diff --git a/tests/pytests/data/2264ML0121141200805116C00_DRCL/2264ML0121141200805116C00_DRCL_0.xsp b/tests/pytests/data/2264ML0121141200805116C00_DRCL/2264ML0121141200805116C00_DRCL_0.xsp
new file mode 100644
index 0000000000000000000000000000000000000000..227d99c623be7fb6cf80318d4559c4f0f2814faf
--- /dev/null
+++ b/tests/pytests/data/2264ML0121141200805116C00_DRCL/2264ML0121141200805116C00_DRCL_0.xsp
@@ -0,0 +1,175 @@
+DAFETF NAIF DAF ENCODED TRANSFER FILE
+'DAF/SPK '
+'2'
+'6'
+'SPKMERGE '
+BEGIN_ARRAY 1 16
+'MARS -to- ROVER, LOCALIZED '
+'23AC4A8578F996^8'
+'23AC4B84A5435^8'
+'-4C'
+'1F3'
+'271E'
+'9'
+16
+'-9B717FC874B4A^3'
+'8F0C00BF1949C^3'
+'-11791C7BB95EDC^3'
+'0^0'
+'0^0'
+'0^0'
+'-9B717FC874B4A^3'
+'8F0C00BF1949C^3'
+'-11791C7BB95EDC^3'
+'0^0'
+'0^0'
+'0^0'
+'23A29B2243782C^8'
+'23D7918F325EB^8'
+'1^1'
+'2^1'
+END_ARRAY 1 16
+BEGIN_ARRAY 2 12
+'DE-0425LE-0425 '
+'23AC4A8578F996^8'
+'23AC4B84A5435^8'
+'1F3'
+'4'
+'1'
+'2'
+12
+'E0BD34^7'
+'500208^8'
+'0^0'
+'0^0'
+'0^0'
+'0^0'
+'0^0'
+'0^0'
+'-41F634C^8'
+'A0041^8'
+'8^1'
+'1^1'
+END_ARRAY 2 12
+BEGIN_ARRAY 3 39
+'DE-0425LE-0425 '
+'23AC4A8578F996^8'
+'23AC4B84A5435^8'
+'A'
+'0'
+'1'
+'2'
+39
+'23ACEF4^8'
+'A8C^5'
+'-182D9A9BFB179A^5'
+'-2476E10E336A1A^4'
+'-B8A3486486B768^1'
+'-17AA1DC98AB4BF^0'
+'11F6AC565388EC^-1'
+'-2003202CA7FB1C^-2'
+'4696DD82DA8E3C^-3'
+'-436A0DEA81049C^-4'
+'-3D906B8CD195B2^-5'
+'1B327152242364^-5'
+'-3FEA99EE1E579A^-6'
+'F8FBAE76383698^5'
+'887854CAE5193^3'
+'-11006081023A6B^2'
+'-220754DC10457C^0'
+'6130AF671931E8^-2'
+'-E83B72F00F3BD8^-3'
+'-1054721423B0A2^-3'
+'6924BC38A4542^-4'
+'-E7BBE4454FE7B8^-5'
+'10DF04C3BBF7EA^-5'
+'6972E9D5ED0014^-7'
+'699181548D915C^5'
+'4B5504F8DBFD08^3'
+'-6CC66492AE1BE^1'
+'-FBD23530BA2778^-1'
+'2FD92127C74098^-2'
+'-459AE2252BA5E8^-3'
+'-1037663F52D79C^-3'
+'3F25DF0A901AB6^-4'
+'-7565B9626659D8^-5'
+'631E5CFD949408^-6'
+'A1EB36F8F8AFA8^-7'
+'23A2634^8'
+'1518^6'
+'23^2'
+'1^1'
+END_ARRAY 3 39
+BEGIN_ARRAY 4 39
+'DE-0425LE-0425 '
+'23AC4A8578F996^8'
+'23AC4B84A5435^8'
+'4'
+'0'
+'1'
+'2'
+39
+'23A2634^8'
+'1518^6'
+'B00002EDB937A^7'
+'-E969C89A1E30B^6'
+'-124A7464F0595F^6'
+'5BC1A06B5D9C2^4'
+'23748F27DC7DA2^3'
+'-13F1FE0C9663BC^2'
+'3F34782E51C96^-1'
+'33F60EE49FB7BE^-1'
+'-105C286C7007F7^-2'
+'-5CC38010013918^-4'
+'46B8CA23A8F87C^-5'
+'5E380908FD46FC^7'
+'1B7983B2777E94^7'
+'-9AA49B4B5E614^5'
+'-6AD04684E06BC8^4'
+'288E91E21C135^3'
+'642F8C265138A^1'
+'-7A1ABF128E0F28^0'
+'14546AFA061D2B^-1'
+'FE8B1E89D51F3^-3'
+'-970B125DFF63B^-4'
+'2922FD19E7EA68^-5'
+'266DE7098D312C^7'
+'CFEDC8716ABDF8^6'
+'-3F081D8B041946^5'
+'-337818D362154^4'
+'11A5420BC9C15C^3'
+'3690DC976B5E3C^1'
+'-381D8BE2BE2D4E^0'
+'7EDFB99588D58^-2'
+'7BD3086CA25FB8^-3'
+'-44B07AB7EBC32C^-4'
+'1A9A8AA68474EE^-5'
+'238D4B4^8'
+'2A3^6'
+'23^2'
+'1^1'
+END_ARRAY 4 39
+TOTAL_ARRAYS 4
+ ~NAIF/SPC BEGIN COMMENTS~
+; /Users/arsanders/data/msl/kernels/2264ML0121141200805116C00_DRCL_0.bsp LOG FILE
+
+; Created 2023-09-11/17:50:25.00.
+;
+; BEGIN SPKMERGE COMMANDS
+
+LEAPSECONDS_KERNEL = /Users/arsanders/isis_efs/isis_data/base/kernels/lsk/naif0012.tls
+
+SPK_KERNEL = /Users/arsanders/data/msl/kernels/2264ML0121141200805116C00_DRCL_0.bsp
+SOURCE_SPK_KERNEL = /Users/arsanders/isis_efs/isis_data/msl/kernels/spk/msl_surf_rover_loc.bsp
+ INCLUDE_COMMENTS = NO
+ BODIES = -76
+ BEGIN_TIME = 2018 DEC 19 12:16:00.289
+ END_TIME = 2018 DEC 19 12:20:15.462
+SOURCE_SPK_KERNEL = /Users/arsanders/isis_efs/isis_data/msl/kernels/spk/de425s.bsp
+ INCLUDE_COMMENTS = NO
+ BODIES = 4, 10, 499
+ BEGIN_TIME = 2018 DEC 19 12:16:00.289
+ END_TIME = 2018 DEC 19 12:20:15.462
+
+; END SPKMERGE COMMANDS
+ ~NAIF/SPC END COMMENTS~
diff --git a/tests/pytests/data/2264ML0121141200805116C00_DRCL/2264ML0121141200805116C00_DRCL_1.xsp b/tests/pytests/data/2264ML0121141200805116C00_DRCL/2264ML0121141200805116C00_DRCL_1.xsp
new file mode 100644
index 0000000000000000000000000000000000000000..3b27641dd10da6cb3e54a7cc74df1ff99b851ac2
--- /dev/null
+++ b/tests/pytests/data/2264ML0121141200805116C00_DRCL/2264ML0121141200805116C00_DRCL_1.xsp
@@ -0,0 +1,175 @@
+DAFETF NAIF DAF ENCODED TRANSFER FILE
+'DAF/SPK '
+'2'
+'6'
+'SPKMERGE '
+BEGIN_ARRAY 1 16
+'MARS -to- ROVER, LOCALIZED '
+'23AC4D556F80C2^8'
+'23AC4E52CC2CCC^8'
+'-4C'
+'1F3'
+'271E'
+'9'
+16
+'-9B717FC874B4A^3'
+'8F0C00BF1949C^3'
+'-11791C7BB95EDC^3'
+'0^0'
+'0^0'
+'0^0'
+'-9B717FC874B4A^3'
+'8F0C00BF1949C^3'
+'-11791C7BB95EDC^3'
+'0^0'
+'0^0'
+'0^0'
+'23A29B2243782C^8'
+'23D7918F325EB^8'
+'1^1'
+'2^1'
+END_ARRAY 1 16
+BEGIN_ARRAY 2 12
+'DE-0425LE-0425 '
+'23AC4D556F80C2^8'
+'23AC4E52CC2CCC^8'
+'1F3'
+'4'
+'1'
+'2'
+12
+'E0BD34^7'
+'500208^8'
+'0^0'
+'0^0'
+'0^0'
+'0^0'
+'0^0'
+'0^0'
+'-41F634C^8'
+'A0041^8'
+'8^1'
+'1^1'
+END_ARRAY 2 12
+BEGIN_ARRAY 3 39
+'DE-0425LE-0425 '
+'23AC4D556F80C2^8'
+'23AC4E52CC2CCC^8'
+'A'
+'0'
+'1'
+'2'
+39
+'23ACEF4^8'
+'A8C^5'
+'-182D9A9BFB179A^5'
+'-2476E10E336A1A^4'
+'-B8A3486486B768^1'
+'-17AA1DC98AB4BF^0'
+'11F6AC565388EC^-1'
+'-2003202CA7FB1C^-2'
+'4696DD82DA8E3C^-3'
+'-436A0DEA81049C^-4'
+'-3D906B8CD195B2^-5'
+'1B327152242364^-5'
+'-3FEA99EE1E579A^-6'
+'F8FBAE76383698^5'
+'887854CAE5193^3'
+'-11006081023A6B^2'
+'-220754DC10457C^0'
+'6130AF671931E8^-2'
+'-E83B72F00F3BD8^-3'
+'-1054721423B0A2^-3'
+'6924BC38A4542^-4'
+'-E7BBE4454FE7B8^-5'
+'10DF04C3BBF7EA^-5'
+'6972E9D5ED0014^-7'
+'699181548D915C^5'
+'4B5504F8DBFD08^3'
+'-6CC66492AE1BE^1'
+'-FBD23530BA2778^-1'
+'2FD92127C74098^-2'
+'-459AE2252BA5E8^-3'
+'-1037663F52D79C^-3'
+'3F25DF0A901AB6^-4'
+'-7565B9626659D8^-5'
+'631E5CFD949408^-6'
+'A1EB36F8F8AFA8^-7'
+'23A2634^8'
+'1518^6'
+'23^2'
+'1^1'
+END_ARRAY 3 39
+BEGIN_ARRAY 4 39
+'DE-0425LE-0425 '
+'23AC4D556F80C2^8'
+'23AC4E52CC2CCC^8'
+'4'
+'0'
+'1'
+'2'
+39
+'23A2634^8'
+'1518^6'
+'B00002EDB937A^7'
+'-E969C89A1E30B^6'
+'-124A7464F0595F^6'
+'5BC1A06B5D9C2^4'
+'23748F27DC7DA2^3'
+'-13F1FE0C9663BC^2'
+'3F34782E51C96^-1'
+'33F60EE49FB7BE^-1'
+'-105C286C7007F7^-2'
+'-5CC38010013918^-4'
+'46B8CA23A8F87C^-5'
+'5E380908FD46FC^7'
+'1B7983B2777E94^7'
+'-9AA49B4B5E614^5'
+'-6AD04684E06BC8^4'
+'288E91E21C135^3'
+'642F8C265138A^1'
+'-7A1ABF128E0F28^0'
+'14546AFA061D2B^-1'
+'FE8B1E89D51F3^-3'
+'-970B125DFF63B^-4'
+'2922FD19E7EA68^-5'
+'266DE7098D312C^7'
+'CFEDC8716ABDF8^6'
+'-3F081D8B041946^5'
+'-337818D362154^4'
+'11A5420BC9C15C^3'
+'3690DC976B5E3C^1'
+'-381D8BE2BE2D4E^0'
+'7EDFB99588D58^-2'
+'7BD3086CA25FB8^-3'
+'-44B07AB7EBC32C^-4'
+'1A9A8AA68474EE^-5'
+'238D4B4^8'
+'2A3^6'
+'23^2'
+'1^1'
+END_ARRAY 4 39
+TOTAL_ARRAYS 4
+ ~NAIF/SPC BEGIN COMMENTS~
+; /Users/arsanders/data/msl/kernels/2264ML0121141200805116C00_DRCL_1.bsp LOG FILE
+
+; Created 2023-09-11/17:50:32.00.
+;
+; BEGIN SPKMERGE COMMANDS
+
+LEAPSECONDS_KERNEL = /Users/arsanders/isis_efs/isis_data/base/kernels/lsk/naif0012.tls
+
+SPK_KERNEL = /Users/arsanders/data/msl/kernels/2264ML0121141200805116C00_DRCL_1.bsp
+SOURCE_SPK_KERNEL = /Users/arsanders/isis_efs/isis_data/msl/kernels/spk/msl_surf_rover_loc.bsp
+ INCLUDE_COMMENTS = NO
+ BODIES = -76
+ BEGIN_TIME = 2018 DEC 19 12:28:00.252
+ END_TIME = 2018 DEC 19 12:32:13.614
+SOURCE_SPK_KERNEL = /Users/arsanders/isis_efs/isis_data/msl/kernels/spk/de425s.bsp
+ INCLUDE_COMMENTS = NO
+ BODIES = 4, 10, 499
+ BEGIN_TIME = 2018 DEC 19 12:28:00.252
+ END_TIME = 2018 DEC 19 12:32:13.614
+
+; END SPKMERGE COMMANDS
+ ~NAIF/SPC END COMMENTS~
diff --git a/tests/pytests/data/2264ML0121141200805116C00_DRCL/2264ML0121141200805116C00_DRCL_pds3.lbl b/tests/pytests/data/2264ML0121141200805116C00_DRCL/2264ML0121141200805116C00_DRCL_pds3.lbl
new file mode 100644
index 0000000000000000000000000000000000000000..5fce5b0c66a63097375e8171cd40a7bb0afe8024
--- /dev/null
+++ b/tests/pytests/data/2264ML0121141200805116C00_DRCL/2264ML0121141200805116C00_DRCL_pds3.lbl
@@ -0,0 +1,491 @@
+PDS_VERSION_ID = PDS3
+
+/* FILE DATA ELEMENTS */
+
+RECORD_TYPE = FIXED_LENGTH
+RECORD_BYTES = 1338
+FILE_RECORDS = 3579
+
+/* Pointers to Data Objects */
+
+^IMAGE = ("2264ML0121141200805116C00_DRCL.IMG")
+
+
+/* Identification Data Elements */
+
+MSL:ACTIVE_FLIGHT_STRING_ID = "A"
+DATA_SET_ID = "MSL-M-MASTCAM-4-RDR-IMG-V1.0"
+DATA_SET_NAME = "MSL MARS MAST CAMERA 4 RDR IMAGE V1.0"
+COMMAND_SEQUENCE_NUMBER = 120
+GEOMETRY_PROJECTION_TYPE = RAW
+IMAGE_ID = "2264ML0121141200805116C00"
+IMAGE_TYPE = REGULAR
+MSL:IMAGE_ACQUIRE_MODE = IMAGE
+INSTRUMENT_HOST_ID = MSL
+INSTRUMENT_HOST_NAME = "MARS SCIENCE LABORATORY"
+INSTRUMENT_ID = MAST_LEFT
+INSTRUMENT_NAME = "MAST CAMERA LEFT"
+INSTRUMENT_SERIAL_NUMBER = "3003"
+FLIGHT_SOFTWARE_VERSION_ID = "1105031458"
+INSTRUMENT_TYPE = "IMAGING CAMERA"
+INSTRUMENT_VERSION_ID = FM
+MSL:LOCAL_MEAN_SOLAR_TIME = "Sol-02264M16:27:02.729"
+LOCAL_TRUE_SOLAR_TIME = "15:40:52"
+MISSION_NAME = "MARS SCIENCE LABORATORY"
+MISSION_PHASE_NAME = "EXTENDED SURFACE MISSION"
+OBSERVATION_ID = "NULL"
+PLANET_DAY_NUMBER = 2264
+INSTITUTION_NAME = "MALIN SPACE SCIENCE SYSTEMS"
+PRODUCT_CREATION_TIME = 2019-06-01T08:10:50.780
+PRODUCT_VERSION_ID = "V1.0"
+PRODUCT_ID = "2264ML0121141200805116C00_DRCL"
+SOURCE_PRODUCT_ID = "McamLImage_0598492579-48548-1"
+MSL:INPUT_PRODUCT_ID = "2264ML0121141200805116C00_DXXX"
+MSL:CALIBRATION_FILE_NAME = "N/A"
+RELEASE_ID = "0021"
+MSL:REQUEST_ID = "2012114120"
+MSL:CAMERA_PRODUCT_ID = "5116"
+MSL:CAMERA_PRODUCT_ID_COUNT = 8
+ROVER_MOTION_COUNTER_NAME = ("SITE", "DRIVE", "POSE",
+ "ARM", "CHIMRA", "DRILL",
+ "RSM", "HGA",
+ "DRT", "IC")
+ROVER_MOTION_COUNTER = (73, 1206,
+ 52, 798,
+ 0, 2338,
+ 892, 582,
+ 0, 6 )
+SEQUENCE_ID = "mcam12114"
+SEQUENCE_VERSION_ID = "0"
+SOLAR_LONGITUDE = 309.155
+SPACECRAFT_CLOCK_CNT_PARTITION = 1
+SPACECRAFT_CLOCK_START_COUNT = "598492579.0000"
+SPACECRAFT_CLOCK_STOP_COUNT = "598492579.0112"
+IMAGE_TIME = 2018-12-19T12:30:00.252
+START_TIME = 2018-12-19T12:30:00.252
+STOP_TIME = 2018-12-19T12:30:00.423
+TARGET_NAME = "MARS"
+TARGET_TYPE = "PLANET"
+
+/* Telemetry Data Elements */
+
+APPLICATION_PROCESS_ID = 406
+APPLICATION_PROCESS_NAME = McamLImage
+EARTH_RECEIVED_START_TIME = 2018-12-23T07:10:30
+SPICE_FILE_NAME = "mmm_chronos_v02.tm"
+TELEMETRY_PROVIDER_ID = "NULL"
+MSL:TELEMETRY_SOURCE_HOST_NAME = "NULL"
+TELEMETRY_SOURCE_NAME = "McamLImage_0598492579-48548-1"
+TELEMETRY_SOURCE_TYPE = "DATA PRODUCT"
+MSL:COMMUNICATION_SESSION_ID = "42680"
+MSL:PRODUCT_COMPLETION_STATUS = COMPLETE_CHECKSUM_PASS
+MSL:SEQUENCE_EXECUTION_COUNT = 1
+MSL:TELEMETRY_SOURCE_START_TIME = 2018-12-19T12:30:01
+MSL:TELEMETRY_SOURCE_SCLK_START = "1/598492579-48548"
+
+
+/* History Data Elements */
+
+GROUP = PDS_HISTORY_PARMS
+ SOFTWARE_NAME = MMMRDRGEN
+ SOFTWARE_VERSION_ID = "pds16.0"
+ PROCESSING_HISTORY_TEXT = "CODMAC LEVEL 1 to LEVEL 4
+ CONVERSION VIA MSSS MMMRDRGEN"
+END_GROUP = PDS_HISTORY_PARMS
+
+/* Camera Model Data Elements */
+
+GROUP = GEOMETRIC_CAMERA_MODEL_PARMS
+ ^MODEL_DESC = "GEOMETRIC_CM.TXT"
+ FILTER_NAME = MASTCAM_L0_CLEAR
+ MODEL_TYPE = CAHV
+ MODEL_COMPONENT_ID = ("C","A","H","V")
+ MODEL_COMPONENT_NAME = ("CENTER", "AXIS",
+ "HORIZONTAL", "VERTICAL")
+ MODEL_COMPONENT_1 = ( 7.820476e-01, 4.215647e-01,
+-1.967798e+00 )
+ MODEL_COMPONENT_2 = ( 4.654729e-01, -1.921365e-01,
+8.639552e-01 )
+ MODEL_COMPONENT_3 = ( 2.249626e+03, 4.087266e+03,
+4.836099e+02 )
+ MODEL_COMPONENT_4 = ( -3.356067e+03, 1.607817e+03,
+2.832301e+03 )
+ REFERENCE_COORD_SYSTEM_NAME = ROVER_NAV_FRAME
+ COORDINATE_SYSTEM_INDEX_NAME = ("SITE", "DRIVE", "POSE",
+ "ARM", "CHIMRA", "DRILL",
+ "RSM", "HGA",
+ "DRT", "IC")
+ REFERENCE_COORD_SYSTEM_INDEX = (73, 1206, 52,
+ 798, 0, 2338,
+ 892, 582,
+ 0, 6 )
+END_GROUP = GEOMETRIC_CAMERA_MODEL_PARMS
+
+
+/* Coordinate System State: Rover */
+
+GROUP = ROVER_COORDINATE_SYSTEM_PARMS
+ MSL:SOLUTION_ID = telemetry
+ COORDINATE_SYSTEM_NAME = ROVER_NAV_FRAME
+ COORDINATE_SYSTEM_INDEX_NAME = ("SITE", "DRIVE", "POSE",
+ "ARM", "CHIMRA", "DRILL",
+ "RSM", "HGA",
+ "DRT", "IC")
+ COORDINATE_SYSTEM_INDEX = (73, 1206, 52,
+ 798, 0, 2338,
+ 892, 582,
+ 0, 6 )
+ ORIGIN_OFFSET_VECTOR = (-47.668037, -5.909369, -6.293979)
+ ORIGIN_ROTATION_QUATERNION = (0.3545804,
+ 0.0304361,
+ -0.0007603,
+ -0.9345297)
+ POSITIVE_AZIMUTH_DIRECTION = CLOCKWISE
+ POSITIVE_ELEVATION_DIRECTION = UP
+ QUATERNION_MEASUREMENT_METHOD = TILT_ONLY
+ REFERENCE_COORD_SYSTEM_NAME = SITE_FRAME
+END_GROUP = ROVER_COORDINATE_SYSTEM_PARMS
+
+
+/* Coordinate System State: Remote Sensing Mast */
+
+GROUP = RSM_COORDINATE_SYSTEM_PARMS
+ MSL:SOLUTION_ID = telemetry
+ COORDINATE_SYSTEM_NAME = RSM_HEAD_FRAME
+ COORDINATE_SYSTEM_INDEX_NAME = ("SITE", "DRIVE", "POSE",
+ "ARM", "CHIMRA", "DRILL",
+ "RSM", "HGA",
+ "DRT", "IC")
+ COORDINATE_SYSTEM_INDEX = (73, 1206, 52,
+ 798, 0, 2338,
+ 892, 582,
+ 0, 6 )
+ ORIGIN_OFFSET_VECTOR = (0.804374, 0.559484, -1.906076)
+ ORIGIN_ROTATION_QUATERNION = ( 0.8446875,
+ -0.1089795,
+ -0.4873414,
+ -0.1926783)
+ POSITIVE_AZIMUTH_DIRECTION = CLOCKWISE
+ POSITIVE_ELEVATION_DIRECTION = UP
+ REFERENCE_COORD_SYSTEM_NAME = ROVER_NAV_FRAME
+END_GROUP = RSM_COORDINATE_SYSTEM_PARMS
+
+/* Coordinate System State: Robotic Arm */
+
+GROUP = ARM_COORDINATE_SYSTEM_PARMS
+ MSL:SOLUTION_ID = telemetry
+ COORDINATE_SYSTEM_NAME = ARM_DRILL_FRAME
+ COORDINATE_SYSTEM_INDEX_NAME = ("SITE", "DRIVE", "POSE",
+ "ARM", "CHIMRA", "DRILL",
+ "RSM", "HGA",
+ "DRT", "IC")
+ COORDINATE_SYSTEM_INDEX = (73, 1206, 52,
+ 798, 0, 2338,
+ 892, 582, 0, 6 )
+ ORIGIN_OFFSET_VECTOR = (0.238353, -0.923706, -0.165335)
+ ORIGIN_ROTATION_QUATERNION = ( 0.1586527,
+ 0.5402789,
+ 0.3604649,
+ 0.7436351)
+ POSITIVE_AZIMUTH_DIRECTION = CLOCKWISE
+ POSITIVE_ELEVATION_DIRECTION = UP
+ REFERENCE_COORD_SYSTEM_NAME = ROVER_NAV_FRAME
+END_GROUP = ARM_COORDINATE_SYSTEM_PARMS
+
+/* Articulation Device State: Remote Sensing Mast */
+
+GROUP = RSM_ARTICULATION_STATE_PARMS
+ ARTICULATION_DEVICE_ID = RSM
+ ARTICULATION_DEVICE_NAME = "REMOTE SENSING MAST"
+ ARTICULATION_DEVICE_ANGLE_NAME = ("AZIMUTH-MEASURED",
+ "ELEVATION-MEASURED",
+ "AZIMUTH-REQUESTED",
+ "ELEVATION-REQUESTED",
+ "AZIMUTH-INITIAL",
+ "ELEVATION-INITIAL",
+ "AZIMUTH-FINAL",
+ "ELEVATION-FINAL")
+ ARTICULATION_DEVICE_ANGLE = ( 2.719078 <rad>, 0.542313 <rad>,
+ 2.721545 <rad>, 0.546319 <rad>,
+ 3.090580 <rad>, 0.546359 <rad>,
+ 2.721491 <rad>, 0.546236 <rad> )
+ ARTICULATION_DEVICE_MODE = DEPLOYED
+END_GROUP = RSM_ARTICULATION_STATE_PARMS
+
+
+/* Articulation Device State: Robotic Arm */
+
+GROUP = ARM_ARTICULATION_STATE_PARMS
+ ARTICULATION_DEVICE_ID = ARM
+ ARTICULATION_DEVICE_NAME = "SAMPLE ARM"
+ ARTICULATION_DEVICE_ANGLE_NAME = ("JOINT 1 AZIMUTH-ENCODER",
+ "JOINT 2 ELEVATION-ENCODER",
+ "JOINT 3 ELBOW-ENCODER",
+ "JOINT 4 WRIST-ENCODER",
+ "JOINT 5 TURRET-ENCODER",
+ "JOINT 1 AZIMUTH-RESOLVER",
+ "JOINT 2 ELEVATION-RESOLVER",
+ "JOINT 3 ELBOW-RESOLVER",
+ "JOINT 4 WRIST-RESOLVER",
+ "JOINT 5 TURRET-RESOLVER")
+ ARTICULATION_DEVICE_ANGLE = ( 0.799985 <rad>,
+ -1.570999 <rad>,
+ -1.500003 <rad>,
+ 1.678171 <rad>,
+ 2.761113 <rad>,
+ 0.797107 <rad>,
+ -1.576209 <rad>,
+ -1.506384 <rad>,
+ 1.673409 <rad>,
+ 2.760045 <rad> )
+ ARTICULATION_DEVICE_MODE = "FREE SPACE"
+ ARTICULATION_DEVICE_TEMP_NAME = ("AZIMUTH JOINT",
+ "ELEVATION JOINT",
+ "ELBOW JOINT",
+ "WRIST JOINT",
+ "TURRET JOINT")
+ ARTICULATION_DEVICE_TEMP = ( -2.5942 <degC>,
+ 6.2186 <degC>,
+ 5.1346 <degC>,
+ 5.3563 <degC>,
+ 6.0723 <degC> )
+ CONTACT_SENSOR_STATE_NAME = ( "APXS CONTACT SWITCH 1",
+ "APXS CONTACT SWITCH 2",
+ "DRILL SWITCH 1", "DRILL SWITCH 2",
+ "MAHLI SWITCH 1A",
+ "MAHLI SWITCH 1B",
+ "MAHLI SWITCH 2A",
+ "MAHLI SWITCH 2B" )
+ CONTACT_SENSOR_STATE = ( "NO CONTACT","NO CONTACT","NO
+CONTACT","NO CONTACT","NO CONTACT","NO CONTACT","NO CONTACT","NO CONTACT" )
+
+ ARTICULATION_DEV_VECTOR = ( -0.056348, 0.023005, 0.998146)
+ ARTICULATION_DEV_VECTOR_NAME = "GRAVITY"
+ ARTICULATION_DEV_INSTRUMENT_ID = "DRILL"
+END_GROUP = ARM_ARTICULATION_STATE_PARMS
+
+/* Articulation Device State: Mobility Chassis */
+
+GROUP = CHASSIS_ARTICULATION_STATE_PARMS
+ ARTICULATION_DEVICE_ID = CHASSIS
+ ARTICULATION_DEVICE_NAME = "MOBILITY CHASSIS"
+ ARTICULATION_DEVICE_ANGLE_NAME = ("LEFT FRONT WHEEL",
+ "RIGHT FRONT WHEEL",
+ "LEFT REAR WHEEL",
+ "RIGHT REAR WHEEL",
+ "LEFT BOGIE",
+ "RIGHT BOGIE",
+ "LEFT DIFFERENTIAL",
+ "RIGHT DIFFERENTIAL")
+ ARTICULATION_DEVICE_ANGLE = ( -0.000000 <rad>, -0.000000 <rad>,
+-0.000128 <rad>, -0.000128 <rad>,
+ -0.022178 <rad>, -0.003453 <rad>,
+ -0.004218 <rad>, 0.003101 <rad> )
+ ARTICULATION_DEVICE_MODE = DEPLOYED
+END_GROUP = CHASSIS_ARTICULATION_STATE_PARMS
+
+
+/* Articulation Device State: High Gain Antenna */
+
+GROUP = HGA_ARTICULATION_STATE_PARMS
+ ARTICULATION_DEVICE_ID = HGA
+ ARTICULATION_DEVICE_NAME = "HIGH GAIN ANTENNA"
+ ARTICULATION_DEVICE_ANGLE_NAME = ("AZIMUTH", "ELEVATION")
+ ARTICULATION_DEVICE_ANGLE = ( 0.000011 <rad>, -0.785064 <rad> )
+ ARTICULATION_DEVICE_MODE = "DEPLOYED"
+END_GROUP = HGA_ARTICULATION_STATE_PARMS
+
+
+/* Coordinate System State: Site */
+
+GROUP = SITE_COORDINATE_SYSTEM_PARMS
+ COORDINATE_SYSTEM_NAME = SITE_FRAME
+ COORDINATE_SYSTEM_INDEX_NAME = ("SITE" )
+ COORDINATE_SYSTEM_INDEX = (73 )
+ ORIGIN_OFFSET_VECTOR = (-120.137383, -115.454124, -9.943598 )
+ ORIGIN_ROTATION_QUATERNION = (1.0000000,
+ 0.0000000,
+ 0.0000000,
+ 0.0000000 )
+ POSITIVE_AZIMUTH_DIRECTION = CLOCKWISE
+ POSITIVE_ELEVATION_DIRECTION = UP
+ REFERENCE_COORD_SYSTEM_NAME = SITE_FRAME
+END_GROUP = SITE_COORDINATE_SYSTEM_PARMS
+
+
+/* Observation Request */
+
+GROUP = OBSERVATION_REQUEST_PARMS
+ COMMAND_INSTRUMENT_ID = MAST_LEFT
+ RATIONALE_DESC = "Periodic documentation of the terrain
+along the traverse"
+END_GROUP = OBSERVATION_REQUEST_PARMS
+
+
+/* Image Request */
+
+GROUP = IMAGE_REQUEST_PARMS
+ FIRST_LINE = 17
+ FIRST_LINE_SAMPLE = 161
+ LINES = 1184
+ LINE_SAMPLES = 1328
+ EXPOSURE_TYPE = MANUAL
+ EXPOSURE_DURATION = "NULL"
+ INST_CMPRS_MODE = 1
+ INST_CMPRS_NAME = "PREDICTIVE LOSSLESS BAYER HUFFMAN
+ENCODING"
+ INST_CMPRS_QUALITY = "N/A"
+ AUTO_EXPOSURE_DATA_CUT = 150
+ AUTO_EXPOSURE_PERCENT = 010
+ AUTO_EXPOSURE_PIXEL_FRACTION = 002
+ MAX_AUTO_EXPOS_ITERATION_COUNT = 8
+ MSL:AUTO_FOCUS_ZSTACK_FLAG = FALSE
+ MSL:INSTRUMENT_FOCUS_POSITION_CNT = 0
+ MSL:INSTRUMENT_FOCUS_STEP_SIZE = 0
+ MSL:INSTRUMENT_FOCUS_STEPS = 0
+ FILTER_NAME = "MASTCAM_L0_CLEAR"
+ FILTER_NUMBER = "0"
+ MSL:INVERSE_LUT_FILE_NAME = MMM_LUT0
+ FLAT_FIELD_CORRECTION_FLAG = FALSE
+END_GROUP = IMAGE_REQUEST_PARMS
+
+
+/* Video Request */
+
+GROUP = VIDEO_REQUEST_PARMS
+ GROUP_APPLICABILITY_FLAG = FALSE
+ MSL:COMMANDED_VIDEO_FRAMES = "N/A"
+ INTERFRAME_DELAY = "N/A"
+END_GROUP = VIDEO_REQUEST_PARMS
+
+/* ZStack Request */
+
+GROUP = ZSTACK_REQUEST_PARMS
+ GROUP_APPLICABILITY_FLAG = FALSE
+ MSL:ZSTACK_IMAGE_DEPTH = "N/A"
+ MSL:IMAGE_BLENDING_FLAG = "N/A"
+ MSL:IMAGE_REGISTRATION_FLAG = "N/A"
+END_GROUP = ZSTACK_REQUEST_PARMS
+
+
+/* Instrument State Results */
+
+GROUP = INSTRUMENT_STATE_PARMS
+ HORIZONTAL_FOV = 16.2823
+ VERTICAL_FOV = 14.5366
+ DETECTOR_FIRST_LINE = 1
+ DETECTOR_LINES = 1200
+ MSL:DETECTOR_SAMPLES = 1648
+ DETECTOR_TO_IMAGE_ROTATION = 0.0
+ EXPOSURE_DURATION = 11.2 <ms>
+ FILTER_NAME = MASTCAM_L0_CLEAR
+ FILTER_NUMBER = "0"
+ CENTER_FILTER_WAVELENGTH = 590 <nm>
+ FLAT_FIELD_CORRECTION_FLAG = FALSE
+ MSL:INSTRUMENT_CLOCK_START_COUNT = "598492579.0000"
+ MSL:SENSOR_READOUT_RATE = 10 <MHz>
+ INSTRUMENT_TEMPERATURE_NAME = ( "DEA_TEMP", "FPA_TEMP",
+ "OPTICS_TEMP", "ELECTRONICS",
+ "ELECTRONICS_A", "ELECTRONICS_B" )
+ INSTRUMENT_TEMPERATURE = ( 30.4244 <degC>,
+ -0.2124 <degC>,
+ -3.3410 <degC>,
+ -3.4016 <degC>,
+ "NULL",
+ "NULL" )
+ MSL:INSTRUMENT_TEMPERATURE_STATUS = ( 0,
+ 0,
+ 0,
+ 0,
+ "UNK",
+ "UNK" )
+ SAMPLE_BIT_METHOD = "HARDWARE"
+ SAMPLE_BIT_MODE_ID = MMM_LUT0
+ MSL:FOCUS_POSITION_COUNT = 2238
+ MSL:FILTER_POSITION_COUNT = 0
+ MSL:COVER_HALL_SENSOR_FLAG = "N/A"
+ MSL:FILTER_HALL_SENSOR_FLAG = 0
+ MSL:FOCUS_HALL_SENSOR_FLAG = 1
+ MSL:LED_STATE_NAME = ("VIS1", "VIS2", "UV")
+ MSL:LED_STATE_FLAG = ( "N/A", "N/A", "N/A" )
+ DETECTOR_ERASE_COUNT = 4094
+END_GROUP = INSTRUMENT_STATE_PARMS
+
+
+/* Image Data Elements */
+
+GROUP = IMAGE_PARMS
+ INST_CMPRS_MODE = 1
+ INST_CMPRS_NAME = "PREDICTIVE LOSSLESS BAYER HUFFMAN
+ENCODING"
+ INST_CMPRS_QUALITY = "N/A"
+ MSL:INVERSE_LUT_FILE_NAME = MMM_LUT0
+ PIXEL_AVERAGING_HEIGHT = 1
+ PIXEL_AVERAGING_WIDTH = 1
+END_GROUP = IMAGE_PARMS
+
+/* Video Data Elements */
+
+GROUP = VIDEO_PARMS
+ GROUP_APPLICABILITY_FLAG = FALSE
+ MSL:GOP_FRAME_INDEX = "N/A"
+ MSL:GOP_TOTAL_FRAMES = "N/A"
+END_GROUP = VIDEO_PARMS
+
+
+/* Derived Data Elements */
+
+GROUP = DERIVED_IMAGE_PARMS
+ MSL:INFINITY_CONSTANT = 999999
+ MSL:COVER_STATE_FLAG = "N/A"
+ MSL:MINIMUM_FOCUS_DISTANCE = 1.3 <m>
+ MSL:BEST_FOCUS_DISTANCE = 1.952 <m>
+ MSL:MAXIMUM_FOCUS_DISTANCE = 3.6 <m>
+ MSL:FRAME_RATE = "N/A"
+ FIXED_INSTRUMENT_AZIMUTH = 199.1465
+ FIXED_INSTRUMENT_ELEVATION = -56.2743
+ SOLAR_AZIMUTH = 249.8022
+ SOLAR_ELEVATION = 34.3177
+END_GROUP = DERIVED_IMAGE_PARMS
+
+/* Processing Data Elements */
+GROUP = PROCESSING_PARMS
+ DARK_LEVEL_CORRECTION = 121.4
+ SHUTTER_EFFECT_CORRECTION_FLAG = FALSE
+ RADIOMETRIC_CORRECTION_TYPE = "N/A"
+ RADIANCE_OFFSET = ( "N/A",
+ "N/A",
+ "N/A" )
+ RADIANCE_SCALING_FACTOR = ( "N/A",
+ "N/A",
+ "N/A" )
+ FLAT_FIELD_CORRECTION_FLAG = FALSE
+END_GROUP = PROCESSING_PARMS
+
+/* PRIMARY DATA OBJECT */
+
+/* IMAGE DATA ELEMENTS */
+
+OBJECT = IMAGE
+ INTERCHANGE_FORMAT = BINARY
+ LINES = 1193
+ LINE_SAMPLES = 1338
+ SAMPLE_TYPE = UNSIGNED_INTEGER
+ SAMPLE_BITS = 8
+ BANDS = 3
+ BAND_STORAGE_TYPE = BAND_SEQUENTIAL
+ FIRST_LINE = 17
+ FIRST_LINE_SAMPLE = 161
+ INVALID_CONSTANT = 255
+ MINIMUM = "NULL"
+ MAXIMUM = "NULL"
+ MEAN = "NULL"
+ MEDIAN = "NULL"
+ STANDARD_DEVIATION = "NULL"
+ MISSING_CONSTANT = 255
+ SAMPLE_BIT_MASK = 2#11111111#
+ SAMPLE_BIT_MODE_ID = MMM_LUT0
+ SAMPLE_BIT_METHOD = "HARDWARE"
+END_OBJECT = IMAGE
+
+END
diff --git a/tests/pytests/data/2264ML0121141200805116C00_DRCL/MSL_76_SCLKSCET.00019.tsc b/tests/pytests/data/2264ML0121141200805116C00_DRCL/MSL_76_SCLKSCET.00019.tsc
new file mode 100755
index 0000000000000000000000000000000000000000..38bae16b466ba3669a41bf4b39815324caab0c22
--- /dev/null
+++ b/tests/pytests/data/2264ML0121141200805116C00_DRCL/MSL_76_SCLKSCET.00019.tsc
@@ -0,0 +1,210 @@
+KPL/SCLK
+
+
+MSL SCLK File
+===========================================================================
+
+ This file is a SPICE spacecraft clock (SCLK) kernel containing
+ information required for MSL spacecraft on-board clock to UTC
+ conversion.
+
+
+Production/History of this SCLK file
+--------------------------------------------------------
+
+ This file was generated by the NAIF utility program MAKCLK, version
+ 3.5.2, from the most recent MSL spacecraft SCLKvSCET file (see
+ corresponding sections of these comments for a copy of the source
+ SCLKvSCET file and MAKCLK setup file).
+
+
+Usage
+--------------------------------------------------------
+
+ This file must be loaded into the user's program by a call to the
+ FURNSH subroutine
+
+ CALL FURNSH( 'this_file_name' )
+
+ in order to use the SPICELIB SCLK family of subroutines to convert
+ MSL 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..65535 range.
+
+
+References
+--------------------------------------------------------
+
+ 1. SCLK Required Reading Document
+
+ 2. MAKCLK User's Guide Document
+
+ 3. SFOC SCLKvSCET SIS Document
+
+
+Inquiries
+--------------------------------------------------------
+
+ If you have any questions regarding this file contact NAIF at JPL
+
+ Charles H. Acton, Jr
+ (818) 354-3869
+ Chuck.Acton@jpl.nasa.gov
+
+ Boris V. Semenov
+ (818) 354-8136
+ Boris.Semenov@jpl.nasa.gov
+
+
+Source SCLKvSCET File
+--------------------------------------------------------
+
+ CCSD3ZS00001$$sclk$$NJPL3KS0L015$$scet$$
+ MISSION_NAME=MSL;
+ SPACECRAFT_NAME=MARS_SCIENCE_LABORATORY;
+ DATA_SET_ID=SCLK_SCET;
+ FILE_NAME=MSL_76_SCLKSCET.00019;
+ PRODUCT_CREATION_TIME=2022-229T12:27:15.000;
+ PRODUCT_VERSION_ID=00019;
+ PRODUCER_ID=DSMS_TIME_SERVICES;
+ APPLICABLE_START_TIME=2022-230T00:00:00.000;
+ APPLICABLE_STOP_TIME=2023-358T15:16:11.000;
+ MISSION_ID=33;
+ SPACECRAFT_ID=76;
+ CCSD3RE00000$$scet$$NJPL3IS00613$$data$$
+ *____SCLK0_____ ________SCET0___________ _DUT__ __SCLKRATE__
+ 0000000000.000 2000-001T11:58:55.816 64.184 1.000000000
+ 0189345665.000 2006-001T00:00:00.816 64.184 0.000010000
+ 0189345666.000 2006-001T00:00:00.817 65.184 1.000000000
+ 0284040066.000 2009-001T00:00:00.815 65.184 0.001000000
+ 0284040067.000 2009-001T00:00:00.816 66.184 1.000000000
+ 0375075862.000 2011-324T15:43:15.816 66.184 0.995566030
+ 0375076862.000 2011-324T15:59:51.382 66.184 1.000007536
+ 0375077191.000 2011-324T16:05:20.385 66.184 1.000004134
+ 0375078191.000 2011-324T16:22:00.389 66.184 1.000009564
+ 0375163622.000 2011-325T16:05:52.206 66.184 0.999958637
+ 0375164622.000 2011-325T16:22:32.165 66.184 1.000009114
+ 0375235601.000 2011-326T12:05:31.812 66.184 0.999997081
+ 0375236601.000 2011-326T12:22:11.809 66.184 1.000009250
+ 0375410971.000 2011-328T12:48:23.422 66.184 1.000010108
+ 0375411971.000 2011-328T13:05:03.432 66.184 1.000008880
+ 0375950039.000 2011-334T18:32:56.210 66.184 0.999889040
+ 0375951039.000 2011-334T18:49:36.099 66.184 1.000008973
+ 0380648630.000 2012-024T03:43:29.250 66.184 1.000550348
+ 0380649630.000 2012-024T04:00:09.801 66.184 1.000009187
+ 0392778715.000 2012-164T13:13:26.231 66.184 0.996915113
+ 0392779715.000 2012-164T13:30:03.146 66.184 1.000009272
+ 0394372698.000 2012-183T00:00:00.916 66.184 0.001000000
+ 0394372699.000 2012-183T00:00:00.917 67.184 1.000009272
+ 0396387693.000 2012-206T07:43:33.600 67.184 0.999848543
+ 0396388693.000 2012-206T08:00:13.449 67.184 1.000009275
+ 0434589485.000 2013-282T11:25:59.761 67.184 1.001583303
+ 0434590485.000 2013-282T11:42:41.345 67.184 1.000009438
+ 0488979811.000 2015-182T00:00:00.669 67.184 0.001000000
+ 0488979812.000 2015-182T00:00:00.670 68.184 1.000009438
+ 0536499363.000 2017-001T00:00:00.159 68.184 0.001000000
+ 0536499364.000 2017-001T00:00:00.160 69.184 1.000009438
+ 0626394666.000 2019-311T11:09:10.592 69.184 1.003346471
+ 0626395666.000 2019-311T11:25:53.938 69.184 1.000009575
+ 0655335115.000 2020-281T10:14:40.033 69.184 0.996931000
+ 0655336115.000 2020-281T10:31:16.964 69.184 1.000009464
+ 0707809507.000 2022-157T18:36:05.572 69.184 0.999115094
+ 0707810507.000 2022-157T18:52:44.687 69.184 1.000007602
+ 0709438101.000 2022-176T14:59:31.061 69.184 1.000009738
+ 0709439101.000 2022-176T15:16:11.071 69.184 1.000007639
+ 0713969869.000 2022-229T01:49:33.682 69.184 1.000007639
+ 0713970869.000 2022-229T02:06:13.689 69.184 1.000009464
+ CCSD3RE00000$$data$$CCSD3RE00000$$sclk$$
+
+
+
+MAKCLK Setup file
+--------------------------------------------------------
+
+ SCLKSCET_FILE = MSL_76_SCLKSCET.00019.clean
+ OLD_SCLK_KERNEL = /ods/cedl/strategic/naif/misc/work/sclkscet/msl_template.tsc
+ FILE_NAME = MSL_76_SCLKSCET.00019.tsc
+ NAIF_SPACECRAFT_ID = -76
+ LEAPSECONDS_FILE = /ods/cedl/strategic/naif/kernels/lsk/msl.tls
+ PARTITION_TOLERANCE = 2560
+ LOG_FILE = MSL_76_SCLKSCET.00019.log
+
+
+
+Kernel DATA
+--------------------------------------------------------
+
+\begindata
+
+
+SCLK_KERNEL_ID = ( @2022-08-18/20:50:01.82 )
+
+SCLK_DATA_TYPE_76 = ( 1 )
+SCLK01_TIME_SYSTEM_76 = ( 2 )
+SCLK01_N_FIELDS_76 = ( 2 )
+SCLK01_MODULI_76 = ( 4294967296 65536 )
+SCLK01_OFFSETS_76 = ( 0 0 )
+SCLK01_OUTPUT_DELIM_76 = ( 3 )
+
+SCLK_PARTITION_START_76 = ( 0.0000000000000E+00 )
+
+SCLK_PARTITION_END_76 = ( 2.8147497671065E+14 )
+
+SCLK01_COEFFICIENTS_76 = (
+
+ 0.0000000000000E+00 -3.5763036976277E-10 1.0000000000053E+00
+ 1.2408957566976E+13 1.8934566600100E+08 9.9999999998944E-01
+ 1.8614849830912E+13 2.8404006700000E+08 1.0000000000000E+00
+ 2.4580971692032E+13 3.7507586200000E+08 9.9556599998474E-01
+ 2.4581037228032E+13 3.7507685756600E+08 1.0000091186048E+00
+ 2.4581058789376E+13 3.7507718656900E+08 1.0000040000081E+00
+ 2.4581124325376E+13 3.7507818657300E+08 1.0000095632730E+00
+ 2.4586723131392E+13 3.7516361839000E+08 9.9995900005102E-01
+ 2.4586788667392E+13 3.7516461834900E+08 1.0000091153724E+00
+ 2.4591440347136E+13 3.7523559799600E+08 9.9999699997902E-01
+ 2.4591505883136E+13 3.7523659799300E+08 1.0000092504443E+00
+ 2.4602933395456E+13 3.7541096960600E+08 1.0000099999905E+00
+ 2.4602998931456E+13 3.7541196961600E+08 1.0000088799185E+00
+ 2.4638261755904E+13 3.7595004239400E+08 9.9988899999857E-01
+ 2.4638327291904E+13 3.7595104228300E+08 1.0000089728970E+00
+ 2.4946188615680E+13 3.8064867543400E+08 1.0005509999990E+00
+ 2.4946254151680E+13 3.8064967598500E+08 1.0000091870079E+00
+ 2.5741145866240E+13 3.9277887241500E+08 9.9691500002146E-01
+ 2.5741211402240E+13 3.9277986933000E+08 1.0000092725350E+00
+ 2.5845609201664E+13 3.9437286810100E+08 1.0000092719879E+00
+ 2.5977663848448E+13 3.9638788078400E+08 9.9984899997711E-01
+ 2.5977729384448E+13 3.9638888063300E+08 1.0000092749909E+00
+ 2.8481256488960E+13 4.3459002694500E+08 1.0015840000510E+00
+ 2.8481322024960E+13 4.3459102852900E+08 1.0000094379730E+00
+ 3.2045780959232E+13 4.8898086885400E+08 1.0000094380099E+00
+ 3.5160022319104E+13 5.3650086934400E+08 1.0000094380016E+00
+ 4.1051400830976E+13 6.2639701977600E+08 1.0033459999561E+00
+ 4.1051466366976E+13 6.2639802312200E+08 1.0000095749923E+00
+ 4.2948042096640E+13 6.5533774921700E+08 9.9693099999428E-01
+ 4.2948107632640E+13 6.5533874614800E+08 1.0000094639965E+00
+ 4.6387003850752E+13 7.0781263475600E+08 9.9911500000954E-01
+ 4.6387069386752E+13 7.0781363387100E+08 1.0000076026331E+00
+ 4.6493735387136E+13 7.0944124024500E+08 1.0000099999905E+00
+ 4.6493800923136E+13 7.0944224025500E+08 1.0000076391023E+00
+ 4.6790729334784E+13 7.1397304286600E+08 1.0000069999695E+00
+ 4.6790794870784E+13 7.1397404287300E+08 1.0000094640000E+00 )
+
+\begintext
+
+
+
diff --git a/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_ml_20120731_c03.ti b/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_ml_20120731_c03.ti
new file mode 100755
index 0000000000000000000000000000000000000000..7af78e46030593640f0371b52cbfd357a9cb7beb
--- /dev/null
+++ b/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_ml_20120731_c03.ti
@@ -0,0 +1,177 @@
+KPL/IK
+
+MSL_MASTCAM_LEFT Instrument Kernel
+==============================================================================
+
+
+Version and Date
+----------------------------------------------------------
+
+ Tue Jul 31 15:46:20 PDT 2012
+
+
+Pedigree
+----------------------------------------------------------
+
+ This IK was generated by a script. All nominal parameters provided
+ in this IK were obtained from the camera CDR materials; all actual
+ parameters were copied/derived from the camera CAHVOR(E) model file
+ 'MSL_CAL_003_SN_3003_FILTER_0_FOCUS_02315-MCAML-FLIGHT.cahvor'.
+
+
+Camera CCD Dimensions
+----------------------------------------------------------
+
+ The camera CCD dimensions are provided in the keywords below. The
+ pixels are numbered left-to-right, top-to-bottom with the top-left
+ pixel indexed (0,0).
+
+ \begindata
+
+ INS-76210_FOV_CENTER_PIXEL = ( 823.5, 599.5 )
+ INS-76210_PIXEL_SAMPLES = ( 1648 )
+ INS-76210_PIXEL_LINES = ( 1200 )
+
+ \begintext
+
+
+Camera Boresight and Distortion Center Locations
+----------------------------------------------------------
+
+ The camera boresight and distortion center locations in pixel
+ coordinates, computed from the model data using these formulas:
+
+ boresight sample = H dot A
+ boresight line = V dot A
+ distortion sample = (O dot H) / (O dot A)
+ distortion line = (O dot V) / (O dot A)
+
+ are:
+
+ \begindata
+
+ INS-76210_BORESIGHT_PIXEL = ( 829.18782212, 601.33514402 )
+ INS-76210_DISTORTION_PIXEL = ( 837.77915717, 592.14046615 )
+
+ \begintext
+
+
+Nominal Camera Parameters
+----------------------------------------------------------
+
+ The nominal camera focal length and physical pixel size, both in
+ millimeters, along with the nominal pixel IFOV, in degrees, are provided
+ in the keywords below.
+
+ \begindata
+
+ INS-76210_FOCAL_LENGTH = ( 34 )
+ INS-76210_PIXEL_SIZE = ( 0.0074 )
+ INS-76210_IFOV_NOMINAL = ( 0.01247026 )
+
+ \begintext
+
+
+Camera FOV Definition
+----------------------------------------------------------
+
+ To better reflect distortion in the camera optics the FOV is defined as
+ a polygonal pyramid with the tip at the camera focal point and the edges
+ along the view directions of the corner pixels and the side-middle pixels.
+ Specifically the boundary vectors provided in the FOV_BOUNDARY
+ keyword corresponds to view directions of the centers of these
+ pixels provided in this order:
+
+ ( 0.0, 0.0 )
+ ( 823.5, 0.0 )
+ ( 1647.0, 0.0 )
+ ( 1647.0, 599.5 )
+ ( 1647.0, 1199.0 )
+ ( 823.5, 1199.0 )
+ ( 0.0, 1199.0 )
+ ( 0.0, 599.5 )
+
+ The boresight direction corresponds to the view direction of the center
+ pixel, (823.5,599.5).
+
+ All directions are unit vectors specified in the 'MSL_MASTCAM_LEFT'
+ frame.
+
+ \begindata
+
+ INS-76210_FOV_FRAME = ( 'MSL_MASTCAM_LEFT' )
+ INS-76210_FOV_SHAPE = ( 'POLYGON' )
+ INS-76210_FOV_CLASS_SPEC = ( 'CORNERS' )
+ INS-76210_BORESIGHT = (
+ -0.00000000 -0.00000000 1.00000000
+ )
+ INS-76210_FOV_BOUNDARY = (
+
+ 0.17483767 0.12730492 0.97633255
+ -0.00000000 0.12834274 0.99172987
+ -0.17476887 0.12719345 0.97635940
+ -0.17553059 -0.00005566 0.98447398
+ -0.17480715 -0.12735688 0.97633124
+ 0.00001620 -0.12838394 0.99172454
+ 0.17491070 -0.12728511 0.97632205
+ 0.17557293 0.00003780 0.98446643
+ )
+
+ \begintext
+
+
+Actual Camera IFOV
+----------------------------------------------------------
+
+ The actual average vertical and horizontal pixel IFOVs were computed by
+ dividing the angular extent between the view directions of pixels
+ (823.5,0) and (823.5,1199) for the vertical direction and between
+ (0,599.5) and (1647,599.5) for the horizontal direction by the number
+ of pixels minus 1. The average IFOV is simply an average of the
+ vertical and horizontal IFOVs.
+
+ In the keywords below the IFOVs are provided in degrees.
+
+ \begindata
+
+ INS-76210_IFOV_VERTICAL = ( 0.01230196 )
+ INS-76210_IFOV_HORIZONTAL = ( 0.01227780 )
+ INS-76210_IFOV = ( 0.01228988 )
+
+ \begintext
+
+
+Source CAHVOR(E) Parameters
+
+ The keywords below contain parameters of the CAHVOR(E) model from
+ which all actual camera parameters provided in this file have been
+ derived. Note that the reference quaternion (CAHVOR_QUAT) is not a
+ SPICE-style but an engineering style quaternion (s1,s2,s3,c.)
+
+ \begindata
+
+ INS-76210_CAHVOR_FILE = ( 'MSL_CAL_003_SN_3003_FILTER_0_FOCUS_02315-MCAML-FLIGHT.cahvor' )
+ INS-76210_CAHVOR_MODEL = ( ' CAHVOR ' )
+
+ INS-76210_CAHVOR_DIMS = ( 1648 1200 )
+
+ INS-76210_CAHVOR_C = ( 0.767151 0.433709 -1.971648 )
+ INS-76210_CAHVOR_A = ( 0.999664 0.025047 0.006727 )
+ INS-76210_CAHVOR_H = ( 712.373106 4664.465028 33.182389 )
+ INS-76210_CAHVOR_V = ( 570.612488 -14.279011 4648.733195 )
+ INS-76210_CAHVOR_O = ( 0.999627 0.026908 0.004759 )
+ INS-76210_CAHVOR_R = ( -0.000151 -0.139189 -1.250336 )
+
+ INS-76210_CAHVOR_HS = ( 4645.242086 )
+ INS-76210_CAHVOR_HC = ( 829.187822 )
+ INS-76210_CAHVOR_VS = ( 4644.882626 )
+ INS-76210_CAHVOR_VC = ( 601.335144 )
+ INS-76210_CAHVOR_THETA = ( -1.571004 )
+
+ INS-76210_CAHVOR_POS = ( 0.80436 0.55942 -1.90608 )
+
+ INS-76210_CAHVOR_QUAT = ( 0.00001 -0.00325 -0.00104 0.99999 )
+
+
+ \begintext
+
diff --git a/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_mr_20120731_c03.ti b/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_mr_20120731_c03.ti
new file mode 100755
index 0000000000000000000000000000000000000000..c7c36eead1cfd066053196b8c6d92597d3af9bdd
--- /dev/null
+++ b/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_mr_20120731_c03.ti
@@ -0,0 +1,177 @@
+KPL/IK
+
+MSL_MASTCAM_RIGHT Instrument Kernel
+==============================================================================
+
+
+Version and Date
+----------------------------------------------------------
+
+ Tue Jul 31 15:46:21 PDT 2012
+
+
+Pedigree
+----------------------------------------------------------
+
+ This IK was generated by a script. All nominal parameters provided
+ in this IK were obtained from the camera CDR materials; all actual
+ parameters were copied/derived from the camera CAHVOR(E) model file
+ 'MSL_CAL_003_SN_3004_FILTER_0_FOCUS_02702-MCAMR-FLIGHT.cahvor'.
+
+
+Camera CCD Dimensions
+----------------------------------------------------------
+
+ The camera CCD dimensions are provided in the keywords below. The
+ pixels are numbered left-to-right, top-to-bottom with the top-left
+ pixel indexed (0,0).
+
+ \begindata
+
+ INS-76220_FOV_CENTER_PIXEL = ( 823.5, 599.5 )
+ INS-76220_PIXEL_SAMPLES = ( 1648 )
+ INS-76220_PIXEL_LINES = ( 1200 )
+
+ \begintext
+
+
+Camera Boresight and Distortion Center Locations
+----------------------------------------------------------
+
+ The camera boresight and distortion center locations in pixel
+ coordinates, computed from the model data using these formulas:
+
+ boresight sample = H dot A
+ boresight line = V dot A
+ distortion sample = (O dot H) / (O dot A)
+ distortion line = (O dot V) / (O dot A)
+
+ are:
+
+ \begindata
+
+ INS-76220_BORESIGHT_PIXEL = ( 859.44651228, 534.29411479 )
+ INS-76220_DISTORTION_PIXEL = ( 767.27622715, 668.16368416 )
+
+ \begintext
+
+
+Nominal Camera Parameters
+----------------------------------------------------------
+
+ The nominal camera focal length and physical pixel size, both in
+ millimeters, along with the nominal pixel IFOV, in degrees, are provided
+ in the keywords below.
+
+ \begindata
+
+ INS-76220_FOCAL_LENGTH = ( 100 )
+ INS-76220_PIXEL_SIZE = ( 0.0074 )
+ INS-76220_IFOV_NOMINAL = ( 0.00423989 )
+
+ \begintext
+
+
+Camera FOV Definition
+----------------------------------------------------------
+
+ To better reflect distortion in the camera optics the FOV is defined as
+ a polygonal pyramid with the tip at the camera focal point and the edges
+ along the view directions of the corner pixels and the side-middle pixels.
+ Specifically the boundary vectors provided in the FOV_BOUNDARY
+ keyword corresponds to view directions of the centers of these
+ pixels provided in this order:
+
+ ( 0.0, 0.0 )
+ ( 823.5, 0.0 )
+ ( 1647.0, 0.0 )
+ ( 1647.0, 599.5 )
+ ( 1647.0, 1199.0 )
+ ( 823.5, 1199.0 )
+ ( 0.0, 1199.0 )
+ ( 0.0, 599.5 )
+
+ The boresight direction corresponds to the view direction of the center
+ pixel, (823.5,599.5).
+
+ All directions are unit vectors specified in the 'MSL_MASTCAM_RIGHT'
+ frame.
+
+ \begindata
+
+ INS-76220_FOV_FRAME = ( 'MSL_MASTCAM_RIGHT' )
+ INS-76220_FOV_SHAPE = ( 'POLYGON' )
+ INS-76220_FOV_CLASS_SPEC = ( 'CORNERS' )
+ INS-76220_BORESIGHT = (
+ 0.00000000 0.00000000 1.00000000
+ )
+ INS-76220_FOV_BOUNDARY = (
+
+ 0.06091935 0.04433268 0.99715768
+ 0.00000000 0.04462814 0.99900367
+ -0.06080956 0.04423678 0.99716864
+ -0.06106251 -0.00005126 0.99813394
+ -0.06083571 -0.04440396 0.99715962
+ 0.00002390 -0.04469527 0.99900067
+ 0.06099392 -0.04440530 0.99714989
+ 0.06117482 -0.00000350 0.99812707
+ )
+
+ \begintext
+
+
+Actual Camera IFOV
+----------------------------------------------------------
+
+ The actual average vertical and horizontal pixel IFOVs were computed by
+ dividing the angular extent between the view directions of pixels
+ (823.5,0) and (823.5,1199) for the vertical direction and between
+ (0,599.5) and (1647,599.5) for the horizontal direction by the number
+ of pixels minus 1. The average IFOV is simply an average of the
+ vertical and horizontal IFOVs.
+
+ In the keywords below the IFOVs are provided in degrees.
+
+ \begindata
+
+ INS-76220_IFOV_VERTICAL = ( 0.00426986 )
+ INS-76220_IFOV_HORIZONTAL = ( 0.00425504 )
+ INS-76220_IFOV = ( 0.00426245 )
+
+ \begintext
+
+
+Source CAHVOR(E) Parameters
+
+ The keywords below contain parameters of the CAHVOR(E) model from
+ which all actual camera parameters provided in this file have been
+ derived. Note that the reference quaternion (CAHVOR_QUAT) is not a
+ SPICE-style but an engineering style quaternion (s1,s2,s3,c.)
+
+ \begindata
+
+ INS-76220_CAHVOR_FILE = ( 'MSL_CAL_003_SN_3004_FILTER_0_FOCUS_02702-MCAMR-FLIGHT.cahvor' )
+ INS-76220_CAHVOR_MODEL = ( ' CAHVOR ' )
+
+ INS-76220_CAHVOR_DIMS = ( 1648 1200 )
+
+ INS-76220_CAHVOR_C = ( 0.872866 0.677208 -1.970931 )
+ INS-76220_CAHVOR_A = ( 0.999741 -0.022668 0.001764 )
+ INS-76220_CAHVOR_H = ( 1162.600942 13353.117702 -93.448986 )
+ INS-76220_CAHVOR_V = ( 512.731806 83.454058 13371.226140 )
+ INS-76220_CAHVOR_O = ( 0.999495 -0.029483 0.011824 )
+ INS-76220_CAHVOR_R = ( -0.000106 1.436779 -0.685884 )
+
+ INS-76220_CAHVOR_HS = ( 13376.370999 )
+ INS-76220_CAHVOR_HC = ( 859.446513 )
+ INS-76220_CAHVOR_VS = ( 13370.635765 )
+ INS-76220_CAHVOR_VC = ( 534.294115 )
+ INS-76220_CAHVOR_THETA = ( -1.570787 )
+
+ INS-76220_CAHVOR_POS = ( 0.80436 0.55942 -1.90608 )
+
+ INS-76220_CAHVOR_QUAT = ( 0.00001 -0.00325 -0.00104 0.99999 )
+
+
+ \begintext
+
diff --git a/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_hga_tlm_0_sliced_-76122.xc b/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_hga_tlm_0_sliced_-76122.xc
new file mode 100644
index 0000000000000000000000000000000000000000..14c8c3bf580bc441b391123332629184753ac362
--- /dev/null
+++ b/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_hga_tlm_0_sliced_-76122.xc
@@ -0,0 +1,40 @@
+DAFETF NAIF DAF ENCODED TRANSFER FILE
+'DAF/CK '
+'2'
+'6'
+'MSL HGA Reconstructed Orientation '
+BEGIN_ARRAY 1 19
+'MSL HGA Encoder AZ, Reconstructed '
+'23AC425B0B71^C'
+'23AC435A3716^C'
+'-1295A'
+'-12959'
+'3'
+'1'
+19
+'FFFFFFFFEEF978^0'
+'0^0'
+'0^0'
+'-5D5D7E3562FFD4^-4'
+'0^0'
+'0^0'
+'0^0'
+'FFFFFFFFEEF978^0'
+'0^0'
+'0^0'
+'-5D5D7E3562FFD4^-4'
+'0^0'
+'0^0'
+'0^0'
+'23AC425B0B71^C'
+'23AC435A3716^C'
+'23AC425B0B71^C'
+'1^1'
+'2^1'
+END_ARRAY 1 19
+TOTAL_ARRAYS 1
+ ~NAIF/SPC BEGIN COMMENTS~
+This CK is for testing with the image: /Users/arsanders/data/msl/images/2264ML0121141200805116C00_DRCL.cub
+
+This CK was generated using the following command: {}
+ ~NAIF/SPC END COMMENTS~
diff --git a/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_hga_tlm_0_sliced_-76124.xc b/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_hga_tlm_0_sliced_-76124.xc
new file mode 100644
index 0000000000000000000000000000000000000000..11f19c67153ac54eea2e6ef7e62985fb033fd3c2
--- /dev/null
+++ b/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_hga_tlm_0_sliced_-76124.xc
@@ -0,0 +1,40 @@
+DAFETF NAIF DAF ENCODED TRANSFER FILE
+'DAF/CK '
+'2'
+'6'
+'MSL HGA Reconstructed Orientation '
+BEGIN_ARRAY 1 19
+'MSL HGA Encoder EL, Reconstructed '
+'23AC425B0B71^C'
+'23AC435A3716^C'
+'-1295C'
+'-1295B'
+'3'
+'1'
+19
+'EC878EFBD0B278^0'
+'61ED6CBA333CB8^0'
+'0^0'
+'0^0'
+'0^0'
+'0^0'
+'0^0'
+'EC878EFBD0B278^0'
+'61ED6CBA333CB8^0'
+'0^0'
+'0^0'
+'0^0'
+'0^0'
+'0^0'
+'23AC425B0B71^C'
+'23AC435A3716^C'
+'23AC425B0B71^C'
+'1^1'
+'2^1'
+END_ARRAY 1 19
+TOTAL_ARRAYS 1
+ ~NAIF/SPC BEGIN COMMENTS~
+This CK is for testing with the image: /Users/arsanders/data/msl/images/2264ML0121141200805116C00_DRCL.cub
+
+This CK was generated using the following command: {}
+ ~NAIF/SPC END COMMENTS~
diff --git a/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_hga_tlm_1_sliced_-76122.xc b/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_hga_tlm_1_sliced_-76122.xc
new file mode 100644
index 0000000000000000000000000000000000000000..10eba01c1c1649ce448cee34fb98fef31cefd81f
--- /dev/null
+++ b/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_hga_tlm_1_sliced_-76122.xc
@@ -0,0 +1,40 @@
+DAFETF NAIF DAF ENCODED TRANSFER FILE
+'DAF/CK '
+'2'
+'6'
+'MSL HGA Reconstructed Orientation '
+BEGIN_ARRAY 1 19
+'MSL HGA Encoder AZ, Reconstructed '
+'23AC452B004A^C'
+'23AC46285C3F^C'
+'-1295A'
+'-12959'
+'3'
+'1'
+19
+'FFFFFFFFEEF978^0'
+'0^0'
+'0^0'
+'-5D5D7E3562FFD4^-4'
+'0^0'
+'0^0'
+'0^0'
+'FFFFFFFFEEF978^0'
+'0^0'
+'0^0'
+'-5D5D7E3562FFD4^-4'
+'0^0'
+'0^0'
+'0^0'
+'23AC452B004A^C'
+'23AC46285C3F^C'
+'23AC452B004A^C'
+'1^1'
+'2^1'
+END_ARRAY 1 19
+TOTAL_ARRAYS 1
+ ~NAIF/SPC BEGIN COMMENTS~
+This CK is for testing with the image: /Users/arsanders/data/msl/images/2264ML0121141200805116C00_DRCL.cub
+
+This CK was generated using the following command: {}
+ ~NAIF/SPC END COMMENTS~
diff --git a/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_hga_tlm_1_sliced_-76124.xc b/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_hga_tlm_1_sliced_-76124.xc
new file mode 100644
index 0000000000000000000000000000000000000000..05bba709617cfd82021abd3eecd4710c307c5cff
--- /dev/null
+++ b/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_hga_tlm_1_sliced_-76124.xc
@@ -0,0 +1,40 @@
+DAFETF NAIF DAF ENCODED TRANSFER FILE
+'DAF/CK '
+'2'
+'6'
+'MSL HGA Reconstructed Orientation '
+BEGIN_ARRAY 1 19
+'MSL HGA Encoder EL, Reconstructed '
+'23AC452B004A^C'
+'23AC46285C3F^C'
+'-1295C'
+'-1295B'
+'3'
+'1'
+19
+'EC878EFBD0B278^0'
+'61ED6CBA333CB8^0'
+'0^0'
+'0^0'
+'0^0'
+'0^0'
+'0^0'
+'EC878EFBD0B278^0'
+'61ED6CBA333CB8^0'
+'0^0'
+'0^0'
+'0^0'
+'0^0'
+'0^0'
+'23AC452B004A^C'
+'23AC46285C3F^C'
+'23AC452B004A^C'
+'1^1'
+'2^1'
+END_ARRAY 1 19
+TOTAL_ARRAYS 1
+ ~NAIF/SPC BEGIN COMMENTS~
+This CK is for testing with the image: /Users/arsanders/data/msl/images/2264ML0121141200805116C00_DRCL.cub
+
+This CK was generated using the following command: {}
+ ~NAIF/SPC END COMMENTS~
diff --git a/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_ra_tlmres_0_sliced_-76301.xc b/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_ra_tlmres_0_sliced_-76301.xc
new file mode 100644
index 0000000000000000000000000000000000000000..a052661b4c87e0dad8662b2af645aae4e46483b4
--- /dev/null
+++ b/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_ra_tlmres_0_sliced_-76301.xc
@@ -0,0 +1,40 @@
+DAFETF NAIF DAF ENCODED TRANSFER FILE
+'DAF/CK '
+'2'
+'6'
+'MSL RA Reconstructed Orientation '
+BEGIN_ARRAY 1 19
+'MSL RA SH. AZ Rotation, Reconstructed '
+'23AC425B0B71^C'
+'23AC435A3716^C'
+'-12A0D'
+'-12A0C'
+'3'
+'1'
+19
+'EBEF819321FFB8^0'
+'0^0'
+'0^0'
+'-63599448B612F8^0'
+'0^0'
+'0^0'
+'0^0'
+'EBEF819321FFB8^0'
+'0^0'
+'0^0'
+'-63599448B612F8^0'
+'0^0'
+'0^0'
+'0^0'
+'23AC425B0B71^C'
+'23AC435A3716^C'
+'23AC425B0B71^C'
+'1^1'
+'2^1'
+END_ARRAY 1 19
+TOTAL_ARRAYS 1
+ ~NAIF/SPC BEGIN COMMENTS~
+This CK is for testing with the image: /Users/arsanders/data/msl/images/2264ML0121141200805116C00_DRCL.cub
+
+This CK was generated using the following command: {}
+ ~NAIF/SPC END COMMENTS~
diff --git a/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_ra_tlmres_0_sliced_-76302.xc b/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_ra_tlmres_0_sliced_-76302.xc
new file mode 100644
index 0000000000000000000000000000000000000000..642b668b19a52f6ad11e788bf3aad9f98c5f89f6
--- /dev/null
+++ b/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_ra_tlmres_0_sliced_-76302.xc
@@ -0,0 +1,40 @@
+DAFETF NAIF DAF ENCODED TRANSFER FILE
+'DAF/CK '
+'2'
+'6'
+'MSL RA Reconstructed Orientation '
+BEGIN_ARRAY 1 19
+'MSL RA SH. EL Rotation, Reconstructed '
+'23AC425B0B71^C'
+'23AC435A3716^C'
+'-12A0E'
+'-12A0D'
+'3'
+'1'
+19
+'7FA72EB47E4D9C^0'
+'-7FA72EB47E4D94^0'
+'-805893D4FAE22^0'
+'805893D4FAE228^0'
+'0^0'
+'0^0'
+'0^0'
+'7FA72EB47E4D9C^0'
+'-7FA72EB47E4D94^0'
+'-805893D4FAE22^0'
+'805893D4FAE228^0'
+'0^0'
+'0^0'
+'0^0'
+'23AC425B0B71^C'
+'23AC435A3716^C'
+'23AC425B0B71^C'
+'1^1'
+'2^1'
+END_ARRAY 1 19
+TOTAL_ARRAYS 1
+ ~NAIF/SPC BEGIN COMMENTS~
+This CK is for testing with the image: /Users/arsanders/data/msl/images/2264ML0121141200805116C00_DRCL.cub
+
+This CK was generated using the following command: {}
+ ~NAIF/SPC END COMMENTS~
diff --git a/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_ra_tlmres_0_sliced_-76303.xc b/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_ra_tlmres_0_sliced_-76303.xc
new file mode 100644
index 0000000000000000000000000000000000000000..f5c8bd66edbb77b367ecb81282a3f9d2f1e76e7b
--- /dev/null
+++ b/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_ra_tlmres_0_sliced_-76303.xc
@@ -0,0 +1,40 @@
+DAFETF NAIF DAF ENCODED TRANSFER FILE
+'DAF/CK '
+'2'
+'6'
+'MSL RA Reconstructed Orientation '
+BEGIN_ARRAY 1 19
+'MSL RA ELBOW Rotation, Reconstructed '
+'23AC425B0B71^C'
+'23AC435A3716^C'
+'-12A0F'
+'-12A0E'
+'3'
+'1'
+19
+'BAC136F54A23C8^0'
+'0^0'
+'0^0'
+'AF189DF294FA78^0'
+'0^0'
+'0^0'
+'0^0'
+'BAC136F54A23C8^0'
+'0^0'
+'0^0'
+'AF189DF294FA78^0'
+'0^0'
+'0^0'
+'0^0'
+'23AC425B0B71^C'
+'23AC435A3716^C'
+'23AC425B0B71^C'
+'1^1'
+'2^1'
+END_ARRAY 1 19
+TOTAL_ARRAYS 1
+ ~NAIF/SPC BEGIN COMMENTS~
+This CK is for testing with the image: /Users/arsanders/data/msl/images/2264ML0121141200805116C00_DRCL.cub
+
+This CK was generated using the following command: {}
+ ~NAIF/SPC END COMMENTS~
diff --git a/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_ra_tlmres_0_sliced_-76304.xc b/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_ra_tlmres_0_sliced_-76304.xc
new file mode 100644
index 0000000000000000000000000000000000000000..fba8254e9ed0e673029cc8e7b19dec1010255a0c
--- /dev/null
+++ b/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_ra_tlmres_0_sliced_-76304.xc
@@ -0,0 +1,40 @@
+DAFETF NAIF DAF ENCODED TRANSFER FILE
+'DAF/CK '
+'2'
+'6'
+'MSL RA Reconstructed Orientation '
+BEGIN_ARRAY 1 19
+'MSL RA WRIST Rotation, Reconstructed '
+'23AC425B0B71^C'
+'23AC435A3716^C'
+'-12A10'
+'-12A0F'
+'3'
+'1'
+19
+'AB7F67B2F3A63^0'
+'0^0'
+'0^0'
+'-BE1088C056211^0'
+'0^0'
+'0^0'
+'0^0'
+'AB7F67B2F3A63^0'
+'0^0'
+'0^0'
+'-BE1088C056211^0'
+'0^0'
+'0^0'
+'0^0'
+'23AC425B0B71^C'
+'23AC435A3716^C'
+'23AC425B0B71^C'
+'1^1'
+'2^1'
+END_ARRAY 1 19
+TOTAL_ARRAYS 1
+ ~NAIF/SPC BEGIN COMMENTS~
+This CK is for testing with the image: /Users/arsanders/data/msl/images/2264ML0121141200805116C00_DRCL.cub
+
+This CK was generated using the following command: {}
+ ~NAIF/SPC END COMMENTS~
diff --git a/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_ra_tlmres_0_sliced_-76305.xc b/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_ra_tlmres_0_sliced_-76305.xc
new file mode 100644
index 0000000000000000000000000000000000000000..b95bcbc80c60cafc1f259025b1e01b3ce0847d31
--- /dev/null
+++ b/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_ra_tlmres_0_sliced_-76305.xc
@@ -0,0 +1,40 @@
+DAFETF NAIF DAF ENCODED TRANSFER FILE
+'DAF/CK '
+'2'
+'6'
+'MSL RA Reconstructed Orientation '
+BEGIN_ARRAY 1 19
+'MSL RA TURRET Rotation, Reconstructed '
+'23AC425B0B71^C'
+'23AC435A3716^C'
+'-12A11'
+'-12A10'
+'3'
+'1'
+19
+'2252FFB00BBD4C^0'
+'2252FFB00BBD4C^0'
+'-B1BC3EBC31DB28^0'
+'-B1BC3EBC31DB38^0'
+'0^0'
+'0^0'
+'0^0'
+'2252FFB00BBD4C^0'
+'2252FFB00BBD4C^0'
+'-B1BC3EBC31DB28^0'
+'-B1BC3EBC31DB38^0'
+'0^0'
+'0^0'
+'0^0'
+'23AC425B0B71^C'
+'23AC435A3716^C'
+'23AC425B0B71^C'
+'1^1'
+'2^1'
+END_ARRAY 1 19
+TOTAL_ARRAYS 1
+ ~NAIF/SPC BEGIN COMMENTS~
+This CK is for testing with the image: /Users/arsanders/data/msl/images/2264ML0121141200805116C00_DRCL.cub
+
+This CK was generated using the following command: {}
+ ~NAIF/SPC END COMMENTS~
diff --git a/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_ra_tlmres_1_sliced_-76301.xc b/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_ra_tlmres_1_sliced_-76301.xc
new file mode 100644
index 0000000000000000000000000000000000000000..197b05e0ec842a37ab6ad670174957bc8cdf99fe
--- /dev/null
+++ b/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_ra_tlmres_1_sliced_-76301.xc
@@ -0,0 +1,40 @@
+DAFETF NAIF DAF ENCODED TRANSFER FILE
+'DAF/CK '
+'2'
+'6'
+'MSL RA Reconstructed Orientation '
+BEGIN_ARRAY 1 19
+'MSL RA SH. AZ Rotation, Reconstructed '
+'23AC452B004A^C'
+'23AC46285C3F^C'
+'-12A0D'
+'-12A0C'
+'3'
+'1'
+19
+'EBEF819321FFB8^0'
+'0^0'
+'0^0'
+'-63599448B612F8^0'
+'0^0'
+'0^0'
+'0^0'
+'EBEF819321FFB8^0'
+'0^0'
+'0^0'
+'-63599448B612F8^0'
+'0^0'
+'0^0'
+'0^0'
+'23AC452B004A^C'
+'23AC46285C3F^C'
+'23AC452B004A^C'
+'1^1'
+'2^1'
+END_ARRAY 1 19
+TOTAL_ARRAYS 1
+ ~NAIF/SPC BEGIN COMMENTS~
+This CK is for testing with the image: /Users/arsanders/data/msl/images/2264ML0121141200805116C00_DRCL.cub
+
+This CK was generated using the following command: {}
+ ~NAIF/SPC END COMMENTS~
diff --git a/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_ra_tlmres_1_sliced_-76302.xc b/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_ra_tlmres_1_sliced_-76302.xc
new file mode 100644
index 0000000000000000000000000000000000000000..24a8ecfce9df654fccf6018ac102bae5c122e26b
--- /dev/null
+++ b/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_ra_tlmres_1_sliced_-76302.xc
@@ -0,0 +1,40 @@
+DAFETF NAIF DAF ENCODED TRANSFER FILE
+'DAF/CK '
+'2'
+'6'
+'MSL RA Reconstructed Orientation '
+BEGIN_ARRAY 1 19
+'MSL RA SH. EL Rotation, Reconstructed '
+'23AC452B004A^C'
+'23AC46285C3F^C'
+'-12A0E'
+'-12A0D'
+'3'
+'1'
+19
+'7FA72EB47E4D9C^0'
+'-7FA72EB47E4D94^0'
+'-805893D4FAE22^0'
+'805893D4FAE228^0'
+'0^0'
+'0^0'
+'0^0'
+'7FA72EB47E4D9C^0'
+'-7FA72EB47E4D94^0'
+'-805893D4FAE22^0'
+'805893D4FAE228^0'
+'0^0'
+'0^0'
+'0^0'
+'23AC452B004A^C'
+'23AC46285C3F^C'
+'23AC452B004A^C'
+'1^1'
+'2^1'
+END_ARRAY 1 19
+TOTAL_ARRAYS 1
+ ~NAIF/SPC BEGIN COMMENTS~
+This CK is for testing with the image: /Users/arsanders/data/msl/images/2264ML0121141200805116C00_DRCL.cub
+
+This CK was generated using the following command: {}
+ ~NAIF/SPC END COMMENTS~
diff --git a/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_ra_tlmres_1_sliced_-76303.xc b/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_ra_tlmres_1_sliced_-76303.xc
new file mode 100644
index 0000000000000000000000000000000000000000..2d5ec22c565e2b6577b6dd97ce8d0666b9d68d53
--- /dev/null
+++ b/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_ra_tlmres_1_sliced_-76303.xc
@@ -0,0 +1,40 @@
+DAFETF NAIF DAF ENCODED TRANSFER FILE
+'DAF/CK '
+'2'
+'6'
+'MSL RA Reconstructed Orientation '
+BEGIN_ARRAY 1 19
+'MSL RA ELBOW Rotation, Reconstructed '
+'23AC452B004A^C'
+'23AC46285C3F^C'
+'-12A0F'
+'-12A0E'
+'3'
+'1'
+19
+'BAC136F54A23C8^0'
+'0^0'
+'0^0'
+'AF189DF294FA78^0'
+'0^0'
+'0^0'
+'0^0'
+'BAC136F54A23C8^0'
+'0^0'
+'0^0'
+'AF189DF294FA78^0'
+'0^0'
+'0^0'
+'0^0'
+'23AC452B004A^C'
+'23AC46285C3F^C'
+'23AC452B004A^C'
+'1^1'
+'2^1'
+END_ARRAY 1 19
+TOTAL_ARRAYS 1
+ ~NAIF/SPC BEGIN COMMENTS~
+This CK is for testing with the image: /Users/arsanders/data/msl/images/2264ML0121141200805116C00_DRCL.cub
+
+This CK was generated using the following command: {}
+ ~NAIF/SPC END COMMENTS~
diff --git a/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_ra_tlmres_1_sliced_-76304.xc b/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_ra_tlmres_1_sliced_-76304.xc
new file mode 100644
index 0000000000000000000000000000000000000000..21f31f6c9406b8deec2fcbf9c6191c220a8dddfd
--- /dev/null
+++ b/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_ra_tlmres_1_sliced_-76304.xc
@@ -0,0 +1,40 @@
+DAFETF NAIF DAF ENCODED TRANSFER FILE
+'DAF/CK '
+'2'
+'6'
+'MSL RA Reconstructed Orientation '
+BEGIN_ARRAY 1 19
+'MSL RA WRIST Rotation, Reconstructed '
+'23AC452B004A^C'
+'23AC46285C3F^C'
+'-12A10'
+'-12A0F'
+'3'
+'1'
+19
+'AB7F67B2F3A63^0'
+'0^0'
+'0^0'
+'-BE1088C056211^0'
+'0^0'
+'0^0'
+'0^0'
+'AB7F67B2F3A63^0'
+'0^0'
+'0^0'
+'-BE1088C056211^0'
+'0^0'
+'0^0'
+'0^0'
+'23AC452B004A^C'
+'23AC46285C3F^C'
+'23AC452B004A^C'
+'1^1'
+'2^1'
+END_ARRAY 1 19
+TOTAL_ARRAYS 1
+ ~NAIF/SPC BEGIN COMMENTS~
+This CK is for testing with the image: /Users/arsanders/data/msl/images/2264ML0121141200805116C00_DRCL.cub
+
+This CK was generated using the following command: {}
+ ~NAIF/SPC END COMMENTS~
diff --git a/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_ra_tlmres_1_sliced_-76305.xc b/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_ra_tlmres_1_sliced_-76305.xc
new file mode 100644
index 0000000000000000000000000000000000000000..377b04f000b17c9fa5c13145207c7d08b3d059e1
--- /dev/null
+++ b/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_ra_tlmres_1_sliced_-76305.xc
@@ -0,0 +1,40 @@
+DAFETF NAIF DAF ENCODED TRANSFER FILE
+'DAF/CK '
+'2'
+'6'
+'MSL RA Reconstructed Orientation '
+BEGIN_ARRAY 1 19
+'MSL RA TURRET Rotation, Reconstructed '
+'23AC452B004A^C'
+'23AC46285C3F^C'
+'-12A11'
+'-12A10'
+'3'
+'1'
+19
+'2252FFB00BBD4C^0'
+'2252FFB00BBD4C^0'
+'-B1BC3EBC31DB28^0'
+'-B1BC3EBC31DB38^0'
+'0^0'
+'0^0'
+'0^0'
+'2252FFB00BBD4C^0'
+'2252FFB00BBD4C^0'
+'-B1BC3EBC31DB28^0'
+'-B1BC3EBC31DB38^0'
+'0^0'
+'0^0'
+'0^0'
+'23AC452B004A^C'
+'23AC46285C3F^C'
+'23AC452B004A^C'
+'1^1'
+'2^1'
+END_ARRAY 1 19
+TOTAL_ARRAYS 1
+ ~NAIF/SPC BEGIN COMMENTS~
+This CK is for testing with the image: /Users/arsanders/data/msl/images/2264ML0121141200805116C00_DRCL.cub
+
+This CK was generated using the following command: {}
+ ~NAIF/SPC END COMMENTS~
diff --git a/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_rover_tlm_0_sliced_-76000.xc b/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_rover_tlm_0_sliced_-76000.xc
new file mode 100644
index 0000000000000000000000000000000000000000..a60f1205eaea4e4dd048b61358eb02c17a1d034c
--- /dev/null
+++ b/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_rover_tlm_0_sliced_-76000.xc
@@ -0,0 +1,40 @@
+DAFETF NAIF DAF ENCODED TRANSFER FILE
+'DAF/CK '
+'2'
+'6'
+'MSL Rover Reconstructed Attitude w.r.t. Local Level '
+BEGIN_ARRAY 1 19
+'MSL w.r.t. Local Level, Reconstructed '
+'23AC425B0B71^C'
+'23AC435A3716^C'
+'-128E0'
+'-12C6E'
+'3'
+'1'
+19
+'5AC5C8178E536C^0'
+'-7CAA95EEA175E4^-1'
+'31D361CEE49B5E^-2'
+'EF3D56FB99CF88^0'
+'-38EDF0EAE84BE6^-6'
+'18BC0F27A6E631^-5'
+'-6A2F0E22E30D04^-8'
+'5AC5C8178E536C^0'
+'-7CAA95EEA175E4^-1'
+'31D361CEE49B5E^-2'
+'EF3D56FB99CF88^0'
+'-3A32AB8AF8B912^-6'
+'19492598B54F18^-5'
+'-6C8CBBE5AF156^-8'
+'23AC425B0B71^C'
+'23AC435A3716^C'
+'23AC425B0B71^C'
+'1^1'
+'2^1'
+END_ARRAY 1 19
+TOTAL_ARRAYS 1
+ ~NAIF/SPC BEGIN COMMENTS~
+This CK is for testing with the image: /Users/arsanders/data/msl/images/2264ML0121141200805116C00_DRCL.cub
+
+This CK was generated using the following command: {}
+ ~NAIF/SPC END COMMENTS~
diff --git a/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_rover_tlm_1_sliced_-76000.xc b/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_rover_tlm_1_sliced_-76000.xc
new file mode 100644
index 0000000000000000000000000000000000000000..5cf50f9aabc84851e3e908098dec9a8105bfcd06
--- /dev/null
+++ b/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_rover_tlm_1_sliced_-76000.xc
@@ -0,0 +1,40 @@
+DAFETF NAIF DAF ENCODED TRANSFER FILE
+'DAF/CK '
+'2'
+'6'
+'MSL Rover Reconstructed Attitude w.r.t. Local Level '
+BEGIN_ARRAY 1 19
+'MSL w.r.t. Local Level, Reconstructed '
+'23AC452B004A^C'
+'23AC46285C3F^C'
+'-128E0'
+'-12C6E'
+'3'
+'1'
+19
+'5AC5C8178E536C^0'
+'-7CAA95EEA175E4^-1'
+'31D361CEE49B5E^-2'
+'EF3D56FB99CF88^0'
+'-3C8227AA9F69A4^-6'
+'1A4A22558CFA3C^-5'
+'-70DBF603807C4C^-8'
+'5AC5C8178E536C^0'
+'-7CAA95EEA175E4^-1'
+'31D361CEE49B5E^-2'
+'EF3D56FB99CF88^0'
+'-3DC494346BD8D4^-6'
+'1AD6386559CF77^-5'
+'-73355727A72258^-8'
+'23AC452B004A^C'
+'23AC46285C3F^C'
+'23AC452B004A^C'
+'1^1'
+'2^1'
+END_ARRAY 1 19
+TOTAL_ARRAYS 1
+ ~NAIF/SPC BEGIN COMMENTS~
+This CK is for testing with the image: /Users/arsanders/data/msl/images/2264ML0121141200805116C00_DRCL.cub
+
+This CK was generated using the following command: {}
+ ~NAIF/SPC END COMMENTS~
diff --git a/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_rsm_tlmres_0_sliced_-76202.xc b/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_rsm_tlmres_0_sliced_-76202.xc
new file mode 100644
index 0000000000000000000000000000000000000000..2263e03ce2f8dea44ab43ff6e2ebf33c0a7577ce
--- /dev/null
+++ b/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_rsm_tlmres_0_sliced_-76202.xc
@@ -0,0 +1,248 @@
+DAFETF NAIF DAF ENCODED TRANSFER FILE
+'DAF/CK '
+'2'
+'6'
+'MSL RSM Reconstructed Orientation '
+BEGIN_ARRAY 1 227
+'MSL RSM Resolver AZ, Reconstructed '
+'23AC425B0B71^C'
+'23AC435A3716^C'
+'-129AA'
+'-129A9'
+'3'
+'1'
+227
+'CBBE0C09BE6EA^0'
+'0^0'
+'0^0'
+'9B0009C37271C^0'
+'0^0'
+'0^0'
+'1AF2D669B2EB7C^-1'
+'CF0C8D34736D6^0'
+'0^0'
+'0^0'
+'968DFCD2E88B78^0'
+'0^0'
+'0^0'
+'0^0'
+'CF0C8D34736D6^0'
+'0^0'
+'0^0'
+'968DFCD2E88B78^0'
+'0^0'
+'0^0'
+'90524CE62C9378^-1'
+'DF054455919ED^0'
+'0^0'
+'0^0'
+'7DB07C14D2E338^0'
+'0^0'
+'0^0'
+'0^0'
+'DF054455919ED^0'
+'0^0'
+'0^0'
+'7DB07C14D2E338^0'
+'0^0'
+'0^0'
+'91AF61011E7F68^-1'
+'EC3D52E855E7E^0'
+'0^0'
+'0^0'
+'629FFB644752E8^0'
+'0^0'
+'0^0'
+'0^0'
+'EC3D52E855E7E^0'
+'0^0'
+'0^0'
+'629FFB644752E8^0'
+'0^0'
+'0^0'
+'9046485D2F01D8^-1'
+'F60768D2D1D1A8^0'
+'0^0'
+'0^0'
+'46C05B0D3708C^0'
+'0^0'
+'0^0'
+'0^0'
+'F60768D2D1D1A8^0'
+'0^0'
+'0^0'
+'46C05B0D3708C^0'
+'0^0'
+'0^0'
+'91979291166C^-1'
+'FC9EA1B095DFD8^0'
+'0^0'
+'0^0'
+'2976EDA9D958BC^0'
+'0^0'
+'0^0'
+'0^0'
+'FC9EA1B095DFD8^0'
+'0^0'
+'0^0'
+'2976EDA9D958BC^0'
+'0^0'
+'0^0'
+'90E4ADA75203D8^-1'
+'FFBA2B4221CE08^0'
+'0^0'
+'0^0'
+'BD091915FE227^-1'
+'0^0'
+'0^0'
+'0^0'
+'FFBA2B4221CE08^0'
+'0^0'
+'0^0'
+'BD091915FE227^-1'
+'0^0'
+'0^0'
+'-9E1A11D9B86E18^-3'
+'FFB8C54FDF563^0'
+'0^0'
+'0^0'
+'BEEAEC81FE0E8^-1'
+'0^0'
+'0^0'
+'0^0'
+'FFB8C54FDF563^0'
+'0^0'
+'0^0'
+'BEEAEC81FE0E8^-1'
+'0^0'
+'0^0'
+'-9FB97929E752E8^-1'
+'FBA5A7227F4418^0'
+'0^0'
+'0^0'
+'2F02084FEDD8C2^0'
+'0^0'
+'0^0'
+'0^0'
+'FBA5A7227F4418^0'
+'0^0'
+'0^0'
+'2F02084FEDD8C2^0'
+'0^0'
+'0^0'
+'-A6B5A51C61ECA8^-1'
+'F2E0CD380FD748^0'
+'0^0'
+'0^0'
+'50E89EC357DBF8^0'
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+TOTAL_ARRAYS 1
+ ~NAIF/SPC BEGIN COMMENTS~
+This CK is for testing with the image: /Users/arsanders/data/msl/images/2264ML0121141200805116C00_DRCL.cub
+
+This CK was generated using the following command: {}
+ ~NAIF/SPC END COMMENTS~
diff --git a/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_rsm_tlmres_0_sliced_-76204.xc b/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_rsm_tlmres_0_sliced_-76204.xc
new file mode 100644
index 0000000000000000000000000000000000000000..2e662a173d93763a9dadabcce6248b9b0a28e87c
--- /dev/null
+++ b/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_rsm_tlmres_0_sliced_-76204.xc
@@ -0,0 +1,248 @@
+DAFETF NAIF DAF ENCODED TRANSFER FILE
+'DAF/CK '
+'2'
+'6'
+'MSL RSM Reconstructed Orientation '
+BEGIN_ARRAY 1 227
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+TOTAL_ARRAYS 1
+ ~NAIF/SPC BEGIN COMMENTS~
+This CK is for testing with the image: /Users/arsanders/data/msl/images/2264ML0121141200805116C00_DRCL.cub
+
+This CK was generated using the following command: {}
+ ~NAIF/SPC END COMMENTS~
diff --git a/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_rsm_tlmres_1_sliced_-76202.xc b/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_rsm_tlmres_1_sliced_-76202.xc
new file mode 100644
index 0000000000000000000000000000000000000000..88a95a86ea52949aabb54021a0849da250042029
--- /dev/null
+++ b/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_rsm_tlmres_1_sliced_-76202.xc
@@ -0,0 +1,152 @@
+DAFETF NAIF DAF ENCODED TRANSFER FILE
+'DAF/CK '
+'2'
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+'MSL RSM Reconstructed Orientation '
+BEGIN_ARRAY 1 131
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+'1^1'
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+END_ARRAY 1 131
+TOTAL_ARRAYS 1
+ ~NAIF/SPC BEGIN COMMENTS~
+This CK is for testing with the image: /Users/arsanders/data/msl/images/2264ML0121141200805116C00_DRCL.cub
+
+This CK was generated using the following command: {}
+ ~NAIF/SPC END COMMENTS~
diff --git a/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_rsm_tlmres_1_sliced_-76204.xc b/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_rsm_tlmres_1_sliced_-76204.xc
new file mode 100644
index 0000000000000000000000000000000000000000..225027107134210698dbf7298871d798ddfe9b4b
--- /dev/null
+++ b/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_surf_rsm_tlmres_1_sliced_-76204.xc
@@ -0,0 +1,152 @@
+DAFETF NAIF DAF ENCODED TRANSFER FILE
+'DAF/CK '
+'2'
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+BEGIN_ARRAY 1 131
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+TOTAL_ARRAYS 1
+ ~NAIF/SPC BEGIN COMMENTS~
+This CK is for testing with the image: /Users/arsanders/data/msl/images/2264ML0121141200805116C00_DRCL.cub
+
+This CK was generated using the following command: {}
+ ~NAIF/SPC END COMMENTS~
diff --git a/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_v08.tf b/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_v08.tf
new file mode 100755
index 0000000000000000000000000000000000000000..c1c3f9a14ad1dc8022f158c2e4468793d03266d0
--- /dev/null
+++ b/tests/pytests/data/2264ML0121141200805116C00_DRCL/msl_v08.tf
@@ -0,0 +1,4735 @@
+KPL/FK
+
+MSL Frames Kernel
+========================================================================
+
+ This frame kernel contains complete set of frame definitions for the
+ MSL including definitions for the MSL cruise, descent, and rover
+ frames, local level, topocentric and surface-fixed frames, appendage
+ frames, and science instrument frames.
+
+
+Version and Date
+========================================================================
+
+ Version 0.8 -- May 30, 2013 -- Boris Semenov, NAIF
+
+ Updated alignments of MSL_NAVCAM_LEFT_B and MSL_NAVCAM_RIGHT_B
+ based on the updated CAHVOR models for the -5C temperature point
+ (MSL_CAL_005_SN_0215-NAVL-FLIGHT-RCE-B.cahvor and
+ MSL_CAL_005_SN_0218-NAVR-FLIGHT-RCE-B.cahvor).
+
+ Version 0.7 -- April 12, 2013 -- Boris Semenov, NAIF
+
+ Added name/ID mappings for DIMU_A.
+
+ Version 0.6 -- November 21, 2012 -- Boris Semenov, NAIF
+
+ Added name/ID mappings for DAN modules.
+
+ Version 0.5 -- August 8, 2012 -- Boris Semenov, NAIF
+
+ Redefined HGA, RSM, and RA frame chains. Added name/ID mappings
+ for calibration targets, fiducials, etc. Incorporated actual
+ frame alignments based on camera models and flight parameters.
+ Incorporated the topocentric frame definition based on the actual
+ landing site location.
+
+ Version 0.4 -- December 13, 2011 -- Boris Semenov, NAIF
+
+ Changed antenna frame ID codes as follows:
+
+ MSL_PLGA -76810 --> -76060
+ MSL_TLGA -76811 --> -76061
+ MSL_PUHF -76812 --> -76062
+ MSL_MGA -76813 --> -76063
+
+ MSL_DLGA -76820 --> -76064
+ MSL_DUHF -76821 --> -76065
+
+ MSL_RLGA -76830 --> -76110
+ MSL_RUHF -76840 --> -76111
+ MSL_HGA_BASE -76850 --> -76120
+ MSL_HGA_GIMBAL -76851 --> -76121
+ MSL_HGA -76852 --> -76122
+ MSL_HGA_EB -76853 --> -76123
+
+ Added name-ID mapping for all instruments, structures and sites.
+
+ Version 0.3 -- May 4, 2011 -- Boris Semenov, NAIF
+
+ Preliminary version. Changed MSL_TLGA tilt angle to 17.5
+ degrees.
+
+ Version 0.2 -- May 3, 2011 -- Boris Semenov, NAIF
+
+ Preliminary version. Added CACS and antenna frames.
+
+ Version 0.1 -- March 3, 2011 -- Boris Semenov, NAIF
+
+ Preliminary version. Added rover and cruise/descent frames.
+
+ Version 0.0 -- December 4, 2007 -- Boris Semenov, NAIF
+
+ Very preliminary version. Contains definitions only for the
+ LOCAL_LEVEL and SURFACE_FIXED frames.
+
+
+References
+========================================================================
+
+ 1. ``Frames Required Reading''
+
+ 2. ``Kernel Pool Required Reading''
+
+ 3. ``C-Kernel Required Reading''
+
+ 4. MSL 3PCS document, latest version
+
+ 5. RSVP's MSL_kinematics_tree.xml, 2012-07-06
+
+ 6. FSW parameter set, July 2012
+
+ 7. 'MSL_Surface_Cruise DataRate_Analysis_Rev-A_5-19-11.pdf',
+ Section E.7, May 10, 2011
+
+ 8. MSL camera CAHVORE Models and reference positions/quaternions,
+ July 2012
+
+
+Contact Information
+========================================================================
+
+ Boris V. Semenov, NAIF/JPL, (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 using SPICE routine
+ FURNSH, normally during program initialization.
+
+ This file was created and may be updated with a text editor or word
+ processor.
+
+
+MSL NAIF ID Codes
+========================================================================
+
+ The following names and NAIF ID codes are assigned to the MSL rover,
+ its structures and science instruments (the keywords implementing
+ these definitions are located in the section "MSL Mission NAIF ID
+ Codes -- Definition Section" at the end of this file):
+
+ Landing site and sites:
+ -----------------------
+
+ MSL_LANDING_SITE -76900
+
+ MSL_SITE_1...399 -76501...-76899
+
+ Cruise and descent stages and the rover:
+ ----------------------------------------
+
+ MSL -76
+
+ MSL_ROVER -76000
+
+ MSL_SPACECRAFT -76010
+ MSL_CRUISE_STAGE -76020
+ MSL_DESCENT_STAGE -76030
+ MSL_ROVER_MECH -76040
+ MSL_CACS -76050
+
+ MSL_DIMU_A -76031
+
+
+ Instruments and structures on cruise and descent modules:
+ ---------------------------------------------------------
+
+ MSL_PLGA -76060
+ MSL_TLGA -76061
+ MSL_PUHF -76062
+ MSL_MGA -76063
+
+ MSL_DLGA -76064
+ MSL_DUHF -76065
+
+ MSL_MEDLI_MISP_T1 -76071
+ MSL_MEDLI_MISP_T2 -76072
+ MSL_MEDLI_MISP_T3 -76073
+ MSL_MEDLI_MISP_T4 -76074
+ MSL_MEDLI_MISP_T5 -76075
+ MSL_MEDLI_MISP_T6 -76076
+ MSL_MEDLI_MISP_T7 -76077
+
+ MSL_MEDLI_MEADS_P1 -76081
+ MSL_MEDLI_MEADS_P2 -76082
+ MSL_MEDLI_MEADS_P3 -76083
+ MSL_MEDLI_MEADS_P4 -76084
+ MSL_MEDLI_MEADS_P5 -76085
+ MSL_MEDLI_MEADS_P6 -76086
+ MSL_MEDLI_MEADS_P7 -76087
+
+ Instruments and devices on the rover:
+ --------------------------------------
+
+ MSL_RLGA -76110
+ MSL_RUHF -76111
+
+ MSL_HGA_ZERO_AZ -76121
+ MSL_HGA_AZ -76122
+ MSL_HGA_ZERO_EL -76123
+ MSL_HGA_EL -76124
+ MSL_HGA -76125
+ MSL_HGA_EB -76126
+
+ MSL_HAZCAM_FRONT_LEFT_A -76131
+ MSL_HAZCAM_FRONT_RIGHT_A -76132
+ MSL_HAZCAM_FRONT_LEFT_B -76133
+ MSL_HAZCAM_FRONT_RIGHT_B -76134
+ MSL_HAZCAM_BACK_LEFT_A -76141
+ MSL_HAZCAM_BACK_RIGHT_A -76142
+ MSL_HAZCAM_BACK_LEFT_B -76143
+ MSL_HAZCAM_BACK_RIGHT_B -76144
+
+ MSL_RAD -76150
+
+ MSL_MARDI -76160
+
+ MSL_REMS_UVS -76170
+
+ MSL_DAN -76180
+ MSL_DAN_PNG -76191
+ MSL_DAN_DE -76192
+ MSL_DAN_DE_CTN -76193
+ MSL_DAN_DE_CETN -76194
+ MSL_REMS_PS -76181
+ MSL_SAM -76182
+ MSL_SAM_1_INLET -76184
+ MSL_SAM_2_INLET -76185
+ MSL_CHEMIN -76183
+ MSL_CHEMIN_INLET -76186
+
+ Instruments and devices on RSM:
+ --------------------------------
+
+ MSL_RSM_ZERO_AZ -76201
+ MSL_RSM_AZ -76202
+ MSL_RSM_ZERO_EL -76203
+ MSL_RSM_EL -76204
+ MSL_RSM_HEAD -76205
+
+ MSL_MASTCAM_LEFT -76210
+ MSL_MASTCAM_LEFT_F1 -76211
+ MSL_MASTCAM_LEFT_F2 -76212
+ MSL_MASTCAM_LEFT_F3 -76213
+ MSL_MASTCAM_LEFT_F4 -76214
+ MSL_MASTCAM_LEFT_F5 -76215
+ MSL_MASTCAM_LEFT_F6 -76216
+ MSL_MASTCAM_LEFT_F7 -76217
+ MSL_MASTCAM_LEFT_F8 -76218
+ MSL_MASTCAM_RIGHT -76220
+ MSL_MASTCAM_RIGHT_F1 -76221
+ MSL_MASTCAM_RIGHT_F2 -76222
+ MSL_MASTCAM_RIGHT_F3 -76223
+ MSL_MASTCAM_RIGHT_F4 -76224
+ MSL_MASTCAM_RIGHT_F5 -76225
+ MSL_MASTCAM_RIGHT_F6 -76226
+ MSL_MASTCAM_RIGHT_F7 -76227
+ MSL_MASTCAM_RIGHT_F8 -76228
+
+ MSL_NAVCAM_LEFT_A -76231
+ MSL_NAVCAM_RIGHT_A -76232
+ MSL_NAVCAM_LEFT_B -76233
+ MSL_NAVCAM_RIGHT_B -76234
+
+ MSL_CHEMCAM -76240
+ MSL_CHEMCAM_LIBS_LASER -76241
+ MSL_CHEMCAM_LIBS_CAM -76242
+ MSL_CHEMCAM_RMI -76243
+
+ MSL_REMS_BOOM1 -76250
+ MSL_REMS_BOOM1_WS1 -76251
+ MSL_REMS_BOOM1_WS2 -76252
+ MSL_REMS_BOOM1_WS3 -76253
+ MSL_REMS_BOOM1_ATS -76254
+ MSL_REMS_BOOM1_GTS -76255
+ MSL_REMS_BOOM1_TIP -76256
+
+ MSL_REMS_BOOM2 -76260
+ MSL_REMS_BOOM2_WS1 -76261
+ MSL_REMS_BOOM2_WS2 -76262
+ MSL_REMS_BOOM2_WS3 -76263
+ MSL_REMS_BOOM2_ATS -76264
+ MSL_REMS_BOOM2_HS -76265
+ MSL_REMS_BOOM2_TIP -76266
+
+ Instruments and devices on RA:
+ ------------------------------
+
+ MSL_RA_BASE -76300
+ MSL_RA_SHOULDER_AZ -76301
+ MSL_RA_SHOULDER_EL -76302
+ MSL_RA_ELBOW -76303
+ MSL_RA_WRIST -76304
+ MSL_RA_TURRET -76305
+ MSL_RA_TURRET_HEAD -76306
+
+ MSL_MAHLI_REF -76310
+ MSL_MAHLI -76311
+
+ MSL_APXS_REF -76320
+ MSL_APXS -76321
+
+ MSL_PADS_REF -76330
+ MSL_PADS -76331
+
+ MSL_DRT_REF -76340
+ MSL_DRT -76341
+
+ MSL_CHIMRA_REF -76350
+ MSL_CHIMRA -76351
+
+ Fiducials, Calibration targets, etc.
+ ------------------------------------
+
+ MSL_FD_RESTRAINT_PORT -76401
+ MSL_FD_RESTRAINT_SBRD -76402
+ MSL_FD_DECK_SIDE_PORT -76403
+ MSL_FD_DECK_FRONT_PORT -76404
+ MSL_FD_DECK_CENTER_PORT -76405
+ MSL_FD_DECK_CENTER_SBRD -76406
+ MSL_FD_DECK_FRONT_SBRD -76407
+
+ MSL_FD_OCM_PORT -76408
+ MSL_FD_OCM_CENTER -76409
+ MSL_FD_OCM_STARBOARD -76410
+
+ MSL_SCI_OBS_TRAY -76411
+ MSL_ENG_OBS_TRAY -76412
+
+ MSL_BIT_BOX_1_TARGET -76413
+ MSL_BIT_BOX_2_TARGET -76414
+
+ MSL_OCM_LOCATION_1 -76415
+ MSL_OCM_LOCATION_2 -76416
+ MSL_OCM_LOCATION_3 -76417
+ MSL_OCM_LOCATION_4 -76418
+ MSL_OCM_LOCATION_5 -76419
+ MSL_OCM_LOCATION_6 -76420
+
+ MSL_APXS_CALTARGET -76421
+ MSL_MAHLI_CALTARGET -76422
+
+ MSL_CCAM_CAL1 -76423
+ MSL_CCAM_CAL2 -76424
+ MSL_CCAM_CAL3 -76425
+ MSL_CCAM_CAL4 -76426
+ MSL_CCAM_CAL5 -76427
+ MSL_CCAM_CAL6 -76428
+ MSL_CCAM_CAL7 -76429
+ MSL_CCAM_CAL8 -76430
+ MSL_CCAM_CAL9 -76431
+ MSL_CCAM_CAL10 -76432
+
+ MSL_MCAM_CAL -76433
+
+
+MSL Frames
+========================================================================
+
+ The following MSL frames are defined in this kernel file:
+
+ Name Relative to Type NAIF ID
+ ====================== =================== ===== =======
+
+ Surface frames:
+ ---------------
+
+ MSL_TOPO IAU_MARS FIXED -76900
+ MSL_LOCAL_LEVEL MSL_TOPO FIXED -76910
+ MSL_SURFACE_FIXED MSL_LOCAL_LEVEL FIXED -76920
+
+ Rover frames:
+ -------------
+
+ MSL_ROVER J2000, MSL_LOCAL_LEVEL CK -76000
+ MSL_ROVER_MECH MSL_ROVER FIXED -76040
+
+ Cruise and Descent frames:
+ --------------------------
+
+ MSL_SPACECRAFT MSL_ROVER FIXED -76010
+ MSL_CRUISE_STAGE MSL_ROVER FIXED -76020
+ MSL_DESCENT_STAGE MSL_ROVER FIXED -76030
+ MSL_CACS J2000, MSL_ROVER CK -76050
+
+ Cruise and Descent Antenna frames:
+ ----------------------------------
+
+ MSL_PLGA MSL_CRUISE_STAGE FIXED -76060
+ MSL_TLGA MSL_CRUISE_STAGE FIXED -76061
+ MSL_PUHF MSL_CRUISE_STAGE FIXED -76062
+ MSL_MGA MSL_CRUISE_STAGE FIXED -76063
+
+ MSL_DLGA MSL_DESCENT_STAGE FIXED -76064
+ MSL_DUHF MSL_DESCENT_STAGE FIXED -76065
+
+ Rover instrument and structures frames:
+ ---------------------------------------
+
+ MSL_RLGA MSL_ROVER FIXED -76110
+ MSL_RUHF MSL_ROVER FIXED -76111
+
+ MSL_HGA_ZERO_AZ MSL_ROVER FIXED -76121
+ MSL_HGA_AZ MSL_HGA_ZERO_AZ CK -76122
+ MSL_HGA_ZERO_EL MSL_HGA_AZ FIXED -76123
+ MSL_HGA_EL MSL_HGA_ZERO_EL CK -76124
+ MSL_HGA MSL_HGA_EL FIXED -76125
+ MSL_HGA_EB MSL_HGA FIXED -76126
+
+ MSL_HAZCAM_FRONT_LEFT_A MSL_ROVER FIXED -76131
+ MSL_HAZCAM_FRONT_RIGHT_A MSL_ROVER FIXED -76132
+ MSL_HAZCAM_FRONT_LEFT_B MSL_ROVER FIXED -76133
+ MSL_HAZCAM_FRONT_RIGHT_B MSL_ROVER FIXED -76134
+ MSL_HAZCAM_BACK_LEFT_A MSL_ROVER FIXED -76141
+ MSL_HAZCAM_BACK_RIGHT_A MSL_ROVER FIXED -76142
+ MSL_HAZCAM_BACK_LEFT_B MSL_ROVER FIXED -76143
+ MSL_HAZCAM_BACK_RIGHT_B MSL_ROVER FIXED -76144
+
+ MSL_RAD MSL_ROVER FIXED -76150
+
+ MSL_MARDI MSL_ROVER FIXED -76160
+
+ MSL_REMS_UVS MSL_ROVER FIXED -76170
+
+ MSL_DAN MSL_ROVER FIXED -76180
+ MSL_SAM MSL_ROVER FIXED -76182
+ MSL_CHEMIN MSL_ROVER FIXED -76183
+
+ RSM instrument and structures frames:
+ -------------------------------------
+
+ MSL_RSM_ZERO_AZ MSL_ROVER FIXED -76201
+ MSL_RSM_AZ MSL_RSM_ZERO_AZ CK -76202
+ MSL_RSM_ZERO_EL MSL_RSM_AZ FIXED -76203
+ MSL_RSM_EL MSL_RSM_ZERO_EL CK -76204
+ MSL_RSM_HEAD MSL_RSM_EL FIXED -76205
+
+ MSL_MASTCAM_LEFT MSL_RSM_HEAD FIXED -76210
+ MSL_MASTCAM_RIGHT MSL_RSM_HEAD FIXED -76220
+
+ MSL_NAVCAM_LEFT_A MSL_RSM_HEAD FIXED -76231
+ MSL_NAVCAM_RIGHT_A MSL_RSM_HEAD FIXED -76232
+ MSL_NAVCAM_LEFT_B MSL_RSM_HEAD FIXED -76233
+ MSL_NAVCAM_RIGHT_B MSL_RSM_HEAD FIXED -76234
+
+ MSL_CHEMCAM_LIBS_LASER MSL_RSM_HEAD FIXED -76241
+ MSL_CHEMCAM_LIBS_CAM MSL_RSM_HEAD FIXED -76242
+ MSL_CHEMCAM_RMI MSL_RSM_HEAD FIXED -76243
+
+ MSL_REMS_BOOM1 MSL_ROVER FIXED -76250
+ MSL_REMS_BOOM1_WS1 MSL_REMS_BOOM1 FIXED -76251
+ MSL_REMS_BOOM1_WS2 MSL_REMS_BOOM1 FIXED -76252
+ MSL_REMS_BOOM1_WS3 MSL_REMS_BOOM1 FIXED -76253
+ MSL_REMS_BOOM1_ATS MSL_REMS_BOOM1 FIXED -76254
+ MSL_REMS_BOOM1_GTS MSL_REMS_BOOM1 FIXED -76255
+
+ MSL_REMS_BOOM2 MSL_ROVER FIXED -76260
+ MSL_REMS_BOOM2_WS1 MSL_REMS_BOOM2 FIXED -76261
+ MSL_REMS_BOOM2_WS2 MSL_REMS_BOOM2 FIXED -76262
+ MSL_REMS_BOOM2_WS3 MSL_REMS_BOOM2 FIXED -76263
+ MSL_REMS_BOOM2_ATS MSL_REMS_BOOM2 FIXED -76264
+ MSL_REMS_BOOM2_HS MSL_REMS_BOOM2 FIXED -76265
+
+ RA instrument and structures frames:
+ -------------------------------------
+
+ MSL_RA_BASE MSL_ROVER FIXED -76300
+ MSL_RA_SHOULDER_AZ MSL_RA_BASE CK -76301
+ MSL_RA_SHOULDER_EL MSL_RA_SHOULDER_AZ CK -76302
+ MSL_RA_ELBOW MSL_RA_SHOULDER_EL CK -76303
+ MSL_RA_WRIST MSL_RA_ELBOW CK -76304
+ MSL_RA_TURRET MSL_RA_WRIST CK -76305
+
+ MSL_MAHLI_REF MSL_RA_TURRET CK -76310
+ MSL_MAHLI MSL_MAHLI_REF FIXED -76311
+
+ MSL_APXS_REF MSL_RA_TURRET CK -76320
+ MSL_APXS MSL_APXS_REF FIXED -76321
+
+ MSL_PADS_REF MSL_RA_TURRET CK -76330
+ MSL_PADS MSL_PADS_REF FIXED -76331
+
+ MSL_DRT_REF MSL_RA_TURRET CK -76340
+ MSL_DRT MSL_DRT_REF FIXED -76341
+
+ MSL_CHIMRA_REF MSL_RA_TURRET CK -76350
+ MSL_CHIMRA MSL_CHIMRA_REF FIXED -76351
+
+
+MSL Frame Tree
+========================================================================
+
+ The diagram below shows the MSL frame hierarchy:
+
+
+ "J2000"
+ +---------------------------------+
+ | |<-pck |<-pck
+ | v v
+ | "IAU_MARS" "IAU_EARTH"
+ | ---------- -----------
+ | |<-fixed
+ | v
+ | "MSL_TOPO" "MSL_SURFACE_FIXED"
+ | ---------- ---------------------
+ | |<-fixed ^<-fixed
+ | v |
+ | "MSL_LOCAL_LEVEL" |
+ | --------------------------+
+ | |
+ | | "MSL_DLGA/DUHF"
+ | | ---------------
+ | | fixed-> ^
+ | | |
+ | | "MSL_PLGA/TLGA/PUHF/MGA" |
+ | | ------------------------ |
+ | | fixed-> ^ |
+ | | | |
+ | | "MSL_SPACECRAFT" | |
+ | | ---------------- | |
+ | | ^ <-fixed | |
+ | | | | |
+ | | | "MSL_CRUISE_STAGE" |
+ | | | ------------------ |
+ | | | ^ <-fixed |
+ | | | | |
+ | | | | "MSL_DESCENT_STAGE"
+ | | | | ------------------
+ ck-> | | | | ^ <-fixed
+ | | | | |
+ "MSL_CACS" | | | | "MSL_ROVER_MECH"
+ ---------- | | | | ----------------
+ ^ | | | | ^ <-fixed
+ ck-> | ck-> | | | | |
+ v v
+ "MSL_ROVER"
+ +--------------------------------------------------------------+
+ | | | | | | | | | | | | |
+ | |<-fxd | | | |<-fxd | fxd->| | | | fxd->| |
+ | v | | | V | V | | | v |
+ | "MLS_RUHF" | | | "MSL_DAN" | "MSL_RAD" | | | "MLS_RLGA" |
+ | ---------- | | | --------- | --------- | | | ---------- |
+ | | | | | | | | |
+ | fixed-> | | | <-fixed | fixed-> | | | <-fixed |
+ | V | V | V | V |
+ | "MSL_REMS_UVS" | "MSL_HAZCAM*" | "MSL_MARDI" | "MSL_SAM" |
+ | -------------- | ------------- | ----------- | --------- |
+ | | | | |
+ | fixed-> | | | <-fixed |
+ | V | V |
+ | "MSL_REMS_BOOM1/2" | "MSL_CHEMIN" |
+ | ---------------- | ------------ |
+ | | | |
+ | fixed-> | | |
+ | V | |
+ | "MSL_REMS_BOOM1/2_*" | |
+ | -------------------- | |
+ | | |
+ | <-fixed | <-fixed | <-fixed
+ V V V
+ "MSL_RA_BASE" "MSL_RSM_ZERO_AZ" "MSL_HGA_ZERO_AZ"
+ ------------- ---------------- -----------------
+ | | |
+ | <-ck | <-ck | <-ck
+ V V V
+ "MSL_RA_SHOULDER_AZ" "MSL_RSM_AZ" "MSL_HGA_AZ"
+ -------------------- ------------ ------------
+ | | |
+ | <-ck | <-fixed | <-fixed
+ V V V
+ "MSL_RA_SHOULDER_EL" "MSL_RSM_ZERO_EL" "MSL_HGA_ZERO_EL"
+ -------------------- ----------------- -----------------
+ | | |
+ | <-ck | <-ck | <-ck
+ V V V
+ "MSL_RA_ELBOW" "MSL_RSM_EL" "MSL_HGA_EL"
+ -------------- ------------ ------------
+ | | |
+ | <-ck | | <-fixed
+ V | V
+ "MSL_RA_WRIST" | "MSL_HGA"
+ -------------- | ---------
+ | | |
+ | | | <-fixed
+ | | V
+ | | "MSL_HGA_EB"
+ | | ------------
+ | |
+ | | <-fixed
+ | V
+ | "MSL_RSM_HEAD"
+ | +-------------------------------+
+ | | | |
+ | | <-fixed | <-fixed | <-fixed
+ | V V V
+ | "MSL_MASTCAM_*" "MSL_NAVCAM_*" "MSL_CHEMCAM_RMI"
+ | --------------- -------------- +------------------+
+ | | |
+ | | <-fixed | <-fixed
+ | V V
+ | "MSL_CHEMCAM_LIBS_LASER" "MSL_CHEMCAM_LIBS_CAM"
+ | ------------------------ ----------------------
+ |
+ | <-ck
+ V
+ "MSL_RA_TURRET"
+ ---------------------------------------------------------------------+
+ | | | | |
+ | <-ck | <-ck | <-ck | <-ck | <-ck
+ V V V V V
+ "MSL_MAHLI_REF" "MSL_APXS_REF" "MSL_PADS_REF" "MSL_DRT_REF" "MSL_CHIMRA_REF"
+ --------------- -------------- -------------- ------------- ----------------
+ | | | | |
+ | <-fixed | <-fixed | <-fixed | <-fixed | <-fxd
+ V V V V V
+ "MSL_MAHLI" "MSL_APXS" "MSL_PADS" "MSL_DRT" "MSL_CHIMRA"
+ ----------- ---------- ---------- --------- ------------
+
+
+
+MSL Surface Frames
+========================================================================
+
+ The surface frames layout in this version of the FK is based on the
+ assumption that the total traverse distance during the mission will
+ be relatively short (hundreds of meters, not kilometers) and,
+ therefore, the local north and nadir directions, defining surface
+ frame orientations, will be approximately the same at any point
+ along the traverse path. This assumption allows defining surface
+ frames as fixed offset frames with respect to each other and/or to
+ Mars body-fixed frame, IAU_MARS.
+
+
+Topocentric Frame
+-------------------------------------------------
+
+ MSL topocentric frame, MSL_TOPO, is defined as follows:
+
+ -- +Z axis is along the outward normal at the landing site ("zenith");
+
+ -- +X axis is along the local north direction ("north");
+
+ -- +Y axis completes the right hand frame ("west");
+
+ -- the origin of this frame is located at the landing site.
+
+ Orientation of the frame is given relative to the body fixed
+ rotating frame 'IAU_MARS' (x - along the line of zero longitude
+ intersecting the equator, z - along the spin axis, y - completing
+ the right hand coordinate frame.)
+
+ The transformation from 'MSL_TOPO' frame to 'IAU_MARS' frame is a
+ 3-2-3 rotation with defined angles as the negative of the site
+ longitude, the negative of the site co-latitude, 180 degrees.
+
+ The landing site Gaussian longitude and latitude upon which the
+ definition is built are:
+
+ Lon = 137.441700 degrees East
+ Lat = -4.643851 degrees North
+
+ The coordinates specified above are given with respect to the
+ 'IAU_MARS' instance defined by the rotation/shape model from the the
+ PCK file 'pck00008.tpc'.
+
+ These keywords implement the frame definition.
+
+ \begindata
+
+ FRAME_MSL_TOPO = -76900
+ FRAME_-76900_NAME = 'MSL_TOPO'
+ FRAME_-76900_CLASS = 4
+ FRAME_-76900_CLASS_ID = -76900
+ FRAME_-76900_CENTER = -76900
+
+ TKFRAME_-76900_RELATIVE = 'IAU_MARS'
+ TKFRAME_-76900_SPEC = 'ANGLES'
+ TKFRAME_-76900_UNITS = 'DEGREES'
+ TKFRAME_-76900_AXES = ( 3, 2, 3 )
+ TKFRAME_-76900_ANGLES = ( -137.4417, -94.643851, 180.000 )
+
+ \begintext
+
+
+Local Level Frame
+-------------------------------------------------
+
+ MSL local level frame, MSL_LOCAL_LEVEL, is defined as follows:
+
+ -- +Z axis is along the downward normal at the landing site ("nadir");
+
+ -- +X axis is along the local north direction ("north");
+
+ -- +Y axis completes the right hand frame ("east");
+
+ -- the origin of this frame is located between the rover's middle
+ wheels and moves with the rover.
+
+ Since this frame is essentially the MSL_TOPO frame flipped by 180
+ degrees about +X ("north") to point +Z down, this frame is defined
+ as a fixed offset frame with respect to the MSL_TOPO frame.
+
+ \begindata
+
+ FRAME_MSL_LOCAL_LEVEL = -76910
+ FRAME_-76910_NAME = 'MSL_LOCAL_LEVEL'
+ FRAME_-76910_CLASS = 4
+ FRAME_-76910_CLASS_ID = -76910
+ FRAME_-76910_CENTER = -76900
+ TKFRAME_-76910_RELATIVE = 'MSL_TOPO'
+ TKFRAME_-76910_SPEC = 'ANGLES'
+ TKFRAME_-76910_UNITS = 'DEGREES'
+ TKFRAME_-76910_AXES = ( 1, 2, 3 )
+ TKFRAME_-76910_ANGLES = ( 180.000, 0.000, 0.000 )
+
+ \begintext
+
+
+Surface Fixed Frame
+-------------------------------------------------
+
+ MSL surface fixed frame -- MSL_SURFACE_FIXED -- is nominally
+ co-aligned in orientation with the MSL_LOCAL_LEVEL frame but its
+ origin does not move during the mission. Therefore, this frame is
+ defined as a zero-offset, fixed frame with respect to the MSL_LOCAL_LEVEL
+ frame.
+
+ \begindata
+
+ FRAME_MSL_SURFACE_FIXED = -76920
+ FRAME_-76920_NAME = 'MSL_SURFACE_FIXED'
+ FRAME_-76920_CLASS = 4
+ FRAME_-76920_CLASS_ID = -76920
+ FRAME_-76920_CENTER = -76900
+ TKFRAME_-76920_RELATIVE = 'MSL_LOCAL_LEVEL'
+ TKFRAME_-76920_SPEC = 'ANGLES'
+ TKFRAME_-76920_UNITS = 'DEGREES'
+ TKFRAME_-76920_AXES = ( 1, 2, 3 )
+ TKFRAME_-76920_ANGLES = ( 0.000, 0.000, 0.000 )
+
+ \begintext
+
+
+MSL Rover Frames
+========================================================================
+
+ The MSL rover NAV frame, MSL_ROVER, is defined as follows:
+
+ - +X points to the front of the rover, away from RTG
+
+ - +Z points down
+
+ - +Y completes the right handed frame
+
+ - the origin on this frame is between the rover middle wheels
+ (midpoint between and on the rotation axis of the middle
+ wheels for deployed rover and suspension system on flat plane.
+
+ The MSL rover NAV frame is shown on these diagrams:
+
+ Rover -Y side view:
+ -------------------
+ _
+ | | RSM
+ `-'
+ | HGA
+ | .```. .
+ | | o --- .-' \ RTG
+ RA | `._.' | .-' \
+ -|- |-.-------------------' .-
+ o---------o--------o| | | .-'
+ |.-------o----. |-.-'
+ .-`--------------`-.--'
+ | .-----`o------.
+ .-|-. .-|-. .-|-.
+ | o | | o | | o |
+ `._.' <-------x.' `._.'
+ Xr |
+ |
+ |
+ Zr v Yr is into the page.
+
+
+ Rover -Z side ("top") view:
+ ---------------------------
+
+ .-----. .-----. .-----.
+ | | | | | |
+ | | | | |
+ `--|--' `-- Yr `--|--'
+ `----------o- ^ -----o------'
+ ..-.------- | ------.
+ RSM || | | |--------.
+ || | | |-------.|
+ RA |`- <-------x | || RTG
+ | | Xr HGA |-------'|
+ -o---------|--------|o-| =====-o---------'
+ | `-------------------'
+ .----------o---------o------.
+ .--|--. .--|--. .--|--.
+ | | | | | |
+ | | | | | |
+ `-----' `-----' `-----'
+
+ Zr is into the page.
+
+
+ The orientation of this frame relative to other frames (J2000,
+ MSL_LOCAL_LEVEL) changes in time and is provided in CK files.
+ Therefore the MSL_ROVER frame is defined as a CK-based frame.
+
+ \begindata
+
+ FRAME_MSL_ROVER = -76000
+ FRAME_-76000_NAME = 'MSL_ROVER'
+ FRAME_-76000_CLASS = 3
+ FRAME_-76000_CLASS_ID = -76000
+ FRAME_-76000_CENTER = -76
+ CK_-76000_SCLK = -76
+ CK_-76000_SPK = -76
+
+ \begintext
+
+ The MSL rover mechanical frame -- MSL_ROVER_MECH -- is nominally
+ co-aligned in orientation with the rover NAV frame, MSL_ROVER. The
+ origin of this frame is different from the rover NAV frame origin
+ and is translated from it by a fixed offset along the Z axis,
+ provided in the MSL structures SPK file.
+
+ The MSL rover and rover mechanical frames are shown on this diagram:
+
+ _
+ | | RSM
+ `-'
+ | HGA
+ | .```. .
+ | | o --- .-' \ RTG
+ RA | `._.' | .-' \
+ -|- |-.-- <-------x ------' .-
+ o---------o--------o| | Xrm | | .-'
+ |.-------o- | . |-.-'
+ .-`---------- | -`-.--'
+ | Zrm v ----`o------.
+ .-|-. .- -. .-|-.
+ | o | | o | | o |
+ `._.' <-------x.' `._.'
+ Xr |
+ |
+ |
+ Zr v Yr, Yrm are into the page.
+
+
+ The MSL_ROVER_MECH frame is defined below as fixed, zero-offset
+ frame relative to the MSL_ROVER frame.
+
+ \begindata
+
+ FRAME_MSL_ROVER_MECH = -76040
+ FRAME_-76040_NAME = 'MSL_ROVER_MECH'
+ FRAME_-76040_CLASS = 4
+ FRAME_-76040_CLASS_ID = -76040
+ FRAME_-76040_CENTER = -76
+ TKFRAME_-76040_RELATIVE = 'MSL_ROVER'
+ TKFRAME_-76040_SPEC = 'ANGLES'
+ TKFRAME_-76040_UNITS = 'DEGREES'
+ TKFRAME_-76040_AXES = ( 1, 2, 3 )
+ TKFRAME_-76040_ANGLES = ( 0.000, 0.000, 0.000 )
+
+ \begintext
+
+
+MSL Cruise and Descent Frames
+========================================================================
+
+ The following three MSL cruise and descent frames -- MSL_SPACECRAFT,
+ MSL_CRUISE_STAGE, and MSL_DESCENT_STAGE -- are nominally co-aligned
+ in orientation with the rover NAV frame, MSL_ROVER. The origins of
+ these frames are different from the rover NAV frame origin and are
+ translated from it fixed offsets along the Z axis, provided in the
+ MSL structures SPK file.
+
+ These frames are defined below as fixed, zero-offset frames
+ relative to the MSL_ROVER frame.
+
+ \begindata
+
+ FRAME_MSL_SPACECRAFT = -76010
+ FRAME_-76010_NAME = 'MSL_SPACECRAFT'
+ FRAME_-76010_CLASS = 4
+ FRAME_-76010_CLASS_ID = -76010
+ FRAME_-76010_CENTER = -76
+ TKFRAME_-76010_RELATIVE = 'MSL_ROVER'
+ TKFRAME_-76010_SPEC = 'ANGLES'
+ TKFRAME_-76010_UNITS = 'DEGREES'
+ TKFRAME_-76010_AXES = ( 1, 2, 3 )
+ TKFRAME_-76010_ANGLES = ( 0.000, 0.000, 0.000 )
+
+ FRAME_MSL_CRUISE_STAGE = -76020
+ FRAME_-76020_NAME = 'MSL_CRUISE_STAGE'
+ FRAME_-76020_CLASS = 4
+ FRAME_-76020_CLASS_ID = -76020
+ FRAME_-76020_CENTER = -76
+ TKFRAME_-76020_RELATIVE = 'MSL_ROVER'
+ TKFRAME_-76020_SPEC = 'ANGLES'
+ TKFRAME_-76020_UNITS = 'DEGREES'
+ TKFRAME_-76020_AXES = ( 1, 2, 3 )
+ TKFRAME_-76020_ANGLES = ( 0.000, 0.000, 0.000 )
+
+ FRAME_MSL_DESCENT_STAGE = -76030
+ FRAME_-76030_NAME = 'MSL_DESCENT_STAGE'
+ FRAME_-76030_CLASS = 4
+ FRAME_-76030_CLASS_ID = -76030
+ FRAME_-76030_CENTER = -76
+ TKFRAME_-76030_RELATIVE = 'MSL_ROVER'
+ TKFRAME_-76030_SPEC = 'ANGLES'
+ TKFRAME_-76030_UNITS = 'DEGREES'
+ TKFRAME_-76030_AXES = ( 1, 2, 3 )
+ TKFRAME_-76030_ANGLES = ( 0.000, 0.000, 0.000 )
+
+ \begintext
+
+ The MSL Cruise ACS frame, MSL_CACS, is defined as follows:
+
+ - +Z is co-aligned with the +Z axis of the MSL_ROVER frame
+
+ - +Y is directly over the location of the cruise stage star
+ scanner
+
+ - +X completes the right handed frame and is directly over the
+ B-string thruster cluster
+
+ - the origin on this frame is the same as of the MSL_SPACECRAFT
+ frame.
+
+ Nominally this frame is rotated -135 degrees about +Z from the
+ MSL_ROVER frame.
+
+ The relation ship between MSL rover and CACS frames is shown on
+ this diagram:
+
+ Xcacs
+ ^
+ \ .> Ycacs
+ \ .-'
+ \ .-'
+ x-------> Xr
+ |
+ |
+ |
+ v
+ Yr Zr, Zcacs are into the page.
+
+
+ Because during cruise the orientation of this frame
+ relative the J2000 frame comes in telemetry and is provided in CK
+ files, this frame is defined as a CK-based frame.
+
+ \begindata
+
+ FRAME_MSL_CACS = -76050
+ FRAME_-76050_NAME = 'MSL_CACS'
+ FRAME_-76050_CLASS = 3
+ FRAME_-76050_CLASS_ID = -76050
+ FRAME_-76050_CENTER = -76
+ CK_-76050_SCLK = -76
+ CK_-76050_SPK = -76
+
+ \begintext
+
+
+MSL Antenna Frames
+========================================================================
+
+ This section defines frames for the MSL antennas -- Cruise X-band
+ Parachute Cone Low Gain Antenna (PLGA), Cruise X-band Tilted Low
+ Gain Antenna (TLGA), Cruise Parachute Cone UHF Antenna (PUHF),
+ Cruise Medium Gain Antenna (MGA), X-band Descent Stage Low Gain
+ Antenna (DLGA), Descent Stage UHF Antenna (DUHF), X-band Rover Low
+ Gain Antenna (RLGA), Rover UHF Antenna (RUHF), X-band High Gain
+ Antenna (HGA).
+
+Cruise Antennas
+-------------------------------------------------
+
+ The frames for antennas mounted on the MSL cruise stage and
+ parachute capsule -- MSL_PLGA, MSL_TLGA, MSL_PUHF, MSL_MGA -- are
+ fixed with respect to the cruise stage frame, MSL_CRUISE_STAGE, and
+ defined as follows:
+
+ - +Z is the antenna boresight, which is nominally along the
+ cruise stage -Z except for TLGA
+
+ - +X is nominally co-aligned with the the cruise stage +X,
+ except for TLGA
+
+ - +Y completes the right handed frame
+
+ - the origin is at the center of the antenna side farthest from
+ the mounting plate (rim, tip, etc).
+
+ The MSL_PLGA, MSL_PUHF, and MSL_MGA frames are rotated by 180 degrees
+ about +X from the MSL_CRUISE_STAGE frame.
+
+ The MSL_TLGA frame is first rotated by 180 degrees about +X, then by
+ -17.5 (TBD) degrees about +Y from the MSL_CRUISE_STAGE frame.
+
+ These frames are defined below as fixed frames relative to the
+ MSL_CRUISE_STAGE frame.
+
+ \begindata
+
+ FRAME_MSL_PLGA = -76060
+ FRAME_-76060_NAME = 'MSL_PLGA'
+ FRAME_-76060_CLASS = 4
+ FRAME_-76060_CLASS_ID = -76060
+ FRAME_-76060_CENTER = -76
+ TKFRAME_-76060_RELATIVE = 'MSL_CRUISE_STAGE'
+ TKFRAME_-76060_SPEC = 'ANGLES'
+ TKFRAME_-76060_UNITS = 'DEGREES'
+ TKFRAME_-76060_AXES = ( 1, 2, 3 )
+ TKFRAME_-76060_ANGLES = ( 180.000, 0.000, 0.000 )
+
+ FRAME_MSL_TLGA = -76061
+ FRAME_-76061_NAME = 'MSL_TLGA'
+ FRAME_-76061_CLASS = 4
+ FRAME_-76061_CLASS_ID = -76061
+ FRAME_-76061_CENTER = -76
+ TKFRAME_-76061_RELATIVE = 'MSL_CRUISE_STAGE'
+ TKFRAME_-76061_SPEC = 'ANGLES'
+ TKFRAME_-76061_UNITS = 'DEGREES'
+ TKFRAME_-76061_AXES = ( 1, 2, 3 )
+ TKFRAME_-76061_ANGLES = ( 180.000, 17.500, 0.000 )
+
+ FRAME_MSL_PUHF = -76062
+ FRAME_-76062_NAME = 'MSL_PUHF'
+ FRAME_-76062_CLASS = 4
+ FRAME_-76062_CLASS_ID = -76062
+ FRAME_-76062_CENTER = -76
+ TKFRAME_-76062_RELATIVE = 'MSL_CRUISE_STAGE'
+ TKFRAME_-76062_SPEC = 'ANGLES'
+ TKFRAME_-76062_UNITS = 'DEGREES'
+ TKFRAME_-76062_AXES = ( 1, 2, 3 )
+ TKFRAME_-76062_ANGLES = ( 180.000, 0.000, 0.000 )
+
+ FRAME_MSL_MGA = -76063
+ FRAME_-76063_NAME = 'MSL_MGA'
+ FRAME_-76063_CLASS = 4
+ FRAME_-76063_CLASS_ID = -76063
+ FRAME_-76063_CENTER = -76
+ TKFRAME_-76063_RELATIVE = 'MSL_CRUISE_STAGE'
+ TKFRAME_-76063_SPEC = 'ANGLES'
+ TKFRAME_-76063_UNITS = 'DEGREES'
+ TKFRAME_-76063_AXES = ( 1, 2, 3 )
+ TKFRAME_-76063_ANGLES = ( 180.000, 0.000, 0.000 )
+
+ \begintext
+
+
+EDL Antennas
+-------------------------------------------------
+
+ The frames for the antennas mounted on the MSL descent stage --
+ MSL_DLGA, MSL_DUHF -- are fixed with respect to the descent stage
+ frame, MSL_DESCENT_STAGE, and defined as follows:
+
+ - +Z is the antenna boresight, nominally along the descent stage
+ -Z
+
+ - +X is nominally co-aligned with the the descent stage +X
+
+ - +Y completes the right handed frame
+
+ - the origin is at the center of the antenna side farthest from
+ the mounting plate (rim, tip, etc).
+
+ The MSL_DLGA and MSL_DUHF frames are rotated by 180 degrees about +X
+ from the MSL_DESCENT_STAGE frame.
+
+ These frames are defined below as fixed frames relative to the
+ MSL_DESCENT_STAGE frame.
+
+ \begindata
+
+ FRAME_MSL_DLGA = -76064
+ FRAME_-76064_NAME = 'MSL_DLGA'
+ FRAME_-76064_CLASS = 4
+ FRAME_-76064_CLASS_ID = -76064
+ FRAME_-76064_CENTER = -76
+ TKFRAME_-76064_RELATIVE = 'MSL_DESCENT_STAGE'
+ TKFRAME_-76064_SPEC = 'ANGLES'
+ TKFRAME_-76064_UNITS = 'DEGREES'
+ TKFRAME_-76064_AXES = ( 1, 2, 3 )
+ TKFRAME_-76064_ANGLES = ( 180.000, 0.000, 0.000 )
+
+ FRAME_MSL_DUHF = -76065
+ FRAME_-76065_NAME = 'MSL_DUHF'
+ FRAME_-76065_CLASS = 4
+ FRAME_-76065_CLASS_ID = -76065
+ FRAME_-76065_CENTER = -76
+ TKFRAME_-76065_RELATIVE = 'MSL_DESCENT_STAGE'
+ TKFRAME_-76065_SPEC = 'ANGLES'
+ TKFRAME_-76065_UNITS = 'DEGREES'
+ TKFRAME_-76065_AXES = ( 1, 2, 3 )
+ TKFRAME_-76065_ANGLES = ( 180.000, 0.000, 0.000 )
+
+ \begintext
+
+
+Rover Antennas
+-------------------------------------------------
+
+ The frames for the two MSL non-articulating antennas mounted on the
+ rover body -- MSL_RLGA, MSL_RUHF -- are fixed with respect to the
+ rover frame, MSL_ROVER, and defined as follows:
+
+ - +Z is the antenna boresight, nominally along the rover -Z
+
+ - +X is nominally co-aligned with the the rover +X
+
+ - +Y completes the right handed frame
+
+ - the origin is at the center of the antenna side farthest from
+ the mounting plate (rim, tip, etc).
+
+ The MSL_RLGA and MSL_RUHF frames are rotated by 180 degrees about +X
+ from the MSL_ROVER frame.
+
+ These frames are defined below as fixed frames relative to the
+ MSL_ROVER frame.
+
+ \begindata
+
+ FRAME_MSL_RLGA = -76110
+ FRAME_-76110_NAME = 'MSL_RLGA'
+ FRAME_-76110_CLASS = 4
+ FRAME_-76110_CLASS_ID = -76110
+ FRAME_-76110_CENTER = -76
+ TKFRAME_-76110_RELATIVE = 'MSL_ROVER'
+ TKFRAME_-76110_SPEC = 'ANGLES'
+ TKFRAME_-76110_UNITS = 'DEGREES'
+ TKFRAME_-76110_AXES = ( 1, 2, 3 )
+ TKFRAME_-76110_ANGLES = ( 180.000, 0.000, 0.000 )
+
+ FRAME_MSL_RUHF = -76111
+ FRAME_-76111_NAME = 'MSL_RUHF'
+ FRAME_-76111_CLASS = 4
+ FRAME_-76111_CLASS_ID = -76111
+ FRAME_-76111_CENTER = -76
+ TKFRAME_-76111_RELATIVE = 'MSL_ROVER'
+ TKFRAME_-76111_SPEC = 'ANGLES'
+ TKFRAME_-76111_UNITS = 'DEGREES'
+ TKFRAME_-76111_AXES = ( 1, 2, 3 )
+ TKFRAME_-76111_ANGLES = ( 180.000, 0.000, 0.000 )
+
+ \begintext
+
+
+ The frame chain for the MSL articulating high gain antenna (HGA)
+ includes six frames -- MSL_HGA_ZERO_AZ, MSL_HGA_AZ, MSL_HGA_ZERO_EL,
+ MSL_HGA_EL, MSL_HGA, and MSL_HGA_EB.
+
+ Only the first frame -- MSL_HGA_ZERO_AZ -- and the final two frames
+ -- MSL_HGA and MSL_HGA_EB -- match the frames defined in [4] and
+ used in the HGA calibration documentation. The intermediate frames
+ not matching the documentation were introduced model the HGA
+ pointing using a more traditional kinematics approach.
+
+ The MSL_HGA_ZERO_AZ frame (called HGAS frame in [4]) is a fixed
+ offset frame that has the +Z axis along the AZ rotation axis and the
+ +X axis in the direction of the EL rotation axis for the HGA in the
+ zero AZ/EL position. This frame is nominally rotated from the
+ MSL_ROVER frame by +25 degrees about +Z.
+
+ The MSL_HGA_AZ frame is a CK-based frame rotated from the
+ MSL_HGA_ZERO_AZ frame by the -AZ angle about the +Z axis.
+
+ The MSL_HGA_ZERO_EL frame is a fixed offset frame that has the +X axis
+ along the EL rotation axis and the +Z axis in the direction of the AZ
+ rotation axis. This frame is nominally co-aligned with the MSL_HGA_AZ
+ frame.
+
+ The MSL_HGA_EL frame is a CK-based frame rotated from the
+ MSL_HGA_ZERO_EL frame by the EL angle about the +X axis.
+
+ The MSL_HGA frame (called ANT frame in [4]) is a fixed-offset frame
+ nominally rotated from the MSL_HGA_EL frame by 180 degrees about the
+ +X axis to align the +Z axis of the frame with the antenna boresight
+ defined as the normal to the antenna's radiating surface.
+
+ The MSL_HGA_EB frame (called EB frame in [4]) is a fixed offset
+ frame nominally co-aligned with the MSL_HGA frame. This frame's +Z
+ axis is the antenna boresight defined as the antenna electric
+ boresight.
+
+ The HGA frames for the HGA in zero AZ/EL position are shown on this
+ diagram:
+
+ Rover -Z side ("top") view, HGA in zero AZ/EL position:
+ -------------------------------------------------------
+
+ .-----. .-----. .-----.
+ | | | | | |
+ | | | | |
+ `--|--' `-- Yr `--|--'
+ `----------o- ^ -----o------'
+ ..-.------- | ------.
+ RSM || | | +Yhgaaz*,el*
+ || | | +Xhga* ^ --.|
+ RA |`- <-------x<.```. / || RTG
+ | | Xr | `o. |/ -----'|
+ -o---------|--------|o-| `/_.'x. -------'
+ | `-------------/-----
+ .----------o- v ----------.
+ .--|--. .- +Yhga,eb .--|--.
+ | | | | |
+ | | | | | |
+ `-----' `-----' `-----'
+
+ Zr, Zhgaaz0, Zhgaaz, Zhgael0, Zhgael are into the page.
+ Zhga, Zhgaeb are out of the page.
+
+
+ HGA assembly "side" view, HGA in zero AZ/EL position:
+ -----------------------------------------------------
+
+ Azimuth
+ +Zhga,eb rotation
+ ^ axis
+ | |
+ .-----------|-----------..--------|--------.-----
+ | Xhga,eb | Xhgael0,el Yhgael0,al |---. Elevation
+ | <------o ---- <------x ----------------- rotation
+ | Yhga,eb |_/ | | | |---' axis
+ `-----------------------. | | |-----'
+ .'.' | | |
+ . .'.' v Zhgael0,el
+ \\.'.' | |
+ \.' .-------------------.
+ `-------------------'
+ | |
+ | |
+ -------------------------- <------x ---------------
+ Rover deck Xhgaaz0,az | Yhgaaz0,az
+ |
+ |
+ v Zhgaaz0,az
+
+ Yhgag, Yhga are out of the page.
+
+
+ The MSL_HGA_AZ, MSL_HGA_ZERO_EL, and MSL_HGA_EL frames are
+ co-aligned with the MSL_HGA_ZERO_AZ frame in the zero AZ/EL
+ position.
+
+ The nominal nominal offset angles for the fixed offset frames in the
+ HGA frame chain are:
+
+ TKFRAME_-76121_ANGLES = ( -25.0, 0.0, 0.0 )
+ TKFRAME_-76121_AXES = ( 3, 1, 2 )
+
+ TKFRAME_-76123_ANGLES = ( 0.0, 0.0, 0.0 )
+ TKFRAME_-76123_AXES = ( 3, 1, 2 )
+
+ TKFRAME_-76125_ANGLES = ( 0.0, 0.0, 180.0 )
+ TKFRAME_-76125_AXES = ( 2, 3, 1 )
+
+ TKFRAME_-76126_ANGLES = ( 0.0, 0.0, 0.0 )
+ TKFRAME_-76126_AXES = ( 3, 1, 3 )
+
+ The actual offset angles were derived from the following HGA base frame
+ quaternion, directions of the HGA AZ and EL axes in the rover
+ frame at "zero" AZ position and HGA calibrated maximum transmission
+ gain direction (from [6] and [7]):
+
+ base_q1 0.0015877
+ base_q2 -0.0009219
+ base_q3 -0.2166469
+ base_q4 0.9762428
+ az_axis_x -0.0007
+ az_axis_y -0.0012
+ az_axis_z 1.0000
+ el_axis_x 0.9099
+ el_axis_y 0.4148
+ el_axis_z 0.0006
+ el_azimuth 0.0
+
+ [Tx]= 0.999955833 0.000000000 -0.009398543
+ -0.000023669 0.999996829 -0.002518213
+ 0.009398513 0.002518324 0.999952662
+
+ The frame definitions below incorporate the actual offsets.
+
+ \begindata
+
+ FRAME_MSL_HGA_ZERO_AZ = -76121
+ FRAME_-76121_NAME = 'MSL_HGA_ZERO_AZ'
+ FRAME_-76121_CLASS = 4
+ FRAME_-76121_CLASS_ID = -76121
+ FRAME_-76121_CENTER = -76
+ TKFRAME_-76121_SPEC = 'ANGLES'
+ TKFRAME_-76121_RELATIVE = 'MSL_ROVER'
+ TKFRAME_-76121_ANGLES = ( -24.507049, -0.045924, 0.065014 )
+ TKFRAME_-76121_AXES = ( 3, 1, 2 )
+ TKFRAME_-76121_UNITS = 'DEGREES'
+
+ FRAME_MSL_HGA_AZ = -76122
+ FRAME_-76122_NAME = 'MSL_HGA_AZ'
+ FRAME_-76122_CLASS = 3
+ FRAME_-76122_CLASS_ID = -76122
+ FRAME_-76122_CENTER = -76
+ CK_-76122_SCLK = -76
+ CK_-76122_SPK = -76
+
+ FRAME_MSL_HGA_ZERO_EL = -76123
+ FRAME_-76123_NAME = 'MSL_HGA_ZERO_EL'
+ FRAME_-76123_CLASS = 4
+ FRAME_-76123_CLASS_ID = -76123
+ FRAME_-76123_CENTER = -76
+ TKFRAME_-76123_SPEC = 'ANGLES'
+ TKFRAME_-76123_RELATIVE = 'MSL_HGA_AZ'
+ TKFRAME_-76123_ANGLES = ( 0.000000, -0.000000, -0.030636 )
+ TKFRAME_-76123_AXES = ( 3, 1, 2 )
+ TKFRAME_-76123_UNITS = 'DEGREES'
+
+ FRAME_MSL_HGA_EL = -76124
+ FRAME_-76124_NAME = 'MSL_HGA_EL'
+ FRAME_-76124_CLASS = 3
+ FRAME_-76124_CLASS_ID = -76124
+ FRAME_-76124_CENTER = -76
+ CK_-76124_SCLK = -76
+ CK_-76124_SPK = -76
+
+ FRAME_MSL_HGA = -76125
+ FRAME_-76125_NAME = 'MSL_HGA'
+ FRAME_-76125_CLASS = 4
+ FRAME_-76125_CLASS_ID = -76125
+ FRAME_-76125_CENTER = -76
+ TKFRAME_-76125_SPEC = 'ANGLES'
+ TKFRAME_-76125_RELATIVE = 'MSL_HGA_EL'
+ TKFRAME_-76125_ANGLES = ( -0.177348, -0.517152, -179.798057 )
+ TKFRAME_-76125_AXES = ( 2, 3, 1 )
+ TKFRAME_-76125_UNITS = 'DEGREES'
+
+ FRAME_MSL_HGA_EB = -76126
+ FRAME_-76126_NAME = 'MSL_HGA_EB'
+ FRAME_-76126_CLASS = 4
+ FRAME_-76126_CLASS_ID = -76126
+ FRAME_-76126_CENTER = -76
+ TKFRAME_-76126_SPEC = 'ANGLES'
+ TKFRAME_-76126_RELATIVE = 'MSL_HGA'
+ TKFRAME_-76126_ANGLES = ( 75.000000, 0.557500, -75.000677 )
+ TKFRAME_-76126_AXES = ( 3, 1, 3 )
+ TKFRAME_-76126_UNITS = 'DEGREES'
+
+ \begintext
+
+
+Rover-mounted Instrument Frames
+========================================================================
+
+ This section defines frames for the instruments and structures
+ mounted on the rover body -- Hazard Avoidance Cameras (HAZCAMs),
+ Radiation Assessment Detector (RAD), Mars Descent Imager (MARDI), UV
+ and pressure sensors of the Rover Environmental Monitoring Station
+ (REMS/UVS, REMS/PS), Dynamic Albedo of Neutrons experiment (DAN),
+ Sample Analysis at Mars Instrument Suite (SAM), and Chemistry &
+ Mineralogy X-Ray Diffraction/X-Ray Fluorescence Instrument (CHEMIN).
+
+
+HAZCAMs
+-------------------------------------------------
+
+ The frame for each of the eight MSL HAZCAMs (FRONT/REAR - LEFT/RIGHT
+ - A/B) is defined as follows:
+
+ -- +Z axis is along the camera's central pixel view direction
+ ("into image");
+
+ -- +Y axis is along the image central column and points from the
+ image center toward the image top row ("up");
+
+ -- +X completes the right hand frame and is along the image central
+ row and points from the image center toward the image left
+ column ("left");
+
+ -- the origin of the frame is located at the camera focal point.
+
+ This diagram illustrates rover HAZCAM frames:
+
+ Rover -Y side view:
+ -------------------
+ _
+ | | RSM
+ `-'
+ | HGA
+ | .```.
+ | | o ---
+ RA Yhcf | `._.' | Yhcr
+ -|- <. .-------------------' .>
+ o---------o- `. | | .'
+ `. | -------o----. | .'
+ o`--------------`-.--'x'
+ .' .-----` `.
+ .' .-|-. `.
+ <' | o | `>
+ Zhcf <-------x.' Zhcr
+ Xr |
+ |
+ |
+ Zr v Xhcr are into the page.
+ Xhcf are out of the page.
+
+
+ Since all HAZCAMs are rigidly mounted on the rover body, their frames
+ are defined as fixed offset frames with orientation given with respect
+ to the rover frame.
+
+ The nominal orientation for the HAZCAM frames are with
+ boresight in the direction of the rover +X and tilted 45 degrees
+ toward the ground for FRONT HAZCAMs and in the direction of -X and
+ tilted 45 degrees toward the ground for REAR HAZCAMs. The
+ following sets of keywords can be incorporated into the frame
+ definitions to provide this nominal orientation (provided for
+ reference only):
+
+ TKFRAME_-76131_ANGLES = ( 0.0, -45.0, 90.0 )
+ TKFRAME_-76131_AXES = ( 1, 2, 3 )
+
+ TKFRAME_-76132_ANGLES = ( 0.0, -45.0, 90.0 )
+ TKFRAME_-76132_AXES = ( 1, 2, 3 )
+
+ TKFRAME_-76133_ANGLES = ( 0.0, -45.0, 90.0 )
+ TKFRAME_-76133_AXES = ( 1, 2, 3 )
+
+ TKFRAME_-76134_ANGLES = ( 0.0, -45.0, 90.0 )
+ TKFRAME_-76134_AXES = ( 1, 2, 3 )
+
+ TKFRAME_-76141_ANGLES = ( 0.0, 45.0, -90.0 )
+ TKFRAME_-76141_AXES = ( 1, 2, 3 )
+
+ TKFRAME_-76142_ANGLES = ( 0.0, 45.0, -90.0 )
+ TKFRAME_-76142_AXES = ( 1, 2, 3 )
+
+ TKFRAME_-76143_ANGLES = ( 0.0, 45.0, -90.0 )
+ TKFRAME_-76143_AXES = ( 1, 2, 3 )
+
+ TKFRAME_-76144_ANGLES = ( 0.0, 45.0, -90.0 )
+ TKFRAME_-76144_AXES = ( 1, 2, 3 )
+
+
+ The actual MSL_HAZCAM_FRONT_LEFT_A frame orientation provided in the
+ frame definition below was computed using the CAHVOR(E) camera model
+ file, 'MSL_CAL_003_SN_0205-FHAZL-FLIGHT-RCE-A.cahvore'. According to
+ this model the reference frame, MSL_ROVER, can be transformed into
+ the camera frame, MSL_HAZCAM_FRONT_LEFT_A, by the following sequence
+ of rotations: first by 46.52247224 degrees about Y, then by
+ -0.75466490 degrees about X, and finally by -89.62067207 degrees
+ about Z.
+
+ The frame definition below contains the opposite of this
+ transformation because Euler angles specified in it define rotations
+ from the "destination" frame to the "reference" frame.
+
+ \begindata
+
+ FRAME_MSL_HAZCAM_FRONT_LEFT_A = -76131
+ FRAME_-76131_NAME = 'MSL_HAZCAM_FRONT_LEFT_A'
+ FRAME_-76131_CLASS = 4
+ FRAME_-76131_CLASS_ID = -76131
+ FRAME_-76131_CENTER = -76
+ TKFRAME_-76131_RELATIVE = 'MSL_ROVER'
+ TKFRAME_-76131_SPEC = 'ANGLES'
+ TKFRAME_-76131_UNITS = 'DEGREES'
+ TKFRAME_-76131_AXES = ( 2, 1, 3 )
+ TKFRAME_-76131_ANGLES = ( -46.522, 0.755, 89.621 )
+
+ \begintext
+
+
+ The actual MSL_HAZCAM_FRONT_LEFT_B frame orientation provided in the
+ frame definition below was computed using the CAHVOR(E) camera model
+ file, 'MSL_CAL_003_SN_0208-FHAZL-FLIGHT-RCE-B.cahvore'. According to
+ this model the reference frame, MSL_ROVER, can be transformed into
+ the camera frame, MSL_HAZCAM_FRONT_LEFT_B, by the following sequence
+ of rotations: first by 45.49902630 degrees about Y, then by
+ -1.29539651 degrees about X, and finally by -89.95051513 degrees
+ about Z.
+
+ The frame definition below contains the opposite of this
+ transformation because Euler angles specified in it define rotations
+ from the "destination" frame to the "reference" frame.
+
+ \begindata
+
+ FRAME_MSL_HAZCAM_FRONT_LEFT_B = -76133
+ FRAME_-76133_NAME = 'MSL_HAZCAM_FRONT_LEFT_B'
+ FRAME_-76133_CLASS = 4
+ FRAME_-76133_CLASS_ID = -76133
+ FRAME_-76133_CENTER = -76
+ TKFRAME_-76133_RELATIVE = 'MSL_ROVER'
+ TKFRAME_-76133_SPEC = 'ANGLES'
+ TKFRAME_-76133_UNITS = 'DEGREES'
+ TKFRAME_-76133_AXES = ( 2, 1, 3 )
+ TKFRAME_-76133_ANGLES = ( -45.499, 1.295, 89.951 )
+
+ \begintext
+
+
+ The actual MSL_HAZCAM_FRONT_RIGHT_A frame orientation provided in
+ the frame definition below was computed using the CAHVOR(E) camera
+ model file, 'MSL_CAL_003_SN_0213-FHAZR-FLIGHT-RCE-A.cahvore'.
+ According to this model the reference frame, MSL_ROVER, can be
+ transformed into the camera frame, MSL_HAZCAM_FRONT_RIGHT_A, by the
+ following sequence of rotations: first by 46.24015677 degrees about
+ Y, then by 0.01873572 degrees about X, and finally by -89.99878481
+ degrees about Z.
+
+ The frame definition below contains the opposite of this
+ transformation because Euler angles specified in it define rotations
+ from the "destination" frame to the "reference" frame.
+
+ \begindata
+
+ FRAME_MSL_HAZCAM_FRONT_RIGHT_A = -76132
+ FRAME_-76132_NAME = 'MSL_HAZCAM_FRONT_RIGHT_A'
+ FRAME_-76132_CLASS = 4
+ FRAME_-76132_CLASS_ID = -76132
+ FRAME_-76132_CENTER = -76
+ TKFRAME_-76132_RELATIVE = 'MSL_ROVER'
+ TKFRAME_-76132_SPEC = 'ANGLES'
+ TKFRAME_-76132_UNITS = 'DEGREES'
+ TKFRAME_-76132_AXES = ( 2, 1, 3 )
+ TKFRAME_-76132_ANGLES = ( -46.240, -0.019, 89.999 )
+
+ \begintext
+
+
+ The actual MSL_HAZCAM_FRONT_RIGHT_B frame orientation provided in
+ the frame definition below was computed using the CAHVOR(E) camera
+ model file, 'MSL_CAL_003_SN_0209-FHAZR-FLIGHT-RCE-B.cahvore'.
+ According to this model the reference frame, MSL_ROVER, can be
+ transformed into the camera frame, MSL_HAZCAM_FRONT_RIGHT_B, by the
+ following sequence of rotations: first by 45.15683382 degrees about
+ Y, then by -0.35151197 degrees about X, and finally by -90.27295863
+ degrees about Z.
+
+ The frame definition below contains the opposite of this
+ transformation because Euler angles specified in it define rotations
+ from the "destination" frame to the "reference" frame.
+
+ \begindata
+
+ FRAME_MSL_HAZCAM_FRONT_RIGHT_B = -76134
+ FRAME_-76134_NAME = 'MSL_HAZCAM_FRONT_RIGHT_B'
+ FRAME_-76134_CLASS = 4
+ FRAME_-76134_CLASS_ID = -76134
+ FRAME_-76134_CENTER = -76
+ TKFRAME_-76134_RELATIVE = 'MSL_ROVER'
+ TKFRAME_-76134_SPEC = 'ANGLES'
+ TKFRAME_-76134_UNITS = 'DEGREES'
+ TKFRAME_-76134_AXES = ( 2, 1, 3 )
+ TKFRAME_-76134_ANGLES = ( -45.157, 0.352, 90.273 )
+
+ \begintext
+
+
+ The actual MSL_HAZCAM_BACK_LEFT_A frame orientation provided in the
+ frame definition below was computed using the CAHVOR(E) camera model
+ file, 'MSL_CAL_003_SN_0211-RHAZL-FLIGHT-RCE-A.cahvore'. According to
+ this model the reference frame, MSL_ROVER, can be transformed into
+ the camera frame, MSL_HAZCAM_BACK_LEFT_A, by the following sequence
+ of rotations: first by -45.06141007 degrees about Y, then by
+ 1.82024949 degrees about X, and finally by 90.60566349 degrees about
+ Z.
+
+ The frame definition below contains the opposite of this
+ transformation because Euler angles specified in it define rotations
+ from the "destination" frame to the "reference" frame.
+
+ \begindata
+
+ FRAME_MSL_HAZCAM_BACK_LEFT_A = -76141
+ FRAME_-76141_NAME = 'MSL_HAZCAM_BACK_LEFT_A'
+ FRAME_-76141_CLASS = 4
+ FRAME_-76141_CLASS_ID = -76141
+ FRAME_-76141_CENTER = -76
+ TKFRAME_-76141_RELATIVE = 'MSL_ROVER'
+ TKFRAME_-76141_SPEC = 'ANGLES'
+ TKFRAME_-76141_UNITS = 'DEGREES'
+ TKFRAME_-76141_AXES = ( 2, 1, 3 )
+ TKFRAME_-76141_ANGLES = ( 45.061, -1.820, -90.606 )
+
+ \begintext
+
+
+ The actual MSL_HAZCAM_BACK_LEFT_B frame orientation provided in the
+ frame definition below was computed using the CAHVOR(E) camera model
+ file, 'MSL_CAL_003_SN_0212-RHAZL-FLIGHT-RCE-B.cahvore'. According to
+ this model the reference frame, MSL_ROVER, can be transformed into
+ the camera frame, MSL_HAZCAM_BACK_LEFT_B, by the following sequence
+ of rotations: first by -45.44850801 degrees about Y, then by
+ 0.39620359 degrees about X, and finally by 90.00485341 degrees about
+ Z.
+
+ The frame definition below contains the opposite of this
+ transformation because Euler angles specified in it define rotations
+ from the "destination" frame to the "reference" frame.
+
+ \begindata
+
+ FRAME_MSL_HAZCAM_BACK_LEFT_B = -76143
+ FRAME_-76143_NAME = 'MSL_HAZCAM_BACK_LEFT_B'
+ FRAME_-76143_CLASS = 4
+ FRAME_-76143_CLASS_ID = -76143
+ FRAME_-76143_CENTER = -76
+ TKFRAME_-76143_RELATIVE = 'MSL_ROVER'
+ TKFRAME_-76143_SPEC = 'ANGLES'
+ TKFRAME_-76143_UNITS = 'DEGREES'
+ TKFRAME_-76143_AXES = ( 2, 1, 3 )
+ TKFRAME_-76143_ANGLES = ( 45.449, -0.396, -90.005 )
+
+ \begintext
+
+
+ The actual MSL_HAZCAM_BACK_RIGHT_A frame orientation provided in the
+ frame definition below was computed using the CAHVOR(E) camera model
+ file, 'MSL_CAL_003_SN_0217-RHAZR-FLIGHT-RCE-A.cahvore'. According to
+ this model the reference frame, MSL_ROVER, can be transformed into
+ the camera frame, MSL_HAZCAM_BACK_RIGHT_A, by the following sequence
+ of rotations: first by -46.45607709 degrees about Y, then by
+ 1.48194872 degrees about X, and finally by 90.38345774 degrees about
+ Z.
+
+ The frame definition below contains the opposite of this
+ transformation because Euler angles specified in it define rotations
+ from the "destination" frame to the "reference" frame.
+
+ \begindata
+
+ FRAME_MSL_HAZCAM_BACK_RIGHT_A = -76142
+ FRAME_-76142_NAME = 'MSL_HAZCAM_BACK_RIGHT_A'
+ FRAME_-76142_CLASS = 4
+ FRAME_-76142_CLASS_ID = -76142
+ FRAME_-76142_CENTER = -76
+ TKFRAME_-76142_RELATIVE = 'MSL_ROVER'
+ TKFRAME_-76142_SPEC = 'ANGLES'
+ TKFRAME_-76142_UNITS = 'DEGREES'
+ TKFRAME_-76142_AXES = ( 2, 1, 3 )
+ TKFRAME_-76142_ANGLES = ( 46.456, -1.482, -90.383 )
+
+ \begintext
+
+
+ The actual MSL_HAZCAM_BACK_RIGHT_B frame orientation provided in the
+ frame definition below was computed using the CAHVOR(E) camera model
+ file, 'MSL_CAL_003_SN_0207-RHAZR-FLIGHT-RCE-B.cahvore'. According to
+ this model the reference frame, MSL_ROVER, can be transformed into
+ the camera frame, MSL_HAZCAM_BACK_RIGHT_B, by the following sequence
+ of rotations: first by -43.65002223 degrees about Y, then by
+ -0.44628107 degrees about X, and finally by 89.00921165 degrees
+ about Z.
+
+ The frame definition below contains the opposite of this
+ transformation because Euler angles specified in it define rotations
+ from the "destination" frame to the "reference" frame.
+
+ \begindata
+
+ FRAME_MSL_HAZCAM_BACK_RIGHT_B = -76144
+ FRAME_-76144_NAME = 'MSL_HAZCAM_BACK_RIGHT_B'
+ FRAME_-76144_CLASS = 4
+ FRAME_-76144_CLASS_ID = -76144
+ FRAME_-76144_CENTER = -76
+ TKFRAME_-76144_RELATIVE = 'MSL_ROVER'
+ TKFRAME_-76144_SPEC = 'ANGLES'
+ TKFRAME_-76144_UNITS = 'DEGREES'
+ TKFRAME_-76144_AXES = ( 2, 1, 3 )
+ TKFRAME_-76144_ANGLES = ( 43.650, 0.446, -89.009 )
+
+ \begintext
+
+
+RAD
+-------------------------------------------------
+
+ The RAD frame -- MSL_RAD -- is fixed with respect to the rover
+ frame, MSL_ROVER, and defined as follows:
+
+ - +Z is the instrument boresight, nominally along the rover -Z
+
+ - +X is nominally co-aligned with the the rover +X
+
+ - +Y completes the right handed frame
+
+ - the origin is at the intersection of the instrument FOV center
+ axis and the rover deck plane.
+
+ The MSL_RAD frame is rotated by 180 degrees about +X from the
+ MSL_ROVER frame.
+
+ \begindata
+
+ FRAME_MSL_RAD = -76150
+ FRAME_-76150_NAME = 'MSL_RAD'
+ FRAME_-76150_CLASS = 4
+ FRAME_-76150_CLASS_ID = -76150
+ FRAME_-76150_CENTER = -76
+ TKFRAME_-76150_SPEC = 'ANGLES'
+ TKFRAME_-76150_RELATIVE = 'MSL_ROVER'
+ TKFRAME_-76150_ANGLES = ( 180.0, 0.0, 0.0 )
+ TKFRAME_-76150_AXES = ( 1, 2, 3 )
+ TKFRAME_-76150_UNITS = 'DEGREES'
+
+ \begintext
+
+
+MARDI
+-------------------------------------------------
+
+ The frame for MARDI -- MSL_MARDI -- is defined as follows:
+
+ -- +Z axis is along the camera's central pixel view direction
+ ("into image");
+
+ -- +Y axis is along the image central column and points from the
+ image center toward the image top row ("up");
+
+ -- +X completes the right hand frame and is along the image central
+ row and points from the image center toward the image left
+ column ("left");
+
+ -- the origin of the frame is located at the camera focal point.
+
+ This diagram illustrates the MARDI frame:
+
+ Rover -Y side view:
+ -------------------
+ _
+ | | RSM
+ `-'
+ | HGA
+ | .```. .
+ | | o --- .-' \ RTG
+ RA | `._.' | .-' \
+ -|- |-.-------------------' .-
+ o---------o--------o| | | .-'
+ |.-------o----. |-.-'
+ `x------->-----`-.--'
+ | Ymardi .-----`o------.
+ | .-|-. .-|-.
+ | | o | | o |
+ v <-------x.' `._.'
+ Zmardi Xr |
+ |
+ |
+ Zr v Yr is into the page.
+ Xmardi is into the page.
+
+ Since MARDI are rigidly mounted on the rover body, its frame is
+ defined as fixed offset frames with orientation given with respect
+ to the rover frame.
+
+ Nominally the MARDI frame is rotated by 90 degrees about Z relative
+ to the rover frame. This nominal orientation can be defined using the
+ following angles:
+
+ TKFRAME_-76160_ANGLES = ( 0.0, 0.0, -90.0 )
+ TKFRAME_-76160_AXES = ( 1, 2, 3 )
+
+
+ The actual MSL_MARDI frame orientation provided in the frame
+ definition below was computed using the CAHVOR(E) camera model file,
+ 'MSL_CAL_002_SN_3001-MARDI-FLIGHT.cahvor'. According to this model
+ the reference frame, MSL_ROVER, can be transformed into the camera
+ frame, MSL_MARDI, by the following sequence of rotations: first by
+ 0.60374856 degrees about Y, then by 0.35729881 degrees about X, and
+ finally by 89.88147298 degrees about Z.
+
+ The frame definition below contains the opposite of this
+ transformation because Euler angles specified in it define rotations
+ from the "destination" frame to the "reference" frame.
+
+ \begindata
+
+ FRAME_MSL_MARDI = -76160
+ FRAME_-76160_NAME = 'MSL_MARDI'
+ FRAME_-76160_CLASS = 4
+ FRAME_-76160_CLASS_ID = -76160
+ FRAME_-76160_CENTER = -76
+ TKFRAME_-76160_RELATIVE = 'MSL_ROVER'
+ TKFRAME_-76160_SPEC = 'ANGLES'
+ TKFRAME_-76160_UNITS = 'DEGREES'
+ TKFRAME_-76160_AXES = ( 2, 1, 3 )
+ TKFRAME_-76160_ANGLES = ( -0.604, -0.357, -89.881 )
+
+ \begintext
+
+
+REMS UVS
+--------
+
+ The REMS/UVS frame -- MSL_REMS_UVS -- is fixed with respect to the
+ rover frame, MSL_ROVER, and defined as follows:
+
+ - +Z is the instrument boresight, nominally along the rover -Z
+
+ - +X is nominally co-aligned with the the rover +X
+
+ - +Y completes the right handed frame
+
+ - the origin is at the intersection of the instrument FOV center
+ axis and the rover deck plane.
+
+ The MSL_REMS_UVS frame is rotated by 180 degrees about +X from the
+ MSL_ROVER frame.
+
+ \begindata
+
+ FRAME_MSL_REMS_UVS = -76170
+ FRAME_-76170_NAME = 'MSL_REMS_UVS'
+ FRAME_-76170_CLASS = 4
+ FRAME_-76170_CLASS_ID = -76170
+ FRAME_-76170_CENTER = -76
+ TKFRAME_-76170_SPEC = 'ANGLES'
+ TKFRAME_-76170_RELATIVE = 'MSL_ROVER'
+ TKFRAME_-76170_ANGLES = ( 180.0, 0.0, 0.0 )
+ TKFRAME_-76170_AXES = ( 1, 2, 3 )
+ TKFRAME_-76170_UNITS = 'DEGREES'
+
+ \begintext
+
+
+DAN
+-------------------------------------------------
+
+ The DAN frame -- MSL_DAN -- is fixed with respect to the rover
+ frame, MSL_ROVER, and defined as follows:
+
+ - +Z is the instrument boresight, nominally along the rover +Z
+
+ - +X is nominally co-aligned with the the rover +X
+
+ - +Y completes the right handed frame
+
+ - the origin is at the intersection of the instrument FOV center
+ axis and the rover bottom plane.
+
+ The MSL_DAN frame is co-aligned wit the MSL_ROVER frame.
+
+ \begindata
+
+ FRAME_MSL_DAN = -76180
+ FRAME_-76180_NAME = 'MSL_DAN'
+ FRAME_-76180_CLASS = 4
+ FRAME_-76180_CLASS_ID = -76180
+ FRAME_-76180_CENTER = -76
+ TKFRAME_-76180_SPEC = 'ANGLES'
+ TKFRAME_-76180_RELATIVE = 'MSL_ROVER'
+ TKFRAME_-76180_ANGLES = ( 0.0, 0.0, 0.0 )
+ TKFRAME_-76180_AXES = ( 1, 2, 3 )
+ TKFRAME_-76180_UNITS = 'DEGREES'
+
+ \begintext
+
+
+SAM and CHEMIN
+-------------------------------------------------
+
+ The SAM and CHEMIN frames -- MSL_SAM, and MSL_CHEMIN -- are fixed
+ with respect to the rover frame, MSL_ROVER, and defined to be
+ co-aligned with it.
+
+ \begindata
+
+ FRAME_MSL_SAM = -76182
+ FRAME_-76182_NAME = 'MSL_SAM'
+ FRAME_-76182_CLASS = 4
+ FRAME_-76182_CLASS_ID = -76182
+ FRAME_-76182_CENTER = -76
+ TKFRAME_-76182_SPEC = 'ANGLES'
+ TKFRAME_-76182_RELATIVE = 'MSL_ROVER'
+ TKFRAME_-76182_ANGLES = ( 0.0, 0.0, 0.0 )
+ TKFRAME_-76182_AXES = ( 1, 2, 3 )
+ TKFRAME_-76182_UNITS = 'DEGREES'
+
+ FRAME_MSL_CHEMIN = -76183
+ FRAME_-76183_NAME = 'MSL_CHEMIN'
+ FRAME_-76183_CLASS = 4
+ FRAME_-76183_CLASS_ID = -76183
+ FRAME_-76183_CENTER = -76
+ TKFRAME_-76183_SPEC = 'ANGLES'
+ TKFRAME_-76183_RELATIVE = 'MSL_ROVER'
+ TKFRAME_-76183_ANGLES = ( 0.0, 0.0, 0.0 )
+ TKFRAME_-76183_AXES = ( 1, 2, 3 )
+ TKFRAME_-76183_UNITS = 'DEGREES'
+
+ \begintext
+
+
+Remote Sensing Mast (RSM) and RSM-mounted Instrument Frames
+========================================================================
+
+ This section defines frames for the RSM instruments and structures
+ -- RSM joints and head, Mast Cameras (MASTCAM), Navigation Cameras
+ (NAVCAMs), Chemistry & Camera experiment (CHEMCAM), and the
+ booms and boom-mounted sensors of the Rover Environmental Monitoring
+ Station (REMS).
+
+
+RSM
+-------------------------------------------------
+
+ Five frames are defined for the RSM gimbals and head --
+ MSL_RSM_ZERO_AZ, MSL_RSM_AZ, MSL_RSM_ZERO_EL, MSL_RSM_EL, and
+ MSL_RSM_HEAD.
+
+ The RSM "zero" AZ frame, MSL_RSM_ZERO_AZ, is defined to establish
+ the AZ gimbal "zero" position with its +Z axis being the AZ rotation
+ axis and its +X axis pointing toward the "zero" AZ hard stop (RSM
+ looking backward). It is defined as a fixed-offset frame relative to
+ the rover frame and is nominally rotated by -181 degrees about Z
+ from it.
+
+ The RSM AZ frame, MSL_RSM_AZ, is rotated from the MSL_RSM_ZERO_AZ
+ frame by the AZ angle about Z. It is defined as a CK-based frame.
+
+ This diagram shows the two AZ frames in the nominal forward-looking
+ "home" (181 deg AZ, 91 deg EL) position:
+
+ Rover -Z side ("top") view:
+ ---------------------------
+
+ .-----. .-----. .-----.
+ | | Yaz | | | |
+ | |^ | | |
+ `--|--'| `-- Yr `--|--'
+ `---|------o- ^ -----o------'
+ RSM | Xaz0 | ------.
+ <-------x-------> | |--------.
+ Xaz |||| | |-------.|
+ RA |`| <-------x | || RTG
+ | | | Xr HGA |-------'|
+ -o---------|--------|o-| v =====-o---------'
+ | ` Yaz0 ------------'
+ .----------o---------o------.
+ .--|--. .--|--. .--|--.
+ | | | | | |
+ | | | | | |
+ `-----' `-----' `-----'
+
+ Zr, Zaz0, Zaz are into the page.
+
+ The RSM "zero" EL frame, MSL_RSM_ZERO_EL, is defined to establish
+ the EL gimbal "zero" position with its +Y axis being the EL rotation
+ axis and its its +X axis pointing toward the "zero" EL hard stop
+ (RSM looking down). It is defined as a fixed-offset frame relative
+ to the RSM AZ frame and is nominally rotated by -91 degrees about Y
+ from it.
+
+ The RSM EL frame, MSL_RSM_EL, is rotated from the MSL_RSM_ZERO_EL
+ frame by the EL angle about Y. It is defined as a CK-based frame.
+
+ The RSM head frame, MSL_RSM_HEAD, is defined as a fixed-offset frame
+ relative to the MSL_RSM_EL frame by EL. It is defined to be
+ co-aligned with the ROVER frame in the "home" position.
+
+ This diagram shows the two EL and the HEAD frames in the nominal
+ forward-looking "home" (181 deg AZ, 91 deg EL) position:
+
+ Rover -Y side view:
+ -------------------
+
+ Xel,h _ Zel0
+ <-------x------->
+ `|'
+ | HGA
+ | Zel,h .```. .
+ v Xel0 | o --- .-' \ RTG
+ RA | `._.' | .-' \
+ -|- |-.-------------------' .-
+ o---------o--------o| | | .-'
+ |.-------o----. |-.-'
+ .-`--------------`-.--'
+ | .-----`o------.
+ .-|-. .-|-. .-|-.
+ | o | | o | | o |
+ `._.' <-------x.' `._.'
+ Xr |
+ |
+ |
+ Zr v
+
+ Yr, Yel0, Yh are into the page.
+
+ The AZ, EL, and head frames are co-aligned with the rover frame in
+ the nominal forward-looking "home" (181 deg AZ, 91 deg EL) position.
+
+ The nominal nominal offset angles for the fixed offset frames in the
+ RSM frame chain are:
+
+ TKFRAME_-76201_ANGLES = ( 0.0, 0.0, 181.0 )
+ TKFRAME_-76201_AXES = ( 1, 2, 3 )
+
+ TKFRAME_-76203_ANGLES = ( 0.0, 0.0, 91.0 )
+ TKFRAME_-76203_AXES = ( 1, 3, 2 )
+
+ TKFRAME_-76205_ANGLES = ( 0.0, 0.0, 0.0 )
+ TKFRAME_-76205_AXES = ( 3 1 2 )
+
+ The actual offset angles were derived from the following AZ and EL
+ "home" gimbal positions (in radians) and directions of the AZ and EL
+ axes in the rover frame at "zero" AZ position (from [6]):
+
+ home_az 3.167345
+ home_el 1.588171
+ az_axis_x -0.001
+ az_axis_y 0
+ az_axis_z 1
+ el_axis_x -0.022
+ el_axis_y -1
+ el_axis_z 0
+ el_azimuth 0
+
+ The frame definitions below incorporate the actual offsets.
+
+ \begindata
+
+ FRAME_MSL_RSM_ZERO_AZ = -76201
+ FRAME_-76201_NAME = 'MSL_RSM_ZERO_AZ'
+ FRAME_-76201_CLASS = 4
+ FRAME_-76201_CLASS_ID = -76201
+ FRAME_-76201_CENTER = -76
+ TKFRAME_-76201_SPEC = 'ANGLES'
+ TKFRAME_-76201_RELATIVE = 'MSL_ROVER'
+ TKFRAME_-76201_ANGLES = ( -178.739697, 0.001260, -0.057282 )
+ TKFRAME_-76201_AXES = ( 3, 1, 2 )
+ TKFRAME_-76201_UNITS = 'DEGREES'
+
+ FRAME_MSL_RSM_AZ = -76202
+ FRAME_-76202_NAME = 'MSL_RSM_AZ'
+ FRAME_-76202_CLASS = 3
+ FRAME_-76202_CLASS_ID = -76202
+ FRAME_-76202_CENTER = -76
+ CK_-76202_SCLK = -76
+ CK_-76202_SPK = -76
+
+ FRAME_MSL_RSM_ZERO_EL = -76203
+ FRAME_-76203_NAME = 'MSL_RSM_ZERO_EL'
+ FRAME_-76203_CLASS = 4
+ FRAME_-76203_CLASS_ID = -76203
+ FRAME_-76203_CENTER = -76
+ TKFRAME_-76203_SPEC = 'ANGLES'
+ TKFRAME_-76203_RELATIVE = 'MSL_RSM_AZ'
+ TKFRAME_-76203_ANGLES = ( -0.000000, -0.001260, 90.995495 )
+ TKFRAME_-76203_AXES = ( 3, 1, 2 )
+ TKFRAME_-76203_UNITS = 'DEGREES'
+
+ FRAME_MSL_RSM_EL = -76204
+ FRAME_-76204_NAME = 'MSL_RSM_EL'
+ FRAME_-76204_CLASS = 3
+ FRAME_-76204_CLASS_ID = -76204
+ FRAME_-76204_CENTER = -76
+ CK_-76204_SCLK = -76
+ CK_-76204_SPK = -76
+
+ FRAME_MSL_RSM_HEAD = -76205
+ FRAME_-76205_NAME = 'MSL_RSM_HEAD'
+ FRAME_-76205_CLASS = 4
+ FRAME_-76205_CLASS_ID = -76205
+ FRAME_-76205_CENTER = -76
+ TKFRAME_-76205_SPEC = 'ANGLES'
+ TKFRAME_-76205_RELATIVE = 'MSL_RSM_EL'
+ TKFRAME_-76205_ANGLES = ( 0.215198, 0.001260, -0.057291 )
+ TKFRAME_-76205_AXES = ( 3, 1, 2 )
+ TKFRAME_-76205_UNITS = 'DEGREES'
+
+ \begintext
+
+
+MASTCAM
+-------------------------------------------------
+
+ The MASTCAM frames are defined as follows:
+
+ -- +Z axis is along the camera's central pixel view direction
+ ("into image");
+
+ -- +Y axis is along the image central column and points from the
+ image center toward the image top row ("up");
+
+ -- +X completes the right hand frame and is along the image central
+ row and points from the image center toward the image left
+ column ("left");
+
+ -- the origin of the frame is located at the camera focal point.
+
+ The MASTCAM frames for the RSM in nominal forward-looking (181 deg
+ AZ, 91 deg EL) position are shown on this diagram:
+
+ Rover -Y side view:
+ -------------------
+ ^ Ymc
+ |
+ |
+ Zmc |
+ <-------*
+ Xh `|'
+ | HGA
+ | .```. .
+ v Zh | o --- .-' \ RTG
+ RA | `._.' | .-' \
+ -|- |-.-------------------' .-
+ o---------o--------o| | | .-'
+ |.-------o----. |-.-'
+ .-`--------------`-.--'
+ | .-----`o------.
+ .-|-. .-|-. .-|-.
+ | o | | o | | o |
+ `._.' <-------x.' `._.'
+ Xr |
+ |
+ |
+ Zr v
+
+ Yr, Yh are into the page.
+ Xmc is out of the page.
+
+ Since MASTCAMs are rigidly mounted on RSM, their frames are defined
+ as fixed offset frames with orientation given with respect to the
+ RSM head frame.
+
+ The nominal MASTCAM frame orientation are such that the MASTCAM left
+ and right boresights are "toe"ed in by 1.25 degrees toward the RSM
+ head +X axis. In order to align the RSM head frame with the camera
+ frames in this nominal orientation, it has to be rotated by +90
+ degrees about Y and then by "toe"-in angles (-1.25 degrees for the
+ left camera and +1.25 degrees for the right camera) about X, and
+ finally by -90 degrees about Z (to line up Y axis with the vertical
+ direction.) The following sets of keywords can be incorporated into
+ the frame definitions to provide this nominal orientation:
+
+ TKFRAME_-76210_ANGLES = ( -90.000, 1.250, 90.000 )
+ TKFRAME_-76210_AXES = ( 2, 1, 3 )
+
+ TKFRAME_-76220_ANGLES = ( -90.000, -1.250, 90.000 )
+ TKFRAME_-76220_AXES = ( 2, 1, 3 )
+
+ The actual MSL_MASTCAM_LEFT frame orientation provided in the frame
+ definition below was computed using the CAHVOR(E) camera model file,
+ 'MSL_CAL_003_SN_3003_FILTER_0_FOCUS_02315-MCAML-FLIGHT.cahvor'.
+ According to this model the reference frame, MSL_RSM_HEAD, can be
+ transformed into the camera frame, MSL_MASTCAM_LEFT, by the
+ following sequence of rotations: first by 90.00997282 degrees about
+ Y, then by -1.48435653 degrees about X, and finally by -89.65469934
+ degrees about Z.
+
+ The frame definition below contains the opposite of this
+ transformation because Euler angles specified in it define rotations
+ from the "destination" frame to the "reference" frame.
+
+ \begindata
+
+ FRAME_MSL_MASTCAM_LEFT = -76210
+ FRAME_-76210_NAME = 'MSL_MASTCAM_LEFT'
+ FRAME_-76210_CLASS = 4
+ FRAME_-76210_CLASS_ID = -76210
+ FRAME_-76210_CENTER = -76
+ TKFRAME_-76210_RELATIVE = 'MSL_RSM_HEAD'
+ TKFRAME_-76210_SPEC = 'ANGLES'
+ TKFRAME_-76210_UNITS = 'DEGREES'
+ TKFRAME_-76210_AXES = ( 2, 1, 3 )
+ TKFRAME_-76210_ANGLES = ( -90.010, 1.484, 89.655 )
+
+ \begintext
+
+
+ The actual MSL_MASTCAM_RIGHT frame orientation provided in the frame
+ definition below was computed using the CAHVOR(E) camera model file,
+ 'MSL_CAL_003_SN_3004_FILTER_0_FOCUS_02702-MCAMR-FLIGHT.cahvor'.
+ According to this model the reference frame, MSL_RSM_HEAD, can be
+ transformed into the camera frame, MSL_MASTCAM_RIGHT, by the
+ following sequence of rotations: first by 89.99071558 degrees about
+ Y, then by 1.33167368 degrees about X, and finally by -90.43555383
+ degrees about Z.
+
+ The frame definition below contains the opposite of this
+ transformation because Euler angles specified in it define rotations
+ from the "destination" frame to the "reference" frame.
+
+ \begindata
+
+ FRAME_MSL_MASTCAM_RIGHT = -76220
+ FRAME_-76220_NAME = 'MSL_MASTCAM_RIGHT'
+ FRAME_-76220_CLASS = 4
+ FRAME_-76220_CLASS_ID = -76220
+ FRAME_-76220_CENTER = -76
+ TKFRAME_-76220_RELATIVE = 'MSL_RSM_HEAD'
+ TKFRAME_-76220_SPEC = 'ANGLES'
+ TKFRAME_-76220_UNITS = 'DEGREES'
+ TKFRAME_-76220_AXES = ( 2, 1, 3 )
+ TKFRAME_-76220_ANGLES = ( -89.991, -1.332, 90.436 )
+
+ \begintext
+
+
+
+NAVCAMs
+-------------------------------------------------
+
+ The NAVCAM frames are defined as follows:
+
+ -- +Z axis is along the camera's central pixel view direction
+ ("into image");
+
+ -- +Y axis is along the image central column and points from the
+ image center toward the image top row ("up");
+
+ -- +X completes the right hand frame and is along the image central
+ row and points from the image center toward the image left
+ column ("left");
+
+ -- the origin of the frame is located at the camera focal point.
+
+ The NAVCAM frames for the RSM in nominal forward-looking (181 deg
+ AZ, 91 deg EL) position are shown on this diagram:
+
+ Rover -Y side view:
+ -------------------
+ ^ Ync
+ |
+ |
+ Znc |
+ <-------*
+ Xh `|'
+ | HGA
+ | .```. .
+ v Zh | o --- .-' \ RTG
+ RA | `._.' | .-' \
+ -|- |-.-------------------' .-
+ o---------o--------o| | | .-'
+ |.-------o----. |-.-'
+ .-`--------------`-.--'
+ | .-----`o------.
+ .-|-. .-|-. .-|-.
+ | o | | o | | o |
+ `._.' <-------x.' `._.'
+ Xr |
+ |
+ |
+ Zr v
+
+ Yr, Yh are into the page.
+ Xnc is out of the page.
+
+ Since NAVCAMs are rigidly mounted on RSM, their frames are defined
+ as fixed offset frames with orientation given with respect to the
+ RSM head frame.
+
+ The nominal NAVCAM frame orientation are such that the NAVCAM left
+ and right boresights are co-aligned with the RSM head +X axis. In
+ order to align the RSM head frame with the camera frames in this
+ nominal orientation, it has to be rotated by +90 degrees about Y,
+ then by -90 degrees about Z (to line up Y axis with the vertical
+ direction.) The following sets of keywords can be incorporated into
+ the frame definitions to provide this nominal orientation:
+
+ TKFRAME_-76231_ANGLES = ( -90.000, 0.000, 90.000 )
+ TKFRAME_-76231_AXES = ( 2, 1, 3 )
+
+ TKFRAME_-76232_ANGLES = ( -90.000, 0.000, 90.000 )
+ TKFRAME_-76232_AXES = ( 2, 1, 3 )
+
+ TKFRAME_-76233_ANGLES = ( -90.000, 0.000, 90.000 )
+ TKFRAME_-76233_AXES = ( 2, 1, 3 )
+
+ TKFRAME_-76234_ANGLES = ( -90.000, 0.000, 90.000 )
+ TKFRAME_-76234_AXES = ( 2, 1, 3 )
+
+ The actual MSL_NAVCAM_LEFT_A frame orientation provided in the frame
+ definition below was computed using the CAHVOR(E) camera model file,
+ 'MSL_CAL_004_SN_0216-NAVL-FLIGHT-RCE-A.cahvor'. According to this
+ model the reference frame, MSL_RSM_HEAD, can be transformed into the
+ camera frame, MSL_NAVCAM_LEFT_A, by the following sequence of
+ rotations: first by 89.51443329 degrees about Y, then by -1.12581998
+ degrees about X, and finally by -90.38864561 degrees about Z.
+
+ The frame definition below contains the opposite of this
+ transformation because Euler angles specified in it define rotations
+ from the "destination" frame to the "reference" frame.
+
+ \begindata
+
+ FRAME_MSL_NAVCAM_LEFT_A = -76231
+ FRAME_-76231_NAME = 'MSL_NAVCAM_LEFT_A'
+ FRAME_-76231_CLASS = 4
+ FRAME_-76231_CLASS_ID = -76231
+ FRAME_-76231_CENTER = -76
+ TKFRAME_-76231_RELATIVE = 'MSL_RSM_HEAD'
+ TKFRAME_-76231_SPEC = 'ANGLES'
+ TKFRAME_-76231_UNITS = 'DEGREES'
+ TKFRAME_-76231_AXES = ( 2, 1, 3 )
+ TKFRAME_-76231_ANGLES = ( -89.514, 1.126, 90.389 )
+
+ \begintext
+
+
+ The actual MSL_NAVCAM_LEFT_B frame orientation provided in the frame
+ definition below was computed using the CAHVOR(E) camera model file,
+ 'MSL_CAL_005_SN_0215-NAVL-FLIGHT-RCE-B.cahvor'. According to this
+ model the reference frame, MSL_RSM_HEAD, can be transformed into the
+ camera frame, MSL_NAVCAM_LEFT_B, by the following sequence of
+ rotations: first by 89.86145547 degrees about Y, then by -0.38921323
+ degrees about X, and finally by -90.02355994 degrees about Z.
+
+ The frame definition below contains the opposite of this
+ transformation because Euler angles specified in it define rotations
+ from the "destination" frame to the "reference" frame.
+
+ \begindata
+
+ FRAME_MSL_NAVCAM_LEFT_B = -76233
+ FRAME_-76233_NAME = 'MSL_NAVCAM_LEFT_B'
+ FRAME_-76233_CLASS = 4
+ FRAME_-76233_CLASS_ID = -76233
+ FRAME_-76233_CENTER = -76
+ TKFRAME_-76233_RELATIVE = 'MSL_RSM_HEAD'
+ TKFRAME_-76233_SPEC = 'ANGLES'
+ TKFRAME_-76233_UNITS = 'DEGREES'
+ TKFRAME_-76233_AXES = ( 2, 1, 3 )
+ TKFRAME_-76233_ANGLES = ( -89.861, 0.389, 90.024 )
+
+ \begintext
+
+
+ The actual MSL_NAVCAM_RIGHT_A frame orientation provided in the
+ frame definition below was computed using the CAHVOR(E) camera model
+ file, 'MSL_CAL_004_SN_0206-NAVR-FLIGHT-RCE-A.cahvor'. According to
+ this model the reference frame, MSL_RSM_HEAD, can be transformed
+ into the camera frame, MSL_NAVCAM_RIGHT_A, by the following sequence
+ of rotations: first by 89.24730809 degrees about Y, then by
+ -0.53383267 degrees about X, and finally by -89.81089093 degrees
+ about Z.
+
+ The frame definition below contains the opposite of this
+ transformation because Euler angles specified in it define rotations
+ from the "destination" frame to the "reference" frame.
+
+ \begindata
+
+ FRAME_MSL_NAVCAM_RIGHT_A = -76232
+ FRAME_-76232_NAME = 'MSL_NAVCAM_RIGHT_A'
+ FRAME_-76232_CLASS = 4
+ FRAME_-76232_CLASS_ID = -76232
+ FRAME_-76232_CENTER = -76
+ TKFRAME_-76232_RELATIVE = 'MSL_RSM_HEAD'
+ TKFRAME_-76232_SPEC = 'ANGLES'
+ TKFRAME_-76232_UNITS = 'DEGREES'
+ TKFRAME_-76232_AXES = ( 2, 1, 3 )
+ TKFRAME_-76232_ANGLES = ( -89.247, 0.534, 89.811 )
+
+ \begintext
+
+
+ The actual MSL_NAVCAM_RIGHT_B frame orientation provided in the
+ frame definition below was computed using the CAHVOR(E) camera model
+ file, 'MSL_CAL_005_SN_0218-NAVR-FLIGHT-RCE-B.cahvor'. According to
+ this model the reference frame, MSL_RSM_HEAD, can be transformed
+ into the camera frame, MSL_NAVCAM_RIGHT_B, by the following sequence
+ of rotations: first by 89.91279432 degrees about Y, then by
+ -0.33489566 degrees about X, and finally by -90.29024820 degrees
+ about Z.
+
+ The frame definition below contains the opposite of this
+ transformation because Euler angles specified in it define rotations
+ from the "destination" frame to the "reference" frame.
+
+ \begindata
+
+ FRAME_MSL_NAVCAM_RIGHT_B = -76234
+ FRAME_-76234_NAME = 'MSL_NAVCAM_RIGHT_B'
+ FRAME_-76234_CLASS = 4
+ FRAME_-76234_CLASS_ID = -76234
+ FRAME_-76234_CENTER = -76
+ TKFRAME_-76234_RELATIVE = 'MSL_RSM_HEAD'
+ TKFRAME_-76234_SPEC = 'ANGLES'
+ TKFRAME_-76234_UNITS = 'DEGREES'
+ TKFRAME_-76234_AXES = ( 2, 1, 3 )
+ TKFRAME_-76234_ANGLES = ( -89.913, 0.335, 90.290 )
+
+ \begintext
+
+
+CHEMCAM
+-------------------------------------------------
+
+ The CHEMCAM RMI frame is defined as follows:
+
+ -- +Z axis is along the camera's central pixel view direction
+ ("into image");
+
+ -- +Y axis is along the image central column and points from the
+ image center toward the image top row ("up");
+
+ -- +X completes the right hand frame and is along the image central
+ row and points from the image center toward the image left
+ column ("left");
+
+ -- the origin of the frame is located at the camera focal point.
+
+ The CHEMCAM LIBS laser and camera frames are defined to be nominally
+ co-aligned with the CHEMCAM RMI frame.
+
+ The CHEMCAM frames for the RSM in nominal forward-looking (181 deg
+ AZ, 91 deg EL) position are shown on this diagram:
+
+ Rover -Y side view:
+ -------------------
+ ^ Ycc
+ |
+ |
+ Zcc |
+ <-------*
+ Xh `|'
+ | HGA
+ | .```. .
+ v Zh | o --- .-' \ RTG
+ RA | `._.' | .-' \
+ -|- |-.-------------------' .-
+ o---------o--------o| | | .-'
+ |.-------o----. |-.-'
+ .-`--------------`-.--'
+ | .-----`o------.
+ .-|-. .-|-. .-|-.
+ | o | | o | | o |
+ `._.' <-------x.' `._.'
+ Xr |
+ |
+ |
+ Zr v
+
+ Yr, Yh are into the page.
+ Xcc is out of the page.
+
+ Since CHEMCAM is rigidly mounted on RSM, its frames are defined as
+ fixed offset frames with orientation given with respect to the RSM
+ head frame.
+
+ The nominal CHEMCAM RMI orientation is such that the CHEMCAM RMI
+ boresight is co-aligned with the RSM head +X axis. In order to align
+ the RSM head frame with the RMI frame in this nominal orientation,
+ it has to be rotated by +90 degrees about Y, then by -90 degrees
+ about Z (to line up Y axis with the vertical direction.) The
+ following sets of keywords should be included into the frame
+ definitions to provide this nominal orientation:
+
+ TKFRAME_-76243_ANGLES = ( -90.000, 0.000, 90.000 )
+ TKFRAME_-76243_AXES = ( 2, 1, 3 )
+
+ The actual MSL_CHEMCAM_RMI frame orientation provided in the frame
+ definition below was computed using the CAHVOR(E) camera model file,
+ 'MSL_CAL_003_SN_0001_FOCUS_12658-RMI-FLIGHT.cahv'. According to this
+ model the reference frame, MSL_RSM_HEAD, can be transformed into the
+ camera frame, MSL_CHEMCAM_RMI, by the following sequence of
+ rotations: first by 89.81378695 degrees about Y, then by -0.21898509
+ degrees about X, and finally by -90.08397425 degrees about Z.
+
+ The frame definition below contains the opposite of this
+ transformation because Euler angles specified in it define
+ rotations from the "destination" frame to the "reference" frame.
+
+ \begindata
+
+ FRAME_MSL_CHEMCAM_RMI = -76243
+ FRAME_-76243_NAME = 'MSL_CHEMCAM_RMI'
+ FRAME_-76243_CLASS = 4
+ FRAME_-76243_CLASS_ID = -76243
+ FRAME_-76243_CENTER = -76
+ TKFRAME_-76243_RELATIVE = 'MSL_RSM_HEAD'
+ TKFRAME_-76243_SPEC = 'ANGLES'
+ TKFRAME_-76243_UNITS = 'DEGREES'
+ TKFRAME_-76243_AXES = ( 2, 1, 3 )
+ TKFRAME_-76243_ANGLES = ( -89.814, 0.219, 90.084 )
+
+ \begintext
+
+ Based on the pre-launch calibrations the LIBS laser spot points along
+ the RMI pixel (496,531) view direction as shown on this diagram:
+
+ ^ Yrmi
+ (0,0 | (0,1023)
+ o-------------|-------------o
+ | | |
+ | | |
+ | | |
+ | | |
+ | | (496,531) |
+ | | x |
+ <----------------x |
+ Zrmi | (511.5,511.5) |
+ | |
+ | |
+ | |
+ | |
+ | |
+ o---------------------------o
+ (1023,0) (1023,1023)
+
+ Zrmi and Zlibs are into the page.
+
+
+ Assuming the nominal RMI pixel IFOV of 20 microradians, two
+ rotations needed to coalign the RMI frame with the LIBS laser frame
+ are first by -0.00039 radians about Y, then by -0.00031 radians
+ about X. This orientation is provided in the LIBS laser frame
+ definition below, containing the opposite of this transformation
+ because Euler angles specified in it define rotations from the
+ "destination" frame to the "reference" frame.
+
+ The CHEMCAM LIBS camera frame is defined to be co-aligned with the
+ LIBS laser frame.
+
+ \begindata
+
+ FRAME_MSL_CHEMCAM_LIBS_LASER = -76241
+ FRAME_-76241_NAME = 'MSL_CHEMCAM_LIBS_LASER'
+ FRAME_-76241_CLASS = 4
+ FRAME_-76241_CLASS_ID = -76241
+ FRAME_-76241_CENTER = -76
+ TKFRAME_-76241_SPEC = 'ANGLES'
+ TKFRAME_-76241_RELATIVE = 'MSL_CHEMCAM_RMI'
+ TKFRAME_-76241_ANGLES = ( 0.00039, 0.00031, 0.000 )
+ TKFRAME_-76241_AXES = ( 2, 1, 3 )
+ TKFRAME_-76241_UNITS = 'RADIANS'
+
+ FRAME_MSL_CHEMCAM_LIBS_CAM = -76242
+ FRAME_-76242_NAME = 'MSL_CHEMCAM_LIBS_CAM'
+ FRAME_-76242_CLASS = 4
+ FRAME_-76242_CLASS_ID = -76242
+ FRAME_-76242_CENTER = -76
+ TKFRAME_-76242_SPEC = 'ANGLES'
+ TKFRAME_-76242_RELATIVE = 'MSL_CHEMCAM_LIBS_LASER'
+ TKFRAME_-76242_ANGLES = ( 0.000, 0.000, 0.000 )
+ TKFRAME_-76242_AXES = ( 2, 1, 3 )
+ TKFRAME_-76242_UNITS = 'DEGREES'
+
+ \begintext
+
+
+REMS
+-------------------------------------------------
+
+ REMS boom frames -- MSL_REMS_BOOM1 and MSL_REMS_BOOM1 -- are defined
+ to have X axes along booms and Z axes nominally co-aligned with
+ the rover Z axis.
+
+ The REMS BOOM 1 frame is nominally rotated from the rover frame by
+ 122 degrees about Z while the REMS BOOM 2 frame is nominally rotated
+ from the rover frame by 2 degrees about Z.
+
+ This diagram illustrates the REMS boom frames:
+
+ Rover -Z side ("top") view:
+ ---------------------------
+
+ .-----. Xb2 .-----. .-----.
+ | Yb1 ^ | | | |
+ | ^ / | | |
+ `-- | / `-- Yr `--|--'
+ | --/----o- ^ -----o------'
+ |.-x------- | ------.
+ <-------x| |`-. Yb2 | |--------.
+ Xb1 || | `> | |-------.|
+ RA RSM |`- <-------x | || RTG
+ | | Xr HGA |-------'|
+ -o---------|--------|o-| =====-o---------'
+ | `-------------------'
+ .----------o---------o------.
+ .--|--. .--|--. .--|--.
+ | | | | | |
+ | | | | | |
+ `-----' `-----' `-----'
+
+ Zr, Zb1, Zb2 is into the page.
+
+ REMS sensor frames are defined to be co aligned with the their
+ corresponding boom frames.
+
+ \begindata
+
+ FRAME_MSL_REMS_BOOM1 = -76250
+ FRAME_-76250_NAME = 'MSL_REMS_BOOM1'
+ FRAME_-76250_CLASS = 4
+ FRAME_-76250_CLASS_ID = -76250
+ FRAME_-76250_CENTER = -76
+ TKFRAME_-76250_SPEC = 'ANGLES'
+ TKFRAME_-76250_RELATIVE = 'MSL_ROVER'
+ TKFRAME_-76250_ANGLES = ( 0.0, 0.0, -122.0 )
+ TKFRAME_-76250_AXES = ( 1, 2, 3 )
+ TKFRAME_-76250_UNITS = 'DEGREES'
+
+ FRAME_MSL_REMS_BOOM1_WS1 = -76251
+ FRAME_-76251_NAME = 'MSL_REMS_BOOM1_WS1'
+ FRAME_-76251_CLASS = 4
+ FRAME_-76251_CLASS_ID = -76251
+ FRAME_-76251_CENTER = -76
+ TKFRAME_-76251_SPEC = 'ANGLES'
+ TKFRAME_-76251_RELATIVE = 'MSL_REMS_BOOM1'
+ TKFRAME_-76251_ANGLES = ( 0.0, 0.0, 0.0 )
+ TKFRAME_-76251_AXES = ( 1, 2, 3 )
+ TKFRAME_-76251_UNITS = 'DEGREES'
+
+ FRAME_MSL_REMS_BOOM1_WS2 = -76252
+ FRAME_-76252_NAME = 'MSL_REMS_BOOM1_WS2'
+ FRAME_-76252_CLASS = 4
+ FRAME_-76252_CLASS_ID = -76252
+ FRAME_-76252_CENTER = -76
+ TKFRAME_-76252_SPEC = 'ANGLES'
+ TKFRAME_-76252_RELATIVE = 'MSL_REMS_BOOM1'
+ TKFRAME_-76252_ANGLES = ( 0.0, 0.0, 0.0 )
+ TKFRAME_-76252_AXES = ( 1, 2, 3 )
+ TKFRAME_-76252_UNITS = 'DEGREES'
+
+ FRAME_MSL_REMS_BOOM1_WS3 = -76253
+ FRAME_-76253_NAME = 'MSL_REMS_BOOM1_WS3'
+ FRAME_-76253_CLASS = 4
+ FRAME_-76253_CLASS_ID = -76253
+ FRAME_-76253_CENTER = -76
+ TKFRAME_-76253_SPEC = 'ANGLES'
+ TKFRAME_-76253_RELATIVE = 'MSL_REMS_BOOM1'
+ TKFRAME_-76253_ANGLES = ( 0.0, 0.0, 0.0 )
+ TKFRAME_-76253_AXES = ( 1, 2, 3 )
+ TKFRAME_-76253_UNITS = 'DEGREES'
+
+ FRAME_MSL_REMS_BOOM1_ATS = -76254
+ FRAME_-76254_NAME = 'MSL_REMS_BOOM1_ATS'
+ FRAME_-76254_CLASS = 4
+ FRAME_-76254_CLASS_ID = -76254
+ FRAME_-76254_CENTER = -76
+ TKFRAME_-76254_SPEC = 'ANGLES'
+ TKFRAME_-76254_RELATIVE = 'MSL_REMS_BOOM1'
+ TKFRAME_-76254_ANGLES = ( 0.0, 0.0, 0.0 )
+ TKFRAME_-76254_AXES = ( 1, 2, 3 )
+ TKFRAME_-76254_UNITS = 'DEGREES'
+
+ FRAME_MSL_REMS_BOOM1_GTS = -76255
+ FRAME_-76255_NAME = 'MSL_REMS_BOOM1_GTS'
+ FRAME_-76255_CLASS = 4
+ FRAME_-76255_CLASS_ID = -76255
+ FRAME_-76255_CENTER = -76
+ TKFRAME_-76255_SPEC = 'ANGLES'
+ TKFRAME_-76255_RELATIVE = 'MSL_REMS_BOOM1'
+ TKFRAME_-76255_ANGLES = ( 0.0, 0.0, 0.0 )
+ TKFRAME_-76255_AXES = ( 1, 2, 3 )
+ TKFRAME_-76255_UNITS = 'DEGREES'
+
+ FRAME_MSL_REMS_BOOM2 = -76260
+ FRAME_-76260_NAME = 'MSL_REMS_BOOM2'
+ FRAME_-76260_CLASS = 4
+ FRAME_-76260_CLASS_ID = -76260
+ FRAME_-76260_CENTER = -76
+ TKFRAME_-76260_SPEC = 'ANGLES'
+ TKFRAME_-76260_RELATIVE = 'MSL_ROVER'
+ TKFRAME_-76260_ANGLES = ( 0.0, 0.0, -2.0 )
+ TKFRAME_-76260_AXES = ( 1, 2, 3 )
+ TKFRAME_-76260_UNITS = 'DEGREES'
+
+ FRAME_MSL_REMS_BOOM2_WS1 = -76261
+ FRAME_-76261_NAME = 'MSL_REMS_BOOM2_WS1'
+ FRAME_-76261_CLASS = 4
+ FRAME_-76261_CLASS_ID = -76261
+ FRAME_-76261_CENTER = -76
+ TKFRAME_-76261_SPEC = 'ANGLES'
+ TKFRAME_-76261_RELATIVE = 'MSL_REMS_BOOM2'
+ TKFRAME_-76261_ANGLES = ( 0.0, 0.0, 0.0 )
+ TKFRAME_-76261_AXES = ( 1, 2, 3 )
+ TKFRAME_-76261_UNITS = 'DEGREES'
+
+ FRAME_MSL_REMS_BOOM2_WS2 = -76262
+ FRAME_-76262_NAME = 'MSL_REMS_BOOM2_WS2'
+ FRAME_-76262_CLASS = 4
+ FRAME_-76262_CLASS_ID = -76262
+ FRAME_-76262_CENTER = -76
+ TKFRAME_-76262_SPEC = 'ANGLES'
+ TKFRAME_-76262_RELATIVE = 'MSL_REMS_BOOM2'
+ TKFRAME_-76262_ANGLES = ( 0.0, 0.0, 0.0 )
+ TKFRAME_-76262_AXES = ( 1, 2, 3 )
+ TKFRAME_-76262_UNITS = 'DEGREES'
+
+ FRAME_MSL_REMS_BOOM2_WS3 = -76263
+ FRAME_-76263_NAME = 'MSL_REMS_BOOM2_WS3'
+ FRAME_-76263_CLASS = 4
+ FRAME_-76263_CLASS_ID = -76263
+ FRAME_-76263_CENTER = -76
+ TKFRAME_-76263_SPEC = 'ANGLES'
+ TKFRAME_-76263_RELATIVE = 'MSL_REMS_BOOM2'
+ TKFRAME_-76263_ANGLES = ( 0.0, 0.0, 0.0 )
+ TKFRAME_-76263_AXES = ( 1, 2, 3 )
+ TKFRAME_-76263_UNITS = 'DEGREES'
+
+ FRAME_MSL_REMS_BOOM2_ATS = -76264
+ FRAME_-76264_NAME = 'MSL_REMS_BOOM2_ATS'
+ FRAME_-76264_CLASS = 4
+ FRAME_-76264_CLASS_ID = -76264
+ FRAME_-76264_CENTER = -76
+ TKFRAME_-76264_SPEC = 'ANGLES'
+ TKFRAME_-76264_RELATIVE = 'MSL_REMS_BOOM2'
+ TKFRAME_-76264_ANGLES = ( 0.0, 0.0, 0.0 )
+ TKFRAME_-76264_AXES = ( 1, 2, 3 )
+ TKFRAME_-76264_UNITS = 'DEGREES'
+
+ FRAME_MSL_REMS_BOOM2_HS = -76265
+ FRAME_-76265_NAME = 'MSL_REMS_BOOM2_HS'
+ FRAME_-76265_CLASS = 4
+ FRAME_-76265_CLASS_ID = -76265
+ FRAME_-76265_CENTER = -76
+ TKFRAME_-76265_SPEC = 'ANGLES'
+ TKFRAME_-76265_RELATIVE = 'MSL_REMS_BOOM2'
+ TKFRAME_-76265_ANGLES = ( 0.0, 0.0, 0.0 )
+ TKFRAME_-76265_AXES = ( 1, 2, 3 )
+ TKFRAME_-76265_UNITS = 'DEGREES'
+
+ \begintext
+
+
+Robot Arm (RA) and RA-mounted Instrument Frames
+========================================================================
+
+ This section defines frames for the RA instruments and structures --
+ RA joints and turret head, Mars Hand Lens Imager (MAHLI), Alpha
+ Particle X-ray Spectrometer (APXS), Powder Acquisition Drill System
+ (PADS), Dust Removal Tool (DRT), and Collection and Handling for
+ Interior Martian Rock Analysis (CHIMRA).
+
+
+RA Joints
+-------------------------------------------------
+
+ MSL RA base frame, MSL_RA_BASE, is defined to be coincident in
+ orientation with the rover frame. As this frame is fixed with
+ respect to the rover it's defined as zero offset frame with respect
+ to the rover frame.
+
+ All MSL RA joint frames -- SHOULDER_AZ, SHOULDER_EL, ELBOW, WRIST,
+ and TURRET -- are defined in accordance with normal kinematics
+ convention as follows:
+
+ -- +Z axis is along the joint rotation axis, nominally pointing
+ along rover +Z for SHOULDER_AZ, along rover -Y (for RA in
+ straight out position) for SHOULDER_EL, ELBOW, and WRIST, and
+ along wrist +Y for TURRET;
+
+ -- +X axis is along the link attached to the joint;
+
+ -- +Y completes the right hand frame;
+
+ -- the origin lies on the rotation axis at a point that provides for
+ the minimum magnitude of translations between the joints
+ (see diagram above).
+
+ This diagram illustrates RA base and joint frames in "zero joint
+ rotation" position:
+
+
+ RA side view:
+ -------------
+
+ Shoulder/Az Turret
+ axis axis
+
+ | |
+ . .
+ | |
+
+
+ //////// Xbase .___.
+ //o------> | o |
+ //|////// | o------>
+ /|/////// ._|_. Xtr
+ | | | .-.Xsh_az .-. |\ .
+ Ybase V | o----x->----> =======| x------> =====|=| x------>
+ ._|_. `| Xsh_el `|' Xelb V `|' Xwr
+ | | | Ztr |
+ | | | |
+ o------> V V Ysh_el V Yelb V Ywr
+ | Xr Zsh_az
+ |
+ |
+ V Yr, Ybase, Ysh_az, Ytr are out of page;
+ Zr Zsh_el, Zelb, Zwr are into page.
+
+
+ RA top view:
+ ------------
+
+ Shoulder/El Elbow Wrist
+ axis axis axis
+
+ | | |
+ . . .
+ | | |
+
+ ////// Zsh_el Zelb Zwr
+ /Rover// ^ ^ ^
+ //////// .|. .|. |
+ ////Xbase ||| ||| |
+ //x----->| | Xsh_el | | | Xelb ._|_. Xwr
+ //| | x----x->----> | x------> -------| x------>
+ //|//`|'|__ Xsh_az |__|__|------------| |
+ //|///|/ \ `-----------' / '---'
+ //V///|/ `-----------------' APXS .-'. / Xtr
+ Ybase//V/ Ysh_az | x------>
+ ///// MAHLI `|'
+ |
+ |
+ x------> Xr V Ytr
+ |
+ |
+ | Zr, Zbase, Zsh_az, Ysh_el,
+ V Yr Yelb, Ywr, and Ztr are all
+ into the page
+
+
+ During normal surface operations the orientation of each of these
+ frames with respect to each other varies and is controlled and
+ telemetered using RA joint angles. Therefore, these frame are
+ defined as a CK frames with the orientation for each frame provided
+ with respect to its parent in the frame chain.
+
+ \begindata
+
+ FRAME_MSL_RA_BASE = -76300
+ FRAME_-76300_NAME = 'MSL_RA_BASE'
+ FRAME_-76300_CLASS = 4
+ FRAME_-76300_CLASS_ID = -76300
+ FRAME_-76300_CENTER = -76
+ TKFRAME_-76300_SPEC = 'ANGLES'
+ TKFRAME_-76300_RELATIVE = 'MSL_ROVER'
+ TKFRAME_-76300_ANGLES = ( 0.0, 0.0, 0.0 )
+ TKFRAME_-76300_AXES = ( 1, 2, 3 )
+ TKFRAME_-76300_UNITS = 'DEGREES'
+
+ FRAME_MSL_RA_SHOULDER_AZ = -76301
+ FRAME_-76301_NAME = 'MSL_RA_SHOULDER_AZ'
+ FRAME_-76301_CLASS = 3
+ FRAME_-76301_CLASS_ID = -76301
+ FRAME_-76301_CENTER = -76
+ CK_-76301_SCLK = -76
+ CK_-76301_SPK = -76
+
+ FRAME_MSL_RA_SHOULDER_EL = -76302
+ FRAME_-76302_NAME = 'MSL_RA_SHOULDER_EL'
+ FRAME_-76302_CLASS = 3
+ FRAME_-76302_CLASS_ID = -76302
+ FRAME_-76302_CENTER = -76
+ CK_-76302_SCLK = -76
+ CK_-76302_SPK = -76
+
+ FRAME_MSL_RA_ELBOW = -76303
+ FRAME_-76303_NAME = 'MSL_RA_ELBOW'
+ FRAME_-76303_CLASS = 3
+ FRAME_-76303_CLASS_ID = -76303
+ FRAME_-76303_CENTER = -76
+ CK_-76303_SCLK = -76
+ CK_-76303_SPK = -76
+
+ FRAME_MSL_RA_WRIST = -76304
+ FRAME_-76304_NAME = 'MSL_RA_WRIST'
+ FRAME_-76304_CLASS = 3
+ FRAME_-76304_CLASS_ID = -76304
+ FRAME_-76304_CENTER = -76
+ CK_-76304_SCLK = -76
+ CK_-76304_SPK = -76
+
+ FRAME_MSL_RA_TURRET = -76305
+ FRAME_-76305_NAME = 'MSL_RA_TURRET'
+ FRAME_-76305_CLASS = 3
+ FRAME_-76305_CLASS_ID = -76305
+ FRAME_-76305_CENTER = -76
+ CK_-76305_SCLK = -76
+ CK_-76305_SPK = -76
+
+ \begintext
+
+
+RA Instruments
+-------------------------------------------------
+
+ Two frames are defined for each of the MSL RA instruments -- MAHLI,
+ APXS, PADS, DRT, and CHIMRA.
+
+ The first frame for each instrument, named ``MSL_<INST>_REF'', is
+ the reference frame consistent with the FSW frame for which
+ orientation is provided in the RA telemetry. The X axis of this
+ frame is along the instrument's principal direction (boresight,
+ central axis, etc) and the Z axis is nominally co-aligned with the Z
+ axis of the TURRET frame.
+
+ Although the ``_REF'' frames are rotated from the TURRET frame about
+ Z axis by the following fixed angles:
+
+ Instrument Angle, deg [4] Angle, rad (deg ) [5]
+ ------------- -------------- --------------------------------
+ MAHLI_REF 125.00 2.1380283 ( 122.50 )
+ APXS_REF -133.00 3.9618974 (-133.00 )
+ PADS_REF 0.00 0.0 ( 0.00 )
+ DRT_REF +69.67 1.22612 ( +70.25150118 )
+ CHIMRA_REF -60.00 (TBD) 5.20867 ( -61.56519212 )
+
+ They are defined as CK-based frames to allow storing their
+ orientation either relative to the TURRET frame (based on the angles
+ above) or relative to the ROVER frame (based on the orientation
+ quaternions provided in telemetry).
+
+ The second frame for each instrument, named ``MSL_<INST>'', is the
+ reference frame that has the Z axis along the instrument's principal
+ direction (boresight, central axis, etc) and Y axis nominally
+ co-aligned with the Y axis of the ``_REF'' frame.
+
+ These frames are defined as fixed-offset frames relative to the
+ corresponding ``_REF'' frames and are nominally rotated from them by
+ +90 degrees about Y.
+
+ This diagram illustrates RA turret head and instrument frames (looking
+ in the direction of Ztr axis):
+
+ Zapxs Yapxs ^ Zchimra
+ Xapxs_ref Yapxs_ref / Xchimra_ref
+ ^. ^ /
+ `. .' /*.
+ * `. .-------. / / `->
+ `. `. | `./ Ychimra
+ `. `.---. `. Ychimra_ref
+ .------..' `. |====
+ | / \----.
+ | | x------> |--*---->
+ | \ | Xtr ' | Zpads
+ `------ `. | . \ |=|== Xpads_ref
+ / `-|-' \----' v
+ Ymahli / / V \ \ Ypads
+ Ymahli_ref <-./ / Ytr \ \ Ypads_ref
+ `*./ \.*'
+ / <-' \
+ / Ydrt \
+ Zmahli V Ydrt_ref V Zdrt
+ Xmahli_ref Xdrt_ref
+
+
+ Ztr is into the page.
+ Z*ref are into the page.
+ X* are out of the page
+
+ The RA instrument frames except for MAHLI are defined below. The
+ MAHLI frame definitions with additional comments are provided after
+ the block below.
+
+ \begindata
+
+ FRAME_MSL_APXS_REF = -76320
+ FRAME_-76320_NAME = 'MSL_APXS_REF'
+ FRAME_-76320_CLASS = 3
+ FRAME_-76320_CLASS_ID = -76320
+ FRAME_-76320_CENTER = -76
+ CK_-76320_SCLK = -76
+ CK_-76320_SPK = -76
+
+ FRAME_MSL_APXS = -76321
+ FRAME_-76321_NAME = 'MSL_APXS'
+ FRAME_-76321_CLASS = 4
+ FRAME_-76321_CLASS_ID = -76321
+ FRAME_-76321_CENTER = -76
+ TKFRAME_-76321_SPEC = 'ANGLES'
+ TKFRAME_-76321_RELATIVE = 'MSL_APXS_REF'
+ TKFRAME_-76321_ANGLES = ( -90.0, 0.0, 0.0 )
+ TKFRAME_-76321_AXES = ( 2, 1, 3 )
+ TKFRAME_-76321_UNITS = 'DEGREES'
+
+ FRAME_MSL_PADS_REF = -76330
+ FRAME_-76330_NAME = 'MSL_PADS_REF'
+ FRAME_-76330_CLASS = 3
+ FRAME_-76330_CLASS_ID = -76330
+ FRAME_-76330_CENTER = -76
+ CK_-76330_SCLK = -76
+ CK_-76330_SPK = -76
+
+ FRAME_MSL_PADS = -76331
+ FRAME_-76331_NAME = 'MSL_PADS'
+ FRAME_-76331_CLASS = 4
+ FRAME_-76331_CLASS_ID = -76331
+ FRAME_-76331_CENTER = -76
+ TKFRAME_-76331_SPEC = 'ANGLES'
+ TKFRAME_-76331_RELATIVE = 'MSL_PADS_REF'
+ TKFRAME_-76331_ANGLES = ( -90.0, 0.0, 0.0 )
+ TKFRAME_-76331_AXES = ( 2, 1, 3 )
+ TKFRAME_-76331_UNITS = 'DEGREES'
+
+ FRAME_MSL_DRT_REF = -76340
+ FRAME_-76340_NAME = 'MSL_DRT_REF'
+ FRAME_-76340_CLASS = 3
+ FRAME_-76340_CLASS_ID = -76340
+ FRAME_-76340_CENTER = -76
+ CK_-76340_SCLK = -76
+ CK_-76340_SPK = -76
+
+ FRAME_MSL_DRT = -76341
+ FRAME_-76341_NAME = 'MSL_DRT'
+ FRAME_-76341_CLASS = 4
+ FRAME_-76341_CLASS_ID = -76341
+ FRAME_-76341_CENTER = -76
+ TKFRAME_-76341_SPEC = 'ANGLES'
+ TKFRAME_-76341_RELATIVE = 'MSL_DRT_REF'
+ TKFRAME_-76341_ANGLES = ( -90.0, 0.0, 0.0 )
+ TKFRAME_-76341_AXES = ( 2, 1, 3 )
+ TKFRAME_-76341_UNITS = 'DEGREES'
+
+ FRAME_MSL_CHIMRA_REF = -76350
+ FRAME_-76350_NAME = 'MSL_CHIMRA_REF'
+ FRAME_-76350_CLASS = 3
+ FRAME_-76350_CLASS_ID = -76350
+ FRAME_-76350_CENTER = -76
+ CK_-76350_SCLK = -76
+ CK_-76350_SPK = -76
+
+ FRAME_MSL_CHIMRA = -76351
+ FRAME_-76351_NAME = 'MSL_CHIMRA'
+ FRAME_-76351_CLASS = 4
+ FRAME_-76351_CLASS_ID = -76351
+ FRAME_-76351_CENTER = -76
+ TKFRAME_-76351_SPEC = 'ANGLES'
+ TKFRAME_-76351_RELATIVE = 'MSL_CHIMRA_REF'
+ TKFRAME_-76351_ANGLES = ( -90.0, 0.0, 0.0 )
+ TKFRAME_-76351_AXES = ( 2, 1, 3 )
+ TKFRAME_-76351_UNITS = 'DEGREES'
+
+ \begintext
+
+ This is the definition of the MAHLI_REF frame.
+
+ \begindata
+
+ FRAME_MSL_MAHLI_REF = -76310
+ FRAME_-76310_NAME = 'MSL_MAHLI_REF'
+ FRAME_-76310_CLASS = 3
+ FRAME_-76310_CLASS_ID = -76310
+ FRAME_-76310_CENTER = -76
+ CK_-76310_SCLK = -76
+ CK_-76310_SPK = -76
+
+ \begintext
+
+ The actual MSL_MAHLI frame orientation provided in the frame
+ definition below was computed using the CAHVOR(E) camera model file,
+ 'MSL_CAL_002_SN_3002_FOCUS_12594-MAHLI-FLIGHT.cahvor'. According to
+ this model the reference frame, MSL_MAHLI_REF, can be transformed
+ into the camera frame, MSL_MAHLI, by the following sequence of
+ rotations: first by 90.53516876 degrees about Y, then by 0.47298218
+ degrees about X, and finally by 0.50359886 degrees about Z.
+
+ The frame definition below contains the opposite of this
+ transformation because Euler angles specified in it define rotations
+ from the "destination" frame to the "reference" frame.
+
+ \begindata
+
+ FRAME_MSL_MAHLI = -76311
+ FRAME_-76311_NAME = 'MSL_MAHLI'
+ FRAME_-76311_CLASS = 4
+ FRAME_-76311_CLASS_ID = -76311
+ FRAME_-76311_CENTER = -76
+ TKFRAME_-76311_RELATIVE = 'MSL_MAHLI_REF'
+ TKFRAME_-76311_SPEC = 'ANGLES'
+ TKFRAME_-76311_UNITS = 'DEGREES'
+ TKFRAME_-76311_AXES = ( 2, 1, 3 )
+ TKFRAME_-76311_ANGLES = ( -90.535, -0.473, -0.504 )
+
+ \begintext
+
+
+MSL NAIF ID Codes -- Definition Section
+========================================================================
+
+ This section contains name to NAIF ID mappings for the MSL.
+
+ \begindata
+
+ NAIF_BODY_NAME += ( 'MSL_LANDING_SITE' )
+ NAIF_BODY_CODE += ( -76900 )
+
+ NAIF_BODY_NAME += ( 'MSL' )
+ NAIF_BODY_CODE += ( -76 )
+
+ NAIF_BODY_NAME += ( 'MSL_ROVER' )
+ NAIF_BODY_CODE += ( -76000 )
+
+ NAIF_BODY_NAME += ( 'MSL_SPACECRAFT' )
+ NAIF_BODY_CODE += ( -76010 )
+
+ NAIF_BODY_NAME += ( 'MSL_CRUISE_STAGE' )
+ NAIF_BODY_CODE += ( -76020 )
+
+ NAIF_BODY_NAME += ( 'MSL_DESCENT_STAGE' )
+ NAIF_BODY_CODE += ( -76030 )
+
+ NAIF_BODY_NAME += ( 'MSL_ROVER_MECH' )
+ NAIF_BODY_CODE += ( -76040 )
+
+ NAIF_BODY_NAME += ( 'MSL_CACS' )
+ NAIF_BODY_CODE += ( -76050 )
+
+ NAIF_BODY_NAME += ( 'MSL_DIMU_A' )
+ NAIF_BODY_CODE += ( -76031 )
+
+ NAIF_BODY_NAME += ( 'MSL_PLGA' )
+ NAIF_BODY_CODE += ( -76060 )
+
+ NAIF_BODY_NAME += ( 'MSL_TLGA' )
+ NAIF_BODY_CODE += ( -76061 )
+
+ NAIF_BODY_NAME += ( 'MSL_PUHF' )
+ NAIF_BODY_CODE += ( -76062 )
+
+ NAIF_BODY_NAME += ( 'MSL_MGA' )
+ NAIF_BODY_CODE += ( -76063 )
+
+ NAIF_BODY_NAME += ( 'MSL_DLGA' )
+ NAIF_BODY_CODE += ( -76064 )
+
+ NAIF_BODY_NAME += ( 'MSL_DUHF' )
+ NAIF_BODY_CODE += ( -76065 )
+
+ NAIF_BODY_NAME += ( 'MSL_MEDLI_MISP_T1' )
+ NAIF_BODY_CODE += ( -76071 )
+
+ NAIF_BODY_NAME += ( 'MSL_MEDLI_MISP_T2' )
+ NAIF_BODY_CODE += ( -76072 )
+
+ NAIF_BODY_NAME += ( 'MSL_MEDLI_MISP_T3' )
+ NAIF_BODY_CODE += ( -76073 )
+
+ NAIF_BODY_NAME += ( 'MSL_MEDLI_MISP_T4' )
+ NAIF_BODY_CODE += ( -76074 )
+
+ NAIF_BODY_NAME += ( 'MSL_MEDLI_MISP_T5' )
+ NAIF_BODY_CODE += ( -76075 )
+
+ NAIF_BODY_NAME += ( 'MSL_MEDLI_MISP_T6' )
+ NAIF_BODY_CODE += ( -76076 )
+
+ NAIF_BODY_NAME += ( 'MSL_MEDLI_MISP_T7' )
+ NAIF_BODY_CODE += ( -76077 )
+
+ NAIF_BODY_NAME += ( 'MSL_MEDLI_MEADS_P1' )
+ NAIF_BODY_CODE += ( -76081 )
+
+ NAIF_BODY_NAME += ( 'MSL_MEDLI_MEADS_P2' )
+ NAIF_BODY_CODE += ( -76082 )
+
+ NAIF_BODY_NAME += ( 'MSL_MEDLI_MEADS_P3' )
+ NAIF_BODY_CODE += ( -76083 )
+
+ NAIF_BODY_NAME += ( 'MSL_MEDLI_MEADS_P4' )
+ NAIF_BODY_CODE += ( -76084 )
+
+ NAIF_BODY_NAME += ( 'MSL_MEDLI_MEADS_P5' )
+ NAIF_BODY_CODE += ( -76085 )
+
+ NAIF_BODY_NAME += ( 'MSL_MEDLI_MEADS_P6' )
+ NAIF_BODY_CODE += ( -76086 )
+
+ NAIF_BODY_NAME += ( 'MSL_MEDLI_MEADS_P7' )
+ NAIF_BODY_CODE += ( -76087 )
+
+ NAIF_BODY_NAME += ( 'MSL_RLGA' )
+ NAIF_BODY_CODE += ( -76110 )
+
+ NAIF_BODY_NAME += ( 'MSL_RUHF' )
+ NAIF_BODY_CODE += ( -76111 )
+
+ NAIF_BODY_NAME += ( 'MSL_HGA_ZERO_AZ' )
+ NAIF_BODY_CODE += ( -76121 )
+
+ NAIF_BODY_NAME += ( 'MSL_HGA_AZ' )
+ NAIF_BODY_CODE += ( -76122 )
+
+ NAIF_BODY_NAME += ( 'MSL_HGA_ZERO_EL' )
+ NAIF_BODY_CODE += ( -76123 )
+
+ NAIF_BODY_NAME += ( 'MSL_HGA_EL' )
+ NAIF_BODY_CODE += ( -76124 )
+
+ NAIF_BODY_NAME += ( 'MSL_HGA' )
+ NAIF_BODY_CODE += ( -76125 )
+
+ NAIF_BODY_NAME += ( 'MSL_HGA_EB' )
+ NAIF_BODY_CODE += ( -76126 )
+
+ NAIF_BODY_NAME += ( 'MSL_HAZCAM_FRONT_LEFT_A' )
+ NAIF_BODY_CODE += ( -76131 )
+
+ NAIF_BODY_NAME += ( 'MSL_HAZCAM_FRONT_RIGHT_A' )
+ NAIF_BODY_CODE += ( -76132 )
+
+ NAIF_BODY_NAME += ( 'MSL_HAZCAM_FRONT_LEFT_B' )
+ NAIF_BODY_CODE += ( -76133 )
+
+ NAIF_BODY_NAME += ( 'MSL_HAZCAM_FRONT_RIGHT_B' )
+ NAIF_BODY_CODE += ( -76134 )
+
+ NAIF_BODY_NAME += ( 'MSL_HAZCAM_BACK_LEFT_A' )
+ NAIF_BODY_CODE += ( -76141 )
+
+ NAIF_BODY_NAME += ( 'MSL_HAZCAM_BACK_RIGHT_A' )
+ NAIF_BODY_CODE += ( -76142 )
+
+ NAIF_BODY_NAME += ( 'MSL_HAZCAM_BACK_LEFT_B' )
+ NAIF_BODY_CODE += ( -76143 )
+
+ NAIF_BODY_NAME += ( 'MSL_HAZCAM_BACK_RIGHT_B' )
+ NAIF_BODY_CODE += ( -76144 )
+
+ NAIF_BODY_NAME += ( 'MSL_RAD' )
+ NAIF_BODY_CODE += ( -76150 )
+
+ NAIF_BODY_NAME += ( 'MSL_MARDI' )
+ NAIF_BODY_CODE += ( -76160 )
+
+ NAIF_BODY_NAME += ( 'MSL_REMS_UVS' )
+ NAIF_BODY_CODE += ( -76170 )
+
+ NAIF_BODY_NAME += ( 'MSL_DAN' )
+ NAIF_BODY_CODE += ( -76180 )
+
+ NAIF_BODY_NAME += ( 'MSL_DAN_PNG' )
+ NAIF_BODY_CODE += ( -76191 )
+
+ NAIF_BODY_NAME += ( 'MSL_DAN_DE' )
+ NAIF_BODY_CODE += ( -76192 )
+
+ NAIF_BODY_NAME += ( 'MSL_DAN_DE_CTN' )
+ NAIF_BODY_CODE += ( -76193 )
+
+ NAIF_BODY_NAME += ( 'MSL_DAN_DE_CETN' )
+ NAIF_BODY_CODE += ( -76194 )
+
+ NAIF_BODY_NAME += ( 'MSL_REMS_PS' )
+ NAIF_BODY_CODE += ( -76181 )
+
+ NAIF_BODY_NAME += ( 'MSL_SAM' )
+ NAIF_BODY_CODE += ( -76182 )
+
+ NAIF_BODY_NAME += ( 'MSL_SAM_1_INLET' )
+ NAIF_BODY_CODE += ( -76184 )
+
+ NAIF_BODY_NAME += ( 'MSL_SAM_2_INLET' )
+ NAIF_BODY_CODE += ( -76185 )
+
+ NAIF_BODY_NAME += ( 'MSL_CHEMIN' )
+ NAIF_BODY_CODE += ( -76183 )
+
+ NAIF_BODY_NAME += ( 'MSL_CHEMIN_INLET' )
+ NAIF_BODY_CODE += ( -76186 )
+
+ NAIF_BODY_NAME += ( 'MSL_RSM_ZERO_AZ' )
+ NAIF_BODY_CODE += ( -76201 )
+
+ NAIF_BODY_NAME += ( 'MSL_RSM_AZ' )
+ NAIF_BODY_CODE += ( -76202 )
+
+ NAIF_BODY_NAME += ( 'MSL_RSM_ZERO_EL' )
+ NAIF_BODY_CODE += ( -76203 )
+
+ NAIF_BODY_NAME += ( 'MSL_RSM_EL' )
+ NAIF_BODY_CODE += ( -76204 )
+
+ NAIF_BODY_NAME += ( 'MSL_RSM_HEAD' )
+ NAIF_BODY_CODE += ( -76205 )
+
+ NAIF_BODY_NAME += ( 'MSL_MASTCAM_LEFT' )
+ NAIF_BODY_CODE += ( -76210 )
+
+ NAIF_BODY_NAME += ( 'MSL_MASTCAM_LEFT_F1' )
+ NAIF_BODY_CODE += ( -76211 )
+
+ NAIF_BODY_NAME += ( 'MSL_MASTCAM_LEFT_F2' )
+ NAIF_BODY_CODE += ( -76212 )
+
+ NAIF_BODY_NAME += ( 'MSL_MASTCAM_LEFT_F3' )
+ NAIF_BODY_CODE += ( -76213 )
+
+ NAIF_BODY_NAME += ( 'MSL_MASTCAM_LEFT_F4' )
+ NAIF_BODY_CODE += ( -76214 )
+
+ NAIF_BODY_NAME += ( 'MSL_MASTCAM_LEFT_F5' )
+ NAIF_BODY_CODE += ( -76215 )
+
+ NAIF_BODY_NAME += ( 'MSL_MASTCAM_LEFT_F6' )
+ NAIF_BODY_CODE += ( -76216 )
+
+ NAIF_BODY_NAME += ( 'MSL_MASTCAM_LEFT_F7' )
+ NAIF_BODY_CODE += ( -76217 )
+
+ NAIF_BODY_NAME += ( 'MSL_MASTCAM_LEFT_F8' )
+ NAIF_BODY_CODE += ( -76218 )
+
+ NAIF_BODY_NAME += ( 'MSL_MASTCAM_RIGHT' )
+ NAIF_BODY_CODE += ( -76220 )
+
+ NAIF_BODY_NAME += ( 'MSL_MASTCAM_RIGHT_F1' )
+ NAIF_BODY_CODE += ( -76221 )
+
+ NAIF_BODY_NAME += ( 'MSL_MASTCAM_RIGHT_F2' )
+ NAIF_BODY_CODE += ( -76222 )
+
+ NAIF_BODY_NAME += ( 'MSL_MASTCAM_RIGHT_F3' )
+ NAIF_BODY_CODE += ( -76223 )
+
+ NAIF_BODY_NAME += ( 'MSL_MASTCAM_RIGHT_F4' )
+ NAIF_BODY_CODE += ( -76224 )
+
+ NAIF_BODY_NAME += ( 'MSL_MASTCAM_RIGHT_F5' )
+ NAIF_BODY_CODE += ( -76225 )
+
+ NAIF_BODY_NAME += ( 'MSL_MASTCAM_RIGHT_F6' )
+ NAIF_BODY_CODE += ( -76226 )
+
+ NAIF_BODY_NAME += ( 'MSL_MASTCAM_RIGHT_F7' )
+ NAIF_BODY_CODE += ( -76227 )
+
+ NAIF_BODY_NAME += ( 'MSL_MASTCAM_RIGHT_F8' )
+ NAIF_BODY_CODE += ( -76228 )
+
+ NAIF_BODY_NAME += ( 'MSL_NAVCAM_LEFT_A' )
+ NAIF_BODY_CODE += ( -76231 )
+
+ NAIF_BODY_NAME += ( 'MSL_NAVCAM_RIGHT_A' )
+ NAIF_BODY_CODE += ( -76232 )
+
+ NAIF_BODY_NAME += ( 'MSL_NAVCAM_LEFT_B' )
+ NAIF_BODY_CODE += ( -76233 )
+
+ NAIF_BODY_NAME += ( 'MSL_NAVCAM_RIGHT_B' )
+ NAIF_BODY_CODE += ( -76234 )
+
+ NAIF_BODY_NAME += ( 'MSL_CHEMCAM' )
+ NAIF_BODY_CODE += ( -76240 )
+
+ NAIF_BODY_NAME += ( 'MSL_CHEMCAM_LIBS_LASER' )
+ NAIF_BODY_CODE += ( -76241 )
+
+ NAIF_BODY_NAME += ( 'MSL_CHEMCAM_LIBS_CAM' )
+ NAIF_BODY_CODE += ( -76242 )
+
+ NAIF_BODY_NAME += ( 'MSL_CHEMCAM_RMI' )
+ NAIF_BODY_CODE += ( -76243 )
+
+ NAIF_BODY_NAME += ( 'MSL_REMS_BOOM1' )
+ NAIF_BODY_CODE += ( -76250 )
+
+ NAIF_BODY_NAME += ( 'MSL_REMS_BOOM1_WS1' )
+ NAIF_BODY_CODE += ( -76251 )
+
+ NAIF_BODY_NAME += ( 'MSL_REMS_BOOM1_WS2' )
+ NAIF_BODY_CODE += ( -76252 )
+
+ NAIF_BODY_NAME += ( 'MSL_REMS_BOOM1_WS3' )
+ NAIF_BODY_CODE += ( -76253 )
+
+ NAIF_BODY_NAME += ( 'MSL_REMS_BOOM1_ATS' )
+ NAIF_BODY_CODE += ( -76254 )
+
+ NAIF_BODY_NAME += ( 'MSL_REMS_BOOM1_GTS' )
+ NAIF_BODY_CODE += ( -76255 )
+
+ NAIF_BODY_NAME += ( 'MSL_REMS_BOOM1_TIP' )
+ NAIF_BODY_CODE += ( -76256 )
+
+ NAIF_BODY_NAME += ( 'MSL_REMS_BOOM2' )
+ NAIF_BODY_CODE += ( -76260 )
+
+ NAIF_BODY_NAME += ( 'MSL_REMS_BOOM2_WS1' )
+ NAIF_BODY_CODE += ( -76261 )
+
+ NAIF_BODY_NAME += ( 'MSL_REMS_BOOM2_WS2' )
+ NAIF_BODY_CODE += ( -76262 )
+
+ NAIF_BODY_NAME += ( 'MSL_REMS_BOOM2_WS3' )
+ NAIF_BODY_CODE += ( -76263 )
+
+ NAIF_BODY_NAME += ( 'MSL_REMS_BOOM2_ATS' )
+ NAIF_BODY_CODE += ( -76264 )
+
+ NAIF_BODY_NAME += ( 'MSL_REMS_BOOM2_HS' )
+ NAIF_BODY_CODE += ( -76265 )
+
+ NAIF_BODY_NAME += ( 'MSL_REMS_BOOM2_TIP' )
+ NAIF_BODY_CODE += ( -76266 )
+
+ NAIF_BODY_NAME += ( 'MSL_RA_BASE' )
+ NAIF_BODY_CODE += ( -76300 )
+
+ NAIF_BODY_NAME += ( 'MSL_RA_SHOULDER_AZ' )
+ NAIF_BODY_CODE += ( -76301 )
+
+ NAIF_BODY_NAME += ( 'MSL_RA_SHOULDER_EL' )
+ NAIF_BODY_CODE += ( -76302 )
+
+ NAIF_BODY_NAME += ( 'MSL_RA_ELBOW' )
+ NAIF_BODY_CODE += ( -76303 )
+
+ NAIF_BODY_NAME += ( 'MSL_RA_WRIST' )
+ NAIF_BODY_CODE += ( -76304 )
+
+ NAIF_BODY_NAME += ( 'MSL_RA_TURRET' )
+ NAIF_BODY_CODE += ( -76305 )
+
+ NAIF_BODY_NAME += ( 'MSL_RA_TURRET_HEAD' )
+ NAIF_BODY_CODE += ( -76306 )
+
+ NAIF_BODY_NAME += ( 'MSL_MAHLI_REF' )
+ NAIF_BODY_CODE += ( -76310 )
+
+ NAIF_BODY_NAME += ( 'MSL_MAHLI' )
+ NAIF_BODY_CODE += ( -76311 )
+
+ NAIF_BODY_NAME += ( 'MSL_APXS_REF' )
+ NAIF_BODY_CODE += ( -76320 )
+
+ NAIF_BODY_NAME += ( 'MSL_APXS' )
+ NAIF_BODY_CODE += ( -76321 )
+
+ NAIF_BODY_NAME += ( 'MSL_PADS_REF' )
+ NAIF_BODY_CODE += ( -76330 )
+
+ NAIF_BODY_NAME += ( 'MSL_PADS' )
+ NAIF_BODY_CODE += ( -76331 )
+
+ NAIF_BODY_NAME += ( 'MSL_DRT_REF' )
+ NAIF_BODY_CODE += ( -76340 )
+
+ NAIF_BODY_NAME += ( 'MSL_DRT' )
+ NAIF_BODY_CODE += ( -76341 )
+
+ NAIF_BODY_NAME += ( 'MSL_CHIMRA_REF' )
+ NAIF_BODY_CODE += ( -76350 )
+
+ NAIF_BODY_NAME += ( 'MSL_CHIMRA' )
+ NAIF_BODY_CODE += ( -76351 )
+
+ NAIF_BODY_NAME += ( 'MSL_FD_RESTRAINT_PORT' )
+ NAIF_BODY_CODE += ( -76401 )
+
+ NAIF_BODY_NAME += ( 'MSL_FD_RESTRAINT_SBRD' )
+ NAIF_BODY_CODE += ( -76402 )
+
+ NAIF_BODY_NAME += ( 'MSL_FD_DECK_SIDE_PORT' )
+ NAIF_BODY_CODE += ( -76403 )
+
+ NAIF_BODY_NAME += ( 'MSL_FD_DECK_FRONT_PORT' )
+ NAIF_BODY_CODE += ( -76404 )
+
+ NAIF_BODY_NAME += ( 'MSL_FD_DECK_CENTER_PORT' )
+ NAIF_BODY_CODE += ( -76405 )
+
+ NAIF_BODY_NAME += ( 'MSL_FD_DECK_CENTER_SBRD' )
+ NAIF_BODY_CODE += ( -76406 )
+
+ NAIF_BODY_NAME += ( 'MSL_FD_DECK_FRONT_SBRD' )
+ NAIF_BODY_CODE += ( -76407 )
+
+ NAIF_BODY_NAME += ( 'MSL_FD_OCM_PORT' )
+ NAIF_BODY_CODE += ( -76408 )
+
+ NAIF_BODY_NAME += ( 'MSL_FD_OCM_CENTER' )
+ NAIF_BODY_CODE += ( -76409 )
+
+ NAIF_BODY_NAME += ( 'MSL_FD_OCM_STARBOARD' )
+ NAIF_BODY_CODE += ( -76410 )
+
+ NAIF_BODY_NAME += ( 'MSL_SCI_OBS_TRAY' )
+ NAIF_BODY_CODE += ( -76411 )
+
+ NAIF_BODY_NAME += ( 'MSL_ENG_OBS_TRAY' )
+ NAIF_BODY_CODE += ( -76412 )
+
+ NAIF_BODY_NAME += ( 'MSL_BIT_BOX_1_TARGET' )
+ NAIF_BODY_CODE += ( -76413 )
+
+ NAIF_BODY_NAME += ( 'MSL_BIT_BOX_2_TARGET' )
+ NAIF_BODY_CODE += ( -76414 )
+
+ NAIF_BODY_NAME += ( 'MSL_OCM_LOCATION_1' )
+ NAIF_BODY_CODE += ( -76415 )
+
+ NAIF_BODY_NAME += ( 'MSL_OCM_LOCATION_2' )
+ NAIF_BODY_CODE += ( -76416 )
+
+ NAIF_BODY_NAME += ( 'MSL_OCM_LOCATION_3' )
+ NAIF_BODY_CODE += ( -76417 )
+
+ NAIF_BODY_NAME += ( 'MSL_OCM_LOCATION_4' )
+ NAIF_BODY_CODE += ( -76418 )
+
+ NAIF_BODY_NAME += ( 'MSL_OCM_LOCATION_5' )
+ NAIF_BODY_CODE += ( -76419 )
+
+ NAIF_BODY_NAME += ( 'MSL_OCM_LOCATION_6' )
+ NAIF_BODY_CODE += ( -76420 )
+
+ NAIF_BODY_NAME += ( 'MSL_APXS_CALTARGET' )
+ NAIF_BODY_CODE += ( -76421 )
+
+ NAIF_BODY_NAME += ( 'MSL_MAHLI_CALTARGET' )
+ NAIF_BODY_CODE += ( -76422 )
+
+ NAIF_BODY_NAME += ( 'MSL_CCAM_CAL1' )
+ NAIF_BODY_CODE += ( -76423 )
+
+ NAIF_BODY_NAME += ( 'MSL_CCAM_CAL2' )
+ NAIF_BODY_CODE += ( -76424 )
+
+ NAIF_BODY_NAME += ( 'MSL_CCAM_CAL3' )
+ NAIF_BODY_CODE += ( -76425 )
+
+ NAIF_BODY_NAME += ( 'MSL_CCAM_CAL4' )
+ NAIF_BODY_CODE += ( -76426 )
+
+ NAIF_BODY_NAME += ( 'MSL_CCAM_CAL5' )
+ NAIF_BODY_CODE += ( -76427 )
+
+ NAIF_BODY_NAME += ( 'MSL_CCAM_CAL6' )
+ NAIF_BODY_CODE += ( -76428 )
+
+ NAIF_BODY_NAME += ( 'MSL_CCAM_CAL7' )
+ NAIF_BODY_CODE += ( -76429 )
+
+ NAIF_BODY_NAME += ( 'MSL_CCAM_CAL8' )
+ NAIF_BODY_CODE += ( -76430 )
+
+ NAIF_BODY_NAME += ( 'MSL_CCAM_CAL9' )
+ NAIF_BODY_CODE += ( -76431 )
+
+ NAIF_BODY_NAME += ( 'MSL_CCAM_CAL10' )
+ NAIF_BODY_CODE += ( -76432 )
+
+ NAIF_BODY_NAME += ( 'MSL_MCAM_CAL' )
+ NAIF_BODY_CODE += ( -76433 )
+
+ \begintext
+
+ MSL site name to NAIF ID mappings.
+
+ \begindata
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_1' )
+ NAIF_BODY_CODE += ( -76501 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_2' )
+ NAIF_BODY_CODE += ( -76502 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_3' )
+ NAIF_BODY_CODE += ( -76503 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_4' )
+ NAIF_BODY_CODE += ( -76504 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_5' )
+ NAIF_BODY_CODE += ( -76505 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_6' )
+ NAIF_BODY_CODE += ( -76506 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_7' )
+ NAIF_BODY_CODE += ( -76507 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_8' )
+ NAIF_BODY_CODE += ( -76508 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_9' )
+ NAIF_BODY_CODE += ( -76509 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_10' )
+ NAIF_BODY_CODE += ( -76510 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_11' )
+ NAIF_BODY_CODE += ( -76511 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_12' )
+ NAIF_BODY_CODE += ( -76512 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_13' )
+ NAIF_BODY_CODE += ( -76513 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_14' )
+ NAIF_BODY_CODE += ( -76514 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_15' )
+ NAIF_BODY_CODE += ( -76515 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_16' )
+ NAIF_BODY_CODE += ( -76516 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_17' )
+ NAIF_BODY_CODE += ( -76517 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_18' )
+ NAIF_BODY_CODE += ( -76518 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_19' )
+ NAIF_BODY_CODE += ( -76519 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_20' )
+ NAIF_BODY_CODE += ( -76520 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_21' )
+ NAIF_BODY_CODE += ( -76521 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_22' )
+ NAIF_BODY_CODE += ( -76522 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_23' )
+ NAIF_BODY_CODE += ( -76523 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_24' )
+ NAIF_BODY_CODE += ( -76524 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_25' )
+ NAIF_BODY_CODE += ( -76525 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_26' )
+ NAIF_BODY_CODE += ( -76526 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_27' )
+ NAIF_BODY_CODE += ( -76527 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_28' )
+ NAIF_BODY_CODE += ( -76528 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_29' )
+ NAIF_BODY_CODE += ( -76529 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_30' )
+ NAIF_BODY_CODE += ( -76530 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_31' )
+ NAIF_BODY_CODE += ( -76531 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_32' )
+ NAIF_BODY_CODE += ( -76532 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_33' )
+ NAIF_BODY_CODE += ( -76533 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_34' )
+ NAIF_BODY_CODE += ( -76534 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_35' )
+ NAIF_BODY_CODE += ( -76535 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_36' )
+ NAIF_BODY_CODE += ( -76536 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_37' )
+ NAIF_BODY_CODE += ( -76537 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_38' )
+ NAIF_BODY_CODE += ( -76538 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_39' )
+ NAIF_BODY_CODE += ( -76539 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_40' )
+ NAIF_BODY_CODE += ( -76540 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_41' )
+ NAIF_BODY_CODE += ( -76541 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_42' )
+ NAIF_BODY_CODE += ( -76542 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_43' )
+ NAIF_BODY_CODE += ( -76543 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_44' )
+ NAIF_BODY_CODE += ( -76544 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_45' )
+ NAIF_BODY_CODE += ( -76545 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_46' )
+ NAIF_BODY_CODE += ( -76546 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_47' )
+ NAIF_BODY_CODE += ( -76547 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_48' )
+ NAIF_BODY_CODE += ( -76548 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_49' )
+ NAIF_BODY_CODE += ( -76549 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_50' )
+ NAIF_BODY_CODE += ( -76550 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_51' )
+ NAIF_BODY_CODE += ( -76551 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_52' )
+ NAIF_BODY_CODE += ( -76552 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_53' )
+ NAIF_BODY_CODE += ( -76553 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_54' )
+ NAIF_BODY_CODE += ( -76554 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_55' )
+ NAIF_BODY_CODE += ( -76555 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_56' )
+ NAIF_BODY_CODE += ( -76556 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_57' )
+ NAIF_BODY_CODE += ( -76557 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_58' )
+ NAIF_BODY_CODE += ( -76558 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_59' )
+ NAIF_BODY_CODE += ( -76559 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_60' )
+ NAIF_BODY_CODE += ( -76560 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_61' )
+ NAIF_BODY_CODE += ( -76561 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_62' )
+ NAIF_BODY_CODE += ( -76562 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_63' )
+ NAIF_BODY_CODE += ( -76563 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_64' )
+ NAIF_BODY_CODE += ( -76564 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_65' )
+ NAIF_BODY_CODE += ( -76565 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_66' )
+ NAIF_BODY_CODE += ( -76566 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_67' )
+ NAIF_BODY_CODE += ( -76567 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_68' )
+ NAIF_BODY_CODE += ( -76568 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_69' )
+ NAIF_BODY_CODE += ( -76569 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_70' )
+ NAIF_BODY_CODE += ( -76570 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_71' )
+ NAIF_BODY_CODE += ( -76571 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_72' )
+ NAIF_BODY_CODE += ( -76572 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_73' )
+ NAIF_BODY_CODE += ( -76573 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_74' )
+ NAIF_BODY_CODE += ( -76574 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_75' )
+ NAIF_BODY_CODE += ( -76575 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_76' )
+ NAIF_BODY_CODE += ( -76576 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_77' )
+ NAIF_BODY_CODE += ( -76577 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_78' )
+ NAIF_BODY_CODE += ( -76578 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_79' )
+ NAIF_BODY_CODE += ( -76579 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_80' )
+ NAIF_BODY_CODE += ( -76580 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_81' )
+ NAIF_BODY_CODE += ( -76581 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_82' )
+ NAIF_BODY_CODE += ( -76582 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_83' )
+ NAIF_BODY_CODE += ( -76583 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_84' )
+ NAIF_BODY_CODE += ( -76584 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_85' )
+ NAIF_BODY_CODE += ( -76585 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_86' )
+ NAIF_BODY_CODE += ( -76586 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_87' )
+ NAIF_BODY_CODE += ( -76587 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_88' )
+ NAIF_BODY_CODE += ( -76588 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_89' )
+ NAIF_BODY_CODE += ( -76589 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_90' )
+ NAIF_BODY_CODE += ( -76590 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_91' )
+ NAIF_BODY_CODE += ( -76591 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_92' )
+ NAIF_BODY_CODE += ( -76592 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_93' )
+ NAIF_BODY_CODE += ( -76593 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_94' )
+ NAIF_BODY_CODE += ( -76594 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_95' )
+ NAIF_BODY_CODE += ( -76595 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_96' )
+ NAIF_BODY_CODE += ( -76596 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_97' )
+ NAIF_BODY_CODE += ( -76597 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_98' )
+ NAIF_BODY_CODE += ( -76598 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_99' )
+ NAIF_BODY_CODE += ( -76599 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_100' )
+ NAIF_BODY_CODE += ( -76600 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_101' )
+ NAIF_BODY_CODE += ( -76601 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_102' )
+ NAIF_BODY_CODE += ( -76602 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_103' )
+ NAIF_BODY_CODE += ( -76603 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_104' )
+ NAIF_BODY_CODE += ( -76604 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_105' )
+ NAIF_BODY_CODE += ( -76605 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_106' )
+ NAIF_BODY_CODE += ( -76606 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_107' )
+ NAIF_BODY_CODE += ( -76607 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_108' )
+ NAIF_BODY_CODE += ( -76608 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_109' )
+ NAIF_BODY_CODE += ( -76609 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_110' )
+ NAIF_BODY_CODE += ( -76610 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_111' )
+ NAIF_BODY_CODE += ( -76611 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_112' )
+ NAIF_BODY_CODE += ( -76612 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_113' )
+ NAIF_BODY_CODE += ( -76613 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_114' )
+ NAIF_BODY_CODE += ( -76614 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_115' )
+ NAIF_BODY_CODE += ( -76615 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_116' )
+ NAIF_BODY_CODE += ( -76616 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_117' )
+ NAIF_BODY_CODE += ( -76617 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_118' )
+ NAIF_BODY_CODE += ( -76618 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_119' )
+ NAIF_BODY_CODE += ( -76619 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_120' )
+ NAIF_BODY_CODE += ( -76620 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_121' )
+ NAIF_BODY_CODE += ( -76621 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_122' )
+ NAIF_BODY_CODE += ( -76622 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_123' )
+ NAIF_BODY_CODE += ( -76623 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_124' )
+ NAIF_BODY_CODE += ( -76624 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_125' )
+ NAIF_BODY_CODE += ( -76625 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_126' )
+ NAIF_BODY_CODE += ( -76626 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_127' )
+ NAIF_BODY_CODE += ( -76627 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_128' )
+ NAIF_BODY_CODE += ( -76628 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_129' )
+ NAIF_BODY_CODE += ( -76629 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_130' )
+ NAIF_BODY_CODE += ( -76630 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_131' )
+ NAIF_BODY_CODE += ( -76631 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_132' )
+ NAIF_BODY_CODE += ( -76632 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_133' )
+ NAIF_BODY_CODE += ( -76633 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_134' )
+ NAIF_BODY_CODE += ( -76634 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_135' )
+ NAIF_BODY_CODE += ( -76635 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_136' )
+ NAIF_BODY_CODE += ( -76636 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_137' )
+ NAIF_BODY_CODE += ( -76637 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_138' )
+ NAIF_BODY_CODE += ( -76638 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_139' )
+ NAIF_BODY_CODE += ( -76639 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_140' )
+ NAIF_BODY_CODE += ( -76640 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_141' )
+ NAIF_BODY_CODE += ( -76641 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_142' )
+ NAIF_BODY_CODE += ( -76642 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_143' )
+ NAIF_BODY_CODE += ( -76643 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_144' )
+ NAIF_BODY_CODE += ( -76644 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_145' )
+ NAIF_BODY_CODE += ( -76645 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_146' )
+ NAIF_BODY_CODE += ( -76646 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_147' )
+ NAIF_BODY_CODE += ( -76647 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_148' )
+ NAIF_BODY_CODE += ( -76648 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_149' )
+ NAIF_BODY_CODE += ( -76649 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_150' )
+ NAIF_BODY_CODE += ( -76650 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_151' )
+ NAIF_BODY_CODE += ( -76651 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_152' )
+ NAIF_BODY_CODE += ( -76652 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_153' )
+ NAIF_BODY_CODE += ( -76653 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_154' )
+ NAIF_BODY_CODE += ( -76654 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_155' )
+ NAIF_BODY_CODE += ( -76655 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_156' )
+ NAIF_BODY_CODE += ( -76656 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_157' )
+ NAIF_BODY_CODE += ( -76657 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_158' )
+ NAIF_BODY_CODE += ( -76658 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_159' )
+ NAIF_BODY_CODE += ( -76659 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_160' )
+ NAIF_BODY_CODE += ( -76660 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_161' )
+ NAIF_BODY_CODE += ( -76661 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_162' )
+ NAIF_BODY_CODE += ( -76662 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_163' )
+ NAIF_BODY_CODE += ( -76663 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_164' )
+ NAIF_BODY_CODE += ( -76664 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_165' )
+ NAIF_BODY_CODE += ( -76665 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_166' )
+ NAIF_BODY_CODE += ( -76666 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_167' )
+ NAIF_BODY_CODE += ( -76667 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_168' )
+ NAIF_BODY_CODE += ( -76668 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_169' )
+ NAIF_BODY_CODE += ( -76669 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_170' )
+ NAIF_BODY_CODE += ( -76670 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_171' )
+ NAIF_BODY_CODE += ( -76671 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_172' )
+ NAIF_BODY_CODE += ( -76672 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_173' )
+ NAIF_BODY_CODE += ( -76673 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_174' )
+ NAIF_BODY_CODE += ( -76674 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_175' )
+ NAIF_BODY_CODE += ( -76675 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_176' )
+ NAIF_BODY_CODE += ( -76676 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_177' )
+ NAIF_BODY_CODE += ( -76677 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_178' )
+ NAIF_BODY_CODE += ( -76678 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_179' )
+ NAIF_BODY_CODE += ( -76679 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_180' )
+ NAIF_BODY_CODE += ( -76680 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_181' )
+ NAIF_BODY_CODE += ( -76681 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_182' )
+ NAIF_BODY_CODE += ( -76682 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_183' )
+ NAIF_BODY_CODE += ( -76683 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_184' )
+ NAIF_BODY_CODE += ( -76684 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_185' )
+ NAIF_BODY_CODE += ( -76685 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_186' )
+ NAIF_BODY_CODE += ( -76686 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_187' )
+ NAIF_BODY_CODE += ( -76687 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_188' )
+ NAIF_BODY_CODE += ( -76688 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_189' )
+ NAIF_BODY_CODE += ( -76689 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_190' )
+ NAIF_BODY_CODE += ( -76690 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_191' )
+ NAIF_BODY_CODE += ( -76691 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_192' )
+ NAIF_BODY_CODE += ( -76692 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_193' )
+ NAIF_BODY_CODE += ( -76693 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_194' )
+ NAIF_BODY_CODE += ( -76694 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_195' )
+ NAIF_BODY_CODE += ( -76695 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_196' )
+ NAIF_BODY_CODE += ( -76696 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_197' )
+ NAIF_BODY_CODE += ( -76697 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_198' )
+ NAIF_BODY_CODE += ( -76698 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_199' )
+ NAIF_BODY_CODE += ( -76699 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_200' )
+ NAIF_BODY_CODE += ( -76700 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_201' )
+ NAIF_BODY_CODE += ( -76701 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_202' )
+ NAIF_BODY_CODE += ( -76702 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_203' )
+ NAIF_BODY_CODE += ( -76703 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_204' )
+ NAIF_BODY_CODE += ( -76704 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_205' )
+ NAIF_BODY_CODE += ( -76705 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_206' )
+ NAIF_BODY_CODE += ( -76706 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_207' )
+ NAIF_BODY_CODE += ( -76707 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_208' )
+ NAIF_BODY_CODE += ( -76708 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_209' )
+ NAIF_BODY_CODE += ( -76709 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_210' )
+ NAIF_BODY_CODE += ( -76710 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_211' )
+ NAIF_BODY_CODE += ( -76711 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_212' )
+ NAIF_BODY_CODE += ( -76712 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_213' )
+ NAIF_BODY_CODE += ( -76713 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_214' )
+ NAIF_BODY_CODE += ( -76714 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_215' )
+ NAIF_BODY_CODE += ( -76715 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_216' )
+ NAIF_BODY_CODE += ( -76716 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_217' )
+ NAIF_BODY_CODE += ( -76717 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_218' )
+ NAIF_BODY_CODE += ( -76718 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_219' )
+ NAIF_BODY_CODE += ( -76719 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_220' )
+ NAIF_BODY_CODE += ( -76720 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_221' )
+ NAIF_BODY_CODE += ( -76721 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_222' )
+ NAIF_BODY_CODE += ( -76722 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_223' )
+ NAIF_BODY_CODE += ( -76723 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_224' )
+ NAIF_BODY_CODE += ( -76724 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_225' )
+ NAIF_BODY_CODE += ( -76725 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_226' )
+ NAIF_BODY_CODE += ( -76726 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_227' )
+ NAIF_BODY_CODE += ( -76727 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_228' )
+ NAIF_BODY_CODE += ( -76728 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_229' )
+ NAIF_BODY_CODE += ( -76729 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_230' )
+ NAIF_BODY_CODE += ( -76730 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_231' )
+ NAIF_BODY_CODE += ( -76731 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_232' )
+ NAIF_BODY_CODE += ( -76732 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_233' )
+ NAIF_BODY_CODE += ( -76733 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_234' )
+ NAIF_BODY_CODE += ( -76734 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_235' )
+ NAIF_BODY_CODE += ( -76735 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_236' )
+ NAIF_BODY_CODE += ( -76736 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_237' )
+ NAIF_BODY_CODE += ( -76737 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_238' )
+ NAIF_BODY_CODE += ( -76738 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_239' )
+ NAIF_BODY_CODE += ( -76739 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_240' )
+ NAIF_BODY_CODE += ( -76740 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_241' )
+ NAIF_BODY_CODE += ( -76741 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_242' )
+ NAIF_BODY_CODE += ( -76742 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_243' )
+ NAIF_BODY_CODE += ( -76743 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_244' )
+ NAIF_BODY_CODE += ( -76744 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_245' )
+ NAIF_BODY_CODE += ( -76745 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_246' )
+ NAIF_BODY_CODE += ( -76746 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_247' )
+ NAIF_BODY_CODE += ( -76747 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_248' )
+ NAIF_BODY_CODE += ( -76748 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_249' )
+ NAIF_BODY_CODE += ( -76749 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_250' )
+ NAIF_BODY_CODE += ( -76750 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_251' )
+ NAIF_BODY_CODE += ( -76751 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_252' )
+ NAIF_BODY_CODE += ( -76752 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_253' )
+ NAIF_BODY_CODE += ( -76753 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_254' )
+ NAIF_BODY_CODE += ( -76754 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_255' )
+ NAIF_BODY_CODE += ( -76755 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_256' )
+ NAIF_BODY_CODE += ( -76756 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_257' )
+ NAIF_BODY_CODE += ( -76757 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_258' )
+ NAIF_BODY_CODE += ( -76758 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_259' )
+ NAIF_BODY_CODE += ( -76759 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_260' )
+ NAIF_BODY_CODE += ( -76760 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_261' )
+ NAIF_BODY_CODE += ( -76761 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_262' )
+ NAIF_BODY_CODE += ( -76762 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_263' )
+ NAIF_BODY_CODE += ( -76763 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_264' )
+ NAIF_BODY_CODE += ( -76764 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_265' )
+ NAIF_BODY_CODE += ( -76765 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_266' )
+ NAIF_BODY_CODE += ( -76766 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_267' )
+ NAIF_BODY_CODE += ( -76767 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_268' )
+ NAIF_BODY_CODE += ( -76768 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_269' )
+ NAIF_BODY_CODE += ( -76769 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_270' )
+ NAIF_BODY_CODE += ( -76770 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_271' )
+ NAIF_BODY_CODE += ( -76771 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_272' )
+ NAIF_BODY_CODE += ( -76772 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_273' )
+ NAIF_BODY_CODE += ( -76773 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_274' )
+ NAIF_BODY_CODE += ( -76774 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_275' )
+ NAIF_BODY_CODE += ( -76775 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_276' )
+ NAIF_BODY_CODE += ( -76776 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_277' )
+ NAIF_BODY_CODE += ( -76777 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_278' )
+ NAIF_BODY_CODE += ( -76778 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_279' )
+ NAIF_BODY_CODE += ( -76779 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_280' )
+ NAIF_BODY_CODE += ( -76780 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_281' )
+ NAIF_BODY_CODE += ( -76781 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_282' )
+ NAIF_BODY_CODE += ( -76782 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_283' )
+ NAIF_BODY_CODE += ( -76783 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_284' )
+ NAIF_BODY_CODE += ( -76784 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_285' )
+ NAIF_BODY_CODE += ( -76785 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_286' )
+ NAIF_BODY_CODE += ( -76786 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_287' )
+ NAIF_BODY_CODE += ( -76787 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_288' )
+ NAIF_BODY_CODE += ( -76788 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_289' )
+ NAIF_BODY_CODE += ( -76789 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_290' )
+ NAIF_BODY_CODE += ( -76790 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_291' )
+ NAIF_BODY_CODE += ( -76791 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_292' )
+ NAIF_BODY_CODE += ( -76792 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_293' )
+ NAIF_BODY_CODE += ( -76793 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_294' )
+ NAIF_BODY_CODE += ( -76794 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_295' )
+ NAIF_BODY_CODE += ( -76795 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_296' )
+ NAIF_BODY_CODE += ( -76796 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_297' )
+ NAIF_BODY_CODE += ( -76797 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_298' )
+ NAIF_BODY_CODE += ( -76798 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_299' )
+ NAIF_BODY_CODE += ( -76799 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_300' )
+ NAIF_BODY_CODE += ( -76800 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_301' )
+ NAIF_BODY_CODE += ( -76801 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_302' )
+ NAIF_BODY_CODE += ( -76802 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_303' )
+ NAIF_BODY_CODE += ( -76803 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_304' )
+ NAIF_BODY_CODE += ( -76804 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_305' )
+ NAIF_BODY_CODE += ( -76805 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_306' )
+ NAIF_BODY_CODE += ( -76806 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_307' )
+ NAIF_BODY_CODE += ( -76807 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_308' )
+ NAIF_BODY_CODE += ( -76808 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_309' )
+ NAIF_BODY_CODE += ( -76809 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_310' )
+ NAIF_BODY_CODE += ( -76810 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_311' )
+ NAIF_BODY_CODE += ( -76811 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_312' )
+ NAIF_BODY_CODE += ( -76812 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_313' )
+ NAIF_BODY_CODE += ( -76813 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_314' )
+ NAIF_BODY_CODE += ( -76814 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_315' )
+ NAIF_BODY_CODE += ( -76815 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_316' )
+ NAIF_BODY_CODE += ( -76816 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_317' )
+ NAIF_BODY_CODE += ( -76817 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_318' )
+ NAIF_BODY_CODE += ( -76818 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_319' )
+ NAIF_BODY_CODE += ( -76819 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_320' )
+ NAIF_BODY_CODE += ( -76820 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_321' )
+ NAIF_BODY_CODE += ( -76821 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_322' )
+ NAIF_BODY_CODE += ( -76822 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_323' )
+ NAIF_BODY_CODE += ( -76823 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_324' )
+ NAIF_BODY_CODE += ( -76824 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_325' )
+ NAIF_BODY_CODE += ( -76825 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_326' )
+ NAIF_BODY_CODE += ( -76826 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_327' )
+ NAIF_BODY_CODE += ( -76827 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_328' )
+ NAIF_BODY_CODE += ( -76828 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_329' )
+ NAIF_BODY_CODE += ( -76829 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_330' )
+ NAIF_BODY_CODE += ( -76830 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_331' )
+ NAIF_BODY_CODE += ( -76831 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_332' )
+ NAIF_BODY_CODE += ( -76832 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_333' )
+ NAIF_BODY_CODE += ( -76833 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_334' )
+ NAIF_BODY_CODE += ( -76834 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_335' )
+ NAIF_BODY_CODE += ( -76835 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_336' )
+ NAIF_BODY_CODE += ( -76836 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_337' )
+ NAIF_BODY_CODE += ( -76837 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_338' )
+ NAIF_BODY_CODE += ( -76838 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_339' )
+ NAIF_BODY_CODE += ( -76839 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_340' )
+ NAIF_BODY_CODE += ( -76840 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_341' )
+ NAIF_BODY_CODE += ( -76841 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_342' )
+ NAIF_BODY_CODE += ( -76842 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_343' )
+ NAIF_BODY_CODE += ( -76843 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_344' )
+ NAIF_BODY_CODE += ( -76844 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_345' )
+ NAIF_BODY_CODE += ( -76845 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_346' )
+ NAIF_BODY_CODE += ( -76846 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_347' )
+ NAIF_BODY_CODE += ( -76847 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_348' )
+ NAIF_BODY_CODE += ( -76848 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_349' )
+ NAIF_BODY_CODE += ( -76849 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_350' )
+ NAIF_BODY_CODE += ( -76850 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_351' )
+ NAIF_BODY_CODE += ( -76851 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_352' )
+ NAIF_BODY_CODE += ( -76852 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_353' )
+ NAIF_BODY_CODE += ( -76853 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_354' )
+ NAIF_BODY_CODE += ( -76854 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_355' )
+ NAIF_BODY_CODE += ( -76855 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_356' )
+ NAIF_BODY_CODE += ( -76856 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_357' )
+ NAIF_BODY_CODE += ( -76857 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_358' )
+ NAIF_BODY_CODE += ( -76858 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_359' )
+ NAIF_BODY_CODE += ( -76859 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_360' )
+ NAIF_BODY_CODE += ( -76860 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_361' )
+ NAIF_BODY_CODE += ( -76861 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_362' )
+ NAIF_BODY_CODE += ( -76862 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_363' )
+ NAIF_BODY_CODE += ( -76863 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_364' )
+ NAIF_BODY_CODE += ( -76864 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_365' )
+ NAIF_BODY_CODE += ( -76865 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_366' )
+ NAIF_BODY_CODE += ( -76866 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_367' )
+ NAIF_BODY_CODE += ( -76867 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_368' )
+ NAIF_BODY_CODE += ( -76868 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_369' )
+ NAIF_BODY_CODE += ( -76869 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_370' )
+ NAIF_BODY_CODE += ( -76870 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_371' )
+ NAIF_BODY_CODE += ( -76871 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_372' )
+ NAIF_BODY_CODE += ( -76872 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_373' )
+ NAIF_BODY_CODE += ( -76873 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_374' )
+ NAIF_BODY_CODE += ( -76874 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_375' )
+ NAIF_BODY_CODE += ( -76875 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_376' )
+ NAIF_BODY_CODE += ( -76876 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_377' )
+ NAIF_BODY_CODE += ( -76877 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_378' )
+ NAIF_BODY_CODE += ( -76878 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_379' )
+ NAIF_BODY_CODE += ( -76879 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_380' )
+ NAIF_BODY_CODE += ( -76880 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_381' )
+ NAIF_BODY_CODE += ( -76881 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_382' )
+ NAIF_BODY_CODE += ( -76882 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_383' )
+ NAIF_BODY_CODE += ( -76883 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_384' )
+ NAIF_BODY_CODE += ( -76884 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_385' )
+ NAIF_BODY_CODE += ( -76885 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_386' )
+ NAIF_BODY_CODE += ( -76886 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_387' )
+ NAIF_BODY_CODE += ( -76887 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_388' )
+ NAIF_BODY_CODE += ( -76888 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_389' )
+ NAIF_BODY_CODE += ( -76889 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_390' )
+ NAIF_BODY_CODE += ( -76890 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_391' )
+ NAIF_BODY_CODE += ( -76891 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_392' )
+ NAIF_BODY_CODE += ( -76892 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_393' )
+ NAIF_BODY_CODE += ( -76893 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_394' )
+ NAIF_BODY_CODE += ( -76894 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_395' )
+ NAIF_BODY_CODE += ( -76895 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_396' )
+ NAIF_BODY_CODE += ( -76896 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_397' )
+ NAIF_BODY_CODE += ( -76897 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_398' )
+ NAIF_BODY_CODE += ( -76898 )
+
+ NAIF_BODY_NAME += ( 'MSL_SITE_399' )
+ NAIF_BODY_CODE += ( -76899 )
+
+ \begintext
+
+End of FK file.
diff --git a/tests/pytests/data/2264ML0121141200805116C00_DRCL/naif0012.tls b/tests/pytests/data/2264ML0121141200805116C00_DRCL/naif0012.tls
new file mode 100755
index 0000000000000000000000000000000000000000..e1afdee1b626e01a3f1b04ef8a43154e83972e56
--- /dev/null
+++ b/tests/pytests/data/2264ML0121141200805116C00_DRCL/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/2264ML0121141200805116C00_DRCL/pck00008.tpc b/tests/pytests/data/2264ML0121141200805116C00_DRCL/pck00008.tpc
new file mode 100755
index 0000000000000000000000000000000000000000..5bab4d06a5c9eebb715d1b50f3e4bc3fbfb4e63b
--- /dev/null
+++ b/tests/pytests/data/2264ML0121141200805116C00_DRCL/pck00008.tpc
@@ -0,0 +1,3381 @@
+KPL/PCK
+P_constants (PcK) SPICE kernel file
+===========================================================================
+
+ By: Nat Bachman (NAIF) 2004 September 21
+
+
+File Organization
+--------------------------------------------------------
+
+ The contents of this file are as follows.
+
+ Introductory Information:
+
+ -- File Organization
+
+ -- Version description
+
+ -- Disclaimer
+
+ -- Sources
+
+ -- Explanation
+
+ -- Body numbers and names
+
+
+ PcK Data:
+
+
+ Orientation Data
+ ----------------
+
+ -- Orientation constants for the Sun and planets.
+ Additional items included in this section:
+
+ - Earth north geomagnetic centered dipole values
+ for epochs 1945-2000
+
+ - Mars prime meridian offset "lambda_a"
+
+ -- Orientation constants for satellites
+
+ -- Orientation constants for asteroids Gaspra, Ida,
+ Vesta, and Eros
+
+
+ Radii of Bodies
+ ---------------
+
+ -- Radii of Sun and planets
+
+ -- Radii of satellites, where available
+
+ -- Radii of asteroids Gaspra, Ida, Kleopatra, and Eros
+
+
+
+Version description
+--------------------------------------------------------
+
+ This file was created on September 21, 2004. This version
+ incorporates data from reference [2]: "Report of the IAU/IAG
+ Working Group on Cartographic Coordinates and Rotational Elements
+ of the Planets and Satellites: 2000." Note that the 2003
+ version of this report is as yet unpublished.
+
+ This file contains size, shape, and orientation data for all
+ objects described by the previous version of the file, plus data
+ for the asteroids Vesta, Kleopatra, and Eros.
+
+
+Disclaimer
+--------------------------------------------------------
+
+
+Applicability of Data
+
+ This constants file may not contain the parameter values that
+ you prefer. Note that this file may be readily modified by
+ you or anyone else. NAIF suggests that you inspect this file
+ visually before proceeding with any critical or extended
+ data processing.
+
+File Modifications by Users
+
+ NAIF requests that you update the "by line" and date if you
+ modify this file.
+
+Known Limitations and Caveats
+
+ In general, the orientation models given here are claimed by the
+ IAU/IAG Working Group Report [2] to be accurate to 0.1 degree
+ ([2], p.85). 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.
+
+
+ NAIF strongly cautions against using the earth rotation model
+ (from [2]) given here 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. NAIF employs an automated process to
+ create these files; each time JPL's section 335 produces a new
+ earth orientation parameter (EOP) file, a new PCK is produced.
+ These PCKs cover a 12-month time span starting about nine
+ months prior to the current date. 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 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 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 back to 1972
+ and *low accuracy* predicted earth orientation to 2023 are also
+ available in the same location.
+
+ How does the rotation model used in the long term predict
+ binary earth PCK compare to that used in this file? Because of
+ the unpredictability of the earth's orientation, in particular
+ of its spin, it's not possible to answer with certainty.
+ However, we can make these observations:
+
+ - The long term predict binary PCK presumably does a better
+ job of predicting the orientation of the earth's equator
+ since the binary PCK accounts for nutation and the model
+ from [2] does not.
+
+ - The prime meridian error in the model from [2] amounts
+ to, at a minimum, about 10 seconds of rotation. It should
+ take years for the spin error of the binary long term
+ predict PCK to grow as large.
+
+ Characteristics and names of the binary kernels described here
+ are subject to change. Contact NAIF for details concerning
+ binary earth PCKs.
+
+
+ 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
+ J2000 epoch 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 the geomagnetic field model
+ from which these values were derived, including a discussion of
+ the model's accuracy, see [13].
+
+
+ The Mars prime meridian offset given by [10] is not used by
+ SPICE geometry software for computations involving the shape
+ of Mars (for example, in sub-observer point or surface intercept
+ computations). The value is provided for informational
+ purposes only.
+
+
+ SPICE Toolkits prior to version N0057 cannot make use of
+ trigonometric polynomial terms in the formulas for orientation of
+ the planets. The only planet for which such terms are used is
+ Neptune. Use of trigonometric polynomial terms for natural
+ satellites is and has been supported for all SPICE Toolkit
+ versions.
+
+
+
+
+
+Sources
+--------------------------------------------------------
+
+ The sources for the constants listed in this file are:
+
+ [1] Seidelmann, P.K., Archinal, B.A., A'Hearn, M.F.,
+ Cruikshank, D.P., Hilton, J.L., Keller, H.U., Oberst, J.,
+ Simon, J.L., Stooke, P., Tholen, D.J., and Thomas, P.C.
+ "Report of the IAU/IAG Working Group on Cartographic
+ Coordinates and Rotational Elements of the Planets and
+ Satellites: 2003," Unpublished.
+
+ [2] 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, P., 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.82, Issue 1, pp. 83-111.
+
+ [3] Davies, M.E., Abalakin, V.K., Bursa, M., Kinoshita, H.,
+ Kirk, R.L., Lieske, J.H., Marov, M.Ya., Seidelmann, P.K.,
+ and Simon, J.-L. "Report of the IAU/IAG/COSPAR Working
+ Group on Cartographic Coordinates and Rotational Elements
+ of the Planets and Satellites: 1997," Unpublished.
+
+ [4] Davies, M.E., Abalakin, V.K., Bursa, M., Lieske, J.H.,
+ Morando, B., Morrison, D., Seidelmann, P.K., Sinclair,
+ A.T., Yallop, B., and Tjuflin, Y.S. (1996). "Report of
+ the IAU/IAG/COSPAR Working Group on Cartographic
+ Coordinates and Rotational Elements of the Planets and
+ Satellites: 1994," Celestial Mechanics and Dynamical
+ Astronomy, v.63, pp. 127-148.
+
+ [5] Davies, M.E., Abalakin, V.K., Brahic, A., Bursa, M.,
+ Chovitz., B.H., Lieske, J.H., Seidelmann, P.K.,
+ Sinclair, A.T., and Tiuflin, I.S. (1992). "Report of the
+ IAU/IAG/COSPAR Working Group on Cartographic Coordinates
+ and Rotational Elements of the Planets and Satellites:
+ 1991," Celestial Mechanics and Dynamical Astronomy,
+ v.53, no.4, pp. 377-397.
+
+ [6] 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.
+
+ [7] Nautical Almanac Office, United States Naval Observatory
+ and H.M. Nautical Almanac Office, Rutherford Appleton
+ Laboratory (2005). "The Astronomical Almanac for
+ the Year 2005," U.S. Government Printing Office,
+ Washington, D.C.: and The Stationary Office, London.
+
+ [8] Nautical Almanac Office, United States Naval Observatory,
+ H.M. Nautical Almanac Office, Royal Greenwich
+ Observatory, Jet Propulsion Laboratory, Bureau des
+ Longitudes, and The Time Service and Astronomy
+ Departments, United States Naval Observatory (1992).
+ "Explanatory Supplement to the Astronomical Almanac," P.
+ Kenneth Seidelmann, ed. University Science Books, 20
+ Edgehill Road, Mill Valley, CA 9494.
+
+ [9] Duxbury, Thomas C. (2001). "IAU/IAG 2000 Mars Cartographic
+ Conventions," presentation to the Mars Express Data
+ Archive Working Group, Dec. 14, 2001.
+
+ [10] 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.
+
+ [11] Russell, C.T. (1971). "Geophysical Coordinate
+ Transformations," Cosmic Electrodynamics 2 184-186.
+ NAIF document 181.0.
+
+ [12] 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>.
+
+ [13] 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>.
+
+ [14] Duxbury, Thomas C. (1979). "Planetary Geodetic Control
+ Using Satellite Imaging," Journal of Geophysical Research,
+ vol. 84, no. B3. This paper is cataloged as NAIF
+ document 190.0.
+
+ [15] Letter from Thomas C. Duxbury to Dr. Ephraim Lazeryevich
+ Akim, Keldish Institute of Applied Mathematics, USSR
+ Academy of Sciences, Moscow, USSR. This letter is
+ cataloged as NAIF document number 195.0.
+
+ [16] "Placeholder" values were supplied by NAIF for some radii
+ of the bodies listed below:
+
+ Body NAIF ID code
+ ---- ------------
+ Metis 516
+ Helene 612
+ Larissa 807
+
+ See the discussion below for further information.
+
+
+ Most values are from [2]. All exceptions are
+ commented where they occur in this file. The exceptions are:
+
+
+ -- Radii for the Sun are from [7].
+
+ -- 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.
+
+ -- For several satellites, the 2000 IAU report either gives
+ a single radius value or a polar radius and a single
+ equatorial radius. SPICE Toolkit software that uses body
+ radii expects to find three radii whenever these data are
+ read from the kernel pool. In the cases listed below,
+ NAIF has used the mean radius value for all three radii.
+ Wherever this was done, the fact has been noted.
+
+ The affected satellites are:
+
+ Body NAIF ID code
+ ---- ------------
+ Metis 516
+ Helene 612
+ Larissa 807
+
+ -- Earth north geomagnetic centered dipole values are from
+ [12]. The article [10] was used to check most of
+ these values, and the values were also re-computed from
+ the 9th generation IGRF [13] by Nat Bachman.
+
+ -- The Mars prime meridian offset angle is from [9].
+
+
+ "Old values" listed are from the SPICE P_constants file
+ dated April 24, 2000. Most of these values came from the
+ 1994 IAU report [4].
+
+
+
+
+Explanation
+--------------------------------------------------------
+
+ The SPICE Toolkit software that uses this file is documented in
+ the SPICE "Required Reading" file pck.req. For a terse
+ description of the PCK file format, see the section below titled
+ "File Format." See the SPICE "Required Reading" file 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.
+
+ 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, and satellites. 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.
+
+
+File Format
+
+ 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 token shown
+ here 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 comment block
+ 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 = ( 6378.14 6378.14 6356.75 )
+
+ Any blanks preceding or following keyword names, values and equal
+ sign are ignored.
+
+ Assignments may be spread over multiple lines, for example:
+
+ BODY399_RADII = ( 6378.14
+ 6378.14
+ 6356.75 )
+
+ 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 make the file unreadable by
+ SPICE software.
+
+
+Time systems and reference frames
+
+ The 2000 IAU/IAG Working Group Report [1] states that, to the
+ accuracy of the formulas given, the time system used may be
+ regarded as any of TDB (Barycentric Dynamical Time), TT
+ (Terrestrial time, formerly called TDT), or T_eph (the independent
+ variable of the JPL planetary ephemerides). Reference [2], from
+ which most data in this report were taken, erroneously identifies
+ the time system as TCB (Barycentric Coordinate Time).
+
+ SPICE software treats the time system used in this file as T_eph,
+ but for historical reasons SPICE documentation refers to the time
+ system as both "ET" and "TDB." For consistency, documentation in
+ this version of the file retains use of the name TDB.
+
+ The origin of the time system is 2000 January 1 12:00:00 (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.
+
+ The inertial reference frame used for the rotational elements in
+ this file is identified by [1] as the ICRF (International
+ Celestial Reference Frame). In this file, the frame is treated
+ as J2000. 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
+ body orientation. To be precise, the Euler angles 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 J2000 (also called "EME2000"), but other
+ frames can be specified in the file. See the PCK Required Reading
+ for details.
+
+ The first two angles, in order, are the J2000 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 the Sun and planets, 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. Some
+ coefficients may be zero. Currently Neptune is the only planet
+ for which trigonometric polynomial terms are used.
+
+ 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, but
+ other epochs can be specified in the file. See the PCK Required
+ Reading for details.
+
+ Example: 1991 IAU Model for orientation of the Earth. Note that
+ these values are used as an example only; see the data area below
+ for current values.
+
+
+ alpha = 0.00 - 0.641 T ( RA )
+ 0
+
+ delta = 90.0 - 0.557 T ( DEC )
+ 0
+
+ W = 190.16 + 360.9856235 d ( Prime meridian )
+
+
+ T represents centuries past J2000 ( TDB ),
+
+ d represents days past J2000 ( TDB ).
+
+ In this file, the polynomials' coefficients above are assigned to the
+ symbols
+
+ BODY399_POLE_RA
+ BODY399_POLE_DEC
+ BODY399_POLE_PM
+
+ as follows:
+
+ BODY399_POLE_RA = ( 0. -0.641 0. )
+ BODY399_POLE_DEC = ( 90. -0.557 0. )
+ BODY399_PM = ( 190.16 360.9856235 0. )
+
+ Note the number "399"; this is the NAIF ID code for the Earth.
+
+ You'll see an additional symbol grouped with the ones listed here; it
+ is
+
+ BODY399_LONG_AXIS
+
+ This term is zero for all bodies except Mars. It represents the
+ angular offset between the meridian containing the longest axis of
+ the triaxial ellipsoid used to model a body and the prime meridian
+ of the body.
+
+ Expressions for satellites are a little more complicated; in addition
+ to polynomial terms, there are 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."
+
+ In this file, the polynomial expressions for the nutation precession
+ angles are listed along with the planet's RA, DEC, and prime meridian
+ terms.
+
+ Example: 1991 IAU nutation precession angles for Earth. Note that these
+ values are used as an example only; see the data area below for current
+ values.
+
+ E1 = 125.045 - 0.052992 d
+ E2 = 250.090 - 0.105984 d
+ E3 = 260.008 + 13.012001 d
+ E4 = 176.625 + 13.340716 d
+ E5 = 357.529 + 0.985600 d
+
+ d represents days past J2000 ( TDB )
+
+ Because the SPICE Toolkit software expects the time units for the
+ angles to be CENTURIES (as in the IAU models for most bodies--the
+ Earth is an exception), the linear coefficients are scaled by
+ 36525.0 (days/century) in the assignments:
+
+ BODY3_NUT_PREC_ANGLES = ( 125.045 -1935.5328
+ 250.090 -3871.0656
+ 260.008 475263.336525
+ 176.625 487269.6519
+ 357.529 35999.04 )
+
+ As stated above, the satellite orientation models use polynomial and
+ trigonometric terms, where the arguments of the trigonometric terms
+ are the "nutation precession angles."
+
+ Example: 1988 IAU values for the Moon. Again, these values are used
+ as an example only; see the data area below for current values.
+
+
+ alpha = 270.000 + 0.003 T - 3.878 sin(E1) - 0.120 sin(E2)
+ 0
+ + 0.070 sin(E3) - 0.017 sin(E4) (RA)
+
+
+ delta = 66.541 + 0.013 T + 1.543 cos(E1) + 0.024 cos(E2)
+ 0
+ - 0.028 cos(E3) + 0.007 cos(E4) (DEC)
+
+
+ W = 38.317 + 13.1763582 d + 3.558 sin(E1)
+
+ + 0.121 sin(E2)
+
+ - 0.064 sin(E3)
+
+ + 0.016 sin(E4)
+
+ + 0.025 sin(E5) ( Prime
+ meridian )
+
+ d represents days past J2000.
+
+ E1--E5 are the nutation precession angles.
+
+ The polynomial terms are assigned to symbols by the statements
+
+ BODY301_POLE_RA = ( 270.000 0.003 0. )
+ BODY301_POLE_DEC = ( 66.541 0.013 0. )
+ BODY301_PM = ( 38.317 13.1763582 0. )
+
+ The coefficients of the trigonometric terms are assigned to symbols by
+ the statements
+
+ BODY301_NUT_PREC_RA = ( -3.878 -0.120 0.070 -0.017 0. )
+ BODY301_NUT_PREC_DEC = ( 1.543 0.024 -0.028 0.007 0. )
+ BODY301_NUT_PREC_PM = ( 3.558 0.121 -0.064 0.016 0.025 )
+
+ Note that for the RA and PM (prime meridian) assignments, the ith term
+ is the coefficient of sin(Ei) in the expression used in the IAU model,
+ while for the DEC assignment, the ith term is the coefficient of
+ cos(Ei) in the expression used in the IAU model.
+
+ 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 2000 IAU report does
+ not use any other models, except in the case of Mars, where
+ separate values are given for the north and south polar radii.
+
+ 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 = ( 6378.14 6378.14 6356.75 )
+
+
+Body numbers 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
+
+ While not relevant to the P_constants kernel, we note here for
+ completeness that 0 is used to represent the solar system
+ barycenter.
+
+ 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
+
+
+ 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
+
+
+ 2000004 Asteroid Vesta
+ 2000216 Asteroid Kleopatra
+ 2000433 Asteroid Eros
+ 2431010 Asteroid Ida
+ 9511010 Asteroid Gaspra
+
+
+Orientation constants for the Sun and planets
+--------------------------------------------------------
+
+
+Sun
+
+ Old values:
+
+ Values are unchanged in the 2000 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY10_POLE_RA = ( 286.13 0. 0. )
+ BODY10_POLE_DEC = ( 63.87 0. 0. )
+ BODY10_PM = ( 84.10 14.18440 0. )
+ BODY10_LONG_AXIS = ( 0. )
+
+ \begintext
+
+Mercury
+
+ Old values:
+
+ body199_pole_ra = ( 281.01, -0.033, 0. )
+ body199_pole_dec = ( 61.45, -0.005, 0. )
+ body199_pm = ( 329.55 6.1385025 0. )
+
+ body199_long_axis = ( 0. )
+
+
+ Current values:
+
+ \begindata
+
+ BODY199_POLE_RA = ( 281.01 -0.033 0. )
+ BODY199_POLE_DEC = ( 61.45 -0.005 0. )
+ BODY199_PM = ( 329.548 6.1385025 0. )
+
+ BODY199_LONG_AXIS = ( 0. )
+
+ \begintext
+
+
+Venus
+
+ Old values:
+
+ Values are unchanged in the 2000 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 shown are from the 1994 IAU report [4].
+
+ body399_pole_ra = ( 0. -0.641 0. )
+ body399_pole_dec = ( 90. -0.557 0. )
+ body399_pm = ( 190.16 360.9856235 0. )
+ body399_long_axis = ( 0. )
+
+ Nutation precession angles are unchanged in the 2000 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:
+
+ Old values:
+
+ Values are from [11]. Note the year of publication was 1971.
+
+ body399_mag_north_pole_lon = ( -69.761 )
+ body399_mag_north_pole_lat = ( 78.565 )
+
+
+ Current values:
+
+ The north dipole location is time-varying. The values shown
+ below, taken from [12], 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 [10], [12], and [13] 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
+
+
+ Values are given for the epoch 2000 and are from the final row
+ of the above table, which is from [12]. As shown by the table
+ these values constitute a low-accuracy approximation for epochs
+ not close to 2000.
+
+ \begindata
+
+ BODY399_N_GEOMAG_CTR_DIPOLE_LON = ( 288.43 )
+ BODY399_N_GEOMAG_CTR_DIPOLE_LAT = ( 79.54 )
+
+ \begintext
+
+
+Mars
+
+ Old values:
+
+ Values shown are from the 1994 IAU report [4].
+
+ body499_pole_ra = ( 317.681 -0.108 0. )
+ body499_pole_dec = ( 52.886 -0.061 0. )
+ body499_pm = ( 176.901 350.8919830 0. )
+
+ Nutation precession angles are unchanged in the 2000 IAU report.
+
+ Old lambda_a values were specified as POSITIVE WEST LONGITUDE.
+ Reference [14] gave the value
+
+ body499_long_axis = ( 110. )
+
+ and reference [15] gave the value
+
+ body499_long_axis = ( 104.9194 )
+
+
+ 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 [9] 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
+ [2] gives equal values for both equatorial radii, so the
+ lambda_a offset does not apply to the IAU model.
+
+ The 2000 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:
+
+ body599_pole_ra = ( 268.05 -0.009 0. )
+ body599_pole_dec = ( +64.49 +0.003 0. )
+ body599_pm = ( 284.95 +870.5366420 0. )
+ body599_long_axis = ( 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 )
+
+ Current values:
+
+ The number of nutation precession angles is ten. The ninth and
+ tenth are twice the first and second, respectively.
+
+ \begindata
+
+
+ BODY599_POLE_RA = ( 268.05 -0.009 0. )
+ BODY599_POLE_DEC = ( 64.49 0.003 0. )
+ BODY599_PM = ( 284.95 870.5366420 0. )
+ BODY599_LONG_AXIS = ( 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
+ 352.35 2382.6
+ 113.35 6070.0
+ 146.64 182945.8
+ 49.24 90274.4 )
+ \begintext
+
+
+Saturn
+
+ Old values:
+
+ Values are unchanged in the 2000 IAU report.
+
+ Current values:
+
+ \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 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.
+
+
+ \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
+ 29.80 -52.1
+ 706.64 151413.4
+ 57.44 151413.4 )
+ \begintext
+
+
+Uranus
+
+ Old values:
+
+ Values are unchanged in the 2000 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 2000 IAU report. However,
+ the kernel variables used to store the values have changed.
+ See note immediately below.
+
+ Current values:
+
+ The kernel variables
+
+ BODY899_NUT_PREC_RA
+ BODY899_NUT_PREC_DEC
+ BODY899_NUT_PREC_PM
+
+ are new in this PCK version (dated October 17, 2003).
+ These variables capture trigonometric terms in the expressions
+ for Neptune's pole direction and prime meridian location.
+ Version N0057 of the SPICE Toolkit uses these variables;
+ earlier versions can read them but ignore them when
+ computing Neptune's orientation.
+
+ \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
+
+
+
+Pluto
+
+ Old values:
+
+ Values are unchanged in the 2000 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY999_POLE_RA = ( 313.02 0. 0. )
+ BODY999_POLE_DEC = ( 9.09 0. 0. )
+ BODY999_PM = ( 236.77 -56.3623195 0. )
+ BODY999_LONG_AXIS = ( 0. )
+
+ \begintext
+
+
+
+
+Orientation constants for the satellites
+--------------------------------------------------------
+
+
+Satellites of Earth
+
+ Old values:
+
+ Values are from the 1988 IAU report.
+
+ body301_pole_ra = ( 270.000 0. 0. )
+ body301_pole_dec = ( 66.534 0. 0. )
+ body301_pm = ( 38.314 13.1763581 0. )
+ body301_long_axis = ( 0. )
+
+ body301_nut_prec_ra = ( -3.878 -0.120 0.070 -0.017 0. )
+ body301_nut_prec_dec = ( 1.543 0.024 -0.028 0.007 0. )
+ body301_nut_prec_pm = ( 3.558 0.121 -0.064 0.016 0.025 )
+
+ 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. 0.0072 0. 0.
+ 0. -0.0052 0. 0.
+ 0.0043 )
+
+ BODY301_NUT_PREC_DEC = ( 1.5419 0.0239 -0.0278 0.0068
+ 0. -0.0029 0.0009 0.
+ 0. 0.0008 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 )
+
+ 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 2000 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. 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 2000 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 2000 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:
+
+ body502_pole_ra = ( 268.08 -0.009 0. )
+ body502_pole_dec = ( 64.51 0.003 0. )
+ body502_pm = ( 35.67 101.3747235 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 )
+
+ 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:
+
+ body503_pole_ra = ( 268.20 -0.009 0. )
+ body503_pole_dec = ( +64.57 +0.003 0. )
+ body503_pm = ( 44.04 +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 )
+
+ 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:
+
+ body504_pole_ra = ( 268.72 -0.009 0. )
+ body504_pole_dec = ( +64.83 +0.003 0. )
+ body504_pm = ( 259.73 +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 )
+
+ 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 2000 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 2000 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 2000 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 2000 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 unchanged in the 2000 IAU report.
+
+ Current values:
+
+ \begindata
+
+ 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. )
+
+ \begintext
+
+
+ Enceladus
+
+
+ Old values:
+
+ Values are unchanged in the 2000 IAU report.
+
+ Current values:
+
+ \begindata
+
+ 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. )
+
+ \begintext
+
+
+
+ Tethys
+
+
+ Old values:
+
+ Values are unchanged in the 2000 IAU report.
+
+ Current values:
+
+ \begindata
+
+ 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. )
+
+ \begintext
+
+
+ Dione
+
+
+ Old values:
+
+ Values are unchanged in the 2000 IAU report.
+
+ Current values:
+
+ \begindata
+
+ 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. )
+
+ \begintext
+
+
+
+ Rhea
+
+
+ Old values:
+
+ Values are unchanged in the 2000 IAU report.
+
+ Current values:
+
+ \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. 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. )
+
+ \begintext
+
+
+
+ Titan
+
+
+ Old values:
+
+ Values are unchanged in the 2000 IAU report.
+
+ Current values:
+
+ \begindata
+
+ 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 )
+
+ \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 unchanged in the 2000 IAU report.
+
+ Current values:
+
+ \begindata
+
+ 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. )
+
+ \begintext
+
+
+
+ Phoebe
+
+
+ Old values:
+
+ Values are unchanged in the 2000 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY609_POLE_RA = ( 355.00 0. 0. )
+ BODY609_POLE_DEC = ( 68.70 0. 0. )
+ BODY609_PM = ( 304.70 930.8338720 0. )
+ BODY609_LONG_AXIS = ( 0. )
+
+ \begintext
+
+
+ Janus
+
+
+ Old values:
+
+ Values are unchanged in the 2000 IAU report.
+
+ Current values:
+
+ \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. 0.023 )
+ BODY610_NUT_PREC_DEC = ( 0. -0.183 0. 0. 0. 0. 0. 0. 0.001 )
+ BODY610_NUT_PREC_PM = ( 0. 1.613 0. 0. 0. 0. 0. 0. -0.023 )
+
+ \begintext
+
+
+
+ Epimetheus
+
+
+ Old values:
+
+ Values are unchanged in the 2000 IAU report.
+
+ Current values:
+
+ \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. 0.086 0. )
+ BODY611_NUT_PREC_DEC = ( -0.356 0. 0. 0. 0. 0. 0. 0.005 0. )
+ BODY611_NUT_PREC_PM = ( 3.133 0. 0. 0. 0. 0. 0. -0.086 0. )
+
+ \begintext
+
+
+
+ Helene
+
+
+ Old values:
+
+ Values are unchanged in the 2000 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 2000 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 2000 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 2000 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 2000 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 2000 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 2000 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 2000 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 2000 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 2000 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 2000 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 2000 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 2000 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 2000 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 2000 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 2000 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 2000 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 2000 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 2000 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 2000 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 2000 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 2000 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 2000 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. 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 2000 report [2] states that values for Nereid are not
+ given because Nereid is not in synchronous rotation with Neptune
+ (note (j), p.99).
+
+
+
+ Naiad
+
+ Old values:
+
+ Values are unchanged in the 2000 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 2000 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 2000 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 2000 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 2000 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 2000 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 unchanged in the 2000 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY901_POLE_RA = ( 313.02 0. 0. )
+ BODY901_POLE_DEC = ( 9.09 0. 0. )
+ BODY901_PM = ( 56.77 -56.3623195 0. )
+ BODY901_LONG_AXIS = ( 0. )
+
+ \begintext
+
+
+
+Orientation constants for Asteroids Gaspra, Ida, Vesta, and Eros
+--------------------------------------------------------
+
+
+Gaspra
+
+ Old values:
+
+ Values are unchanged in the 2000 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
+
+
+Ida
+
+ Old values:
+
+ Values are unchanged in the 2000 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY2431010_POLE_RA = ( 348.76 0. 0. )
+ BODY2431010_POLE_DEC = ( 87.12 0. 0. )
+ BODY2431010_PM = ( 265.95 -1864.6280070 0. )
+ BODY2431010_LONG_AXIS = ( 0. )
+
+ \begintext
+
+
+Vesta
+
+ Current values:
+
+ \begindata
+
+ BODY2000004_POLE_RA = ( 301. 0. 0. )
+ BODY2000004_POLE_DEC = ( 41. 0. 0. )
+ BODY2000004_PM = ( 292. 1617.332776 0. )
+ BODY2000004_LONG_AXIS = ( 0. )
+
+ \begintext
+
+
+Eros
+
+ 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
+
+
+
+
+Radii of Sun and Planets
+--------------------------------------------------------
+
+
+Sun
+
+ Value for the Sun is from the [7], page K7.
+
+ \begindata
+
+ BODY10_RADII = ( 696000. 696000. 696000. )
+
+ \begintext
+
+
+Mercury
+
+ Old values:
+
+ Values are unchanged in the 2000 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY199_RADII = ( 2439.7 2439.7 2439.7 )
+
+ \begintext
+
+
+Venus
+
+ Old values:
+
+ Values are unchanged in the 2000 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY299_RADII = ( 6051.8 6051.8 6051.8 )
+
+ \begintext
+
+
+Earth
+
+ Old values:
+
+ Values are unchanged in the 2000 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY399_RADII = ( 6378.14 6378.14 6356.75 )
+
+ \begintext
+
+
+Mars
+
+
+ Old values:
+
+ body499_radii = ( 3397. 3397. 3375. )
+
+ Current values:
+
+
+ The IAU report gives separate values for the north and south
+ polar radii:
+
+ north: 3373.19
+ south: 3379.21
+
+ We use the average of these values 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 2000 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY599_RADII = ( 71492 71492 66854 )
+
+ \begintext
+
+
+
+Saturn
+
+ Old values:
+
+ Values are unchanged in the 2000 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY699_RADII = ( 60268 60268 54364 )
+
+ \begintext
+
+
+
+Uranus
+
+ Old values:
+
+ Values are unchanged in the 2000 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY799_RADII = ( 25559 25559 24973 )
+
+ \begintext
+
+
+
+Neptune
+
+ Old values:
+
+ Values are unchanged in the 2000 IAU report.
+
+ Current values:
+
+ (Values are for the 1 bar pressure level.)
+
+ \begindata
+
+ BODY899_RADII = ( 24764 24764 24341 )
+
+ \begintext
+
+
+
+Pluto
+
+ Old values:
+
+ Values are unchanged in the 2000 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY999_RADII = ( 1195 1195 1195 )
+
+ \begintext
+
+
+
+
+Radii of Satellites
+--------------------------------------------------------
+
+
+Moon
+
+ Old values:
+
+ Values are unchanged in the 2000 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY301_RADII = ( 1737.4 1737.4 1737.4 )
+
+ \begintext
+
+
+
+Satellites of Mars
+
+ Old values:
+
+ Values are unchanged in the 2000 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY401_RADII = ( 13.4 11.2 9.2 )
+ BODY402_RADII = ( 7.5 6.1 5.2 )
+
+ \begintext
+
+
+
+Satellites of Jupiter
+
+ Old values:
+
+ Old values for Io, Europa, Ganymede, Callisto and Amalthea.
+ These are from the 1997 IAU report.
+
+ body501_radii = ( 1826. 1815. 1812. )
+ body502_radii = ( 1562. 1560. 1559. )
+ body503_radii = ( 2635. 2633. 2633. )
+ body504_radii = ( 2409. 2409. 2409. )
+ body505_radii = ( 131. 73. 67. )
+ 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 = ( 50 50 50 )
+ body515_radii = ( 13 10 8 )
+ body516_radii = ( 20 20 20 )
+
+
+ Current values:
+
+ \begindata
+
+ BODY501_RADII = ( 1829.4 1819.3 1815.7 )
+ BODY502_RADII = ( 1564.13 1561.23 1560.93 )
+ BODY503_RADII = ( 2632.4 2632.29 2632.35 )
+ BODY504_RADII = ( 2409.4 2409.2 2409.3 )
+ BODY505_RADII = ( 125 73 64 )
+
+ \begintext
+
+ Only mean radii are available in the 2000 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 )
+
+ \begintext
+
+ The value for the second radius for body 516 is not given in
+ 2000 IAU report. The values given are:
+
+ BODY516_RADII = ( 30 --- 20 )
+
+ For use within the SPICE system, we use only the mean radius.
+ \begindata
+
+ BODY516_RADII = ( 21.5 21.5 21.5 )
+
+ \begintext
+
+
+
+Satellites of Saturn
+
+
+ Old values:
+
+ body601_radii = ( 210.3 197.4 192.6 )
+ body602_radii = ( 256.2 247.3 244.0 )
+ body603_radii = ( 535.6 528.2 525.8 )
+ body604_radii = ( 560. 560. 560. )
+ body605_radii = ( 764. 764. 764. )
+ body606_radii = ( 2575. 2575. 2575. )
+ body607_radii = ( 180. 140. 112.5 )
+ body608_radii = ( 718. 718. 718. )
+ body609_radii = ( 115. 110. 105. )
+ body610_radii = ( 97. 95. 77. )
+ body611_radii = ( 69. 55. 55. )
+ body612_radii = ( 16 16 16 )
+ body613_radii = ( 15 12.5 7.5 )
+ body614_radii = ( 15 8 8 )
+ body615_radii = ( 18.5 17.2 13.5 )
+ body616_radii = ( 74 50 34 )
+ body617_radii = ( 55 44 31 )
+ body618_radii = ( 10 10 10 )
+
+
+ Current values:
+
+ \begindata
+
+ BODY601_RADII = ( 209.1 196.2 191.4 )
+ BODY602_RADII = ( 256.3 247.3 244.6 )
+ BODY603_RADII = ( 535.6 528.2 525.8 )
+ BODY604_RADII = ( 560 560 560 )
+ BODY605_RADII = ( 764 764 764 )
+ BODY606_RADII = ( 2575 2575 2575 )
+ BODY607_RADII = ( 164 130 107 )
+ BODY608_RADII = ( 718 718 718 )
+ BODY609_RADII = ( 115 110 105 )
+ BODY610_RADII = ( 97.0 95.0 77.0 )
+ BODY611_RADII = ( 69.0 55.0 55.0 )
+
+ \begintext
+
+ Only the first equatorial radius for Helene (body 612) is given in the
+ 2000 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.
+
+
+ \begindata
+
+ BODY612_RADII = ( 16 16 16 )
+ 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 )
+
+ \begintext
+
+
+ For Pan, only a mean radius is given in the 2000 report.
+
+ \begindata
+
+ BODY618_RADII = ( 10 10 10 )
+
+ \begintext
+
+
+
+Satellites of Uranus
+
+ Old values:
+
+ Values are unchanged in the 2000 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 2000 IAU report.
+
+ Current values:
+
+ The 2000 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 2000
+ 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 2000 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY901_RADII = ( 593 593 593 )
+
+ \begintext
+
+
+
+Radii of Selected Asteroids
+--------------------------------------------------------
+
+
+Gaspra
+
+
+ Current values:
+
+
+ \begindata
+
+ BODY9511010_RADII = ( 9.1 5.2 4.4 )
+
+ \begintext
+
+
+
+
+Ida
+
+
+ Current values:
+
+
+ \begindata
+
+ BODY2431010_RADII = ( 26.8 12.0 7.6 )
+
+ \begintext
+
+
+
+
+Kleopatra
+
+
+ Current values:
+
+
+ \begindata
+
+ BODY2000216_RADII = ( 108.5 47 40.5 )
+
+ \begintext
+
+
+
+Eros
+
+ Current values:
+
+
+ \begindata
+
+ BODY2000433_RADII = ( 7.311 7.311 7.311 )
+
+ \begintext
+
+
+===========================================================================
+End of file pck00008.tpc
+===========================================================================
+
+
+
diff --git a/tests/pytests/data/isds/msl_isd.json b/tests/pytests/data/isds/msl_isd.json
new file mode 100644
index 0000000000000000000000000000000000000000..496fc0da7def7bf69ccdd64d15fe1e79ead75af9
--- /dev/null
+++ b/tests/pytests/data/isds/msl_isd.json
@@ -0,0 +1,309 @@
+{
+ "isis_camera_version": 1,
+ "image_lines": 1193,
+ "image_samples": 1338,
+ "name_platform": "MARS SCIENCE LABORATORY",
+ "name_sensor": "MAST CAMERA LEFT",
+ "reference_height": {
+ "maxheight": 1000,
+ "minheight": -1000,
+ "unit": "m"
+ },
+ "name_model": "USGS_ASTRO_FRAME_SENSOR_MODEL",
+ "center_ephemeris_time": 598494669.4412209,
+ "radii": {
+ "semimajor": 3396.19,
+ "semiminor": 3376.2,
+ "unit": "km"
+ },
+ "body_rotation": {
+ "time_dependent_frames": [
+ 10014,
+ 1
+ ],
+ "ck_table_start_time": 598494669.4412209,
+ "ck_table_end_time": 598494669.4412209,
+ "ck_table_original_size": 1,
+ "ephemeris_times": [
+ 598494669.4412209
+ ],
+ "quaternions": [
+ [
+ -0.31921039676060065,
+ 0.2937636389682398,
+ -0.12264933637077348,
+ 0.8926168199781396
+ ]
+ ],
+ "angular_velocities": [
+ [
+ 3.1623010827381965e-05,
+ -2.881378599775597e-05,
+ 5.651578887273642e-05
+ ]
+ ],
+ "reference_frame": 1
+ },
+ "instrument_pointing": {
+ "time_dependent_frames": [
+ -76204,
+ -76203,
+ -76202,
+ -76201,
+ -76000,
+ -76910,
+ -76900,
+ 10014,
+ 1
+ ],
+ "ck_table_start_time": 598494669.4412209,
+ "ck_table_end_time": 598494669.4412209,
+ "ck_table_original_size": 1,
+ "ephemeris_times": [
+ 598494669.4412209
+ ],
+ "quaternions": [
+ [
+ 0.5220816838298279,
+ -0.21018675356622796,
+ -0.22520580724316586,
+ -0.7953204312845581
+ ]
+ ],
+ "angular_velocities": [
+ [
+ 0.00023743002562463675,
+ -0.005620403629369784,
+ -0.003106243307946095
+ ]
+ ],
+ "reference_frame": 1,
+ "constant_frames": [
+ -76573,
+ -76205,
+ -76204
+ ],
+ "constant_rotation": [
+ 0.41995474711084907,
+ 0.9072597689641163,
+ -0.022753505185826722,
+ -0.7790017804603829,
+ 0.3732225088642592,
+ 0.5038463901990582,
+ 0.4656116798563116,
+ -0.19386766232728606,
+ 0.8634935396892888
+ ]
+ },
+ "naif_keywords": {
+ "BODY499_RADII": [
+ 3396.19,
+ 3396.19,
+ 3376.2
+ ],
+ "BODY_FRAME_CODE": 10014,
+ "BODY_CODE": 499,
+ "FRAME_-76210_NAME": "MSL_MASTCAM_LEFT",
+ "INS-76210_CAHVOR_H": [
+ 712.373106,
+ 4664.465028,
+ 33.182389
+ ],
+ "TKFRAME_-76210_UNITS": "DEGREES",
+ "INS-76210_IFOV_VERTICAL": 0.01230196,
+ "INS-76210_CAHVOR_O": [
+ 0.999627,
+ 0.026908,
+ 0.004759
+ ],
+ "INS-76210_CAHVOR_R": [
+ -0.000151,
+ -0.139189,
+ -1.250336
+ ],
+ "INS-76210_CAHVOR_V": [
+ 570.612488,
+ -14.279011,
+ 4648.733195
+ ],
+ "INS-76210_CAHVOR_FILE": "MSL_CAL_003_SN_3003_FILTER_0_FOCUS_02315-MCAML-FLIGHT.cahvor",
+ "INS-76210_DISTORTION_PIXEL": [
+ 837.77915717,
+ 592.14046615
+ ],
+ "TKFRAME_-76210_AXES": [
+ 2.0,
+ 1.0,
+ 3.0
+ ],
+ "TKFRAME_-76210_SPEC": "ANGLES",
+ "INS-76210_FOCAL_LENGTH": 34.0,
+ "INS-76210_CAHVOR_QUAT": [
+ 1e-05,
+ -0.00325,
+ -0.00104,
+ 0.99999
+ ],
+ "INS-76210_CAHVOR_POS": [
+ 0.80436,
+ 0.55942,
+ -1.90608
+ ],
+ "INS-76210_FOV_BOUNDARY": [
+ 0.17483767,
+ 0.12730492,
+ 0.97633255,
+ -0.0,
+ 0.12834274,
+ 0.99172987,
+ -0.17476887,
+ 0.12719345,
+ 0.9763594,
+ -0.17553059
+ ],
+ "INS-76210_PIXEL_LINES": 1200.0,
+ "INS-76210_CAHVOR_MODEL": " CAHVOR",
+ "INS-76210_PIXEL_SIZE": 0.0074,
+ "INS-76210_CAHVOR_HC": 829.187822,
+ "INS-76210_IFOV_NOMINAL": 0.01247026,
+ "INS-76210_CAHVOR_HS": 4645.242086,
+ "INS-76210_BORESIGHT_PIXEL": [
+ 829.18782212,
+ 601.33514402
+ ],
+ "FRAME_-76210_CLASS_ID": -76210.0,
+ "INS-76210_FOV_CENTER_PIXEL": [
+ 823.5,
+ 599.5
+ ],
+ "INS-76210_FOV_CLASS_SPEC": "CORNERS",
+ "INS-76210_BORESIGHT": [
+ -0.0,
+ -0.0,
+ 1.0
+ ],
+ "INS-76210_CAHVOR_THETA": -1.5710039999999998,
+ "INS-76210_IFOV": 0.01228988,
+ "TKFRAME_-76210_RELATIVE": "MSL_RSM_HEAD",
+ "FRAME_-76210_CLASS": 4.0,
+ "INS-76210_CAHVOR_DIMS": [
+ 1648.0,
+ 1200.0
+ ],
+ "INS-76210_FOV_SHAPE": "POLYGON",
+ "INS-76210_PIXEL_SAMPLES": 1648.0,
+ "INS-76210_IFOV_HORIZONTAL": 0.0122778,
+ "INS-76210_CAHVOR_VC": 601.335144,
+ "INS-76210_CAHVOR_VS": 4644.882626,
+ "TKFRAME_-76210_ANGLES": [
+ -90.01,
+ 1.484,
+ 89.655
+ ],
+ "FRAME_-76210_CENTER": -76.0,
+ "INS-76210_CAHVOR_A": [
+ 0.999664,
+ 0.025047,
+ 0.006727
+ ],
+ "INS-76210_CAHVOR_C": [
+ 0.767151,
+ 0.433709,
+ -1.971648
+ ],
+ "INS-76210_FOV_FRAME": "MSL_MASTCAM_LEFT",
+ "BODY499_POLE_DEC": [
+ 52.8865,
+ -0.0609,
+ 0.0
+ ],
+ "BODY499_POLE_RA": [
+ 317.68143,
+ -0.1061,
+ 0.0
+ ],
+ "BODY499_PM": [
+ 176.63,
+ 350.89198226,
+ 0.0
+ ]
+ },
+ "detector_sample_summing": 1,
+ "detector_line_summing": 1,
+ "focal_length_model": {
+ "focal_length": 34.0
+ },
+ "detector_center": {
+ "line": 576.4026068104001,
+ "sample": 680.1442422028802
+ },
+ "focal2pixel_lines": [
+ 0,
+ 0,
+ 136.49886775101945
+ ],
+ "focal2pixel_samples": [
+ 0,
+ -136.49886775101945,
+ 0
+ ],
+ "optical_distortion": {
+ "cahvor": {
+ "coefficients": [
+ 0,
+ 0,
+ 0,
+ 0,
+ 0
+ ]
+ }
+ },
+ "starting_detector_line": 0,
+ "starting_detector_sample": 0,
+ "instrument_position": {
+ "spk_table_start_time": 598494669.4412209,
+ "spk_table_end_time": 598494669.4412209,
+ "spk_table_original_size": 1,
+ "ephemeris_times": [
+ 598494669.4412209
+ ],
+ "positions": [
+ [
+ -42.94908602840011,
+ -2878.1178384691016,
+ -1794.0007301446622
+ ]
+ ],
+ "velocities": [
+ [
+ 0.2143509476698853,
+ 0.054297300199827,
+ -0.09225670467004271
+ ]
+ ],
+ "reference_frame": 1
+ },
+ "sun_position": {
+ "spk_table_start_time": 598494669.4412209,
+ "spk_table_end_time": 598494669.4412209,
+ "spk_table_original_size": 1,
+ "ephemeris_times": [
+ 598494669.4412209
+ ],
+ "positions": [
+ [
+ -178112289.0644448,
+ -111686023.67244285,
+ -46420243.18796099
+ ]
+ ],
+ "velocities": [
+ [
+ 12.688344510456547,
+ -19.98128446099907,
+ -9.507348850576207
+ ]
+ ],
+ "reference_frame": 1
+ }
+}
\ No newline at end of file
diff --git a/tests/pytests/test_msl_drivers.py b/tests/pytests/test_msl_drivers.py
index 84fb73be88a97c7054234b7609cc0390cec52150..35900160ef85bc225a8fc6884d65b6bbd71be2ed 100644
--- a/tests/pytests/test_msl_drivers.py
+++ b/tests/pytests/test_msl_drivers.py
@@ -1,16 +1,40 @@
+import json
import numpy as np
+import os
+import pytest
import unittest
+import ale
+from conftest import get_image, get_image_label, get_isd, get_image_kernels, convert_kernels, compare_dicts
from ale.drivers.msl_drivers import MslMastcamPds3NaifSpiceDriver
from conftest import get_image_label
from unittest.mock import PropertyMock, patch
+
+@pytest.fixture(scope='module')
+def test_mastcam_kernels():
+ kernels = get_image_kernels('2264ML0121141200805116C00_DRCL')
+ updated_kernels, binary_kernels = convert_kernels(kernels)
+ yield updated_kernels
+ for kern in binary_kernels:
+ os.remove(kern)
+
+def test_msl_mastcam_load(test_mastcam_kernels):
+ label_file = get_image_label('2264ML0121141200805116C00_DRCL', "pds3")
+ compare_dict = get_isd("msl")
+
+ isd_str = ale.loads(label_file, props={'kernels': test_mastcam_kernels})
+ isd_obj = json.loads(isd_str)
+ assert compare_dicts(isd_obj, compare_dict) == []
+
+
class test_mastcam_pds_naif(unittest.TestCase):
def setUp(self):
label = get_image_label("1664MR0086340000802438C00_DRCL", "pds3")
self.driver = MslMastcamPds3NaifSpiceDriver(label)
+
def test_instrument_id(self):
assert self.driver.instrument_id == "MSL_MASTCAM_RIGHT"