The CLPS SPICE Data Archive
========================================================================
Last update: September 13, 2024
Introduction
============
This document describes the CLPS (Commercial Lunar Payload
Services) SPICE archive, containing observation geometry and
other ancillary data in the form of SPICE System kernel files for
vendor missions. It describes the archive directory structure,
kernels included in the archive, their naming conventions, and
provides pointers to the SPICE software and documentation.
Table of Contents
=================
Introduction
Table of Contents
Overview
Errata
Archive Contents
Kernel Types
Archived Kernel Details
SPK Files
PCK Files
IK Files
CK Files
LSK Files
SCLK Files
FK Files
MK Files
Miscellaneous Files
Checksum Files
File Formats
SPICE Software and Documentation
Contact Information
Cognizant Persons
Overview
========
This archive includes the current set of SPICE data files (kernel
files), which can be accessed using SPICE software. The SPICE data
contain geometric and other ancillary information needed to recover
the full value of science instrument data. In particular SPICE
kernels provide spacecraft and planetary ephemerides, spacecraft and
instrument orientation, instrument mounting alignments, and data
needed for relevant time conversions. Data in the SPICE kernel files
must be accessed using the software called the SPICE Toolkit produced
and distributed by the Navigation and Ancillary Information Facility
(NAIF) Node of the Planetary Data System.
This archive contains data covering the CLPS Program and will be
extended over time to include subsequent CLPS task orders.
Task Order Mission Spacecraft ID Start Stop
--------------------------------------------------------------
TO2AB APM1 Peregrine -244 2024-01-08 2024-01-18
Lunar Lander
Back to Table of Contents
Errata
======
1. This document is a simple HTML document. Providing documents in a
simple mark-up format was allowed by earlier versions of the PDS4
Standards but became prohibited in later versions starting summer
2015. Since using HTML documents was compliant at the time when a
similar document was first provided in the MAVEN PDS4 archive and
since NAIF strives to make bundle description document format and
style consistent across all archives, this document continues to
exist in this archive as an HTML document.
2. The following kernels contain notable gaps in their coverage
(see each individual kernel's comments for more information):
CLPS Task Order TO2AB:
- clps_to2ab_apm1_cru_rec_240108_240118_v01.bc
3. Release 1 of this archive was replaced within 1 week of archiving
with updated Bundle and Collection <title> information. The
<title> was changed to be applicable for all versions of this
archive for consistency when citing this bundle as new missions
are added.
Ex.
Prev Bundle <title>
CLPS and CLPS Task Order 2AB SPICE Kernel Archive Bundle
Updated Bundle <title>
CLPS SPICE Kernel Archive Bundle
No SPICE data was changed in this update, only bundle and collection
XML labels and this document and XML label.
Back to Table of Contents
Archive Contents
================
Files in this archive are organized into a set of subdirectories
below the top-level directory. The following diagram shows the
structure and content of these directories. The directory names are
enclosed in square brackets ([]).
[top-level-directory]
|
|- bundle_clps_spice_v*.xml Bundle PDS4 label, one or more versions.
|- readme.txt Bundle top-level readme file.
|
|-[spice_kernels] Directory containing SPICE kernels.
| |
| |- collection_spice_kernels_v*.xml PDS4 labels for Spice Kernels collections.
| |- collection_spice_kernels_inventory_v*.tab
| | Spice Kernels collections' inventories.
| |
| |-[ck] Directory containing CK files.
| | |
| | |-- *.bc Binary CK files.
| | +-- *.xml PDS4 labels for CK files.
| |
| |-[fk] Directory containing FK files.
| | |
| | |-- *.tf Text FK files.
| | +-- *.xml PDS4 labels for FK files.
| |
| |-[ik] Directory containing IK files.
| | |
| | |-- *.ti Text IK files.
| | +-- *.xml PDS4 labels for IK files.
| |
| |-[lsk] Directory containing LSK files.
| | |
| | |-- *.tls Text LSK files.
| | +-- *.xml PDS4 labels for LSK files.
| |
| |--[mk] Directory containing MK files.
| | |
| | |-- *.tm Text Meta-kernel files.
| | +-- *.xml PDS4 labels for MK files.
| |
| |-[pck] Directory containing PCK files.
| | |
| | |-- *.bpc Binary PCK files.
| | |-- *.tpc Text PCK files.
| | +-- *.xml PDS4 labels for PCK files.
| |
| |-[sclk] Directory containing SCLK files.
| | |
| | |-- *.tsc Text SCLK files.
| | +-- *.xml PDS4 labels for SCLK files.
| |
| +-[spk] Directory containing SPK files.
| |
| |-- *.bsp Binary SPK files.
| +-- *.xml PDS4 labels for SPK files.
|
|-+-[miscellaneous] Directory miscellaneous files.
| |
| |- collection_miscellaneous_v*.xml PDS4 labels for miscellaneous collections.
| |- collection_miscellaneous_inventory_v*.tab
| | Miscellaneous collections' inventories.
| |
| +-[checksum] Directory containing checksum files.
| |
| |-- *.tab Text checksum files.
| +-- *.xml PDS4 labels for checksum files.
|
+-[document] Directory containing documents.
|
|- collection_document_v*.xml PDS4 labels for document collections.
|- collection_document_inventory_v*.tab
| Document collections' inventories.
|
|- spiceds_v*.html This file and its earlier versions.
+- spiceds_v*.xml PDS4 labels for this file and its earlier versions.
Back to Table of Contents
Kernel Types
============
Different SPICE kernel types are used to store different kinds of
ancillary data.
SPK (Spacecraft Planet Kernel) files contain ephemerides (position
and velocity) for spacecraft, planets, satellites, comets and
asteroids as well as for moving or fixed spacecraft and instrument
structures. SPK files are located under the spice_kernels/spk
directory of this archive.
PCK (Planetary Constants Kernel) files 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 spice_kernels/pck
directory of this archive.
IK (Instrument Kernel) files contain instrument parameters relevant
for computing an instrument's geometry such as field-of-view
definitions, CCD and optical distortion characteristics, and internal
timing parameters. IK files are located under the spice_kernels/ik
directory of this archive.
CK (C-matrix Kernel) files contain time varying orientations for
spacecraft, spacecraft structures, and articulating science
instruments. CK files are located under the spice_kernels/ck
directory of this archive.
LSK (Leapseconds Kernel) files contain the leapseconds and the
values of other constants required to perform a transformation
between Universal Time Coordinated (UTC) and Ephemeris time (ET),
which is also known as Barycentric Dynamical Time (TDB). LSK
files are located under the spice_kernels/lsk directory of
this archive.
SCLK (Spacecraft Clock Kernel) files contain on-board clock
calibration data required to perform a transformation between
Ephemeris time (ET) and spacecraft on-board time (SCLK). SCLK files
are located under the spice_kernels/sclk directory of this
archive.
FK (Frame definitions Kernel) files contain information required to
define reference frames, sources of frame orientation data and
connections between these frames and other frames supported within
the SPICE system. The science instrument frame definitions provided
in the FK files include mounting alignment information for the
instruments. FK files are located under the spice_kernels/fk
directory of this archive.
MK (Meta-Kernel) files list sets of related SPICE kernels that
should be used together, providing an easy way to make data from
these kernel sets available to a SPICE-based application by loading
meta-kernels into the program using the high level SPICE data loader
routine FURNSH. MK files are located the spice_kernels/mk
directory of this archive.
Archived Kernel Details
=======================
The subsections below provide details, such as file naming
conventions and specific details, for each of the kernel types
included in this archive.
Back to Table of Contents
SPK Files
SPK (Spacecraft Planet Kernel) files contain ephemerides (position
and velocity) for spacecraft, planets, satellites, comets and
asteroids as well as for moving or fixed spacecraft and instrument
structures.
This archive includes or will include binary SPK files containing the
following kinds of ephemeris data:
- planetary ephemeris SPKs
These SPKs contain ephemeris data for the Solar System
planet barycenters, and Sun, Mercury, Venus, Earth, and
Moon, determined by the JPL Solar System Dynamics group and
are named DEXXX, e.g. DE440.
- DSN Station Locations SPKs
These SPKs contain geocentric states, locations, and
velocities for select DSN stations relative to the
terrestrial reference frame ITRF93.
- reconstructed spacecraft cruise trajectory SPKs
These SPKs contain reconstructed spacecraft trajectories for
cruise.
- reconstructed spacecraft EDL trajectory SPKs
These SPKs contain the reconstructed spacecraft trajectories
during Entry Descent Landing (EDL).
- actual landing site position SPKs
These SPKs contain the actual landing site locations of the
landing sites.
- landing site -to- lander offset SPKs
These SPKs contain the zero offset between the spacecraft
landing site and the lander.
- structures SPKs
These SPKs contain fixed locations of selected spacecraft
structures and science instruments.
The SPK files are provided under the spice_kernels/spk
directory and are named according to the following schemes:
- planetary ephemeris SPKs
deVVVs.bsp
where
VVV is the ephemeris version.
s (optional) indicates that the original file
coverage was shortened to reduce the file
size.
- DSN Station Locations SPKs
earthstns_itrf93_YYMMDD.bsp
where
YYMMDD is the target epoch (in TDB) in which
the positions of the DSN stations are
extrapolated
- reconstructed spacecraft cruise trajectory SPKs
clps_T*_S*_cru_rec_YYMMDD_YYMMDD_vVV.bsp
where
T* represents the task order.
to2ab: CLPS Task Order TO2AB - Peregrine Mission 1
S* represents the mission spacecraft.
apm1: Peregrine Lunar Lander:
YYMMDD are the file coverage start and stop dates.
VV is the version; the file with the latest
version supersedes all similarly named files
with earlier versions.
- reconstructed spacecraft EDL trajectory SPKs
clps_T*_S*_edl_rec_YYMMDD_vVV.bsp
where
T* represents the task order.
S* represents the mission spacecraft.
YYMMDD is the date of the landing.
VV is the version; the file with the latest
version supersedes all similarly named files
with earlier versions.
- actual landing site position SPKs
clps_T*_S*_ls_YYMMDD_vVV.bsp
where
T* represents the task order.
S* represents the mission spacecraft.
YYMMDD is the date of the landing.
VV is the version; the file with the latest
version supersedes all similarly named files
with earlier versions.
- landing site -to- lander offset SPKs
clps_T*_S*_atls_YYMMDD_vVV.bsp
where
T* represents the task order.
S* represents the mission spacecraft.
YYMMDD is the date of the landing.
VV is the version; the file with the latest
version supersedes all similarly named files
with earlier versions.
- structures SPKs
clps_T*_S*_struct_vVV.bsp
where
T* represents the task order.
to2ab: CLPS Task Order TO2AB - Peregrine Mission 1
S* represents the mission spacecraft.
apm1: Peregrine Lunar Lander:
VV is the version; the file with the latest
version supersedes all similarly named files
with earlier versions.
The most detailed description of the data in each SPK file is
provided in metadata included inside the comment area of the file.
This information can be viewed using the utility program COMMNT
included in the NAIF Toolkit.
Back to Table of Contents
PCK Files
PCK (Planetary Constants Kernel) files 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.
This archive includes text and binary PCK files containing the following
kind of data:
- generic text PCKs
These PCKs contain data from the reports of the IAU Working
Group on Cartographic Coordinates and Rotational Elements.
The generic text PCK version 00011 contains data from the IAU
2015 report. Produced by NAIF, JPL.
- high accuracy lunar orientation binary PCKs
These PCKs contain high accuracy lunar orientation data from the
JPL Solar System Dynamics Group's planetary ephemeris DE440. When
used with the corresponding frame kernel, this kernel can yield
the orientation the lunar principal axes (PA) reference frame
(defined by DE440) relative to the ICRF. It can also yield the
orientation of a variant of the Mean Earth/Polar Axis (ME)
reference frame, which has been defined to align closely with the
DE421 ME reference frame relative to the ICRF. Applications using
this file will also need to load the associated lunar frame
kernel also provided in this archive. Produced by NAIF, JPL.
- low accuracy, long term predict Earth orientation binary PCKs
These PCKs contain "low-accuracy" data giving the orientation of
the Earth as a function of time for a specified interval.
- high precision Earth orientation binary PCKs
These PCKs contain "high-precision" data giving the orientation
of the Earth as a function of time for a specified interval.
The PCK files are provided under the spice_kernels/pck
directory and are named according to the following scheme:
- generic text PCKs
pckVVVVV.tpc
where
VVVVV is the version; the file with the largest
number is the latest, but the user of PCK
data must decide if the latest version,
or an earlier version, is appropriate
for his/her analysis task.
- high accuracy lunar orientation PCKs
moon_pa_deVVV_YYMMDD.bpc
where
VVV is the ephemeris version
YYMMDD represents the file creation date.
- low accuracy, long term predict Earth orientation PCKs
earth_YYMMDD_YYMMDD_predict.bpc
where
YYMMDD represents the file coverage start and stop
times in TDB.
- high precision Earth orientation PCKs
earth_YYMMDD_YYMMDD_YYMMDD.bpc
where
YYMMDD - the first and second represent the file
coverage start and stop times in TDB. The
third represents the UTC Epoch of last
datum.
The most detailed description of the data in a text PCK file is
provided in metadata included inside the description area of the
file. This information can be viewed using any text editor program.
The most detailed description of the data in a binary PCK file is
provided in metadata included inside the comment area of the file.
This information can be viewed using the utility program COMMNT
included in the NAIF Toolkit.
Back to Table of Contents
IK Files
IK (Instrument Kernel) files contain instrument parameters relevant
for computing an instrument's observation geometry such
field-of-view definitions, CCD and optical distortion
characteristics, and internal timing parameters.
This archive includes text IK files for instruments, for which
common instrument geometric parameters normally stored in IKs are
applicable.
The IK files will be provided under the spice_kernels/ik
directory and are named according to the following scheme:
- instruments
clps_T*_S*_NAME_vVV.ti
where
T* represents the task order.
to2ab: CLPS Task Order TO2AB - Peregrine Mission 1
S* represents the mission spacecraft.
apm1: Peregrine Lunar Lander:
NAME is the instrument acronym.
VV is the version; the file with the latest
version supersedes all similarly named
files with earlier versions.
The most detailed description of the data in a text IK file is
provided in metadata included inside the description area of the
file. This information can be viewed using any text editor program.
Back to Table of Contents
CK Files
CK (C-matrix Kernel) files contain time varying orientations for
spacecraft, articulating spacecraft structures, and articulating
science instruments.
This archive includes or will include binary CK files containing the following
kinds of orientation data:
- reconstructed spacecraft cruise orientation CKs
These CKs contain the reconstructed spacecraft cruise
attitude determined on-board and downlinked in spacecraft
telemetry.
- reconstructed spacecraft EDL orientation CKs
These CKs contain reconstructed spacecraft EDL attitude.
- reconstructed spacecraft landed orientation CKs
These CKs contain the reconstructed spacecraft landed attitude.
The CK files are provided under the spice_kernels/ck
directory and are named according to the following scheme:
- reconstructed spacecraft cruise orientation CKs
clps_T*_S*_cru_rec_YYMMDD_YYMMDD_vVV.bc
where
T* represents the task order.
to2ab: CLPS Task Order TO2AB - Peregrine Mission 1
S* represents the mission spacecraft.
apm1: Peregrine Lunar Lander:
YYMMDD are the file coverage start and stop dates.
VV is the version; the file with the latest
version supersedes all similarly named files
with earlier versions.
- reconstructed spacecraft EDL orientation CKs
clps_T*_S*_edl_rec_YYMMDD_vVV.bc
where
T* represents the task order.
S* represents the mission spacecraft.
YYMMDD is the date of the landing.
VV is the version; the file with the latest
version supersedes all similarly named files
with earlier versions.
- reconstructed spacecraft landed orientation CKs
clps_T*_S*_surf_ops_YYMMDD_vVV.bc
where
T* represents the task order.
S* represents the mission spacecraft.
YYMMDD is the date of the landing.
VV is the version; the file with the latest
version supersedes all similarly named files
with earlier versions.
The most detailed description of the data in each CK file is
provided in metadata included inside the comment area of the file.
This information can be viewed using the utility program COMMNT
included in the NAIF Toolkit.
Back to Table of Contents
LSK Files
LSK (Leapseconds Kernel) files contain the leapseconds and the
values of other constants required to perform a transformation
between Universal Time Coordinated (UTC) and Ephemeris time (ET),
also known as Barycentric Dynamical Time (TDB).
This archive includes generic text LSK files produced by NAIF,
containing leapsecond information based on the IERS announcements.
The generic text LSK version 0012 contains leap second data up to
and including the January 1, 2017 leapsecond.
The LSK files are provided under the spice_kernels/lsk
directory and are named according to the following scheme:
- generic text LSKs
naifVVVV.tls
where
VVVV is the version; the file with the latest
version supersedes all similarly named
files with earlier versions.
The most detailed description of the data in a text LSK file is
provided in metadata included inside the description area of the
file. This information can be viewed using any text editor program.
Back to Table of Contents
SCLK Files
SCLK (Spacecraft Clock Kernel) files contain on-board clock
calibration data required (sometimes in combination with a LSK)
to perform a mapping between Ephemeris time (ET) and spacecraft
on-board time (SCLK).
The SCLK files are provided under the spice_kernels/sclk
directory and are named according to the following scheme:
- spacecraft clock SCLK files
clps_T*_S*_vVV.tsc
where
T* represents the task order.
to2ab: CLPS Task Order TO2AB - Peregrine Mission 1
S* represents the mission spacecraft.
apm1: Peregrine Lunar Lander:
VV is the version; the file with the latest
version supersedes all similarly named
files with earlier versions.
The most detailed description of the data in a text SCLK file is
provided in metadata included inside the description area of the
file. This information can be viewed using any text editor program.
Back to Table of Contents
FK Files
FK (Frame definitions Kernel) files contain information required to
define reference frames, sources of frame orientation data and
connections between these frames and other frames supported within
the SPICE system. The science instrument frame definitions provided
in the FK files include mounting alignment information for the
instruments.
This archive includes text FK files containing reference frames
for spacecraft, their structures, science instruments, as well as
Lunar, Earth, and DSN frames:
- mission FK files
These FKs contain reference frames for spacecraft, their
structures, and science instruments.
- topocentric reference frames for DSN
This kernel defines topocentric reference frames associated with
certain DSN stations.
- Lunar reference frame specification FK
These frame kernels contain lunar frame specifications compatible
with the lunar binary PCK file.
- Lunar reference frame association FK
This kernel directs the SPICE system to associate the lunar
reference frame with the Moon.
- Earth reference frame association FK
This kernel directs the SPICE system to associate the IERS
terrestrial reference frame, ITRF93, with the Earth.
The FK files are provided under the spice_kernels/fk
directory and are named according to the following scheme:
- mission FK files
clps_T*_S*_vVV.tf
where
T* represents the task order.
to2ab: CLPS Task Order TO2AB - Peregrine Mission 1
S* represents the mission spacecraft.
apm1: Peregrine Lunar Lander:
VV is the version; the file with the latest
version supersedes all similarly named
files with earlier versions.
- topocentric reference frames for DSN
earth_topo_YYMMDD.tf
where
YYMMDD is the target epoch (in TDB) in which
the positions of the DSN stations are
extrapolated
- Lunar reference frame specification FK files
moon_de440_YYMMDD.tf
where
YYMMDD is the original release date of the file.
- Lunar reference frame association FK files
moon_assoc_FF.tf
where
FF is the frame to associate with the Moon:
me Mean Earth
pa Principal Axis.
The most detailed description of the data in a text FK file is
provided in metadata included inside the description area of the
file. This information can be viewed using any text editor program.
Back to Table of Contents
MK Files
Meta-kernel (MK) files (a.k.a. 'furnsh' files) provide lists of
the archived kernels included in this archive suitable for
loading into a SPICE-based application via the high level SPICE
data loader routine FURNSH. Using meta-kernels makes it easy to
load with one call a comprehensive SPICE data collection for a
given period.
This archive includes two types of text MK files:
- CLPS MK file
This MK lists kernels for all CLPS Task Orders within this
archive.
- Whole mission MK files
These MK kernels contain data for individual Task Orders
(Missions).
The text MK files are provided under the spice_kernels/mk
directory and are named according to the following scheme:
- CLPS MK file
clps_vVVV.tm
where
VVV is the version; the file with the latest
version supersedes all similarly named
files with earlier versions.
- Whole mission MK files
clps_T*_S*_vVVV.tm
where
T* represents the task order.
to2ab: CLPS Task Order TO2AB - Peregrine Mission 1
S* represents the mission spacecraft.
apm1: Peregrine Lunar Lander:
VVV is the version; the file with the latest
version supersedes all similarly named
files with earlier versions.
Although the meta-kernels were created such that on a UNIX
workstation they can be loaded into a SPICE-based application
directly from the directory in which they reside -- because the
PATH_VALUES keyword is set to '..' and '/' is used as the path
delimiter -- it is recommended that users make local copies of these
files and update the PATH_VALUES keyword in each of them to point to
the actual location of the archive's 'spice_kernels' directory on
their system. Additional changes including replacing '/' and '\' in
all path specifications and converting UNIX line terminators to
terminators native to the user's system may be required to use these
meta-kernels on a non-UNIX workstation.
The following guidelines were followed to pick and set priority --
determined by the order in which the kernel files are listed, with
the latest one taking precedence -- for the kernel files included in
these meta-kernels:
- the latest archived versions of LSK, PCK, and each kind of
SCLKs, IKs, FKs, SPKs, and CKs were included
Additional description of the kernels sets listed in a text MK file is
provided in metadata included inside the description area of the
file. This information can be viewed using any text editor program.
Back to Table of Contents
Miscellaneous Files
===================
Miscellaneous files provide value added elements that are outside
the scope of the PDS archive requirements. Miscellaneous files
included in this archive are currently limited to checksum files.
The subsection below provides details for these files.
Back to Table of Contents
Checksum Files
A checksum file provides a table of MD5 checksums for all files
in the archive as of a particular archive (bundle) version,
including checksums for all previous checksums files and their
labels but excluding the checksum for the checksum file itself
and its label.
The checksum files are provided under the miscellaneous/checksum
directory and are named according to the following scheme:
- CLPS checksum files
checksum_vVVV.tab
where
VVV is the version; the file with the latest
version supersedes all similarly named
files with earlier versions and can be
used to validate the archive in its
entirety.
Back to Table of Contents
File Formats
============
All text documents and other meta information files such as
descriptions, detached PDS4 labels, and inventory tables are stream
format files, with a carriage return (ASCII 13) and a line feed
character (ASCII 10) at the end of the records. This allows the
files to be read by most operating systems.
The text kernel files in this archive -- LSKs, PCKs, SCLKs, IKs, and
FKs -- are UNIX text files, with a line feed character (ASCII 10) at
the end of each line, and binary kernels files -- SPKs and CKs -- are
IEEE LSB binary files. While data files in this archive can be used
'as is' with SPICE toolkits for the majority of supported
environments, converting the files to the binary or text format
native to the user's computer may be required for use of the data
with FORTRAN toolkits on incompatible environments. Refer to the
documentation provided with the SPICE Toolkit to find out whether
conversion is needed in each specific case.
NAIF provides a tool (BINGO) that can convert either binary or text
kernels from one format to another. This means that text files can
have their line terminator changed and binary files can be converted
to the native format of the platform of interest. BINGO is available
from the utilities page at the NAIF Node of the PDS:
http://naif.jpl.nasa.gov/naif/utilities.html
Back to Table of Contents
SPICE Software and Documentation
================================
The latest SPICE Toolkit for a variety of computer platforms,
additional utility programs, documentation, tutorials, and hands-on
lessons are available at the NAIF Node of the PDS:
http://naif.jpl.nasa.gov
specifically:
Toolkit: http://naif.jpl.nasa.gov/naif/toolkit.html
Utilities: http://naif.jpl.nasa.gov/naif/utilities.html
Tutorials: http://naif.jpl.nasa.gov/naif/tutorials.html
Lessons: http://naif.jpl.nasa.gov/naif/lessons.html
Back to Table of Contents
Contact Information
===============================
Derek R. Maggard, CLPS, Derek.R.Maggard@nasa.gov
Back to Table of Contents
Cognizant Persons
=================
This archive was produced by Derek Maggard, Commercial Lunar Payload
Services.
End of CLPS SPICE archive description.
Back to Table of Contents