KPL/FK

   This placeholder FK/IK defines fixed offset frames and FOVs for GLL
   scan platform mounted UVS and SSI instruments. It also includes name/ID
   mapping for these instruments.

   It is based on the information from these original IK files:

       gll34001.ti (UVS)
       gll36001.ti (SSI)

   and this article:

      "SIMULTANEOUS IN-FLIGHT CALIBRATIONS OF THE GALILEO SCIENCE
      PLATFORM AND ATTITUDE CONTROL SUBSYSTEMS", J Lai, S Hayati -
      Guidance and Control Conference, 1981

   Based on this information, the SSI and UVS frames are nominally
   co-aligned with the scan platform frame, with their boresights
   pointing along +Z and UVS FOV longer extent parallel to +Y, as shown
   on this diagram:

                             X
                              ^
                              |
                      .-------|-------.
                      |SSI    |       |
                      |       |       |
                      |       |       |
      .-----------------------------------------------. 1.7 mrad
      |UVS-G          |       x------------>          | (0.1 deg) 
      '-----------------------------------------------' 
                      |      Z        |     Y     24.4 mrad
                      |               |           (1.4 deg)
                      |               |8 mrad 
                      `---------------'
                                    8 mrad

                                               +Z is into the page.

   The twist in the SSI frame definition below is from gll36001.ti.

   \begindata

      NAIF_BODY_NAME                 += ( 'GLL' )
      NAIF_BODY_CODE                 += ( -77 )
  
      NAIF_BODY_NAME                 += ( 'GLL_ROTOR' )
      NAIF_BODY_CODE                 += ( -77000 )
  
      NAIF_BODY_NAME                 += ( 'GLL_SCAN_PLATFORM' )
      NAIF_BODY_CODE                 += ( -77001 )
  
      NAIF_BODY_NAME                 += ( 'GLL_SSI' )
      NAIF_BODY_CODE                 += ( -77036 )
  
      NAIF_BODY_NAME                 += ( 'GLL_UVS' )
      NAIF_BODY_CODE                 += ( -77034 )
  
      FRAME_GLL_SSI                   = -77036
      FRAME_-77036_NAME               = 'GLL_SSI'
      FRAME_-77036_CLASS              = 4
      FRAME_-77036_CLASS_ID           = -77036
      FRAME_-77036_CENTER             = -77
      TKFRAME_-77036_SPEC             = 'ANGLES'
      TKFRAME_-77036_RELATIVE         = 'GLL_SCAN_PLATFORM'
      TKFRAME_-77036_ANGLES           = ( 0.0, 0.0, -0.0022797905 )
      TKFRAME_-77036_AXES             = ( 2,   1,   3   )
      TKFRAME_-77036_UNITS            = 'RADIANS'

      FRAME_GLL_UVS                   = -77034
      FRAME_-77034_NAME               = 'GLL_UVS'
      FRAME_-77034_CLASS              = 4
      FRAME_-77034_CLASS_ID           = -77034
      FRAME_-77034_CENTER             = -77
      TKFRAME_-77034_SPEC             = 'ANGLES'
      TKFRAME_-77034_RELATIVE         = 'GLL_SSI'
      TKFRAME_-77034_ANGLES           = ( 0.0, 0.0, 0.0 )
      TKFRAME_-77034_AXES             = ( 2,   1,   3   )
      TKFRAME_-77034_UNITS            = 'DEGREES'

      INS-77036_FOV_FRAME             = 'GLL_SSI'
      INS-77036_FOV_SHAPE             = 'RECTANGLE'
      INS-77036_BORESIGHT             = ( 0 0 1 )
      INS-77036_FOV_CLASS_SPEC        = 'ANGLES'
      INS-77036_FOV_REF_VECTOR        = ( 1 0 0 )
      INS-77036_FOV_REF_ANGLE         = ( 0.004 )
      INS-77036_FOV_CROSS_ANGLE       = ( 0.004 )
      INS-77036_FOV_ANGLE_UNITS       = 'RADIANS'

      INS-77034_FOV_FRAME             = 'GLL_UVS'
      INS-77034_FOV_SHAPE             = 'RECTANGLE'
      INS-77034_BORESIGHT             = ( 0 0 1 )
      INS-77034_FOV_CLASS_SPEC        = 'ANGLES'
      INS-77034_FOV_REF_VECTOR        = ( 1 0 0 )
      INS-77034_FOV_REF_ANGLE         = ( 0.00085 )
      INS-77034_FOV_CROSS_ANGLE       = ( 0.0122 )
      INS-77034_FOV_ANGLE_UNITS       = 'RADIANS'

   \begintext

End of FK/IK.