KPL/IK \beginlabel PDS_VERSION_ID = PDS3 RECORD_TYPE = STREAM RECORD_BYTES = "N/A" ^SPICE_KERNEL = "MGS_TES_V12.TI" MISSION_NAME = "MARS GLOBAL SURVEYOR" SPACECRAFT_NAME = "MARS GLOBAL SURVEYOR" DATA_SET_ID = "MGS-M-SPICE-6-V1.0" KERNEL_TYPE_ID = IK PRODUCT_ID = "MGS_TES_V12.TI" PRODUCT_CREATION_TIME = 2001-06-27T17:43:38 PRODUCER_ID = "NAIF/JPL" MISSION_PHASE_NAME = "N/A" PRODUCT_VERSION_TYPE = ACTUAL PLATFORM_OR_MOUNTING_NAME = "MGS NADIR DECK" START_TIME = "N/A" STOP_TIME = "N/A" SPACECRAFT_CLOCK_START_COUNT = "N/A" SPACECRAFT_CLOCK_STOP_COUNT = "N/A" TARGET_NAME = MARS INSTRUMENT_NAME = "THERMAL EMISSION SPECTROMETER" NAIF_INSTRUMENT_ID = -94010 SOURCE_PRODUCT_ID = "N/A" NOTE = "See comments in the file for details" OBJECT = SPICE_KERNEL INTERCHANGE_FORMAT = ASCII KERNEL_TYPE = INSTRUMENT DESCRIPTION = "MGS Thermal Emission Spectrometer instrument parameters SPICE I-Kernel File. This file also contains TES Frame definitions. " END_OBJECT = SPICE_KERNEL \endlabel TES Instrument Kernel =========================================================================== This instrument kernel (I-kernel) contains the Thermal Emission Spectrometer (TES) instrument mounting offset, and the pointing mirror step size. Version and Date -------------------------------------------------------- Version 1.2 -- August 11, 1997 Frame definition was corrected to represent the correct transformation sense. Version 1.1 -- June 19, 1997 The TES frame definition section was added to support utilization of the SPICE system FRAMES capabilities. Version 1.0 -- November 26, 1996 Initial Release. References -------------------------------------------------------- 1. ``MGS Alignment Transformation'', by Richard A. Hund, November 26, 1996. 2. ``MGS Payload Data Sheet'' by C.Kloss, October 31, 1995, 3. ``C-kernel Required Reading'' 4. ``Kernel Pool Required Reading'' 5. ``Frames Required Reading'' 6. ``Mars Global Surveyor Project Mission Plan'', Final Version, Rev. A (MGS 542-405), July 1996 Implementation Notes -------------------------------------------------------- This file is used by the SPICE system as follows: programs that make use of this I-kernel must `load' the kernel, normally during program initialization. Loading the kernel associates data items with their names in a data structure called the `kernel pool'. The SPICELIB routine LDPOOL loads a kernel file into the pool as shown below. CALL LDPOOL ( I_kernel_name ) In order for a program or subroutine to extract data from the pool, the SPICELIB routines GDPOOL and GIPOOL are used. See [4] for more details. This file was created and may be updated with a text editor or word processor. Naming Conventions -------------------------------------------------------- All names referencing values in this I-kernel start with the characters `INS' followed by the NAIF Mars Global Surveyor spacecraft ID number (-94) followed by the NAIF three digit TES instrument reference number (010). The remainder of the name is an underscore character followed by the unique name of the data item. For example, the TES offset relative to the spacecraft frame, given as three Euler angles, is specified using two items: INS-94010_EULER_ANGLES INS-94010_EULER_AXES The upper bound on the length of the name of any data item is 32 characters. If the same item is included in more then one file, or if the same item appears more than once within a single file, the latest value supersedes any earlier values. TES mounting offset -------------------------------------------------------- This section describes the offset of the TES instrument fixed frame (the frame fixed to the alignment cube on the TES) relative to the Mars Global Surveyor spacecraft frame. From the offset, given as three rotation angles -- ROLL, PITCH and YAW, a rotation matrix can be constructed that will transform the components of a vector expressed in the spacecraft frame to components expressed in the TES instrument fixed frame. For example, if x y and z are the components of a vector expressed in the spacecraft frame, X Y and Z will be the components of the same vector expressed in the TES instrument fixed frame: [ X ] [ ] [ x ] | Y | = | ROT | | y | [ Z ] [ ] [ z ] where ROT is the rotation matrix constructed from the rotation angles as follows: [ ] [ ] [ ] [ ] [ ROT ] = [ YAW ] [ PITCH ] [ ROLL ] [ ] [ ] [ ] [ ] Z Y X where each of three matrixes on the right side represent a coordinate frame rotation by the given angle around the indicated axis. See the SPICELIB routine EUL2M for more information about constructing a rotation matrix from a set of rotation angles. The following measured values of ROLL, PITCH and YAW are provided in [1]: ROLL = 0.016 (degrees) PITCH = 0.014 (degrees) YAW = 359.996 (degrees) The keyword INS-94010_EULER_ANGLES contains these values, in radians, in the following order: INS-94010_EULER_ANGLES = ( ``ROLL'' ``PITCH'' ``YAW'' ) The keyword INS-94010_EULER_AXES contains integer codes of the corresponding axes of rotations (1 -- X, 2 -- Y, 3 -- Z). \begindata INS-94010_EULER_ANGLES = ( 0.000279252680 0.000244346095 6.283115494010 ) INS-94010_EULER_AXES = ( 1 2 3 ) \begintext Telescopes Field of View -------------------------------------------------------- From [5]: Each of two TES telescopes utilizes six detectors, each with 8.3 by 8.3 mrad field of view. Together, the six form a rectangular grid three frames wide (cross-track) and two frames deep (down-track). FOV and instantaneous FOV dimensions are given below in radians. \begindata INS-94010_CROSS_TRACK_FOV = ( 0.0249 ) INS-94010_DOWN_TRACK_FOV = ( 0.0166 ) INS-94010_DET_CROSS_TRACK_FOV = ( 0.0083 ) INS-94010_DET_DOWN_TRACK_FOV = ( 0.0083 ) \begintext Platform ID -------------------------------------------------------- This number is the NAIF instrument ID of the platform on which the instrument is mounted. \begindata INS-94010_PLATFORM_ID = ( -94000 ) \begintext Instrument Frame Definition -------------------------------------------------------- The instrument frame definition for TES. This definiton will be utilized by SPICE's FRAMES subsystem to provide automatic state transformations to/from TES instrument frame frame. Note that angles in the frame definitions are specified for "from instrument to base (relative to) frame" transformation. \begindata FRAME_MGS_TES = -94010 FRAME_-94010_NAME = 'MGS_TES' FRAME_-94010_CLASS = 4 FRAME_-94010_CLASS_ID = -94010 FRAME_-94010_CENTER = -94 TKFRAME_-94010_SPEC = 'ANGLES' TKFRAME_-94010_RELATIVE = 'MGS_SPACECRAFT' TKFRAME_-94010_ANGLES = ( -0.000279252680, -0.000244346095, -6.283115494010 ) TKFRAME_-94010_AXES = ( 1, 2, 3 ) TKFRAME_-94010_UNITS = 'RADIANS'