MSL CK files. =========================================================================== This ``aareadme.txt'' file describes contents of the kernels/ck directory of the MSL SPICE data server. It was last modified on June 10, 2013. Contact Chuck Acton (818-354-3869, Chuck.Acton@jpl.nasa.gov) or Boris Semenov (818-354-8136, Boris.Semenov@jpl.nasa.gov) if you have any questions regarding this data. If you are in a hurry ... -------------------------------------------------------- ... copy and use these CK files to get the complete set of the best and latest MSL CK data: msl_ra_toolsref_v1.bc msl_cruise_recon_rawrt_v2.bc msl_cruise_recon_raweng_v1.bc msl_edl_v01.bc msl_surf_hga_tlm.bc msl_surf_ra_tlmenc.bc msl_surf_ra_tlmres.bc msl_surf_rsm_tlmenc.bc msl_surf_rsm_tlmres.bc msl_surf_rover_tlm.bc Brief summary -------------------------------------------------------- This directory contains the SPICE C-Kernel files for the MSL mission. The following files are present in this directory. (Only file names are shown; the file name extensions of the binary CK files are always ``.bc'') Ever-growing MSL Surface Rover Orientation CK Files -------------------------------------------------------- These CKs contains the latest surface OPS data. msl_surf_rover_tlm an ever-growing CK file containing the orientation of the rover relative to the local level frame, created using telemetry view data from OPGS PLACES server, covering from SOL 0000 through the current SOL, updated twice each SOL at 06:30 and 18:30 LMST. This file has gaps in its coverage. msl_surf_rover_tlm_spanned version of msl_surf_rover_tlm.bc modified using CKSPANIT to enforce interpolation over the whole time range covered by the file. msl_surf_rover_runout CK file extrapolating the latest rover orientation data point in msl_surf_rover_tlm.bc for ~10 years into the future. This CK file can be used for predictive analysis applications ONLY if it is known that the rover did not (yet) change its orientation from the one provided by that data point. As soon as the rover changes its orientation the prediction provided by this CK file becomes invalid. Ever-growing MSL Surface Articulating Structures Orientation CK Files -------------------------------------------------------- These CKs contains the latest surface OPS data. msl_surf_hga_tlm an ever-growing CK file containing the orientation of the High Gain Antenna (HGA) relative to the rover frame, created using telemetry view data from OPGS PLACES server, covering from SOL 0000 through the current SOL, updated twice each SOL at 06:30 and 18:30 LMST. This file has gaps in its coverage. msl_surf_hga_tlm_spanned version of msl_surf_hga_tlm.bc modified using CKSPANIT to enforce interpolation over the whole time range covered by the file. msl_surf_ra_tlmenc an ever-growing CK file containing the orientation of the Robotic Arm (RA) relative to the rover frame, created using encoder angles from telemetry view data from OPGS PLACES server, covering from SOL 0000 through the current SOL, updated twice each SOL at 06:30 and 18:30 LMST. This file has gaps in its coverage. msl_surf_ra_tlmenc_spanned version of msl_surf_ra_tlmenc.bc modified using CKSPANIT to enforce interpolation over the whole time range covered by the file. msl_surf_ra_tlmres an ever-growing CK file containing the orientation of the Robotic Arm (RA) relative to the rover frame, created using resolver angles from telemetry view data from OPGS PLACES server, covering from SOL 0000 through the current SOL, updated twice each SOL at 06:30 and 18:30 LMST. This file has gaps in its coverage. This CK is more accurate compared to the encoder based RA CK but generally provides less coverage. msl_surf_ra_tlmres_spanned version of msl_surf_ra_tlmres.bc modified using CKSPANIT to enforce interpolation over the whole time range covered by the file. msl_surf_rsm_tlmenc an ever-growing CK file containing the orientation of the Remote Sensing Mast (RSM) relative to the rover frame, created using encoder angles telemetry view data from OPGS PLACES server, covering from SOL 0000 through the current SOL, updated twice each SOL at 06:30 and 18:30 LMST. This file has gaps in its coverage. msl_surf_rsm_tlmenc_spanned version of msl_surf_rsm_tlmenc.bc modified using CKSPANIT to enforce interpolation over the whole time range covered by the file. msl_surf_rsm_tlmres an ever-growing CK file containing the orientation of the Remote Sensing Mast (RSM) relative to the rover frame, created using resolver angles from telemetry view data from OPGS PLACES server, covering from SOL 0000 through the current SOL, updated twice each SOL at 06:30 and 18:30 LMST. This file has gaps in its coverage. This CK is more accurate compared to the encoder based RSM CK but generally provides less coverage. msl_surf_rsm_tlmres_spanned version of msl_surf_rsm_tlmres.bc modified using CKSPANIT to enforce interpolation over the whole time range covered by the file. Archival MSL Cruise Orientation CK Files -------------------------------------------------------- These CKs contain cruise orientation solutions from various sources. msl_cruise_recon_nospin CK file containing complete cruise orientation based on H-vector direction without modeling spin, provided by the MSL ACS Team. msl_cruise_recon_rawrt_vV CK files containing fully reconstructed orientation based on real-time quaternions covering only communication periods, provided by the MSL ACS Team. msl_cruise_recon_raweng_vV CK files containing fully reconstructed orientation based on high-rate quaternions covering only short periods around thruster firing events and ACS calibration activities, provided by the MSL ACS Team. msl_cruise_recon_nav_vV CK file containing fully reconstructed orientation based on H-vector direction and NAV de-spinned tracking data, covering only communication periods, provided by the MSL NAV Team. Archival MSL EDL Orientation CK Files -------------------------------------------------------- These CKs contain EDL orientation solutions from various sources. msl_edl_vV CK files containing the reconstructed EDL orientation determined by the MSL EDL Team, JPL. The file with the latest version number V supersedes all previous versions. Archival MSL Surface Rover Orientation CK Files -------------------------------------------------------- These CKs contain the same data as the corresponding ever-growing OPS CK, sub-setted for the archive release coverage ranges. msl_surf_rover_tlm_BBBB_EEEE_vV CK files containing the orientation of the rover relative to the local level frame, created using telemetry view data from OPGS PLACES server, covering SOLs "BBBB" to "EEEE", version V. Archival MSL Surface Articulating Structures Orientation CK Files -------------------------------------------------------- These CKs contain the same data as the corresponding ever-growing OPS CKs, sub-setted for the archive release coverage ranges. msl_surf_hga_tlm_BBBB_EEEE_vV CK files containing the orientation of the High Gain Antenna (HGA) relative to the rover frame, created using telemetry view data from OPGS PLACES server, covering SOLs "BBBB" to "EEEE", version V. msl_surf_ra_tlmenc_BBBB_EEEE_vV CK files containing the orientation of the Robotic Arm (RA) relative to the rover frame, created using encoder angles from telemetry view data from OPGS PLACES server, covering SOLs "BBBB" to "EEEE", version V. msl_surf_ra_tlmres_BBBB_EEEE_vV CK files containing the orientation of the Robotic Arm (RA) relative to the rover frame, created using resolver angles from telemetry view data from OPGS PLACES server, covering SOLs "BBBB" to "EEEE", version V. These CKs are more accurate compared to the encoder based RA CK but generally provide less coverage. msl_surf_rsm_tlmenc_BBBB_EEEE_v CK files containing the orientation of the Remote Sensing Mast (RSM) relative to the rover frame, created using encoder angles telemetry view data from OPGS PLACES server, covering SOLs "BBBB" to "EEEE", version V. msl_surf_rsm_tlmres_BBBB_EEEE_v CK files containing the orientation of the Remote Sensing Mast (RSM) relative to the rover frame, created using resolver angles from telemetry view data from OPGS PLACES server, covering SOLs "BBBB" to "EEEE", version V. These CKs are more accurate compared to the encoder based RSM CKs but generally provide less coverage. MSL RA Tool REF-to-Instrument Offsets CK Files -------------------------------------------------------- These CKs contain actual alignment data for some of the instruments. They are intended to provide the connections to these instruments' frames. msl_ra_toolsref_vV CK files containing fixed orientations of the RA instrument frames relative to their corresponding REF frames. This is an auxiliary CK needed to complete the frame chain from the rover to the instruments mounted on RA. Special Pose CK Files -------------------------------------------------------- These CKs contain actual pose data for certain appendage positions. They are intended solely to provide the connections between various frames needed in some test scenarios in which these positions were utilized. msl_ra_straight_vV CK files containing the fixed orientation of the RA joints for the RA in the ``straight out'' position. msl_rsm_calpose_vV CK files containing the fixed orientation of the RSM joints for the RSM in the ``calibration pose'' position. Special Purpose ``Connection'' CK Files -------------------------------------------------------- These CKs contain nominal orientation data. They are intended solely to provide the connections between various frames needed in some test scenarios. msl_hga_zero_vV CK files containing the fixed orientation of the HGA gimbals for the HGA in the ``zero'' gimbal position. msl_rover2cacs_vV CK files containing the fixed orientation of the rover frame relative to the CACS frame. msl_still_at_ls_v1 CK files containing the fixed, co-aligned orientation of the rover relative to the local level frame for.