PDS_VERSION_ID = PDS3 RECORD_TYPE = STREAM LABEL_REVISION_NOTE = " 2007-06-13 NAIF:Semenov initial; 2021-04-12 NAIF:Costa updated CITATION_DESC with DOI; " OBJECT = DATA_SET DATA_SET_ID = "CLEM1-L-SPICE-6-V1.0" OBJECT = DATA_SET_INFORMATION DATA_SET_NAME = "CLEMENTINE MOON SPICE KERNELS V1.0" DATA_SET_TERSE_DESC = " Navigation and ancillary data in the form of SPICE System kernel files for Clementine. " ABSTRACT_DESC = " This data set includes the complete set of Clementine 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, CLEMENTINE SPICE KERNELS V1.0, CLEM1-L-SPICE-6-V1.0, NASA Planetary Data System, 2007. https://doi.org/10.17189/1520111 " DATA_SET_COLLECTION_MEMBER_FLG = "N" START_TIME = 1994-01-26 STOP_TIME = 1994-05-07 DATA_SET_RELEASE_DATE = 2007-04-01 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 Clementine 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, CLSP_1000, including data from all mission phases and covering from the day after launch, 1994-01-26, through the end of the mission, 1994-05-07. 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 Clementine 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 MGS 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 ========= Two kinds of SPK files are provided in this archive: SPK files containing the spacecraft orbit and SPK files containing the Solar System ephemerides. Each of these kinds is briefly described below; more information is available in the file ``data/spk/spkinfo.txt''. This data set includes three spacecraft orbit SPK files, each from a different source: the Spacecraft Operations Team based at Naval Research Laboratory (NRL), the Clementine Gravity Team from Goddard Space Flight Center (GSFC), and the Solar System Dynamic group of the Jet Propulsion Laboratory (JPL). All three files provide trajectory covering most of the mission, with the coverage of the NRL SPK starting about three weeks earlier than the coverage of the other two files. Of the three SPKs the NRL file is the oldest; the trajectory provided in it was determined during mission. The GSFC SPK file contains trajectory determined after the end of the mission, in November 1994, as a part of the Clementine gravity data reduction. The JPL SPK provides the most recent of the three solutions, done in 2002 as a part of the Lunar gravity field improvement effort. Based on the coverage and history of these solutions NAIF recommends that, unless there are special circumstances, the JPL and NRL SPK files are used together in such way that the JPL SPK providing more a recent, and likely more accurate solution, is loaded last (to have higher priority) and the NRL file providing the longest coverage is loaded first (to have lower priority and be used only for the periods for which the JPL SPK does not provide coverage). The difference of the trajectories provided by the three spacecraft SPK files varies greatly throughout the mission, ranging from a few meters for some orbits to hundreds of meters to kilometers for the fits near the propulsive maneuvers. Appendix 1 of the ``data/spk/spkinfo.txt'' provides a summary of the down-track, radial, and out-of-plane components of the maximum difference for each pair of SPKs for each orbit. This data set also includes the orbit number file generated using the NAIF's ORBNUM utility program for the JPL SPK file for the orbital phases of the mission. This file is not SPICE kernel; for this reason it is provided in the ``extras/orbnum'' directory. For more information about the Clementine orbit number file, see the file ``extras/orbnum/orbinfo.txt''. This data set includes the DE414 SPK file, which the latest version of the JPL Planetary Ephemeris available at the time when this archive was created. CK Files ======== This data set includes a single CK file providing the actual orientation of the Clementine spacecraft bus. This orientation is based on the data from the SPQ files generated and delivered to the project on a daily basis during mission operations by the Spacecraft Team, NRL and converted to CK files by Applied Coherent Technology (ACT) Corporation using the CPQ2CK program provided by NAIF. Unfortunately the specifics of production of the SPQ files had not been documented. It was suggested that the SPQ files contained the ``raw'' orientation estimated by the on-board Kalman filter using data from the star trackers and gyros, sent down in housekeeping telemetry and stored ``as is'' in the SPQ files but it is not known for sure. It is also not clear whether the time tags attached to the ``raw'' attitude telemetry suffered from the same problems as the science image time tags and, if so, whether anything was done in the SPQ generation pipeline to correct them. More information about the Clementine CK files is available in the file ``data/ck/ckinfo.txt''. PCK Files ========= Two PCK files are provided in this data set, one is a text PCK containing on the official IAU/IAG/COSPAR values accepted in 2000, the other is a binary PCK containing high-accuracy orientation data for the lunar principal axes (PA) reference frame, from the JPL Solar System Dynamics Group's planetary ephemeris DE-403. Both files were the latest versions of the files of these types distributed by NAIF at the time when this archive was created. None of the PCK files used during mission operations and post-mission data analysis was included in this data set because they were superseded by the PCK files mentioned above. More information about the PCK files included in this data set is available in the file ``data/pck/pckinfo.txt''. FK Files ======== This data set includes the Clementine mission FK file and a number of generic Lunar FK files. The Clementine FK file, created many years after the end of the mission in 2000, defines the frames for the Clementine spacecraft and its science instruments. The instrument frames defined in it incorporate mission-era mounting alignment data from the IK files included in this archive. The Lunar FK files, created in 2006-2007, define a number of lunar body-fixed frames associated high-accuracy lunar orientation data provided by the JPL Solar System Dynamics Group's planetary ephemerides and provide a mechanism to direct the SPICE system to associate either the lunar ``principal axis'' frame or the lunar ``mean Earth'' with the Moon. More information about the Clementine FK files is available in the file ``data/fk/fkinfo.txt''. IK Files ======== This data set includes an IK file for each of the Clementine instruments -- HIRES, UVVIS, NIR, LWIR, LIDAR, CPT, and Star Trackers A and B. While these kernels were made at the time of archive preparation in 2007, they incorporate the instrument model parameters and mounting alignments that were derived at a much earlier time, during mission operations and/or immediate post mission data analysis in 1994. Although various printouts and hand notes indicate that the values provided in the IKs are probably the latest values derived by Thomas Duxbury, JPL at the end of the mission, NAIF was not able to either confirm this or to trace these value to an officially published or archived document. In addition to this mission-era data each of the IKs includes extensive comments and a GETFOV-type FOV definition; these were added when the IKs were updated at the time of the archive preparation. More information about Clementine IK files is available in the file ``data/ik/ikinfo.txt''. SCLK Files ========== Only one SCLK kernel is included in this data set -- the SCLK kernel providing the nominal mapping of the Clementine on-board clock to ET. This file was created and used during mission operations. While this file is not adequate to support conversion of the actual Clementine on-board time tags it is still required to access data in the Clementine CK files. More information about the Clementine SCLK files is available in the file ``data/sclk/sclkinfo.txt''. LSK Files ========= This data set includes the latest generic LSK kernel distributed by NAIF at the time when this archive was created. 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 ======== This data set includes a set of EK files containing the NAIF's Clementine image catalog. This catalog was created by NAIF in 1994, after the end of the mission, to make the Clementine image attributes and derived geometry information available to the NAIF staff in the EK database format. It is included in this data set for the record and for convenience to the future users of the Clementine SPICE data who may desire to get the image times, file names, and other ``basic'' image attributes from a SPICE kernel rather than from the PDS index and/or label files. This catalog contains data for all 1,900,483 images archived in the CLEM1-L/E/Y-A/B/U/H/L/N-2-EDR-V1.0 data set. More information about the EK files is available in the file ``data/ek/ekinfo.txt''. Kernel Files Not Included In This Data Set =========================================== A number of kernel files used to process science data archived in PDS were either not included in this data set because they were superseded by the files provided in this archive or were included into the archive under different names. These files are: Type Old file --> Archived file ---- ---------------------- ----- --------------------------- SPK SPKMERGE_940219_940504 (S) clem_gsfc.bsp _CLEMV001b.bsp SPK SPKMER09.BSP (R) clem_gsfc.bsp SPK SPKMERGE_9402191254_94 (R) clem_gsfc.bsp 05040324_CLEM.v002.bsp SPK clemdef.bsp (R) clem_nrl.bsp SPK clem_ask020625.bsp (R) clem_jpl.bsp SPK de245_1994.bsp (S) de414.bsp SCLK dspse002.tsc (R) clem_nom.tsc CK clem_2mn.bck (S) clem_act_ck3.bc CK clem_5sc.bck (S) clem_act_ck3.bc CK clem_act.bck (S) clem_act_ck3.bc CK clemdef1.bck (S) clem_act_ck3.bc PCK 403s.bpc (S) moon_pa_de403_1950_2198.bpc PCK de245lib.bpc (S) moon_pa_de403_1950_2198.bpc PCK pck00005.tpc (S) pck00008.tpc PCK pck00006.tpc (S) pck00008.tpc FK clem_v10.tf (S) clem_v20.tf IK astar005.ti (S) clem_astar_006.ti IK bstar005.ti (S) clem_bstar_006.ti IK cpt001.ti (S) clem_cpt_002.ti IK hires007.ti (S) clem_hires_008.ti IK lidar004.ti (S) clem_lidar_005.ti IK lwir007.ti (S) clem_lwir_008.ti IK nir007.ti (S) clem_nir_009.ti IK nir008.ti (S) clem_nir_009.ti IK uvvis007.ti (S) clem_uvvis_008.ti EK Apr15-May07.ek (R) clem_moon_940415_940507.bdb EK Jan27-Mar12.ek (R) clem_moon_940127_940312.bdb EK Mar12-Mar30.ek (R) clem_moon_940312_940330.bdb EK Mar30-Apr15.ek (R) clem_moon_940330_940415.bdb EK Sky.ek (R) clem_sky_940201_940507.bdb where (R) stands for ``renamed to'' and (S) stands for ``superseded by''. " END_OBJECT = DATA_SET_INFORMATION OBJECT = DATA_SET_MISSION MISSION_NAME = "DEEP SPACE PROGRAM SCIENCE EXPERIMENT" END_OBJECT = DATA_SET_MISSION OBJECT = DATA_SET_TARGET TARGET_NAME = MOON END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_HOST INSTRUMENT_HOST_ID = CLEM1 INSTRUMENT_ID = SPICE END_OBJECT = DATA_SET_HOST OBJECT = DATA_SET_REFERENCE_INFORMATION REFERENCE_KEY_ID = "N/A" END_OBJECT = DATA_SET_REFERENCE_INFORMATION END_OBJECT = DATA_SET END