+-----------------------------------------------------------------------------+
|  __   __   __      __   __     __   ___     __   ___  __          __   ___  |
| /__\ /__` '__\    /__` |__) | /  ` |__     /__` |__  |__) \  / | /  ` |__   |
| \__, .__/ \__/    .__/ |    | \__, |___    .__/ |___ |  \  \/  | \__, |___  |
|                                                                             |
+-----------------------------------------------------------------------------+
The ExoMars 2016 Mission Archived SPICE Kernel Dataset

   Last update: 2019-08-08T16:54:14


Introduction
============

   This document describes the ExoMars 2016 SPICE kernel dataset (SKD)
   containing observation geometry and other ancillary data in the form of
   SPICE System kernel files for the TGO spacecraft its
   instruments and targets. It describes the dataset directory structure,
   kernels included in the dataset, their naming conventions, and provides
   pointers to the SPICE software and documentation.


Table of Contents
=================

   Introduction
   Table of Contents
   Overview
   Errata
   Archive Contents
   Kernel Types
   Kernel Details
      SPK Files
      PCK Files
      IK Files
      CK Files
      LSK Files
      SCLK Files
      FK Files
      DSK Files
      MK Files
   SPICE Software and Documentation
   Contact Information


Overview
========

   This archive includes the complete set of ExoMars 2016 SPICE data files
   (kernel files), which can be accessed using SPICE software. The
   SPICE data contain geometric and other ancillary information needed
   to recover the full value of science instrument data. In particular
   SPICE kernels provide spacecraft and planetary ephemerides,
   spacecraft and instrument orientation, instrument mounting
   alignments, and data needed for relevant time conversions. Data in
   the SPICE kernel files must be accessed using the software called
   the SPICE Toolkit produced and distributed by the Navigation and
   Ancillary Information Facility (NAIF) Node of the Planetary Data
   System.

   This archive includes data covering from ExoMars 2016 launch,
   through the end time of the latest spacecraft orientation file
   supplied in the archive. Until the end of the spacecraft lifespan
   this archive will be accumulating with new data added according to
   the project archiving plan.

Back to Table of Contents

Errata
======

   1. This document is a simple HTML document. Providing documents in a
      simple mark-up format was allowed by earlier versions of the PDS4
      Standards but became prohibited in later versions starting summer
      2015. Since the document was compliant at the time when the first
      SPICE Bundle was released and for the sake of cross agency
      consistency of SPICE bundles, it will exist in the archive
      as an HTML document.

   2. This document mentions and includes a section for Digital Shape
      Kernel (DSK) Files. These files are not present in the current
      release but will be present in future versions of the bundle.

   3. Kernels for the EDM Lander (Schiaparelli) and CK files for
      individual instruments (ACS, CaSSIS and NOMAD) have not been
      included in the present version of the bundle on purpose. These
      files will be present in future versions of the bundle.

   4. C-Matrix Kernels generated from Housekeeping Telemetry contain several
      gaps for different known reasons. Some of the gaps might be restored in
      future versions of the bundle. Note that for S/C attitude those gaps
      are covered by predicted CK files. For High Gain Antenna and Solar
      Arrays the user can load the CK files that provide canonical (zero)
      orientation. Note that these last files are not included in the
      meta-kernel.


Back to Table of Contents

Archive Contents
================

   Files in this archive are organized into a set of subdirectories
   below the top-level directory. The following diagram shows the
   structure and content of these directories. The directory names are
   enclosed in square brackets ([]).


  [top-level-directory]
   |
   |- bundle_em16_spice_v*.xml           Bundle PDS4 label, one or more versions.
   |- readme.txt                         Bundle top-level readme file.
   |
   |-[spice_kernels]                     Directory containing SPICE kernels.
   | |
   | |- collection_spice_kernels_v*.xml  PDS4 labels for Spice Kernels collections.
   | |- collection_spice_kernels_inventory_v*.tab
   | |                                   Spice Kernels collections' inventories.
   | |
   | |-[ck]                              Directory containing CK files.
   | | |
   | | |-- *.bc                          Binary CK files.
   | | +-- *.xml                         PDS4 labels for CK files.
   | |
   | |-[dsk]                             Directory containing DSK files.
   | | |
   | | |-- *.bds                         Binary DSK files.
   | | +-- *.xml                         PDS4 labels for DSK files.
   | |
   | |-[fk]                              Directory containing FK files.
   | | |
   | | |-- *.tf                          Text FK files.
   | | +-- *.xml                         PDS4 labels for FK files.
   | |
   | |-[ik]                              Directory containing IK files.
   | | |
   | | |-- *.ti                          Text IK files.
   | | +-- *.xml                         PDS4 labels for IK files.
   | |
   | |-[lsk]                             Directory containing LSK files.
   | | |
   | | |-- *.tls                         Text LSK files.
   | | +-- *.xml                         PDS4 labels for LSK files.
   | |
   | |--[mk]                             Directory containing MK files.
   | | |
   | | |-- *.tm                          Text Meta-kernel files.
   | | +-- *.xml                         PDS4 labels for MK files.
   | |
   | |-[pck]                             Directory containing PCK files.
   | | |
   | | |-- *.tpc                         Text PCK files.
   | | |-- *.bpc                         Binary PCK files.
   | | +-- *.xml                         PDS4 labels for PCK files.
   | |
   | |-[sclk]                            Directory containing SCLK files.
   | | |
   | | |-- *.tsc                         Text SCLK files.
   | | +-- *.xml                         PDS4 labels for SCLK files.
   | |
   | +-[spk]                             Directory containing SPK files.
   |   |
   |   |-- *.bsp                         Binary SPK files.
   |   +-- *.xml                         PDS4 labels for SPK files.
   |
   +-[document]                          Directory containing documents.
     |
     |- collection_document_v*.xml       PDS4 labels for document collections.
     |- collection_document_inventory_v*.tab
     |                                   Document collections' inventories.
     |
     |- spiceds_v*.html                  This file and its earlier versions.
     +- spiceds_v*.xml                   PDS4 labels for this file and its earlier versions.

Back to Table of Contents

Kernel Types
============

   Different SPICE kernel types are used to store different kinds of
   ancillary data.

   SPK (Spacecraft Planet Kernel) files contain ephemerides (position
   and velocity) for spacecraft, planets, satellites, comets and
   asteroids as well as for moving or fixed spacecraft and instrument
   structures. SPK files are located under the spice_kernels/spk
   directory of this archive.

   PCK (Planetary Constants Kernel) files contain certain physical,
   dynamical and cartographic constants for target bodies, such as size
   and shape specifications, and orientation of the spin axis and prime
   meridian. PCK files are located under the spice_kernels/pck
   directory of this archive.

   IK (Instrument Kernel) files contain instrument parameters relevant
   for computing an instrument's geometry such as field-of-view
   definitions, CCD and optical distortion characteristics, and internal
   timing parameters. IK files are located under the spice_kernels/ik
   directory of this archive.

   CK (C-matrix Kernel) files contain time varying orientations for
   spacecraft, spacecraft structures, and articulating science
   instruments. CK files are located under the spice_kernels/ck
   directory of this archive.

   LSK (Leapseconds Kernel) files contain the leapseconds and the
   values of other constants required to perform a transformation
   between Universal Time Coordinated (UTC) and Ephemeris time (ET),
   which is also known as Barycentric Dynamical Time (TDB). LSK
   files are located under the spice_kernels/lsk directory of
   this archive.

   SCLK (Spacecraft Clock Kernel) files contain on-board clock
   calibration data required to perform a transformation between
   Ephemeris time (ET) and spacecraft on-board time (SCLK). SCLK files
   are located under the spice_kernels/sclk directory of this
   archive.

   FK (Frame definitions Kernel) files contain information required to
   define reference frames, sources of frame orientation data and
   connections between these frames and other frames supported within
   the SPICE system. The science instrument frame definitions provided
   in the FK files include mounting alignment information for the
   instruments. FK files are located under the spice_kernels/fk
   directory of this archive.

   DSK (Digital Shape Kernel) files contain detailed shape models for
   extended objects. These objects typically are solar system bodies such as
   planets, dwarf planets, natural satellites, asteroids, and comet nuclei.
   DSK data also can represent shapes of artificial objects such as spacecraft
   components or represent abstractions such as a magnetic field model.
   DSK files are located under the spice_kernels/dsk
   directory of this archive.

   MK (Meta-Kernel) files list sets of related SPICE kernels that
   should be used together, providing an easy way to make data from
   these kernel sets available to a SPICE-based application by loading
   meta-kernels into the program using the high level SPICE data loader
   routine FURNSH. MK files are located the spice_kernels/mk
   directory of this archive.


Kernel Details
==============

   The subsections below provide details, such as file naming
   conventions and specific details, for each of the kernel types
   included in this archive.

   Please note that the most detailed description of the data in each file is
   provided in metadata included inside the file or the comment area of the
   file. For binary files this information can be viewed using the utility
   program COMMNT included in the NAIF Toolkit.

Back to Table of Contents

SPK Files 

   This directory contains the SPICE SP-Kernel files for the ExoMars 2016
   mission, including mission analysis, nominal and operational spacecraft
   trajectory SPKs, generic planetary and satellite ephemeris SPKs.



   Naming Scheme for ExoMars 2016 spacecraft SPKs:

     The naming scheme for the ExoMars 2016 spacecraft trajectory SPKs is:

           em16_SC_TYPE[_ID][_DESC]_YYYYMMDD_YYYYMMDD_vNN.bsp

     where

           SC        accronym of the spacecraft:

                          tgo: for the Trace Gas Orbiter (TGO) spacecraft;
                          edm: for the Schiaparelli (EDM) lander;

           TYPE      Data type, where a reference to the originator of the
                     data, the type of data and the and the reference period
                     is provided. This is a three letter acronym. The first
                     letter defines the file originator:

                          s: Science Operations Center;
                          m: Mission Analysis;
                          f: Flight Dynamics;

                     the second letter defines the reference period of the
                     data:

                          c: Cruise phase reference;
                          p: Pre-aerobraking phase reference;
                          a: Aerobraking phase reference;
                          l: Science phase Long term reference;
                          m: Science phase Medium term reference;
                          s: Science phase Short term reference;
                          o: Undefined reference;

                     the third letter indicates the type of data

                          p: Predicted and often reconstructed data;
                          r: Reconstructed data;
                          t: Test data;

           ID        mapping to the original file product IDs as defined
                     per an ICD document (optional);

           DESC      free text description of any particular aspect of the
                     data (optional);

           YYYYMMDD  coverage start and stop times in TDB (required);

           NN        version number, starting from 01 (required; e.g. 01);


     The naming scheme for the ExoMars 2016 spacecraft center-of-gravity
     SPKs is:

           em16_SC_cog_vNN.bsp

     where

           SC        accronym of the spacecraft:

                          tgo: for the Trace Gas Orbiter (TGO) spacecraft;
                          edm: for the Schiaparelli (EDM) lander;

           NN        version number, starting from 01 (required; e.g. 01);


     The naming scheme for the ExoMars 2016 spacecraft structures SPKs is:

           em16_SC_structures_vNN.bsp

     where

           SC        accronym of the spacecraft:

                          tgo: for the Trace Gas Orbiter (TGO) spacecraft;
                          edm: for the Schiaparelli (EDM) lander;

           NN        version number, starting from 01 (required; e.g. 01);


   Naming Scheme for Generic Planetary Ephemeris SPKs

     The naming scheme for generic planetary SPKs is:

           deNNN.bsp

     where

           NNN       DE version (required; e.g. 421);


   Naming Scheme for Generic Mars Satellite Ephemeris SPKs

     The naming scheme for generic mars satellite SPKs is:

           marNNN[_EXTRA].bsp

     where

           NNN       satellite ephemeris number (required; e.g. 083);

           EXTRA     additional information token (optional);


   Naming Scheme for ESA ESTRACK ground stations SPKs

     The naming scheme for ESA ESTRACK ground stations SPKs is:

           estrack_vNN.bsp

     where

           NN       version (required; e.g. 01);


   Naming Scheme for ESA New Norcia ground station SPKs

     The naming scheme for ESA New Norcia ground stations SPKs is:

           new_norcia.bsp



Back to Table of Contents

PCK Files 

   This directory contains generic and mission-specific SPICE Planetary
   Constants Kernel files for the ExoMars 2016 mission. The data in these
   kernels correspond to the best knowledge of the orientation, size and
   shape of Mars, its satellites and the Earth.



   Naming Scheme for Generic PCKs

     The naming scheme for generic PCKs is:

           pckNNNNN.tpc

     where

           NNNNN    version number (required)(e.g. 00010);

                    If multiple versions of a generic PCK Kernel file are
                    provided, always use the latest version (unless an
                    earlier version is needed for some special reasons.)


     The naming scheme for generic PCK containing masses for Solar System
     bodies is:

           de-NNN-masses.tpc

     where

           NNNN     planetary ephemeris version number (required)(e.g. 403);

                    If multiple versions of a generic PCK Kernel file are
                    provided, always use the latest version (unless an
                    earlier version is needed for some special reasons.)


   Naming Scheme for Earth high-precision PCKs

     The naming scheme for the Earth high-precision PCKs is:

           earth_SDAT_EDAT_PDAT.bpc

     where

           SDAT     is the file's coverage start time in YYMMDD format;

           EDAT     is the file's coverage end time in YYMMDD format;

           PDAT     is the date from which the information contained
                    in the file corresponds to predicted data. Any data
                    prior to this date corresponds to actual measurements.



Back to Table of Contents

IK Files 

   This directory contains the SPICE Instrument Kernel files for the
   ExoMars 2016 Trace Gas Orbiter (TGO) remote sensing instruments.



   The naming scheme for ExoMars2016 IKs is:

         em16_SC_INST_vNN.ti

   where

         SC       accronym of the spacecraft (required):

                     tgo: for the Trace Gas Orbiter (TGO) spacecraft;
                     edm: for the for the Schiaparelli (EDM) lander;

         INST     instrument identifier (required):

                     acs      for ACS
                     cassis   for CaSSIS
                     frend    for FREND
                     nomad    for NOMAD
                     str      for Star Trackers

         NN       version number (required);

                  If multiple versions of an IK file are provided for an
                  instrument, always use the latest version (unless
                  earlier version is needed for some special reasons.)



Back to Table of Contents

CK Files 

     CK (Camera-Matrix Kernel) files contain time varying orientation for
     the ExoMars2016 TGO spacecraft, its structures, and science instruments.



   ExoMars2016 spacecraft CK:

      The naming scheme for the ExoMars2016 spacecraft CKs is:

           em16_SC_INST_TYPE[_ID][_DESC]_YYYYMMDD_YYYYMMDD_SCLK_vNN.bc

      where

           SC       accronym of the spacecraft (required):

                       tgo: for the Trace Gas Orbiter (TGO) spacecraft;
                       edm: for the for the Schiaparelli (EDM) lander;

           INST     instrument/structure/sensor identifier (required):

                       sc: for the TGO/EDM spacecraft frame;
                       cassis: for the CaSSIS Telescope frame;
                       nomad: for the NOMAD LNO Scanning mirror frame;

           TYPE      Data type, where a reference to the originator of the
                     data, the type of data and the and the reference period
                     is provided. This is a three letter acronym. The first
                     letter defines the file originator:

                          s: Science Operations Center;
                          m: Mission Analysis;
                          f: Flight Dynamics;
                          i: Instrument Team;

                     the second letter defines the reference period of the
                     data:

                          c: Cruise phase reference;
                          p: Pre-aerobraking phase reference;
                          a: Aerobraking phase reference;
                          l: Science phase Long term reference;
                          m: Science phase Medium term reference;
                          s: Science phase Short term reference;
                          o: Undefined reference;

                     the third letter indicates the type of data

                          p: Predicted data;
                          m: Measured data;
                          r: Reconstructed data;
                          t: Test data;

           ID        mapping to the original file product IDs as defined per
                     an ICD document (optional);

           DESC      description of the original reference file of any
                     particular of the original file (optional) e.g:

                          npo: Nadir Power-optimized s/c attitude;
                          noa: Nadir Orbit-aligned s/c attitude;
                          axis: Orientation of the spin axis of EDM;
                          spin: Angular velocity od the spin axis of EDM;

           YYYYMMDD  coverage start and stop times in TDB (required);

           SCLK      reference to SCLK used to created the CK (required):

                         sYYYYMMDD: SCLK version YYMMDD for type ``step''
                         tYYYYMMDD: SCLK version YYMMDD for type ``stretch''
                         fYYYYMMDD: SCLK version YYMMDD for type ``fictional''

           NN        CK version number -- 2 digits (required).


      See [5] for further details on the SCLK types available to ExoMars2016.

   If multiple versions of a C-Kernel file are provided, always use the latest
   version (unless earlier version is needed for some special reasons.)



Back to Table of Contents

LSK Files 

   This directory contains the generic SPICE Leapseconds Kernel files for
   the ExoMars 2016 mission.
   


   The naming scheme for generic LSKs is:
 
         naifNNNN.tls
 
   where
 
         NNNN     version number (required)(e.g. 0011);
 
                  If multiple versions of a generic LSK Kernel file are
                  provided, always use the latest version (unless earlier
                  version is needed for some special reasons.)



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SCLK Files 

   This directory contains the SPICE Spacecraft Clock-Kernel files for the
   ExoMars 2016 Trace Gas Orbiter (TGO) spacecraft on-board clock.



   The naming scheme for TGO SCLKs is:
 
        em16_tgo_TYPE_YYYYMMDD.tsc

   where

        TYPE     SCLK data type contained within the file:

                 fict:   ``fictional'' data;
                  
                 stre:   SCLK created using a 'stretch' strategy, i.e. TCPs
                         are considered only the time they start to be
                         applicable, and then the correlation is made by
                         linking these points, i.e. not taking into
                         consideration the gradient and offsets provided
                         within the TCPs;
                          
                 step:   SLKC created using a 'step' strategy, i.e.
                         additional TCPs are created between real ones in
                         order to match the time correlation provided by a
                         TCP packet N at 60 seconds before TCP packet N+1,
                         so that continuity is forced.

        YYYYMMDD start time of applicability, i.e. either release date for
                 fictional SCLKs or date of the last TCP used to generate
                 the SCLK in stretch/step mode.



Back to Table of Contents

FK Files 

   This directory contains the SPICE Frames Definition Kernel files for the
   ExoMars 2016 TGO spacecraft, its structures, and science instruments, as
   well as for the Ground Earth Stations. Moreover, it contains frame
   definitions for science operations and for data analysis and scientific
   investigations.



   The following table provides information on which file contains which
   frames, their file naming conventions and some particular details:

      File                         Contents
     ---------------------------  -----------------------------------------
      earthfixediau.tf             Makes the IAU_EARTH coincide with
                                   the Earth fixed reference frame.

      estrack_vNN.tf               ESA Ground Stations topocentric frames.

      new_norcia_topo.tf           ESA New Norcia topocentric frame.

      earth_topo_050714.tf         NASA DSN Ground Stations topocentric
                                   frames.

      rssd0002.tf                  Cross-mission frames kernel that defines
                                   frames of interest not ``built'' in the
                                   SPICE toolkit.

      em16_tgo_ops_vNN.tf          ExoMars 2016 TGO science operations
                                   frames.

      em16_tgo_vNN.tf              ExoMars2016 TGO spacecraft, structures,
                                   instruments and sensors frames.

   where

           NN       version number -- two digits (required)

                    If multiple versions of a Frames Kernel file are
                    provided, always use the latest version (unless
                    earlier version is needed for some special reasons.)



Back to Table of Contents

DSK Files 

   This directory contains the SPICE Digital Shape-Kernel files for
   ExoMars2016 target bodies. Particularly, it contains data for the
   following bodies:

       Name                  NAIF ID
      -------------------   ---------
       MARS                  -499
       PHOBOS                -401
       DEIMOS                -402



   The naming scheme for the ExoMars2016 spacecraft DSKs is:

      BODY_RRRR_PRO[_ID][_DESC]_vNN.bds

   where

        BODY            body: mars for Mars, phobos for Phobos, or deimos for
                        Deimos.

        RRRR            number of plates: Knnn (for nnn thousand plates) or
                        Mnnn (for mmm million plates)

        PRO             producer:

                           esa for European Space Agency
                           dlr for Deutsches Zentrum fur Luft- und
                               Raumfahrt e.V.
                           gas for Gaskell, R.W.
                           tho for Thomas, P.
                           mol for Mars Global Surveyor MOLA data.


        NN              version: v01, v02, v03 ...

        bds             extension: .bds



Back to Table of Contents

MK Files

   Meta-kernel (MK) files (a.k.a 'furnsh' files) provide lists of the
   archived kernels included in this archive suitable for loading into
   a SPICE-based application via the high level SPICE data loader
   routine FURNSH. Using meta-kernels makes it easy to load with
   one call a comprehensive SPICE data collection for a given period.

   The text MK files are provided under the spice_kernels/mk
   directory and are named according to the following scheme:

      -  ExoMars 2016 MK files

               em16_vVVV.tm

            where

               VVV       is the version; the file with the latest
                         version supersedes all similarly named
                         files with earlier versions.

   The reasons for adding new kernels include (but are not limited to)
   adding new kinds of kernels, adding new versions of existing kernels
   containing more complete or more accurate data, and adding new
   versions of existing kernels superseding the existing kernels that
   had errors. The file with the latest version number supersedes all
   earlier versions.

   Although the meta-kernels were created such that on a UNIX
   workstation they can be loaded into a SPICE-based application
   directly from the directory in which they reside -- because the
   PATH_VALUES keyword is set to '..' and '/' is used as the path
   delimiter -- it is recommended that users make local copies of these
   files and update the PATH_VALUES keyword in each of them to point to
   the actual location of the archive's 'spice_kernels' directory on
   their system. Additional changes including replacing '/' and '\' in
   all path specifications and converting UNIX line terminators to
   terminators native to the user's system may be required to use these
   meta-kernels on non-UNIX workstation.

   The following guidelines were followed to pick and set priority --
   determined by the order in which the kernel files are listed, with
   the latest one taking precedence -- for the kernel files included in
   these meta-kernels:

      -  the latest archived versions of LSK, PCK, SCLK, IK, FK, generic
         SPKs, fixed offset SPKs, and fixed orientation CKs were included

      -  the latest reconstructed SPKs were included

      -  the latest predicted and reconstructed CKs were included

   Additional description of the kernels sets listed in a text MK file is
   provided in metadata included inside the description area of the
   file. This information can be viewed using any text editor program.

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File Formats
============

   All text documents and other meta information files such as
   descriptions, detached PDS4 labels, and inventory tables are stream
   format files, with a carriage return (ASCII 13) and a line feed
   character (ASCII 10) at the end of the records.  This allows the
   files to be read by most operating systems.

   The text kernel files in this archive -- LSKs, PCKs, SCLKs, IKs, and
   FKs -- are UNIX text files, with a line feed character (ASCII 10) at
   the end of the line, and binary kernels files -- SPKs and CKs -- are
   IEEE LSB binary files. While data files in this archive can be used
   'as is' with SPICE toolkits for the majority of supported
   environments, converting the files to the binary or text format
   native to the user's computer may be required for use of the data
   with FORTRAN toolkits on incompatible environments. Refer to the
   documentation provided with the SPICE Toolkit to find out whether
   conversion is needed in each specific case.

   NAIF provides a tool (BINGO) that can convert either binary or text
   kernels from one format to another. This means that text files can
   have their line terminator changed and binary files can be converted
   to the native format of the platform of interest. BINGO is available
   from the utilities page at the NAIF Node of the PDS:

      http://naif.jpl.nasa.gov/naif/utilities.html

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SPICE Software and Documentation
================================

   The latest SPICE Toolkit for a variety of computer platforms,
   additional utility programs, documentation, tutorials, and hands-on
   lessons are available at the NAIF Node of the PDS:

      http://naif.jpl.nasa.gov

   specifically:

      Toolkit:   http://naif.jpl.nasa.gov/naif/toolkit.html

      Utilities: http://naif.jpl.nasa.gov/naif/utilities.html

      Tutorials: http://naif.jpl.nasa.gov/naif/tutorials.html

      Lessons:   http://naif.jpl.nasa.gov/naif/lessons.html

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Contact Information
===============================

   If you have any questions regarding this directory or its
   contents, please contact the ESA SPICE Service:

             Marc Costa Sitja
             (+34) 91-8131-457
             esa_spice@sciops.esa.int

   or NAIF at JPL:

             Boris Semenov
             (818) 354-8136
             Boris.Semenov@jpl.nasa.gov

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Cognisant Persons
===============================

   This archive was produced by Marc Costa Sitja,
   ESA SPICE Service, Cross Mission Support Office (SCI-OPM),
   Data and Engineering Division (SCI-OP), Directorate of Science (D/SCI),
   European Space Astronomy Centre (ESAC), European Space Agency (ESA),
   Villanueva de la Canada, Spain.


End of ExoMars 2016 SPICE archive description.
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