PDS_VERSION_ID = PDS3 RECORD_TYPE = STREAM LABEL_REVISION_NOTE = " 2007-05-24 NAIF:Semenov initial version; 2007-06-07 NAIF:Semenov completed CONFIDENCE_LEVEL_NOTE; " OBJECT = DATA_SET DATA_SET_ID = "MRO-M-SPICE-6-V1.0" OBJECT = DATA_SET_INFORMATION DATA_SET_NAME = "MRO MARS SPICE KERNELS V1.0" DATA_SET_TERSE_DESC = " Navigation and ancillary data in the form of SPICE System kernel files for the Mars Reconnaissance Orbiter. " ABSTRACT_DESC = " This data set includes the complete set of Mars Reconnaissance Orbiter SPICE data files (``kernel files''), which can be accessed using SPICE software. The SPICE data contains geometric and other ancillary information needed to recover the full value of science instrument data. In particular SPICE kernels provide spacecraft and planetary ephemerides, instrument mounting alignments, spacecraft orientation, spacecraft sequences of events, and data needed for relevant time conversions. " CITATION_DESC = " Semenov, B.V., and C.H. Acton, MARS RECONNAISSANCE ORBITER SPICE KERNELS V1.0, MRO-M-SPICE-6-V1.0, NASA Planetary Data System, 2007. " DATA_SET_COLLECTION_MEMBER_FLG = "N" START_TIME = 2005-08-12T12:40:00 STOP_TIME = "UNK" DATA_SET_RELEASE_DATE = 2007-06-08 PRODUCER_FULL_NAME = "BORIS V. SEMENOV" DATA_OBJECT_TYPE = "SPICE KERNEL" DETAILED_CATALOG_FLAG = "Y" DATA_SET_DESC = " Data Set Overview ================= This data set includes the complete set of Mars Reconnaissance Orbiter SPICE data files (``kernel files''), which can be accessed using SPICE software. The SPICE data contains geometric and other ancillary information needed to recover the full value of science instrument data. In particular SPICE kernels provide spacecraft and planetary ephemerides, instrument mounting alignments, spacecraft orientation, spacecraft sequences of events, and data needed for relevant time conversions. This data set is contained on a single virtual volume, MROSP_1000, including data from all mission phases and covering from launch, 2005-08-12T12:40:00, through the end time of the latest spacecraft trajectory file supplied in the data set. Until the end of the spacecraft lifespan this data set is accumulating with new data added approximately every three to six months. Data Types (SPICE kernel types) =============================== SPK kernels contain ephemerides for spacecraft, planets, satellites, comets and asteroids as well as for moving or fixed spacecraft and instrument structures. They provide position and velocity, given in a Cartesian reference frame. SPK files are located under the ``data/spk'' directory of this data set. PCK kernels contain certain physical, dynamical and cartographic constants for target bodies, such as size and shape specifications, and orientation of the spin axis and prime meridian. PCK files are located under the ``data/pck'' directory of this data set. IK kernels (Instrument description kernels) give descriptive and operational data peculiar to a particular scientific instrument, such as internal timing relative to the spacecraft clock and field-of-view model parameters. IK files are located under the ``data/ik'' directory of this data set. CK kernels describe pointing, containing a transformation traditionally called the C-matrix which is used to determine time-tagged pointing (orientation) angles for a spacecraft structure upon which science instruments are mounted. CK files are located under the ``data/ck'' directory of this data set. EK (Events) kernels are derived from the integrated sequence of events used to produce actual spacecraft commands. EK files are located under the ``data/ek'' directory of this data set. LSK (Leapseconds) kernels contain the leapseconds and the values of other constants required to perform a transformation between Universal Time Coordinated (UTC) and Ephemeris time (ET). LSK files are located under the ``data/lsk'' directory of this data set. SCLK (Spacecraft Clock) kernels contain on-board clock calibration data required to perform a mapping between Ephemeris time (ET) and spacecraft on-board time (SCLK.) SCLK files are located under the ``data/sclk'' directory of this data set. FK (Frame Definitions) kernels contain information required to define reference frames, sources of frame orientation data and inter-connections between these frames and other frames supported within the SPICE system. This includes mounting alignment information for each instrument. FK files are located under the ``data/fk'' directory of this data set. Kernel File Details =================== A brief overview of the different types of MRO kernels included in this data set is provided in the CONFIDENCE_LEVEL_NOTE section of this file while details specific to individual files are found in the ``*info.txt'' files in the corresponding data directory. The most detailed description of the data in each file is provided in metadata included inside the file -- in the description area of text kernels or in the comment area of binary kernels. Software ======== The SPICE Toolkit contains software modules needed to read SPICE kernel files. SPICELIB software is highly documented via internal headers. Additional documentation is available in separate ASCII text files called Required Reading files. For example, the S- and P- Kernel (SPK) Required Reading File, named SPK.REQ, describes use of the SPK kernel file readers and contains sample programs. The latest SPICE Toolkit for a variety of computer platforms such as PC, Mac, SUN, etc. is available at the NAIF Node of PDS electronically (via anonymous FTP and WWW servers). Refer to information in ``software/softinfo.txt'' for details regarding obtaining this software. Each version of the Toolkit is also archived at the NASA National Space Science Data Center. Loading Kernel Files into a SPICE-based Application =================================================== The easiest way to make data from a collection of SPICE kernels available to a SPICE-based application is to list these kernels in a meta-kernel and load it into the program using the high level SPICE data loader routine FURNSH. This data set provides such meta-kernel(s) under the ``extras/mk'' directory. For more information about the MRO meta-kernel(s), see the file ``extras/mk/mkinfo.txt''. " CONFIDENCE_LEVEL_NOTE = " This data set contains SPICE kernel files created during mission operations and after mission data reconstruction and analysis. Some general information about this collection follows here, but the prospective user is also referred to extensive descriptions about each file that are stored inside each kernel file. These metadata provide detailed information regarding the information source from which the data were derived, the type of processing applied to the source data, applicability of the data, etc. Metadata are located in the ``comment area'' for binary kernel types (SPK, CK, ESQ), accessible using either the COMMNT or SPACIT utility program found in the NAIF Toolkit. Metadata are located after ``\begintext'' markers within the text kernel types (PCK, IK, FK, LSK, SCLK, MK), accessible by using any available text file display tool such as a word processor, text editor, or the unix ``more'' or ``cat'' commands. Where there are questions about data accuracy or ``confidence'' not addressed herein the reader is invited to contact the NAIF node of the Planetary Data System for possible further information. SPK Files ========= Three kinds of SPK files are provided in this archive: SPK files for the spacecraft orbit, SPK files for the Solar System planets and Martian system satellites, and SPK files for the relative locations of selected spacecraft structures. Each of these kinds is briefly described below; more information is available in the file ``data/spk/spkinfo.txt''. The MRO spacecraft orbit SPK files included in this data set contain the reconstructed spacecraft trajectory determined by the MRO Navigation (NAV) Team, JPL. Each of these SPK files covering the whole or a part of a particular mission phase was made by merging together numerous shorter duration individual files officially delivered by the NAV team to the project. The component files used to make a merged product can be discerned by reading the descriptive information (metadata) found in the comment area of each file. The accuracy of the spacecraft trajectory provided by these files for the orbital phases of the mission was informally reported by the NAV team to be better than than a few meters. This data set also includes the orbit number files generated during the mission using the NAIF's ORBNUM utility program for each of the NAV spacecraft trajectory SPK files for the orbital phases of the mission. These files are not SPICE kernels; for this reason they are provided in the ``extras/orbnum'' directory. For more information about the MRO orbit number files, see the file ``extras/orbnum/orbinfo.txt''. The DE410 planetary ephemeris SPK file included in this data set contains ephemeris data for the Solar System planet barycenters, Sun, Mercury, Venus, Earth, Moon, and Mars. This version of ephemerides was officially used by the project during mission operations. The internal comments included this SPK file provide detailed accuracy information. The MAR063 Martian satellite ephemeris SPK file provided in this data set contains ephemeris data for Phobos, Deimos, Earth and the Sun. Formal one-sigma accuracy information for Phobos and Deimos are reported as follows: Body Downtrack Crosstrack Radial Uncertainty Uncertainty Uncertainty ------ ----------- ----------- ----------- Phobos 5 km 2 km 2 km Deimos 10 km 3 km 3 km The MRO structures SPK file included in this archive provides relative locations of the High Gain Antenna (HGA) and Solar Array (SA) components. The data included in the file are based of the dimensions from the spacecraft engineering drawings. CK Files ======== Five kinds of C-kernel files are provided in this archive: the spacecraft bus (SC) orientation CKs (reconstructed and predicted), the solar arrays (SA) orientation CKs (reconstructed and predicted), the high gain antenna (HGA) orientation CKs (reconstructed and predicted), the CRISM instrument orientation CKs (reconstructed only), and the MCS instrument orientation CKs (reconstructed only). The SC, SA, and HGA reconstructed CK files were produced from engineering telemetry downlinked from the spacecraft while the SC, SA, and HGA predicted CK files were produced from spacecraft orientation and articulation data modeled by the AtArPS program ran by the MRO Spacecraft Team, LMA. While the coverage provided by the reconstructed CK is fairly complete, they have occasional small gaps. The predicted CKs included in this data set are intended to be used to fill these gaps with nominal orientation by loading these predicted files simultaneously with (but with lower priority than) the reconstructed files. All of these CKs contain data tagged with encoded SCLKs computed using the clock with ID -74. The CRISM CK files providing orientation for the CRISM instrument were produced by the CRISM team using the gimbal angle data from the instrument housekeeping telemetry. These files were used by the CRISM team to process CRISM science data. The CRISM CKs contain data tagged with encoded SCLKs computed using the clock with ID -74999. The MCS CK files providing orientation for the MCS instrument were produced by the MCS team using the gimbal angle data from the instrument housekeeping telemetry. These files were used by the MCS team to process MCS science data. These CKs contain data tagged with encoded SCLKs computed using the clock with ID -74. Currently no formal accuracy estimates are available for any of these CKs. More information about MRO CK files is available in the file ``data/ck/ckinfo.txt''. PCK Files ========= PCK files provide size, shape and orientation data for ``target'' bodies such as Mars, Phobos and Deimos. A description of these data items and reference to their source is provided inside the PCK file, which is a simple text file that can be viewed using any word processor, text editor or text display utility. The only PCK file included in this data set is based on the IAU/IAG/COSPAR values accepted in 2000. This PCK has been used by the MRO project during operations. More information about the PCK files included in this data set is available in the file ``data/pck/pckinfo.txt''. FK Files ======== Frames kernel files provide specifications for how one reference frame is defined relative to another frame. The MRO FK provided in this data set contains the complete set of frame definitions for the spacecraft, its structures such as solar array and antennas, and all of its science instruments. Meta information provided in the comments included in this file consists of the frame definitions, description of the frame relationships, source of and accuracy of the mounting alignment information, etc. More information about the MRO FK files is available in the file ``data/fk/fkinfo.txt''. IK Files ======== Instrument kernel files provide specifications for geometric parameters and--where applicable--field-of-view size, shape and orientation for the named instruments. Metadata describing these estimates are provided in each IK file included in this archive. Parameter values were determined from pre-launch measurements, instrument parameters specification documents, and in some cases from analysis of in-flight calibration data. The accuracy estimates for these data vary from instrument to instrument and, where available, are included in the IK internal comments. Although this data set includes an IK file(s) for each of the MRO instruments -- CRISM, CTX, HIRISE, MARCI, MCS, and ONC -- not all of them are equally well developed. On one side of the ``spectrum'' are the CRISM, MCS, ONC, and HIRISE IK files containing the most up to date geometric calibration data, FOV definitions, etc. while on the other side are the CTX and MARCI IKs providing bare minimum of information based on the pre-launch specifications (better IKs for these instruments may be added to the data set at a later date.) Because of that users are encouraged to carefully examine the IKs before using them. More information about MRO IK files is available in the file ``data/ik/ikinfo.txt''. SCLK Files ========== Spacecraft Clock kernel files provide a tabulation of data needed for converting time measurements between ephemeris time (ET) and spacecraft clock time (SCLK). The MRO SPICE SCLK files were made from similar files--SCLK/SCET files, or SCLKvSCET file--produced by another mission entity. Each newly made SCLK file fully replaces the previous SCLK file. For MRO the time correlation accuracy provided in SCLK/SCET files is informally reported by the Lockheed Martin spacecraft team to be better than 10 milliseconds. (NAIF has not attempted to obtain or produce an independent corroboration of these LMA estimates.) The SPICE SCLK file has essentially the same accuracy as the SCLK/SCET file. Each of the MRO SCLK files incorporates two time correlation data sets -- one for the MRO on-board clock tags presented in the ``standard'' format and the other for the tags in the ``high precision'' format. ``Standard'' MRO on-board clock tags are derived from 5-byte tags present in majority of the spacecraft and instrument telemetry and utilizing only the last of five bytes for fractional seconds. This results in one SCLK tick being equal to 1/256 of a second. The ID of this clock is -74, the same as of the MRO spacecraft. ``High precision'' MRO on-board clock tags are derived from 6-byte tags present in some of the spacecraft and instrument telemetry and utilizing the last two of six bytes for fractional seconds. This results in one SCLK tick being equal to 1/65536 of a seconds. The ID of this clock is -74999. SPICE software does not prohibit an SCLK file from being used for time conversions occurring for ``future times'' (or more accurately, for epochs that occur later than the epoch of the last telemetry data used in producing the last correlation coefficients found in the SCLK file). Such ``predict'' time conversions are likely to be inaccurate (changed somewhat) once the epoch of interest has been passed. More information about the MRO SCLK files is available in the file ``data/sclk/sclkinfo.txt''. LSK Files ========= Leapseconds kernel files provide a tabulation of ``leapseconds'' and some other terms used in converting time measurements between ephemeris time (ET) and Universal Time (UTC). ``Spacecraft Event Time'' (SCET) is the commonly used name for UTC events measured at the spacecraft. Metadata describing how the LSK data are obtained or computed is contained inside the LSK text file. The time conversion provided by SPICE LSK files is accurate to approximately 0.000030 seconds. More information about the LSK files is available in the file ``data/lsk/lskinfo.txt''. EK Files ======== The MRO project did not produce any EK files; therefore, no EKs are included in this data set. " END_OBJECT = DATA_SET_INFORMATION OBJECT = DATA_SET_MISSION MISSION_NAME = "MARS RECONNAISSANCE ORBITER" END_OBJECT = DATA_SET_MISSION OBJECT = DATA_SET_TARGET TARGET_NAME = MARS END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_HOST INSTRUMENT_HOST_ID = MRO INSTRUMENT_ID = SPICE END_OBJECT = DATA_SET_HOST OBJECT = DATA_SET_REFERENCE_INFORMATION REFERENCE_KEY_ID = "UNK" END_OBJECT = DATA_SET_REFERENCE_INFORMATION END_OBJECT = DATA_SET END