KPL/IK

\beginlabel
PDS_VERSION_ID               = PDS3
RECORD_TYPE                  = STREAM
RECORD_BYTES                 = "N/A"
^SPICE_KERNEL                = "vo2_visb.ti"
MISSION_NAME                 = VIKING
SPACECRAFT_NAME              = "VIKING ORBITER 2"
DATA_SET_ID                  = "VO1/VO2-M-SPICE-6-V1.0"
KERNEL_TYPE_ID               = IK
PRODUCT_ID                   = "vo2_visb.ti"
PRODUCT_CREATION_TIME        = 2008-12-03T14:02:50
PRODUCER_ID                  = "NAIF/JPL"
MISSION_PHASE_NAME           = "N/A"
PRODUCT_VERSION_TYPE         = ACTUAL
PLATFORM_OR_MOUNTING_NAME    = "SCAN PLATFORM"
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              = "VISUAL IMAGING SUBSYSTEM - CAMERA B"
NAIF_INSTRUMENT_ID           = -30002
SOURCE_PRODUCT_ID            = "N/A"
NOTE                         = "See comments in the file for details"
OBJECT                       = SPICE_KERNEL
  INTERCHANGE_FORMAT         = ASCII
  KERNEL_TYPE                = INSTRUMENT
  DESCRIPTION                = "IK file containing Viking Orbiter 2 camera
VISB mounting alignment and internal geometry characteristics; version 1.0. "
END_OBJECT                   = SPICE_KERNEL
\endlabel


VO2 Camera B Instrument Kernel
========================================================================

   This Viking Orbiter 2 (VO2) SPICE instrument kernel (I-kernel)
   contains the instrument geometric parameters for the Camera B
   taken from Supplemental Experiment Data Record file generated
   by the Viking Project and provided by Thomas C. Duxbury, JPL.
     

Version and Date
--------------------------------------------------------
 
   Version 1.1 -- April 20, 2000
   
      Camera mounting alignment information provided by Thomas C. 
      Duxbury was added to the file.
 
   Version 1.0 -- July 22, 1996
 
 
References
--------------------------------------------------------
 
   1. VO2 Supplemental Experiment Data Record (SEDR) file, 
      1976-1980.

   2. Thomas C. Duxbury/JPL, March-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> )
 
 
Naming Conventions
--------------------------------------------------------
 
   All names referencing data in this I-kernel are of the form
 
      INS<instrument-ID>_<data_item_name>
     
   The instrument ID is an negative integer value that uniquely
   identifies an instrument. For VO2, instrument IDs are of the
   form -30xxx.
 
   The upper bound on the length of a name is 32 characters.
 

VO2 Camera B Mounting Orientation
--------------------------------------------------------
     
   The orientation of the Camera B coordinate frame relative to
   the VO2 instrument platform frame is given as three angles:
   CROSS_CONE (or CHI), CONE (or PSI), and RASTER_ORIENTATION (or
   OMEGA). The platform-fixed to instrument-fixed coordinate
   transformation, T pl-cam, can be derived from these angles as
   follows:

      T pl-cam = R (RASTER_ORIENTATION) R (CONE) R (-CROSS_CONE) 
                  Z                      Y        X

   where Ri(angle) represents a rotation of angle radians about
   about the i-th axis.

   The following section contains angles extracted from Supplemental
   Experiment Data Record file generated by the Viking Project.
   The angles are given in DEGREES.
 
      \begindata

         INS-30002_CROSS_CONE         = (   .663000 )
         INS-30002_CONE               = (  -.044000 )
         INS-30002_RASTER_ORIENTATION = ( 89.663790 )

      \begintext
     
   The following section contains angles provided by Thomas C.
   Duxbury. The angles are given in DEGREES. (Note that these values
   are not enclosed between \begindata ... \begintext tokens and,
   thus, don't become available to the program when this file is
   loaded.)

         INS-30002_CROSS_CONE         = (   .663000 )
         INS-30002_CONE               = (  -.044000 )
         INS-30002_RASTER_ORIENTATION = ( 89.663800 )

   The T pl-cam transformation matrix may be constructed with calls
   to following SPICE subroutines:
     
      CALL LDPOOL( "this_file_name" )         
   
      CALL RTPOOL( "INS-30002_CROSS_CONE",         CROSS, FOUND )
      CALL RTPOOL( "INS-30002_CONE",               CONE,  FOUND )
      CALL RTPOOL( "INS-30002_RASTER_ORIENTATION", RASTR, FOUND )
      
      CALL ROTATE(      -CROSS * RPD(), 1, MAT )
      CALL ROTMAT( MAT,  CONE  * RPD(), 2, MAT )
      CALL ROTMAT( MAT,  RASTR * RPD(), 3, MAT )

      
VO2 Camera B Optics
--------------------------------------------------------
     
   The quantities below are taken directly from the ORBITER CONSTANT
   PARAMETERS section of the SEDR file. All three parameters -
   linear dimensions of the field of view (FOV) in CONE and CROSS
   CONE directions and FOCAL LENGTH -  are given in millimeters.

      \begindata

         INS-30002_FOV_CONE       = (   7.005 )
         INS-30002_FOV_CROSS_CONE = (   6.362 )
         INS-30002_FOCAL_LENGTH   = ( 474.1   )

      \begintext
       

Contact Information
--------------------------------------------------------

   Contact NAIF node of the Planetary Data System if you have any
   questions regarding this IK file.

      Charles H. Acton, Jr
      (818)-354-3869 
      chuck.acton@jpl.nasa.gov
      
      Boris V. Semenov
      (818)-354-8136 
      boris.semenov@jpl.nasa.gov