PDS_VERSION_ID = PDS3 LABEL_REVISION_NOTE = " 2009-12-01 NAIF:Semenov original; 2021-04-12 NAIF:Costa updated CITATION_DESC with DOI; " RECORD_TYPE = STREAM OBJECT = DATA_SET DATA_SET_ID = "HAY-A-SPICE-6-V1.0" OBJECT = DATA_SET_INFORMATION DATA_SET_NAME = "HAYABUSA SPICE KERNELS V1.0" DATA_SET_COLLECTION_MEMBER_FLG = "N" DATA_SET_TERSE_DESC = " Navigation and ancillary data in the form of SPICE System kernel files for the Hayabusa mission. " ABSTRACT_DESC = " This data set includes the complete set of Hayabusa SPICE data files (``kernel files'') for the surveying and collection phases of the mission. The SPICE data files, which can be accessed using SPICE software, contain geometric and other ancillary information needed to recover the full value of the 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., N. Hirata, R. Nakamura, Y. Yamamoto, O.S. Barnouin-Jha, D.K. Yeomans, and C.H. Acton, HAYABUSA SPICE KERNELS V1.0, HAY-A-SPICE-6-V1.0, NASA Planetary Data System, 2009. https://doi.org/10.17189/1520104 " START_TIME = 2005-09-11T05:51:38 STOP_TIME = 2005-11-19T23:54:03 DATA_SET_RELEASE_DATE = 2009-12-01 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 Hayabusa SPICE data files (``kernel files'') for the surveying and collection phase of the mission. The SPICE data files, which can be accessed using SPICE software, contain geometric and other ancillary information needed to recover the full value of the 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. 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 the 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. In some cases EK files are used to storing database-type information such as parameter value tables, triangular shape model data, etc. 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 Hayabusa 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 Hayabusa 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 post mission data reconstruction and analysis. Some general information about this collection follows here, but the prospective user is also referred to extensive descriptions (metadata) about each file that are stored inside each kernel file. Those 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, DBK), 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), accessible by using any available text file display tool such as a word processor, text editor, or the unix ``more'' or ``cat'' commands. In some cases data accuracy information does not exist because it could not be estimated even after mission completion. Where there are questions about data accuracy or ``confidence'' not addressed herein the reader is invited to examine subsequent SPICE archive releases associated with this data set (if such exist), or to contact the NAIF node of the Planetary Data System for possible further information. SPK Files ========= The SPK files included in this dataset provide reconstructed trajectory of the Hayabusa spacecraft, ephemeris data for the mission target asteroid Itokawa, Solar System planets, and the Sun. The spacecraft trajectory SPK files provided in this data set include SPKs created by the Hayabusa Joint Science Team (HJST), Dr. Olivier S. Barnouin-Jha, and NAIF. The HJST's set of spacecraft trajectory SPKs includes a few dozen short-coverage SPKs (``hayabusa_YYYYMMDD_YYYYMMDD_v01.bsp'') produced during operations near the asteroid and one long-coverage SPK (``hayabusa_itokawarendezvous_v01.bsp'') produced at the end of operations near the asteroid. These files were created by HJST using the Hayabusa position and velocity data relative to Itokawa determined by the spacecraft on-board software. The long-coverage SPK supersedes all short coverage SPKs. Dr. Barnouin-Jha's SPK (``hay_osbj_050911_051118_v1.bsp'') was created from the Hayabusa position data determined by joint processing of LIDAR, WAC, and Itokawa shape data. In an attempt to resolve some of the issues found in both HJST's and Dr. Barnouin-Jha's SPKs at the time of the archive preparation NAIF created the ``touched-up'' versions of the long-coverage HJST's SPK and Dr. Barnouin-Jha's SPK. These SPKs are named ``hay_jaxa_050916_051119_v1n.bsp'' and ``hay_osbj_050911_051118_v1n.bsp''. For more information about issues with the original SPKs and what was done to make the ``touched-up'' SPKs see the ``hayspice.htm'' document provided under the ``document'' directory of the data set. The asteroid Itokawa ephemeris SPK files provided in this data set include two files created by JPL's Solar System Dynamics (SSD) group. The first SPK, ``sb_25143_140.bsp'', was officially delivered to the project by SSD three months before the start of operations near Itokawa. The second SPK, ``itokawa_1989_2010.bsp'', was created by HJST using SSD's HORIZONS service during operations near Itokawa. Although both files were created using the same initial conditions and models, the asteroid ephemerides provided by them differ by about a hundred meters, which is less than 2% of the 6.9 km 1-sigma formal uncertainty of the initial conditions. This difference was introduced in the second SPK due to integrating over a longer time-span (1989-2010). The planetary ephemeris SPK file included in this data set (``de403s.bsp'') is the DE-403 ephemeris used to integrate the Itokawa trajectory provided in the Itokawa SPKs. Additional information about SPK files provided in this data set is available in the file ``data/spk/spkinfo.txt''. CK Files ======== The CK files included in this dataset provide the orientation of the Hayabusa spacecraft bus. All these CK files were produced from engineering telemetry downlinked from the spacecraft. As is often the case with spacecraft engineering telemetry-based measurements, considerable uncertainty exists as to the accuracy of such measurements, and, data quality (accuracy and completeness) can vary significantly. The spacecraft orientation CK files provided in this data set include CKs created by HJST and NAIF. The HJST's set of spacecraft orientation CKs includes a few dozen short-coverage CKs (``hayabusa_YYYYMMDD_YYYYMMDD_v01.bc'') produced during operations near the asteroid and two long-coverage CKs (``hayabusa_itokawarendezvous_v01.bc'' and ``hayabusa_itokawarendezvous_v02.bc'') produced at the end of operations near the asteroid. These files were created from the Hayabusa orientation determined by the spacecraft's on-board software. The ``v02'' long-coverage CK supersedes all short coverage CKs and the ``v01'' long-coverage CK. In an attempt to resolve some of the issues found in HJST's CKs at the time of the archive preparation NAIF created the ``touched-up'' version of the ``v02'' CK. This CK is named ``hayabusa_itokawarendezvous_v02n.bc''. For more information about issues with the original CKs and what was done to make the ``touched-up'' CK see the ``hayspice.htm'' document provided under the ``document'' directory of the data set. Additional information about CK files provided in this data set is available in the file ``data/ck/ckinfo.txt''. PCK Files ========= The PCK files included in this data set provide size, shape and orientation data for the mission target, asteroid Itokawa, and for the Solar System planets and satellites. A description of these data items and reference to their source is provided inside the PCK files, which are simple text files that can be viewed using any word processor, text editor or text display utility. The Itokawa PCK files provided in this data set include a PCK file with Itokawa rotation constants derived by the Hayabusa Team of University of Aizu (``itokawa_aizu504.tpc'') and and two PCK files with the Itokawa rotation constants derived by Dr. Robert W. Gaskell, Planetary Science Institute (PSI) (``itokawa_gaskell.tpc'' and ``itokawa_gaskell_n3.tpc''). The Aizu PCK and the first Gaskell PCK are consistent with the Itokawa shape models stored in the EK files included in this data set. The second Gaskell's PCK (``_n3'') is consistent with the Itokawa shape models archived in the PDS data set HAY-A-AMICA-5-ITOKAWASHAPE-V1.0. The generic PCK file (``pck00008.tpc'') provided in this data set contains constants for the Solar System planets and satellites taken from the official IAU/IAG/COSPAR report published in 2000. Additional information about PCK files provided in this data set is available in the file ``data/pck/pckinfo.txt''. FK Files ======== The FK files included in this data set provide definitions for the Hayabusa spacecraft frames, mission-specific dynamic frames, and the asteroid Itokawa body-fixed frame. Comments in the FK files provide the frame specifications, descriptions of the frame relationships, the source of and accuracy of the mounting alignment information, etc. The ``hayabusa_hp.tf'' FK defines the Hayabusa spacecraft frame and the dynamic frame used as the reference in the HJST-produced SPKs, as well as a few other dynamic frames intended to represent the nominal pointing of the spacecraft for different attitude modes. For historic reasons the Hayabusa instrument frame definitions are not provided in this FK file; instead all frames defined for a given instrument are included in the IK file for that instrument. The ``itokawa_fixed.tf'' FK defines the body-fixed frame for asteroid Itokawa. Both FK files were created by HJST. Additional information about FK files provided in this data set is available in the file ``data/fk/fkinfo.txt''. IK Files ======== The IK files included in this data set provide specifications for the optical and physical instrument parameters and -- where applicable -- field-of-view size, shape and orientation for the Hayabusa instruments. In addition to these parameters, for historic reasons, the Hayabusa IK files also contain the instrument frame definitions that are normally found in the FK files. Each IK file contains comments providing descriptions of the included parameters and FOV and frame specifications. All IK files provided in the data set were created by HJST. There is one IK for each instrument (``amica31.ti'', ``nirs10.ti'', ``xrs10.ti'') except for LIDAR, for which there are two IK files (``lidar10.ti'', defining a 0.1 by 0.1 degrees FOV, and ``lidar_v1.ti'', defining a 0.0566 by 0.0566 degree FOV). Additional information about IK files provided in this data set is available in the file ``data/ik/ikinfo.txt''. SCLK Files ========== The SCLK file included in this data set provides a tabulation of data needed to convert time measurements between ephemeris time (ET) and Hayabusa spacecraft clock time (SCLK). This file was created by HJST and is named ``hayabusa.tsc''. The accuracy of and issues with the correlation provided by this file are discussed in the ``hayspice.htm'' document provided under the ``document'' directory of the data set. Additional information about SCLK files provided in this data set is available in the file ``data/sclk/sclkinfo.txt''. LSK Files ========= The LSK file included in this data set provides the most current tabulation of ``leapseconds'' and other terms used in converting time measurements between ephemeris time (ET) and Universal Time (UTC) at the time when this data set was assembled (October 2009). 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. Additional information about LSK files provided in this data set is available in the file ``data/lsk/lskinfo.txt''. EK Files ======== The EK files included in this data set provide tessellated triangular plate data describing the shape of the asteroid Itokawa. These files store plate data in the format used by the SPICE PLATELIB package informally provided by NAIF to a number of customers, including HJST, between 1997 and 2005. While NAIF discontinued support for this package in 2006, the basic data stored in the file -- vertex coordinates and plate-vertex associations -- can still be accessed via either SPICE EK APIs or using the INSPEKT utility program. This data set includes two plate model EK files: ``itokawa_aizu504.bdb'' containing data derived by the Hayabusa Team of University of Aizu and ``itokawa_gaskell070104.bdb'' containing data derived by Dr. Robert W. Gaskell, PSI. Both files were created by HJST; the Aizu EK providing lower resolution data was created at the end of operations near Itokawa while Gaskell's file providing higher resolution data was created in 2007. Additional information about EK files provided in this data set is available in the file ``data/ek/ekinfo.txt''. Kernel Files Obtained from ISAS/JAXA Hayabusa Archive ===================================================== Most kernels included in the archive were copied from the Hayabusa Project Science Data Archive Information System (http://hayabusa.sci.isas.jaxa.jp). Some of the kernels had names that were not PDS-compliant and/or consistent with the naming conventions used in other SPICE archives; these kernels were renamed before inclusion in the archive as shown in this table: Original Name Name in the Archived Data Set --------------------------------- ----------------------------- hayabusa_YYYYMMDD_YYYYMMDD_v01.bc - hayabusa_itokawarendezvous_v01.bc - itokawa_aizu504.bpl itokawa_aizu504.bdb itokawa_gaskell070104.bpl itokawa_gaskell070104.bdb HAYABUSA_HP.TF hayabusa_hp.tf itokawa_fixed.tf - amica30.ti - lidar10.ti - nirs10.ti - xrs10.ti - itokawa_aizu504.tpc - itokawa_gaskell.tpc - hayabusa.tsc - hayabusa_YYYYMMDD_YYYYMMDD_v01.bsp - hayabusa_itokawarendezvous_v01.bsp - itokawa_1989-2010.bsp itokawa_1989_2010.bsp (A ``-'' in the right column means that the file was archived with its original name. YYYYMMDD in the daily CK and SPK files names stands for the coverage begin and end dates.) Kernel Files Provided by Dr. Olivier S. Barnouin-Jha ==================================================== Four kernels included in the archive were provided by Dr. Olivier S. Barnouin-Jha. Some of these kernels had non PDS-compliant names and had to be renamed before inclusion in the archive. This table lists the original and new file names: Original Name Name in the Archived Data Set ------------------------ --------------------------------- lidar_v1.ti - Sept-Nov_SPK.bsp hay_osbj_050911_051118_v1.bsp Itokawa_Gaskell_n3.tpc itokawa_gaskell_n3.tpc 20050902-20051126_att.bc hayabusa_itokawarendezvous_v02.bc (A ``-'' in the right column means that the file was archived with its original name.) " END_OBJECT = DATA_SET_INFORMATION OBJECT = DATA_SET_MISSION MISSION_NAME = "HAYABUSA" END_OBJECT = DATA_SET_MISSION OBJECT = DATA_SET_TARGET TARGET_NAME = "25143 ITOKAWA" END_OBJECT = DATA_SET_TARGET OBJECT = DATA_SET_HOST INSTRUMENT_HOST_ID = "HAY" 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