diff --git a/custom_theme/main.html b/custom_theme/main.html
index 833c95063dda5a7fdd54b5be39ee55237d322375..b863d49a479d97240c1423dca174d30307d306f0 100644
--- a/custom_theme/main.html
+++ b/custom_theme/main.html
@@ -138,6 +138,15 @@
     {{ super() }}
     {% endblock %}
 
+{% block content %}
+{% if page.nb_url %}
+    <a href="{{ page.nb_url }}" title="Download Notebook" class="md-content__button md-icon">
+        {% include ".icons/material/download.svg" %}
+    </a>
+{% endif %}
+
+{{ super() }}
+{% endblock content %}
 
 {% block footer %}
 
@@ -211,7 +220,6 @@
       
 </footer>
 
-
 {% endblock %}
 
     {% block styles %}
diff --git a/docs/getting-started/CSM Stack/ImageToGroundTutorial.ipynb b/docs/getting-started/CSM Stack/ImageToGroundTutorial.ipynb
new file mode 100644
index 0000000000000000000000000000000000000000..fc109376d48d69ef62a5970e6aa634271e7fcbbb
--- /dev/null
+++ b/docs/getting-started/CSM Stack/ImageToGroundTutorial.ipynb	
@@ -0,0 +1,207 @@
+{
+ "cells": [
+  {
+   "cell_type": "markdown",
+   "id": "a117baed-ab98-4499-832c-8c73a8606cc0",
+   "metadata": {},
+   "source": [
+    "# Getting Started: Instantiating a CSM Camera Model from Image"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "id": "3602c014-53bc-4330-a9b0-0848d4927458",
+   "metadata": {},
+   "source": [
+    "### 1. Install dependencies\n",
+    "The `knoten` installation may take a little longer than usual due to the many dependencies (including ALE) involved."
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "id": "ffeccab3-0d5d-4609-9c7f-871bdb69f17a",
+   "metadata": {},
+   "source": [
+    "```\n",
+    "conda install -c conda-forge knoten=0.2.1\n",
+    "```"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "id": "faed4a43-cd06-45c7-bfa1-793978d41486",
+   "metadata": {},
+   "source": [
+    "### 2. Generate an ISD from a Cube\n",
+    "We will use MRO data located in the `data/image_to_ground` folder containing a cube and necessary kernels for ISD (Image Support Data) generation.   \n",
+    "*Note*: If your cube already has attached spice data, do you not have to specify kernels in the `props` param and can pass in an empty dict `{}` instead."
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 1,
+   "id": "7f58cb34-d27f-456d-bfb5-f9075ca575b3",
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stderr",
+     "output_type": "stream",
+     "text": [
+      "/Users/chkim/mambaforge3/envs/test/lib/python3.12/site-packages/osgeo/gdal.py:287: FutureWarning: Neither gdal.UseExceptions() nor gdal.DontUseExceptions() has been explicitly called. In GDAL 4.0, exceptions will be enabled by default.\n",
+      "  warnings.warn(\n"
+     ]
+    }
+   ],
+   "source": [
+    "import ale\n",
+    "import json\n",
+    "import knoten\n",
+    "import os\n",
+    "\n",
+    "# Set local data directory and paths\n",
+    "data_dir = '../data/image_to_ground'\n",
+    "cube_file = os.path.join(data_dir, 'B10_013341_1010_XN_79S172W.cub')\n",
+    "isd_file = os.path.join(data_dir, 'isd_file.json')\n",
+    "\n",
+    "# Set local kernel paths\n",
+    "props = {\n",
+    "    'kernels': [\n",
+    "        os.path.join(data_dir, 'B10_013341_1010_XN_79S172W_0.bsp'),\n",
+    "        os.path.join(data_dir, 'B10_013341_1010_XN_79S172W_1.bsp'),\n",
+    "        os.path.join(data_dir, 'mro_ctx_v11.ti'),\n",
+    "        os.path.join(data_dir, 'mro_sc_psp_090526_090601_0_sliced_-74000.bc'),\n",
+    "        os.path.join(data_dir, 'mro_sc_psp_090526_090601_1_sliced_-74000.bc'),\n",
+    "        os.path.join(data_dir, 'mro_sclkscet_00082_65536.tsc'),\n",
+    "        os.path.join(data_dir, 'mro_v16.tf'),\n",
+    "        os.path.join(data_dir, 'naif0012.tls'),\n",
+    "        os.path.join(data_dir, 'pck00008.tpc')\n",
+    "    ]\n",
+    "}\n",
+    "\n",
+    "# Generate the ISD string from the cube's label\n",
+    "isd_str = ale.loads(\n",
+    "    label=cube_file,\n",
+    "    formatter=\"ale\",\n",
+    "    props=props,\n",
+    "    indent=2,\n",
+    "    verbose=False,\n",
+    "    only_isis_spice=False,\n",
+    "    only_naif_spice=False\n",
+    ")\n",
+    "\n",
+    "# Write the ISD string to file 'isd_file.json'\n",
+    "with open(isd_file, \"w\") as file:\n",
+    "    file.write(isd_str)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "id": "4ed327aa-bffc-4316-b42f-496d9e07465e",
+   "metadata": {},
+   "source": [
+    "### 3. Create a Community Sensor Model\n",
+    "We will use Knoten's implementation of CSM as the library supports line scanner types of sensor models in the usgscsm library."
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 29,
+   "id": "0c4dbf84-2986-495b-9e4a-da4c77059e7e",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "sensor_model = knoten.csm.create_csm(isd_file, verbose=False)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "id": "d6973fe3-9d4a-4408-9310-50334a52ff58",
+   "metadata": {},
+   "source": [
+    "### 4. Convert image coordinates into ground coordinates"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 30,
+   "id": "d8f2b155-9803-4a6b-a967-bca1ef35860f",
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "(-572485.2147483829, -79884.88742005036, -3326939.6184008163)"
+      ]
+     },
+     "execution_count": 30,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "# Create an image coordinate at line = 206 and sample = 206\n",
+    "image_coord = knoten.csmapi.ImageCoord(206, 206)\n",
+    "\n",
+    "# Convert the image coordinates to ground coordinates with desired precision of 0.0\n",
+    "ground_coord = sensor_model.imageToGround(image_coord, 0.0)\n",
+    "\n",
+    "# Output the ground coordinates\n",
+    "ground_coord.x, ground_coord.y, ground_coord.z"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "id": "bf87c5a5-b26c-4168-9324-ce5b0004cc7c",
+   "metadata": {},
+   "source": [
+    "### 5. Convert ground coordinates into image coordinates"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 31,
+   "id": "0edc0b6d-cdbe-46a8-9fdc-4ebdc4570f1a",
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "(205.99991086761267, 206.00000010379927)"
+      ]
+     },
+     "execution_count": 31,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "# Convert the image coordinates to ground coordinates with desired precision of 0.0\n",
+    "image_coord = sensor_model.groundToImage(ground_coord, 0.0)\n",
+    "\n",
+    "# Output the image coordinates\n",
+    "image_coord.line, image_coord.samp"
+   ]
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "Python 3 (ipykernel)",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.12.0"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 5
+}
diff --git a/docs/getting-started/data/image_to_ground/B10_013341_1010_XN_79S172W.cub b/docs/getting-started/data/image_to_ground/B10_013341_1010_XN_79S172W.cub
new file mode 100644
index 0000000000000000000000000000000000000000..e04d5d6ebbb9ab6c9f3c4eb9a4bdc84a28e88a99
Binary files /dev/null and b/docs/getting-started/data/image_to_ground/B10_013341_1010_XN_79S172W.cub differ
diff --git a/docs/getting-started/data/image_to_ground/B10_013341_1010_XN_79S172W_0.bsp b/docs/getting-started/data/image_to_ground/B10_013341_1010_XN_79S172W_0.bsp
new file mode 100644
index 0000000000000000000000000000000000000000..e2193cbd59f8baf25a143c5e2383960543e4e4a9
Binary files /dev/null and b/docs/getting-started/data/image_to_ground/B10_013341_1010_XN_79S172W_0.bsp differ
diff --git a/docs/getting-started/data/image_to_ground/B10_013341_1010_XN_79S172W_1.bsp b/docs/getting-started/data/image_to_ground/B10_013341_1010_XN_79S172W_1.bsp
new file mode 100644
index 0000000000000000000000000000000000000000..d325c7f51a9ccd24b69b9924f99dc2c7764edf85
Binary files /dev/null and b/docs/getting-started/data/image_to_ground/B10_013341_1010_XN_79S172W_1.bsp differ
diff --git a/docs/getting-started/data/image_to_ground/isd_file.json b/docs/getting-started/data/image_to_ground/isd_file.json
new file mode 100644
index 0000000000000000000000000000000000000000..6dc26b5ab2fea174950725d9a3c0eb9703930a1d
--- /dev/null
+++ b/docs/getting-started/data/image_to_ground/isd_file.json
@@ -0,0 +1,381 @@
+{
+  "isis_camera_version": 1,
+  "image_lines": 1,
+  "image_samples": 1,
+  "name_platform": "Mars_Reconnaissance_Orbiter",
+  "name_sensor": "CONTEXT 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,
+      -0.0009385347366333008,
+      0.001877
+    ]
+  ],
+  "starting_ephemeris_time": 297088762.24158406,
+  "center_ephemeris_time": 297088762.2425226,
+  "radii": {
+    "semimajor": 3396.19,
+    "semiminor": 3376.2,
+    "unit": "km"
+  },
+  "body_rotation": {
+    "time_dependent_frames": [
+      10014,
+      1
+    ],
+    "ck_table_start_time": 297088762.24158406,
+    "ck_table_end_time": 297088762.2434611,
+    "ck_table_original_size": 2,
+    "ephemeris_times": [
+      297088762.24158406,
+      297088762.2434611
+    ],
+    "quaternions": [
+      [
+        0.8371209459443085,
+        -0.2996928944391797,
+        -0.10720760458181891,
+        -0.44488113064480633
+      ],
+      [
+        0.8371209163489989,
+        -0.29969290157106665,
+        -0.10720758464502428,
+        -0.4448811863335056
+      ]
+    ],
+    "angular_velocities": [
+      [
+        3.16238646979841e-05,
+        -2.880432898124293e-05,
+        5.652013165872617e-05
+      ],
+      [
+        3.162386469798407e-05,
+        -2.8804328981243005e-05,
+        5.6520131658726145e-05
+      ]
+    ],
+    "reference_frame": 1
+  },
+  "instrument_pointing": {
+    "time_dependent_frames": [
+      -74000,
+      -74900,
+      1
+    ],
+    "ck_table_start_time": 297088762.24158406,
+    "ck_table_end_time": 297088762.2434611,
+    "ck_table_original_size": 2,
+    "ephemeris_times": [
+      297088762.24158406,
+      297088762.2434611
+    ],
+    "quaternions": [
+      [
+        0.42061124835443375,
+        0.1860622266332136,
+        -0.23980124331599867,
+        0.8549633847610767
+      ],
+      [
+        0.42061139037319234,
+        0.18606299339177235,
+        -0.23980084659599213,
+        0.8549632592984735
+      ]
+    ],
+    "angular_velocities": [
+      [
+        -0.0006409728984903078,
+        0.0005054077299115119,
+        0.00047182679484680703
+      ],
+      [
+        -0.000640980988402087,
+        0.0005053310202622464,
+        0.0004719397475515134
+      ]
+    ],
+    "reference_frame": 1,
+    "constant_frames": [
+      -74021,
+      -74020,
+      -74699,
+      -74690,
+      -74000
+    ],
+    "constant_rotation": [
+      0.9999995608798441,
+      -1.5196024192803473e-05,
+      0.0009370214510594065,
+      1.5276552075356666e-05,
+      0.9999999961910578,
+      -8.593317911879534e-05,
+      -0.0009370201416476771,
+      8.594745584079715e-05,
+      0.9999995573030465
+    ]
+  },
+  "naif_keywords": {
+    "BODY499_RADII": [
+      3396.19,
+      3396.19,
+      3376.2
+    ],
+    "BODY_FRAME_CODE": 10014,
+    "BODY_CODE": 499,
+    "INS-74021_FOV_ANGLE_UNITS": "DEGREES",
+    "TKFRAME_-74021_UNITS": "DEGREES",
+    "INS-74021_FOV_ANGULAR_SIZE": [
+      5.73,
+      0.001146
+    ],
+    "INS-74021_PIXEL_LINES": 1.0,
+    "TKFRAME_-74021_ANGLES": [
+      0.0,
+      0.0,
+      0.0
+    ],
+    "INS-74021_IFOV": [
+      2e-05,
+      2e-05
+    ],
+    "FRAME_-74021_CENTER": -74.0,
+    "INS-74021_F/RATIO": 3.25,
+    "INS-74021_PLATFORM_ID": -74000.0,
+    "INS-74021_CCD_CENTER": [
+      2500.5,
+      0.5
+    ],
+    "INS-74021_PIXEL_SAMPLES": 5000.0,
+    "INS-74021_FOCAL_LENGTH": 352.9271664,
+    "INS-74021_FOV_CROSS_ANGLE": 0.00057296,
+    "INS-74021_TRANSX": [
+      0.0,
+      0.0,
+      0.007
+    ],
+    "INS-74021_FOV_CLASS_SPEC": "ANGLES",
+    "INS-74021_TRANSY": [
+      0.0,
+      0.007,
+      0.0
+    ],
+    "INS-74021_FOV_REF_VECTOR": [
+      0.0,
+      1.0,
+      0.0
+    ],
+    "INS-74021_BORESIGHT": [
+      0.0,
+      0.0,
+      1.0
+    ],
+    "FRAME_-74021_NAME": "MRO_CTX",
+    "INS-74021_PIXEL_PITCH": 0.007,
+    "TKFRAME_-74021_AXES": [
+      1.0,
+      2.0,
+      3.0
+    ],
+    "TKFRAME_-74021_SPEC": "ANGLES",
+    "INS-74021_BORESIGHT_LINE": 0.430442527,
+    "INS-74021_FOV_SHAPE": "RECTANGLE",
+    "INS-74021_BORESIGHT_SAMPLE": 2543.46099,
+    "FRAME_-74021_CLASS": 4.0,
+    "INS-74021_CK_FRAME_ID": -74000.0,
+    "INS-74021_ITRANSL": [
+      0.0,
+      142.85714285714,
+      0.0
+    ],
+    "INS-74021_FOV_REF_ANGLE": 2.86478898,
+    "INS-74021_ITRANSS": [
+      0.0,
+      0.0,
+      142.85714285714
+    ],
+    "FRAME_-74021_CLASS_ID": -74021.0,
+    "INS-74021_OD_K": [
+      -0.0073433925920054505,
+      2.8375878636241697e-05,
+      1.2841989124027099e-08
+    ],
+    "INS-74021_FOV_FRAME": "MRO_CTX",
+    "INS-74021_CK_REFERENCE_ID": -74900.0,
+    "TKFRAME_-74021_RELATIVE": "MRO_CTX_BASE",
+    "INS-74021_PIXEL_SIZE": [
+      0.007,
+      0.007
+    ],
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+      52973626698957.0,
+      56987144678331.0,
+      58187590527162.99,
+      60316687182323.0,
+      60877152115000.0,
+      61228279788693.0,
+      61339176915162.99,
+      61899057915627.0,
+      63521451859691.0,
+      65622287643263.0
+    ],
+    "SCLK01_N_FIELDS_74999": 2.0,
+    "SCLK01_OUTPUT_DELIM_74999": 1.0,
+    "BODY499_POLE_DEC": [
+      52.8865,
+      -0.0609,
+      0.0
+    ],
+    "SCLK01_OFFSETS_74999": [
+      0.0,
+      0.0
+    ],
+    "SCLK_DATA_TYPE_74999": 1.0,
+    "SCLK01_COEFFICIENTS_74999": [
+      0.0,
+      -631195148.816,
+      1.0,
+      3097283854336.0,
+      -583934347.816,
+      1.0,
+      5164027215872.0,
+      -552398346.816,
+      1.0,
+      7230770577408.0
+    ],
+    "SCLK01_TIME_SYSTEM_74999": 2.0,
+    "SCLK_PARTITION_START_74999": [
+      0.0,
+      52973626982399.99,
+      56987144683520.0,
+      58187590533120.0,
+      60316687204352.01,
+      60877152124927.99,
+      61228279791616.0,
+      61339176927232.0,
+      61899057922048.0,
+      63521451868160.0
+    ],
+    "BODY499_POLE_RA": [
+      317.68143,
+      -0.1061,
+      0.0
+    ],
+    "BODY499_PM": [
+      176.63,
+      350.89198226,
+      0.0
+    ],
+    "SCLK01_MODULI_74999": [
+      4294967296.0,
+      65536.0
+    ]
+  },
+  "detector_sample_summing": 1,
+  "detector_line_summing": 1,
+  "focal_length_model": {
+    "focal_length": 352.9271664
+  },
+  "detector_center": {
+    "line": 0.430442527,
+    "sample": 2542.96099
+  },
+  "focal2pixel_lines": [
+    0.0,
+    142.85714285714,
+    0.0
+  ],
+  "focal2pixel_samples": [
+    0.0,
+    0.0,
+    142.85714285714
+  ],
+  "optical_distortion": {
+    "radial": {
+      "coefficients": [
+        -0.0073433925920054505,
+        2.8375878636241697e-05,
+        1.2841989124027099e-08
+      ]
+    }
+  },
+  "starting_detector_line": 0,
+  "starting_detector_sample": 0,
+  "instrument_position": {
+    "spk_table_start_time": 297088762.24158406,
+    "spk_table_end_time": 297088762.2434611,
+    "spk_table_original_size": 2,
+    "ephemeris_times": [
+      297088762.24158406,
+      297088762.2434611
+    ],
+    "positions": [
+      [
+        -1885.2980675616832,
+        913.1652236013313,
+        -2961.966828003069
+      ],
+      [
+        -1885.3017519980372,
+        913.1599537256885,
+        -2961.9661251204225
+      ]
+    ],
+    "velocities": [
+      [
+        -1.9629237646703679,
+        -2.80759072221274,
+        0.374466578014853
+      ],
+      [
+        -1.962920608078827,
+        -2.8075922570664513,
+        0.37447154183051934
+      ]
+    ],
+    "reference_frame": 1
+  },
+  "sun_position": {
+    "spk_table_start_time": 297088762.24158406,
+    "spk_table_end_time": 297088762.2434611,
+    "spk_table_original_size": 2,
+    "ephemeris_times": [
+      297088762.24158406,
+      297088762.2434611
+    ],
+    "positions": [
+      [
+        -208246643.00357288,
+        -7677078.09368972,
+        2103553.070434021
+      ],
+      [
+        -208246643.00396734,
+        -7677078.138553765,
+        2103553.04986676
+      ]
+    ],
+    "velocities": [
+      [
+        -0.2102027789950371,
+        -23.901883559526876,
+        -10.957471328254789
+      ],
+      [
+        -0.21020277326198994,
+        -23.90188355931826,
+        -10.957471328315325
+      ]
+    ],
+    "reference_frame": 1
+  }
+}
\ No newline at end of file
diff --git a/docs/getting-started/data/image_to_ground/mro_ctx_v11.ti b/docs/getting-started/data/image_to_ground/mro_ctx_v11.ti
new file mode 100755
index 0000000000000000000000000000000000000000..f4119178d2af9407bd72eea0c10676fd742e159f
--- /dev/null
+++ b/docs/getting-started/data/image_to_ground/mro_ctx_v11.ti
@@ -0,0 +1,491 @@
+KPL/IK
+
+\beginlabel
+PDS_VERSION_ID               = PDS3
+RECORD_TYPE                  = STREAM
+RECORD_BYTES                 = "N/A"
+^SPICE_KERNEL                = "mro_ctx_v11.ti"
+MISSION_NAME                 = "MARS RECONNAISSANCE ORBITER"
+SPACECRAFT_NAME              = "MARS RECONNAISSANCE ORBITER"
+DATA_SET_ID                  = "MRO-M-SPICE-6-V1.0"
+KERNEL_TYPE_ID               = IK
+PRODUCT_ID                   = "mro_ctx_v11.ti"
+PRODUCT_CREATION_TIME        = 2012-08-23T16:12:39
+PRODUCER_ID                  = "NAIF/JPL"
+MISSION_PHASE_NAME           = "N/A"
+PRODUCT_VERSION_TYPE         = ACTUAL
+PLATFORM_OR_MOUNTING_NAME    = "MRO SPACECRAFT"
+START_TIME                   = "N/A"
+STOP_TIME                    = "N/A"
+SPACECRAFT_CLOCK_START_COUNT = "N/A"
+SPACECRAFT_CLOCK_STOP_COUNT  = "N/A"
+TARGET_NAME                  = MARS
+INSTRUMENT_NAME              = "CONTEXT CAMERA"
+NAIF_INSTRUMENT_ID           = -74021
+SOURCE_PRODUCT_ID            = "N/A"
+NOTE                         = "See comments in the file for details"
+OBJECT                       = SPICE_KERNEL
+  INTERCHANGE_FORMAT         = ASCII
+  KERNEL_TYPE                = INSTRUMENT
+  DESCRIPTION                = "MRO SPICE IK file for Context Camera (CTX)
+providing FOV definition and other geometric parameters for the instrument,
+created by NAIF, JPL with input from USGS, Flagstaff. "
+END_OBJECT                   = SPICE_KERNEL
+\endlabel
+
+
+CTX Instrument kernel
+===========================================================================
+
+   This instrument kernel (I-kernel) contains MRO Context Camera (CTX)
+   optics, detector, and field-of-view parameters.
+
+
+Version and Date
+---------------------------------------------------------------------------
+
+   Version 1.1 -- August 23, 2012 -- Boris Semenov, NAIF/JPL
+
+      Replaced ``mroctxAddendum001.ti'' with ``mroctxAddendum005.ti''.
+      
+
+   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. MRO CTX CDR Package, March 20, 2003.
+
+   5. ``mroctxAddendum005.ti'' IK file by USGS, Flagstaff, included 
+      ``as is'' at the bottom of this IK.
+
+   6. CTX Description, MSSS Web Site,
+      http://www.msss.com/mro/ctx/ctx_description.html
+
+
+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 CTX (021). This ID is defined in [3] 
+   as follows:
+
+               Instrument name                ID
+               --------------------         -------
+               MRO_CTX                       -74021
+
+   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 CTX is specified by
+
+               INS-74021_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 [5]:
+
+      From its 3 p.m. circular, polar orbit, the MRO Context Camera
+      (CTX) will obtain grayscale (black-and-white) images of the
+      martian surface with a spatial resolution of about 6 meters (20
+      feet) per pixel over a swath that is about 30 kilometers (18.6
+      miles) wide. CTX is a Facility Instrument, operated by Malin
+      Space Science Systems and the MRO MARCI science team.
+ 
+      As its name implies, CTX will provide context for images acquired
+      by other instruments onboard the Mars Reconnaissance Orbiter,
+      particularly the High Resolution Imaging Science Experiment
+      (HiRISE) and the Compact Reconnaissance Imaging Spectrometer for
+      Mars (CRISM).
+ 
+      The instrument consists of a 350 mm focal length, 6 degree field
+      of view, catadioptric Cassegrain (Maksutov-type) telescope that
+      images onto a 5064 pixels-wide charge coupled device (CDD) line
+      array. The CCD detects a broad band of visible light from 500 to
+      800 nanometers in wavelength. The instrument includes a 256 MB
+      DRAM buffer, so that it can acquire pictures that have downtrack
+      lengths greater than 160 kilometers (99 miles). In other words, a
+      typical CTX image can be as wide as 30 km and as long as 160 km,
+      or more.
+
+
+Mounting Alignment
+--------------------------------------------------------
+
+   Refer to the latest version of the MRO Frames Definition Kernel
+   (FK) [3] for the CTX reference frame definitions and mounting
+   alignment information.
+
+
+Apparent FOV Layout
+--------------------------------------------------------
+
+   This diagram illustrates the CTX apparent FOV layout in the 
+   corresponding reference frame and the CCD corner based pixel
+   scheme:
+
+                                  ^
+                                  | direction of 
+                                  |   flight
+                                  |
+
+
+                                  ^ +Xctx (along track)
+                                  | 
+        |                         | 
+        | ~0.001146 degrees       |
+        |                         | 
+        v         Pixel 1         |      Pixel 5000
+       ---              +---------|---------+
+        |       1 line  |   2500.5x-------------> +Yctx (cross track)
+       ---              +-------------------+     
+        ^                  5000 pixels/line
+        |
+                        |   ~5.73 degrees   |
+                        |<----------------->|
+                        |                   |      Boresight (+Zctx axis)
+                                                    is into the page
+
+
+   This diagram illustrates the CCD center based pixel scheme used in
+   USGS ISIS 3 camera model ([5]):
+ 
+                                  ^
+                                  | direction of 
+                                  |   flight
+                                  |
+
+
+                                  ^ +Xctx (along track)
+                                  | 
+        |                         | 
+        | ~0.001146 degrees       |
+        |                         | 
+        v        Pixel -2499.5    |      Pixel 2499.5
+       ---              +---------|---------+
+        |       1 line  |       0 x-------------> +Yctx (cross track)
+       ---              +-------------------+     
+        ^                  5000 pixels/line
+        |
+                        |   ~5.73 degrees   |
+                        |<----------------->|
+                        |                   |      Boresight (+Zctx axis)
+                                                    is into the page
+
+
+Optical Parameters
+--------------------------------------------------------
+
+   The following CTX nominal first order optical parameters are included 
+   in the data section below, from [4]:
+
+      -----------------------------------------------------------------
+           Parameter         
+      -----------------------------------------------------------------
+      Focal Length, mm      350.0      
+      f/ratio                 3.25
+      IFOV, rad/pixel                     
+          Cross-track         0.00002   
+          Along-track         0.00002   
+      Field of view (deg) 
+          Cross-track         5.73    
+          Along-track         0.001146   
+      -----------------------------------------------------------------
+
+   The keywords below provide nominal values from the table above.
+   Angular size values in the keywords are given radians, with the
+   cross-track size being the first value and the along-track size
+   being the second value in each pair.
+
+   The nominal focal length is omitted from this set because an updated
+   value for it included in [5] is provided later in this file.
+
+      \begindata
+
+         INS-74021_F/RATIO            = (   3.25              )
+         INS-74021_FOV_ANGULAR_SIZE   = (   5.73,    0.001146 )
+         INS-74021_IFOV               = (   0.00002, 0.00002  )
+
+      \begintext
+
+
+Detector Parameters
+--------------------------------------------------------
+
+   The nominal CTX detector parameters from [4] are:
+
+      -----------------------------------------------------------------
+           Parameter            
+      -----------------------------------------------------------------
+      Detector Array Size 
+          Cross-track                 5000  
+          Along-track                 1
+      Detector Array Center
+          Cross-track                 2500.5 
+          Along-track                 0.5 
+      Pixel Size, microns
+          Cross-track                 7 
+          Along-track                 7 
+      -----------------------------------------------------------------
+
+   The values are given in millimeters for PIXEL_SIZE keywords and in counts
+   for PIXEL_SAMPLES, PIXEL_LINES, and CENTER keywords.
+
+      \begindata
+
+         INS-74021_PIXEL_SIZE         = ( 0.007, 0.007 )
+         INS-74021_PIXEL_SAMPLES      = ( 5000 )
+         INS-74021_PIXEL_LINES        = ( 1 )
+         INS-74021_CCD_CENTER         = ( 2500.5, 0.5 )
+
+      \begintext
+
+
+FOV Definition 
+---------------------------------------------------------------------------
+
+   This section contains definitions for the CTX FOV. These
+   definitions are provided in the format required by the SPICE
+   (CSPICE) function GETFOV (getfov_c).
+   
+   The set of assignments in the data section below defines the
+   CTX FOV with respect to the CTX instrument frame to be a rectangles 
+   with the corners defined by the first and last pixels of CCD line 
+   array and the boresight along the +Z axis. This FOV definition uses
+   angular extent style specification with the cross and along track
+   angular sizes taken from the ``Optics Parameters'' section above.
+
+      \begindata
+
+         INS-74021_FOV_FRAME                 = 'MRO_CTX'
+         INS-74021_FOV_SHAPE                 = 'RECTANGLE'
+         INS-74021_BORESIGHT                 = (
+                                            0.000000     0.000000     1.000000
+                                                )
+         INS-74021_FOV_CLASS_SPEC            = 'ANGLES'
+         INS-74021_FOV_REF_VECTOR            = (
+                                            0.000000     1.000000     0.000000
+                                                )
+         INS-74021_FOV_REF_ANGLE             = ( 2.86478898 )
+         INS-74021_FOV_CROSS_ANGLE           = ( 0.00057296 )
+         INS-74021_FOV_ANGLE_UNITS           = 'DEGREES'
+
+      \begintext
+
+
+Optical Distortion
+--------------------------------------------------------
+
+   See ``mroctxAddendum005.ti'' below.
+
+
+Platform ID
+---------------------------------------------------------------------------
+
+   This number is the NAIF instrument ID of the platform on which the
+   instrument is mounted. CTX is mounted on the spacecraft bus.
+
+      \begindata
+
+      INS-74021_PLATFORM_ID  = ( -74000 )
+
+      \begintext
+
+
+MROCTX Instrument Kernel ``mroctxAddendum005.ti''
+=============================================================
+
+   This instrument kernel (I-kernel) contains parameters that describe
+   the Mars Reconnaissance Orbiter CTX instrument model used by UGSG's
+   ISIS 3.
+
+   This model is defined with respect to the MRO_CTX frame.
+
+
+``mroctxAddendum005.ti'' Version and Date
+-------------------------------------------------------------
+
+   Version 1.0 -- December 12, 2006 -- Elizabeth Miller, USGS, Flagstaff, AZ
+
+       Initial version.
+
+   Version 2.0 -- February 13, 2008 -- Steven Lambright, USGS, Flagstaff, AZ
+
+       Added BORESIGHT keywords
+
+   Version 3.0 -- February 21, 2008 -- Steven Lambright, USGS, Flagstaff, AZ
+
+       Corrected the OD_K keyword
+
+   Version 4.0 -- Mar 23, 2010 -- Debbie A. Cook, USGS, Flagstaff, AZ
+
+       Update to include CK_FRAME_ID and CK_REFERENCE_ID
+
+   Version 5.0 -- Apr 17, 2012 -- Annie HKraus,  USGS, Flagstaff, AZ
+
+       Updated FOCAL_LENGTH, OD_K, BORESIGHT_SAMPLE
+       and BORESIGHT_LINE based on inflight calibration
+       by Orrin Thomas and Randy Kirk.  This involved
+       tiepointing 6 overlapping CTX images to a HRSC
+       orthoimage/DTM dataset in Gale crater and fitting
+       the center and coefficients of a radial distortion
+       polynomial.  The focal length was then adjusted to
+       its "calibrated" value which results in equal and
+       opposite positive/negative excursions of the 
+       distortion polynomial over the field of view.
+
+       Note also that the earlier versions of this kernel
+       contained a sign error for all OD_K distortion
+       coefficients, causing the use of the polynomial to
+       double rather than remove the distortion.
+
+
+``mroctxAddendum005.ti'' Data
+-------------------------------------------------------------
+
+   The following is the focal length, which is expressed in MILLIMETERS.
+   This value comes from Randy Kirk's spreadsheet (2012) presenting the
+   results of Orrin Thomas's inflight calibration of CTX based on 
+   comparison of 6 CTX images (3 adjacent stereopairs) to an HRSC
+   orthoimage and DTM in Gale crater.  CTX-HRSC tiepoints were measured
+   and then projected into the CTX images with the focal length set
+   to a nominal value and the distortion model temporarily to zero. 
+   This allowed straightforward fitting of a new radial distortion
+   polynomial.  Finally, the focal length was adjusted to its so-called
+   calibrated value.  The first distortion coefficient is varied at the
+   same time so that the overall geometric model is unchanged, but at
+   the calibrated focal length the overall distortion polynomial has
+   equal and opposite positive and negative excursions over the field
+   of view. 
+
+   The boresight samples and lines are used to specify the center of the
+   detector device.  There are two methods to specify the center of the
+   detector array. The BORESIGHT parameters are expressed in pixels.
+
+      \begindata
+
+         INS-74021_FOCAL_LENGTH = 352.9271664 
+         INS-74021_BORESIGHT_SAMPLE = 2543.46099
+         INS-74021_BORESIGHT_LINE = 0.430442527
+
+      \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-74021_PIXEL_PITCH = 7.0E-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. 
+
+      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
+
+   The optical distortion parameters below come from Randy
+   Kirk's spreadsheet (2012 inflight calibration).  Note
+   that the sign of the leading terms is opposite that in
+   the previous versions of this kernel.  Earlier kernels
+   had mistakenly negated the distortion coefficients.  As
+   a result, their use in the formulae given above doubled
+   rather than removing the optical distortion.
+
+      \begindata
+
+         INS-74021_OD_K = ( 
+                            -0.00734339259200545000000, 
+                             0.00002837587863624170000, 
+                             0.00000001284198912402710 
+                          )
+
+      \begintext
+
+   The following are the parameters for computing focal plane
+   coords from CCD coords. 
+
+   x = transx[0] + transx[1]*ccdSample_c + transx[2]*ccdLine_c
+   y = transy[0] + transy[1]*ccdSample_c + transy[2]*ccdLine_c
+
+      \begindata
+
+          INS-74021_TRANSX=(   0.0,     0.0,  0.007)
+          INS-74021_TRANSY=(   0.0,   0.007,    0.0)
+
+      \begintext
+
+   Parameters for computing CCD coords from focal plane coords
+
+      \begindata
+
+         INS-74021_ITRANSS=(    0.0,                 0.0,   142.85714285714)
+         INS-74021_ITRANSL=(    0.0,     142.85714285714,               0.0)
+
+      \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-74021_CK_FRAME_ID=-74000
+         INS-74021_CK_REFERENCE_ID=-74900
+
+      \begintext
+
+End of IK file.
+
diff --git a/docs/getting-started/data/image_to_ground/mro_sc_psp_090526_090601_0_sliced_-74000.bc b/docs/getting-started/data/image_to_ground/mro_sc_psp_090526_090601_0_sliced_-74000.bc
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diff --git a/docs/getting-started/data/image_to_ground/mro_sclkscet_00082_65536.tsc b/docs/getting-started/data/image_to_ground/mro_sclkscet_00082_65536.tsc
new file mode 100755
index 0000000000000000000000000000000000000000..0359f9c44d289b86e2d62131df2f477232612f99
--- /dev/null
+++ b/docs/getting-started/data/image_to_ground/mro_sclkscet_00082_65536.tsc
@@ -0,0 +1,523 @@
+KPL/SCLK
+
+\beginlabel
+PDS_VERSION_ID               = PDS3
+RECORD_TYPE                  = STREAM
+RECORD_BYTES                 = "N/A"
+^SPICE_KERNEL                = "mro_sclkscet_00082_65536.tsc"
+MISSION_NAME                 = "MARS RECONNAISSANCE ORBITER"
+SPACECRAFT_NAME              = "MARS RECONNAISSANCE ORBITER"
+DATA_SET_ID                  = "MRO-M-SPICE-6-V1.0"
+KERNEL_TYPE_ID               = SCLK
+PRODUCT_ID                   = "mro_sclkscet_00082_65536.tsc"
+PRODUCT_CREATION_TIME        = 2019-05-30T11:01:52
+PRODUCER_ID                  = "NAIF/JPL"
+MISSION_PHASE_NAME           = "N/A"
+PRODUCT_VERSION_TYPE         = ACTUAL
+PLATFORM_OR_MOUNTING_NAME    = "N/A"
+START_TIME                   = "N/A"
+STOP_TIME                    = "N/A"
+SPACECRAFT_CLOCK_START_COUNT = "N/A"
+SPACECRAFT_CLOCK_STOP_COUNT  = "N/A"
+TARGET_NAME                  = MARS
+INSTRUMENT_NAME              = "N/A"
+NAIF_INSTRUMENT_ID           = "N/A"
+SOURCE_PRODUCT_ID            = "N/A"
+NOTE                         = "See comments in the file for details"
+OBJECT                       = SPICE_KERNEL
+  INTERCHANGE_FORMAT         = ASCII
+  KERNEL_TYPE                = CLOCK_COEFFICIENTS
+  DESCRIPTION                = "MRO SPICE SCLK file providing correlation
+data for the primary MRO on-board clock tags in ``standard'' and ``high
+precision'' format, created by NAIF, JPL. The original name of this file was
+MRO_SCLKSCET.00082.65536.tsc. "
+END_OBJECT                   = SPICE_KERNEL
+\endlabel
+
+
+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.00082;
+     PRODUCT-CREATION-TIME=2019-05-30T16:00:00;
+     PRODUCT-VERSION-ID=82;
+     PRODUCER-ID=SCT;
+     APPLICABLE-START-TIME=1980-001T00:00:00;
+     APPLICABLE-STOP-TIME=2020-001T00:00:00;
+     MISSION-ID=28;
+     SPACECRAFT-ID=74;     
+
+
+MAKCLK Setup Files
+--------------------------------------------------------
+
+MAKCLK Setup for ``Standard'' Format Clock
+
+     SCLKSCET_FILE          = MRO_SCLKSCET.00082
+     OLD_SCLK_KERNEL        = /sdma/naif/ops/projects/MRO/scet/bin/mro_template.tsc
+     FILE_NAME              = MRO_SCLKSCET.00082.tsc
+     NAIF_SPACECRAFT_ID     = -74
+     LEAPSECONDS_FILE       = /sdma/naif/ops/projects/MRO/lsk/mro.tls
+     PARTITION_TOLERANCE    = 10
+     LOG_FILE               = MRO_SCLKSCET.00082.log
+     
+
+MAKCLK Setup for ``High Precision'' Format Clock
+
+     SCLKSCET_FILE          = MRO_SCLKSCET.00082
+     OLD_SCLK_KERNEL        = /sdma/naif/ops/projects/MRO/scet/bin/mro_template_65536.tsc
+     FILE_NAME              = MRO_SCLKSCET.00082.65536.tsc
+     NAIF_SPACECRAFT_ID     = -74999
+     LEAPSECONDS_FILE       = /sdma/naif/ops/projects/MRO/lsk/mro.tls
+     PARTITION_TOLERANCE    = 2560
+     LOG_FILE               = MRO_SCLKSCET.00082.log
+     
+
+
+Kernel DATA for ``Standard'' Format Clock
+--------------------------------------------------------
+
+\begindata
+
+
+SCLK_KERNEL_ID           = ( @2019-05-30/16:46:03.00 )
+
+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 )
+
+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
+                             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
+    3.0810229683200E+11     5.7232942402100E+08     9.9999929846274E-01
+    3.0822636723200E+11     5.7281407368100E+08     9.9999987843555E-01
+    3.0828322585600E+11     5.7303617765400E+08     9.9999990549992E-01
+    3.0835907763200E+11     5.7333247362600E+08     9.9999994480704E-01
+    3.0884609638400E+11     5.7523489052100E+08     9.9999994591542E-01
+    3.1015249484800E+11     5.8033800924500E+08     9.9999991404611E-01
+    3.1019716992000E+11     5.8051252123000E+08     9.9999988113311E-01
+    3.1175723436400E+11     5.8660652224000E+08     9.9999988279539E-01
+    3.1249549868400E+11     5.8949036690200E+08     9.9999988514458E-01
+    3.1318645446000E+11     5.9218941259200E+08     9.9999988948542E-01
+    3.1392076486000E+11     5.9505781227500E+08     9.9999999323101E-01
+    3.1410986233200E+11     5.9579647427000E+08     9.9999999396431E-01
+    3.1508539231600E+11     5.9960713824700E+08     9.9999999028872E-01
+    3.1756333382000E+11     6.0928659715300E+08     9.9999998600000E-01 )
+
+\begintext
+
+
+
+Kernel DATA for ``High Precision'' Format Clock
+--------------------------------------------------------
+
+\begindata
+
+
+SCLK_KERNEL_ID           = ( @2019-05-30/16:46:06.00 )
+
+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
+                             5.8187590533120E+13
+                             6.0316687204352E+13
+                             6.0877152124928E+13
+                             6.1228279791616E+13
+                             6.1339176927232E+13
+                             6.1899057922048E+13
+                             6.3521451868160E+13
+                             6.5622287646720E+13
+                             6.5888349782016E+13
+                             6.7842962948096E+13
+                             6.9529271271424E+13
+                             7.0724085088256E+13
+                             7.1692166299648E+13
+                             7.5099259011072E+13
+                             7.9809852407808E+13 )
+
+SCLK_PARTITION_END_74999    = ( 5.2973626698957E+13
+                             5.6987144678331E+13
+                             5.8187590527163E+13
+                             6.0316687182323E+13
+                             6.0877152115000E+13
+                             6.1228279788693E+13
+                             6.1339176915163E+13
+                             6.1899057915627E+13
+                             6.3521451859691E+13
+                             6.5622287643263E+13
+                             6.5888349770747E+13
+                             6.7842962942791E+13
+                             6.9529271265267E+13
+                             7.0724085076049E+13
+                             7.1692166304603E+13
+                             7.5099259007666E+13
+                             7.9809852390453E+13
+                             2.8147497671065E+14 )
+
+SCLK01_COEFFICIENTS_74999   = (
+ 
+    0.0000000000000E+00     -6.3119514881600E+08     1.0000000000000E+00
+    3.0972838543360E+12     -5.8393434781600E+08     1.0000000000000E+00
+    5.1640272158720E+12     -5.5239834681600E+08     1.0000000000000E+00
+    7.2307705774080E+12     -5.2086234581600E+08     1.0000000000000E+00
+    1.1369919545344E+13     -4.5770394481600E+08     1.0000000000000E+00
+    1.6545271316480E+13     -3.7873434381600E+08     1.0000000000000E+00
+    2.0684420284416E+13     -3.1557594281600E+08     1.0000000000000E+00
+    2.2751163645952E+13     -2.8403994181600E+08     1.0000000000000E+00
+    2.5848447500288E+13     -2.3677914081600E+08     1.0000000000000E+00
+    2.7915190861824E+13     -2.0524313981600E+08     1.0000000000000E+00
+    2.9981934223360E+13     -1.7370713881600E+08     1.0000000000000E+00
+    3.3090542698496E+13     -1.2627353781600E+08     1.0000000000000E+00
+    3.6187826552832E+13     -7.9012736816000E+07     1.0000000000000E+00
+    3.9296435027968E+13     -3.1579135816000E+07     9.9999999999999E-01
+    5.2973626698957E+13     1.7711824685900E+08     9.9999852023164E-01
+    5.2993689169101E+13     1.7742437540600E+08     1.0000000000000E+00
+    5.2995043929293E+13     1.7744504740600E+08     1.0000000226389E+00
+    5.3096363306189E+13     1.7899105844100E+08     1.0000000201904E+00
+    5.3284625886413E+13     1.8186371749900E+08     1.0000000150408E+00
+    5.3363055635661E+13     1.8306046051700E+08     1.0000000132783E+00
+    5.3599962770637E+13     1.8667537656500E+08     1.0000000070773E+00
+    5.3627742694605E+13     1.8709926456800E+08     1.0000000106838E+00
+    5.3774962830541E+13     1.8934566559200E+08     9.9999997549027E-01
+    5.3791006043341E+13     1.8959046558600E+08     1.0000000000000E+00
+    5.3792386231501E+13     1.8961152558600E+08     9.9999872490489E-01
+    5.3797217545421E+13     1.8968524549200E+08     1.0000000061688E+00
+    5.3892831227085E+13     1.9114419450100E+08     1.0000000031304E+00
+    5.4018442177741E+13     1.9306086550700E+08     1.0000000020774E+00
+    5.4239272283341E+13     1.9643046551400E+08     1.0000000000000E+00
+    5.4625917840589E+13     2.0233020851400E+08     9.9999903576062E-01
+    5.4630607531213E+13     2.0240176744500E+08     9.9999999979331E-01
+    5.4947686296781E+13     2.0724000544400E+08     9.9999949258425E-01
+    5.4952723393741E+13     2.0731686540500E+08     9.9999999523305E-01
+    5.5103951580365E+13     2.0962442439400E+08     9.9999999390912E-01
+    5.5480540900557E+13     2.1537072135900E+08     9.9999999172986E-01
+    5.5734122228941E+13     2.1924006532700E+08     9.9999999091646E-01
+    5.6253588483277E+13     2.2716649125500E+08     9.9999904776985E-01
+    5.6282150317261E+13     2.2760230984000E+08     9.9999999099945E-01
+    5.6987144394888E+13     2.3835966566400E+08     9.9999998312114E-01
+    5.7666621642888E+13     2.4872766548900E+08     9.9999998135288E-01
+    5.7972386404488E+13     2.5339326540200E+08     9.9999998200126E-01
+    5.8187590238531E+13     2.5667701525200E+08     9.9999998094590E-01
+    5.8555613610307E+13     2.6229260614500E+08     9.9999997705480E-01
+    5.9980855214403E+13     2.8404006664600E+08     9.9999997699936E-01
+    6.0316686887734E+13     2.8916445119200E+08     9.9999997716838E-01
+    6.0526226516790E+13     2.9236177211900E+08     9.9999997600036E-01
+    6.0877151798382E+13     2.9771646683900E+08     9.9999997596158E-01
+    6.0950761833582E+13     2.9883966681200E+08     9.9999997699925E-01
+    6.1228279462147E+13     3.0307424967000E+08     9.9999996699968E-01
+    6.1339176585694E+13     3.0476640543000E+08     9.9999900775628E-01
+    6.1540822010334E+13     3.0784326737700E+08     9.9999906859216E-01
+    6.1648405973470E+13     3.0948486684800E+08     9.9999916040942E-01
+    6.1747538479582E+13     3.1099750757800E+08     9.9999917299955E-01
+    6.1899057574089E+13     3.1330950356800E+08     9.9999997132958E-01
+    6.2100211544265E+13     3.1637886948000E+08     9.9999996979812E-01
+    6.3419529736393E+13     3.3651006687200E+08     9.9999996799560E-01
+    6.3521451511732E+13     3.3806526969300E+08     9.9999996913538E-01
+    6.3538438246324E+13     3.3832446668500E+08     9.9999996880886E-01
+    6.4206591135668E+13     3.4851967036700E+08     9.9999996800035E-01
+    6.5622287286835E+13     3.7012147862300E+08     9.9999996574055E-01
+    6.5673936470579E+13     3.7090958259600E+08     9.9999996300108E-01
+    6.5888349410862E+13     3.7418126430300E+08     9.9999996157694E-01
+    6.5900288955950E+13     3.7436344729600E+08     9.9999996310760E-01
+    6.6545125381678E+13     3.8420286993300E+08     9.9999996214355E-01
+    6.7211626370606E+13     3.9437286754800E+08     9.9999994833919E-01
+    6.7343558989358E+13     3.9638599944400E+08     9.9999995800003E-01
+    6.7842962571637E+13     4.0400629304300E+08     9.9999995647018E-01
+    6.7984483631477E+13     4.0616573294900E+08     9.9999995525593E-01
+    6.8668491907445E+13     4.1660287048200E+08     9.9999995499988E-01
+    6.9529270888808E+13     4.2973731479700E+08     9.9999995058672E-01
+    6.9846252530024E+13     4.3457407055800E+08     9.9999994999976E-01
+    7.0724084693433E+13     4.4796872570200E+08     9.9999995056608E-01
+    7.1664026778041E+13     4.6231110299300E+08     9.9999905999912E-01
+    7.1692165909780E+13     4.6274047166500E+08     9.9999995127939E-01
+    7.1907388230932E+13     4.6602450350500E+08     9.9999995067969E-01
+    7.2899989277972E+13     4.8117039275800E+08     9.9999936539106E-01
+    7.2915479760148E+13     4.8140675860800E+08     9.9999994916894E-01
+    7.3411856633108E+13     4.8898086822300E+08     9.9999994803892E-01
+    7.4115635023124E+13     4.9971967366500E+08     9.9999936715673E-01
+    7.4139349814548E+13     5.0008153243600E+08     9.9999994520999E-01
+    7.4591487069460E+13     5.0698059905800E+08     9.9999861190744E-01
+    7.4619720437012E+13     5.0741140546000E+08     9.9999994000024E-01
+    7.5099258617798E+13     5.1472857696900E+08     9.9999993443361E-01
+    7.5129244745670E+13     5.1518612893900E+08     9.9999994402935E-01
+    7.6526127677382E+13     5.3650086974600E+08     9.9999994336138E-01
+    7.6816557342662E+13     5.4093247449500E+08     9.9999994197216E-01
+    7.7648917036998E+13     5.5363327475800E+08     9.9999994020072E-01
+    7.7813306949574E+13     5.5614166560800E+08     9.9999993934296E-01
+    7.8522072432582E+13     5.6695656795200E+08     9.9999987843425E-01
+    7.8781379182534E+13     5.7091327447100E+08     9.9999987927052E-01
+    7.8849776156614E+13     5.7195692934500E+08     9.9999913018966E-01
+    7.8874187988934E+13     5.7232942402100E+08     9.9999929846274E-01
+    7.8905950011334E+13     5.7281407368100E+08     9.9999987843555E-01
+    7.8920505819078E+13     5.7303617765400E+08     9.9999990549992E-01
+    7.8939923873734E+13     5.7333247362600E+08     9.9999994480704E-01
+    7.9064600674246E+13     5.7523489052100E+08     9.9999994591542E-01
+    7.9399038681030E+13     5.8033800924500E+08     9.9999991404611E-01
+    7.9410475499462E+13     5.8051252123000E+08     9.9999988100041E-01
+    7.9809851997179E+13     5.8660652224000E+08     9.9999988279539E-01
+    7.9998847663099E+13     5.8949036690200E+08     9.9999988514458E-01
+    8.0175732341755E+13     5.9218941259200E+08     9.9999988948542E-01
+    8.0363715804155E+13     5.9505781227500E+08     9.9999999323101E-01
+    8.0412124756987E+13     5.9579647427000E+08     9.9999999396431E-01
+    8.0661860432891E+13     5.9960713824700E+08     9.9999999028872E-01
+    8.1296213457915E+13     6.0928659715300E+08     9.9999998600000E-01 )
+
+\begintext
+
+
+
diff --git a/docs/getting-started/data/image_to_ground/mro_v16.tf b/docs/getting-started/data/image_to_ground/mro_v16.tf
new file mode 100644
index 0000000000000000000000000000000000000000..b7bc0f7fe0f45fb9cdd82361fa36bd2286822874
--- /dev/null
+++ b/docs/getting-started/data/image_to_ground/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/docs/getting-started/data/image_to_ground/naif0012.tls b/docs/getting-started/data/image_to_ground/naif0012.tls
new file mode 100644
index 0000000000000000000000000000000000000000..e1afdee1b626e01a3f1b04ef8a43154e83972e56
--- /dev/null
+++ b/docs/getting-started/data/image_to_ground/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/docs/getting-started/data/image_to_ground/pck00008.tpc b/docs/getting-started/data/image_to_ground/pck00008.tpc
new file mode 100755
index 0000000000000000000000000000000000000000..cd1592038973a4d9b22412d031e735454ffcb32b
--- /dev/null
+++ b/docs/getting-started/data/image_to_ground/pck00008.tpc
@@ -0,0 +1,3415 @@
+KPL/PCK
+
+\beginlabel
+PDS_VERSION_ID               = PDS3
+RECORD_TYPE                  = STREAM
+RECORD_BYTES                 = "N/A"
+^SPICE_KERNEL                = "pck00008.tpc"
+MISSION_NAME                 = "MARS RECONNAISSANCE ORBITER"
+SPACECRAFT_NAME              = "MARS RECONNAISSANCE ORBITER"
+DATA_SET_ID                  = "MRO-M-SPICE-6-V1.0"
+KERNEL_TYPE_ID               = PCK
+PRODUCT_ID                   = "pck00008.tpc"
+PRODUCT_CREATION_TIME        = 2007-06-05T13:50:45
+PRODUCER_ID                  = "NAIF/JPL"
+MISSION_PHASE_NAME           = "N/A"
+PRODUCT_VERSION_TYPE         = ACTUAL
+PLATFORM_OR_MOUNTING_NAME    = "N/A"
+START_TIME                   = "N/A"
+STOP_TIME                    = "N/A"
+SPACECRAFT_CLOCK_START_COUNT = "N/A"
+SPACECRAFT_CLOCK_STOP_COUNT  = "N/A"
+TARGET_NAME                  = MARS
+INSTRUMENT_NAME              = "N/A"
+NAIF_INSTRUMENT_ID           = "N/A"
+SOURCE_PRODUCT_ID            = "N/A"
+NOTE                         = "See comments in the file for details"
+OBJECT                       = SPICE_KERNEL
+  INTERCHANGE_FORMAT         = ASCII
+  KERNEL_TYPE                = TARGET_CONSTANTS
+  DESCRIPTION                = "Generic SPICE PCK file containing constants
+from the IAU 2000 report, created by NAIF, JPL. "
+END_OBJECT                   = SPICE_KERNEL
+\endlabel
+
+
+P_constants (PcK) SPICE kernel file
+===========================================================================
+
+        By: Nat Bachman (NAIF)    2004 September 21
+ 
+ 
+File Organization
+--------------------------------------------------------
+ 
+     The contents of this file are as follows.
+ 
+     Introductory Information:
+
+         --   File Organization
+ 
+         --   Version description
+ 
+         --   Disclaimer
+ 
+         --   Sources
+ 
+         --   Explanation
+ 
+         --   Body numbers and names
+ 
+
+     PcK Data:
+ 
+
+        Orientation Data
+        ----------------
+
+         --   Orientation constants for the Sun and planets.        
+              Additional items included in this section:
+
+                 - Earth north geomagnetic centered dipole values
+                   for epochs 1945-2000
+
+                 - Mars prime meridian offset "lambda_a"
+
+         --   Orientation constants for satellites
+ 
+         --   Orientation constants for asteroids Gaspra, Ida,
+              Vesta, and Eros
+ 
+
+        Radii of Bodies
+        ---------------
+
+         --   Radii of Sun and planets
+         
+         --   Radii of satellites, where available
+         
+         --   Radii of asteroids Gaspra, Ida, Kleopatra, and Eros
+
+
+
+Version description
+--------------------------------------------------------
+ 
+     This file was created on September 21, 2004.  This version
+     incorporates data from reference [2]: "Report of the IAU/IAG
+     Working Group on Cartographic Coordinates and Rotational Elements
+     of the Planets and Satellites:  2000."  Note that the 2003
+     version of this report is as yet unpublished.
+ 
+     This file contains size, shape, and orientation data for all
+     objects described by the previous version of the file, plus data
+     for the asteroids Vesta, Kleopatra, and Eros.
+                 
+ 
+Disclaimer
+--------------------------------------------------------
+ 
+
+Applicability of Data
+
+     This constants file may not contain the parameter values that
+     you prefer. Note that this file may be readily modified by
+     you or anyone else. NAIF suggests that you inspect this file
+     visually before proceeding with any critical or extended
+     data processing.
+
+File Modifications by Users
+
+     NAIF requests that you update the "by line" and date if you
+     modify this file.
+     
+Known Limitations and Caveats
+
+     In general, the orientation models given here are claimed by the
+     IAU/IAG Working Group Report [2] to be accurate to 0.1 degree
+     ([2], p.85).  However, NAIF notes that orientation models for
+     natural satellites and asteroids have in some cases changed
+     substantially with the availability of new observational data, so
+     users are urged to investigate the suitability for their
+     applications of the models presented here.
+
+   
+     NAIF strongly cautions against using the earth rotation model
+     (from [2]) given here for work demanding high accuracy.  This
+     model has been determined by NAIF to have an error in the prime
+     meridian location of magnitude at least 150 arcseconds, with a
+     local minimum occurring during the year 1999.  Regarding
+     availability of better earth orientation data for use with the
+     SPICE system:
+
+        Earth orientation data are available from NAIF in the form of
+        binary earth PCK files.  NAIF employs an automated process to
+        create these files; each time JPL's section 335 produces a new
+        earth orientation parameter (EOP) file, a new PCK is produced.
+        These PCKs cover a 12-month time span starting about nine
+        months prior to the current date.  In these PCK files, the
+        following effects are accounted for in modeling the earth's
+        rotation:
+
+
+           - Precession:                   1976 IAU model
+
+           - Nutation:                     1980 IAU model, plus interpolated
+                                           EOP nutation corrections
+
+           - Polar motion:                 interpolated from EOP file
+
+           - True sidereal time:
+
+                + UT1 - UT1R (if needed):  given by analytic formula
+                + TAI - UT1 (or UT1R):     interpolated from EOP file
+                + UT1 - GMST:              given by analytic formula
+                + equation of equinoxes:   given by analytic formula
+
+             where
+
+                TAI    =   International Atomic Time
+                UT1    =   Greenwich hour angle of computed mean sun - 12h
+                UT1R   =   Regularized UT1
+                GMST   =   Greenwich mean sidereal time                   
+
+        These kernels are available via anonymous ftp from the server
+ 
+           naif.jpl.nasa.gov
+
+        The kernels are in the path
+
+           pub/naif/generic_kernels/pck
+
+        At this time, these kernels have file names of the form
+
+           earth_000101_yymmdd_yymmdd.bpc
+
+        The second and third dates are, respectively, the file's 
+        coverage end time and the epoch of the last datum.
+ 
+        These binary PCK files are very accurate (error < 0.1
+        microradian) for epochs preceding the epoch of the last datum.
+        For later epochs, the error rises to several microradians.
+
+        Binary PCK files giving accurate earth orientation back to 1972
+        and *low accuracy* predicted earth orientation to 2023 are also
+        available in the same location.  
+
+        How does the rotation model used in the long term predict
+        binary earth PCK compare to that used in this file?  Because of
+        the unpredictability of the earth's orientation, in particular
+        of its spin, it's not possible to answer with certainty.
+        However, we can make these observations:
+
+           - The long term predict binary PCK presumably does a better
+             job of predicting the orientation of the earth's equator
+             since the binary PCK accounts for nutation and the model
+             from [2] does not.
+
+           - The prime meridian error in the model from [2] amounts
+             to, at a minimum, about 10 seconds of rotation.  It should
+             take years for the spin error of the binary long term
+             predict PCK to grow as large.
+
+        Characteristics and names of the binary kernels described here
+        are subject to change.  Contact NAIF for details concerning
+        binary earth PCKs.
+ 
+
+     The SPICE Toolkit doesn't currently contain software to model the
+     earth's north geomagnetic centered dipole as a function of time.
+     As a convenience for users, the north dipole location from the
+     J2000 epoch was selected as a representative datum, and the
+     planetocentric longitude and latitude of this location have been
+     associated with the keywords
+       
+        BODY399_N_GEOMAG_CTR_DIPOLE_LON
+        BODY399_N_GEOMAG_CTR_DIPOLE_LAT
+     
+     Values for the earth's north geomagnetic centered dipole are
+     presented in comments as a discrete time series for the time range
+     1945-2000.  For details concerning the the geomagnetic field model
+     from which these values were derived, including a discussion of
+     the model's accuracy, see [13].
+
+
+     The Mars prime meridian offset given by [10] is not used by
+     SPICE geometry software for computations involving the shape
+     of Mars (for example, in sub-observer point or surface intercept
+     computations).  The value is provided for informational
+     purposes only.
+
+
+     SPICE Toolkits prior to version N0057 cannot make use of
+     trigonometric polynomial terms in the formulas for orientation of
+     the planets. The only planet for which such terms are used is
+     Neptune.  Use of trigonometric polynomial terms for natural
+     satellites is and has been supported for all SPICE Toolkit
+     versions.
+
+
+
+ 
+ 
+Sources
+--------------------------------------------------------
+ 
+     The sources for the constants listed in this file are:
+
+        [1]   Seidelmann, P.K., Archinal, B.A., A'Hearn, M.F., 
+              Cruikshank, D.P., Hilton, J.L., Keller, H.U., Oberst, J.,
+              Simon, J.L., Stooke, P., Tholen, D.J., and Thomas, P.C.
+              "Report of the IAU/IAG Working Group on Cartographic
+              Coordinates and Rotational Elements of the Planets and
+              Satellites: 2003," Unpublished.
+ 
+        [2]   Seidelmann, P.K., Abalakin, V.K., Bursa, M., Davies, M.E.,
+              Bergh, C. de, Lieske, J.H., Oberst, J., Simon, J.L.,
+              Standish, E.M., Stooke, P., and Thomas, P.C. (2002).
+              "Report of the IAU/IAG Working Group on Cartographic
+              Coordinates and Rotational Elements of the Planets and
+              Satellites: 2000," Celestial Mechanics and Dynamical
+              Astronomy, v.82, Issue 1, pp. 83-111.
+
+        [3]   Davies, M.E., Abalakin, V.K., Bursa, M., Kinoshita, H.,
+              Kirk, R.L., Lieske, J.H., Marov, M.Ya., Seidelmann, P.K.,
+              and Simon, J.-L. "Report of the IAU/IAG/COSPAR Working
+              Group on Cartographic Coordinates and Rotational Elements
+              of the Planets and Satellites: 1997," Unpublished.
+
+        [4]   Davies, M.E., Abalakin, V.K., Bursa, M., Lieske, J.H.,
+              Morando, B., Morrison, D., Seidelmann, P.K., Sinclair,
+              A.T., Yallop, B., and Tjuflin, Y.S. (1996). "Report of
+              the IAU/IAG/COSPAR Working Group on Cartographic
+              Coordinates and Rotational Elements of the Planets and
+              Satellites: 1994," Celestial Mechanics and Dynamical
+              Astronomy, v.63, pp. 127-148.
+
+        [5]   Davies, M.E., Abalakin, V.K., Brahic, A., Bursa, M., 
+              Chovitz., B.H., Lieske, J.H., Seidelmann, P.K.,
+              Sinclair, A.T., and Tiuflin, I.S. (1992). "Report of the
+              IAU/IAG/COSPAR Working Group on Cartographic Coordinates
+              and Rotational Elements of the Planets and Satellites:
+              1991," Celestial Mechanics and Dynamical Astronomy,
+              v.53, no.4, pp. 377-397.
+
+        [6]   Davies, M.E., Abalakin, V.K., Bursa, M., Hunt, G.E.,
+              and Lieske, J.H. (1989). "Report of the IAU/IAG/COSPAR
+              Working Group on Cartographic Coordinates and Rotational
+              Elements of the Planets and Satellites: 1988," Celestial
+              Mechanics and Dynamical Astronomy, v.46, no.2, pp.
+              187-204.
+
+        [7]   Nautical Almanac Office, United States Naval Observatory
+              and H.M. Nautical Almanac Office, Rutherford Appleton
+              Laboratory (2005).  "The Astronomical Almanac for
+              the Year 2005," U.S. Government Printing Office,
+              Washington, D.C.: and The Stationary Office, London.
+
+        [8]   Nautical Almanac Office, United States Naval Observatory,
+              H.M. Nautical Almanac Office, Royal Greenwich
+              Observatory, Jet Propulsion Laboratory, Bureau des
+              Longitudes, and The Time Service and Astronomy
+              Departments, United States Naval Observatory (1992).
+              "Explanatory Supplement to the Astronomical Almanac," P.
+              Kenneth Seidelmann, ed. University Science Books, 20
+              Edgehill Road, Mill Valley, CA 9494.
+
+        [9]   Duxbury, Thomas C. (2001). "IAU/IAG 2000 Mars Cartographic
+              Conventions,"  presentation to the Mars Express Data
+              Archive Working Group, Dec. 14, 2001.
+
+        [10]  Russell, C.T. and Luhmann, J.G. (1990). "Earth: Magnetic 
+              Field and Magnetosphere." <http://www-ssc.igpp.ucla.
+              edu/personnel/russell/papers/earth_mag>.  Originally
+              published in "Encyclopedia of Planetary Sciences," J.H.
+              Shirley and R.W. Fainbridge, eds.  Chapman and Hall,
+              New York, pp 208-211.
+
+        [11]  Russell, C.T. (1971).  "Geophysical Coordinate 
+              Transformations," Cosmic Electrodynamics 2  184-186.
+              NAIF document 181.0.
+     
+        [12]  ESA/ESTEC Space Environment Information System (SPENVIS)
+              (2003). Web page:  "Dipole approximations of the
+              geomagnetic field."  <http://www.spenvis.oma.be/spenvis/
+              help/background/magfield/cd.html>.
+ 
+        [13]  International Association of Geomagnetism and Aeronomy
+              and International Union of Geodesy and Geophysics (2004).
+              Web page:  "The 9th Generation International Geomagnetic
+              Reference Field." <http://www.ngdc.noaa.gov/
+              IAGA/vmod/igrf.html>.
+
+        [14]  Duxbury, Thomas C. (1979).  "Planetary Geodetic Control 
+              Using Satellite Imaging," Journal of Geophysical Research, 
+              vol. 84, no. B3.  This paper is cataloged as NAIF
+              document 190.0.
+ 
+        [15]  Letter from Thomas C. Duxbury to Dr. Ephraim Lazeryevich
+              Akim, Keldish Institute of Applied Mathematics, USSR
+              Academy of Sciences, Moscow, USSR. This letter is
+              cataloged as NAIF document number 195.0.
+
+        [16]  "Placeholder" values were supplied by NAIF for some radii
+              of the bodies listed below:
+               
+                 Body      NAIF ID code 
+                 ----      ------------
+                 Metis     516
+                 Helene    612
+                 Larissa   807
+              
+              See the discussion below for further information.
+                             
+         
+     Most values are from [2].  All exceptions are 
+     commented where they occur in this file. The exceptions are:
+ 
+                 
+         --   Radii for the Sun are from [7].
+             
+         --   The second nutation precession angle (M2) for Mars is
+              represented by a quadratic polynomial in the 2000
+              IAU report. The SPICELIB subroutine BODEUL can not
+              handle this term (which is extremely small), so we
+              truncate the polynomial to a linear one.
+  
+         --   For several satellites, the 2000 IAU report either gives
+              a single radius value or a polar radius and a single
+              equatorial radius.  SPICE Toolkit software that uses body
+              radii expects to find three radii whenever these data are
+              read from the kernel pool.  In the cases listed below,
+              NAIF has used the mean radius value for all three radii.
+              Wherever this was done, the fact has been noted.
+              
+              The affected satellites are:
+              
+                 Body      NAIF ID code 
+                 ----      ------------
+                 Metis     516
+                 Helene    612
+                 Larissa   807
+         
+          --  Earth north geomagnetic centered dipole values are from
+              [12].  The article [10] was used to check most of 
+              these values, and the values were also re-computed from 
+              the 9th generation IGRF [13] by Nat Bachman.
+         
+          -- The Mars prime meridian offset angle is from [9].
+
+
+     "Old values" listed are from the SPICE P_constants file
+     dated April 24, 2000.  Most of these values came from the
+     1994 IAU report [4].
+ 
+ 
+ 
+ 
+Explanation
+--------------------------------------------------------
+
+     The SPICE Toolkit software that uses this file is documented in
+     the SPICE "Required Reading" file pck.req.  For a terse
+     description of the PCK file format, see the section below titled
+     "File Format."  See the SPICE "Required Reading" file kernel.req
+     for a detailed explanation of the SPICE text kernel file format.
+     The files pck.req and kernel.req are included in the documentation
+     provided with the SPICE Toolkit.
+
+     This file, which is logically part of the SPICE P-kernel, contains
+     constants used to model the orientation, size and shape of the
+     Sun, planets, and satellites. The orientation models express the
+     direction of the pole and location of the prime meridian of a body
+     as a function of time. The size/shape models ("shape models" for
+     short) represent all bodies as ellipsoids, using two equatorial
+     radii and a polar radius. Spheroids and spheres are obtained when
+     two or all three radii are equal.
+
+
+File Format
+
+     This file consists of a series of comment blocks and data blocks.
+     Comment blocks, which contain free-form descriptive or explanatory
+     text, are preceded by a \begintext token.  Data blocks follow a
+     \begindata token.  In order to be recognized, each token shown
+     here must be placed on a line by itself.
+
+     The portion of the file preceding the first data block is treated
+     as a comment block; it doesn't require an initial comment block
+     token.
+
+     This file identifies data using a series of
+
+        KEYWORD = VALUE
+
+     assignments.  The left hand side of each assignment is a
+     "kernel variable" name; the right hand side is an associated value
+     or list of values.  The SPICE subroutine API allows SPICE routines
+     and user applications to retrieve the set of values associated
+     with each kernel variable name.
+
+     Kernel variable names are case-sensitive and are limited to
+     32 characters in length.  
+
+     Numeric values may be integer or floating point.  String values
+     are normally limited to 80 characters in length; however, SPICE
+     provides a mechanism for identifying longer, "continued" strings.
+     See the SPICE routine STPOOL for details.
+
+     String values are single quoted.
+
+     When the right hand side of an assignment is a list of values,
+     the list items may be separated by commas or simply by blanks.
+     The list must be bracketed by parentheses.  Example:
+
+        BODY399_RADII = ( 6378.14 6378.14 6356.75 )
+ 
+     Any blanks preceding or following keyword names, values and equal
+     sign are ignored.
+  
+     Assignments may be spread over multiple lines, for example:
+
+        BODY399_RADII = ( 6378.14 
+                          6378.14 
+                          6356.75 )
+
+     This file may contain blank lines anywhere.  Non-printing
+     characters including TAB should not be present in the file: the
+     presence of such characters may make the file unreadable by
+     SPICE software.
+
+
+Time systems and reference frames
+
+     The 2000 IAU/IAG Working Group Report [1] states that, to the
+     accuracy of the formulas given, the time system used may be
+     regarded as any of TDB (Barycentric Dynamical Time), TT
+     (Terrestrial time, formerly called TDT), or T_eph (the independent
+     variable of the JPL planetary ephemerides).  Reference [2], from
+     which most data in this report were taken, erroneously identifies
+     the time system as TCB (Barycentric Coordinate Time).
+
+     SPICE software treats the time system used in this file as T_eph,
+     but for historical reasons SPICE documentation refers to the time
+     system as both "ET" and "TDB."  For consistency, documentation in
+     this version of the file retains use of the name TDB.
+
+     The origin of the time system is 2000 January 1 12:00:00 (TDB).
+     Throughout SPICE documentation and in this file, we use the names
+     "J2000 TDB" and "J2000" for this epoch.  The name "J2000.0" is
+     equivalent.
+ 
+     The inertial reference frame used for the rotational elements in
+     this file is identified by [1] as the ICRF (International
+     Celestial Reference Frame).  In this file, the frame is treated
+     as J2000. The difference between the J2000 frame and the ICRF is
+     on the order of tens of milliarcseconds and is well below the
+     accuracy level of the formulas in this file.
+
+Orientation models
+ 
+     All of the orientation models use three Euler angles to describe
+     body orientation. To be precise, the Euler angles describe the
+     orientation of the coordinate axes of the "Body Equator and Prime
+     Meridian" system with respect to an inertial system.  By default,
+     the inertial system is J2000 (also called "EME2000"), but other
+     frames can be specified in the file.  See the PCK Required Reading
+     for details.
+ 
+     The first two angles, in order, are the J2000 right ascension and
+     declination (henceforth RA and DEC) of the north pole of a body as
+     a function of time. The third angle is the prime meridian location
+     (represented by "W"), which is expressed as a rotation about the
+     north pole, and is also a function of time.
+ 
+     For the Sun and planets, the expressions for the north pole's
+     right ascension and declination, as well as prime meridian
+     location, are sums (as far as the models that appear in this file
+     are concerned) of quadratic polynomials and trigonometric
+     polynomials, where the independent variable is time. Some
+     coefficients may be zero.  Currently Neptune is the only planet
+     for which trigonometric polynomial terms are used.
+
+     In this file, the time arguments in expressions always refer to
+     Barycentric Dynamical Time (TDB), measured in centuries or days
+     past a reference epoch.  By default, the reference epoch is
+     the J2000 epoch, which is Julian ephemeris date 2451545.0, but
+     other epochs can be specified in the file.  See the PCK Required
+     Reading for details.
+ 
+     Example:  1991 IAU Model for orientation of the Earth.   Note that 
+     these values are used as an example only; see the data area below 
+     for current values.
+
+ 
+        alpha   =   0.00 - 0.641 T             ( RA )
+             0
+ 
+        delta   =  90.0  - 0.557 T             ( DEC )
+             0
+ 
+        W       =  190.16 + 360.9856235 d      ( Prime meridian )
+ 
+ 
+        T represents centuries past J2000 ( TDB ),
+ 
+        d represents days past J2000 ( TDB ).
+ 
+     In this file, the polynomials' coefficients above are assigned to the
+     symbols
+ 
+        BODY399_POLE_RA
+        BODY399_POLE_DEC
+        BODY399_POLE_PM
+ 
+     as follows:
+ 
+        BODY399_POLE_RA        = (    0.      -0.641         0. )
+        BODY399_POLE_DEC       = (   90.      -0.557         0. )
+        BODY399_PM             = (  190.16   360.9856235     0. )
+ 
+     Note the number "399"; this is the NAIF ID code for the Earth.
+ 
+     You'll see an additional symbol grouped with the ones listed here; it
+     is
+ 
+        BODY399_LONG_AXIS
+ 
+     This term is zero for all bodies except Mars. It represents the
+     angular offset between the meridian containing the longest axis of
+     the triaxial ellipsoid used to model a body and the prime meridian
+     of the body.
+
+     Expressions for satellites are a little more complicated; in addition
+     to polynomial terms, there are trigonometric terms. The arguments of
+     the trigonometric terms are linear polynomials. In this file, we call
+     the arguments of these trigonometric terms "nutation precession
+     angles."
+ 
+     In this file, the polynomial expressions for the nutation precession
+     angles are listed along with the planet's RA, DEC, and prime meridian
+     terms.
+ 
+     Example: 1991 IAU nutation precession angles for Earth.  Note that these
+     values are used as an example only; see the data area below for current 
+     values.
+ 
+        E1 = 125.045 -  0.052992 d
+        E2 = 250.090 -  0.105984 d
+        E3 = 260.008 + 13.012001 d
+        E4 = 176.625 + 13.340716 d
+        E5 = 357.529 +  0.985600 d
+ 
+        d represents days past J2000 ( TDB )
+ 
+     Because the SPICE Toolkit software expects the time units for the
+     angles to be CENTURIES (as in the IAU models for most bodies--the
+     Earth is an exception), the linear coefficients are scaled by 
+     36525.0 (days/century) in the assignments:
+ 
+        BODY3_NUT_PREC_ANGLES  = (  125.045    -1935.5328
+                                    250.090    -3871.0656
+                                    260.008   475263.336525
+                                    176.625   487269.6519
+                                    357.529    35999.04     )
+ 
+     As stated above, the satellite orientation models use polynomial and
+     trigonometric terms, where the arguments of the trigonometric terms
+     are the "nutation precession angles."
+ 
+     Example: 1988 IAU values for the Moon.  Again, these values are used 
+     as an example only; see the data area below for current values.
+ 
+ 
+        alpha   =  270.000  +  0.003 T  -  3.878 sin(E1) - 0.120 sin(E2)
+             0
+                                        +  0.070 sin(E3) - 0.017 sin(E4)  (RA)
+ 
+ 
+        delta   =  66.541   +  0.013 T  +  1.543 cos(E1) + 0.024 cos(E2)
+             0
+                                        -  0.028 cos(E3) + 0.007 cos(E4)  (DEC)
+ 
+ 
+        W       =  38.317   + 13.1763582 d    +  3.558 sin(E1)
+ 
+                                              +  0.121 sin(E2)
+ 
+                                              -  0.064 sin(E3)
+ 
+                                              +  0.016 sin(E4)
+ 
+                                              +  0.025 sin(E5)  ( Prime
+                                                                 meridian )
+ 
+        d represents days past J2000.
+ 
+        E1--E5 are the nutation precession angles.
+ 
+     The polynomial terms are assigned to symbols by the statements
+ 
+        BODY301_POLE_RA        = (  270.000    0.003        0. )
+        BODY301_POLE_DEC       = (   66.541    0.013        0. )
+        BODY301_PM             = (   38.317   13.1763582    0. )
+ 
+     The coefficients of the trigonometric terms are assigned to symbols by
+     the statements
+ 
+        BODY301_NUT_PREC_RA  = (  -3.878  -0.120   0.070  -0.017   0.    )
+        BODY301_NUT_PREC_DEC = (   1.543   0.024  -0.028   0.007   0.    )
+        BODY301_NUT_PREC_PM  = (   3.558   0.121  -0.064   0.016   0.025 )
+ 
+     Note that for the RA and PM (prime meridian) assignments, the ith term
+     is the coefficient of sin(Ei) in the expression used in the IAU model,
+     while for the DEC assignment, the ith term is the coefficient of
+     cos(Ei) in the expression used in the IAU model.
+ 
+     SPICE software expects the models for satellite orientation to
+     follow the form of the model shown here: the polynomial portions of the
+     RA, DEC, and W expressions are expected to be quadratic, the 
+     trigonometric terms for RA and W (satellite prime meridian) are expected 
+     to be linear combinations of sines of nutation precession angles, the 
+     trigonometric terms for DEC are expected to be linear combinations of 
+     cosines of nutation precession angles, and the polynomials for the 
+     nutation precession angles themselves are expected to be linear.
+ 
+     Eventually, the software will handle more complex expressions, we
+     expect.
+ 
+ 
+Shape models
+ 
+     There is only one kind of shape model supported by the SPICE Toolkit
+     software at present: the triaxial ellipsoid. The 2000 IAU report does
+     not use any other models, except in the case of Mars, where 
+     separate values are given for the north and south polar radii.
+ 
+     For each body, three radii are listed:  The first number is
+     the largest equatorial radius (the length of the semi-axis
+     containing the prime meridian), the second number is the smaller
+     equatorial radius, and the third is the polar radius.
+ 
+     Example: Radii of the Earth.
+ 
+        BODY399_RADII     = (     6378.14    6378.14      6356.75   )
+ 
+ 
+Body numbers and names
+--------------------------------------------------------
+ 
+ 
+        1  Mercury barycenter
+        2  Venus barycenter
+        3  Earth barycenter
+        4  Mars barycenter
+        5  Jupiter barycenter
+        6  Saturn barycenter
+        7  Uranus barycenter
+        8  Neptune barycenter
+        9  Pluto barycenter
+        10 Sun
+ 
+        While not relevant to the P_constants kernel, we note here for
+        completeness that 0 is used to represent the solar system
+        barycenter.
+ 
+        199 Mercury
+ 
+ 
+        299 Venus
+ 
+ 
+        399 Earth
+ 
+        301 Moon
+ 
+ 
+        499 Mars
+ 
+        401 Phobos      402 Deimos
+ 
+ 
+        599 Jupiter
+ 
+        501 Io          502 Europa      503 Ganymede    504 Callisto
+        505 Amalthea    506 Himalia     507 Elara       508 Pasiphae
+        509 Sinope      510 Lysithea    511 Carme       512 Ananke
+        513 Leda        514 Thebe       515 Adrastea    516 Metis
+ 
+ 
+        699 Saturn
+ 
+        601 Mimas       602 Enceladus   603 Tethys      604 Dione
+        605 Rhea        606 Titan       607 Hyperion    608 Iapetus
+        609 Phoebe      610 Janus       611 Epimetheus  612 Helene
+        613 Telesto     614 Calypso     615 Atlas       616 Prometheus
+        617 Pandora     618 Pan
+ 
+ 
+        799 Uranus
+ 
+        701 Ariel       702 Umbriel     703 Titania     704 Oberon
+        705 Miranda     706 Cordelia    707 Ophelia     708 Bianca
+        709 Cressida    710 Desdemona   711 Juliet      712 Portia
+        713 Rosalind    714 Belinda     715 Puck
+ 
+ 
+        899 Neptune
+ 
+        801 Triton      802 Nereid      803 Naiad       804 Thalassa
+        805 Despina     806 Galatea     807 Larissa     808 Proteus
+ 
+ 
+        999 Pluto
+ 
+        901 Charon
+ 
+ 
+        2000004 Asteroid Vesta
+        2000216 Asteroid Kleopatra
+        2000433 Asteroid Eros
+        2431010 Asteroid Ida
+        9511010 Asteroid Gaspra
+        
+ 
+Orientation constants for the Sun and planets
+--------------------------------------------------------
+ 
+ 
+Sun
+ 
+     Old values:
+ 
+        Values are unchanged in the 2000 IAU report.
+ 
+     Current values:
+ 
+        \begindata
+ 
+        BODY10_POLE_RA         = (  286.13       0.          0. )
+        BODY10_POLE_DEC        = (   63.87       0.          0. )
+        BODY10_PM              = (   84.10      14.18440     0. )
+        BODY10_LONG_AXIS       = (    0.                        )
+
+        \begintext
+ 
+Mercury
+ 
+     Old values:
+ 
+        body199_pole_ra          = (  281.01,     -0.033,      0. )
+        body199_pole_dec         = (   61.45,     -0.005,      0. )
+        body199_pm               = (  329.55       6.1385025   0. )
+ 
+        body199_long_axis        = (    0.                        )
+
+
+     Current values:
+  
+        \begindata
+
+        BODY199_POLE_RA          = (  281.01     -0.033      0. )
+        BODY199_POLE_DEC         = (   61.45     -0.005      0. )
+        BODY199_PM               = (  329.548     6.1385025  0. )
+ 
+        BODY199_LONG_AXIS        = (    0.                        )
+ 
+        \begintext
+ 
+  
+Venus
+ 
+     Old values:
+ 
+        Values are unchanged in the 2000 IAU report. 
+ 
+     Current values:
+ 
+        \begindata
+ 
+        BODY299_POLE_RA          = (  272.76       0.          0. )
+        BODY299_POLE_DEC         = (   67.16       0.          0. )
+        BODY299_PM               = (  160.20      -1.4813688   0. )
+ 
+        BODY299_LONG_AXIS        = (    0.                        )
+ 
+        \begintext
+
+
+Earth
+ 
+     Old values:
+ 
+        Values shown are from the 1994 IAU report [4].
+        
+           body399_pole_ra        = (    0.      -0.641         0. )
+           body399_pole_dec       = (   90.      -0.557         0. )
+           body399_pm             = (  190.16   360.9856235     0. )
+           body399_long_axis      = (    0.                        )
+ 
+        Nutation precession angles are unchanged in the 2000 report.
+ 
+ 
+     Current values:
+ 
+        \begindata 
+ 
+        BODY399_POLE_RA        = (    0.      -0.641         0. )
+        BODY399_POLE_DEC       = (   90.      -0.557         0. )
+        BODY399_PM             = (  190.147  360.9856235     0. )
+        BODY399_LONG_AXIS      = (    0.                        )
+
+        \begintext
+
+
+        Nutation precession angles for the Earth-Moon system:
+
+           The linear coefficients have been scaled up from degrees/day
+           to degrees/century, because the SPICELIB PCK reader expects
+           these units.  The original constants were:
+        
+                                    125.045D0   -0.0529921D0
+                                    250.089D0   -0.1059842D0
+                                    260.008D0   13.0120009D0
+                                    176.625D0   13.3407154D0
+                                    357.529D0    0.9856003D0
+                                    311.589D0   26.4057084D0
+                                    134.963D0   13.0649930D0
+                                    276.617D0    0.3287146D0
+                                     34.226D0    1.7484877D0
+                                     15.134D0   -0.1589763D0
+                                    119.743D0    0.0036096D0
+                                    239.961D0    0.1643573D0
+                                     25.053D0   12.9590088D0 
+
+
+        \begindata
+
+       
+        BODY3_NUT_PREC_ANGLES  = (  125.045         -1935.5364525000
+                                    250.089         -3871.0729050000
+                                    260.008        475263.3328725000  
+                                    176.625        487269.6299850000
+                                    357.529         35999.0509575000
+                                    311.589        964468.4993100000
+                                    134.963        477198.8693250000
+                                    276.617         12006.3007650000
+                                     34.226         63863.5132425000 
+                                     15.134         -5806.6093575000
+                                    119.743           131.8406400000
+                                    239.961          6003.1503825000 
+                                     25.053        473327.7964200000 )
+
+
+        \begintext
+ 
+
+     Earth north geomagnetic centered dipole:
+
+        Old values:
+
+           Values are from [11].  Note the year of publication was 1971.
+
+           body399_mag_north_pole_lon  =  ( -69.761 )
+           body399_mag_north_pole_lat  =  (  78.565 )
+
+
+        Current values:
+
+           The north dipole location is time-varying.  The values shown
+           below, taken from [12], represent a discrete sampling of the
+           north dipole location from 1945 to 2000. The terms DGRF and
+           IGRF refer to, respectively, "Definitive Geomagnetic
+           Reference Field" and "International Geomagnetic Reference
+           Field."  See references [10], [12], and [13] for details.
+
+           Coordinates are planetocentric. 
+
+             Data source    Lat      Lon
+             -----------   -----    ------
+              DGRF 1945    78.47    291.47
+              DGRF 1950    78.47    291.15
+              DGRF 1955    78.46    290.84
+              DGRF 1960    78.51    290.53
+              DGRF 1965    78.53    290.15
+              DGRF 1970    78.59    289.82
+              DGRF 1975    78.69    289.53
+              DGRF 1980    78.81    289.24 
+              DGRF 1985    78.97    289.10
+              DGRF 1990    79.13    288.89
+              IGRF 1995    79.30    288.59
+              IGRF 2000    79.54    288.43      
+
+
+        Values are given for the epoch 2000 and are from the final row
+        of the above table, which is from [12]. As shown by the table
+        these values constitute a low-accuracy approximation for epochs
+        not close to 2000.
+
+        \begindata
+       
+        BODY399_N_GEOMAG_CTR_DIPOLE_LON  =  ( 288.43 )
+        BODY399_N_GEOMAG_CTR_DIPOLE_LAT  =  (  79.54 )
+
+        \begintext
+
+ 
+Mars
+ 
+     Old values:
+ 
+        Values shown are from the 1994 IAU report [4].
+        
+           body499_pole_ra          = (  317.681     -0.108       0.  )
+           body499_pole_dec         = (   52.886     -0.061       0.  )
+           body499_pm               = (  176.901    350.8919830   0.  )
+
+        Nutation precession angles are unchanged in the 2000 IAU report.
+
+        Old lambda_a values were specified as POSITIVE WEST LONGITUDE.
+        Reference [14] gave the value
+
+           body499_long_axis        = (  110.  )
+ 
+        and reference [15] gave the value
+
+           body499_long_axis        = (  104.9194  )
+
+   
+     Current values:
+ 
+        \begindata
+ 
+        BODY499_POLE_RA          = (  317.68143   -0.1061      0.  )
+        BODY499_POLE_DEC         = (   52.88650   -0.0609      0.  )
+        BODY499_PM               = (  176.630    350.89198226  0.  )
+
+        \begintext
+ 
+        Source [9] specifies the following value for the lambda_a term
+        (BODY499_LONG_AXIS ) for Mars. This term is the POSITIVE EAST
+        LONGITUDE, measured from the prime meridian, of the meridian
+        containing the longest axis of the reference ellipsoid.
+        (CAUTION: previous values were POSITIVE WEST.)
+
+           body499_long_axis        = (  252.  )
+ 
+        We list this lambda_a value for completeness. The IAU report
+        [2] gives equal values for both equatorial radii, so the
+        lambda_a offset does not apply to the IAU model.
+ 
+        The 2000 IAU report defines M2, the second nutation precession angle,
+        by:
+ 
+                                                2
+           192.93  +  1128.4096700 d  +  8.864 T
+ 
+        We truncate the M2 series to a linear expression, because the PCK
+        software cannot handle the quadratic term.
+ 
+        Again, the linear terms are scaled by 36525.0:
+ 
+            -0.4357640000000000       -->     -15916.28010000000
+          1128.409670000000           -->   41215163.19675000
+            -1.8151000000000000E-02   -->       -662.9652750000000
+ 
+        We also introduce a fourth nutation precession angle, which
+        is the pi/2-complement of the third angle.  This angle is used
+        in computing the prime meridian location for Deimos.  See the
+        discussion of this angle below in the section containing orientation
+        constants for Deimos.
+ 
+        \begindata
+
+        BODY4_NUT_PREC_ANGLES  = (  169.51     -15916.2801
+                                    192.93   41215163.19675
+                                     53.47       -662.965275
+                                     36.53        662.965275  )
+ 
+        \begintext
+ 
+ 
+Jupiter
+ 
+     Old values:
+ 
+        body599_pole_ra        = (   268.05    -0.009      0.  )
+        body599_pole_dec       = (   +64.49    +0.003      0.  )
+        body599_pm             = (   284.95  +870.5366420  0.  )
+        body599_long_axis      = (     0.                      )
+ 
+        body5_nut_prec_angles  = (   73.32   +91472.9
+                                     24.62   +45137.2
+                                    283.90    +4850.7
+                                    355.80    +1191.3
+                                    119.90     +262.1
+                                    229.80      +64.3
+                                    352.25    +2382.6
+                                    113.35    +6070.0
+                                    146.64  +182945.8
+                                     49.24   +90274.4  )
+                 
+     Current values:
+ 
+        The number of nutation precession angles is ten. The ninth and
+        tenth are twice the first and second, respectively.
+ 
+        \begindata
+ 
+ 
+        BODY599_POLE_RA        = (   268.05      -0.009       0. )
+        BODY599_POLE_DEC       = (    64.49       0.003       0. )
+        BODY599_PM             = (   284.95     870.5366420   0. )
+        BODY599_LONG_AXIS      = (     0.                        )
+ 
+        BODY5_NUT_PREC_ANGLES  = (    73.32   91472.9
+                                      24.62   45137.2
+                                     283.90    4850.7
+                                     355.80    1191.3
+                                     119.90     262.1
+                                     229.80      64.3
+                                     352.35    2382.6
+                                     113.35    6070.0   
+                                     146.64  182945.8
+                                      49.24   90274.4  )
+        \begintext
+ 
+ 
+Saturn
+ 
+     Old values:
+ 
+        Values are unchanged in the 2000 IAU report.
+
+     Current values:
+ 
+        \begindata
+
+        BODY699_POLE_RA        = (    40.589    -0.036      0.  )
+        BODY699_POLE_DEC       = (    83.537    -0.004      0.  )
+        BODY699_PM             = (    38.90    810.7939024  0.  )
+        BODY699_LONG_AXIS      = (     0.                       )
+ 
+       \begintext
+ 
+        The first seven angles given here are the angles S1 
+        through S7 from the 2000 report; the eighth and
+        ninth angles are 2*S1 and 2*S2, respectively.
+ 
+ 
+        \begindata
+
+        BODY6_NUT_PREC_ANGLES  = (  353.32   75706.7
+                                     28.72   75706.7  
+                                    177.40  -36505.5 
+                                    300.00   -7225.9 
+                                    316.45     506.2
+                                    345.20   -1016.3  
+                                     29.80     -52.1
+                                    706.64  151413.4
+                                     57.44  151413.4  )
+       \begintext
+ 
+ 
+Uranus
+ 
+     Old values:
+ 
+        Values are unchanged in the 2000 IAU report.
+ 
+     Current values:
+ 
+        \begindata
+ 
+        BODY799_POLE_RA        = (  257.311     0.         0.  )
+        BODY799_POLE_DEC       = (  -15.175     0.         0.  )
+        BODY799_PM             = (  203.81   -501.1600928  0.  )
+        BODY799_LONG_AXIS      = (    0.                       )
+ 
+        \begintext
+        
+        The first 16 angles given here are the angles U1 
+        through U16 from the 2000 report; the 17th and
+        18th angles are 2*U11 and 2*U12, respectively.
+        
+        \begindata
+         
+        BODY7_NUT_PREC_ANGLES  = (  115.75   54991.87
+                                    141.69   41887.66
+                                    135.03   29927.35
+                                     61.77   25733.59  
+                                    249.32   24471.46
+                                     43.86   22278.41 
+                                     77.66   20289.42  
+                                    157.36   16652.76  
+                                    101.81   12872.63   
+                                    138.64    8061.81
+                                    102.23   -2024.22 
+                                    316.41    2863.96  
+                                    304.01     -51.94  
+                                    308.71     -93.17 
+                                    340.82     -75.32 
+                                    259.14    -504.81 
+                                    204.46   -4048.44
+                                    632.82    5727.92     )
+                                    
+        \begintext
+ 
+ 
+ 
+Neptune
+ 
+     Old values:
+ 
+        Values are unchanged in the 2000 IAU report.  However,
+        the kernel variables used to store the values have changed.
+        See note immediately below. 
+ 
+     Current values:
+
+        The kernel variables 
+
+           BODY899_NUT_PREC_RA
+           BODY899_NUT_PREC_DEC
+           BODY899_NUT_PREC_PM
+ 
+        are new in this PCK version (dated October 17, 2003).  
+        These variables capture trigonometric terms in the expressions
+        for Neptune's pole direction and prime meridian location.
+        Version N0057 of the SPICE Toolkit uses these variables;
+        earlier versions can read them but ignore them when 
+        computing Neptune's orientation.
+
+           \begindata        
+ 
+           BODY899_POLE_RA        = (  299.36     0.         0. )
+           BODY899_POLE_DEC       = (   43.46     0.         0. )
+           BODY899_PM             = (  253.18   536.3128492  0. )
+           BODY899_LONG_AXIS      = (    0.                     )
+
+
+           BODY899_NUT_PREC_RA    = (  0.70 0. 0. 0. 0. 0. 0. 0. ) 
+           BODY899_NUT_PREC_DEC   = ( -0.51 0. 0. 0. 0. 0. 0. 0. )
+           BODY899_NUT_PREC_PM    = ( -0.48 0. 0. 0. 0. 0. 0. 0. )
+
+           \begintext
+ 
+           The 2000 report defines the nutation precession angles
+ 
+              N, N1, N2, ... , N7
+ 
+           and also uses the multiples of N1 and N7
+ 
+              2*N1
+ 
+           and
+ 
+              2*N7, 3*N7, ..., 9*N7
+ 
+           In this file, we treat the angles and their multiples as
+           separate angles.  In the kernel variable
+ 
+              BODY8_NUT_PREC_ANGLES
+ 
+           the order of the angles is
+ 
+              N, N1, N2, ... , N7, 2*N1, 2*N7, 3*N7, ..., 9*N7
+ 
+           Each angle is defined by a linear polynomial, so two
+           consecutive array elements are allocated for each
+           angle.  The first term of each pair is the constant term,
+           the second is the linear term.
+ 
+              \begindata 
+
+              BODY8_NUT_PREC_ANGLES = (   357.85         52.316
+                                          323.92      62606.6
+                                          220.51      55064.2 
+                                          354.27      46564.5
+                                           75.31      26109.4 
+                                           35.36      14325.4
+                                          142.61       2824.6  
+                                          177.85         52.316 
+                                          647.840    125213.200
+                                          355.700       104.632
+                                          533.550       156.948
+                                          711.400       209.264
+                                          889.250       261.580
+                                         1067.100       313.896
+                                         1244.950       366.212
+                                         1422.800       418.528
+                                         1600.650       470.844   )
+                                         
+               \begintext
+ 
+ 
+ 
+Pluto
+ 
+     Old values:
+ 
+         Values are unchanged in the 2000 IAU report. 
+ 
+     Current values:
+ 
+        \begindata
+ 
+        BODY999_POLE_RA        = (  313.02    0.         0.   )
+        BODY999_POLE_DEC       = (    9.09    0.         0.   )
+        BODY999_PM             = (  236.77  -56.3623195  0.   )
+        BODY999_LONG_AXIS      = (    0.                     )
+
+       \begintext
+ 
+ 
+ 
+ 
+Orientation constants for the satellites
+--------------------------------------------------------
+ 
+ 
+Satellites of Earth
+ 
+     Old values:
+ 
+        Values are from the 1988 IAU report.
+        
+        body301_pole_ra        = (  270.000    0.           0. )
+        body301_pole_dec       = (   66.534    0.           0. )
+        body301_pm             = (   38.314   13.1763581    0. )
+        body301_long_axis      = (    0.                       )
+ 
+        body301_nut_prec_ra  = (  -3.878  -0.120   0.070  -0.017   0.    )
+        body301_nut_prec_dec = (   1.543   0.024  -0.028   0.007   0.    )
+        body301_nut_prec_pm  = (   3.558   0.121  -0.064   0.016   0.025 )
+ 
+        BODY301_POLE_RA      = (  269.9949    0.0031        0.        )
+        BODY301_POLE_DEC     = (   66.5392    0.0130        0.        )
+        BODY301_PM           = (   38.3213   13.17635815   -1.4D-12   )
+        BODY301_LONG_AXIS    = (    0.                                )
+   
+        BODY301_NUT_PREC_RA  = (  -3.8787   -0.1204   0.0700  -0.0172
+                                   0.        0.0072   0.       0.
+                                   0.       -0.0052   0.       0.
+                                   0.0043                             )
+        
+        BODY301_NUT_PREC_DEC = (   1.5419   0.0239   -0.0278   0.0068
+                                   0.      -0.0029    0.0009   0.
+                                   0.       0.0008    0.       0.
+                                  -0.0009                             )
+        
+        BODY301_NUT_PREC_PM  = (  3.5610    0.1208   -0.0642   0.0158
+                                  0.0252   -0.0066   -0.0047  -0.0046
+                                  0.0028    0.0052    0.0040   0.0019
+                                 -0.0044                              )
+ 
+     New values:
+ 
+        \begindata
+ 
+ 
+
+
+
+        BODY301_POLE_RA      = (  269.9949        0.0031        0.      )
+        BODY301_POLE_DEC     = (   66.5392        0.0130        0.      )
+        BODY301_PM           = (   38.3213       13.17635815   -1.4D-12 )
+        BODY301_LONG_AXIS    = (    0.                                  )
+   
+        BODY301_NUT_PREC_RA  = (   -3.8787   -0.1204   0.0700   -0.0172
+                                    0.0       0.0072   0.0       0.0
+                                    0.0      -0.0052   0.0       0.0
+                                    0.0043                              )
+        
+        BODY301_NUT_PREC_DEC = (   1.5419     0.0239  -0.0278    0.0068
+                                   0.0       -0.0029   0.0009    0.0
+                                   0.0        0.0008   0.0       0.0     
+                                  -0.0009                               )
+        
+        BODY301_NUT_PREC_PM  = (   3.5610     0.1208  -0.0642    0.0158
+                                   0.0252    -0.0066  -0.0047   -0.0046
+                                   0.0028     0.0052   0.0040    0.0019
+                                  -0.0044                               )
+       \begintext
+ 
+
+ 
+Satellites of Mars
+ 
+ 
+     Phobos
+ 
+          Old values:
+ 
+             Values are unchanged in the 2000 IAU report.
+ 
+          Current values:
+ 
+            The quadratic prime meridian term is scaled by 1/36525**2:
+ 
+               8.864000000000000   --->   6.6443009930565219E-09
+ 
+          \begindata
+ 
+          BODY401_POLE_RA  = ( 317.68    -0.108     0.                     )
+          BODY401_POLE_DEC = (  52.90    -0.061     0.                     )
+          BODY401_PM       = (  35.06  1128.8445850 6.6443009930565219E-09 )
+                                       
+          BODY401_LONG_AXIS     = (    0.         0. )
+ 
+          BODY401_NUT_PREC_RA   = (   1.79    0.    0.   0. )
+          BODY401_NUT_PREC_DEC  = (  -1.08    0.    0.   0. )
+          BODY401_NUT_PREC_PM   = (  -1.42   -0.78  0.   0. )
+
+
+         \begintext
+ 
+ 
+     Deimos
+ 
+        Old values:
+ 
+           Values are unchanged in the 2000 IAU report.
+ 
+ 
+        New values:
+ 
+           The Deimos prime meridian expression is:
+ 
+ 
+                                                     2
+              W = 79.41  +  285.1618970 d  -  0.520 T  -  2.58 sin M
+                                                                    3
+ 
+                                                       +  0.19 cos M .
+                                                                    3
+ 
+ 
+           At the present time, the PCK kernel software (the routine
+           BODEUL in particular) cannot handle the cosine term directly,
+           but we can represent it as
+ 
+              0.19 sin M
+                        4
+ 
+           where
+ 
+              M   =  90.D0 - M
+               4              3
+ 
+           Therefore, the nutation precession angle assignments for Phobos
+           and Deimos contain four coefficients rather than three.
+ 
+           The quadratic prime meridian term is scaled by 1/36525**2:
+ 
+              -0.5200000000000000  --->   -3.8978300049519307E-10
+ 
+           \begindata
+ 
+           BODY402_POLE_RA       = (  316.65     -0.108       0.           )
+           BODY402_POLE_DEC      = (   53.52     -0.061       0.           )
+           BODY402_PM            = (   79.41    285.1618970  -3.897830D-10 )
+           BODY402_LONG_AXIS     = (    0.                                 )
+ 
+           BODY402_NUT_PREC_RA   = (    0.   0.   2.98    0.   )
+           BODY402_NUT_PREC_DEC  = (    0.   0.  -1.78    0.   )
+           BODY402_NUT_PREC_PM   = (    0.   0.  -2.58    0.19 )
+
+          \begintext
+ 
+ 
+ 
+ 
+Satellites of Jupiter
+ 
+ 
+     Io
+ 
+          Old values:
+ 
+             Values are unchanged in the 2000 IAU report.
+ 
+          Current values:
+         
+        \begindata
+ 
+        BODY501_POLE_RA       = (  268.05          -0.009      0. )
+        BODY501_POLE_DEC      = (   64.50           0.003      0. )
+        BODY501_PM            = (  200.39         203.4889538  0. )
+        BODY501_LONG_AXIS     = (    0.                           )
+ 
+        BODY501_NUT_PREC_RA   = (    0.   0.     0.094    0.024   )
+        BODY501_NUT_PREC_DEC  = (    0.   0.     0.040    0.011   )
+        BODY501_NUT_PREC_PM   = (    0.   0.    -0.085   -0.022   )
+
+        \begintext
+ 
+ 
+ 
+     Europa
+ 
+ 
+        Old values:
+
+        body502_pole_ra       = (  268.08          -0.009      0.   )
+        body502_pole_dec      = (   64.51           0.003      0.   )
+        body502_pm            = (   35.67         101.3747235  0.   )
+        body502_long_axis     = (    0.                             )
+ 
+        body502_nut_prec_ra   = ( 0. 0. 0.   1.086   0.060   0.015   0.009 )
+        body502_nut_prec_dec  = ( 0. 0. 0.   0.468   0.026   0.007   0.002 )
+        body502_nut_prec_pm   = ( 0. 0. 0.  -0.980  -0.054  -0.014  -0.008 )
+        
+        Current values:
+ 
+        \begindata 
+ 
+        BODY502_POLE_RA       = (  268.08          -0.009      0.   )
+        BODY502_POLE_DEC      = (   64.51           0.003      0.   )
+        BODY502_PM            = (   36.022        101.3747235  0.   )
+        BODY502_LONG_AXIS     = (    0.                             )
+ 
+        BODY502_NUT_PREC_RA   = ( 0. 0. 0.   1.086   0.060   0.015   0.009 )
+        BODY502_NUT_PREC_DEC  = ( 0. 0. 0.   0.468   0.026   0.007   0.002 )
+        BODY502_NUT_PREC_PM   = ( 0. 0. 0.  -0.980  -0.054  -0.014  -0.008 )
+ 
+        \begintext
+ 
+ 
+     Ganymede
+ 
+        Old values:
+
+        body503_pole_ra       = (  268.20          -0.009      0.   )
+        body503_pole_dec      = (  +64.57          +0.003      0.   )
+        body503_pm            = (   44.04         +50.3176081  0.   )
+        body503_long_axis     = (    0.                             )
+ 
+        body503_nut_prec_ra   = ( 0. 0. 0.  -0.037  +0.431  +0.091   )
+        body503_nut_prec_dec  = ( 0. 0. 0.  -0.016  +0.186  +0.039   )
+        body503_nut_prec_pm   = ( 0. 0. 0.  +0.033  -0.389  -0.082   )
+        
+        Current values:
+        
+        \begindata
+    
+        BODY503_POLE_RA       = (  268.20         -0.009       0.  )
+        BODY503_POLE_DEC      = (   64.57          0.003       0.  )
+        BODY503_PM            = (   44.064        50.3176081   0.  )
+        BODY503_LONG_AXIS     = (    0.                            )
+
+        BODY503_NUT_PREC_RA   = ( 0. 0. 0.  -0.037   0.431   0.091   )
+        BODY503_NUT_PREC_DEC  = ( 0. 0. 0.  -0.016   0.186   0.039   )
+        BODY503_NUT_PREC_PM   = ( 0. 0. 0.   0.033  -0.389  -0.082   )
+ 
+        \begintext
+ 
+ 
+     Callisto
+ 
+ 
+        Old values:
+        
+        body504_pole_ra       = (   268.72   -0.009      0.  )
+        body504_pole_dec      = (   +64.83   +0.003      0.  )
+        body504_pm            = (   259.73  +21.5710715  0.  )
+        body504_long_axis     = (     0.                     )
+ 
+        body504_nut_prec_ra   = ( 0. 0. 0. 0. -0.068 +0.590  0. +0.010 )
+        body504_nut_prec_dec  = ( 0. 0. 0. 0. -0.029 +0.254  0. -0.004 )
+        body504_nut_prec_pm   = ( 0. 0. 0. 0. +0.061 -0.533  0. -0.009 )
+        
+        Current values:
+        
+        
+        \begindata
+  
+        BODY504_POLE_RA       = (   268.72    -0.009       0.  )
+        BODY504_POLE_DEC      = (    64.83     0.003       0.  )
+        BODY504_PM            = (   259.51    21.5710715   0.  )
+        BODY504_LONG_AXIS     = (     0.                       )
+ 
+        BODY504_NUT_PREC_RA   = ( 0. 0. 0. 0.  -0.068   0.590  0.   0.010 )
+        BODY504_NUT_PREC_DEC  = ( 0. 0. 0. 0.  -0.029   0.254  0.  -0.004 )
+        BODY504_NUT_PREC_PM   = ( 0. 0. 0. 0.   0.061  -0.533  0.  -0.009 )
+ 
+        \begintext
+ 
+ 
+     Amalthea
+ 
+ 
+        Old values:
+        
+           Values are unchanged in the 2000 IAU report.        
+        
+        Current values:
+         
+        \begindata
+ 
+        BODY505_POLE_RA       = (   268.05    -0.009      0.  )
+        BODY505_POLE_DEC      = (    64.49     0.003      0.  )
+        BODY505_PM            = (   231.67   722.6314560  0.  )
+        BODY505_LONG_AXIS     = (     0.                      )
+ 
+        BODY505_NUT_PREC_RA  = ( -0.84  0. 0. 0. 0. 0. 0. 0.   0.01  0. )
+        BODY505_NUT_PREC_DEC = ( -0.36  0. 0. 0. 0. 0. 0. 0.   0.    0. )
+        BODY505_NUT_PREC_PM  = (  0.76  0. 0. 0. 0. 0. 0. 0.  -0.01  0. )
+ 
+        \begintext
+ 
+ 
+     Thebe
+ 
+ 
+        Old values:
+                
+           Values are unchanged in the 2000 IAU report.                
+          
+        Current values:
+        
+        \begindata
+ 
+        BODY514_POLE_RA       = (  268.05     -0.009       0.  )
+        BODY514_POLE_DEC      = (   64.49      0.003       0.  )
+        BODY514_PM            = (    8.56    533.7004100   0.  )
+        BODY514_LONG_AXIS     = (    0.                        )
+ 
+        BODY514_NUT_PREC_RA  = ( 0.  -2.11  0. 0. 0. 0. 0. 0. 0.  0.04 )
+        BODY514_NUT_PREC_DEC = ( 0.  -0.91  0. 0. 0. 0. 0. 0. 0.  0.01 )
+        BODY514_NUT_PREC_PM  = ( 0.   1.91  0. 0. 0. 0. 0. 0. 0. -0.04 )
+ 
+        \begintext
+ 
+ 
+     Adrastea
+ 
+        Old values:
+                
+           Values are unchanged in the 2000 IAU report.                
+        
+        Current values:
+        
+        \begindata
+ 
+ 
+ 
+        BODY515_POLE_RA       = (  268.05     -0.009       0.  )
+        BODY515_POLE_DEC      = (   64.49      0.003       0.  )
+        BODY515_PM            = (   33.29   1206.9986602   0.  )
+        BODY515_LONG_AXIS     = (    0.                        )
+
+        \begintext
+ 
+ 
+     Metis
+  
+        Old values:
+        
+           Values are unchanged in the 2000 IAU report.  
+              
+        Current values:
+           
+        \begindata
+
+        BODY516_POLE_RA       = (  268.05     -0.009       0.  )
+        BODY516_POLE_DEC      = (   64.49      0.003       0.  )
+        BODY516_PM            = (  346.09   1221.2547301   0.  )
+        BODY516_LONG_AXIS     = (    0.                        )
+ 
+        \begintext
+ 
+ 
+ 
+Satellites of Saturn
+      
+     
+     Mimas
+ 
+        Old values:
+        
+           Values are unchanged in the 2000 IAU report.  
+               
+        Current values:
+ 
+           \begindata
+  
+           BODY601_POLE_RA       = (   40.66     -0.036      0.  )
+           BODY601_POLE_DEC      = (   83.52     -0.004      0.  )
+           BODY601_PM            = (  337.46    381.9945550  0.  )
+           BODY601_LONG_AXIS     = (     0.                      )
+ 
+           BODY601_NUT_PREC_RA   = ( 0. 0.   13.56  0.    0.    0. 0. 0. 0. )
+           BODY601_NUT_PREC_DEC  = ( 0. 0.   -1.53  0.    0.    0. 0. 0. 0. )
+           BODY601_NUT_PREC_PM   = ( 0. 0.  -13.48  0.  -44.85  0. 0. 0. 0. )
+
+          \begintext
+ 
+ 
+     Enceladus
+ 
+ 
+        Old values:
+        
+           Values are unchanged in the 2000 IAU report.  
+               
+        Current values:
+ 
+           \begindata
+ 
+           BODY602_POLE_RA       = (   40.66    -0.036       0. )
+           BODY602_POLE_DEC      = (   83.52    -0.004       0. )
+           BODY602_PM            = (    2.82   262.7318996   0. )
+           BODY602_LONG_AXIS     = (    0.                      )
+
+           \begintext
+ 
+ 
+ 
+     Tethys
+ 
+ 
+        Old values:
+        
+           Values are unchanged in the 2000 IAU report. 
+ 
+        Current values:
+ 
+           \begindata
+ 
+           BODY603_POLE_RA       = (   40.66    -0.036       0. )
+           BODY603_POLE_DEC      = (   83.52    -0.004       0. )
+           BODY603_PM            = (   10.45   190.6979085   0. )
+           BODY603_LONG_AXIS     = (    0.                      )
+ 
+           BODY603_NUT_PREC_RA   = ( 0. 0. 0.   9.66   0.    0.  0.  0.  0. )
+           BODY603_NUT_PREC_DEC  = ( 0. 0. 0.  -1.09   0.    0.  0.  0.  0. )
+           BODY603_NUT_PREC_PM   = ( 0. 0. 0.  -9.60   2.23  0.  0.  0.  0. )
+
+           \begintext
+ 
+ 
+     Dione
+ 
+ 
+        Old values:
+        
+           Values are unchanged in the 2000 IAU report. 
+ 
+        Current values:
+ 
+           \begindata
+   
+           BODY604_POLE_RA       = (  40.66      -0.036      0.  )
+           BODY604_POLE_DEC      = (  83.52      -0.004      0.  )
+           BODY604_PM            = (  357.00    131.5349316  0.  )
+           BODY604_LONG_AXIS     = (    0.                       )
+
+          \begintext
+ 
+ 
+ 
+     Rhea
+     
+ 
+        Old values:
+        
+           Values are unchanged in the 2000 IAU report. 
+ 
+        Current values:
+ 
+           \begindata
+   
+           BODY605_POLE_RA       = (   40.38   -0.036       0. )
+           BODY605_POLE_DEC      = (   83.55   -0.004       0. )
+           BODY605_PM            = (  235.16   79.6900478   0. )
+           BODY605_LONG_AXIS     = (    0.                     )
+ 
+           BODY605_NUT_PREC_RA   = ( 0. 0. 0. 0. 0.   3.10   0. 0. 0. )
+           BODY605_NUT_PREC_DEC  = ( 0. 0. 0. 0. 0.  -0.35   0. 0. 0. )
+           BODY605_NUT_PREC_PM   = ( 0. 0. 0. 0. 0.  -3.08   0. 0. 0. )
+ 
+          \begintext
+ 
+ 
+ 
+     Titan
+ 
+ 
+        Old values:
+        
+           Values are unchanged in the 2000 IAU report. 
+
+        Current values:
+ 
+           \begindata
+ 
+           BODY606_POLE_RA       = (    36.41   -0.036      0. )
+           BODY606_POLE_DEC      = (    83.94   -0.004      0. )
+           BODY606_PM            = (   189.64   22.5769768  0. )
+           BODY606_LONG_AXIS     = (     0.                    )
+ 
+           BODY606_NUT_PREC_RA   = ( 0. 0. 0. 0. 0. 0.  2.66  0. 0 )
+           BODY606_NUT_PREC_DEC  = ( 0. 0. 0. 0. 0. 0. -0.30  0. 0 )
+           BODY606_NUT_PREC_PM   = ( 0. 0. 0. 0. 0. 0. -2.64  0. 0 )
+
+           \begintext
+ 
+ 
+ 
+     Hyperion
+ 
+         The IAU report does not give an orientation model for Hyperion.
+         Hyperion's rotation is in chaotic and is not predictable for
+         long periods.
+
+ 
+     Iapetus
+ 
+ 
+        Old values:
+        
+           Values are unchanged in the 2000 IAU report. 
+
+        Current values:
+ 
+           \begindata
+ 
+           BODY608_POLE_RA       = (   318.16  -3.949      0.  )
+           BODY608_POLE_DEC      = (    75.03  -1.143      0.  )
+           BODY608_PM            = (   350.20   4.5379572  0.  )
+           BODY608_LONG_AXIS     = (     0.                    )
+
+           \begintext
+ 
+ 
+ 
+     Phoebe
+ 
+
+        Old values:
+        
+           Values are unchanged in the 2000 IAU report. 
+
+        Current values:
+ 
+           \begindata 
+  
+           BODY609_POLE_RA       = ( 355.00       0.         0.  )
+           BODY609_POLE_DEC      = (  68.70       0.         0.  )
+           BODY609_PM            = ( 304.70     930.8338720  0.  )
+           BODY609_LONG_AXIS     = (    0.                       )
+
+          \begintext
+ 
+ 
+     Janus
+ 
+ 
+        Old values:
+        
+           Values are unchanged in the 2000 IAU report. 
+
+        Current values:
+ 
+           \begindata
+
+           BODY610_POLE_RA       = (  40.58    -0.036       0. )
+           BODY610_POLE_DEC      = (  83.52    -0.004       0. )
+           BODY610_PM            = (  58.83   518.2359876   0. )
+           BODY610_LONG_AXIS     = (   0.                      )
+ 
+           BODY610_NUT_PREC_RA   = ( 0. -1.623  0. 0. 0. 0. 0. 0.  0.023 )
+           BODY610_NUT_PREC_DEC  = ( 0. -0.183  0. 0. 0. 0. 0. 0.  0.001 )
+           BODY610_NUT_PREC_PM   = ( 0.  1.613  0. 0. 0. 0. 0. 0. -0.023 )
+ 
+           \begintext
+ 
+ 
+ 
+     Epimetheus
+ 
+ 
+        Old values:
+        
+           Values are unchanged in the 2000 IAU report. 
+         
+        Current values:
+ 
+           \begindata 
+  
+           BODY611_POLE_RA       = (  40.58    -0.036        0. )
+           BODY611_POLE_DEC      = (  83.52    -0.004        0. )
+           BODY611_PM            = ( 293.87   518.4907239    0. )
+           BODY611_LONG_AXIS     = (   0.                       )
+ 
+           BODY611_NUT_PREC_RA   = ( -3.153   0. 0. 0. 0. 0. 0.   0.086  0. )
+           BODY611_NUT_PREC_DEC  = ( -0.356   0. 0. 0. 0. 0. 0.   0.005  0. )
+           BODY611_NUT_PREC_PM   = (  3.133   0. 0. 0. 0. 0. 0.  -0.086  0. )
+
+          \begintext
+ 
+ 
+ 
+     Helene
+ 
+ 
+        Old values:
+        
+           Values are unchanged in the 2000 IAU report. 
+
+        Current values:
+ 
+           \begindata 
+ 
+           BODY612_POLE_RA       = (  40.85     -0.036        0. )
+           BODY612_POLE_DEC      = (  83.34     -0.004        0. )
+           BODY612_PM            = ( 245.12    131.6174056    0. )
+           BODY612_LONG_AXIS     = (   0.                        )
+
+           \begintext
+ 
+ 
+ 
+     Telesto
+ 
+ 
+        Old values:
+        
+           Values are unchanged in the 2000 IAU report. 
+
+        Current values:
+ 
+           \begindata 
+ 
+           BODY613_POLE_RA       = ( 50.51    -0.036      0.  )
+           BODY613_POLE_DEC      = ( 84.06    -0.004      0.  )
+           BODY613_PM            = ( 56.88   190.6979332  0.  )
+           BODY613_LONG_AXIS     = (  0.                      )
+
+           \begintext
+
+ 
+ 
+     Calypso
+ 
+ 
+        Old values:
+        
+           Values are unchanged in the 2000 IAU report. 
+
+        Current values:
+ 
+           \begindata
+  
+           BODY614_POLE_RA       = (   36.41    -0.036        0.  )
+           BODY614_POLE_DEC      = (   85.04    -0.004        0.  )
+           BODY614_PM            = (  153.51   190.6742373    0.  )
+           BODY614_LONG_AXIS     = (    0.                        )
+ 
+          \begintext
+ 
+ 
+ 
+     Atlas
+ 
+ 
+        Old values:
+        
+           Values are unchanged in the 2000 IAU report. 
+
+        Current values:
+ 
+           \begindata
+ 
+           BODY615_POLE_RA       = (   40.58     -0.036      0. )
+           BODY615_POLE_DEC      = (   83.53     -0.004      0. )  
+           BODY615_PM            = (  137.88    598.3060000  0. )
+           BODY615_LONG_AXIS     = (    0.                      )
+
+           \begintext
+ 
+ 
+ 
+     Prometheus
+ 
+ 
+        Old values:
+        
+           Values are unchanged in the 2000 IAU report. 
+
+        Current values:
+ 
+           \begindata
+  
+           BODY616_POLE_RA       = (  40.58      -0.036    )
+           BODY616_POLE_DEC      = (  83.53      -0.004    )
+           BODY616_PM            = ( 296.14     587.289000 )
+           BODY616_LONG_AXIS     = (   0.                  )
+ 
+           \begintext
+ 
+ 
+ 
+     Pandora
+ 
+ 
+        Old values:
+        
+           Values are unchanged in the 2000 IAU report. 
+
+        Current values:
+ 
+           \begindata
+ 
+           BODY617_POLE_RA       = (   40.58     -0.036      0.  )
+           BODY617_POLE_DEC      = (   83.53     -0.004      0.  )
+           BODY617_PM            = (  162.92    572.7891000  0.  )
+           BODY617_LONG_AXIS     = (     0.                      )
+ 
+           \begintext
+ 
+ 
+ 
+     Pan
+ 
+ 
+        Old values:
+        
+           Values are unchanged in the 2000 IAU report. 
+
+        Current values:
+ 
+           \begindata
+ 
+           BODY618_POLE_RA       = (   40.6     -0.036       0. )
+           BODY618_POLE_DEC      = (   83.5     -0.004       0. )
+           BODY618_PM            = (   48.8    626.0440000   0. )
+           BODY618_LONG_AXIS     = (    0.                      )
+
+           \begintext
+ 
+ 
+ 
+ 
+ 
+Satellites of Uranus
+ 
+  
+ 
+     Ariel
+ 
+        Old values:
+        
+           Values are unchanged in the 2000 IAU report. 
+ 
+        Current values:
+
+           \begindata 
+
+           BODY701_POLE_RA       = ( 257.43     0.          0. )
+           BODY701_POLE_DEC      = ( -15.10     0.          0. )
+           BODY701_PM            = ( 156.22  -142.8356681   0. )
+           BODY701_LONG_AXIS     = (   0.                      )
+ 
+           BODY701_NUT_PREC_RA   = (  0. 0. 0. 0. 0.
+                                      0. 0. 0. 0. 0.  0.    0.    0.29 )
+ 
+           BODY701_NUT_PREC_DEC  = (  0. 0. 0. 0. 0.
+                                      0. 0. 0. 0. 0.  0.    0.    0.28 )
+ 
+           BODY701_NUT_PREC_PM   = (  0. 0. 0. 0. 0.
+                                      0. 0. 0. 0. 0.  0.   0.05   0.08 )
+           \begintext
+ 
+ 
+ 
+     Umbriel
+ 
+        Old values:
+        
+           Values are unchanged in the 2000 IAU report. 
+
+        Current values:
+ 
+           \begindata 
+ 
+           BODY702_POLE_RA       = (  257.43     0.          0. )
+           BODY702_POLE_DEC      = (  -15.10     0.          0. )
+           BODY702_PM            = (  108.05   -86.8688923   0. )
+           BODY702_LONG_AXIS     = (    0.                      )
+ 
+           BODY702_NUT_PREC_RA   = ( 0. 0. 0. 0. 0. 
+                                     0. 0. 0. 0. 0.   0.   0.    0.   0.21 )
+ 
+           BODY702_NUT_PREC_DEC  = ( 0. 0. 0. 0. 0. 
+                                     0. 0. 0. 0. 0.   0.   0.    0.   0.20 )
+ 
+           BODY702_NUT_PREC_PM   = ( 0. 0. 0. 0. 0.  
+                                     0. 0. 0. 0. 0.   0.  -0.09  0.   0.06 )
+
+           \begintext
+ 
+ 
+ 
+     Titania
+ 
+        Old values:
+        
+           Values are unchanged in the 2000 IAU report. 
+
+        Current values:
+ 
+           \begindata
+ 
+           BODY703_POLE_RA       = (  257.43    0.          0. )
+           BODY703_POLE_DEC      = (  -15.10    0.          0. )
+           BODY703_PM            = (   77.74  -41.3514316   0. )
+           BODY703_LONG_AXIS     = (    0.                     )
+ 
+           BODY703_NUT_PREC_RA   = ( 0. 0. 0. 0. 0. 
+                                     0. 0. 0. 0. 0.   0. 0. 0. 0.   0.29 )
+ 
+           BODY703_NUT_PREC_DEC  = ( 0. 0. 0. 0. 0. 
+                                     0. 0. 0. 0. 0.   0. 0. 0. 0.   0.28 )
+ 
+           BODY703_NUT_PREC_PM   = ( 0. 0. 0. 0. 0.  
+                                     0. 0. 0. 0. 0.   0. 0. 0. 0.   0.08 )
+           \begintext
+ 
+ 
+ 
+     Oberon
+ 
+        Old values:
+        
+           Values are unchanged in the 2000 IAU report. 
+
+        Current values:
+ 
+           \begindata
+  
+           BODY704_POLE_RA       = (  257.43    0.          0. )
+           BODY704_POLE_DEC      = (  -15.10    0.          0. )
+           BODY704_PM            = (    6.77  -26.7394932   0. )
+           BODY704_LONG_AXIS     = (    0.                     )
+ 
+ 
+           BODY704_NUT_PREC_RA   = ( 0. 0. 0. 0. 0. 
+                                     0. 0. 0. 0. 0. 
+                                     0. 0. 0. 0. 0.   0.16 )
+ 
+           BODY704_NUT_PREC_DEC  = ( 0. 0. 0. 0. 0. 
+                                     0. 0. 0. 0. 0. 
+                                     0. 0. 0. 0. 0.   0.16 )
+ 
+           BODY704_NUT_PREC_PM   = ( 0. 0. 0. 0. 0.  
+                                     0. 0. 0. 0. 0.  
+                                     0. 0. 0. 0. 0.   0.04 )
+           \begintext
+ 
+ 
+ 
+     Miranda
+ 
+        Old values:
+        
+           Values are unchanged in the 2000 IAU report. 
+
+        Current values:
+ 
+           \begindata
+ 
+
+           BODY705_POLE_RA      = (  257.43     0.         0. )
+           BODY705_POLE_DEC     = (  -15.08     0.         0. )
+           BODY705_PM           = (   30.70  -254.6906892  0. )
+           BODY705_LONG_AXIS    = (    0.                     )
+ 
+           BODY705_NUT_PREC_RA  = ( 0.     0.     0.    0.    0.  
+                                    0.     0.     0.    0.    0. 
+                                    4.41   0.     0.    0.    0. 
+                                    0.    -0.04   0.             )
+ 
+           BODY705_NUT_PREC_DEC = ( 0.     0.     0.    0.    0.  
+                                    0.     0.     0.    0.    0. 
+                                    4.25   0.     0.    0.    0. 
+                                    0.    -0.02   0.             )
+ 
+           BODY705_NUT_PREC_PM  = ( 0.     0.     0.    0.    0.  
+                                    0.     0.     0.    0.    0. 
+                                    1.15  -1.27   0.    0.    0.  
+                                    0.    -0.09   0.15           )
+           \begintext
+ 
+ 
+ 
+     Cordelia
+ 
+        Old values:
+        
+           Values are unchanged in the 2000 IAU report. 
+
+        Current values:
+ 
+           \begindata
+  
+           BODY706_POLE_RA      = (   257.31      0.         0.  )
+           BODY706_POLE_DEC     = (   -15.18      0.         0.  )
+           BODY706_PM           = (   127.69  -1074.5205730  0.  )
+           BODY706_LONG_AXIS    = (     0.                       )
+ 
+           BODY706_NUT_PREC_RA  = (   -0.15    0.     0.    0.    0.
+                                       0.      0.     0.    0.    0.
+                                       0.      0.     0.    0.    0.
+                                       0.      0.     0.             )
+
+           BODY706_NUT_PREC_DEC = (    0.14    0.     0.    0.    0.
+                                       0.      0.     0.    0.    0.
+                                       0.      0.     0.    0.    0.
+                                       0.      0.     0.             )  
+
+           BODY706_NUT_PREC_PM  = (   -0.04    0.     0.    0.    0.
+                                       0.      0.     0.    0.    0.
+                                       0.      0.     0.    0.    0.
+                                       0.      0.     0.             ) 
+ 
+           \begintext
+ 
+ 
+ 
+     Ophelia
+ 
+ 
+        Old values:
+        
+           Values are unchanged in the 2000 IAU report. 
+
+        Current values:
+ 
+           \begindata
+   
+           BODY707_POLE_RA      = (  257.31     0.         0. )
+           BODY707_POLE_DEC     = (  -15.18     0.         0. )
+           BODY707_PM           = (  130.35  -956.4068150  0. )
+           BODY707_LONG_AXIS    = (    0.                     )
+ 
+           BODY707_NUT_PREC_RA  = (    0.     -0.09   0.    0.    0.
+                                       0.      0.     0.    0.    0.
+                                       0.      0.     0.    0.    0.
+                                       0.      0.     0.             )
+
+           BODY707_NUT_PREC_DEC = (    0.      0.09   0.    0.    0.
+                                       0.      0.     0.    0.    0.
+                                       0.      0.     0.    0.    0.
+                                       0.      0.     0.             )
+
+           BODY707_NUT_PREC_PM  = (    0.     -0.03   0.    0.    0.
+                                       0.      0.     0.    0.    0.
+                                       0.      0.     0.    0.    0.
+                                       0.      0.     0.             )
+ 
+          \begintext
+ 
+ 
+ 
+     Bianca
+ 
+        Old values:
+        
+           Values are unchanged in the 2000 IAU report. 
+
+        Current values:
+ 
+           \begindata
+ 
+           BODY708_POLE_RA      = (  257.31     0.         0.  )
+           BODY708_POLE_DEC     = (  -15.18     0.         0.  )
+           BODY708_PM           = (  105.46  -828.3914760  0.  )
+           BODY708_LONG_AXIS    = (    0.                      )
+ 
+           BODY708_NUT_PREC_RA  = (    0.      0.    -0.16    0.    0.
+                                       0.      0.     0.      0.    0.
+                                       0.      0.     0.      0.    0.
+                                       0.      0.     0.               )
+
+           BODY708_NUT_PREC_DEC = (    0.      0.     0.16    0.    0.
+                                       0.      0.     0.      0.    0.
+                                       0.      0.     0.      0.    0.
+                                       0.      0.     0.               )
+
+           BODY708_NUT_PREC_PM  = (    0.      0.    -0.04    0.    0.
+                                       0.      0.     0.      0.    0.
+                                       0.      0.     0.      0.    0.
+                                       0.      0.     0.               )
+
+          \begintext
+ 
+ 
+ 
+     Cressida
+ 
+        Old values:
+        
+           Values are unchanged in the 2000 IAU report. 
+
+        Current values:
+ 
+           \begindata
+ 
+ 
+           BODY709_POLE_RA      = (  257.31      0.          0.  )
+           BODY709_POLE_DEC     = (  -15.18      0.          0.  )
+           BODY709_PM           = (   59.16   -776.5816320   0.  )
+           BODY709_LONG_AXIS    = (    0.                        )
+ 
+
+           BODY709_NUT_PREC_RA  = (    0.      0.     0.     -0.04   0.
+                                       0.      0.     0.      0.     0.
+                                       0.      0.     0.      0.     0.
+                                       0.      0.     0.                )
+
+
+           BODY709_NUT_PREC_DEC = (    0.      0.     0.      0.04   0.
+                                       0.      0.     0.      0.     0.
+                                       0.      0.     0.      0.     0.
+                                       0.      0.     0.                )
+
+
+           BODY709_NUT_PREC_PM  = (    0.      0.     0.     -0.01   0.
+                                       0.      0.     0.      0.     0.
+                                       0.      0.     0.      0.     0.
+                                       0.      0.     0.                )
+
+
+           \begintext
+ 
+ 
+ 
+     Desdemona
+ 
+        Old values:
+        
+           Values are unchanged in the 2000 IAU report. 
+
+        Current values:
+ 
+           \begindata 
+  
+           BODY710_POLE_RA      = ( 257.31      0.           0.  )
+           BODY710_POLE_DEC     = ( -15.18      0.           0.  )
+           BODY710_PM           = (  95.08   -760.0531690    0.  )
+           BODY710_LONG_AXIS    = (   0.                         )
+ 
+           BODY710_NUT_PREC_RA  = (   0.      0.     0.      0.    -0.17 
+                                      0.      0.     0.      0.     0.
+                                      0.      0.     0.      0.     0.
+                                      0.      0.     0.                  )
+
+           BODY710_NUT_PREC_DEC = (   0.      0.     0.      0.     0.16 
+                                      0.      0.     0.      0.     0.
+                                      0.      0.     0.      0.     0.
+                                      0.      0.     0.                  )
+
+           BODY710_NUT_PREC_PM  = (   0.      0.     0.      0.    -0.04  
+                                      0.      0.     0.      0.     0.
+                                      0.      0.     0.      0.     0.
+                                      0.      0.     0.                 )
+
+          \begintext
+ 
+ 
+ 
+     Juliet
+ 
+        Old values:
+        
+           Values are unchanged in the 2000 IAU report. 
+
+        Current values:
+ 
+           \begindata
+  
+           BODY711_POLE_RA      = (  257.31     0.           0.   )
+           BODY711_POLE_DEC     = (  -15.18     0.           0.   )
+           BODY711_PM           = (  302.56  -730.1253660    0.   )
+           BODY711_LONG_AXIS    = (    0.                         )
+ 
+           BODY711_NUT_PREC_RA  = (   0.      0.     0.      0.     0.  
+                                     -0.06    0.     0.      0.     0.
+                                      0.      0.     0.      0.     0.
+                                      0.      0.     0.                 )
+ 
+           BODY711_NUT_PREC_DEC = (   0.      0.     0.      0.     0. 
+                                      0.06    0.     0.      0.     0.
+                                      0.      0.     0.      0.     0.
+                                      0.      0.     0.                 )
+  
+           BODY711_NUT_PREC_PM  = (   0.      0.     0.      0.     0. 
+                                     -0.02    0.     0.      0.     0.
+                                      0.      0.     0.      0.     0.
+                                      0.      0.     0.                 )
+ 
+           \begintext
+ 
+ 
+ 
+     Portia
+ 
+        Old values:
+        
+           Values are unchanged in the 2000 IAU report. 
+
+        Current values:
+ 
+           \begindata
+    
+           BODY712_POLE_RA      = (  257.31      0.           0.   )
+           BODY712_POLE_DEC     = (  -15.18      0.           0.   )
+           BODY712_PM           = (   25.03   -701.4865870    0.   )
+           BODY712_LONG_AXIS    = (    0.                          )
+ 
+           BODY712_NUT_PREC_RA  = (   0.      0.     0.      0.     0. 
+                                      0.     -0.09   0.      0.     0.
+                                      0.      0.     0.      0.     0.
+                                      0.      0.     0.                )
+
+           BODY712_NUT_PREC_DEC = (   0.      0.     0.      0.     0. 
+                                      0.      0.09   0.      0.     0.
+                                      0.      0.     0.      0.     0.
+                                      0.      0.     0.               )
+
+           BODY712_NUT_PREC_PM  = (   0.      0.     0.      0.     0. 
+                                      0.     -0.02   0.      0.     0.
+                                      0.      0.     0.      0.     0.
+                                      0.      0.     0.               )
+
+           \begintext
+ 
+ 
+ 
+     Rosalind
+ 
+        Old values:
+        
+           Values are unchanged in the 2000 IAU report. 
+
+        Current values:
+ 
+           \begindata
+   
+           BODY713_POLE_RA      = ( 257.31      0.          0.  )
+           BODY713_POLE_DEC     = ( -15.18      0.          0.  )
+           BODY713_PM           = ( 314.90   -644.6311260   0.  )
+           BODY713_LONG_AXIS    = (   0.                        )
+ 
+           BODY713_NUT_PREC_RA  = (   0.      0.     0.      0.     0. 
+                                      0.      0.    -0.29    0.     0.
+                                      0.      0.     0.      0.     0.
+                                      0.      0.     0.               )
+
+           BODY713_NUT_PREC_DEC = (   0.      0.     0.      0.     0. 
+                                      0.      0.     0.28    0.     0.
+                                      0.      0.     0.      0.     0.
+                                      0.      0.     0.              )
+
+           BODY713_NUT_PREC_PM  = (   0.      0.     0.      0.     0. 
+                                      0.      0.    -0.08    0.     0.
+                                      0.      0.     0.      0.     0.
+                                      0.      0.     0.              )
+ 
+           \begintext
+ 
+ 
+ 
+     Belinda
+ 
+       Old values:
+        
+           Values are unchanged in the 2000 IAU report. 
+
+        Current values:
+ 
+           \begindata 
+ 
+           BODY714_POLE_RA      = (   257.31      0.         0. )
+           BODY714_POLE_DEC     = (   -15.18      0.         0. )
+           BODY714_PM           = (   297.46   -577.3628170  0. )
+           BODY714_LONG_AXIS    = (     0.                      )
+ 
+           BODY714_NUT_PREC_RA  = (   0.      0.     0.      0.     0. 
+                                      0.      0.     0.     -0.03   0.
+                                      0.      0.     0.      0.     0.
+                                      0.      0.     0.                )
+
+           BODY714_NUT_PREC_DEC = (   0.      0.     0.      0.     0. 
+                                      0.      0.     0.      0.03   0.
+                                      0.      0.     0.      0.     0.
+                                      0.      0.     0.                )
+
+           BODY714_NUT_PREC_PM  = (   0.      0.     0.      0.     0. 
+                                      0.      0.     0.     -0.01   0.
+                                      0.      0.     0.      0.     0.
+                                      0.      0.     0.                )
+           \begintext
+ 
+ 
+ 
+     Puck
+ 
+       Old values:
+        
+           Values are unchanged in the 2000 IAU report. 
+
+        Current values:
+ 
+           \begindata
+  
+           BODY715_POLE_RA      = (  257.31      0.         0.  )
+           BODY715_POLE_DEC     = (  -15.18      0.         0.  )
+           BODY715_PM           = (   91.24   -472.5450690  0.  )
+           BODY715_LONG_AXIS    = (    0.                       )
+ 
+           BODY715_NUT_PREC_RA  = (   0.      0.     0.      0.     0. 
+                                      0.      0.     0.      0.    -0.33 
+                                      0.      0.     0.      0.     0.
+                                      0.      0.     0.                  )
+
+           BODY715_NUT_PREC_DEC = (   0.      0.     0.      0.     0. 
+                                      0.      0.     0.      0.     0.31
+                                      0.      0.     0.      0.     0.
+                                      0.      0.     0.                  )
+
+           BODY715_NUT_PREC_PM  = (   0.      0.     0.      0.     0. 
+                                      0.      0.     0.      0.    -0.09
+                                      0.      0.     0.      0.     0.
+                                      0.      0.     0.                  )
+  
+           \begintext
+ 
+ 
+ 
+ 
+Satellites of Neptune
+ 
+ 
+     Triton
+ 
+       Old values:
+        
+           Values are unchanged in the 2000 IAU report. 
+ 
+        Current values:
+ 
+           \begindata
+
+           BODY801_POLE_RA       = ( 299.36     0.         0.  )
+           BODY801_POLE_DEC      = (  41.17     0.         0.  )
+           BODY801_PM            = ( 296.53   -61.2572637  0.  )
+           BODY801_LONG_AXIS     = (   0.                      )
+ 
+ 
+           BODY801_NUT_PREC_RA   = (  0.      0.      0.      0.  
+                                      0.      0.      0.    -32.35    
+                                      0.     -6.28   -2.08   -0.74       
+                                     -0.28   -0.11   -0.07   -0.02    
+                                     -0.01                         )
+ 
+ 
+           BODY801_NUT_PREC_DEC  = (  0.      0.      0.      0.  
+                                      0.      0.      0.     22.55    
+                                      0.      2.10    0.55    0.16   
+                                      0.05    0.02    0.01    0.
+                                      0.                           )
+ 
+ 
+           BODY801_NUT_PREC_PM   = (  0.      0.      0.      0.  
+                                      0.      0.      0.     22.25   
+                                      0.      6.73    2.05    0.74   
+                                      0.28    0.11    0.05    0.02
+                                      0.01                         )
+  
+           \begintext
+ 
+ 
+ 
+ 
+     Nereid
+ 
+        Old values:
+ 
+           Values are from the 1988 IAU report.  Note that this 
+           rotation model pre-dated the 1989 Voyager 2 Neptune
+           encounter.
+
+ 
+           body802_pole_ra       = (    273.48    0.        0.  )
+           body802_pole_dec      = (     67.22    0.        0.  )
+           body802_pm            = (    237.22    0.9996465 0.  )
+           body802_long_axis     = (      0.                    )
+ 
+ 
+           The report seems to have a typo:  in the nut_prec_ra expression,
+           where the report gives  -0.51 sin 3N3, we use -0.51 3N2.
+ 
+           body802_nut_prec_ra   = (  0.    -17.81
+                                      0.      0.     0.      0.
+                                      0.      0.     0.
+                                      2.56   -0.51   0.11   -0.03  )
+ 
+           body802_nut_prec_dec  = (  0.     -6.67
+                                      0.      0.     0.      0.
+                                      0.      0.     0.
+                                      0.47   -0.07   0.01          )
+ 
+           body802_nut_prec_pm   = (  0.     16.48
+                                      0.      0.     0.      0.
+                                      0.      0.     0.
+                                     -2.57    0.51 -0.11    0.02  )
+ 
+ 
+ 
+        Current values:
+ 
+           The 2000 report [2] states that values for Nereid are not
+           given because Nereid is not in synchronous rotation with Neptune
+           (note (j), p.99).
+ 
+ 
+ 
+     Naiad
+ 
+        Old values:
+        
+           Values are unchanged in the 2000 IAU report. 
+
+        Current values:
+ 
+ 
+           \begindata
+  
+           BODY803_POLE_RA       = (  299.36      0.          0.  )
+           BODY803_POLE_DEC      = (   43.36      0.          0.  )
+           BODY803_PM            = (  254.06  +1222.8441209   0.  )
+           BODY803_LONG_AXIS     = (    0.                        )
+ 
+ 
+           BODY803_NUT_PREC_RA   = (    0.70     -6.49     0.      0.
+                                        0.        0.       0.      0.
+                                        0.25      0.       0.      0.
+                                        0.        0.       0.      0.
+                                        0.                            )
+ 
+           BODY803_NUT_PREC_DEC  = (   -0.51     -4.75     0.      0.
+                                        0.        0.       0.      0.
+                                        0.09      0.       0.      0.
+                                        0.        0.       0.      0.
+                                        0.                            )
+ 
+           BODY803_NUT_PREC_PM   = (   -0.48      4.40     0.      0.
+                                        0.        0.       0.      0.
+                                       -0.27      0.       0.      0.
+                                        0.        0.       0.      0.
+                                        0.                            )
+    
+          \begintext
+ 
+ 
+ 
+ 
+     Thalassa
+ 
+
+        Old values:
+        
+           Values are unchanged in the 2000 IAU report. 
+
+        Current values:
+ 
+           \begindata
+
+           BODY804_POLE_RA       = (  299.36      0.          0. )
+           BODY804_POLE_DEC      = (   43.45      0.          0. )
+           BODY804_PM            = (  102.06   1155.7555612   0. )  
+           BODY804_LONG_AXIS     = (    0.                       )
+ 
+ 
+           BODY804_NUT_PREC_RA   = (    0.70      0.      -0.28    0.
+                                        0.        0.       0.      0.
+                                        0.        0.       0.      0.
+                                        0.        0.       0.      0.
+                                        0.                             )
+   
+  
+           BODY804_NUT_PREC_DEC  = (   -0.51      0.      -0.21    0.
+                                        0.        0.       0.      0.
+                                        0.        0.       0.      0.
+                                        0.        0.       0.      0. 
+                                        0.                             )
+ 
+           BODY804_NUT_PREC_PM   = (   -0.48      0.       0.19    0.
+                                        0.        0.       0.      0.
+                                        0.        0.       0.      0.
+                                        0.        0.       0.      0. 
+                                        0.                             )
+                                                                 
+           \begintext
+ 
+ 
+ 
+     Despina
+ 
+        Old values:
+        
+           Values are unchanged in the 2000 IAU report. 
+
+        Current values:
+ 
+ 
+           \begindata
+  
+           BODY805_POLE_RA       = (  299.36      0.          0. )
+           BODY805_POLE_DEC      = (   43.45      0.          0. )
+           BODY805_PM            = (  306.51  +1075.7341562   0. )
+           BODY805_LONG_AXIS     = (    0.                       )
+ 
+ 
+           BODY805_NUT_PREC_RA   = (    0.70      0.       0.     -0.09
+                                        0.        0.       0.      0.
+                                        0.        0.       0.      0.
+                                        0.        0.       0.      0.
+                                        0.                              )
+ 
+           BODY805_NUT_PREC_DEC  = (   -0.51      0.       0.     -0.07
+                                        0.        0.       0.      0.
+                                        0.        0.       0.      0.
+                                        0.        0.       0.      0.
+                                        0.                              )
+ 
+           BODY805_NUT_PREC_PM   = (   -0.49      0.       0.      0.06
+                                        0.        0.       0.      0.
+                                        0.        0.       0.      0.
+                                        0.        0.       0.      0.
+                                        0.                              )
+          \begintext
+ 
+ 
+ 
+     Galatea
+ 
+ 
+        Old values:
+        
+           Values are unchanged in the 2000 IAU report. 
+
+        Current values:
+ 
+ 
+           \begindata
+  
+           BODY806_POLE_RA       = (   299.36      0.          0. )
+           BODY806_POLE_DEC      = (    43.43      0.          0. )
+           BODY806_PM            = (   258.09    839.6597686   0. )
+           BODY806_LONG_AXIS     = (     0.                       )
+ 
+ 
+           BODY806_NUT_PREC_RA   = (    0.70      0.       0.      0.
+                                       -0.07      0.       0.      0.
+                                        0.        0.       0.      0.
+                                        0.        0.       0.      0.
+                                        0.                             )
+ 
+           BODY806_NUT_PREC_DEC  = (   -0.51      0.       0.      0.
+                                       -0.05      0.       0.      0.
+                                        0.        0.       0.      0.
+                                        0.        0.       0.      0.
+                                        0.                             )
+ 
+           BODY806_NUT_PREC_PM   = (   -0.48      0.       0.      0.
+                                        0.05      0.       0.      0.
+                                        0.        0.       0.      0.
+                                        0.        0.       0.      0.
+                                        0.                             ) 
+           \begintext
+
+ 
+     Larissa
+ 
+ 
+        Old values:
+        
+           Values are unchanged in the 2000 IAU report. 
+
+        Current values:
+  
+           \begindata
+
+           BODY807_POLE_RA       = (   299.36     0.           0. )
+           BODY807_POLE_DEC      = (    43.41     0.           0. )
+           BODY807_PM            = (   179.41  +649.0534470    0. )
+           BODY807_LONG_AXIS     = (     0.                       )
+ 
+ 
+           BODY807_NUT_PREC_RA   = (    0.70      0.       0.      0.
+                                        0.       -0.27     0.      0.
+                                        0.        0.       0.      0.
+                                        0.        0.       0.      0.
+                                        0.                            )
+ 
+           BODY807_NUT_PREC_DEC  = (   -0.51      0.       0.      0.
+                                        0.       -0.20     0.      0.
+                                        0.        0.       0.      0.
+                                        0.        0.       0.      0.
+                                        0.                            )
+ 
+           BODY807_NUT_PREC_PM   = (   -0.48      0.       0.      0.
+                                        0.        0.19     0.      0.
+                                        0.        0.       0.      0.
+                                        0.        0.       0.      0.
+                                        0.                            )
+           \begintext
+ 
+ 
+ 
+     Proteus
+ 
+
+        Old values:
+        
+           Values are unchanged in the 2000 IAU report. 
+
+        Current values:
+ 
+           \begindata
+
+           BODY808_POLE_RA       = (  299.27      0.          0.  )
+           BODY808_POLE_DEC      = (   42.91      0.          0.  )
+           BODY808_PM            = (   93.38   +320.7654228   0.  )
+           BODY808_LONG_AXIS     = (    0.                        )
+ 
+ 
+           BODY808_NUT_PREC_RA   = (    0.70      0.       0.      0.
+                                        0.        0.      -0.05    0.
+                                        0.        0.       0.      0.
+                                        0.        0.       0.      0.
+                                        0.                             )
+ 
+           BODY808_NUT_PREC_DEC  = (   -0.51      0.       0.      0.
+                                        0.        0.      -0.04    0.
+                                        0.        0.       0.      0.
+                                        0.        0.       0.      0.
+                                        0.                             )
+ 
+           BODY808_NUT_PREC_PM   = (   -0.48      0.       0.      0.
+                                        0.        0.       0.04    0.
+                                        0.        0.       0.      0.
+                                        0.        0.       0.      0.
+                                        0.                             )
+   
+           \begintext
+  
+ 
+ 
+ 
+ 
+Satellites of Pluto
+ 
+     Charon
+ 
+        Old values:
+        
+           Values are unchanged in the 2000 IAU report. 
+               
+        Current values:
+ 
+           \begindata
+ 
+           BODY901_POLE_RA       = (   313.02     0.         0. )
+           BODY901_POLE_DEC      = (     9.09     0.         0. )
+           BODY901_PM            = (    56.77   -56.3623195  0. )
+           BODY901_LONG_AXIS     = (     0.                     )
+
+           \begintext
+ 
+ 
+ 
+Orientation constants for Asteroids Gaspra, Ida, Vesta, and Eros
+--------------------------------------------------------
+
+
+Gaspra
+
+        Old values:
+        
+           Values are unchanged in the 2000 IAU report. 
+               
+        Current values:
+ 
+           \begindata 
+ 
+           BODY9511010_POLE_RA       = (   9.47     0.         0. )
+           BODY9511010_POLE_DEC      = (  26.70     0.         0. )
+           BODY9511010_PM            = (  83.67  1226.9114850  0. )
+           BODY9511010_LONG_AXIS     = (   0.                     )
+
+           \begintext
+
+
+Ida
+
+        Old values:
+        
+           Values are unchanged in the 2000 IAU report. 
+
+        Current values:
+ 
+           \begindata
+ 
+           BODY2431010_POLE_RA       = (  348.76      0.         0. )
+           BODY2431010_POLE_DEC      = (   87.12      0.         0. )
+           BODY2431010_PM            = (  265.95  -1864.6280070  0. )
+           BODY2431010_LONG_AXIS     = (    0.                      )
+ 
+           \begintext
+
+
+Vesta
+
+        Current values:
+ 
+           \begindata
+
+           BODY2000004_POLE_RA       = (   301.      0.         0.  )
+           BODY2000004_POLE_DEC      = (    41.      0.         0.  )
+           BODY2000004_PM            = (   292.   1617.332776   0.  )
+           BODY2000004_LONG_AXIS     = (     0.                     )
+ 
+           \begintext
+
+
+Eros
+
+        Current values:
+ 
+           \begindata
+
+           BODY2000433_POLE_RA       = (   11.35       0.           0. )
+           BODY2000433_POLE_DEC      = (   17.22       0.           0. )
+           BODY2000433_PM            = (  326.07    1639.38864745   0. )
+           BODY2000433_LONG_AXIS     = (    0.                         )
+ 
+           \begintext
+
+
+
+ 
+Radii of Sun and Planets
+--------------------------------------------------------
+ 
+ 
+Sun
+ 
+     Value for the Sun is from the [7], page K7.
+ 
+        \begindata
+ 
+        BODY10_RADII      = (   696000.     696000.      696000.     )
+ 
+        \begintext
+ 
+ 
+Mercury
+ 
+     Old values:
+ 
+        Values are unchanged in the 2000 IAU report.
+ 
+     Current values:
+ 
+        \begindata
+ 
+        BODY199_RADII     = ( 2439.7   2439.7   2439.7 )
+ 
+        \begintext
+ 
+ 
+Venus
+ 
+     Old values:
+ 
+        Values are unchanged in the 2000 IAU report.
+ 
+     Current values:
+ 
+        \begindata
+ 
+        BODY299_RADII     = ( 6051.8   6051.8   6051.8 )
+ 
+        \begintext
+ 
+ 
+Earth
+ 
+     Old values:
+ 
+        Values are unchanged in the 2000 IAU report.
+ 
+     Current values:
+ 
+        \begindata
+ 
+        BODY399_RADII     = ( 6378.14   6378.14   6356.75 )
+ 
+        \begintext
+ 
+ 
+Mars
+ 
+ 
+     Old values:
+
+        body499_radii       = (     3397.      3397.         3375.     )
+ 
+     Current values:
+
+
+        The IAU report gives separate values for the north and south
+        polar radii:
+
+           north:  3373.19
+           south:  3379.21 
+
+        We use the average of these values as the polar radius for
+        the triaxial model.
+ 
+        \begindata
+ 
+        BODY499_RADII       = ( 3396.19   3396.19   3376.20 )
+ 
+        \begintext
+ 
+ 
+ 
+Jupiter
+ 
+     Old values:
+ 
+        Values are unchanged in the 2000 IAU report.
+ 
+     Current values:
+ 
+        \begindata
+ 
+        BODY599_RADII     = ( 71492   71492   66854 )
+ 
+        \begintext
+ 
+ 
+ 
+Saturn
+ 
+     Old values:
+ 
+        Values are unchanged in the 2000 IAU report.
+ 
+     Current values:
+ 
+        \begindata
+ 
+        BODY699_RADII     = ( 60268   60268   54364 )
+ 
+        \begintext
+ 
+ 
+ 
+Uranus
+ 
+     Old values:
+ 
+        Values are unchanged in the 2000 IAU report.
+ 
+     Current values:
+ 
+        \begindata
+ 
+        BODY799_RADII     = ( 25559   25559   24973 )
+ 
+        \begintext
+ 
+ 
+ 
+Neptune
+ 
+     Old values:
+ 
+        Values are unchanged in the 2000 IAU report.
+  
+     Current values:
+ 
+        (Values are for the 1 bar pressure level.)
+ 
+        \begindata
+ 
+        BODY899_RADII     = ( 24764   24764  24341 )
+ 
+        \begintext
+ 
+ 
+ 
+Pluto
+ 
+     Old values:
+ 
+        Values are unchanged in the 2000 IAU report.
+ 
+     Current values:
+ 
+        \begindata
+ 
+        BODY999_RADII     = ( 1195   1195   1195 )
+ 
+        \begintext
+ 
+
+
+
+Radii of Satellites
+--------------------------------------------------------
+ 
+ 
+Moon
+ 
+     Old values:
+ 
+        Values are unchanged in the 2000 IAU report. 
+ 
+     Current values:
+ 
+        \begindata
+ 
+        BODY301_RADII     = ( 1737.4   1737.4   1737.4 )
+ 
+        \begintext
+ 
+ 
+ 
+Satellites of Mars
+ 
+     Old values:
+ 
+        Values are unchanged in the 2000 IAU report. 
+ 
+     Current values:
+ 
+        \begindata
+ 
+        BODY401_RADII     = ( 13.4    11.2    9.2 )
+        BODY402_RADII     = (  7.5     6.1    5.2 )
+ 
+        \begintext
+ 
+ 
+ 
+Satellites of Jupiter
+ 
+     Old values:
+ 
+        Old values for Io, Europa, Ganymede, Callisto and Amalthea.
+        These are from the 1997 IAU report.
+ 
+        body501_radii     = (     1826.       1815.        1812.     )
+        body502_radii     = (     1562.       1560.        1559.     )
+        body503_radii     = (     2635.       2633.        2633.     )
+        body504_radii     = (     2409.       2409.        2409.     )
+        body505_radii     = (      131.         73.          67.     )
+        body506_radii    = (  85      85      85   )
+        body507_radii    = (  40      40      40   )
+        body508_radii    = (  18      18      18   )
+        body509_radii    = (  14      14      14   )
+        body510_radii    = (  12      12      12   )
+        body511_radii    = (  15      15      15   )
+        body512_radii    = (  10      10      10   )
+        body513_radii    = (   5       5       5   )
+        body514_radii    = (  50      50      50   )
+        body515_radii    = (  13      10       8   )
+        body516_radii    = (  20      20      20   )
+         
+ 
+     Current values:
+         
+        \begindata
+ 
+        BODY501_RADII     = ( 1829.4   1819.3   1815.7  )
+        BODY502_RADII     = ( 1564.13  1561.23  1560.93 )
+        BODY503_RADII     = ( 2632.4   2632.29  2632.35 )
+        BODY504_RADII     = ( 2409.4   2409.2   2409.3  )
+        BODY505_RADII     = (  125       73       64    )
+ 
+        \begintext
+ 
+        Only mean radii are available in the 2000 IAU report for bodies
+        506-513.
+ 
+        \begindata
+ 
+        BODY506_RADII    = (    85       85       85   )
+        BODY507_RADII    = (    40       40       40   )
+        BODY508_RADII    = (    18       18       18   )
+        BODY509_RADII    = (    14       14       14   )
+        BODY510_RADII    = (    12       12       12   )
+        BODY511_RADII    = (    15       15       15   )
+        BODY512_RADII    = (    10       10       10   )
+        BODY513_RADII    = (     5        5        5   )
+        BODY514_RADII    = (    58       49       42   )
+        BODY515_RADII    = (    10        8        7   )
+ 
+        \begintext
+ 
+        The value for the second radius for body 516 is not given in 
+        2000 IAU report.   The values given are:
+ 
+           BODY516_RADII    = (  30   ---   20   )
+ 
+        For use within the SPICE system, we use only the mean radius.
+        \begindata
+ 
+        BODY516_RADII    = (  21.5   21.5  21.5  )
+ 
+        \begintext
+ 
+ 
+ 
+Satellites of Saturn
+ 
+ 
+     Old values:
+     
+        body601_radii     = (      210.3       197.4        192.6    )
+        body602_radii     = (      256.2       247.3        244.0    )
+        body603_radii     = (      535.6       528.2        525.8    )
+        body604_radii     = (      560.        560.         560.     )
+        body605_radii     = (      764.        764.         764.     )
+        body606_radii     = (     2575.       2575.        2575.     )
+        body607_radii     = (      180.        140.         112.5    )
+        body608_radii     = (      718.        718.         718.     )
+        body609_radii     = (      115.        110.         105.     )
+        body610_radii     = (       97.         95.          77.     )
+        body611_radii     = (       69.         55.          55.     )
+        body612_radii     = (       16          16           16      )
+        body613_radii     = (       15          12.5          7.5    )
+        body614_radii     = (       15           8            8      )
+        body615_radii     = (       18.5        17.2         13.5    )
+        body616_radii     = (       74          50           34      )
+        body617_radii     = (       55          44           31      )
+        body618_radii     = (       10          10           10      )
+      
+ 
+     Current values:
+ 
+        \begindata
+ 
+        BODY601_RADII     = (  209.1   196.2   191.4 )
+        BODY602_RADII     = (  256.3   247.3   244.6 )
+        BODY603_RADII     = (  535.6   528.2   525.8 )
+        BODY604_RADII     = (  560     560     560   )
+        BODY605_RADII     = (  764     764     764   )
+        BODY606_RADII     = ( 2575    2575    2575   )
+        BODY607_RADII     = (  164     130     107   )
+        BODY608_RADII     = (  718     718     718   )
+        BODY609_RADII     = (  115     110     105   )
+        BODY610_RADII     = (   97.0    95.0    77.0 )
+        BODY611_RADII     = (   69.0    55.0    55.0 )
+ 
+        \begintext
+ 
+        Only the first equatorial radius for Helene (body 612) is given in the
+        2000 IAU report:
+ 
+            BODY612_RADII     = (       17.5        ---          ---     )
+ 
+        The mean radius is 16km; we use this radius for all three axes, as
+        we do for the satellites for which only the mean radius is available.
+ 
+ 
+        \begindata
+ 
+        BODY612_RADII     = (   16      16       16  )
+        BODY613_RADII     = (   15      12.5     7.5 )
+        BODY614_RADII     = (   15.0     8.0     8.0 )
+        BODY615_RADII     = (   18.5    17.2    13.5 )
+        BODY616_RADII     = (   74.0    50.0    34.0 )
+        BODY617_RADII     = (   55.0    44.0    31.0 )
+ 
+        \begintext
+ 
+ 
+         For Pan, only a mean radius is given in the 2000 report.
+ 
+        \begindata
+ 
+        BODY618_RADII     = (   10       10     10   )
+ 
+        \begintext
+ 
+ 
+ 
+Satellites of Uranus
+ 
+     Old values:
+ 
+        Values are unchanged in the 2000 IAU report. 
+ 
+     Current values:
+ 
+        \begindata
+ 
+        BODY701_RADII     = (  581.1   577.9   577.7 )
+        BODY702_RADII     = (  584.7   584.7   584.7 )
+        BODY703_RADII     = (  788.9   788.9   788.9 )
+        BODY704_RADII     = (  761.4   761.4   761.4 )
+        BODY705_RADII     = (  240.4   234.2   232.9 )
+ 
+        \begintext
+ 
+        The 2000 report gives only mean radii for satellites 706--715.
+ 
+        \begindata
+ 
+        BODY706_RADII     = (   13      13      13 )
+        BODY707_RADII     = (   15      15      15 )
+        BODY708_RADII     = (   21      21      21 )
+        BODY709_RADII     = (   31      31      31 )
+        BODY710_RADII     = (   27      27      27 )
+        BODY711_RADII     = (   42      42      42 )
+        BODY712_RADII     = (   54      54      54 )
+        BODY713_RADII     = (   27      27      27 )
+        BODY714_RADII     = (   33      33      33 )
+        BODY715_RADII     = (   77      77      77 )
+ 
+        \begintext
+ 
+ 
+ 
+ 
+Satellites of Neptune
+ 
+ 
+     Old values:
+ 
+        Values are unchanged in the 2000 IAU report. 
+ 
+     Current values:
+ 
+        The 2000 report gives mean radii only for bodies 801-806.
+ 
+        \begindata
+ 
+        BODY801_RADII     = ( 1352.6  1352.6  1352.6 )
+        BODY802_RADII     = (  170     170     170   )
+        BODY803_RADII     = (   29      29     29    )
+        BODY804_RADII     = (   40      40     40    )
+        BODY805_RADII     = (   74      74     74    )
+        BODY806_RADII     = (   79      79     79    )
+ 
+        \begintext
+ 
+ 
+        The second equatorial radius for Larissa is not given in the 2000
+        report.  The available values are:
+ 
+            BODY807_RADII     = (   104     ---     89   )
+ 
+        For use within the SPICE system, we use only the mean radius.
+        \begindata
+ 
+        BODY807_RADII     = (   96      96     96   )
+        BODY808_RADII     = (  218     208    201   )
+ 
+        \begintext
+ 
+ 
+ 
+ 
+Satellites of Pluto
+ 
+     
+     Old values:
+ 
+        Values are unchanged in the 2000 IAU report. 
+             
+     Current values:
+ 
+        \begindata
+ 
+        BODY901_RADII     = (  593     593    593   )
+ 
+        \begintext
+ 
+
+
+Radii of Selected Asteroids
+--------------------------------------------------------
+
+
+Gaspra
+
+     
+     Current values:
+ 
+ 
+        \begindata
+ 
+        BODY9511010_RADII     = (    9.1    5.2    4.4 )
+ 
+        \begintext
+
+        
+        
+        
+Ida
+
+     
+     Current values:
+ 
+ 
+        \begindata
+ 
+        BODY2431010_RADII     = (   26.8   12.0    7.6 )
+ 
+        \begintext
+
+        
+
+        
+Kleopatra
+
+     
+     Current values:
+ 
+ 
+        \begindata
+ 
+        BODY2000216_RADII     = (   108.5      47    40.5  )
+ 
+        \begintext
+
+
+        
+Eros
+ 
+     Current values:
+ 
+ 
+        \begindata
+ 
+        BODY2000433_RADII     = (  7.311  7.311  7.311  )
+ 
+        \begintext
+
+
+===========================================================================
+End of file pck00008.tpc
+===========================================================================
+
+
+
diff --git a/mkdocs.yml b/mkdocs.yml
index c02c0947b98774815ebf7d74046ca5923e1cdb85..c9ad4e5e4c53989596906a5baf7045a061ce735a 100644
--- a/mkdocs.yml
+++ b/mkdocs.yml
@@ -36,7 +36,10 @@ theme:
 
 nav:
   - Home: index.md
-  - Getting Started: getting-started/index.md
+  - Getting Started: 
+    - Home: getting-started/index.md
+    - CSM Stack:
+      - Generating an ISD, creating a CSM model, and converting coordinates: getting-started/CSM Stack/ImageToGroundTutorial.ipynb
   - How-To Guides: 
     - Home: how-to-guides/index.md
     - Software Management: 
@@ -61,6 +64,8 @@ extra_javascript:
 
 plugins:
   - search
+  - mkdocs-jupyter:
+      include_source: true
 
 markdown_extensions:
   - neoteroi.cards
diff --git a/requirements.txt b/requirements.txt
index 79bd10c404494a3327d3ed59480e037a651933e5..360a5cd0a5347af54f61a5447c663e2f7ceae5a3 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1,3 +1,4 @@
 mkdocs 
 mkdocs-material 
-neoteroi-mkdocs
\ No newline at end of file
+neoteroi-mkdocs
+mkdocs-jupyter
\ No newline at end of file