Z Solar Array
+ ._____.
+ .' `.
+ / \
+ . `. .' . +Xsc is into the page;
+ | `o' | +Yacs_tirvim_base is
+ . | . out of the page.
+ \ | /
+ `. .'
+ HGA ` --- '
+
+
+ -Y S/C side (Science Deck side) view:
+ -------------------------------------
+ _____
+ / \ EDM
+ | |
+ ._____________.
+ |+Xacs_tirvim_base
+ | <------o | +Zacs_tirvim_base
+ +Zsc | '__|_|
+ o==/ /==================o<| | |>o==================/ /==o
+ +Z Solar Array | | | -Z Solar Array
+ | v +Yacs_tirvim_base
+ | +Xsc |
+ | ^ |
+ | | |
+ | | |
+ +Zsc .______|______. +Ysc is into the
+ <-------x `. ME page;
+ /______+Ysc \ +Zacs_tirvim_base
+ HGA `.|.' is out of the page.
+
+
+ Nominally, a rotation of -90 degrees about +Y spacecraft axis and then
+ a rotation of 90 degrees about the +X resulting axis are required to
+ align the TGO_SPACECRAFT to the TGO_ACS_TIRVIM_BASE frame.
+
+
+ Since the SPICE frames subsystem calls for specifying the reverse
+ transformation--going from the instrument or structure frame to the
+ base frame--as compared to the description given above, the order of
+ rotations assigned to the TKFRAME_*_AXES keyword is also reversed
+ compared to the above text, and the signs associated with the
+ rotation angles assigned to the TKFRAME_*_ANGLES keyword are the
+ opposite from what is written in the above text.
+
+ \begindata
+
+ FRAME_TGO_ACS_TIRVIM_BASE = -143105
+ FRAME_-143105_NAME = 'TGO_ACS_TIRVIM_BASE'
+ FRAME_-143105_CLASS = 4
+ FRAME_-143105_CLASS_ID = -143105
+ FRAME_-143105_CENTER = -143
+ TKFRAME_-143105_RELATIVE = 'TGO_SPACECRAFT'
+ TKFRAME_-143105_SPEC = 'ANGLES'
+ TKFRAME_-143105_UNITS = 'DEGREES'
+ TKFRAME_-143105_AXES = ( 3, 2, 1 )
+ TKFRAME_-143105_ANGLES = ( 0.0, 90.0, -90.0 )
+
+ \begintext
+
+
+ACS TIRVIM Scanning Mirror frames
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+ The Thermal Infrared V-shape Interferometer Mounting Spectrometer
+ (TIRVIM) has a single-axis scanning mirror that provide the possibility
+ of observation in nadir and any position from it (360 degrees of positive
+ rotation only) (see [11]).
+
+ Since this scanning mirrors rotate with respect to the TIRVIM base,
+ the TGO_ACS_TIRVIM_SCAN frame is defined as a CK frame with its orientation
+ provided in a CK file relative to the TGO_ACS_TIRVIM_SCAN_ROT frames. The
+ TGO_ACS_TIRVIM_SCAN_ROT frame is then defined to incorporate misalignments
+ in the Scanner rotation axis.
+
+ The ACS TIRVIM scanning mirror rotation frame and the ACS TIRVIM scanning
+ mirror frames -- TGO_ACS_TIRVIM_SCAN_ROT and TGO_ACS_TIRVIM_SCAN -- are
+ defined as (from [9]):
+
+ - +X axis is along the nominal spectrometer scanning mirror rotation
+ axis, and it is nominally co-aligned with the spectrometer base +X
+ axis;
+
+ - +Z axis is parallel to the scanning mirror boresight that defines
+ the spectrometer boresight; in 'nadir' scanner position is co-aligned
+ with the -Y spacecraft axis -- this is the 'fixed' position for
+ the TGO_ACS_TIRVIM_SCAN_ROT frame --; in 'space' scanner position is
+ co-aligned with the +X spacecraft axis;
+
+ - +Y axis completes the right-handed frame;
+
+ - the origin of this frame is located at the intersection of the
+ spectrometer scanning mirror rotation axis and mirror central axis.
+
+
+ For an arbitrary scanner angle, the scanning mirror frame base is rotated
+ by this angle about the +X axis with respect to its rotation frame. The
+ sense of rotation is:
+
+ (1) nadir - (2) space - (3) black body - (4) occultation - (1) nadir
+
+ These diagrams illustrate the TGO_ACS_TIRVIM frames for nominal scanner
+ positions 'nadir' (~0.0 degrees), equivalent to TGO_ACS_TIRVIM_SCAN_ROT,
+ solar 'occultation' (~67.07 deg from the spacecraft -Y axis to the -X in
+ the XY plane) and 'space' (~90.00 deg from the spacecraft -Y axis to the
+ +X in the XY plane). All diagrams are +Z S/C side view:
+
+
+ Scanner in 'nadir' position Scanner in 'occ' position
+ --------------------------- -------------------------
+
+ (1) +Zbase (4) +Zbase
+ ^ +Zscan ^
+ | | +Zscan
+ | Science |_~67deg .^
+ | ACS Deck | \ .' Science Deck
+ ._____|___________. ._ACS_| .'________.
+ | o-------> | | o-------> |
+ ============o= +Ybase ========\===o= +Ybase
+ SA+Z +Yscan_..--, SA+Z \ |__..--,
+ | <-----o-..__| | \ <-----o-..__|
+ | +Xsc || ME | v +Xsc || ME
+ ._________________.| ._________+Yscan_.||
+ o-o|/| o-o|/|
+ \|V +Ysc \|V +Ysc
+ o | : o | :
+ \ |/ \ |/
+ \| \|
+ HGA HGA
+
+
+ Scanner in 'space' position Scanner in 'black body' position
+ --------------------------- --------------------------------
+
+ (2) +Zbase (3) +Zbase
+ ^ +Yscan ^
+ | |
+ | Science | Science
+ ~90deg.-| ACS Deck ~180deg.-| ACS Deck
+ +Zscan _/___|___________. ._/___|___________.
+ <-------o-------> | <-------o-------> |
+ ============o= +Ybase +Yscan=\===|====o= +Ybase
+ SA+Z |__..--, SA+Z'._| |__..--,
+ | <-----o-..__| | | <-----o-..__|
+ | +Xsc || ME | V +Xsc || ME
+ ._________________.| .___+Zscan_________.|
+ o-o|/| o-o|/|
+ \|V +Ysc \|V +Ysc
+ o | : o | :
+ \ |/ \ |/
+ \| \|
+ HGA HGA
+
+
+ +Zsc, +Xbase, and +Xscan are
+ out of the page.
+
+
+ Nominally the TGO_ACS_TIRVIM_SCAN_ROT frame is equivalent to the
+ TGO_ACS_TIRVIM_BASE frame.
+
+ These sets of keywords define the TIRVIM scanning mirror frame as a
+ CK based frame and the TIRVIM scanning mirror rotation frame as a
+ fixed-offset frame. Since the SPICE frames subsystem calls for specifying
+ the reverse transformation--going from the instrument or structure frame to
+ the base frame--as compared to the description given above, the order of
+ rotations assigned to the TKFRAME_*_AXES keyword is also reversed compared
+ to the above text, and the signs associated with the rotation angles
+ assigned to the TKFRAME_*_ANGLES keyword are the opposite from what is
+ written in the above text.:
+
+ \begindata
+
+ FRAME_TGO_ACS_TIRVIM_SCAN_ROT = -143106
+ FRAME_-143106_NAME = 'TGO_ACS_TIRVIM_SCAN_ROT'
+ FRAME_-143106_CLASS = 4
+ FRAME_-143106_CLASS_ID = -143106
+ FRAME_-143106_CENTER = -143
+ TKFRAME_-143106_RELATIVE = 'TGO_ACS_TIRVIM_BASE'
+ TKFRAME_-143106_SPEC = 'ANGLES'
+ TKFRAME_-143106_UNITS = 'DEGREES'
+ TKFRAME_-143106_AXES = ( 3, 2, 1 )
+ TKFRAME_-143106_ANGLES = ( 0.0, 0.0, 0.0 )
+
+ FRAME_TGO_ACS_TIRVIM_SCAN = -143107
+ FRAME_-143107_NAME = 'TGO_ACS_TIRVIM_SCAN'
+ FRAME_-143107_CLASS = 3
+ FRAME_-143107_CLASS_ID = -143107
+ FRAME_-143107_CENTER = -143
+ CK_-143107_SCLK = -143
+ CK_-143107_SPK = -143
+
+ \begintext
+
+
+ACS TIRVIM Detector Frames
+~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+ Since the TIRVIM detector receives radiation through the scanner
+ and has a single pixel, its frame, TGO_ACS_TIRVIM is defined to be
+ nominally co-aligned with the TIRVIM scanner frame TGO_ACS_TIRVIM_SCAN.
+ This frame is introduced to allow incorporating into the TIRVIM frame
+ chain any misalignment between the scanner boresight direction and the
+ detector view directions.
+
+ The following in-flight calibrated rotation axis misalignment, provided as
+ the boresight in 'nadir' position was provided by A. Trokhimovskiy on 10th
+ May, 2017 [19] please note that the scanner channel in 'nadir' position was
+ not measured, but inferred from an offset in the 'solar direction':
+
+ ACS_TIRVIM Boresight: ( 0.0, -0.99905, -0.04362 )
+
+ The boresights is defined relative to the TGO_SPACECRAFT frame. Given
+ the boresight the rotation from the TGO_ACS_TIRVIM_SCAN frame to the
+ TGO_ACS_TIRVIM frames determined from the in-flight calibration data
+ can be represented by the following rotation angles in degrees:
+
+ nad
+ M = |0.0| * |-2.5000306232819502| * |3.6615346000217E-15|
+ base Z Y X
+
+
+ This set of keywords define the TIRVIM frame as a fixed-offset frame. Since
+ the SPICE frames subsystem calls for specifying the reverse transformation
+ --going from the instrument or structure frame to the base frame-- as
+ compared to the description given above, the order of rotations assigned to
+ the TKFRAME_*_AXES keyword is also reversed compared to the above text, and
+ the signs associated with the rotation angles assigned to the
+ TKFRAME_*_ANGLES keyword are the opposite from what is written in the above
+ text.:
+
+ \begindata
+
+ FRAME_TGO_ACS_TIRVIM = -143110
+ FRAME_-143110_NAME = 'TGO_ACS_TIRVIM'
+ FRAME_-143110_CLASS = 4
+ FRAME_-143110_CLASS_ID = -143110
+ FRAME_-143110_CENTER = -143
+ TKFRAME_-143110_RELATIVE = 'TGO_ACS_TIRVIM_SCAN'
+ TKFRAME_-143110_SPEC = 'ANGLES'
+ TKFRAME_-143110_UNITS = 'DEGREES'
+ TKFRAME_-143110_AXES = ( 3, 2, 1 )
+ TKFRAME_-143110_ANGLES = (
+ 0.0, 2.5000306232819502, 0.000000000000003661535
+ )
+
+ \begintext
+
+
+ACS TIRVIM fixed scanner position frames
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+ The ACS TIRVIM scanning mirror can be used in several positions for
+ external observations, being the most common 'nadir' and
+ cold 'space.' In addition, and through the usage of an off-pointed
+ periscope and an off-axis parabolic mirror, a solar 'occultation'
+ observation can be performed in parallel to the use of the scanning
+ mirror. For the solar 'occultation' position a boresight for the position
+ of the best spectral resolution within the FoV is also provided. This
+ boresight will be used for pointings driven by TIRVIM using the scanner
+ channel. The 'black body' position of the scanning mirror is also
+ considered.
+
+ Therefore, for the ACS TIRVIM a set of 'fixed-mirror-position'
+ frames -- 'nadir', 'solar occultation', 'solar occultation best spectral
+ resolution', 'space' and 'black body' -- are defined as fixed-offset
+ frames to allow computing these orientations without needing to use a CK:
+
+ Frame Name Fixed-mirror-position
+ ---------------------------- ------------------------------------------
+ TGO_ACS_TIRVIM_SCAN_BBY Black Body
+ TGO_ACS_TIRVIM_SCAN_SPC Cold Space
+ TGO_ACS_TIRVIM_SCAN_NAD Nadir
+ TGO_ACS_TIRVIM_SCAN_OCC Solar Occultation
+ TGO_ACS_TIRVIM_SCAN_OCC_BS Solar Occultation Best Spectral Resolution
+
+
+ Each of these 'fixed-position' frames are defined as a fixed
+ offset frame with respect to the corresponding base frame for each of
+ the spectrometers as follows (from [9]):
+
+ - +X axis is along the nominal spectrometer mirror rotation
+ axis, and it is nominally co-aligned with the spectrometer
+ base +X axis;
+
+ - +Z axis is parallel to the scanning mirror boresight that defines
+ the spectrometer boresight at a particular angle;
+
+ - +Y axis completes the right-handed frame;
+
+ - the origin of this frame is located at the intersection of the
+ spectrometer scanning mirror rotation axis and mirror central axis.
+
+
+ These diagrams illustrate fixed mirror pointing directions co-aligned
+ with the +Z axis of the corresponding 'fixed-mirror-position' frame
+ -- the 'solar occultation best spectral resolution' and 'black body'
+ positions are not represented --:
+
+ +Z S/C side view
+ ----------------
+
+ +Z*base +Z*base
+ ^ +Z*nad ^
+ | | +Z*occ
+ | Science |_~67deg .^
+ | ACS Deck | \ .' Science Deck
+ ._____|___________. ._ACS_| .'________.
+ | o-------> | | o-------> |
+ ============o= +Y*base ========\===o= +Y*base
+ SA+Z +Y*nad.--, SA+Z \ |__..--,
+ | <-----o-..__| | \ <-----o-..__|
+ | +Xsc || ME | v +Xsc || ME
+ ._________________.| .______+Y*occ_____.|
+ o-o|/| o-o|/|
+ \|V +Ysc \|V +Ysc
+ o | : o | :
+ \ |/ \ |/
+ \| \|
+ HGA HGA
+
+
+ +Zbase
+ +Zbase +Zbase
+ ^ +Y*spc ^ +Y*bby
+ | |
+ | Science | Science
+ ~90deg.-| ACS Deck ~180deg.-| ACS Deck
+ +Z*spc _/___|___________. ._/___|___________.
+ <-------o-------> | || o-------> |
+ ============o= +Ybase ===\===|====o= +Ybase
+ SA+Z |__..--, SA+Z'._| +Xsc |__..--,
+ | <-----o-..__| | | <-----o-..__|
+ | +Xsc || ME | v +Z*bby || ME
+ ._________________.| ._________________.|
+ o-o|/| o-o|/|
+ \|V +Ysc \|V +Ysc
+ o | : o | :
+ \ |/ \ |/
+ \| \|
+ HGA HGA
+
+
+ +Zsc, +Xbase, +X*nad, +X*occ,
+ +X*bby and +X*spc are out of
+ the page;
+
+
+ ``*base'' corresponds to ``acs_tirvim_base'';
+ ``*nad'' corresponds to ``acs_tirvim_scan_nad'';
+ ``*occ'' corresponds to ``acs_tirvim_scan_occ'';
+ ``*spc'' corresponds to ``acs_tirvim_scan_spc'' and
+ ``*bby'' corresponds to ``acs_tirvim_scan_bby''.
+
+
+ These 'fixed-position' frames are nominally rotated about the
+ +X axis of the corresponding spectrometer base frames by the following
+ angles:
+
+ Frame name Rotation Angle, deg
+ --------------------------- -------------------
+ TGO_ACS_TIRVIM_SCAN_BBY 180.00
+ TGO_ACS_TIRVIM_SCAN_SPC +90.00
+ TGO_ACS_TIRVIM_SCAN_NAD 0.00
+ TGO_ACS_TIRVIM_SCAN_OCC -67.07
+ TGO_ACS_TIRVIM_SCAN_OCC_BS -67.07
+
+
+ The following in-flight calibrated rotation axis misalignment, provided as
+ the boresight in 'nadir' position was provided by A. Trokhimovskiy on 25th
+ and 27th April and on the 10th May, 2017 [19]:
+
+ ACS_TIRVIM_SCAN_NAD Boresight: ( 0.00000, -0.99905, -0.04362 )
+
+ ACS_TIRVIM_SCAN_OCC Boresight: ( -0.89699, -0.44081, -0.04362 )
+
+ ACS_TIRVIM_SCAN_OCC_BS Boresight: ( -0.90139, -0.43102, -0.04028 )
+
+ The boresights is defined relative to the TGO_SPACECRAFT frame. Given
+ the boresight the rotation from the TGO_ACS_TIRVIM_BASE frame to the
+ TGO_ACS_TIRVIM_SCAN_ROT frames determined from the in-flight calibration
+ data can be represented by the following rotation angles in degrees:
+
+ nad
+ M = |0.0| * |-2.5000306232819502| * |3.6615346000217E-15|
+ base Z Y X
+
+ occ
+ M = |0.0| * |-2.4990260652816447| * |-63.829000275807154|
+ base Z Y X
+
+ bsr
+ M = |0.0| * |-2.3086086582635210| * |-64.444150970533260|
+ base Z Y X
+
+
+ Since the SPICE frames subsystem calls for specifying the reverse
+ transformation--going from the instrument or structure frame to the
+ base frame--as compared to the description given above, the order of
+ rotations assigned to the TKFRAME_*_AXES keyword is also reversed
+ compared to the above text, and the signs associated with the
+ rotation angles assigned to the TKFRAME_*_ANGLES keyword are the
+ opposite from what is written in the above text.
+
+ \begindata
+
+ FRAME_TGO_ACS_TIRVIM_SCAN_BBY = -143131
+ FRAME_-143131_NAME = 'TGO_ACS_TIRVIM_SCAN_BBY'
+ FRAME_-143131_CLASS = 4
+ FRAME_-143131_CLASS_ID = -143131
+ FRAME_-143131_CENTER = -143
+ TKFRAME_-143131_RELATIVE = 'TGO_ACS_TIRVIM_BASE'
+ TKFRAME_-143131_SPEC = 'ANGLES'
+ TKFRAME_-143131_UNITS = 'DEGREES'
+ TKFRAME_-143131_AXES = ( 3, 2, 1 )
+ TKFRAME_-143131_ANGLES = ( 0.0, 0.0, 180.00 )
+
+ FRAME_TGO_ACS_TIRVIM_SCAN_SPC = -143132
+ FRAME_-143132_NAME = 'TGO_ACS_TIRVIM_SCAN_SPC'
+ FRAME_-143132_CLASS = 4
+ FRAME_-143132_CLASS_ID = -143132
+ FRAME_-143132_CENTER = -143
+ TKFRAME_-143132_RELATIVE = 'TGO_ACS_TIRVIM_BASE'
+ TKFRAME_-143132_SPEC = 'ANGLES'
+ TKFRAME_-143132_UNITS = 'DEGREES'
+ TKFRAME_-143132_AXES = ( 3, 2, 1 )
+ TKFRAME_-143132_ANGLES = ( 0.0, 0.0, -90.00 )
+
+ FRAME_TGO_ACS_TIRVIM_SCAN_NAD = -143133
+ FRAME_-143133_NAME = 'TGO_ACS_TIRVIM_SCAN_NAD'
+ FRAME_-143133_CLASS = 4
+ FRAME_-143133_CLASS_ID = -143133
+ FRAME_-143133_CENTER = -143
+ TKFRAME_-143133_RELATIVE = 'TGO_ACS_TIRVIM_BASE'
+ TKFRAME_-143133_SPEC = 'ANGLES'
+ TKFRAME_-143133_UNITS = 'DEGREES'
+ TKFRAME_-143133_AXES = ( 3, 2, 1 )
+ TKFRAME_-143133_ANGLES = (
+ 0.0, 2.5000306232819502, 0.000000000000003661535
+ )
+
+ FRAME_TGO_ACS_TIRVIM_SCAN_OCC = -143134
+ FRAME_-143134_NAME = 'TGO_ACS_TIRVIM_SCAN_OCC'
+ FRAME_-143134_CLASS = 4
+ FRAME_-143134_CLASS_ID = -143134
+ FRAME_-143134_CENTER = -143
+ TKFRAME_-143134_RELATIVE = 'TGO_ACS_TIRVIM_BASE'
+ TKFRAME_-143134_SPEC = 'ANGLES'
+ TKFRAME_-143134_UNITS = 'DEGREES'
+ TKFRAME_-143134_AXES = ( 3, 2, 1 )
+ TKFRAME_-143134_ANGLES = (
+ 0.0, 2.4990260652816447, +63.829000275807154
+ )
+
+ FRAME_TGO_ACS_TIRVIM_SCAN_OCC_BS = -143135
+ FRAME_-143135_NAME = 'TGO_ACS_TIRVIM_SCAN_OCC_BS'
+ FRAME_-143135_CLASS = 4
+ FRAME_-143135_CLASS_ID = -143135
+ FRAME_-143135_CENTER = -143
+ TKFRAME_-143135_RELATIVE = 'TGO_ACS_TIRVIM_BASE'
+ TKFRAME_-143135_SPEC = 'ANGLES'
+ TKFRAME_-143135_UNITS = 'DEGREES'
+ TKFRAME_-143135_AXES = ( 3, 2, 1 )
+ TKFRAME_-143135_ANGLES = (
+ 0.0, 2.3086086582635210, +64.444150970533260
+ )
+
+ \begintext
+
+
+ACS TIRVIM Sun Channel frames
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+ The ACS TIRVIM instrument has a Sun Channel for which two reference
+ frames are defined: the ACS TIRVIM Sun Channel frame that is defined by the
+ center of the FoV and the ACS TIRVIM Sun Channel Best Spectral Resolution
+ -- TGO_ACS_TIRVIM_SUN_BSR and TGO_ACS_TIRVIM_SUN -- which is defined by a
+ boresight to be used for pointings driven by TIRVIM (using the Sun channel)
+ that corresponds to the pixel of best spectral resolution of the slit. Note
+ that the sensitivity is not uniform within the FOV and peaks close to the
+ MIR slit.
+
+ Each of these frames are defined as a fixed offset frame with respect to
+ the corresponding base frame for each of the spectrometers as follows (from
+ [9]):
+
+ - +X axis is nominally co-aligned with the spectrometer
+ base +X axis;
+
+ - +Z axis is parallel to the Sun Channel boresight (the
+ nominal and the BSR one respectively);
+
+ - +Y axis completes the right-handed frame;
+
+ - the origin of this frame is located at the intersection of the
+ spectrometer scanning mirror rotation axis and mirror central axis.
+
+
+ These diagram illustrates fixed mirror pointing directions co-aligned
+ with the +Z axis of the corresponding 'fixed-mirror-position' frame:
+
+ +Z S/C side view
+ ----------------
+
+ +Z*base
+ ^
+ | +Zsun
+ |_~67deg .^
+ | \ .' Science Deck
+ ._ACS_| .'________.
+ | o-------> |
+ ========\===o= +Y*base
+ SA+Z \ |__..--,
+ | \ <-----o-..__|
+ | v +Xsc || ME
+ ._______+Ysun______.|
+ o-o|/|
+ \|V +Ysc
+ o | : +Zsc and +Xsun
+ \ |/ and +Xspc are out of the page.
+ \|
+ HGA
+
+
+ Nominally, a rotation of 90 degrees about +X spacecraft axis and then
+ a rotation of -67.07 degrees about the +Y resulting axis are required to
+ align the TGO_SPACECRAFT to the TGO_ACS_MIR frames.
+
+ The following in-flight calibrated misalignment boresight was provided
+ by A. Trokhimovskiy on April 25 and 27, 2017 [19]:
+
+ ACS_TIRVIM_SUN Boresight: ( -0.92070, -0.39000, -0.01420 )
+
+ ACS_TIRVIM_SUN_BSR Boresight: ( -0.92169, -0.38739, -0.02042 )
+
+
+ These boresights are defined relative to the TGO_SPACECRAFT frame. Given
+ these boresights the rotation from the TGO_ACS_TIRVIM_BASE frame to the
+ TGO_ACS_TIRVIM_SUN and TGO_ACS_TIRVIM_SUN_BSR frames determined from the
+ in-flight calibration data can be represented by the following rotation
+ angles in degrees:
+
+ sun
+ M = |0.0| * |-0.8136314295043187| * |-67.04293381739603|
+ base Z Y X
+
+ bsr
+ M = |0.0| * |-1.1700608817724396| * |-67.20278942918976|
+ base Z Y X
+
+
+ Since the SPICE frames subsystem calls for specifying the reverse
+ transformation--going from the instrument or structure frame to the
+ base frame--as compared to the description given above, the order of
+ rotations assigned to the TKFRAME_*_AXES keyword is also reversed
+ compared to the above text, and the signs associated with the
+ rotation angles assigned to the TKFRAME_*_ANGLES keyword are the
+ opposite from what is written in the above text.
+
+ \begindata
+
+ FRAME_TGO_ACS_TIRVIM_SUN = -143140
+ FRAME_-143140_NAME = 'TGO_ACS_TIRVIM_SUN'
+ FRAME_-143140_CLASS = 4
+ FRAME_-143140_CLASS_ID = -143140
+ FRAME_-143140_CENTER = -143
+ TKFRAME_-143140_RELATIVE = 'TGO_ACS_TIRVIM_BASE'
+ TKFRAME_-143140_SPEC = 'ANGLES'
+ TKFRAME_-143140_UNITS = 'DEGREES'
+ TKFRAME_-143140_AXES = ( 3, 2, 1 )
+ TKFRAME_-143140_ANGLES = (
+ 0.0, +0.8136314295043187, +67.04293381739603
+ )
+
+ FRAME_TGO_ACS_TIRVIM_SUN_BSR = -143141
+ FRAME_-143141_NAME = 'TGO_ACS_TIRVIM_SUN_BSR'
+ FRAME_-143141_CLASS = 4
+ FRAME_-143141_CLASS_ID = -143141
+ FRAME_-143141_CENTER = -143
+ TKFRAME_-143141_RELATIVE = 'TGO_ACS_TIRVIM_BASE'
+ TKFRAME_-143141_SPEC = 'ANGLES'
+ TKFRAME_-143141_UNITS = 'DEGREES'
+ TKFRAME_-143141_AXES = ( 3, 2, 1 )
+ TKFRAME_-143141_ANGLES = (
+ 0.0, +1.1700608817724396, +67.20278942918976
+ )
+
+ \begintext
+
+
+ACS Near Infrared (NIR) Base
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+ The ACS Near Infrared (NIR) spectrometer is rigidly mounted on the
+ spacecraft Science Deck. Therefore, the base frame associated with
+ it -- the ACS NIR Base frame, TGO_ACS_NIR_BASE -- is specified as
+ a fixed offset frame with its orientation given relative to the
+ TGO_SPACECRAFT frame.
+
+ The ACS NIR Base frame is defined as follows (from [9]):
+
+ - +X axis is along the nominal spectrometer boresight, and
+ it is nominally co-aligned with the spacecraft +Z axis;
+
+ - +Z axis is co-aligned with the -Y spacecraft axis and it is along
+ the spectrometer boresight in "nadir" position;
+
+ - +Y axis completes the right-handed frame;
+
+ - the origin of this frame is located at geometrical centre of the
+ first folding mirror at the entry optics of the spectrometer.
+
+
+ These diagrams illustrate the nominal TGO_ACS_NIR_BASE frame with respect
+ to the spacecraft frame.
+
+
+ -X S/C side (Main Engine side) view:
+ ------------------------------------
+ ^
+ | toward Mars
+ |
+ | ^ +Zacs_nir_base
+ |
+ Science deck |
+ .___________|_.
+ .__ _______________. | <-------o +Yacs_nir_base_______ ___.
+ | \ \ \ | +Xacs_nir_base / \ \ |
+ | / / \ | ___ | / / / |
+ | \ \ +Zsc | / _ +Xsc | .' \ \ |
+ | / / <--------x) |o | / / |
+ | \ \ .' | \_|_/ | `. \ \ |
+ | / / / | | | \ / / |
+ .__\ \_______________/ | | | \_______________\ \__.
+ +Z Solar Array ._____ v +Ysc . -Z Solar Array
+ ._____.
+ .' `.
+ / \
+ . `. .' . +Xsc is into the page;
+ . | . +Yacs_nir_base is out
+ \ | / of the page.
+ `. .'
+ HGA ` --- '
+
+
+ -Y S/C side (Science Deck side) view:
+ -------------------------------------
+ _____
+ / \ EDM
+ | |
+ ._____________.
+ |+Xacs_nir_base
+ | <------o | +Zacs_nir_base
+ +Zsc | '__|_|
+ o==/ /==================o<| | |>o==================/ /==o
+ +Z Solar Array | | | -Z Solar Array
+ | v +Yacs_nir_base
+ | +Xsc |
+ | ^ |
+ | | |
+ | | |
+ +Zsc .______|______. +Ysc is into the
+ <-------x `. ME page;
+ /______+Ysc \ +Zacs_nir_base
+ HGA `.|.' is out of the page.
+
+
+
+ Nominally, a rotation of -90 degrees about +Y spacecraft axis and then
+ a rotation of 90 degrees about the +X resulting axis are required to
+ align the TGO_SPACECRAFT to the TGO_ACS_NIR_BASE frame.
+
+
+ Since the SPICE frames subsystem calls for specifying the reverse
+ transformation--going from the instrument or structure frame to the
+ base frame--as compared to the description given above, the order of
+ rotations assigned to the TKFRAME_*_AXES keyword is also reversed
+ compared to the above text, and the signs associated with the
+ rotation angles assigned to the TKFRAME_*_ANGLES keyword are the
+ opposite from what is written in the above text.
+
+ \begindata
+
+ FRAME_TGO_ACS_NIR_BASE = -143100
+ FRAME_-143100_NAME = 'TGO_ACS_NIR_BASE'
+ FRAME_-143100_CLASS = 4
+ FRAME_-143100_CLASS_ID = -143100
+ FRAME_-143100_CENTER = -143
+ TKFRAME_-143100_RELATIVE = 'TGO_SPACECRAFT'
+ TKFRAME_-143100_SPEC = 'ANGLES'
+ TKFRAME_-143100_UNITS = 'DEGREES'
+ TKFRAME_-143100_AXES = ( 3, 2, 1 )
+ TKFRAME_-143100_ANGLES = ( 0.0, 90.0, -90.0 )
+
+ \begintext
+
+
+ACS NIR nadir and occultation position frames
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+ The ACS NIR spectrometer is capable of performing parallel nadir and
+ limb/solar occultation measurements (see [11]) using the two periscope
+ apertures (one of them "looking" nadir) and an off-axis parabolic
+ mirror that defines the NIR occultation boresight to be at 67.07
+ degrees from -Y spacecraft axis towards the -X spacecraft axis in the
+ XY plane, therefore two frames -- TGO_ACS_NIR_NAD and TGO_ACS_NIR_OCC
+ -- are defined as fixed-offset frames to allow computing the
+ orientation of the ACS NIR field-of-view in both cases.
+
+ Each of these 'fixed-position' frames is defined as a fixed
+ offset frame with respect to the corresponding base frame for each of
+ the spectrometers as follows (from [9]):
+
+ - +X axis is along the nominal spectrometer boresight, and it is
+ nominally co-aligned with the spectrometer base +X axis;
+
+ - +Z axis is parallel to the spectrometer detector array's lines;
+
+ - +Y axis completes the right-handed frame;
+
+ - the origin of this frame is located at geometrical centre of the
+ first folding mirror at the entry optics of the spectrometer.
+
+
+ These diagram illustrates fixed mirror pointing directions co-aligned
+ with the +Z axis of the corresponding 'fixed-mirror-position' frame:
+
+ +Z S/C side view
+ ----------------
+
+ +Z*base +Z*base
+ ^ +Z*nad ^
+ | | +Z*occ
+ | Science |_~67deg .^
+ | ACS Deck | \ .' Science Deck
+ ._____|___________. ._ACS_| .'________.
+ | o-------> | | o-------> |
+ ============o= +Y*base ========\===o= +Y*base
+ SA+Z +Y*nad.--, SA+Z \ |__..--,
+ | <-----o-..__| | \ <-----o-..__|
+ | +Xsc || ME | v +Xsc || ME
+ ._________________.| .______+Y*occ_____.|
+ o-o|/| o-o|/|
+ \|V +Ysc \|V +Ysc
+ o | : o | :
+ \ |/ \ |/
+ \| \|
+ HGA HGA
+
+
+ +Zbase
+ ^ +Yspc +Zsc, +X*base, +X*nad, +X*occ
+ | and +Xspc are out of the page.
+ | Science
+ 90deg.-| ACS Deck
+ +Zspc _/___|___________.
+ <-------o-------> |
+ ============o= +Ybase
+ SA+Z |__..--,
+ | <-----o-..__|
+ | +Xsc || ME
+ ._________________.|
+ o-o|/|
+ \|V +Ysc
+ o | :
+ \ |/
+ \|
+ HGA
+
+
+ ``*base'' corresponds to ``acs_nir_base'';
+ ``*nad'' corresponds to ``acs_nir_nad''; and
+ ``*occ'' corresponds to ``acs_nir_occ''.
+
+
+ These 'fixed-position' frames are nominally rotated about the
+ +X axis of the corresponding spectrometer base frames by the following
+ angles:
+
+ Frame name Rotation Angle, deg
+ ---------------------- -------------------
+ TGO_ACS_NIR_NAD 0.00
+ TGO_ACS_NIR_OCC -67.07
+
+
+ The following in-flight calibrated misalignment boresights were provided
+ by A. Trokhimovskiy on June 13, 2016 [17]. The boresight vector is provided
+ as is and the the cross vector, that completes the reference frame is
+ defined as the composition of the boresight and the reference vector: :
+
+ ACS_NIR_OCC Boresight: ( -0.9231, -0.3845, -0.0069 )
+
+ ACS_NIR_OCC Reference Vector: ( -0.9220, -0.3860, 0.0025 )
+
+
+ This boresight is relative to the TGO_SPACECRAFT frame. Given this
+ boresight the rotation from the TGO_ACS_NIR_BASE frame to the
+ TGO_ACS_NIR_OCC frame determined from the in-flight calibration
+ data can be represented by the following rotation angles in degrees:
+
+ occ
+ M = |-10.888905099180327| * |-0.3953437251552117| * |-67.38674625597875|
+ base Z Y X
+
+
+ The TGO_ACS_NIR_NAD misalignment will updated during the Science phase.
+ For the time being the available measurements are not sufficient to
+ determine the boresight reliably according to Alexander Trokhimovskiy
+ on 29th June 2017.
+
+ Since the SPICE frames subsystem calls for specifying the reverse
+ transformation--going from the instrument or structure frame to the
+ base frame--as compared to the description given above, the order of
+ rotations assigned to the TKFRAME_*_AXES keyword is also reversed
+ compared to the above text, and the signs associated with the
+ rotation angles assigned to the TKFRAME_*_ANGLES keyword are the
+ opposite from what is written in the above text.
+
+ \begindata
+
+ FRAME_TGO_ACS_NIR_NAD = -143111
+ FRAME_-143111_NAME = 'TGO_ACS_NIR_NAD'
+ FRAME_-143111_CLASS = 4
+ FRAME_-143111_CLASS_ID = -143111
+ FRAME_-143111_CENTER = -143
+ TKFRAME_-143111_RELATIVE = 'TGO_ACS_NIR_BASE'
+ TKFRAME_-143111_SPEC = 'ANGLES'
+ TKFRAME_-143111_UNITS = 'DEGREES'
+ TKFRAME_-143111_AXES = ( 3, 2, 1 )
+ TKFRAME_-143111_ANGLES = ( 0.0, 0.0, 0.0 )
+
+ FRAME_TGO_ACS_NIR_OCC = -143112
+ FRAME_-143112_NAME = 'TGO_ACS_NIR_OCC'
+ FRAME_-143112_CLASS = 4
+ FRAME_-143112_CLASS_ID = -143112
+ FRAME_-143112_CENTER = -143
+ TKFRAME_-143112_RELATIVE = 'TGO_ACS_NIR_BASE'
+ TKFRAME_-143112_SPEC = 'ANGLES'
+ TKFRAME_-143112_UNITS = 'DEGREES'
+ TKFRAME_-143112_AXES = ( 1, 2, 3 )
+ TKFRAME_-143112_ANGLES = ( +67.38674625597875,
+ +0.3953437251552117,
+ +10.888905099180327 )
+
+ \begintext
+
+
+ACS High Resolution Middle Infrared Spectrometer (MIR) frame:
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+ The ACS High Resolution Middle Infrared Spectrometer (MIR) is rigidly
+ mounted on the spacecraft Science Deck. Therefore, the frame associated
+ with it -- the ACS MIR frame, TGO_ACS_MIR -- is specified as a fixed
+ offset frame with its orientation given relative to the TGO_SPACECRAFT
+ frame.
+
+ The ACS MIR spectrometer operates in occultation mode only and its
+ boresight is pointing +67.07 deg from the spacecraft -Y axis to the -X
+ in the XY plane.
+
+ Therefore, the ACS MIR frame is defined as follows (from [9]):
+
+ - +Z axis is parallel to the spectrometer boresight, pointing
+ at +67.07 degrees from the spacecraft -Y axis towards the -X
+ axis in the XY plane;
+
+ - +X axis is parallel to the spectrometer detector array's lines,
+ and it is nominally co-aligned with the spacecraft +Z axis;
+
+ - +Y axis completes the right handed-frame
+
+ - the origin of this frame is located at geometrical centre of the
+ first folding mirror at the entry optics of the spectrometer.
+
+
+ This diagrams illustrates the nominal TGO_ACS_MIR frame with respect
+ to the spacecraft frame.
+
+ +Z S/C side view
+ ----------------
+
+ 'Nadir' Towards Mars
+ ^
+ +Xmir ^ | +Zmir
+ \ |_~67deg .^
+ \ | \ .' Science Deck
+ ._ACS\| .'________.
+ | o |
+ ============o=======
+ SA+Z |__..--,
+ | <-----o-..__|
+ | +Xsc || ME
+ ._________________.|
+ o-o|/|
+ \|V +Ysc
+ o | :
+ \ |/
+ \|
+ HGA
+
+ +Zsc and +Ymir are out of the page.
+
+
+ Nominally, a rotation of 90 degrees about +X spacecraft axis and then
+ a rotation of -67.07 degrees about the +Y resulting axis are required to
+ align the TGO_SPACECRAFT to the TGO_ACS_MIR frames.
+
+ The following in-flight calibrated misalignment boresight was provided
+ by A. Trokhimovskiy on May 10, 2017 [19]:
+
+ ACS_MIR Boresight: ( -0.9215, -0.3884, -0.0003 )
+
+
+ This boresight is relative to the TGO_SPACECRAFT frame. Given this
+ boresight the rotation from the TGO_SPACECRAFT frame to the
+ TGO_ACS_MIR frame determined from the in-flight calibration
+ data can be represented by the following rotation angles in degrees:
+
+ mir
+ M = |0.0| * |-67.14521755516077| * |90.0442552276922|
+ base Z Y X
+
+
+ Since the SPICE frames subsystem calls for specifying the reverse
+ transformation--going from the instrument or structure frame to the
+ base frame--as compared to the description given above, the order of
+ rotations assigned to the TKFRAME_*_AXES keyword is also reversed
+ compared to the above text, and the signs associated with the
+ rotation angles assigned to the TKFRAME_*_ANGLES keyword are the
+ opposite from what is written in the above text.
+
+ \begindata
+
+ FRAME_TGO_ACS_MIR = -143120
+ FRAME_-143120_NAME = 'TGO_ACS_MIR'
+ FRAME_-143120_CLASS = 4
+ FRAME_-143120_CLASS_ID = -143120
+ FRAME_-143120_CENTER = -143
+ TKFRAME_-143120_RELATIVE = 'TGO_SPACECRAFT'
+ TKFRAME_-143120_SPEC = 'ANGLES'
+ TKFRAME_-143120_UNITS = 'DEGREES'
+ TKFRAME_-143120_AXES = ( 1, 2, 3 )
+ TKFRAME_-143120_ANGLES = ( -90.0442552276922,
+ +67.14521755516077,
+ +0.000000000000000 )
+
+ \begintext
+
+
+FREND Frames
+------------------------------------------------------------------------
+
+ This section of the file contains the definitions of the
+ Fine-Resolution Epithermal Neutron Detector (FREND) instrument
+ frames.
+
+
+FREND Frame Tree
+~~~~~~~~~~~~~~~~
+
+ The diagram below shows the FREND frame hierarchy.
+
+
+ "J2000" INERTIAL
+ +-----------------------------------------------------+
+ | | |
+ |<-pck | |<-pck
+ | | |
+ V | V
+ "IAU_MARS" | "IAU_EARTH"
+ MARS BODY-FIXED |<-ck EARTH BODY-FIXED
+ --------------- | ----------------
+ V
+ "TGO_SPACECRAFT"
+ ----------------
+ |
+ |<-fixed
+ |
+ V
+ "TGO_FREND"
+ -----------
+
+
+FREND base frame
+~~~~~~~~~~~~~~~~
+
+ The Fine-Resolution Epithermal Neutron Detector (FREND) is rigidly mounted
+ on the spacecraft Science Deck. The base frame -- TGO_FREND, associated to
+ it, maps the TGO spacecraft reference axis defined in the mechanical
+ drawings and it is specified as a fixed-offset frame with its orientation
+ aligned to the TGO_SPACECRAFT frame in order to simplify the science
+ operations and commanding of the instrument, as requested by the FREND
+ Instrument Team (see [8]).
+
+ The FREND base frame is defined by the detector design and its mounting on
+ the spacecraft as follows (from [8]):
+
+ - -Y axis is along the nominal FREND 3He counters and stilbene-based
+ scintillator boresights; and it is nominally co-aligned with the
+ spacecraft -Y axis;
+
+ - +Z axis is nominally co-aligned with the spacecraft +Z axis;
+
+ - +X axis completes the right-handed frame;
+
+ - the origin of the frame is located at the geometrical center of
+ the FREND stilbene scintillator detector.
+
+ These diagrams illustrate the TGO_FREND frame with respect to the
+ TGO_SPACECRAFT frame:
+
+ -X S/C side (HGA side) view:
+ ----------------------------
+ ^
+ | toward Mars
+ |
+
+ Science deck
+ ._____________.
+ .__ _______________ | <-------x|+Zfrend_____________ ___.
+ | \ \ \ | +Xfrend || / \ \ |
+ | / / \ | ___ || / / / |
+ | \ \ `. | / _+Xsc || .' \ \ |
+ | / / +Zsc <--------x) | v|o | / / |
+ | \ \ .' | \_|_+Yfrend`. \ \ |
+ | / / / | | | \ / / |
+ .__\ \_______________/ | | | \_______________\ \__.
+ +Z Solar Array ._____ v +Ysc . -Z Solar Array
+ .' `.
+ / \
+ . `. .' . +Xsc and +Xfrend
+ | `o' | are into the page.
+ . | .
+ \ | /
+ `. .'
+ HGA ` --- '
+
+
+ -Y S/C side (Science Deck side) view:
+ -------------------------------------
+
+ _____
+ / \ EDM
+ | |
+ ._____________.
+ | |
+ | ^|+Xfrend
+ +Zsc | ||
+ o==/ /==================o | | >o==================/ /==o
+ +Z Solar Array | .-|| -Z Solar Array
+ +Zfrend <--------x|+Yfrend
+ | +Xsc |
+ | ^ |
+ | | |
+ | | |
+ +Zsc .______|______. +Ysc is into the
+ <-------x `. ME page;
+ /______+Ysc \ +Ysc and +Yfrend
+ HGA `.|.' are into the page.
+
+
+ -Y FREND side (spacecraft Science Deck) view:
+ ---------------------------------------------
+
+
+ +Ysc .-----------.
+ X---------> | Dosimeter |
+ | +Zsc | |
+ | .---------------------------------------------.
+ | | _____________________________ |
+ | +Xsc | .' '. |
+ v | .' . --- . . --- . '. |
+ | / / \ / \ \ |
+ | . . . . . . |
+ | | | | | | | |
+ | | . . . . | |
+ | | \ / \ / | |
+ | | . ___ . . - . . ___ . | |
+ | | / \ +Zfrend | |
+ | | +Yfrend x---------> | |
+ | | \ | / | |
+ | | . --- . . | . . --- . | |
+ | | / \ | / \ | |
+ | | . . | . . | |
+ | | | | v | | | |
+ | . . . +Xfrend . . |
+ | \ \ / \ / / |
+ | . . ___ . . ___ . . |
+ | '. .' |
+ | '---------------------------' |
+ '---------------------------------------------'
+
+
+ +Ysc and +Yfrend are
+ into the page.
+
+
+ Nominally, the TGO_FREND and the TGO_SPACECRAFT frames are co-aligned.
+
+ \begindata
+
+ FRAME_TGO_FREND = -143200
+ FRAME_-143200_NAME = 'TGO_FREND'
+ FRAME_-143200_CLASS = 4
+ FRAME_-143200_CLASS_ID = -143200
+ FRAME_-143200_CENTER = -143
+ TKFRAME_-143200_RELATIVE = 'TGO_SPACECRAFT'
+ TKFRAME_-143200_SPEC = 'ANGLES'
+ TKFRAME_-143200_UNITS = 'DEGREES'
+ TKFRAME_-143200_AXES = ( 1, 2, 3 )
+ TKFRAME_-143200_ANGLES = ( 0.0, 0.0, 0.0 )
+
+ \begintext
+
+
+NOMAD Frames
+------------------------------------------------------------------------
+
+ This section of the file contains the definitions of the Nadir and
+ Occultation for MArs Discovery (NOMAD) instrument frames.
+
+
+NOMAD Frame Tree
+~~~~~~~~~~~~~~~~
+
+ The diagram below shows the NOMAD frame hierarchy.
+
+
+ "J2000" INERTIAL
+ +-----------------------------------------------------+
+ | | |
+ |<-pck |<-ck |<-pck
+ | | |
+ V | V
+ "IAU_MARS" | "IAU_EARTH"
+ MARS BODY-FIXED | EARTH BODY-FIXED
+ --------------- | ----------------
+ V
+ "TGO_SPACECRAFT"
+ +---------------------------+
+ | | |
+ |<-fixed |<-fixed |
+ | | |
+ | V |
+ | "TGO_NOMAD_SO" |
+ | -------------- |
+ v |
+ "TGO_NOMAD_LNO_BASE" |
+ +------------------------+ |
+ | | | |
+ |<-fixed |<-ck |<-fixed |
+ | | | |
+ V | V |
+ "TGO_NOMAD_LNO_OPS_NAD" | "TGO_NOMAD_LNO_OPS_OCC" |
+ ----------------------- | ---------------------- |
+ | |
+ v |<-fixed
+ "TGO_NOMAD_LNO_FMM" |
+ -------------------- v
+ | "TGO_NOMAD_UVIS_BASE"
+ |<-fixed +-----------------------+
+ | | |
+ v | |
+ "TGO_NOMAD_LNO" |<-fixed |<-fixed
+ --------------- | |
+ v v
+ "TGO_NOMAD_UVIS_NAD" "TGO_NOMAD_UVIS_OCC"
+ -------------------- --------------------
+
+
+NOMAD LNO Base Frame
+~~~~~~~~~~~~~~~~~~~~
+
+ The NOMAD Limb Nadir and Occultation (LNO) spectrometer is rigidly mounted
+ on the spacecraft Science Deck. Therefore, the base frame associated with
+ it -- the NOMAD LNO Base frame, TGO_NOMAD_LNO_BASE -- is specified as a
+ fixed offset frame with its orientation given relative to the
+ TGO_SPACECRAFT frame.
+
+ The NOMAD LNO Base frame is defined as follows (from [10]):
+
+ - +Y axis is along the nominal spectrometer flip mirror rotation
+ axis, and it is nominally co-aligned with the spacecraft +Z axis;
+
+ - +Z axis is co-aligned with the -Y spacecraft axis and it is along
+ the spectrometer boresight in "zero" scanning position;
+
+ - +X axis completes the right-handed frame, and it is parallel to the
+ detector array lines and the wide side of the slit;
+
+ - the origin of this frame is located at the intersection of the
+ spectrometer flip mirror rotation axis and mirror central axis.
+
+
+ These diagrams illustrate the nominal TGO_NOMAD_LNO_BASE and the
+ TGO_NOMAD_UVIS_BASE frame with respect to the spacecraft frame.
+
+
+ -X S/C side (Main Engine side) view:
+ ------------------------------------
+
+
+ ^
+ | toward Mars
+ |
+ +Znomad_lno_base ^ |
+ |
+ | Science deck
+ +Ynomad_lno_base .|____________.
+ .__ _____________<--------x | _______________ ___.
+ | \ \ \ +Xnomad_lno_base| / \ \ |
+ | / / \ | ___ | / / / |
+ | \ \ `. | / _+Xsc || .' \ \ |
+ | / / +Zsc <--------x) | v|o | / / |
+ | \ \ .' | \_|_+Yfrend`. \ \ |
+ | / / / | | | \ / / |
+ .__\ \_______________/ | | | \_______________\ \__.
+ +Z Solar Array ._____ v +Ysc . -Z Solar Array
+ .' `.
+ / \
+ . `. .' . +Xsc and
+ | `o' | +Xnomad_lno_base
+ . | . are into the page.
+ \ | /
+ `. .'
+ HGA ` --- '
+
+
+ -Y S/C side (Science Deck side) view:
+ -------------------------------------
+
+ _____
+ +Xnomad_lno_base ^ / \ EDM
+ || |
+ ._|___________.
+ +Ynomad_lno_base | | | |
+ <------o | |
+ |__+Znomad_lno_base
+ o==/ /==================o<| |>o==================/ /==o
+ +Z Solar Array | | -Z Solar Array
+ | |
+ | +Xsc |
+ | ^ |
+ | | |
+ | | |
+ +Zsc .______|______. +Ysc is into the
+ <-------x `. ME page;
+ /______+Ysc \ +Znomad_lno_base is
+ HGA `.|.' out of the page.
+
+
+ Nominally, a single rotation of 90 degrees about +X spacecraft axis is
+ required to align the TGO_SPACECRAFT to the TGO_NOMAD_LNO_BASE frame.
+
+
+ Since the SPICE frames subsystem calls for specifying the reverse
+ transformation--going from the instrument or structure frame to the
+ base frame--as compared to the description given above, the order of
+ rotations assigned to the TKFRAME_*_AXES keyword is also reversed
+ compared to the above text, and the signs associated with the
+ rotation angles assigned to the TKFRAME_*_ANGLES keyword are the
+ opposite from what is written in the above text.
+
+ \begindata
+
+ FRAME_TGO_NOMAD_LNO_BASE = -143300
+ FRAME_-143300_NAME = 'TGO_NOMAD_LNO_BASE'
+ FRAME_-143300_CLASS = 4
+ FRAME_-143300_CLASS_ID = -143300
+ FRAME_-143300_CENTER = -143
+ TKFRAME_-143300_RELATIVE = 'TGO_SPACECRAFT'
+ TKFRAME_-143300_SPEC = 'ANGLES'
+ TKFRAME_-143300_UNITS = 'DEGREES'
+ TKFRAME_-143300_AXES = ( 3, 2, 1 )
+ TKFRAME_-143300_ANGLES = ( 0.0, 0.0, -90.0 )
+
+ \begintext
+
+
+NOMAD UVIS Base Frame
+~~~~~~~~~~~~~~~~~~~~~
+
+ The NOMAD Ultraviolet and Visible Spectrometer (UVIS) is rigidly mounted
+ on the spacecraft Science Deck. Therefore, the base frames associated with
+ it -- the NOMAD UVIS Base frame, TGO_NOMAD_UVIS_BASE -- are specified as
+ a fixed offset frame with its orientation given relative to the
+ TGO_SPACECRAFT frame.
+
+ The NOMAD UVIS Base frame is defined as follows (from [10]):
+
+ - +Y axis is along the nominal spectrometer fibre optic switch rotation
+ axis, and it is nominally co-aligned with the spacecraft +Z axis;
+
+ - +Z axis is co-aligned with the -Y spacecraft axis and it is along
+ the spectrometer boresight in "zero" scanning position;
+
+ - +X axis completes the right-handed frame, and it is parallel to the
+ detector array lines and the wide side of the slit;
+
+ - the origin of this frame is located at the intersection of the
+ spectrometer fibre optic switch rotation axis and mirror central
+ axis.
+
+
+ These diagrams illustrate the nominal TGO_NOMAD_UVIS_BASE frame with
+ respect to the spacecraft frame.
+
+
+ -X S/C side (HGA side) view:
+ ----------------------------
+
+
+ ^
+ | toward Mars
+ |
+ +Znomad_uvis_base ^ |
+ |
+ | Science deck
+ +Ynomad_uvis_base .|____________.
+ .__ _____________<--------x | _______________ ___.
+ | \ \ \ +Xnomad_uvis_base / \ \ |
+ | / / \ | ___ | / / / |
+ | \ \ `. | / _+Xsc || .' \ \ |
+ | / / +Zsc <--------x) | v|o | / / |
+ | \ \ .' | \_|_+Yfrend`. \ \ |
+ | / / / | | | \ / / |
+ .__\ \_______________/ | | | \_______________\ \__.
+ +Z Solar Array ._____ v +Ysc . -Z Solar Array
+ .' `.
+ / \
+ . `. .' . +Xsc and
+ | `o' | +Xnomad_uvis_base
+ . | . are into the page.
+ \ | /
+ `. .'
+ HGA ` --- '
+
+
+ -Y S/C side (Science Deck side) view:
+ -------------------------------------
+
+ _____
+ +Xnomad_uvis_base ^ / \ EDM
+ || |
+ ._|___________.
+ +Ynomad_uvis_base | | | |
+ <------o | |
+ |___'+Znomad_uvis_base
+ o==/ /==================o<| |>o==================/ /==o
+ +Z Solar Array | | -Z Solar Array
+ | |
+ | +Xsc |
+ | ^ |
+ | | |
+ | | |
+ +Zsc .______|______. +Ysc is into the
+ <-------x `. ME page;
+ /______+Ysc \ +Znomad_uvis_base is
+ HGA `.|.' out of the page.
+
+
+ Nominally, a single rotation of 90 degrees about +X spacecraft axis is
+ required to align the TGO_SPACECRAFT to the TGO_NOMAD_UVIS_BASE frame.
+
+ Since the SPICE frames subsystem calls for specifying the reverse
+ transformation -- going from the instrument or structure frame to the
+ base frame -- as compared to the description given above, the order of
+ rotations assigned to the TKFRAME_*_AXES keyword is also reversed
+ compared to the above text, and the signs associated with the
+ rotation angles assigned to the TKFRAME_*_ANGLES keyword are the
+ opposite from what is written in the above text.
+
+ \begindata
+
+ FRAME_TGO_NOMAD_UVIS_BASE = -143330
+ FRAME_-143330_NAME = 'TGO_NOMAD_UVIS_BASE'
+ FRAME_-143330_CLASS = 4
+ FRAME_-143330_CLASS_ID = -143330
+ FRAME_-143330_CENTER = -143
+ TKFRAME_-143330_RELATIVE = 'TGO_SPACECRAFT'
+ TKFRAME_-143330_SPEC = 'ANGLES'
+ TKFRAME_-143330_UNITS = 'DEGREES'
+ TKFRAME_-143330_AXES = ( 3, 2, 1 )
+ TKFRAME_-143330_ANGLES = ( 0.0, 0.0, -90.0 )
+
+ \begintext
+
+
+NOMAD LNO flip mirror mechanism frame
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+ The NOMAD Limb Nadir and Occultation (LNO) spectrometer has a flip
+ mirror that provides the possibility of observation in both nadir and
+ solar occultation modes.
+
+ Since this flip mirror rotates with respect to the LNO base, the
+ TGO_NOMAD_LNO_FMM frame is defined as a CK frame with its orientation
+ provided in a CK file relative to the TGO_NOMAD_LNO_BASE frames.
+
+ The NOMAD LNO flip mirror mechanism frame -- TGO_NOMAD_LNO_FMM -- is defined
+ as (from [10]):
+
+ - +Y axis is along the nominal spectrometer flip mirror rotation
+ axis, and it is nominally co-aligned with the spectrometer base +Y
+ axis;
+
+ - +Z axis is parallel to the flip mirror boresight that defines
+ the spectrometer boresight; in 'nadir' scanner position is co-aligned
+ with the -Y spacecraft axis;
+
+ - +X axis completes the right-handed frame; and it is parallel to the
+ detector array lines and the wide side of the slit;
+
+ - the origin of this frame is located at the intersection of the
+ spectrometer flip mirror rotation axis and mirror central axis.
+
+
+ These diagrams illustrate the TGO_NOMAD_LNO_FMM frame for scanner
+ positions 'nadir' ( 0.0 degrees) and solar 'occultation' (+67.07 deg from
+ the spacecraft -Y axis to the -X in the XY plane). Both diagrams are +Z S/C
+ side view:
+
+
+ Scanner in 'nadir' position Scanner in 'occultation' position
+ --------------------------- ---------------------------------
+
+ +Zbase +Zbase
+ ^ +Zfmm ^
+ | +Xfmm ^ | +Zfmm
+ | Science \ |_~67deg .^
+ +Xfmm | NOMAD Deck \ | \ .' Science Deck
+ +Xbase. _____|___________. NOMAD_\| .'________.
+ <-------o | <-------o |
+ ============o======== +Xbase ==========o========
+ SA+Z |__..--, SA+Z |__..--,
+ | <-----o-..__| | <-----o-..__|
+ | +Xsc || ME | +Xsc || ME
+ ._________________.| ._________________.|
+ o-o|/| o-o|/|
+ \|V +Ysc \|V +Ysc
+ o | : o | :
+ \ |/ \ |/
+ \| \|
+ HGA HGA
+
+ +Zsc, +Ybase, and +Yfmm are out of the page;
+
+
+ These sets of keywords define the NOMAD LNO flip mirror frames:
+
+ \begindata
+
+ FRAME_TGO_NOMAD_LNO_FMM = -143305
+ FRAME_-143305_NAME = 'TGO_NOMAD_LNO_FMM'
+ FRAME_-143305_CLASS = 3
+ FRAME_-143305_CLASS_ID = -143305
+ FRAME_-143305_CENTER = -143
+ CK_-143305_SCLK = -143
+ CK_-143305_SPK = -143
+
+ \begintext
+
+
+NOMAD LNO Detector Frame
+~~~~~~~~~~~~~~~~~~~~~~~~~
+
+ Since the LNO detector receives radiation through the scanner, its frame
+ TGO_NOMAD_LNO is defined to be nominally co-aligned with the LNO scanner
+ frame TGO_NOMAD_LNO_FMM. This frame is introduced to allow incorporating
+ into the LNO frame chain any misalignment between the scanner boresight
+ direction and the detector view directions.
+
+ Currently no misalignment data are available, and, therefore, the set of
+ keywords below makes these frames co-aligned with their reference.
+
+ \begindata
+
+ FRAME_TGO_NOMAD_LNO = -143310
+ FRAME_-143310_NAME = 'TGO_NOMAD_LNO'
+ FRAME_-143310_CLASS = 4
+ FRAME_-143310_CLASS_ID = -143310
+ FRAME_-143310_CENTER = -143
+ TKFRAME_-143310_RELATIVE = 'TGO_NOMAD_LNO_FMM'
+ TKFRAME_-143310_SPEC = 'ANGLES'
+ TKFRAME_-143310_UNITS = 'DEGREES'
+ TKFRAME_-143310_AXES = ( 1, 2, 3 )
+ TKFRAME_-143310_ANGLES = ( 0.0, 0.0, 0.0 )
+
+ \begintext
+
+
+NOMAD LNO nadir and occultation science operations frames
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+ Because the NOMAD LNO flip mirrors can be rotated to only
+ a limited number of positions for external observations -- 'nadir' and
+ 'occultation' -- a fixed frame co-aligned with the flip mirror
+ frame in each of these positions is defined to allow computing mirror
+ orientation without needing to use CK.
+
+ IMPORTANT: Please note that using these frames will not reflect the
+ behaviour of the LNO Detector and therefore these frames should only be
+ used for science operations purposes.
+
+ Each of these 'fixed-mirror-position science operations' frames is defined
+ as a fixed offset frame with respect to the corresponding base frame for
+ each of the spectrometers as follows (from [10]):
+
+ - +Y axis is along the nominal spectrometer flip mirror rotation
+ axis, and it is nominally co-aligned with the spectrometer base +Y
+ axis;
+
+ - +Z axis is parallel to the flip mirror boresight that defines
+ the spectrometer boresight at a particular angle;
+
+ - +X axis completes the right-handed frame; and it is parallel to the
+ detector array lines and the wide side of the slit;
+
+ - the origin of this frame is located at the intersection of the
+ spectrometer flip mirror rotation axis and mirror central axis.
+
+
+ These diagrams illustrate fixed mirror pointing directions co-aligned
+ with the +Z axis of the corresponding 'fixed-mirror-position' frame:
+
+ +Z S/C side view
+ ----------------
+
+
+ +Z*base +Z*base
+ ^ +Z*nad ^
+ | +X*occ ^ | +Z*occ
+ | Science \ |_~67deg .^
+ +X*nad | NOMAD Deck \ | \ .' Science Deck
+ +X*base _____|___________. NOMAD_\| .'________.
+ <-------o | <-------o |
+ ============o======== +X*base =========o========
+ SA+Z |__..--, SA+Z |__..--,
+ | <-----o-..__| | <-----o-..__|
+ | +Xsc || ME | +Xsc || ME
+ ._________________.| ._________________.|
+ o-o|/| o-o|/|
+ \|V +Ysc \|V +Ysc
+ o | : o | :
+ \ |/ \ |/
+ \| \|
+ HGA HGA
+
+
+ +Zsc, +Y*base, +Y*nad and +Y*occ are out of the page;
+ ``*base'' corresponds to ``nomad_lno_base'';
+ ``*nad'' corresponds to ``nomad_lno_ops_nad''; and
+ ``*occ'' corresponds to ``nomad_lno_ops_occ''.
+
+
+ These 'fixed-mirror-position operations' frames are nominally rotated about
+ the +X axis of the corresponding spectrometer base frames by the following
+ angles:
+
+ Frame name Rotation Angle, deg
+ ---------------------- -------------------
+ TGO_NOMAD_LNO_OPS_NAD 0.00
+ TGO_NOMAD_LNO_OPS_OCC -67.07
+
+ The following in-flight calibrated misalignment boresight was provided
+ by Ian Thomas on July 26, 2016 [15] and on May 16, 2017 [19]:
+
+ NOMAD_LNO_OPS_NAD Boresight: ( -0.001047198, -0.9999786, 0.006457718 )
+ NOMAD_LNO_OPS_OCC Boresight: ( -0.92148, -0.38838, 0.00628 )
+
+ These boresights are relative to the TGO_SPACECRAFT frame. Given these
+ boresights the rotation from the TGO_NOMAD_LNO_BASE frame to the
+ TGO_NOMAD_LNO_NAD and TGO_NOMAD_LNO_NAD frames determined from the
+ in-flight calibration data can be represented by the following rotation
+ angles in degrees:
+
+ nad
+ M |0.0| * |-0.06000003670468607| * |-0.37000276139181304|
+ base Z Y X
+
+ occ
+ M = |0.0| * |-67.1431540428917| * |-0.9263765923679103|
+ base Z Y X
+
+
+ Since the SPICE frames subsystem calls for specifying the reverse
+ transformation--going from the instrument or structure frame to the
+ base frame--as compared to the description given above, the order of
+ rotations assigned to the TKFRAME_*_AXES keyword is also reversed
+ compared to the above text, and the signs associated with the
+ rotation angles assigned to the TKFRAME_*_ANGLES keyword are the
+ opposite from what is written in the above text.
+
+ \begindata
+
+ FRAME_TGO_NOMAD_LNO_OPS_NAD = -143311
+ FRAME_-143311_NAME = 'TGO_NOMAD_LNO_OPS_NAD'
+ FRAME_-143311_CLASS = 4
+ FRAME_-143311_CLASS_ID = -143311
+ FRAME_-143311_CENTER = -143
+ TKFRAME_-143311_RELATIVE = 'TGO_NOMAD_LNO_BASE'
+ TKFRAME_-143311_SPEC = 'ANGLES'
+ TKFRAME_-143311_UNITS = 'DEGREES'
+ TKFRAME_-143311_AXES = ( 1, 2, 3 )
+ TKFRAME_-143311_ANGLES = ( +0.37000276139181304,
+ +0.06000003670468607,
+ +0.00000000000000000 )
+
+ FRAME_TGO_NOMAD_LNO_OPS_OCC = -143312
+ FRAME_-143312_NAME = 'TGO_NOMAD_LNO_OPS_OCC'
+ FRAME_-143312_CLASS = 4
+ FRAME_-143312_CLASS_ID = -143312
+ FRAME_-143312_CENTER = -143
+ TKFRAME_-143312_RELATIVE = 'TGO_NOMAD_LNO_BASE'
+ TKFRAME_-143312_SPEC = 'ANGLES'
+ TKFRAME_-143312_UNITS = 'DEGREES'
+ TKFRAME_-143312_AXES = ( 1, 2, 3 )
+ TKFRAME_-143312_ANGLES = ( +0.9263765923679103,
+ +67.1431540428917,
+ +0.0000000000000000 )
+
+ \begintext
+
+
+NOMAD UVIS nadir and occultation frames
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+ Because the NOMAD LNO UVIS fibre optic switch can only adopt
+ a limited number of positions for external observations -- 'nadir' and
+ 'occultation' -- a fixed frame co-aligned with the fibre optic switch
+ frame in each of these positions is defined to allow computing mirror
+ orientation without needing to use CK.
+
+ Each of these 'fixed-switch-position' frames is defined as a fixed
+ offset frame with respect to the corresponding base frame for each of
+ the spectrometers as follows (from [10]):
+
+ - +Y axis is along the nominal spectrometer fibre optic switch rotation
+ axis, and it is nominally co-aligned with the spectrometer base +Y
+ axis;
+
+ - +Z axis is parallel to the fibre optic switch boresight that defines
+ the spectrometer boresight at a particular angle;
+
+ - +X axis completes the right-handed frame; and it is parallel to the
+ detector array lines and the wide side of the slit;
+
+ - the origin of this frame is located at the intersection of the
+ spectrometer optic fibre switch rotation axis and mirror central
+ axis.
+
+
+ These diagram illustrates fixed mirror pointing directions co-aligned
+ with the +Z axis of the corresponding 'fixed-mirror-position' frame:
+
+ +Z S/C side view
+ ----------------
+
+
+ +Z*base +Z*base
+ ^ +Z*nad ^
+ | +X*occ ^ | +Z*occ
+ | Science \ |_~67deg .^
+ +X*nad | NOMAD Deck \ | \ .' Science Deck
+ +X*base _____|___________. NOMAD_\| .'________.
+ <-------o | <-------o |
+ ============o======== +X*base =========o========
+ SA+Z |__..--, SA+Z |__..--,
+ | <-----o-..__| | <-----o-..__|
+ | +Xsc || ME | +Xsc || ME
+ ._________________.| ._________________.|
+ o-o|/| o-o|/|
+ \|V +Ysc \|V +Ysc
+ o | : o | :
+ \ |/ \ |/
+ \| \|
+ HGA HGA
+
+
+ +Zsc, +Y*base, +Y*nad and +Y*occ are out of the page;
+ ``*base'' corresponds to ``nomad_uvis_base'';
+ ``*nad'' corresponds to ``nomad_uvis_nad''; and
+ ``*occ'' corresponds to ``nomad_uvis_occ''.
+
+
+ These 'fixed-mirror-position' frames are nominally rotated about the
+ +X axis of the corresponding spectrometer base frames by the following
+ angles:
+
+ Frame name Rotation Angle, deg
+ ---------------------- -------------------
+ TGO_NOMAD_UVIS_NAD 0.00
+ TGO_NOMAD_UVIS_OCC -67.07
+
+
+ The following in-flight calibrated misalignment boresights were provided
+ by Ian Thomas on July 26, 2016 [15]; September 16, 2016 [18]; May 16, 2017
+ [19] and on June 13 2018 [22]:
+
+ NOMAD_UVIS_NAD: ( -0.002312108759, -0.999990516156, 0.003690765731 )
+ NOMAD_UVIS_OCC: ( -0.922221097920913,-0.386613383297695,0.006207330031467 )
+
+
+ These boresights are relative to the TGO_SPACECRAFT frame. Given these
+ boresights the rotation from the TGO_NOMAD_UVIS_BASE frame to the
+ TGO_NOMAD_UVIS_NAD and TGO_NOMAD_UVIS_NAD frames determined from the
+ in-flight calibration data can be represented by the following rotation
+ angles in degrees:
+
+ nad
+ M = |0.0| * |-0.13247419169719835| * |-0.21146634488534072|
+ base Z Y X
+
+ occ
+ M = |0.0| * |-67.25296897005113| * |-0.9198420756243424|
+ base Z Y X
+
+
+ Since the SPICE frames subsystem calls for specifying the reverse
+ transformation--going from the instrument or structure frame to the
+ base frame--as compared to the description given above, the order of
+ rotations assigned to the TKFRAME_*_AXES keyword is also reversed
+ compared to the above text, and the signs associated with the
+ rotation angles assigned to the TKFRAME_*_ANGLES keyword are the
+ opposite from what is written in the above text.
+
+ \begindata
+
+ FRAME_TGO_NOMAD_UVIS_NAD = -143331
+ FRAME_-143331_NAME = 'TGO_NOMAD_UVIS_NAD'
+ FRAME_-143331_CLASS = 4
+ FRAME_-143331_CLASS_ID = -143331
+ FRAME_-143331_CENTER = -143
+ TKFRAME_-143331_RELATIVE = 'TGO_NOMAD_UVIS_BASE'
+ TKFRAME_-143331_SPEC = 'ANGLES'
+ TKFRAME_-143331_UNITS = 'DEGREES'
+ TKFRAME_-143331_AXES = ( 1, 2, 3 )
+ TKFRAME_-143331_ANGLES = ( +0.21146634488534072,
+ +0.13247419169719835,
+ +0.00000000000000000 )
+
+ FRAME_TGO_NOMAD_UVIS_OCC = -143332
+ FRAME_-143332_NAME = 'TGO_NOMAD_UVIS_OCC'
+ FRAME_-143332_CLASS = 4
+ FRAME_-143332_CLASS_ID = -143332
+ FRAME_-143332_CENTER = -143
+ TKFRAME_-143332_RELATIVE = 'TGO_NOMAD_UVIS_BASE'
+ TKFRAME_-143332_SPEC = 'ANGLES'
+ TKFRAME_-143332_UNITS = 'DEGREES'
+ TKFRAME_-143332_AXES = ( 1, 2, 3 )
+ TKFRAME_-143332_ANGLES = ( +0.9198420756243424,
+ +67.252968970051130,
+ +0.0000000000000000 )
+
+ \begintext
+
+
+NOMAD Solar Occultation (SO) spectrometer frame:
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+ The NOMAD Solar Occultation (SO) spectrometer is rigidly mounted on
+ the spacecraft Science Deck. Therefore, the frame associated with
+ it -- the NOMAD SO frame, TGO_NOMAD_SO -- is specified as a fixed
+ offset frame with its orientation given relative to the TGO_SPACECRAFT
+ frame.
+
+ The NOMAD SO spectrometer operates in occultation mode only and its
+ boresight is pointing approximately +67.07 deg from the
+ spacecraft -Y axis to the -X in the XY plane.
+
+ Therefore, the NOMAD SO frame is defined as follows (from [10]):
+
+ - +Z axis is parallel to the spectrometer boresight, pointing
+ approximately at +67.07 degrees from the spacecraft -Y axis
+ towards the -X axis in the XY plane;
+
+ - +X axis is parallel to the spectrometer detector array's lines,
+ and it is approximately at +67.07 degrees from the spacecraft
+ +X axis;
+
+ - +Y axis completes the right-handed frame and it is nominally
+ aligned with the spacecraft +Z axis;
+
+ - the origin of this frame is located at geometrical centre of the
+ first folding mirror at the entry optics of the spectrometer.
+
+
+ This diagrams illustrates the nominal TGO_NOMAD_SO frame with respect
+ to the spacecraft frame.
+
+ +Z S/C side view
+ ----------------
+
+ 'Nadir' Towards Mars
+ ^
+ +Xso ^ | +Zso
+ \ |_~67deg .^
+ \ | \ .' Science Deck
+ NOMAD\| .'________.
+ | o +Yso |
+ ============o=======
+ SA+Z |__..--,
+ | <-----o-..__|
+ | +Xsc || ME
+ ._________________.| +Zsc and +Ymir are
+ o-o|/| out of the page.
+ \|V +Ysc
+ o | :
+ \ |/
+ \|
+ HGA
+
+
+ Nominally, a rotation of 90 degrees about +X spacecraft axis and then
+ a rotation of -67.07 degrees about the +Y spacecraft axis are required to
+ align the TGO_SPACECRAFT to the TGO_NOMAD_SO frames.
+
+ The following in-flight calibrated misalignment boresight was provided
+ by Ian Thomas on July 26, 2016 [15] and June 13, 2018 [22]:
+
+ NOMAD_SO Boresight: ( -0.9218973, -0.38738526, 0.00616719 )
+
+
+ This boresight is relative to the TGO_SPACECRAFT frame. Given this
+ boresight the rotation from the TGO_SPACECRAFT frame to the
+ TGO_NOMAD_SO frame determined from the in-flight calibration
+ data can be represented by the following rotation angles in degrees:
+
+ so
+ M = |0.0| * |-67.20504912816348| * |89.0879257751404|
+ sc Z Y X
+
+
+ Since the SPICE frames subsystem calls for specifying the reverse
+ transformation--going from the instrument or structure frame to the
+ base frame--as compared to the description given above, the order of
+ rotations assigned to the TKFRAME_*_AXES keyword is also reversed
+ compared to the above text, and the signs associated with the
+ rotation angles assigned to the TKFRAME_*_ANGLES keyword are the
+ opposite from what is written in the above text.
+
+ \begindata
+
+ FRAME_TGO_NOMAD_SO = -143320
+ FRAME_-143320_NAME = 'TGO_NOMAD_SO'
+ FRAME_-143320_CLASS = 4
+ FRAME_-143320_CLASS_ID = -143320
+ FRAME_-143320_CENTER = -143
+ TKFRAME_-143320_RELATIVE = 'TGO_SPACECRAFT'
+ TKFRAME_-143320_SPEC = 'ANGLES'
+ TKFRAME_-143320_UNITS = 'DEGREES'
+ TKFRAME_-143320_AXES = ( 1, 2, 3 )
+ TKFRAME_-143320_ANGLES = ( -89.08792577514040
+ +67.20504912816348,
+ +0.000000000000000 )
+
+ \begintext
+
+
+CaSSIS Frames
+------------------------------------------------------------------------
+
+ This section of the file contains the definitions of the Colour and
+ Stereo Surface Imaging System (CaSSIS) instrument frames.
+
+
+CaSSIS Frame Tree
+~~~~~~~~~~~~~~~~~
+
+ The diagram below shows the CaSSIS frame hierarchy.
+
+
+ "J2000" INERTIAL
+ +-----------------------------------------------------+
+ | | |
+ |<-pck | |<-pck
+ | | |
+ V | V
+ "IAU_MARS" | "IAU_EARTH"
+ MARS BODY-FIXED |<-ck EARTH BODY-FIXED
+ --------------- | ----------------
+ V
+ "TGO_SPACECRAFT"
+ ----------------
+ |
+ |<-fixed
+ |
+ V
+ "TGO_CASSIS_CRU"
+ ----------------
+ |
+ |<-ck
+ |
+ V
+ "TGO_CASSIS_TEL"
+ ----------------
+ |
+ |<-fixed
+ |
+ "TGO_CASSIS_FSA"
+ ----------------
+
+
+CaSSIS Camera Rotation Unit frame
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+ The CaSSIS Camera Rotation Unit (CRU) is rigidly mounted on the spacecraft
+ Science Deck. Therefore, the frame associated with it -- the CaSSIS CRU
+ frame, TGO_CASSIS_CRU -- is specified as a fixed offset frame relative
+ with its orientation given relative to the TGO_SPACECRAFT frame.
+
+ The CaSSIS CRU frame is defined by the camera rotation unit design and
+ its mounting on the spacecraft as follows (from [5]):
+
+ - +Y axis is along the nominal CaSSIS CRU rotation axis, and it is
+ nominally co-aligned with the spacecraft -Y axis
+
+ - +Z axis is co-aligned with the +Z spacecraft axis;
+
+ - +X axis completes the right-handed frame;
+
+ - the origin of the frame is located at the center of the CaSSIS
+ reference hole (RH) at the instrument's interface plane, i.e. the
+ unit mounting plane to the spacecraft.
+
+ Any misalignment between the nominal and actual CaSSIS CRU rotation axis
+ measured pre-launch or during in-flight calibration should be incorporated
+ into the definition of this frame.
+
+
+ These diagrams illustrate the nominal TGO_CASSIS_CRU frame with respect to
+ the spacecraft frame.
+
+
+ -X S/C side (Main Engine side) view:
+ ------------------------------------
+ ^
+ | toward Mars
+ +Ycru ^
+ |
+ | Science deck
+ +Zcru .|____________.
+ .__ _____________<--------o | .______________ ___.
+ | \ \ \ +Xcru | / \ \ |
+ | / / \ | ___ | / / / |
+ | \ \ `. | / _+Xsc || .' \ \ |
+ | / / +Zsc <--------x) | v|o | / / |
+ | \ \ .' | \_|_+Yfrend`. \ \ |
+ | / / / | | | \ / / |
+ .__\ \_______________/ | | | \_______________\ \__.
+ +Z Solar Array ._____ v +Ysc . -Z Solar Array
+ .' `.
+ / \
+ . `. .' . +Xsc is into
+ | `o' | the page and +Xcru
+ . | . is out of the page.
+ \ | /
+ `. .'
+ HGA ` --- '
+
+
+ -Y S/C side (Science Deck side) view:
+ -------------------------------------
+
+ _____
+ / \ EDM
+ | |
+ ._____________.
+ | |
+ | |
+ | |
+ o==/ /==================o<| |>o==================/ /==o
+ +Z Solar Array |--. | -Z Solar Array
+ <--------o|+Ycru |
+ +Zcru |-|' |
+ | | ^ +Xsc |
+ | | | |
+ +Xcru v | | +Ysc is into the
+ +Zsc .______|______. page; +Ycru is out
+ <-------x `. ME of the page
+ /______+Ysc \
+ HGA `.|.'
+
+
+ +Z CaSSIS Rotation Unit side view (motor in "Launch" position: 180 deg):
+ ----------------------------------------------------------------------------
+
+
+ <-------x +Zsc +Xcru
+ +Ysc | ^
+ | |
+ | |
+ +Xsc v .-|. .
+ |.|| . ' /
+ ||| ______________ . ' /
+ /-|-. .-| ___ ____ ' \ ,
+ /' | | | | / \ / '. '.\ /
+ / | | | | || || ' ' .'
+ .-----. | | | | || || '. '.
+ /___, ,| | | | || || '. '.
+ / / | | |= | | \___/ \_____________/ '. +Ycru
+ / \ | x--------------------------------------------->
+ / '+Zcru| |.| / | | rotation axis | | |
+ / | | '-'_._____| |_______' '________' | |
+ / | | | | .--- .------. '-'
+ / '----| | | , -- . '. \ \_.-.
+ / | | | | '. '. \ | |
+ /__________________| '-'_ | '. . | | |
+ || |.--.| \ \______________. | |
+ || || || \ .-------------------------'-'
+ .-----''-------------''--''--------. \|
+ | |
+ '----------------------------------'
+
+
+ +Zsc and +Zcru are
+ into the page.
+
+
+ Nominally, a single rotation of 180 degrees about +Z axis is required to
+ co-align the TGO_CASSIS_CRU and the TGO_SPACECRAFT frames. The current
+ rotation is derived form Mars Commissioning data and data from MTP000
+ (MCO, bands misalignment is <2 pixel) 21].
+
+ Since the SPICE frames subsystem calls for specifying the reverse
+ transformation--going from the instrument or structure frame to the
+ base frame--as compared to the description given above, the order of
+ rotations assigned to the TKFRAME_*_AXES keyword is also reversed
+ compared to the above text, and the signs associated with the
+ rotation angles assigned to the TKFRAME_*_ANGLES keyword are the
+ opposite from what is written in the above text.
+
+ \begindata
+
+ FRAME_TGO_CASSIS_CRU = -143400
+ FRAME_-143400_NAME = 'TGO_CASSIS_CRU'
+ FRAME_-143400_CLASS = 4
+ FRAME_-143400_CLASS_ID = -143400
+ FRAME_-143400_CENTER = -143
+ TKFRAME_-143400_RELATIVE = 'TGO_SPACECRAFT'
+ TKFRAME_-143400_SPEC = 'ANGLES'
+ TKFRAME_-143400_UNITS = 'DEGREES'
+ TKFRAME_-143400_AXES = ( 1, 2, 3 )
+ TKFRAME_-143400_ANGLES = ( 0.021, 0.120, -179.881 )
+
+ \begintext
+
+
+CaSSIS Telescope frame
+~~~~~~~~~~~~~~~~~~~~~~
+
+ The CaSSIS telescope rotates counterclockwise around the +Y CaSSIS Camera
+ Rotation Unit by an angle commanded from ground which ranges from 0
+ degrees in the homing position to 360.0 degrees at the end of the range.
+
+ The CaSSIS Telescope frame is defined by the camera rotation unit design
+ as follows (from [5]):
+
+ - +Y axis is along the nominal CaSSIS CRU rotation axis, and it is
+ 'zero' position is co-aligned with the TGO_CASSIS_CRU +Y axis
+
+ - +Z axis is co-aligned with the TGO_CASSIS_CRU +Z axis, when the
+ motor is in its 'zero' position;
+
+ - +X axis completes the right-handed frame;
+
+ - the origin of the frame is located at the focal point of the CaSSIS
+ telescope.
+
+
+ This diagram illustrates the TGO_CASSIS_TEL frame with respect to
+ the TGO_CASSIS_CRU frame for different motor rotations.
+
+
+ +Y CaSSIS Camera Rotation Unit view:
+ ------------------------------------
+
+
+ ^ +Xtel ^ +Xcru
+ 0 deg | |
+ position | |
+ ....|.... |
+ .' | `. | +Zcru
+ .' | `. o--------->
+ ' | ' +Ycru
+ . | .
+ . | .
+ 90 deg ---- . o--------------> +Ztel
+ position . +Ytel .
+ . .
+ .-'. .'-.
+ ' . . '
+ 120 deg `. .' 240 deg
+ position ` ......... ' position
+ |
+ |
+ 180 deg
+ position
+ +Xsc ^
+ |
+ | +Ytel and +Ycru are out of
+ | the page; +Ysc is into
+ | the page.
+ <--------x
+ +Zsc +Ysc
+
+
+ For an arbitrary scanner angle, the TGO_CASSIS_TEL frame is rotated by
+ this angle about the +Y axis with respect to the TGO_CASSIS_CRU frame.
+
+ This set of keywords define the CaSSIS Telescope frame:
+
+ \begindata
+
+ FRAME_TGO_CASSIS_TEL = -143410
+ FRAME_-143410_NAME = 'TGO_CASSIS_TEL'
+ FRAME_-143410_CLASS = 3
+ FRAME_-143410_CLASS_ID = -143410
+ FRAME_-143410_CENTER = -143
+ CK_-143410_SCLK = -143
+ CK_-143410_SPK = -143
+
+ \begintext
+
+
+CaSSIS Filter Strip Assembly (FSA) frame:
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+ The CaSSIS Camera Rotation Unit is designed to support quasi-simultaneous
+ stereo imaging by aligning the image columns to the orbital track
+ (see [6]). Above the detector surface, a filter strip is placed in order
+ providing images in 4 different wavelength bands.
+
+ The CaSSIS Filter Strip Assembly -- TGO_CASSIS_FSA frame is defined based
+ on the telescope pointing axis and the detector surface orientation as
+ follows:
+
+ - +Z axis points along the telescope optical boresight;
+
+ - +X axis is aligned to the detector rows; and it is nominally aligned
+ to the +Ztel axis.
+
+ - +Y axis is aligned to the detector columns;
+
+ - the origin of the frame is located at the focal point of the CaSSIS
+ telescope.
+
+ The CaSSIS telescope optical boresight nominally points 10 degrees off
+ from the CaSSIS rotation axis -- TGO_CASSIS_TEL +Y axis, towards the
+ + X TGO_CASSIS_TEL axis.
+
+ This diagram illustrates the TGO_CASSIS_FSA frame with respect to
+ the TGO_CASSIS_TEL frame.
+
+
+ +Z CaSSIS Rotation Unit side view:
+ ----------------------------------
+
+
+ ^ +Ytel (rotation axis)
+ ^ | towards Mars
+ \ |
+ +Zfsa \ | .---------.
+ \ .----|-. .---------| .> +Ysfa
+ \ '----|-'.' .-. | .'
+ .. \ / | .' | .'
+ \ `. \ .. |-. .' .'.'|
+ \ `. / \/ | | | | .'.' |
+ \ `/ /\ | | | | .'.' . |
+ \ / / \| | | |.'.' .' | |
+ \/ / \ | | .' .' | |
+ / / |\ |.'.' | | |
+ | | | \|.' . | | |
+ | | | o +Xfsa | |
+ | | | |' | | | |
+ | \___.' | | | | |
+ | ____ | | | | |
+ | / \ | | | | |
+ | | | |----' '-----' '__
+ | | | |---. .' +Ztel and +Xfsa
+ | | | | | .' are out of the page
+ | | | | |.________'
+ | \____/ |---'|'------'
+ '____________|____'
+ '-----------|---' +Xtel
+ o-------------------------->
+ +Ztel
+
+ Nominally, the off-pointing from the CaSSIS Filter Strip Assembly
+ boresight and the CaSSIS Telescope rotation axis is 10 degrees towards
+ the -X CaSSIS Telescope axis.
+
+ During the geometrical measurements performed before the integration
+ on the spacecraft, the angle between the rotation axis and the instrument
+ optical boresight at 5 different positions (see p.34 of [6]) was:
+
+ alpha = 9.89 +/- 0.1 degrees
+
+ Therefore, in order to transform the CaSSIS Telescope frame into the
+ CaSSIS Filter Strip Assembly frame, first an initial rotation of -90
+ degrees about the +Y axis is required, followed by a -80.11 degrees
+ rotation about the resulting +X axis.
+
+ Later on as a result from the Mars Commissioning and MTP000 science data
+ it the rotations have been adjusted [21].
+
+ Since the SPICE frames subsystem calls for specifying the reverse
+ transformation--going from the instrument or structure frame to the
+ base frame--as compared to the description given above, the order of
+ rotations assigned to the TKFRAME_*_AXES keyword is also reversed
+ compared to the above text, and the signs associated with the
+ rotation angles assigned to the TKFRAME_*_ANGLES keyword are the
+ opposite from what is written in the above text.
+
+ \begindata
+
+ FRAME_TGO_CASSIS_FSA = -143420
+ FRAME_-143420_NAME = 'TGO_CASSIS_FSA'
+ FRAME_-143420_CLASS = 4
+ FRAME_-143420_CLASS_ID = -143420
+ FRAME_-143420_CENTER = -143
+ TKFRAME_-143420_RELATIVE = 'TGO_CASSIS_TEL'
+ TKFRAME_-143420_SPEC = 'ANGLES'
+ TKFRAME_-143420_UNITS = 'DEGREES'
+ TKFRAME_-143420_AXES = ( 2, 1, 3 )
+ TKFRAME_-143420_ANGLES = ( 89.714, 80.005, 0.168 )
+
+ \begintext
+
+
+TGO NAIF ID Codes -- Definitions
+===============================================================================
+
+ This section contains name to NAIF ID mappings for the ExoMars 2016 mission.
+ Once the contents of this file is loaded into the KERNEL POOL, these
+ mappings become available within SPICE, making it possible to use names
+ instead of ID code in the high level SPICE routine calls.
+
+ Name ID Synonyms
+ --------------------- ------- -----------------------
+
+ Spacecraft:
+ -----------
+ TGO -143 TRACE GAS ORBITER
+ EXOMARS 2016 TGO
+ EXOMARS TGO
+ TGO_SPACECRAFT -143000
+ TGO_HGA_STOWED -143020
+ TGO_HGA -143025
+ TGO_LGA+Z -143031
+ TGO_LGA-Z -143032
+ TGO_LGA+X -143033
+ TGO_STR-1 -143041
+ TGO_STR-2 -143042
+ TGO_SA+Z_GIMBAL -143060
+ TGO_SA+Z_C1 -143061
+ TGO_SA+Z_C2 -143062
+ TGO_SA+Z_C3 -143063
+ TGO_SA+Z_C4 -143064
+ TGO_SA-Z_GIMBAL -143070
+ TGO_SA-Z_C1 -143071
+ TGO_SA-Z_C2 -143072
+ TGO_SA-Z_C3 -143073
+ TGO_SA-Z_C4 -143074
+
+ ACS:
+ ----
+ TGO_ACS -143100
+ TGO_ACS_NIR_NAD -143111
+ TGO_ACS_NIR_OCC -143112
+ TGO_ACS_MIR -143120
+ TGO_ACS_TIRVIM -143130
+ TGO_ACS_TIRVIM_SCAN_BBY -143131
+ TGO_ACS_TIRVIM_SCAN_SPC -143132
+ TGO_ACS_TIRVIM_SCAN_NAD -143133
+ TGO_ACS_TIRVIM_SCAN_OCC -143134
+ TGO_ACS_TIRVIM_SUN -143140
+ TGO_ACS_TIRVIM_SUN_BSR -143141
+
+ FREND:
+ ------
+ TGO_FREND -143200
+ TGO_FREND_HE -143210
+ TGO_FREND_SC -143220
+
+ NOMAD:
+ ------
+ TGO_NOMAD -143300
+ TGO_NOMAD_LNO -143310
+ TGO_NOMAD_LNO_OPS_NAD -143311
+ TGO_NOMAD_LNO_OPS_OCC -143312
+ TGO_NOMAD_SO -143320
+ TGO_NOMAD_UVIS_NAD -143331
+ TGO_NOMAD_UVIS_OCC -143332
+
+ CaSSIS:
+ -------
+ TGO_CASSIS -143400
+ TGO_CASSIS_PAN -143421
+ TGO_CASSIS_RED -143422
+ TGO_CASSIS_NIR -143423
+ TGO_CASSIS_BLU -143424
+
+
+ The mappings summarized in this table are implemented by the keywords
+ below.
+
+ \begindata
+
+ NAIF_BODY_NAME += ( 'TRACE GAS ORBITER' )
+ NAIF_BODY_CODE += ( -143 )
+
+ NAIF_BODY_NAME += ( 'TGO' )
+ NAIF_BODY_CODE += ( -143 )
+
+ NAIF_BODY_NAME += ( 'EXOMARS TGO' )
+ NAIF_BODY_CODE += ( -143 )
+
+ NAIF_BODY_NAME += ( 'EXOMARS 2016 TGO' )
+ NAIF_BODY_CODE += ( -143 )
+
+ NAIF_BODY_NAME += ( 'TGO_PLAN' )
+ NAIF_BODY_CODE += ( -143999 )
+
+ NAIF_BODY_NAME += ( 'TGO PLAN' )
+ NAIF_BODY_CODE += ( -143999 )
+
+ NAIF_BODY_NAME += ( 'TGO_SPACECRAFT' )
+ NAIF_BODY_CODE += ( -143000 )
+
+ NAIF_BODY_NAME += ( 'TGO_HGA_STOWED' )
+ NAIF_BODY_CODE += ( -143020 )
+
+ NAIF_BODY_NAME += ( 'TGO_HGA' )
+ NAIF_BODY_CODE += ( -143025 )
+
+ NAIF_BODY_NAME += ( 'TGO_LGA+Z' )
+ NAIF_BODY_CODE += ( -143031 )
+
+ NAIF_BODY_NAME += ( 'TGO_LGA-Z' )
+ NAIF_BODY_CODE += ( -143032 )
+
+ NAIF_BODY_NAME += ( 'TGO_LGA+X' )
+ NAIF_BODY_CODE += ( -143033 )
+
+ NAIF_BODY_NAME += ( 'TGO_STR-1' )
+ NAIF_BODY_CODE += ( -143041 )
+
+ NAIF_BODY_NAME += ( 'TGO_STR-2' )
+ NAIF_BODY_CODE += ( -143042 )
+
+ NAIF_BODY_NAME += ( 'TGO_SA+Z_GIMBAL' )
+ NAIF_BODY_CODE += ( -143060 )
+
+ NAIF_BODY_NAME += ( 'TGO_SA+Z_C1' )
+ NAIF_BODY_CODE += ( -143061 )
+
+ NAIF_BODY_NAME += ( 'TGO_SA+Z_C2' )
+ NAIF_BODY_CODE += ( -143062 )
+
+ NAIF_BODY_NAME += ( 'TGO_SA+Z_C3' )
+ NAIF_BODY_CODE += ( -143063 )
+
+ NAIF_BODY_NAME += ( 'TGO_SA+Z_C4' )
+ NAIF_BODY_CODE += ( -143064 )
+
+ NAIF_BODY_NAME += ( 'TGO_SA-Z_GIMBAL' )
+ NAIF_BODY_CODE += ( -143070 )
+
+ NAIF_BODY_NAME += ( 'TGO_SA-Z_C1' )
+ NAIF_BODY_CODE += ( -143071 )
+
+ NAIF_BODY_NAME += ( 'TGO_SA-Z_C2' )
+ NAIF_BODY_CODE += ( -143072 )
+
+ NAIF_BODY_NAME += ( 'TGO_SA-Z_C3' )
+ NAIF_BODY_CODE += ( -143073 )
+
+ NAIF_BODY_NAME += ( 'TGO_SA-Z_C4' )
+ NAIF_BODY_CODE += ( -143074 )
+
+
+ NAIF_BODY_NAME += ( 'TGO_ACS' )
+ NAIF_BODY_CODE += ( -143100 )
+
+ NAIF_BODY_NAME += ( 'TGO_ACS_NIR_NAD' )
+ NAIF_BODY_CODE += ( -143111 )
+
+ NAIF_BODY_NAME += ( 'TGO_ACS_NIR_OCC' )
+ NAIF_BODY_CODE += ( -143112 )
+
+ NAIF_BODY_NAME += ( 'TGO_ACS_MIR' )
+ NAIF_BODY_CODE += ( -143120 )
+
+ NAIF_BODY_NAME += ( 'TGO_ACS_TIRVIM' )
+ NAIF_BODY_CODE += ( -143130 )
+
+ NAIF_BODY_NAME += ( 'TGO_ACS_TIRVIM_SCAN_BBY' )
+ NAIF_BODY_CODE += ( -143131 )
+
+ NAIF_BODY_NAME += ( 'TGO_ACS_TIRVIM_SCAN_SPC' )
+ NAIF_BODY_CODE += ( -143132 )
+
+ NAIF_BODY_NAME += ( 'TGO_ACS_TIRVIM_SCAN_NAD' )
+ NAIF_BODY_CODE += ( -143133 )
+
+ NAIF_BODY_NAME += ( 'TGO_ACS_TIRVIM_SCAN_OCC' )
+ NAIF_BODY_CODE += ( -143134 )
+
+ NAIF_BODY_NAME += ( 'TGO_ACS_TIRVIM_SCAN_OCC_BS' )
+ NAIF_BODY_CODE += ( -143135 )
+
+ NAIF_BODY_NAME += ( 'TGO_ACS_TIRVIM_SUN' )
+ NAIF_BODY_CODE += ( -143140 )
+
+ NAIF_BODY_NAME += ( 'TGO_ACS_TIRVIM_SUN_BSR' )
+ NAIF_BODY_CODE += ( -143141 )
+
+
+ NAIF_BODY_NAME += ( 'TGO_FREND' )
+ NAIF_BODY_CODE += ( -143200 )
+
+ NAIF_BODY_NAME += ( 'TGO_FREND_HE' )
+ NAIF_BODY_CODE += ( -143210 )
+
+ NAIF_BODY_NAME += ( 'TGO_FREND_SC' )
+ NAIF_BODY_CODE += ( -143220 )
+
+
+ NAIF_BODY_NAME += ( 'TGO_NOMAD' )
+ NAIF_BODY_CODE += ( -143300 )
+
+ NAIF_BODY_NAME += ( 'TGO_NOMAD_LNO' )
+ NAIF_BODY_CODE += ( -143310 )
+
+ NAIF_BODY_NAME += ( 'TGO_NOMAD_LNO_OPS_NAD' )
+ NAIF_BODY_CODE += ( -143311 )
+
+ NAIF_BODY_NAME += ( 'TGO_NOMAD_LNO_OPS_OCC' )
+ NAIF_BODY_CODE += ( -143312 )
+
+ NAIF_BODY_NAME += ( 'TGO_NOMAD_SO' )
+ NAIF_BODY_CODE += ( -143320 )
+
+ NAIF_BODY_NAME += ( 'TGO_NOMAD_UVIS_NAD' )
+ NAIF_BODY_CODE += ( -143331 )
+
+ NAIF_BODY_NAME += ( 'TGO_NOMAD_UVIS_OCC' )
+ NAIF_BODY_CODE += ( -143332 )
+
+
+ NAIF_BODY_NAME += ( 'TGO_CASSIS' )
+ NAIF_BODY_CODE += ( -143400 )
+
+ NAIF_BODY_NAME += ( 'TGO_CASSIS_PAN' )
+ NAIF_BODY_CODE += ( -143421 )
+
+ NAIF_BODY_NAME += ( 'TGO_CASSIS_RED' )
+ NAIF_BODY_CODE += ( -143422 )
+
+ NAIF_BODY_NAME += ( 'TGO_CASSIS_NIR' )
+ NAIF_BODY_CODE += ( -143423 )
+
+ NAIF_BODY_NAME += ( 'TGO_CASSIS_BLU' )
+ NAIF_BODY_CODE += ( -143424 )
+
+ \begintext
+
+
+End of FK file.
\ No newline at end of file
diff --git a/tests/pytests/data/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1/naif0012.tls b/tests/pytests/data/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1/naif0012.tls
new file mode 100644
index 0000000..e1afdee
--- /dev/null
+++ b/tests/pytests/data/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1/naif0012.tls
@@ -0,0 +1,152 @@
+KPL/LSK
+
+
+LEAPSECONDS KERNEL FILE
+===========================================================================
+
+Modifications:
+--------------
+
+2016, Jul. 14 NJB Modified file to account for the leapsecond that
+ will occur on December 31, 2016.
+
+2015, Jan. 5 NJB Modified file to account for the leapsecond that
+ will occur on June 30, 2015.
+
+2012, Jan. 5 NJB Modified file to account for the leapsecond that
+ will occur on June 30, 2012.
+
+2008, Jul. 7 NJB Modified file to account for the leapsecond that
+ will occur on December 31, 2008.
+
+2005, Aug. 3 NJB Modified file to account for the leapsecond that
+ will occur on December 31, 2005.
+
+1998, Jul 17 WLT Modified file to account for the leapsecond that
+ will occur on December 31, 1998.
+
+1997, Feb 22 WLT Modified file to account for the leapsecond that
+ will occur on June 30, 1997.
+
+1995, Dec 14 KSZ Corrected date of last leapsecond from 1-1-95
+ to 1-1-96.
+
+1995, Oct 25 WLT Modified file to account for the leapsecond that
+ will occur on Dec 31, 1995.
+
+1994, Jun 16 WLT Modified file to account for the leapsecond on
+ June 30, 1994.
+
+1993, Feb. 22 CHA Modified file to account for the leapsecond on
+ June 30, 1993.
+
+1992, Mar. 6 HAN Modified file to account for the leapsecond on
+ June 30, 1992.
+
+1990, Oct. 8 HAN Modified file to account for the leapsecond on
+ Dec. 31, 1990.
+
+
+Explanation:
+------------
+
+The contents of this file are used by the routine DELTET to compute the
+time difference
+
+[1] DELTA_ET = ET - UTC
+
+the increment to be applied to UTC to give ET.
+
+The difference between UTC and TAI,
+
+[2] DELTA_AT = TAI - UTC
+
+is always an integral number of seconds. The value of DELTA_AT was 10
+seconds in January 1972, and increases by one each time a leap second
+is declared. Combining [1] and [2] gives
+
+[3] DELTA_ET = ET - (TAI - DELTA_AT)
+
+ = (ET - TAI) + DELTA_AT
+
+The difference (ET - TAI) is periodic, and is given by
+
+[4] ET - TAI = DELTA_T_A + K sin E
+
+where DELTA_T_A and K are constant, and E is the eccentric anomaly of the
+heliocentric orbit of the Earth-Moon barycenter. Equation [4], which ignores
+small-period fluctuations, is accurate to about 0.000030 seconds.
+
+The eccentric anomaly E is given by
+
+[5] E = M + EB sin M
+
+where M is the mean anomaly, which in turn is given by
+
+[6] M = M + M t
+ 0 1
+
+where t is the number of ephemeris seconds past J2000.
+
+Thus, in order to compute DELTA_ET, the following items are necessary.
+
+ DELTA_TA
+ K
+ EB
+ M0
+ M1
+ DELTA_AT after each leap second.
+
+The numbers, and the formulation, are taken from the following sources.
+
+ 1) Moyer, T.D., Transformation from Proper Time on Earth to
+ Coordinate Time in Solar System Barycentric Space-Time Frame
+ of Reference, Parts 1 and 2, Celestial Mechanics 23 (1981),
+ 33-56 and 57-68.
+
+ 2) Moyer, T.D., Effects of Conversion to the J2000 Astronomical
+ Reference System on Algorithms for Computing Time Differences
+ and Clock Rates, JPL IOM 314.5--942, 1 October 1985.
+
+The variable names used above are consistent with those used in the
+Astronomical Almanac.
+
+\begindata
+
+DELTET/DELTA_T_A = 32.184
+DELTET/K = 1.657D-3
+DELTET/EB = 1.671D-2
+DELTET/M = ( 6.239996D0 1.99096871D-7 )
+
+DELTET/DELTA_AT = ( 10, @1972-JAN-1
+ 11, @1972-JUL-1
+ 12, @1973-JAN-1
+ 13, @1974-JAN-1
+ 14, @1975-JAN-1
+ 15, @1976-JAN-1
+ 16, @1977-JAN-1
+ 17, @1978-JAN-1
+ 18, @1979-JAN-1
+ 19, @1980-JAN-1
+ 20, @1981-JUL-1
+ 21, @1982-JUL-1
+ 22, @1983-JUL-1
+ 23, @1985-JUL-1
+ 24, @1988-JAN-1
+ 25, @1990-JAN-1
+ 26, @1991-JAN-1
+ 27, @1992-JUL-1
+ 28, @1993-JUL-1
+ 29, @1994-JUL-1
+ 30, @1996-JAN-1
+ 31, @1997-JUL-1
+ 32, @1999-JAN-1
+ 33, @2006-JAN-1
+ 34, @2009-JAN-1
+ 35, @2012-JUL-1
+ 36, @2015-JUL-1
+ 37, @2017-JAN-1 )
+
+\begintext
+
+
diff --git a/tests/pytests/data/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1/pck00010.tpc b/tests/pytests/data/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1/pck00010.tpc
new file mode 100644
index 0000000..efa0209
--- /dev/null
+++ b/tests/pytests/data/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1/pck00010.tpc
@@ -0,0 +1,4061 @@
+KPL/PCK
+
+
+P_constants (PcK) SPICE kernel file
+===========================================================================
+
+ By: Nat Bachman (NAIF) 2011 October 21
+
+
+Purpose
+--------------------------------------------------------
+
+ This file makes available for use in SPICE-based application
+ software orientation and size/shape data for natural bodies. The
+ principal source of the data is a published report by the IAU
+ Working Group on Cartographic Coordinates and Rotational Elements
+ [1].
+
+ Orientation and size/shape data not provided by this file may be
+ available in mission-specific PCK files. Such PCKs may be the
+ preferred data source for mission-related applications.
+ Mission-specific PCKs can be found in PDS archives or on the NAIF
+ web site at URL:
+
+ http://naif.jpl.nasa.gov/naif/data
+
+
+File Organization
+--------------------------------------------------------
+
+ The contents of this file are as follows.
+
+ Introductory Information:
+
+ -- Purpose
+
+ -- File Organization
+
+ -- Version description
+
+ -- Disclaimer
+
+ -- Sources
+
+ -- Explanatory notes
+
+ -- Body numbers and names
+
+
+ PcK Data:
+
+
+ Orientation Data
+ ----------------
+
+ -- Orientation constants for the Sun, planets, and
+ Pluto. Additional items included in this section:
+
+ - Earth north geomagnetic centered dipole value
+ for the epochs 2012
+
+ -- Orientation constants for satellites
+
+ -- Orientation constants for asteroids
+
+ Davida
+ Eros
+ Gaspra
+ Ida
+ Itokawa
+ Lutetia
+ Pallas
+ Steins
+ Vesta
+
+ -- Orientation constants for comets
+
+ 19P/Borrelly
+ 9P/Tempel 1
+
+
+ Orientation data provided in this file are used
+ by the SPICE Toolkit to evaluate the orientation
+ of body-fixed, body-centered reference frames
+ with respect to the ICRF frame ("J2000" in
+ SPICE documentation). These body-fixed frames
+ have names of the form
+
+ IAU_<body name>
+
+ for example
+
+ IAU_JUPITER
+
+ See the PCK Required Reading file pck.req for details.
+
+
+
+ Radii of Bodies
+ ---------------
+
+ -- Radii of Sun, planets, and Pluto
+
+ -- Radii of satellites, where available
+
+ -- Radii of asteroids
+
+ Ceres
+ Davida
+ Eros
+ Gaspra
+ Ida
+ Itokawa
+ Lutetia
+ Mathilde
+ Steins
+ Toutatis
+ Vesta
+
+ -- Radii of comets
+
+ 19P/Borrelly
+ 81P/Wild 2
+ 9P/Tempel 1
+ Halley
+
+
+
+Version Description
+--------------------------------------------------------
+
+ This file was created on October 21, 2011 at NASA's Navigation and
+ Ancillary Information Facility (NAIF), located at the Jet
+ Propulsion Laboratory, Pasadena, CA.
+
+ The previous version of the file was
+
+ pck00009.tpc
+
+ That file was published March 3 2010.
+
+ This version incorporates data from reference [1]. This file
+ contains size, shape, and orientation data for all objects covered
+ by the previous version of the file.
+
+ New objects covered by this file but not the previous
+ version are:
+
+ Anthe
+ Daphnis
+ Davida
+ Lutetia
+ Methone
+ Pallas
+ Pallene
+ Polydeuces
+ Steins
+
+
+
+Disclaimer
+--------------------------------------------------------
+
+Applicability of Data
+
+ This P_constants file may not contain the parameter values that
+ you prefer. NAIF suggests that you inspect this file visually
+ before proceeding with any critical or extended data processing.
+
+File Modifications by Users
+
+ Note that this file may be readily modified by you to change
+ values or add/delete parameters. NAIF requests that you update the
+ "by line," date, version description section, and file name
+ if you modify this file.
+
+ A user-modified file should be thoroughly tested before
+ being published or otherwise distributed.
+
+ P_constants files must conform to the standards described
+ in the two SPICE technical reference documents:
+
+ PCK Required Reading
+ Kernel Required Reading
+
+
+Known Limitations and Caveats
+
+ Accuracy
+ --------
+
+ In general, the orientation models given here are claimed by the
+ IAU Working Group Report [1] to be accurate to 0.1 degree
+ ([1], p.158). However, NAIF notes that orientation models for
+ natural satellites and asteroids have in some cases changed
+ substantially with the availability of new observational data, so
+ users are urged to investigate the suitability for their
+ applications of the models presented here.
+
+ Earth orientation
+ -----------------
+
+ NAIF strongly cautions against using the earth rotation model
+ (from [1]), corresponding to the SPICE reference frame name
+ IAU_EARTH, for work demanding high accuracy. This model has been
+ determined by NAIF to have an error in the prime meridian location
+ of magnitude at least 150 arcseconds, with a local minimum
+ occurring during the year 1999. Regarding availability of better
+ earth orientation data for use with the SPICE system:
+
+ Earth orientation data are available from NAIF in the form of
+ binary earth PCK files. These files provide orientation data
+ for the ITRF93 (terrestrial) reference frame relative to the
+ ICRF.
+
+ NAIF employs an automated process to create these files; each
+ time JPL's Tracking Systems and Applications Section produces a
+ new earth orientation parameter (EOP) file, a new PCK is
+ produced. These PCKs cover a roughly 10 year time span starting
+ at Jan. 1, 2000. In these PCK files, the following effects are
+ accounted for in modeling the earth's rotation:
+
+ - Precession: 1976 IAU model
+
+ - Nutation: 1980 IAU model, plus interpolated
+ EOP nutation corrections
+
+ - Polar motion: interpolated from EOP file
+
+ - True sidereal time:
+
+ UT1 - UT1R (if needed): given by analytic formula
+ + TAI - UT1 (or UT1R): interpolated from EOP file
+ + UT1 - GMST: given by analytic formula
+ + equation of equinoxes: given by analytic formula
+
+ where
+
+ TAI = International Atomic Time
+ UT1 = Greenwich hour angle of computed mean sun - 12h
+ UT1R = Regularized UT1
+ GMST = Greenwich mean sidereal time
+
+ These kernels are available from the NAIF web site
+
+ http://naif.jpl.nasa.gov
+
+ (follow the links to Data, generic_kernels, and PCK data) or
+
+ ftp://naif.jpl.nasa.gov/pub/naif/generic_kernels/pck
+
+ or via anonymous ftp from the server
+
+ naif.jpl.nasa.gov
+
+ The kernels are in the path
+
+ pub/naif/generic_kernels/pck
+
+ At this time, these kernels have file names of the form
+
+ earth_000101_yymmdd_yymmdd.bpc
+
+ The first date in the file name, meaning 2000 January 1, is the
+ file's coverage begin time. The second and third dates are,
+ respectively, the file's coverage end time and the epoch of the
+ last datum.
+
+ These binary PCK files are very accurate (error < 0.1
+ microradian) for epochs preceding the epoch of the last datum.
+ For later epochs, the error rises to several microradians.
+
+ Binary PCK files giving accurate earth orientation from 1972 to
+ 2007 and *low accuracy* predicted earth orientation from
+ 2007 to 2037 are also available in the same location. See the
+ aareadme.txt file at the "pck" URL above for details.
+
+ Characteristics and names of the binary kernels described here
+ are subject to change. See the "pck" URL above for information
+ on current binary earth PCKs.
+
+
+ Lunar orientation
+ -----------------
+
+ The lunar orientation formula provided by this file is a
+ trigonometric polynomial approximation yielding the orientation of
+ the lunar "Mean Earth/Polar Axis" (ME) reference frame. The
+ SPICE reference frame name corresponding to this model is
+ IAU_MOON.
+
+ A more accurate approximation can be obtained by using both the
+ NAIF lunar frame kernel and the binary lunar orientation PCK file.
+ These files provide orientation data for the both the Mean
+ Earth/Polar Axis frame, which has the SPICE name MOON_ME, and the
+ Lunar Principal Axes frame, which has the SPICE name MOON_PA.
+
+ These files are available on the NAIF web site (see URLs above)
+ and in the NAIF server's ftp area. The lunar frame kernel is
+ located in the path
+
+ pub/naif/generic_kernels/fk/satellites
+
+ and has a name of the form
+
+ moon_yymmdd.tf
+
+ The binary lunar PCK is in the path
+
+ pub/naif/generic_kernels/pck
+
+ and has a name of the form
+
+ moon_pa_dennn_yyyy-yyyy.bpc
+
+ See the "aareadme.txt" files in the paths shown above for details
+ on file contents and versions. We also suggest you refer to the
+ SPICE tutorial named "lunar_earth_pck-fk," which is available from
+ the NAIF web site.
+
+
+ Earth geomagnetic dipole
+ ------------------------
+
+ The SPICE Toolkit doesn't currently contain software to model the
+ earth's north geomagnetic centered dipole as a function of time.
+ As a convenience for users, the north dipole location from the
+ epoch 2012.0 was selected as a representative datum, and the
+ planetocentric longitude and latitude of this location have been
+ associated with the keywords
+
+ BODY399_N_GEOMAG_CTR_DIPOLE_LON
+ BODY399_N_GEOMAG_CTR_DIPOLE_LAT
+
+ Values for the earth's north geomagnetic centered dipole are
+ presented in comments as a discrete time series for the time range
+ 1945-2000. For details concerning the geomagnetic field model from
+ which these values were derived, including a discussion of the
+ model's accuracy, see [9] and [11].
+
+
+ Prime meridian offsets
+ ----------------------
+
+ Prime meridian offset kernel variables, which have names
+ of the form
+
+ BODYnnn_LONG_AXIS
+
+ are not used by SPICE geometry software. These variables should be
+ considered deprecated; however, they will be retained for
+ backwards compatibility.
+
+ Users wishing to specify an offset reflecting the orientation of a
+ reference ellipsoid relative to a body-fixed reference frame
+ specified here should do so by creating a constant-offset frame
+ (also called a "TK" frame) specification. See the Frames Required
+ Reading frames.req for details.
+
+ The Mars prime meridian offset given by [5] is provided for
+ informational purposes only.
+
+
+ Software limitations
+ --------------------
+
+ SPICE Toolkits prior to version N0057 cannot make use of
+ trigonometric polynomial terms in the formulas for orientation of
+ the planets.
+
+ The second nutation precession angle (M2) for Mars is represented
+ by a quadratic polynomial in the 2006 IAU report. The SPICELIB
+ subroutine BODEUL can not handle this term (which is extremely
+ small), so we truncate the polynomial to a linear one. The
+ resulting orientation error has a maximum magnitude of less
+ than 0.0032 degrees over the time span 1996-2015 and less than
+ 0.0082 degrees over the time span 1986-2025.
+
+
+Sources and References
+--------------------------------------------------------
+
+ The sources for the constants listed in this file are:
+
+
+ [1] Archinal, B.A., A'Hearn, M.F., Bowell, E., Conrad, A.,
+ Consolmagno, G.J., Courtin, R., Fukushima, T.,
+ Hestroffer, D., Hilton, J.L., Krasinsky, G.A.,
+ Neumann, G., Oberst, J., Seidelmann, P.K., Stooke, P.,
+ Tholen, D.J., Thomas, P.C., and Williams, I.P.
+ "Report of the IAU Working Group on Cartographic Coordinates
+ and Rotational Elements: 2009."
+
+ [2] Archinal, B.A., A'Hearn, M.F., Conrad, A.,
+ Consolmagno, G.J., Courtin, R., Fukushima, T.,
+ Hestroffer, D., Hilton, J.L., Krasinsky, G.A.,
+ Neumann, G., Oberst, J., Seidelmann, P.K., Stooke, P.,
+ Tholen, D.J., Thomas, P.C., and Williams, I.P.
+ "Erratum to: Reports of the IAU Working Group on
+ Cartographic Coordinates and Rotational Elements: 2006 &
+ 2009."
+
+ [3] Seidelmann, P.K., Archinal, B.A., A'Hearn, M.F.,
+ Conrad, A., Consolmagno, G.J., Hestroffer, D.,
+ Hilton, J.L., Krasinsky, G.A., Neumann, G.,
+ Oberst, J., Stooke, P., Tedesco, E.F., Tholen, D.J.,
+ and Thomas, P.C. "Report of the IAU/IAG Working Group
+ on cartographic coordinates and rotational elements: 2006."
+
+ [4] Nautical Almanac Office, United States Naval Observatory
+ and H.M. Nautical Almanac Office, Rutherford Appleton
+ Laboratory (2010). "The Astronomical Almanac for
+ the Year 2010," U.S. Government Printing Office,
+ Washington, D.C.: and The Stationary Office, London.
+
+ [5] Duxbury, Thomas C. (2001). "IAU/IAG 2000 Mars Cartographic
+ Conventions," presentation to the Mars Express Data
+ Archive Working Group, Dec. 14, 2001.
+
+ [6] Russell, C.T. and Luhmann, J.G. (1990). "Earth: Magnetic
+ Field and Magnetosphere." <http://www-ssc.igpp.ucla.
+ edu/personnel/russell/papers/earth_mag>. Originally
+ published in "Encyclopedia of Planetary Sciences," J.H.
+ Shirley and R.W. Fainbridge, eds. Chapman and Hall,
+ New York, pp 208-211.
+
+ [7] Russell, C.T. (1971). "Geophysical Coordinate
+ Transformations," Cosmic Electrodynamics 2 184-186.
+ NAIF document 181.0.
+
+ [8] ESA/ESTEC Space Environment Information System (SPENVIS)
+ (2003). Web page: "Dipole approximations of the
+ geomagnetic field." <http://www.spenvis.oma.be/spenvis/
+ help/background/magfield/cd.html>.
+
+ [9] International Association of Geomagnetism and Aeronomy
+ and International Union of Geodesy and Geophysics (2004).
+ Web page: "The 9th Generation International Geomagnetic
+ Reference Field." <http://www.ngdc.noaa.gov/
+ IAGA/vmod/igrf.html>.
+
+ [10] Davies, M.E., Abalakin, V.K., Bursa, M., Hunt, G.E.,
+ and Lieske, J.H. (1989). "Report of the IAU/IAG/COSPAR
+ Working Group on Cartographic Coordinates and Rotational
+ Elements of the Planets and Satellites: 1988," Celestial
+ Mechanics and Dynamical Astronomy, v.46, no.2, pp.
+ 187-204.
+
+ [11] International Association of Geomagnetism and Aeronomy
+ Web page: "International Geomagnetic Reference Field."
+ Discussion URL:
+
+ http://www.ngdc.noaa.gov/IAGA/vmod/igrf.html
+
+ Coefficients URL:
+
+ http://www.ngdc.noaa.gov/IAGA/vmod/igrf11coeffs.txt
+
+
+
+ Most values are from [1]. All exceptions are
+ commented where they occur in this file. The exceptions are:
+
+
+ -- Radii for the Sun are from [4].
+
+ -- Prime meridian constant (W0) terms for Pluto, Charon,
+ and Ida are from [2].
+
+ -- The second nutation precession angle (M2) for Mars is
+ represented by a quadratic polynomial in the 2000
+ IAU report. The SPICELIB subroutine BODEUL can not
+ handle this term (which is extremely small), so we
+ truncate the polynomial to a linear one.
+
+ -- Earth north geomagnetic centered dipole values are from
+ [11]. The values were also computed from the 11th
+ generation IGRF by Nat Bachman.
+
+
+ "Old values" listed are from the SPICE P_constants file
+ pck00009.tpc dated March 3, 2010. Most of these values came
+ from the 2006 IAU report [3].
+
+
+
+
+Explanatory Notes
+--------------------------------------------------------
+
+ This file, which is logically part of the SPICE P-kernel, contains
+ constants used to model the orientation, size and shape of the
+ Sun, planets, natural satellites, and selected comets and
+ asteroids. The orientation models express the direction of the
+ pole and location of the prime meridian of a body as a function of
+ time. The size/shape models ("shape models" for short) represent
+ all bodies as ellipsoids, using two equatorial radii and a polar
+ radius. Spheroids and spheres are obtained when two or all three
+ radii are equal.
+
+ The SPICE Toolkit routines that use this file are documented in
+ the SPICE "Required Reading" file pck.req. They are also
+ documented in the "PCK" SPICE tutorial, which is available on
+ the NAIF web site.
+
+File Format
+
+ A terse description of the PCK file format is given here. See the
+ SPICE "Required Reading" files pck.req and kernel.req for a
+ detailed explanation of the SPICE text kernel file format. The
+ files pck.req and kernel.req are included in the documentation
+ provided with the SPICE Toolkit.
+
+ The file starts out with the ``ID word'' string
+
+ KPL/PCK
+
+ This string identifies the file as a text kernel containing PCK
+ data.
+
+ This file consists of a series of comment blocks and data blocks.
+ Comment blocks, which contain free-form descriptive or explanatory
+ text, are preceded by a \begintext token. Data blocks follow a
+ \begindata token. In order to be recognized, each of these tokens
+ must be placed on a line by itself.
+
+ The portion of the file preceding the first data block is treated
+ as a comment block; it doesn't require an initial \begintext
+ token.
+
+ This file identifies data using a series of
+
+ KEYWORD = VALUE
+
+ assignments. The left hand side of each assignment is a
+ "kernel variable" name; the right hand side is an associated value
+ or list of values. The SPICE subroutine API allows SPICE routines
+ and user applications to retrieve the set of values associated
+ with each kernel variable name.
+
+ Kernel variable names are case-sensitive and are limited to
+ 32 characters in length.
+
+ Numeric values may be integer or floating point. String values
+ are normally limited to 80 characters in length; however, SPICE
+ provides a mechanism for identifying longer, "continued" strings.
+ See the SPICE routine STPOOL for details.
+
+ String values are single quoted.
+
+ When the right hand side of an assignment is a list of values,
+ the list items may be separated by commas or simply by blanks.
+ The list must be bracketed by parentheses. Example:
+
+ BODY399_RADII = ( 6378.1366 6378.1366 6356.7519 )
+
+ Any blanks preceding or following keyword names, values and equal
+ signs are ignored.
+
+ Assignments may be spread over multiple lines, for example:
+
+ BODY399_RADII = ( 6378.1366
+ 6378.1366
+ 6356.7519 )
+
+ This file may contain blank lines anywhere. Non-printing
+ characters including TAB should not be present in the file: the
+ presence of such characters may cause formatting errors when the
+ file is viewed.
+
+Time systems and reference frames
+
+ The 2009 IAU Working Group Report [1] states the time scale used
+ as the independent variable for the rotation formulas is
+ Barycentric Dynamical Time (TDB) and that the epoch of variable
+ quantities is J2000 TDB (2000 Jan 1 12:00:00 TDB, Julian ephemeris
+ date 2451545.0 TDB). Throughout SPICE documentation and in this
+ file, we use the names "J2000 TDB" and "J2000" for this epoch. The
+ name "J2000.0" is equivalent.
+
+ SPICE documentation refers to the time system used in this file
+ as either "ET" or "TDB." SPICE software makes no distinction
+ between TDB and the time system associated with the independent
+ variable of the JPL planetary ephemerides T_eph.
+
+ The inertial reference frame used for the rotational elements in
+ this file is identified by [1] as the ICRF (International
+ Celestial Reference Frame).
+
+ The SPICE PCK software that reads this file uses the label "J2000"
+ to refer to the ICRF; this is actually a mislabeling which has
+ been retained in the interest of backward compatibility. Using
+ data from this file, by means of calls to the SPICE frame
+ transformation routines, will actually compute orientation
+ relative to the ICRF.
+
+ The difference between the J2000 frame and the ICRF is
+ on the order of tens of milliarcseconds and is well below the
+ accuracy level of the formulas in this file.
+
+Orientation models
+
+ All of the orientation models use three Euler angles to describe
+ the orientation of the coordinate axes of the "Body Equator and
+ Prime Meridian" system with respect to an inertial system. By
+ default, the inertial system is the ICRF (labeled as "J2000"), but
+ other inertial frames can be specified in the file. See the PCK
+ Required Reading for details.
+
+ The first two angles, in order, are the ICRF right ascension and
+ declination (henceforth RA and DEC) of the north pole of a body as
+ a function of time. The third angle is the prime meridian location
+ (represented by "W"), which is expressed as a rotation about the
+ north pole, and is also a function of time.
+
+ For each body, the expressions for the north pole's right
+ ascension and declination, as well as prime meridian location, are
+ sums (as far as the models that appear in this file are concerned)
+ of quadratic polynomials and trigonometric polynomials, where the
+ independent variable is time.
+
+ In this file, the time arguments in expressions always refer to
+ Barycentric Dynamical Time (TDB), measured in centuries or days
+ past a reference epoch. By default, the reference epoch is the
+ J2000 epoch, which is Julian ephemeris date 2451545.0 (2000 Jan 1
+ 12:00:00 TDB), but other epochs can be specified in the file. See
+ the PCK Required Reading for details.
+
+ Orientation models for satellites and some planets (including
+ Jupiter) involve both polynomial terms and trigonometric terms.
+ The arguments of the trigonometric terms are linear polynomials.
+ In this file, we call the arguments of these trigonometric terms
+ "nutation precession angles."
+
+ Example: 2009 IAU Model for orientation of Jupiter. Note that
+ these values are used as an example only; see the data area below
+ for current values.
+
+ Right ascension
+ ---------------
+
+ alpha = 268.056595 - 0.006499 T + 0.000117 sin(Ja)
+ 0 + 0.000938 sin(Jb) + 0.001432 sin(Jc)
+ + 0.000030 sin(Jd) + 0.002150 sin(Je)
+
+ Declination
+ -----------
+
+ delta = 64.495303 + 0.002413 T + 0.000050 cos(Ja)
+ 0 + 0.000404 cos(Jb) + 0.000617 cos(Jc)
+ - 0.000013 cos(Jd) + 0.000926 cos(Je)
+
+ Prime meridian
+ --------------
+
+ W = 284.95 + 870.5366420 d
+
+
+ Here
+
+ T represents centuries past J2000 ( TDB ),
+
+ d represents days past J2000 ( TDB ).
+
+ Ja-Je are nutation precession angles.
+
+ In this file, the polynomials' coefficients above are assigned
+ to kernel variable names (left-hand-side symbols) as follows
+
+ BODY599_POLE_RA = ( 268.056595 -0.006499 0. )
+ BODY599_POLE_DEC = ( 64.495303 0.002413 0. )
+ BODY599_PM = ( 284.95 870.5360000 0. )
+
+ and the trigonometric polynomials' coefficients are assigned
+ as follows
+
+ BODY599_NUT_PREC_RA = ( 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0.000117
+ 0.000938
+ 0.001432
+ 0.000030
+ 0.002150 )
+
+ BODY599_NUT_PREC_DEC = ( 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0.000050
+ 0.000404
+ 0.000617
+ -0.000013
+ 0.000926 )
+
+ BODY599_NUT_PREC_PM = ( 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0.0
+ 0.0
+ 0.0
+ 0.0
+ 0.0 )
+
+ Note the number "599"; this is the NAIF ID code for Jupiter.
+
+ In this file, the polynomial expressions for the nutation
+ precession angles are listed along with the planet's RA, DEC, and
+ prime meridian terms. Below are the 2006 IAU nutation precession
+ angles for the Jupiter system.
+
+ J1 = 73.32 + 91472.9 T
+ J2 = 24.62 + 45137.2 T
+ J3 = 283.90 + 4850.7 T
+ J4 = 355.80 + 1191.3 T
+ J5 = 119.90 + 262.1 T
+ J6 = 229.80 + 64.3 T
+ J7 = 352.25 + 2382.6 T
+ J8 = 113.35 + 6070.0 T
+
+ J9 = 146.64 + 182945.8 T
+ J10 = 49.24 + 90274.4 T
+
+ Ja = 99.360714 + 4850.4046 T
+ Jb = 175.895369 + 1191.9605 T
+ Jc = 300.323162 + 262.5475 T
+ Jd = 114.012305 + 6070.2476 T
+ Je = 49.511251 + 64.3000 T
+
+ Here
+
+ T represents centuries past J2000 ( TDB )
+
+ J1-J10 and Ja-Je are the nutation precession angles. The angles
+ J9 and J10 are equal to 2*J1 and 2*J2, respectively.
+
+ Angles J9 and J10 are not present in [1]; they have been added
+ to fit the terms 2*J1 and 2*J2, which appear in the orientation
+ models of several satellites, into a form that can be accepted
+ by the PCK system.
+
+ The assignment of the nutation precession angles for the
+ Jupiter system is as follows:
+
+ BODY5_NUT_PREC_ANGLES = ( 73.32 91472.9
+ 24.62 45137.2
+ 283.90 4850.7
+ 355.80 1191.3
+ 119.90 262.1
+ 229.80 64.3
+ 352.25 2382.6
+ 113.35 6070.0
+ 146.64 182945.8
+ 49.24 90274.4
+ 99.360714 4850.4046
+ 175.895369 1191.9605
+ 300.323162 262.5475
+ 114.012305 6070.2476
+ 49.511251 64.3000 )
+
+ You'll see an additional symbol grouped with the ones listed
+ above; it is
+
+ BODY599_LONG_AXIS
+
+ This is a deprecated feature; see the note on "Prime meridian
+ offsets" under "Known Limitations and Caveats" above.
+
+ The pattern of the formulas for satellite orientation is similar
+ to that for Jupiter. Example: 2006 IAU values for Io. Again, these
+ values are used as an example only; see the data area below for
+ current values.
+
+ Right ascension
+ ---------------
+
+ alpha = 268.05 - 0.009 T + 0.094 sin(J3) + 0.024 sin(J4)
+ 0
+
+ Declination
+ -----------
+
+ delta = 64.50 + 0.003 T + 0.040 cos(J3) + 0.011 cos(J4)
+ 0
+
+ Prime meridian
+ --------------
+
+ W = 200.39 + 203.4889538 d - 0.085 sin(J3) - 0.022 sin(J4)
+
+
+ d represents days past J2000.
+
+ J3 and J4 are nutation precession angles.
+
+ The polynomial terms are assigned to symbols by the statements
+
+ BODY501_POLE_RA = ( 268.05 -0.009 0. )
+ BODY501_POLE_DEC = ( 64.50 0.003 0. )
+ BODY501_PM = ( 200.39 203.4889538 0. )
+
+ The coefficients of the trigonometric terms are assigned to symbols by
+ the statements
+
+ BODY501_NUT_PREC_RA = ( 0. 0. 0.094 0.024 )
+ BODY501_NUT_PREC_DEC = ( 0. 0. 0.040 0.011 )
+ BODY501_NUT_PREC_PM = ( 0. 0. -0.085 -0.022 )
+
+ 501 is the NAIF ID code for Io.
+
+ SPICE software expects the models for satellite orientation to
+ follow the form of the model shown here: the polynomial portions of the
+ RA, DEC, and W expressions are expected to be quadratic, the
+ trigonometric terms for RA and W (satellite prime meridian) are expected
+ to be linear combinations of sines of nutation precession angles, the
+ trigonometric terms for DEC are expected to be linear combinations of
+ cosines of nutation precession angles, and the polynomials for the
+ nutation precession angles themselves are expected to be linear.
+
+ Eventually, the software will handle more complex expressions, we
+ expect.
+
+
+Shape models
+
+ There is only one kind of shape model supported by the SPICE
+ Toolkit software at present: the triaxial ellipsoid. The 2009 IAU
+ report [1] does not use any other models, except in the case of
+ Mars, where separate values are given for the north and south
+ polar radii. In this file, we provide as a datum the mean Mars
+ polar radius provided by [1]. The North and South values are
+ included as comments.
+
+ For each body, three radii are listed: The first number is
+ the largest equatorial radius (the length of the semi-axis
+ containing the prime meridian), the second number is the smaller
+ equatorial radius, and the third is the polar radius.
+
+ Example: Radii of the Earth.
+
+ BODY399_RADII = ( 6378.1366 6378.1366 6356.7519 )
+
+
+
+Body Numbers and Names
+--------------------------------------------------------
+
+
+ The following NAIF body ID codes and body names appear in this
+ file. See the NAIF IDs Required Reading file naif_ids.req for
+ a detailed discussion and a complete list of ID codes and names.
+
+
+ 1 Mercury barycenter
+ 2 Venus barycenter
+ 3 Earth barycenter
+ 4 Mars barycenter
+ 5 Jupiter barycenter
+ 6 Saturn barycenter
+ 7 Uranus barycenter
+ 8 Neptune barycenter
+ 9 Pluto barycenter
+ 10 Sun
+
+
+ 199 Mercury
+
+
+ 299 Venus
+
+
+ 399 Earth
+
+ 301 Moon
+
+
+ 499 Mars
+
+ 401 Phobos 402 Deimos
+
+
+ 599 Jupiter
+
+ 501 Io 502 Europa 503 Ganymede 504 Callisto
+ 505 Amalthea 506 Himalia 507 Elara 508 Pasiphae
+ 509 Sinope 510 Lysithea 511 Carme 512 Ananke
+ 513 Leda 514 Thebe 515 Adrastea 516 Metis
+
+
+ 699 Saturn
+
+ 601 Mimas 602 Enceladus 603 Tethys 604 Dione
+ 605 Rhea 606 Titan 607 Hyperion 608 Iapetus
+ 609 Phoebe 610 Janus 611 Epimetheus 612 Helene
+ 613 Telesto 614 Calypso 615 Atlas 616 Prometheus
+ 617 Pandora 618 Pan 632 Methone 633 Pallene
+ 634 Polydeuces 635 Daphnis 649 Anthe
+
+
+ 799 Uranus
+
+ 701 Ariel 702 Umbriel 703 Titania 704 Oberon
+ 705 Miranda 706 Cordelia 707 Ophelia 708 Bianca
+ 709 Cressida 710 Desdemona 711 Juliet 712 Portia
+ 713 Rosalind 714 Belinda 715 Puck
+
+
+ 899 Neptune
+
+ 801 Triton 802 Nereid 803 Naiad 804 Thalassa
+ 805 Despina 806 Galatea 807 Larissa 808 Proteus
+
+
+ 999 Pluto
+
+ 901 Charon
+
+
+ 1000005 Comet 19P/Borrelly
+ 1000036 Comet Halley
+ 1000093 Comet 9P/Tempel 1
+ 1000107 Comet 81P/Wild 2
+
+ 2000001 Asteroid Ceres
+ 2000002 Asteroid Pallas
+ 2000004 Asteroid Vesta
+ 2000021 Asteroid Lutetia
+ 2000216 Asteroid Kleopatra
+ 2000253 Asteroid Mathilde
+ 2000433 Asteroid Eros
+ 2000511 Asteroid Davida
+ 2002867 Asteroid Steins
+ 2004179 Asteroid Toutatis
+ 2025143 Asteroid Itokawa
+ 2431010 Asteroid Ida
+ 9511010 Asteroid Gaspra
+
+
+Orientation Constants for the Sun and Planets
+--------------------------------------------------------
+
+
+Sun
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY10_POLE_RA = ( 286.13 0. 0. )
+ BODY10_POLE_DEC = ( 63.87 0. 0. )
+ BODY10_PM = ( 84.176 14.18440 0. )
+ BODY10_LONG_AXIS = ( 0. )
+
+ \begintext
+
+Mercury
+
+ Old values:
+
+ Values are from the 2006 IAU report.
+
+ body199_pole_ra = ( 281.01 -0.033 0. )
+ body199_pole_dec = ( 61.45 -0.005 0. )
+ body199_pm = ( 329.548 6.1385025 0. )
+
+
+ Current values:
+
+ \begindata
+
+ BODY199_POLE_RA = ( 281.0097 -0.0328 0. )
+ BODY199_POLE_DEC = ( 61.4143 -0.0049 0. )
+ BODY199_PM = ( 329.5469 6.1385025 0. )
+
+ BODY199_LONG_AXIS = ( 0. )
+
+ BODY199_NUT_PREC_RA = ( 0. 0. 0. 0. 0. )
+
+ BODY199_NUT_PREC_DEC = ( 0. 0. 0. 0. 0. )
+
+ BODY199_NUT_PREC_PM = ( 0.00993822
+ -0.00104581
+ -0.00010280
+ -0.00002364
+ -0.00000532 )
+ \begintext
+
+ The linear coefficients have been scaled up from degrees/day
+ to degrees/century, because the SPICELIB PCK reader expects
+ these units. The original constants were:
+
+ 174.791086 4.092335
+ 349.582171 8.184670
+ 164.373257 12.277005
+ 339.164343 16.369340
+ 153.955429 20.461675
+
+
+ \begindata
+
+ BODY1_NUT_PREC_ANGLES = ( 174.791086 0.14947253587500003E+06
+ 349.582171 0.29894507175000006E+06
+ 164.373257 0.44841760762500006E+06
+ 339.164343 0.59789014350000012E+06
+ 153.955429 0.74736267937499995E+06 )
+ \begintext
+
+
+Venus
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY299_POLE_RA = ( 272.76 0. 0. )
+ BODY299_POLE_DEC = ( 67.16 0. 0. )
+ BODY299_PM = ( 160.20 -1.4813688 0. )
+
+ BODY299_LONG_AXIS = ( 0. )
+
+ \begintext
+
+
+Earth
+
+ Old values:
+
+ Values are unchanged in the 2009 report.
+
+ Current values:
+
+ \begindata
+
+ BODY399_POLE_RA = ( 0. -0.641 0. )
+ BODY399_POLE_DEC = ( 90. -0.557 0. )
+ BODY399_PM = ( 190.147 360.9856235 0. )
+ BODY399_LONG_AXIS = ( 0. )
+
+ \begintext
+
+
+ Nutation precession angles for the Earth-Moon system:
+
+ The linear coefficients have been scaled up from degrees/day
+ to degrees/century, because the SPICELIB PCK reader expects
+ these units. The original constants were:
+
+ 125.045D0 -0.0529921D0
+ 250.089D0 -0.1059842D0
+ 260.008D0 13.0120009D0
+ 176.625D0 13.3407154D0
+ 357.529D0 0.9856003D0
+ 311.589D0 26.4057084D0
+ 134.963D0 13.0649930D0
+ 276.617D0 0.3287146D0
+ 34.226D0 1.7484877D0
+ 15.134D0 -0.1589763D0
+ 119.743D0 0.0036096D0
+ 239.961D0 0.1643573D0
+ 25.053D0 12.9590088D0
+
+
+ \begindata
+
+
+ BODY3_NUT_PREC_ANGLES = ( 125.045 -1935.5364525000
+ 250.089 -3871.0729050000
+ 260.008 475263.3328725000
+ 176.625 487269.6299850000
+ 357.529 35999.0509575000
+ 311.589 964468.4993100000
+ 134.963 477198.8693250000
+ 276.617 12006.3007650000
+ 34.226 63863.5132425000
+ 15.134 -5806.6093575000
+ 119.743 131.8406400000
+ 239.961 6003.1503825000
+ 25.053 473327.7964200000 )
+
+
+ \begintext
+
+
+ Earth north geomagnetic centered dipole:
+
+ The north dipole location is time-varying. The values shown
+ below, taken from [8], represent a discrete sampling of the
+ north dipole location from 1945 to 2000. The terms DGRF and
+ IGRF refer to, respectively, "Definitive Geomagnetic
+ Reference Field" and "International Geomagnetic Reference
+ Field." See references [6], [8], and [9] for details.
+
+ Coordinates are planetocentric.
+
+ Data source Lat Lon
+ ----------- ----- ------
+ DGRF 1945 78.47 291.47
+ DGRF 1950 78.47 291.15
+ DGRF 1955 78.46 290.84
+ DGRF 1960 78.51 290.53
+ DGRF 1965 78.53 290.15
+ DGRF 1970 78.59 289.82
+ DGRF 1975 78.69 289.53
+ DGRF 1980 78.81 289.24
+ DGRF 1985 78.97 289.10
+ DGRF 1990 79.13 288.89
+ IGRF 1995 79.30 288.59
+ IGRF 2000 79.54 288.43
+
+ Original values:
+
+ Values are from [7]. Note the year of publication was 1971.
+
+ body399_mag_north_pole_lon = ( -69.761 )
+ body399_mag_north_pole_lat = ( 78.565 )
+
+ Previous values:
+
+ body399_n_geomag_ctr_dipole_lon = ( 288.43 )
+ body399_n_geomag_ctr_dipole_lat = ( 79.54 )
+
+
+ Current values:
+
+ Values are given for the epoch 2012.0 and were derived
+ by Nat Bachman from constants provided by [11].
+
+ \begindata
+
+ BODY399_N_GEOMAG_CTR_DIPOLE_LON = ( 287.62 )
+ BODY399_N_GEOMAG_CTR_DIPOLE_LAT = ( 80.13 )
+
+ \begintext
+
+
+
+
+Mars
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY499_POLE_RA = ( 317.68143 -0.1061 0. )
+ BODY499_POLE_DEC = ( 52.88650 -0.0609 0. )
+ BODY499_PM = ( 176.630 350.89198226 0. )
+
+ \begintext
+
+ Source [5] specifies the following value for the lambda_a term
+ (BODY499_LONG_AXIS ) for Mars. This term is the POSITIVE EAST
+ LONGITUDE, measured from the prime meridian, of the meridian
+ containing the longest axis of the reference ellipsoid.
+ (CAUTION: previous values were POSITIVE WEST.)
+
+ body499_long_axis = ( 252. )
+
+ We list this lambda_a value for completeness. The IAU report
+ [1] gives equal values for both equatorial radii, so the
+ lambda_a offset does not apply to the IAU model.
+
+ The 2003 IAU report defines M2, the second nutation precession angle,
+ by:
+
+ 2
+ 192.93 + 1128.4096700 d + 8.864 T
+
+ We truncate the M2 series to a linear expression, because the PCK
+ software cannot handle the quadratic term.
+
+ Again, the linear terms are scaled by 36525.0:
+
+ -0.4357640000000000 --> -15916.28010000000
+ 1128.409670000000 --> 41215163.19675000
+ -1.8151000000000000E-02 --> -662.9652750000000
+
+ We also introduce a fourth nutation precession angle, which
+ is the pi/2-complement of the third angle. This angle is used
+ in computing the prime meridian location for Deimos. See the
+ discussion of this angle below in the section containing orientation
+ constants for Deimos.
+
+ \begindata
+
+ BODY4_NUT_PREC_ANGLES = ( 169.51 -15916.2801
+ 192.93 41215163.19675
+ 53.47 -662.965275
+ 36.53 662.965275 )
+
+ \begintext
+
+
+Jupiter
+
+ Old values:
+
+ The rotation rate is from the 2006 IAU report; all other
+ values are unchanged in the 2009 report.
+
+ body599_pm = ( 284.95 870.5366420 0. )
+
+
+ Current values:
+
+ The number of nutation precession angles is 15. The ninth and
+ tenth are twice the first and second, respectively. The
+ eleventh through fifteenth correspond to angles JA-JE in
+ the 2006 IAU report; angles JA-JE were not used prior to that
+ report.
+
+ \begindata
+
+
+ BODY599_POLE_RA = ( 268.056595 -0.006499 0. )
+ BODY599_POLE_DEC = ( 64.495303 0.002413 0. )
+ BODY599_PM = ( 284.95 870.5360000 0. )
+ BODY599_LONG_AXIS = ( 0. )
+
+ BODY599_NUT_PREC_RA = ( 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0.000117
+ 0.000938
+ 0.001432
+ 0.000030
+ 0.002150 )
+
+ BODY599_NUT_PREC_DEC = ( 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0.000050
+ 0.000404
+ 0.000617
+ -0.000013
+ 0.000926 )
+
+ BODY599_NUT_PREC_PM = ( 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0.0
+ 0.0
+ 0.0
+ 0.0
+ 0.0 )
+
+
+ BODY5_NUT_PREC_ANGLES = ( 73.32 91472.9
+ 24.62 45137.2
+ 283.90 4850.7
+ 355.80 1191.3
+ 119.90 262.1
+ 229.80 64.3
+ 352.25 2382.6
+ 113.35 6070.0
+ 146.64 182945.8
+ 49.24 90274.4
+ 99.360714 4850.4046
+ 175.895369 1191.9605
+ 300.323162 262.5475
+ 114.012305 6070.2476
+ 49.511251 64.3000 )
+ \begintext
+
+
+Saturn
+
+ Old values:
+
+ Values are from the 2006 IAU report.
+
+
+ body699_pole_ra = ( 40.589 -0.036 0. )
+ body699_pole_dec = ( 83.537 -0.004 0. )
+ body699_pm = ( 38.90 810.7939024 0. )
+ body699_long_axis = ( 0. )
+
+
+ The first seven angles given here are the angles S1
+ through S7 from the 2000 report; the eighth and
+ ninth angles are 2*S1 and 2*S2, respectively.
+
+
+ body6_nut_prec_angles = ( 353.32 75706.7
+ 28.72 75706.7
+ 177.40 -36505.5
+ 300.00 -7225.9
+ 316.45 506.2
+ 345.20 -1016.3
+ 29.80 -52.1
+ 706.64 151413.4
+ 57.44 151413.4 )
+
+
+ Current values:
+
+
+ The change from the previous set of values is the
+ removal of S7. This causes BODY6_NUT_PREC_ANGLES
+ elements that formerly corresponded to 2*S1 and 2*S1
+ to be shifted toward the start of the array.
+
+ \begindata
+
+ BODY699_POLE_RA = ( 40.589 -0.036 0. )
+ BODY699_POLE_DEC = ( 83.537 -0.004 0. )
+ BODY699_PM = ( 38.90 810.7939024 0. )
+ BODY699_LONG_AXIS = ( 0. )
+
+ \begintext
+
+ The first six angles given here are the angles S1
+ through S6 from the 2009 report; the seventh and
+ eigth angles are 2*S1 and 2*S2, respectively.
+
+
+ \begindata
+
+ BODY6_NUT_PREC_ANGLES = ( 353.32 75706.7
+ 28.72 75706.7
+ 177.40 -36505.5
+ 300.00 -7225.9
+ 316.45 506.2
+ 345.20 -1016.3
+ 706.64 151413.4
+ 57.44 151413.4 )
+ \begintext
+
+
+Uranus
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY799_POLE_RA = ( 257.311 0. 0. )
+ BODY799_POLE_DEC = ( -15.175 0. 0. )
+ BODY799_PM = ( 203.81 -501.1600928 0. )
+ BODY799_LONG_AXIS = ( 0. )
+
+ \begintext
+
+ The first 16 angles given here are the angles U1
+ through U16 from the 2000 report; the 17th and
+ 18th angles are 2*U11 and 2*U12, respectively.
+
+ \begindata
+
+ BODY7_NUT_PREC_ANGLES = ( 115.75 54991.87
+ 141.69 41887.66
+ 135.03 29927.35
+ 61.77 25733.59
+ 249.32 24471.46
+ 43.86 22278.41
+ 77.66 20289.42
+ 157.36 16652.76
+ 101.81 12872.63
+ 138.64 8061.81
+ 102.23 -2024.22
+ 316.41 2863.96
+ 304.01 -51.94
+ 308.71 -93.17
+ 340.82 -75.32
+ 259.14 -504.81
+ 204.46 -4048.44
+ 632.82 5727.92 )
+
+ \begintext
+
+
+
+Neptune
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY899_POLE_RA = ( 299.36 0. 0. )
+ BODY899_POLE_DEC = ( 43.46 0. 0. )
+ BODY899_PM = ( 253.18 536.3128492 0. )
+ BODY899_LONG_AXIS = ( 0. )
+
+
+ BODY899_NUT_PREC_RA = ( 0.70 0. 0. 0. 0. 0. 0. 0. )
+ BODY899_NUT_PREC_DEC = ( -0.51 0. 0. 0. 0. 0. 0. 0. )
+ BODY899_NUT_PREC_PM = ( -0.48 0. 0. 0. 0. 0. 0. 0. )
+
+ \begintext
+
+ The 2000 report defines the nutation precession angles
+
+ N, N1, N2, ... , N7
+
+ and also uses the multiples of N1 and N7
+
+ 2*N1
+
+ and
+
+ 2*N7, 3*N7, ..., 9*N7
+
+ In this file, we treat the angles and their multiples as
+ separate angles. In the kernel variable
+
+ BODY8_NUT_PREC_ANGLES
+
+ the order of the angles is
+
+ N, N1, N2, ... , N7, 2*N1, 2*N7, 3*N7, ..., 9*N7
+
+ Each angle is defined by a linear polynomial, so two
+ consecutive array elements are allocated for each
+ angle. The first term of each pair is the constant term,
+ the second is the linear term.
+
+ \begindata
+
+ BODY8_NUT_PREC_ANGLES = ( 357.85 52.316
+ 323.92 62606.6
+ 220.51 55064.2
+ 354.27 46564.5
+ 75.31 26109.4
+ 35.36 14325.4
+ 142.61 2824.6
+ 177.85 52.316
+ 647.840 125213.200
+ 355.700 104.632
+ 533.550 156.948
+ 711.400 209.264
+ 889.250 261.580
+ 1067.100 313.896
+ 1244.950 366.212
+ 1422.800 418.528
+ 1600.650 470.844 )
+
+ \begintext
+
+
+
+
+Orientation Constants for the Dwarf Planet Pluto
+--------------------------------------------------------
+
+Pluto
+
+ Old values:
+
+ Values are from the 2006 IAU report.
+
+ body999_pole_ra = ( 312.993 0. 0. )
+ body999_pole_dec = ( 6.163 0. 0. )
+ body999_pm = ( 237.305 -56.3625225 0. )
+ body999_long_axis = ( 0. )
+
+
+ Current values:
+
+ Due to the new definition of planetocentric coordinates
+ for small bodies, and to the reclassification of Pluto
+ as a dwarf planet, Pluto's north pole direction has been
+ inverted.
+
+ The PM constant W0 is from [2].
+
+ \begindata
+
+ BODY999_POLE_RA = ( 132.993 0. 0. )
+ BODY999_POLE_DEC = ( -6.163 0. 0. )
+ BODY999_PM = ( 302.695 56.3625225 0. )
+ BODY999_LONG_AXIS = ( 0. )
+
+ \begintext
+
+
+
+
+Orientation constants for the satellites
+--------------------------------------------------------
+
+
+Satellites of Earth
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ New values:
+
+ \begindata
+
+
+ BODY301_POLE_RA = ( 269.9949 0.0031 0. )
+ BODY301_POLE_DEC = ( 66.5392 0.0130 0. )
+ BODY301_PM = ( 38.3213 13.17635815 -1.4D-12 )
+ BODY301_LONG_AXIS = ( 0. )
+
+ BODY301_NUT_PREC_RA = ( -3.8787 -0.1204 0.0700 -0.0172
+ 0.0 0.0072 0.0 0.0
+ 0.0 -0.0052 0.0 0.0
+ 0.0043 )
+
+ BODY301_NUT_PREC_DEC = ( 1.5419 0.0239 -0.0278 0.0068
+ 0.0 -0.0029 0.0009 0.0
+ 0.0 0.0008 0.0 0.0
+ -0.0009 )
+
+ BODY301_NUT_PREC_PM = ( 3.5610 0.1208 -0.0642 0.0158
+ 0.0252 -0.0066 -0.0047 -0.0046
+ 0.0028 0.0052 0.0040 0.0019
+ -0.0044 )
+ \begintext
+
+
+
+Satellites of Mars
+
+
+ Phobos
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+
+ Current values:
+
+ The quadratic prime meridian term is scaled by 1/36525**2:
+
+ 8.864000000000000 ---> 6.6443009930565219E-09
+
+ \begindata
+
+ BODY401_POLE_RA = ( 317.68 -0.108 0. )
+ BODY401_POLE_DEC = ( 52.90 -0.061 0. )
+ BODY401_PM = ( 35.06 1128.8445850 6.6443009930565219E-09 )
+
+ BODY401_LONG_AXIS = ( 0. )
+
+ BODY401_NUT_PREC_RA = ( 1.79 0. 0. 0. )
+ BODY401_NUT_PREC_DEC = ( -1.08 0. 0. 0. )
+ BODY401_NUT_PREC_PM = ( -1.42 -0.78 0. 0. )
+
+
+ \begintext
+
+
+ Deimos
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ New values:
+
+ The Deimos prime meridian expression is:
+
+
+ 2
+ W = 79.41 + 285.1618970 d - 0.520 T - 2.58 sin M
+ 3
+
+ + 0.19 cos M .
+ 3
+
+
+ At the present time, the PCK kernel software (the routine
+ BODEUL in particular) cannot handle the cosine term directly,
+ but we can represent it as
+
+ 0.19 sin M
+ 4
+
+ where
+
+ M = 90.D0 - M
+ 4 3
+
+ Therefore, the nutation precession angle assignments for Phobos
+ and Deimos contain four coefficients rather than three.
+
+ The quadratic prime meridian term is scaled by 1/36525**2:
+
+ -0.5200000000000000 ---> -3.8978300049519307E-10
+
+ \begindata
+
+ BODY402_POLE_RA = ( 316.65 -0.108 0. )
+ BODY402_POLE_DEC = ( 53.52 -0.061 0. )
+ BODY402_PM = ( 79.41 285.1618970 -3.897830D-10 )
+ BODY402_LONG_AXIS = ( 0. )
+
+ BODY402_NUT_PREC_RA = ( 0. 0. 2.98 0. )
+ BODY402_NUT_PREC_DEC = ( 0. 0. -1.78 0. )
+ BODY402_NUT_PREC_PM = ( 0. 0. -2.58 0.19 )
+
+ \begintext
+
+
+
+
+Satellites of Jupiter
+
+
+ Io
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY501_POLE_RA = ( 268.05 -0.009 0. )
+ BODY501_POLE_DEC = ( 64.50 0.003 0. )
+ BODY501_PM = ( 200.39 203.4889538 0. )
+ BODY501_LONG_AXIS = ( 0. )
+
+ BODY501_NUT_PREC_RA = ( 0. 0. 0.094 0.024 )
+ BODY501_NUT_PREC_DEC = ( 0. 0. 0.040 0.011 )
+ BODY501_NUT_PREC_PM = ( 0. 0. -0.085 -0.022 )
+
+ \begintext
+
+
+
+ Europa
+
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+
+ Current values:
+
+ \begindata
+
+ BODY502_POLE_RA = ( 268.08 -0.009 0. )
+ BODY502_POLE_DEC = ( 64.51 0.003 0. )
+ BODY502_PM = ( 36.022 101.3747235 0. )
+ BODY502_LONG_AXIS = ( 0. )
+
+ BODY502_NUT_PREC_RA = ( 0. 0. 0. 1.086 0.060 0.015 0.009 )
+ BODY502_NUT_PREC_DEC = ( 0. 0. 0. 0.468 0.026 0.007 0.002 )
+ BODY502_NUT_PREC_PM = ( 0. 0. 0. -0.980 -0.054 -0.014 -0.008 )
+
+ \begintext
+
+
+ Ganymede
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY503_POLE_RA = ( 268.20 -0.009 0. )
+ BODY503_POLE_DEC = ( 64.57 0.003 0. )
+ BODY503_PM = ( 44.064 50.3176081 0. )
+ BODY503_LONG_AXIS = ( 0. )
+
+ BODY503_NUT_PREC_RA = ( 0. 0. 0. -0.037 0.431 0.091 )
+ BODY503_NUT_PREC_DEC = ( 0. 0. 0. -0.016 0.186 0.039 )
+ BODY503_NUT_PREC_PM = ( 0. 0. 0. 0.033 -0.389 -0.082 )
+
+ \begintext
+
+
+ Callisto
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+
+ \begindata
+
+ BODY504_POLE_RA = ( 268.72 -0.009 0. )
+ BODY504_POLE_DEC = ( 64.83 0.003 0. )
+ BODY504_PM = ( 259.51 21.5710715 0. )
+ BODY504_LONG_AXIS = ( 0. )
+
+ BODY504_NUT_PREC_RA = ( 0. 0. 0. 0. -0.068 0.590 0. 0.010 )
+ BODY504_NUT_PREC_DEC = ( 0. 0. 0. 0. -0.029 0.254 0. -0.004 )
+ BODY504_NUT_PREC_PM = ( 0. 0. 0. 0. 0.061 -0.533 0. -0.009 )
+
+ \begintext
+
+
+ Amalthea
+
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY505_POLE_RA = ( 268.05 -0.009 0. )
+ BODY505_POLE_DEC = ( 64.49 0.003 0. )
+ BODY505_PM = ( 231.67 722.6314560 0. )
+ BODY505_LONG_AXIS = ( 0. )
+
+ BODY505_NUT_PREC_RA = ( -0.84 0. 0. 0. 0. 0. 0. 0. 0.01 0. )
+ BODY505_NUT_PREC_DEC = ( -0.36 0. 0. 0. 0. 0. 0. 0. 0. 0. )
+ BODY505_NUT_PREC_PM = ( 0.76 0. 0. 0. 0. 0. 0. 0. -0.01 0. )
+
+ \begintext
+
+
+ Thebe
+
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY514_POLE_RA = ( 268.05 -0.009 0. )
+ BODY514_POLE_DEC = ( 64.49 0.003 0. )
+ BODY514_PM = ( 8.56 533.7004100 0. )
+ BODY514_LONG_AXIS = ( 0. )
+
+ BODY514_NUT_PREC_RA = ( 0. -2.11 0. 0. 0. 0. 0. 0. 0. 0.04 )
+ BODY514_NUT_PREC_DEC = ( 0. -0.91 0. 0. 0. 0. 0. 0. 0. 0.01 )
+ BODY514_NUT_PREC_PM = ( 0. 1.91 0. 0. 0. 0. 0. 0. 0. -0.04 )
+
+ \begintext
+
+
+ Adrastea
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY515_POLE_RA = ( 268.05 -0.009 0. )
+ BODY515_POLE_DEC = ( 64.49 0.003 0. )
+ BODY515_PM = ( 33.29 1206.9986602 0. )
+ BODY515_LONG_AXIS = ( 0. )
+
+ \begintext
+
+
+ Metis
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY516_POLE_RA = ( 268.05 -0.009 0. )
+ BODY516_POLE_DEC = ( 64.49 0.003 0. )
+ BODY516_PM = ( 346.09 1221.2547301 0. )
+ BODY516_LONG_AXIS = ( 0. )
+
+ \begintext
+
+
+
+Satellites of Saturn
+
+
+ Mimas
+
+ Old values:
+
+ Values are from the 2006 IAU report.
+
+ body601_pole_ra = ( 40.66 -0.036 0. )
+ body601_pole_dec = ( 83.52 -0.004 0. )
+ body601_pm = ( 337.46 381.9945550 0. )
+ body601_long_axis = ( 0. )
+
+ body601_nut_prec_ra = ( 0. 0. 13.56 0. 0. 0. 0. 0. 0. )
+ body601_nut_prec_dec = ( 0. 0. -1.53 0. 0. 0. 0. 0. 0. )
+ body601_nut_prec_pm = ( 0. 0. -13.48 0. -44.85 0. 0. 0. 0. )
+
+
+ Current values:
+
+ \begindata
+
+ BODY601_POLE_RA = ( 40.66 -0.036 0. )
+ BODY601_POLE_DEC = ( 83.52 -0.004 0. )
+ BODY601_PM = ( 333.46 381.9945550 0. )
+ BODY601_LONG_AXIS = ( 0. )
+
+ BODY601_NUT_PREC_RA = ( 0. 0. 13.56 0. 0. 0. 0. 0. )
+ BODY601_NUT_PREC_DEC = ( 0. 0. -1.53 0. 0. 0. 0. 0. )
+ BODY601_NUT_PREC_PM = ( 0. 0. -13.48 0. -44.85 0. 0. 0. )
+
+ \begintext
+
+
+ Enceladus
+
+
+ Old values:
+
+ Values are from the 2006 IAU report.
+
+ body602_pole_ra = ( 40.66 -0.036 0. )
+ body602_pole_dec = ( 83.52 -0.004 0. )
+ body602_pm = ( 2.82 262.7318996 0. )
+ body602_long_axis = ( 0. )
+
+
+ Current values:
+
+ \begindata
+
+ BODY602_POLE_RA = ( 40.66 -0.036 0. )
+ BODY602_POLE_DEC = ( 83.52 -0.004 0. )
+ BODY602_PM = ( 6.32 262.7318996 0. )
+ BODY602_LONG_AXIS = ( 0. )
+
+ \begintext
+
+
+
+ Tethys
+
+
+ Old values:
+
+ Values are from the 2006 IAU report.
+
+ body603_pole_ra = ( 40.66 -0.036 0. )
+ body603_pole_dec = ( 83.52 -0.004 0. )
+ body603_pm = ( 10.45 190.6979085 0. )
+ body603_long_axis = ( 0. )
+
+ body603_nut_prec_ra = ( 0. 0. 0. 9.66 0. 0. 0. 0. 0. )
+ body603_nut_prec_dec = ( 0. 0. 0. -1.09 0. 0. 0. 0. 0. )
+ body603_nut_prec_pm = ( 0. 0. 0. -9.60 2.23 0. 0. 0. 0. )
+
+
+ Current values:
+
+ \begindata
+
+ BODY603_POLE_RA = ( 40.66 -0.036 0. )
+ BODY603_POLE_DEC = ( 83.52 -0.004 0. )
+ BODY603_PM = ( 8.95 190.6979085 0. )
+ BODY603_LONG_AXIS = ( 0. )
+
+ BODY603_NUT_PREC_RA = ( 0. 0. 0. 9.66 0. 0. 0. 0. )
+ BODY603_NUT_PREC_DEC = ( 0. 0. 0. -1.09 0. 0. 0. 0. )
+ BODY603_NUT_PREC_PM = ( 0. 0. 0. -9.60 2.23 0. 0. 0. )
+
+ \begintext
+
+
+ Dione
+
+
+ Old values:
+
+ Values are from the 2006 IAU report.
+
+ body604_pole_ra = ( 40.66 -0.036 0. )
+ body604_pole_dec = ( 83.52 -0.004 0. )
+ body604_pm = ( 357.00 131.5349316 0. )
+ body604_long_axis = ( 0. )
+
+
+ Current values:
+
+ \begindata
+
+ BODY604_POLE_RA = ( 40.66 -0.036 0. )
+ BODY604_POLE_DEC = ( 83.52 -0.004 0. )
+ BODY604_PM = ( 357.6 131.5349316 0. )
+ BODY604_LONG_AXIS = ( 0. )
+
+ \begintext
+
+
+
+ Rhea
+
+
+ Old values:
+
+ Values are from the 2009 IAU report.
+
+ body605_pole_ra = ( 40.38 -0.036 0. )
+ body605_pole_dec = ( 83.55 -0.004 0. )
+ body605_pm = ( 235.16 79.6900478 0. )
+ body605_long_axis = ( 0. )
+
+ body605_nut_prec_ra = ( 0. 0. 0. 0. 0. 3.10 0. 0. 0. )
+ body605_nut_prec_dec = ( 0. 0. 0. 0. 0. -0.35 0. 0. 0. )
+ body605_nut_prec_pm = ( 0. 0. 0. 0. 0. -3.08 0. 0. 0. )
+
+
+ Current values:
+
+ Data values are unchanged in the 2009 IAU report. However
+ the kernel variable contents have changed due to removal of
+ the angle S7.
+
+ \begindata
+
+ BODY605_POLE_RA = ( 40.38 -0.036 0. )
+ BODY605_POLE_DEC = ( 83.55 -0.004 0. )
+ BODY605_PM = ( 235.16 79.6900478 0. )
+ BODY605_LONG_AXIS = ( 0. )
+
+ BODY605_NUT_PREC_RA = ( 0. 0. 0. 0. 0. 3.10 0. 0. )
+ BODY605_NUT_PREC_DEC = ( 0. 0. 0. 0. 0. -0.35 0. 0. )
+ BODY605_NUT_PREC_PM = ( 0. 0. 0. 0. 0. -3.08 0. 0. )
+
+ \begintext
+
+
+
+ Titan
+
+
+ Old values:
+
+ Values are from the 2006 IAU report.
+
+ BODY606_POLE_RA = ( 36.41 -0.036 0. )
+ BODY606_POLE_DEC = ( 83.94 -0.004 0. )
+ BODY606_PM = ( 189.64 22.5769768 0. )
+ BODY606_LONG_AXIS = ( 0. )
+
+ BODY606_NUT_PREC_RA = ( 0. 0. 0. 0. 0. 0. 2.66 0. 0 )
+ BODY606_NUT_PREC_DEC = ( 0. 0. 0. 0. 0. 0. -0.30 0. 0 )
+ BODY606_NUT_PREC_PM = ( 0. 0. 0. 0. 0. 0. -2.64 0. 0 )
+
+
+ Current values:
+
+ Note removal of dependence on the nutation precession
+ angles.
+
+ \begindata
+
+ BODY606_POLE_RA = ( 39.4827 0. 0. )
+ BODY606_POLE_DEC = ( 83.4279 0. 0. )
+ BODY606_PM = ( 186.5855 22.5769768 0. )
+ BODY606_LONG_AXIS = ( 0. )
+
+ BODY606_NUT_PREC_RA = ( 0. 0. 0. 0. 0. 0. 0. 0 )
+ BODY606_NUT_PREC_DEC = ( 0. 0. 0. 0. 0. 0. 0. 0 )
+ BODY606_NUT_PREC_PM = ( 0. 0. 0. 0. 0. 0. 0. 0 )
+
+ \begintext
+
+
+
+ Hyperion
+
+ The IAU report does not give an orientation model for Hyperion.
+ Hyperion's rotation is in chaotic and is not predictable for
+ long periods.
+
+
+ Iapetus
+
+
+ Old values:
+
+ Values are from the 2006 IAU report.
+
+ body608_pole_ra = ( 318.16 -3.949 0. )
+ body608_pole_dec = ( 75.03 -1.143 0. )
+ body608_pm = ( 350.20 4.5379572 0. )
+ body608_long_axis = ( 0. )
+
+
+ Current values:
+
+ \begindata
+
+ BODY608_POLE_RA = ( 318.16 -3.949 0. )
+ BODY608_POLE_DEC = ( 75.03 -1.143 0. )
+ BODY608_PM = ( 355.2 4.5379572 0. )
+ BODY608_LONG_AXIS = ( 0. )
+
+ \begintext
+
+
+
+ Phoebe
+
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY609_POLE_RA = ( 356.90 0. 0. )
+ BODY609_POLE_DEC = ( 77.80 0. 0. )
+ BODY609_PM = ( 178.58 931.639 0. )
+ BODY609_LONG_AXIS = ( 0. )
+
+ \begintext
+
+
+ Janus
+
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+
+ Current values:
+
+ Data values are unchanged in the 2009 IAU report. However
+ the kernel variable contents have changed due to removal of
+ the angle S7.
+
+ \begindata
+
+ BODY610_POLE_RA = ( 40.58 -0.036 0. )
+ BODY610_POLE_DEC = ( 83.52 -0.004 0. )
+ BODY610_PM = ( 58.83 518.2359876 0. )
+ BODY610_LONG_AXIS = ( 0. )
+
+ BODY610_NUT_PREC_RA = ( 0. -1.623 0. 0. 0. 0. 0. 0.023 )
+ BODY610_NUT_PREC_DEC = ( 0. -0.183 0. 0. 0. 0. 0. 0.001 )
+ BODY610_NUT_PREC_PM = ( 0. 1.613 0. 0. 0. 0. 0. -0.023 )
+
+ \begintext
+
+
+
+ Epimetheus
+
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ Data values are unchanged in the 2009 IAU report. However
+ the kernel variable contents have changed due to removal of
+ the angle S7.
+
+ \begindata
+
+ BODY611_POLE_RA = ( 40.58 -0.036 0. )
+ BODY611_POLE_DEC = ( 83.52 -0.004 0. )
+ BODY611_PM = ( 293.87 518.4907239 0. )
+ BODY611_LONG_AXIS = ( 0. )
+
+ BODY611_NUT_PREC_RA = ( -3.153 0. 0. 0. 0. 0. 0.086 0. )
+ BODY611_NUT_PREC_DEC = ( -0.356 0. 0. 0. 0. 0. 0.005 0. )
+ BODY611_NUT_PREC_PM = ( 3.133 0. 0. 0. 0. 0. -0.086 0. )
+
+ \begintext
+
+
+
+ Helene
+
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY612_POLE_RA = ( 40.85 -0.036 0. )
+ BODY612_POLE_DEC = ( 83.34 -0.004 0. )
+ BODY612_PM = ( 245.12 131.6174056 0. )
+ BODY612_LONG_AXIS = ( 0. )
+
+ \begintext
+
+
+
+ Telesto
+
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY613_POLE_RA = ( 50.51 -0.036 0. )
+ BODY613_POLE_DEC = ( 84.06 -0.004 0. )
+ BODY613_PM = ( 56.88 190.6979332 0. )
+ BODY613_LONG_AXIS = ( 0. )
+
+ \begintext
+
+
+
+ Calypso
+
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY614_POLE_RA = ( 36.41 -0.036 0. )
+ BODY614_POLE_DEC = ( 85.04 -0.004 0. )
+ BODY614_PM = ( 153.51 190.6742373 0. )
+ BODY614_LONG_AXIS = ( 0. )
+
+ \begintext
+
+
+
+ Atlas
+
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY615_POLE_RA = ( 40.58 -0.036 0. )
+ BODY615_POLE_DEC = ( 83.53 -0.004 0. )
+ BODY615_PM = ( 137.88 598.3060000 0. )
+ BODY615_LONG_AXIS = ( 0. )
+
+ \begintext
+
+
+
+ Prometheus
+
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY616_POLE_RA = ( 40.58 -0.036 )
+ BODY616_POLE_DEC = ( 83.53 -0.004 )
+ BODY616_PM = ( 296.14 587.289000 )
+ BODY616_LONG_AXIS = ( 0. )
+
+ \begintext
+
+
+
+ Pandora
+
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY617_POLE_RA = ( 40.58 -0.036 0. )
+ BODY617_POLE_DEC = ( 83.53 -0.004 0. )
+ BODY617_PM = ( 162.92 572.7891000 0. )
+ BODY617_LONG_AXIS = ( 0. )
+
+ \begintext
+
+
+
+ Pan
+
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY618_POLE_RA = ( 40.6 -0.036 0. )
+ BODY618_POLE_DEC = ( 83.5 -0.004 0. )
+ BODY618_PM = ( 48.8 626.0440000 0. )
+ BODY618_LONG_AXIS = ( 0. )
+
+ \begintext
+
+
+
+
+
+Satellites of Uranus
+
+
+
+ Ariel
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY701_POLE_RA = ( 257.43 0. 0. )
+ BODY701_POLE_DEC = ( -15.10 0. 0. )
+ BODY701_PM = ( 156.22 -142.8356681 0. )
+ BODY701_LONG_AXIS = ( 0. )
+
+ BODY701_NUT_PREC_RA = ( 0. 0. 0. 0. 0.
+ 0. 0. 0. 0. 0. 0. 0. 0.29 )
+
+ BODY701_NUT_PREC_DEC = ( 0. 0. 0. 0. 0.
+ 0. 0. 0. 0. 0. 0. 0. 0.28 )
+
+ BODY701_NUT_PREC_PM = ( 0. 0. 0. 0. 0.
+ 0. 0. 0. 0. 0. 0. 0.05 0.08 )
+ \begintext
+
+
+
+ Umbriel
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY702_POLE_RA = ( 257.43 0. 0. )
+ BODY702_POLE_DEC = ( -15.10 0. 0. )
+ BODY702_PM = ( 108.05 -86.8688923 0. )
+ BODY702_LONG_AXIS = ( 0. )
+
+ BODY702_NUT_PREC_RA = ( 0. 0. 0. 0. 0.
+ 0. 0. 0. 0. 0. 0. 0. 0. 0.21 )
+
+ BODY702_NUT_PREC_DEC = ( 0. 0. 0. 0. 0.
+ 0. 0. 0. 0. 0. 0. 0. 0. 0.20 )
+
+ BODY702_NUT_PREC_PM = ( 0. 0. 0. 0. 0.
+ 0. 0. 0. 0. 0. 0. -0.09 0. 0.06 )
+
+ \begintext
+
+
+
+ Titania
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY703_POLE_RA = ( 257.43 0. 0. )
+ BODY703_POLE_DEC = ( -15.10 0. 0. )
+ BODY703_PM = ( 77.74 -41.3514316 0. )
+ BODY703_LONG_AXIS = ( 0. )
+
+ BODY703_NUT_PREC_RA = ( 0. 0. 0. 0. 0.
+ 0. 0. 0. 0. 0. 0. 0. 0. 0. 0.29 )
+
+ BODY703_NUT_PREC_DEC = ( 0. 0. 0. 0. 0.
+ 0. 0. 0. 0. 0. 0. 0. 0. 0. 0.28 )
+
+ BODY703_NUT_PREC_PM = ( 0. 0. 0. 0. 0.
+ 0. 0. 0. 0. 0. 0. 0. 0. 0. 0.08 )
+ \begintext
+
+
+
+ Oberon
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY704_POLE_RA = ( 257.43 0. 0. )
+ BODY704_POLE_DEC = ( -15.10 0. 0. )
+ BODY704_PM = ( 6.77 -26.7394932 0. )
+ BODY704_LONG_AXIS = ( 0. )
+
+
+ BODY704_NUT_PREC_RA = ( 0. 0. 0. 0. 0.
+ 0. 0. 0. 0. 0.
+ 0. 0. 0. 0. 0. 0.16 )
+
+ BODY704_NUT_PREC_DEC = ( 0. 0. 0. 0. 0.
+ 0. 0. 0. 0. 0.
+ 0. 0. 0. 0. 0. 0.16 )
+
+ BODY704_NUT_PREC_PM = ( 0. 0. 0. 0. 0.
+ 0. 0. 0. 0. 0.
+ 0. 0. 0. 0. 0. 0.04 )
+ \begintext
+
+
+
+ Miranda
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY705_POLE_RA = ( 257.43 0. 0. )
+ BODY705_POLE_DEC = ( -15.08 0. 0. )
+ BODY705_PM = ( 30.70 -254.6906892 0. )
+ BODY705_LONG_AXIS = ( 0. )
+
+ BODY705_NUT_PREC_RA = ( 0. 0. 0. 0. 0.
+ 0. 0. 0. 0. 0.
+ 4.41 0. 0. 0. 0.
+ 0. -0.04 0. )
+
+ BODY705_NUT_PREC_DEC = ( 0. 0. 0. 0. 0.
+ 0. 0. 0. 0. 0.
+ 4.25 0. 0. 0. 0.
+ 0. -0.02 0. )
+
+ BODY705_NUT_PREC_PM = ( 0. 0. 0. 0. 0.
+ 0. 0. 0. 0. 0.
+ 1.15 -1.27 0. 0. 0.
+ 0. -0.09 0.15 )
+ \begintext
+
+
+
+ Cordelia
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY706_POLE_RA = ( 257.31 0. 0. )
+ BODY706_POLE_DEC = ( -15.18 0. 0. )
+ BODY706_PM = ( 127.69 -1074.5205730 0. )
+ BODY706_LONG_AXIS = ( 0. )
+
+ BODY706_NUT_PREC_RA = ( -0.15 0. 0. 0. 0.
+ 0. 0. 0. 0. 0.
+ 0. 0. 0. 0. 0.
+ 0. 0. 0. )
+
+ BODY706_NUT_PREC_DEC = ( 0.14 0. 0. 0. 0.
+ 0. 0. 0. 0. 0.
+ 0. 0. 0. 0. 0.
+ 0. 0. 0. )
+
+ BODY706_NUT_PREC_PM = ( -0.04 0. 0. 0. 0.
+ 0. 0. 0. 0. 0.
+ 0. 0. 0. 0. 0.
+ 0. 0. 0. )
+
+ \begintext
+
+
+
+ Ophelia
+
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY707_POLE_RA = ( 257.31 0. 0. )
+ BODY707_POLE_DEC = ( -15.18 0. 0. )
+ BODY707_PM = ( 130.35 -956.4068150 0. )
+ BODY707_LONG_AXIS = ( 0. )
+
+ BODY707_NUT_PREC_RA = ( 0. -0.09 0. 0. 0.
+ 0. 0. 0. 0. 0.
+ 0. 0. 0. 0. 0.
+ 0. 0. 0. )
+
+ BODY707_NUT_PREC_DEC = ( 0. 0.09 0. 0. 0.
+ 0. 0. 0. 0. 0.
+ 0. 0. 0. 0. 0.
+ 0. 0. 0. )
+
+ BODY707_NUT_PREC_PM = ( 0. -0.03 0. 0. 0.
+ 0. 0. 0. 0. 0.
+ 0. 0. 0. 0. 0.
+ 0. 0. 0. )
+
+ \begintext
+
+
+
+ Bianca
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY708_POLE_RA = ( 257.31 0. 0. )
+ BODY708_POLE_DEC = ( -15.18 0. 0. )
+ BODY708_PM = ( 105.46 -828.3914760 0. )
+ BODY708_LONG_AXIS = ( 0. )
+
+ BODY708_NUT_PREC_RA = ( 0. 0. -0.16 0. 0.
+ 0. 0. 0. 0. 0.
+ 0. 0. 0. 0. 0.
+ 0. 0. 0. )
+
+ BODY708_NUT_PREC_DEC = ( 0. 0. 0.16 0. 0.
+ 0. 0. 0. 0. 0.
+ 0. 0. 0. 0. 0.
+ 0. 0. 0. )
+
+ BODY708_NUT_PREC_PM = ( 0. 0. -0.04 0. 0.
+ 0. 0. 0. 0. 0.
+ 0. 0. 0. 0. 0.
+ 0. 0. 0. )
+
+ \begintext
+
+
+
+ Cressida
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ \begindata
+
+
+ BODY709_POLE_RA = ( 257.31 0. 0. )
+ BODY709_POLE_DEC = ( -15.18 0. 0. )
+ BODY709_PM = ( 59.16 -776.5816320 0. )
+ BODY709_LONG_AXIS = ( 0. )
+
+
+ BODY709_NUT_PREC_RA = ( 0. 0. 0. -0.04 0.
+ 0. 0. 0. 0. 0.
+ 0. 0. 0. 0. 0.
+ 0. 0. 0. )
+
+
+ BODY709_NUT_PREC_DEC = ( 0. 0. 0. 0.04 0.
+ 0. 0. 0. 0. 0.
+ 0. 0. 0. 0. 0.
+ 0. 0. 0. )
+
+
+ BODY709_NUT_PREC_PM = ( 0. 0. 0. -0.01 0.
+ 0. 0. 0. 0. 0.
+ 0. 0. 0. 0. 0.
+ 0. 0. 0. )
+
+
+ \begintext
+
+
+
+ Desdemona
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY710_POLE_RA = ( 257.31 0. 0. )
+ BODY710_POLE_DEC = ( -15.18 0. 0. )
+ BODY710_PM = ( 95.08 -760.0531690 0. )
+ BODY710_LONG_AXIS = ( 0. )
+
+ BODY710_NUT_PREC_RA = ( 0. 0. 0. 0. -0.17
+ 0. 0. 0. 0. 0.
+ 0. 0. 0. 0. 0.
+ 0. 0. 0. )
+
+ BODY710_NUT_PREC_DEC = ( 0. 0. 0. 0. 0.16
+ 0. 0. 0. 0. 0.
+ 0. 0. 0. 0. 0.
+ 0. 0. 0. )
+
+ BODY710_NUT_PREC_PM = ( 0. 0. 0. 0. -0.04
+ 0. 0. 0. 0. 0.
+ 0. 0. 0. 0. 0.
+ 0. 0. 0. )
+
+ \begintext
+
+
+
+ Juliet
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY711_POLE_RA = ( 257.31 0. 0. )
+ BODY711_POLE_DEC = ( -15.18 0. 0. )
+ BODY711_PM = ( 302.56 -730.1253660 0. )
+ BODY711_LONG_AXIS = ( 0. )
+
+ BODY711_NUT_PREC_RA = ( 0. 0. 0. 0. 0.
+ -0.06 0. 0. 0. 0.
+ 0. 0. 0. 0. 0.
+ 0. 0. 0. )
+
+ BODY711_NUT_PREC_DEC = ( 0. 0. 0. 0. 0.
+ 0.06 0. 0. 0. 0.
+ 0. 0. 0. 0. 0.
+ 0. 0. 0. )
+
+ BODY711_NUT_PREC_PM = ( 0. 0. 0. 0. 0.
+ -0.02 0. 0. 0. 0.
+ 0. 0. 0. 0. 0.
+ 0. 0. 0. )
+
+ \begintext
+
+
+
+ Portia
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY712_POLE_RA = ( 257.31 0. 0. )
+ BODY712_POLE_DEC = ( -15.18 0. 0. )
+ BODY712_PM = ( 25.03 -701.4865870 0. )
+ BODY712_LONG_AXIS = ( 0. )
+
+ BODY712_NUT_PREC_RA = ( 0. 0. 0. 0. 0.
+ 0. -0.09 0. 0. 0.
+ 0. 0. 0. 0. 0.
+ 0. 0. 0. )
+
+ BODY712_NUT_PREC_DEC = ( 0. 0. 0. 0. 0.
+ 0. 0.09 0. 0. 0.
+ 0. 0. 0. 0. 0.
+ 0. 0. 0. )
+
+ BODY712_NUT_PREC_PM = ( 0. 0. 0. 0. 0.
+ 0. -0.02 0. 0. 0.
+ 0. 0. 0. 0. 0.
+ 0. 0. 0. )
+
+ \begintext
+
+
+
+ Rosalind
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY713_POLE_RA = ( 257.31 0. 0. )
+ BODY713_POLE_DEC = ( -15.18 0. 0. )
+ BODY713_PM = ( 314.90 -644.6311260 0. )
+ BODY713_LONG_AXIS = ( 0. )
+
+ BODY713_NUT_PREC_RA = ( 0. 0. 0. 0. 0.
+ 0. 0. -0.29 0. 0.
+ 0. 0. 0. 0. 0.
+ 0. 0. 0. )
+
+ BODY713_NUT_PREC_DEC = ( 0. 0. 0. 0. 0.
+ 0. 0. 0.28 0. 0.
+ 0. 0. 0. 0. 0.
+ 0. 0. 0. )
+
+ BODY713_NUT_PREC_PM = ( 0. 0. 0. 0. 0.
+ 0. 0. -0.08 0. 0.
+ 0. 0. 0. 0. 0.
+ 0. 0. 0. )
+
+ \begintext
+
+
+
+ Belinda
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY714_POLE_RA = ( 257.31 0. 0. )
+ BODY714_POLE_DEC = ( -15.18 0. 0. )
+ BODY714_PM = ( 297.46 -577.3628170 0. )
+ BODY714_LONG_AXIS = ( 0. )
+
+ BODY714_NUT_PREC_RA = ( 0. 0. 0. 0. 0.
+ 0. 0. 0. -0.03 0.
+ 0. 0. 0. 0. 0.
+ 0. 0. 0. )
+
+ BODY714_NUT_PREC_DEC = ( 0. 0. 0. 0. 0.
+ 0. 0. 0. 0.03 0.
+ 0. 0. 0. 0. 0.
+ 0. 0. 0. )
+
+ BODY714_NUT_PREC_PM = ( 0. 0. 0. 0. 0.
+ 0. 0. 0. -0.01 0.
+ 0. 0. 0. 0. 0.
+ 0. 0. 0. )
+ \begintext
+
+
+
+ Puck
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY715_POLE_RA = ( 257.31 0. 0. )
+ BODY715_POLE_DEC = ( -15.18 0. 0. )
+ BODY715_PM = ( 91.24 -472.5450690 0. )
+ BODY715_LONG_AXIS = ( 0. )
+
+ BODY715_NUT_PREC_RA = ( 0. 0. 0. 0. 0.
+ 0. 0. 0. 0. -0.33
+ 0. 0. 0. 0. 0.
+ 0. 0. 0. )
+
+ BODY715_NUT_PREC_DEC = ( 0. 0. 0. 0. 0.
+ 0. 0. 0. 0. 0.31
+ 0. 0. 0. 0. 0.
+ 0. 0. 0. )
+
+ BODY715_NUT_PREC_PM = ( 0. 0. 0. 0. 0.
+ 0. 0. 0. 0. -0.09
+ 0. 0. 0. 0. 0.
+ 0. 0. 0. )
+
+ \begintext
+
+
+
+
+Satellites of Neptune
+
+
+ Triton
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY801_POLE_RA = ( 299.36 0. 0. )
+ BODY801_POLE_DEC = ( 41.17 0. 0. )
+ BODY801_PM = ( 296.53 -61.2572637 0. )
+ BODY801_LONG_AXIS = ( 0. )
+
+
+ BODY801_NUT_PREC_RA = ( 0. 0. 0. 0.
+ 0. 0. 0. -32.35
+ 0. -6.28 -2.08 -0.74
+ -0.28 -0.11 -0.07 -0.02
+ -0.01 )
+
+
+ BODY801_NUT_PREC_DEC = ( 0. 0. 0. 0.
+ 0. 0. 0. 22.55
+ 0. 2.10 0.55 0.16
+ 0.05 0.02 0.01 0.
+ 0. )
+
+
+ BODY801_NUT_PREC_PM = ( 0. 0. 0. 0.
+ 0. 0. 0. 22.25
+ 0. 6.73 2.05 0.74
+ 0.28 0.11 0.05 0.02
+ 0.01 )
+
+ \begintext
+
+
+
+
+ Nereid
+
+ Old values:
+
+ Values are from the 1988 IAU report [10]. Note that this
+ rotation model pre-dated the 1989 Voyager 2 Neptune
+ encounter.
+
+
+ body802_pole_ra = ( 273.48 0. 0. )
+ body802_pole_dec = ( 67.22 0. 0. )
+ body802_pm = ( 237.22 0.9996465 0. )
+ body802_long_axis = ( 0. )
+
+
+ The report seems to have a typo: in the nut_prec_ra expression,
+ where the report gives -0.51 sin 3N3, we use -0.51 3N2.
+
+ body802_nut_prec_ra = ( 0. -17.81
+ 0. 0. 0. 0.
+ 0. 0. 0.
+ 2.56 -0.51 0.11 -0.03 )
+
+ body802_nut_prec_dec = ( 0. -6.67
+ 0. 0. 0. 0.
+ 0. 0. 0.
+ 0.47 -0.07 0.01 )
+
+ body802_nut_prec_pm = ( 0. 16.48
+ 0. 0. 0. 0.
+ 0. 0. 0.
+ -2.57 0.51 -0.11 0.02 )
+
+
+
+ Current values:
+
+ The 2009 report [1] states that values for Nereid are not
+ given because Nereid is not in synchronous rotation with Neptune
+ (notes following table 2).
+
+
+
+ Naiad
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+
+ \begindata
+
+ BODY803_POLE_RA = ( 299.36 0. 0. )
+ BODY803_POLE_DEC = ( 43.36 0. 0. )
+ BODY803_PM = ( 254.06 +1222.8441209 0. )
+ BODY803_LONG_AXIS = ( 0. )
+
+
+ BODY803_NUT_PREC_RA = ( 0.70 -6.49 0. 0.
+ 0. 0. 0. 0.
+ 0.25 0. 0. 0.
+ 0. 0. 0. 0.
+ 0. )
+
+ BODY803_NUT_PREC_DEC = ( -0.51 -4.75 0. 0.
+ 0. 0. 0. 0.
+ 0.09 0. 0. 0.
+ 0. 0. 0. 0.
+ 0. )
+
+ BODY803_NUT_PREC_PM = ( -0.48 4.40 0. 0.
+ 0. 0. 0. 0.
+ -0.27 0. 0. 0.
+ 0. 0. 0. 0.
+ 0. )
+
+ \begintext
+
+
+
+
+ Thalassa
+
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY804_POLE_RA = ( 299.36 0. 0. )
+ BODY804_POLE_DEC = ( 43.45 0. 0. )
+ BODY804_PM = ( 102.06 1155.7555612 0. )
+ BODY804_LONG_AXIS = ( 0. )
+
+
+ BODY804_NUT_PREC_RA = ( 0.70 0. -0.28 0.
+ 0. 0. 0. 0.
+ 0. 0. 0. 0.
+ 0. 0. 0. 0.
+ 0. )
+
+
+ BODY804_NUT_PREC_DEC = ( -0.51 0. -0.21 0.
+ 0. 0. 0. 0.
+ 0. 0. 0. 0.
+ 0. 0. 0. 0.
+ 0. )
+
+ BODY804_NUT_PREC_PM = ( -0.48 0. 0.19 0.
+ 0. 0. 0. 0.
+ 0. 0. 0. 0.
+ 0. 0. 0. 0.
+ 0. )
+
+ \begintext
+
+
+
+ Despina
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+
+ \begindata
+
+ BODY805_POLE_RA = ( 299.36 0. 0. )
+ BODY805_POLE_DEC = ( 43.45 0. 0. )
+ BODY805_PM = ( 306.51 +1075.7341562 0. )
+ BODY805_LONG_AXIS = ( 0. )
+
+
+ BODY805_NUT_PREC_RA = ( 0.70 0. 0. -0.09
+ 0. 0. 0. 0.
+ 0. 0. 0. 0.
+ 0. 0. 0. 0.
+ 0. )
+
+ BODY805_NUT_PREC_DEC = ( -0.51 0. 0. -0.07
+ 0. 0. 0. 0.
+ 0. 0. 0. 0.
+ 0. 0. 0. 0.
+ 0. )
+
+ BODY805_NUT_PREC_PM = ( -0.49 0. 0. 0.06
+ 0. 0. 0. 0.
+ 0. 0. 0. 0.
+ 0. 0. 0. 0.
+ 0. )
+ \begintext
+
+
+
+ Galatea
+
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+
+ \begindata
+
+ BODY806_POLE_RA = ( 299.36 0. 0. )
+ BODY806_POLE_DEC = ( 43.43 0. 0. )
+ BODY806_PM = ( 258.09 839.6597686 0. )
+ BODY806_LONG_AXIS = ( 0. )
+
+
+ BODY806_NUT_PREC_RA = ( 0.70 0. 0. 0.
+ -0.07 0. 0. 0.
+ 0. 0. 0. 0.
+ 0. 0. 0. 0.
+ 0. )
+
+ BODY806_NUT_PREC_DEC = ( -0.51 0. 0. 0.
+ -0.05 0. 0. 0.
+ 0. 0. 0. 0.
+ 0. 0. 0. 0.
+ 0. )
+
+ BODY806_NUT_PREC_PM = ( -0.48 0. 0. 0.
+ 0.05 0. 0. 0.
+ 0. 0. 0. 0.
+ 0. 0. 0. 0.
+ 0. )
+ \begintext
+
+
+ Larissa
+
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY807_POLE_RA = ( 299.36 0. 0. )
+ BODY807_POLE_DEC = ( 43.41 0. 0. )
+ BODY807_PM = ( 179.41 +649.0534470 0. )
+ BODY807_LONG_AXIS = ( 0. )
+
+
+ BODY807_NUT_PREC_RA = ( 0.70 0. 0. 0.
+ 0. -0.27 0. 0.
+ 0. 0. 0. 0.
+ 0. 0. 0. 0.
+ 0. )
+
+ BODY807_NUT_PREC_DEC = ( -0.51 0. 0. 0.
+ 0. -0.20 0. 0.
+ 0. 0. 0. 0.
+ 0. 0. 0. 0.
+ 0. )
+
+ BODY807_NUT_PREC_PM = ( -0.48 0. 0. 0.
+ 0. 0.19 0. 0.
+ 0. 0. 0. 0.
+ 0. 0. 0. 0.
+ 0. )
+ \begintext
+
+
+
+ Proteus
+
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY808_POLE_RA = ( 299.27 0. 0. )
+ BODY808_POLE_DEC = ( 42.91 0. 0. )
+ BODY808_PM = ( 93.38 +320.7654228 0. )
+ BODY808_LONG_AXIS = ( 0. )
+
+
+ BODY808_NUT_PREC_RA = ( 0.70 0. 0. 0.
+ 0. 0. -0.05 0.
+ 0. 0. 0. 0.
+ 0. 0. 0. 0.
+ 0. )
+
+ BODY808_NUT_PREC_DEC = ( -0.51 0. 0. 0.
+ 0. 0. -0.04 0.
+ 0. 0. 0. 0.
+ 0. 0. 0. 0.
+ 0. )
+
+ BODY808_NUT_PREC_PM = ( -0.48 0. 0. 0.
+ 0. 0. 0.04 0.
+ 0. 0. 0. 0.
+ 0. 0. 0. 0.
+ 0. )
+
+ \begintext
+
+
+
+
+
+Satellites of Pluto
+
+ Charon
+
+ Old values:
+
+ Values are from the 2006 IAU report.
+
+ body901_pole_ra = ( 312.993 0. 0. )
+ body901_pole_dec = ( 6.163 0. 0. )
+ body901_pm = ( 57.305 -56.3625225 0. )
+ body901_long_axis = ( 0. )
+
+
+ Current values:
+
+ Due to the new definition of planetocentric coordinates
+ for small bodies, and to the reclassification of Pluto
+ as a dwarf planet, Charon's north pole direction has been
+ inverted.
+
+ The PM constant W0 is from [2].
+
+ \begindata
+
+ BODY901_POLE_RA = ( 132.993 0. 0. )
+ BODY901_POLE_DEC = ( -6.163 0. 0. )
+ BODY901_PM = ( 122.695 56.3625225 0. )
+ BODY901_LONG_AXIS = ( 0. )
+
+ \begintext
+
+
+
+Orientation constants for Selected Comets and Asteroids
+--------------------------------------------------------
+
+
+
+Ceres
+
+ Current values:
+
+ \begindata
+
+ BODY2000001_POLE_RA = ( 291. 0. 0. )
+ BODY2000001_POLE_DEC = ( 59. 0. 0. )
+ BODY2000001_PM = ( 170.90 952.1532 0. )
+ BODY2000001_LONG_AXIS = ( 0. )
+
+ \begintext
+
+
+
+Pallas
+
+ Current values:
+
+ \begindata
+
+ BODY2000002_POLE_RA = ( 33. 0. 0. )
+ BODY2000002_POLE_DEC = ( -3. 0. 0. )
+ BODY2000002_PM = ( 38. 1105.8036 0. )
+ BODY2000002_LONG_AXIS = ( 0. )
+
+ \begintext
+
+
+
+Vesta
+
+ Old values:
+
+ Values are from the 2009 IAU report.
+
+ body2000004_pole_ra = ( 301. 0. 0. )
+ body2000004_pole_dec = ( 41. 0. 0. )
+ body2000004_pm = ( 292. 1617.332776 0. )
+ body2000004_long_axis = ( 0. )
+
+ Current values:
+
+ \begindata
+
+ BODY2000004_POLE_RA = ( 305.8 0. 0. )
+ BODY2000004_POLE_DEC = ( 41.4 0. 0. )
+ BODY2000004_PM = ( 292. 1617.332776 0. )
+ BODY2000004_LONG_AXIS = ( 0. )
+
+ \begintext
+
+
+
+Lutetia
+
+ Current values:
+
+ \begindata
+
+ BODY2000021_POLE_RA = ( 52. 0. 0. )
+ BODY2000021_POLE_DEC = ( 12. 0. 0. )
+ BODY2000021_PM = ( 94. 1057.7515 0. )
+ BODY2000021_LONG_AXIS = ( 0. )
+
+ \begintext
+
+
+
+Ida
+
+ Old values:
+
+ BODY2431010_POLE_RA = ( 168.76 0. 0. )
+ BODY2431010_POLE_DEC = ( -2.88 0. 0. )
+ BODY2431010_PM = ( 265.95 +1864.6280070 0. )
+ BODY2431010_LONG_AXIS = ( 0. )
+
+ Current values:
+
+ The PM constant W0 is from [2].
+
+ \begindata
+
+ BODY2431010_POLE_RA = ( 168.76 0. 0. )
+ BODY2431010_POLE_DEC = ( -2.88 0. 0. )
+ BODY2431010_PM = ( 274.05 +1864.6280070 0. )
+ BODY2431010_LONG_AXIS = ( 0. )
+
+ \begintext
+
+
+
+Eros
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY2000433_POLE_RA = ( 11.35 0. 0. )
+ BODY2000433_POLE_DEC = ( 17.22 0. 0. )
+ BODY2000433_PM = ( 326.07 1639.38864745 0. )
+ BODY2000433_LONG_AXIS = ( 0. )
+
+ \begintext
+
+
+
+Davida
+
+ Current values:
+
+ \begindata
+
+ BODY2000511_POLE_RA = ( 297. 0. 0. )
+ BODY2000511_POLE_DEC = ( 5. 0. 0. )
+ BODY2000511_PM = ( 268.1 1684.4193549 0. )
+ BODY2000511_LONG_AXIS = ( 0. )
+
+ \begintext
+
+
+
+Gaspra
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY9511010_POLE_RA = ( 9.47 0. 0. )
+ BODY9511010_POLE_DEC = ( 26.70 0. 0. )
+ BODY9511010_PM = ( 83.67 1226.9114850 0. )
+ BODY9511010_LONG_AXIS = ( 0. )
+
+ \begintext
+
+
+
+Steins
+
+ Current values:
+
+ \begindata
+
+ BODY2002867_POLE_RA = ( 90. 0. 0. )
+ BODY2002867_POLE_DEC = ( -62. 0. 0. )
+ BODY2002867_PM = ( 93.94 1428.852332 0. )
+ BODY2002867_LONG_AXIS = ( 0. )
+
+ \begintext
+
+
+
+Itokawa
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY2025143_POLE_RA = ( 90.53 0. 0. )
+ BODY2025143_POLE_DEC = ( -66.30 0. 0. )
+ BODY2025143_PM = ( 000.0 712.143 0. )
+ BODY2025143_LONG_AXIS = ( 0. )
+
+ \begintext
+
+
+
+9P/Tempel 1
+
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY1000093_POLE_RA = ( 294. 0. 0. )
+ BODY1000093_POLE_DEC = ( 73. 0. 0. )
+ BODY1000093_PM = ( 252.63 212.064 0. )
+ BODY1000093_LONG_AXIS = ( 0. )
+
+ \begintext
+
+
+
+19P/Borrelly
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY1000005_POLE_RA = ( 218.5 0. 0. )
+ BODY1000005_POLE_DEC = ( -12.5 0. 0. )
+ BODY1000005_PM = ( 000. 390.0 0. )
+ BODY1000005_LONG_AXIS = ( 0. )
+
+ \begintext
+
+
+
+
+
+
+
+Radii of Sun and Planets
+--------------------------------------------------------
+
+
+Sun
+
+ \begindata
+
+ BODY10_RADII = ( 696000. 696000. 696000. )
+
+ \begintext
+
+
+Mercury
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY199_RADII = ( 2439.7 2439.7 2439.7 )
+
+ \begintext
+
+
+Venus
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY299_RADII = ( 6051.8 6051.8 6051.8 )
+
+ \begintext
+
+
+Earth
+
+ Old values:
+
+ Values are from the 2006 IAU report.
+
+ body399_radii = ( 6378.14 6378.14 6356.75 )
+
+
+ Current values:
+
+
+ \begindata
+
+ BODY399_RADII = ( 6378.1366 6378.1366 6356.7519 )
+
+ \begintext
+
+
+Mars
+
+
+ Old values:
+
+ Values are from the 2006 IAU report.
+
+ body499_radii = ( 3397. 3397. 3375. )
+
+
+ Current values:
+
+ The 2009 IAU report gives separate values for the north and
+ south polar radii:
+
+ north: 3373.19
+ south: 3379.21
+
+ The report provides the average of these values as well,
+ which we use as the polar radius for the triaxial model.
+
+ \begindata
+
+ BODY499_RADII = ( 3396.19 3396.19 3376.20 )
+
+ \begintext
+
+
+
+Jupiter
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY599_RADII = ( 71492 71492 66854 )
+
+ \begintext
+
+
+
+Saturn
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY699_RADII = ( 60268 60268 54364 )
+
+ \begintext
+
+
+
+Uranus
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY799_RADII = ( 25559 25559 24973 )
+
+ \begintext
+
+
+
+Neptune
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ (Values are for the 1 bar pressure level.)
+
+ \begindata
+
+ BODY899_RADII = ( 24764 24764 24341 )
+
+ \begintext
+
+
+
+Radii of the Dwarf Planet Pluto
+--------------------------------------------------------
+
+
+Pluto
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY999_RADII = ( 1195 1195 1195 )
+
+ \begintext
+
+
+
+
+Radii of Satellites
+--------------------------------------------------------
+
+
+Moon
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY301_RADII = ( 1737.4 1737.4 1737.4 )
+
+ \begintext
+
+
+
+Satellites of Mars
+
+ Old values:
+
+ Values are from the 2006 IAU report.
+
+ body401_radii = ( 13.4 11.2 9.2 )
+ body402_radii = ( 7.5 6.1 5.2 )
+
+ Current values:
+
+ \begindata
+
+ BODY401_RADII = ( 13.0 11.4 9.1 )
+ BODY402_RADII = ( 7.8 6.0 5.1 )
+
+ \begintext
+
+
+
+Satellites of Jupiter
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report,
+ except for those of Europa, Ganymede, Callisto,
+ and Metis. For Metis, now all three radii are
+ provided.
+
+ body502_radii = ( 1564.13 1561.23 1560.93 )
+ body503_radii = ( 2632.4 2632.29 2632.35 )
+ body504_radii = ( 2409.4 2409.2 2409.3 )
+
+ The value for the second radius for body 516 is not given in
+ 2003 IAU report. The values given are:
+
+ body516_radii = ( 30 --- 20 )
+
+ For use within the SPICE system, we use only the mean radius.
+
+ body516_radii = ( 21.5 21.5 21.5 )
+
+
+
+
+ Current values:
+
+ Note that for Ganymede and Callisto only mean radii
+ are provided.
+
+ \begindata
+
+ BODY501_RADII = ( 1829.4 1819.4 1815.7 )
+ BODY502_RADII = ( 1562.6 1560.3 1559.5 )
+ BODY503_RADII = ( 2631.2 2631.2 2631.2 )
+ BODY504_RADII = ( 2410.3 2410.3 2410.3 )
+ BODY505_RADII = ( 125 73 64 )
+
+ \begintext
+
+ Only mean radii are available in the 2003 IAU report for bodies
+ 506-513.
+
+ \begindata
+
+ BODY506_RADII = ( 85 85 85 )
+ BODY507_RADII = ( 40 40 40 )
+ BODY508_RADII = ( 18 18 18 )
+ BODY509_RADII = ( 14 14 14 )
+ BODY510_RADII = ( 12 12 12 )
+ BODY511_RADII = ( 15 15 15 )
+ BODY512_RADII = ( 10 10 10 )
+ BODY513_RADII = ( 5 5 5 )
+ BODY514_RADII = ( 58 49 42 )
+ BODY515_RADII = ( 10 8 7 )
+ BODY516_RADII = ( 30 20 17 )
+
+ \begintext
+
+
+
+Satellites of Saturn
+
+
+ Old values:
+
+ Values are from the 2006 IAU report.
+
+ body601_radii = ( 207.4 196.8 190.6 )
+ body602_radii = ( 256.6 251.4 248.3 )
+ body603_radii = ( 540.4 531.1 527.5 )
+ body604_radii = ( 563.8 561.0 560.3 )
+ body605_radii = ( 767.2 762.5 763.1 )
+ body606_radii = ( 2575 2575 2575 )
+ body607_radii = ( 164 130 107 )
+ body608_radii = ( 747.4 747.4 712.4 )
+ body609_radii = ( 108.6 107.7 101.5 )
+ body610_radii = ( 97.0 95.0 77.0 )
+ body611_radii = ( 69.0 55.0 55.0 )
+
+
+ Only the first equatorial radius for Helene (body 612) is given in the
+ 2006 IAU report:
+
+ body612_radii = ( 17.5 --- --- )
+
+ The mean radius is 16km; we use this radius for all three axes, as
+ we do for the satellites for which only the mean radius is available.
+
+ body612_radii = ( 17.5 17.5 17.5 )
+ body613_radii = ( 15 12.5 7.5 )
+ body614_radii = ( 15.0 8.0 8.0 )
+ body615_radii = ( 18.5 17.2 13.5 )
+ body616_radii = ( 74.0 50.0 34.0 )
+ body617_radii = ( 55.0 44.0 31.0 )
+
+ For Pan, only a mean radius is given in the 2006 report.
+
+ body618_radii = ( 10 10 10 )
+
+
+
+ Current values:
+
+ \begindata
+
+ BODY601_RADII = ( 207.8 196.7 190.6 )
+ BODY602_RADII = ( 256.6 251.4 248.3 )
+ BODY603_RADII = ( 538.4 528.3 526.3 )
+ BODY604_RADII = ( 563.4 561.3 559.6 )
+ BODY605_RADII = ( 765.0 763.1 762.4 )
+ BODY606_RADII = ( 2575.15 2574.78 2574.47 )
+ BODY607_RADII = ( 180.1 133.0 102.7 )
+ BODY608_RADII = ( 745.7 745.7 712.1 )
+ BODY609_RADII = ( 109.4 108.5 101.8 )
+ BODY610_RADII = ( 101.5 92.5 76.3 )
+ BODY611_RADII = ( 64.9 57.0 53.1 )
+ BODY612_RADII = ( 21.7 19.1 13.0 )
+ BODY613_RADII = ( 16.3 11.8 10.0 )
+ BODY614_RADII = ( 15.1 11.5 7.0 )
+ BODY615_RADII = ( 20.4 17.7 9.4 )
+ BODY616_RADII = ( 67.8 39.7 29.7 )
+ BODY617_RADII = ( 52.0 40.5 32.0 )
+ BODY618_RADII = ( 17.2 15.7 10.4 )
+
+ BODY632_RADII = ( 1.6 1.6 1.6 )
+ BODY633_RADII = ( 2.9 2.8 2.0 )
+ BODY634_RADII = ( 1.5 1.2 1.0 )
+ BODY635_RADII = ( 4.3 4.1 3.2 )
+ BODY649_RADII = ( 1 1 1 )
+
+ \begintext
+
+
+
+Satellites of Uranus
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY701_RADII = ( 581.1 577.9 577.7 )
+ BODY702_RADII = ( 584.7 584.7 584.7 )
+ BODY703_RADII = ( 788.9 788.9 788.9 )
+ BODY704_RADII = ( 761.4 761.4 761.4 )
+ BODY705_RADII = ( 240.4 234.2 232.9 )
+
+ \begintext
+
+ The 2000 report gives only mean radii for satellites 706--715.
+
+ \begindata
+
+ BODY706_RADII = ( 13 13 13 )
+ BODY707_RADII = ( 15 15 15 )
+ BODY708_RADII = ( 21 21 21 )
+ BODY709_RADII = ( 31 31 31 )
+ BODY710_RADII = ( 27 27 27 )
+ BODY711_RADII = ( 42 42 42 )
+ BODY712_RADII = ( 54 54 54 )
+ BODY713_RADII = ( 27 27 27 )
+ BODY714_RADII = ( 33 33 33 )
+ BODY715_RADII = ( 77 77 77 )
+
+ \begintext
+
+
+
+
+Satellites of Neptune
+
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ The 2009 report gives mean radii only for bodies 801-806.
+
+ \begindata
+
+ BODY801_RADII = ( 1352.6 1352.6 1352.6 )
+ BODY802_RADII = ( 170 170 170 )
+ BODY803_RADII = ( 29 29 29 )
+ BODY804_RADII = ( 40 40 40 )
+ BODY805_RADII = ( 74 74 74 )
+ BODY806_RADII = ( 79 79 79 )
+
+ \begintext
+
+ The second equatorial radius for Larissa is not given in the 2009
+ report. The available values are:
+
+ BODY807_RADII = ( 104 --- 89 )
+
+ For use within the SPICE system, we use only the mean radius.
+
+ \begindata
+
+ BODY807_RADII = ( 96 96 96 )
+ BODY808_RADII = ( 218 208 201 )
+
+ \begintext
+
+
+
+
+Satellites of Pluto
+
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY901_RADII = ( 605 605 605 )
+
+ \begintext
+
+
+
+Radii for Selected Comets and Asteroids
+--------------------------------------------------------
+
+
+
+
+
+Ceres
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+
+ \begindata
+
+ BODY2000001_RADII = ( 487.3 487.3 454.7 )
+
+ \begintext
+
+
+
+Vesta
+
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+
+ \begindata
+
+ BODY2000004_RADII = ( 289. 280. 229. )
+
+ \begintext
+
+
+
+Lutetia
+
+
+ Current values:
+
+
+ \begindata
+
+ BODY2000021_RADII = ( 62.0 50.5 46.5 )
+
+ \begintext
+
+
+
+Ida
+
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+
+ \begindata
+
+ BODY2431010_RADII = ( 26.8 12.0 7.6 )
+
+ \begintext
+
+
+
+Mathilde
+
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+
+ \begindata
+
+ BODY2000253_RADII = ( 33. 24. 23. )
+
+ \begintext
+
+
+
+Eros
+
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+
+ \begindata
+
+ BODY2000433_RADII = ( 17.0 5.5 5.5 )
+
+ \begintext
+
+
+
+Davida
+
+
+ Current values:
+
+
+ \begindata
+
+ BODY2000511_RADII = ( 180. 147. 127. )
+
+ \begintext
+
+
+
+Gaspra
+
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+
+ \begindata
+
+ BODY9511010_RADII = ( 9.1 5.2 4.4 )
+
+ \begintext
+
+
+
+Steins
+
+
+ Current values:
+
+
+ \begindata
+
+ BODY2002867_RADII = ( 3.24 2.73 2.04 )
+
+ \begintext
+
+
+
+Toutatis
+
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+
+ \begindata
+
+ BODY2004179_RADII = ( 2.13 1.015 0.85 )
+
+ \begintext
+
+
+
+Itokawa
+
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+
+ \begindata
+
+ BODY2025143_RADII = ( 0.535 0.294 0.209 )
+
+ \begintext
+
+
+Kleopatra
+
+
+ Old values:
+
+ Values are from the 2003 report.
+
+
+ body2000216_radii = ( 108.5 47 40.5 )
+
+
+ Current values:
+
+
+ No values are provided in the 2009 report.
+
+
+
+
+
+Halley
+
+
+ Old values:
+
+ Values are unchanged in the 2009 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY1000036_RADII = ( 8.0 4.0 4.0 )
+
+ \begintext
+
+
+
+9P/Tempel 1
+
+
+ Old values:
+
+ The effective radius is unchanged in the 2009 IAU report.
+
+ Current values:
+
+
+ The value in the data assignment below is the
+ "effective radius."
+
+ According to [1]:
+
+ The maximum and minimum radii are not properly
+ the values of the principal semi-axes, they
+ are half the maximum and minimum values of the
+ diameter. Due to the large deviations from a
+ simple ellipsoid, they may not correspond with
+ measurements along the principal axes, or be
+ orthogonal to each other.
+
+ \begindata
+
+ BODY1000093_RADII = ( 3.0 3.0 3.0 )
+
+ \begintext
+
+
+19P/Borrelly
+
+
+ Old values:
+
+ Values are unchanged in the 2009 report.
+
+ Current values:
+
+
+ The value in the data assignment below is the
+ "effective radius."
+
+ The first principal axis length is
+
+ 3.5 km
+
+ The lengths of the other semi-axes are not provided
+ by [1].
+
+ \begindata
+
+ BODY1000005_RADII = ( 4.22 4.22 4.22 )
+
+ \begintext
+
+
+
+81P/Wild 2
+
+
+ Old values:
+
+ Values are unchanged in the 2009 report.
+
+ Current values:
+
+
+ \begindata
+
+ BODY1000107_RADII = ( 2.7 1.9 1.5 )
+
+ \begintext
+
+
+
+===========================================================================
+End of file pck00010.tpc
+===========================================================================
+
+
+
diff --git a/tests/pytests/data/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1/rssd0002.tf b/tests/pytests/data/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1/rssd0002.tf
new file mode 100644
index 0000000..e5e3026
--- /dev/null
+++ b/tests/pytests/data/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1/rssd0002.tf
@@ -0,0 +1,1424 @@
+KPL/FK
+
+Generic Frame Definition Kernel File for ESA Planetary Missions
+===========================================================================
+
+ This frame kernel defines a number of mission independent frames that
+ could be used by any of the users of any of the ESA planetary missions,
+ and that are not ``built'' in the SPICE toolkit.
+
+
+Version and Date
+========================================================================
+
+ Version 2.0 -- August 15, 2008 -- Jorge Diaz del Rio, MIG/ESA
+
+ Corrected error in HCI frame definition and updated comments
+ for this frame.
+
+ Version 1.0 -- May 03, 2006 -- Jorge Diaz del Rio, RSSD/ESA
+
+ Complete new kernel.
+
+ Version 0.0 -- July 19, 2005 -- Jorge Diaz del Rio, RSSD/ESA
+
+ Initial version.
+
+
+References
+========================================================================
+
+ 1. ``Frames Required Reading''
+
+ 2. ``Kernel Pool Required Reading''
+
+ 3. Franz and Harper. (2002) ``Heliospheric Coordinate Systems''
+ Space Science, 50, 217ff.
+
+ 4. Hapgood,M. (1992). ``Space physics coordinate transformations: A user
+ guide'' Planetary and Space Science, 40, 711-717
+
+ 5. ``STK: Technical Notes - Coordinate System Computations''
+
+ 6. Seidelmann, P.K., Abalakin, V.K., Bursa, M., Davies, M.E., Bergh, C
+ de, Lieske, J.H., Oberst, J., Simon, J.L., Standish, E.M., Stooke,
+ and Thomas, P.C. (2002). ``Report of the IAU/IAG Working Group on
+ Cartographic Coordinates and Rotational Elements of the Planets and
+ Satellites: 2000'' Celestial Mechanics and Dynamical Astronomy, v.8
+ Issue 1, pp. 83-111.
+
+ 7. Russell, C.T. (1971). ``Geophysical Coordinate Transformations''
+ Cosmic Electrodynamics, v.2, 184-196
+
+
+Contact Information
+========================================================================
+
+ Jorge Diaz del Rio, RSSD/ESA, (31) 71-565-5175, jdiaz@rssd.esa.int
+
+
+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. The SPICELIB routine FURNSH, the CSPICE
+ function furnsh_c and the ICY function cspice_furnsh load a kernel
+ file into the kernel pool as shown below.
+
+ CALL FURNSH ( 'frame_kernel_name' )
+ furnsh_c ( "frame_kernel_name" );
+ cspice_furnsh ( 'frame_kernel_name' )
+
+ This file was created and may be updated with a text editor or word
+ processor.
+
+
+ESA/RSSD Generic Frame Names and NAIF ID Codes
+========================================================================
+
+ The following names and NAIF ID codes are assigned to the generic
+ frames defined in this kernel file:
+
+ Frame Name NAIF ID Center Description
+ ------------ ------- ------- -------------------------------
+
+ Generic Dynamic Frames names/IDs:
+
+ HEE 1500010 SUN Heliocentric Earth Ecliptic
+ HEEQ 1501010 SUN Heliocentric Earth Equatorial
+ ------------------------------------------------------------------
+ VSO 1500299 VENUS Venus-centric Solar Orbital
+ VME 1501299 VENUS Venus Mean Equator of date
+ ------------------------------------------------------------------
+ LSE 1500301 MOON Moon-centric Solar Ecliptic
+ LME 1501301 MOON Moon Mean Equator of date
+ ------------------------------------------------------------------
+ GSE 1500399 EARTH Geocentric Solar Ecliptic
+ EME 1501399 EARTH Earth Mean Equator and Equinox
+ GSEQ 1502399 EARTH Geocentric Solar Equatorial
+ ECLIPDATE 1503399 EARTH Earth Mean Ecliptic and Equinox
+ ------------------------------------------------------------------
+ MME 1500499 MARS Mars Mean Equator of date
+ MME_IAU2000 1501499 MARS Mars Mean Equator of date
+ using IAU 2000 report constants.
+ MSO 1502499 MARS Mars-centric Solar Orbital
+
+ Generic Inertial Frames names/IDs:
+
+ HCI 1502010 SUN Heliocentric Inertial
+ ------------------------------------------------------------------
+ VME2000 1503299 VENUS VME of date J2000 (1)
+ ------------------------------------------------------------------
+ LME2000 1502301 MOON LME of date J2000 (1)
+ ------------------------------------------------------------------
+ MME2000 1503499 MARS MME_IAU2000 of date J2000 (1)
+
+
+ (1) These frames are defined using the IAU 2000 Report Constants
+ described at [6].
+
+
+General Notes About This File
+========================================================================
+
+ About Required Data:
+ --------------------
+
+ Most of the dynamic frames defined in this file require at least one
+ of the following kernels to be loaded prior to their evaluation,
+ normally during program initialization:
+
+ - Planetary ephemeris data (SPK), i.e. DE403, DE405, etc.
+ - Planetary Constants data (PCK), i.e. PCK00007.TPC, PCK00008.TPC.
+
+ Note that loading different kernels will lead to different
+ implementations of the same frame, providing different results from
+ each other, in terms of state vectors referred to these frames.
+
+ About 'of Date' Frames:
+ -----------------------
+
+ This file contains two or more implementations for the 'of Date'
+ frame, i.e. Mars Mean Equator of date (MME).
+
+ Usually, one of these implementations is a PCK-based frame, which
+ gives the user the ability of selecting the planetary constants
+ used in the evaluation of the frame by changing the PCK file.
+
+ In addition to this PCK-based frame, and whenever feasible, one more
+ frame is implemented using the latest IAU report constants, included
+ directly into the frame definition. In this case, the frame name is
+ made up by adding the '_IAUxxxx' suffix to the PCK-based frame name,
+ where xxxx is the IAU report date, i.e. MME_IAU2000. It is
+ recommended to use this implementation of the frame instead of the
+ PCK-based whenever possible since these frames do not depend on the
+ loaded PCK data.
+
+ In many cases, an instance of an 'of Date' frame frozen at J2000
+ epoch is desired. For this reason, an to improve computing
+ efficiency, another implementation of this frame is provided. For
+ such frozen 'of Date' frame, its name is made up by appending the
+ character string '2000' to the PCK-based frame name, i.e. MME2000.
+
+
+Generic Dynamic Frames
+========================================================================
+
+ This section contains the definition of the Generic Dynamic Frames.
+
+
+Heliocentric Earth Ecliptic frame (HEE)
+---------------------------------------
+
+ Definition:
+ -----------
+ The Heliocentric Earth Ecliptic frame is defined as follows (from [3]):
+
+ - X-Y plane is defined by the Earth Mean Ecliptic plane of date,
+ therefore, the +Z axis is the primary vector,and it defined as
+ the normal vector to the Ecliptic plane that points toward the
+ north pole of date;
+
+ - +X axis is the component of the Sun-Earth vector that is
+ orthogonal to the +Z axis;
+
+ - +Y axis completes the right-handed system;
+
+ - the origin of this frame is the Sun's center of mass.
+
+ All vectors are geometric: no aberration corrections are used.
+
+
+ Required Data:
+ --------------
+ This frame is defined as a two-vector frame using two different types
+ of specifications for the primary and secondary vectors.
+
+ The primary vector is defined as a constant vector in the ECLIPDATE
+ frame and therefore no additional data is required to compute this
+ vector.
+
+ The secondary vector is defined as an 'observer-target position' vector,
+ therefore, the ephemeris data required to compute the Sun-Earth vector
+ in J2000 frame have to be loaded prior to using this frame.
+
+
+ Remarks:
+ --------
+ SPICE imposes a constraint in the definition of dynamic frames:
+
+ When the definition of a parameterized dynamic frame F1 refers to a
+ second frame F2 the referenced frame F2 may be dynamic, but F2 must not
+ make reference to any dynamic frame. For further information on this
+ topic, please refer to [1].
+
+ Therefore, no other dynamic frame should make reference to this frame.
+
+ Since the secondary vector of this frame is defined as an
+ 'observer-target position' vector, the usage of different planetary
+ ephemerides conduces to different implementations of this frame,
+ but only when these data lead to different projections of the
+ Sun-Earth vector on the Earth Ecliptic plane of date.
+
+ As an example, note that the average difference in position of the +X
+ axis of this frame, when using DE405 vs. DE403 ephemerides, is about
+ 14.3 micro-radians, with a maximum of 15.0 micro-radians.
+
+
+ \begindata
+
+ FRAME_HEE = 1500010
+ FRAME_1500010_NAME = 'HEE'
+ FRAME_1500010_CLASS = 5
+ FRAME_1500010_CLASS_ID = 1500010
+ FRAME_1500010_CENTER = 10
+ FRAME_1500010_RELATIVE = 'J2000'
+ FRAME_1500010_DEF_STYLE = 'PARAMETERIZED'
+ FRAME_1500010_FAMILY = 'TWO-VECTOR'
+ FRAME_1500010_PRI_AXIS = 'Z'
+ FRAME_1500010_PRI_VECTOR_DEF = 'CONSTANT'
+ FRAME_1500010_PRI_FRAME = 'ECLIPDATE'
+ FRAME_1500010_PRI_SPEC = 'RECTANGULAR'
+ FRAME_1500010_PRI_VECTOR = ( 0, 0, 1 )
+ FRAME_1500010_SEC_AXIS = 'X'
+ FRAME_1500010_SEC_VECTOR_DEF = 'OBSERVER_TARGET_POSITION'
+ FRAME_1500010_SEC_OBSERVER = 'SUN'
+ FRAME_1500010_SEC_TARGET = 'EARTH'
+ FRAME_1500010_SEC_ABCORR = 'NONE'
+
+ \begintext
+
+
+
+Heliocentric Earth Equatorial frame (HEEQ)
+------------------------------------------
+
+ Definition:
+ -----------
+ The Heliocentric Earth Equatorial frame is defined as follows (from [3]
+ and [4]):
+
+ - X-Y plane is the solar equator of date, therefore, the +Z axis
+ is the primary vector and it is aligned to the Sun's north pole
+ of date;
+
+ - +X axis is defined by the intersection between the Sun equatorial
+ plane and the solar central meridian of date as seen from the Earth.
+ The solar central meridian of date is defined as the meridian of the
+ Sun that is turned toward the Earth. Therefore, +X axis is the
+ component of the Sun-Earth vector that is orthogonal to the +Z axis;
+
+ - +Y axis completes the right-handed system;
+
+ - the origin of this frame is the Sun's center of mass.
+
+ All vectors are geometric: no aberration corrections are used.
+
+
+ Required Data:
+ --------------
+ This frame is defined as a two-vector frame using two different types
+ of specifications for the primary and secondary vectors.
+
+ The primary vector is defined as a constant vector in the IAU_SUN
+ frame, which is a PCK-based frame, therefore a PCK file containing
+ the orientation constants for the Sun has to be loaded before any
+ evaluation of this frame.
+
+ The secondary vector is defined as an 'observer-target position' vector,
+ therefore, the ephemeris data required to compute the Sun-Earth vector
+ in J2000 frame have to be loaded before using this frame.
+
+
+ Remarks:
+ --------
+ This frame is defined based on the IAU_SUN frame, whose evaluation is
+ based on the data included in the loaded PCK file: different
+ orientation constants for the Sun's spin axis will lead to different
+ frames. It is strongly recommended to indicate what data have been
+ used in the evaluation of this frame when referring to it, i.e. HEEQ
+ using IAU 2000 constants.
+
+ Since the secondary vector of this frame is defined as an
+ 'observer-target position' vector, the usage of different planetary
+ ephemerides conduces to different implementations of this frame,
+ but only when these data lead to different solar central meridians,
+ i.e. the projection of the Sun-Earth vector on the Sun equatorial
+ plane obtained from the different ephemerides has a non-zero angular
+ separation.
+
+ Note that the effect of using different SPK files is smaller, in general,
+ that using different Sun's spin axis constants. As an example, the
+ average difference in the position of the +X axis of the frame, when
+ using DE405 or DE403 ephemerides is about 14.3 micro-radians, with a
+ maximum of 15.3 micro-radians.
+
+
+ \begindata
+
+ FRAME_HEEQ = 1501010
+ FRAME_1501010_NAME = 'HEEQ'
+ FRAME_1501010_CLASS = 5
+ FRAME_1501010_CLASS_ID = 1501010
+ FRAME_1501010_CENTER = 10
+ FRAME_1501010_RELATIVE = 'J2000'
+ FRAME_1501010_DEF_STYLE = 'PARAMETERIZED'
+ FRAME_1501010_FAMILY = 'TWO-VECTOR'
+ FRAME_1501010_PRI_AXIS = 'Z'
+ FRAME_1501010_PRI_VECTOR_DEF = 'CONSTANT'
+ FRAME_1501010_PRI_FRAME = 'IAU_SUN'
+ FRAME_1501010_PRI_SPEC = 'RECTANGULAR'
+ FRAME_1501010_PRI_VECTOR = ( 0, 0, 1 )
+ FRAME_1501010_SEC_AXIS = 'X'
+ FRAME_1501010_SEC_VECTOR_DEF = 'OBSERVER_TARGET_POSITION'
+ FRAME_1501010_SEC_OBSERVER = 'SUN'
+ FRAME_1501010_SEC_TARGET = 'EARTH'
+ FRAME_1501010_SEC_ABCORR = 'NONE'
+
+ \begintext
+
+
+Venus-centric Solar Orbital frame (VSO)
+----------------------------------------
+
+ Definition:
+ -----------
+ The Venus-centric Solar Orbital frame is defined as follows:
+
+ - The position of the Sun relative to Venus is the primary vector:
+ +X axis points from Venus to the Sun;
+
+ - The inertially referenced velocity of the Sun relative to Venus
+ is the secondary vector: +Y axis is the component of this
+ velocity vector orthogonal to the +X axis;
+
+ - +Z axis completes the right-handed system;
+
+ - the origin of this frame is Venus' center of mass.
+
+ All vectors are geometric: no corrections are used.
+
+
+ Required Data:
+ --------------
+ This frame is defined as a two-vector frame using two different types
+ of specifications for the primary and secondary vectors.
+
+ The primary vector is defined as an 'observer-target position' vector,
+ therefore, the ephemeris data required to compute the Venus-Sun vector
+ in J2000 frame have to be loaded before using this frame.
+
+ The secondary vector is defined as an 'observer-target velocity' vector,
+ therefore, the ephemeris data required to compute the Venus-Sun velocity
+ vector in the J2000 frame have to be loaded before using this frame.
+
+
+ Remarks:
+ --------
+ This frame is defined based on SPK data: different planetary
+ ephemerides (DE families) for Venus, the Sun and the Solar System
+ Barycenter will lead to different frames.
+
+
+ \begindata
+
+ FRAME_VSO = 1500299
+ FRAME_1500299_NAME = 'VSO'
+ FRAME_1500299_CLASS = 5
+ FRAME_1500299_CLASS_ID = 1500299
+ FRAME_1500299_CENTER = 299
+ FRAME_1500299_RELATIVE = 'J2000'
+ FRAME_1500299_DEF_STYLE = 'PARAMETERIZED'
+ FRAME_1500299_FAMILY = 'TWO-VECTOR'
+ FRAME_1500299_PRI_AXIS = 'X'
+ FRAME_1500299_PRI_VECTOR_DEF = 'OBSERVER_TARGET_POSITION'
+ FRAME_1500299_PRI_OBSERVER = 'VENUS'
+ FRAME_1500299_PRI_TARGET = 'SUN'
+ FRAME_1500299_PRI_ABCORR = 'NONE'
+ FRAME_1500299_SEC_AXIS = 'Y'
+ FRAME_1500299_SEC_VECTOR_DEF = 'OBSERVER_TARGET_VELOCITY'
+ FRAME_1500299_SEC_OBSERVER = 'VENUS'
+ FRAME_1500299_SEC_TARGET = 'SUN'
+ FRAME_1500299_SEC_ABCORR = 'NONE'
+ FRAME_1500299_SEC_FRAME = 'J2000'
+
+ \begintext
+
+
+Venus Mean Equator of Date frame (VME)
+--------------------------------------
+
+ Definition:
+ -----------
+ The Venus Mean Equatorial of Date frame (also known as Venus Mean
+ Equator and IAU vector of Date frame) is defined as follows (from [5]):
+
+ - X-Y plane is defined by the Venus equator of date, and
+ the +Z axis is parallel to the Venus' rotation axis of date,
+ pointing toward the North side of the invariant plane;
+
+ - +X axis is defined by the intersection of the Venus' equator
+ of date with the Earth Mean Equator of J2000;
+
+ - +Y axis completes the right-handed system;
+
+ - the origin of this frame is Venus' center of mass.
+
+ All vectors are geometric: no corrections are used.
+
+
+ Required Data:
+ --------------
+ This frame is defined as a two-vector frame using constant vectors as
+ the specification method. The secondary vector is defined in the J2000
+ frame and therefore it does not require to load any additional data.
+
+ The primary vector is defined as a constant vector in the IAU_VENUS
+ frame, which is a PCK-based frame, therefore a PCK file containing
+ the orientation constants for Venus has to be loaded before using this
+ frame.
+
+
+ Remarks:
+ --------
+ This frame is defined based on the IAU_VENUS frame, whose evaluation is
+ based on the data included in the loaded PCK file: different orientation
+ constants for Venus' spin axis will lead to different frames. It is
+ strongly recommended to indicate what data have been used in the
+ evaluation of this frame when referring to it, i.e. VME using IAU 2000
+ constants.
+
+ This frame is provided as the ``most generic'' Venus Mean Equator of
+ date frame since the user has the possibility of loading different Venus
+ orientation constants that would help him/her to define different
+ implementations of this frame.
+
+
+ \begindata
+
+ FRAME_VME = 1501299
+ FRAME_1501299_NAME = 'VME'
+ FRAME_1501299_CLASS = 5
+ FRAME_1501299_CLASS_ID = 1501299
+ FRAME_1501299_CENTER = 299
+ FRAME_1501299_RELATIVE = 'J2000'
+ FRAME_1501299_DEF_STYLE = 'PARAMETERIZED'
+ FRAME_1501299_FAMILY = 'TWO-VECTOR'
+ FRAME_1501299_PRI_AXIS = 'Z'
+ FRAME_1501299_PRI_VECTOR_DEF = 'CONSTANT'
+ FRAME_1501299_PRI_FRAME = 'IAU_VENUS'
+ FRAME_1501299_PRI_SPEC = 'RECTANGULAR'
+ FRAME_1501299_PRI_VECTOR = ( 0, 0, 1 )
+ FRAME_1501299_SEC_AXIS = 'Y'
+ FRAME_1501299_SEC_VECTOR_DEF = 'CONSTANT'
+ FRAME_1501299_SEC_FRAME = 'J2000'
+ FRAME_1501299_SEC_SPEC = 'RECTANGULAR'
+ FRAME_1501299_SEC_VECTOR = ( 0, 0, 1 )
+
+ \begintext
+
+
+Moon-centric Solar Ecliptic frame (LSE)
+---------------------------------------
+
+ Definition:
+ -----------
+ The Moon-centric Solar Ecliptic frame is defined as follows:
+
+ - The position of the Sun relative to Moon is the primary vector:
+ +X axis points from Moon to the Sun;
+
+ - The inertially referenced velocity of the Sun relative to Moon
+ is the secondary vector: +Y axis is the component of this
+ velocity vector orthogonal to the +X axis;
+
+ - +Z axis completes the right-handed system;
+
+ - the origin of this frame is Moon's center of mass.
+
+ All vectors are geometric: no corrections are used.
+
+
+ Required Data:
+ --------------
+ This frame is defined as a two-vector frame using two different types
+ of specifications for the primary and secondary vectors.
+
+ The primary vector is defined as an 'observer-target position' vector,
+ therefore, the ephemeris data required to compute the Moon-Sun vector
+ in J2000 frame have to be loaded before using this frame.
+
+ The secondary vector is defined as an 'observer-target velocity' vector,
+ therefore, the ephemeris data required to compute the Moon-Sun velocity
+ vector in the J2000 frame have to be loaded before using this frame.
+
+
+ Remarks:
+ --------
+ This frame is defined based on SPK data: different planetary
+ ephemerides (DE families) for the Moon, the Sun, the Solar System
+ Barycenter and the Earth-Moon Barycenter will lead to different frames.
+
+
+ \begindata
+
+ FRAME_LSE = 1500301
+ FRAME_1500301_NAME = 'LSE'
+ FRAME_1500301_CLASS = 5
+ FRAME_1500301_CLASS_ID = 1500301
+ FRAME_1500301_CENTER = 301
+ FRAME_1500301_RELATIVE = 'J2000'
+ FRAME_1500301_DEF_STYLE = 'PARAMETERIZED'
+ FRAME_1500301_FAMILY = 'TWO-VECTOR'
+ FRAME_1500301_PRI_AXIS = 'X'
+ FRAME_1500301_PRI_VECTOR_DEF = 'OBSERVER_TARGET_POSITION'
+ FRAME_1500301_PRI_OBSERVER = 'MOON'
+ FRAME_1500301_PRI_TARGET = 'SUN'
+ FRAME_1500301_PRI_ABCORR = 'NONE'
+ FRAME_1500301_SEC_AXIS = 'Y'
+ FRAME_1500301_SEC_VECTOR_DEF = 'OBSERVER_TARGET_VELOCITY'
+ FRAME_1500301_SEC_OBSERVER = 'MOON'
+ FRAME_1500301_SEC_TARGET = 'SUN'
+ FRAME_1500301_SEC_ABCORR = 'NONE'
+ FRAME_1500301_SEC_FRAME = 'J2000'
+
+ \begintext
+
+
+Moon Mean Equator of Date frame (LME)
+-------------------------------------
+
+ Definition:
+ -----------
+ The Moon Mean Equator of Date frame (also known as Moon Mean Equator
+ and IAU vector of Date frame) is defined as follows (from [5]):
+
+ - X-Y plane is defined by the Moon equator of date, and the
+ +Z axis, primary vector of this frame, is parallel to the
+ Moon's rotation axis of date, pointing toward the North side
+ of the invariant plane;
+
+ - +X axis is defined by the intersection of the Moon's equator
+ of date with the Earth Mean Equator of J2000;
+
+ - +Y axis completes the right-handed system;
+
+ - the origin of this frame is Moon's center of mass.
+
+ All vectors are geometric: no corrections are used.
+
+
+ Required Data:
+ --------------
+ This frame is defined as a two-vector frame using constant vectors as
+ the specification method. The secondary vector is defined in the J2000
+ frame and it therefore does not require to load any additional data.
+
+ The primary vector is defined as a constant vector in the IAU_MOON
+ frame, which is a PCK-based frame, therefore a PCK file containing
+ the orientation constants for the Moon has to be loaded before using
+ this frame.
+
+
+ Remarks:
+ --------
+ This frame is defined based on the IAU_MOON frame, whose evaluation is
+ based on the data included in the loaded PCK file: different orientation
+ constants for the Moon's spin axis will lead to different frames. It is
+ strongly recommended to indicate what data have been used in the
+ evaluation of this frame when referring to it, i.e. LME using IAU 2000
+ constants.
+
+
+ \begindata
+
+ FRAME_LME = 1501301
+ FRAME_1501301_NAME = 'LME'
+ FRAME_1501301_CLASS = 5
+ FRAME_1501301_CLASS_ID = 1501301
+ FRAME_1501301_CENTER = 301
+ FRAME_1501301_RELATIVE = 'J2000'
+ FRAME_1501301_DEF_STYLE = 'PARAMETERIZED'
+ FRAME_1501301_FAMILY = 'TWO-VECTOR'
+ FRAME_1501301_PRI_AXIS = 'Z'
+ FRAME_1501301_PRI_VECTOR_DEF = 'CONSTANT'
+ FRAME_1501301_PRI_FRAME = 'IAU_MOON'
+ FRAME_1501301_PRI_SPEC = 'RECTANGULAR'
+ FRAME_1501301_PRI_VECTOR = ( 0, 0, 1 )
+ FRAME_1501301_SEC_AXIS = 'Y'
+ FRAME_1501301_SEC_VECTOR_DEF = 'CONSTANT'
+ FRAME_1501301_SEC_FRAME = 'J2000'
+ FRAME_1501301_SEC_SPEC = 'RECTANGULAR'
+ FRAME_1501301_SEC_VECTOR = ( 0, 0, 1 )
+
+ \begintext
+
+Geocentric Solar Ecliptic frame (GSE)
+---------------------------------------
+
+ Definition:
+ -----------
+ The Geocentric Solar Ecliptic frame is defined as follows (from [3]):
+
+ - X-Y plane is defined by the Earth Mean Ecliptic plane of date:
+ the +Z axis, primary vector, is the normal vector to this plane,
+ always pointing toward the North side of the invariant plane;
+
+ - +X axis is the component of the Earth-Sun vector that is orthogonal
+ to the +Z axis;
+
+ - +Y axis completes the right-handed system;
+
+ - the origin of this frame is the Sun's center of mass.
+
+ All the vectors are geometric: no aberration corrections are used.
+
+
+ Required Data:
+ --------------
+ This frame is defined as a two-vector frame using two different types
+ of specifications for the primary and secondary vectors.
+
+ The primary vector is defined as a constant vector in the ECLIPDATE
+ frame and therefore, no additional data is required to compute this
+ vector.
+
+ The secondary vector is defined as an 'observer-target position' vector,
+ therefore, the ephemeris data required to compute the Earth-Sun vector
+ in J2000 frame have to be loaded prior to using this frame.
+
+
+ Remarks:
+ --------
+ SPICE imposes a constraint in the definition of dynamic frames:
+
+ When the definition of a parameterized dynamic frame F1 refers to a
+ second frame F2 the referenced frame F2 may be dynamic, but F2 must not
+ make reference to any dynamic frame. For further information on this
+ topic, please refer to [1].
+
+ Therefore, no other dynamic frame should make reference to this frame.
+
+ Since the secondary vector of this frame is defined as an
+ 'observer-target position' vector, the usage of different planetary
+ ephemerides conduces to different implementations of this frame,
+ but only when these data lead to different projections of the
+ Earth-Sun vector on the Earth Ecliptic plane of date.
+
+ As an example, note that the average difference in position of the +X
+ axis of this frame, when using DE405 vs. DE403 ephemerides, is about
+ 14.3 micro-radians, with a maximum of 15.0 micro-radians.
+
+
+ \begindata
+
+ FRAME_GSE = 1500399
+ FRAME_1500399_NAME = 'GSE'
+ FRAME_1500399_CLASS = 5
+ FRAME_1500399_CLASS_ID = 1500399
+ FRAME_1500399_CENTER = 399
+ FRAME_1500399_RELATIVE = 'J2000'
+ FRAME_1500399_DEF_STYLE = 'PARAMETERIZED'
+ FRAME_1500399_FAMILY = 'TWO-VECTOR'
+ FRAME_1500399_PRI_AXIS = 'Z'
+ FRAME_1500399_PRI_VECTOR_DEF = 'CONSTANT'
+ FRAME_1500399_PRI_FRAME = 'ECLIPDATE'
+ FRAME_1500399_PRI_SPEC = 'RECTANGULAR'
+ FRAME_1500399_PRI_VECTOR = ( 0, 0, 1 )
+ FRAME_1500399_SEC_AXIS = 'X'
+ FRAME_1500399_SEC_VECTOR_DEF = 'OBSERVER_TARGET_POSITION'
+ FRAME_1500399_SEC_OBSERVER = 'EARTH'
+ FRAME_1500399_SEC_TARGET = 'SUN'
+ FRAME_1500399_SEC_ABCORR = 'NONE'
+
+ \begintext
+
+Earth Mean Equator and Equinox of Date frame (EME)
+--------------------------------------------------
+
+ Definition:
+ -----------
+ The Earth Mean Equator and Equinox of Date frame is defined as follows:
+
+ - +Z axis is aligned with the north-pointing vector normal to the
+ mean equatorial plane of the Earth;
+
+ - +X axis points along the ``mean equinox'', which is defined as the
+ intersection of the Earth's mean orbital plane with the Earth's mean
+ equatorial plane. It is aligned with the cross product of the
+ north-pointing vectors normal to the Earth's mean equator and mean
+ orbit plane of date;
+
+ - +Y axis is the cross product of the Z and X axes and completes the
+ right-handed frame;
+
+ - the origin of this frame is the Earth's center of mass.
+
+ The mathematical model used to obtain the orientation of the Earth's mean
+ equator and equinox of date frame is the 1976 IAU precession model, built
+ into SPICE.
+
+ The base frame for the 1976 IAU precession model is J2000.
+
+
+ Required Data:
+ --------------
+ The usage of this frame does not require additional data since the
+ precession model used to define this frame is already built into
+ SPICE.
+
+
+ Remarks:
+ --------
+ None.
+
+
+ \begindata
+
+ FRAME_EME = 1501399
+ FRAME_1501399_NAME = 'EME'
+ FRAME_1501399_CLASS = 5
+ FRAME_1501399_CLASS_ID = 1501399
+ FRAME_1501399_CENTER = 399
+ FRAME_1501399_RELATIVE = 'J2000'
+ FRAME_1501399_DEF_STYLE = 'PARAMETERIZED'
+ FRAME_1501399_FAMILY = 'MEAN_EQUATOR_AND_EQUINOX_OF_DATE'
+ FRAME_1501399_PREC_MODEL = 'EARTH_IAU_1976'
+ FRAME_1501399_ROTATION_STATE = 'ROTATING'
+
+ \begintext
+
+
+Geocentric Solar Equatorial frame (GSEQ)
+----------------------------------------
+
+ Definition:
+ -----------
+ The Geocentric Solar Equatorial frame is defined as follows (from [7]):
+
+ - +X axis is the position of the Sun relative to the Earth; it's
+ the primary vector and points from the Earth to the Sun;
+
+ - +Z axis is the component of the Sun's north pole of date orthogonal
+ to the +X axis;
+
+ - +Y axis completes the right-handed reference frame;
+
+ - the origin of this frame is the Earth's center of mass.
+
+ All the vectors are geometric: no aberration corrections are used.
+
+ Required Data:
+ --------------
+ This frame is defined as a two-vector frame using two different types
+ of specifications for the primary and secondary vectors.
+
+ The primary vector is defined as an 'observer-target position' vector,
+ therefore, the ephemeris data required to compute the Earth-Sun vector
+ in J2000 frame have to be loaded before using this frame.
+
+ The secondary vector is defined as a constant vector in the IAU_SUN
+ frame, which is a PCK-based frame, therefore a PCK file containing
+ the orientation constants for the Sun has to be loaded before using
+ this frame.
+
+
+ Remarks:
+ --------
+ This frame is defined based on the IAU_SUN frame, whose evaluation is
+ based on the data included in the loaded PCK file: different orientation
+ constants for the Sun's spin axis will lead to different frames. It is
+ strongly recommended to indicate what data have been used in the
+ evaluation of this frame when referring to it, i.e.GSEQ using IAU 2000
+ constants.
+
+ Since the primary vector of this frame is defined as an 'observer-target
+ position' vector, the usage of different planetary ephemerides
+ conduces to different implementations of this frame. As an example,
+ the difference between using DE405 or DE403 ephemerides is, in average,
+ approximately 10.9 micro-radians, with a maximum of 21.6 micro-radians.
+
+
+ \begindata
+
+ FRAME_GSEQ = 1502399
+ FRAME_1502399_NAME = 'GSEQ'
+ FRAME_1502399_CLASS = 5
+ FRAME_1502399_CLASS_ID = 1502399
+ FRAME_1502399_CENTER = 399
+ FRAME_1502399_RELATIVE = 'J2000'
+ FRAME_1502399_DEF_STYLE = 'PARAMETERIZED'
+ FRAME_1502399_FAMILY = 'TWO-VECTOR'
+ FRAME_1502399_PRI_AXIS = 'X'
+ FRAME_1502399_PRI_VECTOR_DEF = 'OBSERVER_TARGET_POSITION'
+ FRAME_1502399_PRI_OBSERVER = 'EARTH'
+ FRAME_1502399_PRI_TARGET = 'SUN'
+ FRAME_1502399_PRI_ABCORR = 'NONE'
+ FRAME_1502399_SEC_AXIS = 'Z'
+ FRAME_1502399_SEC_VECTOR_DEF = 'CONSTANT'
+ FRAME_1502399_SEC_FRAME = 'IAU_SUN'
+ FRAME_1502399_SEC_SPEC = 'RECTANGULAR'
+ FRAME_1502399_SEC_VECTOR = ( 0, 0, 1 )
+
+ \begintext
+
+Earth Mean Ecliptic and Equinox of Date frame (ECLIPDATE)
+---------------------------------------------------------
+
+ Definition:
+ -----------
+ The Earth Mean Ecliptic and Equinox of Date frame is defined as follows:
+
+ - +Z axis is aligned with the north-pointing vector normal to the
+ mean orbital plane of the Earth;
+
+ - +X axis points along the ``mean equinox'', which is defined as the
+ intersection of the Earth's mean orbital plane with the Earth's mean
+ equatorial plane. It is aligned with the cross product of the
+ north-pointing vectors normal to the Earth's mean equator and mean
+ orbit plane of date;
+
+ - +Y axis is the cross product of the Z and X axes and completes the
+ right-handed frame;
+
+ - the origin of this frame is the Earth's center of mass.
+
+ The mathematical model used to obtain the orientation of the Earth's mean
+ equator and equinox of date frame is the 1976 IAU precession model, built
+ into SPICE.
+
+ The mathematical model used to obtain the mean orbital plane of the Earth
+ is the 1980 IAU obliquity model, also built into SPICE.
+
+ The base frame for the 1976 IAU precession model is J2000.
+
+ Required Data:
+ --------------
+ The usage of this frame does not require additional data since both the
+ precession and the obliquity models used to define this frame are already
+ built into SPICE.
+
+
+ Remarks:
+ --------
+ None.
+
+
+ \begindata
+
+ FRAME_ECLIPDATE = 1503399
+ FRAME_1503399_NAME = 'ECLIPDATE'
+ FRAME_1503399_CLASS = 5
+ FRAME_1503399_CLASS_ID = 1503399
+ FRAME_1503399_CENTER = 399
+ FRAME_1503399_RELATIVE = 'J2000'
+ FRAME_1503399_DEF_STYLE = 'PARAMETERIZED'
+ FRAME_1503399_FAMILY = 'MEAN_ECLIPTIC_AND_EQUINOX_OF_DATE
+ FRAME_1503399_PREC_MODEL = 'EARTH_IAU_1976'
+ FRAME_1503399_OBLIQ_MODEL = 'EARTH_IAU_1980'
+ FRAME_1503399_ROTATION_STATE = 'ROTATING'
+
+ \begintext
+
+
+
+Mars Mean Equator of Date frame (MME)
+-------------------------------------
+
+ Definition:
+ -----------
+ The Mars Mean Equator of Date frame (also known as Mars Mean Equator
+ and IAU vector of Date frame) is defined as follows (from [5]):
+
+ - X-Y plane is defined by the Mars equator of date: the
+ +Z axis, primary vector, is parallel to the Mars' rotation
+ axis of date, pointing toward the North side of the invariant
+ plane;
+
+ - +X axis is defined by the intersection of the Mars' equator of
+ date with the J2000 equator;
+
+ - +Y axis completes the right-handed system;
+
+ - the origin of this frame is Mars' center of mass.
+
+
+ All vectors are geometric: no corrections are used.
+
+
+ Required Data:
+ --------------
+ This frame is defined as a two-vector frame using constant vectors as
+ the specification method. The secondary vector is defined in the J2000
+ frame and therefore it does not require to load any additional data.
+
+ The primary vector is defined as a constant vector in the IAU_MARS
+ frame, which is a PCK-based frame, therefore a PCK file containing
+ the orientation constants for Mars has to be loaded before using this
+ frame.
+
+
+ Remarks:
+ --------
+ This frame is defined based on the IAU_MARS frame, whose evaluation is
+ based on the data included in the loaded PCK file: different orientation
+ constants for Mars' spin axis will lead to different frames. It is
+ strongly recommended to indicate which data have been used in the
+ evaluation of this frame when referring to it, i.e. MME using IAU 2000
+ constants.
+
+ This frame is provided as the ``most generic'' Mars Mean Equator of
+ Date frame since the user has the possibility of loading different Mars
+ orientation constants that would help him/her to define different
+ implementations of this frame.
+
+
+ \begindata
+
+ FRAME_MME = 1500499
+ FRAME_1500499_NAME = 'MME'
+ FRAME_1500499_CLASS = 5
+ FRAME_1500499_CLASS_ID = 1500499
+ FRAME_1500499_CENTER = 499
+ FRAME_1500499_RELATIVE = 'J2000'
+ FRAME_1500499_DEF_STYLE = 'PARAMETERIZED'
+ FRAME_1500499_FAMILY = 'TWO-VECTOR'
+ FRAME_1500499_PRI_AXIS = 'Z'
+ FRAME_1500499_PRI_VECTOR_DEF = 'CONSTANT'
+ FRAME_1500499_PRI_FRAME = 'IAU_MARS'
+ FRAME_1500499_PRI_SPEC = 'RECTANGULAR'
+ FRAME_1500499_PRI_VECTOR = ( 0, 0, 1 )
+ FRAME_1500499_SEC_AXIS = 'Y'
+ FRAME_1500499_SEC_VECTOR_DEF = 'CONSTANT'
+ FRAME_1500499_SEC_FRAME = 'J2000'
+ FRAME_1500499_SEC_SPEC = 'RECTANGULAR'
+ FRAME_1500499_SEC_VECTOR = ( 0, 0, 1 )
+
+ \begintext
+
+
+Mars Mean Equator of Date frame based on IAU 2000 Mars Constants (MME_IAU2000)
+------------------------------------------------------------------------------
+
+ Definition:
+ -----------
+ The MME_IAU2000 frame is based on Mean Mars Equator and IAU
+ vector of date evaluated using IAU 2000 Mars rotation constants.
+
+ This frame is implemented as as Euler frame, mathematically identical
+ to the PCK frame IAU_MARS based on IAU 2000 Mars rotation constants
+ but without prime meridian rotation terms.
+
+ The PCK data defining the IAU_MARS frame are:
+
+ BODY499_POLE_RA = ( 317.68143 -0.1061 0. )
+ BODY499_POLE_DEC = ( 52.88650 -0.0609 0. )
+ BODY499_PM = ( 176.630 350.89198226 0. )
+
+ These values are from [6].
+
+ Here pole RA/Dec terms in the PCK are in degrees and degrees/century;
+ the rates have been converted to degrees/sec. Prime meridian terms
+ from the PCK are disregarded.
+
+ The 3x3 transformation matrix M defined by the angles is
+
+ M = [ 0.0] [angle_2] [angle_3]
+ 3 1 3
+
+ Vectors are mapped from the J2000 base frame to the MME_IAU2000
+ frame via left multiplication by M.
+
+ The relationship of these Euler angles to RA/Dec for the
+ J2000-to-IAU Mars Mean Equator of Date transformation is as follows:
+
+ angle_1 is 0.0
+ angle_2 is pi/2 - Dec * (radians/degree)
+ angle_3 is pi/2 + RA * (radians/degree), mapped into the
+ range 0 < angle_3 < 2*pi
+ -
+
+ Since when we define the MME_IAU2000 frame we're defining the
+ *inverse* of the above transformation, the angles for our Euler frame
+ definition are reversed and the signs negated:
+
+ angle_1 is -pi/2 - RA * (radians/degree), mapped into the
+ range 0 < angle_3 < 2*pi
+ -
+ angle_2 is -pi/2 + Dec * (radians/degree)
+ angle_3 is 0.0
+
+ The resulting values for the coefficients are (in degrees):
+
+ ANGLE_1 = -47.68143 0.33621061170684714E-10
+ ANGLE_2 = -37.11350 -0.19298045478743630E-10
+ ANGLE_3 = 0.00000 0.0000
+
+
+ Required Data:
+ --------------
+ Since the frame definition incorporates all the required data for
+ evaluating this frame's orientation, the usage of this frame does not
+ require additional data
+
+
+ Remarks:
+ --------
+ None.
+
+
+ \begindata
+
+ FRAME_MME_IAU2000 = 1501499
+ FRAME_1501499_NAME = 'MME_IAU2000'
+ FRAME_1501499_CLASS = 5
+ FRAME_1501499_CLASS_ID = 1501499
+ FRAME_1501499_CENTER = 499
+ FRAME_1501499_RELATIVE = 'J2000'
+ FRAME_1501499_DEF_STYLE = 'PARAMETERIZED'
+ FRAME_1501499_FAMILY = 'EULER'
+ FRAME_1501499_EPOCH = @2000-JAN-1/12:00:00
+ FRAME_1501499_AXES = ( 3 1 3 )
+ FRAME_1501499_UNITS = 'DEGREES'
+ FRAME_1501499_ANGLE_1_COEFFS = ( -47.68143
+ 0.33621061170684714E-10 )
+ FRAME_1501499_ANGLE_2_COEFFS = ( -37.1135
+ -0.19298045478743630E-10 )
+ FRAME_1501499_ANGLE_3_COEFFS = ( 0.0 )
+
+ \begintext
+
+
+Mars-centric Solar Orbital frame (MSO)
+--------------------------------------------------------
+
+ Definition:
+ -----------
+ The Mars-centric Solar Orbital frame is defined as follows:
+
+ - The position of the Sun relative to Mars is the primary vector:
+ +X axis points from Mars to the Sun;
+
+ - The inertially referenced velocity of the Sun relative to Mars
+ is the secondary vector: +Y axis is the component of this
+ velocity vector orthogonal to the +X axis;
+
+ - +Z axis completes the right-handed system;
+
+ - the origin of this frame is Mars' center of mass.
+
+ All vectors are geometric: no corrections are used.
+
+
+ Required Data:
+ --------------
+ This frame is defined as a two-vector frame using two different types
+ of specifications for the primary and secondary vectors.
+
+ The primary vector is defined as an 'observer-target position' vector,
+ therefore, the ephemeris data required to compute the Mars-Sun vector
+ in J2000 frame have to be loaded before using this frame.
+
+ The secondary vector is defined as an 'observer-target velocity' vector,
+ therefore, the ephemeris data required to compute the Mars-Sun velocity
+ vector in the J2000 frame have to be loaded before using this frame.
+
+
+ Remarks:
+ --------
+ This frame is defined based on SPK data: different planetary
+ ephemerides (DE families) for Mars, the Sun and the Solar System
+ Barycenter will lead to different implementations of the frame. As an
+ example, the difference between using DE405 and DE403 ephemerides is,
+ on average, approximately 11.1 micro-radians, with a maximum of 13.4
+ micro-radians.
+
+
+ \begindata
+
+ FRAME_MSO = 1502499
+ FRAME_1502499_NAME = 'MSO'
+ FRAME_1502499_CLASS = 5
+ FRAME_1502499_CLASS_ID = 1502499
+ FRAME_1502499_CENTER = 499
+ FRAME_1502499_RELATIVE = 'J2000'
+ FRAME_1502499_DEF_STYLE = 'PARAMETERIZED'
+ FRAME_1502499_FAMILY = 'TWO-VECTOR'
+ FRAME_1502499_PRI_AXIS = 'X'
+ FRAME_1502499_PRI_VECTOR_DEF = 'OBSERVER_TARGET_POSITION'
+ FRAME_1502499_PRI_OBSERVER = 'MARS'
+ FRAME_1502499_PRI_TARGET = 'SUN'
+ FRAME_1502499_PRI_ABCORR = 'NONE'
+ FRAME_1502499_SEC_AXIS = 'Y'
+ FRAME_1502499_SEC_VECTOR_DEF = 'OBSERVER_TARGET_VELOCITY'
+ FRAME_1502499_SEC_OBSERVER = 'MARS'
+ FRAME_1502499_SEC_TARGET = 'SUN'
+ FRAME_1502499_SEC_ABCORR = 'NONE'
+ FRAME_1502499_SEC_FRAME = 'J2000'
+
+ \begintext
+
+
+
+Generic Inertial Frames
+========================================================================
+
+ This section contains the definitions of the Generic Inertial Frames
+ used within the ESA Planetary Missions, which are not 'built-in' into
+ the SPICE toolkit.
+
+
+Heliocentric Inertial frame (HCI)
+------------------------------------------------------
+
+ The Heliocentric Inertial Frame is defined as follows (from [3]):
+
+ - X-Y plane is defined by the Sun's equator of epoch J2000: the +Z
+ axis, primary vector, is parallel to the Sun's rotation axis of
+ epoch J2000, pointing toward the Sun's north pole;
+
+ - +X axis is defined by the ascending node of the Sun's equatorial
+ plane on the ecliptic plane of J2000;
+
+ - +Y completes the right-handed frame;
+
+ - the origin of this frame is the Sun's center of mass.
+
+ Note that even when the original frame defined in [3] is referenced
+ to the orientation of the Solar equator in J1900, the HCI frame is
+ based on J2000 instead.
+
+ It is possible to define this frame as a dynamic frame frozen at
+ J2000 epoch, using the following set of keywords:
+
+ FRAME_HCI = 1502010
+ FRAME_1502010_NAME = 'HCI'
+ FRAME_1502010_CLASS = 5
+ FRAME_1502010_CLASS_ID = 1502010
+ FRAME_1502010_CENTER = 10
+ FRAME_1502010_RELATIVE = 'J2000'
+ FRAME_1502010_DEF_STYLE = 'PARAMETERIZED'
+ FRAME_1502010_FAMILY = 'TWO-VECTOR'
+ FRAME_1502010_PRI_AXIS = 'Z'
+ FRAME_1502010_PRI_VECTOR_DEF = 'CONSTANT'
+ FRAME_1502010_PRI_FRAME = 'IAU_SUN'
+ FRAME_1502010_PRI_SPEC = 'RECTANGULAR'
+ FRAME_1502010_PRI_VECTOR = ( 0, 0, 1 )
+ FRAME_1502010_SEC_AXIS = 'Y'
+ FRAME_1502010_SEC_VECTOR_DEF = 'CONSTANT'
+ FRAME_1502010_SEC_FRAME = 'ECLIPJ2000'
+ FRAME_1502010_SEC_SPEC = 'RECTANGULAR'
+ FRAME_1502010_SEC_VECTOR = ( 0, 0, 1 )
+
+ In the above implementation of this frame, the primary vector is
+ defined as a constant vector in the IAU_SUN frame, which is a
+ PCK-based frame, therefore a PCK file containing the orientation
+ constants for the Sun has to be loaded before using this frame.
+
+ Due to the fact that the transformation between the HCI frame and J2000
+ frame is fixed and time independent, the HCI frame can be implemented
+ as a fixed offset frame relative to the J2000 frame. The rotation matrix
+ provided in the definition was computed using the following PXFORM call:
+
+ CALL PXFORM( 'HCI', 'J2000', 0.D0, MATRIX )
+
+ using the implementation of the frame given above, and the following PCK:
+
+ PCK00008.TPC
+
+ which contains the following constants for the SUN (from [5]):
+
+ BODY10_POLE_RA = ( 286.13 0. 0. )
+ BODY10_POLE_DEC = ( 63.87 0. 0. )
+
+ This new implementation of the frame is preferred for computing efficiency
+ reasons.
+
+ \begindata
+
+ FRAME_HCI = 1502010
+ FRAME_1502010_NAME = 'HCI'
+ FRAME_1502010_CLASS = 4
+ FRAME_1502010_CLASS_ID = 1502010
+ FRAME_1502010_CENTER = 10
+ TKFRAME_1502010_SPEC = 'MATRIX'
+ TKFRAME_1502010_RELATIVE = 'J2000'
+ TKFRAME_1502010_MATRIX = (
+
+ 0.2458856764679510 0.8893142951159845 0.3855649343628876
+ -0.9615455562494245 0.1735802308455697 0.2128380762847277
+ 0.1223534934723278 -0.4230720836476433 0.8977971010607901
+
+ )
+
+ \begintext
+
+
+Venus Mean Equator of Date J2000 frame (VME2000)
+------------------------------------------------
+
+ The Venus Mean Equator of Date J2000 is defined as follows:
+
+ - +Z axis points toward Venus North Pole of date J2000;
+
+ - +X axis points toward the Venus IAU vector of date J2000. Venus
+ IAU vector of date is defined as the intersection between the
+ Venus equator of date and the J2000 equator;
+
+ - +Y axis completes the right-hand frame;
+
+ - the origin of this frame is Venus center of mass.
+
+ The VME2000 frame is the VME frame frozen at J2000 (using the IAU
+ 2000 constants for Venus' North Pole and prime meridian). For
+ computing efficiency reasons this frame is defined as a fixed offset
+ frame relative to the J2000 frame. The rotation matrix provided in
+ the definition was computed using the following PXFORM call:
+
+ CALL PXFORM( 'VME', 'J2000', 0.D0, MATRIX )
+
+ using the following kernel file:
+
+ PCK00008.TPC
+
+ which implements the following IAU constants for Venus (from [5]):
+
+ BODY299_POLE_RA = ( 272.76 0. 0. )
+ BODY299_POLE_DEC = ( 67.16 0. 0. )
+ BODY299_PM = ( 160.20 -1.4813688 0. )
+
+ Note that the prime meridian terms are not used on the evaluation of
+ the VME frame.
+
+
+ \begindata
+
+ FRAME_VME2000 = 1503299
+ FRAME_1503299_NAME = 'VME2000'
+ FRAME_1503299_CLASS = 4
+ FRAME_1503299_CLASS_ID = 1503299
+ FRAME_1503299_CENTER = 299
+ TKFRAME_1503299_SPEC = 'MATRIX'
+ TKFRAME_1503299_RELATIVE = 'J2000'
+ TKFRAME_1503299_MATRIX = (
+
+ 0.9988399975085458 0.0481524597204341 0.0000000000000000
+ -0.0443769404401835 0.9205233405740161 0.3881590738545506
+ 0.0186908141689023 -0.3877088083617988 0.9215923900425704
+
+ )
+
+ \begintext
+
+
+Moon Mean Equator of Date J2000 frame (LME2000)
+-----------------------------------------------
+
+ The Moon Mean Equator of Date J2000 is defined as follows:
+
+ - +Z axis points toward Moon's North Pole of date J2000;
+
+ - +X axis points toward the Moon's equinox of date J2000. Moon's
+ equinox of date J2000 is defined as the intersection between the
+ Moon's equator of date and the J2000 equator;
+
+ - +Y axis completes the right-hand frame;
+
+ - the origin of this frame is Moon's center of mass.
+
+ The LME2000 frame is the LME frame frozen at J2000 (using the IAU 2000
+ constants for the Moon's North Pole, prime meridian and nutation model).
+ For computing efficiency reasons this frame is defined as a fixed offset
+ frame relative to the J2000 frame. The rotation matrix provided in the
+ definition was computed using the following PXFORM call:
+
+ CALL PXFORM( 'LME', 'J2000', 0.D0, MATRIX )
+
+ using the following kernel files:
+
+ PCK00008.TPC
+
+ which implements the following IAU constants for the Moon (from [5]):
+
+ - Moon's J2000 right ascension and declination (RA and DEC) of the
+ north pole.
+
+ BODY301_POLE_RA = ( 269.9949 0.0031 0. )
+ BODY301_POLE_DEC = ( 66.5392 0.0130 0. )
+
+
+ - Coefficients of the trigonometric terms for the computation of the
+ nutation and precession of the Moon:
+
+ BODY301_NUT_PREC_RA = ( -3.8787 -0.1204 0.0700 -0.0172
+ 0.0 0.0072 0.0 0.0
+ 0.0 -0.0052 0.0 0.0
+ 0.0043 )
+
+ BODY301_NUT_PREC_DEC = ( 1.5419 0.0239 -0.0278 0.0068
+ 0.0 -0.0029 0.0009 0.0
+ 0.0 0.0008 0.0 0.0
+ -0.0009 )
+
+ The effective RA/DEC of the Moon's North pole is computed, for a given
+ time as:
+
+ alpha = 269.9949 + 0.0031 T - 3.8787 sin(E1) - 0.1204 sin(E2)
+ 0
+ + 0.0700 sin(E3) - 0.0172 sin(E4)
+
+ + 0.0072 sin(E6) - 0.0052 sin(E10)
+
+ + 0.0043 sin(E13)
+
+
+ delta = 66.5392 + 0.013 T + 1.5419 cos(E1) + 0.0239 cos(E2)
+ 0
+ - 0.0278 cos(E3) + 0.0068 cos(E4)
+
+ - 0.0029 cos(E6) + 0.0009 cos(E7)
+
+ + 0.0008 cos(E10) - 0.0009 cos(E13)
+
+ where T represents centuries past J2000 ( TDB ), and the nutation
+ precession angles for the Earth-Moon system are:
+
+ E1 = 125.045 - 0.0529921 d
+ E2 = 250.089 - 0.1059842 d
+ E3 = 260.008 + 13.0120009 d
+ E4 = 176.625 + 13.3407154 d
+ E5 = 357.529 + 0.9856003 d
+ E6 = 311.589 + 26.4057084 d
+ E7 = 134.963 + 13.0649930 d
+ E8 = 276.617 - 0.3287146 d
+ E9 = 34.226 - 1.7484877 d
+ E10 = 15.134 - 0.1589763 d
+ E11 = 119.743 + 0.0036096 d
+ E12 = 239.961 + 0.1643573 d
+ E13 = 25.053 + 12.9590088 d
+
+ where d represents days past J2000 ( TDB )
+
+
+ \begindata
+
+ FRAME_LME2000 = 1502301
+ FRAME_1502301_NAME = 'LME2000'
+ FRAME_1502301_CLASS = 4
+ FRAME_1502301_CLASS_ID = 1502301
+ FRAME_1502301_CENTER = 301
+ TKFRAME_1502301_SPEC = 'MATRIX'
+ TKFRAME_1502301_RELATIVE = 'J2000'
+ TKFRAME_1502301_MATRIX = (
+
+ 0.9984965052050879 -0.0548154092680678 0.0000000000000000
+ 0.0499357293985326 0.9096101252380440 0.4124510189026893
+ -0.0226086714041825 -0.4118309009426129 0.9109797785934293
+
+ )
+
+ \begintext
+
+
+Mars Mean Equator of Date J2000 frame (MME2000)
+-----------------------------------------------
+
+ The Mars Mean Equator of Date J2000 is defined as follows:
+
+ - +Z axis points toward Mars North Pole of date J2000;
+
+ - +X axis points toward the Mars IAU vector of date J2000. Mars
+ IAU vector of date is defined as the intersection between the
+ Mars equator of date and the J2000 equator;
+
+ - +Y axis completes the right-hand frame;
+
+ - the origin of this frame is Mars center of mass.
+
+ The MME2000 frame is the MME_IAU2000 frame frozen at J2000. For computing
+ efficiency reasons this frame is defined as a fixed offset frame relative
+ to the J2000 frame. The rotation matrix provided in the definition was
+ computed using the following PXFORM call:
+
+ CALL PXFORM( 'MME_IAU2000', 'J2000', 0.D0, MATRIX )
+
+ \begindata
+
+ FRAME_MME2000 = 1503499
+ FRAME_1503499_NAME = 'MME2000'
+ FRAME_1503499_CLASS = 4
+ FRAME_1503499_CLASS_ID = 1503499
+ FRAME_1503499_CENTER = 499
+ TKFRAME_1503499_SPEC = 'MATRIX'
+ TKFRAME_1503499_RELATIVE = 'J2000'
+ TKFRAME_1503499_MATRIX = (
+
+ 0.6732521982472339 0.7394129276360180 0.0000000000000000
+ -0.5896387605430040 0.5368794307891331 0.6033958972853946
+ 0.4461587269353556 -0.4062376142607541 0.7974417791532832
+
+ )
+
+ \begintext
+
diff --git a/tests/pytests/data/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1/tgoCassisAddendum007.ti b/tests/pytests/data/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1/tgoCassisAddendum007.ti
new file mode 100644
index 0000000..ce10214
--- /dev/null
+++ b/tests/pytests/data/CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1/tgoCassisAddendum007.ti
@@ -0,0 +1,194 @@
+\begintext
+The instrument addendum kernel for TGO CaSSIS camera.
+
+history 2017-01-13 Jeannie Backer - Original version.
+history 2017-02-03 Kris Becker - Added light time correction flags
+ and filter offsets from beginning of CCD.
+history 2017-09-05 Stuart Sides - Added distortion coefficients (no longer appearing in IK).
+history 2017-09-13 Jeannie Backer - Updated distortion coefficients provided by S.Tulyakov (EPFL)
+ and added documentation.
+history 2017-09-20 Kristin Berry - Moved unneeded filter offsets to text area and cleaned up file.
+history 2018-03-13 Jeannie Backer - Updated focal length from 880.0 to 876, as
+ recommended by S.Tulyakov (EPFL). Also updated filter boresight line/samp.
+history 2018-07-01 Kristin Berry - Updated focal length from 876 to 874.9 mm, as
+ recommended by S.Tulyakov (EPFL). Also updated filter offset.
+
+\begintext
+Values below come from the camera kernel.
+
+\begindata
+ INS-143400_PIXEL_PITCH = 0.010
+ INS-143400_FOCAL_LENGTH = 874.9
+ INS-143400_BORESIGHT_SAMPLE = 1024.5
+ INS-143400_BORESIGHT_LINE = 1024.5
+ INS-143400_FILTER_LINES = 2048
+ INS-143400_FILTER_SAMPLES = 2048
+
+ INS-143421_FOCAL_LENGTH = 874.9
+ INS-143421_BORESIGHT_SAMPLE = 1024.5
+ INS-143421_BORESIGHT_LINE = 493.5
+ INS-143421_FILTER_LINES = 280
+ INS-143421_FILTER_SAMPLES = 2048
+
+ INS-143422_FOCAL_LENGTH = 874.9
+ INS-143422_BORESIGHT_SAMPLE = 1024.5
+ INS-143422_BORESIGHT_LINE = 839.5
+ INS-143422_FILTER_LINES = 256
+ INS-143422_FILTER_SAMPLES = 2048
+
+ INS-143423_FOCAL_LENGTH = 874.9
+ INS-143423_BORESIGHT_SAMPLE = 1024.5
+ INS-143423_BORESIGHT_LINE = 1175.5
+ INS-143423_FILTER_LINES = 256
+ INS-143423_FILTER_SAMPLES = 2048
+
+ INS-143424_FOCAL_LENGTH = 874.9
+ INS-143424_BORESIGHT_SAMPLE = 1024.5
+ INS-143424_BORESIGHT_LINE = 1516.5
+ INS-143424_FILTER_LINES = 256
+ INS-143424_FILTER_SAMPLES = 2048
+
+\begintext
+Filter Offsets, for reference. (No longer required by ISIS3.)
+
+ INS-143421_FILTER_OFFSET = 354.0
+ INS-143422_FILTER_OFFSET = 712.0
+ INS-143423_FILTER_OFFSET = 1048.0
+ INS-143424_FILTER_OFFSET = 1389.0
+
+\begintext
+Calculated using pixel pitch and 1/pixel pitch
+
+\begindata
+ INS-143400_TRANSX = ( 0.0, 0.010, 0.0 )
+ INS-143400_TRANSY = ( 0.0, 0.0, 0.010 )
+ INS-143400_ITRANSS = ( 0.0, 100.0, 0.0 )
+ INS-143400_ITRANSL = ( 0.0, 0.0, 100.0 )
+
+\begintext
+
+ CASSIS OBSERVER/TARGET SWAPPING, STELLAR ABERRATION & LIGHT TIME CORRECTION:
+------------------------------------------------------------------------------
+
+The following table lists the TGO/CASSIS NAIF Ids that need to have parameters
+set that will provide the settings for handling light time/stellar aberration
+corrections as well as swap observer/target to set the correct order for NAIF
+calls to get s/c and target postion and attitude data.
+
+ Name NAIF ID
+ --------------------- ---------
+ TGO_CASSIS -143400
+ TGO_CASSIS_PAN -143421
+ TGO_CASSIS_RED -143422
+ TGO_CASSIS_NIR -143423
+ TGO_CASSIS_BLU -143424
+
+
+\begindata
+
+ INS-143400_SWAP_OBSERVER_TARGET = 'TRUE'
+ INS-143400_LIGHTTIME_CORRECTION = 'LT+S'
+ INS-143400_LT_SURFACE_CORRECT = 'TRUE'
+
+ INS-143421_SWAP_OBSERVER_TARGET = 'TRUE'
+ INS-143421_LIGHTTIME_CORRECTION = 'LT+S'
+ INS-143421_LT_SURFACE_CORRECT = 'TRUE'
+
+ INS-143422_SWAP_OBSERVER_TARGET = 'TRUE'
+ INS-143422_LIGHTTIME_CORRECTION = 'LT+S'
+ INS-143422_LT_SURFACE_CORRECT = 'TRUE'
+
+ INS-143423_SWAP_OBSERVER_TARGET = 'TRUE'
+ INS-143423_LIGHTTIME_CORRECTION = 'LT+S'
+ INS-143423_LT_SURFACE_CORRECT = 'TRUE'
+
+ INS-143424_SWAP_OBSERVER_TARGET = 'TRUE'
+ INS-143424_LIGHTTIME_CORRECTION = 'LT+S'
+ INS-143424_LT_SURFACE_CORRECT = 'TRUE'
+
+
+\begintext
+
+Optical Distortion - Correcting distorted coordinates
+--------------------------------------------------------
+ Converting from distorted (i,j) to ideal (x,y).
+
+Rational correction model is described by following equation
+
+ chi = [ i^2, i*j, j^2, i, j, 1]
+
+ A_corr_1 * chi'
+ x = ----------------------
+ A_corr_3 * chi'
+
+ A_corr_2 * chi'
+ y = ----------------------
+ A_corr_3 * chi'
+
+ where (i, j) are distorted focal plane coordinates in millimeters
+ (x, y) are ideal focal plane coordinates in millimeters
+ A_corr_1, A_corr_2, A_corr_3 are 1x6 vectors, parameters of the rational correction model
+
+\begindata
+
+ INS-143400_OD_A1_CORR = ( 0.00376130530948266,
+ -0.0134154156065812,
+ -1.86749521007237e-05,
+ 1.00021352681836,
+ -0.000432362371703953,
+ -0.000948065735350123 )
+ INS-143400_OD_A2_CORR = ( 9.9842559363676e-05,
+ 0.00373543707958162,
+ -0.0133299918873929,
+ -0.000215311328389359,
+ 0.995296015537294,
+ -0.0183542717710778 )
+ INS-143400_OD_A3_CORR = ( -3.13320167004204e-05,
+ -7.35655125749807e-06,
+ -1.57664245066771e-05,
+ 0.00373549465439151,
+ -0.0141671946930935,
+ 1.0 )
+\begintext
+
+Optical Distortion - Distorting ideal coordinates
+--------------------------------------------------------
+ Converting from ideal (x,y) to distorted (i,j).
+
+ Rational distortion model is described by following equation
+
+ chi = [ x^2, x*y, y^2, x, y, 1]
+
+ A_dist_1 * chi'
+ i = ----------------------
+ A_dist_3 * chi'
+
+ A_dist_2 * chi'
+ j = ----------------------
+ A_dist_3 * chi'
+
+ where (i, j) are distorted focal plane coordinates in millimeters
+ (x, y) are ideal focal plane coordinates in millimeters
+ A_dist_1, A_dist_2, A_dist_3 are 1x6 vectors, parameters of the rational distortion model
+
+\begindata
+
+ INS-143400_OD_A1_DIST = ( 0.00213658795560622,
+ -0.00711785765064197,
+ 1.10355974742147e-05,
+ 0.573607182625377,
+ 0.000250884350194894,
+ 0.000550623913037132 )
+ INS-143400_OD_A2_DIST = ( -5.69725741015406e-05,
+ 0.00215155905679149,
+ -0.00716392991767185,
+ 0.000124152787728634,
+ 0.576459544392426,
+ 0.010576940564854 )
+ INS-143400_OD_A3_DIST = ( 1.78250771483506e-05,
+ 4.24592743471094e-06,
+ 9.51220699036653e-06,
+ 0.00215158425420738,
+ -0.0066835595774833,
+ 0.573741540971609 )
+
diff --git a/tests/pytests/test_cassis_drivers.py b/tests/pytests/test_cassis_drivers.py
new file mode 100644
index 0000000..339c7b4
--- /dev/null
+++ b/tests/pytests/test_cassis_drivers.py
@@ -0,0 +1,294 @@
+import pytest
+import ale
+import os
+import json
+
+import numpy as np
+from ale.formatters.isis_formatter import to_isis
+from ale.base.data_isis import IsisSpice
+import unittest
+from unittest.mock import patch
+
+from conftest import get_image_label, get_image_kernels, convert_kernels, compare_dicts
+
+from ale.drivers.tgo_drivers import TGOCassisIsisLabelNaifSpiceDriver
+from conftest import get_image_kernels, convert_kernels, get_image_label
+
+@pytest.fixture()
+def isis_compare_dict():
+ return {
+ "CameraVersion": 1,
+ "NaifKeywords": {
+ "BODY499_RADII": [3396.19, 3396.19, 3376.2],
+ "BODY_FRAME_CODE": 10014,
+ "BODY_CODE": 499,
+ "INS-143400_FOV_ANGLE_UNITS": "DEGREES",
+ "INS-143400_OD_A3_DIST": [
+ 1.78250771483506e-05,
+ 4.24592743471094e-06,
+ 9.51220699036653e-06,
+ 0.00215158425420738,
+ -0.0066835595774833,
+ 0.573741540971609
+ ],
+ "TKFRAME_-143400_ANGLES": [0.021, 0.12, -179.881],
+ "FRAME_-143400_CENTER": -143.0,
+ "INS-143400_FOV_CLASS_SPEC": "ANGLES",
+ "INS-143400_OD_A3_CORR": [
+ -3.13320167004204e-05,
+ -7.35655125749807e-06,
+ -1.57664245066771e-05,
+ 0.00373549465439151,
+ -0.0141671946930935,
+ 1.0
+ ],
+ "INS-143400_FOV_REF_VECTOR": [1.0, 0.0, 0.0],
+ "TKFRAME_-143400_AXES": [1.0, 2.0, 3.0],
+ "TKFRAME_-143400_SPEC": "ANGLES",
+ "INS-143400_OD_A2_DIST": [
+ -5.69725741015406e-05,
+ 0.00215155905679149,
+ -0.00716392991767185,
+ 0.000124152787728634,
+ 0.576459544392426,
+ 0.010576940564854
+ ],
+ "FRAME_-143400_NAME": "TGO_CASSIS_CRU",
+ "INS-143400_BORESIGHT": [0.0, 0.0, 1.0],
+ "INS-143400_ITRANSL": [0.0, 0.0, 100.0],
+ "TKFRAME_-143400_RELATIVE": "TGO_SPACECRAFT",
+ "INS-143400_ITRANSS": [0.0, 100.0, 0.0],
+ "INS-143400_FOV_CROSS_ANGLE": 0.67057,
+ "INS-143400_BORESIGHT_LINE": 1024.5,
+ "INS-143400_OD_A2_CORR": [
+ 9.9842559363676e-05,
+ 0.00373543707958162,
+ -0.0133299918873929,
+ -0.000215311328389359,
+ 0.995296015537294,
+ -0.0183542717710778
+ ],
+ "INS-143400_SWAP_OBSERVER_TARGET": "TRUE",
+ "FRAME_-143400_CLASS_ID": -143400.0,
+ "INS-143400_LIGHTTIME_CORRECTION": "LT+S",
+ "INS-143400_BORESIGHT_SAMPLE": 1024.5,
+ "INS-143400_PIXEL_PITCH": 0.01,
+ "INS-143400_FOV_REF_ANGLE": 0.67057,
+ "INS-143400_FOV_SHAPE": "RECTANGLE",
+ "INS-143400_OD_A1_DIST": [
+ 0.00213658795560622,
+ -0.00711785765064197,
+ 1.10355974742147e-05,
+ 0.573607182625377,
+ 0.000250884350194894,
+ 0.000550623913037132
+ ],
+ "INS-143400_FILTER_SAMPLES": 2048.0,
+ "INS-143400_FILTER_LINES": 2048.0,
+ "INS-143400_OD_A1_CORR": [
+ 0.00376130530948266,
+ -0.0134154156065812,
+ -1.86749521007237e-05,
+ 1.00021352681836,
+ -0.000432362371703953,
+ -0.000948065735350123
+ ],
+ "INS-143400_FOV_FRAME": "TGO_CASSIS_FSA",
+ "INS-143400_LT_SURFACE_CORRECT": "TRUE",
+ "INS-143400_NAME": "TGO_CASSIS",
+ "INS-143400_FOCAL_LENGTH": 874.9,
+ "FRAME_-143400_CLASS": 4.0,
+ "INS-143400_TRANSX": [0.0, 0.01, 0.0],
+ "INS-143400_TRANSY": [0.0, 0.0, 0.01],
+ "TKFRAME_-143400_UNITS": "DEGREES",
+ "FRAME_1503499_CLASS": 4.0,
+ "FRAME_1500499_SEC_FRAME": "J2000",
+ "FRAME_1500499_DEF_STYLE": "PARAMETERIZED",
+ "TKFRAME_1503499_SPEC": "MATRIX",
+ "FRAME_1500499_PRI_AXIS": "Z",
+ "BODY499_POLE_DEC": [52.8865, -0.0609, 0.0],
+ "FRAME_1502499_PRI_TARGET": "SUN",
+ "FRAME_1502499_CENTER": 499.0,
+ "FRAME_1501499_ANGLE_1_COEFFS": [-47.68143, 3.362106117068471e-11],
+ "FRAME_1502499_FAMILY": "TWO-VECTOR",
+ "FRAME_1503499_NAME": "MME2000",
+ "FRAME_1502499_SEC_TARGET": "SUN",
+ "FRAME_1501499_EPOCH": 0.0,
+ "FRAME_1500499_SEC_SPEC": "RECTANGULAR",
+ "FRAME_1501499_UNITS": "DEGREES",
+ "FRAME_1500499_CENTER": 499.0,
+ "FRAME_1502499_PRI_OBSERVER": "MARS",
+ "FRAME_1500499_FAMILY": "TWO-VECTOR",
+ "FRAME_1502499_SEC_VECTOR_DEF": "OBSERVER_TARGET_VELOCITY",
+ "FRAME_1500499_CLASS": 5.0,
+ "FRAME_1500499_SEC_VECTOR_DEF": "CONSTANT",
+ "FRAME_1501499_ANGLE_2_COEFFS": [-37.1135, -1.929804547874363e-11],
+ "FRAME_1500499_PRI_SPEC": "RECTANGULAR",
+ "BODY499_POLE_RA": [317.68143, -0.1061, 0.0],
+ "FRAME_1500499_PRI_VECTOR": [0.0, 0.0, 1.0],
+ "FRAME_1502499_PRI_VECTOR_DEF": "OBSERVER_TARGET_POSITION",
+ "TKFRAME_1503499_RELATIVE": "J2000",
+ "FRAME_1500499_NAME": "MME",
+ "FRAME_1500499_PRI_VECTOR_DEF": "CONSTANT",
+ "FRAME_1500499_SEC_VECTOR": [0.0, 0.0, 1.0],
+ "BODY499_PM": [176.63, 350.89198226, 0.0],
+ "FRAME_1502499_SEC_FRAME": "J2000",
+ "FRAME_1502499_PRI_ABCORR": "NONE",
+ "FRAME_1503499_CENTER": 499.0,
+ "FRAME_1502499_DEF_STYLE": "PARAMETERIZED",
+ "FRAME_1503499_CLASS_ID": 1503499.0,
+ "FRAME_1502499_RELATIVE": "J2000",
+ "FRAME_1502499_SEC_ABCORR": "NONE",
+ "FRAME_1501499_CLASS": 5.0,
+ "TKFRAME_1503499_MATRIX": [
+ 0.6732521982472339,
+ 0.7394129276360181,
+ 0.0,
+ -0.589638760543004,
+ 0.536879430789133,
+ 0.6033958972853946,
+ 0.4461587269353556,
+ -0.4062376142607541,
+ 0.7974417791532832
+ ],
+ "FRAME_1502499_CLASS_ID": 1502499.0,
+ "FRAME_1501499_ANGLE_3_COEFFS": 0.0,
+ "FRAME_1501499_RELATIVE": "J2000",
+ "FRAME_1501499_NAME": "MME_IAU2000",
+ "FRAME_1501499_CENTER": 499.0,
+ "FRAME_1501499_CLASS_ID": 1501499.0,
+ "FRAME_1500499_RELATIVE": "J2000",
+ "FRAME_1501499_FAMILY": "EULER",
+ "FRAME_1502499_SEC_AXIS": "Y",
+ "FRAME_1502499_CLASS": 5.0,
+ "FRAME_1501499_DEF_STYLE": "PARAMETERIZED",
+ "FRAME_1500499_CLASS_ID": 1500499.0,
+ "FRAME_1500499_PRI_FRAME": "IAU_MARS",
+ "BODY499_GM": 42828.314,
+ "FRAME_1502499_PRI_AXIS": "X",
+ "FRAME_1502499_SEC_OBSERVER": "MARS",
+ "FRAME_1502499_NAME": "MSO",
+ "FRAME_1501499_AXES": [3.0, 1.0, 3.0],
+ "FRAME_1500499_SEC_AXIS": "Y"
+ },
+ "InstrumentPointing": {
+ "TimeDependentFrames": [-143410, -143400, -143000, 1],
+ "ConstantFrames" : [-143420, -143410],
+ "CkTableStartTime": 533471602.76595,
+ "CkTableEndTime": 533471602.76595,
+ "CkTableOriginalSize": 1,
+ "EphemerisTimes": [533471602.76595],
+ "Quaternions": [
+ [-0.38852078202718,
+ -0.53534661398878,
+ -0.74986993015978,
+ 0.012275694110544
+ ]
+ ],
+ "AngularVelocity": [
+ [-5.18973909108511e-04,
+ -2.78782123621868e-04,
+ 2.84462861654798e-04
+ ]
+ ],
+ "ConstantRotation": [
+ 0.0021039880161896,
+ -5.08910327554815e-04,
+ 0.99999765711961,
+ 0.98482103650022,
+ 0.17356149021485,
+ -0.0019837290716917,
+ -0.17356007404082,
+ 0.98482290292452,
+ 8.66356891752243e-04
+ ]
+ },
+ "BodyRotation": {
+ "TimeDependentFrames": [10014, 1],
+ "CkTableStartTime": 533471602.76595,
+ "CkTableEndTime": 533471602.76595,
+ "CkTableOriginalSize": 1,
+ "EphemerisTimes": [533471602.76595],
+ "Quaternions": [
+ [-0.84364286886959,
+ 0.083472339272581,
+ 0.30718999789287,
+ -0.43235793455935
+ ]
+ ],
+ "AngularVelocity": [
+ [3.16231952619494e-05,
+ -2.8811745785852e-05,
+ 5.6516725802331e-05
+ ]
+ ]
+ },
+ "InstrumentPosition": {
+ "SpkTableStartTime": 533471602.76595,
+ "SpkTableEndTime": 533471602.76595,
+ "SpkTableOriginalSize": 1,
+ "EphemerisTimes": [533471602.76595],
+ "Positions": [
+ [-2707.0266303122,
+ 2307.373459613,
+ 2074.8887762465]
+ ],
+ "Velocities": [
+ [-1.6101681507607,
+ -4.1440662687653,
+ -0.48379032129765
+ ]
+ ]
+ },
+ "SunPosition": {
+ "SpkTableStartTime": 533471602.76595,
+ "SpkTableEndTime": 533471602.76595,
+ "SpkTableOriginalSize": 1,
+ "EphemerisTimes": [533471602.76595],
+ "Positions": [
+ [-206349081.4204,
+ 17157784.002827,
+ 13440194.20453
+ ]
+ ],
+ "Velocities": [
+ [-3.3908615862221,
+ -23.832213042409,
+ -10.839726759899
+ ]
+ ]
+ }
+}
+
+
+@pytest.fixture()
+def test_kernels(scope="module"):
+ kernels = get_image_kernels("CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1")
+ updated_kernels, binary_kernels = convert_kernels(kernels)
+ yield updated_kernels
+ for kern in binary_kernels:
+ os.remove(kern)
+
+def test_cassis_load(test_kernels, isis_compare_dict):
+ label_file = get_image_label("CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1", "isis")
+ isis_isd = ale.load(label_file, props={'kernels': test_kernels}, formatter="isis")
+
+ assert compare_dicts(isis_isd, isis_compare_dict) == []
+
+# ========= Test cassis ISIS label and naifspice driver =========
+class test_cassis_isis_naif(unittest.TestCase):
+
+ def setUp(self):
+ label = get_image_label("CAS-MCO-2016-11-26T22.32.14.582-RED-01000-B1", "isis")
+ self.driver = TGOCassisIsisLabelNaifSpiceDriver(label)
+
+ def test_short_mission_name(self):
+ assert self.driver.short_mission_name == "tgo"
+
+ def test_instrument_id(self):
+ assert self.driver.instrument_id == "TGO_CASSIS"
+
+ def test_ephemeris_start_time(self):
+ with patch("ale.drivers.viking_drivers.spice.utc2et", return_value=12345) as utc2et:
+ assert self.driver.ephemeris_start_time == 12345
+ utc2et.assert_called_with("2016-11-26 22:32:14.582000")
diff --git a/tests/pytests/test_kaguya_drivers.py b/tests/pytests/test_kaguya_drivers.py
index 3e874e5..a357707 100644
--- a/tests/pytests/test_kaguya_drivers.py
+++ b/tests/pytests/test_kaguya_drivers.py
@@ -102,18 +102,18 @@ def test_load(test_kernels):
'semiminor': 1737.4,
'unit': 'km'},
'sensor_position': {
- 'positions': np.array([[ 195493.28614388, 211984.05137213, -1766966.32185819],
- [ 194937.01104181, 211343.39987087, -1767100.47633473],
- [ 194380.68920347, 210702.70097122, -1767234.22276254],
- [ 193824.32093681, 210061.95495794, -1767367.56104995],
- [ 193267.90484827, 209421.16305764, -1767500.49120063],
- [ 192711.44397634, 208780.32318594, -1767633.01318365]]),
- 'velocities': np.array([[-1069.71225785, -1231.97438089, -258.37880523],
- [-1069.80205939, -1232.06556741, -257.5939851 ],
- [-1069.89161639, -1232.15647191, -256.80910187],
- [-1069.98092881, -1232.24709434, -256.02415587],
- [-1070.06999666, -1232.33743471, -255.2391471 ],
- [-1070.15881991, -1232.42749298, -254.4540759 ]]),
+ 'positions': np.array([[195490.61933009, 211972.79163854, -1766965.21759375],
+ [194934.34274256, 211332.14192709, -1767099.36601459],
+ [194378.02078141, 210691.44358962, -1767233.10640484],
+ [193821.65246371, 210050.69819792, -1767366.43865632],
+ [193265.23762617, 209409.90567475, -1767499.36279925],
+ [192708.77531467, 208769.0676026, -1767631.87872367]]),
+ 'velocities': np.array([[-1069.71186948, -1231.97377674, -258.3672068 ],
+ [-1069.80166655, -1232.06495814, -257.58238805],
+ [-1069.89121909, -1232.15585752, -256.7975062 ],
+ [-1069.98052705, -1232.24647484, -256.01256158],
+ [-1070.06959044, -1232.3368101, -255.2275542 ],
+ [-1070.15840923, -1232.42686325, -254.44248439]]),
'unit': 'm'},
'sun_position': {
'positions': np.array([[9.50465237e+10, 1.15903815e+11, 3.78729685e+09]]),
--
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