KPL/FK ***************************************************************** | Task Order | Vendor | Mission | Spacecraft | |------------|-------------------|-----------|------------------| | TO19D | Firefly Aerospace | BGM-1 | Blue Ghost | | | | | Lunar Lander | ***************************************************************** BGM-1 Frame Definitions Kernel =============================================================================== This frame kernel contains frame definitions for Firefly's BGM-1, Blue Ghost Mission 1 lander, including a definition for the spacecraft frame, BGM1_TOPO, BGM1_LOCAL_LEVEL, HGA, LGA1, LGA2, LGA3, and NASA-provided science instrument frames. Version and Date ------------------------------------------------------------------------------- Version 1 -- January 20, 2026 -- Derek Maggard, CLPS Initial release. Version 0.4 -- January 01, 2026 -- Derek Maggard, CLPS Modified the BGM1_LANDING_SITE frame slightly so BGM1_TOPO corresponds to the new (relocated ~0.278 meters) location. Version 0.3 -- October 10, 2025 -- Derek Maggard, CLPS Added NAIF ID's for BGM1_HGA_GIMBAL and BGM1_LUGRE. Added fixed offset frame definition BGM1_LUGRE. Version 0.2 -- July 28, 2023 -- Peter MacMillin Corrected comments for actual orientation of LGA antennas. Fixed the FRAME_-2711040_NAME to be BGM1_LGA3 instead of LGA2. Version 0.1 -- August 19, 2022 -- Peter MacMillin Initial release with spacecraft and antenna frames with 3 LGA antennas and 1 HGA Contact Information ------------------------------------------------------------------------------- Derek R. Maggard, CLPS, Derek.R.Maggard@nasa.gov References ------------------------------------------------------------------------------- 1. ``Frames Required Reading'' 2. ``Kernel Pool Required Reading'' 3. ``C-Kernel Required Reading'' 4. ``Grafana Dashboards and Timeline'' tool. 5. Firefly-provided CAD with instruments in position 6. ``LEXI Angles.pdf'', Shoemaker, M. 7. Email correspondence with Firefly, May 16, 2025 8. ``LEXI Mission Overview'', Walsh et al., Space Sci. Rev. 220:37 (2024), https://doi.org/10.1007/s11214-024-01063-4 9. ``Questions_from_PDF_withAnswers_05-20-2025.docx'', from Firefly. 10. Email correspondence with Lauren Konitzer, September 26, 2025 Implementation Notes ------------------------------------------------------------------------------- This file is used by the SPICE system as follows: programs that make use of this frame kernel must ``load'' the kernel, normally during program initialization. The SPICE routine FURNSH loads a kernel file into the pool as shown below. CALL FURNSH ( 'frame_kernel_name' ) (FORTRAN) furnsh_c ( "frame_kernel_name" ); (C) cspice_furnsh, "frame_kernel_name" (IDL) cspice_furnsh( 'frame_kernel_name' ) (MATLAB) This file was created and may be updated with a text editor. BGM-1 NAIF ID Codes ======================================================================== The following names, NAIF ID codes, and synonyms are assigned to the BGM-1 lander, its structures and science instruments (the keywords implementing these name-ID mappings are located in the section ``BGM-1 NAIF ID Codes -- Definition Section'' at the end of this file): Primary Name NAIF ID Synonyms ====================== ======== ============================= BGM-1 lander and landing site: ------------------------------ BGM1 -2711 FIREFLY_MISSION_1, CLPS_TO19D BGM1_LANDER -2711000 BGM1_LANDING_SITE -2711900 Payloads: --------- BGM1_NGLR -2711200 BGM1_RADPC -2711210 BGM1_LEXI_GIMBAL -2711241 BGM1_LEXI -2711240 BGM1_HGA_GIMBAL -2711010 BGM1_LUGRE -2711290 BGM1_SCALPSS_LFL_0 -2711271 BGM1_SCALPSS_LFL_1 -2711272 BGM1_SCALPSS_SFL_0 -2711273 BGM1_SCALPSS_SFL_1 -2711274 BGM1_SCALPSS_SFL_2 -2711275 BGM1_SCALPSS_SFL_3 -2711276 Cameras: -------- BGM1_CAMERA_1 -2711301 BGM1_CAMERA_2 -2711302 BGM1_CAMERA_3 -2711303 BGM1_CAMERA_4 -2711304 BGM1_CAMERA_5 -2711305 BGM1_CAMERA_6 -2711306 BGM1_CAMERA_7 -2711307 BGM1_CAMERA_8 -2711308 BGM1_CAMERA_9 -2711309 BGM1_CAMERA_10 -2711310 Firefly's NAIF ID numbering system for BGM-1 is as follows: -2 7 1 1 _ _ _ _ | | | | | | | V | | | Vehicle # | | V | | Mission # | V | G = 7th letter of alphabet V B = 2nd letter of alphabet BGM-1 Frames ------------------------------------------------------------------------------- The following BGM-1 frames are defined in this kernel file: Name Relative to Type Frame ID ========================== ========================== ======= ======== Surface frames (-27119xx): -------------------------- BGM1_TOPO MOON_ME FIXED -2711900 BGM1_LOCAL_LEVEL BGM1_TOPO FIXED -2711901 Lander frame (-271100x): ------------- BGM1_LANDER J2000, BGM1_LOCAL_LEVEL FIXED -2711000 Antenna frames (-27110xx): --------------- BGM1_HGA BGM1_LANDER CK -2711010 BGM1_LGA1 BGM1_LANDER FIXED -2711020 BGM1_LGA2 BGM1_LANDER FIXED -2711030 BGM1_LGA3 BGM1_LANDER FIXED -2711040 Payload frames (-2711xxx): -------------------------- BGM1_NGLR BGM1_HGA FIXED -2711200 BGM1_RADPC BGM1_LANDER FIXED -2711210 BGM1_LEXI BGM1_LANDER CK -2711240 BGM1_LUGRE BGM1_HGA FIXED -2711290 The frame descriptions and definitions are provided in the sections below. BGM-1 Frame Tree ------------------------------------------------------------------------------- The diagram below shows the BGM-1 frames hierarchy: "J2000" INERTIAL +-----------------------------------------+ | | | |<--pck |<--ck pck-->| V | V "ITRF93" | "MOON_ME" EARTH | MOON ------ | ---- | | | |<--fixed | V | "BGM1_TOPO" | ----------- | | | fixed-->| | V | "BGM1_LOCAL_LEVEL" | ------------------ | | | fixed ck-->| | V | <------------ | | V V "BGM1_LANDER" LANDER MECH FRAME +--------------------------------------------+ | | | | | | | | fixed-->| | | ck-->| | | V | | V | | "BGM1_LGA1" | | "BGM1_HGA" | | ----------- | | ---------- | | | | | | | | fixed-->| | | | | | V | | |<--fixed | | "BGM1_LGA2" | | V | |<--fixed ----------- | | "BGM1_NGLR" | V | | ----------- | "BGM1_RADPC" fixed-->| | | ------------ V fixed->| | "BGM1_LGA3" V |<--ck ----------- "BGM1_LUGRE" V ------------ "BGM1_LEXI" ----------- BGM-1 Topocentric Frame ----------------------- BGM-1 topocentric frame, BGM1_TOPO, is defined as follows: -- +Z axis is along the outward normal at the landing site ("zenith"); -- +X axis is along the local north direction ("north"); -- +Y axis completes the right hand frame ("west"); -- the origin of this frame is located at BGM1_LANDING_SITE. Orientation of the frame is given relative to the body fixed rotating frame 'MOON_ME', which is the name of the generic lunar mean Earth/polar axis (ME) reference frame. In this instance, MOON_ME is an alias for the frame MOON_ME_DE440_ME421, which is closely aligned with the lunar mean Earth/polar axis frame associated with the planetary ephemeris DE421. Topocentric frame BGM1_TOPO is centered at the site BGM1_LANDING_SITE, which has Cartesian coordinates X (km): 0.7764123613181E+03 Y (km): 0.1448609317824E+04 Z (km): 0.5519093039766E+03 and planetodetic coordinates Longitude (deg): 61.8099892551118 Latitude (deg): 18.5621232969557 Altitude (km): -0.3650020818726E+01 These planetodetic coordinates are expressed relative to a reference spheroid having the dimensions Equatorial radius (km): 1.7374000000000E+03 Polar radius (km): 1.7374000000000E+03 All of the above coordinates are relative to the frame MOON_ME. \begindata FRAME_BGM1_TOPO = -2711900 FRAME_-2711900_NAME = 'BGM1_TOPO' FRAME_-2711900_CLASS = 4 FRAME_-2711900_CLASS_ID = -2711900 FRAME_-2711900_CENTER = -2711900 TKFRAME_-2711900_RELATIVE = 'MOON_ME' TKFRAME_-2711900_SPEC = 'ANGLES' TKFRAME_-2711900_UNITS = 'DEGREES' TKFRAME_-2711900_AXES = ( 3, 2, 3 ) TKFRAME_-2711900_ANGLES = ( -61.8099892551118, -71.4378767030443, 180.0000000000000 ) \begintext Local Level Frame ----------------- BGM-1 local level frame, BGM1_LOCAL_LEVEL, is defined as follows: -- +Z axis is along the downward normal at the landing site ("nadir"); -- +X axis is along the local north direction ("north"); -- +Y axis completes the right hand frame ("east"); -- the origin of this frame is located at BGM1_LANDING_SITE. Since this frame is essentially the BGM1_TOPO frame flipped by 180 degrees about +X ("north") to point +Z down, this frame is defined as a fixed offset frame with respect to the BGM1_TOPO frame. \begindata FRAME_BGM1_LOCAL_LEVEL = -2711901 FRAME_-2711901_NAME = 'BGM1_LOCAL_LEVEL' FRAME_-2711901_CLASS = 4 FRAME_-2711901_CLASS_ID = -2711901 FRAME_-2711901_CENTER = -2711900 TKFRAME_-2711901_RELATIVE = 'BGM1_TOPO' TKFRAME_-2711901_SPEC = 'ANGLES' TKFRAME_-2711901_UNITS = 'DEGREES' TKFRAME_-2711901_AXES = ( 1, 2, 3 ) TKFRAME_-2711901_ANGLES = ( 180.000, 0.000, 0.000 ) \begintext Lander Frame ---------------- The LANDER (or Mechanical frame) is defined for BGM-1 where the normal landed spacecraft configuration is as follows [6]: - +X axis is vertical and in a nominal landing aligns with zenith. Stowed HGA, LuGRE, and NGLR all point in this direction. - +Z axis faces West in a nominal landing and is aligned with an Azimuth / Elevation of (0, 0). - +Y axis faces North in a nominal landing and completes the right hand frame. For surface operations the BGM1_LANDER frame orientation is represented by a fixed rotation stored in a CK to make SPICE "traverse" appropriate frame tree branch based on the time of interest. Lander Frame Diagrams --------------------- Looking in the -Ylnd direction: /|`| LEXI-->/ |.| /\/ / --- <--NGLR / /`/ _\./ LMS Mast->|.v.| /\ / /-|LuGRE || || \./ /| | | ---------------------------\ . ' ' . , ' ' \ +Xlnd . ' ' . ^ , ' ' \ | . ' ' . | +Zlnd , ' ' \ o---> . ' LMS Probes ' . +Ylnd , ' * * * ' \ -- '------------- ------------' -- +Ylnd is out of the page ' .` / \ `'. ' ' .,` / \ v `. ' ' .`' ` ` | `'. ' '.` ' ' ' LISTER `.' .-- . ,_______` .`'``- \ `\ / / `--- `-.- Looking in the +Ylnd direction: _ |\ \ | \.\<--LEXI __ \ \ \ NGLR-->\/____\_\_ HGA / LuGRE | ,| |\v/| | | . | || || ---------------------------\ . ' RADPC-->|_| ' . , ' ' \ +Xlnd . ' ' . ^ , ' ' \ | . ' ' . | , ' ___' \ +Zlnd<---x . ' | ' . +Ylnd , ' ` RAC ' \ -- '------------- -------`----' -- +Ylnd is into the page `'. .` / \ `'. ' , ' `.,`.__V_ / \ _______. .. ' ' .`' | ` ` `'. ' '.` LISTER' ' ' `.' .-- . ,_______` .`'``- \ `\ / / `--- `-.- Looking in the -X direction (from above): ___ ___ ,` \ ____________________ ,` `\ / . ' | | | . | | `.---.--.|~~~~~~~~~~~~~~~~~~|.-.-.\ .` . \.__|/`. . |~~~~~~~~~~~~~~~~~~|\ .`.__./ | ..`./ |__________________| `..` | ,` \.-------./ O `-- |.` . ' | / | | | ,'` | ` | . / | HGA | LuGRE| ,` ,`,\ ` +Zlnd .__/ | | |` ,`,`<--LEXI ' ^ _/ |_______|______|`,`,` \ .- | / | / ``` ' | \ | +Ylnd | | | .-----------------. | | | o---> \_| | |~~~~~~~~~~~~~~~~~| | | / +Xlnd | | ` |~~~~~~~~~~~~~~~~~| / ' \ ` \ |~~~~~~~~~~~~~~~~~| / / \.,\.`. . |~~~~~~~~~~~~~~~~~|| / | +Xlnd is out of the page | .`` `-----------------.|`. / | ' .` `.-------------------| .`. . ,---' .` _|~~~~~~~~~~~~~~~~~~ |` `.--- . / .`--```` |___________________|```., `. \ | ` | | __ | | ` | \ / --------` \-------- \ / `---` `---` LANDER Frame Definition --------------------------- The lander frame is defined as a CK frame: - during cruise and EDL, the orientation of the BGM1_LANDER frame is determined with respect to the J2000 reference frame in the CK file(s); - after landing, the orientation of BGM1_LANDER was determined with respect to the local level frame; the orientation from local level to the lander is stored in the "fixed" CK file(s); \begindata FRAME_BGM1_LANDER = -2711000 FRAME_-2711000_NAME = 'BGM1_LANDER' FRAME_-2711000_CLASS = 3 FRAME_-2711000_CLASS_ID = -2711000 FRAME_-2711000_CENTER = -2711 CK_-2711000_SCLK = -2711 CK_-2711000_SPK = -2711 \begintext Azimuth and Elevation Definition and Diagrams --------------------------------------------- This section is provided as a convenient reference to how Azimuth an Elevation were used by Firefly during the BGM-1 mission. BGM-1's Azimuth and Elevation definition is equivalent to the following: The LANDER +X of the spacecraft is considered to be the radial axis from which Elevation is determined. From the YZ plane, the elevation angle decreases toward this radial until it minimizes at -90 degrees (+X). Azimuth is measured clockwise about this radial axis, starting at +Z LANDER. Note that in Azimuth and Elevation may be referred to as ``axis 1'', and ``axis 2'' respectively. The following diagrams demonstrate Az-El values with respect to the LANDER frame, as well as HGA and LEXI's angular span (H-H or L-L) and stowed locations (Hs, Ls). The mechanical ranges for HGA and LEXI are as follows: HGA Azimuth range: -61 to 20 degrees (stowed at 0) HGA Elevation range: -90 to -5 degrees (stowed at -90) LEXI Azimuth range: -33 to 45 degrees (stowed at 45) LEXI Elevation range: -52.4 to -17 degrees (stowed at -52.4) Azimuth: +Zlnd (0 deg Az) ^Hs L | H | L H | Ls | | -Ylnd <-----------o-----------> +Ylnd (-90 deg Az) +Xlnd (90 deg Az) +Xlnd is out of the page Elevation: +Xlnd (-90 deg El) Ls ^ L H|Hs | | L | H | +Zlnd <-----------x (0 deg El) +Ylnd +Ylnd is into the page Antenna Frames ------------------------------------------------------------------------------- This section contains definitions of the BGM-1 antenna frames. High Gain Antenna (HGA) Frame ----------------------------- This frame is defined so that the +Z HGA axis points along the HGA boresight. HGA was stowed at 0 deg Az and -90 deg El (see ``Azimuth and Elevation Definition and Diagrams''), with a roll of 0 degrees. This roll remains the same throughout all gimbal rotations, as there are only two degrees of freedom and no actuation about its boresight [5], [7]. While stowed, the following is true: -- +Zhga corresponds to +Xlnd, which is aligned with an Azimuth / Elevation of (0, -90). -- -Xhga corresponds with +Zlnd, which is aligned with an Azimuth / Elevation of (0, 0). -- +Yhga corresponds with +Ylnd, which is aligned with an Azimuth / Elevation of (90, 0). The gimbal was stowed from launch until after touchdown, deploying at about 2025-03-02 09:15:00Z [9], in which time the telemetry-based CK measured and commanded become valid to use. Looking in the -Xlnd direction (from above): ___ ___ ,` \ ____________________ ,` `\ / . ' | | | . | | `.---.--.|~~~~~~~~~~~~~~~~~~|.-.-.\ .` . \.__|/`. . |~~~~~~~~~~~~~~~~~~|\ .`.__./ | ..`./ |__________________| `..` | ,` \.-------./ O `-- |.` . ' | / | +Zhga | | ,'` | ` | . / | o---> | ,` ,`,\ ` +Zlnd .__/ | | +Yhga |` ,`,` ' ^ _/ |__ | __|______|`,`,` \ .- | / | / v ``` ' | \ | +Ylnd | | | +Xhga ---------------. | | | o---> \_| | ~~~~~~~~~~~~~~~~| | | / +Xlnd | | ` |~~~~~~~~~~~~~~~~~| / ' \ ` \ |~~~~~~~~~~~~~~~~~| / / +Xlnd is out of the page \.,\.`. . |~~~~~~~~~~~~~~~~~|| / | +Zhga is out of the page | .`` `-----------------.|`. / | ' .` `.-------------------| .`. . ,---' .` _|~~~~~~~~~~~~~~~~~~ |` `.--- . / .`--```` |___________________|```., `. \ | ` | | __ | | ` | \ / --------` \-------- \ / `---` `---` Prior to its deployment, the BGM1_HGA frame orientation is represented by a fixed rotation stored in a CK to make SPICE "traverse" appropriate frame tree branch based on the time of interest. \begindata FRAME_BGM1_HGA = -2711010 FRAME_-2711010_NAME = 'BGM1_HGA' FRAME_-2711010_CLASS = 3 FRAME_-2711010_CLASS_ID = -2711010 FRAME_-2711010_CENTER = -2711 CK_-2711010_SCLK = -2711 CK_-2711010_SPK = -2711 \begintext Low Gain Antenna 1 (LGA1) Frame ------------------------------- This frame is defined so that the +Z axis points along the LGA1 boresight. \begindata FRAME_BGM1_LGA1 = -2711020 FRAME_-2711020_NAME = 'BGM1_LGA1' FRAME_-2711020_CLASS = 4 FRAME_-2711020_CLASS_ID = -2711020 FRAME_-2711020_CENTER = -2711 TKFRAME_-2711020_SPEC = 'ANGLES' TKFRAME_-2711020_RELATIVE = 'BGM1_LANDER' TKFRAME_-2711020_ANGLES = ( 0.0, -14.0, 0.0 ) TKFRAME_-2711020_AXES = ( 1, 2, 3 ) TKFRAME_-2711020_UNITS = 'DEGREES' \begintext Low Gain Antenna 2 (LGA2) Frame ------------------------------- This frame is defined so that the +Z axis points along the LGA2 boresight. \begindata FRAME_BGM1_LGA2 = -2711030 FRAME_-2711030_NAME = 'BGM1_LGA2' FRAME_-2711030_CLASS = 4 FRAME_-2711030_CLASS_ID = -2711030 FRAME_-2711030_CENTER = -2711 TKFRAME_-2711030_SPEC = 'ANGLES' TKFRAME_-2711030_RELATIVE = 'BGM1_LANDER' TKFRAME_-2711030_ANGLES = ( 0.0, -135.0, 0.0 ) TKFRAME_-2711030_AXES = ( 1, 2, 3 ) TKFRAME_-2711030_UNITS = 'DEGREES' \begintext Low Gain Antenna 3 (LGA3) Frame ------------------------------- This frame is defined so that the +Z axis points along the LGA3 boresight. \begindata FRAME_BGM1_LGA3 = -2711040 FRAME_-2711040_NAME = 'BGM1_LGA3' FRAME_-2711040_CLASS = 4 FRAME_-2711040_CLASS_ID = -2711040 FRAME_-2711040_CENTER = -2711 TKFRAME_-2711040_SPEC = 'ANGLES' TKFRAME_-2711040_RELATIVE = 'BGM1_LANDER' TKFRAME_-2711040_ANGLES = ( 0.0, 120.0, 0.0 ) TKFRAME_-2711040_AXES = ( 1, 2, 3 ) TKFRAME_-2711040_UNITS = 'DEGREES' \begintext Next Generation Lunar Retroreflector (NGLR) Frame ------------------------------------------------- NGLR's boresight is aligned with HGA, so it's defined here as a zero offset rotation. \begindata FRAME_BGM1_NGLR = -2711200 FRAME_-2711200_NAME = 'BGM1_NGLR' FRAME_-2711200_CLASS = 4 FRAME_-2711200_CLASS_ID = -2711200 FRAME_-2711200_CENTER = -2711 TKFRAME_-2711200_RELATIVE = 'BGM1_HGA' TKFRAME_-2711200_SPEC = 'ANGLES' TKFRAME_-2711200_UNITS = 'DEGREES' TKFRAME_-2711200_AXES = ( 3, 2, 1 ) TKFRAME_-2711200_ANGLES = ( 0.0, 0.0, 0.0 ) \begintext Radiation Tolerant Computer System (RadPC) Frame ------------------------------------------------ This frame describes the +Z pointing of RadPC. \begindata FRAME_BGM1_RADPC = -2711210 FRAME_-2711210_NAME = 'BGM1_RADPC' FRAME_-2711210_CLASS = 4 FRAME_-2711210_CLASS_ID = -2711210 FRAME_-2711210_CENTER = -2711 TKFRAME_-2711210_RELATIVE = 'BGM1_LANDER' TKFRAME_-2711210_SPEC = 'ANGLES' TKFRAME_-2711210_UNITS = 'DEGREES' TKFRAME_-2711210_AXES = ( 3, 2, 1 ) TKFRAME_-2711210_ANGLES = ( 0.0, 0.0, -125.0 ) \begintext Lunar Environment Heliospheric X-ray Imager (LEXI) Frame -------------------------------------------------------- LEXI was stowed at 45 deg Az and -52.4 deg El (see ``Azimuth and Elevation Definition''). A roll of ~157.4 degrees was determined by inspecting LEXI's basis vectors via the CAD. This roll remains the same throughout all gimbal rotations, as there are only two degrees of freedom and no actuation about its boresight [5], [6], [7]. Rounded and in degrees, the rotations (from BGM1_LANDER to LEXI) are essentially the following, applied as successive right-handed rotations about the +X, then +Y, then +Z axes: lexi M = [ 157.39886 ] * [ - EL ] * [ - AZ ] sc Z Y X The gimbal remained stowed between launch and the post-touchdown until the LEXI door deployment at about 2025-03-03 20:00:00Z, in which the telemetry-based CK measured and commanded become valid to use. The instrument boresight (+Zlexi) is normal to the 3x3 lobster-eye optic array while +Xlexi points from the Sun-shade to the Earth- shade. The 3x3 lobster-eye optic array (looking in -Zlexi direction): ,-----------------. | | | | | | | | |-----+-----+-----| | | | | | | | | |-----+-----+-----| | | | | | | | | `-----------------` Looking in -Ylexi direction: . `. `.<--door Earth shade--. `. .____ __V___` | |--------------------| . | |<-MCP magnet->|| `. | | detector array ||<-optic `. | |___________________|| array `. `----- ------------- ^ +Xlexi | ^ Sun shade | o---> +Zlexi (boresight) +Ylexi +Ylexi is out of the page \begindata FRAME_BGM1_LEXI = -2711240 FRAME_-2711240_NAME = 'BGM1_LEXI' FRAME_-2711240_CLASS = 3 FRAME_-2711240_CLASS_ID = -2711240 FRAME_-2711240_CENTER = -2711 CK_-2711240_SCLK = -2711 CK_-2711240_SPK = -2711 \begintext Stereo Cameras for Lunar Plume-Surface Studies (SCALPSS) Frames --------------------------------------------------------------- This section is awaiting finalized SCALPSS information. Lunar GNSS Receiver Experiment (LuGRE) Frame -------------------------------------------- Note that the matrix below can interpreted as a rotation from BGM1_HGA to BGM1_LUGRE. In reality, the TK subsystem rotates in the opposite direction, but reads the ``rows'' in as columns. \begindata FRAME_BGM1_LUGRE = -2711290 FRAME_-2711290_NAME = 'BGM1_LUGRE' FRAME_-2711290_CLASS = 4 FRAME_-2711290_CLASS_ID = -2711290 FRAME_-2711290_CENTER = -2711 TKFRAME_-2711290_RELATIVE = 'BGM1_HGA' TKFRAME_-2711290_SPEC = 'MATRIX' TKFRAME_-2711290_MATRIX = ( 0 -1 0 1 0 0 0 0 1 ) \begintext Firefly Camera Frames --------------------- This section is awaiting finalized Camera information. BGM-1 NAIF ID Codes -- Definition Section ------------------------------------------------------------------------------- This section contains name to NAIF ID mappings for BGM-1. \begindata NAIF_BODY_NAME += ( 'BGM1' ) NAIF_BODY_CODE += ( -2711 ) NAIF_BODY_NAME += ( 'FIREFLY_MISSION_1' ) NAIF_BODY_CODE += ( -2711 ) NAIF_BODY_NAME += ( 'CLPS_TO19D' ) NAIF_BODY_CODE += ( -2711 ) NAIF_BODY_NAME += ( 'BGM1_LANDER' ) NAIF_BODY_CODE += ( -2711000 ) NAIF_BODY_NAME += ( 'BGM1_LANDING_SITE' ) NAIF_BODY_CODE += ( -2711900 ) NAIF_BODY_NAME += ( 'BGM1_NGLR' ) NAIF_BODY_CODE += ( -2711200 ) NAIF_BODY_NAME += ( 'BGM1_RADPC' ) NAIF_BODY_CODE += ( -2711210 ) NAIF_BODY_NAME += ( 'BGM1_LEXI_GIMBAL' ) NAIF_BODY_CODE += ( -2711241 ) NAIF_BODY_NAME += ( 'BGM1_LEXI' ) NAIF_BODY_CODE += ( -2711240 ) NAIF_BODY_NAME += ( 'BGM1_HGA_GIMBAL' ) NAIF_BODY_CODE += ( -2711010 ) NAIF_BODY_NAME += ( 'BGM1_LUGRE' ) NAIF_BODY_CODE += ( -2711290 ) NAIF_BODY_NAME += ( 'BGM1_SCALPSS_LFL_0' ) NAIF_BODY_CODE += ( -2711271 ) NAIF_BODY_NAME += ( 'BGM1_SCALPSS_LFL_1' ) NAIF_BODY_CODE += ( -2711272 ) NAIF_BODY_NAME += ( 'BGM1_SCALPSS_SFL_0' ) NAIF_BODY_CODE += ( -2711273 ) NAIF_BODY_NAME += ( 'BGM1_SCALPSS_SFL_1' ) NAIF_BODY_CODE += ( -2711274 ) NAIF_BODY_NAME += ( 'BGM1_SCALPSS_SFL_2' ) NAIF_BODY_CODE += ( -2711275 ) NAIF_BODY_NAME += ( 'BGM1_SCALPSS_SFL_3' ) NAIF_BODY_CODE += ( -2711276 ) NAIF_BODY_NAME += ( 'BGM1_CAMERA_1' ) NAIF_BODY_CODE += ( -2711301 ) NAIF_BODY_NAME += ( 'BGM1_CAMERA_2' ) NAIF_BODY_CODE += ( -2711302 ) NAIF_BODY_NAME += ( 'BGM1_CAMERA_3' ) NAIF_BODY_CODE += ( -2711303 ) NAIF_BODY_NAME += ( 'BGM1_CAMERA_4' ) NAIF_BODY_CODE += ( -2711304 ) NAIF_BODY_NAME += ( 'BGM1_CAMERA_5' ) NAIF_BODY_CODE += ( -2711305 ) NAIF_BODY_NAME += ( 'BGM1_CAMERA_6' ) NAIF_BODY_CODE += ( -2711306 ) NAIF_BODY_NAME += ( 'BGM1_CAMERA_7' ) NAIF_BODY_CODE += ( -2711307 ) NAIF_BODY_NAME += ( 'BGM1_CAMERA_8' ) NAIF_BODY_CODE += ( -2711308 ) NAIF_BODY_NAME += ( 'BGM1_CAMERA_9' ) NAIF_BODY_CODE += ( -2711309 ) NAIF_BODY_NAME += ( 'BGM1_CAMERA_10' ) NAIF_BODY_CODE += ( -2711310 ) \begintext End of FK file.