KPL/IK MRO CRISM Instrument Kernel =================================================================== This instrument kernel (I-kernel) contains references to mounting alignment, operating modes, and timing as well as internal and field of view geometry for the Mars Reconnaissance Orbiter (MRO) Compact Reconnaissance Imaging Spectrometer for Mars (CRISM) instrument. Version and Date --------------------------------------------------------------- Version 1.0 -- June 1, 2007 -- Boris Semenov, NAIF/JPL. The name of the file was changed from MRO_CRISM_IK_0000_000_N_10.TI to mro_crism_v10.ti to comply the IK naming convention used in the MRO SPICE PDS archive. The version of the file was kept the same because none of the data or comments were modified (except this block of the ``Version and Date'' section). Version 1.0 -- May 31, 2007 -- Lillian Nguyen, JHU/APL Finalized the text (instrument description, camera model parameter description). Version 0.1 -- September 18, 2006 -- Lillian Nguyen, JHU/APL Added field of view definitions and text. Version 0.0 -- ??? -- Wen-Jong Shyong, JHU/APL Initial Release. References --------------------------------------------------------------- 1. "Kernel Pool Required Reading" 2. CRISM pointing sign conventions, "CALRPT_26_1_V2_PointSign.ppt", received from David Humm (JHU/APL). 3. MRO CRISM frames kernel (to be incorporated into the MRO spacecraft frames kernel). 4. E-mails from David Humm containing CRISM camera model parameters, forwarded on 9/14/2006, and cameral model parameter description, received 5/17/2007 and 5/31/2007. 5. CRISM web site, http://crism.jhuapl.edu. 6. "CRISM Alignment Test Report", JHU/APL drawing number 7398-9600. 7. "CRISM (Compact Reconnaissance Imaging Spectrometer for Mars) on MRO (Mars Reconnaissance Orbiter)", Proceedings of the International Society for Optical Engineering (SPIE), vol. 5660. 8. E-mail from Peter Cavender containing CRISM timing information, received 5/31/2007. Contact Information ---------------------------------------------------------------- Lillian Nguyen, JHU/APL, (443)-778-5477, Lillian.Nguyen@jhuapl.edu Implementation Notes --------------------------------------------------------------- This file is used by the SPICE system as follows: programs that make use of this frame kernel must "load" the kernel normally during program initialization. Loading the kernel associates the data items with their names in a data structure called the "kernel pool". The SPICELIB routine FURNSH loads a kernel into the pool as shown below: FORTRAN: (SPICELIB) CALL FURNSH ( frame_kernel_name ) C: (CSPICE) furnsh_c ( frame_kernel_name ); IDL: (ICY) cspice_furnsh, frame_kernel_name In order for a program or routine to extract data from the pool, the SPICELIB routines GDPOOL, GIPOOL, and GCPOOL are used. See [2] for more details. This file was created and may be updated with a text editor or word processor. Naming Conventions --------------------------------------------------------------- All names referencing values in this I-kernel start with the characters 'INS' followed by the NAIF MRO spacecraft ID number (-74) and then followed by a NAIF three digit code for the instrument. The remainder of the name is an underscore character followed by the unique name of the data item. For example, the VNIR boresight direction in the MRO_CRISM_VNIR frame (see [3]) is specified by: INS-74017_BORESIGHT The upper bound on the length of the name of any data item identifier is 32 characters. If the same item is included in more than one file, or if the same item appears more than once within a single file, the latest value supersedes any earlier values. CRISM Description --------------------------------------------------------------- From [5]: Instrument Overview CRISM is a visible-infrared imaging spectrometer with a scannable field of view. CRISM can cover wavelengths from 0.362 to 3.92 microns (362 to 3920 nanometers) at 6.55 nanometers/channel, enabling the CRISM team to identify a broad range of minerals on the Martian surface. CRISM consists of three boxes: - the Optical Sensor Unit (OSU), which includes the optics, gimbal, focal planes, cryocoolers, radiators, and focal plane electronics - the Gimbal Motor Electronics (GME), which commands and powers the gimbal and analyzes data from its angular position encoder in a feedback loop - the Data Processing Unit (DPU), which accepts and processes commands from the spacecraft and accepts and processes data from the OSU and communicates it to the spacecraft Optical Design CRISM uses a 100-mm aperture, 441-mm focal length Ritchey-Chretien telescope that focuses light onto a long, narrow slit. The telescope is protected by a baffle that reduces scattered light from outside the field of view. The end of the baffle is covered by a hinged, one-time deployable cover to protect the telescope during MRO's launch and cruise to Mars. Following the slit are the spectrometer optics. A beamsplitter reflects the visible/near-infrared (VNIR, 0.36-1.05 microns) while transmitting the infrared (IR, 1-3.92 microns), each to its own spectrometer and detector. Each of the spectrometers uses mirrors and a diffraction grating to spread the white light from each spatial pixel into a spectrum that is brought to focus on its detector. How CRISM Takes an Image One two-dimensional frame of CRISM data ... is a single line of a spatial image. That's right, CRISM takes an image one line at a time. But each pixel along the line has a spectrum that fills out the second dimension of the frame. A two-dimensional spatial image of a target is built up by taking successive data frames as the spectrometer field of view is swept across a target, either by scanning CRISM's gimbal or by MRO's along-track motion over the Martian surface. The stack of resulting data frames is a multiband image, or "image cube". From [7]: CRISM's spectral range spans the ultraviolet (UV) to the mid-wave infrared (MWIR), 383 nm to 3960 nm. The instrument utilizes a Ritchey- Chretien telescope with a 2.12 deg. field-of-view (FOV) to focus light on the entrance slit of a dual spectrometer. Within the spectrometer, light is split by a dichroic into VNIR (visible-near-infrared, 383-1071 nm) and IR (infrared, 988-3960 nm) beams. Each beam is directed into a separate modified Offner spectrometer that focuses a spectrally dispersed image of the slit onto a two dimensional focal plane (FP). The IR FP is a 640 x 480 HgCdTe area array; the VNIR FP is a 640 x 480 silicon photodiode area array. The spectral image is contiguously sampled with a 6.6 nm spectral spacing and an instantaneous field of view of 61.5 microradians. The Optical Sensor Unit (OSU) can be gimbaled to take out along-track smear, allowing long integration times that afford high signal-to-noise ratio (SNR) at high spectral and spatial resolution. The scan motor and encoder are controlled by a separately housed Gimbal Motor Electronics (GME) unit. A Data Processing Unit (DPU) provides power, command and control, and data editing and compression. CRISM acquires three major types of observations of the Martian surface and atmosphere. In Multispectral Mapping Mode, with the gimbal pointed a planet nadir, data are collected at frame rates of 15 or 30 Hz. A commandable subset of wavelengths is saved by the DPU and binned 5:1 or 10:1 cross-track. The combination of frame rates and binning yields pixel footprints of 100 or 200 m. In this mode, nearly the entire planet can be mapped at wavelengths of key mineralogic absorption bands to select regions of interest. In Targeted Mode, the gimbal is scanned over +/- 60 deg. from nadir to remove most along-track motion, and a region of interest is mapped at full spatial and spectral resolution. Ten additional abbreviated, pixel-binned observations are taken before and after the main hyperspectral image at longer atmospheric path lengths, providing an emission phase function (EPF) of the site for atmospheric study and correction of surface spectra for atmospheric effects. In Atmospheric Mode, the central observation is eliminated and only the EPF is acquired. Global grids of the resulting lower data volume observation are taken repeatedly throughout the Martian year to measure seasonal variations in atmospheric properties. CRISM Field of View Specification --------------------------------------------------------------- The MRO_CRISM_VNIR frame is defined [3] such that the boresight is the Z axis in instrument coordinates, the -X axis is the gimbal rotation axis, and the Y axis completes a right-handed frame. These coordinates are shown here: ^ instrument slit center | _|_ Z (Z ) | | ^ VNIR sc | | gimbal axis into the page | ____|___|____ | | | | | .O. |------> S/C velocity x------> Y (X ) |____/ \____| -X (Y ) VNIR sc ____/_____\____ VNIR sc /////////////// spacecraft The diagram below illustrates the CRISM field of view, with boresight pointing out of the page. The entrance slit is measured to be 2.122 degrees [6] in the along-slit direction (instrument X) by 61.5 microradians [7] in the scan direction (instrument Y). The CRISM detector has 640 pixel columns. Y ^ VNIR | _______________________|_______________________ ^ | | | increasing | | x-----------------------|----> X frames | |_______________________________________________| VNIR 0 ------------------------------> 639 increasing columns <-----------------------|-----------------------> negative pixel angle | positive pixel angle The conventions in the diagram above are given in [2]. [2] also gives: Commanded angle is positive looking forward along track, negative looking back. Encoder counts are positive looking backward along track, negative looking forward. Home and zero gimbal angle are the same (nominally nadir). The following diagrams, taken from [2], illustrate the gimbal angle sign definitions: CRISM CRISM _ /`. ---> velocity (+X ) | | ---> velocity (+X ) |. `. sc | | sc | `./. |_| | `. | | o `. o | | +60 `. target 0 | target ____|__________/\_____ ________/_\_________ /////////////////////// ///////////////////// surface surface CRISM ,'\ ---> velocity (+X ) ,' ,| sc ,\,' | ,' | ,' o | ,' -60 | ______/\__________|___ /////////////////////// surface Since the field of view is 2.122 degrees in X, looking down the Y axis in the MRO_CRISM_VNIR frame we have: (We are arbitrarily choosing vectors that terminate in the Z=1 plane.) ^ X | VNIR | | _.' | _.' | | _.' | | _.' o | |.' 1.061 | o-------------+------> Y (out)'._ o | Z VNIR '._1.061 | VNIR '._ | '._ | '. |<----1.0---->| Since the field of view is 61.5 microradians in Y, looking up the X axis in the MRO_CRISM_VNIR frame we have: (We are arbitrarily choosing vectors that terminate in the Z=1 plane.) ^ Y | VNIR | | | _. | _.-' | | _.-' | |_.-' 30.75 mrad x-------------+------> X (in) `-._ 30.75 mrad Z VNIR `-._ | VNIR `-._ | `- |<----1.0---->| These field of view values for CRISM VNIR are given in radians in the keywords below: \begindata INS-74017_FOV_FRAME = 'MRO_CRISM_VNIR' INS-74017_FOV_SHAPE = 'RECTANGLE' INS-74017_BORESIGHT = ( 0.0, 0.0, 1.0 ) INS-74017_FOV_CLASS_SPEC = 'ANGLES' INS-74017_FOV_REF_VECTOR = ( 0.0, 1.0, 0.0 ) INS-74017_FOV_REF_ANGLE = ( 0.000030750 ) INS-74017_FOV_CROSS_ANGLE = ( 0.018517943181 ) INS-74017_FOV_ANGLE_UNITS = 'RADIANS' \begintext The field of view for the IR detector is defined identically to the VNIR detector. Any differences are captured in the camera model, described below. \begindata INS-74018_FOV_FRAME = 'MRO_CRISM_IR' INS-74018_FOV_SHAPE = 'RECTANGLE' INS-74018_BORESIGHT = ( 0.0, 0.0, 1.0 ) INS-74018_FOV_CLASS_SPEC = 'ANGLES' INS-74018_FOV_REF_VECTOR = ( 0.0, 1.0, 0.0 ) INS-74018_FOV_REF_ANGLE = ( 0.000030750 ) INS-74018_FOV_CROSS_ANGLE = ( 0.018517943181 ) INS-74018_FOV_ANGLE_UNITS = 'RADIANS' \begintext VNIR Camera Model Parameters --------------------------------------------------------------- From [4]: The CRISM image cubes consist of a set of frames, and each frame has multiple wavelengths (also called bands or detector rows) and multiple cross-track spatial positions (also called columns or line samples). The CRISM ground track image is built up by taking multiple frames and scanning along-track, so each detector frame is associated with a single line in the ground track image. The position of a single VNIR ground track image line along-track is the same for all VNIR bands and depends only on the time the frame is taken, the spacecraft pointing, and the CRISM gimbal pointing. The position of each cross-track sample in that image line will depend slightly on band number, because the magnification of the instrument depends slightly on wavelength. This effect is called "optical keystone". The camera model parameters provide a formula to calculate the cross-track line-of-sight angle of each cross-track sample in a line. This result is the same for all lines in the image. The CRISM image coordinate frame has Z axis defined as along the boresight. The boresight is defined as the center of the VNIR optical field of view. The X axis is in the plane defined by the boresight and gimbal axis. The X axis is approximately along the gimbal axis, pointing from the anti-sunward radiator toward the gimbal motor. The Y axis is approximately in the direction of spacecraft motion. Definition of camera model line-of-sight angles in CRISM VNIR image coordinates: The VNIR camera model parameters allow one to calculate a line-of-sight VNIR angle for each line sample at each band in a CRISM image cube. The line-of-sight is in the XZ plane by definition (nominally cross-track), and the line-of-sight VNIR angle is measured from the Z axis, with positive angles toward the X axis. Another way of putting it is that the line-of-sight VNIR angle represents a y-axis rotation in the CRISM image frame [MRO_CRISM_VNIR], with zero angle representing a line of sight directly along the Z-axis. See page 4 of CALRPT_26_1_V3_POINT_SIGN.PDF, which may be found in the /CALIB directory of the EDR portion of the PDS archive. A side view of the diagram on that page is reproduced here: boresight ^ \ | / + angle | - angle \ | / \ _|_ / \ | | | / Z (Z ) \ | | | / / ^ VNIR sc CRISM \| | |/ / radiator | __________|_|_|__ / | | \|/ | / | <---||------------o----||---> gimbal X (-Y ) <------o ||_________________|| axis VNIR sc Y (X ) __||_________________||__ VNIR sc ///////////////////////// spacecraft The following table of CRISM camera coefficients give the band number, intercept, and slope of the linear function line-of-sight_VNIR_angle = a0 + a1*line_sample where the intercept a0 and the slope a1 are both functions of band number. Band number is integer 0-479 and line sample is integer 0-639. Keywords for reference band and slit direction are given below the camera coefficient table. Those terms are defined here (from [4]): Slit direction: In the direction nominally perpendicular to the orbital track ("cross-track"), multiple spatial positions are sampled simultaneously. In the optical hardware, these multiple spatial positions are sampled at different positions along the entrance slit of the spectrometer. The alignment measurements performed on the ground show there is no clocking of the slit with respect to the gimbal axis of the CRISM instrument. That is, to the accuracy required by CRISM, we can assume the slit is along the gimbal, and we make that assumption in the pointing and mapping. The "slit direction" is therefore the same as the axis of the gimbal. Reference band: The position of each cross-track sample in an image line will depend slightly on band number, because the magnification of the instrument depends slightly on wavelength. This effect is called "optical keystone", and the camera model parameters reflect this because they change slightly with band number. It would be too cumbersome to map the planet separately for each band, so we choose one band at a central wavelength for VNIR and one band at a central wavelength for IR, and all the geometry parameters given in the DDRs are calculated for those two "reference bands". The bands used are 223 for VNIR, which is close to 610 nm, and 247 for IR, which is close to 2300 nm. Band number is out of 0-479. The indexing of the camera coefficient table below is zero-based and monotonically increasing. The first column in the table is the band. The second column is a0 for that band, and the third column is a1 for that band. \begindata INS-74017_CAMERA_COEFF = ( 0.0 0.0000000 0.0000000000 1.0 0.0000000 0.0000000000 2.0 0.0000000 0.0000000000 3.0 0.0000000 0.0000000000 4.0 0.0000000 0.0000000000 5.0 0.0000000 0.0000000000 6.0 0.0000000 0.0000000000 7.0 0.0000000 0.0000000000 8.0 0.0000000 0.0000000000 9.0 0.0000000 0.0000000000 10.0 0.0000000 0.0000000000 11.0 0.0000000 0.0000000000 12.0 0.0000000 0.0000000000 13.0 0.0000000 0.0000000000 14.0 0.0000000 0.0000000000 15.0 0.0000000 0.0000000000 16.0 0.0000000 0.0000000000 17.0 0.0000000 0.0000000000 18.0 0.0000000 0.0000000000 19.0 0.0000000 0.0000000000 20.0 0.0000000 0.0000000000 21.0 0.0000000 0.0000000000 22.0 0.0000000 0.0000000000 23.0 0.0000000 0.0000000000 24.0 0.0000000 0.0000000000 25.0 0.0000000 0.0000000000 26.0 0.0000000 0.0000000000 27.0 0.0000000 0.0000000000 28.0 0.0000000 0.0000000000 29.0 0.0000000 0.0000000000 30.0 0.0000000 0.0000000000 31.0 0.0000000 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0.0000000 0.0000000000 409.0 0.0000000 0.0000000000 410.0 0.0000000 0.0000000000 411.0 0.0000000 0.0000000000 412.0 0.0000000 0.0000000000 413.0 0.0000000 0.0000000000 414.0 0.0000000 0.0000000000 415.0 0.0000000 0.0000000000 416.0 0.0000000 0.0000000000 417.0 0.0000000 0.0000000000 418.0 0.0000000 0.0000000000 419.0 0.0000000 0.0000000000 420.0 0.0000000 0.0000000000 421.0 0.0000000 0.0000000000 422.0 0.0000000 0.0000000000 423.0 0.0000000 0.0000000000 424.0 0.0000000 0.0000000000 425.0 0.0000000 0.0000000000 426.0 0.0000000 0.0000000000 427.0 0.0000000 0.0000000000 428.0 0.0000000 0.0000000000 429.0 0.0000000 0.0000000000 430.0 0.0000000 0.0000000000 431.0 0.0000000 0.0000000000 432.0 0.0000000 0.0000000000 433.0 0.0000000 0.0000000000 434.0 0.0000000 0.0000000000 435.0 0.0000000 0.0000000000 436.0 0.0000000 0.0000000000 437.0 0.0000000 0.0000000000 438.0 0.0000000 0.0000000000 439.0 0.0000000 0.0000000000 440.0 0.0000000 0.0000000000 441.0 0.0000000 0.0000000000 442.0 0.0000000 0.0000000000 443.0 0.0000000 0.0000000000 444.0 0.0000000 0.0000000000 445.0 0.0000000 0.0000000000 446.0 0.0000000 0.0000000000 447.0 0.0000000 0.0000000000 448.0 0.0000000 0.0000000000 449.0 0.0000000 0.0000000000 450.0 0.0000000 0.0000000000 451.0 0.0000000 0.0000000000 452.0 0.0000000 0.0000000000 453.0 0.0000000 0.0000000000 454.0 0.0000000 0.0000000000 455.0 0.0000000 0.0000000000 456.0 0.0000000 0.0000000000 457.0 0.0000000 0.0000000000 458.0 0.0000000 0.0000000000 459.0 0.0000000 0.0000000000 460.0 0.0000000 0.0000000000 461.0 0.0000000 0.0000000000 462.0 0.0000000 0.0000000000 463.0 0.0000000 0.0000000000 464.0 0.0000000 0.0000000000 465.0 0.0000000 0.0000000000 466.0 0.0000000 0.0000000000 467.0 0.0000000 0.0000000000 468.0 0.0000000 0.0000000000 469.0 0.0000000 0.0000000000 470.0 0.0000000 0.0000000000 471.0 0.0000000 0.0000000000 472.0 0.0000000 0.0000000000 473.0 0.0000000 0.0000000000 474.0 0.0000000 0.0000000000 475.0 0.0000000 0.0000000000 476.0 0.0000000 0.0000000000 477.0 0.0000000 0.0000000000 478.0 0.0000000 0.0000000000 479.0 0.0000000 0.0000000000 ) INS-74017_REFERENCE_BAND = 223 INS-74017_SLIT_DIRECTION = ( 1.0, 0.0, 0.0 ) \begintext IR Camera Model Parameters --------------------------------------------------------------- The description of the IR camera model parameters and their usage is identical to the description for the VNIR camera model parameters. Refer to the text and diagram in the section above titled "VNIR Camera Model Parameters", replacing all references to "VNIR" with "IR". The slit direction and reference band keywords are also described above. The indexing of the camera coefficient table below is zero-based and monotonically increasing. The first column in the table is the band. The second column is a0 for that band, and the third column is a1 for that band. \begindata INS-74018_CAMERA_COEFF = ( 0.0 0.0000000 0.0000000000 1.0 -1.1600100 0.0034842819 2.0 -1.1600032 0.0034842738 3.0 -1.1599964 0.0034842661 4.0 -1.1599896 0.0034842582 5.0 -1.1599826 0.0034842500 6.0 -1.1599759 0.0034842421 7.0 -1.1599691 0.0034842342 8.0 -1.1599622 0.0034842265 9.0 -1.1599556 0.0034842188 10.0 -1.1599488 0.0034842107 11.0 -1.1599417 0.0034842025 12.0 -1.1599350 0.0034841946 13.0 -1.1599283 0.0034841867 14.0 -1.1599214 0.0034841788 15.0 -1.1599145 0.0034841709 16.0 -1.1599078 0.0034841630 17.0 -1.1599009 0.0034841551 18.0 -1.1598943 0.0034841474 19.0 -1.1598877 0.0034841397 20.0 -1.1598805 0.0034841311 21.0 -1.1598737 0.0034841232 22.0 -1.1598669 0.0034841152 23.0 -1.1598601 0.0034841076 24.0 -1.1598533 0.0034840996 25.0 -1.1598464 0.0034840917 26.0 -1.1598397 0.0034840838 27.0 -1.1598330 0.0034840759 28.0 -1.1598262 0.0034840680 29.0 -1.1598191 0.0034840598 30.0 -1.1598123 0.0034840519 31.0 -1.1598057 0.0034840440 32.0 -1.1597991 0.0034840365 33.0 -1.1597921 0.0034840284 34.0 -1.1597853 0.0034840205 35.0 -1.1597785 0.0034840126 36.0 -1.1597717 0.0034840044 37.0 -1.1597649 0.0034839970 38.0 -1.1597579 0.0034839886 39.0 -1.1597512 0.0034839807 40.0 -1.1597444 0.0034839727 41.0 -1.1597377 0.0034839651 42.0 -1.1597308 0.0034839574 43.0 -1.1597240 0.0034839492 44.0 -1.1597172 0.0034839411 45.0 -1.1597103 0.0034839332 46.0 -1.1597036 0.0034839255 47.0 -1.1596967 0.0034839173 48.0 -1.1596900 0.0034839094 49.0 -1.1596832 0.0034839015 50.0 -1.1596762 0.0034838936 51.0 -1.1596695 0.0034838859 52.0 -1.1596627 0.0034838778 53.0 -1.1596559 0.0034838698 54.0 -1.1596490 0.0034838619 55.0 -1.1596423 0.0034838540 56.0 -1.1596354 0.0034838459 57.0 -1.1596287 0.0034838382 58.0 -1.1596218 0.0034838303 59.0 -1.1596148 0.0034838221 60.0 -1.1596082 0.0034838142 61.0 -1.1596013 0.0034838063 62.0 -1.1595948 0.0034837986 63.0 -1.1595877 0.0034837907 64.0 -1.1595811 0.0034837828 65.0 -1.1595742 0.0034837746 66.0 -1.1595674 0.0034837667 67.0 -1.1595607 0.0034837590 68.0 -1.1595535 0.0034837509 69.0 -1.1595469 0.0034837432 70.0 -1.1595403 0.0034837350 71.0 -1.1595334 0.0034837273 72.0 -1.1595265 0.0034837194 73.0 -1.1595197 0.0034837115 74.0 -1.1595131 0.0034837036 75.0 -1.1595061 0.0034836954 76.0 -1.1594993 0.0034836875 77.0 -1.1594924 0.0034836796 78.0 -1.1594858 0.0034836717 79.0 -1.1594790 0.0034836638 80.0 -1.1594719 0.0034836559 81.0 -1.1594653 0.0034836482 82.0 -1.1594585 0.0034836403 83.0 -1.1594518 0.0034836323 84.0 -1.1594448 0.0034836240 85.0 -1.1594380 0.0034836160 86.0 -1.1594311 0.0034836084 87.0 -1.1594244 0.0034836004 88.0 -1.1594176 0.0034835928 89.0 -1.1594107 0.0034835846 90.0 -1.1594039 0.0034835767 91.0 -1.1593972 0.0034835688 92.0 -1.1593903 0.0034835609 93.0 -1.1593833 0.0034835527 94.0 -1.1593765 0.0034835448 95.0 -1.1593698 0.0034835369 96.0 -1.1593632 0.0034835292 97.0 -1.1593565 0.0034835215 98.0 -1.1593494 0.0034835134 99.0 -1.1593425 0.0034835052 100.0 -1.1593360 0.0034834973 101.0 -1.1593289 0.0034834894 102.0 -1.1593221 0.0034834817 103.0 -1.1593153 0.0034834736 104.0 -1.1593086 0.0034834656 105.0 -1.1593019 0.0034834577 106.0 -1.1592951 0.0034834500 107.0 -1.1592882 0.0034834419 108.0 -1.1592814 0.0034834340 109.0 -1.1592745 0.0034834258 110.0 -1.1592677 0.0034834181 111.0 -1.1592610 0.0034834105 112.0 -1.1592541 0.0034834023 113.0 -1.1592474 0.0034833944 114.0 -1.1592405 0.0034833865 115.0 -1.1592338 0.0034833786 116.0 -1.1592269 0.0034833709 117.0 -1.1592200 0.0034833627 118.0 -1.1592132 0.0034833546 119.0 -1.1592065 0.0034833467 120.0 -1.1591995 0.0034833390 121.0 -1.1591928 0.0034833311 122.0 -1.1591860 0.0034833229 123.0 -1.1591792 0.0034833150 124.0 -1.1591724 0.0034833071 125.0 -1.1591656 0.0034832996 126.0 -1.1591588 0.0034832915 127.0 -1.1591519 0.0034832833 128.0 -1.1591450 0.0034832754 129.0 -1.1591383 0.0034832675 130.0 -1.1591315 0.0034832596 131.0 -1.1591249 0.0034832517 132.0 -1.1591179 0.0034832438 133.0 -1.1591110 0.0034832358 134.0 -1.1591045 0.0034832282 135.0 -1.1590976 0.0034832202 136.0 -1.1590906 0.0034832121 137.0 -1.1590838 0.0034832042 138.0 -1.1590770 0.0034831960 139.0 -1.1590703 0.0034831881 140.0 -1.1590633 0.0034831804 141.0 -1.1590567 0.0034831725 142.0 -1.1590500 0.0034831646 143.0 -1.1590431 0.0034831567 144.0 -1.1590362 0.0034831488 145.0 -1.1590295 0.0034831408 146.0 -1.1590226 0.0034831327 147.0 -1.1590158 0.0034831248 148.0 -1.1590090 0.0034831171 149.0 -1.1590022 0.0034831092 150.0 -1.1589954 0.0034831013 151.0 -1.1589885 0.0034830933 152.0 -1.1589818 0.0034830854 153.0 -1.1589750 0.0034830777 154.0 -1.1589682 0.0034830694 155.0 -1.1589614 0.0034830614 156.0 -1.1589545 0.0034830535 157.0 -1.1589478 0.0034830458 158.0 -1.1589409 0.0034830377 159.0 -1.1589340 0.0034830300 160.0 -1.1589273 0.0034830221 161.0 -1.1589205 0.0034830139 162.0 -1.1589136 0.0034830063 163.0 -1.1589068 0.0034829979 164.0 -1.1589000 0.0034829902 165.0 -1.1588933 0.0034829823 166.0 -1.1588866 0.0034829744 167.0 -1.1588795 0.0034829665 168.0 -1.1588727 0.0034829585 169.0 -1.1588660 0.0034829509 170.0 -1.1588593 0.0034829427 171.0 -1.1588525 0.0034829350 172.0 -1.1588454 0.0034829266 173.0 -1.1588386 0.0034829187 174.0 -1.1588318 0.0034829110 175.0 -1.1588253 0.0034829031 176.0 -1.1588186 0.0034828954 177.0 -1.1588112 0.0034828871 178.0 -1.1588047 0.0034828791 179.0 0.0000000 0.0000000000 180.0 0.0000000 0.0000000000 181.0 0.0000000 0.0000000000 182.0 0.0000000 0.0000000000 183.0 0.0000000 0.0000000000 184.0 0.0000000 0.0000000000 185.0 0.0000000 0.0000000000 186.0 0.0000000 0.0000000000 187.0 -1.1587435 0.0034828079 188.0 -1.1587367 0.0034828002 189.0 -1.1587298 0.0034827923 190.0 -1.1587230 0.0034827844 191.0 -1.1587162 0.0034827762 192.0 -1.1587093 0.0034827683 193.0 -1.1587025 0.0034827604 194.0 -1.1586957 0.0034827525 195.0 -1.1586889 0.0034827446 196.0 -1.1586821 0.0034827366 197.0 -1.1586752 0.0034827287 198.0 -1.1586685 0.0034827210 199.0 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0.0034824514 233.0 -1.1584303 0.0034824435 234.0 -1.1584234 0.0034824354 235.0 -1.1584165 0.0034824274 236.0 -1.1584098 0.0034824198 237.0 -1.1584029 0.0034824118 238.0 -1.1583960 0.0034824039 239.0 -1.1583894 0.0034823960 240.0 -1.1583825 0.0034823879 241.0 -1.1583756 0.0034823800 242.0 -1.1583691 0.0034823723 243.0 -1.1583620 0.0034823641 244.0 -1.1583554 0.0034823562 245.0 -1.1583486 0.0034823485 246.0 -1.1583415 0.0034823404 247.0 -1.1583349 0.0034823327 248.0 -1.1583281 0.0034823245 249.0 -1.1583214 0.0034823166 250.0 -1.1583145 0.0034823089 251.0 -1.1583077 0.0034823008 252.0 -1.1583009 0.0034822929 253.0 -1.1582941 0.0034822850 254.0 -1.1582873 0.0034822770 255.0 -1.1582805 0.0034822694 256.0 -1.1582736 0.0034822612 257.0 -1.1582668 0.0034822533 258.0 -1.1582600 0.0034822454 259.0 -1.1582532 0.0034822375 260.0 -1.1582463 0.0034822295 261.0 -1.1582394 0.0034822214 262.0 -1.1582327 0.0034822137 263.0 -1.1582259 0.0034822058 264.0 -1.1582190 0.0034821979 265.0 -1.1582123 0.0034821897 266.0 -1.1582054 0.0034821820 267.0 -1.1581988 0.0034821741 268.0 -1.1581919 0.0034821662 269.0 -1.1581852 0.0034821585 270.0 -1.1581782 0.0034821501 271.0 -1.1581714 0.0034821422 272.0 -1.1581644 0.0034821343 273.0 -1.1581577 0.0034821266 274.0 -1.1581510 0.0034821185 275.0 -1.1581442 0.0034821106 276.0 -1.1581377 0.0034821029 277.0 -1.1581306 0.0034820950 278.0 -1.1581239 0.0034820873 279.0 -1.1581171 0.0034820789 280.0 -1.1581099 0.0034820708 281.0 -1.1581032 0.0034820631 282.0 -1.1580964 0.0034820552 283.0 -1.1580898 0.0034820475 284.0 -1.1580831 0.0034820393 285.0 -1.1580760 0.0034820314 286.0 -1.1580694 0.0034820237 287.0 -1.1580625 0.0034820158 288.0 -1.1580555 0.0034820074 289.0 -1.1580486 0.0034819995 290.0 -1.1580420 0.0034819916 291.0 -1.1580353 0.0034819839 292.0 -1.1580285 0.0034819762 293.0 -1.1580217 0.0034819681 294.0 -1.1580149 0.0034819602 295.0 -1.1580080 0.0034819522 296.0 -1.1580013 0.0034819443 297.0 -1.1579944 0.0034819362 298.0 -1.1579875 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0.0000000000 465.0 0.0000000 0.0000000000 466.0 0.0000000 0.0000000000 467.0 0.0000000 0.0000000000 468.0 0.0000000 0.0000000000 469.0 0.0000000 0.0000000000 470.0 0.0000000 0.0000000000 471.0 0.0000000 0.0000000000 472.0 0.0000000 0.0000000000 473.0 0.0000000 0.0000000000 474.0 0.0000000 0.0000000000 475.0 0.0000000 0.0000000000 476.0 0.0000000 0.0000000000 477.0 0.0000000 0.0000000000 478.0 0.0000000 0.0000000000 479.0 0.0000000 0.0000000000 ) INS-74018_REFERENCE_BAND = 247 INS-74018_SLIT_DIRECTION = ( 1.0, 0.0, 0.0 ) \begintext CRISM Image Timing --------------------------------------------------------------- From [8]: The CRISM detector can operate at a rate of 1, 3.75, 15, or 30 frames per second. A frame period is the reciprocal of the frame rate. A frame period consists of a period where the detector is not integrating (not exposing an image), followed by a period where it is. The spacecraft clock time associated with a frame is the beginning of a frame period. Each of the two detectors in CRISM consists of 480 rows of 640 pixels each. Each of the detectors operate independently of each other, but always at the same frame rate. Each row of the detector corresponds to one spectral region; each column corresponds to one spatial region. The detectors are constructed as four columnar quadrants of 480 rows of 160 pixels each. Corresponding pixels from each quadrant are read out simultaneously and processed through identical analog-to-digital converters and processing pipelines. The detector operates by integrating the photons for the current image, while simultaneously reading out the previous image. The integration (exposure) time for CRISM is specified by an integer in the range 0..480, with 0 indicating no exposure, and 480 indicating an exposure time equal to the whole frame period. The actual integration time obtained, however, is not exactly equal to the ratio of the exposure parameter to 480 times the frame period; complex timing circuitry in the detector adds particular quantizations and delays. There is also jitter in the CRISM Data Processing Unit's interrupt response time, which may cause the frame period to vary by several tens of microseconds, but the actual deviation is unknown, and ignored in calculations. The detector is controlled by a pixel clock signal, of which there are nominally 83333 clock periods per frame period, regardless of the frame rate. The frame period is broken down into 502 line periods of 166 pixel clocks each; actual image data is read from the detector during 480 of these line periods. In each line period, there are 160 pixel clock periods that read out a row of image data, and 6 pixel clock periods of inter-line time. Since the detector does not respond to an assertion of the integrate signal except at the beginning of a line period, the integration period is quantized to one of 502 possible values. Also, the detector delays acting on an assertion of the integrate signal by 3 line periods, and delays acting on a negation of the signal by 4 line periods. The following "C" function will calculate the time offset, relative to the telemetered frame time, of the start and stop of detector integration, assuming zero frame period jitter. //---------------------------------------------------------------------------- // frame_exposure_time() - Find when a CRISM frame exposure starts and stops // // Parameters: // exposure: requested exposure in [0..480], higher number is longer exposure // frame_rate: enumerated frame rate in [0..4] // start_time: time integration starts, after telemetered time, in seconds // stop_time: time integration stops, after telemetered time, in seconds // // Notes: // stop_time is a constant for a given frame rate // There are nominally 83333 pixel clocks to a frame-time // There are 166 pixel clocks to a line-time //---------------------------------------------------------------------------- void frame_exposure_time(int exposure, int frame_rate, double *start_time, double *stop_time) { // array to convert enumerated rate to frames-per-second static double rate_table[5] = { 1.0, 3.75, 5.0, 15.0, 30.0 }; // calculate seconds for a full frame double frame_time = 1.0 / rate_table[frame_rate]; // calculate seconds per pixel clock double pixel_clock_time = frame_time / 83333.0; // This is what John Hayes does in the DPU (Data Processing Unit), to write // register to FPU (Focal Plane Unit) specifying how long NOT to integrate, // in pixel clocks [0..83333] int reg = ((480 - exposure) * 83333) / 480; // Actual integration starts 3 line-times later, rounded up to next line // time int start_clocks = reg + (3 * 166); if(start_clocks % 166) start_clocks += 166 - (start_clocks % 166); // integration continues 4 line-times after de-assertion int stop_clocks = 83333 + (4 * 166); *start_time = start_clocks * pixel_clock_time; *stop_time = stop_clocks * pixel_clock_time; } NAIF ID Code to Name Mapping --------------------------------------------------------------- \begindata NAIF_BODY_NAME += ( 'MRO_CRISM_VNIR' ) NAIF_BODY_CODE += ( -74017 ) NAIF_BODY_NAME += ( 'MRO_CRISM_IR' ) NAIF_BODY_CODE += ( -74018 ) \begintext