What's New in SPICE =========================================================================== Introduction =========================================================================== This document describes new and extended capabilities of the latest version of the SPICE Toolkit. It also notes bug fixes. Each release of the Toolkit is documented in a separate chapter that is titled with the version of the Toolkit. The most recent version of the Toolkit is documented first. The next most recent version is documented next, and so on. The Toolkit version changes described in this document are Version 67 --- January 2022 Version 66 --- April 2017 Version 65 --- July 2014 Version 64 --- June 2010 Version 63 --- April 2009 Version 62 --- March 2008 Version 61 --- December 2006 Version 60 --- December 2005 Version 59 --- November 2005 Version 58 --- January 2005 Version 57 --- March 2004 Version 56 --- August 2003 Version 55 --- March 2003 Version 54 --- December 2002 Version 53 --- September 2002 Version 52 --- January 2002 Version 51 --- April 2000 Version 50 --- October 1999 Version 49 --- September 1998 Version 48 --- May 1998 Version 47 --- July 1997 Version 46 --- January 1997 Version 45 --- October 1996 Version 44 --- August 1996 Version 43 --- May 1996 Version 42 --- December 1995 Version 41 --- October 1995 Version 67 --- January 2022 =========================================================================== Summary -------------------------------------------------------- This is a brief summary of what's new and updated in N0067, with the details about each item provided later in this section: -- support for one new environment (M1 Mac 64-bit C/clang) -- termination of support for 16 environments, across all languages -- complete examples in most high level API headers in all languages -- extension of Icy and Mice headers to include all sections -- new SWITCH frames class -- new PRODUCT dynamic frames type -- SCLK subsystem overhaul (increased efficiency for multiple clocks) -- text PCK extensions (additional terms, synonym keywords) -- Time subsystem extensions (allowing Z in ISO tags, TT and GPS time systems support) -- SPK and CK ID buffers capacity increase -- new tangent point routine (TANGPT) -- new target separation routine (TRGSEP) -- new TLE evaluator routine based on Vallado 2006 (EVSGP4) -- new azimuth and elevation family of routines -- new get-FOV by instrument name routine (GETFVN) -- 49 new CSPICE wrappers -- 62 new Icy wrappers -- 95 new Mice wrappers -- new MKDSK polar cap generation capability -- bug fixes in the Toolkit and utility programs Acknowledgements -------------------------------------------------------- The N0067 version of the toolkit includes substantial contributions by ODC Space (https://www.odcspace.com) with the majority of new CSPICE, Icy, and Mice wrappers, complete compilable/executable examples, and documentation improvements produced by this company with the assistance of its automated SPICE code and documentation conversion/production tools developed under contract with NAIF/JPL. Environments -------------------------------------------------------- New Environments The SPICE Toolkit is now officially supported on this new environment: CSPICE: Mac/M1 OS-X clang / 64bit Deprecated Environments The SPICE Toolkit is no longer supported on these environments: FORTRAN Toolkit: Mac/Intel OS-X GFORTRAN / 32bit Mac/Intel OS-X Intel FORTRAN / 32bit PC CYGWIN GFORTRAN / 32bit Sun/Intel Solaris SUN FORTRAN / 32bit Sun/Intel Solaris SUN FORTRAN / 64bit CSPICE: Mac/Intel OS-X Apple C / 32bit PC CYGWIN gCC / 32bit Sun/Intel Solaris SUN C / 32bit Sun/Intel Solaris SUN C / 64bit Icy: PC Linux gCC / IDL 8.x / 32bit PC Windows MS VS C / IDL 7.x / 32bit Sun Solaris SUN C / IDL 7.x / 32bit Sun Solaris gCC / IDL 7.x / 32bit Sun Solaris gCC / IDL 7.x / 64bit Sun/Intel Solaris SUN C / IDL 8.x / 64bit Mice: Sun Solaris SUN C / MATLAB 7.x / 64bit Complete List of Supported Environments This is the complete list of environments on which the N0067 version of the SPICE Toolkit is supported: FORTRAN Toolkit: Mac/Intel OS-X GFORTRAN / 64bit Mac/Intel OS-X Intel FORTRAN / 64bit PC CYGWIN GFORTRAN / 64bit PC Linux GFORTRAN / 32bit PC Linux GFORTRAN / 64bit PC Linux Intel FORTRAN / 64bit PC Linux Intel FORTRAN / 32bit PC Linux g77 / 32bit PC Windows Intel FORTRAN / 32bit PC Windows Intel FORTRAN / 64bit Sun Solaris SUN FORTRAN / 32bit CSPICE: Mac/Intel OS-X Apple C / 64bit Mac/M1 OS-X clang / 64bit PC CYGWIN gCC / 64bit PC Linux gCC / 32bit PC Linux gCC / 64bit PC Windows MS VS C / 32bit PC Windows MS VS C / 64bit Sun Solaris SUN C / 32bit Sun Solaris SUN C / 64bit Sun Solaris gCC / 32bit Sun Solaris gCC / 64bit Icy: Mac/Intel OS-X Apple C / IDL 8.x / 64bit PC Linux gCC / IDL 8.x / 64bit PC Windows MS VS C / IDL 8.x / 64bit Mice: Mac/Intel OS-X Apple C / MATLAB 9.x / 64bit PC Linux gCC / MATLAB 9.x / 64bit PC Windows MS VS C / MATLAB 9.x / 64bit Scratch EK File Issue in Icy on PC/Windows The scratch EK file issue in Icy on PC/Windows described in the N0061 section of this document persists in the N0067_update_log version of the Toolkit. Optimization on PC Linux, Intel FORTRAN, 32bit Default optimization was turned off in the PC Linux, Intel FORTRAN, 32bit toolkit because of the bugs in the compiler versions available to NAIF. Need for Static System Libraries on Linux and OS-X Static system libraries needed to build statically-linked FORTRAN toolkit executables on Linux and OS-X are frequently not included in more modern versions of these operating systems. If a need to recompile a Linux or an OS-X FORTRAN toolkit arises and the linking step performed by mkprodct.csh build scripts fails with an error message indicating the lack of needed static system libraries, users should install these libraries as appropriate for their system before re-trying a recompile. SPICELIB/CSPICE/Icy/Mice Additions and Updates -------------------------------------------------------- Zero-sized Generic Toolkit Version Identification File All toolkit packages now include a zero-sized file identifying the generic toolkit version, e.g. ``N0067'', located in the toolkit's top directory . Complete examples in Headers The Examples sections of the vast majority of SPICELIB and CSPICE headers and nearly all Icy and Mice headers now contain one or more complete compilable/executable examples using PDS-archived and/or generic kernels from the NAIF server. The list of all kernels used in the examples is available at: https://naif.jpl.nasa.gov/naif/n0066_example_kernels.html Additional Sections in Icy and Mice Headers The set of sections included in the Icy and Mice headers has been extended to match that of SPICELIB and CSPICE headers by adding the Parameters Exceptions Files Restrictions Literature_References Author_and_Institution sections. The set of information provided in the headers of APIs present in all four languages has been made consistent across all languages. New Switch Frames Class The Frames Subsystem was extended to support a new class of frames, ``Switch Frames.'' Switch frames choose at run time other frames, called ``base frames,'' with which to align their orientation. Switch frames ``switch'' the base frames they align with as a function of time, using a prioritized list of base frames and optional, associated time bounds; this list is provided as part of the switch frame definition stored in a text kernel. Switch frames extend the flexibility of the SPICE frame subsystem by allowing a user-defined frame to rely on different data sources at different times. Refer to the ``Switch Frames'' section of the Frames Required Reading document, frames.req, for details. New Dynamic Frame Family -- Product Frames The Dynamic Frames subsystem was extended to support a new frame family, ``Product Frames.'' Product frames may be thought of as a generalization of TK (constant offset) frames. The orientation of a product frame relative to a specified base frame is defined by a product of one or more frame transformations, where each factor may be any transformation computable by the SPICE frame subsystem. Refer to the ``Product Frames'' section of the Frames Required Reading document, frames.req, for details. SCLK Subsystem Overhaul The SCLK Subsystem was substantially redesigned to efficiently support interleaved time conversions involving multiple spacecraft clocks. The maximum number of SCLK coefficient records that can be buffered simultaneously has been increased from 50000 to 100000. Text PCK Extensions The text PCK subsystem was extended to support optional use of phase angle polynomials of up to cubic degree. Formerly these polynomials were required to be linear. The keywords BODY_CONSTS_JED_EPOCH BODY_CONSTS_REF_FRAME are now recognized as synonyms of the respective keywords BODY_CONSTANTS_JED_EPOCH BODY_CONSTANTS_REF_FRAME The new, shorter keywords enable use of ID codes that occupy 11 characters in string form. Refer to the PCK Required Reading document, pck.req, for details. Time System changes The Time system capabilities were extended: -- to accept ISO-style UTC time string with trailing ``Z'', e.g. 2022-01-01T12:00:00.000Z, 2022-001T12:00:00.000Z, in all high level routines that accept a UTC string on input -- STR2ET, TPARSE, UTC2ET. -- to support ``TT'' as a synonym of ``TDT'' in the output template definition in the TIMOUT routine that outputs time strings and in the uniform numeric time conversion routine UNITIM. -- to support GPS time in the uniform numeric time conversion routine UNITIM CK Buffered Structure ID Limit The maximum number of CK structure IDs that can be buffered simultaneously has been increased from 100 to 5000. SPK Buffered Body ID Limit The maximum number of SPK body IDs that can be buffered simultaneously has been increased from 200 to 10000. New Tangent Point Routine The N0067 version offers a new routine to compute, for a given observer, ray emanating from the observer, and target, the ``tangent point'' -- the point on the ray nearest to the target's surface, as well as the point on the target's surface nearest to the tangent point: TANGPT (SPICELIB) tagnpt_c (CSPICE) cspice_tagnpt (ICY and MICE) New Target Separation Routine The N0067 version offers a new function to compute the angular separation between two spherical or point objects as seen from a third object: TRGSEP (SPICELIB) trgsep_c (CSPICE) cspice_trgsep (ICY and MICE) New TLE Evaluator Routine The N0067 version offers a new routine to evaluate NORAD two-line element data for earth orbiting spacecraft based on the algorithms published by Vallado et. al. (2006): EVSGP4 (SPICELIB) evsgp4_c (CSPICE) cspice_evsgp4 (ICY and MICE) New Azimuth and Elevation State Routine The N0067 version offers a new routine to compute the azimuth/elevation coordinates of a specified target relative to an ``observer,'' where the observer has constant position in a specified reference frame: AZLCPO (SPICELIB) azlcpo_c (CSPICE) cspice_azlcpo (ICY and MICE) New Azimuth and Elevation Conversion Routines The N0067 version offers new routines to convert between range, azimuth and elevation and rectangular coordinates, and for computing the Jacobian matrices of the transformation between their derivatives: AZLREC DAZLDR (SPICELIB) RECAZL DRDAZL (SPICELIB) azlrec_c dazldr_c (CSPICE) recazl_c drdazl_c (CSPICE) cspice_azlrec cspice_dazldr (ICY and MICE) cspice_recazl cspice_drdazl (ICY and MICE) New Routine to Get FOV Parameters Using Instrument Name The N0067 version offers a new routine to retrieve the field-of-view (FOV) parameters for an instrument specified by its name: GETFVN (SPICELIB) getfvn_c (CSPICE) cspice_getfvn (ICY and MICE) Other New SPICELIB Interfaces The following new miscellaneous APIs were added to SPICELIB: REPML New CSPICE Wrapper Routines The following 49 new wrapper APIs were added to CSPICE to make the set of its APIs be more closely aligned with the set available in the FORTRAN toolkit: chbigr_c chbint_c chbval_c ckfrot_c ckfxfm_c ckgr02_c ckgr03_c ckmeta_c cknr02_c cknr03_c clearc_c cleari_c dafhsf_c dasadc_c dasadd_c dasadi_c dashfs_c daslla_c dasllc_c dasonw_c dasops_c dasrdc_c dasrdd_c dasrdi_c dasudc_c dasudd_c dasudi_c daswbr_c dlabns_c dlaens_c dlaopn_c dnearp_c ednmpt_c edpnt_c filld_c filli_c hrmesp_c invstm_c lgresp_c lgrint_c moved_c nextwd_c nthwd_c qderiv_c stlabx_c tkfram_c tparch_c twovxf_c vprojg_c New Icy Wrapper Routines and Global Parameter Scripts The following 62 new wrapper APIs were added to Icy to make the set of its APIs be more closely aligned with the set available in the CSPICE toolkit: cspice_bltfrm cspice_chbder cspice_chbigr cspice_chbint cspice_chbval cspice_ckfrot cspice_ckfxfm cspice_ckgr02 cspice_ckgr03 cspice_ckmeta cspice_cknr02 cspice_cknr03 cspice_dafhsf cspice_dafps cspice_dasadc cspice_dasadd cspice_dasadi cspice_dashfs cspice_daslla cspice_dasllc cspice_dasonw cspice_dasops cspice_dasopw cspice_dasrdc cspice_dasrdd cspice_dasrdi cspice_dasudc cspice_dasudd cspice_dasudi cspice_daswbr cspice_dlabbs cspice_dlabns cspice_dlaens cspice_dlafps cspice_dlaopn cspice_dnearp cspice_ednmpt cspice_edpnt cspice_hrmesp cspice_hrmint cspice_invstm cspice_kplfrm cspice_lgresp cspice_lgrind cspice_lgrint cspice_nextwd cspice_nthwd cspice_oscltx cspice_polyds cspice_qderiv cspice_repmc cspice_repmct cspice_repmd cspice_repmf cspice_repmi cspice_repmot cspice_stlabx cspice_surfpv cspice_tkfram cspice_tparch cspice_twovxf cspice_vprojg The following global parameter scripts were added to Icy: IcyDAS.pro IcyDLA.pro IcyDSK.pro IcyDtl.pro IcyFrm.pro IcyGF.pro IcyOsc.pro For user convenience, the IcyUser.pro script includes all of these global parameter scripts. The following global parameter scripts were removed from Icy, with the relevant parameters that they used to define moved to the new global parameter scripts listed above: DSKIcy02.pro DSKIcyUser.pro DSKtol.pro New Mice Wrapper Routines and Global Parameter Scripts The following 95 new wrapper APIs were added to Mice to make the set of its APIs be more closely aligned with the set available in the CSPICE toolkit: cspice_badkpv cspice_bltfrm cspice_chbder cspice_chbigr cspice_chbint cspice_chbval cspice_ckfrot cspice_ckfxfm cspice_ckgr02 cspice_ckgr03 cspice_cklpf cspice_ckmeta cspice_cknr02 cspice_cknr03 cspice_ckupf cspice_dafhsf cspice_dafps cspice_dafrs cspice_dasadc cspice_dasadd cspice_dasadi cspice_dashfs cspice_daslla cspice_dasllc cspice_dasonw cspice_dasops cspice_dasopw cspice_dasrdc cspice_dasrdd cspice_dasrdi cspice_dasudc cspice_dasudd cspice_dasudi cspice_daswbr cspice_dlabbs cspice_dlabns cspice_dlaens cspice_dlafps cspice_dlaopn cspice_dnearp cspice_dpmax cspice_dpmin cspice_ednmpt cspice_edpnt cspice_expool cspice_getelm cspice_getfat cspice_hrmesp cspice_hrmint cspice_intmax cspice_intmin cspice_invstm cspice_kplfrm cspice_ldpool cspice_lgresp cspice_lgrind cspice_lgrint cspice_nextwd cspice_nthwd cspice_oscltx cspice_polyds cspice_prop2b cspice_qderiv cspice_qdq2av cspice_qxq cspice_repmc cspice_repmct cspice_repmd cspice_repmf cspice_repmi cspice_repmot cspice_rotvec cspice_scfmt cspice_scpart cspice_spkapo cspice_spkez cspice_spkgeo cspice_spklef cspice_spkssb cspice_spkuef cspice_spkw09 cspice_spkw10 cspice_spkw13 cspice_stelab cspice_stlabx cspice_surfpv cspice_szpool cspice_tipbod cspice_tisbod cspice_tkfram cspice_tparch cspice_tparse cspice_twovxf cspice_vprojg cspice_vupack The following global parameter scripts were added to Mice: MiceDAS.m MiceDLA.m MiceDSK.m MiceDtl.m MiceFrm.m MiceGF.m MiceOsc.m For user convenience, the MiceUser.m script includes all of these global parameter scripts. The following global parameter scripts were removed from Mice, with the relevant parameters that they used to define moved to the new global parameter scripts listed above: DLAMice.m DSKMice02.m DSKMiceUser.m NAIF IDs Document Update for Extended Asteroids ID Schema The NAIF IDs Required Reading document, naif_ids.req, was updated to describe the new extended asteroid NAIF ID schema providing for 8-9 digit asteroid IDs allowing for distinct style IDs for singular asteroids and objects in multi-body asteroid systems (barycenters, primary asteroids, satellite asteroids). Refer to the ``Asteroids'' section of the document for details. Built-in NAIF ID Code/Name Definitions The following new built-in NAIF ID code/name definitions have been added to or changed in the Toolkit: Spacecraft: -652 MERCURY TRANSFER MODULE -652 MTM -652 BEPICOLOMBO MTM -255 PSYC -243 VIPER -242 LUNAR TRAILBLAZER -240 SMART LANDER FOR INVESTIGATING MOON -240 SLIM -239 MARTIAN MOONS EXPLORATION -239 MMX -210 LICIA -210 LICIACUBE -197 EXOMARS_LARA -197 LARA -174 EXM RSP RM -174 EXM ROVER -174 EXOMARS ROVER -173 EXM RSP SP -173 EXM SURFACE PLATFORM -173 EXOMARS SP -172 EXM RSP SCC -172 EXM SPACECRAFT COMPOSITE -172 EXOMARS SCC -168 PERSEVERANCE -168 MARS 2020 -168 MARS2020 -168 M2020 -164 LUNAR FLASHLIGHT -156 ADITYA -156 ADIT -155 KPLO -155 KOREAN PATHFINDER LUNAR ORBITER -153 CH2L -153 CHANDRAYAAN-2 LANDER -152 CH2O -152 CHANDRAYAAN-2 ORBITER -148 DFLY -148 DRAGONFLY -135 DART -135 DOUBLE ASTEROID REDIRECTION TEST -119 MARS_ORBITER_MISSION_2 -119 MOM2 -96 PARKER SOLAR PROBE -72 JNSB -72 JANUS_B -57 LUNAR ICECUBE -45 JNSA -45 JANUS_A -43 IMAP -39 LUNAR POLAR HYDROGEN MAPPER -39 LUNAH-MAP -37 HYB2 -37 HAYABUSA 2 -37 HAYABUSA2 -33 NEOS -33 NEO SURVEYOR DSN Stations: 399035 DSS-35 399036 DSS-36 399056 DSS-56 399069 DSS-69 Asteroids: 2000052 52_EUROPA 2000052 52 EUROPA 2162173 RYUGU 2486958 ARROKOTH 20000617 PATROCLUS_BARYCENTER 20000617 PATROCLUS BARYCENTER 20003548 EURYBATES_BARYCENTER 20003548 EURYBATES BARYCENTER 20011351 LEUCUS 20015094 POLYMELE 20021900 ORUS 20052246 DONALDJOHANSON 20065803 DIDYMOS_BARYCENTER 20065803 DIDYMOS BARYCENTER 120000617 MENOETIUS 120003548 QUETA 120065803 DIMORPHOS 920000617 PATROCLUS 920003548 EURYBATES 920065803 DIDYMOS The following built-in NAIF ID code/name definitions have been removed from the Toolkit: -164 YOHKOH -164 SOLAR-A -135 DRTS-W -69 PSYC -54 ASTEROID RETRIEVAL MISSION -54 ARM The object name in the following built-in NAIF ID code/name definition have been corrected from 519 MAGACLITE to 519 MEGACLITE Built-in Body-Fixed Frames The following built-in body-fixed frames were added to the list of frames hard-coded in the Toolkit: IAU_52_EUROPA IAU_NIX IAU_HYDRA IAU_RYUGU IAU_ARROKOTH IAU_DIDYMOS_BARYCENTER IAU_DIDYMOS IAU_DIMORPHOS IAU_DONALDJOHANSON IAU_EURYBATES IAU_EURYBATES_BARYCENTER IAU_QUETA IAU_POLYMELE IAU_LEUCUS IAU_ORUS IAU_PATROCLUS_BARYCENTER IAU_PATROCLUS IAU_MENOETIUS The frame name in the following built-in NAIF ID frame definition have been corrected from IAU_MAGACLITE to IAU_MEGACLITE Updated Toolkit Application -------------------------------------------------------- MKDSK The MKDSK program was updated to -- replace rows at the poles, if present, with polar vertices, and create polar caps using these vertices and the adjacent vertex rows. -- store comment lines up to 255 characters longer Refer to the MKDSK User's Guide, mkdsk.ug, for more information about the program. Bug Fixes -------------------------------------------------------- SPICELIB -- DSKX02, DSKXSI The routine DSKX02 was updated to not return an intercept outside of the segment boundaries by more than the allowed margin and not return an invalid plate ID for such intercepts. This bug fix corrected a bug in DSKXSI, which previously could return an invalid plate ID obtained from DSKX02. SPICELIB -- GETFOV This routine was updated to have the previously missing exception for the boresight vector being the zero vector. SPICELIB -- GFFOVE, GFRFOV, GFTFOV Two bugs affecting these routines were corrected: the inability to work with wide-angle circular or elliptical fields of view at small observer-target distances, and incorrect operation resulting from use of non-unit-length boresight vectors. Bug fixes in entry points of the routine ZZGFFVU corrected these problems. SPICELIB -- SUBPNT This routine was updated to correct a bug that could cause it to fail finding DSK data within the time bounds of a DSK segment. SPICELIB -- TIMOUT This routine was updated to correctly calculate decimal values for the HR.###... and MN.###... markers in the presence of the ::UTC+N:M and ::UTC-N:M meta tags. SPICELIB -- TKFRAM This routine was updated to signal an error if name-based and ID-based forms of any TKFRAME_ keyword are present in the POOL at the same time; to always return FOUND = .FALSE. when it fails to fetch any frame keywords from the POOL or for any other reason; and to always return FRAME = 0 when it fails due to a frame being defined relative to itself or due to an unrecognized _SPEC. In the case of any failures the routine now return the identity matrix. MKDSK MKDSK was updated so as to avoid creation of degenerate plates when input height grid data sets included rows of vertices at polar latitudes. The program was updated to correctly compute the required number of plates used for overflow detection. MSOPCK The MSOPCK program was updated to fix a bug in the downsampling algorithm that caused it to go into an indefinite loop when adjacent points are close to 180 degrees apart. Version 66 --- April 2017 =========================================================================== Summary -------------------------------------------------------- This is a brief summary of what's new and updated in N0066, with the details about each item provided later in this section: -- new Digital Shape Kernel (DSK) subsystem supporting Type 2 (tessellated plate model) shape data -- new DAS linked array (DLA) file format subsystem supporting DSK -- new surface name/ID mapping subsystem supporting DSK -- run-time binary translation extended to work with DAS files -- kernel loading subsystem updated to work with DSKs -- binary file opening/closing management updated to work with DAS files allowing access to up to 5000 DSKs at the same time -- most existing high level geometry routines updated to work with both ellipsoid and DSK surfaces -- new limb and terminator routines supporting ellipsoid and DSK surfaces -- new lon/lat grid to surface points routine supporting ellipsoid and DSK surfaces -- new illumination routine with visibility and illumination flags supporting ellipsoid and DSK surfaces -- new surface normal routine supporting ellipsoid and DSK surfaces -- many new Icy wrappers -- many new Mice wrappers -- SPK 10 (two line elements) evaluator update to use the Vallado derived propagator -- text PCK-based frames performance improvement -- new SPK Type 19 subtype 2 -- new DSK utility programs in generic toolkit -- DSKBRIEF, DSKEXP, MKDSK -- bug fixes in Toolkit and utility programs Environments -------------------------------------------------------- New Environments No new environments were introduced for N0066. Deprecated Environments The SPICE Toolkit is no longer supported on these environments: Icy: Mac/Intel OS-X Apple C / IDL 8.x / 32bit Mice: Mac/Intel OS-X Apple C / MATLAB 7.x / 32bit PC Linux gCC / MATLAB 7.x / 32bit PC Windows MS Visual C / MATLAB 7.x / 32bit Complete List of Supported Environments This is the complete list of environments on which the N0066 version of the SPICE Toolkit is supported: FORTRAN Toolkit: Mac/Intel OS-X GFORTRAN / 32bit Mac/Intel OS-X GFORTRAN / 64bit Mac/Intel OS-X Intel FORTRAN / 32bit Mac/Intel OS-X Intel FORTRAN / 64bit PC CYGWIN GFORTRAN / 32bit PC CYGWIN GFORTRAN / 64bit PC Linux GFORTRAN / 32bit PC Linux GFORTRAN / 64bit PC Linux Intel FORTRAN / 32bit PC Linux Intel FORTRAN / 64bit PC Linux g77 / 32bit PC Windows Intel FORTRAN / 32bit PC Windows Intel FORTRAN / 64bit Sun Solaris SUN FORTRAN / 32bit Sun/Intel Solaris SUN FORTRAN / 32bit Sun/Intel Solaris SUN FORTRAN / 64bit CSPICE: Mac/Intel OS-X Apple C / 32bit Mac/Intel OS-X Apple C / 64bit PC CYGWIN gCC / 32bit PC CYGWIN gCC / 64bit PC Linux gCC / 32bit PC Linux gCC / 64bit PC Windows MS Visual C / 32bit PC Windows MS Visual C / 64bit Sun Solaris SUN C / 32bit Sun Solaris SUN C / 64bit Sun Solaris gCC / 32bit Sun Solaris gCC / 64bit Sun/Intel Solaris SUN C / 32bit Sun/Intel Solaris SUN C / 64bit Icy: Mac/Intel OS-X Apple C / IDL 8.x / 64bit PC Linux gCC / IDL 8.x / 32bit PC Linux gCC / IDL 8.x / 64bit PC Windows MS Visual C / IDL 7.x / 32bit PC Windows MS Visual C / IDL 7.x / 64bit Sun Solaris SUN C / IDL 7.x / 32bit Sun Solaris gCC / IDL 7.x / 32bit Sun Solaris gCC / IDL 7.x / 64bit Sun/Intel Solaris SUN C / IDL 8.x / 64bit Mice: Mac/Intel OS-X Apple C / MATLAB 7.x / 64bit PC Linux gCC / MATLAB 7.x / 64bit PC Windows MS Visual C / MATLAB 7.x / 64bit Sun Solaris SUN C / MATLAB 7.x / 64bit Scratch EK File Issue in Icy on PC/Windows The scratch EK file issue in Icy on PC/Windows described in the N0061 section of this document persists in the N0066 version of the Toolkit. Optimization on PC Linux, Intel FORTRAN, 32bit Default optimization was turned off in the PC Linux, Intel FORTRAN, 32bit toolkit because of the bugs in the compiler versions available to NAIF. Need for Static System Libraries on Linux and OS-X Static system libraries needed to build statically-linked FORTRAN toolkit executables on Linux and OS-X are frequently not included in more modern versions of these operating systems. If a need to recompile a Linux or an OS-X FORTRAN toolkit arises and the linking step performed by mkprodct.csh build scripts fails with an error message indicating the lack of needed static system libraries, users should install these libraries as appropriate for their system before re-trying a recompile. SPICELIB/CSPICE/Icy/Mice Additions and Updates -------------------------------------------------------- The Digital Shape Kernel (DSK) Subsystem The Digital Shape Kernel (DSK) is a new SPICE kernel type. The DSK subsystem enables SPICE applications to access detailed representations of shapes of extended objects, and conveniently use those shape data in geometry calculations. The subsystem also provides mechanisms for documenting and porting such data. The DSK subsystem consists of the DSK file format, SPICE routines that can access these files, utility programs, and documentation. The DSK subsystem design allows for multiple mathematical representations of shapes; each such representation is called a ``DSK data type.'' Currently the only supported data type is DSK type 2, which models shapes of objects as collections of triangular plates. Such shape representations are also called ``tessellated plate models'' or ``triangular irregular networks'' (TINs). Support for a data type that accommodates digital elevation models (DEMs) is planned for release in a future SPICE Toolkit version. High-level SPICE geometry APIs, when using DSK shape data, work independently of the underlying DSK data type. SPICE also includes lower-level, type-dependent DSK APIs, such as those for fetching DSK type 2 plate and vertex data. The DSK subsystem includes three new utility programs: MKDSK DSKBRIEF DSKEXP These utilities, respectively, enable SPICE users to make DSK files from data in a variety of text formats, summarize the contents of DSK files, and export data from binary DSK files to easily readable text files. The previously existing SPICE utilities for comment area access and binary-transfer format conversion COMMNT TOBIN TOXFR work with DSK files. See the DSK Required Reading document, dsk.req, for further information. Status of the prototype Alpha DSK Toolkit is discussed in a section below. DSK Loading and Run-time Binary Translation DSK files are ``loaded'' and ``unloaded'' just like other SPICE kernels. SPICE-based user applications load DSK files for read access by calling FURNSH (SPICELIB) furnsh_c (CSPICE) cspice_furnsh (ICY and MICE) and unload them by calling UNLOAD (SPICELIB) unload_c (CSPICE) cspice_unload (ICY and MICE) or KCLEAR (SPICELIB) kclear_c (CSPICE) cspice_kclear (ICY and MICE) The names of DSK files to be loaded can be listed in a meta-kernel, along with the names of other SPICE kernels. Large DSK data sets will normally be partitioned into multiple DSK files. These files can be named in a meta-kernel and loaded simultaneously. The DSK subsystem will automatically select data as needed from loaded DSK files. Information on loaded DSKs---names of loaded kernels, file handles, and names of meta-kernels referencing those DSKs---can be obtained by calling KTOTAL KINFO KDATA (SPICELIB) ktotal_c kinfo_c kdata_c (CSPICE) cspice_ktotal (ICY and MICE) cspice_kinfo (ICY and MICE) cspice_kdata (ICY and MICE) DSK files use the SPICE DAS (Direct Access Segregated) architecture; DSK files are a subclass of DAS files. The SPICE Toolkit has been upgraded so that open and close operations on DAS files, along with DAF files, are managed by a common subsystem. This subsystem allows up to 5000 DAS and DAF files to be accessible for reading at the same time. The SPICE Toolkit has been upgraded to support run-time translation of DAS files: DAS files having ``big-endian'' binary file formats can be read on ``little-endian'' host systems, and vice versa. It still is necessary to convert DAS files to the host system's binary file format if the files need to be writable. For larger DAS files, conversion to the host format is still desirable to improve efficiency. High Level Routines Updated to Work with DSK Surfaces The following high level geometry routines were updated to work with the surface of a target body represented by a triaxial ellipsoid or by topographic data provided by DSK files: -- ray surface intercept routine: SINCPT (SPICELIB) sincpt_c (CSPICE) cspice_sincpt (ICY and MICE) -- sub-observer point routine: SUBPNT (SPICELIB) subpnt_c (CSPICE) cspice_subpnt (ICY and MICE) -- sub-solar point routine: SUBSLR (SPICELIB) subslr_c (CSPICE) cspice_subslr (ICY and MICE) -- solar illumination angles routine: ILUMIN (SPICELIB) ilumin_c (CSPICE) cspice_ilumin (ICY and MICE) -- arbitrary body illumination angles routine: ILLUMG (SPICELIB) illumg_c (CSPICE) cspice_illumg (ICY and MICE) -- occultation condition routine: OCCULT (SPICELIB) occult_c (CSPICE) cspice_occult (ICY and MICE) -- GF occultation finder routine: GFOCLT (SPICELIB) gfoclt_c (CSPICE) cspice_gfoclt (ICY and MICE) -- GF occultation finder routine, with interrupt and reporting: GFOCCE (SPICELIB) gfocce_c (CSPICE) New Limb Routine The N0066 version offers a new routine to find limb points on a target body, with the surface of the body represented by a triaxial ellipsoid or by topographic data provided by DSK files: LIMBPT (SPICELIB) limbpt_c (CSPICE) cspice_limbpt (ICY and MICE) New Terminator Routine The N0066 version offers a new routine to find umbral or penumbral terminator points on a target body, with the surface of the body represented by a triaxial ellipsoid or by topographic data provided by DSK files: TERMPT (SPICELIB) termpt_c (CSPICE) cspice_termpt (ICY and MICE) New Lon/Lat Grid to Surface Points Routine The N0066 version offers a new routine to map an array of planetocentric longitude/latitude coordinate pairs to surface points on a specified target body, with the surface of the body represented by a triaxial ellipsoid or by topographic data provided by DSK files: LATSRF (SPICELIB) latsrf_c (CSPICE) cspice_latsrf (ICY and MICE) New Illumination Routine with Visibility and Illumination Flags The N0066 version offers a new routine to compute the illumination angles -- phase, incidence, and emission -- at a specified point on a target body and to return logical flags indicating whether the surface point is visible from the observer's position and whether the surface point is illuminated, with the target body's surface represented using topographic data provided by DSK files, or by a reference ellipsoid: ILLUMF (SPICELIB) illumf_c (CSPICE) cspice_illumf (ICY and MICE) New Surface Normal Routine The N0066 version offers a new routine to map an array of surface points on a specified target body to the corresponding unit length outward surface normal vectors, with the surface of the target body represented by a triaxial ellipsoid or by topographic data provided by DSK files: SRFNRM (SPICELIB) srfnrm_c (CSPICE) cspice_srfnrm (ICY and MICE) New DSK-Specific Surface Intercept Routines The N0066 version offers the following routines for computing ray surface intercepts for surfaces modeled by DSK: -- a new routine to compute ray-surface intercepts for a set of rays, using data provided by multiple loaded DSK segments: DSKXV (SPICELIB) dskxv_c (CSPICE) cspice_dskxv (ICY and MICE) -- a new routine to compute a ray-surface intercept using data provided by multiple loaded DSK segments, returning information about the source of the data defining the surface on which the intercept was found: DSKXSI (SPICELIB) dskxsi_c (CSPICE) cspice_dskxsi (ICY and MICE) New DSK Summary Routines The N0066 version offers the following routines for getting a summary of the DSK file contents from within a user's application: -- a new routine to return the set of body ID codes of all objects for which data are provided in a DSK file: DSKOBJ (SPICELIB) dskobj_c (CSPICE) cspice_dskobj (ICY and MICE) -- a new routine to return the set of surface ID codes for all surfaces associated with a body in a DSK file: DSKSRF (SPICELIB) dsksrf_c (CSPICE) cspice_dsksrf (ICY and MICE) New Type 2 DSK Bulk Read Routines The N0066 version offers the following routines enabling retrieval of plate and vertex data stored in Type 2 DSK segments: -- a new routine to return plate model size parameters (plate count and vertex count) for a type 2 DSK segment: DSKZ02 (SPICELIB) dskz02_c (CSPICE) cspice_dskz02 (ICY and MICE) -- a new routine to return triangular plates from a type 2 DSK segment: DSKP02 (SPICELIB) dskp02_c (CSPICE) cspice_dskp02 (ICY and MICE) -- a new routine to return vertices from a type 2 DSK segment: DSKV02 (SPICELIB) dskv02_c (CSPICE) cspice_dskv02 (ICY and MICE) New Surface Name/ID Mapping Routines Each set of shape data in a DSK file is associated with a specified body. In order to efficiently and conveniently support simultaneous use of multiple versions of shape data for a given body, the data have an additional attribute called a ``surface ID.'' Surface IDs have associated names. The surface name/ID subsystem supports the DSK subsystem by providing means to map between names and IDs of surfaces stored in DSK files. The N0066 version offers the following surface name/ID mapping routines: -- a new routine to translate a surface ID code, together with a body name, to the corresponding surface name: SRFCSS (SPICELIB) srfcss_c (CSPICE) cspice_srfcss (ICY and MICE) -- a new routine to translate a surface string, together with a body name, to the corresponding surface ID code: SRFS2C (SPICELIB) srfs2c_c (CSPICE) cspice_srfs2c (ICY and MICE) -- a new routine to translate a surface ID code, together with a body ID code, to the corresponding surface name: SRFC2S (SPICELIB) srfc2s_c (CSPICE) cspice_srfc2s (ICY and MICE) -- a new routine to translate a surface string, together with a body ID code, to the corresponding surface ID code: SRFSCC (SPICELIB) srfscc_c (CSPICE) cspice_srfscc (ICY and MICE) Status of the Alpha DSK Toolkit Alpha DSK Toolkit high-level ``pl02'' geometry software is now deprecated. Users of the Alpha DSK Toolkit are encouraged to migrate their application software to the new SPICE Toolkit APIs. In all cases, Alpha DSK high-level geometry APIs have been superseded by SPICE APIs with superior capabilities. In particular, the new APIs can seamlessly work with data sets distributed across multiple DSK files. However, for convenience of Alpha DSK Toolkit users, the Alpha DSK geometry APIs are included in the SPICE Toolkit. There have been some changes to the sets of header files referenced by the C versions of those routines; other than that, the interfaces of the routines are unchanged. The Alpha versions of the DLA and DSK type 2 routines are also included in the SPICE Toolkit and are considered official SPICE APIs. Aside from the exceptions cited below, interfaces are unchanged from the Alpha versions. A few backward-compatibility violations do exist: -- The calling sequence of the DSK type 2 writing routine DSKW02 has changed. -- The routine DSKSGR is no longer provided. The Alpha DSK versions of the utility programs MKDSK and DSKBRIEF have been upgraded and are included in the SPICE Toolkit. DSKBRIEF upgrades include: -- The default display has been simplified. The old, detailed display can be invoked using the -full option. -- Multiple DSK files, and multiple segments within a DSK file, can be summarized together. -- Coverage bounds and coverage gaps can be displayed for multiple DSK files or multiple segments within a file. -- Names of supporting kernels that enable body, surface, and frame ID-to-name translation can be provided on the command line. MKDSK upgrades include: -- The maximum output segment plate count has been increased to 32 million plates on Linux, Mac, and Solaris/Intel environments and to 10 million plates on Windows and Solaris/Sparc environments. -- Height grid input data are now supported. -- Latitudinal, planetodetic, and rectangular coordinate systems are supported. -- Voxel scales no longer need to be specified in the setup file; MKDSK will calculate them automatically. -- Execution speed of the program has been improved. -- The user can command generation of a vertex-plate mapping. -- Fixes of bugs in the setup file error handling code. The DSK file format introduced in 2010 is unchanged and will remain backward-compatible going forward. The only planned changes are additions of new data types. Run-time translation of old DSK files is now supported, as it is for all DAS files. New Alpha-DSK Backwards Compatibility Routines Solely for backwards compatibility reasons the N0066 version offers the Type 2 DSK specific routines shown below that were a part of the Alpha-DSK toolkit routine set. These routines are deprecated and superseded by other DSK-enabled high-level routines. These routines are not available in FORTRAN toolkits. -- in CSPICE: illum_pl02 illum_plid_pl02 limb_pl02 llgrid_pl02 subpt_pl02 subsol_pl02 term_pl02 -- in ICY and MICE: cspice_illum_pl02 cspice_illum_plid_pl02 cspice_limb_pl02 cspice_llgrid_pl02 cspice_subpt_pl02 cspice_subsol_pl02 cspice_term_pl02 New DSK Mid-Level, Low-Level, and Utility Routines The following additional public DSK mid-level, low-level, and utility routines are available in the N0066 toolkit: -- in SPICELIB: DSKB02 DSKCLS DSKD02 DSKGD DSKGTL DSKI02 DSKMI2 DSKN02 DSKOPN DSKRB2 DSKSTL DSKW02 DSKX02 PLTAR PLTEXP PLTNP PLTNRM PLTVOL -- in CSPICE: dskb02_c dskcls_c dskd02_c dskgd_c dskgtl_c dski02_c dskmi2_c dskn02_c dskopn_c dskrb2_c dskstl_c dskw02_c dskx02_c pltar_c pltexp_c pltnp_c pltnrm_c pltvol_c -- in ICY and MICE: cspice_dskb02 cspice_dskcls cspice_dskd02 cspice_dskgd cspice_dskgtl cspice_dski02 cspice_dskmi2 cspice_dskn02 cspice_dskopn cspice_dskrb2 cspice_dskstl cspice_dskw02 cspice_dskx02 cspice_pltar cspice_pltexp cspice_pltnp cspice_pltnrm cspice_pltvol New DLA File Format and Routines SPICE DSK files are built upon an intermediate-level file format that sits between the levels of the DSK and DAS formats: DAS Linked Array (DLA). The DLA format enables applications to view DAS files as a doubly-linked list of ``arrays,'' where each array consists of data occupying three sequences of of contiguous DAS character, integer, and double precision addresses. The data in a DSK file are organized into one or more ``segments''; each segment contains data for a specified body, spatial region and time interval. DSK segments are implemented as DLA arrays. DSK data type-dependent routines, such as those that fetch vertices from a plate model, operate on DSK segments. DLA APIs are used to traverse DSK files and locate DSK segments so that the segments can be referenced by type-dependent DSK routines. The following public DLA routines are available in the N0066 toolkit: -- in SPICELIB: DLABBS DLABFS DLABNS DLAENS DLAFNS DLAFPS DLAOPN DLASSG -- in CSPICE: dlabbs_c dlabfs_c dlafns_c dlafps_c -- in ICY and MICE: cspice_dlabfs cspice_dlafns See the DLA Required Reading document, dla.req, for details. See the API documentation of DSK type 2 routines and DLA routines for complete example programs that demonstrate use of the routines. Other New SPICELIB Interfaces The following new APIs were added to SPICELIB: EDNMPT EDPNT INCNSG INSANG NPSGPT OSCLTX XDDA Other New CSPICE Interfaces The following new APIs were added to CSPICE: chbder_c cleard_c dasdc_c dashfn_c dasopw_c dasrfr_c hrmint_c lgrind_c oscltx_c pckcls_c pckopn_c pckw02_c polyds_c Other New Icy and Mice Interfaces A few APIs were added to Icy and Mice to make the sets of Icy and Mice routines be more closely aligned with the sets available in toolkits for other languages: cspice_bodfnd cspice_ccifrm cspice_dascls cspice_dasec cspice_dasopr cspice_lspcn cspice_pckcov cspice_pckfrm cspice_spkuds (ICY only) cspice_srfrec The following global parameter scripts were added to Icy: DSKIcy02.pro DSKIcyUser.pro DSKtol.pro The following global parameter scripts were added to Mice: DSKMice02.m DSKMiceUser.m DSKtol.m SPK 10 Evaluator Update to Use Vallado Propagator NAIF added a TLE propagator based on the algorithms published by Vallado et. al. (2006). Vallado, David, Crawford, Paul, Hujsak, Richard, and Kelso, T.S. 2006. Revisiting Spacetrack Report #3. Paper AIAA 2006-6753 presented at the AIAA/AAS Astrodynamics Specialist Conference, August 21-24, 2006. Keystone, CO. Starting with the toolkit version N0066 the SPK subsystem uses this new propagator to evaluate TLE Type 10 SPKs. Note that because the routines implementing the Vallado propagator use some leapsecond constants, loading an LSK is now required in order to read any TLE Type 10 SPKs. The Spacetrack #3 (Hoots 1980) based TLE propagation routines used in Toolkit version N0065 and earlier remain part of the Toolkit. Hoots, F. R., and Roehrich, R. L. 1980. "Models for Propagation of the NORAD Element Sets." Spacetrack Report #3. U.S. Air Force: Aerospace Defense Command. Text PCK-based Frames Performance Improvement The SPICELIB routines TISBOD, TIPBOD, and BODMAT computing natural body body-fixed frame orientations based on the text PCK data and used by the SPICE frames subsystem were modified to significantly speed up their execution. As with the N0065 speedup improvements, these changes have been designed around the premise that the contents of the SPICELIB's POOL data buffer are not frequently modified via loading/unloading kernels or via direct POOL data insertion/deletion APIs during the program execution. Applications that constantly alter the POOL will not see any significant speedup and in some cases may even see a slight performance degradation (no more that 5 percent). SPK Type 19, subtype 2 SPK type 19 subtype 2 has been provided to support accurate duplication by the SPICE SPK subsystem of spacecraft ephemeris data used by the European Space Agency (ESA) on the Mars Express, Rosetta, SMART-1 and Venus Express missions. Subtype 2 supports Hermite interpolation of 6-element packets consisting of position and velocity data. Built-in NAIF ID Code/Name Definitions The following new built-in NAIF ID code/name definitions have been added to or changed in the Toolkit: Spacecraft: -28 JUPITER ICY MOONS EXPLORER -28 JUICE -49 LUCY -62 EMM -62 EMIRATES MARS MISSION -65 MCOA -65 MARCO-A -66 MCOB -66 MARCO-B -68 MERCURY MAGNETOSPHERIC ORBITER -68 MMO -68 BEPICOLOMBO MMO -69 PSYC -76 CURIOSITY -117 EDL DEMONSTRATOR MODULE -117 EDM -117 EXOMARS 2016 EDM -121 MERCURY PLANETARY ORBITER -121 MPO -121 BEPICOLOMBO MPO -143 TRACE GAS ORBITER -143 TGO -143 EXOMARS 2016 TGO -152 CH2 -152 CHANDRAYAAN-2 -159 EURC -159 EUROPA CLIPPER -198 NASA-ISRO SAR MISSION -198 NISAR -301 HELIOS 1 -302 HELIOS 2 Satellites: 553 DIA Asteroids: 2000016 PSYCHE 2101955 BENNU The following built-in NAIF ID code/name definitions have been removed from the Toolkit: -159 EUROPA ORBITER Built-in Body-Fixed Frames The following built-in body-fixed frame was added to the list of frames hard-coded in the Toolkit: IAU_BENNU New and Updated Toolkit Application -------------------------------------------------------- DSKBRIEF The DSKBRIEF program was added to the application set included in each SPICE toolkit. This program summarizes the contents of a SPICE DSK (digital shape kernel) file. Compared to the Alpha-DSK version of the program DSKBRIEF upgrades include: -- The default display has been simplified. The old, detailed display can be invoked using the -full option. -- Multiple DSK files, and multiple segments within a DSK file, can be summarized together. -- Coverage bounds and coverage gaps can be displayed for multiple DSK files or multiple segments within a file. -- Names of supporting kernels that enable body, surface, and frame ID-to-name translation can be provided on the command line. Refer to the DSKBRIEF User's Guide, dskbrief.ug, for more information about the program. MKDSK The MKDSK program was added to the application set included in each SPICE toolkit. This program creates a SPICE DSK (digital shape kernel) file from a text file containing surface shape and size data. Compared to the Alpha-DSK version of the program MDKSK upgrades include: -- The maximum output segment plate count has been increased to 32 million plates on Linux, Mac, and Solaris/Intel environments and to 10 million plates on Windows and Solaris/Sparc environments. -- Height grid input data are now supported. -- Latitudinal, planetodetic, and rectangular coordinate systems are supported. -- Voxel scales no longer need to be specified in the setup file; MKDSK will calculate them automatically. -- Execution speed of the program has been improved. -- The user can command generation of a vertex-plate mapping. -- Fixes of bugs in the setup file error handling code. Refer to the MKDSK User's Guide, mkdsk.ug, for more information about the program. DSKEXP The DSKEXP program was added to the application set included in each SPICE toolkit. This program enables SPICE Toolkit users to ``export'' data from a DSK file to any of a variety of simple, easily parsed text formats. This capability enables users to easily transform DSK files into formats required by other applications; it also makes it easy to inspect the data in a DSK file. Refer to the DSKEXP User's Guide, dskexp.ug, for more information about the program. Bug Fixes -------------------------------------------------------- SPICELIB -- BODEUL, TISBOD These routines were updated to increase the room in the internal buffer to hold the maximum possible number of values of ``NUT_PREC_ANGLES'' consistent with the maximum possible numbers of values for other related PCK parameters. SPICELIB -- CKE05 This routine was updated to update PRVPTR at the end of the quaternion sequence check for Hermite subtypes. SPICELIB -- KEEPER/UNLOAD This routine was updated to unload binary kernels via low-level unload routines only when those kernels have just one entry in the KEEPER database. SPICELIB -- SUBPNT This routine was updated to correctly initialize the values of saved input method in all cases. SPICELIB -- XFMSTA This routine was updated to not allow conversions to and from geodetic and planetographic coordinates for bodies with unequal equatorial radii. Previously it allowed such conversions even though these types of coordinates are not applicable to triaxial ellipsoids. In doing that it arbitrarily picked the first and the third radii to compute a body's flattening coefficient. MKSPK The MKSPK program was updated to not drop every 500th line of the input comment file to be written to the comment area and to correctly substitute values into some error messages. Version 65 --- July 2014 =========================================================================== Summary -------------------------------------------------------- This is a brief summary of what's new and updated in N0065, with the details about each item provided later in this section: -- support for some new environments and termination of some old environments -- new Geometry Finder (GF) interfaces -- illumination angle search, phase angle search, user-defined binary quantity search -- new high-level SPK APIs allowing one to specify the observer or target as a location with a constant position and velocity rather than as an ephemeris object -- new high-level APIs that check for occultation and in-Field-Of-View (FOV) conditions -- new high-level illumination angle routines -- new high-level reference frame transformation routine -- new high-level coordinate system transformation routine for states -- many Icy and Mice APIs that were formerly available only in SPICELIB and CSPICE -- new data types: SPK (19, 20, 21), PCK (20), and CK (6) -- performance improvements in the range of 10-50 percent for some types of use -- ability to load up to 5000 kernels -- increased buffers in the POOL and in SPK and CK segment search subsystems -- new built-in body name/ID code mappings and body-fixed reference frames -- a significant upgrade of utility SPKDIFF including the ability to sample SPK data -- updates to other toolkit utilities -- BRIEF, CKBRIEF, FRMDIFF, MKSPK, MSOPCK -- bug fixes in Toolkit and utility programs Environments -------------------------------------------------------- New Environments The SPICE Toolkit is now officially supported on these new environments: FORTRAN Toolkit: PC CYGWIN GFORTRAN / 32bit PC CYGWIN GFORTRAN / 64bit PC Linux Intel FORTRAN / 64bit Sun/Intel Solaris SUN FORTRAN / 64bit CSPICE: PC CYGWIN gCC / 64bit Icy: Sun/Intel Solaris SUN C / IDL 8.x / 64bit Deprecated Environments The SPICE Toolkit is no longer supported on these environments: FORTRAN Toolkit: Mac/PowerPC OS-X Absoft FORTRAN / 32bit Mac/PowerPC OS-X g77 / 32bit PC CYGWIN g77 / 32bit PC Windows Compaq (Digital) FORTRAN / 32bit PC Windows Lahey FORTRAN 95 / 32bit CSPICE: Mac/PowerPC OS-X Apple C / 32bit Icy: Mac/PowerPC OS-X Apple C / IDL 6.4 / 32bit Mice: Mac/PowerPC OS-X Apple C / MATLAB 7.x / 32bit Complete List of Supported Environments This is the complete list of environments on which the N0065 version of the SPICE Toolkit is supported: FORTRAN Toolkit: Mac/Intel OS-X GFORTRAN / 32bit Mac/Intel OS-X GFORTRAN / 64bit Mac/Intel OS-X Intel FORTRAN / 32bit Mac/Intel OS-X Intel FORTRAN / 64bit PC CYGWIN GFORTRAN / 32bit PC CYGWIN GFORTRAN / 64bit PC Linux GFORTRAN / 32bit PC Linux GFORTRAN / 64bit PC Linux Intel FORTRAN / 32bit PC Linux Intel FORTRAN / 64bit PC Linux g77 / 32bit PC Windows Intel FORTRAN / 32bit PC Windows Intel FORTRAN / 64bit Sun Solaris SUN FORTRAN / 32bit Sun/Intel Solaris SUN FORTRAN / 32bit Sun/Intel Solaris SUN FORTRAN / 64bit CSPICE: Mac/Intel OS-X Apple C / 32bit Mac/Intel OS-X Apple C / 64bit PC CYGWIN gCC / 32bit PC CYGWIN gCC / 64bit PC Linux gCC / 32bit PC Linux gCC / 64bit PC Windows MS Visual C / 32bit PC Windows MS Visual C / 64bit Sun Solaris SUN C / 32bit Sun Solaris SUN C / 64bit Sun Solaris gCC / 32bit Sun Solaris gCC / 64bit Sun/Intel Solaris SUN C / 32bit Sun/Intel Solaris SUN C / 64bit Icy: Mac/Intel OS-X Apple C / IDL 8.x / 32bit Mac/Intel OS-X Apple C / IDL 8.x / 64bit PC Linux gCC / IDL 8.x / 32bit PC Linux gCC / IDL 8.x / 64bit PC Windows MS Visual C / IDL 7.x / 32bit PC Windows MS Visual C / IDL 7.x / 64bit Sun Solaris SUN C / IDL 7.x / 32bit Sun Solaris gCC / IDL 7.x / 32bit Sun Solaris gCC / IDL 7.x / 64bit Sun/Intel Solaris SUN C / IDL 8.x / 64bit Mice: Mac/Intel OS-X Apple C / MATLAB 7.x / 32bit Mac/Intel OS-X Apple C / MATLAB 7.x / 64bit PC Linux gCC / MATLAB 7.x / 32bit PC Linux gCC / MATLAB 7.x / 64bit PC Windows MS Visual C / MATLAB 7.x / 32bit PC Windows MS Visual C / MATLAB 7.x / 64bit Sun Solaris SUN C / MATLAB 7.x / 64bit Scratch EK File Issue in Icy on PC/Windows The scratch EK file issue in Icy on PC/Windows described in the N0061 section of this document persists in the N0065 version of the Toolkit. Optimization on PC Linux, Intel FORTRAN, 32bit The default optimization was turned off in the PC Linux, Intel FORTRAN, 32bit toolkit because of the bugs in the compiler versions available to NAIF. SPICELIB/CSPICE/Icy/Mice Additions and Updates -------------------------------------------------------- New Geometry Finder (GF) Routines The N0065 version offers a number of additional SPICE Geometry Finder (GF) subsystem interfaces. -- A new routine to determine time intervals over which a specified constraint on the observed phase, solar incidence, or emission angle at a specified target body surface point is met: GFILUM (SPICELIB) gfilum_c (CSPICE) cspice_gfilum (ICY and MICE) -- A new routine to determine time intervals over which a specified constraint on the phase angle between an illumination source, a target, and observer body centers is met: GFPA (SPICELIB) gfpa_c (CSPICE) cspice_gfpa (ICY and MICE) -- A new routine to override the default GF convergence value used in the high level GF routines: GFSTOL (SPICELIB) gfstol_c (CSPICE) cspice_gfstol (ICY and MICE) -- A new routine to perform a GF search on a user defined boolean quantity (not available in ICY and MICE): GFUDB (SPICELIB) gfudb_c (CSPICE) New SPK Constant Position/Velocity Observer/Target Routines The N0065 version offers four high-level SPK routines using a location with a constant position or a constant velocity for either the observer or the target. -- A new routine to return the state of a specified target relative to an observer, where the observer has constant position in a specified reference frame. The observer's position is provided by the calling program rather than by loaded SPK files: SPKCPO (SPICELIB) spkcpo_c (CSPICE) cspice_spkcpo (ICY and MICE) -- A new routine to return the state, relative to a specified observer, of a target having constant position in a specified reference frame. The target's position is provided by the calling program rather than by loaded SPK files: SPKCPT (SPICELIB) spkcpt_c (CSPICE) cspice_spkcpt (ICY and MICE) -- A new routine to return the state of a specified target relative to an observer, where the observer has constant velocity in a specified reference frame. The observer's state is provided by the calling program rather than by loaded SPK files: SPKCVO (SPICELIB) spkcvo_c (CSPICE) cspice_spkcvo (ICY and MICE) -- A new routine to return the state, relative to a specified observer, of a target having constant velocity in a specified reference frame. The target's state is provided by the calling program rather than by loaded SPK files: SPKCVT (SPICELIB) spkcvt_c (CSPICE) cspice_spkcvt (ICY and MICE) New Occultation and in FOV Condition Routines The N0065 version offers three high-level routines that check for occultation and in Field-Of-View (FOV) conditions. -- A new routine to determine if a specified ray is within the field-of-view (FOV) of a specified instrument at a given time: FOVRAY (SPICELIB) fovray_c (CSPICE) cspice_fovray (ICY and MICE) -- A new routine to determine if a specified ephemeris object is within the field-of-view (FOV) of a specified instrument at a given time: FOVTRG (SPICELIB) fovtrg_c (CSPICE) cspice_fovtrg (ICY and MICE) -- A new routine to determine the occultation condition (not occulted, partially, etc.) of one target relative to another target as seen by an observer at a given time: OCCULT (SPICELIB) occult_c (CSPICE) cspice_occult (ICY and MICE) New Illumination Angles Routines The N0065 version offers two new high-level routines for computing illumination angles. -- A new routine to compute the illumination angles (phase, incidence, and emission) at a specified surface point of a target body with the illumination source ephemeris object specified by the caller: ILLUMG (SPICELIB) -- A new routine to compute the apparent phase angle for a target, observer, illuminator set of ephemeris objects: PHASEQ (SPICELIB) phaseq_c (CSPICE) cspice_phaseq (ICY and MICE) New High-Level Frame Transformation Routine The N0065 version offers a new high-level frame transformation routine. -- A new routine to return the 3x3 matrix that transforms position vectors from one specified frame at a specified epoch to another specified frame at another specified epoch: PXFRM2 (SPICELIB) pxfrm2_c (CSPICE) cspice_pxfrm2 (ICY and MICE) New High-Level State Transformation Routine The N0065 version offers a new high-level state transformation routine. -- A new routine to transform a state between coordinate systems (rectangular, cylindrical, latitudinal, spherical, geodetic planetographic): XFMSTA (SPICELIB) xfmsta_c (CSPICE) cspice_xfmsta (ICY and MICE) Other New SPICELIB Interfaces The following new APIs were added to SPICELIB: BLTFRM CHBIGR KPLFRM LJUCRS SEPOOL UDF Other New CSPICE Interfaces The following new APIs were added to CSPICE: bltfrm_c ccifrm_c dafgh_c edterm_c eqncpv_c kplfrm_c qcktrc_c spkpvn_c spksfs_c trcdep_c trcnam_c udf_c Other New Icy Interfaces A significant number of APIs were added to Icy to make the set of Icy routines be more closely aligned with the sets available in toolkits for other languages: cspice_dafus cspice_dascls cspice_dasopr cspice_dcyldr cspice_dgeodr cspice_dlatdr cspice_dpgrdr cspice_drdcyl cspice_drdgeo cspice_drdlat cspice_drdpgr cspice_drdsph cspice_dsphdr cspice_edterm cspice_eqncpv cspice_invort cspice_spkpvn cspice_spksfs cspice_spkw17 The following global parameter scripts were added to Icy: IcyUser.pro IcyOccult.pro Other New Mice Interfaces A large number of APIs were added to Mice to make the set of Mice routines be more closely aligned with the sets available in toolkits for other languages: cspice_cidfrm cspice_cnmfrm cspice_dafac cspice_dafbbs cspice_dafbfs cspice_dafcls cspice_dafcs cspice_dafdc cspice_dafec cspice_daffna cspice_daffpa cspice_dafgda cspice_dafgn cspice_dafgs cspice_dafopr cspice_dafopw cspice_dafus cspice_dcyldr cspice_dgeodr cspice_dlatdr cspice_dpgrdr cspice_drdcyl cspice_drdgeo cspice_drdlat cspice_drdpgr cspice_drdsph cspice_dsphdr cspice_dvpool cspice_edlimb cspice_edterm cspice_frame cspice_frinfo cspice_frmnam cspice_inedpl cspice_inelpl cspice_inrypl cspice_invort cspice_namfrm cspice_npedln cspice_npelpt cspice_nplnpt cspice_pjelpl cspice_pl2nvc cspice_pl2nvp cspice_pl2psv cspice_psv2pl cspice_spkcls cspice_spkopn cspice_spkpvn cspice_spksfs cspice_spkw08 cspice_surfpt cspice_timdef_get cspice_timdef_set cspice_vprjp cspice_vprjpi cspice_vproj The following global parameter scripts were added to Mice: MiceUser.m MiceOccult.m SPK Type 19 SPK type 19 has been provided to support accurate duplication by the SPICE SPK subsystem of spacecraft ephemeris data used by the European Space Agency (ESA) on the Mars Express, Rosetta, SMART-1 and Venus Express missions. SPK type 19 is an enhanced version of SPK type 18. Type 19 enables creation of SPK files representing the same ephemerides that can be represented using type 18, but containing far fewer segments. SPK Type 19 routines (available only in SPICELIB): SPKE19 SPKR19 SPKS19 SPKW19 SPK Type 20 SPK data type 20 contains Chebyshev polynomial coefficients for the velocity of a body, relative to its center of motion, as a function of time. This data type is provided to accurately represent ``EPM'' ephemerides developed by the Institute of Applied Astronomy (IAA), Russian Academy of Sciences (RAS). SPK Type 20 routines (available only in SPICELIB): SPKE20 SPKR20 SPKS20 SPKW20 SPK Type 21 SPK data type 21 contains extended Modified Difference Arrays (MDA), also called ``difference lines.'' These data structures use the same mathematical trajectory representation as SPK data type 1, but type 21 allows use of larger, higher-degree MDAs. SPK Type 21 routines (available only in SPICELIB): SPKE21 SPKR21 SPKS21 SPKW21 PCK Type 20 PCK data type 20 contains Chebyshev polynomial coefficients for a specified set of Euler angle rates of a body-fixed, body-centered reference frame as a function of time. This data type is provided to accurately represent ``EPM'' orientation data developed by the Institute of Applied Astronomy (IAA), Russian Academy of Sciences (RAS). PCK Type 20 routines are available in SPICELIB: PCKE20 PCKR20 PCKW20 PCK Type 20 writer function available in CSPICE: spkw20_c CK Type 6 CK type 6 has been provided to support accurate duplication by the SPICE CK subsystem of spacecraft attitude data used by the European Space Agency (ESA) on the Mars Express, Rosetta, SMART-1 and Venus Express missions. CK type 6 is an enhanced version of CK type 5. Type 6 enables creation of CK files representing the same attitude data that can be represented using type 5, but containing far fewer segments. CK Type 6 routines (available only in SPICELIB): CKE06 CKGR06 CKMP06 CKNM06 CKR06 CKW06 SPKLTC SPKLTC is used by the SPK subsystem to compute light time-corrected state vectors. SPKLTC was updated to ensure convergence when CN or XCN light time corrections are used. For these correction choices, the new algorithm also terminates early (after fewer than three iterations) when convergence is attained. SPKW02, SPKW03, SPKW08, SPKW12 The segment writer routines SPKW02, SPKW03, SPKW08, and SPKW12 were updated to check the input polynomial degree; the maximum allowed degree was increased. In these routines, there is now less strict error checking on the consistency of the time bounds of the input record set (determined by EPOCH1, STEP, and N) and the descriptor bounds FIRST and LAST. Now the descriptor end time may extend slightly beyond the stop time of the last input record. Speedup A number of core SPICELIB routines were modified to speed up their execution. Since most of these updates were in the body name/ID translation and reference frames subsystems, their effect will be most noticeable in programs that call high-level SPICE APIs that take body and frame names as inputs, and in high level APIs that perform operations with reference frames. On average users of these routines should see speedups from 10 to 50 percent depending on what SPICE APIs they call. Speed up will also be noticeable in loading meta-kernels with large numbers of kernels (hundreds of kernels). Note that much of the speedup has been designed around the premise that the contents of the SPICELIB's POOL data buffer are not frequently modified via loading/unloading kernels or via direct POOL data insertion/deletion APIs during the program execution. Applications that constantly alter the POOL will not see any significant speedup and in some cases may even see a slight performance degradation (no more that 5 percent). Maximum Number of Loaded Kernels The maximum number of kernels that can be loaded by FURNSH has been increased from 1000 to 5000. Kernel Pool Double Precision Buffer Limit The maximum number of keywords that can be stored in the kernel POOL has been increased from 5003 to 26003. The maximum number of double precision values that can be stored in the kernel POOL has been increased from 200000 to 400000. The maximum number of character values that can be stored in the kernel POOL has been increased from 4000 to 15000. CK Buffered Segment Limits The maximum number of CK segments that can be buffered simultaneously has been increased 50000 to 100000. SPK Buffered Segment Limits The maximum number of SPK segments that can be buffered simultaneously has been increased 50000 to 100000. Built-in NAIF ID Code/Name Definitions The following new built-in NAIF ID code/name definitions have been added to the Toolkit: Spacecraft: -750 SPRINT-AS -189 NSYT -189 INSIGHT -170 JWST -170 JAMES WEBB SPACE TELESCOPE -144 SOLO -144 SOLAR ORBITER -96 SPP -96 SOLAR PROBE PLUS -64 ORX -64 OSIRIS-REX -54 ARM -54 ASTEROID RETRIEVAL MISSION -12 LADEE -3 MOM -3 MARS ORBITER MISSION Planet Barycenter Aliases with ``_'': 0 SOLAR_SYSTEM_BARYCENTER 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 Satellites: 644 HYRROKKIN 904 KERBEROS 905 STYX Comets: 1003228 C/2013 A1 1003228 SIDING SPRING Asteroids: 2000002 PALLAS 2000511 DAVIDA The following built-in NAIF ID code/name definitions have been removed from the Toolkit: -486 HERSCHEL -489 PLANCK -187 SOLAR PROBE Built-in Body-Fixed Frames The following built-in body-fixed frames were added to the list of frames hard-coded in the Toolkit: IAU_CERES IAU_PALLAS IAU_LUTETIA IAU_DAVIDA IAU_STEINS Toolkit Applications Updates -------------------------------------------------------- BRIEF The BRIEF program was updated to sort tabular output by time when the new command line option ``-s'' is specified. Refer to the BRIEF User's Guide, brief.ug, for more information about the program. CKBRIEF The CKBRIEF program was updated to display a summary for all CK files to be summarized as if the data were in a single CK file when the new command line option ``-a'' is specified. The internal CKBRIEF buffers were increased to allow the program to summarize CK files with larger numbers of segments. Refer to the CKBRIEF User's Guide, ckbrief.ug, for more information about the program. FRMDIFF The FRMDIFF program was updated to determine default coverage from additional kernels if no primary kernels were provided (e.g. from the set of kernels or a meta-kernel provided with ``-k'' option) and to display the user-specified number of significant digits in numeric output when the new command line option ``-s'' is specified. Refer to the FRMDIFF User's Guide, frmdiff.ug, for more information about the program. MKSPK The MKSPK program was updated to process additional TLE-specific setup keywords allowing user-specified output time coverage for TLE-based SPK, to sort input TLEs, and to eliminate duplicate TLE sets from the input. Refer to the MKSPK User's Guide, MKSPK.ug, for more information about the program. MSOPCK The MSOPCK program was updated to check the time order of the input data when the new optional setup keyword CHECK_TIME_ORDER is specified. Refer to the MSOPCK User's Guide, MSOPCK.ug, for more information about the program. SPKDIFF The SPKDIFF program has gone through a major upgrade to make its functionality scope be similar to that of FRMDIFF, including the ability to sample trajectory data from specified SPKs and SPK sets, the ability to determine default coverage windows and work with SPKs and SPK sets that have gaps in coverage, the ability to display SPK coverage and gap summaries, and so on. Refer to the SPKDIFF User's Guide, SPKDIFF.ug, for more information about the program. Bug Fixes -------------------------------------------------------- SPICELIB -- SPKBSR, CKBSR, PCKBSR These routines were updated to correct a logic error, common to all three routines, affecting their behavior in cases where their segment buffers were too small to store all requested segment coverage information. SPICELIB -- CKE05 The CKE05 routine was updated to no longer perform quaternion sign adjustment for the Hermite subtypes (0 and 2). If a sign adjustment is needed for quaternions belonging to a record of Hermite subtype, an error is signaled. Sign adjustment is still performed for the Lagrange subtypes. SPICELIB -- CKMETA If a previously available CK__SCLK or CK__SPK variable that was used to populate a saved value disappears, the CKMETA routine now resets and returns the value based on the default rule rather than keeping and returning the stale POOL-based saved value. The routine now also deletes the kernel POOL watchers for the CK IDs that were bumped from its local buffer. SPICELIB -- DASA2L DASA2L was updated to correct an error that caused it to operate inefficiently in certain cases where multiple DAS files were read in an interleaved fashion. The routine was substantially re-written to improve efficiency and clarity. SPICELIB -- CCIFRM The CCIFRM logic was corrected to examine the built-in frames before looking at the kernel POOL frames. SPICELIB -- NEARPT The NEARPT routine now correctly computes an off-axis solution for the case of a prolate ellipsoid and a viewing point on the interior long axis. SPICELIB -- SPKEZ/SPKEZP The SPKEZ and SPKEZP routines were updated to reject all aberration corrections not supported by the SPK subsystem. SPICELIB -- TIME CONVERSION A number of checks for invalid time string inputs were added to the time conversion routines to signal an error rather that stopping the program due to a memory violation. FRMDIFF The FRMDIFF program was updated to signal an error in cases when a computed matrix does not represent a rotation (e.g. for left-handed frames.) MKSPK The MKSPK program was updated to process input TLE lines with spacecraft code left-padded with zeros to five digits. It was also updated to adjust the longitude of the ascending node and argument of periapse for the time of the nearest periapsis for elliptic orbit cases for type 15 inputs that are not given at the time of periapsis. MSOPCK The MSOPCK program was updated to compute the clock rate to be stored in type 2 output segments as the average rate for the input record endpoints rather than the average rate computed by averaging all rate values fetched from the loaded SCLK coefficient table. The program's down-sampling end-point selection algorithm was changed to not consider end-point quaternions that are close to 180 degrees apart to prevent cases in which the quaternion and matrix interpolation algorithms produce rotations in the opposite directions due to numerical differences in their algorithms. Version 64 --- June 2010 =========================================================================== Environments -------------------------------------------------------- New Environments The SPICE Toolkit is now officially supported on these new environments: FORTRAN Toolkit: Mac/Intel OS-X GFORTRAN / 64bit Mac/Intel OS-X Intel FORTRAN / 64bit PC Linux GFORTRAN / 64bit PC Windows Intel FORTRAN / 64bit Sun/Intel Solaris SUN FORTRAN / 32bit CSPICE: Mac/Intel OS-X Apple C / 64bit PC Windows MS Visual C / 64bit Sun Solaris SUN C / 64bit Sun/Intel Solaris SUN C / 32bit Sun/Intel Solaris SUN C / 64bit Icy: Mac/Intel OS-X Apple C / IDL 7.x / 64bit PC Windows MS Visual C / IDL 7.x / 64bit Mice: Mac/Intel OS-X Apple C / MATLAB 7.x / 64bit PC Windows MS Visual C / MATLAB 7.x / 64bit Sun/Intel Solaris SUN C / MATLAB 7.x / 64bit Complete List of Supported Environments This is the complete list of environments on which the N0064 version of the SPICE Toolkit is supported: FORTRAN Toolkit: Mac/Intel OS-X GFORTRAN / 32bit Mac/Intel OS-X GFORTRAN / 64bit Mac/Intel OS-X Intel FORTRAN / 32bit Mac/Intel OS-X Intel FORTRAN / 64bit Mac/PowerPC OS-X Absoft FORTRAN / 32bit Mac/PowerPC OS-X g77 / 32bit PC CYGWIN g77 / 32bit PC Linux GFORTRAN / 32bit PC Linux GFORTRAN / 64bit PC Linux Intel FORTRAN / 32bit PC Linux g77 / 32bit PC Windows Compaq (Digital) FORTRAN / 32bit PC Windows Intel FORTRAN / 32bit PC Windows Intel FORTRAN / 64bit PC Windows Lahey FORTRAN 95 / 32bit Sun Solaris SUN FORTRAN / 32bit Sun/Intel Solaris SUN FORTRAN / 32bit CSPICE: Mac/Intel OS-X Apple C / 32bit Mac/Intel OS-X Apple C / 64bit Mac/PowerPC OS-X Apple C / 32bit PC CYGWIN gCC / 32bit PC Linux gCC / 32bit PC Linux gCC / 64bit PC Windows MS Visual C / 32bit PC Windows MS Visual C / 64bit Sun Solaris SUN C / 32bit Sun Solaris SUN C / 64bit Sun Solaris gCC / 32bit Sun Solaris gCC / 64bit Sun/Intel Solaris SUN C / 32bit Sun/Intel Solaris SUN C / 64bit Icy: Mac/Intel OS-X Apple C / IDL 7.x / 32bit Mac/Intel OS-X Apple C / IDL 7.x / 64bit Mac/PowerPC OS-X Apple C / IDL 6.4 / 32bit PC Linux gCC / IDL 6.4 / 32bit PC Linux gCC / IDL 6.4 / 64bit PC Windows MS Visual C / IDL 7.x / 32bit PC Windows MS Visual C / IDL 7.x / 64bit Sun Solaris SUN C / IDL 7.x / 32bit Sun Solaris gCC / IDL 7.x / 32bit Sun Solaris gCC / IDL 7.x / 64bit Mice: Mac/Intel OS-X Apple C / MATLAB 7.x / 32bit Mac/Intel OS-X Apple C / MATLAB 7.x / 64bit Mac/PowerPC OS-X Apple C / MATLAB 7.x / 32bit PC Linux gCC / MATLAB 7.x / 32bit PC Linux gCC / MATLAB 7.x / 64bit PC Windows MS Visual C / MATLAB 7.x / 32bit PC Windows MS Visual C / MATLAB 7.x / 64bit Sun/Intel Solaris SUN C / MATLAB 7.x / 64bit Dynamically Linked Executables For some environments precompiled executables provided in the generic Toolkit packages and additional utility program executables provided on the Utilities page on the NAIF Web site (http://naif.jpl.nasa.gov/naif/utilities.html) are dynamically linked and, in order to run, require certain dynamic libraries, usually provided with the compiler used to build the executables, to be installed on the user's system. This applies to most Mac/OSX, PC/Linux and Sun/Solaris environments. Lahey Memory Issue Related to File Opening/Closing The Lahey memory issue related to file opening/closing described in the N0061 section of this document persists in the N0064 version of the Toolkit. Scratch EK File Issue in Icy on PC/Windows The scratch EK file issue in Icy on PC/Windows described in the N0061 section of this document persists in the N0064 version of the Toolkit. Geometry Finder (GF) Subsystem -------------------------------------------------------- The N0064 version offers a number of additional SPICE Geometry Finder (GF) subsystem interfaces. SPICELIB High-Level GF APIs The following High-Level GF APIs were added to SPICELIB: GFRR determines time intervals when a specified constraint on the observer-target range rate is met. GFUDS performs a GF search on a user defined scalar quantity. This API is supported by two additional routines UDDC and UDDF. CSPICE High-Level GF APIs The following High-Level GF APIs were added to CSPICE: gfrr_c determines time intervals when a specified constraint on the observer-target range rate is met. gfuds_c performs a GF search on a user defined scalar quantity. This API is supported by two additional functions uddc_c and uddf_c. Icy and Mice High-Level GF APIs The following High-Level GF APIs were added to Icy and Mice: cspice_gfrr determines time intervals when a specified constraint on the observer-target range rate is met. SPICELIB/CSPICE/Icy/Mice -------------------------------------------------------- Kernel Pool Variable Name Length Check The routines loading SPICE text kernel files now include a check on the length of the kernel pool variable names. The error SPICE(BADVARNAME) is signaled if the length of any variable provided in the text kernel file exceeds 32 characters. Regardless of language, all Toolkits inherit this behavior. CK Buffered Segment Limits The maximum number of CK segments that can be buffered simultaneously has been increased to 50000. SPK Buffered Segment Limits The maximum number of SPK segments that can be buffered simultaneously has been increased to 50000. Kernel Pool Double Precision Buffer Limit The maximum number of double precision values that can be stored in the kernel pool has been increased to 200000. SCLK Coefficient Record Limit The maximum number of SCLK coefficient records that can be buffered has been increased to 50000. This is also the limit on the number of coefficient records that can be stored in an SCLK kernel. CK writer quaternion magnitude check The quaternion magnitude check performed in the CK writers CKW01 (ckw01_c in CSPICE) (cspice_ckw01 in Icy and Mice) CKW02 (ckw02_c in CSPICE) (cspice_ckw02 in Icy and Mice) CKW03 (ckw03_c in CSPICE) (cspice_ckw03 in Icy and Mice) CKW05 (ckw05_c in CSPICE) has been relaxed from checking for a magnitude ``close'' to 1 to simply ensuring that the input quaternions are non-zero. New SPICELIB Interfaces The following 3d and 6d vector APIs were added to SPICELIB: dvnorm calculates the derivative of the norm of a 3-vector. dhfa calculates the value of the time derivative of the half angle of a spherical body given a state vector and body radius. The following auxiliary APIs were added to SPICELIB: bodc2s translates a body ID code to either the corresponding name, or if no name to ID code mapping exists, the string representation of the body ID value. New CSPICE Interfaces The following 3d and 6d vector APIs were added to CSPICE: ducrss_c computes the unit vector parallel to the cross product of two 3-dimensional vectors, and the derivative of this unit vector. dvcrss_c computes the cross product of two 3-dimensional vectors and the derivative of this cross product. dvnorm_c calculates the derivative of the norm of a 3-vector. The following lower-level DAF access APIs were added to CSPICE: dafgsr_c reads a portion of the contents of a summary record in a DAF file. dafrfr_c reads the contents of the file record of a DAF. The following auxiliary APIs were added to CSPICE: bodc2s_c translates a body ID code to either the corresponding name, or if no name to ID code mapping exists, the string representation of the body ID value. dp2hx_c converts a double precision number to an equivalent character string using base 16 ``scientific notation.'' hx2dp_c converts a string representing a double precision number in a base 16 ``scientific notation'' into its equivalent double precision number. New Icy Interfaces The following 3d and 6d vector APIs were added to Icy: cspice_ducrss computes the unit vector parallel to the cross product of two 3-dimensional vectors and the derivative of this unit vector. cspice_dvcrss computes the cross product of two 3-dimensional vectors and the derivative of this cross product. cspice_dvnorm calculates the derivative of the norm of a 3-vector. cspice_dvsep calculates the time derivative of the separation angle between states. The following auxiliary APIs were added to Icy: cspice_bodc2s translates a body ID code to either the corresponding name or if no name to ID code mapping exists, the string representation of the body ID value. cspice_dp2hx converts a double precision number to an equivalent character string using base 16 ``scientific notation.'' cspice_hx2dp converts a string representing a double precision number in a base 16 ``scientific notation'' into its equivalent double precision number. New Mice Interfaces The following 3d and 6d vector APIs were added to Mice: cspice_ducrss computes the unit vector parallel to the cross product of two 3-dimensional vectors and the derivative of this unit vector. cspice_dvcrss computes the cross product of two 3-dimensional vectors and the derivative of this cross product. cspice_dvdot computes the time derivative of the dot product of two position vectors. cspice_dvhat calculates the unit vector corresponding to a state or states and the derivative of the unit vector. cspice_dvnorm calculates the derivative of the norm of a 3-vector. cspice_dvsep calculates the time derivative of the separation angle between states. cspice_vnorm returns the magnitude of a double precision, 3-dimensional array or set of such arrays. cspice_vperp calculates the component of a vector perpendicular to a second vector. The following EK-access APIs were added to Mice: cspice_ekfind finds E-kernel data that satisfy a set of constraints. cspice_eknelt returns the number of elements in a specified column entry in the current row. cspice_ekgc returns an element of string (character) data from a specified row in a specified column of the set of rows matching the previous cspice_ekfind query. cspice_ekgd returns an element of double precision data from a specified row in a specified column of the set of rows matching the previous cspice_ekfind query. cspice_ekgi returns an element of integer data from a specified row in a specified column of the set of rows matching the previous cspice_ekfind query. The following time conversion APIs were added to Mice: cspice_unitim returns the double precision value of an input epoch converted from one uniform time scale to another. The following auxiliary APIs were added to Mice: cspice_bodc2s translates a body ID code to either the corresponding name, or if no name to ID code mapping exists, the string representation of the body ID value. Built-in NAIF ID Code/Name Definitions The following new built-in NAIF ID code/name definitions have been added to the Toolkit: Spacecraft: -5 AKATSUKI -5 VCO -121 BEPICOLOMBO -177 GRAIL-A -181 GRAIL-B -202 MAVEN -205 SOIL MOISTURE ACTIVE AND PASSIVE -205 SMAP -362 RADIATION BELT STORM PROBE A -362 RBSP_A -363 RADIATION BELT STORM PROBE B -363 RBSP_B Satellites: 550 HERSE 653 AEGAEON Comets: 1000093 TEMPEL_1 Asteroids: 2000021 LUTETIA 2004179 TOUTATIS Documentation -------------------------------------------------------- Overwriting Input Arguments Not Allowed The following SPICELIB routines were designed to allow applications to call them in such a way that input arguments could overwrite output arguments. However, this usage is a violation of the Fortran 77 standard; it also causes failures in some environments when SPICELIB is compiled with optimization (currently SPICELIB is optimized only for Intel Fortran environments). So, the header documentation of affected SPICELIB routines has been updated to not suggest this calling technique. The affected routines are: CYCLAD CYCLAI DUCRSS DVCRSS INVERT INVSTM MTXM MTXV MXM MXMT MXV PACKAC PACKAD PACKAI ROTMAT ROTVEC SAELGV UNORM UNORMG VADD VADDG VCRSS VHATG VMINUG VMINUS VPROJ VPROJG VSCL VSCLG VSUB VSUBG XPOSBL XPOSE XPOSEG Bug Fixes -------------------------------------------------------- Kernel Pool Watcher Deletion in TKFRAM The watcher deletion algorithm has been corrected to delete watchers only when the variables they watch are dumped from the local buffer. Frame Change in CKGP CKGP now computes the transformation from the requested frame to the applicable CK segment's base frame via a call to REFCHG. Formerly CKGP performed this transformation using FRMCHG, which required that angular velocity data describing the relative motion of these frames be available. ROTGET Dynamic Frame ID ROTGET formerly passed the frame class ID rather than the frame ID to private routine ZZDYNROT, which handles dynamic frame transformations. Since by convention these IDs are identical for dynamic frames, the error had no practical effect. The error has been corrected. The shadow private routine ZZROTGT0 has been corrected as well. Note that the error does not apply to the second-level private shadow routine ZZROTGT1. ZZEKQCON Initialization Error The private routine ZZEKQCON could in some cases access uninitialized variables when working with null column entries. This has been corrected. ZZEKRD03 Memory Violation Error The private routine ZZEKRD03 had a bug that caused it to overwrite local memory. Prior to the N0064 version of SPICELIB, this error had been benign on all supported platforms. The error has been corrected. EK Strings Longer Than 1024 Characters Although the EK Required Reading states that variable-length strings in EK columns are limited to 1024 characters in length, the EK writer routines don't enforce this limit, and some users have created kernels that violate the limit. Various routines that support EK query and fetch operations had assumed that the limit was in effect and were subject to substring boundary violations when these long strings were encountered. In addition, the semantics of string comparisons for excessively long strings were undefined. A compromise solution was selected: EK routines that perform variable-length EK column entry string comparisons now treat only the first 1024 characters of strings as significant. The following private routines were updated to effect this change: ZZEKECMP ZZEKFRX ZZEKSCMP ZZEKVMCH This fix also corrects the substring boundary violations. RETURN Mode Logic in Various Routines The following routines were corrected to ensure that they avoid making branch decisions based on uninitialized data after encountering a SPICE error while in RETURN mode: ILUMIN SPKAPO SPKEZ SUBPNT SUBSLR ZZSPKEZ0 ZZSPKEZ1 Version 63 --- April 2009 =========================================================================== Environments -------------------------------------------------------- New Environments The SPICE Toolkit is now officially supported on these new environments: FORTRAN Toolkit: Mac/Intel OS-X GFORTRAN PC Linux GFORTRAN Icy: PC Linux gCC / IDL 6.4 / 64bit Sun Solaris gCC / IDL 6.4 / 64bit Mice: PC Linux gCC / MATLAB 7.x / 64bit Complete List of Supported Environments This is the complete list of environments on which the N0063 version of the SPICE Toolkit is supported: FORTRAN Toolkit: Mac/Intel OS-X Intel FORTRAN Mac/Intel OS-X GFORTRAN Mac/PowerPC OS-X Absoft FORTRAN Mac/PowerPC OS-X g77 PC CYGWIN g77 PC Linux g77 PC Linux GFORTRAN PC Linux Intel FORTRAN PC Windows Compaq Visual (Digital) FORTRAN PC Windows Intel FORTRAN PC Windows Lahey FORTRAN 95 Sun Solaris SUN FORTRAN CSPICE: Mac/Intel OS-X Apple C Mac/PowerPC OS-X Apple C PC CYGWIN gCC PC Linux gCC / 32bit PC Linux gCC / 64bit PC Windows MS Visual C Sun Solaris gCC / 32bit Sun Solaris gCC / 64bit Sun Solaris SUN C Icy: Mac/Intel OS-X Apple C / IDL 6.4 / 32bit Mac/PowerPC OS-X Apple C / IDL 6.4 / 32bit PC Linux gCC / IDL 6.4 / 32bit PC Linux gCC / IDL 6.4 / 64bit PC Windows MS Visual C / IDL 6.4 / 32bit Sun Solaris gCC / IDL 6.4 / 32bit Sun Solaris gCC / IDL 6.4 / 64bit Sun Solaris SUN C / IDL 6.4 / 32bit Mice: Mac/Intel OS-X Apple C / MATLAB 7.x / 32bit Mac/PowerPC OS-X Apple C / MATLAB 7.x / 32bit PC Linux gCC / MATLAB 7.x / 32bit PC Linux gCC / MATLAB 7.x / 64bit PC Windows MS Visual C / MATLAB 7.x / 32bit Lahey Memory Issue Related to File Opening/Closing The Lahey memory issue related to file opening/closing described in the N0061 section of this document still persists in the N0063 version of the Toolkit. Scratch EK File Issue in Icy on PC/Windows The scratch EK file issue in Icy on PC/Windows described in the N0061 section of this document still persists in the N0063 version of the Toolkit. Geometry Finder (GF) Subsystem -------------------------------------------------------- The N0063 version offers the first official release of the initial set of the SPICE Geometry Finder (GF) subsystem interfaces. The GF subsystem answers questions such as: -- find the time(s) or time span(s) when a selected orbital geometric condition is "true" (e.g. a condition such as an occultation or transit) -- find the time(s) or time span(s) when a specified geometric quantity, such as range or phase angle, is within a specified range. The GF Required Reading document, gf.req, provides a comprehensive description of the GF subsystem and its high-, mid-, and low-level APIs and includes numerous usage examples. For your convenience, the language-specific high-level GF APIs included in this release are listed in the three subsections below. SPICELIB High-Level GF APIs SPICELIB High-Level GF APIs for finding times of events satisfying numerical constraints are: GFDIST determines time intervals when a specified constraint on observer-target distance is met. GFPOSC determines time intervals when a coordinate of an observer-target position vector satisfies a numerical constraint. GFSEP determines time intervals when the angular separation between the position vectors of two target bodies relative to an observer satisfies a numerical relationship. GFSNTC determines time intervals when a coordinate of a ray-surface intercept position vector satisfies a numerical constraint. GFSUBC determines time intervals when a coordinate of a sub-observer point position vector satisfies a numerical constraint. SPICELIB High-Level GF APIs for finding times of events satisfying FOV constraints are: GFRFOV determines time intervals when a specified ray intersects the space bounded by the field-of-view (FOV) of a specified instrument. GFTFOV determines time intervals when a specified ephemeris object intersects the space bounded by the field-of-view (FOV) of a specified instrument. SPICELIB High-Level GF APIs for finding times of occultations are: GFOCLT determines time intervals when an observer sees one target occulted by another. CSPICE High-Level GF APIs CSPICE High-Level GF APIs for finding times of events satisfying numerical constraints are: gfdist_c determines time intervals when a specified constraint on observer-target distance is met. gfposc_c determines time intervals when a coordinate of an observer-target position vector satisfies a numerical constraint. gfsep_c determines time intervals when the angular separation between the position vectors of two target bodies relative to an observer satisfies a numerical relationship. gfsntc_c determines time intervals when a coordinate of a ray-surface intercept position vector satisfies a numerical constraint. gfsubc_c determines time intervals when a coordinate of a sub-observer point position vector satisfies a numerical constraint. CSPICE High-Level GF APIs for finding times of events satisfying FOV constraints are: gfrfov_c determines time intervals when a specified ray intersects the space bounded by the field-of-view (FOV) of a specified instrument. gftfov_c determines time intervals when a specified ephemeris object intersects the space bounded by the field-of-view (FOV) of a specified instrument. CSPICE High-Level GF APIs for finding times of occultations are: gfoclt_c determines time intervals when an observer sees one target occulted by another. Icy and Mice High-Level GF APIs Icy and Mice High-Level GF APIs for finding times of events satisfying numerical constraints are: cspice_gfdist determines time intervals when a specified constraint on observer-target distance is met. cspice_gfposc determines time intervals when a coordinate of an observer-target position vector satisfies a numerical constraint. cspice_gfsep determines time intervals when the angular separation between the position vectors of two target bodies relative to an observer satisfies a numerical relationship. cspice_gfsntc determines time intervals when a coordinate of a ray-surface intercept position vector satisfies a numerical constraint. cspice_gfsubc determines time intervals when a coordinate of a sub-observer point position vector satisfies a numerical constraint. Icy and Mice High-Level GF APIs for finding times of events satisfying FOV constraints are: cspice_gfrfov determines time intervals when a specified ray intersects the space bounded by the field-of-view (FOV) of a specified instrument. cspice_gftfov determines time intervals when a specified ephemeris object intersects the space bounded by the field-of-view (FOV) of a specified instrument. Icy and Mice High-Level GF APIs for finding times of occultations are: cspice_gfoclt determines time intervals when an observer sees one target occulted by another. SPICELIB/CSPICE/Icy/Mice -------------------------------------------------------- SURFPV/surfpv_c (SPICELIB/CSPICE only) The SURFPV routine (surfpv_c in SPICE) finding the state (position and velocity) of the surface intercept defined by a specified ray, ray velocity, and ellipsoid was added to the Toolkit. DVSEP/dvsep_c (SPICELIB/CSPICE only) The DVSEP function (dvsep_c in CSPICE) calculating the time derivative of the separation angle between two input states was added to the Toolkit. GETFOV The header of the GETFOV routine (getfov_c in CSPICE, cspice_getfov in Icy and Mice) was updated to provide a comprehensive specification of the IK keywords used to define FOVs and to include more practical examples of FOV definitions. FURNSH The FURNSH routine (furnsh_c in CSPICE, cspice_furnsh in Icy and Mice) was updated to support continued path values and to reject files with names longer than 255 characters. Improved Error Messages from PXFORM/SXFORM The formerly rather cryptic error messages ``There is insufficient information available to transform from ... to frame ....'' generated by PXFORM/SXFORM (pxform_c/sxform_c in CSPICE, cspice_pxform/cspice_sxform in Icy and Mice) have been improved to provide more context and to suggest what SPICE data may be missing. Built-in NAIF ID Code/Name Definitions The following new built-in NAIF ID code/name definitions have been added to the Toolkit: Spacecraft: -5 PLC -5 PLANET-C -68 MMO -68 MERCURY MAGNETOSPHERIC ORBITER -69 MPO -69 MERCURY PLANETARY ORBITER -140 EPOCH -140 DIXI Asteroids: 2002867 STEINS Mice (MATLAB interface to CSPICE) Only -------------------------------------------------------- New Interfaces NAIF added the following interfaces to Mice for this release: cspice_cgv2el cspice_el2cgv cspice_lmpool cspice_nvc2pl cspice_nvp2pl cspice_saelgv cspice_vrotv cspice_wncard cspice_wnsumd cspice_wnvald New and Updated Applications -------------------------------------------------------- FRMDIFF The FRMDIFF program was added to the application set included in each SPICE toolkit. This program samples orientation of a reference frame known to SPICE or computes differences between orientations of two reference frames known to SPICE, and either displays this orientation or these differences, or shows statistics about it or them. Refer to the FRMDIFF User's Guide, frmdiff.ug, for more information about the program. CKBRIEF The CKBRIEF program was updated to display names of the frames associated with CK IDs when the new command line option ``-n'' is specified. The help information that the program displays when the command line option ``-h'' is specified was updated for clarity and contents. Documentation -------------------------------------------------------- Language Specific Required Reading Documents The following Required Reading documents have been adapted for Icy and Mice: gf.req frames.req kernel.req naif_ids.req time.req windows.req CKBRIEF User's Guide The CKBRIEF User's Guide, ckbrief.ug, was fully rewritten to describe new features added to the program and to provide examples illustrating all aspects of the program's functionality. Bug Fixes -------------------------------------------------------- SINCPT, SRFXPT The routines SINCPT and SRFXPT were modified to not perform the quick test for non-intersection when observer-target distance is less than target's maximum radius. POOL Watchers A new POOL entry point DWPOOL (delete watch from pool) has been added. This routine deletes a specified agent from all POOL data structures that associate kernel variables and agents. Watcher overflow detection logic has been corrected in SWPOOL. In the following routines, watched kernel variables are no longer considered to be buffered when a lookup of one of these variables fails: BODC2N (via changes to ZZBODTRN) BODDEF (via changes to ZZBODTRN) BODN2C (via changes to ZZBODTRN) SCPART SCTYPE SCTK01 (SC01 entry point) SCFM01 (SC01 entry point) SCTE01 (SC01 entry point) SCET01 (SC01 entry point) SCEC01 (SC01 entry point) TTRANS UNITIM Frame subsystem TKFRAM has been updated to use DWPOOL when it deletes a frame specification from its internal buffer; this corrects a bug that caused the watcher system to overflow when a large number of TK frame specifications were used. Error handling OUTMSG has been updated so that it correctly displays very long strings that have been substituted into the long error message. Non-printing Character Detection in Time System The low-level time string parser routines called by STR2ET (str2et_c in CSPICE, cspice_str2et in Icy and Mice), UTC2ET (utc2et_c in CSPICE, cspice_utc2et in Icy and Mice), and TPARSE (tparse_c in CSPICE, cspice_tparse in Icy and Mice) were updated to detect non-printing characters with ASCII codes greater than 126. MKSPK The program was updated to prevent signaling an error due to round off in the computed time step when creating Type 8 or Type 12 SPK files. CKBRIEF Two bugs in CKRBIEF were fixed: hanging up when no value is provided after the ``-f'' option and displaying a warning message and an incomplete summary in case of an insufficient buffer space. In the latter case the program now displays an error message. Version 62 --- March 2008 =========================================================================== Environments -------------------------------------------------------- New Environments The SPICE Toolkit is now officially supported on this new environment: FORTRAN Toolkit: PC Linux Intel FORTRAN Complete List of Supported Environments This is the complete list of environments on which the N0062 version of the SPICE Toolkit is supported: FORTRAN Toolkit: Mac/Intel OS-X Intel FORTRAN Mac/PowerPC OS-X Absoft FORTRAN Mac/PowerPC OS-X g77 PC CYGWIN g77 PC Linux g77 PC Linux Intel FORTRAN PC Windows Compaq Visual (Digital) FORTRAN PC Windows Intel FORTRAN PC Windows Lahey FORTRAN 95 Sun Solaris SUN FORTRAN CSPICE: Mac/Intel OS-X Apple C Mac/PowerPC OS-X Apple C PC CYGWIN gCC PC Linux gCC / 32bit PC Linux gCC / 64bit PC Windows MS Visual C Sun Solaris gCC / 32bit Sun Solaris gCC / 64bit Sun Solaris SUN C Icy: Mac/Intel OS-X Apple C / IDL 6.4 / 32bit Mac/PowerPC OS-X Apple C / IDL 6.4 / 32bit PC Linux gCC / IDL 6.4 / 32bit PC Windows MS Visual C / IDL 6.4 / 32bit Sun Solaris gCC / IDL 6.4 / 32bit Sun Solaris SUN C / IDL 6.4 / 32bit Mice: Mac/Intel OS-X Apple C / MATLAB 7.x / 32bit Mac/PowerPC OS-X Apple C / MATLAB 7.x / 32bit PC Linux gCC / MATLAB 7.x / 32bit PC Windows MS Visual C / MATLAB 7.x / 32bit Use of -m32 Option The CSPICE library provided with the CSPICE, Icy, and Mice toolkits for PC / Linux / gCC / 32bit environment compiles with the -m32 option to produce 32bit code when recompiled on a 64bit PC. Lahey Memory Issue Related to File Opening/Closing The Lahey memory issue related to file opening/closing described in the N0061 section of this document still persists in the N0062 version of the Toolkit. Scratch EK File Issue in Icy on PC/Windows The scratch EK file issue in Icy on PC/Windows described in the N0061 section of this document still persists in the N0062 version of the Toolkit. Mice -------------------------------------------------------- The N0062 version offers the first official release of Mice, the ANSI based interface between the MATLAB environment, a product of Mathworks, Inc. (http://www.mathworks.com), and the CSPICE library. If you downloaded a Mice package, refer to ``mice.req'' document and to the Mice HTML documentation pointed to by ``doc/html/index.html'' for more details. SPICELIB/CSPICE/Icy/Mice -------------------------------------------------------- New ``Surface Intercept'' routine SINCPT Given an observer and a direction vector defining a ray, the new routine SINCPT (sincpt_c in CSPICE, cspice_sincpt in Icy and Mice) computes the surface intercept of the ray on a target body at a specified epoch, optionally corrected for light time and stellar aberration. This routine supersedes SRFXPT (srfxpt_c, cspice_srfxpt), which does not have an input argument for the target body-fixed frame name. New ``Illumination Angles'' routine ILUMIN The new routine ILUMIN (ilumin_c in CSPICE, cspice_ilumin in Icy and Mice) finds the illumination angles (phase, solar incidence, and emission) at a specified surface point of a target body. This routine supersedes ILLUM (illum_c, cspice_illum), which doesn't have an input argument for the target body-fixed frame name. New ``Sub-observer Point'' routine SUBPNT The new routine SUBPNT (subpnt_c in CSPICE, cspice_subpnt in Icy and Mice) computes the rectangular coordinates of the sub-observer point on a target body at a specified epoch, optionally corrected for light time and stellar aberration. This routine supersedes SUBPT (subpt_c, cspice_subpt), which does not have an input argument for the target body-fixed frame name. New ``Sub-solar Point'' Routine SUBSLR The new routine SUBSLR (subslr_c in CSPICE, cspice_subslr in Icy and Mice) computes the rectangular coordinates of the sub-solar point on a target body at a specified epoch, optionally corrected for light time and stellar aberration. This routine supersedes SUBSOL (subsol_c, cspice_subsol), which does not have an input argument for the target body-fixed frame name. Improvements of Aberration Corrected Velocity in the SPK Subsystem NAIF has upgraded the algorithms used by the SPICE Toolkit's SPK subsystem to improve the accuracy of certain velocity results returned by that subsystem. The new algorithms improve the accuracy of velocities that are corrected for light time alone, or both light time and stellar aberration. The new algorithms use the same non-relativistic models for aberration corrections as do the current SPK algorithms, but the new implementations of the velocity calculations are more accurate. The changes improve the accuracy of certain derived quantities, including range rates and times of periapse or apoapse, when aberration corrections are used. These changes improve current SPICE computations as well as being necessary for implementation of the upcoming geometric event finding subsystem. The changes do not affect the computation of aberration-corrected position vectors, nor do they affect uncorrected (``geometric'') states (position and velocity). A few examples of the magnitudes of improvements afforded by the new algorithms are shown below. All velocities are inertially referenced. -- Range rate of the light time corrected position of the Moon as seen from the DSN station DSS-25: 1 cm/sec -- Range rate of the light time and stellar aberration corrected position of the Moon as seen from DSS-25: 13 cm/sec -- Range rate of the light time corrected position of Mars as seen from DSS-25: 55 cm/sec -- Range rate of the light time and stellar aberration corrected position of Mars as seen from DSS-25: 1.6 m/sec -- Range rate of the light time corrected position of Cassini as seen from DSS-25: 9 cm/sec -- Range rate of the light time and stellar aberration corrected position of Cassini as seen from DSS-25: 3.4 m/sec -- Velocity of the Neptune barycenter, as seen from DSS-25, corrected for light time: 25 cm/sec -- Velocity of the Neptune barycenter, as seen from DSS-25, corrected for light time and stellar aberration: 400 m/sec Negative effects of the changes are -- Velocity computations using stellar aberration corrections are slower; the extent of the effect varies considerably depending on the inputs to the computations, but tests indicate that some common computations would be slower by a factor of 2. But take note: since computation of aberration-corrected states is usually a small fraction of the computational workload of SPICE-based applications, the effect on the speed of SPICE-based applications is very small, and in a majority of cases would likely not be discernible at all. Also note, the effect on speed of an application that simply ``reads'' state vectors from an SPK file is nil since aberration corrections are not used for this purpose. -- Using the upgraded algorithms would change outputs of some SPICE-based user applications. In these situations, a user's regression tests could be affected. -- If a user's application counts on the specific, current implementation of velocity aberration corrections, a problem could occur. NAIF believes any possible negative consequences are outweighed by the benefits of improved accuracy. Below we briefly describe the differences between the old and new aberration correction algorithms. The previous SPK light time correction algorithms introduce errors by ignoring the rate of change of light time with respect to time. This occurs in two places: -- In computation of light-time corrected velocity referenced to inertial reference frames -- In computation of light-time corrected velocity referenced to non-inertial reference frames centered at an object other than the observer. The new light time algorithms correct both of these errors. SPICE supports stellar aberration correction only when light time correction is used as well. Previously, the velocity returned when light time and stellar aberration corrections were used is identical to that returned when only light time correction is used. The new algorithm computes light time and stellar aberration-corrected velocity as the derivative with respect to time of light time and stellar aberration-corrected position. New SPK Routines To support improvements to the SPK subsystem described above, three new SPK routines were added (described below). In most cases SPICE users would not call one of these routines, using the high-level APIs SPKEZR or SPKEZ instead. For the N0062 release these routines are available only in SPICELIB and CSPICE. SPKACS The new routine SPKACS (spkacs_c in CSPICE) returns the state (position and velocity) of a target body relative to an observer, optionally corrected for light time and stellar aberration, expressed relative to an inertial reference frame. SPKAPS Given the state and acceleration of an observer relative to the solar system barycenter, the new routine SPKAPS (spkaps_c in CSPICE) returns the state (position and velocity) of a target body relative to the observer, optionally corrected for light time and stellar aberration. All input and output vectors are expressed relative to an inertial reference frame. SPKLTC The new routine SPKLTC (spkltc_c in CSPICE) returns the state (position and velocity) of a target body relative to an observer, optionally corrected for light time, expressed relative to an inertial reference frame. New Binary PCK Coverage Routines PCKFRM and PCKCOV The new PCK coverage determination routine PCKCOV (pckcov_c in CSPICE) provides an API with which an application can find the time period(s) during which a specified binary PCK file provides data for a specified reference frame. The coverage information is a set of disjoint time intervals returned in a SPICE ``window'' data structure. The new PCK routine PCKFRM (pckfrm_c in CSPICE) provides an API via which an application can find the set of reference frames for which a specified binary PCK file contains data. The coverage information is returned in a SPICE ``set'' data structure. For the N0062 release these routines are available only in SPICELIB and CSPICE. New Routine WNCARD The new routine WNCARD (wncard_c in CSPICE, cspice_wncard in Icy) returns the cardinality -- number of intervals -- of a SPICE ``window'' data structure. For the N0062 release this routine is available only in SPICELIB, CSPICE, and Icy. New Routine EDTERM The new routine EDTERM computes a set of points on the umbral or penumbral terminator of a specified target body, where the target shape is modeled as an ellipsoid. For the N0062 release this routine is available only in SPICELIB. SCLK Buffer Size Increase The sizes of the internal buffers in the SCLK subsystem have been increased to allow SCLK kernels to include up to 9,999 partitions. TABs in Text Kernels The low level routines called by the SPICE kernel loader routine FURNSH were modified to ignore TAB characters present in text kernels files on all supported environments. Built-in NAIF ID Code/Name Definitions The following new built-in NAIF ID code/name definitions have been added to the Toolkit: Spacecraft: -18 LCROSS -29 NEXT -86 CH1 -86 CHANDRAYAAN-1 -131 KAGUYA -140 EPOXI -151 CHANDRA -187 SOLAR PROBE Satellites: 636 AEGIR 637 BEBHIONN 638 BERGELMIR 639 BESTLA 640 FARBAUTI 641 FENRIR 642 FORNJOT 643 HATI 644 HYROKKIN 645 KARI 646 LOGE 647 SKOLL 648 SURTUR 649 ANTHE 650 JARNSAXA 651 GREIP 652 TARQEQ 809 HALIMEDE 810 PSAMATHE 811 SAO 812 LAOMEDEIA 813 NESO The following built-in NAIF ID code/name definitions for Jovian system satellites have been modified to conform to the current name/body mapping: Satellites: 540 MNEME 541 AOEDE 542 THELXINOE 543 ARCHE 544 KALLICHORE 545 HELIKE 546 CARPO 547 EUKELADE 548 CYLLENE 549 KORE The following provisional default NAIF ID code/name definitions have been removed: Spacecraft: -172 SPACETECH-3 COMBINER -174 PLUTO-KUIPER EXPRESS -175 PLUTO-KUIPER EXPRESS SIMULATION -205 SPACETECH-3 COLLECTOR Satellites: 514 1979J2 515 1979J1 516 1979J3 610 1980S1 611 1980S3 612 1980S6 613 1980S13 614 1980S25 615 1980S28 616 1980S27 617 1980S26 706 1986U7 707 1986U8 708 1986U9 709 1986U4 710 1986U6 711 1986U3 712 1986U1 713 1986U2 714 1986U5 715 1985U1 718 1986U10 901 1978P1 The spelling in the following built-in NAIF ID code/name definitions have been corrected: Satellites: MAGACLITE to MEGACLITE The following built-in objects have been renamed: Spacecraft: STV-1 to STV51 STV-2 to STV52 STV-3 to STV53 Satellites: ERRIAPO to ERRIAPUS Icy (IDL interface to CSPICE) Only -------------------------------------------------------- New and Updated Interfaces NAIF added the following interfaces to Icy for this release: cspice_getelm cspice_spkw10 cspice_wncard cspice_subpnt cspice_subslr cspice_dafac cspice_dafdc cspice_dafec cspice_subpnt cspice_subslr cspice_sincpt These Icy interfaces now process vectorized arguments: cspice_etcal cspice_furnsh cspice_unload These Interfaces have been removed from Icy: cspice_spkw15 cspice_spkw17 Documentation -------------------------------------------------------- Permuted Index for Icy and Mice The permuted index documents have been added to the ASCII and HTML documentation sets provided with the Icy and Mice Toolkits. BRIEF User's Guide The BRIEF User's Guide, brief.ug, was fully rewritten to describe new features added to the program and to provide examples illustrating all aspects of the program's functionality. Documentation on NAIF Web Server The documentation provided in the generic SPICE, CSPICE, Icy and Mice Toolkits is now also available at this URL on the NAIF Web server: http://naif.jpl.nasa.gov/naif/documentation.html BRIEF -------------------------------------------------------- The BRIEF utility program was modified to: -- summarize binary PCK files -- summarize SPK files provided in meta-kernels -- load text kernels -- display times as calendar UTC (``-utc'' option), day-of-year UTC (``-utcdoy'' option), and ET seconds (``-etsec'' option) -- detect attempts to summarize unsupported kernel types (CK, EK, transfer format kernels, etc.) The program's help and usage displays as well as the formats of the summary reports were improved. The internal buffers holding summary information were increased to allow summarizing SPK files or file sets containing up to 100,000 bodies. CKBRIEF -------------------------------------------------------- The CKBRIEF utility program was modified to: -- summarize CK files provided in meta-kernels -- detect attempts to summarize unsupported kernel types (SPK, binary PCK, EK, transfer format kernels, etc.) The program's help and usage displays were improved. The internal buffers holding summary information were increased to allow summarizing CK files containing up to 100,000 segments. MKSPK -------------------------------------------------------- The capability to accept time tags given as ET seconds past J2000 was added to the program. The TIME_WRAPPER setup keyword must be set to the special value '# ETSECONDS' to make the program recognize and process such time tags. SUBPT Cookbook -------------------------------------------------------- The cookbook program SUBPT was updated to illustrate use of the new ``sub-observer point'' routine SUBPNT. Bug Fixes -------------------------------------------------------- EV2LIN Corrected error in the calculation of the C4 term due to typographic error in expression. HYPTOF An error in the HYPTOF routine affecting cases of evaluating elements of a hyperbolic trajectory with a very large eccentricity with respect to a small body (low gravity) has been fixed. INELPL The routine's specification and behavior have been updated so the routine now returns a meaningful result for the case of an ellipse consisting of a single point. Also, in the degenerate case where the input ellipse is a line segment of positive length, and this segment intersects the plane, the number of intersection points is set to 1 rather than 2. RAXISA Minor edit to the ANGLE declaration strictly identifying the constant as a double. This change eliminates an occasional compiler warning. SC01 The routine was fixed to correctly insert spaces between fields when the output field delimiter is blank. SRFXPT The routine was corrected to no longer apply the light time improvement logic in near-miss cases when a geometric solution is requested via ABCORR. BRIEF A number of bugs were fixed in the BRIEF utility program in the course of the modifications described above. The two most significant of these bugs were hanging up when no value was provided after ``-from'', ``-to'',``-at'', and ``-f'' options, and a logic expression error causing the program's crash on the Intel FORTRAN environments. CKBRIEF The bug causing an unsolicited grouping display on some C environments was fixed. Header Updates A number of formatting problems, typos, and errors in examples were fixed in the SPICE, CSPICE, and Icy headers. Version 61 --- December 2006 =========================================================================== Rules Regarding Use of SPICE Components -------------------------------------------------------- The rules regarding use of SPICE components have been updated to reflect the new ITAR clearance for the SPICE toolkit, documentation and data. Please see the RULES page of the NAIF website: http://naif.jpl.nasa.gov/naif/rules.html for details. Environments -------------------------------------------------------- New Environments The SPICE Toolkit is now officially supported on these new environments: FORTRAN Toolkit: Mac/Intel OS-X Intel FORTRAN PC Windows Intel FORTRAN CSPICE: Mac/Intel OS-X Apple C Sun Solaris gCC/64bit Icy: Mac/Intel OS-X Apple C / IDL 6.3 Deprecated Environments The SPICE Toolkit is no longer supported on these environments: FORTRAN Toolkit: HP UX-10 HP FORTRAN Vax VMS Digital FORTRAN CSPICE: HP UX-10 HP C Complete List of Supported Environments This is the complete list of environments on which the N0061 version of the SPICE Toolkit is supported: FORTRAN Toolkit: Mac/Intel OS-X Intel FORTRAN Mac/PowerPC OS-X Absoft FORTRAN Mac/PowerPC OS-X g77 PC CYGWIN g77 PC Linux g77 PC Windows Compaq Visual (Digital) FORTRAN PC Windows Intel FORTRAN PC Windows Lahey FORTRAN 95 Sun Solaris SUN FORTRAN CSPICE: Mac/Intel OS-X Apple C Mac/PowerPC OS-X Apple C PC CYGWIN gCC PC Linux gCC PC Linux gCC/64bit PC Windows Microsoft Visual C Sun Solaris gCC Sun Solaris gCC/64bit Sun Solaris SUN C Icy: Mac/Intel OS-X Apple C / IDL 6.3 Mac/PowerPC OS-X Apple C / IDL 6.3 PC Linux gCC / IDL 6.3 PC Windows Microsoft Visual C / IDL 6.3 Sun Solaris gCC / IDL 6.3 Sun Solaris SUN C / IDL 6.3 Use of -fPIC/-KPIC Option The CSPICE library provided with the CSPICE and Icy toolkits is now compiled with the -fPIC or -KPIC option resulting in position-independent code, suitable for dynamic linking all environments that support it. Lahey Memory Issue Related to File Opening/Closing Users of Lahey FORTRAN under the Windows operating systems should be aware that the F95 compiler allocates a small amount of memory, in connection with the process of using file OPEN and INQUIRE statements, that it might not free at the end of the file manipulation process. Since the simple opening of a binary kernel file can involve multiple OPEN and INQUIRE statements, the result of this allocation is that if the user were to open many (e.g. 100 or more) kernel files, an application program could sequester memory that would not be freed as expected. A virtual memory error message such as "A work area cannot be reserved because of insufficient area" may result from this situation. This can adversely affect the stability of the Windows operating system, even after the user program is terminated. We believe that this behavior affects all versions of SPICELIB, including the N61 version. We are working with Lahey to resolve this issue. Scratch EK File Issue in Icy on PC/Windows An issue may exist when using EK scratch files from IDL under Microsoft Windows. The cspice_ekcls call may fail to delete the scratch file created by the cspice_ekops call. This file normally has a name style similar to tmp.Fxxxxx. You can manually delete the file only after you close the IDL application. This problem does not affect use of the file or cause any known instability to Icy. Documentation -------------------------------------------------------- Starting with N0061 every SPICE toolkit package comes with a complete set of HTML documentation consisting of: -- brief introduction to the SPICE system -- overview of specifics of SPICE implementation for a given language (for CSPICE and Icy only) -- description of the Toolkit package layout and contents -- language specific summary of Most Used SPICE APIs by category -- complete reference guide for all public APIs, derived from the source headers and provided with an alphabetical index -- Permuted Index of all public APIs -- complete set of Required Reading documents, provided with an index -- complete set of User's Guide documents, provided with an index All HTML documents in this set are cross-hyperlinked -- every instance of an API name in Required Reading, index or other documents is linked to the API HTML page derived from its source code header; every reference to a Required Reading document in the API HTML pages, indexes and other documents is linked to the Required Reading's HTML page, and so on. In some cases HTML pages are also linked to the actual source code modules, specifically from the Permuted Index document and from the bottom of each of the each individual API pages. The top level index file doc/html/index.html provides a single entry point to all HTML documentation. While the CSPICE and Icy set of individual API HTML pages contains a page for each of the public routines, the SPICELIB (Fortran) set does not provide HTML pages for about 30 routines that are different on different environments. NAIF omitted them in this Toolkit version due to some technical difficulties in assembling the Toolkit packages and will try to fix this situation in the next release of the Toolkit. Also, the SPICELIB HTML documentation set does not include links to a small set of APIs that have names that are either common words (POS, FRAME, ROTATE, RETURN) or terms (J2000, B1950) commonly used in the SPICE documentation. New Applications -------------------------------------------------------- MSOPCK The MSOPCK program was added to the application set included in each SPICE toolkit. This program converts attitude data provided in a text file as UTC, SCLK, or ET-tagged quaternions, Euler angles, or matrices, optionally accompanied by angular velocities, into a type 1, 2, or 3 SPICE C-kernel. Refer to the MSOPCK User's Guide, msopck.ug, for more information about the program. Note: an earlier version of this program has been available in some mission-specific Toolkits and through the NAIF website. We recommend users replace that older version with this one. SPKDIFF The SPKDIFF program was added to the application set included in each SPICE toolkit. This program computes differences between geometric states obtained from two SPK files and either displays these differences or shows statistics about them. Refer to the SPKDIFF User's Guide, spkdiff.ug, for more information about the program. Note: SPPKDIFF replaces a predecessor program named CMPSPK that had limited distribution. SPICELIB/CSPICE/Icy -------------------------------------------------------- KCLEAR Routine A call to KCLEAR unloads all files loaded via FURNSH and clears the kernel pool. Calling KCLEAR at the end of an Icy-based IDL script ensures that kernels loaded during script execution won't contaminate results from Icy-based scripts run subsequently during the same IDL session. DAF Comment Area Routines The former support library routines DAFAC, DAFDC, and DAFEC have been moved into SPICELIB. These routines provide comment area access for DAF-based files, such as SPK, CK, and binary PCK files. DAFAC appends to the contents of a DAF's comment area text provided in a buffer. DAFDC deletes all comments from the comment area. DAFEC extracts the contents of the comment area into a buffer. These routines are available in SPICELIB and CSPICE; they are not yet supported in Icy. DAF-based Kernel Open Routines The routines CKOPN, PCKOPN, and SPKOPN, which open new CK, binary PCK and SPK kernels respectively, now are able to reserve a caller-specified amount of space in the new file's comment area at the time of file creation. This allows faster comment addition when comments must be added after the kernel contains a large amount of data, since the data need not be shifted to make room in the comment area. The calling sequences of these routines have not changed. The routines' input argument NCOMCH was previously disregarded; it now specifies the amount of comment area space to reserve. This change applies to SPICELIB, CSPICE, and Icy. DAFONW Routine The routine DAFONW, which opens a new DAF, now initializes the DAF comment area when comment area records are reserved. The comment records are null-padded as before, but now the first character of the comment area is initialized with the ``end-of-comments'' character. This provides a correctly initialized empty comment area that can be accessed by SPICE routines and utilities. Formerly this initialization had to be carried out by the calling program. This change supports the capability of reserving space in the comment area now provided by the higher-level kernel opening routines CKOPN, PCKOPN, and SPKOPN. SPKW02, SPKW03, and SPKW05 Routines The restriction that the input reference frame should be inertial has been removed from SPK Type 2, 3 and 5 writer routines SPKW02, SPKW03 and SPKW05. Any application that calls there routines, including the MKSPK program, can now create a type 2, 3, or 5 SPK file with data given with respect to a non-inertial frame. Built-in NAIF ID Code/Name Definitions The following new built-in NAIF ID code/name definitions have been added to the Toolkit: Spacecraft: -61 JUNO -76 MSL -76 MARS SCIENCE LABORATORY -85 LRO -85 LUNAR RECON ORBITER -85 LUNAR RECONNAISSANCE ORBITER -212 STV-1 -213 STV-2 -214 STV-3 Satellites: 540 ARCHE 541 EUKELADE 546 HELIKE 547 AOEDE 548 HEGEMONE 551 KALLICHORE 553 CYLLENE 560 CARPO 561 MNEME 635 DAPHNIS 722 FRANCISCO 723 MARGARET 724 FERDINAND 725 PERDITA 726 MAB 727 CUPID 902 NIX 903 HYDRA The following provisional name/ID mappings for the Jovian system satellites were replaced or removed from the Toolkit: 539 'HEGEMONE' JXXXIX 540 'MNEME' JXL 541 'AOEDE' JXLI 542 'THELXINOE' JXLII 543 'ARCHE' JXLIII 544 'KALLICHORE' JXLIV 545 'HELIKE' JXLV 546 'CARPO' JXLVI 547 'EUKELADE' JXLVII 548 'CYLLENE' JXLVIII The new mapping leaves the IDs 539, 542-545, 549, 550, 552, 554-559 unassigned. The following name spelling correction has also been made: 632 METHODE to METHONE CSPICE Only -------------------------------------------------------- New Wrappers The following interfaces to SPICE routines were added to CSPICE in this release: dafac_c dafdc_c dafec_c dafgda_c dascls_c dasopr_c kclear_c Icy (IDL interface to CSPICE) Only -------------------------------------------------------- New Interfaces NAIF added the following new Icy interfaces for this release: cspice_appndd cspice_appndi cspice_badkpv cspice_dafgda cspice_dascls cspice_dasopr cspice_inter cspice_kclear cspice_valid Bug Fixes -------------------------------------------------------- CKE05 Several functional changes were made to the CK type 5 evaluator CKE05. These changes affect all CK type 5 subtypes EXCEPT subtype 1, which is used by the Mars Express, Rosetta, Venus Express, and SMART-1 missions. These changes are not expected to affect current SPICE users. First change: the evaluator now assumes that input rate information, whether in the form of quaternion derivatives or angular velocity vectors, has units of radians/second. This makes the routine's interface consistent with SPICE conventions. This change affects subtypes 0, 2, and 3. Second change: the evaluator no longer attempts to improve interpolation of quaternion derivatives by negating, if necessary, the derivatives provided in the input record. This places on C-kernel creators the burden of determining correct quaternion derivatives suitable for Hermite interpolation. This decision was made because the selection functionality cannot be implemented in a completely reliable way for the case where the derivatives have very small magnitude (which in practice is not a rare case). Quaternions themselves still WILL be negated if necessary for correct Hermite interpolation. This change affects subtypes 0 and 2. ET2LST The bug for bodies with retrograde rotation causing the local time to flow backwards has been fixed. The local time for all types of bodies now progresses as expected -- midnight, increasing AM hours, noon, increasing PM hours, next midnight, and so on. UNLOAD The bug causing incorrect meta-kernel unloading was fixed. Formerly some sequences of FURNSH and UNLOAD calls could cause UNLOAD to become unable to unload meta-kernels correctly: in some cases, kernels referenced by the meta-kernels were not unloaded when they should have been. STR2ET Two bugs were fixed. The first bug caused the routine to return incorrect results in some cases on calls following calls for which a time zone was specified. The second bug caused the routine to generate a memory violation exception for blank input strings on some environments (HP). SURFPT The ray's surface intercept is now always set to the ray's vertex when the vertex is on the ellipsoid's surface. Formerly, for inward-pointing direction vectors, the ray's point of egress from the ellipsoid was selected as the intercept. The new functionality is consistent with the routine's documentation, which claims that the intercept closest to the ray's vertex is selected. CHRONOS Two bugs were fixed. The first bug caused slightly incorrect computation of the mean local second duration, which could have resulted in a leap in the LST SOL counting. For landed Martian missions this bug would have exhibited itself after approximately SOL 2100. The second bug prohibited conversion from and to LST for local times a few seconds before midnight, in the 23:59:00-23:59:59 range. The important side effect of correcting the first bug is that due to the fact that LST is returned with integer local seconds the result of any conversion from and to LST differs slightly -- by less that 1 second -- from the same conversion done by the previous versions of the program. Icy The bug causing a cascade of 'zzerror_c' strings prefixed to error strings has been fixed. MKSPK The bug causing the 8th input equinoctial element (DMPN/DT) to be assigned to the 8th (DMPN/DT) and 9th (DNOD/DT) equinoctial elements stored in the output SPK file when the first six equinoctial elements were derived from input states or classical elements was fixed. Version 60 --- December 2005 =========================================================================== The sole purpose of this version is to fix the bug described below. In all other aspects the N0060 Toolkit is the same as the N0059 Toolkit. Bug Fixes -------------------------------------------------------- Access to High Precision Binary Earth PCK On December 13, 2005, a significant bug was found in the Fortran, C, and IDL N0059 SPICE Toolkits: this bug results in corruption of data read from high precision binary earth PCK files. A second, probably rarely encountered, effect of the bug is that data will be corrupted when read directly from routine TISBOD (tisbod_c in CSPICE, cspice_tisbod in Icy), in cases where the input reference frame name doesn't match the frame associated with the data in the source PCK. This bug has been fixed in the N0060 Toolkit. Version 59 --- November 2005 =========================================================================== Rules Regarding Use of SPICE Components -------------------------------------------------------- The rules regarding use of SPICE components, already very minimal, have been further relaxed and better articulated. Please see the RULES page of the NAIF website: http://naif.jpl.nasa.gov/naif/rules.html for details. Environments -------------------------------------------------------- New Environments The SPICE Toolkit is now officially supported on Sun/Solaris/64bit gcc environment. Supported Environments This is the complete list of environments on which the N0059 version of the SPICE Toolkit is supported: FORTRAN Toolkit: HP UX-10 HP FORTRAN Macintosh OS-X Absoft FORTRAN Macintosh OS-X g77 PC CYGWIN g77 PC Linux g77 PC Windows Compaq Visual (Digital) FORTRAN PC Windows Lahey FORTRAN 95 Sun Solaris SUN FORTRAN Vax VMS Digital FORTRAN CSPICE: HP UX HP C Macintosh OS-X Apple C PC CYGWIN gCC PC Linux gCC PC Windows Microsoft Visual C Sun Solaris SUN C Sun Solaris gCC Sun Solaris gCC/64bit Icy: Macintosh OS-X Apple C / IDL 6.2 PC Linux gCC / IDL 6.2 PC Windows Microsoft Visual C / IDL 6.2 Sun Solaris SUN C / IDL 6.2 Sun Solaris gCC / IDL 6.2 Optimization for C/Icy environments Optimization -O2 or equivalent is now used to compile CSPICE for all supported C and Icy environments. Lahey Memory Issue Related to File Opening/Closing Users of Lahey FORTRAN under the Windows operating systems should be aware that the F95 compiler allocates a small amount of memory, in connection with the process of using file OPEN and INQUIRE statements, that it might not free at the end of the file manipulation process. Since the simple opening of a binary kernel file can involve multiple OPEN and INQUIRE statements, the result of this allocation is that if the user were to open many (e.g. 100 or more) kernel files, an application program could sequester memory that would not be freed as expected. A virtual memory error message such as "A work area cannot be reserved because of insufficient area" may result from this situation. This can adversely affect the stability of the Windows operating system, even after the user program is terminated. We believe that this behavior affects all versions of SPICELIB, including the soon to be released N59 version. We are working with Lahey to resolve this issue. Scratch EK File Issue in Icy on PC/Windows An issue may exist when using EK scratch files from IDL under Microsoft Windows. The cspice_ekcls call may fail to delete the scratch file created by the cspice_ekops call. This file normally has a name style similar to tmp.Fxxxxx. You can manually delete the file only after you close the IDL application. This problem does not affect use of the file or cause any known instability to Icy. SPICELIB/CSPICE/Icy -------------------------------------------------------- Loading of Non-Native Text Kernels Files Starting with this version of the toolkit, the CSPICE and Icy text kernel loaders, furnsh_c/cspice_furnsh and ldpool_c/cspice_ldpool, can read and parse non-native text files. Unfortunately this capability cannot be provided in FORTRAN instances of the Toolkit. Please be aware the CSPICE text file reader, rdtext_c, does not possess the capability to read non-native text files. Additional Testing A large amount of additional testing of existing SPICE interfaces and capabilities was performed during preparation of this version of the toolkit. This testing uncovered a small number of bugs, all of which have been fixed for this release (see Section ``Bug Fixes'' below.) Deprecation of BODVAR in favor of BODVRD and BODVCD Routine BODVAR has been deprecated due to deficiency of its interface and a possibility that it may cause memory violation when used to retrieve data for incorrectly formed text kernel keywords. Routines BODVCD and BODVRD should be used instead of it. ``In Place'' Routines A number of routines parallel to existing interfaces but utilizing the same argument for both input and output were added to SPICELIB (FORTRAN Toolkit). These routines are: cyacip.for cyadip.for cyaiip.for vhatip.for vsclip.for xpsgip.for SPK Segment Buffer Increase The SPK segment buffer size was increased to 30,000 to allow more efficient read access to SPK files containing a large number of segments, such as SPK files produced by ESA's Mars Express project. EK Buffer Increased Buffers facilitating EK access have been increased to provide more efficient read access to EK files containing a large numbers of records, such as EK files produced by the Cassini project. Built-in NAIF ID Code/Name Definitions The following new built-in NAIF ID code/name definitions have been added to the Toolkit: Spacecraft: -98 NEW HORIZONS -248 VENUS EXPRESS, VEX -500 RSAT, SELENE Relay Satellite, SELENE Rstar, Rstar -502 VSAT, SELENE VLBI Radio Satellite, SELENE VRAD Satellite, SELENE Vstar Asteroids: 2025143 ITOKAWA Satellites: 539 HEGEMONE 540 MNEME 541 AOEDE 542 THELXINOE 543 ARCHE 544 KALLICHORE 545 HELIKE 546 CARPO 547 EUKELADE 548 CYLLENE 631 NARVI 632 METHODE 633 PALLENE 634 POLYDEUCES Ground Stations: 399064 DSS-64 Documentation The PCK Required Reading document has been revised. CSPICE -------------------------------------------------------- New Wrappers The following interfaces to SPICE routines were added to CSPICE in this release: bodvcd_c.c qdq2av_c.c qxq_c.c srfrec_c.c Icy (Interactive Data Language interface to CSPICE) -------------------------------------------------------- Vectorization NAIF modified the function of several Icy routines to support vectorized variables (in the IDL sense) as input and output. cspice_illum cspice_insrtd cspice_insrti cspice_oscelt cspice_sce2c cspice_srfrec cspice_srfxpt cspice_subpt cspice_removd cspice_removi New interfaces NAIF added the following new Icy interfaces for this release: cspice_bodvcd cspice_diff cspice_insrtd cspice_insrti cspice_qdq2av cspice_qxq cspice_removd cspice_removi cspice_sdiff cspice_set cspice_srfrec cspice_union Bug Fixes -------------------------------------------------------- Non-standard Use of Duplicate Arguments in FORTRAN A large number of SPICELIB routines has been revised to eliminate non-standard use of duplicate arguments in calls to other routines. Though this use did not pose any problems or cause any errors in the earlier Toolkit versions, it prevented use of optimization on some environments. With these changes optimization is now used in building all CSPICE and Icy Toolkits. NEARPT A bug related to the scale of transverse component of error vector was corrected for the exterior point case. ET2LST The treatment of planetographic longitude has been updated to be consistent with the SPICE planetographic / rectangular coordinate conversion routines. The effect of this change is that the default sense of positive longitude for the moon is now east; also, the default sense of positive planetographic longitude now may be overridden for any body. GETFOV A bug causing incorrect computation of the boundary vectors for a rectangular FOV specified using the angular extents method has been fixed. In the previous versions for cases when the reference vector was provided as a non-unit vector and/or was non-perpendicular to the specified boresight the boundary vectors returned by the routine were computed incorrectly. CKW03 A check verifying that the start time of the first interval is the same as the time of the first pointing instance has been added. INEDPL Error detection for the case of invalid input plane was added. INSRTC The routine was changed in such way that when the item to be inserted would, after truncation to the set's string length, match an item already in the set, no insertion is performed. Previously the truncated string was inserted, corrupting the set. String Parsing Routines Routines lparse.for, lparsm.for, and lparss.for were modified to avoid out-of-range substring bounds conditions. Version 58 --- January 2005 =========================================================================== Environments -------------------------------------------------------- The SPICE Toolkit is now officially supported on PC/CYGWIN/g77 and PC/CYGWIN/gCC environments and no longer supported on SGI and DEC Alpha computers. This is the complete list of environments on which the N0058 version of the SPICE Toolkit is supported: FORTRAN Toolkit: HP UX HP FORTRAN Macintosh OS-X Absoft FORTRAN Macintosh OS-X g77 PC CYGWIN g77 PC Linux g77 PC Windows Compaq Visual (Digital) FORTRAN PC Windows Lahey FORTRAN 95 Sun Solaris SUN FORTRAN Vax VMS Digital FORTRAN CSPICE: HP UX HP C Macintosh OS-X Apple C PC CYGWIN gCC PC Linux gCC PC Windows Microsoft Visual C Sun Solaris SUN C Sun Solaris gCC Icy: Macintosh OS-X Apple C / IDL 6.1 PC Linux gCC / IDL 6.1 PC Windows Microsoft Visual C / IDL 6.1 Sun Solaris SUN C / IDL 6.1 Sun Solaris gCC / IDL 6.1 SPICELIB/CSPICE/Icy -------------------------------------------------------- Parameterized Dynamic Frames The SPICE frame system now supports parameterized dynamic frames: frames for which orientation is based on dynamic directions computed using SPICE kernel data (SPKs, CK, PCKs), on mathematical models implemented in SPICE routines, or on formulas defined in frame kernels. Parameterized dynamic frames are grouped into ``families'' according to the method by which they're defined. Currently supported dynamic frame families are: -- Two-vector frames: these are defined by pairs of vectors. The vectors may be position vectors, velocity vectors, observer-target near point vectors, or constant vectors. -- Mean equator and equinox of date frames. -- True equator and equinox of date frames. -- Mean ecliptic and equinox of date frames. -- Euler frames: these are defined by angles specified as polynomial functions of time. Currently ``of date'' frames are supported only for the earth. The Frames Required Reading documents the new capability and contains numerous examples of dynamic frame kernel definitions. CK/SPK Coverage Summary Routines The new CK and SPK coverage determination routines CKCOV and SPKCOV provide an API via which an application can find the time periods for which a specified CK or SPK file provides data for, respectively, an instrument or body of interest. The coverage information is a set of disjoint time intervals returned in a SPICE ``window'' data structure. The new CK and SPK routines CKOBJ and SPKOBJ provide an API via which an application can find the set of instruments or bodies for which, respectively, a specified CK or SPK file contains data. The coverage information is returned in a SPICE ``set'' data structure. These new APIs are supported by SPICELIB, CSPICE, and Icy. Planetographic Coordinate Conversion Routines The new planetographic coordinate conversion routines RECPGR and PGRREC support conversion between rectangular and planetographic coordinates. The planetographic Jacobian matrix routines DRDPGR and DPGRDR provide the derivative matrices for these transformations (used for coordinate transformations of velocities). These new APIs are supported by SPICELIB, CSPICE, and Icy. ``L-sub-S'' Solar Longitude Routine The new routine LSPCN computes the planetocentric longitude of the sun (often called ``L-sub-S'' or ``Ls'') for a specified body and time. This quantity is typically used as an approximate ``time of year'' indicator. The new API is supported by SPICELIB, CSPICE, and Icy. Built-in NAIF ID Code/Name Definitions The following new built-in NAIF ID code/name definitions have been added to the Toolkit: Spacecraft: -84 PHOENIX -130 HAYABUSA -131 SELENE -203 DAWN -238 SMART-1, S1, SM1, SMART1 -486 HERSCHEL -489 PLANCK Comets: 1000012 CHURYUMOV-GERASIMENKO 67P/CHURYUMOV-GERASIMENKO (1969 R1) Stations: 399049 DSS-49 399055 DSS-55 398989 NOTO Documentation FRAMES REQ has been re-structured and augmented with an extensive description and examples of the new parameterized dynamic frames family. CSPICE -------------------------------------------------------- New Wrappers The following new miscellaneous interfaces to SPICE routines were added to CSPICE in this release: bods2c_c.c dafopw_c.c dafps_c.c dafrs_c.c Icy (Interactive Data Language interface to CSPICE) -------------------------------------------------------- Vectorization NAIF modified the function of several Icy routines to support vectorized variables (in the IDL sense) as input and output. cspice_cylrec cspice_deltet cspice_et2lst cspice_et2utc cspice_georec cspice_latrec cspice_pxform cspice_pgrrec cspice_radrec cspice_reccyl cspice_recgeo cspice_reclat cspice_recpgr cspice_recrad cspice_recsph cspice_scdecd cspice_scencd cspice_scs2e cspice_sphrec cspice_spkezr cspice_spkpos cspice_str2et cspice_sxform cspice_timout Windows Icy now includes interfaces to the full set of CSPICE window routines. cspice_wnelmd cspice_wnincd cspice_wnreld cspice_wncomd cspice_wncond cspice_wndifd cspice_wnexpd cspice_wnextd cspice_wnfetd cspice_wnfild cspice_wnfltd cspice_wninsd cspice_wnintd cspice_wnsumd cspice_wnunid cspice_wnvald Other new interfaces The following new miscellaneous interfaces to SPICE routines were added to Icy in this release: cspice_bods2c cspice_card cspice_celli cspice_celld cspice_dafopw cspice_dafrs cspice_deltet cspice_et2lst cspice_pgrrec cspice_recpgr cspice_scard cspice_size cspice_spkcov cspice_spkobj cspice_ssize Bug Fixes -------------------------------------------------------- MKSPK Processing of TLE A MKSPK bug causing the program to process improperly formatted TLE files without signaling an error and producing output SPK containing bad data was fixed. MKSPK Adding Comments When Appending to Existing SPK A MKSPK bug causing the program, in some rare circumstances, to signal an error when adding comments to an existing SPK file was fixed. Icy/cspice_getfov A bug that caused the interface to fail to release allocated memory when the FRAMEMISSING error signaled was fixed. DVPOOL/dvpool_c/cspice_dvpool A bug causing the DVPOOL routine to not delete a specified kernel pool variable in some cases was fixed. CSPICE/kdata_c Function A number of typos in the example provided in the header of the routine were corrected. FRINFO/frinfo_c/cspice_frinfo A bug causing the FRINFO routine to treat any frame with a negative ID code and a frame definition not provided in the kernel pool as a CK-based frame was fixed. Now, instead of returning ``manufactured'' attributes of a CK-based frame, the routine will generate an error for such inputs. Version 57 --- March 2004 =========================================================================== Environments -------------------------------------------------------- The N0057 version of the SPICE Toolkit is supported on the same environments as version N0056. Icy -------------------------------------------------------- The N0057 version offers the first official release of Icy, the interface to the CSPICE library from Interactive Data Language (IDL), a product of Research Systems, Inc. (RSI, http://www.rsi.com). If Icy was provided with this package, refer to ``icy.req'' document and to the Icy HTML documentation pointed to by ``doc/html/index.html'' for more details. SPICELIB/CSPICE -------------------------------------------------------- SRFXPT This new routine computes the surface intercept point of a specified ray on a target body at a specified epoch, optionally corrected for light time and stellar aberration. Its purpose is the same as for the SPICE routine SURFPT but unlike SURFPT is provides a much more flexible interface and computes geometry adjusted for light time and stellar aberration to the surface point rather than to the center of the target body. Therefore for most cases this routine makes SURFPT obsolete. Currently SRFXPT supports only the ellipsoid shape for target bodies but in the future it may be extended to support digital terrain models. Support for Satellite IDs in the Range 10000-99999 NAIF PCK data access routines have been modified to recognize satellites with IDs in the 10000-99999 range. Detection of Non-native Text Files The SPICE data loading mechanism was extended to detect and prohibit loading text kernel files containing lines terminated with EOF character(s) non-native to the platform on which the Toolkit was compiled. If a non-native EOL terminator is detected in the first 132 characters of a text kernel, the execution is stopped and an error message is displayed. This feature does not work with files that are smaller that 132 bytes or have the first line longer that 132 characters. Documentation The Toolkit may now optionally include documentation in HTML format. It is provided in the ``doc/html'' subdirectory and is pointed to by the top level index file doc/html/index.html The headers of a few additional most often used routines have been revised to correct technical errors and grammar and/or spelling, improve clarity, and improve examples. Built-in NAIF ID Code/Name Definitions The following new built-in NAIF ID code/name definitions have been added to the Toolkit: Spacecraft: -79 SPITZER Asteroids: 2000216 KLEOPATRA INSPEKT -------------------------------------------------------- INSPEKT was updated to generate comma-delimited reports. This output format can be set using the ``SET FORMAT DELIMITED ...'' command. See INSPEKT on-line help for more details. TOBIN -------------------------------------------------------- TOBIN was modified to detect and prohibit processing input transfer files containing lines terminated with EOF character(s) non-native to the platform on which the Toolkit was compiled. Version 56 --- August 2003 =========================================================================== Environments -------------------------------------------------------- The N0056 version of the SPICE Toolkit is supported on the same environments as version N0055 except the following ``Classic'' Mac environments: Macintosh MacOS9 Absoft FORTRAN Macintosh MacOS9 Metrowerks Codewarrior C Contact NAIF if you wish to obtain the Toolkit for these two deprecated environments. SPICELIB/CSPICE -------------------------------------------------------- Documentation The headers of 20+ of the most often used routines have been revised for one or more of the following reasons: -- to correct technical errors, -- to add pertinent new information, -- to improve clarity, -- to correct grammar and/or spelling, -- to improve examples. Built-in NAIF ID Code/Name Definitions The following new built-in NAIF ID code/name definitions have been added to the Toolkit: Spacecraft: -74 MRO -74 MARS RECON ORBITER -130 MUSES-C -142 TERRA -154 AQUA -159 EUROPA ORBITER -172 SPACETECH-3 COMBINER -188 MUSES-B -190 SIM -198 INTEGRAL -205 SPACETECH-3 COLLECTOR -234 STEREO AHEAD -235 STEREO BEHIND -253 OPPORTUNITY -254 SPIRIT Tracking Stations: 398990 NEW NORCIA Jovian satellites: 528 AUTONOE 529 THYONE 530 HERMIPPE 531 AITNE 532 EURYDOME 533 EUANTHE 534 EUPORIE 535 ORTHOSIE 536 SPONDE 537 KALE 538 PASITHEE Saturnian satellites: 619 YMIR 620 PAALIAQ 621 TARVOS 622 IJIRAQ 623 SUTTUNG 624 KIVIUQ 625 MUNDILFARI 626 ALBIORIX 627 SKADI 628 ERRIAPO 629 SIARNAQ 630 THRYM Uranian satellites: 718 PROSPERO 719 SETEBOS 720 STEPHANO 721 TRINCULO CHRONOS -------------------------------------------------------- CHRONOS utility program has been modified to allow loading kernel files using FURNSH kernel pool keywords and to accept all setup information from the command line. Bug Fixes -------------------------------------------------------- Reading Files with MAC-OSX Absoft FORTRAN Toolkit Low level read routines were fixed to make sure that the OSX Absoft FORTRAN SPICE toolkit can read files not owned by the user. DAS Scratch Files DASCLS routine has been modified to call the routine flushing DAS buffers before closing scratch DAS files. Failing to free the buffers caused write errors on HP/FORTRAN systems. Argument Checking in CSPICE Error Handling Functions The errprt_c, errdev_c, and erract_c functions were updated to diagnose invalid operation keyword input. Version 55 --- March 2003 =========================================================================== Environments -------------------------------------------------------- The N0055 version of the SPICE Toolkit is supported on the same environments as version N0054. SPICELIB -------------------------------------------------------- SPKW01 SPK type 1 writer routine has been added. DASCLS Scratch files no longer have their buffered portions flushed and are no longer segregated before before being closed. This change speeds up the close operation. SPKBSR Segment buffer size was increased from 2000 to 10000 to improve efficiency when handling SPK files with large number of segments. Kernel POOL The buffer that stores distinct numeric data items from the text kernel files was increased. The new buffer size is 20000, which is the maximum total number of values for all numeric scalar and array pool variables together. Type 1 SCLK The buffer that stores Type 1 SCLK coefficients was increased. The new buffer size is 10000. CSPICE -------------------------------------------------------- New CSPICE wrappers Wrappers dasac_c and dasec_c have been added to CSPICE. These support DAS file comment area access. Bug Fixes -------------------------------------------------------- Built-in NAIF ID Code/Name Definitions The following built-in NAIF ID code/name definitions have been corrected to match official MER name-ID mapping: -253 was MER-A, now MER-1 -254 was MER-B, now MER-2 MER-A and MER-B names are no longer supported by the Toolkit. DASCUD DASCUD has been fixed so that it writes a new, empty cluster directory record at the correct location. This corrects an error introduced by a bug fix in N0054. OSCELT OSCELT has been fixed so that it computes the argument of periapse correctly when the inclination is zero or 180 degrees. The mean anomaly computation has been corrected so that it works for circular and near-circular orbits. The computation of inclination has been changed to use ATAN2 for improved accuracy. Code that could generate arithmetic exceptions was corrected. Several new error checks have been added. CKE05 Angular velocity computations for subtypes 0 and 1 have been changed to make them compatible with those used by the MEX/Rosetta attitude file interpolation algorithms. CKBRIEF CKBRIEF has been updated to retrieve and display interpolation interval information from Type 2 CK files correctly in all cases. Version 54 --- December 2002 =========================================================================== Mailing Lists -------------------------------------------------------- NAIF has created 2 mailing lists, ``Spice_announce'' http://naif.jpl.nasa.gov/mailman/listinfo/spice_announce and ``Spice_discussion'' http://naif.jpl.nasa.gov/mailman/listinfo/spice_discussion ``Spice_announce'' is intended to provide notification of important developments such as a new toolkit release. Posting will generally be limited to members of the NAIF team. If you feel you have an important announcement that would be suitable for this list, you may send email to the list, but it will be reviewed by the NAIF team before dissemination. ``Spice_discussion'' is meant to provide a forum for discussion among SPICE users. Posting on this list is encouraged, however we also encourage you to limit mail traffic to the entire list. Extended discussions are often best carried out with a limited distribution list. Both lists require registration, allow access to an archive of prior postings and allow the user to choose whether to receive individual postings or a daily digest. Environments -------------------------------------------------------- The N0054 version of the SPICE Toolkit is supported on the same environments as version N0053. COOKBOOK Programs -------------------------------------------------------- FORTRAN and C versions of the COOKBOOK programs have been made more consistent in implementation and behavior. User's Guide documents for COOKBOOK programs have been updated and are now delivered with both FORTRAN and C toolkits. The FSTSPK COOKBOOK program has been deprecated and is no longer delivered. New Built-in NAIF ID Code/Name Definitions -------------------------------------------------------- The following new built-in NAIF ID code/name definitions have been added to the toolkit: Spacecraft: -226 ROSETTA Jovian satellites: 517 CALLIRRHOE 518 THEMISTO 519 MAGACLITE 520 TAYGETE 521 CHALDENE 522 HARPALYKE 523 KALYKE 524 IOCASTE 525 ERINOME 526 ISONOE 527 PRAXIDIKE Documentation -------------------------------------------------------- User's Guide documents for TOBIN, TOXFR and VERSION utility programs have been added to the toolkit documentation. Bug Fixes -------------------------------------------------------- Built-in Body-Fixed Frame for Pan Definition of the built-in body-fixed frame for PAN (IAU_PAN) has been updated to point to the correct PCK values used to compute its rotation. In the previous version of the toolkit it was pointing to PANDORA's rotation constants. Surface Intercept Routine The surface intercept routine SURFPT/surfpt_c has been re-implemented to reduce loss of precision. DAS Writer Routines DAS utility routine DASCUD has been fixed to ensure that DAS file structure is correct when files are closed without data segregation. Previously it was possible for unsegregated files to have an invalid final forward directory pointer. Note: this problem could not occur in E-kernels created by SPICE utility programs or using the SPICE EK API routines. CSPICE Cell Implementation The CELLINIT macro has been updated so that it doesn't modify data added to character cells prior to cell initialization. This enables population of uninitialized character cells via macro calls. Body Name to Associated Frame Conversion Routine The routine CNMFRM retrieving the reference frame name for a specified body name has been fixed so a TK frame specified by name and designated as an object's preferred frame via kernel pool assignments is found, and so that the correct name of this frame is returned. CHRONOS CHRONOS has been updated to make sure that the iterative search for the nearest local midnight converges in all cases. It has also been updated to use the maximum system allowed file name length on VAX and DEC Alpha environments. Version 53 --- September 2002 =========================================================================== Environments -------------------------------------------------------- The N0053 version of the SPICE Toolkit is supported in the following environments: PC Linux g77 PC Windows Compaq Visual (Digital) FORTRAN PC Windows Lahey FORTRAN 95 PC Linux gCC PC Windows Microsoft Visual C++ Sun Solaris FORTRAN Sun Solaris Native C Sun Solaris gCC HP UX HP FORTRAN HP UX HP C Macintosh MacOS Absoft FORTRAN Macintosh MacOS Metrowerks Codewarrior C Macintosh OS-X g77 Macintosh OS-X Absoft FORTRAN Macintosh OS-X Apple C SGI IRIX N32/O32 FORTRAN SGI IRIX MIPS C (N32/O32 ABIs) DEC Alpha Digital Unix Digital FORTRAN DEC Alpha Digital Unix Digital C Vax VMS Digital FORTRAN The PC/Linux/g77 version previously supported the alternative ``fort77'' compiler. This is no longer the case. Contact NAIF if you need support for this compiler. The Macintosh OS-X environments are new. CSPICE -------------------------------------------------------- New CSPICE wrappers for cell, set, and windows routines The complete set of C wrappers duplicating cell, sets, and windows capabilities existing in FORTRAN SPICE has been added to CSPICE. New CSPICE wrappers for sorting and searching routines The following new CSPICE wrappers implementing sorting and searching capabilities have been added: bscho*_c.c bsrch*_c.c esrchc_c.c isordv_c.c isrch*_c.c lstle*_c.c lstlt*_c.c order*_c.c reord*_c.c shell*_c.c New CSPICE wrappers for string manipulation and parsing routines The following new CSPICE wrappers for string manipulation and parsing capabilities have been added: cpos*_c.c pos*_c.c ncpos*_c.c kxtrct_c.c lpars*_c.c lx4*_c.c lxqstr_c.c repm*_c.c SPICELIB -------------------------------------------------------- SPK Type 18 A new SPK type (Type 18) has been added. This incorporates ESA/ESOC model for a spacecraft ephemeris. CK Type 5 A new CK type (Type 5) has been added. This incorporates ESA/ESOC model for a spacecraft attitude data. BRIEF -------------------------------------------------------- BRIEF utility has been updated to allow summarizing SPKs containing ephemerides for up to 20,000 distinct bodies. COOKBOOK -------------------------------------------------------- COOKBOOK programs have been updated to use the highest level routines currently available in SPICE -- FURNSH, SUBPT, etc. Bug Fixes -------------------------------------------------------- ID-to-name Translation SPICE's ID-to-name mapping subsystem has been updated to provide consistent behavior across all of its interfaces. It now correctly processes duplicate ID-to-name mapping assignments provided via text kernel files. Refer to the NAIF_IDS Required Reading for more details. Built-in Body-Fixed Frames Missing body-fixed frames -- IAU_PAN, IAU_GASPRA, IAU_IDA, and IAU_EROS -- have been added to the built-in frame set. Binary architecture consistency check at run-time Binary file format consistency check has been implemented at run time to verify that the toolkit prepared specifically for a platform with one binary file format has not been compiled/used on a platform with another binary file format. Long/truncated lines in text kernel files The text kernel file reader has been modified to correctly process truncated string value assignments. VMS Read-Only Access File Open Failure A bug in the DAF system preventing users on VMS systems from loading SPK, CK and binary PCK files with the read-only attribute(*) has been fixed. Version 52 --- January 2002 =========================================================================== Environments -------------------------------------------------------- The N0052 version of the SPICE Toolkit is supported on the following environments: PC Linux G77 PC Windows Compaq Visual (Digital) Fortran PC Windows Lahey Fortran 95 PC Linux GCC PC Windows Microsoft Visual C++ Sun Solaris Fortran Sun Solaris Native C Sun Solaris GCC HP UX HP Fortran HP UX HP C Macintosh MacOS Absoft Fortran Macintosh MacOS Metrowerks Codewarrior C SGI IRIX N32/O32 Fortran SGI IRIX MIPS C (N32/O32 ABIs) DEC Alpha Digital Unix Digital Fortran DEC Alpha Digital Unix Digital C Vax VMS Digital Fortran The N0052 version of the SPICE Toolkit is no longer supported on the following environments: PC Windows Lahey F77L3 PC Windows Microsoft Powerstation Fortran 1.x PC Windows Microsoft Powerstation Fortran 4.x Sun SunOS Fortran Macintosh MacOS Language Systems Fortran Next Nextstep Absoft Fortran Next Nextstep GCC Contact NAIF if you wish to obtain the Toolkit for one or more of these deprecated environments. SPICELIB -------------------------------------------------------- Run-Time Binary File Format Translation The most popular supported systems (including Macintosh, PC, and UNIX platforms) are now capable of accessing data in binary SPICE kernel files from other platforms directly without using transfer format. But note that binary files from other platforms are only available for read access. See the Convert User's Guide for specifics and details. Open File Limit Increase The sum of loaded SPK, CK, and binary PCK files, all of which are implemented using the DAF file architecture, may now reach 1000. Previous versions of the toolkit restricted the number of loaded DAFs to 20. But caution: loading large numbers of files may impact system performance. SPK aberration corrections SPK readers can now perform aberration corrections for transmitted, as well as received, radiation. This feature makes it simple to compute the direction in which radiation must be emitted in order to reach a specified target. The headers of the SPK readers have been expanded to explain aberration corrections in greater detail. Instrument Kernel Support GETFOV was extended to compute boundary corners from FOV definitions in the kernel pool utilizing the new ANGLES specification. See GETFOV's or getfov_c's header for details. Kernel POOL The buffers that store text kernel data were increased. The new maximums are: Maximum Number of Variables 5003 Maximum Number of Distinct Numeric Data Items 10000 (*) Maximum Number of Character Strings 4000 (**) (*) This is the maximum total number of values for all numeric scalar and array pool variables together. (**) This is the maximum total number of values for all character scalar and array pool variables together. These changes allow the kernel pool to hold substantially more data than previous versions of the SPICE toolkit, which became necessary due to the increasing use of such SPICE components as IK and FK utilizing the POOL as the data repository and access mechanism. Jacobian routines Routines have been added for computing the Jacobians of the transformations between rectangular and the following coordinate systems: cylindrical geodetic latitudinal spherical The Jacobian routines support transformation of velocities between these coordinate systems. See the headers of the following SPICELIB routines/CSPICE functions for more information: DCYLDR/dcyldr_c DGEODR/dgeodr_c DLATDR/dlatdr_c DSPHDR/dsphdr_c DRDCYL/drdcyl_c DRDGEO/drdgeo_c DRDLAT/drdlat_c DRDSPH/drdsph_c NAIF ID to Object Name Mapping The NAIF IDs for the following missions has been added to the set of IDs built into SPICE: CONTOUR LUNAR-A DRTS-WC MARS EXPRESS DEEP IMPACT STARLIGHT MER Documentation DAS and EK Required Reading documents have been added to the SPICE Toolkit. The CONVERT User's Guide has been updated to reflect new run-time binary file format translation capability. The FRAMES Required Reading has been updated to include inertial frame information formerly contained in the NAIF_IDS Required Reading. The NAIF_IDS Required Reading has been updated to reflect new Toolkit capability, through which the NAIF ID to name mappings can be defined using text kernel files. The MKSPK User's Guide has been updated to add clarity throughout. The ERROR, PCK, ROTATIONS, SPK, and TIME Required Reading documents have all been improved. CSPICE -------------------------------------------------------- New CSPICE wrappers for EK routines CSPICE wrappers have been added to support record-oriented EK manipulation, including record-oriented writing, updating, and reading. CSPICE wrappers have been added to provide summary capabilities for loaded EK tables. Miscellaneous new CSPICE wrappers Some new CSPICE wrappers have been added: frmnam_c inelpl_c namfrm_c CKBRIEF -------------------------------------------------------- A capability to display a separate record for each interpolation interval in each segment of a Type 2 or Type 3 CK file has been added to the program. This capability is implemented using the ``-dump'' command line option. COMMNT -------------------------------------------------------- An inconsistency between the program's functionality in interactive and command line modes has been fixed. The maximum length of a comment line that can be added to and extracted from the comments in either mode is now the same and is equal to 1000 characters. MKSPK -------------------------------------------------------- The program was modified to allow appending new data segments to an existing SPK file. VERSION -------------------------------------------------------- The interface of this utility program has been extended: a command line parameter causing the program to display additional library information has been added. See ``version -help'' for details. Bug Fixes -------------------------------------------------------- CK, PCK, and SPK segment buffering and selection Several bugs have been corrected in the modules CKBSR, PCKBSR, and SPKBSR. These bug fixes enable users to load more segments than can be buffered at once by these modules. However, the best run-time speed is still obtained when all segments of a given kernel type can be buffered. The current segment buffer sizes are: CK: 4000 segments SPK: 2000 segments PCK: 100 segments Const-qualification for various CSPICE interfaces A number of CSPICE function interfaces have been updated to add const-qualification of input arrays. This fix enhances compatibility with C++ applications. CSPICE function gcpool_c fixed This routine did not properly trim trailing blanks from values in its output array. MOVED fix for Fortran PC Linux platform In some cases the routine MOVED incorrectly copied double precision numbers whose values were assigned via EQUIVALENCE statements with pairs of integers. This could happen when the integer bit patterns did not correspond to valid double precision numbers. This problem prevented correct manipulation of some DAF segment descriptors. EK query processing using LIKE operator and null values Null values could be returned in some rare circumstances when a query employed the LIKE operator to compare scalar string column entries against a specified string value, and a null column entry was compared. EK time conversion The EK time parsing code handled SCLK values incorrectly when the string ``SCLK'' appeared in the name of the clock. EK documentation Various headers have been updated to indicate that query-and-fetch operations and EK fast writer operations may not be interleaved. Source code clean-up Miscellaneous problems triggering annoying but insignificant compilation warnings have been fixed. Various files have had TAB characters removed. Others have had final newline characters added. Version 51 --- April 2000 =========================================================================== SPICELIB -------------------------------------------------------- Instrument Kernel Support The routine GETFOV was added to the Toolkit. It returns information describing the shape, size, boresight, and orientation of the field of view for traditional remote sensing instruments. Binary Kernel Recognition The routine GETFAT was upgraded to use a more robust algorithm for identifying the type (SPK or CK) of inadequately labeled binary kernels. This modification is critical for Mars project SPICE customers who wish to use the SPICELIB utility FURNSH when loading binary kernels. CK A new representation for the orientation of spacecraft structures has been added to the C-kernel system. C-kernel data type 04 provides a flexible and compact method for representing the attitude of structures by using Chebyshev polynomials to fit orientation data or models. SPK Two new representations for position and velocity of objects have been added to the SPK system. Types 12 and 13 provide for the Hermite interpolation of states from series of state vectors. See the SPK Required Reading for further details. Miscellaneous The list of names recognized by BODTRN was enhanced to support the identification of the "Cluster" spacecraft (1,2,3 and 4) as well as the Pluto-Kuiper Express spacecraft and simulation. MKSPK -------------------------------------------------------- The utility program MKSPK has been added to the general release of the SPICE Toolkit. This allows SPICE customers to more easily generate SPK files from tabular ephemeris information. See the User's Guide (mkspk.ug) for details on the use of MKSPK. SPKMERGE -------------------------------------------------------- The program was upgraded to correct an "infinite loop" that existed in rare cases on some platforms. Bug Fixes Although it is unlikely that most users will notice any difference, a number of minor bug corrections have been incorporated: -- The kernel pool software was modified to detect and handle string specifications that are too long to be stored in the kernel pool. -- The time parsing software (used by STR2ET) was enhanced so that erroneous long strings will be diagnosed as erroneous and no longer cause a run-time error. Version 50 --- October 1999 =========================================================================== CSPICE -------------------------------------------------------- Version 50 of the SPICE Toolkit includes a C language edition of the Toolkit. This provides a C language interface to the Toolkit and duplicates the FORTRAN capabilities. SPICE users interested in a C version of the Toolkit should specifically request the CSPICE version. Moreover, C users should read the document "CSPICE User's Guide" which addresses issues regarding the translation of the FORTRAN Toolkit to C. Additions and Extensions to SPICE routines -------------------------------------------------------- Loading Kernels The new routine FURNSH provides a single uniform interface for loading all SPICE kernels. In addition, the new interface allows you create a "meta-kernel" listing which SPICE kernels should be loaded. When this "meta-kernel" is supplied to FURNSH, all listed kernels will be loaded into the appropriate SPICE subsystems. It is anticipated that this new interface will substantially ease the problem of managing and loading SPICE kernels. In addition to the routine FURNSH several related routines are provided to assist with the run-time management of kernels loaded through the FURNSH interface. KTOTAL returns the number of kernels that are currently available to your program as a result of previous calls to FURNSH and UNLOAD. KDATA provides an interface for retrieving (in order of their specification through FURNSH) kernels that are active in your application. KINFO allows you to retrieve information about a loaded kernel using the name of that kernel. UNLOAD provides an interface for unloading kernels that have been loaded via the routine FURNSH. FORTRAN users should consult the header for the routine KEEPER for details on the use of these routines. C users should see the specific files furnsh_c.c, ktotal_c.c, kdata_c.c, kinfo_c.c and unload_c.c Position Only Interface. The Frames and SPK subsystems have been extended to provide a "position only" interface. The user level routines in the extension are: SPKPOS returns the 3-vector giving the location of one object as seen from another corrected for light time and stellar aberration (if requested by the user) in the user specified reference frame. PXFORM returns the 3x3 matrix that transforms positions from one reference frame to another as a function of time. These routines run slightly faster than their position and velocity counter parts: SPKEZR and SXFORM. In addition they allow you to use C-kernel based frames when the C-kernel does not contain angular velocity data. See the routines PXFORM and SPKPOS for details on their use. ID-codes The name/ID-code translation routines (BODN2C and BODC2N) have been extended so that users may add missing name/ID-code mappings to SPICE text kernels. Using this new capability, users can extend the built-in name/ID-code mapping by simply loading an appropriate SPICE text kernel with the interface FURNSH. Kernel Pool Enhancements Several new kernel pool interfaces have been provided STPOOL Allows storage of long string valued variables through use of a continuation character. PCPOOL Allows the insertion of a character variable directly into the kernel pool without supplying a text kernel. PDPOOL Allows the insertion of a double precision variable directly into the kernel pool without supplying a text kernel. PIPOOL Allows the insertion of an integer variable directly into the kernel pool without supplying a text kernel. LMPOOL Similar to LDPOOL, but the text kernel is stored in an array of strings instead of an external file. SZPOOL allows run time retrieval of kernel pool memory parameters. DVPOOL allows deletion of a specific variable from the kernel pool. GNPOOL assists in determining which variables are defined in the kernel pool via variable name template matching. Continuous Spacecraft Clocks The Spacecraft Clock system has been extended so that "ticks" can be modeled continuously instead of discretely. See the SCLK required reading for more details. Bad FTP File Transfer Detection SPICE binary kernels have been enhanced so that Toolkit software can detect whether a binary kernel has been transferred using ASCII instead of BINARY transfer mode. Note that only SPICE binary kernels produced with the N0050 (or later) version of the SPICE Toolkit will have features required for this diagnosis. CK Writer Enhancements The SPICE C-kernel writers have been enhanced to check that quaternions supplied to the writer are indeed nearly unit length. This check allows detection of programming errors earlier in the kernel production process. Bugs No bugs were identified between version N0049 and N0050 of the Toolkit. However, users may notice that several routines have minor changes. The main reasons for code changes are: 1. Extending the range of inputs that can be handled by SPICE routines. 2. Balancing the use of the SPICE error handling Check-in/Check-out tracing mechanism. 3. Removal of unused variables. 4. Corrections in grammar, spelling and other typographic errors in the headers of SPICE routines. SPICE Utility Programs -------------------------------------------------------- TOBIN The utility program TOBIN which converts transfer format kernels to binary form, can now process transfer format kernels that have been wrapped with SFDUs. COMMNT COMMNT now accepts command line arguments making it usable from user scripts. CKBRIEF CKBRIEF is a new utility that allows you to quickly summarize a C-kernel in a manner similar to the summary capabilities provided by the SPK summary tool, BRIEF. MKSPK MKSPK is a utility program that allows users to generate SPK files from appropriate and suitably tabularized position and velocity information. Documentation -------------------------------------------------------- Many SPICE documents were edited and brought up to date. Most notable of these is the document KERNEL.REQ which discusses SPICE text kernels and the use of the kernel pool. In addition a new document called "Common Problems" (problems.req) has been included with the standard SPICE documentation. This document is intended to help you in trouble shooting problems that may arise with programming with the SPICE Toolkit. Version 49 --- September 1998 =========================================================================== Version 49 of the SPICE Toolkit exists only to fix errors that were identified in version 48 of the Toolkit. The routines in SPICELIB that were corrected are: DELTET --- obsolete routine maintained only for backwards compatibility. A bug was introduced in Version 48 that could lead to 0.003 seconds of error in outputs. DPFMT --- documentation corrections. EKQMRT --- a boundary bug was corrected. SPKW02 --- documentation correction TIMDEF --- a bug was fixed that can only be manifested when the default exception handling is modified. TIMOUT --- correction of grammatical errors in header. Version 48 --- May 1998 =========================================================================== Version 48 of the SPICE Toolkit extends the set of supported platforms to include PCs running the LINUX operating system. The time system was modified so that two digit years are interpreted as belonging to the years 1969-2068 inclusive. In addition a number of minor bugs have been fixed. The intended functionality of the Toolkit has not changed. The most significant bug fixes are listed here. conics.for was updated. There was a coding error in the computation of the mean anomaly in the parabolic case. This problem has been corrected. et2lst.for was updated. The integer variable SUN was never initialized in the previous version of the routine. Now it is set to the proper value of 10. str2et.for was updated. The previous versions of this routine did not correctly convert day-of-year strings in the TDB or TDT systems. They treated the day of year as year, month, day giving spectacularly wrong answers. In addition, comments concerning the default century for abbreviated years were updated to reflect changes to TEXPYR timout.for was updated. The previous version of this routine did not output fractional components for epochs prior to 1 A.D. In addition, the default time system, calendar and time zone are obtained from TIMDEF. Version 47 --- July 1997 =========================================================================== This chapter describes the significant changes to version 47 of the SPICE Toolkit. Documentation -------------------------------------------------------- There are two significant documentation changes to version 47 of the Toolkit. 1. The Required Reading for SPK (SPK.REQ) has been re-written to address the use of non-inertial frames within the SPK system. 2. The Frames subsystem has been documented in the required reading file FRAMES.REQ. This document describes the various reference systems that are currently supported by the Toolkit as well as naming and numbering conventions that will be adhered to by NAIF. These two documents together with the extensions to the frame system that have been added in version 47 allows one to easily model the dynamics of structures on spacecraft or surface rovers. In addition to these major modifications to the base SPICE documentation, the document TIME.REQ has been updated to reflect a slight broadening of recognized time strings and to document the routine ET2LST that allows the user to convert to ephemeris time to local solar time for any natural ephemeris object. Software -------------------------------------------------------- SPK The SPK ephemeris system has been expanded to support Space Command Two Line Elements (formally known as NORAD Two Line Elements) and equinoctial elements. To assist SPICE users who need to create SPK files that contain two line element sets, NAIF has a preliminary utility that allows the creation of SPK files from two line element data. This tool is available from NAIF on an as-needed basis. This utility is still a bit rough around the edges and has not yet been made an official Toolkit product. Frames The frame system has been extended to support reference frames that can be described as a constant rotation from another frame (such as a bodyfixed, inertial or C-kernel frame). These frames are easily described using text based kernels. This new frame type is well suited for describing instrument, lander and topocentric frames. Time The time parsing software was enhanced so that a slightly broader set of time formats are recognized. In addition the routine ET2LST was added to the Toolkit. This routine allows you to convert ET (ephemeris time TDB) to local solar time for a planet, satellite comet or asteroid. Local solar time is a "clock" measure of the angle between a local meridian and the meridian of the sun. See the TIME required reading for further details. Bug Fixes The routines CKGPAV and CKFXFM in versions prior to version 47 of the Toolkit dealt with angular velocity in non-inertial frames incorrectly. This error did not affect C-kernels that were described relative to inertial frames. In those rare instances in which a C-kernel was described relative to a non-inertial frame, the mistreatment of angular velocity could lead to errors in the computation of velocities relative to the C-kernel frame. The computation of positions were not affected by this error. The routine TIMOUT in version 46 did not reliably produce an abbreviated two-digit year. This error has been corrected. All other errors were of a technical nature such as improper use of the SPICE exception handling subsystem and are unlikely to have affected most SPICE users. Version 46 --- January 1997 =========================================================================== This chapter describes the significant changes to version 46 of the SPICE Toolkit. Documentation NAIF now has available two overview documents that provide users with a higher level view of Toolkit. The two documents are called Introduction to SPICE Most Useful SPICELIB Subroutines These documents are available in the ``doc'' subdirectory of the Toolkit in the postscript files intro.ps mostused.ps respectively. The first of these documents, ``Introduction to SPICE'', provides a broad overview of the SPICE system and attempts to lay out a map of where you can find more specific information about the various components of the SPICE system. The second document ``Most Useful SPICELIB Routines'' categorizes 120 or so of the most frequently used SPICELIB routines and provides a synopsis for each of these. Time The time software has undergone significant enhancement. The Toolkit now supports a wider set of time formats and time systems. The most important new routines are: STR2ET TIMOUT TTRANS TPARTV The new time software is outlined in the ``recommended reading'' file --- TIME.REQ which appears in the ``doc'' subdirectory of the Toolkit. A number of convenience routines have been added to the Toolkit. Those likely to be of most interest to users are: DPFMT The routine DPFMT allows you to create a string representing a number by supplying a ``picture'' that should be followed in formatting the string. TOSTDO The routine TOSTDO is a portable means of writing strings to ``standard output.'' The particulars of formatting on various platforms are handled transparently. Using this routine, you can isolate yourself from formatting considerations that arise when using the intrinsic FORTRAN WRITE statement. The remainder of the modifications to the Toolkit are primarily to ease problems associated with maintenance of the Toolkit. Version 45 --- October 1996 =========================================================================== Version 45 is a quick update to correct an oversight in versions 43 and 44. Although the reference frames DE-143 was added to the collection of non-inertial reference frames in version 43, it was not available to all of the SPICE subsystems. Version 45 corrects this deficiency. In addition to this correction to the reference frame subsystem, a number of minor corrections were made to the DAS subsystem and to error messages returned by EK software. Version 44 --- August 1996 =========================================================================== This chapter describes the significant changes to version 44 of the SPICE Toolkit. SPK Subsystem The main workhorse routine of the SPK subsystem, SPKGEO, was modified to remove potentially redundant computations. As a result, some applications may see a performance improvement on the order of 60 percent. Inspekt Inspekt was upgraded to support the DEC Alpha OSF/1 environment. All functional aspects of Inspekt are now fully supported in the DEC Alpha OSF/1 environment. Bug Fixes Several errors in the EK and supporting DAS subsystem were corrected. These fixes will be visible to only a small number of SPICE users. (Primarily those users who create E-kernels or access the EK files directly through the subroutine interface.) Users whose primary use of E-kernels is via the program Inspekt will see no visible changes in the SPICE system. The generic segment subsystem was corrected. The errors were discovered by the NAIF staff while developing new SPK data types. These new data types are not yet incorporated into SPICELIB. Consequently users of the SPICE system are unlikely to have used any of the code in which these errors were found. The frames subsystem was corrected. In NAIF's experiments in converting the library to C, an error was found in the routine FRMCHG. This error is of a pedantic nature and has not surfaced in any of the supported native FORTRAN environments. Version 43 --- May 1996 =========================================================================== This chapter describes the new capabilities available in version 43 of the SPICE Toolkit. Brief The SPICE utility program BRIEF has been added to the generic SPICE Toolkit. This program allows you to easily summarize the contents of an SPK file. The summary can be tuned depending upon the level of detail you are interested in seeing. See the BRIEF User's Guide (brief.ug) for an explanation of features. Star Catalogs. In version 43 of the SPICE Toolkit, an introductory level star catalog capability has been introduced. The routines used for manipulating star catalogs are: STCF01 STCG01 STCL01 CHGIRF Support for the inertial reference frame DE143 has been added to SPICELIB. BODTRN The routine BODTRN has been added to the Toolkit. This routine allows you to easily translate between the names of ephemeris objects to their NAIF ID codes. Performance Improvements A number of performance enhancements have been included. Most notable in this list is the SPICE exception handling subsystem. By relinking your programs you may see an improvement in performance from 20 to 30 percent (depending upon how heavily your program makes use of the SPICE exception handling capability). Version 42 --- December 1995 =========================================================================== This chapter describes new capabilities available in version 42 of the SPICE Toolkit and includes examples of how to make use of these new capabilities. The major new capability of Version 42 of the Toolkit is the official release of the SPICE Events Kernel Software. This software includes all the interface level routines for reading and writing events kernels. It also includes the event kernel browser program Inspekt. Inspekt has an extensive on-line help facility that for now must serve as a user's guide to the program. Full documentation for the new capabilities will be available in version 43 of the Toolkit. Version 41 --- October 1995 =========================================================================== This chapter describes new capabilities available in version 41 of the SPICE Toolkit and includes examples of how to make use of these new capabilities. There are two major new capabilities provided in version 41 of the Toolkit. First is the ability to retrieve the states of objects by using the names of the objects instead of SPICE integer id-codes for those objects. Second is the ability to store and retrieve states of objects relative to non-inertial reference frames. -------------------------------------------------------- Until now, the primary mechanism for retrieving state information from the SPICE ephemeris (SPK) files has been the subroutine SPKEZ (pronounced: ess pee kay eee' zee). This routine requires that you know the integer id-codes associated with the objects of interest. Beginning with version 41 of the SPICE Toolkit the routine SPKEZR (pronounced: ess pee kay eee' zee er ) will be the primary mechanism for retrieving states. The calling sequence for this new routine is CALL SPKEZR ( TARG, ET, REF, ABCORR, OBS, STARG, LT ) where Inputs: TARG is a character string that is the name of the object whose state is of interest. Examples are: 'JUPITER', 'EARTH', 'SUN', 'GOLDSTONE'. ET is the epoch at which the state is desired. ET is a double precision number giving the epoch measure in ephemeris seconds past the epoch of the J2000 reference frame. REF is a character string giving the name of the reference frame in which the output state should be represented. Examples are: 'J2000', 'IAU_EARTH'. ABCORR is a string indicating what forms of aberration corrections should be applied to the retrieved state. OBS is a string that is the name of the object to which the returned state will be relative. Examples are: 'EARTH', 'GOLSTONE'. Outputs: STARG is the state of the target body relative to the observer represented in the specified reference frame with the specified aberration corrections accounted for. LT is the light time in seconds from the target to the observer. To illustrate the use of this routine, suppose that you wanted to get the B1950 state of Mars relative to Earth corrected for light-time and stellar aberration at the epoch that occurs 10 million seconds prior to the J2000 epoch. The code fragment below shows how you would call SPKEZR to obtain this state. (Note that this assumes that you have already loaded ephemerides for Mars and the Earth.) DOUBLE PRECISION STATE ( 6 ) DOUBLE PRECISION LT CALL SPKEZR ( 'MARS', 1.0D+07, 'B1950', 'LT+S', . 'EARTH', STATE, LT ) Non-inertial Reference Frames -------------------------------------------------------- Prior to version 41 of the Toolkit, storing or obtaining states relative to a body-fixed frame required conversion to or from states relative to inertial frames such as J2000. With version 41 of the SPICE Toolkit, this restriction has been removed. It is now possible to store states relative to a non-inertial frame. Moreover, you may now retrieve states relative to non-inertial frames. For example suppose you want to determine whether or not Jupiter is above the local horizon at the Goldstone tracking site. The following code fragment allows you to make this determination at an epoch ET. Note we've hard-coded the radii for the spheroid that approximates the surface of the earth. C Look up the bodyfixed state of Jupiter relative to C the Goldstone tracking site and the state of C Goldstone relative to the center of the earth. C CALL SPKEZR ( 'JUPITER', ET, 'IAU_EARTH', 'LT+S', . 'GOLDSTONE', JSTATE, LT ) CALL SPKEZR ( 'GOLDSTONE', ET, 'IAU_EARTH', 'NONE', . 'EARTH', GSTATE, LT ) C C Compute the local surface normal at the Goldstone site. C EQRAD1 = 6378.140 EQRAD2 = 6378.140 POLRAD = 6356.75 CALL SURFNM ( EQRAD1, EQRAD2, POLRAD, GSTATE, LNORML ) C C Next compute the angle between the local normal and the C vector to Jupiter. If the angle is less than pi/2 then C Jupiter is above the local horizon. Otherwise it's not C visible. C ANGLE = VSEP ( JSTATE, LNORML ) IF ( ANGLE .LT. HALFPI() ) THEN WRITE (*,*) 'Jupiter is above the horizon.' ELSE WRITE (*,*) 'Jupiter is not visible from Goldstone.' END IF Below is a list of the non-inertial frames that are currently supported. Frames that begin with the letters IAU are frames whose orientation is specified in the report: "Report of the IAU/IAG/COSPAR Working Group on Cartographic Coordinates and Rotational Elements of the Planets and Satellites" IAU_ADRASTEA IAU_AMALTHEA IAU_ANANKE IAU_ARIEL IAU_ATLAS IAU_BELINDA IAU_BIANCA IAU_CALLISTO IAU_CALYPSO IAU_CARME IAU_CHARON IAU_CORDELIA IAU_CRESSIDA IAU_DEIMOS IAU_DESDEMONA IAU_DESPINA IAU_DIONE IAU_EARTH IAU_EARTH_BARYCENTER IAU_ELARA IAU_ENCELADUS IAU_EPIMETHEUS IAU_EUROPA IAU_GALATEA IAU_GANYMEDE IAU_HELENE IAU_HIMALIA IAU_HYPERION IAU_IAPETUS IAU_IO IAU_JANUS IAU_JULIET IAU_JUPITER IAU_JUPITER_BARYCENTER IAU_LARISSA IAU_LEDA IAU_LYSITHEA IAU_MARS IAU_MARS_BARYCENTER IAU_MERCURY IAU_MERCURY_BARYCENTER IAU_METIS IAU_MIMAS IAU_MIRANDA IAU_MOON IAU_NAIAD IAU_NEPTUNE IAU_NEPTUNE_BARYCENTER IAU_NEREID IAU_OBERON IAU_OPHELIA IAU_PANDORA IAU_PASIPHAE IAU_PHOBOS IAU_PHOEBE IAU_PLUTO IAU_PLUTO_BARYCENTER IAU_PORTIA IAU_PROMETHEUS IAU_PROTEUS IAU_PUCK IAU_RHEA IAU_ROSALIND IAU_SATURN IAU_SATURN_BARYCENTER IAU_SINOPE IAU_SUN IAU_TELESTO IAU_TETHYS IAU_THALASSA IAU_THEBE IAU_TITAN IAU_TITANIA IAU_TRITON IAU_UMBRIEL IAU_URANUS IAU_URANUS_BARYCENTER IAU_VENUS IAU_VENUS_BARYCENTER