PDS_VERSION_ID = PDS3 RECORD_TYPE = STREAM OBJECT = TEXT INTERCHANGE_FORMAT = ASCII PUBLICATION_DATE = 2013-06-28 NOTE = "C-Kernel Information" END_OBJECT = TEXT END General information about SPICE C-kernels ========================================= In the SPICE system, pointing data for an instrument platform, or for a specific instrument, are stored in C-kernels. The pointing of a platform or an instrument is often expressed in terms of a transformation matrix from some standard reference frame to an instrument-fixed frame. In the past, the instrument was often a camera, and the transformation was thus dubbed the ``C-matrix''; hence the choice of C as the name for the pointing kernel. The data contained in C-kernel files can be accessed and manipulated by a collection of subroutines which are part of the SPICE library, the major component of the SPICE Toolkit. These subroutines can be integrated into user application programs. Information regarding how the Toolkit can be obtained is located in the SOFTWARE subdirectory of the main directory of this dataset. To use C-kernels, a Spacecraft Clock Kernel (SCLK) is required. For C-Kernels containing orientation of a project-defined frame, a Frame Definitions File (FK) is also required. Refer to the CK.REQ document provided with the Toolkit to get more information on how to access C-kernel data. MER-2 C-kernels contained in this volume ====================================== This volume contains the SPICE C-Kernel files for the MER-2 rover, its Instrument Deployment Device (IDD), Pancam Mast Assembly (PMA), and High Gain Antenna (HGA). All files are in IEEE big endian binary format. The following files are present in this volume. (Only file names are shown; the file name extensions of the binary CK files are always ".bc"): -- MER-2 rover surface orientation CK Files: mer2_surf_rover_MMMM_vV Rover surface orientation CK files for MMMM portion of the mission: ``all'' -- the whole surface mission, ``prim'' -- primary mission, ``ext1'' -- first part of the extended mission, and so on. These files were generated from orientation quaternions extracted from channelized telemetry and non-channelized telemetry products. -- MER-2 Instrument Deployment Device (IDD) CK Files: mer2_surf_idd_MMMM_vV IDD orientation CK files for MMMM portion of the mission: ``all'' -- the whole surface mission, ``prim'' -- primary mission, ``ext1'' -- first part of the extended mission, and so on. These files were generated from IDD gimbal angles extracted from channelized telemetry and non-channelized telemetry products. Because these files are based on the complete set of IDD gimbal angles used in combination with the simple rigid forward kinematics model, the orientation provided by them reflects all IDD motions but does not take deflection due to gravity into account, causing end tool orientation errors up to a few degrees. mer2_surf_iddg_MMMM_vV Gravity-compensated IDD orientation CK files for MMMM portion of the mission: ``all'' -- the whole surface mission, ``prim'' -- primary mission, ``ext1'' -- first part of the extended mission, and so on. These files were generated from gravity-compensated orientation quaternions for IDD turret head, extracted only from image telemetry products. These files provide accurate orientation of MI but cover only the MI image times. -- MER-2 Pancam Mast Assembly (PMA) orientation CK Files: mer2_surf_pma_MMMM_vV PMA orientation CK files for MMMM portion of the mission: ``all'' -- the whole surface mission, ``prim'' -- primary mission, ``ext1'' -- first part of the extended mission, and so on. These files were generated from PMA gimbal angles extracted from channelized telemetry and non-channelized telemetry products. -- MER-2 High Gain Antenna orientation CK Files: mer2_surf_hga_MMMM_vV HGA orientation CK files for MMMM portion of the mission: ``all'' -- the whole surface mission, ``prim'' -- primary mission, ``ext1'' -- first part of the extended mission, and so on. These files were generated from HGA gimbal angles extracted from channelized telemetry and non-channelized telemetry products. -- MER-2 cruise orientation CK Files: mer2_cruise MER-2 reconstructed cruise orientation CK file generated from cruise module orientation quaternions extracted from channelized telemetry. The CKs for the whole surface mission (``all'') supersede all CKs of the same kind covering portions of the surface mission. The file with the latest version (vV) supersedes all of the same kind files with earlier versions. Kernel File Details =================== The most detailed description of the data in a binary CK file is provided in metadata included inside the comment area of the file. This information can be viewed using utility programs COMMNT and SPACIT included in the SPICE Toolkit. Contact Information =================== Regarding MER project specific information provided in this data set and for general information about SPICE system: Charles H. Acton, Jr, (818)-354-3869, Charles.Acton@jpl.nasa.gov, or Boris Semenov (818)-354-8136 Boris.Semenov@jpl.nasa.gov address: Navigation and Ancillary Information Facility (NAIF) Jet Propulsion Laboratory MS 301-125L 4800 Oak Grove Drive Pasadena CA 91109 USA