diff --git a/ale/drivers/mro_drivers.py b/ale/drivers/mro_drivers.py
index 7a6b5f3bd0a9b11d8caf7d0c9c50d208b5d8b50d..c051ba55e9013578ec808d9ace25f0029b843af8 100644
--- a/ale/drivers/mro_drivers.py
+++ b/ale/drivers/mro_drivers.py
@@ -8,6 +8,8 @@ from ale.base.label_isis import IsisLabel
from ale.base.type_distortion import RadialDistortion
from ale.base.type_sensor import LineScanner
+from ale import util
+
class MroCtxIsisLabelIsisSpiceDriver(LineScanner, IsisLabel, IsisSpice, RadialDistortion, Driver):
@@ -255,3 +257,145 @@ class MroCtxPds3LabelNaifSpiceDriver(LineScanner, Pds3Label, NaifSpice, RadialDi
platform name
"""
return self.label['SPACECRAFT_NAME']
+
+hirise_ccd_lookup = {
+ 0: 0,
+ 1: 1,
+ 2: 2,
+ 3: 3,
+ 4: 12,
+ 5: 4,
+ 6: 10,
+ 7: 11,
+ 8: 5,
+ 9: 13,
+ 10: 6,
+ 11: 7,
+ 12: 8,
+ 13: 9
+}
+
+class MroHiRiseIsisLabelNaifSpiceDriver(LineScanner, IsisLabel, NaifSpice, RadialDistortion, Driver):
+ """
+ Driver for reading HiRise ISIS labels.
+ """
+
+ @property
+ def instrument_id(self):
+ """
+ Returns an instrument id for uniquely identifying the instrument, but often
+ also used to be piped into Spice Kernels to acquire IKIDs. Therefore they
+ the same ID the Spice expects in bods2c calls.
+ Expects instrument_id to be defined in the IsisLabel mixin. This should be
+ a string of the form 'CTX'
+
+ Returns
+ -------
+ : str
+ instrument id
+ """
+ id_lookup = {
+ "HIRISE" : "MRO_HIRISE"
+ }
+ return id_lookup[super().instrument_id]
+
+ @property
+ def sensor_name(self):
+ """
+ ISIS doesn't propergate this to the ingested cube label, so hard-code it.
+ """
+ return "HIRISE CAMERA"
+
+
+ @property
+ def un_binned_rate(self):
+ if not hasattr(self, "_un_binned_rate"):
+ delta_line_timer_count = self.label["IsisCube"]["Instrument"]["DeltaLineTimerCount"]
+ self._un_binned_rate = (74.0 + (delta_line_timer_count / 16.0)) / 1000000.0
+ return self._un_binned_rate
+
+ @property
+ def ephemeris_start_time(self):
+ if not hasattr(self, "_ephemeris_start_time"):
+ tdi_mode = self.label["IsisCube"]["Instrument"]["Tdi"]
+ bin_mode = self.label["IsisCube"]["Instrument"]["Summing"]
+ # Code replicated from the ISIS HiRise Camera Model
+
+ # The -74999 is the code to select the transformation from
+ # high-precision MRO SCLK to ET
+ start_time = spice.scs2e(-74999, self.spacecraft_clock_start_count)
+ # Adjust the start time so that it is the effective time for
+ # the first line in the image file. Note that on 2006-03-29, this
+ # time is now subtracted as opposed to adding it. The computed start
+ # time in the EDR is at the first serial line.
+ start_time -= self.un_binned_rate * ((tdi_mode / 2.0) - 0.5);
+ # Effective observation
+ # time for all the TDI lines used for the
+ # first line before doing binning
+ start_time += self.un_binned_rate * ((bin_mode / 2.0) - 0.5);
+ self._ephemeris_start_time = start_time
+ return self._ephemeris_start_time
+
+ @property
+ def exposure_duration(self):
+ if not hasattr(self, "_exposure_duration"):
+ self._exposure_duration = self.un_binned_rate * self.label["IsisCube"]["Instrument"]["Summing"]
+ return self._exposure_duration
+
+ @property
+ def ccd_ikid(self):
+ ccd_number = hirise_ccd_lookup[self.label["IsisCube"]["Instrument"]["CpmmNumber"]]
+ return spice.bods2c("MRO_HIRISE_CCD{}".format(ccd_number))
+
+ @property
+ def sensor_frame_id(self):
+ return -74690
+
+ @property
+ def detector_center_sample(self):
+ """
+ Returns the center detector sample. Expects ikid to be defined. This should
+ be an integer cont?aining the Naif Id code of the instrument.
+
+ Returns
+ -------
+ : float
+ Detector sample of the principal point
+ """
+ return 0
+
+ @property
+ def detector_center_line(self):
+ """
+ Returns the center detector line. Expects ikid to be defined. This should
+ be an integer containing the Naif Id code of the instrument.
+
+ Returns
+ -------
+ : float
+ Detector line of the principal point
+ """
+ return 0
+
+ @property
+ def naif_keywords(self):
+ """
+ Updated set of naif keywords containing the NaifIkCode for the specific
+ Juno filter used when taking the image.
+
+ Returns
+ -------
+ : dict
+ Dictionary of keywords and values that ISIS creates and attaches to the label
+ """
+ return {**super().naif_keywords, **util.query_kernel_pool(f"*{self.ccd_ikid}*")}
+
+ @property
+ def sensor_model_version(self):
+ """
+ Returns
+ -------
+ : int
+ ISIS sensor model version
+ """
+ return 1
diff --git a/ale/transformation.py b/ale/transformation.py
index fc3ff7be006510d8fa04fa377a903956d184d51d..f28e31691fcfbc2d43c20538c182c21512d89334 100644
--- a/ale/transformation.py
+++ b/ale/transformation.py
@@ -161,22 +161,22 @@ class FrameChain(nx.DiGraph):
try:
matrix, frame_code = spice.ckfrot(frame_type_id, ephemeris_time)
except:
- raise Exception(f"The ck rotation from frame {frame_codes[-1]} can not \
- be found due to no pointing available at requested time \
- or a problem with the frame")
+ raise Exception(f"The ck rotation from frame {frame_codes[-1]} can not " +
+ f"be found due to no pointing available at requested time {ephemeris_time} " +
+ "or a problem with the frame")
elif frame_type == 4:
try:
matrix, frame_code = spice.tkfram(frame_type_id)
except:
- raise Exception(f"The tk rotation from frame {frame_codes[-1]} can not \
- be found")
+ raise Exception(f"The tk rotation from frame {frame_codes[-1]} can not " +
+ "be found")
elif frame_type == 5:
matrix, frame_code = spice.zzdynrot(frame_type_id, center, ephemeris_time)
else:
- raise Exception(f"The frame {frame_codes[-1]} has a type {frame_type_id} \
- not supported by your version of Naif Spicelib. \
- You need to update.")
+ raise Exception(f"The frame {frame_codes[-1]} has a type {frame_type_id} " +
+ "not supported by your version of Naif Spicelib. " +
+ "You need to update.")
frame_codes.append(frame_code)
frame_types.append(frame_type)
diff --git a/tests/pytests/data/PSP_001446_1790_BG12_0/MRO_SCLKSCET.00102.65536.tsc b/tests/pytests/data/PSP_001446_1790_BG12_0/MRO_SCLKSCET.00102.65536.tsc
new file mode 100644
index 0000000000000000000000000000000000000000..a2b1e703ccf532016b79db23b977a523808157f9
--- /dev/null
+++ b/tests/pytests/data/PSP_001446_1790_BG12_0/MRO_SCLKSCET.00102.65536.tsc
@@ -0,0 +1,565 @@
+KPL/SCLK
+
+
+MRO SCLK File, for ``Standard'' and ``High Precision'' SCLK Formats
+===========================================================================
+
+ This file is a special SCLK kernel that contains correlation data
+ for the MRO on-board clock tags presented either in ``standard''
+ or ``high precision'' format.
+
+ ``Standard'' MRO on-board clock tags are derived from 5-byte tags
+ present in majority of the spacecraft and instrument telemetry and
+ utilizing only the last of five bytes for fractional seconds. This
+ results in one SCLK tick being equal to 1/256 of a second. The ID
+ of this clock is -74, the same as of the MRO spacecraft.
+
+ ``High precision'' MRO on-board clock tags are derived from 6-byte
+ tags present in some of the spacecraft and instrument telemetry
+ and utilizing the last two of six bytes for fractional seconds.
+ This results in one SCLK tick being equal to 1/65536 of a seconds.
+ The ID of this clock is -74999.
+
+ Although SCLK parameters for these two correlations are different,
+ having them in the same file and loading them at the same time
+ does not cause any conflicts in MRO SPICE implementation. This is
+ because: 1) different IDs are used in the names of the keywords
+ used to store these parameters in this file, 2) different IDs must
+ be provided to get access to either of the two correlations, and
+ 3) a specific ID -- normally ID of the ``standard'' clock -- is
+ associated with each of the MRO CK-based frames via definitions in
+ the MRO Frames Kernel.
+
+
+Production/History of This SCLK File
+--------------------------------------------------------
+
+ The data in this file was generated by the NAIF utility program
+ MAKCLK, version 3.5.2, from the most recent MRO spacecraft
+ SCLKvSCET file (see corresponding section of the description for
+ the SCLKvSCET SFDU header and MAKCLK setup files).
+
+
+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
+ either ``standard'' or ``high precision'' MRO spacecraft on-board
+ clock to ET and vice versa.
+
+
+SCLK Format
+--------------------------------------------------------
+
+ As mentioned above this SCLK kernel supports conversion of the MRO
+ on-board clock either in ``standard'' or ``high precision''
+ format.
+
+ The MRO on-board clock tags in ``standard'' format, to be
+ converted using ID -74, have the following form:
+
+ P/SSSSSSSSSS:FFF
+
+ where:
+
+ P/ -- optional partition identifier
+
+ SSSSSSSSSS -- count of on-board seconds
+
+ FFF -- count of fractions of a second with one
+ fraction being 1/256 of a second; normally this
+ field value is within 0..255 range.
+
+ The MRO on-board clock tags in ``high precision'' format, to be
+ converted using ID -74999, have the following form:
+
+ P/SSSSSSSSSS:FFFFF
+
+ where:
+
+ P/ -- optional partition identifier
+
+ 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
+
+
+SCLKvSCET File SFDU Header
+--------------------------------------------------------
+
+ MISSION-NAME=MARS-RECONNAISSANCE-ORBITER;
+ SPACECRAFT-NAME=MARS-RECONNAISSANCE-ORBITER;
+ DATA-SET-ID=SCLK-SCET;
+ FILE-NAME=MRO-SCLKSCET.00102;
+ PRODUCT-CREATION-TIME=2022-05-17T23:00:00;
+ PRODUCT-VERSION-ID=102S;
+ PRODUCER-ID=SCT;
+ APPLICABLE-START-TIME=1980-001T00:00:00;
+ APPLICABLE-STOP-TIME=2030-001T00:00:00;
+ MISSION-ID=28;
+ SPACECRAFT-ID=74;
+
+
+MAKCLK Setup Files
+--------------------------------------------------------
+
+MAKCLK Setup for ``Standard'' Format Clock
+
+ SCLKSCET_FILE = MRO_SCLKSCET.00102
+ OLD_SCLK_KERNEL = /sdma/naif/ops/projects/MRO/scet/bin/mro_template.tsc
+ FILE_NAME = MRO_SCLKSCET.00102.tsc
+ NAIF_SPACECRAFT_ID = -74
+ LEAPSECONDS_FILE = /sdma/naif/ops/projects/MRO/lsk/mro.tls
+ PARTITION_TOLERANCE = 10
+ LOG_FILE = MRO_SCLKSCET.00102.log
+
+
+MAKCLK Setup for ``High Precision'' Format Clock
+
+ SCLKSCET_FILE = MRO_SCLKSCET.00102
+ OLD_SCLK_KERNEL = /sdma/naif/ops/projects/MRO/scet/bin/mro_template_65536.tsc
+ FILE_NAME = MRO_SCLKSCET.00102.65536.tsc
+ NAIF_SPACECRAFT_ID = -74999
+ LEAPSECONDS_FILE = /sdma/naif/ops/projects/MRO/lsk/mro.tls
+ PARTITION_TOLERANCE = 2560
+ LOG_FILE = MRO_SCLKSCET.00102.log
+
+
+
+Kernel DATA for ``Standard'' Format Clock
+--------------------------------------------------------
+
+\begindata
+
+
+SCLK_KERNEL_ID = ( @2022-05-17/23:37:02.00 )
+
+SCLK_DATA_TYPE_74 = ( 1 )
+SCLK01_TIME_SYSTEM_74 = ( 2 )
+SCLK01_N_FIELDS_74 = ( 2 )
+SCLK01_MODULI_74 = ( 4294967296 256 )
+SCLK01_OFFSETS_74 = ( 0 0 )
+SCLK01_OUTPUT_DELIM_74 = ( 1 )
+
+SCLK_PARTITION_START_74 = ( 0.0000000000000E+00
+ 2.0692823040000E+11
+ 2.2260603392000E+11
+ 2.2729527552000E+11
+ 2.3561205939200E+11
+ 2.3780137548800E+11
+ 2.3917296793600E+11
+ 2.3960615987200E+11
+ 2.4179319500800E+11
+ 2.4813067136000E+11
+ 2.5633706112000E+11
+ 2.5737636633600E+11
+ 2.6501157401600E+11
+ 2.7159871590400E+11
+ 2.7626595737600E+11
+ 2.8004752460800E+11
+ 2.9335648051200E+11
+ 3.1175723596800E+11
+ 3.2440413849600E+11
+ 3.2554585753600E+11
+ 3.2683671756800E+11
+ 3.2693853619200E+11
+ 3.2957112524800E+11
+ 3.3290006118400E+11
+ 3.3297686067200E+11
+ 3.3313229184000E+11
+ 3.3638496512000E+11 )
+
+SCLK_PARTITION_END_74 = ( 2.0692822929300E+11
+ 2.2260603390000E+11
+ 2.2729527549700E+11
+ 2.3561205930600E+11
+ 2.3780137544900E+11
+ 2.3917296792500E+11
+ 2.3960615982500E+11
+ 2.4179319498300E+11
+ 2.4813067132700E+11
+ 2.5633706110600E+11
+ 2.5737636629200E+11
+ 2.6501157399500E+11
+ 2.7159871588000E+11
+ 2.7626595732800E+11
+ 2.8004752462700E+11
+ 2.9335648049900E+11
+ 3.1175723590000E+11
+ 3.2440413829600E+11
+ 3.2554585747400E+11
+ 3.2683671745900E+11
+ 3.2693853624700E+11
+ 3.2957112519000E+11
+ 3.3290006112500E+11
+ 3.3297686071700E+11
+ 3.3313229176900E+11
+ 3.3638496487900E+11
+ 1.0995116277750E+12 )
+
+SCLK01_COEFFICIENTS_74 = (
+
+ 0.0000000000000E+00 -6.3119514881600E+08 1.0000000000000E+00
+ 1.2098765056000E+10 -5.8393434781600E+08 1.0000000000000E+00
+ 2.0171981312000E+10 -5.5239834681600E+08 1.0000000000000E+00
+ 2.8245197568000E+10 -5.2086234581600E+08 1.0000000000000E+00
+ 4.4413748224000E+10 -4.5770394481600E+08 1.0000000000000E+00
+ 6.4629966080000E+10 -3.7873434381600E+08 1.0000000000000E+00
+ 8.0798516736000E+10 -3.1557594281600E+08 1.0000000000000E+00
+ 8.8871732992000E+10 -2.8403994181600E+08 1.0000000000000E+00
+ 1.0097049804800E+11 -2.3677914081600E+08 1.0000000000000E+00
+ 1.0904371430400E+11 -2.0524313981600E+08 1.0000000000000E+00
+ 1.1711693056000E+11 -1.7370713881600E+08 1.0000000000000E+00
+ 1.2925993241600E+11 -1.2627353781600E+08 1.0000000000000E+00
+ 1.4135869747200E+11 -7.9012736816000E+07 1.0000000000000E+00
+ 1.5350169932800E+11 -3.1579135816000E+07 9.9999999999626E-01
+ 2.0692822929300E+11 1.7711824685900E+08 9.9999852023164E-01
+ 2.0700659831700E+11 1.7742437540600E+08 1.0000000000000E+00
+ 2.0701189034900E+11 1.7744504740600E+08 1.0000000226389E+00
+ 2.0740766916500E+11 1.7899105844100E+08 1.0000000201904E+00
+ 2.0814306986900E+11 1.8186371749900E+08 1.0000000150408E+00
+ 2.0844943607700E+11 1.8306046051700E+08 1.0000000132783E+00
+ 2.0937485457300E+11 1.8667537656500E+08 1.0000000070773E+00
+ 2.0948336990100E+11 1.8709926456800E+08 1.0000000106838E+00
+ 2.1005844855700E+11 1.8934566559200E+08 9.9999997549027E-01
+ 2.1012111735700E+11 1.8959046558600E+08 1.0000000000000E+00
+ 2.1012650871700E+11 1.8961152558600E+08 9.9999872490489E-01
+ 2.1014538103700E+11 1.8968524549200E+08 1.0000000061688E+00
+ 2.1051887198100E+11 1.9114419450100E+08 1.0000000031304E+00
+ 2.1100953975700E+11 1.9306086550700E+08 1.0000000020774E+00
+ 2.1187215735700E+11 1.9643046551400E+08 1.0000000000000E+00
+ 2.1338249156500E+11 2.0233020851400E+08 9.9999903576062E-01
+ 2.1340081066900E+11 2.0240176744500E+08 9.9999999979331E-01
+ 2.1463939959700E+11 2.0724000544400E+08 9.9999949258425E-01
+ 2.1465907575700E+11 2.0731686540500E+08 9.9999999523305E-01
+ 2.1524981086100E+11 2.0962442439400E+08 9.9999999390912E-01
+ 2.1672086289300E+11 2.1537072135900E+08 9.9999999172986E-01
+ 2.1771141495700E+11 2.1924006532700E+08 9.9999999091646E-01
+ 2.1974058001300E+11 2.2716649125500E+08 9.9999904776985E-01
+ 2.1985214967700E+11 2.2760230984000E+08 9.9999999090157E-01
+ 2.2260603279300E+11 2.3835966566400E+08 9.9999998312114E-01
+ 2.2526024079300E+11 2.4872766548900E+08 9.9999998135288E-01
+ 2.2645463439300E+11 2.5339326540200E+08 9.9999998168063E-01
+ 2.2729527437000E+11 2.5667701525200E+08 9.9999998094590E-01
+ 2.2873286566600E+11 2.6229260614500E+08 9.9999997705480E-01
+ 2.3430021568200E+11 2.8404006664600E+08 9.9999997696065E-01
+ 2.3561205815600E+11 2.8916445119200E+08 9.9999997716838E-01
+ 2.3643057233200E+11 2.9236177211900E+08 9.9999997615993E-01
+ 2.3780137421300E+11 2.9771646683900E+08 9.9999997596158E-01
+ 2.3808891341300E+11 2.9883966681200E+08 9.9999997661369E-01
+ 2.3917296665000E+11 3.0307424967000E+08 9.9999996666604E-01
+ 2.3960615853900E+11 3.0476640543000E+08 9.9999900775628E-01
+ 2.4039383597900E+11 3.0784326737700E+08 9.9999906859216E-01
+ 2.4081408583500E+11 3.0948486684800E+08 9.9999916040942E-01
+ 2.4120132218700E+11 3.1099750757800E+08 9.9999917286095E-01
+ 2.4179319365000E+11 3.1330950356800E+08 9.9999997132958E-01
+ 2.4257895134600E+11 3.1637886948000E+08 9.9999996979812E-01
+ 2.4773253803400E+11 3.3651006687200E+08 9.9999996778956E-01
+ 2.4813066996900E+11 3.3806526969300E+08 9.9999996913538E-01
+ 2.4819702440100E+11 3.3832446668500E+08 9.9999996880886E-01
+ 2.5080699662500E+11 3.4851967036700E+08 9.9999996809006E-01
+ 2.5633705971500E+11 3.7012147862300E+08 9.9999996574055E-01
+ 2.5653881433900E+11 3.7090958259600E+08 9.9999996297776E-01
+ 2.5737636488700E+11 3.7418126430300E+08 9.9999996157694E-01
+ 2.5742300373500E+11 3.7436344729600E+08 9.9999996310760E-01
+ 2.5994189602300E+11 3.8420286993300E+08 9.9999996214355E-01
+ 2.6254541551100E+11 3.9437286754800E+08 9.9999994833919E-01
+ 2.6306077730300E+11 3.9638599944400E+08 9.9999995814220E-01
+ 2.6501157254600E+11 4.0400629304300E+08 9.9999995647018E-01
+ 2.6556438918600E+11 4.0616573294900E+08 9.9999995525593E-01
+ 2.6823629651400E+11 4.1660287048200E+08 9.9999995498477E-01
+ 2.7159871441000E+11 4.2973731479700E+08 9.9999995058672E-01
+ 2.7283692394600E+11 4.3457407055800E+08 9.9999995009204E-01
+ 2.7626595583400E+11 4.4796872570200E+08 9.9999995056608E-01
+ 2.7993760460200E+11 4.6231110299300E+08 9.9999906323305E-01
+ 2.8004752308500E+11 4.6274047166500E+08 9.9999995127939E-01
+ 2.8088823527700E+11 4.6602450350500E+08 9.9999995067969E-01
+ 2.8476558311700E+11 4.8117039275800E+08 9.9999936539106E-01
+ 2.8482609281300E+11 4.8140675860800E+08 9.9999994916894E-01
+ 2.8676506497300E+11 4.8898086822300E+08 9.9999994803892E-01
+ 2.8951419930900E+11 4.9971967366500E+08 9.9999936715673E-01
+ 2.8960683521300E+11 5.0008153243600E+08 9.9999994520999E-01
+ 2.9137299636500E+11 5.0698059905800E+08 9.9999861190744E-01
+ 2.9148328295700E+11 5.0741140546000E+08 9.9999993983758E-01
+ 2.9335647897600E+11 5.1472857696900E+08 9.9999993443361E-01
+ 2.9347361228800E+11 5.1518612893900E+08 9.9999994402935E-01
+ 2.9893018624000E+11 5.3650086974600E+08 9.9999994336138E-01
+ 3.0006467712000E+11 5.4093247449500E+08 9.9999994197216E-01
+ 3.0331608217600E+11 5.5363327475800E+08 9.9999994020072E-01
+ 3.0395823027200E+11 5.5614166560800E+08 9.9999993934296E-01
+ 3.0672684544000E+11 5.6695656795200E+08 9.9999987843425E-01
+ 3.0773976243200E+11 5.7091327447100E+08 9.9999987927052E-01
+ 3.0800693811200E+11 5.7195692934500E+08 9.9999913018966E-01
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+ 3.4195692876800E+11 7.0457407430500E+08 9.9999997400000E-01 )
+
+\begintext
+
+
+
+Kernel DATA for ``High Precision'' Format Clock
+--------------------------------------------------------
+
+\begindata
+
+
+SCLK_KERNEL_ID = ( @2022-05-17/23:37:05.00 )
+
+SCLK_DATA_TYPE_74999 = ( 1 )
+SCLK01_TIME_SYSTEM_74999 = ( 2 )
+SCLK01_N_FIELDS_74999 = ( 2 )
+SCLK01_MODULI_74999 = ( 4294967296 65536 )
+SCLK01_OFFSETS_74999 = ( 0 0 )
+SCLK01_OUTPUT_DELIM_74999 = ( 1 )
+
+SCLK_PARTITION_START_74999 = ( 0.0000000000000E+00
+ 5.2973626982400E+13
+ 5.6987144683520E+13
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+ 8.5242076332032E+13
+ 8.5281866711040E+13
+ 8.6114551070720E+13 )
+
+SCLK_PARTITION_END_74999 = ( 5.2973626698957E+13
+ 5.6987144678331E+13
+ 5.8187590527163E+13
+ 6.0316687182323E+13
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+ 8.5281866692896E+13
+ 8.6114551008962E+13
+ 2.8147497671065E+14 )
+
+SCLK01_COEFFICIENTS_74999 = (
+
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+ 8.7540973764184E+13 7.0457407430500E+08 9.9999997400000E-01 )
+
+\begintext
+
+
+
diff --git a/tests/pytests/data/PSP_001446_1790_BG12_0/PSP_001446_1790_BG12_0.spice_0.xsp b/tests/pytests/data/PSP_001446_1790_BG12_0/PSP_001446_1790_BG12_0.spice_0.xsp
new file mode 100644
index 0000000000000000000000000000000000000000..42e0e91af52215377f0dda91637ad642b04bb226
--- /dev/null
+++ b/tests/pytests/data/PSP_001446_1790_BG12_0/PSP_001446_1790_BG12_0.spice_0.xsp
@@ -0,0 +1,1956 @@
+DAFETF NAIF DAF ENCODED TRANSFER FILE
+'DAF/SPK '
+'2'
+'6'
+'SPKMERGE '
+BEGIN_ARRAY 1 1754
+'spkwarp'ed; p_15-NOV-2006.nio '
+'CEF3D2A3E2675^7'
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+'-4A'
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+'CEF46D6^7'
+'CEF40FA^7'
+'CEF44E2^7'
+'3^1'
+'FA^2'
+END_ARRAY 1 1754
+BEGIN_ARRAY 2 39
+'DE-0721LE-0721 '
+'CEF3D2A3E2675^7'
+'CEF46C40BB7E7^7'
+'A'
+'0'
+'1'
+'2'
+39
+'CEF0F4^7'
+'A8C^5'
+'5EA75F4954C274^5'
+'-17D4816EF7B26E^4'
+'-DF11D10543E2D^1'
+'-D42CE9A8C8EF28^-1'
+'20E03F8D2A7F42^-1'
+'BC6069BF19DCF^-2'
+'-14CC20415C1768^-2'
+'-3F9A48C52F8242^-3'
+'CD79D84E7DB2C8^-4'
+'131D074AEE108D^-4'
+'-74001750429228^-5'
+'851C2F925C4018^5'
+'123AAE1FA05CC2^4'
+'-11556F41AE0B6^2'
+'-12566C01C5302C^0'
+'-4279463A30D9AC^-1'
+'648903E1ECCFCC^-2'
+'17870939696455^-2'
+'-3D644AB6FE29E2^-3'
+'-76FE6AEBC3B2B8^-4'
+'229C0C52CC6C1A^-4'
+'1BE3B9F4954EB5^-5'
+'35701924E1C17^5'
+'83A1A3A34376D^3'
+'-6EF8BB6DF4935^1'
+'-6DC32F1F8F61A^-1'
+'-27B178160E1A38^-1'
+'220067907662DC^-2'
+'EBAFD819119CC8^-3'
+'-1A32B730D85B27^-3'
+'-54DED665ABD42C^-4'
+'10816E9F5990EE^-4'
+'1AED14DF91F5EF^-5'
+'CE4834^7'
+'1518^6'
+'23^2'
+'1^1'
+END_ARRAY 2 39
+BEGIN_ARRAY 3 39
+'DE-0721LE-0721 '
+'CEF3D2A3E2675^7'
+'CEF46C40BB7E7^7'
+'4'
+'0'
+'1'
+'2'
+39
+'CE4834^7'
+'1518^6'
+'-B155D4B7DE404^7'
+'14A9DB2CBDCC4A^7'
+'DABB2681DE6778^5'
+'-2F76391573BAB2^4'
+'-1AFD1556761CB3^3'
+'-3CA0768E8A0676^1'
+'502B0CEB6AC574^-1'
+'A30457EC300328^-2'
+'3FEE2FE96F449E^-3'
+'20685B2DBE9CF6^-4'
+'-2DE208189963A^-5'
+'-7DD97DF202709C^7'
+'-143DD1E9B3EEA7^7'
+'9BC315FFECA3^5'
+'50E06655738184^4'
+'-339CF9A0A95E7^2'
+'-5269A4A5477DA8^1'
+'-2026CD348E8DCC^0'
+'-6080C5453E22C^-2'
+'1A217CCECBB738^-3'
+'A0B623B435E57^-5'
+'-14793B740EA03D^-5'
+'-34F399714093EA^7'
+'-9D7C88F4F28E28^6'
+'4188E711F7DB18^5'
+'2660DCC74429A^4'
+'-C0266D0AFD48A8^1'
+'-242866AE26E668^1'
+'-EE2B550BEBFAF8^-1'
+'-311F376465B6E4^-2'
+'AF6A31BD00D4A^-4'
+'546D76B06E0AF4^-5'
+'-C626D93F9668E^-6'
+'CCF6B4^7'
+'2A3^6'
+'23^2'
+'1^1'
+END_ARRAY 3 39
+BEGIN_ARRAY 4 54
+'MAR097 '
+'CEF3D2A3E2675^7'
+'CEF46C40BB7E7^7'
+'1F3'
+'4'
+'1'
+'3'
+54
+'CEF397^7'
+'2A3^4'
+'131EADC43A767F^-3'
+'87D35DF0F65FE^-3'
+'-57F475E50163EC^-3'
+'-2E18A6CDC218C4^-3'
+'E9069EF9A921F^-4'
+'3F2100A3126E24^-4'
+'-F6BCAE5615536^-5'
+'-242849962CA02^-5'
+'-1B403440E8D14D^-3'
+'8DA2432D7E2F4^-3'
+'516D15469AC448^-3'
+'-33C4C6DB9BB546^-3'
+'-C3B3EFEE04C09^-4'
+'4FB0764E509EDC^-4'
+'9932865860B37^-5'
+'-453406DD56D16^-5'
+'-1A122F92412E4A^-3'
+'-5595B5B0F1144^-4'
+'57C1839A880154^-3'
+'1B88A8470B3C43^-5'
+'-DE27C9455A1D9^-4'
+'41AE78A8B508C8^-5'
+'D103851361894^-5'
+'-DC2F98E64DEE98^-6'
+'62C3B0E9E022^-7'
+'-5DA0F2D35554D^-6'
+'-5AAE43ADA407C8^-6'
+'27CD5B2454CA2A^-6'
+'E36C61D78A25A^-7'
+'-462ED7B45C898^-7'
+'-BFFB7545924D48^-8'
+'0^0'
+'38AAD77E13C0C^-7'
+'59238C7DBE791^-6'
+'-64593551169B7^-6'
+'-226336DDD0E992^-6'
+'117438B965E25A^-6'
+'2B937DD298A95E^-7'
+'-16F718A78212A9^-7'
+'0^0'
+'-18FFF2F574A238^-7'
+'5EB7AF9A7E7F1^-6'
+'EEB05BF54FDBD^-8'
+'-266954B9BFB5CA^-6'
+'B008BF738162A^-8'
+'3B73EAB02DF2B4^-7'
+'-4911B1088A1F64^-8'
+'0^0'
+'CEF0F4^7'
+'546^4'
+'32^2'
+'1^1'
+END_ARRAY 4 54
+TOTAL_ARRAYS 4
+ ~NAIF/SPC BEGIN COMMENTS~
+; PSP_001446_1790_BG12_0.spice_0.bsp LOG FILE
+
+; Created 2022-05-31/12:56:00.00.
+;
+; BEGIN SPKMERGE COMMANDS
+
+LEAPSECONDS_KERNEL = lsk/naif0012.tls
+
+SPK_KERNEL = PSP_001446_1790_BG12_0.spice_0.bsp
+SOURCE_SPK_KERNEL = spk/mro_psp1_ssd_mro110c.bsp
+ INCLUDE_COMMENTS = NO
+ BODIES = -74
+ BEGIN_TIME = 2006 NOV 17 03:14:49.060
+ END_TIME = 2006 NOV 17 03:55:46.863
+ SOURCE_SPK_KERNEL = spk/mar097.bsp
+ INCLUDE_COMMENTS = NO
+ BODIES = 4, 10, 499
+ BEGIN_TIME = 2006 NOV 17 03:14:49.060
+ END_TIME = 2006 NOV 17 03:55:46.863
+
+; END SPKMERGE COMMANDS
+ ~NAIF/SPC END COMMENTS~
diff --git a/tests/pytests/data/PSP_001446_1790_BG12_0/PSP_001446_1790_BG12_0_isis3.lbl b/tests/pytests/data/PSP_001446_1790_BG12_0/PSP_001446_1790_BG12_0_isis3.lbl
new file mode 100644
index 0000000000000000000000000000000000000000..47448492328514b43d08d326deb377be3d7e73cf
--- /dev/null
+++ b/tests/pytests/data/PSP_001446_1790_BG12_0/PSP_001446_1790_BG12_0_isis3.lbl
@@ -0,0 +1,223 @@
+Object = IsisCube
+ Object = Core
+ StartByte = 65537
+ Format = Tile
+ TileSamples = 256
+ TileLines = 1000
+
+ Group = Dimensions
+ Samples = 256
+ Lines = 5000
+ Bands = 1
+ End_Group
+
+ Group = Pixels
+ Type = SignedWord
+ ByteOrder = Lsb
+ Base = 0.0
+ Multiplier = 1.0
+ End_Group
+ End_Object
+
+ Group = Instrument
+ SpacecraftName = "MARS RECONNAISSANCE ORBITER"
+ InstrumentId = HIRISE
+ TargetName = Mars
+ StartTime = 2006-11-17T03:27:53.118
+ StopTime = 2006-11-17T03:27:54.792
+ ObservationStartCount = 848201291:54379
+ SpacecraftClockStartCount = 848201291:62546
+ SpacecraftClockStopCount = 848201293:41165
+ ReadoutStartCount = 848201300:53057
+ CalibrationStartTime = 2006-11-17T03:27:53.104
+ CalibrationStartCount = 848201291:61647
+ AnalogPowerStartTime = -9999
+ AnalogPowerStartCount = -9999
+ MissionPhaseName = "PRIMARY SCIENCE PHASE"
+ LineExposureDuration = 334.7500 <MICROSECONDS>
+ ScanExposureDuration = 83.6875 <MICROSECONDS>
+ DeltaLineTimerCount = 155
+ Summing = 4
+ Tdi = 64
+ FocusPositionCount = 2020
+ PoweredCpmmFlag = (On, On, On, On, On, On, On, On, On, On, On,
+ On, On, On)
+ CpmmNumber = 4
+ CcdId = BG12
+ ChannelNumber = 0
+ LookupTableType = Stored
+ LookupTableNumber = 10
+ LookupTableMinimum = -9998
+ LookupTableMaximum = -9998
+ LookupTableMedian = -9998
+ LookupTableKValue = -9998
+ StimulationLampFlag = (Off, Off, Off)
+ HeaterControlFlag = (On, On, On, On, On, On, On, On, On, On, On,
+ On, On, On)
+ OptBnchFlexureTemperature = 20.455 <C>
+ OptBnchMirrorTemperature = 20.1949 <C>
+ OptBnchFoldFlatTemperature = 20.5417 <C>
+ OptBnchFpaTemperature = 19.8482 <C>
+ OptBnchFpeTemperature = 19.5881 <C>
+ OptBnchLivingRmTemperature = 20.1949 <C>
+ OptBnchBoxBeamTemperature = 20.455 <C>
+ OptBnchCoverTemperature = 20.1082 <C>
+ FieldStopTemperature = 18.375 <C>
+ FpaPositiveYTemperature = 19.1548 <C>
+ FpaNegativeYTemperature = 19.0681 <C>
+ FpeTemperature = 17.9418 <C>
+ PrimaryMirrorMntTemperature = 20.0215 <C>
+ PrimaryMirrorTemperature = 20.3683 <C>
+ PrimaryMirrorBafTemperature = 0.414005 <C>
+ MsTrussLeg0ATemperature = 20.3683 <C>
+ MsTrussLeg0BTemperature = 20.5417 <C>
+ MsTrussLeg120ATemperature = 19.5881 <C>
+ MsTrussLeg120BTemperature = 20.2816 <C>
+ MsTrussLeg240ATemperature = 19.6748 <C>
+ MsTrussLeg240BTemperature = 19.9348 <C>
+ BarrelBaffleTemperature = -21.006 <C>
+ SunShadeTemperature = -28.7562 <C>
+ SpiderLeg30Temperature = 17.7686 <C>
+ SpiderLeg150Temperature = 18.2883 <C>
+ SpiderLeg270Temperature = 17.1623 <C>
+ SecMirrorMtrRngTemperature = 19.5881 <C>
+ SecMirrorTemperature = 20.7151 <C>
+ SecMirrorBaffleTemperature = -18.7871 <C>
+ IeaTemperature = 25.8353 <C>
+ FocusMotorTemperature = 21.4088 <C>
+ IePwsBoardTemperature = 17.7363 <C>
+ CpmmPwsBoardTemperature = 18.078 <C>
+ MechTlmBoardTemperature = 35.0546 <C>
+ InstContBoardTemperature = 34.6875 <C>
+ DllLockedFlag = (YES, YES)
+ DllResetCount = 0
+ DllLockedOnceFlag = (YES, YES)
+ DllFrequenceCorrectCount = 4
+ ADCTimingSetting = (5, 4)
+ Unlutted = TRUE
+ End_Group
+
+ Group = Archive
+ DataSetId = MRO-M-HIRISE-2-EDR-V1.0
+ ProducerId = UA
+ ObservationId = PSP_001446_1790
+ ProductId = PSP_001446_1790_BG12_0
+ ProductVersionId = 1.0
+ EdrProductCreationTime = 2006-11-17T05:03:31
+ RationaleDescription = Null
+ OrbitNumber = 1446
+ SoftwareName = "HiRISE_Observation v2.9 (2.43 2006/10/01
+ 05:41:12)"
+ ObservationStartTime = 2006-11-17T03:27:52.993
+ ReadoutStartTime = 2006-11-17T03:28:01.973
+ TrimLines = 607
+ FelicsCompressionFlag = YES
+ IdFlightSoftwareName = IE_FSW_V4
+ End_Group
+
+ Group = BandBin
+ Name = BlueGreen
+ Center = 500 <NANOMETERS>
+ Width = 200 <NANOMETERS>
+ End_Group
+
+ Group = Kernels
+ NaifIkCode = -74699
+ End_Group
+End_Object
+
+Object = Label
+ Bytes = 65536
+End_Object
+
+Object = Table
+ Name = "HiRISE Calibration Ancillary"
+ StartByte = 2626071
+ Bytes = 4920
+ Records = 41
+ ByteOrder = Lsb
+
+ Group = Field
+ Name = GapFlag
+ Type = Integer
+ Size = 1
+ End_Group
+
+ Group = Field
+ Name = LineNumber
+ Type = Integer
+ Size = 1
+ End_Group
+
+ Group = Field
+ Name = BufferPixels
+ Type = Integer
+ Size = 12
+ End_Group
+
+ Group = Field
+ Name = DarkPixels
+ Type = Integer
+ Size = 16
+ End_Group
+End_Object
+
+Object = Table
+ Name = "HiRISE Calibration Image"
+ StartByte = 2630991
+ Bytes = 41984
+ Records = 41
+ ByteOrder = Lsb
+
+ Group = Field
+ Name = Calibration
+ Type = Integer
+ Size = 256
+ End_Group
+End_Object
+
+Object = Table
+ Name = "HiRISE Ancillary"
+ StartByte = 2672975
+ Bytes = 600000
+ Records = 5000
+ ByteOrder = Lsb
+ Association = Lines
+
+ Group = Field
+ Name = GapFlag
+ Type = Integer
+ Size = 1
+ End_Group
+
+ Group = Field
+ Name = LineNumber
+ Type = Integer
+ Size = 1
+ End_Group
+
+ Group = Field
+ Name = BufferPixels
+ Type = Integer
+ Size = 12
+ End_Group
+
+ Group = Field
+ Name = DarkPixels
+ Type = Integer
+ Size = 16
+ End_Group
+End_Object
+
+Object = History
+ Name = IsisCube
+ StartByte = 2625537
+ Bytes = 534
+End_Object
+
+Object = OriginalLabel
+ Name = IsisCube
+ StartByte = 3272975
+ Bytes = 25216
+End_Object
+End
diff --git a/tests/pytests/data/PSP_001446_1790_BG12_0/hiriseAddendum006.ti b/tests/pytests/data/PSP_001446_1790_BG12_0/hiriseAddendum006.ti
new file mode 100644
index 0000000000000000000000000000000000000000..7d7c69ffd7129215eb98b18bae57e1b885cc8d59
--- /dev/null
+++ b/tests/pytests/data/PSP_001446_1790_BG12_0/hiriseAddendum006.ti
@@ -0,0 +1,135 @@
+HiRISE Instrument Kernel
+=============================================================
+
+This instrument kernel (I-kernel) contains parameters that
+describe the Mars Reconnaissance Orbiter HiRISE (High Resolution
+Imaging Science Experiment) instrument.
+
+Version and Date
+-------------------------------------------------------------
+
+Version 1.0 -- February 16, 2005 -- Jim Torson, U.S. Geological Survey,
+ Flagstaff, AZ
+ Initial version.
+
+Version 1.1 -- April 5, 2006 -- Kris Becker USGS.
+ Added entries so NADIR pointing can be utilized. These entries are
+ indentified with prefixes of INS-74699. They can be any CCD
+ measurement but this one so happens to CCD #0.
+
+Version 1.2 -- May 10, 2006 -- Kris Becker USGS
+ Update focal length from 12056.0189 to 11994.9988 per Randy's email
+ of 2006/04/26.
+
+Version 1.3 -- July 17, 2009 -- Steven Lambright USGS
+ Update to exclude data now provided in the ik
+
+Version 1.4 -- January 12, 2010 -- Debbie A. Cook USGS
+ Update to include CK_FRAME_ID and CK_REFERENCE_ID
+
+Version 1.6 -- Mar 12, 2010 -- Debbie A. Cook USGS
+ Update to include CK_FRAME_ID and CK_REFERENCE_ID
+-------------------------------------------------------------
+The following are the parameters for computing focal plane
+coords from CCD coords. The last two characters of the
+parameter names are the HiRISE detector number (00 to 13).
+For a given detector number, these allow computation of
+focal plane coordinates (in millimeters) from "centered"
+detector coordinates in pixels (0,0 is the center of the
+detector array) as described in Randy Kirk's December 21,
+2004 email (ISIS3 sensor models, take 2), i.e.,
+
+x = transx[0] + transx[1]*ccdSample_c + transx[2]*ccdLine_c
+y = transy[0] + transy[1]*ccdSample_c + transy[2]*ccdLine_c
+
+The parameter values come from the spreadsheet attached to
+Randy Kirk's December 22, 2004 email (HiRISE pixel to
+focal plane).
+
+The INS-74699_TRANS[XY] is new and needed to support Nadir
+pointing CK simulations now supported in ISIS.
+
+\begindata
+ INS-74699_TRANSX=( -96.3935, -0.000057, 0.012000)
+ INS-74699_TRANSY=( 107.9956, -0.012000, -0.000057)
+
+ INS-74600_TRANSX=( -96.3935, -0.000057, 0.012000)
+ INS-74600_TRANSY=( 107.9956, -0.012000, -0.000057)
+ INS-74601_TRANSX=( -89.4914, -0.000042, 0.012000)
+ INS-74601_TRANSY=( 83.9950, -0.012000, -0.000042)
+ INS-74602_TRANSX=( -96.9459, -0.000034, 0.012000)
+ INS-74602_TRANSY=( 60.0469, -0.012000, -0.000034)
+ INS-74603_TRANSX=( -89.4927, -0.000018, 0.012000)
+ INS-74603_TRANSY=( 36.0380, -0.012000, -0.000018)
+ INS-74604_TRANSX=( -96.4998, 0.000002, 0.012000)
+ INS-74604_TRANSY=( 11.9992, -0.012000, 0.000002)
+ INS-74605_TRANSX=( -89.4960, -0.000001, 0.012000)
+ INS-74605_TRANSY=( -12.0010, -0.012000, -0.000001)
+ INS-74606_TRANSX=( -96.6811, 0.000019, 0.012000)
+ INS-74606_TRANSY=( -35.9996, -0.012000, 0.000019)
+ INS-74607_TRANSX=( -89.4935, 0.000031, 0.012000)
+ INS-74607_TRANSY=( -60.0034, -0.012000, 0.000031)
+ INS-74608_TRANSX=( -96.3954, 0.000049, 0.012000)
+ INS-74608_TRANSY=( -83.9990, -0.012000, 0.000049)
+ INS-74609_TRANSX=( -89.1039, 0.000056, 0.012000)
+ INS-74609_TRANSY=( -107.9997, -0.012000, 0.000056)
+ INS-74610_TRANSX=( -110.9610, 0.000000, 0.012000)
+ INS-74610_TRANSY=( 11.9991, -0.012000, 0.000000)
+ INS-74611_TRANSX=( -103.6857, -0.000001, 0.012000)
+ INS-74611_TRANSY=( -12.0010, -0.012000, -0.000001)
+ INS-74612_TRANSX=( -82.2033, 0.000002, 0.012000)
+ INS-74612_TRANSY=( 11.9993, -0.012000, 0.000002)
+ INS-74613_TRANSX=( -74.9334, 0.000003, 0.012000)
+ INS-74613_TRANSY=( -12.0007, -0.012000, 0.000003)
+
+
+
+\begintext
+Parameters for computing CCD coords from focal plane coords.
+The INS-74699_ITRANS[SL] is new and needed to support Nadir
+pointing CK simulations now supported in ISIS.
+
+\begindata
+ INS-74699_ITRANSS=( 8961.49, -0.3947, -83.3324)
+ INS-74699_ITRANSL=( 8075.32, 83.3324, -0.3947)
+
+ INS-74600_ITRANSS=( 8961.49, -0.3947, -83.3324)
+ INS-74600_ITRANSL=( 8075.32, 83.3324, -0.3947)
+ INS-74601_ITRANSS=( 6973.17, -0.2947, -83.3328)
+ INS-74601_ITRANSL=( 7482.32, 83.3328, -0.2947)
+ INS-74602_ITRANSS=( 4981.07, -0.2353, -83.3330)
+ INS-74602_ITRANSL=( 8092.92, 83.3330, -0.2353)
+ INS-74603_ITRANSS=( 2991.85, -0.1263, -83.3332)
+ INS-74603_ITRANSL=( 7462.27, 83.3332, -0.1263)
+ INS-74604_ITRANSS=( 1001.06, 0.0117, -83.3333)
+ INS-74604_ITRANSL=( 8041.51, 83.3333, 0.0117)
+ INS-74605_ITRANSS=( -1000.86, -0.0087, -83.3333)
+ INS-74605_ITRANSL=( 7457.90, 83.3333, -0.0087)
+ INS-74606_ITRANSS=( -2987.14, 0.1327, -83.3332)
+ INS-74606_ITRANSL=( 8061.52, 83.3332, 0.1327)
+ INS-74607_ITRANSS=( -4981.11, 0.2140, -83.3331)
+ INS-74607_ITRANSL=( 7470.61, 83.3331, 0.2140)
+ INS-74608_ITRANSS=( -6966.96, 0.3413, -83.3326)
+ INS-74608_ITRANSL=( 8061.56, 83.3326, 0.3413)
+ INS-74609_ITRANSS=( -8965.39, 0.3870, -83.3324)
+ INS-74609_ITRANSL=( 7467.04, 83.3324, 0.3870)
+ INS-74610_ITRANSS=( 999.93, 0.0000, -83.3333)
+ INS-74610_ITRANSL=( 9246.75, 83.3333, 0.0000)
+ INS-74611_ITRANSS=( -1001.12, -0.0100, -83.3333)
+ INS-74611_ITRANSL=( 8640.36, 83.3333, -0.0100)
+ INS-74612_ITRANSS=( 1001.28, 0.0163, -83.3333)
+ INS-74612_ITRANSL=( 6850.08, 83.3333, 0.0163)
+ INS-74613_ITRANSS=( -998.61, 0.0193, -83.3333)
+ INS-74613_ITRANSL=( 6244.68, 83.3333, 0.0193)
+
+
+
+\begintext
+These are the parameters for writing c-kernels. Isis will create ck
+with the same frame endpoints as the mission ck. For Hirise the ck
+instrument frame is MRO_SPACECRAFT (-74000) and the ck reference frame
+is MRO_MME_OF_DATE (-74900).
+
+\begindata
+ INS-74699_CK_FRAME_ID=-74000
+ INS-74699_CK_REFERENCE_ID=-74900
diff --git a/tests/pytests/data/PSP_001446_1790_BG12_0/mro_hirise_v12.ti b/tests/pytests/data/PSP_001446_1790_BG12_0/mro_hirise_v12.ti
new file mode 100644
index 0000000000000000000000000000000000000000..b980d45f4a7d93ad3a888784ab3799ea0668f54a
--- /dev/null
+++ b/tests/pytests/data/PSP_001446_1790_BG12_0/mro_hirise_v12.ti
@@ -0,0 +1,824 @@
+KPL/IK
+
+HIRISE Instrument kernel
+===========================================================================
+
+ This instrument kernel (I-kernel) contains MRO High Resolution
+ Imaging Science Experiment (HIRISE) optics, detector, and
+ field-of-view parameters.
+
+ The version 1.0 of this IK must be used with the MRO FK versions 1.3
+ or earlier.
+
+ The version 1.1 of this IK must be used with the MRO FK versions 1.4
+ or later.
+
+
+Version and Date
+---------------------------------------------------------------------------
+
+ Version 1.2 -- May 24, 2011 -- Boris Semenov, NAIF/JPL
+
+ Added a note about the round trip, round off errors at the level
+ of a few 10^-2 pixels when using TRANS[XY] to go from line/sample
+ to position x/y in the focal plane and then ITRANS[SL] to do the
+ inverse. No changes in the data values in Version 1.2 compared to
+ Version 1.1.
+
+ Version 1.1 -- February 24, 2009 -- Boris Semenov, NAIF/JPL
+
+ Incorporated USGS ISIS 3 HiRISE Instrument Kernel
+ ``hiriseAddendum003aaa.ti'' providing updated CCD positions by
+ shifting whole focal plane 5 mm to match analysis by Randy Kirk
+ (USGS) of camera distortions of star images.
+
+ Version 1.0 -- June 7, 2007 -- Boris Semenov, NAIF/JPL
+
+ Initial release.
+
+
+References
+---------------------------------------------------------------------------
+
+ 1. ``Kernel Pool Required Reading''
+
+ 2. ``C-kernel Required Reading''
+
+ 3. MRO Frames Definition Kernel (FK), latest version.
+
+ 4. ``SIS for HIRISE EDR Products'', Ver 1.1.1, March 17, 2006.
+
+ 5. ``hiriseAddendum003.ti'' IK file by USGS, Flagstaff, included
+ ``as is'' at the bottom of this IK.
+
+ 6. ``hiriseAddendum003aaa.ti'' IK file by USGS, Flagstaff, included
+ ``as is'' at the bottom of this IK.
+
+
+Implementation Notes
+--------------------------------------------------------
+
+ Applications that need SPICE I-kernel data must ``load'' the
+ I-kernel file, normally during program initialization.
+
+ Loading the kernel using the SPICELIB routine FURNSH causes the data
+ items and their associated values present in the kernel to become
+ associated with a data structure called the ``kernel pool''. The
+ application program may then obtain the value(s) for any IK data
+ item using the SPICELIB routines GDPOOL, GIPOOL, GCPOOL. Routine
+ GETFOV may be used if the file contains instrument field-of-view
+ (FOV) specification. See [1] for details.
+
+ This file was created with, and can be updated with a text editor or
+ word processor.
+
+
+Conventions for Specifying Data
+--------------------------------------------------------
+
+ Data items are specified using ``keyword=value'' assignments [1].
+ All keywords referencing values in this I-kernel start with the
+ characters `INS' followed by the NAIF MRO instrument ID code,
+ constructed using the spacecraft ID number (-74) followed by the
+ NAIF three digit ID number for HIRISE (699) or one of its detectors
+ (600..613). These IDs are defined in [3] as follows:
+
+ Instrument name ID
+ -------------------- -------
+ MRO_HIRISE -74699
+ MRO_HIRISE_CCD0 -74600
+ MRO_HIRISE_CCD1 -74601
+ MRO_HIRISE_CCD2 -74602
+ MRO_HIRISE_CCD3 -74603
+ MRO_HIRISE_CCD4 -74604
+ MRO_HIRISE_CCD5 -74605
+ MRO_HIRISE_CCD6 -74606
+ MRO_HIRISE_CCD7 -74607
+ MRO_HIRISE_CCD8 -74608
+ MRO_HIRISE_CCD9 -74609
+ MRO_HIRISE_CCD10 -74610
+ MRO_HIRISE_CCD11 -74611
+ MRO_HIRISE_CCD12 -74612
+ MRO_HIRISE_CCD13 -74613
+
+ The remainder of the keyword is an underscore character followed by
+ the unique name of the data item. For example, the focal length of
+ the HIRISE camera is specified by
+
+ INS-74699_FOCAL_LENGTH
+
+ The upper bound on the length of all keywords is 32 characters.
+
+ If a keyword is included in more than one file, or if the same
+ keyword appears more than once within a single file, the last
+ assignment supersedes any earlier assignments.
+
+
+Overview
+--------------------------------------------------------
+
+ From [4]:
+
+ The HiRISE camera is a "pushbroom" imaging system featuring a 0.5
+ m aperture telescope with a 12 m focal length and 14 CCD
+ detectors capable of generating images of up to 20,264 cross-scan
+ observation pixels (exclusive of overlap pixels) and 65,000
+ unbinned scan lines (Table 2.0). The HiRISE instrument
+ capabilities include the acquisition of: (1) observations of the
+ Mars surface from orbit with a ground sampling dimension between
+ 25 and 32 cm/pixel, depending on the orbital altitude, along with
+ an intrinsic point spread function of 1.4 pixels (full width at
+ half maximum assuming no spacecraft jitter) and high
+ signal-to-noise ratio (SNR), (2) high-resolution topographic data
+ from stereo observations with a vertical precision of ~0.2 m over
+ areas of ~5x5 pixels (~1.5 m), and (3) observations in 3 colors
+ with high radiometric fidelity. A key instrument design feature
+ includes Charge Couple Device (CCD) detectors with up to 128
+ lines of Time Delay and Integration (TDI) to create high (>100:1)
+ SNR in the Red filter bandpass anywhere on Mars. At the nominal
+ 300 km MRO orbital altitude the instrument can acquire image
+ swaths of approximately 6 kilometers cross-orbit and 20
+ kilometers along-orbit.
+
+
+ Table 2.0 - HiRISE Instrument Performance
+
+ -----------------------------------------------------------------------
+ Parameter Performance Comments
+ -----------------------------------------------------------------------
+ Ground Sample Distance 30 cm/pixel From 300 km altitude
+ (GSD )
+ -----------------------------------------------------------------------
+ Telescope Aperture 0.5 m, f/24 For resolution and Signal
+ to Noise ratio
+ -----------------------------------------------------------------------
+ Spectral range 500 nm (400-600) Blue-Green
+ 700 nm (550-850) Red
+ 900 nm (800-1100) Near infrared
+ -----------------------------------------------------------------------
+ SNR Blue-Green Typically 100:1 Achieved with Time Delay
+ Red Typically 200:1 Integration, backside
+ NIR Typically 100:1 thinned CCDs, and 50 cm
+ aperture
+ -----------------------------------------------------------------------
+ Swath Width Blue-Green > 1.2 km From 300 km altitude
+ Red > 6 km
+ NIR > 1.2 km
+ -----------------------------------------------------------------------
+ Swath length > 2x swath width Along track
+ -----------------------------------------------------------------------
+ Data Precision 14 bit Analog to 12 to 13 usable bits
+ Digital
+ Converters
+ -----------------------------------------------------------------------
+ Data Compression Real-time 14 to Look-up table
+ 8 bit
+
+ 1, 2, 3, 4, 8, 16 Pixel binning increases
+ areal coverage
+
+ Lossless ~ 2:1 compression
+ compression on
+ Solid State
+ Recorder (8-bit
+ only)
+ -----------------------------------------------------------------------
+ Camera memory 28 Gbits All channels
+ -----------------------------------------------------------------------
+ Number of pixels 4,048 Blue-Green From swath width and
+ across swath 20,264 Red pixel scale
+ 4,048 NIR
+ -----------------------------------------------------------------------
+ TDI line time >=74 mksec Set to match ground track
+ speed
+ -----------------------------------------------------------------------
+ CCD read noise < 50 electrons rms Achieve SNR at low
+ at 22 deg C signal levels
+ -----------------------------------------------------------------------
+ FOV 1.14 x 0.18 deg
+ -----------------------------------------------------------------------
+ IFOV 1 x 1 mkrad Detector angular subtense
+ -----------------------------------------------------------------------
+ Relative Radiometry < 1 % pixel to Absolute 20%
+ pixel
+ -----------------------------------------------------------------------
+
+
+Mounting Alignment
+--------------------------------------------------------
+
+ Refer to the latest version of the MRO Frames Definition Kernel (FK)
+ [3] for the HIRISE reference frame definitions and mounting alignment
+ information.
+
+
+CCD FOV Layout
+--------------------------------------------------------
+
+ This section provides a diagram illustrating the HIRISE CCD
+ nomenclature and layout (from [4]):
+
+ ------
+ | IR10 |
+ ------ ------
+ | IR11 |
+ ------ ------ ------ ------ ------ ------
+ | RED0 | | RED2 | | RED4 | | RED6 | | RED8 |
+ ------ ------ ------ ------ ------ ------ ------ ------ ------ ------
+ | RED1 | | RED3 | | RED5 | | RED7 | | RED9 |
+ ------ ------ ------ ------ ------ ------
+ | BG12 |
+ ------ ------
+ | BG13 |
+ ------
+ +Yhirise +Zhirise (nadir)
+ <------x
+ |
+ |
+ |
+ V +Xhirise
+ (s/c velocity)
+
+
+ The keywords below provide the CCD names and the corresponding
+ CCD Processing and Memory Module (CPMM) IDs:
+
+ \begindata
+
+ INS-74600_NAME = ( 'RED0' )
+ INS-74601_NAME = ( 'RED1' )
+ INS-74602_NAME = ( 'RED2' )
+ INS-74603_NAME = ( 'RED3' )
+ INS-74604_NAME = ( 'RED4' )
+ INS-74605_NAME = ( 'RED5' )
+ INS-74606_NAME = ( 'RED6' )
+ INS-74607_NAME = ( 'RED7' )
+ INS-74608_NAME = ( 'RED9' )
+ INS-74609_NAME = ( 'RED9' )
+ INS-74610_NAME = ( 'IR10' )
+ INS-74611_NAME = ( 'IR11' )
+ INS-74612_NAME = ( 'BG12' )
+ INS-74613_NAME = ( 'BG13' )
+
+ INS-74600_CPMM = ( 0 )
+ INS-74601_CPMM = ( 1 )
+ INS-74602_CPMM = ( 2 )
+ INS-74603_CPMM = ( 3 )
+ INS-74604_CPMM = ( 5 )
+ INS-74605_CPMM = ( 8 )
+ INS-74606_CPMM = ( 10 )
+ INS-74607_CPMM = ( 11 )
+ INS-74608_CPMM = ( 12 )
+ INS-74609_CPMM = ( 13 )
+ INS-74610_CPMM = ( 6 )
+ INS-74611_CPMM = ( 7 )
+ INS-74612_CPMM = ( 4 )
+ INS-74613_CPMM = ( 9 )
+
+ \begintext
+
+
+CCD Parameters
+--------------------------------------------------------
+
+ Each of the 14 HIRISE CCD detectors has the following nominal
+ geometry parameters, from [4]:
+
+ ------------------------------------------------
+ parameter value
+ ------------------------------------------------
+ Pixel Size, microns 12 x 12
+ Detector Array Size
+ Samples 2048
+ Lines 128
+ Detector Array Center 1024.5, 64.5
+ ------------------------------------------------
+
+ The CCD detector corner based pixel numbering convention is shown on
+ this diagram:
+
+ 1, 1 samples -----> 2048, 1
+ ._______________________________________________.
+ | | |
+ | | | |
+ | | | |
+ | * 1024.5, 64.5 | | lines
+ | | | |
+ |<----- channel 1 ----->|<----- channel 0 ----->| V
+ | | |
+ ._______________________._______________________.
+ 1, 128 1024|1025 2048, 128
+
+ +Yhirise +Zhirise (nadir)
+ <------x
+ |
+ |
+ |
+ V +Xhirise
+ (s/c velocity)
+
+ The values are given in millimeters for PIXEL_SIZE keywords and in
+ counts for PIXEL_SAMPLES, PIXEL_LINES, and CENTER keywords.
+
+ \begindata
+
+ INS-74600_PIXEL_SIZE = ( 0.012, 0.012 )
+ INS-74600_PIXEL_SAMPLES = ( 2048 )
+ INS-74600_PIXEL_LINES = ( 128 )
+ INS-74600_CCD_CENTER = ( 1024.5, 64.5 )
+
+ INS-74601_PIXEL_SIZE = ( 0.012, 0.012 )
+ INS-74601_PIXEL_SAMPLES = ( 2048 )
+ INS-74601_PIXEL_LINES = ( 128 )
+ INS-74601_CCD_CENTER = ( 1024.5, 64.5 )
+
+ INS-74602_PIXEL_SIZE = ( 0.012, 0.012 )
+ INS-74602_PIXEL_SAMPLES = ( 2048 )
+ INS-74602_PIXEL_LINES = ( 128 )
+ INS-74602_CCD_CENTER = ( 1024.5, 64.5 )
+
+ INS-74603_PIXEL_SIZE = ( 0.012, 0.012 )
+ INS-74603_PIXEL_SAMPLES = ( 2048 )
+ INS-74603_PIXEL_LINES = ( 128 )
+ INS-74603_CCD_CENTER = ( 1024.5, 64.5 )
+
+ INS-74604_PIXEL_SIZE = ( 0.012, 0.012 )
+ INS-74604_PIXEL_SAMPLES = ( 2048 )
+ INS-74604_PIXEL_LINES = ( 128 )
+ INS-74604_CCD_CENTER = ( 1024.5, 64.5 )
+
+ INS-74605_PIXEL_SIZE = ( 0.012, 0.012 )
+ INS-74605_PIXEL_SAMPLES = ( 2048 )
+ INS-74605_PIXEL_LINES = ( 128 )
+ INS-74605_CCD_CENTER = ( 1024.5, 64.5 )
+
+ INS-74606_PIXEL_SIZE = ( 0.012, 0.012 )
+ INS-74606_PIXEL_SAMPLES = ( 2048 )
+ INS-74606_PIXEL_LINES = ( 128 )
+ INS-74606_CCD_CENTER = ( 1024.5, 64.5 )
+
+ INS-74607_PIXEL_SIZE = ( 0.012, 0.012 )
+ INS-74607_PIXEL_SAMPLES = ( 2048 )
+ INS-74607_PIXEL_LINES = ( 128 )
+ INS-74607_CCD_CENTER = ( 1024.5, 64.5 )
+
+ INS-74608_PIXEL_SIZE = ( 0.012, 0.012 )
+ INS-74608_PIXEL_SAMPLES = ( 2048 )
+ INS-74608_PIXEL_LINES = ( 128 )
+ INS-74608_CCD_CENTER = ( 1024.5, 64.5 )
+
+ INS-74609_PIXEL_SIZE = ( 0.012, 0.012 )
+ INS-74609_PIXEL_SAMPLES = ( 2048 )
+ INS-74609_PIXEL_LINES = ( 128 )
+ INS-74609_CCD_CENTER = ( 1024.5, 64.5 )
+
+ INS-74610_PIXEL_SIZE = ( 0.012, 0.012 )
+ INS-74610_PIXEL_SAMPLES = ( 2048 )
+ INS-74610_PIXEL_LINES = ( 128 )
+ INS-74610_CCD_CENTER = ( 1024.5, 64.5 )
+
+ INS-74611_PIXEL_SIZE = ( 0.012, 0.012 )
+ INS-74611_PIXEL_SAMPLES = ( 2048 )
+ INS-74611_PIXEL_LINES = ( 128 )
+ INS-74611_CCD_CENTER = ( 1024.5, 64.5 )
+
+ INS-74612_PIXEL_SIZE = ( 0.012, 0.012 )
+ INS-74612_PIXEL_SAMPLES = ( 2048 )
+ INS-74612_PIXEL_LINES = ( 128 )
+ INS-74612_CCD_CENTER = ( 1024.5, 64.5 )
+
+ INS-74613_PIXEL_SIZE = ( 0.012, 0.012 )
+ INS-74613_PIXEL_SAMPLES = ( 2048 )
+ INS-74613_PIXEL_LINES = ( 128 )
+ INS-74613_CCD_CENTER = ( 1024.5, 64.5 )
+
+ \begintext
+
+ The CCD detector center based pixel numbering convention used in
+ USGS ISIS 3 camera model ([5]) is shown on this diagram:
+
+ -1023.5, -63.5 samples -----> 1023.5, -63.5
+ ._______________________________________________.
+ | | |
+ | | | |
+ | | | |
+ | * 0, 0 | | lines
+ | | | |
+ |<----- channel 1 ----->|<----- channel 0 ----->| V
+ | | |
+ ._______________________._______________________.
+ -1023.5, 63.5 -0.5|0.5 1023.5, 63.5
+
+ +Yhirise +Zhirise (nadir)
+ <------x
+ |
+ |
+ |
+ V +Xhirise
+ (s/c velocity)
+
+
+ In TDI the last line that observes the scene is always the top line
+ of the CCD while the first line observing the scene is "TDI" lines
+ down the CCD, as shown on this diagram:
+
+ ._______________________________________________. last line
+ | | | ^
+ | | | | TDI
+ | | | | lines
+ | | | v
+ | | | first line
+ |<----- channel 1 ----->|<----- channel 0 ----->|
+ | | |
+ ._______________________._______________________.
+
+ +Yhirise +Zhirise (nadir)
+ <------x
+ |
+ |
+ |
+ V +Xhirise
+ (s/c velocity)
+
+ The numbers of TDI lines depends on the commanded TDI mode.
+
+
+FOV Parameters and Definition
+---------------------------------------------------------------------------
+
+ The following HIRISE FOV and IFOV parameters are provided by keywords
+ in this section (all values are nominal values from [4]):
+
+ ------------------------------------------------
+ parameter value
+ ------------------------------------------------
+ IFOV, rad/pixel 0.000001
+ Field of view (deg) 1.14 x 0.18
+ ------------------------------------------------
+
+ Angular size values in the keywords are given in radians.
+
+ \begindata
+
+ INS-74699_FOV_ANGULAR_SIZE = ( 0.01989675, 0.00314159 )
+ INS-74699_IFOV = ( 0.000001, 0.000001 )
+
+ \begintext
+
+ The set of keywords below contains definition of the HIRISE FOV.
+ This definition is provided in the format required by the SPICE
+ (CSPICE) function GETFOV (getfov_c). It defines the HIRISE FOV with
+ respect to the MRO_HIRISE_LOOK_DIRECTION frame to be a rectangle
+ with the nominal sizes specified above.
+
+ \begindata
+
+ INS-74699_FOV_FRAME = 'MRO_HIRISE_LOOK_DIRECTION'
+ INS-74699_FOV_SHAPE = 'RECTANGLE'
+ INS-74699_BORESIGHT = (
+ 0.000000 0.000000 1.000000
+ )
+ INS-74699_FOV_CLASS_SPEC = 'ANGLES'
+ INS-74699_FOV_REF_VECTOR = (
+ 0.000000 1.000000 0.000000
+ )
+ INS-74699_FOV_REF_ANGLE = ( 0.57 )
+ INS-74699_FOV_CROSS_ANGLE = ( 0.09 )
+ INS-74699_FOV_ANGLE_UNITS = 'DEGREES'
+
+ \begintext
+
+
+A Recipe for Computing Observation Time and CCD Pixel View Direction
+---------------------------------------------------------------------------
+
+ The following recipe explains how starting with a HIRISE EDR pixel
+ identified by its line (l) and sample (s) determine the ephemeris
+ time (et) at which this pixel made observation and the pixel view
+ direction (v) in the HIRISE frame (MRO_HIRISE_OPTICAL_AXIS).
+
+ The following values from the EDR label will be needed:
+
+ - "bsclk", the image start time from the keyword
+ SPACECRAFT_CLOCK_START_COUNT (p/ssssssssss.fffff)
+
+ - "binning", binning mode ID from the keyword BINNING
+ (1,2,3,4,8,16)
+
+ - "tdi", TDI mode ID from the keyword TDI (8,32,64,128)
+
+ - "dline", additional TDI line delay from the keyword
+ DELTA_LINE_TIME_COUNT (an integer number)
+
+ - "chan", channel ID from the keyword CHANNEL_NUMBER (0 or 1)
+
+ The following IK parameters will be needed as well:
+
+ - "cen_s" and "cen_l", the CCD center coordinates from
+ INS-74???_CCD_CENTER keywords
+
+ - parameters from the ``hiriseAddendum003.ti'' USGS
+ ISIS 3 IK included at the end of this IK file.
+
+
+ Step A: Compute ephemeris time (et) for the middle point of the TDI
+ ------- line block
+
+ 1) compute line rate in seconds
+
+ lr = ( 74.0 + ( dline / 16.0 ) ) / 1000000
+
+ 2) compute binned line rate
+
+ lrb = lr * binning
+
+ 3) convert first line sclk to et using high precision MRO SPICE
+ SCLK (-74999)
+
+ bsclk -> et
+
+ 4) compute et of the last line in the TDI block that was recorded
+ into this EDR line (l)
+
+ et = et + l * lrb
+
+ 5) adjust et time to be for the middle point of the TDI block
+
+ et = et - lr * ( ( tdi / 2 ) - 0.5 )
+
+ 6) adjust et time for binning
+
+ et = et + lr * ( ( binning / 2 ) - 0.5 )
+
+
+ Step B: Compute the index of the physical CCD line in the middle
+ ------- of the TDI block with respect to CCD center that was
+ exposed at this et
+
+ 1) compute un-binned number of the CCD line in the middle of TDI
+ block
+
+ ccdLine_c = -64 + ( tdi / 2 )
+
+ 2) adjust CCD line number for binning
+
+ ccdLine_c = ccd_lnum - ( ( binning / 2 ) - 0.5 )
+
+
+ Step C: Compute the index of the physical CCD pixel corresponding
+ ------- to this EDR pixel with respect to the CCD center
+
+ 1) compute unbinned pixel index from binned pixels with respect
+ to the image "corner"
+
+ ccdSample_c = ( s - 0.5 ) * binning + 0.5
+
+
+ 2) adjust unbinned pixel index to be with respect to the
+ CCD center:
+
+ ccdSample_c = ccdSample_c + off_s - cen_s
+
+ where off_s=0 for channel 1 and off_s=1025.0 for channel 0
+
+
+ Step D: Compute focal plane coordinates for physical CCD line and
+ ------- sample
+
+ 1) start with ccdSample_c and ccdLine_c and use formulas and
+ values from the "computing focal plane coords from CCD coords"
+ section of the ``hiriseAddendum003.ti'' IK
+
+ ccdSample_c, ccdLine_c --> x, y
+
+ Step E: Compute ideal focal plane coordinates from distorted
+ ------- coordinates
+
+ 1) start with x, y and use formulas and values from the "optical
+ distortion parameters" section of the ``hiriseAddendum003.ti''
+ IK
+
+ x, y --> xp, yp
+
+ Step F: Construct view vector in the ``MRO_HIRISE_OPTICAL_AXIS''
+ ------- frame
+
+ 1) Used computed xp, yp and focal length from the
+ ``hiriseAddendum003.ti'' IK
+
+ v = [xp, yp, fl]
+
+
+
+USGS ISIS 3 HiRISE Instrument Kernel ``hiriseAddendum003aaa.ti''
+===========================================================================
+
+ This instrument kernel (I-kernel) contains parameters that describe
+ the Mars Reconnaissance Orbiter HiRISE (High Resolution Imaging
+ Science Experiment) instrument model used by UGSG's ISIS 3.
+
+ This model is defined with respect to the MRO_HIRISE_OPTICAL_AXIS
+ frame.
+
+
+``hiriseAddendum003aaa.ti'' Version and Date
+-------------------------------------------------------------
+
+ Version 1.0 -- February 16, 2005 -- Jim Torson, USGS, Flagstaff, AZ
+
+ Initial version.
+
+ Version 1.1 -- April 5, 2006 -- Kris Becker USGS.
+
+ Added entries so NADIR pointing can be utilized. These entries
+ are identified with prefixes of INS-74699. They can be any CCD
+ measurement but this one so happens to CCD #0.
+
+ Version 1.2 -- May 10, 2006 -- Kris Becker USGS
+
+ Update focal length from 12056.0189 to 11994.9988 per Randy's
+ email of 2006/04/26.
+
+ Version 1.3 -- April, 2008 -- Laszlo Keszthelyi USGS
+
+ Updated CCD positions by shifting whole focal plane 5 mm to match
+ analysis by Randy Kirk (USGS) of camera distortions of star images.
+
+
+``hiriseAddendum003aaa.ti'' Data
+-------------------------------------------------------------
+
+ \begindata
+
+ INS-74699_PLATFORM_ID = -74000
+
+ INS-74699_SPK_TIME_BIAS = 0.0
+ INS-74699_CK_TIME_BIAS = 0.0
+ INS-74699_CK_TIME_TOLERANCE = 1
+
+ \begintext
+
+ The following is the focal length, which is expressed in
+ MILLIMETERS. This value comes from Randy Kirk's December 21, 2004
+ email (HiRISE optical distortion report). This is the Version 2
+ value (EFL and balanced optical distortion).
+
+ This was the initial value until 2006/05/10.
+
+ INS-74699_FOCAL_LENGTH = 12056.0189
+
+ \begindata
+
+ INS-74699_FOCAL_LENGTH = 11994.9988
+
+ \begintext
+
+ The following is the pixel pitch, which is the distance between
+ adjacent pixels on the CCD arrays. This is expressed in MILLIMETERS
+ per pixel.
+
+ \begindata
+
+ INS-74699_PIXEL_PITCH = 12.0E-3
+
+ \begintext
+
+ The following are the optical distortion parameters. These are used
+ to transform from observed (distorted) coordinates (unprimed, e.g.,
+ x) to ideal coordinates (primed, e.g., xp). Both sets of
+ coordinates are expressed in millimeters. These are used as
+ described in Randy Kirk's December 21, 2004 email (ISIS 3 sensor
+ models, take 2). From Randy's email (assuming x0 and y0 are zero):
+
+ r=sqrt(x^2 + y^2)
+ dr = k0*r + k1*r3 + k2*r^5
+ rp = r - dr
+ xp = x * (rp/r), similarly for yp
+
+ or, rearranging a bit, we have a more efficient version:
+
+ r^2 = x^2 + y^2
+ dr/r = k0 + r^2*(k1 + r^2*k2)
+ xp = x - (dr/r)*x
+ yp = y - (dr/r)*y
+
+ (Randy's original email had a "+" in these last two equations, which
+ is incorrect.)
+
+ The optical distortion parameters below come from Randy
+ Kirk's December 21, 2004 email (HiRISE optical distortion
+ report):
+
+ \begindata
+
+ INS-74699_OD_K = ( -0.0048509, 2.41312E-07, -1.62369E-13)
+
+ \begintext
+
+ The following are the parameters for computing focal plane coords
+ from CCD coords. The last two characters of the parameter names are
+ the HiRISE detector number (00 to 13). For a given detector number,
+ these allow computation of focal plane coordinates (in millimeters)
+ from "centered" detector coordinates in pixels (0,0 is the center of
+ the detector array) as described in Randy Kirk's December 21, 2004
+ email (ISIS3 sensor models, take 2), i.e.,
+
+ x = transx[0] + transx[1]*ccdSample_c + transx[2]*ccdLine_c
+ y = transy[0] + transy[1]*ccdSample_c + transy[2]*ccdLine_c
+
+ The parameter values come from the spreadsheet attached to Randy
+ Kirk's December 22, 2004 email (HiRISE pixel to focal plane).
+
+ The INS-74699_TRANS[XY] is new and needed to support Nadir pointing
+ CK simulations now supported in ISIS.
+
+ \begindata
+
+ INS-74699_TRANSX=( -96.3935, -0.000057, 0.012000)
+ INS-74699_TRANSY=( 107.9956, -0.012000, -0.000057)
+
+ INS-74600_TRANSX=( -96.3935, -0.000057, 0.012000)
+ INS-74600_TRANSY=( 112.9956, -0.012000, -0.000057)
+ INS-74601_TRANSX=( -89.4914, -0.000042, 0.012000)
+ INS-74601_TRANSY=( 88.9950, -0.012000, -0.000042)
+ INS-74602_TRANSX=( -96.9459, -0.000034, 0.012000)
+ INS-74602_TRANSY=( 65.0469, -0.012000, -0.000034)
+ INS-74603_TRANSX=( -89.4927, -0.000018, 0.012000)
+ INS-74603_TRANSY=( 41.0380, -0.012000, -0.000018)
+ INS-74604_TRANSX=( -96.4998, 0.000002, 0.012000)
+ INS-74604_TRANSY=( 16.9992, -0.012000, 0.000002)
+ INS-74605_TRANSX=( -89.4960, -0.000001, 0.012000)
+ INS-74605_TRANSY=( -7.0010, -0.012000, -0.000001)
+ INS-74606_TRANSX=( -96.6811, 0.000019, 0.012000)
+ INS-74606_TRANSY=( -30.9996, -0.012000, 0.000019)
+ INS-74607_TRANSX=( -89.4935, 0.000031, 0.012000)
+ INS-74607_TRANSY=( -55.0034, -0.012000, 0.000031)
+ INS-74608_TRANSX=( -96.3954, 0.000049, 0.012000)
+ INS-74608_TRANSY=( -78.9990, -0.012000, 0.000049)
+ INS-74609_TRANSX=( -89.1039, 0.000056, 0.012000)
+ INS-74609_TRANSY=( -102.9997, -0.012000, 0.000056)
+ INS-74610_TRANSX=( -110.9610, 0.000000, 0.012000)
+ INS-74610_TRANSY=( 16.9991, -0.012000, 0.000000)
+ INS-74611_TRANSX=( -103.6857, -0.000001, 0.012000)
+ INS-74611_TRANSY=( -7.0010, -0.012000, -0.000001)
+ INS-74612_TRANSX=( -82.2033, 0.000002, 0.012000)
+ INS-74612_TRANSY=( 16.9993, -0.012000, 0.000002)
+ INS-74613_TRANSX=( -74.9334, 0.000003, 0.012000)
+ INS-74613_TRANSY=( -7.0007, -0.012000, 0.000003)
+
+ \begintext
+
+ Parameters for computing CCD coords from focal plane coords. The
+ INS-74699_ITRANS[SL] is new and needed to support Nadir pointing CK
+ simulations now supported in ISIS.
+
+ Note that because the TRANS[XY] values above and the ITRANS[SL]
+ values below are given with just 4-to-7 significant digits, a round
+ trip, round off errors at the level of a few 10^-2 pixels exist when
+ using TRANS[XY] to go from line/sample to position x/y in the focal
+ plane and then ITRANS[SL] to do the inverse. While these errors,
+ discovered by Bob King, PIRL/UofA in May 2011, prevent consistent
+ round trip conversions, they, according to Randy Kirk, may not cause
+ any operational problems because photogrammetric calculations are
+ usually only needed to be accurate to ~0.1 pixel (typical image
+ matching error). While these tabulated coefficients give an
+ "adequate" round trip error, for full consistency users should
+ calculate the inverses (ITRANS[SL]) of the forward coefficients
+ (TRANS[XY]) to higher precision themselves.
+
+ \begindata
+
+ INS-74699_ITRANSS=( 8961.49, -0.3947, -83.3324)
+ INS-74699_ITRANSL=( 8075.32, 83.3324, -0.3947)
+
+ INS-74600_ITRANSS=( 9378.15, -0.3947, -83.3324)
+ INS-74600_ITRANSL=( 8077.29, 83.3324, -0.3947)
+ INS-74601_ITRANSS=( 7389.83, -0.2947, -83.3328)
+ INS-74601_ITRANSL=( 7483.79, 83.3328, -0.2947)
+ INS-74602_ITRANSS=( 5397.74, -0.2353, -83.3330)
+ INS-74602_ITRANSL=( 8094.10, 83.3330, -0.2353)
+ INS-74603_ITRANSS=( 3408.52, -0.1263, -83.3332)
+ INS-74603_ITRANSL=( 7462.90, 83.3332, -0.1263)
+ INS-74604_ITRANSS=( 1417.73, 0.0117, -83.3333)
+ INS-74604_ITRANSL=( 8041.45, 83.3333, 0.0117)
+ INS-74605_ITRANSS=( -584.19, -0.0087, -83.3333)
+ INS-74605_ITRANSL=( 7457.94, 83.3333, -0.0087)
+ INS-74606_ITRANSS=( -2570.47, 0.1327, -83.3332)
+ INS-74606_ITRANSL=( 8060.86, 83.3332, 0.1327)
+ INS-74607_ITRANSS=( -4564.45, 0.2140, -83.3331)
+ INS-74607_ITRANSL=( 7469.54, 83.3331, 0.2140)
+ INS-74608_ITRANSS=( -6550.29, 0.3413, -83.3326)
+ INS-74608_ITRANSL=( 8059.85, 83.3326, 0.3413)
+ INS-74609_ITRANSS=( -8548.73, 0.3870, -83.3324)
+ INS-74609_ITRANSL=( 7465.11, 83.3324, 0.3870)
+ INS-74610_ITRANSS=( 1416.59, 0.0000, -83.3333)
+ INS-74610_ITRANSL=( 9246.75, 83.3333, 0.0000)
+ INS-74611_ITRANSS=( -584.45, -0.0100, -83.3333)
+ INS-74611_ITRANSL=( 8640.41, 83.3333, -0.0100)
+ INS-74612_ITRANSS=( 1417.95, 0.0163, -83.3333)
+ INS-74612_ITRANSL=( 6850.00, 83.3333, 0.0163)
+ INS-74613_ITRANSS=( -581.94, 0.0193, -83.3333)
+ INS-74613_ITRANSL=( 6244.59, 83.3333, 0.0193)
+
+ \begintext
+
diff --git a/tests/pytests/data/PSP_001446_1790_BG12_0/mro_sc_psp_061114_061120_0_sliced_-74000.xc b/tests/pytests/data/PSP_001446_1790_BG12_0/mro_sc_psp_061114_061120_0_sliced_-74000.xc
new file mode 100644
index 0000000000000000000000000000000000000000..cc7f2a77dc7719f5e2ea580b739840d7c9cb7eac
--- /dev/null
+++ b/tests/pytests/data/PSP_001446_1790_BG12_0/mro_sc_psp_061114_061120_0_sliced_-74000.xc
@@ -0,0 +1,106644 @@
+DAFETF NAIF DAF ENCODED TRANSFER FILE
+'DAF/CK '
+'2'
+'6'
+'MRO TLM-Based SC Bus CK File by NAIF/JPL '
+BEGIN_ARRAY 1 106519
+'MRO SC BUS TLM-BASED QUATS/AVS '
+'328E833793^A'
+'328E8CD161^A'
+'-12110'
+'-12494'
+'3'
+'1'
+1024
+'D44A496A566918^0'
+'-35B99CD3C259CC^0'
+'55104B0E4BBA44^0'
+'-65B7F63121CAF^0'
+'345A0AE9BE9838^-2'
+'-2105C1819A8372^-2'
+'-4C2E8AE0F369C^-3'
+'-D4492EC814814^0'
+'35BB26064EF98E^0'
+'-551300E3AAB4C8^0'
+'65B7302D6F4EEC^0'
+'347CDCC0378722^-2'
+'-20EC8DFEEF6A58^-2'
+'-53D2682523794^-3'
+'-D44723800CD5A8^0'
+'35BE1C85C7AAA4^0'
+'-55180051DF70C^0'
+'65B5B52E1FA308^0'
+'342F05F09BC164^-2'
+'-20156E96BDFC94^-2'
+'-4D705BB02B618^-3'
+'-D4451C13DCD6B^0'
+'35C0E83D15B51E^0'
+'-551D1BC4AC97D^0'
+'65B4314A7ACD7C^0'
+'3452551FC818D^-2'
+'-222E30BB2852EE^-2'
+'-4FE4C7EE224208^-3'
+'-D443201040BFE^0'
+'35C3B622BC429^0'
+'-552215D47D9B38^0'
+'65B2AF952E7AE8^0'
+'33BF908649F78C^-2'
+'-2119A17CBE404C^-2'
+'-47308D0197FD8C^-3'
+'-D442119D614F5^0'
+'35C540E750DC92^0'
+'-5524A525E9C988^0'
+'65B1EE7A1BA4F8^0'
+'34BCC8C2190F64^-2'
+'-210EFBEEC416E8^-2'
+'-5360F14BBA3588^-3'
+'-D4410DE7494FD8^0'
+'35C6B32D3E7C92^0'
+'-55271FD486AA8^0'
+'65B1359791819C^0'
+'34C7DF057A09B^-2'
+'-219C4FE958EA5^-2'
+'-432B58B2B666B4^-3'
+'-D43F01729BD3D8^0'
+'35C994B401A4C6^0'
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+'65AFCBE012CFBC^0'
+'357B3D8CE23C5C^-2'
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+'328E8CC01D6AE4^A'
+'328E8CC0500964^A'
+'328E8CC083464A^A'
+'328E8CC0B67508^A'
+'328E8CC0E9AEB8^A'
+'328E8CC11D6EB^A'
+'328E8CC1501DE6^A'
+'328E8CC1834884^A'
+'328E8CC1B676BC^A'
+'328E8CC1E9A9F^A'
+'328E8CC21D7592^A'
+'328E8CC2501306^A'
+'328E8CC2834AD^A'
+'328E8CC2B6787^A'
+'328E8CC2E9AF82^A'
+'328E8CC31D7A9E^A'
+'328E8CC350136A^A'
+'328E8CC3834C4^A'
+'328E8CC3B68278^A'
+'328E8CC3E9B49E^A'
+'328E8CC41D7B36^A'
+'328E8CC45023AA^A'
+'328E8CC4832446^A'
+'328E8CC4B683B6^A'
+'328E8CC4E9B1EE^A'
+'328E8CC51D7DE6^A'
+'328E8CC5501AB^A'
+'328E8CC5698484^A'
+'328E8CC5835636^A'
+'328E8CC5B684D4^A'
+'328E8CC5E9C07A^A'
+'328E8CC61D815E^A'
+'328E8CC6502208^A'
+'328E8CC68359D2^A'
+'328E8CC6B686EC^A'
+'328E8CC6E9C33C^A'
+'328E8CC71D86F^A'
+'328E8CC7502346^A'
+'328E8CC78358D6^A'
+'328E8CC7B68BC6^A'
+'328E8CC7E9BF5E^A'
+'328E8CC81D88E8^A'
+'328E8CC8502474^A'
+'328E8CC88365BE^A'
+'328E8CC8B69008^A'
+'328E8CC8E9C4F^A'
+'328E8CC91D8DF4^A'
+'328E8CC9502A9E^A'
+'328E8CC98362BA^A'
+'328E8CC9B691EE^A'
+'328E8CC9E9DEE4^A'
+'328E8CCA1D8CE8^A'
+'328E8CCA502E7C^A'
+'328E8CCA83656A^A'
+'328E8CCAB6958A^A'
+'328E8CCAE9C986^A'
+'328E8CCB1D9492^A'
+'328E8CCB503E68^A'
+'328E8CCB83671E^A'
+'328E8CCBB69CE^A'
+'328E8CCBE9EBCC^A'
+'328E8CCC1D96BC^A'
+'328E8CCC5032F^A'
+'328E8CCC836DF^A'
+'328E8CCCB69DEC^A'
+'328E8CCCE9EF34^A'
+'328E8CCD1D986^A'
+'328E8CCD50369C^A'
+'328E8CCD8376A8^A'
+'328E8CCDB69CF2^A'
+'328E8CCDE9D738^A'
+'328E8CCE1D9BA6^A'
+'328E8CCE50404E^A'
+'328E8CCE8370B^A'
+'328E8CCEB6A0AE^A'
+'328E8CCEE9DB7A^A'
+'328E8CCF1DA19C^A'
+'328E8CCF503CD6^A'
+'328E8CCF69AAEA^A'
+'328E8CCF8378E2^A'
+'328E8CCFB6A662^A'
+'328E8CCFE9E5E6^A'
+'328E8CD01DA3E8^A'
+'328E8CD050431^A'
+'328E8CD0837B3E^A'
+'328E8CD0B6ABD2^A'
+'328E8CD0E9E27E^A'
+'328E8CD11DA88E^A'
+'328E8CD1504492^A'
+'328E8CD161^A'
+'328E834816555^A'
+'328E8358AF9196^A'
+'328E83696337DE^A'
+'328E837A17084A^A'
+'328E838AB03C2E^A'
+'328E839B63DFB6^A'
+'328E83AC17AB04^A'
+'328E83BCB0E964^A'
+'328E83CD648FBC^A'
+'328E83DE1859AC^A'
+'328E83EEB1971^A'
+'328E83FF6537B4^A'
+'328E8410190172^A'
+'328E8420B23CAC^A'
+'328E843165E8^A'
+'328E844219B232^A'
+'328E8452B2E882^A'
+'328E8463668CB^A'
+'328E84741A5BEE^A'
+'328E8484B3936C^A'
+'328E8495673822^A'
+'328E84A61B074E^A'
+'328E84B6B443C8^A'
+'328E84C767EC6C^A'
+'328E84D81BAC76^A'
+'328E84E8B4ECDE^A'
+'328E84F96890CA^A'
+'328E850A1C5E52^A'
+'328E851AB592CC^A'
+'328E852B69376^A'
+'328E853C1D0C96^A'
+'328E854CB63EC4^A'
+'328E855D69E77A^A'
+'328E856E1DB19A^A'
+'328E857EB6E99E^A'
+'328E858F6A8E^A'
+'328E85A01E5A8E^A'
+'328E85B0B796A2^A'
+'328E85C16B3D6^A'
+'328E85D21F0EC8^A'
+'328E85E2B83FDA^A'
+'328E85F36BE3D6^A'
+'328E86041FB378^A'
+'328E8614B8F4AA^A'
+'328E86256C90EA^A'
+'328E8636205F3E^A'
+'328E8646A031B2^A'
+'328E8650A05782^A'
+'328E8662A09096^A'
+'328E86763A7626^A'
+'328E8689D46FB^A'
+'328E869D6E378E^A'
+'328E86B1080DC8^A'
+'328E86C4A1E38A^A'
+'328E86D83BCADE^A'
+'328E86EBD5A2EC^A'
+'328E86FF6F7C28^A'
+'328E8713095708^A'
+'328E8726A330DC^A'
+'328E873A3D1062^A'
+'328E874DD6ED28^A'
+'328E876170D296^A'
+'328E87753DD7AE^A'
+'328E8788D7B842^A'
+'328E879C719A9A^A'
+'328E87B00B6F1E^A'
+'328E87C3A54B0A^A'
+'328E87D73F27F2^A'
+'328E87EAD904A8^A'
+'328E87FE72E45^A'
+'328E88120CC01A^A'
+'328E8825A6A47A^A'
+'328E88394086B2^A'
+'328E884CDA5E9E^A'
+'328E886074395C^A'
+'328E88740E0DE^A'
+'328E8887A7ED9A^A'
+'328E889B41C77E^A'
+'328E88AEDBA748^A'
+'328E88C27585D4^A'
+'328E88D60FF5FE^A'
+'328E88E9A93C08^A'
+'328E88FD4318F^A'
+'328E8910DCFE5C^A'
+'328E892476D8E8^A'
+'328E8938114588^A'
+'328E894BAA8E44^A'
+'328E895F5DD014^A'
+'328E897312346A^A'
+'328E8986AB5D8E^A'
+'328E899A453D36^A'
+'328E89ADDF11AA^A'
+'328E89C178F50E^A'
+'328E89D51361E^A'
+'328E89E8ACAB22^A'
+'328E89FC468622^A'
+'328E8A0FE0678^A'
+'328E8A237A43AE^A'
+'328E8A3714B6CC^A'
+'328E8A4AADFBDA^A'
+'328E8A5E47E392^A'
+'328E8A71E1B2FA^A'
+'328E8A857B95DA^A'
+'328E8A99160354^A'
+'328E8AACAF4FA8^A'
+'328E8AC0492938^A'
+'328E8AD3E307A2^A'
+'328E8AE77CE522^A'
+'328E8AFB17586^A'
+'328E8B0EB0A3A8^A'
+'328E8B227DB168^A'
+'328E8B361824A6^A'
+23
+'328E8B49B168EC^A'
+'328E8B5D64AFB8^A'
+'328E8B7118ED74^A'
+'328E8B84B23438^A'
+'328E8B984C10AA^A'
+'328E8BABE5F03^A'
+'328E8BBF7FCE14^A'
+'328E8BD31A40EE^A'
+'328E8BE6B382C6^A'
+'328E8BFA4D62D4^A'
+'328E8C0DE73EF2^A'
+'328E8C218122BC^A'
+'328E8C351BBC52^A'
+'328E8C48B4D89C^A'
+'328E8C5C4EB078^A'
+'328E8C6FE89326^A'
+'328E8C83826EBE^A'
+'328E8C971CE09C^A'
+'328E8CAAB624D^A'
+'328E8CBE500542^A'
+'328E833793^A'
+'1^1'
+'33F2^4'
+END_ARRAY 1 106519
+TOTAL_ARRAYS 1
+ ~NAIF/SPC BEGIN COMMENTS~
+This CK is for testing with the image: PSP_001446_1790_BG12_0.spice.cub
+
+This CK was generated using the following command: {}
+ ~NAIF/SPC END COMMENTS~
diff --git a/tests/pytests/data/PSP_001446_1790_BG12_0/mro_v16.tf b/tests/pytests/data/PSP_001446_1790_BG12_0/mro_v16.tf
new file mode 100644
index 0000000000000000000000000000000000000000..b7bc0f7fe0f45fb9cdd82361fa36bd2286822874
--- /dev/null
+++ b/tests/pytests/data/PSP_001446_1790_BG12_0/mro_v16.tf
@@ -0,0 +1,2880 @@
+KPL/FK
+
+Mars Reconnaissance Orbiter Frames Kernel
+===============================================================================
+
+ This frame kernel contains complete set of frame definitions for the
+ Mars Reconnaissance Orbiter (MRO) spacecraft, its structures and
+ science instruments. This frame kernel also contains name - to -
+ NAIF ID mappings for MRO science instruments and s/c structures (see
+ the last section of the file.)
+
+
+Version and Date
+-------------------------------------------------------------------------------
+
+ Version 1.6 -- November 11, 2020 -- Boris Semenov, NAIF
+
+ Updated MRO_HGA_BASEPLATE and MRO_HGA frame alignments based on
+ [22].
+
+ Version 1.5 -- October 22, 2012 -- Boris Semenov, NAIF
+
+ Updated orientations of the MRO_MCS_BASE and
+ MRO_MCS_EL_GIMBAL_REF frames to incorporate alignment data
+ derived from off-track observations in 2012.
+
+ Version 1.4 -- February 18, 2009 -- Laszlo Keszthelyi, USGS;
+ Boris Semenov, NAIF
+
+ Adjusted the orientation of the MRO_HIRISE_OPTICAL_AXIS frame to
+ compensate for the correction of the optical distortion model
+ made in 2008.
+
+ Adjusted the orientation of the MRO_HIRISE_LOOK_DIRECTION frame
+ to compensate for the change in the orientation of the
+ MRO_HIRISE_OPTICAL_AXIS frame (to keep MRO_HIRISE_LOOK_DIRECTION
+ oriented with respect to the spacecraft the same way as it was in
+ the versions 0.7-1.3 of the FK).
+
+ Version 1.3 -- January 23, 2009 -- Boris Semenov, NAIF
+
+ Updated orientations of the MRO_MCS_BASE and
+ MRO_MCS_EL_GIMBAL_REF frames to incorporate alignment data
+ derived from off-track observations in 2008.
+
+ Version 1.2 -- April 24, 2008 -- Boris Semenov, NAIF
+
+ Redefined the MRO_MCS_BASE frame to be with respect to the
+ MRO_SPACECRAFT frame with zero offset rotation. "Moved" MCS
+ azimuth offset (-0.46 deg about Z) from the MRO_MCS_EL_GIMBAL_REF
+ definition to the MRO_MCS_AZ_GIMBAL_REF definition. Added
+ MRO_MCS_SOLAR_TARGET frame (ID -74506).
+
+ Version 1.1 -- September 08, 2007 -- Boris Semenov, NAIF
+
+ Re-defined MARCI frames to follow convention used by MSSS.
+ Incorporated MARCI alignment provided by MSSS. Changed names for
+ MARCI bands in the naif-ID definitions from VIS_BAND1, ...
+ UV_BAND2 to VIS_BLUE, ... UV_LONG_UV.
+
+ Version 1.0 -- May 31, 2007 -- Boris Semenov, NAIF
+
+ Changed MCS frame layout based on [17] and incorporated MCS
+ misalignment data used by the MCS team, specifically:
+
+ - renamed MRO_MCS_AZ_GIMBAL_0 to MRO_MCS_AZ_GIMBAL_REF
+
+ - renamed MRO_MCS_EL_GIMBAL_0 to MRO_MCS_EL_GIMBAL_REF
+
+ - redefined MRO_MCS frame to be nominally co-aligned with the
+ s/c frame in the forward-looking position (az=180,el=90)
+
+ - incorporated MCS misalignment derived by the MCS team from
+ early post MOI observations and used in processing during
+ first year of PSP (in the definition of the
+ MRO_MCS_EL_GIMBAL_REF frame)
+
+ Incorporated final ONC alignment calibrated in flight provided
+ in [15]
+
+ Incorporated CRISM frame layout and misalignment data used by the
+ CRISM team ([18]), specifically:
+
+ - renamed MRO_CRISM_OSU to MRO_CRISM_ART
+
+ - changed the frame chain diagram and table to show that
+ MRO_CRISM_IR is fixed relative to MRO_CRISM_VNIR
+
+ - replaced previous CRISM frame definition section of the FK
+ with sections ``Version and Date'', ``References'',
+ ``Contact Information'' and ``CRISM Frame Definitions''
+ from [18]
+
+ - changed MRO_CRISM_VNIR instrument ID from -74012 to -74017
+ in the name/ID mapping keywords
+
+ - changed MRO_CRISM_IR instrument ID from -74013 to -74018
+ in the name/ID mapping keywords
+
+ - deleted MRO_CRISM_OSU/-74011 name/ID mapping keywords
+
+ Version 0.9 -- February 27, 2007 -- Boris Semenov, NAIF
+
+ Fixed comments in the ```MRO Frames'' section.
+
+ Version 0.8 -- April 17, 2006 -- Boris Semenov, NAIF
+
+ Incorporated ONC alignment calibrated in flight (provided by Nick
+ Mastrodemos on November 7, 2005.)
+
+ Added a note stating that MRO_MME_OF_DATE frame is the same as
+ MME-D frame defined in [16] to the MRO_MME_OF_DATE description
+ block.
+
+ Corrected typo in the MRO_MARCI_VIS frame definition (the keyword
+ TKFRAME_-74410_AXES was TKFRAME_-74s041_AXES.)
+
+ Version 0.7 -- September 22, 2005 -- Boris Semenov, NAIF
+
+ The following changes were made to make frames defined for HIRISE
+ consistent with the terminology used and calibration approach
+ proposed by the HIRISE team:
+
+ - MRO_HIRISE_IF frame was renamed to MRO_HIRISE_OPTICAL_AXIS
+
+ - MRO_HIRISE frame was renamed to MRO_HIRISE_LOOK_DIRECTION
+
+ - preliminary HIRISE in-flight calibrated alignment with
+ respect to the spacecraft frame was incorporated into the
+ MRO_HIRISE_OPTICAL_AXIS frame definition
+
+ - MRO_HIRISE_LOOK_DIRECTION was redefined to be with respect
+ to the MRO_HIRISE_OPTICAL_AXIS frame; the rotation
+ incorporated into this definition was computed by combining
+ preliminary HIRISE in-flight calibrated alignment for
+ MRO_HIRISE_OPTICAL_AXIS frame with the pre-launch alignment
+ for the HIRISE boresight.
+
+ Version 0.6 -- August 25, 2005 -- Boris Semenov, NAIF
+
+ Incorporated ground alignment data for HiRISE, CRISM, CTX and
+ MSC.
+
+ Version 0.5 -- August 8, 2005 -- Boris Semenov, NAIF
+
+ Added MRO_MME_2000 frame.
+
+ Version 0.4 -- June 2, 2005 -- Boris Semenov, NAIF
+
+ Replaced MRO_MME_OF_DATE placeholder definition with a
+ dynamically defined MME of date frame.
+
+ Version 0.3 -- May 16, 2005 -- Boris Semenov, NAIF
+
+ Corrected MRO_HGA frame to align its +X axis with the HGA pattern
+ clock angle reference line.
+
+ Version 0.2 -- February 16, 2005 -- Boris Semenov, NAIF
+
+ Changed body ID of the MRO_HIRISE and frame ID of the MRO_HIRISE
+ frame from -74600 to -74699. Added MRO_HIRISE_CCD0/-74600 name/ID
+ mapping pair. Removed MRO_HIRISE_CCD14/-74614 name/ID mapping pair.
+
+ Version 0.1 -- August 23, 2004 -- Boris Semenov, NAIF
+
+ Added MRO_MME_OF_DATE frame (currently mapped to MARSIAU; when
+ SPICE parameterized frames capability is released, this frame
+ will be redefined as a dynamic frame.)
+
+ Version 0.0 -- March 15, 2004 -- Boris Semenov, NAIF
+
+ Initial Release.
+
+
+References
+-------------------------------------------------------------------------------
+
+ 1. ``Frames Required Reading''
+
+ 2. ``Kernel Pool Required Reading''
+
+ 3. ``C-Kernel Required Reading''
+
+ 4. `Mars Reconnaissance Orbiter. GN&C Hardware Coordinate
+ Frame Definitions and Transformations'', Rev. 3, 11/30/99
+
+ 5. ``CRISM MICD'', Final Update, Oct 7, 2003
+
+ 6. ``CTX ICD'', Final Update, July 8, 2003
+
+ 7. ``HIRISE ICD'', Final Update, Oct 17, 2003
+
+ 8. ``MARCI ICD'', Final Update, Oct 13, 2003
+
+ 9. ``MCS ICD'', Final Update, Oct 13, 2003
+
+ 10. ``ONC ICD'', Post-PDR Update, Sep 21, 2002
+
+ 11. ``SHARAD ICD'', Final Update, Oct 24, 2003
+
+ 12. Misc. PDR/CDR presentations, 2002/2003
+
+ 13. E-mail from R. Tung, MRO Telecom, regarding HGA clock reference
+ line. May 16, 2005.
+
+ 14. Ground Alignment Spreadsheet, ``mro-final-alignment_REV-G.xls''.
+
+ 15. ONC-ACS alignment, e-mail from Nick Mastrodemos, ONC Team,
+ May 10, 2007.
+
+ 16. "MRO GN&C Hardware Coordinate Frame Definitions and
+ Transformations (LIB-8)", 09/22/04
+
+ 17. Suggested changes to the MCS frame layout, e-mail from Steven
+ Gaiser, MCS Team, Aug 4, 2006
+
+ 18. CRISM FK file "MRO_CRISM_FK_0000_000_N_1.TF", created by the CRISM
+ Team, 09/14/06.
+
+ 19. E-mail from Joe Fahle, MSSS, regarding the MARCI frame definition,
+ September 5, 2007.
+
+ 20. Analysis of MCS alignment based on 2008 off-track observations,
+ by ? (MCS Team, JPL), Fall 2008.
+
+ 21. Updated MCS alignment based on 2012 off-track observations,
+ e-mails from Dr. John T. Schofield, 07/24/12 & 10/22/12.
+
+ 22. E-mail from Paul Salame, LMCO, regarding the HGA frame definitions,
+ October 28, 2020.
+
+
+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, normally during
+ program initialization. The SPICELIB routine FURNSH/furnsh_c loads a
+ kernel file into the pool as shown below.
+
+ CALL FURNSH ( 'frame_kernel_name; )
+ furnsh_c ( "frame_kernel_name" );
+
+ This file was created and may be updated with a text editor or word
+ processor.
+
+
+MRO Frames
+-------------------------------------------------------------------------------
+
+ The following MRO frames are defined in this kernel file:
+
+ Name Relative to Type NAIF ID
+ ====================== ===================== ============ =======
+
+ Non Built-in Mars Frames:
+ -------------------------
+ MRO_MME_OF_DATE rel.to J2000 DYNAMIC -74900
+ MRO_MME_2000 rel.to J2000 FIXED -74901
+
+ Spacecraft frame:
+ -----------------
+ MRO_SPACECRAFT rel.to MME_OF_DATE CK -74000
+
+ Science Instrument frames:
+ --------------------------
+ MRO_CRISM_BASE rel.to SPACECRAFT FIXED -74011
+ MRO_CRISM_ART rel.to CRISM_BASE CK -74012
+ MRO_CRISM_VNIR rel.to MRO_CRISM_ART FIXED -74017
+ MRO_CRISM_IR rel.to MRO_CRISM_VNIR FIXED -74018
+
+ MRO_CTX_BASE rel.to SPACECRAFT FIXED -74020
+ MRO_CTX rel.to CTX_BASE FIXED -74021
+
+ MRO_HIRISE_LOOK_DIRECTION rel.to SPACECRAFT FIXED -74699
+ MRO_HIRISE_OPTICAL_AXIS rel.to SPACECRAFT FIXED -74690
+
+ MRO_MARCI_BASE rel.to SPACECRAFT FIXED -74400
+ MRO_MARCI_VIS rel.to MARCI_BASE FIXED -74410
+ MRO_MARCI_UV rel.to MARCI_BASE FIXED -74420
+
+ MRO_MCS_BASE rel.to SPACECRAFT FIXED -74501
+ MRO_MCS_AZ_GIMBAL_REF rel.to MCS_BASE FIXED -74502
+ MRO_MCS_AZ_GIMBAL rel.to MCS_AZ_GIMBAL_REF CK -74503
+ MRO_MCS_EL_GIMBAL_REF rel.to MCS_AZ_GIMBAL FIXED -74504
+ MRO_MCS_EL_GIMBAL rel.to MCS_EL_GIMBAL_REF CK -74505
+ MRO_MCS rel.to MCS_EL_GIMBAL FIXED -74500
+ MRO_MCS_SOLAR_TARGET rel.to MCS_AZ_GIMBAL FIXED -74506
+
+ MRO_ONC rel.to SPACECRAFT FIXED -74030
+
+ MRO_SHARAD rel.to SPACECRAFT FIXED -74070
+
+ Antenna frames:
+ ---------------
+ MRO_HGA_BASEPLATE rel.to SPACECRAFT FIXED -74211
+ MRO_HGA_INNER_GIMBAL rel.to HGA_BASEPLATE CK -74212
+ MRO_HGA_OUTER_GIMBAL rel.to HGA_INNER_GIM CK -74213
+ MRO_HGA rel.to HGA_OUTER_GIM FIXED -74214
+ MRO_LGA1 rel.to HGA FIXED -74220
+ MRO_LGA2 rel.to HGA FIXED -74230
+ MRO_UHF rel.to SPACECRAFT FIXED -74240
+
+ Solar Array frames:
+ -------------------
+ MRO_SAPX_BASEPLATE rel.to SPACECRAFT FIXED -74311
+ MRO_SAPX_INNER_GIMBAL rel.to SAPX_BASEPLATE CK -74312
+ MRO_SAPX_OUTER_GIMBAL rel.to SAPX_INNER_GIM CK -74313
+ MRO_SAPX rel.to SAPX_OUTER_GIM FIXED -74314
+ MRO_SAMX_BASEPLATE rel.to SPACECRAFT FIXED -74321
+ MRO_SAMX_INNER_GIMBAL rel.to SAMX_BASEPLATE CK -74322
+ MRO_SAMX_OUTER_GIMBAL rel.to SAMX_INNER_GIM CK -74323
+ MRO_SAMX rel.to SAMX_OUTER_GIM FIXED -74324
+
+
+MRO Frames Hierarchy
+-------------------------------------------------------------------------------
+
+ The diagram below shows MRO frames hierarchy:
+
+
+ "J2000" INERTIAL
+ +------------------------------------------------------------+
+ | | | |
+ | <--pck |<--fixed |<-dynamic | <--pck
+ | | | |
+ V | | V
+ "IAU_MARS" V V "IAU_EARTH"
+ MARS BFR(*) "MRO_MME_2000" "MRO_MME_OF_DATE" EARTH BFR(*)
+ ----------- -------------- ----------------- ------------
+ |
+ |
+ | "MRO_LGA1" "MRO_LGA2"
+ | ---------- ----------
+ | ^ ^
+ | | |
+ | | <--fixed | <--fixed
+ | | |
+ | | |
+ "MRO_SA*X" | | "MRO_HGA" |
+ ---------- | +-----------------+
+ ^ | ^
+ | | |
+ fixed--> | | | <--fixed
+ | | |
+ "MRO_SA*X_OUTER_GIMBAL" | "MRO_HGA_OUTER_GIMBAL"
+ ----------------------- | ----------------------
+ ^ | ^
+ | | |
+ ck--> | | | <--ck
+ | | |
+ "MRO_SA*X_INNER_GIMBAL" | "MRO_HGA_INNER_GIMBAL"
+ ----------------------- | ----------------------
+ ^ | ^
+ | | |
+ ck--> | | | <--ck
+ | | |
+ "MRO_SA*X_BASEPLATE" | "MRO_HGA_BASEPLATE" "MRO_UHF"
+ -------------------- | ------------------- ---------
+ ^ | ^ ^
+ | | | |
+ fixed--> | |<--ck | <--fixed | <--fdx
+ | | | |
+ | "MRO_SPACECRAFT" | |
+ +-----------------------------------------------------------+
+ | | | | | | |
+ | | | | | | | <--fxd
+ | | | | | | |
+ | | | | | | V
+ | | | | | | "MRO_SHARAD"
+ | | | | | | ------------
+ | | | | | |
+ | | | | | | <--fixed
+ | | | | | |
+ | | | | | V
+ | | | | | "MRO_ONC"
+ | | | | | ---------
+ | | | | |
+ | | | | | <--fixed
+ | | | | |
+ | | | | V
+ | | | | "MRO_MCS_BASE"
+ | | | | --------------
+ | | | | |
+ | | | | | <--fixed
+ | | | | |
+ | | | | V
+ | | | | "MRO_MCS_AZ_GIMBAL_REF"
+ | | | | -----------------------
+ | | | | |
+ | | | | | <--ck
+ | | | | |
+ | | | | V
+ | | | | "MRO_MCS_AZ_GIMBAL"
+ | | | | ---------------------------+
+ | | | | | |
+ | | | | | <--fixed |
+ | | | | | |
+ | | | | V |
+ | | | | "MRO_MCS_EL_GIMBAL_REF" |
+ | | | | ----------------------- |
+ | | | | | |
+ | | | | | <--ck |
+ | | | | | |
+ | | | | V |
+ | | | | "MRO_MCS_EL_GIMBAL" |
+ | | | | ------------------- |
+ | | | | | |
+ | | | | | <--fixed fixed--> |
+ | | | | | |
+ | | | | V V
+ | | | | "MRO_MCS" "MRO_MCS_SOLAR_TARGET"
+ | | | | --------- ----------------------
+ | | | |
+ | | | |
+ | | | |
+ | | | | <--fixed
+ | | | |
+ | | | V
+ | | | "MRO_MARCI_BASE"
+ | | | -------------------------+
+ | | | | |
+ | | | | <--fixed | <--fixed
+ | | | | |
+ | | | V V
+ | | | "MRO_MARCI_VIS" "MRO_MARCI_UV"
+ | | | --------------- --------------
+ | | |
+ | | |
+ | | |
+ | | +---------------------------------+
+ | | | |
+ | | | <--fixed |<--fixed
+ | | | |
+ | | V V
+ | | "MRO_HIRISE_LOOK_DIRECTION" "MRO_HIRISE_OPTICAL_AXIS"
+ | | --------------------------- -------------------------
+ | |
+ | |
+ | |
+ | | <--fixed
+ | |
+ | V
+ | "MRO_CTX_BASE"
+ | --------------
+ | |
+ | | <--fixed
+ | |
+ | V
+ | "MRO_CTX"
+ | ---------
+ |
+ |
+ |
+ | <--fixed
+ |
+ V
+ "MRO_CRISM_BASE"
+ ----------------
+ |
+ | <--ck
+ |
+ V
+ "MRO_CRISM_ART"
+ ---------------
+ |
+ | <--fixed
+ |
+ V
+ "MRO_CRISM_VNIR"
+ ----------------
+ |
+ | <--fixed
+ |
+ V
+ "MRO_CRISM_IR"
+ --------------
+
+
+ (*) BFR -- body-fixed rotating frame
+
+
+Non Built-in Mars Frames:
+-------------------------------------------------------------------------------
+
+
+MME ``Of Date'' Frame
+---------------------
+
+ The MRO_MME_OF_DATE frame is based on Mean Mars Equator and IAU
+ vector of date computed using IAU 2000 Mars rotation constants. This
+ frame is called MME-D in [16]; it is the reference frame of the s/c
+ orientation quaternions computed on-board and in the AtArPS program
+ and stored in the the MRO s/c CK files.
+
+ In this version of the FK MRO_MME_OF_DATE frame is implemented as as
+ Euler frame mathematically identical to the PCK frame IAU_MARS based
+ on IAU 2000 Mars rotation constants but without prime meridian
+ rotation terms.
+
+ The PCK data defining the IAU_MARS frame are:
+
+ BODY499_POLE_RA = ( 317.68143 -0.1061 0. )
+ BODY499_POLE_DEC = ( 52.88650 -0.0609 0. )
+ BODY499_PM = ( 176.630 350.89198226 0. )
+
+ These values are from:
+
+ Seidelmann, P.K., Abalakin, V.K., Bursa, M., Davies, M.E., Bergh, C
+ de, Lieske, J.H., Oberst, J., Simon, J.L., Standish, E.M., Stooke,
+ and Thomas, P.C. (2002). "Report of the IAU/IAG Working Group on
+ Cartographic Coordinates and Rotational Elements of the Planets and
+ Satellites: 2000," Celestial Mechanics and Dynamical Astronomy, v.8
+ Issue 1, pp. 83-111.
+
+ Here pole RA/Dec terms in the PCK are in degrees and degrees/century;
+ the rates here have been converted to degrees/sec. Prime meridian
+ terms from the PCK are disregarded.
+
+ The 3x3 transformation matrix M defined by the angles is
+
+ M = [ 0.0] [angle_2] [angle_3]
+ 3 1 3
+
+ Vectors are mapped from the J2000 base frame to the MRO_MME_OF_DATE
+ frame via left multiplication by M.
+
+ The relationship of these Euler angles to RA/Dec for the
+ J2000-to-IAU Mars Mean Equator and IAU vector of date transformation
+ is as follows:
+
+ angle_1 is 0.0
+ angle_2 is pi/2 - Dec * (radians/degree)
+ angle_3 is pi/2 + RA * (radians/degree), mapped into the
+ range 0 < angle_3 < 2*pi
+ -
+
+ Since when we define the MRO_MME_OF_DATE frame we're defining the
+ *inverse* of the above transformation, the angles for our Euler frame
+ definition are reversed and the signs negated:
+
+ angle_1 is -pi/2 - RA * (radians/degree), mapped into the
+ range 0 < angle_3 < 2*pi
+ -
+ angle_2 is -pi/2 + Dec * (radians/degree)
+ angle_3 is 0.0
+
+ Then our frame definition is:
+
+ \begindata
+
+ FRAME_MRO_MME_OF_DATE = -74900
+ FRAME_-74900_NAME = 'MRO_MME_OF_DATE'
+ FRAME_-74900_CLASS = 5
+ FRAME_-74900_CLASS_ID = -74900
+ FRAME_-74900_CENTER = 499
+ FRAME_-74900_RELATIVE = 'J2000'
+ FRAME_-74900_DEF_STYLE = 'PARAMETERIZED'
+ FRAME_-74900_FAMILY = 'EULER'
+ FRAME_-74900_EPOCH = @2000-JAN-1/12:00:00
+ FRAME_-74900_AXES = ( 3 1 3 )
+ FRAME_-74900_UNITS = 'DEGREES'
+ FRAME_-74900_ANGLE_1_COEFFS = ( -47.68143
+ 0.33621061170684714E-10 )
+ FRAME_-74900_ANGLE_2_COEFFS = ( -37.1135
+ -0.19298045478743630E-10 )
+ FRAME_-74900_ANGLE_3_COEFFS = ( 0.0 )
+ FRAME_-74900_ROTATION_STATE = 'INERTIAL'
+
+ \begintext
+
+ NOTE 1: The frame definition above will work ONLY with the SPICE
+ Toolkits version N0058 or later. Should a need to use this FK with
+ an older version of the toolkit (N0057 or earlier) arise, the
+ definition above could be replaced with the following keywords:
+
+ FRAME_MRO_MME_OF_DATE = -74900
+ FRAME_-74900_NAME = 'MRO_MME_OF_DATE'
+ FRAME_-74900_CLASS = 4
+ FRAME_-74900_CLASS_ID = -74900
+ FRAME_-74900_CENTER = -74
+ TKFRAME_-74900_SPEC = 'ANGLES'
+ TKFRAME_-74900_RELATIVE = 'MRO_MME_2000'
+ TKFRAME_-74900_ANGLES = ( 0.0, 0.0, 0.0 )
+ TKFRAME_-74900_AXES = ( 1, 2, 3 )
+ TKFRAME_-74900_UNITS = 'DEGREES'
+
+ These keywords simply map the MRO_MME_OF_DATE frame to the
+ MRO_MME_2000 frame defined later in this FK. The error introduced by
+ such replacement will be about 0.2 milliradian.
+
+ NOTE 2: In order to "freeze" the MRO_MME_OF_DATE frame at an
+ arbitrary epoch, in the definition above replace the keyword
+
+ FRAME_-74900_ROTATION_STATE = 'INERTIAL'
+
+ with the keyword
+
+ FRAME_-74900_FREEZE_EPOCH = @YYYY-MM-DD/HR:MN:SC.###
+
+ where YYYY-MM-DD/HR:MN:SC.### is the freeze epoch given as ET. For
+ example, to freeze this frame at 2006-02-06, which the nominal
+ freeze epoch for cruise, provide the keyword with this value:
+
+ FRAME_-74900_FREEZE_EPOCH = @2006-02-06/00:00:00.000
+
+
+MME ``2000'' Frame
+------------------
+
+ The MRO_MME_2000 frame is the MRO_MME_OF_DATE frame frozen at J2000.
+ For computing efficiency reasons this frame is defined as a fixed
+ offset frame relative to the J2000 frame. The rotation matrix
+ provided in the definition was computed using the following PXFORM
+ call:
+
+ CALL PXFORM( 'MRO_MME_OF_DATE', 'J2000', 0.D0, MATRIX )
+
+ \begindata
+
+ FRAME_MRO_MME_2000 = -74901
+ FRAME_-74901_NAME = 'MRO_MME_2000'
+ FRAME_-74901_CLASS = 4
+ FRAME_-74901_CLASS_ID = -74901
+ FRAME_-74901_CENTER = 499
+ TKFRAME_-74901_SPEC = 'MATRIX'
+ TKFRAME_-74901_RELATIVE = 'J2000'
+ TKFRAME_-74901_MATRIX = (
+
+ 0.6732521982472339 0.7394129276360180 0.0000000000000000
+ -0.5896387605430040 0.5368794307891331 0.6033958972853946
+ 0.4461587269353556 -0.4062376142607541 0.7974417791532832
+
+ )
+
+ \begintext
+
+
+Spacecraft Bus Frame
+-------------------------------------------------------------------------------
+
+
+ The spacecraft frame (or AACS control frame) is defined by the s/c design
+ as follows [from 4]:
+
+ - Z axis is parallel to the nominal HIRISE boresight;
+
+ - Y axis is anti-parallel to the MOI thrust vector;
+
+ - X axis completes the right hand frame;
+
+ - the origin of the frame is centered on the launch vehicle
+ separation plane.
+
+ (In [4] this frame is designated as "M" frame.)
+
+ These diagrams illustrates the s/c frame:
+
+
+ -Y view:
+ -------- .o. HGA
+ .' | `.
+ .' | `.
+ -------------------
+ `. .'
+ `-._______.-'
+ o
+ ____/_\____
+ / \
+ / \
+ Direction / \
+ of flight \ +Xsc +Ysc (into the page)
+ <------- \ <----x /
+ ..........o | o..........
+ .-' /| | |\ `-.
+ SAPX .-' / | V +Zsc| \ `-. SAMX
+ .-\\ / |-----------| \ //-.
+ .-' \\ / | | | | \ // `-.
+ -' \\ ./ .___| |___. \. // `-
+ \ \\ .-' .___. `-. // /
+ \ \\-' HiRISE `-// /
+ \ .-' `-. /
+ \ .-' | `-. /
+ -' | `-
+ V Nadir
+
+ +Z view:
+ --------
+ . ---- .
+ .' `. HGA
+ .' `.
+ / \
+ . .-------. .
+ | | o | |
+ . \ / .
+ \ \ / /
+ `. \ / .'
+ `. \ / .'
+ SAPX ` --o-- ' SAMX
+ ========================o_____H_____o========================
+ | / _ \ |
+ | | '_' | HiRISE
+ |---\___/---|
+ | |
+ Direction | |
+ of flight | +Zsc (out of the page)
+ <------- <----o ____.
+ +Xsc \_|_/
+ /|\
+ V
+ +Ysc
+
+
+
+ Since the S/C bus attitude is provided by a C kernel (see [3] for
+ more information), this frame is defined as a CK-based frame.
+
+ \begindata
+
+ FRAME_MRO_SPACECRAFT = -74000
+ FRAME_-74000_NAME = 'MRO_SPACECRAFT'
+ FRAME_-74000_CLASS = 3
+ FRAME_-74000_CLASS_ID = -74000
+ FRAME_-74000_CENTER = -74
+ CK_-74000_SCLK = -74
+ CK_-74000_SPK = -74
+
+ \begintext
+
+
+MRO Science Instrument Frames
+-------------------------------------------------------------------------------
+
+ This section contains frame definitions for MRO science instruments --
+ CRISM, CTX, HIRISE, MARCI, MCS, ONC, and SHARAD.
+
+
+CRISM Frames
+------------
+
+ The following frames are defined for CRISM:
+
+ - CRISM base frame (MRO_CRISM_BASE) -- fixed w.r.t. to the s/c
+ frame and nominally has +X axis co-aligned with the s/c +Z
+ axis, +Y axis co-aligned with the s/c +X axis, and +Z axis
+ co-aligned with the s/c +Y axis.
+
+ - CRISM articulation frame (MRO_CRISM_ART) -- rotates about +Z
+ axis w.r.t. CRISM_BASE frame (and, therefore, defined as a
+ CK-based frame) and co-aligned with the CRISM_BASE at "0"
+ (nadir) scanner position;
+
+ - CRISM Visual and Near InfraRed apparent FOV frame
+ (MRO_CRISM_VNIR) -- fixed w.r.t. MRO_CRISM_ART and has the +Z
+ axis along boresight (the instrument slit center), the -X axis
+ along gimbal rotation axis, and the +Y axis completing a
+ right-handed frame;
+
+ - CRISM InfraRed apparent FOV frame (MRO_CRISM_IR) -- fixed
+ w.r.t. and defined identically to the MRO_CRISM_VNIR;
+
+ This diagram illustrates CRISM frames for CRISM scanner in "0" (nadir)
+ position:
+
+ . ---- .
+ .' `. HGA
+ .' `.
+ / \
+ . .-------. .
+ | | o | |
+ . \ / .
+ \ \ / /
+ `. \ / .'
+ `. \ / .'
+ SAPX ` --o-- ' SAMX
+ ========================o_____H_____o========================
+ | / _ \ |
+ | | ' |
+ |--- ^ |
+ +Ycrism_base .|.+Xcrism_vnir/ir
+ Direction +Ycrism_vnir/ir ||| |
+ of flight | <----o |
+ <------- <----o |___. +Zsc, +Xcrism_base,
+ +Xsc \_|_| and +Zcrism_vnir/ir
+ /|\V +Zcrism_base are out of the page
+ V
+ +Ysc
+
+ The rest of the comments and frame definitions in this section were
+ copied ``as is'' from ``MRO_CRISM_FK_0000_000_N_1.TF'' ([18]).
+
+ ``MRO_CRISM_FK_0000_000_N_1.TF'' Section ``Version and Date''
+ -------------------------------------------------------------
+
+ Version 0.1 -- September 14, 2006 -- Lillian Nguyen, JHU/APL
+
+ Added alignment information and text.
+
+ Version 0.0 -- April 25, 2006 -- Wen-Jong Shyong, JHU/APL
+
+ Initial Release.
+
+
+ ``MRO_CRISM_FK_0000_000_N_1.TF'' Section ``References''
+ -------------------------------------------------------
+
+ 1. CRISM pointing sign conventions, "CALRPT_26_1_V2_PointSign.ppt",
+ received from David Humm (JHU/APL).
+
+ 2. MRO alignment report, "MRO-final-alignment_REV-G.xls", received
+ from David Humm.
+
+ 3. "CRISM Alignment Test Report", JHU/APL drawing number 7398-9600.
+
+ 4. Discussion between Scott Turner and David Humm regarding CRISM
+ alignment.
+
+
+ ``MRO_CRISM_FK_0000_000_N_1.TF'' Section ``Contact Information''
+ ----------------------------------------------------------------
+
+ Lillian Nguyen, JHU/APL, (443)-778-5477, Lillian.Nguyen@jhuapl.edu
+
+
+ ``MRO_CRISM_FK_0000_000_N_1.TF'' Section ``CRISM Frame Definitions''
+ --------------------------------------------------------------------
+
+ The nominal CRISM base frame is defined such that Z is the gimbal axis of
+ rotation, X is the projection of the instrument boresight (slit center)
+ onto the plane normal to the gimbal axis at 0 degrees, and Y completes
+ the right-handed frame. This nominal frame differs from the spacecraft
+ frame by the following axis relabelling:
+
+ X = Z
+ nominal CRISM base sc
+
+ Y = X
+ nominal CRISM base sc
+
+ Z = Y
+ nominal CRISM base sc,
+
+ written as a rotation matrix:
+
+ [ ] [ 0 1 0 ]
+ [ R1 ] = [ 0 0 1 ]
+ [ ] [ 1 0 0 ]
+
+ The axes of the nominal CRISM base frame are illustrated in the
+ diagram below.
+
+
+ ^ instrument slit center
+ |
+ _|_ X (Z )
+ | | ^ sc
+ | | gimbal axis into the page |
+ ____|___|____ |
+ | | |
+ | .O. |------> S/C velocity o------> Y (X )
+ |____/ \____| Z (Y ) sc
+ ____/_____\____ sc
+ ///////////////
+ spacecraft
+
+ In [2] we are given three alignment matrices from which we can determine
+ the rotation matrix taking vectors from the CRISM base frame to vectors in
+ the spacecraft frame. The first of those matrices takes vectors in the
+ CRISM optical cube frame to vectors in the HiRISE frame:
+
+ [ ]HiRISE [ 0.999917 0.001050 0.012822 ]
+ [ A ] = [ -0.001056 0.999999 0.000460 ]
+ [ ]CRISM [ -0.012821 -0.000473 0.999918 ]
+
+ where the CRISM frame is defined in [2] as
+
+ Y = Axis of rotation of the instrument.
+ Z = Axis perpendicular to Y and lying in the plane formed by the Gimbal
+ axis and the Optical axis.
+ X axis completes a right-hand-rectangular coordinate frame.
+
+ Note that it is believed that Z was determined using the CRISM optical axis
+ (the normal projected from the mirror on the rear of the secondary mirror),
+ while the CRISM base frame definition uses the slit center. We will adjust
+ for the angular difference between the optical axis and slit center vectors
+ later, with matrix [ R2 ].
+
+ Due to circumstances in the alignment tests, the instrument team changed
+ the theta Y value (the measure of the gimbal axis rotation) from 0.735
+ degree to 0.755 degree [4], resulting in a corrected [ A ] matrix taking
+ vectors from the CRISM frame to the HiRISE frame. [2] describes these
+ circumstances as follows:
+
+ "Theta Y for CRISM is a measure of the gimbal axis rotation. At the time of
+ this measurement, the amount of this rotation was not controlled (CRISM was
+ not powered). However, the measured value of 0.735 degree is very close to
+ the Pre-environmental measurement of 0.755 degree, which was taken in a
+ powered state at zero degrees gimbal rotation."
+
+ The calculations used to determine the corrected [ A ] matrix are
+ explained below.
+
+ If we describe the CRISM to HiRISE rotation as
+
+ [ ]HiRISE [ a d g ]
+ [ A ] = [ b e h ]
+ [ ]CRISM [ c f i ],
+
+ then theta Y is defined in [2] as
+
+ theta Y = atan ( g/i ) (degrees),
+
+ and is equal to 0.755 degrees [4]. To determine the corrected matrix, we
+ solve a set of equations defined by the following constraints:
+
+ 1) atan(g/i) = 0.755 deg
+ 2) norm( (g, h, i) ) = 1 (axes are unit length)
+ 3) dot( (d, e, f), (g, h, i) ) = 0 (orthogonality of axes)
+
+ Note that constraint 3) uses the gimbal axis vector, (d, e, f), which
+ we assume remains fixed.
+
+ Solving for g and i (taking the positive solution to the quadratic equation
+ in constraint 2), then readjusting vector (a, b, c) by using the cross
+ product to form an orthogonal frame, we get the corrected matrix:
+
+ [ ]HiRISE [ 0.999912630217 0.001049999963 0.013176853036 ]
+ [ A ] = [ -0.001056141713 0.999998986721 0.000460000010 ]
+ [ ]CRISM [ -0.013176361292 -0.000472999993 0.999913076097 ]
+
+ The second matrix given in [2] takes vectors from the Star Tracker 1
+ alignment cube frame to vectors in the HiRISE optical axis frame. The
+ alignment report gives the following matrix:
+
+ [ ]HiRISE [ -0.966071 0.000673 -0.258275 ]
+ [ B ] = [ -0.087542 0.939949 0.329897 ]
+ [ ]Star Tr. 1 [ 0.242988 0.341314 -0.907999 ]
+
+ The third matrix takes vectors from the Star Tracker 1 alignment cube frame
+ to vectors in the spacecraft frame:
+
+ [ ]spacecraft [ -0.966218 0.000257 -0.257726 ]
+ [ C ] = [ -0.087724 0.939960 0.329818 ]
+ [ ]Star Tr. 1 [ 0.242337 0.341285 -0.908184 ]
+
+ Finally, we describe the rotation [ R2 ] that takes vectors from the CRISM'
+ frame to the CRISM frame defined above, where the CRISM' frame differs
+ only in that the Z axis is the projection of the slit center (and not of
+ the optical axis as in the CRISM frame) onto the plane perpendicular to
+ the gimbal axis. We assume that the gimbal axis as measured in [2] and [3]
+ is the same, and use the following measurements given in [3] to determine
+ the angle between the optical axis and the slit center:
+
+ gimbal axis: [0.0008242301 0.9999940951 0.0033362399]
+ slit center at home (0 deg.): [0.013894654 -0.003154637 0.999898488 ]
+ optical axis at home (0 deg.): [0.014603728 -0.003256776 0.999888056 ]
+
+ This rotation is determined by first projecting both the slit center and
+ optical axes onto the plane normal to the gimbal axis and calculating the
+ angle, alpha, between the two projected vectors, then creating the rotation
+ matrix about the gimbal axis (Y in the CRISM frame). The angle between the
+ two projected vectors is calculated to be:
+
+ alpha = 0.040635904 deg.
+
+ and the rotation matrix is:
+
+ [ ]CRISM [ 0.999999748496 0.000000000000 -0.000709230259 ]
+ [ R2 ] = [ 0.000000000000 1.000000000000 0.000000000000 ]
+ [ ]CRISM' [ 0.000709230259 0.000000000000 0.999999748496 ]
+
+ The measured alignment of the CRISM base frame relative to the spacecraft
+ frame then is obtained by multiplying the three alignment matrices with the
+ two rotation matrices (R1 for axis relabelling and R2 to take into account
+ that the measurement in [2] used the CRISM optical axis) as follows (note
+ that we are using the corrected [ A ] matrix from above):
+
+ [ ]spacecraft [ ] [ ]t [ ] [ ] [ ]
+ [ R ] = [ C ] [ B ] [ A ] [ R2 ] [ R1 ]
+ [ ]CRISM base [ ] [ ] [ ] [ ] [ ]
+
+ where 't' denotes the matrix transpose. This gives us:
+
+ [ ]spacecraft [ 0.0117851901010 0.9999301878218 0.0008536843642 ]
+ [ R ] = [ 0.0004938596793 -0.0008595641829 0.9999995086259 ]
+ [ ]CRISM base [ 0.9999304302785 -0.0117847627097 -0.0005039553291 ]
+
+ To review, the sequence of transformations taking vectors from the CRISM
+ base frame to the spacecraft frame is as follows:
+
+ CRISM base --[R1]--> CRISM' (slit center as boresight)
+
+ CRISM' --[R2]--> CRISM (optical axis as boresight)
+
+ CRISM ---[A]--> HiRISE
+
+ HiRISE ---[B]--> Star Tracker 1
+
+ Star Tracker 1 ---[C]--> spacecraft.
+
+ CRISM Base Frame (MRO_CRISM_BASE):
+
+ \begindata
+
+ FRAME_MRO_CRISM_BASE = -74011
+ FRAME_-74011_NAME = 'MRO_CRISM_BASE'
+ FRAME_-74011_CLASS = 4
+ FRAME_-74011_CLASS_ID = -74011
+ FRAME_-74011_CENTER = -74
+ TKFRAME_-74011_SPEC = 'MATRIX'
+ TKFRAME_-74011_RELATIVE = 'MRO_SPACECRAFT'
+ TKFRAME_-74011_MATRIX = ( 0.0117851901010
+ 0.0004938596793
+ 0.9999304302785
+ 0.9999301878218
+ -0.0008595641829
+ -0.0117847627097
+ 0.0008536843642
+ 0.9999995086259
+ -0.0005039553291 )
+ \begintext
+
+
+ The CRISM articulation frame is defined such that Z is the gimbal axis of
+ rotation, X is the projection of the instrument slit center onto the plane
+ normal to the gimbal axis at theta degrees, and Y completes the right-
+ handed frame. At gimbal home (0 degree), the articulation frame is
+ identical to the CRISM base frame, MRO_CRISM_BASE. The articulation frame
+ rotates the base frame about the gimbal axis and is C-kernel based
+ (see [5]).
+
+ CRISM Articulation Frame (MRO_CRISM_ART):
+
+ \begindata
+
+ FRAME_MRO_CRISM_ART = -74012
+ FRAME_-74012_NAME = 'MRO_CRISM_ART'
+ FRAME_-74012_CLASS = 3
+ FRAME_-74012_CLASS_ID = -74012
+ FRAME_-74012_CENTER = -74
+ CK_-74012_SCLK = -74999
+ CK_-74012_SPK = -74
+
+ \begintext
+
+
+ The MRO_CRISM_VNIR frame is defined such that the Z axis is the boresight
+ (the instrument slit center), the -X axis is the gimbal rotation axis, and
+ the Y axis completes a right-handed frame. The nominal mapping of
+ CRISM VNIR coordinates to CRISM articulation frame coordinates is
+
+ X = -Z
+ VNIR art
+
+ Y = Y
+ VNIR art
+
+ Z = X
+ VNIR art,
+
+ or as a rotation matrix:
+
+ [ ]articulation [ 0 0 1 ]
+ [ R ] = [ 0 1 0 ]
+ [ ]nominal VNIR [ -1 0 0 ]
+
+ We will use the following measured alignments given in [3] to adjust the
+ nominal frame:
+
+ gimbal axis: [0.0008242301, 0.9999940951, 0.0033362399]
+ slit center at home: [0.013894654, -0.003154637, 0.999898488 ]
+
+ To determine the VNIR boresight, we rotate the gimbal axis (Z ) by
+ art
+ theta degrees about Y , where theta is the angle between the measured
+ art
+ gimbal axis and measured slit center at home. Note that rotation of the
+ slit center at home about the gimbal axis was adjusted for in the CRISM
+ base frame's intermediate matrix [ R2 ]. The angular separation, theta,
+ is calculated to be:
+
+ theta = 89.9889570902 degrees
+
+ Rotating Z by theta about Y , we obtain
+ art art
+
+ Z = [ 0.9999999814 0.0000000000 0.0001927351 ]
+ VNIR
+
+ We obtain the VNIR Y axis by taking the cross product of the gimbal axis,
+ Z , with the boresight, Z :
+ art VNIR
+
+ Y = [ 0.0 1.0 0.0 ]
+ VNIR
+
+ The VNIR X axis completes the right-handed frame:
+
+ X = [ 0.0001927351 0.0000000000 -0.9999999814 ]
+ VNIR
+
+ Thus, the rotation matrix taking vectors from the VNIR frame to the
+ articulation frame is
+
+ [ ] [ 0.0001927351 0.0000000000 0.9999999814 ]
+ [ R ] = [ 0.0000000000 1.0000000000 0.0000000000 ]
+ [ ] [ -0.9999999814 0.0000000000 0.0001927351 ]
+
+ CRISM VNIR Frame (MRO_CRISM_VNIR):
+
+ \begindata
+
+ FRAME_MRO_CRISM_VNIR = -74017
+ FRAME_-74017_NAME = 'MRO_CRISM_VNIR'
+ FRAME_-74017_CLASS = 4
+ FRAME_-74017_CLASS_ID = -74017
+ FRAME_-74017_CENTER = -74
+ TKFRAME_-74017_SPEC = 'MATRIX'
+ TKFRAME_-74017_RELATIVE = 'MRO_CRISM_ART'
+ TKFRAME_-74017_MATRIX = ( 0.0001927351
+ 0.0000000000
+ -0.9999999814
+ 0.0000000000
+ 1.0000000000
+ 0.0000000000
+ 0.9999999814
+ 0.0000000000
+ 0.0001927351 )
+
+ \begintext
+
+ The MRO_CRISM_IR frame is defined identically to the MRO_CRISM_VNIR
+ frame. Any offsets between the VNIR and IR are accounted for in the
+ camera model described in the MRO CRISM Instrument Kernel.
+
+ \begindata
+
+ FRAME_MRO_CRISM_IR = -74018
+ FRAME_-74018_NAME = 'MRO_CRISM_IR'
+ FRAME_-74018_CLASS = 4
+ FRAME_-74018_CLASS_ID = -74018
+ FRAME_-74018_CENTER = -74
+ TKFRAME_-74018_SPEC = 'MATRIX'
+ TKFRAME_-74018_RELATIVE = 'MRO_CRISM_VNIR'
+ TKFRAME_-74018_MATRIX = ( 1.0
+ 0.0
+ 0.0
+ 0.0
+ 1.0
+ 0.0
+ 0.0
+ 0.0
+ 1.0 )
+
+ \begintext
+
+
+CTX Frames
+----------
+
+ The following frames are defined for CTX:
+
+ - CTX base frame (MRO_CTX_BASE) -- fixed w.r.t. and nominally
+ co-aligned with the MRO_SPACECRAFT frame;
+
+ - CTX apparent FOV frame (MRO_CTX) -- fixed w.r.t. MRO_CTX_BASE
+ and nominally co-aligned with it; it has +Z along boresight,
+ +Y along the detector line, and +X completing the right hand
+ frame;
+
+ This diagram illustrates CTX frames:
+
+ . ---- .
+ .' `. HGA
+ .' `.
+ / \
+ . .-------. .
+ | | o | |
+ . \ / .
+ \ \ / /
+ `. \ / .'
+ `. \ / .'
+ SAPX ` --o-- ' SAMX
+ ========================o_____H_____o========================
+ | / _ \ |
+ | ' ' |
+ |--- <----o |
+ | +Xctx* | |
+ Direction | | |
+ of flight | V +Yctx*
+ <------- <----o ____. +Zsc and +Zctx*
+ +Xsc \_|_ are out of the
+ /|\ the page
+ V
+ +Ysc
+
+ The keyword sets below define CTX frames. Except cases were the
+ source of the alignment data is specifically noted, these frame
+ definitions incorporate the nominal alignment.
+
+ The following CTX to HIRISE Direction Cosine Matrix (DCM) was
+ provided in [14]:
+
+ 0.99999994 0.00021198 -0.00026011
+ -0.00021196 0.99999998 0.00005486
+ 0.00026012 -0.00005481 0.99999996
+
+ This matrix is incorporated in the MRO_CTX_BASE definition below.
+
+ \begindata
+
+ FRAME_MRO_CTX_BASE = -74020
+ FRAME_-74020_NAME = 'MRO_CTX_BASE'
+ FRAME_-74020_CLASS = 4
+ FRAME_-74020_CLASS_ID = -74020
+ FRAME_-74020_CENTER = -74
+ TKFRAME_-74020_SPEC = 'MATRIX'
+ TKFRAME_-74020_RELATIVE = 'MRO_HIRISE_LOOK_DIRECTION'
+ TKFRAME_-74020_MATRIX = (
+ 0.99999994
+ -0.00021196
+ 0.00026012
+ 0.00021198
+ 0.99999998
+ -0.00005481
+ -0.00026011
+ 0.00005486
+ 0.99999996
+ )
+
+ FRAME_MRO_CTX = -74021
+ FRAME_-74021_NAME = 'MRO_CTX'
+ FRAME_-74021_CLASS = 4
+ FRAME_-74021_CLASS_ID = -74021
+ FRAME_-74021_CENTER = -74
+ TKFRAME_-74021_SPEC = 'ANGLES'
+ TKFRAME_-74021_RELATIVE = 'MRO_CTX_BASE'
+ TKFRAME_-74021_ANGLES = ( 0.0, 0.0, 0.0 )
+ TKFRAME_-74021_AXES = ( 1, 2, 3 )
+ TKFRAME_-74021_UNITS = 'DEGREES'
+
+ \begintext
+
+
+HIRISE Frames
+-------------
+
+ The following frames are defined for HIRISE:
+
+ - HIRISE ``look direction'' frame (MRO_HIRISE_LOOK_DIRECTION) --
+ fixed w.r.t. and nominally co-aligned with the MRO_SPACECRAFT
+ frame; it has +Z along the camera boresight, nominally defined
+ as the view direction of the detector pixel 0 of CCD 5/Channel
+ 1 for Mars in-focus observations (*), +Y along the detector lines,
+ and +X completing the right hand frame;
+
+ - HIRISE optical axis frame (MRO_HIRISE_OPTICAL_AXIS) -- fixed
+ w.r.t. MRO_SPACECRAFT and is nominally rotated from it by
+ +0.45 degrees about +Y axis; it has +Z along the camera
+ optical axis, +Y along the detector lines, and +X completing
+ the right hand frame;
+
+ (*) the actual boresight direction shifts by up to 1 arcsecond
+ (5 pixels) depending on the instrument focus setting.
+
+ This diagram illustrates HIRISE frames:
+
+ .o. HGA
+ .' | `.
+ .' | `.
+ -------------------
+ `. .'
+ `-._______.-'
+ o
+ ____/_\____
+ / \
+ / \
+ Direction / \
+ of flight \ +Xsc +Ysc (into the page)
+ <------- \ <----x /
+ ..........o | o..........
+ .-' /| | |\ `-.
+ SAPX .-' V +Zsc| \ `-. SAMX
+ .-\\ +Xh_* -------| \ //-.
+ .-' \\ <----x HiRISE \ // `-.
+ -' \\ ./ .___| | |___. \. // `-
+ \ \\ .-' ._|_. `-. // /
+ \ \\-' V `-// /
+ \ .-' +Zh_* `-. /
+ \ .-' `-. /
+ `-' 0.45 deg ->||<- `-'
+ ||
+ VV
+ +Zh_oa +Zh_ld (co-aligned with s/c +Z)
+
+ |
+ | Nadir
+ V
+
+ The keyword sets below define HIRISE frames. Except cases were the
+ source of the alignment data is specifically noted, these frame
+ definitions incorporate the nominal alignment.
+
+
+MRO_HIRISE_LOOK_DIRECTION Frame Rotation Provided in FK Versions 0.0-0.5
+
+ In the FK versions 0.0-0.6 this frame was named MRO_HIRISE. It was
+ defined as zero offset frame relative to the MRO_SPACECRAFT frame.
+
+
+MRO_HIRISE_LOOK_DIRECTION Frame Rotation Provided in FK Version 0.6
+
+ In the FK version 0.6 this frame was named MRO_HIRISE. It was
+ defined as a fixed offset frame relative to the MRO_SPACECRAFT frame
+ using pre-launch, ground calibrated alignment shown below.
+
+ Combining the following Tracker 1 cube to S/C Direction Cosine
+ Matrix (DCM) (from [14]):
+
+ -0.96621811 0.00025732 -0.25772564
+ -0.08772412 0.93995995 0.32981780
+ 0.24233665 0.34128468 -0.90818375
+
+ with Tracker 1 cube to HiRISE DCM (from [14]):
+
+ -0.96607109 0.00067328 -0.25827542
+ -0.08754160 0.93994921 0.32989689
+ 0.24298789 0.34131369 -0.90799882
+
+ results in this HIRISE ``look direction'' to S/C DCM:
+
+ 0.99999975 -0.00019674 -0.00067690
+ 0.00019676 0.99999999 0.00003113
+ 0.00067689 -0.00003127 0.99999978
+
+ which formatted as the frame definition keyword looks like this:
+
+ TKFRAME_-74699_RELATIVE = 'MRO_SPACECRAFT'
+ TKFRAME_-74699_MATRIX = (
+ 0.99999975
+ 0.00019676
+ 0.00067689
+ -0.00019674
+ 0.99999999
+ -0.00003127
+ -0.00067690
+ 0.00003113
+ 0.99999978
+ )
+
+
+MRO_HIRISE_LOOK_DIRECTION Frame Rotation Provided in FK Version 0.7+
+
+ The MRO_HIRISE_LOOK_DIRECTION frame definition below includes the
+ following rotation with respect to the MRO_HIRISE_OPTICAL_AXIS frame
+ derived by combining preliminary in-flight alignment for
+ MRO_HIRISE_OPTICAL_AXIS frame with with pre-launch, ground
+ calibrated alignment for the HIRISE boresight:
+
+ TKFRAME_-74699_RELATIVE = 'MRO_HIRISE_OPTICAL_AXIS'
+ TKFRAME_-74699_MATRIX = (
+ 0.99996484
+ 0.00020285
+ 0.00838273
+ -0.00019649
+ 0.99999969
+ -0.00075976
+ -0.00838288
+ 0.00075809
+ 0.99996458
+ )
+
+MRO_HIRISE_LOOK_DIRECTION Frame Rotation Provided in FK Version 1.4+
+
+ The MRO_HIRISE_LOOK_DIRECTION frame definition below includes the
+ following rotation with respect to the MRO_HIRISE_OPTICAL_AXIS frame,
+ updated from the previous rotation to compensate for the change in
+ the orientation of the MRO_HIRISE_OPTICAL_AXIS frame in the FK 1.4
+ (to keep the MRO_HIRISE_LOOK_DIRECTION frame oriented with respect to
+ the spacecraft frame the same way as it was in the versions 0.7-1.3
+ of the FK):
+
+ TKFRAME_-74699_RELATIVE = 'MRO_HIRISE_OPTICAL_AXIS'
+ TKFRAME_-74699_MATRIX = (
+ 0.999964843747
+ 0.000206345964
+ 0.008382642316
+ -0.000196487983
+ 0.999999288260
+ -0.001176805736
+ -0.008382879179
+ 0.001175117275
+ 0.999964172576
+ )
+
+
+ This matrix is currently incorporated in the MRO_HIRISE_LOOK_DIRECTION
+ frame definition.
+
+ \begindata
+
+ FRAME_MRO_HIRISE_LOOK_DIRECTION = -74699
+ FRAME_-74699_NAME = 'MRO_HIRISE_LOOK_DIRECTION'
+ FRAME_-74699_CLASS = 4
+ FRAME_-74699_CLASS_ID = -74699
+ FRAME_-74699_CENTER = -74
+ TKFRAME_-74699_SPEC = 'MATRIX'
+ TKFRAME_-74699_RELATIVE = 'MRO_HIRISE_OPTICAL_AXIS'
+ TKFRAME_-74699_MATRIX = (
+ 0.999964843747
+ 0.000206345964
+ 0.008382642316
+ -0.000196487983
+ 0.999999288260
+ -0.001176805736
+ -0.008382879179
+ 0.001175117275
+ 0.999964172576
+ )
+ \begintext
+
+
+MRO_HIRISE_OPTICAL_AXIS Frame Rotation Provided in FK Versions 0.0-0.6
+
+ In the FK versions 0.0-0.6 this frame was named MRO_HIRISE_IF. It
+ was defined relative to the MRO_SPACECRAFT with single rotation of
+ -0.45 degrees about Y axis. This rotation rotation angle was an
+ error; it should have been by +0.45 degrees.
+
+
+MRO_HIRISE_OPTICAL_AXIS Frame Rotation Provided in FK Version 0.7+
+
+ The MRO_HIRISE_OPTICAL_AXIS frame definition below incorporates the
+ following preliminary in-flight alignment with respect to the
+ spacecraft frame provided by Jeff Anderson, USGS on September 22,
+ 2005:
+
+ TKFRAME_-74690_RELATIVE = 'MRO_SPACECRAFT'
+ TKFRAME_-74690_MATRIX = (
+ 0.999970
+ 0.000000
+ -0.007706
+ 0.000000
+ 1.000000
+ 0.000727
+ 0.007706
+ -0.000727
+ 0.999970
+ )
+
+MRO_HIRISE_OPTICAL_AXIS Frame Rotation Provided in FK Version 1.4+
+
+ The MRO_HIRISE_OPTICAL_AXIS frame definition below incorporates the
+ updated alignment provided by Laszlo Keszthelyi, USGS on February
+ 12, 2009, compensating for the correction to the optical distortion
+ model made in 2008:
+
+ TKFRAME_-74690_RELATIVE = 'MRO_SPACECRAFT'
+ TKFRAME_-74690_MATRIX = (
+ 0.99997031
+ 0.00000000
+ -0.00770600
+ 0.00000882
+ 0.99999935
+ 0.00114399
+ 0.00770599
+ -0.00114402
+ 0.99996965
+ )
+
+ This matrix is currently incorporated in the MRO_HIRISE_OPTICAL_AXIS
+ frame definition.
+
+ \begindata
+
+ FRAME_MRO_HIRISE_OPTICAL_AXIS = -74690
+ FRAME_-74690_NAME = 'MRO_HIRISE_OPTICAL_AXIS'
+ FRAME_-74690_CLASS = 4
+ FRAME_-74690_CLASS_ID = -74690
+ FRAME_-74690_CENTER = -74
+ TKFRAME_-74690_SPEC = 'MATRIX'
+ TKFRAME_-74690_RELATIVE = 'MRO_SPACECRAFT'
+ TKFRAME_-74690_MATRIX = (
+ 0.99997031
+ 0.00000000
+ -0.00770600
+ 0.00000882
+ 0.99999935
+ 0.00114399
+ 0.00770599
+ -0.00114402
+ 0.99996965
+ )
+
+ \begintext
+
+
+MARCI Frames
+----------
+
+ The following frames are defined for MARCI:
+
+ - MARCI base frame (MRO_MARCI_BASE) -- fixed w.r.t. and rotated
+ by +95 degrees about +Z axis w.r.t. the MRO_SPACECRAFT frame;
+
+ - MARCI apparent VIS FOV frame (MRO_MARCI_VIS) -- fixed w.r.t.
+ MRO_MARCI_BASE and nominally co-aligned with it; it has +Z
+ along boresight, +X along the detector lines, and +Y
+ completing the right hand frame;
+
+ - MARCI apparent UV FOV frame (MRO_MARCI_UV) -- fixed w.r.t.
+ MRO_MARCI_BASE and nominally co-aligned with it; it has +Z
+ along boresight, +X along the detector lines, and +Y
+ completing the right hand frame;
+
+ This diagram illustrates MARCI frames:
+
+ . ---- .
+ .' `. HGA
+ .' `.
+ / \
+ . .-------. .
+ | | o | |
+ . \ / .
+ \ \ / /
+ `. \ / .'
+ `. \ / .'
+ SAPX ` --o-- ' SAMX
+ ========================o_____H_____o========================
+ | / _ \ |
+ | | '_' | HiRISE
+ |-- \___/ --|
+ | .-> |
+ ----- |o-' +Ymarci*
+ 5 deg |` |
+ .-' +Xsc <`---o ____. +Zsc and +Zmarci*
+ ' V\_|_/ are out of the
+ +Xmarci* /|\ the page
+ V
+ <------- +Ysc
+ Direction
+ of flight
+
+ Nominally the following set of rotations can be used to align the
+ MRO spacecraft frame with the MARCI base frame:
+
+ Msc->marci = [ 95.0 ]z * [ 0.0 ]y * [ 0.0 ]x
+
+ By co-locating pixels for several overlapping images taken on
+ different orbits the MARCI team at MSSS derived the following
+ updated alignment angles (from [19]):
+
+ Msc->marci = [ 95.5 ]z * [ 0.5 ]y * [ 0.475 ]x
+
+ These angles are used in the MARCI base frame definition below.
+
+ The keyword sets below define MARCI frames. Except cases were the
+ source of the alignment data is specifically noted, these frame
+ definitions incorporate the nominal alignment.
+
+ \begindata
+
+ FRAME_MRO_MARCI_BASE = -74400
+ FRAME_-74400_NAME = 'MRO_MARCI_BASE'
+ FRAME_-74400_CLASS = 4
+ FRAME_-74400_CLASS_ID = -74400
+ FRAME_-74400_CENTER = -74
+ TKFRAME_-74400_SPEC = 'ANGLES'
+ TKFRAME_-74400_RELATIVE = 'MRO_SPACECRAFT'
+ TKFRAME_-74400_ANGLES = ( -0.475, -0.5, -95.5 )
+ TKFRAME_-74400_AXES = ( 1, 2, 3 )
+ TKFRAME_-74400_UNITS = 'DEGREES'
+
+ FRAME_MRO_MARCI_VIS = -74410
+ FRAME_-74410_NAME = 'MRO_MARCI_VIS'
+ FRAME_-74410_CLASS = 4
+ FRAME_-74410_CLASS_ID = -74410
+ FRAME_-74410_CENTER = -74
+ TKFRAME_-74410_SPEC = 'ANGLES'
+ TKFRAME_-74410_RELATIVE = 'MRO_MARCI_BASE'
+ TKFRAME_-74410_ANGLES = ( 0.0, 0.0, 0.0 )
+ TKFRAME_-74410_AXES = ( 1, 2, 3 )
+ TKFRAME_-74410_UNITS = 'DEGREES'
+
+ FRAME_MRO_MARCI_UV = -74420
+ FRAME_-74420_NAME = 'MRO_MARCI_UV'
+ FRAME_-74420_CLASS = 4
+ FRAME_-74420_CLASS_ID = -74420
+ FRAME_-74420_CENTER = -74
+ TKFRAME_-74420_SPEC = 'ANGLES'
+ TKFRAME_-74420_RELATIVE = 'MRO_MARCI_BASE'
+ TKFRAME_-74420_ANGLES = ( 0.0, 0.0, 0.0 )
+ TKFRAME_-74420_AXES = ( 1, 2, 3 )
+ TKFRAME_-74420_UNITS = 'DEGREES'
+
+ \begintext
+
+
+MCS Frames
+----------
+
+ The following frames are defined for MCS:
+
+ - MCS base frame (MRO_MCS_BASE) -- fixed w.r.t., and nominally
+ co-aligned with the MRO_SPACECRAFT frame; the definition of
+ this frame incorporates instrument misalignment determined by
+ measuring the alignment cube orientation w.r.t. to the
+ spacecraft at the time of instrument installation;
+
+ - MCS Azimuth Gimbal "Reference" position frame
+ (MRO_MCS_AZ_GIMBAL_REF) -- fixed w.r.t., and nominally
+ coalligned with the MCS_BASE frame, this frame is defined by
+ requiring the MRO_MCS_AZ_GIMBAL_REF +Z axis be coalligned with
+ the MCS Azimuth physical rotation axis, while at the same time
+ minimizing the angle between the MRO_MCS_BASE +X axis and the
+ MRO_MCS_AZ_GIMBAL_REF +X axis.
+
+ - MCS Azimuth Gimbal frame (MRO_MCS_AZ_GIMBAL) -- rotates about
+ the +Z axis by AZ angle w.r.t. MCS_AZ_GIMBAL_REF frame (and,
+ therefore, is defined as a CK-based frame) and is co-aligned
+ with the MCS_AZ_GIMBAL_REF frame at an azimuth scan angle of
+ 180 degrees (2782 counts).
+
+ - MCS Elevation Gimbal "Reference" position frame
+ (MRO_MCS_EL_GIMBAL_REF) -- fixed w.r.t., and nominally
+ coaligned with the MCS_AZ_GIMBAL frame, this frame is defined
+ by requiring the MRO_MCS_EL_GIMBAL_REF +Y axis be coaligned
+ with the MCS Elevation physical rotation axis, while at the
+ same time minimizing the angle between the MRO_MCS_AZ_GIMBAL
+ +Z axis and the MRO_MCS_EL_GIMBAL_REF +Z axis.
+
+ - MCS Elevation Gimbal frame (MRO_MCS_EL_GIMBAL) -- rotates
+ about -Y axis by EL angle w.r.t. MCS_EL_GIMBAL_REF frame (and,
+ therefore, is defined as a CK-based frame) and is co-aligned
+ with the MCS_EL_GIMBAL_REF frame at an elevation scan angle of
+ 90 degrees (1891 counts).
+
+ - MCS telescope boresight frame (MRO_MCS) -- fixed w.r.t, and
+ nominally coaligned with the MRO_MCS_EL_GIMBAL frame, this
+ frame is defined by requiring the MRO_MCS +X axis be in the
+ direction of the telescope boresight, and requiring that the
+ MRO_MCS Z axis be aligned with the detector arrays in such a
+ sense that, when viewing the forward limb (near the +X axis),
+ positive rotations about the MRO_MCS +Y axis cause Z to
+ increase.
+
+ - MCS solar target frame (MRO_MCS_SOLAR_TARGET) -- fixed w.r.t.
+ the MRO_MCS_AZ_GIMBAL frame, is defined such that its +Z axis
+ is normal to the solar target plate and +Y axis is co-aligned
+ with the AZ_GIMBAL frame's +Y axis. This frame is rotated from
+ the AZ_GIMBAL frame by 15 degrees about +Y axis.
+
+ Assuming that in (180,90) (AZ,EL) angle position the telescope
+ boresight is pointing along the s/c +X axis (nominal), all six MCS
+ frames -- BASE, AZ_GIMBAL_REF, AZ_GIMBAL, EL_GIMBAL_REF, EL_GIMBAL, and
+ MRO_MCS -- will be co-aligned as shown in this diagram (SOLAR_TARGET
+ frame is not shown):
+
+ . ---- .
+ .' `. HGA
+ .' `.
+ / \
+ . .-------. .
+ | | o | |
+ . \ / .
+ \ \ / /
+ `. \ / .'
+ `. \ / .'
+ SAPX ` --o-- ' SAMX
+ ========================o_____H_____o========================
+ | / _ \ |
+ | | '_' | HiRISE
+ |-- \___/ --|
+ | |
+ +Xmcs | <----o |
+ | | |
+ <------- +Xsc <----o|____.
+ Direction \_|V +Ymcs +Zsc, +Zmcs
+ of flight /|\ and nadir are out of
+ V the page
+ +Ysc
+ Azimuth rotation is
+ about +Z
+
+ Elevation rotation is
+ about +Y
+
+ The keyword sets below define MCS frames. Except cases were the
+ source of the alignment data is specifically noted, these frame
+ definitions incorporate the nominal alignment.
+
+ The following MCS to HIRISE Direction Cosine Matrix (DCM) was
+ provided in [14]:
+
+ 0.99996956 -0.00780193 -0.00010482
+ 0.00780199 0.99996939 0.00059227
+ 0.00010020 -0.00059307 0.99999982
+
+ This DCM was provided in the MRO_MCS_BASE frame definition as the
+ following keyword in the FK versions 0.6 to 1.1:
+
+ TKFRAME_-74501_MATRIX = (
+ 0.99996956
+ 0.00780199
+ 0.00010020
+ -0.00780193
+ 0.99996939
+ -0.00059307
+ -0.00010482
+ 0.00059227
+ 0.99999982
+ )
+
+ Based on the analysis on the flight data the offsets for the MCS AZ
+ and EL gimbals were determined with respect to the spacecraft. To
+ make FK consistent with these results, starting with the FK version
+ 1.2 the MRO_MCS_BASE frame was re-defined to be with respect to the
+ MRO_SPACECRAFT frame with zero offset rotation.
+
+ Based on the analysis of the off-track observations carried out in
+ 2008 (see [20]), the MCS Team, JPL determined that the azimuth axis
+ was tilted relative to the s/c +Z axis by 0.431 degrees towards the
+ line 25.8 degrees off the s/c -Y axis towards the s/c +X axis. The
+ following set of rotations aligning the s/c frame with the MCS base
+ frame was incorporated into the MRO_MCS_BASE frame definition below
+ to account for this tilt:
+
+ base
+ M = [-25.8 deg] [+0.431 deg] [+25.8 deg]
+ sc Z X Z
+
+ Incorporating the tilt into the MRO_MCS_BASE frame "raised" the
+ frame's +X axis above the s/c XY plane, invalidating the previous
+ zero EL angle offset included in the definition of the
+ MRO_MCS_EL_GIMBAL_REF frame. To fix this, the offset was re-set from
+ -0.208 degrees to -0.03 degrees.
+
+ Based on the analysis of the off-track observations carried out in
+ 2012 (see [21]), the MCS Team, JPL determined that the MCS base was
+ additionally rotated -0.118 degrees about a vector in the S/C XY
+ plane oriented 18.5 degrees from the -Y axis towards the +X axis.
+ The set of rotations in the MRO_MCS_BASE frame definition aligning
+ the s/c frame with the MCS base was chaged to be
+
+ base
+ M = [169.913679 deg] [-0.432158 deg] [-169.914119 deg]
+ sc Z X Z
+
+ to account for this additional tilt.
+
+ In addition to tilting the base frame, the alignment of the
+ MRO_MCS_EL_GIMBAL_REF frame was updated to apply a -0.132 degree
+ correction to MCS elevation angle by changing the offset rotation
+ from -0.03 degrees to -0.162 degrees.
+
+ (The frame definition below contain the opposite of these rotations
+ because Euler angles specified in it define transformations from MCS
+ base frame to the s/c frame -- see [1].)
+
+ \begindata
+
+ FRAME_MRO_MCS_BASE = -74501
+ FRAME_-74501_NAME = 'MRO_MCS_BASE'
+ FRAME_-74501_CLASS = 4
+ FRAME_-74501_CLASS_ID = -74501
+ FRAME_-74501_CENTER = -74
+ TKFRAME_-74501_SPEC = 'ANGLES'
+ TKFRAME_-74501_RELATIVE = 'MRO_SPACECRAFT'
+ TKFRAME_-74501_ANGLES = ( 169.914119, 0.432158, -169.913679 )
+ TKFRAME_-74501_AXES = ( 3, 1, 3 )
+ TKFRAME_-74501_UNITS = 'DEGREES'
+
+ FRAME_MRO_MCS_AZ_GIMBAL_REF = -74502
+ FRAME_-74502_NAME = 'MRO_MCS_AZ_GIMBAL_REF'
+ FRAME_-74502_CLASS = 4
+ FRAME_-74502_CLASS_ID = -74502
+ FRAME_-74502_CENTER = -74
+ TKFRAME_-74502_SPEC = 'ANGLES'
+ TKFRAME_-74502_RELATIVE = 'MRO_MCS_BASE'
+ TKFRAME_-74502_ANGLES = ( 0.0, 0.0, -0.46 )
+ TKFRAME_-74502_AXES = ( 1, 2, 3 )
+ TKFRAME_-74502_UNITS = 'DEGREES'
+
+ FRAME_MRO_MCS_AZ_GIMBAL = -74503
+ FRAME_-74503_NAME = 'MRO_MCS_AZ_GIMBAL'
+ FRAME_-74503_CLASS = 3
+ FRAME_-74503_CLASS_ID = -74503
+ FRAME_-74503_CENTER = -74
+ CK_-74503_SCLK = -74
+ CK_-74503_SPK = -74
+
+ FRAME_MRO_MCS_EL_GIMBAL_REF = -74504
+ FRAME_-74504_NAME = 'MRO_MCS_EL_GIMBAL_REF'
+ FRAME_-74504_CLASS = 4
+ FRAME_-74504_CLASS_ID = -74504
+ FRAME_-74504_CENTER = -74
+ TKFRAME_-74504_SPEC = 'ANGLES'
+ TKFRAME_-74504_RELATIVE = 'MRO_MCS_AZ_GIMBAL'
+ TKFRAME_-74504_ANGLES = ( 0.0, -0.162, 0.0 )
+ TKFRAME_-74504_AXES = ( 1, 2, 3 )
+ TKFRAME_-74504_UNITS = 'DEGREES'
+
+ FRAME_MRO_MCS_EL_GIMBAL = -74505
+ FRAME_-74505_NAME = 'MRO_MCS_EL_GIMBAL'
+ FRAME_-74505_CLASS = 3
+ FRAME_-74505_CLASS_ID = -74505
+ FRAME_-74505_CENTER = -74
+ CK_-74505_SCLK = -74
+ CK_-74505_SPK = -74
+
+ FRAME_MRO_MCS = -74500
+ FRAME_-74500_NAME = 'MRO_MCS'
+ FRAME_-74500_CLASS = 4
+ FRAME_-74500_CLASS_ID = -74500
+ FRAME_-74500_CENTER = -74
+ TKFRAME_-74500_SPEC = 'ANGLES'
+ TKFRAME_-74500_RELATIVE = 'MRO_MCS_EL_GIMBAL'
+ TKFRAME_-74500_ANGLES = ( 0.0, 0.0, 0.0 )
+ TKFRAME_-74500_AXES = ( 1, 2, 3 )
+ TKFRAME_-74500_UNITS = 'DEGREES'
+
+ FRAME_MRO_MCS_SOLAR_TARGET = -74506
+ FRAME_-74506_NAME = 'MRO_MCS_SOLAR_TARGET'
+ FRAME_-74506_CLASS = 4
+ FRAME_-74506_CLASS_ID = -74506
+ FRAME_-74506_CENTER = -74
+ TKFRAME_-74506_SPEC = 'ANGLES'
+ TKFRAME_-74506_RELATIVE = 'MRO_MCS_AZ_GIMBAL'
+ TKFRAME_-74506_ANGLES = ( 0.0, -15.0, 0.0 )
+ TKFRAME_-74506_AXES = ( 1, 2, 3 )
+ TKFRAME_-74506_UNITS = 'DEGREES'
+
+ \begintext
+
+
+ONC Frames
+----------
+
+ The following frame is defined for ONC:
+
+ - ONC apparent FOV frame (MRO_ONC) -- fixed w.r.t.
+ MRO_SPACECRAFT and has +Z along boresight, +X along the
+ detector lines, and +Y completing the right hand frame;
+
+ ONC is mounted on the -Z side of the s/c and points approximately 30
+ degrees off the s/c +Y axis towards s/c -Z axis and sightly to the
+ +X s/c side. These diagrams illustrate the ONC frame orientation:
+
+ +X side view:
+ -------------
+
+ HGA |`.
+ | \
+ .'| .._
+ ,' | | | +Xsc and +Xonc are
+ o | | | put of the page.
+ `-. | | |
+ `| '|.'
+ | / ||
+ |.' |/
+ o SAPX
+ \_====================
+ \ / \_____. Nadir
+ \ / \___/ HiRISE --->
+ .----------\.
+ +Yonc <. | |
+ `. | |
+ `o| +Xsc |
+ / .____ o----> +Zsc
+ / \_|_/
+ V /|\
+ +Zonc V
+ +Ysc
+ / |
+ /<---->|
+ 29.6 deg (projected on s/c Y-Z plane)
+
+
+ -Z side view:
+ -------------
+ . ---- .
+ .' `. HGA
+ .' o `.
+ / | \
+ . | .
+ | o |
+ . .' `. .
+ \ o' `o /
+ `. .'
+ `. .'
+ SAMX ` --o-- ' SAPX
+ ========================o_____H_____o========================
+ | |
+ | |
+ |-----------|
+ | .>|
+ | .' +Xonc
+ | o' |
+ .____ x\---> +Xsc
+ \_|_\
+ +Zsc is into /|\ V
+ the page V +Zonc
+ +Ysc
+ +Yonc is out
+ of the page | \
+ |<---->\
+ 5.7 deg (projected on s/c X-Y plane)
+
+ The s/c frame can be transformed into the ONC frame in nominal
+ orientation by the following three rotations (derived from the
+ projected angles shown above): first by -119.6 degrees about +X,
+ second by +4.96 degrees about +Y and finally by "?" degrees about
+ +Z. (The third rotation is not derivable from projected angles and
+ is assumed to be zero.)
+
+ Based on the cruise observations the ONC team determined the actual
+ ONC alignment relative to the s/c frame. According to [15] the
+ following rotations are required to align the s/c spacecraft frame
+ with the ONC frame:
+
+ onc
+ M = [1.109164] [-61.065813] [169.075079]
+ sc Z X Y
+
+ The definition below incorporates these rotations.
+
+ (The frame definitions below contain the opposite of these rotations
+ because Euler angles specified in them define transformations from ONC
+ frames to the s/c frame -- see [1].)
+
+ \begindata
+
+ FRAME_MRO_ONC = -74030
+ FRAME_-74030_NAME = 'MRO_ONC'
+ FRAME_-74030_CLASS = 4
+ FRAME_-74030_CLASS_ID = -74030
+ FRAME_-74030_CENTER = -74
+ TKFRAME_-74030_RELATIVE = 'MRO_SPACECRAFT'
+ TKFRAME_-74030_SPEC = 'ANGLES'
+ TKFRAME_-74030_ANGLES = ( -169.075079, 61.065813, -1.109164 )
+ TKFRAME_-74030_AXES = ( 2, 1, 3 )
+ TKFRAME_-74030_UNITS = 'DEGREES'
+
+ \begintext
+
+
+SHARAD Frames
+----------
+
+ The following frame is defined for SHARAD:
+
+ - SHARAD frame (MRO_SHARAD) -- fixed w.r.t. MRO_SPACECRAFT and
+ nominally co-aligned with it;
+
+ The keyword set below defines the SHARAD frame. In this version of
+ the FK it incorporates the nominal alignments.
+
+ \begindata
+
+ FRAME_MRO_SHARAD = -74070
+ FRAME_-74070_NAME = 'MRO_SHARAD'
+ FRAME_-74070_CLASS = 4
+ FRAME_-74070_CLASS_ID = -74070
+ FRAME_-74070_CENTER = -74
+ TKFRAME_-74070_SPEC = 'ANGLES'
+ TKFRAME_-74070_RELATIVE = 'MRO_SPACECRAFT'
+ TKFRAME_-74070_ANGLES = ( 0.0, 0.0, 0.0 )
+ TKFRAME_-74070_AXES = ( 1, 2, 3 )
+ TKFRAME_-74070_UNITS = 'DEGREES'
+
+ \begintext
+
+
+MRO Antenna Frames
+-------------------------------------------------------------------------------
+
+ This section contains frame definitions for MRO antennas -- HGA,
+ LGA1, LGA2, and UHF.
+
+
+High Gain Antenna Frame
+-----------------------
+
+ The HGA boresight frame -- MRO_HGA -- is defined as follows ([4],[13]):
+
+ - Z axis is along the HGA reflector central symmetry axis (boresight
+ axis) and points from the reflector surface towards the feed horn;
+
+ - X axis is parallel to the inner gimbal rotation axis and
+ points from the gimbal towards the antenna center;
+
+ - Y axis completes to the right hand frame;
+
+ - the origin of this frame is located at the intersection of the
+ antenna reflector symmetry axis and a plane containing HGA
+ reflector rim circle.
+
+ In stowed configuration HGA boresight (+Z axis) points approximately
+ along S/C -Y axis (14.5 degrees off it towards +Z.) In deployed
+ configuration orientation of the HGA with respect to the s/c varies
+ as the HGA moves constantly using two gimbals to track Earth.
+
+
+HGA Baseplate and Gimbal Drive Frames
+-------------------------------------
+
+ The frame chain for HGA includes:
+
+ - baseplate frame that is fixed w.r.t. to the s/c frame
+
+ - inner gimbal frame that rotates w.r.t. to the baseplate frame
+
+ - outer gimbal frame rotates w.r.t. to the inner gimbal frame
+
+ - boresight frame (described above) that is fixed w.r.t. to the
+ outer gimbal frame.
+
+ In "0" angle position the baseplate frame, both gimbal frames, and
+ the boresight frame are co-aligned.
+
+ The MRO HGA baseplate frame is defined as follows:
+
+ - +Z axis is s/c -Z axis;
+
+ - +Y axis is s/c -Y axis;
+
+ - +X axis completes the right hand frame and is parallel to
+ the s/c +X axis
+
+ - the origin of this frame is located at the intersection of the
+ inner gimbal rotation axis and a plane perpendicular to this
+ rotation axis and containing the outer gimbal rotation axis.
+
+ The MRO HGA inner gimbal frame:
+
+ - Y axis is along the inner gimbal rotation axis; in deployed
+ configuration with the inner and outer gimbal angles set to
+ zero it points along the baseplate frame +Y axis;
+
+ - X axis is such that in deployed configuration with
+ the inner and outer gimbal angles set to zero it points along
+ the baseplate frame +X axis;
+
+ - Z axis completes the right hand frame and in deployed
+ configuration with the inner and outer gimbal angles set to
+ zero it points along the baseplate frame +Z axis;
+
+ - the origin of this frame is located at the intersection of the
+ inner gimbal rotation axis and a plane perpendicular to this
+ rotation axis and containing the outer gimbal rotation axis.
+
+ The MRO HGA outer gimbal frame:
+
+ - X axis is along the outer gimbal rotation axis and points
+ along the baseplate +X in deployed configuration with the
+ inner and outer gimbal angles set to zero;
+
+ - Y axis is such that in deployed configuration with the inner
+ and outer gimbal angles set to zero it points along the
+ baseplate +Y axis;
+
+ - Z axis completes to the right hand frame and in deployed
+ configuration with the inner and outer gimbal angles set to
+ zero it points along the baseplate +Z axis;
+
+ - the origin of this frame is located at the intersection of the
+ outer gimbal rotation axis and a plane perpendicular to this
+ rotation axis and containing the HGA frame origin;
+
+ When antenna is deployed and both gimbals are in zero position, the
+ axes of the baseplate, inner gimbal, and outer gimbal frames are
+ co-aligned while the HGA frame is rotated by +90 degrees about +Z
+ axis with respect to them. The diagram below illustrates this:
+
+
+ | HGA Inner
+ . Gimbal Axis
+ |
+
+ . ---- .
+ .' +Xhga `. HGA (shown in "0" angle
+ .' ^ `. position)
+ / | \
+ . .---|---. +Yhga
+ | | x----> |
+ . \ .
+ \ \ ^ +Yhgabp/
+ +Xhgabp \ | +Yhgaig
+ +Xhgaig. \| +Yhgaog
+ -- . -- . - +Xhgaog <----x --' SAMX
+ HGA Outer ======o_____H_____o========================
+ Gimbal Axis | / _ \ |
+ | | '_' | HiRISE
+ |---\___/---|
+ | |
+ Direction | |
+ of flight | +Zsc (out of the page)
+ <------- <----o ____.
+ +Xsc \_|_/
+ /|\
+ V
+ +Ysc
+
+ +Zhga, +Zhgabp, +Zhgaig,
+ and +Zhgaog are
+ into the page
+
+ The gimbal frames are defined such that rotation axis designations
+ are consistent with [4].
+
+ [22] provided the following HGA baseplate DCM w.r.t. to the s/c frame
+
+ 9.999999804376672e-01 -1.977993966601806e-04 2.295934537796784e-07
+ -1.977992524732815e-04 -9.999998719444498e-01 -4.658181490872693e-04
+ 3.217319645753285e-07 4.658180945613699e-04 -9.999998915066927e-01
+
+ and the following antenna boresight direction in the ``ideal'' HGA
+ frame:
+
+ 5.221214000806500e-05 -1.497243425405999e-03 9.999988777673789e-01
+
+ The baseplate DCM and the rotations aligning the antenna's Z axis
+ with the vector above are provided in the corresponding frame
+ definitons below.
+
+
+HGA Frame Definitions
+---------------------
+
+ The sets of keywords below contain definitions for the HGA frames.
+
+ \begindata
+
+ FRAME_MRO_HGA_BASEPLATE = -74211
+ FRAME_-74211_NAME = 'MRO_HGA_BASEPLATE'
+ FRAME_-74211_CLASS = 4
+ FRAME_-74211_CLASS_ID = -74211
+ FRAME_-74211_CENTER = -74
+ TKFRAME_-74211_SPEC = 'MATRIX'
+ TKFRAME_-74211_RELATIVE = 'MRO_SPACECRAFT'
+ TKFRAME_-74211_MATRIX = (
+
+ 9.999999804376672e-01 -1.977993966601806e-04 2.295934537796784e-07
+ -1.977992524732815e-04 -9.999998719444498e-01 -4.658181490872693e-04
+ 3.217319645753285e-07 4.658180945613699e-04 -9.999998915066927e-01
+
+ )
+
+ FRAME_MRO_HGA_INNER_GIMBAL = -74212
+ FRAME_-74212_NAME = 'MRO_HGA_INNER_GIMBAL'
+ FRAME_-74212_CLASS = 3
+ FRAME_-74212_CLASS_ID = -74212
+ FRAME_-74212_CENTER = -74
+ CK_-74212_SCLK = -74
+ CK_-74212_SPK = -74
+
+ FRAME_MRO_HGA_OUTER_GIMBAL = -74213
+ FRAME_-74213_NAME = 'MRO_HGA_OUTER_GIMBAL'
+ FRAME_-74213_CLASS = 3
+ FRAME_-74213_CLASS_ID = -74213
+ FRAME_-74213_CENTER = -74
+ CK_-74213_SCLK = -74
+ CK_-74213_SPK = -74
+
+ FRAME_MRO_HGA = -74214
+ FRAME_-74214_NAME = 'MRO_HGA'
+ FRAME_-74214_CLASS = 4
+ FRAME_-74214_CLASS_ID = -74214
+ FRAME_-74214_CENTER = -74
+ TKFRAME_-74214_SPEC = 'ANGLES'
+ TKFRAME_-74214_RELATIVE = 'MRO_HGA_OUTER_GIMBAL'
+ TKFRAME_-74214_ANGLES = ( -0.08578576, -0.00299154, -90.0 )
+ TKFRAME_-74214_AXES = ( 1, 2, 3 )
+ TKFRAME_-74214_UNITS = 'DEGREES'
+
+ \begintext
+
+
+Low Gain Antennas
+-----------------
+
+ Both LGA boresight frames -- MRO_LGA1 and MRO_LGA2 -- are defined as
+ follows:
+
+ - +Z axis is along the LGA boresight vector;
+
+ - +Y axis is along the HGA +Y axis;
+
+ - +X completes the right hand frame;
+
+ - the origin of the frame is located at the center of the LGA
+ patch.
+
+ Both LGAs are mounted on and do not move with respect to the HGA.
+ Therefore their frames are specified as fixed offset frames with
+ respect to the HGA boresight frame.
+
+ According to [4] the LGA boresights point along the following directions
+ in HGA outer gimbal frame:
+
+ LGA1 (truss-mounted LGA) -- (0.0, -0.422618, 0.906308)
+ LGA2 (TWTA-mounted LGA) -- (0.0, 0.906308, -0.422618)
+
+ The diagram below illustrates the LGA1 and LGA2 frames:
+
+
+ ^ +Xlga1
+ \
+ \
+ .x LGA1 HGA is shown in
+ +Zlga1 .-' |`. "0" angle position.
+ <' ^ +Xhga
+ | .._ +Xsc is out of the page
+ +Zhga | | |
+ <----x | | ^ +Zlga2 +Yhga, +Ylga1, and +Ylga2
+ | | | / are into the page.
+ | '|.'/
+ | LGA2 x
+ |.' |/ `. +Xlga2
+ o `> SAPX
+ \_====================
+ \ / \_____.
+ \ / \___/ HiRISE
+ .----------\.
+ | |
+ | |
+ | +Xsc |
+ .____ o----> +Zsc ------->
+ \_|_/ Nadir
+ /|\
+ V
+ +Ysc
+
+
+ As seen on the diagram the LGA1 frame is rotated from the HGA frame
+ by -25 degrees about +Y while the LGA2 frame is rotated by +115
+ degrees from HGA frame about +Y.
+
+ (The frame definitions below contain the opposite of these rotations
+ because Euler angles specified in them define transformations from LGA
+ frames to the HGA frame -- see [1].)
+
+ \begindata
+
+ FRAME_MRO_LGA1 = -74220
+ FRAME_-74220_NAME = 'MRO_LGA1'
+ FRAME_-74220_CLASS = 4
+ FRAME_-74220_CLASS_ID = -74220
+ FRAME_-74220_CENTER = -74
+ TKFRAME_-74220_SPEC = 'ANGLES'
+ TKFRAME_-74220_RELATIVE = 'MRO_HGA'
+ TKFRAME_-74220_ANGLES = ( 0.0, 0.0, 25.0 )
+ TKFRAME_-74220_AXES = ( 3, 1, 2 )
+ TKFRAME_-74220_UNITS = 'DEGREES'
+
+ FRAME_MRO_LGA2 = -74230
+ FRAME_-74230_NAME = 'MRO_LGA2'
+ FRAME_-74230_CLASS = 4
+ FRAME_-74230_CLASS_ID = -74230
+ FRAME_-74230_CENTER = -74
+ TKFRAME_-74230_SPEC = 'ANGLES'
+ TKFRAME_-74230_RELATIVE = 'MRO_HGA'
+ TKFRAME_-74230_ANGLES = ( 0.0, 0.0, -115.0 )
+ TKFRAME_-74230_AXES = ( 3, 1, 2 )
+ TKFRAME_-74230_UNITS = 'DEGREES'
+
+ \begintext
+
+
+UHF Antenna
+-----------
+
+ The UHF frame -- MRO_UHF -- is defined as follows:
+
+ - +Z axis is along the antenna boresight and co-aligned with the
+ s/c +Z axis;
+
+ - +Y axis is co-aligned with the s/c +Y axis;
+
+ - +X completes the right hand frame;
+
+ - the origin of this frame is located at the geometric center of
+ the antenna.
+
+ Since UHF antenna is rigidly mounted on the s/c bus, it is defined as
+ a fixed offset frame co-aligned with the s/c frame.
+
+ (The frame definition below contains the opposite of this rotation
+ because Euler angles specified in it define transformation from antenna
+ to s/c frame -- see [1].)
+
+ \begindata
+
+ FRAME_MRO_UHF = -74240
+ FRAME_-74240_NAME = 'MRO_UHF'
+ FRAME_-74240_CLASS = 4
+ FRAME_-74240_CLASS_ID = -74240
+ FRAME_-74240_CENTER = -74
+ TKFRAME_-74240_SPEC = 'ANGLES'
+ TKFRAME_-74240_RELATIVE = 'MRO_SPACECRAFT'
+ TKFRAME_-74240_ANGLES = ( 0.0, 0.0, 0.0 )
+ TKFRAME_-74240_AXES = ( 3, 2, 1 )
+ TKFRAME_-74240_UNITS = 'DEGREES'
+
+ \begintext
+
+
+MRO Solar Array Frames
+-------------------------------------------------------------------------------
+
+ This section contains frame definitions for MRO Solar Array frames.
+
+
+Solar Array Frames
+------------------
+
+ Both SA frames -- MRO_SAPX and MRO_SAMX -- are defined as follows:
+
+ - +Z axis is perpendicular to and points away from the array
+ solar cell side (note that this is different from [4] where
+ SAMX +Z axis is defined to point away from the non-cell side
+ of the array);
+
+ - +X axis parallel to the long side of the array and points from
+ the end of the array towards the gimbal;
+
+ - +Y axis completes the right hand frame;
+
+ - the origin of this frame is located at the intersection of the
+ inner gimbal rotation axis and a plane perpendicular to this
+ rotation axis and containing the outer gimbal rotation axis.
+
+ When SAs are deployed they move constantly using two gimbals to
+ track Sun.
+
+
+Solar Array Gimbal Drive Frames
+-------------------------------
+
+ The frame chain for each of the arrays includes:
+
+ - baseplate frame that is fixed w.r.t. to the s/c frame
+
+ - inner gimbal frame that rotates w.r.t. to the baseplate frame
+
+ - outer gimbal frame that rotates w.r.t. to the inner gimbal
+ frame
+
+ - boresight frame (described above) that is fixed w.r.t. to the
+ outer gimbal frame.
+
+ When SAPX is in "0" angle position its baseplate frame, both gimbal
+ frames, and the boresight frame are co-aligned. When SAMX is in "0"
+ angle position its baseplate frame and both gimbal frames are
+ co-aligned while the boresight frame is rotated by 180 degrees about
+ +X axis w.r.t. to them.
+
+ The MRO SAPX baseplate frame is defined as follows:
+
+ - +Z axis is s/c -Y axis;
+
+ - +Y axis is along the inner gimbal rotation axis and points
+ towards the HGA side of the deck;
+
+ - +X axis completes the right hand frame and is along the outer
+ gimbal rotation axis;
+
+ - the origin of this frame is located at the intersection of the
+ inner gimbal rotation axis and a plane perpendicular to this
+ rotation axis and containing the outer gimbal rotation axis.
+
+ The MRO SAMX baseplate frame is defined as follows:
+
+ - +Z axis is s/c +Y axis;
+
+ - +Y axis is along the inner gimbal rotation axis and points
+ towards HGA side of the deck;
+
+ - +X axis completes the right hand frame and is along the outer
+ gimbal rotation axis;
+
+ - the origin of this frame is located at the intersection of the
+ inner gimbal rotation axis and a plane perpendicular to this
+ rotation axis and containing the outer gimbal rotation axis.
+
+ The MRO SAPX and SAMX inner gimbal frame:
+
+ - +Y axis is along the inner gimbal rotation axis; in deployed
+ configuration with the inner and outer gimbal angles set to
+ zero it points along the baseplate +Y axis;
+
+ - +X axis is such that in deployed configuration with the inner
+ and outer gimbal angles set to zero it points along the
+ baseplate +X axis;
+
+ - +Z axis completes to the right hand frame and in deployed
+ configuration wit the inner and outer gimbal angles set to
+ zero it points along the baseplate +Z axis;
+
+ - the origin of this frame is located at the intersection of the
+ inner gimbal rotation axis and a plane perpendicular to this
+ rotation axis and containing the outer gimbal rotation axis.
+
+ The MRO SA outer gimbal frame:
+
+ - +X axis is along the outer gimbal rotation axis and points
+ along the baseplate +X in deployed configuration with the
+ inner and outer gimbal angles set to zero;
+
+ - +Y axis is such that in deployed configuration with
+ the inner and outer gimbal angles set to zero it points along
+ the baseplate +Y axis;
+
+ - Z axis completes to the right hand frame and in deployed
+ configuration with the inner and outer gimbal angles set to
+ zero it points along the s/c +Z axis;
+
+ - the origin of this frame is located at the intersection of the
+ outer gimbal rotation axis and a plane perpendicular to this
+ rotation axis and containing the solar array frame origin;
+
+ The diagram below illustrates the solar array baseplate, gimbal and
+ cell-side frames in deployed "0" angle configuration:
+
+
+ .o. HGA
+ .' | `.
+ .' | `. +Zsapx** and +Zsamx
+ ------------------- are out of the page
+ `. .'
+ `-._______.-' +Zsamx** are into
+ o the page
+ ____/_\____
+ / \
+ +Ysapxbp / +Xsa*x** \ +Ysamxbp
+ +Ysapxig ^ ^ +Ysamxig
+ +Ysapxog \ .> <. / +Ysamxog
+ +Ysapx \ .' `. /
+ ..........o' `x..........
+ .-' /| /|\ `-.
+ SAPX .-' / | +Ysamx / | \ `-. SAMX
+ .-\\ / |------- v -| \ //-.
+ .-' \\ / | | | \ // `-.
+ -' \\ ./ .___| |___. \. // `-
+ \ \\ .-' .___. `-. // /
+ \ \\-' HiRISE `-// /
+ \ .-' `-. /
+ \ .-' `-. /
+ -' +Xsc <----x +Ysc (into the page) `-
+ |
+ |
+ <------- V
+ Direction +Zsc
+ of flight
+ |
+ | Nadir
+ V
+
+ The gimbal frames are defined such that rotation axis designations
+ are consistent with [4]. Also according to [4] the SAPX and SAMX
+ baseplate frames are rotated w.r.t. to the s/c frame as follows:
+
+ SAPX: first by +165 degrees about +Y, then by +90 deg about +X
+
+ SAPX: first by +15 degrees about +Y, then by -90 deg about +X
+
+
+Solar Array Frames Definitions
+-----------------------------
+
+ Two sets of keywords below contain definitions for these frames.
+
+ \begindata
+
+ FRAME_MRO_SAPX_BASEPLATE = -74311
+ FRAME_-74311_NAME = 'MRO_SAPX_BASEPLATE'
+ FRAME_-74311_CLASS = 4
+ FRAME_-74311_CLASS_ID = -74311
+ FRAME_-74311_CENTER = -74
+ TKFRAME_-74311_SPEC = 'ANGLES'
+ TKFRAME_-74311_RELATIVE = 'MRO_SPACECRAFT'
+ TKFRAME_-74311_ANGLES = ( 0.0, -165.0, -90.0 )
+ TKFRAME_-74311_AXES = ( 3, 2, 1 )
+ TKFRAME_-74311_UNITS = 'DEGREES'
+
+ FRAME_MRO_SAPX_INNER_GIMBAL = -74312
+ FRAME_-74312_NAME = 'MRO_SAPX_INNER_GIMBAL'
+ FRAME_-74312_CLASS = 3
+ FRAME_-74312_CLASS_ID = -74312
+ FRAME_-74312_CENTER = -74
+ CK_-74312_SCLK = -74
+ CK_-74312_SPK = -74
+
+ FRAME_MRO_SAPX_OUTER_GIMBAL = -74313
+ FRAME_-74313_NAME = 'MRO_SAPX_OUTER_GIMBAL'
+ FRAME_-74313_CLASS = 3
+ FRAME_-74313_CLASS_ID = -74313
+ FRAME_-74313_CENTER = -74
+ CK_-74313_SCLK = -74
+ CK_-74313_SPK = -74
+
+ FRAME_MRO_SAPX = -74314
+ FRAME_-74314_NAME = 'MRO_SAPX'
+ FRAME_-74314_CLASS = 4
+ FRAME_-74314_CLASS_ID = -74314
+ FRAME_-74314_CENTER = -74
+ TKFRAME_-74314_SPEC = 'ANGLES'
+ TKFRAME_-74314_RELATIVE = 'MRO_SAPX_OUTER_GIMBAL'
+ TKFRAME_-74314_ANGLES = ( 0.0, 0.0, 0.0 )
+ TKFRAME_-74314_AXES = ( 3, 2, 1 )
+ TKFRAME_-74314_UNITS = 'DEGREES'
+
+ FRAME_MRO_SAMX_BASEPLATE = -74321
+ FRAME_-74321_NAME = 'MRO_SAMX_BASEPLATE'
+ FRAME_-74321_CLASS = 4
+ FRAME_-74321_CLASS_ID = -74321
+ FRAME_-74321_CENTER = -74
+ TKFRAME_-74321_SPEC = 'ANGLES'
+ TKFRAME_-74321_RELATIVE = 'MRO_SPACECRAFT'
+ TKFRAME_-74321_ANGLES = ( 0.0, -15.0, 90.0 )
+ TKFRAME_-74321_AXES = ( 3, 2, 1 )
+ TKFRAME_-74321_UNITS = 'DEGREES'
+
+ FRAME_MRO_SAMX_INNER_GIMBAL = -74322
+ FRAME_-74322_NAME = 'MRO_SAMX_INNER_GIMBAL'
+ FRAME_-74322_CLASS = 3
+ FRAME_-74322_CLASS_ID = -74322
+ FRAME_-74322_CENTER = -74
+ CK_-74322_SCLK = -74
+ CK_-74322_SPK = -74
+
+ FRAME_MRO_SAMX_OUTER_GIMBAL = -74323
+ FRAME_-74323_NAME = 'MRO_SAMX_OUTER_GIMBAL'
+ FRAME_-74323_CLASS = 3
+ FRAME_-74323_CLASS_ID = -74323
+ FRAME_-74323_CENTER = -74
+ CK_-74323_SCLK = -74
+ CK_-74323_SPK = -74
+
+ FRAME_MRO_SAMX = -74324
+ FRAME_-74324_NAME = 'MRO_SAMX'
+ FRAME_-74324_CLASS = 4
+ FRAME_-74324_CLASS_ID = -74324
+ FRAME_-74324_CENTER = -74
+ TKFRAME_-74324_SPEC = 'ANGLES'
+ TKFRAME_-74324_RELATIVE = 'MRO_SAMX_OUTER_GIMBAL'
+ TKFRAME_-74324_ANGLES = ( 0.0, 0.0, 180.0 )
+ TKFRAME_-74324_AXES = ( 3, 2, 1 )
+ TKFRAME_-74324_UNITS = 'DEGREES'
+
+ \begintext
+
+
+Mars Reconnaissance Orbiter NAIF ID Codes -- Definitions
+========================================================================
+
+ This section contains name to NAIF ID mappings for the MRO mission.
+ Once the contents of this file is loaded into the KERNEL POOL, these
+ mappings become available within SPICE, making it possible to use
+ names instead of ID code in the high level SPICE routine calls.
+
+ Spacecraft:
+ -----------
+
+ MARS RECONNAISSANCE ORBITER -74
+ MRO -74
+ MRO_SPACECRAFT -74000
+ MRO_SPACECRAFT_BUS -74000
+ MRO_SC_BUS -74000
+
+ Science Instruments:
+ --------------------
+
+ MRO_CRISM -74010
+ MRO_CRISM_VNIR -74017
+ MRO_CRISM_IR -74018
+
+ MRO_CTX -74021
+
+ MRO_HIRISE -74699
+ MRO_HIRISE_CCD0 -74600
+ MRO_HIRISE_CCD1 -74601
+ MRO_HIRISE_CCD2 -74602
+ MRO_HIRISE_CCD3 -74603
+ MRO_HIRISE_CCD4 -74604
+ MRO_HIRISE_CCD5 -74605
+ MRO_HIRISE_CCD6 -74606
+ MRO_HIRISE_CCD7 -74607
+ MRO_HIRISE_CCD8 -74608
+ MRO_HIRISE_CCD9 -74609
+ MRO_HIRISE_CCD10 -74610
+ MRO_HIRISE_CCD11 -74611
+ MRO_HIRISE_CCD12 -74612
+ MRO_HIRISE_CCD13 -74613
+
+ MRO_MARCI -74400
+ MRO_MARCI_VIS -74410
+ MRO_MARCI_VIS_BLUE -74411
+ MRO_MARCI_VIS_GREEN -74412
+ MRO_MARCI_VIS_ORANGE -74413
+ MRO_MARCI_VIS_RED -74414
+ MRO_MARCI_VIS_NIR -74415
+ MRO_MARCI_UV -74420
+ MRO_MARCI_UV_SHORT_UV -74421
+ MRO_MARCI_UV_LONG_UV -74422
+
+ MRO_MCS -74500
+ MRO_MCS_A -74510
+ MRO_MCS_A1 -74511
+ MRO_MCS_A2 -74512
+ MRO_MCS_A3 -74513
+ MRO_MCS_A4 -74514
+ MRO_MCS_A5 -74515
+ MRO_MCS_A6 -74516
+ MRO_MCS_B -74520
+ MRO_MCS_B1 -74521
+ MRO_MCS_B2 -74522
+ MRO_MCS_B3 -74523
+
+ MRO_ONC -74030
+
+ MRO_SHARAD -74070
+
+ Antennas:
+ ---------
+
+ MRO_HGA_BASEPLATE -74211
+ MRO_HGA_INNER_GIMBAL -74212
+ MRO_HGA_OUTER_GIMBAL -74213
+ MRO_HGA -74214
+ MRO_LGA1 -74220
+ MRO_LGA2 -74230
+ MRO_UHF -74240
+
+ Solar Arrays:
+ -------------
+
+ MRO_SAPX_BASEPLATE -74311
+ MRO_SAPX_INNER_GIMBAL -74312
+ MRO_SAPX_OUTER_GIMBAL -74313
+ MRO_SAPX -74314
+ MRO_SAPX_C1 -74315
+ MRO_SAPX_C2 -74316
+ MRO_SAPX_C3 -74317
+ MRO_SAPX_C4 -74318
+
+ MRO_SAMX_BASEPLATE -74321
+ MRO_SAMX_INNER_GIMBAL -74322
+ MRO_SAMX_OUTER_GIMBAL -74323
+ MRO_SAMX -74324
+ MRO_SAMX_C1 -74325
+ MRO_SAMX_C2 -74326
+ MRO_SAMX_C3 -74327
+ MRO_SAMX_C4 -74328
+
+ The mappings summarized in this table are implemented by the keywords
+ below.
+
+ \begindata
+
+ NAIF_BODY_NAME += ( 'MARS RECONNAISSANCE ORBITER' )
+ NAIF_BODY_CODE += ( -74 )
+
+ NAIF_BODY_NAME += ( 'MRO' )
+ NAIF_BODY_CODE += ( -74 )
+
+ NAIF_BODY_NAME += ( 'MRO_SPACECRAFT' )
+ NAIF_BODY_CODE += ( -74000 )
+
+ NAIF_BODY_NAME += ( 'MRO_SPACECRAFT_BUS' )
+ NAIF_BODY_CODE += ( -74000 )
+
+ NAIF_BODY_NAME += ( 'MRO_SC_BUS' )
+ NAIF_BODY_CODE += ( -74000 )
+
+ NAIF_BODY_NAME += ( 'MRO_CRISM' )
+ NAIF_BODY_CODE += ( -74010 )
+
+ NAIF_BODY_NAME += ( 'MRO_CRISM_VNIR' )
+ NAIF_BODY_CODE += ( -74017 )
+
+ NAIF_BODY_NAME += ( 'MRO_CRISM_IR' )
+ NAIF_BODY_CODE += ( -74018 )
+
+ NAIF_BODY_NAME += ( 'MRO_CTX' )
+ NAIF_BODY_CODE += ( -74021 )
+
+ NAIF_BODY_NAME += ( 'MRO_HIRISE' )
+ NAIF_BODY_CODE += ( -74699 )
+
+ NAIF_BODY_NAME += ( 'MRO_HIRISE_CCD0' )
+ NAIF_BODY_CODE += ( -74600 )
+
+ NAIF_BODY_NAME += ( 'MRO_HIRISE_CCD1' )
+ NAIF_BODY_CODE += ( -74601 )
+
+ NAIF_BODY_NAME += ( 'MRO_HIRISE_CCD2' )
+ NAIF_BODY_CODE += ( -74602 )
+
+ NAIF_BODY_NAME += ( 'MRO_HIRISE_CCD3' )
+ NAIF_BODY_CODE += ( -74603 )
+
+ NAIF_BODY_NAME += ( 'MRO_HIRISE_CCD4' )
+ NAIF_BODY_CODE += ( -74604 )
+
+ NAIF_BODY_NAME += ( 'MRO_HIRISE_CCD5' )
+ NAIF_BODY_CODE += ( -74605 )
+
+ NAIF_BODY_NAME += ( 'MRO_HIRISE_CCD6' )
+ NAIF_BODY_CODE += ( -74606 )
+
+ NAIF_BODY_NAME += ( 'MRO_HIRISE_CCD7' )
+ NAIF_BODY_CODE += ( -74607 )
+
+ NAIF_BODY_NAME += ( 'MRO_HIRISE_CCD8' )
+ NAIF_BODY_CODE += ( -74608 )
+
+ NAIF_BODY_NAME += ( 'MRO_HIRISE_CCD9' )
+ NAIF_BODY_CODE += ( -74609 )
+
+ NAIF_BODY_NAME += ( 'MRO_HIRISE_CCD10' )
+ NAIF_BODY_CODE += ( -74610 )
+
+ NAIF_BODY_NAME += ( 'MRO_HIRISE_CCD11' )
+ NAIF_BODY_CODE += ( -74611 )
+
+ NAIF_BODY_NAME += ( 'MRO_HIRISE_CCD12' )
+ NAIF_BODY_CODE += ( -74612 )
+
+ NAIF_BODY_NAME += ( 'MRO_HIRISE_CCD13' )
+ NAIF_BODY_CODE += ( -74613 )
+
+ NAIF_BODY_NAME += ( 'MRO_MARCI' )
+ NAIF_BODY_CODE += ( -74400 )
+
+ NAIF_BODY_NAME += ( 'MRO_MARCI_VIS' )
+ NAIF_BODY_CODE += ( -74410 )
+
+ NAIF_BODY_NAME += ( 'MRO_MARCI_VIS_BLUE' )
+ NAIF_BODY_CODE += ( -74411 )
+
+ NAIF_BODY_NAME += ( 'MRO_MARCI_VIS_GREEN' )
+ NAIF_BODY_CODE += ( -74412 )
+
+ NAIF_BODY_NAME += ( 'MRO_MARCI_VIS_ORANGE' )
+ NAIF_BODY_CODE += ( -74413 )
+
+ NAIF_BODY_NAME += ( 'MRO_MARCI_VIS_RED' )
+ NAIF_BODY_CODE += ( -74414 )
+
+ NAIF_BODY_NAME += ( 'MRO_MARCI_VIS_NIR' )
+ NAIF_BODY_CODE += ( -74415 )
+
+ NAIF_BODY_NAME += ( 'MRO_MARCI_UV' )
+ NAIF_BODY_CODE += ( -74420 )
+
+ NAIF_BODY_NAME += ( 'MRO_MARCI_UV_SHORT_UV' )
+ NAIF_BODY_CODE += ( -74421 )
+
+ NAIF_BODY_NAME += ( 'MRO_MARCI_UV_LONG_UV' )
+ NAIF_BODY_CODE += ( -74422 )
+
+ NAIF_BODY_NAME += ( 'MRO_MCS' )
+ NAIF_BODY_CODE += ( -74500 )
+
+ NAIF_BODY_NAME += ( 'MRO_MCS_A' )
+ NAIF_BODY_CODE += ( -74510 )
+
+ NAIF_BODY_NAME += ( 'MRO_MCS_A1' )
+ NAIF_BODY_CODE += ( -74511 )
+
+ NAIF_BODY_NAME += ( 'MRO_MCS_A2' )
+ NAIF_BODY_CODE += ( -74512 )
+
+ NAIF_BODY_NAME += ( 'MRO_MCS_A3' )
+ NAIF_BODY_CODE += ( -74513 )
+
+ NAIF_BODY_NAME += ( 'MRO_MCS_A4' )
+ NAIF_BODY_CODE += ( -74514 )
+
+ NAIF_BODY_NAME += ( 'MRO_MCS_A5' )
+ NAIF_BODY_CODE += ( -74515 )
+
+ NAIF_BODY_NAME += ( 'MRO_MCS_A6' )
+ NAIF_BODY_CODE += ( -74516 )
+
+ NAIF_BODY_NAME += ( 'MRO_MCS_B' )
+ NAIF_BODY_CODE += ( -74520 )
+
+ NAIF_BODY_NAME += ( 'MRO_MCS_B1' )
+ NAIF_BODY_CODE += ( -74521 )
+
+ NAIF_BODY_NAME += ( 'MRO_MCS_B2' )
+ NAIF_BODY_CODE += ( -74522 )
+
+ NAIF_BODY_NAME += ( 'MRO_MCS_B3' )
+ NAIF_BODY_CODE += ( -74523 )
+
+ NAIF_BODY_NAME += ( 'MRO_ONC' )
+ NAIF_BODY_CODE += ( -74030 )
+
+ NAIF_BODY_NAME += ( 'MRO_SHARAD' )
+ NAIF_BODY_CODE += ( -74070 )
+
+ NAIF_BODY_NAME += ( 'MRO_HGA_BASEPLATE' )
+ NAIF_BODY_CODE += ( -74211 )
+
+ NAIF_BODY_NAME += ( 'MRO_HGA_INNER_GIMBAL' )
+ NAIF_BODY_CODE += ( -74212 )
+
+ NAIF_BODY_NAME += ( 'MRO_HGA_OUTER_GIMBAL' )
+ NAIF_BODY_CODE += ( -74213 )
+
+ NAIF_BODY_NAME += ( 'MRO_HGA' )
+ NAIF_BODY_CODE += ( -74214 )
+
+ NAIF_BODY_NAME += ( 'MRO_LGA1' )
+ NAIF_BODY_CODE += ( -74220 )
+
+ NAIF_BODY_NAME += ( 'MRO_LGA2' )
+ NAIF_BODY_CODE += ( -74230 )
+
+ NAIF_BODY_NAME += ( 'MRO_UHF' )
+ NAIF_BODY_CODE += ( -74240 )
+
+ NAIF_BODY_NAME += ( 'MRO_SAPX_BASEPLATE' )
+ NAIF_BODY_CODE += ( -74311 )
+
+ NAIF_BODY_NAME += ( 'MRO_SAPX_INNER_GIMBAL' )
+ NAIF_BODY_CODE += ( -74312 )
+
+ NAIF_BODY_NAME += ( 'MRO_SAPX_OUTER_GIMBAL' )
+ NAIF_BODY_CODE += ( -74313 )
+
+ NAIF_BODY_NAME += ( 'MRO_SAPX' )
+ NAIF_BODY_CODE += ( -74314 )
+
+ NAIF_BODY_NAME += ( 'MRO_SAPX_C1' )
+ NAIF_BODY_CODE += ( -74315 )
+
+ NAIF_BODY_NAME += ( 'MRO_SAPX_C2' )
+ NAIF_BODY_CODE += ( -74316 )
+
+ NAIF_BODY_NAME += ( 'MRO_SAPX_C3' )
+ NAIF_BODY_CODE += ( -74317 )
+
+ NAIF_BODY_NAME += ( 'MRO_SAPX_C4' )
+ NAIF_BODY_CODE += ( -74318 )
+
+ NAIF_BODY_NAME += ( 'MRO_SAMX_BASEPLATE' )
+ NAIF_BODY_CODE += ( -74321 )
+
+ NAIF_BODY_NAME += ( 'MRO_SAMX_INNER_GIMBAL' )
+ NAIF_BODY_CODE += ( -74322 )
+
+ NAIF_BODY_NAME += ( 'MRO_SAMX_OUTER_GIMBAL' )
+ NAIF_BODY_CODE += ( -74323 )
+
+ NAIF_BODY_NAME += ( 'MRO_SAMX' )
+ NAIF_BODY_CODE += ( -74324 )
+
+ NAIF_BODY_NAME += ( 'MRO_SAMX_C1' )
+ NAIF_BODY_CODE += ( -74325 )
+
+ NAIF_BODY_NAME += ( 'MRO_SAMX_C2' )
+ NAIF_BODY_CODE += ( -74326 )
+
+ NAIF_BODY_NAME += ( 'MRO_SAMX_C3' )
+ NAIF_BODY_CODE += ( -74327 )
+
+ NAIF_BODY_NAME += ( 'MRO_SAMX_C4' )
+ NAIF_BODY_CODE += ( -74328 )
+
+ \begintext
diff --git a/tests/pytests/data/PSP_001446_1790_BG12_0/naif0012.tls b/tests/pytests/data/PSP_001446_1790_BG12_0/naif0012.tls
new file mode 100644
index 0000000000000000000000000000000000000000..e1afdee1b626e01a3f1b04ef8a43154e83972e56
--- /dev/null
+++ b/tests/pytests/data/PSP_001446_1790_BG12_0/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/PSP_001446_1790_BG12_0/pck00009.tpc b/tests/pytests/data/PSP_001446_1790_BG12_0/pck00009.tpc
new file mode 100644
index 0000000000000000000000000000000000000000..bfadaab2b26817327189ff3173e9609f49dedc9d
--- /dev/null
+++ b/tests/pytests/data/PSP_001446_1790_BG12_0/pck00009.tpc
@@ -0,0 +1,3639 @@
+KPL/PCK
+
+
+P_constants (PcK) SPICE kernel file
+===========================================================================
+
+ By: Nat Bachman (NAIF) 2010 March 3
+
+
+Purpose
+--------------------------------------------------------
+
+ This file makes available for use in SPICE-based application
+ software orientation and size/shape data for natural bodies. The
+ principal source of the data is a published report by the IAU/IAG
+ Working Group on Cartographic Coordinates and Rotational Elements [1].
+
+ Orientation and size/shape data not provided by this file may be
+ available in mission-specific PCK files. Such PCKs may be the preferred
+ data source for mission-related applications. Mission-specific PCKs can
+ be found in PDS archives or on the NAIF web site at URL:
+
+ http://naif.jpl.nasa.gov
+
+
+File Organization
+--------------------------------------------------------
+
+ The contents of this file are as follows.
+
+ Introductory Information:
+
+ -- Purpose
+
+ -- File Organization
+
+ -- Version description
+
+ -- Disclaimer
+
+ -- Sources
+
+ -- Explanatory notes
+
+ -- Body numbers and names
+
+
+ PcK Data:
+
+
+ Orientation Data
+ ----------------
+
+ -- Orientation constants for the Sun 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 Eros, Gaspra, Ida,
+ Itokawa, and Vesta
+
+ -- Orientation constants for comets 19P/Borrelly
+ and 9P/Tempel 1
+
+
+ Radii of Bodies
+ ---------------
+
+ -- Radii of Sun and planets
+
+ -- Radii of satellites, where available
+
+ -- Radii of asteroids Ceres, Eros, Gaspra, Ida, Itokawa,
+ Mathilde, Toutatis, and Vesta.
+
+ -- Radii of comets 19P/Borrelly, Halley, 9P/Tempel 1,
+ and 81P/Wild 2
+
+
+
+Version Description
+--------------------------------------------------------
+
+ This file was created on March 3, 2010. This version
+ incorporates data from reference [1].
+
+ This file contains size, shape, and orientation data for all
+ objects described by the previous version of the file, except
+ for Kleopatra: a shape model for this body is not provided in [1]
+ because, according to this source, it had been "modeled from
+ low resolution radar data, and cannot be mapped from those
+ data."
+
+ New objects covered by this file but not the previous
+ version are:
+
+ 19P/Borrelly
+ Halley
+ 9P/Tempel 1
+ 81P/Wild 2
+ Ceres
+ Itokawa
+ Mathilde
+ Toutatis
+
+
+Disclaimer
+--------------------------------------------------------
+
+Applicability of Data
+
+ This P_constants file may not contain the parameter values that
+ you prefer. NAIF suggests that you inspect this file visually
+ before proceeding with any critical or extended data processing.
+
+File Modifications by Users
+
+ Note that this file may be readily modified by you to change
+ values or add/delete parameters. NAIF requests that you update the
+ "by line," date, and version description section if you modify
+ this file.
+
+Known Limitations and Caveats
+
+ Accuracy
+ --------
+
+ In general, the orientation models given here are claimed by the
+ IAU/IAG Working Group Report [1] to be accurate to 0.1 degree
+ ([1], p.158). However, NAIF notes that orientation models for
+ natural satellites and asteroids have in some cases changed
+ substantially with the availability of new observational data, so
+ users are urged to investigate the suitability for their
+ applications of the models presented here.
+
+ Earth orientation
+ -----------------
+
+ NAIF strongly cautions against using the earth rotation model
+ (from [1]) 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 Tracking Systems and
+ Applications Section produces a new earth orientation parameter
+ (EOP) file, a new PCK is produced. These PCKs cover a roughly
+ 10 year time span starting at Jan. 1, 2000. In these PCK files,
+ the following effects are accounted for in modeling the earth's
+ rotation:
+
+ - Precession: 1976 IAU model
+
+ - Nutation: 1980 IAU model, plus interpolated
+ EOP nutation corrections
+
+ - Polar motion: interpolated from EOP file
+
+ - True sidereal time:
+
+ UT1 - UT1R (if needed): given by analytic formula
+ + TAI - UT1 (or UT1R): interpolated from EOP file
+ + UT1 - GMST: given by analytic formula
+ + equation of equinoxes: given by analytic formula
+
+ where
+
+ TAI = International Atomic Time
+ UT1 = Greenwich hour angle of computed mean sun - 12h
+ UT1R = Regularized UT1
+ GMST = Greenwich mean sidereal time
+
+ These kernels are available from the NAIF web site
+
+ http://naif.jpl.nasa.gov
+
+ (follow the links to Data, generic_kernels, and PCK data) or
+
+ ftp://naif.jpl.nasa.gov/pub/naif/generic_kernels/pck
+
+ or via anonymous ftp from the server
+
+ naif.jpl.nasa.gov
+
+ The kernels are in the path
+
+ pub/naif/generic_kernels/pck
+
+ At this time, these kernels have file names of the form
+
+ earth_000101_yymmdd_yymmdd.bpc
+
+ The second and third dates are, respectively, the file's
+ coverage end time and the epoch of the last datum.
+
+ These binary PCK files are very accurate (error < 0.1
+ microradian) for epochs preceding the epoch of the last datum.
+ For later epochs, the error rises to several microradians.
+
+ Binary PCK files giving accurate earth orientation from 1972 to
+ 2007 and *low accuracy* predicted earth orientation from
+ 2007 to 2037 are also available in the same location. See the
+ aareadme.txt file at the "pck" URL above for details.
+
+ Characteristics and names of the binary kernels described here
+ are subject to change. See the "pck" URL above for information
+ on current binary earth PCKs.
+
+
+ Lunar orientation
+ -----------------
+
+ The lunar orientation formula provided by this file is a
+ trigonometric polynomial approximation yielding the orientation of
+ the lunar "Mean Earth/Polar Axis" (ME) reference frame. A more
+ accurate approximation can be obtained by using both the NAIF
+ lunar frame kernel and the binary lunar orientation PCK file,
+ which are available on the NAIF web site (see URLS above)
+ and in the NAIF server's ftp area. The lunar frame kernel
+ is located in the path
+
+ pub/naif/generic_kernels/fk/satellites
+
+ and has a name of the form
+
+ moon_yymmdd.tf
+
+ The binary lunar PCK is in the path
+
+ pub/naif/generic_kernels/pck
+
+ and has a name of the form
+
+ moon_pa_dennn_yyyy-yyyy.bpc
+
+ See the "aareadme.txt" files in the paths shown above for details
+ on file contents and versions. We also suggest you refer to the
+ SPICE tutorial named "lunar_earth_pck-fk," which is available from
+ the NAIF web site.
+
+
+ Earth geomagnetic dipole
+ ------------------------
+
+ The SPICE Toolkit doesn't currently contain software to model the
+ earth's north geomagnetic centered dipole as a function of time.
+ As a convenience for users, the north dipole location from the
+ 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 geomagnetic field model from
+ which these values were derived, including a discussion of the
+ model's accuracy, see [9].
+
+
+ Mars prime meridian offset
+ --------------------------
+
+ The Mars prime meridian offset given by [5] 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.
+
+
+ Software limitations
+ --------------------
+
+ SPICE Toolkits prior to version N0057 cannot make use of
+ trigonometric polynomial terms in the formulas for orientation of
+ the planets. The only planets for which such terms are used are
+ Jupiter and Neptune. Use of trigonometric polynomial terms for
+ natural satellites is and has been supported for all SPICE Toolkit
+ versions.
+
+ The second nutation precession angle (M2) for Mars is represented
+ by a quadratic polynomial in the 2006 IAU report. The SPICELIB
+ subroutine BODEUL can not handle this term (which is extremely
+ small), so we truncate the polynomial to a linear one. The
+ resulting orientation error has a maximum magnitude of less
+ than 0.0032 degrees over the time span 1996-2015 and less than
+ 0.0082 degrees over the time span 1986-2025.
+
+
+Sources
+--------------------------------------------------------
+
+ The sources for the constants listed in this file are:
+
+
+ [1] Seidelmann, P.K., Archinal, B.A., A'Hearn, M.F.,
+ Conrad, A., Consolmagno, G.J., Hestroffer, D.,
+ Hilton, J.L., Krasinsky, G.A., Neumann, G.,
+ Oberst, J., Stooke, P., Tedesco, E.F., Tholen, D.J.,
+ and Thomas, P.C. "Report of the IAU/IAG Working Group
+ on cartographic coordinates and rotational elements: 2006."
+
+ [2] 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."
+
+ [3] Nautical Almanac Office, United States Naval Observatory
+ and H.M. Nautical Almanac Office, Rutherford Appleton
+ Laboratory (2010). "The Astronomical Almanac for
+ the Year 2010," U.S. Government Printing Office,
+ Washington, D.C.: and The Stationary Office, London.
+
+ [4] 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.
+
+ [5] Duxbury, Thomas C. (2001). "IAU/IAG 2000 Mars Cartographic
+ Conventions," presentation to the Mars Express Data
+ Archive Working Group, Dec. 14, 2001.
+
+ [6] Russell, C.T. and Luhmann, J.G. (1990). "Earth: Magnetic
+ Field and Magnetosphere." <http://www-ssc.igpp.ucla.
+ edu/personnel/russell/papers/earth_mag>. Originally
+ published in "Encyclopedia of Planetary Sciences," J.H.
+ Shirley and R.W. Fainbridge, eds. Chapman and Hall,
+ New York, pp 208-211.
+
+ [7] Russell, C.T. (1971). "Geophysical Coordinate
+ Transformations," Cosmic Electrodynamics 2 184-186.
+ NAIF document 181.0.
+
+ [8] ESA/ESTEC Space Environment Information System (SPENVIS)
+ (2003). Web page: "Dipole approximations of the
+ geomagnetic field." <http://www.spenvis.oma.be/spenvis/
+ help/background/magfield/cd.html>.
+
+ [9] International Association of Geomagnetism and Aeronomy
+ and International Union of Geodesy and Geophysics (2004).
+ Web page: "The 9th Generation International Geomagnetic
+ Reference Field." <http://www.ngdc.noaa.gov/
+ IAGA/vmod/igrf.html>.
+
+ [10] Davies, M.E., Abalakin, V.K., Bursa, M., Hunt, G.E.,
+ and Lieske, J.H. (1989). "Report of the IAU/IAG/COSPAR
+ Working Group on Cartographic Coordinates and Rotational
+ Elements of the Planets and Satellites: 1988," Celestial
+ Mechanics and Dynamical Astronomy, v.46, no.2, pp.
+ 187-204.
+
+
+ Most values are from [1]. All exceptions are
+ commented where they occur in this file. The exceptions are:
+
+
+ -- Radii for the Sun are from [3].
+
+ -- The second nutation precession angle (M2) for Mars is
+ represented by a quadratic polynomial in the 2000
+ IAU report. The SPICELIB subroutine BODEUL can not
+ handle this term (which is extremely small), so we
+ truncate the polynomial to a linear one.
+
+ -- Earth north geomagnetic centered dipole values are from
+ [8]. The article [6] was used to check most of
+ these values, and the values were also re-computed from
+ the 9th generation IGRF [9] by Nat Bachman.
+
+ -- The Mars prime meridian offset angle is from [5].
+
+
+ "Old values" listed are from the SPICE P_constants file
+ pck00008.tpc dated September 21, 2004. Most of these values came
+ from the 2003 IAU report [2].
+
+
+
+
+Explanatory Notes
+--------------------------------------------------------
+
+ This file, which is logically part of the SPICE P-kernel, contains
+ constants used to model the orientation, size and shape of the
+ Sun, planets, natural satellites, and selected comets and
+ asteroids. The orientation models express the direction of the
+ pole and location of the prime meridian of a body as a function of
+ time. The size/shape models ("shape models" for short) represent
+ all bodies as ellipsoids, using two equatorial radii and a polar
+ radius. Spheroids and spheres are obtained when two or all three
+ radii are equal.
+
+ The SPICE Toolkit routines that use this file are documented in
+ the SPICE "Required Reading" file pck.req. They are also
+ documented in the "PCK" SPICE tutorial, which is available on
+ the NAIF web site.
+
+File Format
+
+ A terse description of the PCK file format is given here. See the
+ SPICE "Required Reading" files pck.req and kernel.req for a
+ detailed explanation of the SPICE text kernel file format. The
+ files pck.req and kernel.req are included in the documentation
+ provided with the SPICE Toolkit.
+
+ The file starts out with the ``ID word'' string
+
+ KPL/PCK
+
+ This string identifies the file as a text kernel containing PCK
+ data.
+
+ This file consists of a series of comment blocks and data blocks.
+ Comment blocks, which contain free-form descriptive or explanatory
+ text, are preceded by a \begintext token. Data blocks follow a
+ \begindata token. In order to be recognized, each of these tokens
+ must be placed on a line by itself.
+
+ The portion of the file preceding the first data block is treated
+ as a comment block; it doesn't require an initial \begintext
+ token.
+
+ This file identifies data using a series of
+
+ KEYWORD = VALUE
+
+ assignments. The left hand side of each assignment is a
+ "kernel variable" name; the right hand side is an associated value
+ or list of values. The SPICE subroutine API allows SPICE routines
+ and user applications to retrieve the set of values associated
+ with each kernel variable name.
+
+ Kernel variable names are case-sensitive and are limited to
+ 32 characters in length.
+
+ Numeric values may be integer or floating point. String values
+ are normally limited to 80 characters in length; however, SPICE
+ provides a mechanism for identifying longer, "continued" strings.
+ See the SPICE routine STPOOL for details.
+
+ String values are single quoted.
+
+ When the right hand side of an assignment is a list of values,
+ the list items may be separated by commas or simply by blanks.
+ The list must be bracketed by parentheses. Example:
+
+ BODY399_RADII = ( 6378.14 6378.14 6356.75 )
+
+ Any blanks preceding or following keyword names, values and equal
+ signs are ignored.
+
+ Assignments may be spread over multiple lines, for example:
+
+ BODY399_RADII = ( 6378.14
+ 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 cause formatting errors when the
+ file is viewed.
+
+Time systems and reference frames
+
+ The 2006 IAU/IAG Working Group Report [1] states the time scale
+ used as the independent variable for the rotation formulas is
+ Barycentric Dynamical Time (TDB) and that the epoch of variable
+ quantities is J2000 TDB (2000 Jan 1 12:00 TDB). Throughout SPICE
+ documentation and in this file, we use the names "J2000 TDB" and
+ "J2000" for this epoch. The name "J2000.0" is equivalent.
+
+ SPICE documentation refers to the time system used in this file
+ as either "ET" or "TDB." SPICE software makes no distinction
+ between TDB and the time system associated with the independent
+ variable of the JPL planetary ephemerides T_eph.
+
+ The inertial reference frame used for the rotational elements in
+ this file is identified by [1] as the ICRF (International
+ Celestial Reference Frame).
+
+ The SPICE PCK software that reads this file uses the label "J2000"
+ to refer to the ICRF; this is actually a mislabeling which has
+ been retained in the interest of backward compatibility. Using
+ data from this file, by means of calls to the SPICE frame
+ transformation routines, will actually compute orientation
+ relative to the ICRF.
+
+ The difference between the J2000 frame and the ICRF is
+ on the order of tens of milliarcseconds and is well below the
+ accuracy level of the formulas in this file.
+
+Orientation models
+
+ All of the orientation models use three Euler angles to describe
+ the orientation of the coordinate axes of the "Body Equator and
+ Prime Meridian" system with respect to an inertial system. By
+ default, the inertial system is the ICRF (labeled as "J2000"), but
+ other frames can be specified in the file. See the PCK Required
+ Reading for details.
+
+ The first two angles, in order, are the ICRF right ascension and
+ declination (henceforth RA and DEC) of the north pole of a body as
+ a function of time. The third angle is the prime meridian location
+ (represented by "W"), which is expressed as a rotation about the
+ north pole, and is also a function of time.
+
+ For each body, the expressions for the north pole's right
+ ascension and declination, as well as prime meridian location, are
+ sums (as far as the models that appear in this file are concerned)
+ of quadratic polynomials and trigonometric polynomials, where the
+ independent variable is time.
+
+ In this file, the time arguments in expressions always refer to
+ Barycentric Dynamical Time (TDB), measured in centuries or days
+ past a reference epoch. By default, the reference epoch is the
+ J2000 epoch, which is Julian ephemeris date 2451545.0, but other
+ epochs can be specified in the file. See the PCK Required Reading
+ for details.
+
+ Orientation models for satellites and some planets (including
+ Jupiter) involve both polynomial terms and trigonometric terms.
+ The arguments of the trigonometric terms are linear polynomials.
+ In this file, we call the arguments of these trigonometric terms
+ "nutation precession angles."
+
+ Example: 2006 IAU Model for orientation of Jupiter. Note that
+ these values are used as an example only; see the data area below
+ for current values.
+
+ Right ascension
+ ---------------
+
+ alpha = 268.056595 - 0.006499 T + 0.000117 sin(Ja)
+ 0 + 0.000938 sin(Jb) + 0.001432 sin(Jc)
+ + 0.000030 sin(Jd) + 0.002150 sin(Je)
+
+ Declination
+ -----------
+
+ delta = 64.495303 + 0.002413 T + 0.000050 cos(Ja)
+ 0 + 0.000404 cos(Jb) + 0.000617 cos(Jc)
+ - 0.000013 cos(Jd) + 0.000926 cos(Je)
+
+ Prime meridian
+ --------------
+
+ W = 284.95 + 870.5366420 d
+
+
+ Here
+
+ T represents centuries past J2000 ( TDB ),
+
+ d represents days past J2000 ( TDB ).
+
+ Ja-Je are nutation precession angles.
+
+ In this file, the polynomials' coefficients above are assigned
+ to kernel variable names (left-hand-side symbols) as follows
+
+ BODY599_POLE_RA = ( 268.056595 -0.006499 0. )
+ BODY599_POLE_DEC = ( 64.495303 0.002413 0. )
+ BODY599_PM = ( 284.95 870.5366420 0. )
+
+ and the trigonometric polynomials' coefficients are assigned
+ as follows
+
+ BODY599_NUT_PREC_RA = ( 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0.000117
+ 0.000938
+ 0.001432
+ 0.000030
+ 0.002150 )
+
+ BODY599_NUT_PREC_DEC = ( 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0.000050
+ 0.000404
+ 0.000617
+ -0.000013
+ 0.000926 )
+
+ BODY599_NUT_PREC_PM = ( 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0.0
+ 0.0
+ 0.0
+ 0.0
+ 0.0 )
+
+ Note the number "599"; this is the NAIF ID code for Jupiter.
+
+ In this file, the polynomial expressions for the nutation
+ precession angles are listed along with the planet's RA, DEC, and
+ prime meridian terms. Below are the 2006 IAU nutation precession
+ angles for the Jupiter system.
+
+ J1 = 73.32 + 91472.9 T
+ J2 = 24.62 + 45137.2 T
+ J3 = 283.90 + 4850.7 T
+ J4 = 355.80 + 1191.3 T
+ J5 = 119.90 + 262.1 T
+ J6 = 229.80 + 64.3 T
+ J7 = 352.25 + 2382.6 T
+ J8 = 113.35 + 6070.0 T
+
+ J9 = 146.64 + 182945.8 T
+ J10 = 49.24 + 90274.4 T
+
+ Ja = 99.360714 + 4850.4046 T
+ Jb = 175.895369 + 1191.9605 T
+ Jc = 300.323162 + 262.5475 T
+ Jd = 114.012305 + 6070.2476 T
+ Je = 49.511251 + 64.3000 T
+
+ Here
+
+ T represents centuries past J2000 ( TDB )
+
+ J1-J10 and Ja-Je are the nutation precession angles. The angles
+ J9 and J10 are equal to 2*J1 and 2*J2, respectively.
+
+ Angles J9 and J10 are not present in [1]; they have been added
+ to fit the terms 2*J1 and 2*J2, which appear in the orientation
+ models of several satellites, into a form that can be accepted
+ by the PCK system.
+
+ The assignment of the nutation precession angles for the
+ Jupiter system is as follows:
+
+ BODY5_NUT_PREC_ANGLES = ( 73.32 91472.9
+ 24.62 45137.2
+ 283.90 4850.7
+ 355.80 1191.3
+ 119.90 262.1
+ 229.80 64.3
+ 352.25 2382.6
+ 113.35 6070.0
+ 146.64 182945.8
+ 49.24 90274.4
+ 99.360714 4850.4046
+ 175.895369 1191.9605
+ 300.323162 262.5475
+ 114.012305 6070.2476
+ 49.511251 64.3000 )
+
+ You'll see an additional symbol grouped with the ones listed
+ above; it is
+
+ BODY599_LONG_AXIS
+
+ This 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's surface and the
+ prime meridian of the body.
+
+ The pattern of the formulas for satellite orientation is similar
+ to that for Jupiter. Example: 2006 IAU values for Io. Again, these
+ values are used as an example only; see the data area below for
+ current values.
+
+ Right ascension
+ ---------------
+
+ alpha = 268.05 - 0.009 T + 0.094 sin(J3) + 0.024 sin(J4)
+ 0
+
+ Declination
+ -----------
+
+ delta = 64.50 + 0.003 T + 0.040 cos(J3) + 0.011 cos(J4)
+ 0
+
+ Prime meridian
+ --------------
+
+ W = 200.39 + 203.4889538 d - 0.085 sin(J3) - 0.022 sin(J4)
+
+
+ d represents days past J2000.
+
+ J3 and J4 are nutation precession angles.
+
+ The polynomial terms are assigned to symbols by the statements
+
+ BODY501_POLE_RA = ( 268.05 -0.009 0. )
+ BODY501_POLE_DEC = ( 64.50 0.003 0. )
+ BODY501_PM = ( 200.39 203.4889538 0. )
+
+ The coefficients of the trigonometric terms are assigned to symbols by
+ the statements
+
+ BODY501_NUT_PREC_RA = ( 0. 0. 0.094 0.024 )
+ BODY501_NUT_PREC_DEC = ( 0. 0. 0.040 0.011 )
+ BODY501_NUT_PREC_PM = ( 0. 0. -0.085 -0.022 )
+
+ 501 is the NAIF ID code for Io.
+
+ SPICE software expects the models for satellite orientation to
+ follow the form of the model shown here: the polynomial portions of the
+ RA, DEC, and W expressions are expected to be quadratic, the
+ trigonometric terms for RA and W (satellite prime meridian) are expected
+ to be linear combinations of sines of nutation precession angles, the
+ trigonometric terms for DEC are expected to be linear combinations of
+ cosines of nutation precession angles, and the polynomials for the
+ nutation precession angles themselves are expected to be linear.
+
+ Eventually, the software will handle more complex expressions, we
+ expect.
+
+
+Shape models
+
+ There is only one kind of shape model supported by the SPICE Toolkit
+ software at present: the triaxial ellipsoid. The 2006 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
+
+
+ 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
+
+
+ 1000005 Comet 19P/Borrelly
+ 1000036 Comet Halley
+ 1000093 Comet 9P/Tempel 1
+ 1000107 Comet 81P/Wild 2
+
+ 2000001 Asteroid Ceres
+ 2000004 Asteroid Vesta
+ 2000216 Asteroid Kleopatra
+ 2000253 Asteroid Mathilde
+ 2000433 Asteroid Eros
+ 2004179 Asteroid Toutatis
+ 2025143 Asteroid Itokawa
+ 2431010 Asteroid Ida
+ 9511010 Asteroid Gaspra
+
+
+Orientation Constants for the Sun and Planets
+--------------------------------------------------------
+
+
+Sun
+
+ Old values:
+
+ Values are from the 2003 IAU report.
+
+
+ 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. )
+
+ Current values:
+
+ \begindata
+
+ BODY10_POLE_RA = ( 286.13 0. 0. )
+ BODY10_POLE_DEC = ( 63.87 0. 0. )
+ BODY10_PM = ( 84.176 14.18440 0. )
+ BODY10_LONG_AXIS = ( 0. )
+
+ \begintext
+
+Mercury
+
+ Old values:
+
+ Values are unchanged in the 2006 IAU report.
+
+
+ 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 2006 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY299_POLE_RA = ( 272.76 0. 0. )
+ BODY299_POLE_DEC = ( 67.16 0. 0. )
+ BODY299_PM = ( 160.20 -1.4813688 0. )
+
+ BODY299_LONG_AXIS = ( 0. )
+
+ \begintext
+
+
+Earth
+
+ Old values:
+
+ Values are unchanged in the 2006 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 [7]. 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 [8], represent a discrete sampling of the
+ north dipole location from 1945 to 2000. The terms DGRF and
+ IGRF refer to, respectively, "Definitive Geomagnetic
+ Reference Field" and "International Geomagnetic Reference
+ Field." See references [6], [8], and [9] for details.
+
+ Coordinates are planetocentric.
+
+ Data source Lat Lon
+ ----------- ----- ------
+ DGRF 1945 78.47 291.47
+ DGRF 1950 78.47 291.15
+ DGRF 1955 78.46 290.84
+ DGRF 1960 78.51 290.53
+ DGRF 1965 78.53 290.15
+ DGRF 1970 78.59 289.82
+ DGRF 1975 78.69 289.53
+ DGRF 1980 78.81 289.24
+ DGRF 1985 78.97 289.10
+ DGRF 1990 79.13 288.89
+ IGRF 1995 79.30 288.59
+ IGRF 2000 79.54 288.43
+
+
+ Values are given for the epoch 2000 and are from the final row
+ of the above table, which is from [8]. 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 are unchanged in the 2006 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY499_POLE_RA = ( 317.68143 -0.1061 0. )
+ BODY499_POLE_DEC = ( 52.88650 -0.0609 0. )
+ BODY499_PM = ( 176.630 350.89198226 0. )
+
+ \begintext
+
+ Source [5] specifies the following value for the lambda_a term
+ (BODY499_LONG_AXIS ) for Mars. This term is the POSITIVE EAST
+ LONGITUDE, measured from the prime meridian, of the meridian
+ containing the longest axis of the reference ellipsoid.
+ (CAUTION: previous values were POSITIVE WEST.)
+
+ body499_long_axis = ( 252. )
+
+ We list this lambda_a value for completeness. The IAU report
+ [1] gives equal values for both equatorial radii, so the
+ lambda_a offset does not apply to the IAU model.
+
+ The 2003 IAU report defines M2, the second nutation precession angle,
+ by:
+
+ 2
+ 192.93 + 1128.4096700 d + 8.864 T
+
+ We truncate the M2 series to a linear expression, because the PCK
+ software cannot handle the quadratic term.
+
+ Again, the linear terms are scaled by 36525.0:
+
+ -0.4357640000000000 --> -15916.28010000000
+ 1128.409670000000 --> 41215163.19675000
+ -1.8151000000000000E-02 --> -662.9652750000000
+
+ We also introduce a fourth nutation precession angle, which
+ is the pi/2-complement of the third angle. This angle is used
+ in computing the prime meridian location for Deimos. See the
+ discussion of this angle below in the section containing orientation
+ constants for Deimos.
+
+ \begindata
+
+ BODY4_NUT_PREC_ANGLES = ( 169.51 -15916.2801
+ 192.93 41215163.19675
+ 53.47 -662.965275
+ 36.53 662.965275 )
+
+ \begintext
+
+
+Jupiter
+
+ Old values:
+
+ Values are from the 2003 IAU report.
+
+
+ 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 )
+
+
+
+ Current values:
+
+ The number of nutation precession angles is 15. The ninth and
+ tenth are twice the first and second, respectively. The
+ eleventh through fifteenth correspond to angles JA-JE in
+ the 2006 IAU report; angles JA-JE were not used prior to that
+ report.
+
+ \begindata
+
+
+ BODY599_POLE_RA = ( 268.056595 -0.006499 0. )
+ BODY599_POLE_DEC = ( 64.495303 0.002413 0. )
+ BODY599_PM = ( 284.95 870.5366420 0. )
+ BODY599_LONG_AXIS = ( 0. )
+
+ BODY599_NUT_PREC_RA = ( 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0.000117
+ 0.000938
+ 0.001432
+ 0.000030
+ 0.002150 )
+
+ BODY599_NUT_PREC_DEC = ( 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0.000050
+ 0.000404
+ 0.000617
+ -0.000013
+ 0.000926 )
+
+ BODY599_NUT_PREC_PM = ( 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0.0
+ 0.0
+ 0.0
+ 0.0
+ 0.0 )
+
+
+ BODY5_NUT_PREC_ANGLES = ( 73.32 91472.9
+ 24.62 45137.2
+ 283.90 4850.7
+ 355.80 1191.3
+ 119.90 262.1
+ 229.80 64.3
+ 352.25 2382.6
+ 113.35 6070.0
+ 146.64 182945.8
+ 49.24 90274.4
+ 99.360714 4850.4046
+ 175.895369 1191.9605
+ 300.323162 262.5475
+ 114.012305 6070.2476
+ 49.511251 64.3000 )
+ \begintext
+
+
+Saturn
+
+ Old values:
+
+ Values are unchanged in the 2006 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 2006 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 2006 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY899_POLE_RA = ( 299.36 0. 0. )
+ BODY899_POLE_DEC = ( 43.46 0. 0. )
+ BODY899_PM = ( 253.18 536.3128492 0. )
+ BODY899_LONG_AXIS = ( 0. )
+
+
+ BODY899_NUT_PREC_RA = ( 0.70 0. 0. 0. 0. 0. 0. 0. )
+ BODY899_NUT_PREC_DEC = ( -0.51 0. 0. 0. 0. 0. 0. 0. )
+ BODY899_NUT_PREC_PM = ( -0.48 0. 0. 0. 0. 0. 0. 0. )
+
+ \begintext
+
+ The 2000 report defines the nutation precession angles
+
+ N, N1, N2, ... , N7
+
+ and also uses the multiples of N1 and N7
+
+ 2*N1
+
+ and
+
+ 2*N7, 3*N7, ..., 9*N7
+
+ In this file, we treat the angles and their multiples as
+ separate angles. In the kernel variable
+
+ BODY8_NUT_PREC_ANGLES
+
+ the order of the angles is
+
+ N, N1, N2, ... , N7, 2*N1, 2*N7, 3*N7, ..., 9*N7
+
+ Each angle is defined by a linear polynomial, so two
+ consecutive array elements are allocated for each
+ angle. The first term of each pair is the constant term,
+ the second is the linear term.
+
+ \begindata
+
+ BODY8_NUT_PREC_ANGLES = ( 357.85 52.316
+ 323.92 62606.6
+ 220.51 55064.2
+ 354.27 46564.5
+ 75.31 26109.4
+ 35.36 14325.4
+ 142.61 2824.6
+ 177.85 52.316
+ 647.840 125213.200
+ 355.700 104.632
+ 533.550 156.948
+ 711.400 209.264
+ 889.250 261.580
+ 1067.100 313.896
+ 1244.950 366.212
+ 1422.800 418.528
+ 1600.650 470.844 )
+
+ \begintext
+
+
+
+Pluto
+
+ Old values:
+
+ Values are from the 2003 IAU report.
+
+ 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. )
+
+
+ Current values:
+
+ \begindata
+
+ BODY999_POLE_RA = ( 312.993 0. 0. )
+ BODY999_POLE_DEC = ( 6.163 0. 0. )
+ BODY999_PM = ( 237.305 -56.3625225 0. )
+ BODY999_LONG_AXIS = ( 0. )
+
+ \begintext
+
+
+
+
+Orientation constants for the satellites
+--------------------------------------------------------
+
+
+Satellites of Earth
+
+ Old values:
+
+ Values are unchanged in the 2006 IAU report.
+
+
+ New values:
+
+ \begindata
+
+
+
+
+
+ BODY301_POLE_RA = ( 269.9949 0.0031 0. )
+ BODY301_POLE_DEC = ( 66.5392 0.0130 0. )
+ BODY301_PM = ( 38.3213 13.17635815 -1.4D-12 )
+ BODY301_LONG_AXIS = ( 0. )
+
+ BODY301_NUT_PREC_RA = ( -3.8787 -0.1204 0.0700 -0.0172
+ 0.0 0.0072 0.0 0.0
+ 0.0 -0.0052 0.0 0.0
+ 0.0043 )
+
+ BODY301_NUT_PREC_DEC = ( 1.5419 0.0239 -0.0278 0.0068
+ 0.0 -0.0029 0.0009 0.0
+ 0.0 0.0008 0.0 0.0
+ -0.0009 )
+
+ BODY301_NUT_PREC_PM = ( 3.5610 0.1208 -0.0642 0.0158
+ 0.0252 -0.0066 -0.0047 -0.0046
+ 0.0028 0.0052 0.0040 0.0019
+ -0.0044 )
+ \begintext
+
+
+
+Satellites of Mars
+
+
+ Phobos
+
+ Old values:
+
+ Values are unchanged in the 2006 IAU report.
+
+ Current values:
+
+ The quadratic prime meridian term is scaled by 1/36525**2:
+
+ 8.864000000000000 ---> 6.6443009930565219E-09
+
+ \begindata
+
+ BODY401_POLE_RA = ( 317.68 -0.108 0. )
+ BODY401_POLE_DEC = ( 52.90 -0.061 0. )
+ BODY401_PM = ( 35.06 1128.8445850 6.6443009930565219E-09 )
+
+ BODY401_LONG_AXIS = ( 0. )
+
+ BODY401_NUT_PREC_RA = ( 1.79 0. 0. 0. )
+ BODY401_NUT_PREC_DEC = ( -1.08 0. 0. 0. )
+ BODY401_NUT_PREC_PM = ( -1.42 -0.78 0. 0. )
+
+
+ \begintext
+
+
+ Deimos
+
+ Old values:
+
+ Values are unchanged in the 2006 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 2006 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY501_POLE_RA = ( 268.05 -0.009 0. )
+ BODY501_POLE_DEC = ( 64.50 0.003 0. )
+ BODY501_PM = ( 200.39 203.4889538 0. )
+ BODY501_LONG_AXIS = ( 0. )
+
+ BODY501_NUT_PREC_RA = ( 0. 0. 0.094 0.024 )
+ BODY501_NUT_PREC_DEC = ( 0. 0. 0.040 0.011 )
+ BODY501_NUT_PREC_PM = ( 0. 0. -0.085 -0.022 )
+
+ \begintext
+
+
+
+ Europa
+
+
+ Old values:
+
+ Values are from the 2003 IAU report.
+
+
+ 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:
+
+ Values are unchanged in the 2006 IAU report.
+
+
+ Current values:
+
+ \begindata
+
+ BODY503_POLE_RA = ( 268.20 -0.009 0. )
+ BODY503_POLE_DEC = ( 64.57 0.003 0. )
+ BODY503_PM = ( 44.064 50.3176081 0. )
+ BODY503_LONG_AXIS = ( 0. )
+
+ BODY503_NUT_PREC_RA = ( 0. 0. 0. -0.037 0.431 0.091 )
+ BODY503_NUT_PREC_DEC = ( 0. 0. 0. -0.016 0.186 0.039 )
+ BODY503_NUT_PREC_PM = ( 0. 0. 0. 0.033 -0.389 -0.082 )
+
+ \begintext
+
+
+ Callisto
+
+ Old values:
+
+ Values are unchanged in the 2006 IAU report.
+
+
+ Current values:
+
+
+ \begindata
+
+ BODY504_POLE_RA = ( 268.72 -0.009 0. )
+ BODY504_POLE_DEC = ( 64.83 0.003 0. )
+ BODY504_PM = ( 259.51 21.5710715 0. )
+ BODY504_LONG_AXIS = ( 0. )
+
+ BODY504_NUT_PREC_RA = ( 0. 0. 0. 0. -0.068 0.590 0. 0.010 )
+ BODY504_NUT_PREC_DEC = ( 0. 0. 0. 0. -0.029 0.254 0. -0.004 )
+ BODY504_NUT_PREC_PM = ( 0. 0. 0. 0. 0.061 -0.533 0. -0.009 )
+
+ \begintext
+
+
+ Amalthea
+
+
+ Old values:
+
+ Values are unchanged in the 2006 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 2006 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 2006 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 2006 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 2006 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 2006 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 2006 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 2006 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 2006 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 2006 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 2006 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 from the 2003 IAU report.
+
+ 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. )
+
+ Current values:
+
+ \begindata
+
+ BODY609_POLE_RA = ( 356.90 0. 0. )
+ BODY609_POLE_DEC = ( 77.80 0. 0. )
+ BODY609_PM = ( 178.58 931.639 0. )
+ BODY609_LONG_AXIS = ( 0. )
+
+ \begintext
+
+
+ Janus
+
+
+ Old values:
+
+ Values are unchanged in the 2006 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 2006 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 2006 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 2006 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 2006 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 2006 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 2006 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 2006 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 2006 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 2006 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 2006 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 2006 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 2006 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 2006 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 2006 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 2006 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 2006 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 2006 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 2006 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 2006 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 2006 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 2006 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 2006 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 2006 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 2006 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY801_POLE_RA = ( 299.36 0. 0. )
+ BODY801_POLE_DEC = ( 41.17 0. 0. )
+ BODY801_PM = ( 296.53 -61.2572637 0. )
+ BODY801_LONG_AXIS = ( 0. )
+
+
+ BODY801_NUT_PREC_RA = ( 0. 0. 0. 0.
+ 0. 0. 0. -32.35
+ 0. -6.28 -2.08 -0.74
+ -0.28 -0.11 -0.07 -0.02
+ -0.01 )
+
+
+ BODY801_NUT_PREC_DEC = ( 0. 0. 0. 0.
+ 0. 0. 0. 22.55
+ 0. 2.10 0.55 0.16
+ 0.05 0.02 0.01 0.
+ 0. )
+
+
+ BODY801_NUT_PREC_PM = ( 0. 0. 0. 0.
+ 0. 0. 0. 22.25
+ 0. 6.73 2.05 0.74
+ 0.28 0.11 0.05 0.02
+ 0.01 )
+
+ \begintext
+
+
+
+
+ Nereid
+
+ Old values:
+
+ Values are from the 1988 IAU report [10]. Note that this
+ rotation model pre-dated the 1989 Voyager 2 Neptune
+ encounter.
+
+
+ body802_pole_ra = ( 273.48 0. 0. )
+ body802_pole_dec = ( 67.22 0. 0. )
+ body802_pm = ( 237.22 0.9996465 0. )
+ body802_long_axis = ( 0. )
+
+
+ The report seems to have a typo: in the nut_prec_ra expression,
+ where the report gives -0.51 sin 3N3, we use -0.51 3N2.
+
+ body802_nut_prec_ra = ( 0. -17.81
+ 0. 0. 0. 0.
+ 0. 0. 0.
+ 2.56 -0.51 0.11 -0.03 )
+
+ body802_nut_prec_dec = ( 0. -6.67
+ 0. 0. 0. 0.
+ 0. 0. 0.
+ 0.47 -0.07 0.01 )
+
+ body802_nut_prec_pm = ( 0. 16.48
+ 0. 0. 0. 0.
+ 0. 0. 0.
+ -2.57 0.51 -0.11 0.02 )
+
+
+
+ Current values:
+
+ The 2006 report [1] states that values for Nereid are not
+ given because Nereid is not in synchronous rotation with Neptune
+ (p. 167).
+
+
+
+ Naiad
+
+ Old values:
+
+ Values are unchanged in the 2006 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 2006 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 2006 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 2006 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 2006 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 2006 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY808_POLE_RA = ( 299.27 0. 0. )
+ BODY808_POLE_DEC = ( 42.91 0. 0. )
+ BODY808_PM = ( 93.38 +320.7654228 0. )
+ BODY808_LONG_AXIS = ( 0. )
+
+
+ BODY808_NUT_PREC_RA = ( 0.70 0. 0. 0.
+ 0. 0. -0.05 0.
+ 0. 0. 0. 0.
+ 0. 0. 0. 0.
+ 0. )
+
+ BODY808_NUT_PREC_DEC = ( -0.51 0. 0. 0.
+ 0. 0. -0.04 0.
+ 0. 0. 0. 0.
+ 0. 0. 0. 0.
+ 0. )
+
+ BODY808_NUT_PREC_PM = ( -0.48 0. 0. 0.
+ 0. 0. 0.04 0.
+ 0. 0. 0. 0.
+ 0. 0. 0. 0.
+ 0. )
+
+ \begintext
+
+
+
+
+
+Satellites of Pluto
+
+ Charon
+
+ Old values:
+
+ Values are from the 2003 IAU report.
+
+ 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. )
+
+ Current values:
+
+ \begindata
+
+ BODY901_POLE_RA = ( 312.993 0. 0. )
+ BODY901_POLE_DEC = ( 6.163 0. 0. )
+ BODY901_PM = ( 57.305 -56.3625225 0. )
+ BODY901_LONG_AXIS = ( 0. )
+
+ \begintext
+
+
+
+Orientation constants for Selected Comets and Asteroids
+--------------------------------------------------------
+
+
+
+19P/Borrelly
+
+
+ Current values:
+
+ \begindata
+
+ BODY1000005_POLE_RA = ( 218.5 0. 0. )
+ BODY1000005_POLE_DEC = ( -12.5 0. 0. )
+ BODY1000005_PM = ( 000. 390.0 0. )
+ BODY1000005_LONG_AXIS = ( 0. )
+
+ \begintext
+
+
+
+9P/Tempel 1
+
+
+ Current values:
+
+ \begindata
+
+ BODY1000093_POLE_RA = ( 294. 0. 0. )
+ BODY1000093_POLE_DEC = ( 73. 0. 0. )
+ BODY1000093_PM = ( 252.63 212.064 0. )
+ BODY1000093_LONG_AXIS = ( 0. )
+
+ \begintext
+
+
+Vesta
+
+ Old values:
+
+ Values are unchanged in the 2006 IAU report.
+
+ 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
+
+ Old values:
+
+ Values are unchanged in the 2006 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY2000433_POLE_RA = ( 11.35 0. 0. )
+ BODY2000433_POLE_DEC = ( 17.22 0. 0. )
+ BODY2000433_PM = ( 326.07 1639.38864745 0. )
+ BODY2000433_LONG_AXIS = ( 0. )
+
+ \begintext
+
+
+Itokawa
+
+
+ Current values:
+
+ \begindata
+
+ BODY2025143_POLE_RA = ( 90.53 0. 0. )
+ BODY2025143_POLE_DEC = ( -66.30 0. 0. )
+ BODY2025143_PM = ( 000.0 712.143 0. )
+ BODY2025143_LONG_AXIS = ( 0. )
+
+ \begintext
+
+
+
+Ida
+
+ Old values:
+
+ Values are unchanged in the 2006 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY2431010_POLE_RA = ( 168.76 0. 0. )
+ BODY2431010_POLE_DEC = ( -2.88 0. 0. )
+ BODY2431010_PM = ( 265.95 +1864.6280070 0. )
+ BODY2431010_LONG_AXIS = ( 0. )
+
+ \begintext
+
+Gaspra
+
+ Old values:
+
+ Values are unchanged in the 2006 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
+
+
+
+
+
+
+
+
+
+
+Radii of Sun and Planets
+--------------------------------------------------------
+
+
+Sun
+
+ Value for the Sun is from the [3], page K7.
+
+ \begindata
+
+ BODY10_RADII = ( 696000. 696000. 696000. )
+
+ \begintext
+
+
+Mercury
+
+ Old values:
+
+ Values are unchanged in the 2006 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY199_RADII = ( 2439.7 2439.7 2439.7 )
+
+ \begintext
+
+
+Venus
+
+ Old values:
+
+ Values are unchanged in the 2006 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY299_RADII = ( 6051.8 6051.8 6051.8 )
+
+ \begintext
+
+
+Earth
+
+ Old values:
+
+ Values are unchanged in the 2006 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 2006 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY599_RADII = ( 71492 71492 66854 )
+
+ \begintext
+
+
+
+Saturn
+
+ Old values:
+
+ Values are unchanged in the 2006 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY699_RADII = ( 60268 60268 54364 )
+
+ \begintext
+
+
+
+Uranus
+
+ Old values:
+
+ Values are unchanged in the 2006 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY799_RADII = ( 25559 25559 24973 )
+
+ \begintext
+
+
+
+Neptune
+
+ Old values:
+
+ Values are unchanged in the 2006 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 2006 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY999_RADII = ( 1195 1195 1195 )
+
+ \begintext
+
+
+
+
+Radii of Satellites
+--------------------------------------------------------
+
+
+Moon
+
+ Old values:
+
+ Values are unchanged in the 2006 IAU report.
+
+ Current values:
+
+ \begindata
+
+ BODY301_RADII = ( 1737.4 1737.4 1737.4 )
+
+ \begintext
+
+
+
+Satellites of Mars
+
+ Old values:
+
+ Values are unchanged in the 2006 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:
+
+ Values are unchanged in the 2006 IAU report.
+
+ 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 2003 IAU report for bodies
+ 506-513.
+
+ \begindata
+
+ BODY506_RADII = ( 85 85 85 )
+ BODY507_RADII = ( 40 40 40 )
+ BODY508_RADII = ( 18 18 18 )
+ BODY509_RADII = ( 14 14 14 )
+ BODY510_RADII = ( 12 12 12 )
+ BODY511_RADII = ( 15 15 15 )
+ BODY512_RADII = ( 10 10 10 )
+ BODY513_RADII = ( 5 5 5 )
+ BODY514_RADII = ( 58 49 42 )
+ BODY515_RADII = ( 10 8 7 )
+
+ \begintext
+
+ The value for the second radius for body 516 is not given in
+ 2003 IAU report. The values given are:
+
+ BODY516_RADII = ( 30 --- 20 )
+
+ For use within the SPICE system, we use only the mean radius.
+ \begindata
+
+ BODY516_RADII = ( 21.5 21.5 21.5 )
+
+ \begintext
+
+
+
+Satellites of Saturn
+
+
+ Old values:
+
+ Values are from the 2003 IAU report.
+
+ 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 )
+
+
+ Only the first equatorial radius for Helene (body 612) was given in the
+ 2003 IAU report:
+
+ body612_radii = ( 17.5 --- --- )
+
+ The mean radius was 16km; we used this radius for all three axes, as
+ we do for the satellites for which only the mean radius is available.
+
+
+ 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 )
+
+
+
+ Current values:
+
+ \begindata
+
+ BODY601_RADII = ( 207.4 196.8 190.6 )
+ BODY602_RADII = ( 256.6 251.4 248.3 )
+ BODY603_RADII = ( 540.4 531.1 527.5 )
+ BODY604_RADII = ( 563.8 561.0 560.3 )
+ BODY605_RADII = ( 767.2 762.5 763.1 )
+ BODY606_RADII = ( 2575 2575 2575 )
+ BODY607_RADII = ( 164 130 107 )
+ BODY608_RADII = ( 747.4 747.4 712.4 )
+ BODY609_RADII = ( 108.6 107.7 101.5 )
+ BODY610_RADII = ( 97.0 95.0 77.0 )
+ BODY611_RADII = ( 69.0 55.0 55.0 )
+
+ \begintext
+
+ Only the first equatorial radius for Helene (body 612) is given in the
+ 2006 IAU report:
+
+ BODY612_RADII = ( 17.5 --- --- )
+
+ The mean radius is 16km; we use this radius for all three axes, as
+ we do for the satellites for which only the mean radius is available.
+
+
+ \begindata
+
+ BODY612_RADII = ( 17.5 17.5 17.5 )
+ BODY613_RADII = ( 15 12.5 7.5 )
+ BODY614_RADII = ( 15.0 8.0 8.0 )
+ BODY615_RADII = ( 18.5 17.2 13.5 )
+ BODY616_RADII = ( 74.0 50.0 34.0 )
+ BODY617_RADII = ( 55.0 44.0 31.0 )
+
+ \begintext
+
+
+ For Pan, only a mean radius is given in the 2006 report.
+
+ \begindata
+
+ BODY618_RADII = ( 10 10 10 )
+
+ \begintext
+
+
+
+Satellites of Uranus
+
+ Old values:
+
+ Values are unchanged in the 2006 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 2006 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 from the 2003 IAU report.
+
+ BODY901_RADII = ( 593 593 593 )
+
+ Current values:
+
+ \begindata
+
+ BODY901_RADII = ( 605 605 605 )
+
+ \begintext
+
+
+
+Radii for Selected Comets and Asteroids
+--------------------------------------------------------
+
+
+19P/Borrelly
+
+
+ Current values:
+
+
+ The value in the data assignment below is the
+ "effective radius."
+
+ The first principal axis length is
+
+ 3.5 km
+
+ The lengths of the other semi-axes are not provided
+ by [1].
+
+ \begindata
+
+ BODY1000005_RADII = ( 4.22 4.22 4.22 )
+
+ \begintext
+
+
+
+Halley
+
+
+ Current values:
+
+ \begindata
+
+ BODY1000036_RADII = ( 8.0 4.0 4.0 )
+
+ \begintext
+
+
+
+9P/Tempel 1
+
+
+ Current values:
+
+
+ The value in the data assignment below is the
+ "effective radius."
+
+ According to [1]:
+
+ The maximum and minimum radii are not properly
+ the values of the principal semi-axes, they
+ are half the maximum and minimum values of the
+ diameter. Due to the large deviations from a
+ simple ellipsoid, they may not correspond with
+ measurements along the principal axes, or be
+ orthogonal to each other.
+
+ \begindata
+
+ BODY1000093_RADII = ( 3.0 3.0 3.0 )
+
+ \begintext
+
+
+81P/Wild 2
+
+
+ Current values:
+
+
+ \begindata
+
+ BODY1000107_RADII = ( 2.7 1.9 1.5 )
+
+ \begintext
+
+
+Ceres
+
+
+ Current values:
+
+
+ \begindata
+
+ BODY2000001_RADII = ( 487.3 487.3 454.7 )
+
+ \begintext
+
+
+Vesta
+
+
+ Current values:
+
+
+ \begindata
+
+ BODY2000004_RADII = ( 289. 280. 229. )
+
+ \begintext
+
+
+Toutatis
+
+
+ Current values:
+
+
+ \begindata
+
+ BODY2004179_RADII = ( 2.13 1.015 0.85 )
+
+ \begintext
+
+
+Kleopatra
+
+
+ Old values:
+
+ Values are from the 2003 report.
+
+
+ body2000216_radii = ( 108.5 47 40.5 )
+
+
+ Current values:
+
+
+ No values are provided in the 2006 report.
+
+
+Mathilde
+
+
+ Current values:
+
+
+ \begindata
+
+ BODY2000253_RADII = ( 33. 24. 23. )
+
+ \begintext
+
+Eros
+
+
+ Current values:
+
+
+ \begindata
+
+ BODY2000433_RADII = ( 17.0 5.5 5.5 )
+
+ \begintext
+
+
+Itokawa
+
+
+ Current values:
+
+
+ \begindata
+
+ BODY2025143_RADII = ( 0.535 0.294 0.209 )
+
+ \begintext
+
+
+
+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
+
+
+
+===========================================================================
+End of file pck00009.tpc
+===========================================================================
+
+
+
diff --git a/tests/pytests/data/isds/hirise_isd.json b/tests/pytests/data/isds/hirise_isd.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa2be21b789aa3c1f5f315046bedc7e8f59d0f01
--- /dev/null
+++ b/tests/pytests/data/isds/hirise_isd.json
@@ -0,0 +1,1318 @@
+{"isis_camera_version": 1,
+ "image_lines": 5000,
+ "image_samples": 256,
+ "name_platform": "MARS RECONNAISSANCE ORBITER",
+ "name_sensor": "HIRISE CAMERA",
+ "reference_height": {"maxheight": 1000, "minheight": -1000, "unit": "m"},
+ "name_model": "USGS_ASTRO_LINE_SCANNER_SENSOR_MODEL",
+ "interpolation_method": "lagrange",
+ "line_scan_rate": [[0.5, -0.8368750214576721, 0.00033475]],
+ "starting_ephemeris_time": 217006138.29611498,
+ "center_ephemeris_time": 217006139.13299,
+ "radii": {"semimajor": 3396.19, "semiminor": 3376.2, "unit": "km"},
+ "body_rotation": {"time_dependent_frames": [10014, 1],
+ "ck_table_start_time": 217006138.29611498,
+ "ck_table_end_time": 217006139.969865,
+ "ck_table_original_size": 78,
+ "ephemeris_times": [217006138.29611498,
+ 217006138.317852,
+ 217006138.339589,
+ 217006138.361326,
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+ [-415.9391134185764, 3181.7124361118904, 1762.609673861227],
+ [-415.90317256966546, 3181.6851601088856, 1762.6688166058584],
+ [-415.86723160156805, 3181.657882764653, 1762.727958627633],
+ [-415.8312904248715, 3181.6306040791883, 1762.7870999116496],
+ [-415.79534906937613, 3181.6033241120936, 1762.8462405547687],
+ [-415.759407594697, 3181.5760428037743, 1762.905380385621],
+ [-415.7234659114174, 3181.548760213826, 1762.9645194936152],
+ [-415.68752410894996, 3181.5214763124536, 1763.0236578638521]],
+ "velocities": [[1.6528785408109004, -1.250549363229087, 2.7231918455044837],
+ [1.652886480156845, -1.2506099253213332, 2.723158414788702],
+ [1.6528944188108763, -1.2506704868607077, 2.7231249829585917],
+ [1.6529023567729768, -1.2507310478471698, 2.723091550014171],
+ [1.6529102940431313, -1.250791608280706, 2.723058115955592],
+ [1.6529182306213706, -1.2508521681613136, 2.723024680782784],
+ [1.6529261665077088, -1.2509127274887955, 2.722991244495641],
+ [1.652934101702077, -1.2509732862631686, 2.7229578070943825],
+ [1.6529420362045126, -1.25103384448461, 2.7229243685789126],
+ [1.6529499700150079, -1.251094402152831, 2.7228909289492482],
+ [1.652957903133533, -1.251154959267994, 2.722857488205408],
+ [1.6529658355600982, -1.2512155158298621, 2.7228240463473483],
+ [1.652973767305582, -1.2512760719217244, 2.7227906033293174],
+ [1.6529816983482137, -1.2513366273772288, 2.7227571592429998],
+ [1.6529896286988888, -1.2513971822795797, 2.722723714042674],
+ [1.6529975583575938, -1.2514577366286528, 2.722690267728098],
+ [1.6530054873243145, -1.2515182904244657, 2.722656820299465],
+ [1.65301341558815, -1.2515788435838753, 2.7226233718026327],
+ [1.6530213431708831, -1.2516393962729604, 2.7225899221458203],
+ [1.6530292700616203, -1.2516999484086715, 2.72255647137504],
+ [1.6530371962712358, -1.2517605000740724, 2.7225230194442696],
+ [1.6530451217780102, -1.2518210511029622, 2.7224895664453608],
+ [1.6530530465927407, -1.2518816015784577, 2.7224561123324142],
+ [1.6530609707154849, -1.251942151500397, 2.722422657105436],
+ [1.6530688941461935, -1.252002700868789, 2.7223892007645336],
+ [1.653076816884861, -1.252063249683757, 2.7223557433095866],
+ [1.6530847389315353, -1.2521237979451463, 2.722322284740658],
+ [1.6530926602970346, -1.2521843457358455, 2.7222888250118586],
+ [1.6531005809596317, -1.2522448928900372, 2.722255364215071],
+ [1.6531085009302, -1.2523054394905624, 2.722221902304295],
+ [1.6531164201978201, -1.2523659854544502, 2.72218843932551],
+ [1.6531243387843024, -1.2524265309475047, 2.7221549751869643],
+ [1.653132256678732, -1.25248707588703, 2.722121509934347],
+ [1.653140173881064, -1.2525476202725974, 2.722088043568038],
+ [1.6531480903913764, -1.2526081641046116, 2.7220545760878223],
+ [1.6531560062204718, -1.252668707465665, 2.722021107447854],
+ [1.6531639213466118, -1.2527292501899332, 2.721987637739765],
+ [1.653171835780711, -1.2527897923603488, 2.7219541669180645],
+ [1.6531797495227223, -1.252850333976901, 2.721920694982433],
+ [1.6531876625726272, -1.2529108750394655, 2.721887221933004],
+ [1.653195574930479, -1.2529714155481593, 2.7218537477698366],
+ [1.6532034865962115, -1.2530319555029334, 2.7218202724928267],
+ [1.6532113975698433, -1.2530924949035827, 2.721786796101995],
+ [1.6532193078513622, -1.2531530337503478, 2.7217533185975373],
+ [1.65322721744078, -1.2532135720430273, 2.721719839979131],
+ [1.653235126338096, -1.2532741097814777, 2.721686360247142],
+ [1.6532430345432747, -1.2533346469660127, 2.7216528794014407],
+ [1.6532509420563524, -1.2533951835963004, 2.721619397441963],
+ [1.6532588488773121, -1.2534557196725264, 2.7215859143687675],
+ [1.6532667550061204, -1.2535162551944488, 2.7215524301819065],
+ [1.653274660442782, -1.2535767901623438, 2.7215189448814034],
+ [1.6532825651981835, -1.2536373246587555, 2.721485458421339],
+ [1.6532904692505874, -1.253697858518115, 2.7214519708934857],
+ [1.6532983726108157, -1.2537583918231354, 2.721418482251986],
+ [1.6533062752789243, -1.253818924573894, 2.721384992496874],
+ [1.65331417725485, -1.2538794567701796, 2.7213515016281926],
+ [1.6533220785277656, -1.2539399883292508, 2.7213180096918306],
+ [1.6533299791193818, -1.2540005194167463, 2.721284516595887],
+ [1.653337879029628, -1.254061050032912, 2.72125102234056],
+ [1.6533457782368866, -1.2541215800116026, 2.7212175270174437],
+ [1.6533536767519421, -1.2541821094357948, 2.721184030580823],
+ [1.653361574574841, -1.2542426383054552, 2.721150533030793],
+ [1.653369471705528, -1.2543031666207387, 2.7211170343670923],
+ [1.6533773681440098, -1.254363694381343, 2.7210835345899493],
+ [1.653385263890317, -1.2544242215873584, 2.721050033699256],
+ [1.6533931589444169, -1.2544847482387658, 2.7210165316951826],
+ [1.6534010533170935, -1.2545452744185748, 2.720983028531481],
+ [1.6534089469867954, -1.2546057999606892, 2.720949524300395],
+ [1.6534168399642293, -1.254666324948113, 2.7209160189559047],
+ [1.6534247322385938, -1.25472684929775, 2.7208825125438327],
+ [1.6534326238315888, -1.254787373175746, 2.720849004972362],
+ [1.6534405147323512, -1.2548478964989351, 2.720815496287592],
+ [1.6534484049408735, -1.2549084192673523, 2.7207819864894036],
+ [1.6534562944571638, -1.254968941480839, 2.7207484755776847],
+ [1.6534641832919992, -1.2550294632225458, 2.7207149635067016],
+ [1.6534720714237876, -1.2550899843262222, 2.720681450368388],
+ [1.6534799588633113, -1.255150504875176, 2.720647936116618],
+ [1.6534878456105868, -1.2552110248691575, 2.720614420751629]],
+ "reference_frame": 1},
+ "sun_position": {"spk_table_start_time": 217006139.13299,
+ "spk_table_end_time": 217006139.13299,
+ "spk_table_original_size": 1,
+ "ephemeris_times": [217006139.13299],
+ "positions": [[175738271.8895664, 143628754.26975092, 61129946.33536201]],
+ "velocities": [[-17.0010947620105, 14.419806532715448, 7.073319540265947]],
+ "reference_frame": 1}}
diff --git a/tests/pytests/test_mro_drivers.py b/tests/pytests/test_mro_drivers.py
index df3dec16274b49a41cee5ad3e003fa6c73c43500..76c1c22b39e492f93a1ee74bbc48da8be68622ba 100644
--- a/tests/pytests/test_mro_drivers.py
+++ b/tests/pytests/test_mro_drivers.py
@@ -8,31 +8,36 @@ import numpy as np
import spiceypy as spice
import ale
-from ale.drivers.mro_drivers import MroCtxPds3LabelNaifSpiceDriver, MroCtxIsisLabelNaifSpiceDriver, MroCtxIsisLabelIsisSpiceDriver
+from ale.drivers.mro_drivers import MroCtxPds3LabelNaifSpiceDriver, MroCtxIsisLabelNaifSpiceDriver, MroCtxIsisLabelIsisSpiceDriver, MroHiRiseIsisLabelNaifSpiceDriver
from conftest import get_image, get_image_kernels, get_isd, convert_kernels, get_image_label, compare_dicts
-#@pytest.fixture
-# def ctx_isf
-
@pytest.fixture(scope='module')
-def test_kernels():
+def test_ctx_kernels():
kernels = get_image_kernels('B10_013341_1010_XN_79S172W')
updated_kernels, binary_kernels = convert_kernels(kernels)
yield updated_kernels
for kern in binary_kernels:
os.remove(kern)
+@pytest.fixture(scope='module')
+def test_hirise_kernels():
+ kernels = get_image_kernels('PSP_001446_1790_BG12_0')
+ updated_kernels, binary_kernels = convert_kernels(kernels)
+ yield updated_kernels
+ for kern in binary_kernels:
+ os.remove(kern)
+
@pytest.mark.parametrize("label_type, kernel_type", [('pds3', 'naif'), ('isis3', 'naif'), ('isis3', 'isis')])
-def test_mro_load(test_kernels, label_type, kernel_type):
+def test_mro_ctx_load(test_ctx_kernels, label_type, kernel_type):
label_file = get_image_label('B10_013341_1010_XN_79S172W', label_type)
- if label_type == 'isis3' and kernel_type == 'isis':
+ if label_type == 'isis3' and kernel_type == 'isis':
label_file = get_image('B10_013341_1010_XN_79S172W')
isd_str = ale.loads(label_file)
compare_isd = get_isd('ctx_isis')
- else:
- isd_str = ale.loads(label_file, props={'kernels': test_kernels})
+ else:
+ isd_str = ale.loads(label_file, props={'kernels': test_ctx_kernels})
compare_isd = get_isd('ctx')
isd_obj = json.loads(isd_str)
@@ -42,8 +47,20 @@ def test_mro_load(test_kernels, label_type, kernel_type):
assert compare_dicts(isd_obj, compare_isd) == []
-# ========= Test isislabel and isisspice driver =========
-class test_isis_isis(unittest.TestCase):
+@pytest.mark.parametrize("label_type, kernel_type", [('isis3', 'naif')])
+def test_mro_hirise_load(test_hirise_kernels, label_type, kernel_type):
+ label_file = get_image_label("PSP_001446_1790_BG12_0", label_type)
+
+ isd_str = ale.loads(label_file, props={'kernels': test_hirise_kernels})
+ compare_isd = get_isd('hirise')
+
+ isd_obj = json.loads(isd_str)
+ comparison = compare_dicts(isd_obj, compare_isd)
+ print(comparison)
+ assert comparison == []
+
+# ========= Test ctx isislabel and isisspice driver =========
+class test_ctx_isis_isis(unittest.TestCase):
def setUp(self):
label = get_image_label("B10_013341_1010_XN_79S172W", "isis3")
@@ -61,8 +78,8 @@ class test_isis_isis(unittest.TestCase):
def test_detector_center_sample(self):
assert self.driver.detector_center_sample == 2542.96099
-# ========= Test isislabel and naifspice driver =========
-class test_isis_naif(unittest.TestCase):
+# ========= Test ctx isislabel and naifspice driver =========
+class test_ctx_isis_naif(unittest.TestCase):
def setUp(self):
label = get_image_label("B10_013341_1010_XN_79S172W", "isis3")
@@ -99,8 +116,8 @@ class test_isis_naif(unittest.TestCase):
def test_sensor_model_version(self):
assert self.driver.sensor_model_version == 1
-# ========= Test pds3label and naifspice driver =========
-class test_pds_naif(unittest.TestCase):
+# ========= Test ctx pds3label and naifspice driver =========
+class test_ctx_pds_naif(unittest.TestCase):
def setUp(self):
label = get_image_label("B10_013341_1010_XN_79S172W", "pds3")
@@ -126,3 +143,45 @@ class test_pds_naif(unittest.TestCase):
def test_platform_name(self):
assert self.driver.platform_name == "MARS_RECONNAISSANCE_ORBITER"
+
+
+# ========= Test hirise isislabel and naifspice driver =========
+class test_hirise_isis_naif(unittest.TestCase):
+
+ def setUp(self):
+ label = get_image_label("PSP_001446_1790_BG12_0", "isis3")
+ self.driver = MroHiRiseIsisLabelNaifSpiceDriver(label)
+
+ def test_instrument_id(self):
+ assert self.driver.instrument_id == "MRO_HIRISE"
+
+ def test_sensor_name(self):
+ assert self.driver.sensor_name == "HIRISE CAMERA"
+
+ def test_un_binned_rate(self):
+ assert self.driver.un_binned_rate == 0.0000836875
+
+ def test_ephemeris_start_time(self):
+ with patch('ale.drivers.mro_drivers.spice.scs2e', return_value=12345) as scs2e:
+ assert self.driver.ephemeris_start_time == 12344.997489375
+ scs2e.assert_called_with(-74999, '848201291:62546')
+
+ def test_exposure_duration(self):
+ assert self.driver.exposure_duration == 0.00033475
+
+ def test_ccd_ikid(self):
+ with patch('ale.drivers.mro_drivers.spice.bods2c', return_value=12345) as bods2c:
+ assert self.driver.ccd_ikid == 12345
+ bods2c.assert_called_with('MRO_HIRISE_CCD12')
+
+ def test_sensor_frame_id(self):
+ assert self.driver.sensor_frame_id == -74690
+
+ def test_detector_center_sample(self):
+ assert self.driver.detector_center_sample == 0
+
+ def test_detector_center_line(self):
+ assert self.driver.detector_center_sample == 0
+
+ def test_sensor_model_version(self):
+ assert self.driver.sensor_model_version == 1