From a7d8a148f54d5141c63ed45a24a71c890ca11de7 Mon Sep 17 00:00:00 2001 From: Amy Stamile <74275278+amystamile-usgs@users.noreply.github.com> Date: Thu, 14 Dec 2023 14:14:15 -0700 Subject: [PATCH] DawnVIR Driver (#566) * Draft DawnVIR driver * Adds interpolate and framechain updates * fixes line scan rate * Fixed FrameChain * updated gitignore * Fixed Body Rotation * fixed rebase deletion * added tests * failing tests - no alespiceroot * fix tests * Initial fixes for dawn virs * Fixed tests * addressed PR feedback * Fixed dawn vir isd --------- Co-authored-by: acpaquette --- .gitignore | 2 + CHANGELOG.md | 1 + ale/drivers/dawn_drivers.py | 318 +- ale/formatters/formatter.py | 3 + ...rite_DawnVirIsisLabelNaifSpiceDriver.ipynb | 120 + .../DAWN_203_SCLKSCET.00091.tsc | 673 + .../VIR_IR_1A_1_362681634_1_isis3.lbl | 271 + .../VIR_IR_1A_1_362681634_1_isis3_0.xsp | 1013 ++ .../dawn_fc_v3_0_sliced_-203120.xc | 31 + .../dawn_sc_110627_110703_0_sliced_-203000.xc | 14536 ++++++++++++++++ .../data/VIR_IR_1A_1_362681634_1/dawn_v15.tf | 2285 +++ .../VIR_IR_1A_1_362681634_1/dawn_vesta_v00.tf | 93 + .../dawn_vesta_v06.tpc | 306 + .../VIR_IR_1A_1_362681634_1/dawn_vir_v05.ti | 574 + .../dawn_vir_zero_0_sliced_-203201.xc | 31 + .../dawnvirAddendum001.ti | 22 + .../data/VIR_IR_1A_1_362681634_1/naif0012.tls | 152 + .../data/VIR_IR_1A_1_362681634_1/pck00009.tpc | 3639 ++++ tests/pytests/data/isds/dawnvir_isd.json | 1972 +++ tests/pytests/test_dawn_drivers.py | 152 +- 20 files changed, 26182 insertions(+), 12 deletions(-) create mode 100644 notebooks/write_DawnVirIsisLabelNaifSpiceDriver.ipynb create mode 100755 tests/pytests/data/VIR_IR_1A_1_362681634_1/DAWN_203_SCLKSCET.00091.tsc create mode 100644 tests/pytests/data/VIR_IR_1A_1_362681634_1/VIR_IR_1A_1_362681634_1_isis3.lbl create mode 100644 tests/pytests/data/VIR_IR_1A_1_362681634_1/VIR_IR_1A_1_362681634_1_isis3_0.xsp create mode 100644 tests/pytests/data/VIR_IR_1A_1_362681634_1/dawn_fc_v3_0_sliced_-203120.xc create mode 100644 tests/pytests/data/VIR_IR_1A_1_362681634_1/dawn_sc_110627_110703_0_sliced_-203000.xc create mode 100755 tests/pytests/data/VIR_IR_1A_1_362681634_1/dawn_v15.tf create mode 100755 tests/pytests/data/VIR_IR_1A_1_362681634_1/dawn_vesta_v00.tf create mode 100755 tests/pytests/data/VIR_IR_1A_1_362681634_1/dawn_vesta_v06.tpc create mode 100755 tests/pytests/data/VIR_IR_1A_1_362681634_1/dawn_vir_v05.ti create mode 100644 tests/pytests/data/VIR_IR_1A_1_362681634_1/dawn_vir_zero_0_sliced_-203201.xc create mode 100755 tests/pytests/data/VIR_IR_1A_1_362681634_1/dawnvirAddendum001.ti create mode 100755 tests/pytests/data/VIR_IR_1A_1_362681634_1/naif0012.tls create mode 100755 tests/pytests/data/VIR_IR_1A_1_362681634_1/pck00009.tpc create mode 100644 tests/pytests/data/isds/dawnvir_isd.json diff --git a/.gitignore b/.gitignore index a4e6eefb3..07b225ee9 100644 --- a/.gitignore +++ b/.gitignore @@ -13,6 +13,7 @@ __pycache__/ # Distribution / packaging .Python build/ +docs/ develop-eggs/ dist/ downloads/ @@ -222,3 +223,4 @@ dmypy.json *.CUB *.img *.IMG +print.prt diff --git a/CHANGELOG.md b/CHANGELOG.md index 8e012f76b..791e85e73 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -40,6 +40,7 @@ release. ### Added - Mariner10 IsisLabelNaifSpice driver, tests, and test data [#547](https://github.com/DOI-USGS/ale/pull/547) - DawnFC IsisLabelNaifSpice driver, tests, and test data [#567](https://github.com/DOI-USGS/ale/pull/567) +- DawnVIR IsisLabelNaifSpice driver, tests, and test data [#566](https://github.com/DOI-USGS/ale/pull/566) - Updated the spiceypy version used in environment.yml [#552] ### Fixed diff --git a/ale/drivers/dawn_drivers.py b/ale/drivers/dawn_drivers.py index ee9b04321..0766700f9 100644 --- a/ale/drivers/dawn_drivers.py +++ b/ale/drivers/dawn_drivers.py @@ -1,22 +1,31 @@ -import pvl +import re import spiceypy as spice import os +import math +import numpy as np -from glob import glob +from scipy.interpolate import CubicSpline import ale from ale.base import Driver from ale.base.label_isis import IsisLabel from ale.base.data_naif import NaifSpice +from ale.base.data_isis import IsisSpice from ale.base.label_pds3 import Pds3Label from ale.base.type_distortion import NoDistortion -from ale.base.type_sensor import Framer +from ale.base.type_sensor import Framer, LineScanner +from ale.base.data_isis import read_table_data +from ale.base.data_isis import parse_table +from ale.transformation import TimeDependentRotation +from ale.transformation import ConstantRotation ID_LOOKUP = { "FC1" : "DAWN_FC1", "FC2" : "DAWN_FC2" } +degs_per_rad = 57.2957795 + class DawnFcPds3NaifSpiceDriver(Framer, Pds3Label, NaifSpice, Driver): """ Dawn driver for generating an ISD from a Dawn PDS3 image. @@ -393,3 +402,306 @@ def ephemeris_center_time(self): center ephemeris time """ return self.ephemeris_start_time + (self.exposure_duration_ms / 2.0) + + +class DawnVirIsisLabelNaifSpiceDriver(LineScanner, IsisLabel, NaifSpice, NoDistortion, Driver): + @property + def instrument_id(self): + """ + Returns the ID of the instrument + + Returns + ------- + : str + Name of the instrument + """ + lookup_table = {'VIR': 'Visual and Infrared Spectrometer'} + return lookup_table[super().instrument_id] + + @property + def sensor_name(self): + """ + Returns the name of the instrument + + Returns + ------- + : str + Name of the sensor + """ + return self.label["IsisCube"]["Instrument"]["InstrumentId"] + + @property + def line_exposure_duration(self): + """ + The exposure duration of the image, in seconds + + Returns + ------- + : float + Exposure duration in seconds + """ + return self.label["IsisCube"]["Instrument"]["FrameParameter"][0] + + @property + def focal_length(self): + return float(spice.gdpool('INS{}_FOCAL_LENGTH'.format(self.ikid), 0, 1)[0]) + + @property + def detector_center_sample(self): + """ + Returns the center detector sample. Expects ikid to be defined. This should + be an integer containing the Naif Id code of the instrument. + + Returns + ------- + : float + Detector sample of the principal point + """ + return super().detector_center_sample - 0.5 + + @property + def ikid(self): + """ + Returns the Naif ID code for the instrument + Expects the instrument_id to be defined. This must be a string containing + the short name of the instrument. + + Returns + ------- + : int + Naif ID used to for identifying the instrument in Spice kernels + """ + lookup_table = { + 'VIS': -203211, + "IR": -203213 + } + return lookup_table[self.label["IsisCube"]["Instrument"]["ChannelId"]] + + @property + def sensor_frame_id(self): + """ + Returns the FRAME_DAWN_VIR_{VIS/IR}_ZERO Naif ID code if there are no associated articulation kernels. + Otherwise the original Naif ID code is returned. + Returns + ------- + : int + Naif ID code for the sensor frame + """ + if self.has_articulation_kernel: + lookup_table = { + 'VIS': -203211, + "IR": -203213 + } + else: + lookup_table = { + 'VIS': -203221, + "IR": -203223 + } + return lookup_table[self.label["IsisCube"]["Instrument"]["ChannelId"]] + + @property + def housekeeping_table(self): + """ + This table named, "VIRHouseKeeping", contains four fields: ScetTimeClock, ShutterStatus, + MirrorSin, and MirrorCos. These fields contain the scan line time in SCLK, status of + shutter - open, closed (dark), sine and cosine of the scan mirror, respectively. + + Returns + ------- + : dict + Dictionary with ScetTimeClock, ShutterStatus, MirrorSin, and MirrorCos + """ + isis_bytes = read_table_data(self.label['Table'], self._file) + return parse_table(self.label['Table'], isis_bytes) + + @property + def line_scan_rate(self): + """ + Returns + ------- + : list + Start lines + : list + Line times + : list + Exposure durations + """ + line_times = [] + start_lines = [] + exposure_durations = [] + + line_no = 0.5 + + for line_midtime in self.hk_ephemeris_time: + if not self.is_calibrated: + line_times.append(line_midtime - (self.line_exposure_duration / 2.0) - self.center_ephemeris_time) + start_lines.append(line_no) + exposure_durations.append(self.label["IsisCube"]["Instrument"]["FrameParameter"][2]) + line_no += 1 + + line_times.append(line_times[-1] + self.label["IsisCube"]["Instrument"]["FrameParameter"][2]) + start_lines.append(line_no) + exposure_durations.append(self.label["IsisCube"]["Instrument"]["FrameParameter"][2]) + + return start_lines, line_times, exposure_durations + + @property + def sensor_model_version(self): + """ + Returns + ------- + : int + ISIS sensor model version + """ + return 1 + + @property + def optical_angles(self): + hk_dict = self.housekeeping_table + + opt_angles = [] + x = np.array([]) + y = np.array([]) + for index, mirror_sin in enumerate(hk_dict["MirrorSin"]): + shutter_status = hk_dict["ShutterStatus"][index].lower().replace(" ", "") + is_dark = (shutter_status == "closed") + + mirror_cos = hk_dict["MirrorCos"][index] + + scan_elec_deg = math.atan(mirror_sin/mirror_cos) * degs_per_rad + opt_ang = ((scan_elec_deg - 3.7996979) * 0.25/0.257812) / 1000 + + if not is_dark: + x = np.append(x, index + 1) + y = np.append(y, opt_ang) + + if not self.is_calibrated: + opt_angles.append(opt_ang) + + cs = CubicSpline(x, y, extrapolate="periodic") + + for i, opt_ang in enumerate(opt_angles): + shutter_status = hk_dict["ShutterStatus"][i].lower().replace(" ", "") + is_dark = (shutter_status == "closed") + + if (is_dark): + if (i == 0): + opt_angles[i] = opt_angles[i+1] + elif (i == len(opt_angles) - 1): + opt_angles[i] = opt_angles[i-1] + else: + opt_angles[i] = cs(i+1) + + return opt_angles + + @property + def hk_ephemeris_time(self): + + line_times = [] + scet_times = self.housekeeping_table["ScetTimeClock"] + for scet in scet_times: + line_midtime = spice.scs2e(self.spacecraft_id, scet) + line_times.append(line_midtime) + + return line_times + + @property + def ephemeris_start_time(self): + """ + Returns the starting ephemeris time of the image using the first et time from + the housekeeping table minus the line exposure duration / 2. + + Returns + ------- + : double + Starting ephemeris time of the image + """ + return self.hk_ephemeris_time[0] - (self.line_exposure_duration / 2) + + + @property + def ephemeris_stop_time(self): + """ + Returns the ephemeris stop time of the image using the last et time from + the housekeeping table plus the line exposure duration / 2. + + Returns + ------- + : double + Ephemeris stop time of the image + """ + return self.hk_ephemeris_time[-1] + (self.line_exposure_duration / 2) + + @property + def center_ephemeris_time(self): + return self.hk_ephemeris_time[int(len(self.hk_ephemeris_time)/2)] + + @property + def is_calibrated(self): + """ + Checks if image is calibrated. + + Returns + ------- + : bool + """ + return self.label['IsisCube']['Archive']['ProcessingLevelId'] > 2 + + @property + def has_articulation_kernel(self): + """ + Checks if articulation kernel exists in pool of kernels. + + Returns + ------- + : bool + """ + try: + regex = re.compile('.*dawn_vir_[0-9]{9}_[0-9]{1}.BC') + return any([re.match(regex, i) for i in self.kernels]) + except ValueError: + return False + + @property + def frame_chain(self): + frame_chain = super().frame_chain + frame_chain.add_edge(rotation=self.inst_pointing_rotation) + return frame_chain + + @property + def inst_pointing_rotation(self): + """ + Returns a time dependent instrument pointing rotation for -203221 and -203223 sensor frame ids. + + Returns + ------- + : TimeDependentRotation + Instrument pointing rotation + """ + time_dep_quats = np.zeros((len(self.hk_ephemeris_time), 4)) + avs = [] + + for i, time in enumerate(self.hk_ephemeris_time): + try: + state_matrix = spice.sxform("J2000", spice.frmnam(self.sensor_frame_id), time) + except: + rotation_matrix = spice.pxform("J2000", spice.frmnam(self.sensor_frame_id), time) + state_matrix = spice.rav2xf(rotation_matrix, [0, 0, 0]) + + opt_angle = self.optical_angles[i] + + xform = spice.eul2xf([0, -opt_angle, 0, 0, 0, 0], 1, 2, 3) + xform2 = spice.mxmg(xform, state_matrix) + + rot_mat, av = spice.xf2rav(xform2) + avs.append(av) + + quat_from_rotation = spice.m2q(rot_mat) + time_dep_quats[i,:3] = quat_from_rotation[1:] + time_dep_quats[i, 3] = quat_from_rotation[0] + + time_dep_rot = TimeDependentRotation(time_dep_quats, self.hk_ephemeris_time, 1, self.sensor_frame_id, av=avs) + + return time_dep_rot + + \ No newline at end of file diff --git a/ale/formatters/formatter.py b/ale/formatters/formatter.py index afeb2f966..751afc6ad 100644 --- a/ale/formatters/formatter.py +++ b/ale/formatters/formatter.py @@ -2,6 +2,8 @@ import numpy as np from scipy.interpolate import interp1d, BPoly +import spiceypy as spice + from networkx.algorithms.shortest_paths.generic import shortest_path from ale.transformation import FrameChain @@ -140,6 +142,7 @@ def to_isd(driver): instrument_pointing['constant_frames'] = shortest_path(frame_chain, sensor_frame, destination_frame) constant_rotation = frame_chain.compute_rotation(destination_frame, sensor_frame) instrument_pointing['constant_rotation'] = constant_rotation.rotation_matrix().flatten() + meta_data['instrument_pointing'] = instrument_pointing # interior orientation diff --git a/notebooks/write_DawnVirIsisLabelNaifSpiceDriver.ipynb b/notebooks/write_DawnVirIsisLabelNaifSpiceDriver.ipynb new file mode 100644 index 000000000..9f0e500fe --- /dev/null +++ b/notebooks/write_DawnVirIsisLabelNaifSpiceDriver.ipynb @@ -0,0 +1,120 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "fileName = 'VIR_IR_1A_1_362681634_1_isis3.cub'\n", + "\n", + "import os\n", + "os.environ[\"ISISDATA\"] = \"isisdata/isis_data\"\"\n", + "os.environ[\"ISISTESTDATA\"] = \"/isisdata/isis_testData\"\n", + "os.environ[\"ISISROOT\"] = \"/ISIS3/build\"\n", + "\n", + "import ale \n", + "from ale.drivers.dawn_drivers import DawnVirIsisNaifSpiceDriver\n", + "from ale.formatters.formatter import to_isd\n", + "import spiceypy as spice\n", + "from ale.drivers import AleJsonEncoder" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "from ale.util import generate_kernels_from_cube\n", + "kernels = generate_kernels_from_cube(fileName, expand=True, format_as='list')\n" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "kernels" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": { + "scrolled": false + }, + "outputs": [], + "source": [ + "with DawnVirIsisNaifSpiceDriver(fileName, props = {\"kernels\": kernels}) as driver:\n", + " isisString = to_isd(driver)" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "isisString" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "import json\n", + "\n", + "isis_dict = isisString\n", + "\n", + "json_file = os.path.splitext(fileName)[0] + '.json'\n", + "\n", + "with open(json_file, 'w') as fp:\n", + " json.dump(isis_dict, fp, cls = AleJsonEncoder)\n", + " \n", + "with open(json_file, 'r') as fp:\n", + " isis_dict = json.load(fp)\n", + " \n", + "isis_dict.keys()" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] + } + ], + "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": "3.10.2" + } + }, + "nbformat": 4, + "nbformat_minor": 2 +} diff --git a/tests/pytests/data/VIR_IR_1A_1_362681634_1/DAWN_203_SCLKSCET.00091.tsc b/tests/pytests/data/VIR_IR_1A_1_362681634_1/DAWN_203_SCLKSCET.00091.tsc new file mode 100755 index 000000000..b0afa1e0d --- /dev/null +++ b/tests/pytests/data/VIR_IR_1A_1_362681634_1/DAWN_203_SCLKSCET.00091.tsc @@ -0,0 +1,673 @@ +KPL/SCLK + + +DAWN SCLK File +=========================================================================== + + This file is a SPICE spacecraft clock (SCLK) kernel containing + information required for DAWN spacecraft on-board clock to UTC + conversion. + + +Production/History of this SCLK file +-------------------------------------------------------- + + This file was generated by the NAIF utility program MAKCLK, version + 3.5.2, from the most recent DAWN spacecraft SCLKvSCET file (see + corresponding sections of these comments for a copy of the source + SCLKvSCET file and MAKCLK setup file). + + +Usage +-------------------------------------------------------- + + This file must be loaded into the user's program by a call to the + FURNSH subroutine + + CALL FURNSH( 'this_file_name' ) + + in order to use the SPICELIB SCLK family of subroutines to convert + DAWN spacecraft on-board clock to ET and vice versa. + + +SCLK Format +-------------------------------------------------------- + + The on-board clock, the conversion for which is provided by this SCLK + file, consists of two fields: + + SSSSSSSSSS:FFF + + where: + + 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. + + +References +-------------------------------------------------------- + + 1. SCLK Required Reading Document + + 2. MAKCLK User's Guide Document + + 3. SFOC SCLKvSCET SIS Document + + +Inquiries +-------------------------------------------------------- + + If you have any questions regarding this file contact NAIF at JPL + + Charles H. Acton, Jr + (818) 354-3869 + Chuck.Acton@jpl.nasa.gov + + Boris V. Semenov + (818) 354-8136 + Boris.Semenov@jpl.nasa.gov + + +Source SCLKvSCET File +-------------------------------------------------------- + + CCSD3ZS00001$$sclk$$NJPL3KS0L015$$scet$$ + MISSION_NAME=DAWN; + SPACECRAFT_NAME=DAWN; + DATA_SET_ID=SCLK_SCET; + FILE_NAME=DAWN_203_SCLKSCET.00091; + PRODUCT_CREATION_TIME=2018-270T19:25:38.266; + PRODUCT_VERSION_ID=00091; + PRODUCER_ID=DSMS_TIME_SERVICES; + APPLICABLE_START_TIME=2000-001T11:58:55.816; + APPLICABLE_STOP_TIME=2019-038T23:42:07.704; + MISSION_ENVIRONMENT=ops; + MISSION_ID=30; + SPACECRAFT_ID=203; + CCSD3RE00000$$scet$$NJPL3IS00613$$data$$ + *____SCLK0_____ ________SCET0________ _DUT__ __SCLKRATE__ + 0.000 2000-001T11:58:55.816 64.184 1.000000000 + 189345665.000 2006-001T00:00:00.816 64.184 0.000010000 + 189345666.000 2006-001T00:00:00.817 65.184 1.000000000 + 244538000.000 2007-274T19:12:14.817 65.184 1.006101025 + 244539000.000 2007-274T19:29:00.918 65.184 1.000007143 + 244710000.000 2007-276T18:59:02.139 65.184 1.000010166 + 244711000.000 2007-276T19:15:42.150 65.184 1.000007152 + 245501801.000 2007-285T22:55:48.806 65.184 1.000033235 + 245502801.000 2007-285T23:12:28.839 65.184 0.998999041 + 245513651.000 2007-286T02:13:07.979 65.184 0.999015999 + 245514651.000 2007-286T02:29:46.995 65.184 1.000000001 + 249480000.000 2007-331T23:58:55.999 65.184 0.999158298 + 249481000.000 2007-332T00:15:35.157 65.184 1.000000089 + 251201000.000 2007-351T22:02:15.310 65.184 0.999909591 + 251202000.000 2007-351T22:18:55.220 65.184 1.000000046 + 253726000.000 2008-016T03:25:35.336 65.184 1.000108749 + 253727000.000 2008-016T03:42:15.445 65.184 1.000000089 + 256097000.000 2008-043T14:02:15.656 65.184 1.000049672 + 256098000.000 2008-043T14:18:55.706 65.184 1.000000113 + 256990800.000 2008-053T22:18:55.807 65.184 0.999863733 + 256991800.000 2008-053T22:35:35.671 65.184 0.999045412 + 256992650.000 2008-053T22:49:44.860 65.184 0.998760856 + 256992750.000 2008-053T22:51:24.736 65.184 1.000000009 + 283350000.000 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b/tests/pytests/data/VIR_IR_1A_1_362681634_1/VIR_IR_1A_1_362681634_1_isis3.lbl new file mode 100644 index 000000000..b1abddd31 --- /dev/null +++ b/tests/pytests/data/VIR_IR_1A_1_362681634_1/VIR_IR_1A_1_362681634_1_isis3.lbl @@ -0,0 +1,271 @@ +Object = IsisCube + Object = Core + StartByte = 65537 + Format = Tile + TileSamples = 256 + TileLines = 60 + + Group = Dimensions + Samples = 256 + Lines = 60 + Bands = 432 + End_Group + + Group = Pixels + Type = SignedWord + ByteOrder = Lsb + Base = 0.0 + Multiplier = 1.0 + End_Group + End_Object + + Group = Instrument + SpacecraftName = DAWN + MissionPhaseName = "VESTA SCIENCE APPROACH (VSA)" + InstrumentId = VIR + SpacecraftClockStartCount = 1/362681634.2933 + SpacecraftClockStopCount = 1/362682578.0394 + StartTime = 2011-06-30T05:53:54.29 + StopTime = 2011-06-30T06:09:38.04 + TargetName = VESTA + OriginalTargetName = "4 VESTA" + OrbitNumber = N/A + DataQualityId = 1 + ChannelId = IR + InstrumentModeId = S_H_SPE_H_SPA_F + ScanModeId = 4 + FrameParameter = (0.5, 1, 16, 58) + VirIrStartXPosition = 1 + VirIrStartYPosition = 7 + MaximumInstrumentTemperature = (81.5, 139.6, 140.6, 74.4) + End_Group + + Group = Archive + SoftwareVersionId = "EGSE V1.14,AMDLSpace" + DataSetName = "DAWN VIR RAW (EDR) VESTA INFRARED SPECTRA + V1.0" + DataSetId = DAWN-A-VIR-2-EDR-IR-VESTA-SPECTRA-V1.0 + ProductId = VIR_IR_1A_1_362681634_1 + ProductType = EDR + ProducerFullName = "A. CORADINI" + ProducerInstitutionName = "ISTITUTO NAZIONALE DI ASTROFISICA" + ProductCreationTime = 2011-07-01T11:21:40.95 + ProductVersionId = 01 + InstrumentName = "VISIBLE AND INFRARED SPECTROMETER" + InstrumentType = "IMAGING SPECTROMETER" + ImageMidTime = NULL + ProcessingLevelId = 2 + EncodingType = N/A + PhotometricCorrectionType = NONE + End_Group + + Group = BandBin + Unit = MICROMETER + Center = (1.021, 1.030, 1.040, 1.049, 1.059, 1.068, 1.078, 1.087, + 1.096, 1.106, 1.115, 1.125, 1.134, 1.144, 1.153, 1.163, + 1.172, 1.182, 1.191, 1.200, 1.210, 1.219, 1.229, 1.238, + 1.248, 1.257, 1.267, 1.276, 1.286, 1.295, 1.305, 1.314, + 1.323, 1.333, 1.342, 1.352, 1.361, 1.371, 1.380, 1.390, + 1.399, 1.409, 1.418, 1.428, 1.437, 1.446, 1.456, 1.465, + 1.475, 1.484, 1.494, 1.503, 1.513, 1.522, 1.532, 1.541, + 1.550, 1.560, 1.569, 1.579, 1.588, 1.598, 1.607, 1.617, + 1.626, 1.636, 1.645, 1.655, 1.664, 1.673, 1.683, 1.692, + 1.702, 1.711, 1.721, 1.730, 1.740, 1.749, 1.759, 1.768, + 1.777, 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184, 185, 186, 187, 188, 189, + 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, + 202, 203, 204, 205, 206, 207, 208, 209, 210, 211, 212, 213, + 214, 215, 216, 217, 218, 219, 220, 221, 222, 223, 224, 225, + 226, 227, 228, 229, 230, 231, 232, 233, 234, 235, 236, 237, + 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 249, + 250, 251, 252, 253, 254, 255, 256, 257, 258, 259, 260, 261, + 262, 263, 264, 265, 266, 267, 268, 269, 270, 271, 272, 273, + 274, 275, 276, 277, 278, 279, 280, 281, 282, 283, 284, 285, + 286, 287, 288, 289, 290, 291, 292, 293, 294, 295, 296, 297, + 298, 299, 300, 301, 302, 303, 304, 305, 306, 307, 308, 309, + 310, 311, 312, 313, 314, 315, 316, 317, 318, 319, 320, 321, + 322, 323, 324, 325, 326, 327, 328, 329, 330, 331, 332, 333, + 334, 335, 336, 337, 338, 339, 340, 341, 342, 343, 344, 345, + 346, 347, 348, 349, 350, 351, 352, 353, 354, 355, 356, 357, + 358, 359, 360, 361, 362, 363, 364, 365, 366, 367, 368, 369, + 370, 371, 372, 373, 374, 375, 376, 377, 378, 379, 380, 381, + 382, 383, 384, 385, 386, 387, 388, 389, 390, 391, 392, 393, + 394, 395, 396, 397, 398, 399, 400, 401, 402, 403, 404, 405, + 406, 407, 408, 409, 410, 411, 412, 413, 414, 415, 416, 417, + 418, 419, 420, 421, 422, 423, 424, 425, 426, 427, 428, 429, + 430, 431, 432) + End_Group + + Group = Kernels + NaifFrameCode = -203213 + End_Group +End_Object + +Object = Label + Bytes = 65536 +End_Object + +Object = Table + Name = VIRHouseKeeping + StartByte = 13337176 + Bytes = 2160 + Records = 60 + ByteOrder = Lsb + SourceFile = /work/users/slambright/prog/isis3/clean_trunk/isis/src/dawn/ap- + ps/dawnvir2isis/tsts/IR/input/VIR_IR_1A_1_362681634_1_HK.LBL + + Group = Field + Name = ScetTimeClock + Type = Text + Size = 12 + End_Group + + Group = Field + Name = ShutterStatus + Type = Text + Size = 8 + End_Group + + Group = Field + Name = MirrorSin + Type = Double + Size = 1 + End_Group + + Group = Field + Name = MirrorCos + Type = Double + Size = 1 + End_Group +End_Object + +Object = History + Name = IsisCube + StartByte = 13336577 + Bytes = 599 +End_Object + +Object = OriginalLabel + Name = IsisCube + StartByte = 13339336 + Bytes = 23983 +End_Object +End diff --git a/tests/pytests/data/VIR_IR_1A_1_362681634_1/VIR_IR_1A_1_362681634_1_isis3_0.xsp b/tests/pytests/data/VIR_IR_1A_1_362681634_1/VIR_IR_1A_1_362681634_1_isis3_0.xsp new file mode 100644 index 000000000..80d0cdbed --- /dev/null +++ b/tests/pytests/data/VIR_IR_1A_1_362681634_1/VIR_IR_1A_1_362681634_1_isis3_0.xsp @@ -0,0 +1,1013 @@ +DAFETF NAIF DAF ENCODED TRANSFER FILE +'DAF/SPK ' +'2' +'6' +'SPKMERGE ' +BEGIN_ARRAY 1 45 +'VESTA ' +'159E106596D27^8' +'159E194B5DFD66^8' +'1E8484' +'A' +'1' +'2' +45 +'159C7EC^8' +'2A3^6' +'A2033858D210C^7' +'2FA5A8E74EC04C^7' +'-12395AFDA4D93^6' +'-CB8ED7C6F5FF^4' +'4E293527E88^3' +'FC97C43B28^1' +'-D8BBB84C^0' +'-16DEBBF58^0' +'1F2E564^-1' +'3EE1F28C^-1' +'-245D25^-1' +'3341DC8^-3' +'8BFED^-2' +'-F115EF241BD4^7' +'19B2BC7C78DAE3^7' +'1B2C9820175DE^6' 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+'2FB9F7B8701F4^-2' +'-6E2EA633CF2DD^-3' +'B313A0D099DEB8^-5' +'249E440E6D81CA^-4' +'-5EC97B9EA6E2F4^-5' +'1455A78ABB1748^-6' +'158B5B4^8' +'1518^6' +'23^2' +'1^1' +END_ARRAY 3 39 +TOTAL_ARRAYS 3 + ~NAIF/SPC BEGIN COMMENTS~ +; /Users/astamile/testData/ale/dawnVIR/VIR_IR_1A_1_362681634_1_isis3_0.bsp LOG FILE + +; Created 2023-12-10/09:42:34.00. +; +; BEGIN SPKMERGE COMMANDS + +LEAPSECONDS_KERNEL = /Users/astamile/isisdata/isis_data/base/kernels/lsk/naif0012.tls + +SPK_KERNEL = /Users/astamile/testData/ale/dawnVIR/VIR_IR_1A_1_362681634_1_isis3_0.bsp +SOURCE_SPK_KERNEL = /Users/astamile/isisdata/isis_data/dawn/kernels/tspk/sb_vesta_110211.bsp + INCLUDE_COMMENTS = NO + BODIES = 2000004 + BEGIN_TIME = 2011 JUN 30 04:32:35.405 + END_TIME = 2011 JUN 30 05:10:33.183 +SOURCE_SPK_KERNEL = /Users/astamile/isisdata/isis_data/dawn/kernels/spk/dawn_rec_110416-110802_110913_v1.bsp + INCLUDE_COMMENTS = NO + BODIES = -203 + BEGIN_TIME = 2011 JUN 30 04:32:35.405 + END_TIME = 2011 JUN 30 05:10:33.183 +SOURCE_SPK_KERNEL = /Users/astamile/isisdata/isis_data/dawn/kernels/tspk/de421.bsp + INCLUDE_COMMENTS = NO + BODIES = 10 + BEGIN_TIME = 2011 JUN 30 04:32:35.405 + END_TIME = 2011 JUN 30 05:10:33.183 + +; END SPKMERGE COMMANDS + ~NAIF/SPC END COMMENTS~ diff --git a/tests/pytests/data/VIR_IR_1A_1_362681634_1/dawn_fc_v3_0_sliced_-203120.xc b/tests/pytests/data/VIR_IR_1A_1_362681634_1/dawn_fc_v3_0_sliced_-203120.xc new file mode 100644 index 000000000..919a7a7c5 --- /dev/null +++ b/tests/pytests/data/VIR_IR_1A_1_362681634_1/dawn_fc_v3_0_sliced_-203120.xc @@ -0,0 +1,31 @@ +DAFETF NAIF DAF ENCODED TRANSFER FILE +'DAF/CK ' +'2' +'6' +'DAWN FC ALIGNMENT ' +BEGIN_ARRAY 1 10 +'DAWN FC2 ALIGNMENT, 10/22/15 ' +'159E1065C3^A' +'159E194B8A^A' +'-31970' +'-318F8' +'2' +'1' +10 +'FFFFE61784D86^0' +'-1CE1654009A4C1^-2' +'681F4D63A264F8^-2' +'27DE1942838A74^-2' +'0^0' +'0^0' +'0^0' +'FFFFFFFF1C422^-2' +'159E1065C3^A' +'159E194B8A^A' +END_ARRAY 1 10 +TOTAL_ARRAYS 1 + ~NAIF/SPC BEGIN COMMENTS~ +This CK is for testing with the image: /Users/astamile/testData/ale/dawnVIR/VIR_IR_1A_1_362681634_1_isis3.cub + +This CK was generated using the following command: {} + ~NAIF/SPC END COMMENTS~ diff --git a/tests/pytests/data/VIR_IR_1A_1_362681634_1/dawn_sc_110627_110703_0_sliced_-203000.xc b/tests/pytests/data/VIR_IR_1A_1_362681634_1/dawn_sc_110627_110703_0_sliced_-203000.xc new file mode 100644 index 000000000..624376645 --- /dev/null +++ b/tests/pytests/data/VIR_IR_1A_1_362681634_1/dawn_sc_110627_110703_0_sliced_-203000.xc @@ -0,0 +1,14536 @@ +DAFETF NAIF DAF ENCODED TRANSFER FILE +'DAF/CK ' +'2' +'6' +'DAWN TLM-Based SC Bus CK File by NAIF/JPL ' +BEGIN_ARRAY 1 14501 +'DAWN SC BUS TLM-BASED QUATS/AVS ' +'159E1065C3^A' +'159E194B8A^A' +'-318F8' +'1' +'3' +'1' +1024 +'21F00A6952C18C^0' +'-4C698C74768474^0' +'A08542473C273^0' +'-B50C6906205D3^0' +'502D1522C181D4^-2' +'-F3DE9915AEFD8^-3' +'-21C9691888302E^-2' +'21EAFA5F572886^0' +'-4C5AAF4E0BD19C^0' +'A0B1046F506FD8^0' +'-B4ECCD1D54A4A^0' 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COMMENTS~ +This CK is for testing with the image: /Users/astamile/testData/ale/dawnVIR/VIR_IR_1A_1_362681634_1_isis3.cub + +This CK was generated using the following command: {} + ~NAIF/SPC END COMMENTS~ diff --git a/tests/pytests/data/VIR_IR_1A_1_362681634_1/dawn_v15.tf b/tests/pytests/data/VIR_IR_1A_1_362681634_1/dawn_v15.tf new file mode 100755 index 000000000..73f2a799c --- /dev/null +++ b/tests/pytests/data/VIR_IR_1A_1_362681634_1/dawn_v15.tf @@ -0,0 +1,2285 @@ +KPL/FK + +Dawn Frames Kernel +======================================================================== + + This frame kernel contains complete set of frame definitions for the + Dawn Spacecraft (DAWN) including definitions for the Dawn spacecraft + and Dawn science instrument and engineering structure frames. This + kernel also contains NAIF ID/name mapping for the Dawn instruments. + + +Version and Date +======================================================================== + + + Version 1.5 -- October 19, 2018 -- Boris Semenov, NAIF + + Added more DSK surface name-IDs. + + Version 1.4 -- March 29, 2018 -- Boris Semenov, NAIF + + Added DSK surface name-ID mapping section. + + Version 1.3 -- April 6, 2016 -- Boris Semenov, NAIF + + Redefined the DAWN_FC2 frame as a CK-based frame to facilitate + providing different FC2 alignments relative to the s/c frame for + Vesta and Ceres missions. + + Version 1.2 -- October 29, 2012 -- Boris Semenov, NAIF + + Added Euler dynamic frames for Vesta coordinate systems + ``IAU-2000'' and ``DAWN-Claudia''. + + Version 1.1 -- July 5, 2011 -- Boris Semenov, NAIF + + Corrected description of the FC1 and FC2 frames. All frame + definitions are identical to Version 1.0. + + Version 1.0 -- March 21, 2011 -- Boris Semenov, NAIF + + Incorporated updated definitions of the DAWN_VIR_VIS, DAWN_VIR_IR, + DAWN_VIR_VIS_ZERO, and DAWN_VIR_IR_ZERO frames provided by + by Dr. Federico Tosi, INAF in "dawn_v10_draft3.tf" + + Changed IDs of DAWN_VIR_VIS_ZERO and DAWN_VIR_IR_ZERO frames from + -203212 and -203214 to -203221 and -203223 to eliminate confusion + that may result from the IDs -203212 and -203214 mapping to + different names in the frames and physical objects domains. Since + these frames are fixed-offset, class 4 frames that are referred to + only by name in SPICE API calls and other kernels (e.g. IKs) this + change should be transparent to the users of this FK. + + Updated star tracker alignments (frames DAWN_ST1 and DAWN_ST2) + and FC alignments (frames DAWN_FC1 and DAWN_FC2) per MCR-111570. + + Version 0.9 -- July 1, 2010 -- Boris Semenov, NAIF + + Incorporated updated definitions of the DAWN_VIR_VIS, DAWN_VIR_IR, + DAWN_VIR_VIS_ZERO, and DAWN_VIR_IR_ZERO frames provided by + Eleonora Ammannito, INAF in "VIR_kernel_update_r2.doc". + + Version 0.8 -- October 8, 2009 -- Dr. Federico Tosi, INAF - IFSI + Boris Semenov, NAIF + + Redefined VIR frames to better encapsulate the instrument scan + mirror motion and optical path misalignments, specifically: + + - added DAWN_VIR frame (-203200), fixed to the spacecraft, to + capture the instrument base alignment relative to the spacecraft + + - added DAWN_VIR_SCAN frame (-203201), CK-based, to capture + the motion of the mirror + + - changed the reference frame for DAWN_VIR_VIS and + DAWN_VIR_IR to DAWN_VIR_SCAN + + - renamed DAWN_VIR_VIS_SCAN and DAWN_VIR_IR_SCAN to + DAWN_VIR_VIS_ZERO and DAWN_VIR_IR_ZERO while keeping the + same IDs (-203212 and -203214) and redefined them to be + fixed offset frames relative to DAWN_VIR + + - added DAWN_VIR/-203200 and DAWN_VIR_SCAN/-203201 name/ID + mappings + + Version 0.7 -- July 3, 2009 -- Boris Semenov, NAIF + + Incorporated Thomas Roatsch's name/ID mappings and individual + frames for FC filters. Included FC alignments used by DLR to + process MGA data in the comments. + + Corrected and completed comments in the "Dawn Mission + NAIF ID Codes -- Summary Section" section. + + Re-worded some of the version section entries for clarity. + + Version 0.6t2 -- June 23, 2009 -- Steven Joy, DSC + + Propagated test version of the DAWN_VIR_VIS_96/-203218 and + DAWN_VIR_VIS_32/-203219 name/ID mapping. Neither this nor the + previous updates have still been reviewed by the VIR team. + + Version 0.6t -- April 09, 2009 -- Steven Joy, DSC + + Propagated test version of the DAWN_VIR_VIS_16/-203217 name/ID + mapping. Neither this nor the previous updates have still been + reviewed by the VIR team. + + Version 0.6t -- Jan 12, 2009 -- Steven Joy, DSC + + Propagated test version of the DAWN_VIR_VIS_124/-203215 and + DAWN_VIR_VIS_64/-203216 name/ID mappings from version 0.5t into + the version 0.6 released by Boris. These updates have still not + been reviewed by the VIR team. + + Version 0.6 -- January 5, 2009 -- Boris Semenov, NAIF + + Preliminary Version. Pending review and approval by Dawn + instrument teams. + + Incorporated FC alignments provided by Nick Mastrodemos. + + Version 0.5t -- June 23, 2008 -- Steven Joy, DSC with Boris Semenov, NAIF + + Preliminary Version. Pending review and approval by Dawn + instrument teams. + + Added definitions for name/ID mappings DAWN_VIR_VIS_124/-203215 + and DAWN_VIR_VIS_64/-203216. These IDs are needed to define + special FOV for the VIR scan mirror of 128 (64) positions, half + on either side of the mirror center position. + + Updated HGA frame orientation based on [7]. + + + Version 0.5 -- January 10, 2008 -- Boris Semenov, NAIF + + Preliminary Version. Pending review and approval by Dawn + instrument teams. + + Updated HGA frame orientation based on [7]. + + Version 0.4 -- May 8, 2007 -- Boris Semenov, NAIF + + Preliminary Version. Pending review and approval by Dawn + instrument teams. + + Added ID/name mappings for the solar array corners. + + Version 0.3 -- August 7, 2006 -- Boris Semenov, NAIF + + Preliminary Version. Pending review and approval by Dawn + instrument teams. + + Added star tracker (ST1 and ST2) and flight thruster (FT1, FT2, + and FT3) frames and name/ID mappings. In this version all STn and + FTn frames provide on nominal alignment. + + Version 0.2 -- July 27, 2006 -- Boris Semenov, NAIF + + Preliminary Version. Pending review and approval by Dawn + instrument teams. + + Renamed DAWN_LGA frame and structure name to be DAWN_LGA+Z. Added + DAWN_LGA+X and DAWN_LGA-Z frames and structure name/IDs. + + Version 0.1 -- May 9, 2005 -- Boris Semenov, NAIF + + Preliminary Version. Pending review and approval by Dawn + instrument teams. + + Added FC and VIR radiator name-ID mapping keywords. Removed + definitions of VESTA_FIXED and CERES_FIXED frames; these frames + are now defined in separate FKs (per request from SOA). + + Version 0.0 -- October 11, 2004 -- Boris Semenov, NAIF + + Preliminary Version. Pending review and approval by Dawn + instrument teams. + + +References +======================================================================== + + 1. ``Frames Required Reading'' + + 2. ``Kernel Pool Required Reading'' + + 3. ``C-Kernel Required Reading'' + + 4. Dawn CDR Presentations. + + 5. Dawn Instrument ICD/MICD documents. + + 6. DAWN FSDD, CDRL TD-006, 9/27/04 + + 7. HGA Boresight Direction, e-mail from Ed Swenka, 01/10/08 + + 8. "Post-Processing Of Framing Camera Alignments" + (FCalignment_110118.docx), Ian Roundhill, January 18, 2011 + + 9. "Star Tracker and IRU In-Flight Calibration Test Report. + DN-DAWN-ACS-026" (DN-DAWN-ACS-026_01.pdf), A. Cross, 01/15/08 + + +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 SPICE routine FURNSH loads a kernel file + into the pool as shown below. + + CALL FURNSH ( 'frame_kernel_name; ) -- FORTRAN + furnsh_c ( "frame_kernel_name" ); -- C + cspice_furnsh, frame_kernel_name -- IDL + cspice_furnsh( 'frame_kernel_name' ) -- MATLAB + + This file was created and may be updated with a text editor or word + processor. + + +Dawn Mission NAIF ID Codes -- Summary Section +======================================================================== + + The following names and NAIF ID codes are assigned to the Dawn + spacecraft, its structures and science instruments (the keywords + implementing these definitions are located in the section "Dawn + Mission NAIF ID Codes -- Definition Section" at the end of this + file): + + Dawn Targets: + + VESTA 2000004 (synonyms: '4 VESTA') + CERES 2000001 (synonyms: '1 CERES') + + Dawn Spacecraft and Spacecraft Structures names/IDs: + + DAWN -203 + DAWN_SPACECRAFT -203000 + DAWN_SA+Y -203010 + DAWN_SA+Y_GIMBAL -203011 + DAWN_SA+Y_C1 -203012 + DAWN_SA+Y_C2 -203013 + DAWN_SA+Y_C3 -203014 + DAWN_SA+Y_C4 -203015 + DAWN_SA-Y -203020 + DAWN_SA-Y_GIMBAL -203021 + DAWN_SA-Y_C1 -203022 + DAWN_SA-Y_C2 -203023 + DAWN_SA-Y_C3 -203024 + DAWN_SA-Y_C4 -203025 + DAWN_HGA -203040 + DAWN_LGA+Z -203030 + DAWN_LGA+X -203050 + DAWN_LGA-Z -203060 + DAWN_ST1 -203071 + DAWN_ST2 -203072 + DAWN_FT1 -203081 + DAWN_FT2 -203082 + DAWN_FT3 -203083 + + FC1 and FC2 names/IDs: + + DAWN_FC1 -203110 + DAWN_FC1_FILTER_1 -203111 + DAWN_FC1_FILTER_2 -203112 + DAWN_FC1_FILTER_3 -203113 + DAWN_FC1_FILTER_4 -203114 + DAWN_FC1_FILTER_5 -203115 + DAWN_FC1_FILTER_6 -203116 + DAWN_FC1_FILTER_7 -203117 + DAWN_FC1_FILTER_8 -203118 + DAWN_FC1_RAD -203119 + + DAWN_FC2 -203120 + DAWN_FC2_FILTER_1 -203121 + DAWN_FC2_FILTER_2 -203122 + DAWN_FC2_FILTER_3 -203123 + DAWN_FC2_FILTER_4 -203124 + DAWN_FC2_FILTER_5 -203125 + DAWN_FC2_FILTER_6 -203126 + DAWN_FC2_FILTER_7 -203127 + DAWN_FC2_FILTER_8 -203128 + DAWN_FC2_RAD -203129 + + VIR names/IDs: + + DAWN_VIR -203200 + DAWN_VIR_SCAN -203201 + DAWN_VIR_VIS -203211 + DAWN_VIR_IR -203213 + DAWN_VIR_VIS_SCAN -203212 + DAWN_VIR_IR_SCAN -203214 + DAWN_VIR_VIS_128 -203215 + DAWN_VIR_VIS_64 -203216 + DAWN_VIR_VIS_16 -203217 + DAWN_VIR_VIS_96 -203218 + DAWN_VIR_VIS_32 -203219 + DAWN_VIR_RAD -203209 + + GRAND names/IDs: + + DAWN_GRAND -203300 + + + Vesta and Ceres DSK Surface names/IDs: + + See "Dawn DSK Surface NAIF Names/ID Codes -- Definition Section" + section at the end the file. + + +Dawn Frames +======================================================================== + + The following Dawn frames are defined in this kernel file: + + Name Relative to Type NAIF ID + ====================== =================== ============ ======= + + Dawn Target frames: + ---------------------------------------------------- + IAU_VESTA J2000 PCK 10099 (1) + VESTA_FIXED J2000 PCK 2000004 (2) + VESTA_IAU_2000 J2000 DYNAMIC -203911 + DAWN_CLAUDIA J2000 DYNAMIC -203912 + + CERES_FIXED J2000 PCK 2000001 + + Dawn Spacecraft and Spacecraft Structures frames: + ---------------------------------------------------- + DAWN_SPACECRAFT J2000 CK -203000 + DAWN_SA+Y DAWN_SPACECRAFT CK -203010 + DAWN_SA-Y DAWN_SPACECRAFT CK -203020 + DAWN_HGA DAWN_SPACECRAFT FIXED -203040 + DAWN_LGA+Z DAWN_SPACECRAFT FIXED -203030 + DAWN_LGA+X DAWN_SPACECRAFT FIXED -203050 + DAWN_LGA-Z DAWN_SPACECRAFT FIXED -203060 + DAWN_ST1 DAWN_SPACECRAFT FIXED -203071 + DAWN_ST2 DAWN_SPACECRAFT FIXED -203072 + DAWN_FT1 DAWN_SPACECRAFT FIXED (3) -203081 + DAWN_FT2 DAWN_SPACECRAFT FIXED (3) -203082 + DAWN_FT3 DAWN_SPACECRAFT FIXED (3) -203083 + + FC1 and FC2 frames: + ------------------- + DAWN_FC1 DAWN_SPACECRAFT FIXED -203110 + DAWN_FC1_FILTER_1 DAWN_FC1 FIXED -203111 + DAWN_FC1_FILTER_2 DAWN_FC1 FIXED -203112 + DAWN_FC1_FILTER_3 DAWN_FC1 FIXED -203113 + DAWN_FC1_FILTER_4 DAWN_FC1 FIXED -203114 + DAWN_FC1_FILTER_5 DAWN_FC1 FIXED -203115 + DAWN_FC1_FILTER_6 DAWN_FC1 FIXED -203116 + DAWN_FC1_FILTER_7 DAWN_FC1 FIXED -203117 + DAWN_FC1_FILTER_8 DAWN_FC1 FIXED -203118 + + DAWN_FC2 DAWN_SPACECRAFT CK -203120 + DAWN_FC2_FILTER_1 DAWN_FC2 FIXED -203121 + DAWN_FC2_FILTER_2 DAWN_FC2 FIXED -203122 + DAWN_FC2_FILTER_3 DAWN_FC2 FIXED -203123 + DAWN_FC2_FILTER_4 DAWN_FC2 FIXED -203124 + DAWN_FC2_FILTER_5 DAWN_FC2 FIXED -203125 + DAWN_FC2_FILTER_6 DAWN_FC2 FIXED -203126 + DAWN_FC2_FILTER_7 DAWN_FC2 FIXED -203127 + DAWN_FC2_FILTER_8 DAWN_FC2 FIXED -203128 + + VIR frames: + ----------- + DAWN_VIR DAWN_SPACECRAFT FIXED -203200 + DAWN_VIR_SCAN DAWN_VIR CK -203201 + DAWN_VIR_VIS DAWN_VIR_SCAN FIXED -203211 + DAWN_VIR_IR DAWN_VIR_SCAN FIXED -203213 + + DAWN_VIR_VIS_ZERO DAWN_VIR FIXED -203221 + DAWN_VIR_IR_ZERO DAWN_VIR FIXED -203223 + + GRAND frames: + ------------- + DAWN_GRAND DAWN_SPACECRAFT FIXED -203300 + + (1) The IAU_VESTA frame is built into the Toolkit starting with the + Toolkit version N0054 (June 2010). + + (2) The VESTA_FIXED frame is defined in a separate FK. It is essentially + a synonym of the IAU_VESTA frame. + + (3) Although all flight thrusters are mounted on gimbals and can be + articulated within a small angular range (+/- 5 degrees during + flight), in this version of the FK their frames are defined as + fixed offset frames with respect to the spacecraft frame. + + +Spacecraft and Spacecraft Structures Frame Tree +======================================================================== + + The diagram below shows the frame hierarchy for the Dawn spacecraft + and its structure frame (not including science instrument frames.) + + "VESTA_IAU_2000" + ---------------- + ^ + |<-dynamic + | + | "DAWN_CLAUDIA" + | -------------- + | ^ + | |<-dynamic + | | + | | + | | "J2000" INERTIAL + +-----------------------------------------------------+ + | | | | + |<-pck |<-pck | |<-pck + | | | | + V V | V + "VESTA_FIXED" "IAU_VESTA" | "CERES_FIXED" + ------------- ------------- | ------------- + | + | + | + "DAWN_ST1" "DAWN_ST2" | "DAWN_LGA+X" "DAWN_LGA-Z" + --------- ---------- | ------------ ------------ + ^ ^ | ^ ^ + | | | | | + |<-fixed |<-fixed |<-ck |<-fixed |<-fixed + | | | | | + | | V | | + | | "DAWN_SPACECRAFT" | | + +-----------------------------------------------------+ + | | . | | | | | + |<-ck |<-ck . | | | |<-fixed |<-fixed + | | . | | | | | + V V . | | | V V + "DAWN_SA+Y" "DAWN_SA-Y" . | | | "DAWN_LGA+Z" "DAWN_HGA" + ----------- ----------- . | | | ------------ ---------- + . | | | + . | | |<-fixed + . | | | + . | | V + . | | "DAWN_FT1" + . | | ---------- + . | | + . | |<-fixed + . | | + . | V + . | "DAWN_FT2" + . | ---------- + . | + . |<-fixed + . | + . V + . "DAWN_FT3" + . ---------- + . + . + V + Individual instrument frame trees are provided + in the other sections of this file + + +Dawn Target Frames +======================================================================== + + This section of the file contains the body-fixed frame definitions + for the Dawn mission targets -- asteroids 4 Vesta and 1 Ceres. + + All target body-fixed frames are defined according to the standard + body-fixed frame formation rules: + + - +Z axis is toward the North pole; + + - +X axis is toward the prime meridian; + + - +Y axis completes the right handed frame; + + - the origin of this frame is at the center of the body. + + Some of these frames are defined as PCK-based frames with the + orientation computed by evaluating corresponding rotation constants + provided in the PCK file(s). + + Other frames are defined as Euler frames with the constants + equivalent to the PCK constants included directly into the frame + definition. + + +Vesta Frames +-------------------------------------- + +``IAU_VESTA'' Frame + + The IAU_VESTA frame is a PCK-based Vesta body-fixed frame built into + the SPICE Toolkit starting with the Toolkit version N0064 (June + 2010). Its orientation is computed using Vesta rotation constants + from the last loaded PCK file containing such constants. + + +``VESTA_FIXED'' Frame + + The VESTA_FIXED frame is a PCK-based Vesta body-fixed frame defined + in a separate FK (per request from SOA team on May 9, 2005). This + frame is a synonym of the IAU_VESTA frame. Its orientation is + computed using Vesta rotation constants from the last loaded PCK + file containing such constants. + + +``IAU-2000'' Frame + + The VESTA_IAU_2000 frame represents the ``IAU-2000'' coordinate + system used by the project prior to its arrival to Vesta as well as + in numerous pre-DAWN ground observations of Vesta. It is defined as + an Euler frame mathematically identical to the PCK frame IAU_VESTA + when the IAU_VESTA frame is used with the rotation constants from + the DAWN PCK file ``pck00008.tpc''. + + The ``pck00008.tpc'' PCK data defining the ``IAU-2000'' coordinate + system orientation are: + + BODY2000004_POLE_RA = ( 301. 0. 0. ) + BODY2000004_POLE_DEC = ( 41. 0. 0. ) + BODY2000004_PM = ( 292. 1617.332776 0. ) + + According to the section ``Example of an Euler Frame'' of [1] the + angles for the Euler frame relative to the J2000 frame with the + reference epoch of J2000 TDB are derived from the standard set of + text PCK body orientation terms as follows: + + ANGLE_1 = -pi/2 - RA + ANGLE_2 = -pi/2 + Dec + ANGLE_3 = - PM + + The definition below incorporates the angles derived in this way + from the ``IAU-2000'' coordinate system orientation constants + above, in degrees with with the PM rate term converted to + degrees/sec. + + \begindata + + FRAME_VESTA_IAU_2000 = -203911 + FRAME_-203911_NAME = 'VESTA_IAU_2000' + FRAME_-203911_CLASS = 5 + FRAME_-203911_CLASS_ID = -203911 + FRAME_-203911_CENTER = 2000004 + FRAME_-203911_RELATIVE = 'J2000' + FRAME_-203911_DEF_STYLE = 'PARAMETERIZED' + FRAME_-203911_FAMILY = 'EULER' + FRAME_-203911_EPOCH = @2000-JAN-01/12:00:00 + FRAME_-203911_AXES = ( 3 1 3 ) + FRAME_-203911_UNITS = 'DEGREES' + FRAME_-203911_ANGLE_1_COEFFS = ( -31.00 ) + FRAME_-203911_ANGLE_2_COEFFS = ( -49.00 ) + FRAME_-203911_ANGLE_3_COEFFS = ( -292.00, -0.18719129351851851E-01 ) + + \begintext + + +``DAWN-Claudia'' Frame + + The DAWN_CLAUDIA frame represents the ``DAWN-Claudia'' coordinate + system used by the project during operations at Vesta. It is defined + as an Euler frame mathematically identical to the PCK frame + IAU_VESTA when the IAU_VESTA frame is used with the rotation + constants from the DAWN PCK file ``dawn_vesta_v04.tpc''. + + The ``dawn_vesta_v04.tpc'' PCK data defining the ``DAWN-Claudia'' + coordinate system orientation are: + + BODY2000004_POLE_RA = ( 309.031 0.0 0.0 ) + BODY2000004_POLE_DEC = ( 42.235 0.0 0.0 ) + BODY2000004_PM = ( 75.39 1617.3329428 0.0 ) + + According to the section ``Example of an Euler Frame'' of [1] the + angles for the Euler frame relative to the J2000 frame with the + reference epoch of J2000 TDB are derived from the standard set of + text PCK body orientation terms as follows: + + ANGLE_1 = -pi/2 - RA + ANGLE_2 = -pi/2 + Dec + ANGLE_3 = - PM + + The definition below incorporates the angles derived in this way + from the ``DAWN-Claudia'' coordinate system orientation constants + above, in degrees with with the PM rate term converted to + degrees/sec. + + \begindata + + FRAME_DAWN_CLAUDIA = -203912 + FRAME_-203912_NAME = 'DAWN_CLAUDIA' + FRAME_-203912_CLASS = 5 + FRAME_-203912_CLASS_ID = -203912 + FRAME_-203912_CENTER = 2000004 + FRAME_-203912_RELATIVE = 'J2000' + FRAME_-203912_DEF_STYLE = 'PARAMETERIZED' + FRAME_-203912_FAMILY = 'EULER' + FRAME_-203912_EPOCH = @2000-JAN-01/12:00:00 + FRAME_-203912_AXES = ( 3 1 3 ) + FRAME_-203912_UNITS = 'DEGREES' + FRAME_-203912_ANGLE_1_COEFFS = ( -39.031 ) + FRAME_-203912_ANGLE_2_COEFFS = ( -47.765 ) + FRAME_-203912_ANGLE_3_COEFFS = ( -75.39, -0.18719131282407406E-01 ) + + \begintext + + +Dawn Spacecraft and Spacecraft Structures Frames +======================================================================== + + This section of the file contains the definitions of the spacecraft + and spacecraft structures frames. + + +Dawn Spacecraft Frame +-------------------------------------- + + The Dawn spacecraft frame is defined as follows: + + - +Z axis is along the nominal boresight direction of the framing + cameras; + + - +X axis is along the nominal boresight direction of the HGA; + + - +Y axis completes the right-hand frame; + + - the origin of this frame is the launch vehicle interface point. + + These diagrams illustrate the DAWN_SPACECRAFT frame: + + + +X s/c side (HGA side) view: + ---------------------------- + ^ + | toward asteroid + | + + Science Deck + ._____________. + .__ _______________. | ._____. | .______________ ___. + | \ \ \ | .' `. | / \ \ | + | / / \ |/ | \| / / / | + | \ \ `. . | . .' \ \ | + | / / | o| o |o | / / | + | \ \ .' . .' `. . `. \ \ | + | / / / |\ +Zsc^ ` /| \ / / | + .__\ \_______________/ | `. | .' | \_______________\ \__. + -Y Solar Array .___` -|- '___. +Y Solar Array + / | \ + `-o-----> +Ysc + +Xsc + +Xsc is out of + the page + + +Z s/c side (science deck side) view: + ------------------------------------- + + ._____________. + | | + | | + | +Zsc +Ysc + o==/ /==================o | o----->|o==================/ /==o + -Y Solar Array | | | +Y Solar Array + | | | + .______|______. + .--V +Xsc + HGA .' `. + /___________\ + `.|.' +Zsc is out + of the page + + + Since the orientation of the DAWN_SPACECRAFT frame is computed + on-board, sent down in telemetry, and stored in the s/c CK files, it + is defined as a CK-based frame. + + \begindata + + FRAME_DAWN_SPACECRAFT = -203000 + FRAME_-203000_NAME = 'DAWN_SPACECRAFT' + FRAME_-203000_CLASS = 3 + FRAME_-203000_CLASS_ID = -203000 + FRAME_-203000_CENTER = -203 + CK_-203000_SCLK = -203 + CK_-203000_SPK = -203 + + \begintext + + +Dawn Solar Array Frames +-------------------------------------- + + Since the Dawn solar arrays can be articulated (each having one + degree of freedom), the solar Array frames, DAWN_SA+Y and DAWN_SA-Y, + are defined as CK frames with their orientation given relative to + the DAWN_SPACECRAFT frame. + + Both array frames are defined as follows (from [5]): + + - +Y axis is parallel to the longest side of the array, + positively oriented from the yoke to the end of the wing; + + - +Z axis is normal to the solar array plane, the solar cells + facing +Z; + + - +X axis is defined such that (X,Y,Z) is right handed; + + - the origin of the frame is located at the yoke geometric + center. + + The axis of rotation is parallel to the Y axis of the spacecraft and + solar array frames. + + This diagram illustrates the DAWN_SA+Y and DAWN_SA-Y frames: + + + +X s/c side (HGA side) view: + ---------------------------- + ^ + | toward asteroid + | + + Science Deck + ._____________. +Xsa+y + .__ _______________. | ._____. |^ .______________ ___. + | \ \ \ | .' `. || / \ \ | + | / / \ |/ | \|| / / / | + | \ \ `. . | .|.' \ \ | + | / / +Ysa-y <-----x| o |x-----> +Ysa+y / / | + | \ \ .'|. .' `. . `. \ \ | + | / / / ||\ +Zsc^ ` /| \ / / | + .__\ \_______________/ || `. | .' | \_______________\ \__. + -Y Solar Array V.___` -|- '___. +Y Solar Array + +Xsa-y / | \ + `-o-----> +Ysc + +Xsc + +Xsc is out of the page + + +Zsa+y and +Zsa-y + are into the page + + Active solar cell is + facing away from the viewer + + + These sets of keywords define the solar array frames as CK frames: + + \begindata + + FRAME_DAWN_SA+Y = -203010 + FRAME_-203010_NAME = 'DAWN_SA+Y' + FRAME_-203010_CLASS = 3 + FRAME_-203010_CLASS_ID = -203010 + FRAME_-203010_CENTER = -203 + CK_-203010_SCLK = -203 + CK_-203010_SPK = -203 + + FRAME_DAWN_SA-Y = -203020 + FRAME_-203020_NAME = 'DAWN_SA-Y' + FRAME_-203020_CLASS = 3 + FRAME_-203020_CLASS_ID = -203020 + FRAME_-203020_CENTER = -203 + CK_-203020_SCLK = -203 + CK_-203020_SPK = -203 + + \begintext + + +Dawn Low Gain Antenna Frames +-------------------------------------- + + DAWN has three Low Gain Antennas (LGAs) [see 6]: LGA+Z pointing along + the s/c +Z axis, LGA+X pointing along the s/c +X axis, and LGA-Z + pointing along the s/c -Z axis. All three LGAs are rigidly attached + to the s/c bus. Therefore, their frames -- DAWN_LGA+Z, DAWN_LGA+X, + and DAWN_LGA-Z -- are defined as a fixed offset frames with + orientation given relative to the DAWN_SPACECRAFT frame. + + Each of the DAWN LGA frames - DAWN_LGA+Z, DAWN_LGA+X, and DAWN_LGA-Z + -- is defined as follows: + + - +Z axis is in the antenna boresight direction; + + - +Y axis is nominally parallel to the s/c +Y axis; + + - +X axis completes the right handed frame; + + - the origin of the frame is located at the geometric center of + the LGA outer patch. + + Neither +X nor +Y axis of in each frame is lined up with the antenna + clock angle reference direction, which was not known at the time + when this version of the FK was created. + + This diagram illustrates the DAWN LGA frames: + + +Z s/c side view: + ----------------- + + ._____________. + | | + | | + | +Zsc +Ysc + o==/ /==================o | o----> o==================/ /==o + -Y Solar Array +Zlga+z | ^+Xlga-z +Y Solar Array + | o-----> | + ._|____|______| + | .--V--. x-----> +Ylga-z + | +Xsc `. x-----> +Ylga+x + V _________\| + +Xlga+z `.|.' | + | + HGA V + +Zlga+x + + +Zsc and +Zlga+z are out + of the page + + +Xlga+x and +Zlga-z are + into the page + + As seen on the diagram the DAWN_LGA+Z frame and the s/c frame are + nominally co-aligned, the DAWN_LGA+X frame is rotated from the s/c + frame by +90 degrees about Y, and the DAWN_LGA-Z frame is rotated + from the s/c frame by 180 degree about Y. + + These sets of keywords define the LGA frames: + + \begindata + + FRAME_DAWN_LGA+Z = -203030 + FRAME_-203030_NAME = 'DAWN_LGA+Z' + FRAME_-203030_CLASS = 4 + FRAME_-203030_CLASS_ID = -203030 + FRAME_-203030_CENTER = -203 + TKFRAME_-203030_RELATIVE = 'DAWN_SPACECRAFT' + TKFRAME_-203030_SPEC = 'ANGLES' + TKFRAME_-203030_UNITS = 'DEGREES' + TKFRAME_-203030_ANGLES = ( 0.000, 0.000, 0.000 ) + TKFRAME_-203030_AXES = ( 1, 2, 3 ) + + FRAME_DAWN_LGA+X = -203050 + FRAME_-203050_NAME = 'DAWN_LGA+X' + FRAME_-203050_CLASS = 4 + FRAME_-203050_CLASS_ID = -203050 + FRAME_-203050_CENTER = -203 + TKFRAME_-203050_RELATIVE = 'DAWN_SPACECRAFT' + TKFRAME_-203050_SPEC = 'ANGLES' + TKFRAME_-203050_UNITS = 'DEGREES' + TKFRAME_-203050_ANGLES = ( 0.000, -90.00, 0.000 ) + TKFRAME_-203050_AXES = ( 1, 2, 3 ) + + FRAME_DAWN_LGA-Z = -203060 + FRAME_-203060_NAME = 'DAWN_LGA-Z' + FRAME_-203060_CLASS = 4 + FRAME_-203060_CLASS_ID = -203060 + FRAME_-203060_CENTER = -203 + TKFRAME_-203060_RELATIVE = 'DAWN_SPACECRAFT' + TKFRAME_-203060_SPEC = 'ANGLES' + TKFRAME_-203060_UNITS = 'DEGREES' + TKFRAME_-203060_ANGLES = ( 0.000, 180.00, 0.000 ) + TKFRAME_-203060_AXES = ( 1, 2, 3 ) + + \begintext + + +Dawn High Gain Antenna Frame +-------------------------------------- + + The Dawn High Gain Antenna is rigidly attached to the +X side of the + s/c bus. Therefore, the Dawn HGA frame, DAWN_HGA, is defined as a + fixed offset frame with its orientation given relative to the + DAWN_SPACECRAFT frame. + + The DAWN_HGA frame is defined as follows: + + - +Z axis is in the antenna boresight direction; + + - +Y axis is nominally parallel to the s/c +Y axis; + + - +X axis completes the right handed frame; + + - the origin of the frame is located at the geometric center of + the HGA dish outer rim circle. + + This diagram illustrates the DAWN_HGA frame: + + +Z s/c side (science deck side) view: + ------------------------------------- + + ._____________. + | | + | | + | +Zsc +Ysc + o==/ /==================o | o----->|o==================/ /==o + -Y Solar Array | | | +Y Solar Array + | | | + .______|______. + .--V +Xsc + HGA .' `. + /_____x-----> + `.|.' +Yhga +Zsc is out + | of the page + | + V +Zhga +Xhga is into + the page + + + + As seen on the diagram a single rotation by +90 degrees about +Y is + needed to align the s/c frame with the HGA frame. + + According to [7] the actual HGA boresight direction in the spacecraft + frame used in the on-board FSW code and ACS ground tools is: + + AcTable.Boresight.HighGainAntenna.v = + {0.999999899738598, -0.000219079458599998, -0.000390547031294996} + + The following two rotations are needed to align the spacecraft frame + with the HGA frame having +Z along this direction: first by + +90.02237670 degrees about Y, then by +0.01255233 degrees about X. + + This set of keywords defines the HGA frame as a fixed offset frame: + + \begindata + + FRAME_DAWN_HGA = -203040 + FRAME_-203040_NAME = 'DAWN_HGA' + FRAME_-203040_CLASS = 4 + FRAME_-203040_CLASS_ID = -203040 + FRAME_-203040_CENTER = -203 + TKFRAME_-203040_RELATIVE = 'DAWN_SPACECRAFT' + TKFRAME_-203040_SPEC = 'ANGLES' + TKFRAME_-203040_UNITS = 'DEGREES' + TKFRAME_-203040_ANGLES = ( -90.02237670, -0.01255233, 0.0 ) + TKFRAME_-203040_AXES = ( 2, 1, 3 ) + + \begintext + + +Dawn Star Tracker Frames +-------------------------------------- + + The star trackers (ST1 and ST2) are rigidly attached to the +Z side + of the s/c bus. Therefore, the star tracker frames, DAWN_ST1 and + DAWN_ST2, are defined as fixed offset frames with their orientation + given relative to the DAWN_SPACECRAFT frame. + + The star tracker frames are defined as follows: + + - +Z axis is in the star tracker boresight direction; + + - +X axis nominally points along the s/c +Z axis; + + - +Y axis completes the right handed frame; + + - the origin of the frame is located at the star tracker focal + point. + + This diagram illustrates the star tracker frames: + + +Z s/c side (science deck side) view: + ------------------------------------- + + + \ 30 deg | 30 deg / + \<--------->|<--------->/ + \ | / + + +Zst2 +Zst1 + ^ +Yst1 ^ + \ ^ / + \ .' / + ._\__.'_____/_. + +Xst2 o' o +Xst1 + | `.| + | +Zsc `. +Yst2 + o==/ /==================o | o----->|o`>================/ /==o + -Y Solar Array | | +Ysc +Y Solar Array + | | | + .______|______. + .--V +Xsc + HGA .' `. + /___________\ + `.|.' +Zsc, +Xst1 and +Xst2 are + out of the page + + + As seen on the diagram two rotations -- first by -90 degrees about Y + and second by -30 degree (for ST1) or +30 degrees (for ST2) about X + -- are needed to align the s/c frame with the star tracker frames. + + This nominal alignment was provided in the officially released + FK versions 0.1 to 0.8. + + Per MCR-111570, 03/18/11, the nominal alignments were replaced with + the following actual alignments provided in [8] and [9]. + + Star Tracker 1 wrt Spacecraft Frame: R_ST1_2,SF in the "Inputs" + section of [8]: + + -0.00167591111459615 -0.00865834105070781 -0.999961111469934 + 0.497384915940654 0.867489831468208 -0.00834492024941222 + 0.867528349229375 -0.497379558716992 0.00285269238533509 + + Star Tracker 2 wrt Spacecraft Frame: QBdyToSta[1] and + DcmBdyToSta[1] on page 24 in the "Appendix A" of [9]: + + 0.003428012232148947 -0.002975996167250916 -0.9999896960363887 + -0.5035582110269716 0.8639506124714249 -0.004297361698267110 + 0.8639544992876952 0.5035677537899567 0.001463045961520582 + + Because these alignments are for the ACS star tracker frames with + the boresight along -Z they had to be rotated by 180 degrees about Y + to agree with the frame definition described above (boresight along + +Z). Such rotation is equivalent to flipping the sign for each + component in the top and bottom rows of the matrices. These + alignments were incorporated into the FK starting with version 1.0 + (March 2011). + + The sets of keywords below defines the star tracker frames. + + \begindata + + FRAME_DAWN_ST1 = -203071 + FRAME_-203071_NAME = 'DAWN_ST1' + FRAME_-203071_CLASS = 4 + FRAME_-203071_CLASS_ID = -203071 + FRAME_-203071_CENTER = -203 + TKFRAME_-203071_RELATIVE = 'DAWN_SPACECRAFT' + TKFRAME_-203071_SPEC = 'MATRIX' + TKFRAME_-203071_MATRIX = ( + + 0.00167591111459615 0.00865834105070781 0.999961111469934 + 0.497384915940654 0.867489831468208 -0.00834492024941222 + -0.867528349229375 0.497379558716992 -0.00285269238533509 + + ) + + + FRAME_DAWN_ST2 = -203072 + FRAME_-203072_NAME = 'DAWN_ST2' + FRAME_-203072_CLASS = 4 + FRAME_-203072_CLASS_ID = -203072 + FRAME_-203072_CENTER = -203 + TKFRAME_-203072_RELATIVE = 'DAWN_SPACECRAFT' + TKFRAME_-203072_SPEC = 'MATRIX' + TKFRAME_-203072_MATRIX = ( + + -0.003428012232148947 0.002975996167250916 0.9999896960363887 + -0.5035582110269716 0.8639506124714249 -0.004297361698267110 + -0.8639544992876952 -0.5035677537899567 -0.001463045961520582 + + ) + + \begintext + + +Dawn Flight Thruster Frames +-------------------------------------- + + Although the flight thrusters (FT1, FT2, and FT3) are mounted on + gimbals and can be articulated within a small angular range (+/- 5 + degrees during flight), in this version of the FK their frames -- + DAWN_FT1, DAWN_FT2, and DAWN_FT3 -- are defined as fixed offset + frames with respect to the spacecraft frame. + + Each of the flight thruster frames is defined in the same way as + follows: + + - +Z axis is in the thrust direction; + + - +Y axis nominally points along the s/c +Y axis; + + - +X axis completes the right handed frame; + + - the origin of the frame is located at the geometric center of + the thruster nozzle outer rim circle. + + This diagram illustrates the flight thruster frames: + + +Y s/c side view: + ----------------- + Science Deck + ._____________. + . | . | + |`. | |+Y solar array + | \ | | | + .'| .| | | + --| | o | + `.| '| | | .> +Xft1 + | / | +Zsc^ | .' + |.' | | | .' + o______|______o' + / `. / | \ \ + / <-----o-----> \ + / +Xsc `>| +Xft3 \ + V +Xft1| V +Zft1 + +Zft2 | + V +Zft3 + + / 48 deg | 48 deg \ +Ysc, +Yft1, +Yft2, + /<------------>|<------------>\ and +Yft3 are out of + / | \ the page + + + As seen on the diagram one rotation -- about +Y by -132 degrees for + FT1, +132 degrees for FT2, or 180 degrees for FT3 -- is needed to + align the s/c frame with the individual thruster frame. + + The sets of keywords below defines the flight thruster frames: + + \begindata + + FRAME_DAWN_FT1 = -203081 + FRAME_-203081_NAME = 'DAWN_FT1' + FRAME_-203081_CLASS = 4 + FRAME_-203081_CLASS_ID = -203081 + FRAME_-203081_CENTER = -203 + TKFRAME_-203081_RELATIVE = 'DAWN_SPACECRAFT' + TKFRAME_-203081_SPEC = 'ANGLES' + TKFRAME_-203081_UNITS = 'DEGREES' + TKFRAME_-203081_ANGLES = ( 0.000, 132.000, 0.000 ) + TKFRAME_-203081_AXES = ( 3, 2, 1 ) + + FRAME_DAWN_FT2 = -203082 + FRAME_-203082_NAME = 'DAWN_FT2' + FRAME_-203082_CLASS = 4 + FRAME_-203082_CLASS_ID = -203082 + FRAME_-203082_CENTER = -203 + TKFRAME_-203082_RELATIVE = 'DAWN_SPACECRAFT' + TKFRAME_-203082_SPEC = 'ANGLES' + TKFRAME_-203082_UNITS = 'DEGREES' + TKFRAME_-203082_ANGLES = ( 0.000, -132.000, 0.000 ) + TKFRAME_-203082_AXES = ( 3, 2, 1 ) + + FRAME_DAWN_FT3 = -203083 + FRAME_-203083_NAME = 'DAWN_FT3' + FRAME_-203083_CLASS = 4 + FRAME_-203083_CLASS_ID = -203083 + FRAME_-203083_CENTER = -203 + TKFRAME_-203083_RELATIVE = 'DAWN_SPACECRAFT' + TKFRAME_-203083_SPEC = 'ANGLES' + TKFRAME_-203083_UNITS = 'DEGREES' + TKFRAME_-203083_ANGLES = ( 0.000, 180.000, 0.000 ) + TKFRAME_-203083_AXES = ( 3, 2, 1 ) + + \begintext + + +FC1 and FC2 Frames +======================================================================== + + This section of the file contains the definitions of the Framing + Camera 1 (FC1) and Framing Camera 2 (FC2) frames. + + +FC1 and FC2 Frame Tree +-------------------------------------- + + The diagram below shows the FC1 and FC2 frame hierarchy. + + "VESTA_IAU_2000" + ---------------- + ^ + |<-dynamic + | + | "DAWN_CLAUDIA" + | -------------- + | ^ + | |<-dynamic + | | + | | + | | "J2000" INERTIAL + +-----------------------------------------------------+ + | | | | + |<-pck |<-pck | |<-pck + | | | | + V V | V + "VESTA_FIXED" "IAU_VESTA" | "CERES_FIXED" + ------------- ------------- | ------------- + | + |<-ck + | + V + "DAWN_SPACECRAFT" + +-----------------------------------------------------+ + | | + |<-fixed |<-ck + | | + V V + "DAWN_FC1" "DAWN_FC2" + ---------- ---------- + | | + |<-fixed |<-fixed + | | + V V + "DAWN_FC1_FILTER_[1..8]" "DAWN_FC2_FILTER_[1..8]" + ------------------------ ------------------------ + + +FC1 and FC2 Frames +-------------------------------------- + + The Framing Cameras 1 and 2 camera frames -- DAWN_FC1 and DAWN_FC2 + -- are defined as follows: + + - +Z axis points along the camera boresight; + + - +X axis is parallel to the apparent image lines; it is + nominally co-aligned with the s/c +X axis; + + - +Y axis completes the right handed frame; it is nominally + parallel the to the apparent image columns and co-aligned with + the s/c +Y axis; + + - the origin of the frame is located at the camera focal point. + + The Framing Cameras 1 and 2 filter frames -- DAWN_FC1_FILTER_[1..8] + and DAWN_FC2_FILTER_[1..8] -- are defined to be nominally co-aligned + with the corresponding camera frames. + + This diagram illustrates the FC1 and FC2 camera frames: + + + +Z s/c side (science deck side) view: + ------------------------------------- + + +Yfc1 + ._____________. + | o---o->---> +Yfc2 + | | | | + | | | |+Ysc + o==/ /==================o | | o-|--->|o==================/ /==o + -Y Solar Array | V | V | +Y Solar Array + |+Xfc1 | +Xfc2 + .______|______. + .--V +Xsc + HGA .' `. +Zsc, +Zfc1, and + /___________\ +Zfc2 are out + `.|.' of the page + + + Nominally, the FC1 and FC2 frames are co-aligned with the s/c frame. + The following nominal FC1 and FC2 frame definitions were provided in + the FK from October 11, 2004 to January 5, 2009 (ver. 0.0 to 0.5): + + FRAME_DAWN_FC1 = -203110 + FRAME_-203110_NAME = 'DAWN_FC1' + FRAME_-203110_CLASS = 4 + FRAME_-203110_CLASS_ID = -203110 + FRAME_-203110_CENTER = -203 + TKFRAME_-203110_RELATIVE = 'DAWN_SPACECRAFT' + TKFRAME_-203110_SPEC = 'ANGLES' + TKFRAME_-203110_UNITS = 'DEGREES' + TKFRAME_-203110_ANGLES = ( 0.0, 0.0, 0.0 ) + TKFRAME_-203110_AXES = ( 1, 2, 3 ) + + FRAME_DAWN_FC2 = -203120 + FRAME_-203120_NAME = 'DAWN_FC2' + FRAME_-203120_CLASS = 4 + FRAME_-203120_CLASS_ID = -203120 + FRAME_-203120_CENTER = -203 + TKFRAME_-203120_RELATIVE = 'DAWN_SPACECRAFT' + TKFRAME_-203120_SPEC = 'ANGLES' + TKFRAME_-203120_UNITS = 'DEGREES' + TKFRAME_-203120_ANGLES = ( 0.0, 0.0, 0.0 ) + TKFRAME_-203120_AXES = ( 1, 2, 3 ) + + These frame alignments were used by FC team at DLR, Germany to + process February 2009 Mars Gravity Assist data; + + FRAME_DAWN_FC1 = -203110 + FRAME_-203110_NAME = 'DAWN_FC1' + FRAME_-203110_CLASS = 4 + FRAME_-203110_CLASS_ID = -203110 + FRAME_-203110_CENTER = -203 + TKFRAME_-203110_RELATIVE = 'DAWN_SPACECRAFT' + TKFRAME_-203110_SPEC = 'ANGLES' + TKFRAME_-203110_UNITS = 'DEGREES' + TKFRAME_-203110_ANGLES = ( -0.00302298, 0.07040644, 0.06472022 ) + TKFRAME_-203110_AXES = ( 1, 2, 3 ) + + FRAME_DAWN_FC2 = -203120 + FRAME_-203120_NAME = 'DAWN_FC2' + FRAME_-203120_CLASS = 4 + FRAME_-203120_CLASS_ID = -203120 + FRAME_-203120_CENTER = -203 + TKFRAME_-203120_RELATIVE = 'DAWN_SPACECRAFT' + TKFRAME_-203120_SPEC = 'ANGLES' + TKFRAME_-203120_UNITS = 'DEGREES' + TKFRAME_-203120_ANGLES = ( -0.07360254, 0.19136667, 0.08369507 ) + TKFRAME_-203120_AXES = ( 1, 2, 3 ) + + The two matrices below represent the actual orientation of the FC1 + and FC2 frames. These matrices rotate vectors from the s/c frame to + the corresponding camera frames. These matrices were determined by + Nick Mastrodemos, DAWN Optical Navigation Team, using the Functional, + Performance and Calibration test images taken in 2007-2008. They + were provided to NAIF on January 5, 2009 and were incorporated into + the FK starting with version 0.6 (January 2009): + + FC1: + + 0.999998669076022 -0.001146506533836 0.001160762229150 + 0.001146467511555 0.999999342218256 0.000034282638084 + -0.001160800770890 -0.000032951816272 0.999999325727647 + + + FC2: + + 0.999993562497650 -0.001478972971767 0.003269189839768 + 0.001475079784942 0.999998200488307 0.001192962604301 + -0.003270948316271 -0.001188132608755 0.999993944600674 + + Per MCR-111570, 03/18/11, the actual alignments above were replaced + with the following updated values provided in [8] and incorporated + in the FK with version 1.0 (March 2011): + + FC1: + + 0.99999903640145 -0.00088624511873564 0.001068487703551 + 0.000886539816130183 0.999999569071098 -0.000275356733179061 + -0.0010682432039777 0.000276303753185878 0.999999391254863 + + FC2: + + 0.999994211374513 -0.00121806017718856 0.00317701858659441 + 0.00121525960845842 0.999998871426382 0.000883293086781172 + -0.00317809089965586 -0.000879427042947794 0.999994563157032 + + The FC1 matrix is provided in the frame definition below. + + Per MCR-117124, 04/01/15, the FC2 alignment was adjusted based on an + analysis of 196 pictures from Ceres Opnavs 1-5, taken 01/13/15 to + 03/02/15. The new alignment is: + + FC2: + + 0.999994729254062 -0.00121791297955331 0.00300965983081698 + 0.00121554146625864 0.999998949394655 0.000789674082497601 + -0.00301061841759422 -0.000786011525583021 0.999995159168256 + + Since two different FC2 alignments -- one applicable to the Vesta + mission time period and the other to the Ceres mission time period + -- cannot be incorporated into a single fixed-offset frame, in the + FK version 1.3 (April 2015) the DAWN_FC2 frame class was changed + from a fixed-offset (class 4) to CK based (class 3) and two + different FC2 alignments were stored in a CK file for ID -203120. + + \begindata + + FRAME_DAWN_FC1 = -203110 + FRAME_-203110_NAME = 'DAWN_FC1' + FRAME_-203110_CLASS = 4 + FRAME_-203110_CLASS_ID = -203110 + FRAME_-203110_CENTER = -203 + TKFRAME_-203110_RELATIVE = 'DAWN_SPACECRAFT' + TKFRAME_-203110_SPEC = 'MATRIX' + TKFRAME_-203110_MATRIX = ( + + 0.99999903640145 -0.00088624511873564 0.001068487703551 + 0.000886539816130183 0.999999569071098 -0.000275356733179061 + -0.0010682432039777 0.000276303753185878 0.999999391254863 + + ) + + FRAME_DAWN_FC2 = -203120 + FRAME_-203120_NAME = 'DAWN_FC2' + FRAME_-203120_CLASS = 3 + FRAME_-203120_CLASS_ID = -203120 + FRAME_-203120_CENTER = -203 + CK_-203120_SCLK = -203 + CK_-203120_SPK = -203 + + \begintext + + The keywords below define the FC filter frames to be co-aligned with + the corresponding camera frames. + + \begindata + + FRAME_DAWN_FC1_FILTER_1 = -203111 + FRAME_-203111_NAME = 'DAWN_FC1_FILTER_1' + FRAME_-203111_CLASS = 4 + FRAME_-203111_CLASS_ID = -203111 + FRAME_-203111_CENTER = -203 + TKFRAME_-203111_RELATIVE = 'DAWN_FC1' + TKFRAME_-203111_SPEC = 'ANGLES' + TKFRAME_-203111_UNITS = 'DEGREES' + TKFRAME_-203111_ANGLES = ( 0.0, 0.0, 0.0 ) + TKFRAME_-203111_AXES = ( 1, 2, 3 ) + + FRAME_DAWN_FC1_FILTER_2 = -203112 + FRAME_-203112_NAME = 'DAWN_FC1_FILTER_2' + FRAME_-203112_CLASS = 4 + FRAME_-203112_CLASS_ID = -203112 + FRAME_-203112_CENTER = -203 + TKFRAME_-203112_RELATIVE = 'DAWN_FC1' + TKFRAME_-203112_SPEC = 'ANGLES' + TKFRAME_-203112_UNITS = 'DEGREES' + TKFRAME_-203112_ANGLES = ( 0.0, 0.0, 0.0 ) + TKFRAME_-203112_AXES = ( 1, 2, 3 ) + + FRAME_DAWN_FC1_FILTER_3 = -203113 + FRAME_-203113_NAME = 'DAWN_FC1_FILTER_3' + FRAME_-203113_CLASS = 4 + FRAME_-203113_CLASS_ID = -203113 + FRAME_-203113_CENTER = -203 + TKFRAME_-203113_RELATIVE = 'DAWN_FC1' + TKFRAME_-203113_SPEC = 'ANGLES' + TKFRAME_-203113_UNITS = 'DEGREES' + TKFRAME_-203113_ANGLES = ( 0.0, 0.0, 0.0 ) + TKFRAME_-203113_AXES = ( 1, 2, 3 ) + + FRAME_DAWN_FC1_FILTER_4 = -203114 + FRAME_-203114_NAME = 'DAWN_FC1_FILTER_4' + FRAME_-203114_CLASS = 4 + FRAME_-203114_CLASS_ID = -203114 + FRAME_-203114_CENTER = -203 + TKFRAME_-203114_RELATIVE = 'DAWN_FC1' + TKFRAME_-203114_SPEC = 'ANGLES' + TKFRAME_-203114_UNITS = 'DEGREES' + TKFRAME_-203114_ANGLES = ( 0.0, 0.0, 0.0 ) + TKFRAME_-203114_AXES = ( 1, 2, 3 ) + + FRAME_DAWN_FC1_FILTER_5 = -203115 + FRAME_-203115_NAME = 'DAWN_FC1_FILTER_5' + FRAME_-203115_CLASS = 4 + FRAME_-203115_CLASS_ID = -203115 + FRAME_-203115_CENTER = -203 + TKFRAME_-203115_RELATIVE = 'DAWN_FC1' + TKFRAME_-203115_SPEC = 'ANGLES' + TKFRAME_-203115_UNITS = 'DEGREES' + TKFRAME_-203115_ANGLES = ( 0.0, 0.0, 0.0 ) + TKFRAME_-203115_AXES = ( 1, 2, 3 ) + + FRAME_DAWN_FC1_FILTER_6 = -203116 + FRAME_-203116_NAME = 'DAWN_FC1_FILTER_6' + FRAME_-203116_CLASS = 4 + FRAME_-203116_CLASS_ID = -203116 + FRAME_-203116_CENTER = -203 + TKFRAME_-203116_RELATIVE = 'DAWN_FC1' + TKFRAME_-203116_SPEC = 'ANGLES' + TKFRAME_-203116_UNITS = 'DEGREES' + TKFRAME_-203116_ANGLES = ( 0.0, 0.0, 0.0 ) + TKFRAME_-203116_AXES = ( 1, 2, 3 ) + + FRAME_DAWN_FC1_FILTER_7 = -203117 + FRAME_-203117_NAME = 'DAWN_FC1_FILTER_7' + FRAME_-203117_CLASS = 4 + FRAME_-203117_CLASS_ID = -203117 + FRAME_-203117_CENTER = -203 + TKFRAME_-203117_RELATIVE = 'DAWN_FC1' + TKFRAME_-203117_SPEC = 'ANGLES' + TKFRAME_-203117_UNITS = 'DEGREES' + TKFRAME_-203117_ANGLES = ( 0.0, 0.0, 0.0 ) + TKFRAME_-203117_AXES = ( 1, 2, 3 ) + + FRAME_DAWN_FC1_FILTER_8 = -203118 + FRAME_-203118_NAME = 'DAWN_FC1_FILTER_8' + FRAME_-203118_CLASS = 4 + FRAME_-203118_CLASS_ID = -203118 + FRAME_-203118_CENTER = -203 + TKFRAME_-203118_RELATIVE = 'DAWN_FC1' + TKFRAME_-203118_SPEC = 'ANGLES' + TKFRAME_-203118_UNITS = 'DEGREES' + TKFRAME_-203118_ANGLES = ( 0.0, 0.0, 0.0 ) + TKFRAME_-203118_AXES = ( 1, 2, 3 ) + + FRAME_DAWN_FC2_FILTER_1 = -203121 + FRAME_-203121_NAME = 'DAWN_FC2_FILTER_1' + FRAME_-203121_CLASS = 4 + FRAME_-203121_CLASS_ID = -203121 + FRAME_-203121_CENTER = -203 + TKFRAME_-203121_RELATIVE = 'DAWN_FC2' + TKFRAME_-203121_SPEC = 'ANGLES' + TKFRAME_-203121_UNITS = 'DEGREES' + TKFRAME_-203121_ANGLES = ( 0.0, 0.0, 0.0 ) + TKFRAME_-203121_AXES = ( 1, 2, 3 ) + + FRAME_DAWN_FC2_FILTER_2 = -203122 + FRAME_-203122_NAME = 'DAWN_FC2_FILTER_2' + FRAME_-203122_CLASS = 4 + FRAME_-203122_CLASS_ID = -203122 + FRAME_-203122_CENTER = -203 + TKFRAME_-203122_RELATIVE = 'DAWN_FC2' + TKFRAME_-203122_SPEC = 'ANGLES' + TKFRAME_-203122_UNITS = 'DEGREES' + TKFRAME_-203122_ANGLES = ( 0.0, 0.0, 0.0 ) + TKFRAME_-203122_AXES = ( 1, 2, 3 ) + + FRAME_DAWN_FC2_FILTER_3 = -203123 + FRAME_-203123_NAME = 'DAWN_FC2_FILTER_3' + FRAME_-203123_CLASS = 4 + FRAME_-203123_CLASS_ID = -203123 + FRAME_-203123_CENTER = -203 + TKFRAME_-203123_RELATIVE = 'DAWN_FC2' + TKFRAME_-203123_SPEC = 'ANGLES' + TKFRAME_-203123_UNITS = 'DEGREES' + TKFRAME_-203123_ANGLES = ( 0.0, 0.0, 0.0 ) + TKFRAME_-203123_AXES = ( 1, 2, 3 ) + + FRAME_DAWN_FC2_FILTER_4 = -203124 + FRAME_-203124_NAME = 'DAWN_FC2_FILTER_4' + FRAME_-203124_CLASS = 4 + FRAME_-203124_CLASS_ID = -203124 + FRAME_-203124_CENTER = -203 + TKFRAME_-203124_RELATIVE = 'DAWN_FC2' + TKFRAME_-203124_SPEC = 'ANGLES' + TKFRAME_-203124_UNITS = 'DEGREES' + TKFRAME_-203124_ANGLES = ( 0.0, 0.0, 0.0 ) + TKFRAME_-203124_AXES = ( 1, 2, 3 ) + + FRAME_DAWN_FC2_FILTER_5 = -203125 + FRAME_-203125_NAME = 'DAWN_FC2_FILTER_5' + FRAME_-203125_CLASS = 4 + FRAME_-203125_CLASS_ID = -203125 + FRAME_-203125_CENTER = -203 + TKFRAME_-203125_RELATIVE = 'DAWN_FC2' + TKFRAME_-203125_SPEC = 'ANGLES' + TKFRAME_-203125_UNITS = 'DEGREES' + TKFRAME_-203125_ANGLES = ( 0.0, 0.0, 0.0 ) + TKFRAME_-203125_AXES = ( 1, 2, 3 ) + + FRAME_DAWN_FC2_FILTER_6 = -203126 + FRAME_-203126_NAME = 'DAWN_FC2_FILTER_6' + FRAME_-203126_CLASS = 4 + FRAME_-203126_CLASS_ID = -203126 + FRAME_-203126_CENTER = -203 + TKFRAME_-203126_RELATIVE = 'DAWN_FC2' + TKFRAME_-203126_SPEC = 'ANGLES' + TKFRAME_-203126_UNITS = 'DEGREES' + TKFRAME_-203126_ANGLES = ( 0.0, 0.0, 0.0 ) + TKFRAME_-203126_AXES = ( 1, 2, 3 ) + + FRAME_DAWN_FC2_FILTER_7 = -203127 + FRAME_-203127_NAME = 'DAWN_FC2_FILTER_7' + FRAME_-203127_CLASS = 4 + FRAME_-203127_CLASS_ID = -203127 + FRAME_-203127_CENTER = -203 + TKFRAME_-203127_RELATIVE = 'DAWN_FC2' + TKFRAME_-203127_SPEC = 'ANGLES' + TKFRAME_-203127_UNITS = 'DEGREES' + TKFRAME_-203127_ANGLES = ( 0.0, 0.0, 0.0 ) + TKFRAME_-203127_AXES = ( 1, 2, 3 ) + + FRAME_DAWN_FC2_FILTER_8 = -203128 + FRAME_-203128_NAME = 'DAWN_FC2_FILTER_8' + FRAME_-203128_CLASS = 4 + FRAME_-203128_CLASS_ID = -203128 + FRAME_-203128_CENTER = -203 + TKFRAME_-203128_RELATIVE = 'DAWN_FC2' + TKFRAME_-203128_SPEC = 'ANGLES' + TKFRAME_-203128_UNITS = 'DEGREES' + TKFRAME_-203128_ANGLES = ( 0.0, 0.0, 0.0 ) + TKFRAME_-203128_AXES = ( 1, 2, 3 ) + + \begintext + + +VIR frames: +======================================================================== + + This section of the file contains the definitions of the VIR frames. + + +VIR Frame Tree +-------------------------------------- + + The diagram below shows the VIR frame hierarchy. + + "VESTA_IAU_2000" + ---------------- + ^ + |<-dynamic + | + | "DAWN_CLAUDIA" + | -------------- + | ^ + | |<-dynamic + | | + | | + | | "J2000" INERTIAL + +-----------------------------------------------------+ + | | | | + |<-pck |<-pck | |<-pck + | | | | + V V | V + "VESTA_FIXED" "IAU_VESTA" | "CERES_FIXED" + ------------- ------------- | ------------- + | + |<-ck + | + V + "DAWN_SPACECRAFT" + ----------------- + | + |<-fixed + | + V + DAWN_VIR + +-----------------------------------------------------+ + | | | + |<-fixed |<-ck |<-fixed + | | | + V V V + "DAWN_VIR_VIS_ZERO" DAWN_VIR_SCAN "DAWN_VIR_IR_ZERO" + ------------------- +-----------------+ ------------------ + | | + |<-fixed |<-fixed + | | + V V + "DAWN_VIR_VIS" "DAWN_VIR_IR" + -------------- ------------- + + +VIR Frames +-------------------------------------- + + The following frames are defined for VIR instrument: + + - the instrument base frame -- DAWN_VIR (ID -203200) -- is + defined as a fixed offset frame relative to the + DAWN_SPACECRAFT frame. It is intended to capture the + instrument base and scan mirror rotation axis alignment + relative to the spacecraft. + + - the reflected scan mirror view direction frame -- + DAWN_VIR_SCAN (ID -203201) -- is defined as a CK-based frame + with its orientation provided in CK files relative to the + DAWN_VIR frame. It is intended to capture change in the + instrument view direction due to the scan mirror motion. + + - the reflected instrument detector view frames -- DAWN_VIR_VIS + (ID -203211) and DAWN_VIR_IR (ID -203213) -- are defined as + fixed offset frames relative to the DAWN_VIR_SCAN frame. They + are intended to capture reflected instrument boresights and + detector misalignments at any scan mirror position. + + - the non-moving instrument detector view frames -- DAWN_VIR_VIS_ZERO + (ID -203221) and DAWN_VIR_IR_ZERO (ID -203223) -- are defined as + fixed offset frames relative to the DAWN_VIR frame. They are + intended to capture instrument boresights and detector + misalignments at the "0" scan mirror position and are used for + defining FOVs corresponding the full (256-step) and partial + (128-, 64-, 16-, 96-, and 32-step) scan mirror sweeps. + + The +Y axes of the base and scan mirror frames (DAWN_VIR and + DAWN_VIR_SCAN) are co-aligned with the scan mirror rotation axis. + + The +Z axes of the reflected and non-moving instrument detector view + frames are in the direction of the instrument boresight at any (for + DAWN_VIR_VIS and DAWN_VIR_IR) or the "0" (for DAWN_VIR_VIS_ZERO and + DAWN_VIR_IR_ZERO) scan mirror position. The +Y axes of these frames + are in the direction of spatial resolution and the +X axes complete + the right-handed frames. + + Nominally, at the "0" scan mirror position all VIR frames are co-aligned + with each other and with the s/c frame as shown on this diagram: + + + +Z s/c side (science deck side) view: + ------------------------------------- + + o-----> +Yvir* + ._____|_______. + | | | + +Xvir*| | + | V +Ysc + o==/ /==================o | o----->|o==================/ /==o + -Y Solar Array | | | +Y Solar Array + | | | + .______|______. + .--V +Xsc + HGA .' `. + /___________\ + `.|.' +Zsc and +Zvir* + are out of the page + + The keywords below define the VIR frames. In this version of the FK + all misalignments are set be zero. + + Preliminary alignment data for VIR-VIS indicate that the instrument + boresight (center pixel view direction) is tilted with respect to the + spacecraft +Z axis by 1.50 milliradians toward -Y axis and 1.25 + milliradians toward +X. This misalignment is incorporated as a two + rotations, first by +1.50 milliradians about +X axis and then by + +1.25 milliradians about +Y axis, into the definitions of the + DAWN_VIR_VIS and DAWN_VIR_VIS_ZERO frames. + + Preliminary alignment data for VIR-IR indicate that the instrument + boresight (center pixel view direction) is tilted with respect to the + spacecraft +Z axis by 0.75 milliradians toward -Y axis and 1.50 + milliradians toward +X. This misalignment is incorporated as a two + rotations, first by +0.75 milliradians about +X axis and then by + +1.50 milliradians about +Y axis, into the definitions of the + DAWN_VIR_IR and DAWN_VIR_IR_ZERO frames. + + \begindata + + FRAME_DAWN_VIR = -203200 + FRAME_-203200_NAME = 'DAWN_VIR' + FRAME_-203200_CLASS = 4 + FRAME_-203200_CLASS_ID = -203200 + FRAME_-203200_CENTER = -203 + TKFRAME_-203200_RELATIVE = 'DAWN_SPACECRAFT' + TKFRAME_-203200_SPEC = 'ANGLES' + TKFRAME_-203200_UNITS = 'DEGREES' + TKFRAME_-203200_ANGLES = ( 0.0, 0.0, 0.0 ) + TKFRAME_-203200_AXES = ( 1, 2, 3 ) + + FRAME_DAWN_VIR_SCAN = -203201 + FRAME_-203201_NAME = 'DAWN_VIR_SCAN' + FRAME_-203201_CLASS = 3 + FRAME_-203201_CLASS_ID = -203201 + FRAME_-203201_CENTER = -203 + CK_-203201_SCLK = -203 + CK_-203201_SPK = -203 + + FRAME_DAWN_VIR_VIS = -203211 + FRAME_-203211_NAME = 'DAWN_VIR_VIS' + FRAME_-203211_CLASS = 4 + FRAME_-203211_CLASS_ID = -203211 + FRAME_-203211_CENTER = -203 + TKFRAME_-203211_RELATIVE = 'DAWN_VIR_SCAN' + TKFRAME_-203211_SPEC = 'ANGLES' + TKFRAME_-203211_UNITS = 'DEGREES' + TKFRAME_-203211_ANGLES = (-0.085943669, -0.071619724, 0.0) + TKFRAME_-203211_AXES = ( 1, 2, 3 ) + + FRAME_DAWN_VIR_IR = -203213 + FRAME_-203213_NAME = 'DAWN_VIR_IR' + FRAME_-203213_CLASS = 4 + FRAME_-203213_CLASS_ID = -203213 + FRAME_-203213_CENTER = -203 + TKFRAME_-203213_RELATIVE = 'DAWN_VIR_SCAN' + TKFRAME_-203213_SPEC = 'ANGLES' + TKFRAME_-203213_UNITS = 'DEGREES' + TKFRAME_-203213_ANGLES = (-0.042971835, -0.085943669, 0.0) + TKFRAME_-203213_AXES = ( 1, 2, 3 ) + + FRAME_DAWN_VIR_VIS_ZERO = -203221 + FRAME_-203221_NAME = 'DAWN_VIR_VIS_ZERO' + FRAME_-203221_CLASS = 4 + FRAME_-203221_CLASS_ID = -203221 + FRAME_-203221_CENTER = -203 + TKFRAME_-203221_RELATIVE = 'DAWN_VIR' + TKFRAME_-203221_SPEC = 'ANGLES' + TKFRAME_-203221_UNITS = 'DEGREES' + TKFRAME_-203221_ANGLES = (-0.085943669, -0.071619724, 0.0) + TKFRAME_-203221_AXES = ( 1, 2, 3 ) + + FRAME_DAWN_VIR_IR_ZERO = -203223 + FRAME_-203223_NAME = 'DAWN_VIR_IR_ZERO' + FRAME_-203223_CLASS = 4 + FRAME_-203223_CLASS_ID = -203223 + FRAME_-203223_CENTER = -203 + TKFRAME_-203223_RELATIVE = 'DAWN_VIR' + TKFRAME_-203223_SPEC = 'ANGLES' + TKFRAME_-203223_UNITS = 'DEGREES' + TKFRAME_-203223_ANGLES = (-0.042971835, -0.085943669, 0.0) + TKFRAME_-203223_AXES = ( 1, 2, 3 ) + + \begintext + + +GRAND frames +======================================================================== + + This section of the file contains the definitions of the GRAND + frames. + + +GRAND Frame Tree +-------------------------------------- + + The diagram below shows the GRAND frame hierarchy. + + "VESTA_IAU_2000" + ---------------- + ^ + |<-dynamic + | + | "DAWN_CLAUDIA" + | -------------- + | ^ + | |<-dynamic + | | + | | + | | "J2000" INERTIAL + +-----------------------------------------------------+ + | | | | + |<-pck |<-pck | |<-pck + | | | | + V V | V + "VESTA_FIXED" "IAU_VESTA" | "CERES_FIXED" + ------------- ------------- | ------------- + | + |<-ck + | + V + "DAWN_SPACECRAFT" + +-----------------------------------------------------+ + | + |<-fixed + | + V + "DAWN_GRAND" + ------------ + + +GRAND Frame +-------------------------------------- + + The GRAND frame is defined as follows: + + - +Z axis is nominally co-aligned with the s/c +Z axis; + + - +Y axis is nominally co-aligned with the s/c +Y axis; + + - +X axis completes the right handed frame; it is nominally + co-aligned with the s/c +X axis; + + - the origin of the frame is located at the instrument "FOV" + vertex. + + This diagram illustrates the GRAND frame: + + + +Z s/c side (science deck side) view: + ------------------------------------- + + ._____________. + | | + | | + | +Zsc +Ysc + o==/ /==================o | o----->|o==================/ /==o + -Y Solar Array +Xgrand | | +Y Solar Array + |o-----> +Ygrand + .|_____|______. + | .--V +Xsc + | ' `. + V __________\ + +Xgrand `.|.' +Zsc and +Zgrand + HGA are out + of the page + + Nominally, the GRAND frame is co-aligned with the s/c frame. + + \begindata + + FRAME_DAWN_GRAND = -203300 + FRAME_-203300_NAME = 'DAWN_GRAND' + FRAME_-203300_CLASS = 4 + FRAME_-203300_CLASS_ID = -203300 + FRAME_-203300_CENTER = -203 + TKFRAME_-203300_RELATIVE = 'DAWN_SPACECRAFT' + TKFRAME_-203300_SPEC = 'ANGLES' + TKFRAME_-203300_UNITS = 'DEGREES' + TKFRAME_-203300_ANGLES = ( 0.0, 0.0, 0.0 ) + TKFRAME_-203300_AXES = ( 1, 2, 3 ) + + \begintext + + +Dawn Mission NAIF ID Codes -- Definition Section +======================================================================== + + This section contains name to NAIF ID mappings for the Dawn mission. + + +Dawn Target IDs: +------------------------------------------------------------- + + This table summarizes Dawn Target IDs: + + Name ID Synonyms + --------------------- ------- --------------------------- + VESTA 2000004 '4 VESTA' + CERES 2000001 '1 CERES' + + Name-ID Mapping keywords: + + \begindata + + NAIF_BODY_NAME += ( '4 VESTA' ) + NAIF_BODY_CODE += ( 2000004 ) + + NAIF_BODY_NAME += ( 'VESTA' ) + NAIF_BODY_CODE += ( 2000004 ) + + NAIF_BODY_NAME += ( '1 CERES' ) + NAIF_BODY_CODE += ( 2000001 ) + + NAIF_BODY_NAME += ( 'CERES' ) + NAIF_BODY_CODE += ( 2000001 ) + + \begintext + + +Dawn Spacecraft ID +------------------------------------------------------------- + + This table summarizes Dawn Spacecraft IDs: + + Name ID + --------------------- ------- + DAWN -203 + + Name-ID Mapping keywords: + + \begindata + + NAIF_BODY_NAME += ( 'DAWN' ) + NAIF_BODY_CODE += ( -203 ) + + \begintext + + +Dawn Spacecraft Structures IDs +-------------------------------------- + + This table summarizes Dawn Spacecraft Structure IDs: + + Name ID + --------------------- ------- + DAWN -203 + DAWN_SPACECRAFT -203000 + DAWN_SA+Y -203010 + DAWN_SA+Y_GIMBAL -203011 + DAWN_SA+Y_C1 -203012 + DAWN_SA+Y_C2 -203013 + DAWN_SA+Y_C3 -203014 + DAWN_SA+Y_C4 -203015 + DAWN_SA-Y -203020 + DAWN_SA-Y_GIMBAL -203021 + DAWN_SA-Y_C1 -203022 + DAWN_SA-Y_C2 -203023 + DAWN_SA-Y_C3 -203024 + DAWN_SA-Y_C4 -203025 + DAWN_HGA -203040 + DAWN_LGA+Z -203030 + DAWN_LGA+X -203050 + DAWN_LGA-Z -203060 + DAWN_ST1 -203071 + DAWN_ST2 -203072 + DAWN_FT1 -203081 + DAWN_FT2 -203082 + DAWN_FT3 -203083 + + Name-ID Mapping keywords: + + \begindata + + NAIF_BODY_NAME += ( 'DAWN_SPACECRAFT' ) + NAIF_BODY_CODE += ( -203000 ) + + NAIF_BODY_NAME += ( 'DAWN_SA+Y' ) + NAIF_BODY_CODE += ( -203010 ) + + NAIF_BODY_NAME += ( 'DAWN_SA+Y_GIMBAL' ) + NAIF_BODY_CODE += ( -203011 ) + + NAIF_BODY_NAME += ( 'DAWN_SA+Y_C1' ) + NAIF_BODY_CODE += ( -203012 ) + + NAIF_BODY_NAME += ( 'DAWN_SA+Y_C2' ) + NAIF_BODY_CODE += ( -203013 ) + + NAIF_BODY_NAME += ( 'DAWN_SA+Y_C3' ) + NAIF_BODY_CODE += ( -203014 ) + + NAIF_BODY_NAME += ( 'DAWN_SA+Y_C4' ) + NAIF_BODY_CODE += ( -203015 ) + + NAIF_BODY_NAME += ( 'DAWN_SA-Y' ) + NAIF_BODY_CODE += ( -203020 ) + + NAIF_BODY_NAME += ( 'DAWN_SA-Y_GIMBAL' ) + NAIF_BODY_CODE += ( -203021 ) + + NAIF_BODY_NAME += ( 'DAWN_SA-Y_C1' ) + NAIF_BODY_CODE += ( -203022 ) + + NAIF_BODY_NAME += ( 'DAWN_SA-Y_C2' ) + NAIF_BODY_CODE += ( -203023 ) + + NAIF_BODY_NAME += ( 'DAWN_SA-Y_C3' ) + NAIF_BODY_CODE += ( -203024 ) + + NAIF_BODY_NAME += ( 'DAWN_SA-Y_C4' ) + NAIF_BODY_CODE += ( -203025 ) + + NAIF_BODY_NAME += ( 'DAWN_HGA' ) + NAIF_BODY_CODE += ( -203040 ) + + NAIF_BODY_NAME += ( 'DAWN_LGA+Z' ) + NAIF_BODY_CODE += ( -203030 ) + + NAIF_BODY_NAME += ( 'DAWN_LGA+X' ) + NAIF_BODY_CODE += ( -203050 ) + + NAIF_BODY_NAME += ( 'DAWN_LGA-Z' ) + NAIF_BODY_CODE += ( -203060 ) + + NAIF_BODY_NAME += ( 'DAWN_ST1' ) + NAIF_BODY_CODE += ( -203071 ) + + NAIF_BODY_NAME += ( 'DAWN_ST2' ) + NAIF_BODY_CODE += ( -203072 ) + + NAIF_BODY_NAME += ( 'DAWN_FT1' ) + NAIF_BODY_CODE += ( -203081 ) + + NAIF_BODY_NAME += ( 'DAWN_FT2' ) + NAIF_BODY_CODE += ( -203082 ) + + NAIF_BODY_NAME += ( 'DAWN_FT3' ) + NAIF_BODY_CODE += ( -203083 ) + + \begintext + + +FC1 and FC2 IDs +-------------------------------------- + + This table summarizes FC1 and FC2 IDs: + + Name ID + --------------------- ------- + DAWN_FC1 -203110 + DAWN_FC1_FILTER_1 -203111 + DAWN_FC1_FILTER_2 -203112 + DAWN_FC1_FILTER_3 -203113 + DAWN_FC1_FILTER_4 -203114 + DAWN_FC1_FILTER_5 -203115 + DAWN_FC1_FILTER_6 -203116 + DAWN_FC1_FILTER_7 -203117 + DAWN_FC1_FILTER_8 -203118 + DAWN_FC1_RAD -203119 + + DAWN_FC2 -203120 + DAWN_FC2_FILTER_1 -203121 + DAWN_FC2_FILTER_2 -203122 + DAWN_FC2_FILTER_3 -203123 + DAWN_FC2_FILTER_4 -203124 + DAWN_FC2_FILTER_5 -203125 + DAWN_FC2_FILTER_6 -203126 + DAWN_FC2_FILTER_7 -203127 + DAWN_FC2_FILTER_8 -203128 + DAWN_FC2_RAD -203129 + + Name-ID Mapping keywords: + + \begindata + + NAIF_BODY_NAME += ( 'DAWN_FC1' ) + NAIF_BODY_CODE += ( -203110 ) + + NAIF_BODY_NAME += ( 'DAWN_FC1_FILTER_1' ) + NAIF_BODY_CODE += ( -203111 ) + + NAIF_BODY_NAME += ( 'DAWN_FC1_FILTER_2' ) + NAIF_BODY_CODE += ( -203112 ) + + NAIF_BODY_NAME += ( 'DAWN_FC1_FILTER_3' ) + NAIF_BODY_CODE += ( -203113 ) + + NAIF_BODY_NAME += ( 'DAWN_FC1_FILTER_4' ) + NAIF_BODY_CODE += ( -203114 ) + + NAIF_BODY_NAME += ( 'DAWN_FC1_FILTER_5' ) + NAIF_BODY_CODE += ( -203115 ) + + NAIF_BODY_NAME += ( 'DAWN_FC1_FILTER_6' ) + NAIF_BODY_CODE += ( -203116 ) + + NAIF_BODY_NAME += ( 'DAWN_FC1_FILTER_7' ) + NAIF_BODY_CODE += ( -203117 ) + + NAIF_BODY_NAME += ( 'DAWN_FC1_FILTER_8' ) + NAIF_BODY_CODE += ( -203118 ) + + NAIF_BODY_NAME += ( 'DAWN_FC1_RAD' ) + NAIF_BODY_CODE += ( -203119 ) + + NAIF_BODY_NAME += ( 'DAWN_FC2' ) + NAIF_BODY_CODE += ( -203120 ) + + NAIF_BODY_NAME += ( 'DAWN_FC2_FILTER_1' ) + NAIF_BODY_CODE += ( -203121 ) + + NAIF_BODY_NAME += ( 'DAWN_FC2_FILTER_2' ) + NAIF_BODY_CODE += ( -203122 ) + + NAIF_BODY_NAME += ( 'DAWN_FC2_FILTER_3' ) + NAIF_BODY_CODE += ( -203123 ) + + NAIF_BODY_NAME += ( 'DAWN_FC2_FILTER_4' ) + NAIF_BODY_CODE += ( -203124 ) + + NAIF_BODY_NAME += ( 'DAWN_FC2_FILTER_5' ) + NAIF_BODY_CODE += ( -203125 ) + + NAIF_BODY_NAME += ( 'DAWN_FC2_FILTER_6' ) + NAIF_BODY_CODE += ( -203126 ) + + NAIF_BODY_NAME += ( 'DAWN_FC2_FILTER_7' ) + NAIF_BODY_CODE += ( -203127 ) + + NAIF_BODY_NAME += ( 'DAWN_FC2_FILTER_8' ) + NAIF_BODY_CODE += ( -203128 ) + + NAIF_BODY_NAME += ( 'DAWN_FC2_RAD' ) + NAIF_BODY_CODE += ( -203129 ) + + \begintext + + +VIR IDs +-------------------------------------- + + This table summarizes VIR IDs: + + Name ID + --------------------- ------- + DAWN_VIR -203200 + DAWN_VIR_SCAN -203201 + DAWN_VIR_VIS -203211 + DAWN_VIR_IR -203213 + DAWN_VIR_VIS_SCAN -203212 + DAWN_VIR_IR_SCAN -203214 + DAWN_VIR_VIS_128 -203215 + DAWN_VIR_VIS_64 -203216 + DAWN_VIR_VIS_16 -203217 + DAWN_VIR_VIS_96 -203218 + DAWN_VIR_VIS_32 -203219 + DAWN_VIR_RAD -203209 + + Name-ID Mapping keywords: + + \begindata + + NAIF_BODY_NAME += ( 'DAWN_VIR' ) + NAIF_BODY_CODE += ( -203200 ) + + NAIF_BODY_NAME += ( 'DAWN_VIR_SCAN' ) + NAIF_BODY_CODE += ( -203201 ) + + NAIF_BODY_NAME += ( 'DAWN_VIR_VIS' ) + NAIF_BODY_CODE += ( -203211 ) + + NAIF_BODY_NAME += ( 'DAWN_VIR_IR' ) + NAIF_BODY_CODE += ( -203213 ) + + NAIF_BODY_NAME += ( 'DAWN_VIR_VIS_SCAN' ) + NAIF_BODY_CODE += ( -203212 ) + + NAIF_BODY_NAME += ( 'DAWN_VIR_IR_SCAN' ) + NAIF_BODY_CODE += ( -203214 ) + + NAIF_BODY_NAME += ( 'DAWN_VIR_VIS_128' ) + NAIF_BODY_CODE += ( -203215 ) + + NAIF_BODY_NAME += ( 'DAWN_VIR_VIS_64' ) + NAIF_BODY_CODE += ( -203216 ) + + NAIF_BODY_NAME += ( 'DAWN_VIR_VIS_16' ) + NAIF_BODY_CODE += ( -203217 ) + + NAIF_BODY_NAME += ( 'DAWN_VIR_VIS_96' ) + NAIF_BODY_CODE += ( -203218 ) + + NAIF_BODY_NAME += ( 'DAWN_VIR_VIS_32' ) + NAIF_BODY_CODE += ( -203219 ) + + NAIF_BODY_NAME += ( 'DAWN_VIR_RAD' ) + NAIF_BODY_CODE += ( -203209 ) + + \begintext + + +GRAND IDs +-------------------------------------- + + This table summarizes GRAND IDs: + + Name ID + --------------------- ------- + DAWN_GRAND -203300 + + Name-ID Mapping keywords: + + \begindata + + NAIF_BODY_NAME += ( 'DAWN_GRAND' ) + NAIF_BODY_CODE += ( -203300 ) + + \begintext + + +Dawn DSK Surface NAIF Names/ID Codes -- Definition Section +======================================================================== + + This section contains name to NAIF ID mappings for the Vesta and + Ceres DSK surfaces. + + The following surface name-ID mappings are defined for Ceres: + + Surface Name Surface ID Body ID + --------------------------- ---------- ------------- + DAWN_DLR_SPG_135METER_V1 10101 2000001 + + DAWN_GRAV_SPC_0128ICQ_V1 20101 2000001 + DAWN_GRAV_SPC_0256ICQ_V1 20102 2000001 + DAWN_GRAV_SPC_0512ICQ_V1 20103 2000001 + DAWN_GRAV_SPC_1024ICQ_V1 20104 2000001 + DAWN_GRAV_SPC_300METER_V1 20105 2000001 + DAWN_GRAV_SPC_100METER_V1 20106 2000001 + DAWN_GRAV_SPC_035METER_V1 20107 2000001 + DAWN_GRAV_SPC_0128ICQ_V2 20108 2000001 + DAWN_GRAV_SPC_0256ICQ_V2 20109 2000001 + DAWN_GRAV_SPC_0512ICQ_V2 20110 2000001 + DAWN_GRAV_SPC_1024ICQ_V2 20111 2000001 + + + \begindata + + NAIF_SURFACE_NAME += 'DAWN_DLR_SPG_135METER_V1' + NAIF_SURFACE_CODE += 10101 + NAIF_SURFACE_BODY += 2000001 + + NAIF_SURFACE_NAME += 'DAWN_GRAV_SPC_0128ICQ_V1' + NAIF_SURFACE_CODE += 20101 + NAIF_SURFACE_BODY += 2000001 + + NAIF_SURFACE_NAME += 'DAWN_GRAV_SPC_0256ICQ_V1' + NAIF_SURFACE_CODE += 20102 + NAIF_SURFACE_BODY += 2000001 + + NAIF_SURFACE_NAME += 'DAWN_GRAV_SPC_0512ICQ_V1' + NAIF_SURFACE_CODE += 20103 + NAIF_SURFACE_BODY += 2000001 + + NAIF_SURFACE_NAME += 'DAWN_GRAV_SPC_1024ICQ_V1' + NAIF_SURFACE_CODE += 20104 + NAIF_SURFACE_BODY += 2000001 + + NAIF_SURFACE_NAME += 'DAWN_GRAV_SPC_300METER_V1' + NAIF_SURFACE_CODE += 20105 + NAIF_SURFACE_BODY += 2000001 + + NAIF_SURFACE_NAME += 'DAWN_GRAV_SPC_100METER_V1' + NAIF_SURFACE_CODE += 20106 + NAIF_SURFACE_BODY += 2000001 + + NAIF_SURFACE_NAME += 'DAWN_GRAV_SPC_035METER_V1' + NAIF_SURFACE_CODE += 20107 + NAIF_SURFACE_BODY += 2000001 + + NAIF_SURFACE_NAME += 'DAWN_GRAV_SPC_0128ICQ_V2' + NAIF_SURFACE_CODE += 20108 + NAIF_SURFACE_BODY += 2000001 + + NAIF_SURFACE_NAME += 'DAWN_GRAV_SPC_0256ICQ_V2' + NAIF_SURFACE_CODE += 20109 + NAIF_SURFACE_BODY += 2000001 + + NAIF_SURFACE_NAME += 'DAWN_GRAV_SPC_0512ICQ_V2' + NAIF_SURFACE_CODE += 20110 + NAIF_SURFACE_BODY += 2000001 + + NAIF_SURFACE_NAME += 'DAWN_GRAV_SPC_1024ICQ_V2' + NAIF_SURFACE_CODE += 20111 + NAIF_SURFACE_BODY += 2000001 + + \begintext + + +End of FK. diff --git a/tests/pytests/data/VIR_IR_1A_1_362681634_1/dawn_vesta_v00.tf b/tests/pytests/data/VIR_IR_1A_1_362681634_1/dawn_vesta_v00.tf new file mode 100755 index 000000000..4160703af --- /dev/null +++ b/tests/pytests/data/VIR_IR_1A_1_362681634_1/dawn_vesta_v00.tf @@ -0,0 +1,93 @@ +KPL/FK + +Dawn Frames Kernel for Asteroid Vesta +======================================================================== + + This frame kernel contains definition of the body-fixed frame for + asteroid Vesta. + + +Version and Date +======================================================================== + + Version 0.0 -- May 9, 2005 -- Boris Semenov, NAIF + + Preliminary Version. + + +References +======================================================================== + + 1. ``Frames Required Reading'' + + 2. ``Kernel Pool Required Reading'' + + 3. ``PC-Kernel Required Reading'' + + +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 and CSPICE + function furnsh_c load a kernel file into the kernel 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. + + +Dawn Frames +======================================================================== + + The following Dawn frames are defined in this kernel file: + + Name Relative to Type NAIF ID + ====================== =================== ============ ======= + + Dawn Target frames: + ------------------- + VESTA_FIXED J2000 PCK 2000004 + + +Dawn Target Frames +======================================================================== + + This section of the file contains the body-fixed frame definition + for one of the Dawn mission targets -- asteroids 4 Vesta. + + A body-fixed frame is defined for Vesta using standard body-fixed, + PCK-based frame formation rules: + + - +Z axis is toward the North pole; + + - +X axis is toward the prime meridian; + + - +Y axis completes the right hand frame; + + - the origin of this frame is at the center of the body. + + The orientation of this frame is computed by evaluating + corresponding rotation constants provided in the PCK file(s). + + \begindata + + FRAME_VESTA_FIXED = 2000004 + FRAME_2000004_NAME = 'VESTA_FIXED' + FRAME_2000004_CLASS = 2 + FRAME_2000004_CLASS_ID = 2000004 + FRAME_2000004_CENTER = 2000004 + OBJECT_2000004_FRAME = 'VESTA_FIXED' + + \begintext + diff --git a/tests/pytests/data/VIR_IR_1A_1_362681634_1/dawn_vesta_v06.tpc b/tests/pytests/data/VIR_IR_1A_1_362681634_1/dawn_vesta_v06.tpc new file mode 100755 index 000000000..d9bc466e5 --- /dev/null +++ b/tests/pytests/data/VIR_IR_1A_1_362681634_1/dawn_vesta_v06.tpc @@ -0,0 +1,306 @@ +KPL/PCK + +\beginlabel +PDS_VERSION_ID = PDS3 +RECORD_TYPE = STREAM +RECORD_BYTES = "N/A" +^SPICE_KERNEL = "dawn_vesta_v06.tpc" +MISSION_NAME = "DAWN MISSION TO VESTA AND CERES" +SPACECRAFT_NAME = DAWN +DATA_SET_ID = "DAWN-M/A-SPICE-6-V1.0" +KERNEL_TYPE_ID = PCK +PRODUCT_ID = "dawn_vesta_v06.tpc" +PRODUCT_CREATION_TIME = 2012-09-27T14:04:32 +PRODUCER_ID = "NAIF/JPL" +MISSION_PHASE_NAME = { + "INITIAL CHECKOUT (ICO)", + "EARTH-MARS CRUISE (EMC)", + "MARS GRAVITY ASSIST (MGA)", + "MARS-VESTA CRUISE (MVC)", + "VESTA ENCOUNTER", + "VESTA-CERES CRUISE (VCC)", + "CERES ENCOUNTER", + "END OF MISSION" + } +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 = { + "4 VESTA", + "1 CERES" + } +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 = "SPICE PCK file containing constants for +Vesta, created by NAIF, JPL. Vesta rotation constants provided in this PCK +are for the ``Claudia Double-Prime'' coordinate system used in science +products included in the DAWN Vesta mission PDS archives. " +END_OBJECT = SPICE_KERNEL +\endlabel + + +Asteroid Vesta P_constants (PcK) SPICE kernel file +=========================================================================== + + +Organization +-------------------------------------------------------- + + The sections of this file are as follows. + + Introductory Information: + + -- Version description + + -- Disclaimer + + -- Sources + + Pck Data: + + -- Orientation constants for asteroid Vesta + + -- Radii for asteroid Vesta + + +Version description +-------------------------------------------------------- + + Version 0.6 -- October 20, 2012 -- Dr. Carol Raymond, DAWN Deputy PI, + Boris Semenov, NAIF + + Corrected the Claudia center longitudes provided in the comment + sections ``Values in the Version 0.5'' (136.7 -> 136.0) and + ``Values in the Version 0.6'' (146.7 -> 146.0) *WITHOUT* + changing the file version or file name. + + September 5, 2012 -- Dr. Carol Raymond, DAWN Deputy PI, + Dr. Steven Joy, Dawn Science Center Manager, + Boris Semenov, NAIF + + Corrected W0 (295.39 -> 285.39). + + Version 0.5 -- May 2, 2012 -- Dr. Carol Raymond, DAWN Deputy PI, + Dr. Steven Joy, Dawn Science Center Manager, + Boris Semenov, NAIF + + Corrected W0 (75.39 -> 295.39). + + Version 0.4 -- November 2, 2011 -- Dr. Carol Raymond, DAWN Deputy PI, + Boris Semenov, NAIF + + Corrected W0 (76.06 -> 75.39). + + Version 0.3 -- September 29, 2011 -- Dr. Carol Raymond, DAWN Deputy PI, + Boris Semenov, NAIF + + Per MCR-112436 Vesta pole orientation and prime meridian + (Ra, Dec, W0) were changed to (309.031, 42.235, 76.06) degrees + + Version 0.2 -- February 25, 2011 -- Boris Semenov, NAIF + + Vesta pole orientation (Ra, Dec) was changed to (305.8, 41.4) + degrees per MCR-111475 and "Dawn Planetary Constants and Models + Document" Revision 2.0, Feb 16, 2011 + + Version 0.1 -- October 12, 2004 -- Boris Semenov, NAIF + + VESTA_FIXED frame definition was removed. It is now in the DAWN + Frames Kernel file. + + Version 0.0 -- October 6, 2003 -- Boris Semenov, NAIF + + This is a preliminary PCK containing draft values for the pole + direction, prime meridian location, rotation period and shape + (from [1].) + + +Disclaimer +-------------------------------------------------------- + + 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. + + NAIF requests that you update the ``by line'' and date if you + modify the file. + + +Sources +-------------------------------------------------------- + + The sources for the constants listed in this and the earlier + versions of this file are: + + 1) Thomas, Peter C. et al. ``Vesta: Spin Pole, Size, and Shape + from HST Images.'' ICARUS 128, 1997. Article NO. IS975736. + pp. 93-94. + + 2) "Dawn Planetary Constants and Models Document" Revision 2.0, + Feb 16, 2011 + + 3) Analysis of Data from Dawn's Survey Orbit, Sep 23, 2011. + (IOM attached to MCR-112436). + + +Orientation constants for asteroid Vesta +-------------------------------------------------------- + + The inertial reference frame for these constants is J2000; this is + the default reference frame for PCK orientation data. + + The epoch of the constants is J2000; this is Julian ephemeris date + (JED) 2451545.0. + + The NAIF integer code for Vesta is 2000004. See the NAIF_IDs + required reading for further information on NAIF integer codes. + + +Values in the Versions 0.0 and 0.1 + + The pole direction, prime meridian location, and rotation period + in the versions 0.0 and 0.1 were set to the following values from + [1]: + + "New data from the 1996 Hubble HST observations of Vesta allow a + refinement of the pole solution to: RA = 301 deg, Dec = 41 deg, + +/- 5 deg. The prime meridian is now given by W = 292 deg + + 1617.332776 deg * d; see Section 3a and Eq. 1. The new data, + and a scaling correction, change the fit radii to 289, 280, + 229, +/- 5 km." + + +Values in the Version 0.2 + + The pole direction, prime meridian location, and rotation period + in the version 0.2 were set to the following values from [2]: + + "5.3 Vesta Pole and Prime Meridian + + The Vesta pole and prime meridian values are shown below. + + RA Vesta = 305.8 +/- 3.1 deg Right Ascension in EME2000 [25] + DEC Vesta = 41.4 +/- 1.5 deg Declination in EME2000 [25] + W Vesta = 292 + w * D deg Prime Meridian + w Vesta = 1617.332776 deg/day Rotation rate + + + 5.4 Vesta Shape Parameters + + The Vesta shape is described as a triaxial ellipsoid with + values 289, 280, 229 km [15] or as a sphere with a radius + of 265 km [16]. ... + + + 9 References + + ... + 15. "Vesta: Spin Pole, Size, and Shape from HST Images", P. + Thomas, et al., Icarus, v128, p88~94 (1997)." + 16. "Impact Excavation on Asteroid 4 Vesta: Hubble Space + Telescope Result", P. C. Thomas, et al, Science, 227, + 1492-1494, 1997. + ... + 25. "Improved Measurement of Asteroid (4) Vesta's Rotational + Axis Orientation", Jian-Yang Li, et al., Icarus, 211, + 528-534, 2010.." + + +Values in the Version 0.3 + + The pole direction, prime meridian location, rotation period and + radii in this version are set to the following values from [3]: + + "... + The recommended new pole is: + - RA: 309.031 Dec: 42.235 + - Error is estimated as +/-0.03deg 3-sigma + + Data considered: + - Konopoliv (Gravity) 309.029 42.225 + - Preusker (DLR) Survey 309.031 42.235 + - OpNav 309.025 42.245 + - NAV OD radio 309.025 42.247 + + The rotation rate of Vesta was determined to be .222588677 +/- + .000000009 days/rev, which agrees very well with the weighted + average of all previous determinations. + ... + A new prime meridian was chosen as defined by the small crater + Claudia that is assigned a longitude of 356 deg East. This new system + was chosen because the old system was not well-defined and the + team wanted to make a clear distinction between the old and new + to avoid confusion. The offset between the old W0 (292) from + Thomas et al. (1997) and the new W0 (76.06) is about 144.06 deg." + + These values are provided in the keywords below. The W1 was derived + from .222588677 days/rev as follows: + + W1 = 1 / 0.222588677 * 360 = 1617.3329428 + +Values in the Version 0.4 + + The pole direction, rotation period, and radii in the version 0.4 + are the same as in the version 0.3. + + The W0 value is 75.39 deg (changed from 76.06 deg to match the + correct rotation rate while preserving the longitude of Claudia). + +Values in the Version 0.5 + + The pole direction, rotation period, and radii in the version 0.5 + are the same as in the previous version 0.4. + + The W0 value is 295.39 deg (changed from 75.39 deg) so that the + prime meridian is roughly in the center of the feature originally + identified as Olbers and the Claudia crater is now defined to be at + 136.0 deg East. + + body2000004_pole_ra = ( 309.031 0.0 0.0 ) + body2000004_pole_dec = ( 42.235 0.0 0.0 ) + body2000004_pm = ( 295.39 1617.3329428 0.0 ) + + +Values in the Current Version 0.6 + + The pole direction, rotation period, and radii in the version 0.6 + are the same as in the previous versions 0.4 and 0.5. + + The W0 value is 285.39 deg (changed from 295.39 deg) to improve the + alignment of the prime meridian with the center of the albedo feature + originally identified as Olbers in the Hubble data, based on the + analysis of P. Thomas and J.-Y. Li in July/August 2012. The center + of Claudia crater is now defined to be at 146.0 deg East. + + \begindata + + BODY2000004_POLE_RA = ( 309.031 0.0 0.0 ) + BODY2000004_POLE_DEC = ( 42.235 0.0 0.0 ) + BODY2000004_PM = ( 285.39 1617.3329428 0.0 ) + + \begintext + + + +Radii for asteroid Vesta +-------------------------------------------------------- + + The Vesta radii from [2] are provided in the keyword below. + + \begindata + + BODY2000004_RADII = ( 289.0 280.0 229.0 ) + + \begintext + +End of PCK file. + diff --git a/tests/pytests/data/VIR_IR_1A_1_362681634_1/dawn_vir_v05.ti b/tests/pytests/data/VIR_IR_1A_1_362681634_1/dawn_vir_v05.ti new file mode 100755 index 000000000..47e9755e7 --- /dev/null +++ b/tests/pytests/data/VIR_IR_1A_1_362681634_1/dawn_vir_v05.ti @@ -0,0 +1,574 @@ +KPL/IK + +VIR Instrument kernel +=========================================================================== + + This instrument kernel (I-kernel) contains Dawn VIR optics, + detector, and field-of-view parameters. + + +Version and Date +--------------------------------------------------------------------------- + + Version 0.5 -- March 2, 2011 -- Boris Semenov, NAIF + + Rearranged comments and data blocks in the "FOV Definitions" + section to have all FOVs defined for full and partial scan mirror + sweeps described in a single comment block and defined in a + single data block to more clearly separate them from actual, + non-sweep FOV definitions. + + NO CHANGES WERE MADE TO ANY KEYWORD VALUES. + + Version 0.4 -- October 7, 2009 -- Dr. Federico Tosi, INAF - IFSI + Boris Semenov, NAIF + + Changed the reference frame for the full and partial VIS sweep + FOVs associated with IDs -203212, -203215 ... -203219 to + DAWN_VIR_VIS_ZERO. + + Changed the reference frame for the full IR sweep FOV associated + with IDs -203214 to DAWN_VIR_IR_ZERO. + + Replaced -226 with -203 in the keywords in the ``Platform ID'' + section. + + Replaced cross-track/along-track with along-slit/cross-slit + in all comments. + + Filled in instrument description. + + Version 0.3 -- July 3, 2009 -- Boris Semenov + + Extended comments to cover partial VIS scan FOVs added by Steve + Joy. + + Version 0.2T2 -- June 23, 2009 -- Steven Joy + + Added FOVs for VIR_VIS_96 (-203218) and VIR_VIS_32 (-203219) + + Version 0.2T -- April 09, 2009 -- Steven Joy + + Added FOVs for VIR_VIS_16 (-203217) + + Version 0.2 -- June 24, 2008 -- Steven Joy, DSC with Boris Semenov, NAIF/JPL + + Added FOVs for VIR_VIS_128 (-203215) and VIR_VIS_64 (-203216). + + Version 0.1 -- May 9, 2005 -- Boris Semenov, NAIF/JPL + + Added radiator FOV. + + Version 0.0 -- October 12, 2004 -- Boris Semenov, NAIF/JPL + + Initial release. + + +References +--------------------------------------------------------------------------- + + 1. ``Kernel Pool Required Reading'' + + 2. ``C-kernel Required Reading'' + + 3. VIR ICD/MICD, latest version as of 10/12/04 + + 4. Dawn Frames Definition Kernel (FK), latest version. + + 5. VIR CDR Presentations + + 6. Rosetta VIRTIS Documentation (ROS-EST-RS-30015/EID B and RO-VIR-UM-001) + + 7. VIR Home Page http://www.ifsi-roma.inaf.it/vir/; accessed 10/07/09 + + +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 Dawn instrument ID code, + constructed using the spacecraft ID number (-226) followed by the + NAIF three digit ID number for VIR module. These IDs are defined in + [4] as follows: + + Instrument name ID + -------------------- ------- + DAWN_VIR -203200 + DAWN_VIR_SCAN -203201 + DAWN_VIR_VIS -203211 + DAWN_VIR_IR -203213 + + DAWN_VIR_VIS_SCAN -203212 (*) + DAWN_VIR_IR_SCAN -203214 (*) + DAWN_VIR_VIS_128 -203215 (*) + DAWN_VIR_VIS_64 -203216 (*) + DAWN_VIR_VIS_16 -203217 (*) + DAWN_VIR_VIS_96 -203218 (*) + DAWN_VIR_VIS_32 -203219 (*) + + DAWN_VIR_RAD -203209 + + (*) _SCAN, _128, _64, _16, _96 and _32 names/IDs are defined to + allow specifying FOVs circumscribing full or partial side scans + of the VIR scan mirror. These frames are used only for planning + purposes and have nothing to do with the real angular aperture + (FOV) of the VIR instrument. + + 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 VIR VIS optics is specified by + + INS-203211_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 [7]: + + What is VIR? + + The Dawn mapping spectrometer VIR is a Visual and Infrared + Imaging Spectrometer that produces spectral images in the 0.25-1 + mkm and 1-5 mkm ranges. VIR is a rebuild of the VIRTIS mapping + spectrometer on board the ESA Rosetta mission and it also derives + much design heritage from the Cassini VIMS spectrometer. The + design of the instrument fully accomplishes the mission's + scientific and measurement objectives with a simple + space-qualified low risk approach and high performance, + reliability, heritage and cost effectiveness. + + Some technical details + + VIR is a Visual and Infrared Imaging Spectrometer in a single + optical head. A Shafer telescope is mated to an Offner slit + spectrometer. Spectral images are formed on two matrix detectors + to cover the 0.25-1 mkm and 1-5 mkm ranges. The design uses a + dual arm optical and focal design with mapping ability to 5 + mkm.The Dawn mapping spectrometer (VIR) is a rebuild of the + VIRTIS mapping spectrometer on board the ESA Rosetta mission with + an operational durations of 2y and flight time of 13y. The MS + spectrometer will only use the - M channel of VIRTIS, thus + allowing a great mass reduction. VIR also derives much of its + design from the Cassini VIMS spectrometer with an operational + lifetime of >4y and a mission life>10y. + + VIR modules + + The spectrometer consists of only three modules: the optical + system, 5.0 kg mass; the proximity electronics, 3.0 kg and 5 W; + the cryocooler including driving electronics, 1.3 kg and 12.6 W. + A mechanical and thermal mounting of 5.0 kg mass accommodates the + spectrometer subsystems. The optical system, which includes + foreoptics, dispersive elements, filters, focal plane assemblies + as well as the cryocooler and proximity electronics is a complete + re-build of the VIRTIS M instrument The data processing unit box + (DPU) is shared with the framing camera to save mass. The DPU + handles the data for both camera and spectrometer, compresses and + buffers them, and controls both the FCs and MS. Flight software + is based on Rosetta VIRTIS and ROLIS developments. The camera is + operated only when the spectrometer is not operating. As + VIRTIS-M, VIR does not use beam-splitters. Two different groove + densities are ruled on a single grating. The central part of the + grating (about 30% of the pupil) is ruled with a higher groove + density, which generate the higher spectral resolution needed in + the visible channel. The infrared channel utilizes the outer 70% + of the grating, which is ruled with a lower groove density. The + larger collecting area in the IR compensates for the lower solar + irradiance in this region. The visible detector array is based on + the Thomson-CSF type TH 7896 CCD detector. The IR detector used + in the MS is based on a bidimensional array of IR-sensitive + photovoltaic Mercury Cadmium Telluride coupled to silicon CMOS + multiplexer. This detector can operate at temperatures of the + order of 75 K. For this reason cryocoolers have to be used. The + calibration unit will make use of the cover, which -inside is + coated. It will diffuse the light coming from two internal + calibration lamps (one for the VISFPA and one for the IR-FPA), + calibrated at IAS. + + +Mounting Alignment +-------------------------------------------------------- + + Refer to the latest version of the Dawn Frames Definition Kernel + (FK) [4] for the VIR reference frame definitions and mounting + alignment information. + + +Apparent FOV Layout +-------------------------------------------------------- + + WARNING --- the description/diagram below have not been verified + + This diagram illustrates the VIR apparent FOV layout for "zero" + scan mirror position in the corresponding reference frame. + + + ^ +Xvis + | +Xir + | | + | ~0.014 degrees | + | | + v Pixel 1 | Pixel 256 + --- +---------|---------+ + | 1 line | x-------------> +Yvis + --- +-------------------+ +Yir + ^ 256 pixels/line + | + | ~3.67 degrees | + |<----------------->| + | | Boresight (+Z axis) + is into the page + + + This diagram illustrates the VIR apparent FOV layout resulting from + a full, 256 step, +/- 1.83 degree scan mirror sweep about Y axis. + For partial scans of 16, 32, 64, 96, or 128 lines the cross-slit + FOV extent is proportionally decreased to 0.23, 0.46, 0.92, 1.38, + and 1.84 degrees correspondingly. + + + ^ +Xvis + | +Xir + | Pixel 1,1 | + --- *---------|---------+ + ^ | | | + | ~3.67 | | | + | degrees | | | + | | | | + | 256 lines | x-------------> +Yvis + | (each for | | +Yir + | a step in | | + | scan seq.)| | + V | | + --- +-------------------+ + | 256 pixels/line + + + | ~3.67 degrees | + |<----------------->| + | | Boresight (+Z axis) + is into the page + + +Optical Parameters +-------------------------------------------------------- + + The following VIR VIS and IR nominal first order optical parameters + are included in the data section below, from [6]: + + ----------------------------------------------------------------- + parameter VIR/VIS VIR/IR + ----------------------------------------------------------------- + Focal Length, mm 152.0 152.0 + f/ratio f/5.6 f/3.2 + IFOV, rad/pixel + along-slit 0.00025 0.00025 + cross-slit 0.00025 0.00025 + Field of view (deg) + along-slit 3.6669 3.6669 + cross-slit 0.0143 0.0143 + Field of view (deg) - scan + along-slit 3.6669 3.6669 + cross-slit 3.6669 3.6669 + ----------------------------------------------------------------- + + The keywords below provide nominal values from the table above. + Angular size values in the keywords are given radians, with the + along-slit size being the first value and the cross-slit size + being the second value in each pair. + + \begindata + + INS-203211_FOCAL_LENGTH = ( 152.0 ) + INS-203211_F/RATIO = ( 5.6 ) + INS-203211_FOV_ANGULAR_SIZE = ( 0.064000, 0.000250 ) + INS-203211_IFOV = ( 0.000250, 0.000250 ) + + INS-203213_FOCAL_LENGTH = ( 152.0 ) + INS-203213_F/RATIO = ( 3.2 ) + INS-203213_FOV_ANGULAR_SIZE = ( 0.064000, 0.000250 ) + INS-203213_IFOV = ( 0.000250, 0.000250 ) + + \begintext + + +Detector Parameters +-------------------------------------------------------- + + The nominal VIR detector parameters from [6] are: + + ----------------------------------------------------------------- + parameter VIR/VIS VIR/IR + ----------------------------------------------------------------- + Detector Array Size/Physical + along-slit 508 270 + cross-slit 1024 436 + Detector Array Size/Spatial + along-slit 256 (1) 256 (2) + cross-slit 1 1 + Detector Array Center/Spatial + along-slit 127.5 127.5 + cross-slit 0.5 0.5 + Pixel Size, microns/Spatial + along-slit 38 (3) 38 + cross-slit 38 38 + ----------------------------------------------------------------- + + (1) VIS CCD pixels are 2x2 binned at detector level + + (2) assuming IR reads out the same number of pixels as VIS + + (3) size of a 2x2 binned pixel + + The values are given in microns for PIXEL_SIZE keywords and in counts + for PIXEL_SAMPLES, PIXEL_LINES, and CENTER keywords. + + \begindata + + INS-203211_PIXEL_SIZE = ( 38, 38 ) + INS-203211_PIXEL_SAMPLES = ( 256 ) + INS-203211_PIXEL_LINES = ( 1 ) + INS-203211_CCD_CENTER = ( 127.5, 0.5 ) + + INS-203213_PIXEL_SIZE = ( 38, 38 ) + INS-203213_PIXEL_SAMPLES = ( 256 ) + INS-203213_PIXEL_LINES = ( 1 ) + INS-203213_CCD_CENTER = ( 127.5, 0.5 ) + + \begintext + + +FOV Definitions +--------------------------------------------------------------------------- + + This section contains definitions for the VIR FOVs. These + definitions are provided in a format required by the SPICE (CSPICE) + function GETFOV (getfov_c). + + The set of assignments in the data section below defines the VIR VIS + and IR actual slit FOVs with respect to the corresponding moving + frames to be a rectangles with the corners defined by the first and + last pixels of the spatial line along +Y and the boresight along the + +Z axis. These FOV definitions use angular extent style + specification with the cross and along track angular sizes taken + from the ``Optics Parameters'' section above. + + \begindata + + INS-203211_FOV_FRAME = 'DAWN_VIR_VIS' + INS-203211_FOV_SHAPE = 'RECTANGLE' + INS-203211_BORESIGHT = ( + 0.000000 0.000000 152.000000 + ) + INS-203211_FOV_CLASS_SPEC = 'ANGLES' + INS-203211_FOV_REF_VECTOR = ( + 1.000000 0.000000 0.000000 + ) + INS-203211_FOV_REF_ANGLE = ( 0.00716197 ) + INS-203211_FOV_CROSS_ANGLE = ( 1.83346494 ) + INS-203211_FOV_ANGLE_UNITS = 'DEGREES' + + + INS-203213_FOV_FRAME = 'DAWN_VIR_IR' + INS-203213_FOV_SHAPE = 'RECTANGLE' + INS-203213_BORESIGHT = ( + 0.000000 0.000000 152.000000 + ) + INS-203213_FOV_CLASS_SPEC = 'ANGLES' + INS-203213_FOV_REF_VECTOR = ( + 1.000000 0.000000 0.000000 + ) + INS-203213_FOV_REF_ANGLE = ( 0.00716197 ) + INS-203213_FOV_CROSS_ANGLE = ( 1.83346494 ) + INS-203213_FOV_ANGLE_UNITS = 'DEGREES' + + \begintext + + + The set of assignments in the data section below defines the VIR VIS + apparent FOVs resulting from a full, 256-step and partial 128-, 64-, + 16-, 96-, and 32- step scan mirror sweeps about Y axis with respect + to the non-moving frame 'DAWN_VIR_VIS_ZERO' to be a rectangles with the + corners defined by the first and last pixels of the spatial line in + the first and last scan positions and the boresight along the +Z + axis. These FOV definitions use angular extent style specification + with the angular sizes taken from the ``Optics Parameters'' section + above. + + Note that FOVs defined below are used only for planning purposes and + have nothing to do with the real angular aperture (FOV) of the VIR + instrument; therefore they should not be used to reproduce the geometry + of real VIR acquisitions. + + \begindata + + INS-203212_FOV_FRAME = 'DAWN_VIR_VIS_ZERO' + INS-203212_FOV_SHAPE = 'RECTANGLE' + INS-203212_BORESIGHT = ( + 0.000000 0.000000 152.000000 + ) + INS-203212_FOV_CLASS_SPEC = 'ANGLES' + INS-203212_FOV_REF_VECTOR = ( + 1.000000 0.000000 0.000000 + ) + INS-203212_FOV_REF_ANGLE = ( 1.83346494 ) + INS-203212_FOV_CROSS_ANGLE = ( 1.83346494 ) + INS-203212_FOV_ANGLE_UNITS = 'DEGREES' + + + INS-203214_FOV_FRAME = 'DAWN_VIR_IR_ZERO' + INS-203214_FOV_SHAPE = 'RECTANGLE' + INS-203214_BORESIGHT = ( + 0.000000 0.000000 152.000000 + ) + INS-203214_FOV_CLASS_SPEC = 'ANGLES' + INS-203214_FOV_REF_VECTOR = ( + 1.000000 0.000000 0.000000 + ) + INS-203214_FOV_REF_ANGLE = ( 1.83346494 ) + INS-203214_FOV_CROSS_ANGLE = ( 1.83346494 ) + INS-203214_FOV_ANGLE_UNITS = 'DEGREES' + + + INS-203215_FOV_FRAME = 'DAWN_VIR_VIS_ZERO' + INS-203215_FOV_SHAPE = 'RECTANGLE' + INS-203215_BORESIGHT = ( + 0.000000 0.000000 152.000000 + ) + INS-203215_FOV_CLASS_SPEC = 'ANGLES' + INS-203215_FOV_REF_VECTOR = ( + 1.000000 0.000000 0.000000 + ) + INS-203215_FOV_REF_ANGLE = ( 0.91673247 ) + INS-203215_FOV_CROSS_ANGLE = ( 1.83346494 ) + INS-203215_FOV_ANGLE_UNITS = 'DEGREES' + + + INS-203216_FOV_FRAME = 'DAWN_VIR_VIS_ZERO' + INS-203216_FOV_SHAPE = 'RECTANGLE' + INS-203216_BORESIGHT = ( + 0.000000 0.000000 152.000000 + ) + INS-203216_FOV_CLASS_SPEC = 'ANGLES' + INS-203216_FOV_REF_VECTOR = ( + 1.000000 0.000000 0.000000 + ) + INS-203216_FOV_REF_ANGLE = ( 0.45836624 ) + INS-203216_FOV_CROSS_ANGLE = ( 1.83346494 ) + INS-203216_FOV_ANGLE_UNITS = 'DEGREES' + + + INS-203217_FOV_FRAME = 'DAWN_VIR_VIS_ZERO' + INS-203217_FOV_SHAPE = 'RECTANGLE' + INS-203217_BORESIGHT = ( + 0.000000 0.000000 152.000000 + ) + INS-203217_FOV_CLASS_SPEC = 'ANGLES' + INS-203217_FOV_REF_VECTOR = ( + 1.000000 0.000000 0.000000 + ) + INS-203217_FOV_REF_ANGLE = ( 0.11459156 ) + INS-203217_FOV_CROSS_ANGLE = ( 1.83346494 ) + INS-203217_FOV_ANGLE_UNITS = 'DEGREES' + + + INS-203218_FOV_FRAME = 'DAWN_VIR_VIS_ZERO' + INS-203218_FOV_SHAPE = 'RECTANGLE' + INS-203218_BORESIGHT = ( + 0.000000 0.000000 152.000000 + ) + INS-203218_FOV_CLASS_SPEC = 'ANGLES' + INS-203218_FOV_REF_VECTOR = ( + 1.000000 0.000000 0.000000 + ) + INS-203218_FOV_REF_ANGLE = ( 0.68754935 ) + INS-203218_FOV_CROSS_ANGLE = ( 1.83346494 ) + INS-203218_FOV_ANGLE_UNITS = 'DEGREES' + + + INS-203219_FOV_FRAME = 'DAWN_VIR_VIS_ZERO' + INS-203219_FOV_SHAPE = 'RECTANGLE' + INS-203219_BORESIGHT = ( + 0.000000 0.000000 152.000000 + ) + INS-203219_FOV_CLASS_SPEC = 'ANGLES' + INS-203219_FOV_REF_VECTOR = ( + 1.000000 0.000000 0.000000 + ) + INS-203219_FOV_REF_ANGLE = ( 0.22918312 ) + INS-203219_FOV_CROSS_ANGLE = ( 1.83346494 ) + INS-203219_FOV_ANGLE_UNITS = 'DEGREES' + + + \begintext + + +Radiator Sun Avoidance FOV Definition +-------------------------------------------------------- + + Sun avoidance for VIR radiator is 175 degree cone centered on + spacecraft -X axis [3]. + + \begindata + + INS-203209_FOV_FRAME = 'DAWN_SPACECRAFT' + INS-203209_FOV_SHAPE = 'CIRCLE' + INS-203209_BORESIGHT = ( + -1.000000 0.000000 0.000000 + ) + INS-203209_FOV_CLASS_SPEC = 'ANGLES' + INS-203209_FOV_REF_VECTOR = ( + 0.000000 1.000000 0.000000 + ) + INS-203209_FOV_REF_ANGLE = ( 87.5 ) + INS-203209_FOV_ANGLE_UNITS = 'DEGREES' + + \begintext + + +Optical Distortion +-------------------------------------------------------- + + [TBD] + + +Platform ID +--------------------------------------------------------------------------- + + This number is the NAIF instrument ID of the platform on which the + instrument mounted. All VIR components it is the spacecraft. + + \begindata + + INS-203200_PLATFORM_ID = ( -203000 ) + INS-203211_PLATFORM_ID = ( -203000 ) + INS-203213_PLATFORM_ID = ( -203000 ) + + \begintext + diff --git a/tests/pytests/data/VIR_IR_1A_1_362681634_1/dawn_vir_zero_0_sliced_-203201.xc b/tests/pytests/data/VIR_IR_1A_1_362681634_1/dawn_vir_zero_0_sliced_-203201.xc new file mode 100644 index 000000000..ed21972a8 --- /dev/null +++ b/tests/pytests/data/VIR_IR_1A_1_362681634_1/dawn_vir_zero_0_sliced_-203201.xc @@ -0,0 +1,31 @@ +DAFETF NAIF DAF ENCODED TRANSFER FILE +'DAF/CK ' +'2' +'6' +'DAWN VIR ZERO OFFSET CK ' +BEGIN_ARRAY 1 10 +'DAWN VIR ZERO OFFSET CK ' +'159E1065C3^A' +'159E194B8A^A' +'-319C1' +'-319C0' +'2' +'1' +10 +'1^1' +'0^0' +'0^0' +'0^0' +'0^0' +'0^0' +'0^0' +'10000000001F14^-1' +'159E1065C3^A' +'159E194B8A^A' +END_ARRAY 1 10 +TOTAL_ARRAYS 1 + ~NAIF/SPC BEGIN COMMENTS~ +This CK is for testing with the image: /Users/astamile/testData/ale/dawnVIR/VIR_IR_1A_1_362681634_1_isis3.cub + +This CK was generated using the following command: {} + ~NAIF/SPC END COMMENTS~ diff --git a/tests/pytests/data/VIR_IR_1A_1_362681634_1/dawnvirAddendum001.ti b/tests/pytests/data/VIR_IR_1A_1_362681634_1/dawnvirAddendum001.ti new file mode 100755 index 000000000..e48d82993 --- /dev/null +++ b/tests/pytests/data/VIR_IR_1A_1_362681634_1/dawnvirAddendum001.ti @@ -0,0 +1,22 @@ +\begindata + + INS-203211_PIXEL_PITCH = 0.038 + INS-203211_BORESIGHT_SAMPLE = 127.5 + INS-203211_BORESIGHT_LINE = 0.5 + + INS-203211_TRANSX = (0.0, 0.0, 0.038) + INS-203211_TRANSY = (0.0, 0.038, 0.0) + INS-203211_ITRANSS = (0.0, 0.0, 26.315789473684) + INS-203211_ITRANSL = (0.0, 26.315789473684, 0.0) + + INS-203213_PIXEL_PITCH = 0.038 + INS-203213_BORESIGHT_SAMPLE = 127.5 + INS-203213_BORESIGHT_LINE = 0.5 + + INS-203213_TRANSX = (0.0, 0.0, 0.038) + INS-203213_TRANSY = (0.0, 0.038, 0.0) + INS-203213_ITRANSS = (0.0, 0.0, 26.315789473684) + INS-203213_ITRANSL = (0.0, 26.315789473684, 0.0) + +\begintext + diff --git a/tests/pytests/data/VIR_IR_1A_1_362681634_1/naif0012.tls b/tests/pytests/data/VIR_IR_1A_1_362681634_1/naif0012.tls new file mode 100755 index 000000000..e1afdee1b --- /dev/null +++ b/tests/pytests/data/VIR_IR_1A_1_362681634_1/naif0012.tls @@ -0,0 +1,152 @@ +KPL/LSK + + +LEAPSECONDS KERNEL FILE +=========================================================================== + +Modifications: +-------------- + +2016, Jul. 14 NJB Modified file to account for the leapsecond that + will occur on December 31, 2016. + +2015, Jan. 5 NJB Modified file to account for the leapsecond that + will occur on June 30, 2015. + +2012, Jan. 5 NJB Modified file to account for the leapsecond that + will occur on June 30, 2012. + +2008, Jul. 7 NJB Modified file to account for the leapsecond that + will occur on December 31, 2008. + +2005, Aug. 3 NJB Modified file to account for the leapsecond that + will occur on December 31, 2005. + +1998, Jul 17 WLT Modified file to account for the leapsecond that + will occur on December 31, 1998. + +1997, Feb 22 WLT Modified file to account for the leapsecond that + will occur on June 30, 1997. + +1995, Dec 14 KSZ Corrected date of last leapsecond from 1-1-95 + to 1-1-96. + +1995, Oct 25 WLT Modified file to account for the leapsecond that + will occur on Dec 31, 1995. + +1994, Jun 16 WLT Modified file to account for the leapsecond on + June 30, 1994. + +1993, Feb. 22 CHA Modified file to account for the leapsecond on + June 30, 1993. + +1992, Mar. 6 HAN Modified file to account for the leapsecond on + June 30, 1992. + +1990, Oct. 8 HAN Modified file to account for the leapsecond on + Dec. 31, 1990. + + +Explanation: +------------ + +The contents of this file are used by the routine DELTET to compute the +time difference + +[1] DELTA_ET = ET - UTC + +the increment to be applied to UTC to give ET. + +The difference between UTC and TAI, + +[2] DELTA_AT = TAI - UTC + +is always an integral number of seconds. The value of DELTA_AT was 10 +seconds in January 1972, and increases by one each time a leap second +is declared. Combining [1] and [2] gives + +[3] DELTA_ET = ET - (TAI - DELTA_AT) + + = (ET - TAI) + DELTA_AT + +The difference (ET - TAI) is periodic, and is given by + +[4] ET - TAI = DELTA_T_A + K sin E + +where DELTA_T_A and K are constant, and E is the eccentric anomaly of the +heliocentric orbit of the Earth-Moon barycenter. Equation [4], which ignores +small-period fluctuations, is accurate to about 0.000030 seconds. + +The eccentric anomaly E is given by + +[5] E = M + EB sin M + +where M is the mean anomaly, which in turn is given by + +[6] M = M + M t + 0 1 + +where t is the number of ephemeris seconds past J2000. + +Thus, in order to compute DELTA_ET, the following items are necessary. + + DELTA_TA + K + EB + M0 + M1 + DELTA_AT after each leap second. + +The numbers, and the formulation, are taken from the following sources. + + 1) Moyer, T.D., Transformation from Proper Time on Earth to + Coordinate Time in Solar System Barycentric Space-Time Frame + of Reference, Parts 1 and 2, Celestial Mechanics 23 (1981), + 33-56 and 57-68. + + 2) Moyer, T.D., Effects of Conversion to the J2000 Astronomical + Reference System on Algorithms for Computing Time Differences + and Clock Rates, JPL IOM 314.5--942, 1 October 1985. + +The variable names used above are consistent with those used in the +Astronomical Almanac. + +\begindata + +DELTET/DELTA_T_A = 32.184 +DELTET/K = 1.657D-3 +DELTET/EB = 1.671D-2 +DELTET/M = ( 6.239996D0 1.99096871D-7 ) + +DELTET/DELTA_AT = ( 10, @1972-JAN-1 + 11, @1972-JUL-1 + 12, @1973-JAN-1 + 13, @1974-JAN-1 + 14, @1975-JAN-1 + 15, @1976-JAN-1 + 16, @1977-JAN-1 + 17, @1978-JAN-1 + 18, @1979-JAN-1 + 19, @1980-JAN-1 + 20, @1981-JUL-1 + 21, @1982-JUL-1 + 22, @1983-JUL-1 + 23, @1985-JUL-1 + 24, @1988-JAN-1 + 25, @1990-JAN-1 + 26, @1991-JAN-1 + 27, @1992-JUL-1 + 28, @1993-JUL-1 + 29, @1994-JUL-1 + 30, @1996-JAN-1 + 31, @1997-JUL-1 + 32, @1999-JAN-1 + 33, @2006-JAN-1 + 34, @2009-JAN-1 + 35, @2012-JUL-1 + 36, @2015-JUL-1 + 37, @2017-JAN-1 ) + +\begintext + + diff --git a/tests/pytests/data/VIR_IR_1A_1_362681634_1/pck00009.tpc b/tests/pytests/data/VIR_IR_1A_1_362681634_1/pck00009.tpc new file mode 100755 index 000000000..bfadaab2b --- /dev/null +++ b/tests/pytests/data/VIR_IR_1A_1_362681634_1/pck00009.tpc @@ -0,0 +1,3639 @@ +KPL/PCK + + +P_constants (PcK) SPICE kernel file +=========================================================================== + + By: Nat Bachman (NAIF) 2010 March 3 + + +Purpose +-------------------------------------------------------- + + This file makes available for use in SPICE-based application + software orientation and size/shape data for natural bodies. The + principal source of the data is a published report by the IAU/IAG + Working Group on Cartographic Coordinates and Rotational Elements [1]. + + Orientation and size/shape data not provided by this file may be + available in mission-specific PCK files. Such PCKs may be the preferred + data source for mission-related applications. Mission-specific PCKs can + be found in PDS archives or on the NAIF web site at URL: + + http://naif.jpl.nasa.gov + + +File Organization +-------------------------------------------------------- + + The contents of this file are as follows. + + Introductory Information: + + -- Purpose + + -- File Organization + + -- Version description + + -- Disclaimer + + -- Sources + + -- Explanatory notes + + -- Body numbers and names + + + PcK Data: + + + Orientation Data + ---------------- + + -- Orientation constants for the Sun and planets. + Additional items included in this section: + + - Earth north geomagnetic centered dipole values + for epochs 1945-2000 + + - Mars prime meridian offset "lambda_a" + + -- Orientation constants for satellites + + -- Orientation constants for asteroids Eros, Gaspra, Ida, + Itokawa, and Vesta + + -- Orientation constants for comets 19P/Borrelly + and 9P/Tempel 1 + + + Radii of Bodies + --------------- + + -- Radii of Sun and planets + + -- Radii of satellites, where available + + -- Radii of asteroids Ceres, Eros, Gaspra, Ida, Itokawa, + Mathilde, Toutatis, and Vesta. + + -- Radii of comets 19P/Borrelly, Halley, 9P/Tempel 1, + and 81P/Wild 2 + + + +Version Description +-------------------------------------------------------- + + This file was created on March 3, 2010. This version + incorporates data from reference [1]. + + This file contains size, shape, and orientation data for all + objects described by the previous version of the file, except + for Kleopatra: a shape model for this body is not provided in [1] + because, according to this source, it had been "modeled from + low resolution radar data, and cannot be mapped from those + data." + + New objects covered by this file but not the previous + version are: + + 19P/Borrelly + Halley + 9P/Tempel 1 + 81P/Wild 2 + Ceres + Itokawa + Mathilde + Toutatis + + +Disclaimer +-------------------------------------------------------- + +Applicability of Data + + This P_constants file may not contain the parameter values that + you prefer. NAIF suggests that you inspect this file visually + before proceeding with any critical or extended data processing. + +File Modifications by Users + + Note that this file may be readily modified by you to change + values or add/delete parameters. NAIF requests that you update the + "by line," date, and version description section if you modify + this file. + +Known Limitations and Caveats + + Accuracy + -------- + + In general, the orientation models given here are claimed by the + IAU/IAG Working Group Report [1] to be accurate to 0.1 degree + ([1], p.158). However, NAIF notes that orientation models for + natural satellites and asteroids have in some cases changed + substantially with the availability of new observational data, so + users are urged to investigate the suitability for their + applications of the models presented here. + + Earth orientation + ----------------- + + NAIF strongly cautions against using the earth rotation model + (from [1]) for work demanding high accuracy. This model has been + determined by NAIF to have an error in the prime meridian location + of magnitude at least 150 arcseconds, with a local minimum + occurring during the year 1999. Regarding availability of better + earth orientation data for use with the SPICE system: + + Earth orientation data are available from NAIF in the form of + binary earth PCK files. NAIF employs an automated process to + create these files; each time JPL's Tracking Systems and + Applications Section produces a new earth orientation parameter + (EOP) file, a new PCK is produced. These PCKs cover a roughly + 10 year time span starting at Jan. 1, 2000. In these PCK files, + the following effects are accounted for in modeling the earth's + rotation: + + - Precession: 1976 IAU model + + - Nutation: 1980 IAU model, plus interpolated + EOP nutation corrections + + - Polar motion: interpolated from EOP file + + - True sidereal time: + + UT1 - UT1R (if needed): given by analytic formula + + TAI - UT1 (or UT1R): interpolated from EOP file + + UT1 - GMST: given by analytic formula + + equation of equinoxes: given by analytic formula + + where + + TAI = International Atomic Time + UT1 = Greenwich hour angle of computed mean sun - 12h + UT1R = Regularized UT1 + GMST = Greenwich mean sidereal time + + These kernels are available from the NAIF web site + + http://naif.jpl.nasa.gov + + (follow the links to Data, generic_kernels, and PCK data) or + + ftp://naif.jpl.nasa.gov/pub/naif/generic_kernels/pck + + or via anonymous ftp from the server + + naif.jpl.nasa.gov + + The kernels are in the path + + pub/naif/generic_kernels/pck + + At this time, these kernels have file names of the form + + earth_000101_yymmdd_yymmdd.bpc + + The second and third dates are, respectively, the file's + coverage end time and the epoch of the last datum. + + These binary PCK files are very accurate (error < 0.1 + microradian) for epochs preceding the epoch of the last datum. + For later epochs, the error rises to several microradians. + + Binary PCK files giving accurate earth orientation from 1972 to + 2007 and *low accuracy* predicted earth orientation from + 2007 to 2037 are also available in the same location. See the + aareadme.txt file at the "pck" URL above for details. + + Characteristics and names of the binary kernels described here + are subject to change. See the "pck" URL above for information + on current binary earth PCKs. + + + Lunar orientation + ----------------- + + The lunar orientation formula provided by this file is a + trigonometric polynomial approximation yielding the orientation of + the lunar "Mean Earth/Polar Axis" (ME) reference frame. A more + accurate approximation can be obtained by using both the NAIF + lunar frame kernel and the binary lunar orientation PCK file, + which are available on the NAIF web site (see URLS above) + and in the NAIF server's ftp area. The lunar frame kernel + is located in the path + + pub/naif/generic_kernels/fk/satellites + + and has a name of the form + + moon_yymmdd.tf + + The binary lunar PCK is in the path + + pub/naif/generic_kernels/pck + + and has a name of the form + + moon_pa_dennn_yyyy-yyyy.bpc + + See the "aareadme.txt" files in the paths shown above for details + on file contents and versions. We also suggest you refer to the + SPICE tutorial named "lunar_earth_pck-fk," which is available from + the NAIF web site. + + + Earth geomagnetic dipole + ------------------------ + + The SPICE Toolkit doesn't currently contain software to model the + earth's north geomagnetic centered dipole as a function of time. + As a convenience for users, the north dipole location from the + J2000 epoch was selected as a representative datum, and the + planetocentric longitude and latitude of this location have been + associated with the keywords + + BODY399_N_GEOMAG_CTR_DIPOLE_LON + BODY399_N_GEOMAG_CTR_DIPOLE_LAT + + Values for the earth's north geomagnetic centered dipole are + presented in comments as a discrete time series for the time range + 1945-2000. For details concerning the geomagnetic field model from + which these values were derived, including a discussion of the + model's accuracy, see [9]. + + + Mars prime meridian offset + -------------------------- + + The Mars prime meridian offset given by [5] is not used by + SPICE geometry software for computations involving the shape + of Mars (for example, in sub-observer point or surface intercept + computations). The value is provided for informational + purposes only. + + + Software limitations + -------------------- + + SPICE Toolkits prior to version N0057 cannot make use of + trigonometric polynomial terms in the formulas for orientation of + the planets. The only planets for which such terms are used are + Jupiter and Neptune. Use of trigonometric polynomial terms for + natural satellites is and has been supported for all SPICE Toolkit + versions. + + The second nutation precession angle (M2) for Mars is represented + by a quadratic polynomial in the 2006 IAU report. The SPICELIB + subroutine BODEUL can not handle this term (which is extremely + small), so we truncate the polynomial to a linear one. The + resulting orientation error has a maximum magnitude of less + than 0.0032 degrees over the time span 1996-2015 and less than + 0.0082 degrees over the time span 1986-2025. + + +Sources +-------------------------------------------------------- + + The sources for the constants listed in this file are: + + + [1] Seidelmann, P.K., Archinal, B.A., A'Hearn, M.F., + Conrad, A., Consolmagno, G.J., Hestroffer, D., + Hilton, J.L., Krasinsky, G.A., Neumann, G., + Oberst, J., Stooke, P., Tedesco, E.F., Tholen, D.J., + and Thomas, P.C. "Report of the IAU/IAG Working Group + on cartographic coordinates and rotational elements: 2006." + + [2] Seidelmann, P.K., Archinal, B.A., A'Hearn, M.F., + Cruikshank, D.P., Hilton, J.L., Keller, H.U., Oberst, J., + Simon, J.L., Stooke, P., Tholen, D.J., and Thomas, P.C. + "Report of the IAU/IAG Working Group on Cartographic + Coordinates and Rotational Elements of the Planets and + Satellites: 2003." + + [3] Nautical Almanac Office, United States Naval Observatory + and H.M. Nautical Almanac Office, Rutherford Appleton + Laboratory (2010). "The Astronomical Almanac for + the Year 2010," U.S. Government Printing Office, + Washington, D.C.: and The Stationary Office, London. + + [4] Nautical Almanac Office, United States Naval Observatory, + H.M. Nautical Almanac Office, Royal Greenwich + Observatory, Jet Propulsion Laboratory, Bureau des + Longitudes, and The Time Service and Astronomy + Departments, United States Naval Observatory (1992). + "Explanatory Supplement to the Astronomical Almanac," P. + Kenneth Seidelmann, ed. University Science Books, 20 + Edgehill Road, Mill Valley, CA 9494. + + [5] Duxbury, Thomas C. (2001). "IAU/IAG 2000 Mars Cartographic + Conventions," presentation to the Mars Express Data + Archive Working Group, Dec. 14, 2001. + + [6] Russell, C.T. and Luhmann, J.G. (1990). "Earth: Magnetic + Field and Magnetosphere." . Originally + published in "Encyclopedia of Planetary Sciences," J.H. + Shirley and R.W. Fainbridge, eds. Chapman and Hall, + New York, pp 208-211. + + [7] Russell, C.T. (1971). "Geophysical Coordinate + Transformations," Cosmic Electrodynamics 2 184-186. + NAIF document 181.0. + + [8] ESA/ESTEC Space Environment Information System (SPENVIS) + (2003). Web page: "Dipole approximations of the + geomagnetic field." . + + [9] International Association of Geomagnetism and Aeronomy + and International Union of Geodesy and Geophysics (2004). + Web page: "The 9th Generation International Geomagnetic + Reference Field." . + + [10] Davies, M.E., Abalakin, V.K., Bursa, M., Hunt, G.E., + and Lieske, J.H. (1989). "Report of the IAU/IAG/COSPAR + Working Group on Cartographic Coordinates and Rotational + Elements of the Planets and Satellites: 1988," Celestial + Mechanics and Dynamical Astronomy, v.46, no.2, pp. + 187-204. + + + Most values are from [1]. All exceptions are + commented where they occur in this file. The exceptions are: + + + -- Radii for the Sun are from [3]. + + -- The second nutation precession angle (M2) for Mars is + represented by a quadratic polynomial in the 2000 + IAU report. The SPICELIB subroutine BODEUL can not + handle this term (which is extremely small), so we + truncate the polynomial to a linear one. + + -- Earth north geomagnetic centered dipole values are from + [8]. The article [6] was used to check most of + these values, and the values were also re-computed from + the 9th generation IGRF [9] by Nat Bachman. + + -- The Mars prime meridian offset angle is from [5]. + + + "Old values" listed are from the SPICE P_constants file + pck00008.tpc dated September 21, 2004. Most of these values came + from the 2003 IAU report [2]. + + + + +Explanatory Notes +-------------------------------------------------------- + + This file, which is logically part of the SPICE P-kernel, contains + constants used to model the orientation, size and shape of the + Sun, planets, natural satellites, and selected comets and + asteroids. The orientation models express the direction of the + pole and location of the prime meridian of a body as a function of + time. The size/shape models ("shape models" for short) represent + all bodies as ellipsoids, using two equatorial radii and a polar + radius. Spheroids and spheres are obtained when two or all three + radii are equal. + + The SPICE Toolkit routines that use this file are documented in + the SPICE "Required Reading" file pck.req. They are also + documented in the "PCK" SPICE tutorial, which is available on + the NAIF web site. + +File Format + + A terse description of the PCK file format is given here. See the + SPICE "Required Reading" files pck.req and kernel.req for a + detailed explanation of the SPICE text kernel file format. The + files pck.req and kernel.req are included in the documentation + provided with the SPICE Toolkit. + + The file starts out with the ``ID word'' string + + KPL/PCK + + This string identifies the file as a text kernel containing PCK + data. + + This file consists of a series of comment blocks and data blocks. + Comment blocks, which contain free-form descriptive or explanatory + text, are preceded by a \begintext token. Data blocks follow a + \begindata token. In order to be recognized, each of these tokens + must be placed on a line by itself. + + The portion of the file preceding the first data block is treated + as a comment block; it doesn't require an initial \begintext + token. + + This file identifies data using a series of + + KEYWORD = VALUE + + assignments. The left hand side of each assignment is a + "kernel variable" name; the right hand side is an associated value + or list of values. The SPICE subroutine API allows SPICE routines + and user applications to retrieve the set of values associated + with each kernel variable name. + + Kernel variable names are case-sensitive and are limited to + 32 characters in length. + + Numeric values may be integer or floating point. String values + are normally limited to 80 characters in length; however, SPICE + provides a mechanism for identifying longer, "continued" strings. + See the SPICE routine STPOOL for details. + + String values are single quoted. + + When the right hand side of an assignment is a list of values, + the list items may be separated by commas or simply by blanks. + The list must be bracketed by parentheses. Example: + + BODY399_RADII = ( 6378.14 6378.14 6356.75 ) + + Any blanks preceding or following keyword names, values and equal + signs are ignored. + + Assignments may be spread over multiple lines, for example: + + BODY399_RADII = ( 6378.14 + 6378.14 + 6356.75 ) + + This file may contain blank lines anywhere. Non-printing + characters including TAB should not be present in the file: the + presence of such characters may cause formatting errors when the + file is viewed. + +Time systems and reference frames + + The 2006 IAU/IAG Working Group Report [1] states the time scale + used as the independent variable for the rotation formulas is + Barycentric Dynamical Time (TDB) and that the epoch of variable + quantities is J2000 TDB (2000 Jan 1 12:00 TDB). Throughout SPICE + documentation and in this file, we use the names "J2000 TDB" and + "J2000" for this epoch. The name "J2000.0" is equivalent. + + SPICE documentation refers to the time system used in this file + as either "ET" or "TDB." SPICE software makes no distinction + between TDB and the time system associated with the independent + variable of the JPL planetary ephemerides T_eph. + + The inertial reference frame used for the rotational elements in + this file is identified by [1] as the ICRF (International + Celestial Reference Frame). + + The SPICE PCK software that reads this file uses the label "J2000" + to refer to the ICRF; this is actually a mislabeling which has + been retained in the interest of backward compatibility. Using + data from this file, by means of calls to the SPICE frame + transformation routines, will actually compute orientation + relative to the ICRF. + + The difference between the J2000 frame and the ICRF is + on the order of tens of milliarcseconds and is well below the + accuracy level of the formulas in this file. + +Orientation models + + All of the orientation models use three Euler angles to describe + the orientation of the coordinate axes of the "Body Equator and + Prime Meridian" system with respect to an inertial system. By + default, the inertial system is the ICRF (labeled as "J2000"), but + other frames can be specified in the file. See the PCK Required + Reading for details. + + The first two angles, in order, are the ICRF right ascension and + declination (henceforth RA and DEC) of the north pole of a body as + a function of time. The third angle is the prime meridian location + (represented by "W"), which is expressed as a rotation about the + north pole, and is also a function of time. + + For each body, the expressions for the north pole's right + ascension and declination, as well as prime meridian location, are + sums (as far as the models that appear in this file are concerned) + of quadratic polynomials and trigonometric polynomials, where the + independent variable is time. + + In this file, the time arguments in expressions always refer to + Barycentric Dynamical Time (TDB), measured in centuries or days + past a reference epoch. By default, the reference epoch is the + J2000 epoch, which is Julian ephemeris date 2451545.0, but other + epochs can be specified in the file. See the PCK Required Reading + for details. + + Orientation models for satellites and some planets (including + Jupiter) involve both polynomial terms and trigonometric terms. + The arguments of the trigonometric terms are linear polynomials. + In this file, we call the arguments of these trigonometric terms + "nutation precession angles." + + Example: 2006 IAU Model for orientation of Jupiter. Note that + these values are used as an example only; see the data area below + for current values. + + Right ascension + --------------- + + alpha = 268.056595 - 0.006499 T + 0.000117 sin(Ja) + 0 + 0.000938 sin(Jb) + 0.001432 sin(Jc) + + 0.000030 sin(Jd) + 0.002150 sin(Je) + + Declination + ----------- + + delta = 64.495303 + 0.002413 T + 0.000050 cos(Ja) + 0 + 0.000404 cos(Jb) + 0.000617 cos(Jc) + - 0.000013 cos(Jd) + 0.000926 cos(Je) + + Prime meridian + -------------- + + W = 284.95 + 870.5366420 d + + + Here + + T represents centuries past J2000 ( TDB ), + + d represents days past J2000 ( TDB ). + + Ja-Je are nutation precession angles. + + In this file, the polynomials' coefficients above are assigned + to kernel variable names (left-hand-side symbols) as follows + + BODY599_POLE_RA = ( 268.056595 -0.006499 0. ) + BODY599_POLE_DEC = ( 64.495303 0.002413 0. ) + BODY599_PM = ( 284.95 870.5366420 0. ) + + and the trigonometric polynomials' coefficients are assigned + as follows + + BODY599_NUT_PREC_RA = ( 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0.000117 + 0.000938 + 0.001432 + 0.000030 + 0.002150 ) + + BODY599_NUT_PREC_DEC = ( 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0.000050 + 0.000404 + 0.000617 + -0.000013 + 0.000926 ) + + BODY599_NUT_PREC_PM = ( 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0.0 + 0.0 + 0.0 + 0.0 + 0.0 ) + + Note the number "599"; this is the NAIF ID code for Jupiter. + + In this file, the polynomial expressions for the nutation + precession angles are listed along with the planet's RA, DEC, and + prime meridian terms. Below are the 2006 IAU nutation precession + angles for the Jupiter system. + + J1 = 73.32 + 91472.9 T + J2 = 24.62 + 45137.2 T + J3 = 283.90 + 4850.7 T + J4 = 355.80 + 1191.3 T + J5 = 119.90 + 262.1 T + J6 = 229.80 + 64.3 T + J7 = 352.25 + 2382.6 T + J8 = 113.35 + 6070.0 T + + J9 = 146.64 + 182945.8 T + J10 = 49.24 + 90274.4 T + + Ja = 99.360714 + 4850.4046 T + Jb = 175.895369 + 1191.9605 T + Jc = 300.323162 + 262.5475 T + Jd = 114.012305 + 6070.2476 T + Je = 49.511251 + 64.3000 T + + Here + + T represents centuries past J2000 ( TDB ) + + J1-J10 and Ja-Je are the nutation precession angles. The angles + J9 and J10 are equal to 2*J1 and 2*J2, respectively. + + Angles J9 and J10 are not present in [1]; they have been added + to fit the terms 2*J1 and 2*J2, which appear in the orientation + models of several satellites, into a form that can be accepted + by the PCK system. + + The assignment of the nutation precession angles for the + Jupiter system is as follows: + + BODY5_NUT_PREC_ANGLES = ( 73.32 91472.9 + 24.62 45137.2 + 283.90 4850.7 + 355.80 1191.3 + 119.90 262.1 + 229.80 64.3 + 352.25 2382.6 + 113.35 6070.0 + 146.64 182945.8 + 49.24 90274.4 + 99.360714 4850.4046 + 175.895369 1191.9605 + 300.323162 262.5475 + 114.012305 6070.2476 + 49.511251 64.3000 ) + + You'll see an additional symbol grouped with the ones listed + above; it is + + BODY599_LONG_AXIS + + This term is zero for all bodies except Mars. It represents the + angular offset between the meridian containing the longest axis of + the triaxial ellipsoid used to model a body's surface and the + prime meridian of the body. + + The pattern of the formulas for satellite orientation is similar + to that for Jupiter. Example: 2006 IAU values for Io. Again, these + values are used as an example only; see the data area below for + current values. + + Right ascension + --------------- + + alpha = 268.05 - 0.009 T + 0.094 sin(J3) + 0.024 sin(J4) + 0 + + Declination + ----------- + + delta = 64.50 + 0.003 T + 0.040 cos(J3) + 0.011 cos(J4) + 0 + + Prime meridian + -------------- + + W = 200.39 + 203.4889538 d - 0.085 sin(J3) - 0.022 sin(J4) + + + d represents days past J2000. + + J3 and J4 are nutation precession angles. + + The polynomial terms are assigned to symbols by the statements + + BODY501_POLE_RA = ( 268.05 -0.009 0. ) + BODY501_POLE_DEC = ( 64.50 0.003 0. ) + BODY501_PM = ( 200.39 203.4889538 0. ) + + The coefficients of the trigonometric terms are assigned to symbols by + the statements + + BODY501_NUT_PREC_RA = ( 0. 0. 0.094 0.024 ) + BODY501_NUT_PREC_DEC = ( 0. 0. 0.040 0.011 ) + BODY501_NUT_PREC_PM = ( 0. 0. -0.085 -0.022 ) + + 501 is the NAIF ID code for Io. + + SPICE software expects the models for satellite orientation to + follow the form of the model shown here: the polynomial portions of the + RA, DEC, and W expressions are expected to be quadratic, the + trigonometric terms for RA and W (satellite prime meridian) are expected + to be linear combinations of sines of nutation precession angles, the + trigonometric terms for DEC are expected to be linear combinations of + cosines of nutation precession angles, and the polynomials for the + nutation precession angles themselves are expected to be linear. + + Eventually, the software will handle more complex expressions, we + expect. + + +Shape models + + There is only one kind of shape model supported by the SPICE Toolkit + software at present: the triaxial ellipsoid. The 2006 IAU report does + not use any other models, except in the case of Mars, where + separate values are given for the north and south polar radii. + + For each body, three radii are listed: The first number is + the largest equatorial radius (the length of the semi-axis + containing the prime meridian), the second number is the smaller + equatorial radius, and the third is the polar radius. + + Example: Radii of the Earth. + + BODY399_RADII = ( 6378.14 6378.14 6356.75 ) + + +Body Numbers and Names +-------------------------------------------------------- + + + 1 Mercury barycenter + 2 Venus barycenter + 3 Earth barycenter + 4 Mars barycenter + 5 Jupiter barycenter + 6 Saturn barycenter + 7 Uranus barycenter + 8 Neptune barycenter + 9 Pluto barycenter + 10 Sun + + + 199 Mercury + + + 299 Venus + + + 399 Earth + + 301 Moon + + + 499 Mars + + 401 Phobos 402 Deimos + + + 599 Jupiter + + 501 Io 502 Europa 503 Ganymede 504 Callisto + 505 Amalthea 506 Himalia 507 Elara 508 Pasiphae + 509 Sinope 510 Lysithea 511 Carme 512 Ananke + 513 Leda 514 Thebe 515 Adrastea 516 Metis + + + 699 Saturn + + 601 Mimas 602 Enceladus 603 Tethys 604 Dione + 605 Rhea 606 Titan 607 Hyperion 608 Iapetus + 609 Phoebe 610 Janus 611 Epimetheus 612 Helene + 613 Telesto 614 Calypso 615 Atlas 616 Prometheus + 617 Pandora 618 Pan + + + 799 Uranus + + 701 Ariel 702 Umbriel 703 Titania 704 Oberon + 705 Miranda 706 Cordelia 707 Ophelia 708 Bianca + 709 Cressida 710 Desdemona 711 Juliet 712 Portia + 713 Rosalind 714 Belinda 715 Puck + + + 899 Neptune + + 801 Triton 802 Nereid 803 Naiad 804 Thalassa + 805 Despina 806 Galatea 807 Larissa 808 Proteus + + + 999 Pluto + + 901 Charon + + + 1000005 Comet 19P/Borrelly + 1000036 Comet Halley + 1000093 Comet 9P/Tempel 1 + 1000107 Comet 81P/Wild 2 + + 2000001 Asteroid Ceres + 2000004 Asteroid Vesta + 2000216 Asteroid Kleopatra + 2000253 Asteroid Mathilde + 2000433 Asteroid Eros + 2004179 Asteroid Toutatis + 2025143 Asteroid Itokawa + 2431010 Asteroid Ida + 9511010 Asteroid Gaspra + + +Orientation Constants for the Sun and Planets +-------------------------------------------------------- + + +Sun + + Old values: + + Values are from the 2003 IAU report. + + + body10_pole_ra = ( 286.13 0. 0. ) + body10_pole_dec = ( 63.87 0. 0. ) + body10_pm = ( 84.10 14.18440 0. ) + body10_long_axis = ( 0. ) + + Current values: + + \begindata + + BODY10_POLE_RA = ( 286.13 0. 0. ) + BODY10_POLE_DEC = ( 63.87 0. 0. ) + BODY10_PM = ( 84.176 14.18440 0. ) + BODY10_LONG_AXIS = ( 0. ) + + \begintext + +Mercury + + Old values: + + Values are unchanged in the 2006 IAU report. + + + Current values: + + \begindata + + BODY199_POLE_RA = ( 281.01 -0.033 0. ) + BODY199_POLE_DEC = ( 61.45 -0.005 0. ) + BODY199_PM = ( 329.548 6.1385025 0. ) + + BODY199_LONG_AXIS = ( 0. ) + + \begintext + + +Venus + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY299_POLE_RA = ( 272.76 0. 0. ) + BODY299_POLE_DEC = ( 67.16 0. 0. ) + BODY299_PM = ( 160.20 -1.4813688 0. ) + + BODY299_LONG_AXIS = ( 0. ) + + \begintext + + +Earth + + Old values: + + Values are unchanged in the 2006 report. + + + Current values: + + \begindata + + BODY399_POLE_RA = ( 0. -0.641 0. ) + BODY399_POLE_DEC = ( 90. -0.557 0. ) + BODY399_PM = ( 190.147 360.9856235 0. ) + BODY399_LONG_AXIS = ( 0. ) + + \begintext + + + Nutation precession angles for the Earth-Moon system: + + The linear coefficients have been scaled up from degrees/day + to degrees/century, because the SPICELIB PCK reader expects + these units. The original constants were: + + 125.045D0 -0.0529921D0 + 250.089D0 -0.1059842D0 + 260.008D0 13.0120009D0 + 176.625D0 13.3407154D0 + 357.529D0 0.9856003D0 + 311.589D0 26.4057084D0 + 134.963D0 13.0649930D0 + 276.617D0 0.3287146D0 + 34.226D0 1.7484877D0 + 15.134D0 -0.1589763D0 + 119.743D0 0.0036096D0 + 239.961D0 0.1643573D0 + 25.053D0 12.9590088D0 + + + \begindata + + + BODY3_NUT_PREC_ANGLES = ( 125.045 -1935.5364525000 + 250.089 -3871.0729050000 + 260.008 475263.3328725000 + 176.625 487269.6299850000 + 357.529 35999.0509575000 + 311.589 964468.4993100000 + 134.963 477198.8693250000 + 276.617 12006.3007650000 + 34.226 63863.5132425000 + 15.134 -5806.6093575000 + 119.743 131.8406400000 + 239.961 6003.1503825000 + 25.053 473327.7964200000 ) + + + \begintext + + + Earth north geomagnetic centered dipole: + + Old values: + + Values are from [7]. Note the year of publication was 1971. + + body399_mag_north_pole_lon = ( -69.761 ) + body399_mag_north_pole_lat = ( 78.565 ) + + + Current values: + + The north dipole location is time-varying. The values shown + below, taken from [8], represent a discrete sampling of the + north dipole location from 1945 to 2000. The terms DGRF and + IGRF refer to, respectively, "Definitive Geomagnetic + Reference Field" and "International Geomagnetic Reference + Field." See references [6], [8], and [9] for details. + + Coordinates are planetocentric. + + Data source Lat Lon + ----------- ----- ------ + DGRF 1945 78.47 291.47 + DGRF 1950 78.47 291.15 + DGRF 1955 78.46 290.84 + DGRF 1960 78.51 290.53 + DGRF 1965 78.53 290.15 + DGRF 1970 78.59 289.82 + DGRF 1975 78.69 289.53 + DGRF 1980 78.81 289.24 + DGRF 1985 78.97 289.10 + DGRF 1990 79.13 288.89 + IGRF 1995 79.30 288.59 + IGRF 2000 79.54 288.43 + + + Values are given for the epoch 2000 and are from the final row + of the above table, which is from [8]. As shown by the table + these values constitute a low-accuracy approximation for epochs + not close to 2000. + + \begindata + + BODY399_N_GEOMAG_CTR_DIPOLE_LON = ( 288.43 ) + BODY399_N_GEOMAG_CTR_DIPOLE_LAT = ( 79.54 ) + + \begintext + + +Mars + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY499_POLE_RA = ( 317.68143 -0.1061 0. ) + BODY499_POLE_DEC = ( 52.88650 -0.0609 0. ) + BODY499_PM = ( 176.630 350.89198226 0. ) + + \begintext + + Source [5] specifies the following value for the lambda_a term + (BODY499_LONG_AXIS ) for Mars. This term is the POSITIVE EAST + LONGITUDE, measured from the prime meridian, of the meridian + containing the longest axis of the reference ellipsoid. + (CAUTION: previous values were POSITIVE WEST.) + + body499_long_axis = ( 252. ) + + We list this lambda_a value for completeness. The IAU report + [1] gives equal values for both equatorial radii, so the + lambda_a offset does not apply to the IAU model. + + The 2003 IAU report defines M2, the second nutation precession angle, + by: + + 2 + 192.93 + 1128.4096700 d + 8.864 T + + We truncate the M2 series to a linear expression, because the PCK + software cannot handle the quadratic term. + + Again, the linear terms are scaled by 36525.0: + + -0.4357640000000000 --> -15916.28010000000 + 1128.409670000000 --> 41215163.19675000 + -1.8151000000000000E-02 --> -662.9652750000000 + + We also introduce a fourth nutation precession angle, which + is the pi/2-complement of the third angle. This angle is used + in computing the prime meridian location for Deimos. See the + discussion of this angle below in the section containing orientation + constants for Deimos. + + \begindata + + BODY4_NUT_PREC_ANGLES = ( 169.51 -15916.2801 + 192.93 41215163.19675 + 53.47 -662.965275 + 36.53 662.965275 ) + + \begintext + + +Jupiter + + Old values: + + Values are from the 2003 IAU report. + + + body599_pole_ra = ( 268.05 -0.009 0. ) + body599_pole_dec = ( 64.49 0.003 0. ) + body599_pm = ( 284.95 870.5366420 0. ) + body599_long_axis = ( 0. ) + + body5_nut_prec_angles = ( 73.32 91472.9 + 24.62 45137.2 + 283.90 4850.7 + 355.80 1191.3 + 119.90 262.1 + 229.80 64.3 + 352.35 2382.6 + 113.35 6070.0 + 146.64 182945.8 + 49.24 90274.4 ) + + + + Current values: + + The number of nutation precession angles is 15. The ninth and + tenth are twice the first and second, respectively. The + eleventh through fifteenth correspond to angles JA-JE in + the 2006 IAU report; angles JA-JE were not used prior to that + report. + + \begindata + + + BODY599_POLE_RA = ( 268.056595 -0.006499 0. ) + BODY599_POLE_DEC = ( 64.495303 0.002413 0. ) + BODY599_PM = ( 284.95 870.5366420 0. ) + BODY599_LONG_AXIS = ( 0. ) + + BODY599_NUT_PREC_RA = ( 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0.000117 + 0.000938 + 0.001432 + 0.000030 + 0.002150 ) + + BODY599_NUT_PREC_DEC = ( 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0.000050 + 0.000404 + 0.000617 + -0.000013 + 0.000926 ) + + BODY599_NUT_PREC_PM = ( 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0.0 + 0.0 + 0.0 + 0.0 + 0.0 ) + + + BODY5_NUT_PREC_ANGLES = ( 73.32 91472.9 + 24.62 45137.2 + 283.90 4850.7 + 355.80 1191.3 + 119.90 262.1 + 229.80 64.3 + 352.25 2382.6 + 113.35 6070.0 + 146.64 182945.8 + 49.24 90274.4 + 99.360714 4850.4046 + 175.895369 1191.9605 + 300.323162 262.5475 + 114.012305 6070.2476 + 49.511251 64.3000 ) + \begintext + + +Saturn + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY699_POLE_RA = ( 40.589 -0.036 0. ) + BODY699_POLE_DEC = ( 83.537 -0.004 0. ) + BODY699_PM = ( 38.90 810.7939024 0. ) + BODY699_LONG_AXIS = ( 0. ) + + \begintext + + The first seven angles given here are the angles S1 + through S7 from the 2000 report; the eighth and + ninth angles are 2*S1 and 2*S2, respectively. + + + \begindata + + BODY6_NUT_PREC_ANGLES = ( 353.32 75706.7 + 28.72 75706.7 + 177.40 -36505.5 + 300.00 -7225.9 + 316.45 506.2 + 345.20 -1016.3 + 29.80 -52.1 + 706.64 151413.4 + 57.44 151413.4 ) + \begintext + + +Uranus + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY799_POLE_RA = ( 257.311 0. 0. ) + BODY799_POLE_DEC = ( -15.175 0. 0. ) + BODY799_PM = ( 203.81 -501.1600928 0. ) + BODY799_LONG_AXIS = ( 0. ) + + \begintext + + The first 16 angles given here are the angles U1 + through U16 from the 2000 report; the 17th and + 18th angles are 2*U11 and 2*U12, respectively. + + \begindata + + BODY7_NUT_PREC_ANGLES = ( 115.75 54991.87 + 141.69 41887.66 + 135.03 29927.35 + 61.77 25733.59 + 249.32 24471.46 + 43.86 22278.41 + 77.66 20289.42 + 157.36 16652.76 + 101.81 12872.63 + 138.64 8061.81 + 102.23 -2024.22 + 316.41 2863.96 + 304.01 -51.94 + 308.71 -93.17 + 340.82 -75.32 + 259.14 -504.81 + 204.46 -4048.44 + 632.82 5727.92 ) + + \begintext + + + +Neptune + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY899_POLE_RA = ( 299.36 0. 0. ) + BODY899_POLE_DEC = ( 43.46 0. 0. ) + BODY899_PM = ( 253.18 536.3128492 0. ) + BODY899_LONG_AXIS = ( 0. ) + + + BODY899_NUT_PREC_RA = ( 0.70 0. 0. 0. 0. 0. 0. 0. ) + BODY899_NUT_PREC_DEC = ( -0.51 0. 0. 0. 0. 0. 0. 0. ) + BODY899_NUT_PREC_PM = ( -0.48 0. 0. 0. 0. 0. 0. 0. ) + + \begintext + + The 2000 report defines the nutation precession angles + + N, N1, N2, ... , N7 + + and also uses the multiples of N1 and N7 + + 2*N1 + + and + + 2*N7, 3*N7, ..., 9*N7 + + In this file, we treat the angles and their multiples as + separate angles. In the kernel variable + + BODY8_NUT_PREC_ANGLES + + the order of the angles is + + N, N1, N2, ... , N7, 2*N1, 2*N7, 3*N7, ..., 9*N7 + + Each angle is defined by a linear polynomial, so two + consecutive array elements are allocated for each + angle. The first term of each pair is the constant term, + the second is the linear term. + + \begindata + + BODY8_NUT_PREC_ANGLES = ( 357.85 52.316 + 323.92 62606.6 + 220.51 55064.2 + 354.27 46564.5 + 75.31 26109.4 + 35.36 14325.4 + 142.61 2824.6 + 177.85 52.316 + 647.840 125213.200 + 355.700 104.632 + 533.550 156.948 + 711.400 209.264 + 889.250 261.580 + 1067.100 313.896 + 1244.950 366.212 + 1422.800 418.528 + 1600.650 470.844 ) + + \begintext + + + +Pluto + + Old values: + + Values are from the 2003 IAU report. + + BODY999_POLE_RA = ( 313.02 0. 0. ) + BODY999_POLE_DEC = ( 9.09 0. 0. ) + BODY999_PM = ( 236.77 -56.3623195 0. ) + BODY999_LONG_AXIS = ( 0. ) + + + Current values: + + \begindata + + BODY999_POLE_RA = ( 312.993 0. 0. ) + BODY999_POLE_DEC = ( 6.163 0. 0. ) + BODY999_PM = ( 237.305 -56.3625225 0. ) + BODY999_LONG_AXIS = ( 0. ) + + \begintext + + + + +Orientation constants for the satellites +-------------------------------------------------------- + + +Satellites of Earth + + Old values: + + Values are unchanged in the 2006 IAU report. + + + New values: + + \begindata + + + + + + BODY301_POLE_RA = ( 269.9949 0.0031 0. ) + BODY301_POLE_DEC = ( 66.5392 0.0130 0. ) + BODY301_PM = ( 38.3213 13.17635815 -1.4D-12 ) + BODY301_LONG_AXIS = ( 0. ) + + BODY301_NUT_PREC_RA = ( -3.8787 -0.1204 0.0700 -0.0172 + 0.0 0.0072 0.0 0.0 + 0.0 -0.0052 0.0 0.0 + 0.0043 ) + + BODY301_NUT_PREC_DEC = ( 1.5419 0.0239 -0.0278 0.0068 + 0.0 -0.0029 0.0009 0.0 + 0.0 0.0008 0.0 0.0 + -0.0009 ) + + BODY301_NUT_PREC_PM = ( 3.5610 0.1208 -0.0642 0.0158 + 0.0252 -0.0066 -0.0047 -0.0046 + 0.0028 0.0052 0.0040 0.0019 + -0.0044 ) + \begintext + + + +Satellites of Mars + + + Phobos + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + The quadratic prime meridian term is scaled by 1/36525**2: + + 8.864000000000000 ---> 6.6443009930565219E-09 + + \begindata + + BODY401_POLE_RA = ( 317.68 -0.108 0. ) + BODY401_POLE_DEC = ( 52.90 -0.061 0. ) + BODY401_PM = ( 35.06 1128.8445850 6.6443009930565219E-09 ) + + BODY401_LONG_AXIS = ( 0. ) + + BODY401_NUT_PREC_RA = ( 1.79 0. 0. 0. ) + BODY401_NUT_PREC_DEC = ( -1.08 0. 0. 0. ) + BODY401_NUT_PREC_PM = ( -1.42 -0.78 0. 0. ) + + + \begintext + + + Deimos + + Old values: + + Values are unchanged in the 2006 IAU report. + + + New values: + + The Deimos prime meridian expression is: + + + 2 + W = 79.41 + 285.1618970 d - 0.520 T - 2.58 sin M + 3 + + + 0.19 cos M . + 3 + + + At the present time, the PCK kernel software (the routine + BODEUL in particular) cannot handle the cosine term directly, + but we can represent it as + + 0.19 sin M + 4 + + where + + M = 90.D0 - M + 4 3 + + Therefore, the nutation precession angle assignments for Phobos + and Deimos contain four coefficients rather than three. + + The quadratic prime meridian term is scaled by 1/36525**2: + + -0.5200000000000000 ---> -3.8978300049519307E-10 + + \begindata + + BODY402_POLE_RA = ( 316.65 -0.108 0. ) + BODY402_POLE_DEC = ( 53.52 -0.061 0. ) + BODY402_PM = ( 79.41 285.1618970 -3.897830D-10 ) + BODY402_LONG_AXIS = ( 0. ) + + BODY402_NUT_PREC_RA = ( 0. 0. 2.98 0. ) + BODY402_NUT_PREC_DEC = ( 0. 0. -1.78 0. ) + BODY402_NUT_PREC_PM = ( 0. 0. -2.58 0.19 ) + + \begintext + + + + +Satellites of Jupiter + + + Io + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY501_POLE_RA = ( 268.05 -0.009 0. ) + BODY501_POLE_DEC = ( 64.50 0.003 0. ) + BODY501_PM = ( 200.39 203.4889538 0. ) + BODY501_LONG_AXIS = ( 0. ) + + BODY501_NUT_PREC_RA = ( 0. 0. 0.094 0.024 ) + BODY501_NUT_PREC_DEC = ( 0. 0. 0.040 0.011 ) + BODY501_NUT_PREC_PM = ( 0. 0. -0.085 -0.022 ) + + \begintext + + + + Europa + + + Old values: + + Values are from the 2003 IAU report. + + + body502_pole_ra = ( 268.08 -0.009 0. ) + body502_pole_dec = ( 64.51 0.003 0. ) + body502_pm = ( 35.67 101.3747235 0. ) + body502_long_axis = ( 0. ) + + body502_nut_prec_ra = ( 0. 0. 0. 1.086 0.060 0.015 0.009 ) + body502_nut_prec_dec = ( 0. 0. 0. 0.468 0.026 0.007 0.002 ) + body502_nut_prec_pm = ( 0. 0. 0. -0.980 -0.054 -0.014 -0.008 ) + + + Current values: + + \begindata + + BODY502_POLE_RA = ( 268.08 -0.009 0. ) + BODY502_POLE_DEC = ( 64.51 0.003 0. ) + BODY502_PM = ( 36.022 101.3747235 0. ) + BODY502_LONG_AXIS = ( 0. ) + + BODY502_NUT_PREC_RA = ( 0. 0. 0. 1.086 0.060 0.015 0.009 ) + BODY502_NUT_PREC_DEC = ( 0. 0. 0. 0.468 0.026 0.007 0.002 ) + BODY502_NUT_PREC_PM = ( 0. 0. 0. -0.980 -0.054 -0.014 -0.008 ) + + \begintext + + + Ganymede + + Old values: + + Values are unchanged in the 2006 IAU report. + + + Current values: + + \begindata + + BODY503_POLE_RA = ( 268.20 -0.009 0. ) + BODY503_POLE_DEC = ( 64.57 0.003 0. ) + BODY503_PM = ( 44.064 50.3176081 0. ) + BODY503_LONG_AXIS = ( 0. ) + + BODY503_NUT_PREC_RA = ( 0. 0. 0. -0.037 0.431 0.091 ) + BODY503_NUT_PREC_DEC = ( 0. 0. 0. -0.016 0.186 0.039 ) + BODY503_NUT_PREC_PM = ( 0. 0. 0. 0.033 -0.389 -0.082 ) + + \begintext + + + Callisto + + Old values: + + Values are unchanged in the 2006 IAU report. + + + Current values: + + + \begindata + + BODY504_POLE_RA = ( 268.72 -0.009 0. ) + BODY504_POLE_DEC = ( 64.83 0.003 0. ) + BODY504_PM = ( 259.51 21.5710715 0. ) + BODY504_LONG_AXIS = ( 0. ) + + BODY504_NUT_PREC_RA = ( 0. 0. 0. 0. -0.068 0.590 0. 0.010 ) + BODY504_NUT_PREC_DEC = ( 0. 0. 0. 0. -0.029 0.254 0. -0.004 ) + BODY504_NUT_PREC_PM = ( 0. 0. 0. 0. 0.061 -0.533 0. -0.009 ) + + \begintext + + + Amalthea + + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY505_POLE_RA = ( 268.05 -0.009 0. ) + BODY505_POLE_DEC = ( 64.49 0.003 0. ) + BODY505_PM = ( 231.67 722.6314560 0. ) + BODY505_LONG_AXIS = ( 0. ) + + BODY505_NUT_PREC_RA = ( -0.84 0. 0. 0. 0. 0. 0. 0. 0.01 0. ) + BODY505_NUT_PREC_DEC = ( -0.36 0. 0. 0. 0. 0. 0. 0. 0. 0. ) + BODY505_NUT_PREC_PM = ( 0.76 0. 0. 0. 0. 0. 0. 0. -0.01 0. ) + + \begintext + + + Thebe + + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY514_POLE_RA = ( 268.05 -0.009 0. ) + BODY514_POLE_DEC = ( 64.49 0.003 0. ) + BODY514_PM = ( 8.56 533.7004100 0. ) + BODY514_LONG_AXIS = ( 0. ) + + BODY514_NUT_PREC_RA = ( 0. -2.11 0. 0. 0. 0. 0. 0. 0. 0.04 ) + BODY514_NUT_PREC_DEC = ( 0. -0.91 0. 0. 0. 0. 0. 0. 0. 0.01 ) + BODY514_NUT_PREC_PM = ( 0. 1.91 0. 0. 0. 0. 0. 0. 0. -0.04 ) + + \begintext + + + Adrastea + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + + + BODY515_POLE_RA = ( 268.05 -0.009 0. ) + BODY515_POLE_DEC = ( 64.49 0.003 0. ) + BODY515_PM = ( 33.29 1206.9986602 0. ) + BODY515_LONG_AXIS = ( 0. ) + + \begintext + + + Metis + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY516_POLE_RA = ( 268.05 -0.009 0. ) + BODY516_POLE_DEC = ( 64.49 0.003 0. ) + BODY516_PM = ( 346.09 1221.2547301 0. ) + BODY516_LONG_AXIS = ( 0. ) + + \begintext + + + +Satellites of Saturn + + + Mimas + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY601_POLE_RA = ( 40.66 -0.036 0. ) + BODY601_POLE_DEC = ( 83.52 -0.004 0. ) + BODY601_PM = ( 337.46 381.9945550 0. ) + BODY601_LONG_AXIS = ( 0. ) + + BODY601_NUT_PREC_RA = ( 0. 0. 13.56 0. 0. 0. 0. 0. 0. ) + BODY601_NUT_PREC_DEC = ( 0. 0. -1.53 0. 0. 0. 0. 0. 0. ) + BODY601_NUT_PREC_PM = ( 0. 0. -13.48 0. -44.85 0. 0. 0. 0. ) + + \begintext + + + Enceladus + + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY602_POLE_RA = ( 40.66 -0.036 0. ) + BODY602_POLE_DEC = ( 83.52 -0.004 0. ) + BODY602_PM = ( 2.82 262.7318996 0. ) + BODY602_LONG_AXIS = ( 0. ) + + \begintext + + + + Tethys + + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY603_POLE_RA = ( 40.66 -0.036 0. ) + BODY603_POLE_DEC = ( 83.52 -0.004 0. ) + BODY603_PM = ( 10.45 190.6979085 0. ) + BODY603_LONG_AXIS = ( 0. ) + + BODY603_NUT_PREC_RA = ( 0. 0. 0. 9.66 0. 0. 0. 0. 0. ) + BODY603_NUT_PREC_DEC = ( 0. 0. 0. -1.09 0. 0. 0. 0. 0. ) + BODY603_NUT_PREC_PM = ( 0. 0. 0. -9.60 2.23 0. 0. 0. 0. ) + + \begintext + + + Dione + + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY604_POLE_RA = ( 40.66 -0.036 0. ) + BODY604_POLE_DEC = ( 83.52 -0.004 0. ) + BODY604_PM = ( 357.00 131.5349316 0. ) + BODY604_LONG_AXIS = ( 0. ) + + \begintext + + + + Rhea + + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY605_POLE_RA = ( 40.38 -0.036 0. ) + BODY605_POLE_DEC = ( 83.55 -0.004 0. ) + BODY605_PM = ( 235.16 79.6900478 0. ) + BODY605_LONG_AXIS = ( 0. ) + + BODY605_NUT_PREC_RA = ( 0. 0. 0. 0. 0. 3.10 0. 0. 0. ) + BODY605_NUT_PREC_DEC = ( 0. 0. 0. 0. 0. -0.35 0. 0. 0. ) + BODY605_NUT_PREC_PM = ( 0. 0. 0. 0. 0. -3.08 0. 0. 0. ) + + \begintext + + + + Titan + + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY606_POLE_RA = ( 36.41 -0.036 0. ) + BODY606_POLE_DEC = ( 83.94 -0.004 0. ) + BODY606_PM = ( 189.64 22.5769768 0. ) + BODY606_LONG_AXIS = ( 0. ) + + BODY606_NUT_PREC_RA = ( 0. 0. 0. 0. 0. 0. 2.66 0. 0 ) + BODY606_NUT_PREC_DEC = ( 0. 0. 0. 0. 0. 0. -0.30 0. 0 ) + BODY606_NUT_PREC_PM = ( 0. 0. 0. 0. 0. 0. -2.64 0. 0 ) + + \begintext + + + + Hyperion + + The IAU report does not give an orientation model for Hyperion. + Hyperion's rotation is in chaotic and is not predictable for + long periods. + + + Iapetus + + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY608_POLE_RA = ( 318.16 -3.949 0. ) + BODY608_POLE_DEC = ( 75.03 -1.143 0. ) + BODY608_PM = ( 350.20 4.5379572 0. ) + BODY608_LONG_AXIS = ( 0. ) + + \begintext + + + + Phoebe + + + Old values: + + Values are from the 2003 IAU report. + + body609_pole_ra = ( 355.00 0. 0. ) + body609_pole_dec = ( 68.70 0. 0. ) + body609_pm = ( 304.70 930.8338720 0. ) + body609_long_axis = ( 0. ) + + Current values: + + \begindata + + BODY609_POLE_RA = ( 356.90 0. 0. ) + BODY609_POLE_DEC = ( 77.80 0. 0. ) + BODY609_PM = ( 178.58 931.639 0. ) + BODY609_LONG_AXIS = ( 0. ) + + \begintext + + + Janus + + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY610_POLE_RA = ( 40.58 -0.036 0. ) + BODY610_POLE_DEC = ( 83.52 -0.004 0. ) + BODY610_PM = ( 58.83 518.2359876 0. ) + BODY610_LONG_AXIS = ( 0. ) + + BODY610_NUT_PREC_RA = ( 0. -1.623 0. 0. 0. 0. 0. 0. 0.023 ) + BODY610_NUT_PREC_DEC = ( 0. -0.183 0. 0. 0. 0. 0. 0. 0.001 ) + BODY610_NUT_PREC_PM = ( 0. 1.613 0. 0. 0. 0. 0. 0. -0.023 ) + + \begintext + + + + Epimetheus + + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY611_POLE_RA = ( 40.58 -0.036 0. ) + BODY611_POLE_DEC = ( 83.52 -0.004 0. ) + BODY611_PM = ( 293.87 518.4907239 0. ) + BODY611_LONG_AXIS = ( 0. ) + + BODY611_NUT_PREC_RA = ( -3.153 0. 0. 0. 0. 0. 0. 0.086 0. ) + BODY611_NUT_PREC_DEC = ( -0.356 0. 0. 0. 0. 0. 0. 0.005 0. ) + BODY611_NUT_PREC_PM = ( 3.133 0. 0. 0. 0. 0. 0. -0.086 0. ) + + \begintext + + + + Helene + + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY612_POLE_RA = ( 40.85 -0.036 0. ) + BODY612_POLE_DEC = ( 83.34 -0.004 0. ) + BODY612_PM = ( 245.12 131.6174056 0. ) + BODY612_LONG_AXIS = ( 0. ) + + \begintext + + + + Telesto + + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY613_POLE_RA = ( 50.51 -0.036 0. ) + BODY613_POLE_DEC = ( 84.06 -0.004 0. ) + BODY613_PM = ( 56.88 190.6979332 0. ) + BODY613_LONG_AXIS = ( 0. ) + + \begintext + + + + Calypso + + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY614_POLE_RA = ( 36.41 -0.036 0. ) + BODY614_POLE_DEC = ( 85.04 -0.004 0. ) + BODY614_PM = ( 153.51 190.6742373 0. ) + BODY614_LONG_AXIS = ( 0. ) + + \begintext + + + + Atlas + + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY615_POLE_RA = ( 40.58 -0.036 0. ) + BODY615_POLE_DEC = ( 83.53 -0.004 0. ) + BODY615_PM = ( 137.88 598.3060000 0. ) + BODY615_LONG_AXIS = ( 0. ) + + \begintext + + + + Prometheus + + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY616_POLE_RA = ( 40.58 -0.036 ) + BODY616_POLE_DEC = ( 83.53 -0.004 ) + BODY616_PM = ( 296.14 587.289000 ) + BODY616_LONG_AXIS = ( 0. ) + + \begintext + + + + Pandora + + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY617_POLE_RA = ( 40.58 -0.036 0. ) + BODY617_POLE_DEC = ( 83.53 -0.004 0. ) + BODY617_PM = ( 162.92 572.7891000 0. ) + BODY617_LONG_AXIS = ( 0. ) + + \begintext + + + + Pan + + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY618_POLE_RA = ( 40.6 -0.036 0. ) + BODY618_POLE_DEC = ( 83.5 -0.004 0. ) + BODY618_PM = ( 48.8 626.0440000 0. ) + BODY618_LONG_AXIS = ( 0. ) + + \begintext + + + + + +Satellites of Uranus + + + + Ariel + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY701_POLE_RA = ( 257.43 0. 0. ) + BODY701_POLE_DEC = ( -15.10 0. 0. ) + BODY701_PM = ( 156.22 -142.8356681 0. ) + BODY701_LONG_AXIS = ( 0. ) + + BODY701_NUT_PREC_RA = ( 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. 0. 0. 0.29 ) + + BODY701_NUT_PREC_DEC = ( 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. 0. 0. 0.28 ) + + BODY701_NUT_PREC_PM = ( 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. 0. 0.05 0.08 ) + \begintext + + + + Umbriel + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY702_POLE_RA = ( 257.43 0. 0. ) + BODY702_POLE_DEC = ( -15.10 0. 0. ) + BODY702_PM = ( 108.05 -86.8688923 0. ) + BODY702_LONG_AXIS = ( 0. ) + + BODY702_NUT_PREC_RA = ( 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. 0. 0. 0. 0.21 ) + + BODY702_NUT_PREC_DEC = ( 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. 0. 0. 0. 0.20 ) + + BODY702_NUT_PREC_PM = ( 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. 0. -0.09 0. 0.06 ) + + \begintext + + + + Titania + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY703_POLE_RA = ( 257.43 0. 0. ) + BODY703_POLE_DEC = ( -15.10 0. 0. ) + BODY703_PM = ( 77.74 -41.3514316 0. ) + BODY703_LONG_AXIS = ( 0. ) + + BODY703_NUT_PREC_RA = ( 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. 0. 0. 0. 0. 0.29 ) + + BODY703_NUT_PREC_DEC = ( 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. 0. 0. 0. 0. 0.28 ) + + BODY703_NUT_PREC_PM = ( 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. 0. 0. 0. 0. 0.08 ) + \begintext + + + + Oberon + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY704_POLE_RA = ( 257.43 0. 0. ) + BODY704_POLE_DEC = ( -15.10 0. 0. ) + BODY704_PM = ( 6.77 -26.7394932 0. ) + BODY704_LONG_AXIS = ( 0. ) + + + BODY704_NUT_PREC_RA = ( 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. 0.16 ) + + BODY704_NUT_PREC_DEC = ( 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. 0.16 ) + + BODY704_NUT_PREC_PM = ( 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. 0.04 ) + \begintext + + + + Miranda + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + + BODY705_POLE_RA = ( 257.43 0. 0. ) + BODY705_POLE_DEC = ( -15.08 0. 0. ) + BODY705_PM = ( 30.70 -254.6906892 0. ) + BODY705_LONG_AXIS = ( 0. ) + + BODY705_NUT_PREC_RA = ( 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. + 4.41 0. 0. 0. 0. + 0. -0.04 0. ) + + BODY705_NUT_PREC_DEC = ( 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. + 4.25 0. 0. 0. 0. + 0. -0.02 0. ) + + BODY705_NUT_PREC_PM = ( 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. + 1.15 -1.27 0. 0. 0. + 0. -0.09 0.15 ) + \begintext + + + + Cordelia + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY706_POLE_RA = ( 257.31 0. 0. ) + BODY706_POLE_DEC = ( -15.18 0. 0. ) + BODY706_PM = ( 127.69 -1074.5205730 0. ) + BODY706_LONG_AXIS = ( 0. ) + + BODY706_NUT_PREC_RA = ( -0.15 0. 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + BODY706_NUT_PREC_DEC = ( 0.14 0. 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + BODY706_NUT_PREC_PM = ( -0.04 0. 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + \begintext + + + + Ophelia + + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY707_POLE_RA = ( 257.31 0. 0. ) + BODY707_POLE_DEC = ( -15.18 0. 0. ) + BODY707_PM = ( 130.35 -956.4068150 0. ) + BODY707_LONG_AXIS = ( 0. ) + + BODY707_NUT_PREC_RA = ( 0. -0.09 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + BODY707_NUT_PREC_DEC = ( 0. 0.09 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + BODY707_NUT_PREC_PM = ( 0. -0.03 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + \begintext + + + + Bianca + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY708_POLE_RA = ( 257.31 0. 0. ) + BODY708_POLE_DEC = ( -15.18 0. 0. ) + BODY708_PM = ( 105.46 -828.3914760 0. ) + BODY708_LONG_AXIS = ( 0. ) + + BODY708_NUT_PREC_RA = ( 0. 0. -0.16 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + BODY708_NUT_PREC_DEC = ( 0. 0. 0.16 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + BODY708_NUT_PREC_PM = ( 0. 0. -0.04 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + \begintext + + + + Cressida + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + + BODY709_POLE_RA = ( 257.31 0. 0. ) + BODY709_POLE_DEC = ( -15.18 0. 0. ) + BODY709_PM = ( 59.16 -776.5816320 0. ) + BODY709_LONG_AXIS = ( 0. ) + + + BODY709_NUT_PREC_RA = ( 0. 0. 0. -0.04 0. + 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + + BODY709_NUT_PREC_DEC = ( 0. 0. 0. 0.04 0. + 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + + BODY709_NUT_PREC_PM = ( 0. 0. 0. -0.01 0. + 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + + \begintext + + + + Desdemona + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY710_POLE_RA = ( 257.31 0. 0. ) + BODY710_POLE_DEC = ( -15.18 0. 0. ) + BODY710_PM = ( 95.08 -760.0531690 0. ) + BODY710_LONG_AXIS = ( 0. ) + + BODY710_NUT_PREC_RA = ( 0. 0. 0. 0. -0.17 + 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + BODY710_NUT_PREC_DEC = ( 0. 0. 0. 0. 0.16 + 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + BODY710_NUT_PREC_PM = ( 0. 0. 0. 0. -0.04 + 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + \begintext + + + + Juliet + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY711_POLE_RA = ( 257.31 0. 0. ) + BODY711_POLE_DEC = ( -15.18 0. 0. ) + BODY711_PM = ( 302.56 -730.1253660 0. ) + BODY711_LONG_AXIS = ( 0. ) + + BODY711_NUT_PREC_RA = ( 0. 0. 0. 0. 0. + -0.06 0. 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + BODY711_NUT_PREC_DEC = ( 0. 0. 0. 0. 0. + 0.06 0. 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + BODY711_NUT_PREC_PM = ( 0. 0. 0. 0. 0. + -0.02 0. 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + \begintext + + + + Portia + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY712_POLE_RA = ( 257.31 0. 0. ) + BODY712_POLE_DEC = ( -15.18 0. 0. ) + BODY712_PM = ( 25.03 -701.4865870 0. ) + BODY712_LONG_AXIS = ( 0. ) + + BODY712_NUT_PREC_RA = ( 0. 0. 0. 0. 0. + 0. -0.09 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + BODY712_NUT_PREC_DEC = ( 0. 0. 0. 0. 0. + 0. 0.09 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + BODY712_NUT_PREC_PM = ( 0. 0. 0. 0. 0. + 0. -0.02 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + \begintext + + + + Rosalind + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY713_POLE_RA = ( 257.31 0. 0. ) + BODY713_POLE_DEC = ( -15.18 0. 0. ) + BODY713_PM = ( 314.90 -644.6311260 0. ) + BODY713_LONG_AXIS = ( 0. ) + + BODY713_NUT_PREC_RA = ( 0. 0. 0. 0. 0. + 0. 0. -0.29 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + BODY713_NUT_PREC_DEC = ( 0. 0. 0. 0. 0. + 0. 0. 0.28 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + BODY713_NUT_PREC_PM = ( 0. 0. 0. 0. 0. + 0. 0. -0.08 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + \begintext + + + + Belinda + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY714_POLE_RA = ( 257.31 0. 0. ) + BODY714_POLE_DEC = ( -15.18 0. 0. ) + BODY714_PM = ( 297.46 -577.3628170 0. ) + BODY714_LONG_AXIS = ( 0. ) + + BODY714_NUT_PREC_RA = ( 0. 0. 0. 0. 0. + 0. 0. 0. -0.03 0. + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + BODY714_NUT_PREC_DEC = ( 0. 0. 0. 0. 0. + 0. 0. 0. 0.03 0. + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + BODY714_NUT_PREC_PM = ( 0. 0. 0. 0. 0. + 0. 0. 0. -0.01 0. + 0. 0. 0. 0. 0. + 0. 0. 0. ) + \begintext + + + + Puck + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY715_POLE_RA = ( 257.31 0. 0. ) + BODY715_POLE_DEC = ( -15.18 0. 0. ) + BODY715_PM = ( 91.24 -472.5450690 0. ) + BODY715_LONG_AXIS = ( 0. ) + + BODY715_NUT_PREC_RA = ( 0. 0. 0. 0. 0. + 0. 0. 0. 0. -0.33 + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + BODY715_NUT_PREC_DEC = ( 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0.31 + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + BODY715_NUT_PREC_PM = ( 0. 0. 0. 0. 0. + 0. 0. 0. 0. -0.09 + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + \begintext + + + + +Satellites of Neptune + + + Triton + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY801_POLE_RA = ( 299.36 0. 0. ) + BODY801_POLE_DEC = ( 41.17 0. 0. ) + BODY801_PM = ( 296.53 -61.2572637 0. ) + BODY801_LONG_AXIS = ( 0. ) + + + BODY801_NUT_PREC_RA = ( 0. 0. 0. 0. + 0. 0. 0. -32.35 + 0. -6.28 -2.08 -0.74 + -0.28 -0.11 -0.07 -0.02 + -0.01 ) + + + BODY801_NUT_PREC_DEC = ( 0. 0. 0. 0. + 0. 0. 0. 22.55 + 0. 2.10 0.55 0.16 + 0.05 0.02 0.01 0. + 0. ) + + + BODY801_NUT_PREC_PM = ( 0. 0. 0. 0. + 0. 0. 0. 22.25 + 0. 6.73 2.05 0.74 + 0.28 0.11 0.05 0.02 + 0.01 ) + + \begintext + + + + + Nereid + + Old values: + + Values are from the 1988 IAU report [10]. Note that this + rotation model pre-dated the 1989 Voyager 2 Neptune + encounter. + + + body802_pole_ra = ( 273.48 0. 0. ) + body802_pole_dec = ( 67.22 0. 0. ) + body802_pm = ( 237.22 0.9996465 0. ) + body802_long_axis = ( 0. ) + + + The report seems to have a typo: in the nut_prec_ra expression, + where the report gives -0.51 sin 3N3, we use -0.51 3N2. + + body802_nut_prec_ra = ( 0. -17.81 + 0. 0. 0. 0. + 0. 0. 0. + 2.56 -0.51 0.11 -0.03 ) + + body802_nut_prec_dec = ( 0. -6.67 + 0. 0. 0. 0. + 0. 0. 0. + 0.47 -0.07 0.01 ) + + body802_nut_prec_pm = ( 0. 16.48 + 0. 0. 0. 0. + 0. 0. 0. + -2.57 0.51 -0.11 0.02 ) + + + + Current values: + + The 2006 report [1] states that values for Nereid are not + given because Nereid is not in synchronous rotation with Neptune + (p. 167). + + + + Naiad + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + + \begindata + + BODY803_POLE_RA = ( 299.36 0. 0. ) + BODY803_POLE_DEC = ( 43.36 0. 0. ) + BODY803_PM = ( 254.06 +1222.8441209 0. ) + BODY803_LONG_AXIS = ( 0. ) + + + BODY803_NUT_PREC_RA = ( 0.70 -6.49 0. 0. + 0. 0. 0. 0. + 0.25 0. 0. 0. + 0. 0. 0. 0. + 0. ) + + BODY803_NUT_PREC_DEC = ( -0.51 -4.75 0. 0. + 0. 0. 0. 0. + 0.09 0. 0. 0. + 0. 0. 0. 0. + 0. ) + + BODY803_NUT_PREC_PM = ( -0.48 4.40 0. 0. + 0. 0. 0. 0. + -0.27 0. 0. 0. + 0. 0. 0. 0. + 0. ) + + \begintext + + + + + Thalassa + + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY804_POLE_RA = ( 299.36 0. 0. ) + BODY804_POLE_DEC = ( 43.45 0. 0. ) + BODY804_PM = ( 102.06 1155.7555612 0. ) + BODY804_LONG_AXIS = ( 0. ) + + + BODY804_NUT_PREC_RA = ( 0.70 0. -0.28 0. + 0. 0. 0. 0. + 0. 0. 0. 0. + 0. 0. 0. 0. + 0. ) + + + BODY804_NUT_PREC_DEC = ( -0.51 0. -0.21 0. + 0. 0. 0. 0. + 0. 0. 0. 0. + 0. 0. 0. 0. + 0. ) + + BODY804_NUT_PREC_PM = ( -0.48 0. 0.19 0. + 0. 0. 0. 0. + 0. 0. 0. 0. + 0. 0. 0. 0. + 0. ) + + \begintext + + + + Despina + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + + \begindata + + BODY805_POLE_RA = ( 299.36 0. 0. ) + BODY805_POLE_DEC = ( 43.45 0. 0. ) + BODY805_PM = ( 306.51 +1075.7341562 0. ) + BODY805_LONG_AXIS = ( 0. ) + + + BODY805_NUT_PREC_RA = ( 0.70 0. 0. -0.09 + 0. 0. 0. 0. + 0. 0. 0. 0. + 0. 0. 0. 0. + 0. ) + + BODY805_NUT_PREC_DEC = ( -0.51 0. 0. -0.07 + 0. 0. 0. 0. + 0. 0. 0. 0. + 0. 0. 0. 0. + 0. ) + + BODY805_NUT_PREC_PM = ( -0.49 0. 0. 0.06 + 0. 0. 0. 0. + 0. 0. 0. 0. + 0. 0. 0. 0. + 0. ) + \begintext + + + + Galatea + + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + + \begindata + + BODY806_POLE_RA = ( 299.36 0. 0. ) + BODY806_POLE_DEC = ( 43.43 0. 0. ) + BODY806_PM = ( 258.09 839.6597686 0. ) + BODY806_LONG_AXIS = ( 0. ) + + + BODY806_NUT_PREC_RA = ( 0.70 0. 0. 0. + -0.07 0. 0. 0. + 0. 0. 0. 0. + 0. 0. 0. 0. + 0. ) + + BODY806_NUT_PREC_DEC = ( -0.51 0. 0. 0. + -0.05 0. 0. 0. + 0. 0. 0. 0. + 0. 0. 0. 0. + 0. ) + + BODY806_NUT_PREC_PM = ( -0.48 0. 0. 0. + 0.05 0. 0. 0. + 0. 0. 0. 0. + 0. 0. 0. 0. + 0. ) + \begintext + + + Larissa + + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY807_POLE_RA = ( 299.36 0. 0. ) + BODY807_POLE_DEC = ( 43.41 0. 0. ) + BODY807_PM = ( 179.41 +649.0534470 0. ) + BODY807_LONG_AXIS = ( 0. ) + + + BODY807_NUT_PREC_RA = ( 0.70 0. 0. 0. + 0. -0.27 0. 0. + 0. 0. 0. 0. + 0. 0. 0. 0. + 0. ) + + BODY807_NUT_PREC_DEC = ( -0.51 0. 0. 0. + 0. -0.20 0. 0. + 0. 0. 0. 0. + 0. 0. 0. 0. + 0. ) + + BODY807_NUT_PREC_PM = ( -0.48 0. 0. 0. + 0. 0.19 0. 0. + 0. 0. 0. 0. + 0. 0. 0. 0. + 0. ) + \begintext + + + + Proteus + + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY808_POLE_RA = ( 299.27 0. 0. ) + BODY808_POLE_DEC = ( 42.91 0. 0. ) + BODY808_PM = ( 93.38 +320.7654228 0. ) + BODY808_LONG_AXIS = ( 0. ) + + + BODY808_NUT_PREC_RA = ( 0.70 0. 0. 0. + 0. 0. -0.05 0. + 0. 0. 0. 0. + 0. 0. 0. 0. + 0. ) + + BODY808_NUT_PREC_DEC = ( -0.51 0. 0. 0. + 0. 0. -0.04 0. + 0. 0. 0. 0. + 0. 0. 0. 0. + 0. ) + + BODY808_NUT_PREC_PM = ( -0.48 0. 0. 0. + 0. 0. 0.04 0. + 0. 0. 0. 0. + 0. 0. 0. 0. + 0. ) + + \begintext + + + + + +Satellites of Pluto + + Charon + + Old values: + + Values are from the 2003 IAU report. + + body901_pole_ra = ( 313.02 0. 0. ) + body901_pole_dec = ( 9.09 0. 0. ) + body901_pm = ( 56.77 -56.3623195 0. ) + body901_long_axis = ( 0. ) + + Current values: + + \begindata + + BODY901_POLE_RA = ( 312.993 0. 0. ) + BODY901_POLE_DEC = ( 6.163 0. 0. ) + BODY901_PM = ( 57.305 -56.3625225 0. ) + BODY901_LONG_AXIS = ( 0. ) + + \begintext + + + +Orientation constants for Selected Comets and Asteroids +-------------------------------------------------------- + + + +19P/Borrelly + + + Current values: + + \begindata + + BODY1000005_POLE_RA = ( 218.5 0. 0. ) + BODY1000005_POLE_DEC = ( -12.5 0. 0. ) + BODY1000005_PM = ( 000. 390.0 0. ) + BODY1000005_LONG_AXIS = ( 0. ) + + \begintext + + + +9P/Tempel 1 + + + Current values: + + \begindata + + BODY1000093_POLE_RA = ( 294. 0. 0. ) + BODY1000093_POLE_DEC = ( 73. 0. 0. ) + BODY1000093_PM = ( 252.63 212.064 0. ) + BODY1000093_LONG_AXIS = ( 0. ) + + \begintext + + +Vesta + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY2000004_POLE_RA = ( 301. 0. 0. ) + BODY2000004_POLE_DEC = ( 41. 0. 0. ) + BODY2000004_PM = ( 292. 1617.332776 0. ) + BODY2000004_LONG_AXIS = ( 0. ) + + \begintext + +Eros + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY2000433_POLE_RA = ( 11.35 0. 0. ) + BODY2000433_POLE_DEC = ( 17.22 0. 0. ) + BODY2000433_PM = ( 326.07 1639.38864745 0. ) + BODY2000433_LONG_AXIS = ( 0. ) + + \begintext + + +Itokawa + + + Current values: + + \begindata + + BODY2025143_POLE_RA = ( 90.53 0. 0. ) + BODY2025143_POLE_DEC = ( -66.30 0. 0. ) + BODY2025143_PM = ( 000.0 712.143 0. ) + BODY2025143_LONG_AXIS = ( 0. ) + + \begintext + + + +Ida + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY2431010_POLE_RA = ( 168.76 0. 0. ) + BODY2431010_POLE_DEC = ( -2.88 0. 0. ) + BODY2431010_PM = ( 265.95 +1864.6280070 0. ) + BODY2431010_LONG_AXIS = ( 0. ) + + \begintext + +Gaspra + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY9511010_POLE_RA = ( 9.47 0. 0. ) + BODY9511010_POLE_DEC = ( 26.70 0. 0. ) + BODY9511010_PM = ( 83.67 1226.9114850 0. ) + BODY9511010_LONG_AXIS = ( 0. ) + + \begintext + + + + + + + + + + +Radii of Sun and Planets +-------------------------------------------------------- + + +Sun + + Value for the Sun is from the [3], page K7. + + \begindata + + BODY10_RADII = ( 696000. 696000. 696000. ) + + \begintext + + +Mercury + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY199_RADII = ( 2439.7 2439.7 2439.7 ) + + \begintext + + +Venus + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY299_RADII = ( 6051.8 6051.8 6051.8 ) + + \begintext + + +Earth + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + + \begindata + + BODY399_RADII = ( 6378.14 6378.14 6356.75 ) + + \begintext + + +Mars + + + Old values: + + body499_radii = ( 3397. 3397. 3375. ) + + Current values: + + + The IAU report gives separate values for the north and south + polar radii: + + north: 3373.19 + south: 3379.21 + + We use the average of these values as the polar radius for + the triaxial model. + + \begindata + + BODY499_RADII = ( 3396.19 3396.19 3376.20 ) + + \begintext + + + +Jupiter + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY599_RADII = ( 71492 71492 66854 ) + + \begintext + + + +Saturn + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY699_RADII = ( 60268 60268 54364 ) + + \begintext + + + +Uranus + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY799_RADII = ( 25559 25559 24973 ) + + \begintext + + + +Neptune + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + (Values are for the 1 bar pressure level.) + + \begindata + + BODY899_RADII = ( 24764 24764 24341 ) + + \begintext + + + +Pluto + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY999_RADII = ( 1195 1195 1195 ) + + \begintext + + + + +Radii of Satellites +-------------------------------------------------------- + + +Moon + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY301_RADII = ( 1737.4 1737.4 1737.4 ) + + \begintext + + + +Satellites of Mars + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY401_RADII = ( 13.4 11.2 9.2 ) + BODY402_RADII = ( 7.5 6.1 5.2 ) + + \begintext + + + +Satellites of Jupiter + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY501_RADII = ( 1829.4 1819.3 1815.7 ) + BODY502_RADII = ( 1564.13 1561.23 1560.93 ) + BODY503_RADII = ( 2632.4 2632.29 2632.35 ) + BODY504_RADII = ( 2409.4 2409.2 2409.3 ) + BODY505_RADII = ( 125 73 64 ) + + \begintext + + Only mean radii are available in the 2003 IAU report for bodies + 506-513. + + \begindata + + BODY506_RADII = ( 85 85 85 ) + BODY507_RADII = ( 40 40 40 ) + BODY508_RADII = ( 18 18 18 ) + BODY509_RADII = ( 14 14 14 ) + BODY510_RADII = ( 12 12 12 ) + BODY511_RADII = ( 15 15 15 ) + BODY512_RADII = ( 10 10 10 ) + BODY513_RADII = ( 5 5 5 ) + BODY514_RADII = ( 58 49 42 ) + BODY515_RADII = ( 10 8 7 ) + + \begintext + + The value for the second radius for body 516 is not given in + 2003 IAU report. The values given are: + + BODY516_RADII = ( 30 --- 20 ) + + For use within the SPICE system, we use only the mean radius. + \begindata + + BODY516_RADII = ( 21.5 21.5 21.5 ) + + \begintext + + + +Satellites of Saturn + + + Old values: + + Values are from the 2003 IAU report. + + body601_radii = ( 209.1 196.2 191.4 ) + body602_radii = ( 256.3 247.3 244.6 ) + body603_radii = ( 535.6 528.2 525.8 ) + body604_radii = ( 560 560 560 ) + body605_radii = ( 764 764 764 ) + body606_radii = ( 2575 2575 2575 ) + body607_radii = ( 164 130 107 ) + body608_radii = ( 718 718 718 ) + body609_radii = ( 115 110 105 ) + body610_radii = ( 97.0 95.0 77.0 ) + body611_radii = ( 69.0 55.0 55.0 ) + + + Only the first equatorial radius for Helene (body 612) was given in the + 2003 IAU report: + + body612_radii = ( 17.5 --- --- ) + + The mean radius was 16km; we used this radius for all three axes, as + we do for the satellites for which only the mean radius is available. + + + body612_radii = ( 16 16 16 ) + body613_radii = ( 15 12.5 7.5 ) + body614_radii = ( 15.0 8.0 8.0 ) + body615_radii = ( 18.5 17.2 13.5 ) + body616_radii = ( 74.0 50.0 34.0 ) + body617_radii = ( 55.0 44.0 31.0 ) + + + + Current values: + + \begindata + + BODY601_RADII = ( 207.4 196.8 190.6 ) + BODY602_RADII = ( 256.6 251.4 248.3 ) + BODY603_RADII = ( 540.4 531.1 527.5 ) + BODY604_RADII = ( 563.8 561.0 560.3 ) + BODY605_RADII = ( 767.2 762.5 763.1 ) + BODY606_RADII = ( 2575 2575 2575 ) + BODY607_RADII = ( 164 130 107 ) + BODY608_RADII = ( 747.4 747.4 712.4 ) + BODY609_RADII = ( 108.6 107.7 101.5 ) + BODY610_RADII = ( 97.0 95.0 77.0 ) + BODY611_RADII = ( 69.0 55.0 55.0 ) + + \begintext + + Only the first equatorial radius for Helene (body 612) is given in the + 2006 IAU report: + + BODY612_RADII = ( 17.5 --- --- ) + + The mean radius is 16km; we use this radius for all three axes, as + we do for the satellites for which only the mean radius is available. + + + \begindata + + BODY612_RADII = ( 17.5 17.5 17.5 ) + BODY613_RADII = ( 15 12.5 7.5 ) + BODY614_RADII = ( 15.0 8.0 8.0 ) + BODY615_RADII = ( 18.5 17.2 13.5 ) + BODY616_RADII = ( 74.0 50.0 34.0 ) + BODY617_RADII = ( 55.0 44.0 31.0 ) + + \begintext + + + For Pan, only a mean radius is given in the 2006 report. + + \begindata + + BODY618_RADII = ( 10 10 10 ) + + \begintext + + + +Satellites of Uranus + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY701_RADII = ( 581.1 577.9 577.7 ) + BODY702_RADII = ( 584.7 584.7 584.7 ) + BODY703_RADII = ( 788.9 788.9 788.9 ) + BODY704_RADII = ( 761.4 761.4 761.4 ) + BODY705_RADII = ( 240.4 234.2 232.9 ) + + \begintext + + The 2000 report gives only mean radii for satellites 706--715. + + \begindata + + BODY706_RADII = ( 13 13 13 ) + BODY707_RADII = ( 15 15 15 ) + BODY708_RADII = ( 21 21 21 ) + BODY709_RADII = ( 31 31 31 ) + BODY710_RADII = ( 27 27 27 ) + BODY711_RADII = ( 42 42 42 ) + BODY712_RADII = ( 54 54 54 ) + BODY713_RADII = ( 27 27 27 ) + BODY714_RADII = ( 33 33 33 ) + BODY715_RADII = ( 77 77 77 ) + + \begintext + + + + +Satellites of Neptune + + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + The 2000 report gives mean radii only for bodies 801-806. + + \begindata + + BODY801_RADII = ( 1352.6 1352.6 1352.6 ) + BODY802_RADII = ( 170 170 170 ) + BODY803_RADII = ( 29 29 29 ) + BODY804_RADII = ( 40 40 40 ) + BODY805_RADII = ( 74 74 74 ) + BODY806_RADII = ( 79 79 79 ) + + \begintext + + + The second equatorial radius for Larissa is not given in the 2000 + report. The available values are: + + BODY807_RADII = ( 104 --- 89 ) + + For use within the SPICE system, we use only the mean radius. + \begindata + + BODY807_RADII = ( 96 96 96 ) + BODY808_RADII = ( 218 208 201 ) + + \begintext + + + + +Satellites of Pluto + + + Old values: + + Values are from the 2003 IAU report. + + BODY901_RADII = ( 593 593 593 ) + + Current values: + + \begindata + + BODY901_RADII = ( 605 605 605 ) + + \begintext + + + +Radii for Selected Comets and Asteroids +-------------------------------------------------------- + + +19P/Borrelly + + + Current values: + + + The value in the data assignment below is the + "effective radius." + + The first principal axis length is + + 3.5 km + + The lengths of the other semi-axes are not provided + by [1]. + + \begindata + + BODY1000005_RADII = ( 4.22 4.22 4.22 ) + + \begintext + + + +Halley + + + Current values: + + \begindata + + BODY1000036_RADII = ( 8.0 4.0 4.0 ) + + \begintext + + + +9P/Tempel 1 + + + Current values: + + + The value in the data assignment below is the + "effective radius." + + According to [1]: + + The maximum and minimum radii are not properly + the values of the principal semi-axes, they + are half the maximum and minimum values of the + diameter. Due to the large deviations from a + simple ellipsoid, they may not correspond with + measurements along the principal axes, or be + orthogonal to each other. + + \begindata + + BODY1000093_RADII = ( 3.0 3.0 3.0 ) + + \begintext + + +81P/Wild 2 + + + Current values: + + + \begindata + + BODY1000107_RADII = ( 2.7 1.9 1.5 ) + + \begintext + + +Ceres + + + Current values: + + + \begindata + + BODY2000001_RADII = ( 487.3 487.3 454.7 ) + + \begintext + + +Vesta + + + Current values: + + + \begindata + + BODY2000004_RADII = ( 289. 280. 229. ) + + \begintext + + +Toutatis + + + Current values: + + + \begindata + + BODY2004179_RADII = ( 2.13 1.015 0.85 ) + + \begintext + + +Kleopatra + + + Old values: + + Values are from the 2003 report. + + + body2000216_radii = ( 108.5 47 40.5 ) + + + Current values: + + + No values are provided in the 2006 report. + + +Mathilde + + + Current values: + + + \begindata + + BODY2000253_RADII = ( 33. 24. 23. ) + + \begintext + +Eros + + + Current values: + + + \begindata + + BODY2000433_RADII = ( 17.0 5.5 5.5 ) + + \begintext + + +Itokawa + + + Current values: + + + \begindata + + BODY2025143_RADII = ( 0.535 0.294 0.209 ) + + \begintext + + + +Gaspra + + + Current values: + + + \begindata + + BODY9511010_RADII = ( 9.1 5.2 4.4 ) + + \begintext + + + + +Ida + + + Current values: + + + \begindata + + BODY2431010_RADII = ( 26.8 12.0 7.6 ) + + \begintext + + + +=========================================================================== +End of file pck00009.tpc +=========================================================================== + + + diff --git a/tests/pytests/data/isds/dawnvir_isd.json b/tests/pytests/data/isds/dawnvir_isd.json new file mode 100644 index 000000000..90674bb71 --- /dev/null +++ b/tests/pytests/data/isds/dawnvir_isd.json @@ -0,0 +1,1972 @@ +{ + "isis_camera_version": 1, + "image_lines": 60, + "image_samples": 256, + "name_platform": "DAWN", + "name_sensor": "VIR", + "reference_height": { + "maxheight": 1000, + "minheight": 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from unittest.mock import patch from ale.drivers import AleJsonEncoder from conftest import get_image_label, get_image_kernels, get_isd, convert_kernels, compare_dicts import ale -from ale.drivers.dawn_drivers import DawnFcPds3NaifSpiceDriver, DawnFcIsisLabelNaifSpiceDriver +from ale.drivers.dawn_drivers import DawnFcPds3NaifSpiceDriver, DawnFcIsisLabelNaifSpiceDriver, DawnVirIsisLabelNaifSpiceDriver +housekeeping_dict = {'ScetTimeClock': ['362681634.09', '362681650.09', '362681666.09', '362681682.09', '362681698.09', '362681714.09', + '362681730.09', '362681746.09', '362681762.09', '362681778.09', '362681794.09', '362681810.09', + '362681826.09', '362681842.09', '362681858.09', '362681874.09', '362681890.09', '362681906.09', + '362681922.09', '362681938.09', '362681954.09', '362681970.09', '362681986.09', '362682002.09', + '362682018.09', '362682034.09', '362682050.09', '362682066.09', '362682082.09', '362682098.09', + '362682114.09', '362682130.09', '362682146.09', '362682162.09', '362682178.09', '362682194.09', + '362682210.09', '362682226.09', '362682242.09', '362682258.09', '362682274.09', '362682290.09', + '362682306.09', '362682322.09', '362682338.09', '362682354.09', '362682370.09', '362682386.09', + '362682402.09', '362682418.09', '362682434.09', '362682450.09', '362682466.09', '362682482.09', + '362682498.09', '362682514.09', '362682530.09', '362682546.09', '362682562.09', '362682578.09'], + 'ShutterStatus': ['closed', 'open', 'open', 'open', 'open', 'open', 'open', 'open', 'open', 'open', 'open', 'open', + 'open', 'open', 'open', 'open', 'open', 'open', 'open', 'open', 'open', 'open', 'open', 'open', 'open', + 'open', 'open', 'open', 'open', 'open', 'open', 'open', 'open', 'open', 'open', 'open', 'open', 'open', + 'open', 'open', 'open', 'open', 'open', 'open', 'open', 'open', 'open', 'open', 'open', 'open', 'open', + 'open', 'open', 'open', 'open', 'open', 'open', 'open', 'open', 'closed'], + 'MirrorSin': [0.066178, -0.037118, -0.037118, -0.032479, -0.028083, -0.023443, -0.019048, -0.014652, -0.010012, -0.005617, + -0.000977, 0.003175, 0.007814, 0.01221, 0.016606, 0.021245, 0.025641, 0.030281, 0.034676, 0.039072, 0.043712, + 0.048107, 0.052747, 0.057143, 0.061538, 0.066178, 0.070574, 0.075214, 0.079609, 0.084005, 0.088645, 0.09304, + 0.097436, 0.102076, 0.106471, 0.110867, 0.115507, 0.119902, 0.124298, 0.128938, 0.133333, 0.137729, 0.142124, + 0.146764, 0.15116, 0.155555, 0.159951, 0.164347, 0.168986, 0.173382, 0.177778, 0.182173, 0.186569, 0.190964, + 0.19536, 0.199756, 0.204151, 0.208547, 0.212942, 0.217338], + 'MirrorCos': [0.997557, 0.999266, 0.999266, 0.999266, 0.999511, 0.999511, 0.999755, 0.999755, 0.999755, 0.999755, 0.999755, + 0.999755, 0.999755, 0.999755, 0.999755, 0.999755, 0.999511, 0.999511, 0.999266, 0.999022, 0.999022, 0.998778, + 0.998534, 0.99829, 0.998045, 0.997557, 0.997313, 0.997069, 0.99658, 0.996336, 0.995848, 0.995603, 0.995115, + 0.994627, 0.994138, 0.99365, 0.993161, 0.992673, 0.992185, 0.991452, 0.990964, 0.990231, 0.989743, 0.98901, + 0.988277, 0.987789, 0.987056, 0.986324, 0.985591, 0.984614, 0.983882, 0.983149, 0.982172, 0.98144, 0.980463, + 0.97973, 0.978754, 0.977777, 0.9768, 0.975823]} @pytest.fixture(scope="module", autouse=True) -def test_kernels(): +def fc_kernels(): kernels = get_image_kernels('FC21A0038582_15170161546F6F') updated_kernels, binary_kernels = convert_kernels(kernels) yield updated_kernels @@ -23,7 +51,7 @@ def test_kernels(): os.remove(kern) @pytest.mark.parametrize("label_type", ['pds3', 'isis3']) -def test_load(test_kernels, label_type): +def test_fc_load(fc_kernels, label_type): if label_type == 'isis3': label_prefix_file = "FC21A0038582_15170161546F6G" compare_dict = get_isd("dawnfc_isis") @@ -33,13 +61,33 @@ def test_load(test_kernels, label_type): label_file = get_image_label(label_prefix_file, label_type=label_type) - isd_str = ale.loads(label_file, props={'kernels': test_kernels}) + isd_str = ale.loads(label_file, props={'kernels': fc_kernels}) isd_obj = json.loads(isd_str) # print(json.dumps(isd_obj, indent=2)) assert compare_dicts(isd_obj, compare_dict) == [] -# ========= Test pds3label and naifspice driver ========= -class test_pds3_naif(unittest.TestCase): +@pytest.fixture(scope="module", autouse=True) +def vir_kernels(): + kernels = get_image_kernels('VIR_IR_1A_1_362681634_1') + updated_kernels, binary_kernels = convert_kernels(kernels) + yield updated_kernels + for kern in binary_kernels: + os.remove(kern) + +def test_vir_load(vir_kernels): + label_file = get_image_label("VIR_IR_1A_1_362681634_1", label_type="isis3") + with patch('ale.drivers.dawn_drivers.read_table_data', return_value=12345) as read_table_data, \ + patch('ale.drivers.dawn_drivers.parse_table', return_value=housekeeping_dict) as parse_table: + + compare_dict = get_isd("dawnvir") + + isd_str = ale.loads(label_file, props={"kernels": vir_kernels, "nadir": False}, verbose=False) + isd_obj = json.loads(isd_str) + x = compare_dicts(isd_obj, compare_dict) + assert x == [] + +# ========= Test dawn fc pds3label and naifspice driver ========= +class test_dawn_fc_pds3_naif(unittest.TestCase): def setUp(self): label = get_image_label("FC21A0038582_15170161546F6F", "pds3") @@ -101,12 +149,12 @@ def test_detector_center_line(self): bods2c.assert_called_with('DAWN_FC2_FILTER_6') gdpool.assert_called_with('INS54321_CCD_CENTER', 0, 2) -# ========= Test isis3label and naifspice driver ========= -class test_isis3_naif(unittest.TestCase): +# ========= Test dawn fc isis3label and naifspice driver ========= +class test_dawn_fc_isis3_naif(unittest.TestCase): def setUp(self): label = get_image_label("FC21A0038582_15170161546F6G", "isis3"); - self.driver = DawnFcIsisLabelNaifSpiceDriver(label); + self.driver = DawnFcIsisLabelNaifSpiceDriver(label) def test_short_mission_name(self): assert self.driver.short_mission_name == 'dawn' @@ -125,3 +173,89 @@ def test_ephemeris_start_time(self): assert self.driver.ephemeris_start_time == 12345.193 scs2e.assert_called_with(-203, '488002612:246') + +# ========= Test dawn vir isis3label and naifspice driver ========= +class test_dawn_vir_isis3_naif(unittest.TestCase): + def setUp(self): + label = get_image_label("VIR_IR_1A_1_362681634_1", "isis3") + self.driver = DawnVirIsisLabelNaifSpiceDriver(label) + + def test_instrument_id(self): + assert self.driver.instrument_id == "Visual and Infrared Spectrometer" + + def test_sensor_name(self): + assert self.driver.sensor_name == "VIR" + + def test_line_exposure_duration(self): + np.testing.assert_array_equal(self.driver.line_exposure_duration, [0.5]) + + def test_focal_length(self): + with patch('ale.drivers.dawn_drivers.spice.gdpool', return_value=[152.0]) as gdpool: + assert self.driver.focal_length == 152.0 + + def test_ikid(self): + assert self.driver.ikid == -203213 + + def test_sensor_frame_id(self): + ale.spice_root = "/foo/bar" + assert self.driver.sensor_frame_id == -203223 + + def test_line_scan_rate(self): + with patch('ale.drivers.dawn_drivers.read_table_data', return_value=12345) as read_table_data, \ + patch('ale.drivers.dawn_drivers.spice.scs2e', return_value=362681649.6134113) as scs2e, \ + patch('ale.drivers.dawn_drivers.parse_table', return_value={'ScetTimeClock': ['362681634.09', '362681650.09', '362681666.09'], \ + 'ShutterStatus': ['closed', 'open', 'open'], \ + 'MirrorSin': [0.066178, -0.037118, -0.037118], \ + 'MirrorCos': [0.997557, 0.999266, 0.999266]}) as parse_table: + + assert self.driver.line_scan_rate == ([0.5, 1.5, 2.5, 3.5], [-0.25, -0.25, -0.25, 15.75], [16, 16, 16, 16]) + + def test_sensor_model_version(self): + assert self.driver.sensor_model_version == 1 + + def test_optical_angles(self): + with patch('ale.drivers.dawn_drivers.read_table_data', return_value=12345) as read_table_data, \ + patch('ale.drivers.dawn_drivers.parse_table', return_value={'ScetTimeClock': ['362681634.09', '362681650.09', '362681666.09'], \ + 'ShutterStatus': ['closed', 'open', 'open'], \ + 'MirrorSin': [0.066178, -0.037118, -0.037118], \ + 'MirrorCos': [0.997557, 0.999266, 0.999266]}) as parse_table: + + assert self.driver.optical_angles == [-0.005747392247876606, -0.005747392247876606, -0.005747392247876606] + + def test_hk_ephemeris_time(self): + with patch('ale.drivers.dawn_drivers.read_table_data', return_value=12345) as read_table_data, \ + patch('ale.drivers.dawn_drivers.spice.scs2e', return_value=362681633.8634121) as scs2e, \ + patch('ale.drivers.dawn_drivers.parse_table', return_value={'ScetTimeClock': ['362681634.09', '362681650.09', '362681666.09'], \ + 'ShutterStatus': ['closed', 'open', 'open'], \ + 'MirrorSin': [0.066178, -0.037118, -0.037118], \ + 'MirrorCos': [0.997557, 0.999266, 0.999266]}) as parse_table: + + assert self.driver.hk_ephemeris_time == [362681633.8634121, 362681633.8634121, 362681633.8634121] + + def test_ephemeris_start_time(self): + with patch('ale.drivers.dawn_drivers.read_table_data', return_value=12345) as read_table_data, \ + patch('ale.drivers.dawn_drivers.spice.scs2e', return_value=362681633.8634121) as scs2e, \ + patch('ale.drivers.dawn_drivers.parse_table', return_value={'ScetTimeClock': ['362681634.09', '362681650.09', '362681666.09'], \ + 'ShutterStatus': ['closed', 'open', 'open'], \ + 'MirrorSin': [0.066178, -0.037118, -0.037118], \ + 'MirrorCos': [0.997557, 0.999266, 0.999266]}) as parse_table: + + assert self.driver.ephemeris_start_time == 362681633.8634121 - (0.5 / 2) + + def test_ephemeris_stop_time(self): + with patch('ale.drivers.dawn_drivers.read_table_data', return_value=12345) as read_table_data, \ + patch('ale.drivers.dawn_drivers.spice.scs2e', return_value=362682578.1133645) as scs2e, \ + patch('ale.drivers.dawn_drivers.parse_table', return_value={'ScetTimeClock': ['362681634.09', '362681650.09', '362681666.09'], \ + 'ShutterStatus': ['closed', 'open', 'open'], \ + 'MirrorSin': [0.066178, -0.037118, -0.037118], \ + 'MirrorCos': [0.997557, 0.999266, 0.999266]}) as parse_table: + + assert self.driver.ephemeris_stop_time == 362682578.1133645 + (0.5 / 2) + + def test_is_calibrated(self): + assert self.driver.is_calibrated == False + + def test_has_articulation_kernel(self): + ale.spice_root = "/foo/bar" + assert self.driver.has_articulation_kernel == False +