KPL/FK DART Frames Kernel =========================================================================== This frame kernel contains a complete set of frame definitions for the Double Asteroid Redirection Test (DART) including definitions for the DART structures and DART science instrument frames. This kernel also contains NAIF ID/name mapping for the DART instruments. Version and Date ------------------------------------------------------------------------ Version 010 -- November 30, 2023 -- Hari Nair, JHU/APL Fixed ASCII art diagram showing DRACO frame relative to DART_SPACECRAFT. Version 009 -- September 28, 2022 -- Hari Nair, JHU/APL Add switch frame for DART_DRACO to use DART_DRACO_TERMINAL after 2022 Sep 02. This requires SPICE toolkit versions N0067 or later. Remove references to object DART_DRACO. Valid values from the instrument kernel are DART_DRACO_1X1 with NAIF ID -135101 and DART_DRACO_2X2 with NAIF ID -135102. Version 008 -- July 22, 2022 -- Hari Nair, JHU/APL Add DART_DRACO_BASE frame in the frame tree diagram. Formatting changes: wrap all lines longer than 80 characters. Version 007 -- March 21, 2022 -- Hari Nair, JHU/APL Add DRACO alignment matrix derived from star calibrations. From MOCNAV-ICI-227 dated March 17, 2022. Add name/id code pairs for DART thrusters and LICIACube mount. Version 006 -- November 17, 2021 -- Ian Murphy, JHU/APL Revised solar array +Y and -Y and HGA frames to align with current GNC frame definitions. Removed unnecessary intermediate FIXED gimbal frames. Minor corrections to DART_SPACECRAFT axes definitions. Version 005 -- September 20, 2021 -- Marc Costa Sitja, NAIF/JPL -- Hari Nair, JHU/APL Added several sections, frame definitions and s/c diagrams. Updated solar array and HGA frame names and added frames to the frame chain. Version 004 -- July 9, 2021 -- Ian Wick Murphy, JHU/APL Contains the s/c, SA, HGA and DRACO reference frames. References ------------------------------------------------------------------------ 1. ``Frames Required Reading'' 2. ``Kernel Pool Required Reading'' 3. ``C-Kernel Required Reading'' Contact Information ------------------------------------------------------------------------ Ian Wick Murphy JHU/APL, ian.murphy@jhuapl.edu Hari Nair, JHU/APL, hari.nair@jhuapl.edu Marc Costa Sitja, NAIF/JPL, Marc.Costa.Sitja@jpl.nasa.gov Implementation Notes ------------------------------------------------------------------------ This file is used by the SPICE system as follows: programs that make use of this 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 ( 'kernel_name; ) -- FORTRAN furnsh_c ( "kernel_name" ); -- C cspice_furnsh, kernel_name -- IDL cspice_furnsh( 'kernel_name' ) -- MATLAB In order for a program or routine to extract data from the pool, the SPICELIB routines GDPOOL, GIPOOL, and GCPOOL are used. See [2] for more details. This file was created and may be updated with a text editor or word processor. DART NAIF ID Codes -- Summary Section ------------------------------------------------------------------------ The following names and NAIF ID codes are assigned to the DART s/c, its structures and science instruments (the keywords implementing these definitions are located in the section "DART NAIF ID Codes -- Definition Section" at the end of this file): DART and DART Structures names/IDs: ----------------------------------- DART -135 DART_SOLARARRAY_POS -135001 DART_SOLARARRAY_NEG -135002 DART_HIGH_GAIN_ANTENNA -135003 DART_THRUSTER_A1 -135201 DART_THRUSTER_A2 -135202 DART_THRUSTER_A3 -135203 DART_THRUSTER_A4 -135204 DART_THRUSTER_B1 -135211 DART_THRUSTER_B2 -135212 DART_THRUSTER_B3 -135213 DART_THRUSTER_B4 -135214 DART_THRUSTER_C1 -135221 DART_THRUSTER_C2 -135222 DART_THRUSTER_C3 -135223 DART_THRUSTER_C4 -135224 DART_LICIA_MOUNT -135300 DRACO names/IDs: ---------------- DART_DRACO_1X1 -135101 DART_DRACO_2X2 -135102 DART Frames ------------------------------------------------------------------------ The following DART frames are defined in this kernel file: Name Relative to Type NAIF ID ====================== =================== ============ ======= DART Spacecraft and Spacecraft Structures frames: ------------------------------------------------- DART_SPACECRAFT J2000 CK -135000 DART_SOLARARRAY_POS DART_SPACECRAFT CK -135001 DART_SOLARARRAY_NEG DART_SPACECRAFT CK -135002 DART_HIGH_GAIN_ANTENNA DART_SPACECRAFT CK -135003 DRACO frames: ------------------------------------------------ DART_DRACO DART_SPACECRAFT FIXED -135100 DART Frames Hierarchy ------------------------------------------------------------------------ The diagram below shows the DART spacecraft, its structures, and its science instrument frame hierarchy. "J2000" INERTIAL +-------------------------------------------------------+ | | | | |<-pck |<-ck |<-pck |<-pck V | V V "EARTH_FIXED" | "IAU_DIMORPHOS" "IAU_DIDYMOS" ------------- | --------------- ------------- | | | | |<-fixed |<-fixed | | | | V V | "DIMORPHOS_FIXED" "DIDYMOS_FIXED" | ----------------- --------------- V "DART_SPACECRAFT" +---------------------------------------------------+ | | | | |<-ck |<-fixed |<-ck |<-ck V | V V "DART_HIGH_GAIN_ANTENNA" | "DART_SOLARARRAY_POS" "DART_SOLARARRAY_NEG" ---------------------- | ------------------- ------------------- | | V "DART_DRACO_BASE" ----------------- | |<-fixed | V "DART_DRACO" ------------ DART Spacecraft and Spacecraft Structures Frames ------------------------------------------------------------------------------- This section of the file contains the definitions of the spacecraft and spacecraft structures frames. DART Spacecraft Bus Frame ----------------------------------------------------------- The spacecraft bus frame -- DART_SPACECRAFT -- is defined by the s/c design as follows: - +X axis is normal to the #2 bus panel. - +Z axis is normal to the forward (payload) deck (#6 panel) - +Y axis is normal to the #1 panel and completes the right handed coordinate system. - the origin of the frame is at the center of the engine deck. These diagrams illustrate the s/c frame: +X side view: ------------- +Zsc ___ |___^___| Main Engine / | \ .-----|-----. .===\ \==========='. .------ |-------. .'============\ \===. || / / || | | | || / / || || / / || \.---------- o--------> -./ || / / || || / / || | +Xsc +Ysc | || / / || || \ \ || | | || \ \ || || / / || | .''''. || / / || || \ \ || | ' '|| \ \ || || / / ||===@| | HGA || / / || || \ \ || | ' '|| \ \ || || / / || | '....' || / / || || \ \ || | : | || \ \ || || / / || | ::: | || / / || || \ \ || /`-----..---.------------'\ || \ \ || || / / || || | | || / / || '===\ \===========.' '-===-------' '.============\ \===' -Y Solar Array |_______| +Y Solar Array Payload Deck | | toward asteroid v +Xsc is out of the page. +Z side view (Main Engine): --------------------------- o |.------. /'@--o============/ /==o .-----------------------. +Y solar array | 0| | .-'''-. | | .' .. '. | | / +Zsc `. +Ysc | | | | o--------> | Star | \ '. | .' | Tracker | '. ` | ' Main | / >| '---|- engine |_ / |0 | 0|_=/ HGA `-----------v-----------' / o==/ /==========o>--@./ +Xsc / -Y solar array +Zsc is out of the page. -X side view: ------------- ^ | Toward asteroid Payload | Deck _______ | | .===\ \==========='. .-----------. .'============\ \===. || / / || | +Xsc | || || / / || || / / || \.---------- x--------> -./ || / / || || / / || | | ::: +Ysc | || / / || || \ \ || | | : | || \ \ || || / / || | | |''. || / / || || \ \ || | v |HGA'|| \ \ || || / / ||===@| +Zsc |@===|| / / || || \ \ || | | '|| \ \ || || / / || | |..' || / / || || \ \ || | | || \ \ || || / / || | | || / / || || \ \ || /`-----------------------'\ || \ \ || || / / || | | || / / || '===\ \===========.' '---------------' '.============\ \===' -Y Solar Array '---------' +Y Solar Array \_______/ |_______| Main Engine +Xsc is inside the page. +Y side view: ------------- +Y Solar Array :=======================================: | | \.____________@=======@____________./ .---| |--. Payload .-| | |--' deck +Zsc .'| | | |---. .--| | | | | |--. <----------o +Ysc | | | -----> Toward '--| | | | | |--' asteroid Main '.| | | ... |---' Engine '-| | .' '. |--. '---|___________' HGA '___________|--' v '. .' \ +Xsc |' ... '| :======================================: -Y Solar Array +Ysc is out of the page. -Z side view (Payload): ----------------------- o o==/ /==========o--@'\ .------.| +Y solar array .-----------------------. | .---. Battery | | | | |< Star | '---' .. Draco | Tracker +Ysc +Zsc `. | | <--------x | | | '. | .' | | ` | ' .---. | | | | | | | | '---' | `-----------v-----------' +Xsc \.@--o============/ /==o -Y solar array +Zsc is into the page. Since the S/C bus attitude is provided by a C kernel (see [3] for more information), this frame is defined as a CK-based frame. \begindata FRAME_DART_SPACECRAFT = -135000 FRAME_-135000_NAME = 'DART_SPACECRAFT' FRAME_-135000_CLASS = 3 FRAME_-135000_CLASS_ID = -135000 FRAME_-135000_CENTER = -135 CK_-135000_SCLK = -135 CK_-135000_SPK = -135 \begintext Solar Array Frames ------------------------------------------------------------------------ DART solar arrays are articulated (having one degree of freedom), therefore the Solar Array frames, DART_SOLARARRAY_POS and DART_SOLARARRAY_NEG, are defined as CK frames with their orientation given relative to DART_SPACECRAFT. The orientation of these frames is provided by the mechanical gimbal angle given by each SADA potentiometer. Given that the solar arrays are initially folded in the ROSA (Roll Out Solar Array) mechanism, and are deployed after launch, the gimbal reference frames are defined with respect to the ROSA reference frames. The accounts for a portion of the rotation from body frame to solar array frame. There is a further 30 deg rotation on each gimbal due to mounting constraints. The ROSA frames are on opposite sides of the s/c and are not aligned relative to the spacecraft body axes. The current position of the ROSA frame for each solar array can be computed in terms of the mechanical gimbal angle as follows: c(a) = cos(a); cd(a) = cosd(a) s(a) = sin(a); sd(a) = sind(a) ap = +Y SADA angle; am = -Y SADA angle. SA-Y: .- -. .- -. .- -. | X | | 0 -s(am-30) -c(am-30) | | X | | Y | = | -1 0 0 | | Y | | Z | | 0 c(am-30) -s(am-30) | | Z | `- -' S/C `- -' `- -' SA-Y SA+Y: .- -. .- -. .- -. | X | | 0 s(ap-30) c(ap-30) | | X | | Y | = | 1 0 0 | | Y | | Z | | 0 c(ap-30) -s(ap-30) | | Z | `- -' S/C `- -' `- -' SA+Y Note, the subtraction of 30 accounts for a 30 deg (pi/6 rad) clocking applied to each SADA due to mounting restrictions. Both Solar Array frames (DART_SOLARARRAY_POS and DART_SOLARARRAY_NEG) are defined as follows: - +X extends along the rotation axis of the gimbal and a counter-clockwise rotation about this axis produces a positive angle increase relative to the gimbal potentiometer; - +Y is the sun-positive normal vector that is to be aligned with the spacecraft-to-sun vector; - +Z completes the right-handed frame; - the origin of the frame is located at the yoke geometric center. This diagram illustrates the DART_SOLARARRAY_POS and DART_SOLARARRAY_NEG frames. Both solar arrays are at a gimbal angle of 30 deg, and their +Z axes align with the DART_SPACECRAFT +Z axis. (denoted sa_pos, sa_neg) +Z side view: ------------- +Ysa_pos ^ | | | o | +Xsa_pos |.------. +Zsa_pos/'o---------> ====/ /==o .-----------------------. | 0| | .-'''-. | | .' .. '. | | / +Zsc `. +Ysc | | | | o--------> | Star | \ `. | ' | Tracker | '. ` | ' Main | / >| '---|- engine |_ / | | 0|_=/ HGA +Xsa_neg .-----------v-----------' / o==/ /=== <---------o/+Zsa_neg +Xsc / -Y solar array | | +Zsc, +Zsa_pos, and +Zsa_neg | are out of the page. | v +Ysa_neg These sets of keywords define solar array frames: \begindata FRAME_DART_SOLARARRAY_POS = -135001 FRAME_-135001_NAME = 'DART_SOLARARRAY_POS' FRAME_-135001_CLASS = 3 FRAME_-135001_CLASS_ID = -135001 FRAME_-135001_CENTER = -135 CK_-135001_SCLK = -135 CK_-135001_SPK = -135 FRAME_DART_SOLARARRAY_NEG = -135002 FRAME_-135002_NAME = 'DART_SOLARARRAY_NEG' FRAME_-135002_CLASS = 3 FRAME_-135002_CLASS_ID = -135002 FRAME_-135002_CENTER = -135 CK_-135002_SCLK = -135 CK_-135002_SPK = -135 \begintext High-Gain Antenna Frames ------------------------------------------------------------------------ The DART High Gain Antenna is attached to the s/c bus +Y panel by a gimbal providing one degree of freedom to articulate during flight to track the Earth. The HGA frame is first rotated 52.47 degrees counter-clockwise about the the s/c +Z axis. This intermediate frame is denoted as the ``self'' frame. Then, a second rotation of +30 degrees about the ``self`` frame +Y axis is performed to reach the final alignment, denoted as the ``gimbal`` frame. As the gimbal rotates, the ``HGA`` frame -- DART_HIGH_GAIN_ANTENNA --, representing the current orientation of the antenna boresight, can be computed in terms of the mechanical gimbal angle, a, as follows: c(a) = cos(a); cd(a) = cosd(a) s(a) = sin(a); sd(a) = sind(a) HGA: S2SC G2S HGA2G .- -. .- -. .- -. .- -. | X | | cd(52.47) -sd(52.47) 0 | | c(30) 0 s(30) | | c(a) 0 s(a) | | Y | = | sd(52.47) cd(52.47) 0 | * | 0 1 0 | * | 0 1 0 | | Z | | 0 0 1 | | -s(30) 0 c(30) | | s(a) 0 c(a) | `- -' `- -' `- -' `- -' S/C The DART_HIGH_GAIN_ANTENNA frame is defined as follows: - +X axis is aligned with the boresight of the antenna and is to be aligned with the spacecraft-to-earth vector; - +Y axis extends along the rotation axis of the gimbal, and a counter-clockwise motion about this axis produces a positive angle increase relative to the gimbal potentiometer; - +Z axis completes the right hand frame; - the origin of the frame is located at the phase center (theoretical and nominal location). The HGA angle ranges from 0 degrees at the lower hardstop (launch-lock) position, to -55 degrees at the upper range of motion. Note, lower and upper are used in reference to the s/c +Z axis: in the lower hardstop position (0 deg), the antenna boresight has the largest -Z component relative to the DART_SPACECRAFT frame. At the upper range of motion (-55 deg), the antenna boresight has the largest +Z component relative to the DART_SPACECRAFT frame. In operations, due to protective limits placed on the control, the angle will gimbal angle will never rise above -3 deg or go below -52 deg. This diagram illustrates the DART HGA frame chain when the gimbal boresight is directly in the x-y plane of DART_SPACECRAFT. This corresponds to a gimbal angle of -30 deg. (denoted hga) +Z side view: ------------- o |.------. /'@--o============/ /==o .-----------------------. +Y solar array | 0| | .-'''-. | | .' .. '. | | / +Zsc `. +Ysc | +Yhga | | | o--------> | . Star | \ `. | ^ . Tracker | '. ` | ' .' `.| / >| '--.|.-' `. / +Zhga |0 | 0|_'o'. `-----------v-----------' / ' .+Xhga o==/ /==========o>--@./ +Xsc / HGA ' -Y solar array +Zsc and +Zhga are out of the page. This set of keywords defines the HGA frames: \begindata FRAME_DART_HIGH_GAIN_ANTENNA = -135003 FRAME_-135003_NAME = 'DART_HIGH_GAIN_ANTENNA' FRAME_-135003_CLASS = 3 FRAME_-135003_CLASS_ID = -135003 FRAME_-135003_CENTER = -135 CK_-135003_SCLK = -135 CK_-135003_SPK = -135 \begintext DRACO Frame ------------------------------------------------------------------------ The Didymos Reconnaissance and Asteroid Camera for OpNav (DRACO) frame -- DART_DRACO -- is defined by the camera design as follows: - +Z axis is co-aligned with the s/c +Z axis. The camera boresight is along the s/c -Z axis. - +X axis is nominally rotated 135 degrees around the s/c +Z axis - +Y axis completes the right hand frame - the origin of the frame is at the camera focal point. This diagram illustrates the camera frames: -Z side view (Payload): ----------------------- o o==/ /==========o--@'\ .------.| +Y solar array -Ydraco -----------------. | ^ .> +Xdraco | | '. .' |< Star | '---'. .. .' | Tracker +Ysc '. .' | | <--------x' +Zdraco | | '. | +Zdart | | ' | ' .---. | | | | | | | | '---' | `-----------v-----------' +Xsc \.@--o============/ /==o -Y solar array +Zsc and +Zdraco are into the page. +X side view: ------------- +Zsc ___ |___^___| Main Engine / | \ .-----|-----. .===\ \==========='. .------ |-------. .'============\ \===. ||__ / /__________|| | | | ||____________/ /__|| || / / || \.---------- o--------> -./ || / / || || / / || | +Xsc +Ysc | || / / || || \ \ || | | || \ \ || || / / || | .''''. || / / || || \ \ || | ' '|| \ \ || || / / ||===@| | HGA || / / || || \ \ || | ' '|| \ \ || || / / || | '._ .' || / / || || \ \ || | : +Zdraco | || \ \ || || / / || | ::: ^ | || / / || ||__\ \___________|| /`-----..---.|-----------'\ ||____________\ \__|| || / / || || || | || / / || '===\ \===========.' '-===-|-----' '.============\ \===' -Y Solar Array |___o___| +Y Solar Array +Xsc is out of the page. The DART_DRACO_BASE frame is the ideal, intended orientation of the DART_DRACO frame to DART_SPACECRAFT. \begindata FRAME_DART_DRACO_BASE = -135101 FRAME_-135101_NAME = 'DART_DRACO_BASE' FRAME_-135101_CLASS = 4 FRAME_-135101_CLASS_ID = -135101 FRAME_-135101_CENTER = -135 TKFRAME_-135101_SPEC = 'MATRIX' TKFRAME_-135101_RELATIVE = 'DART_SPACECRAFT' TKFRAME_-135101_MATRIX = ( -0.707107, -0.707107, 0.0, 0.707107, -0.707107, 0.0, 0.0, 0.0, 1.0 ) \begintext The DART_DRACO_CRUISE frame is based on star calibrations and represents the orientation of the true DART_DRACO frame to DART_DRACO_BASE. \begindata FRAME_DART_DRACO_CRUISE = -135102 FRAME_-135102_NAME = 'DART_DRACO_CRUISE' FRAME_-135102_CLASS = 4 FRAME_-135102_CLASS_ID = -135102 FRAME_-135102_CENTER = -135 TKFRAME_-135102_SPEC = 'MATRIX' TKFRAME_-135102_RELATIVE = 'DART_DRACO_BASE' TKFRAME_-135102_MATRIX = ( 9.999809593534547e-01, 4.860188998885242e-03, 3.802564061190165e-03 -4.872961812996770e-03, 9.999824923207679e-01, 3.356977079834627e-03 -3.786181944045400e-03,-3.375442910282243e-03, 9.999871355229756e-01 ) \begintext The DART_DRACO_TERMINAL frame was used during terminal operations, based on the expected thermal environment. It was uploaded to the spacecraft on 2022 Sep 02. \begindata FRAME_DART_DRACO_TERMINAL = -135103 FRAME_-135103_NAME = 'DART_DRACO_TERMINAL' FRAME_-135103_CLASS = 4 FRAME_-135103_CLASS_ID = -135103 FRAME_-135103_CENTER = -135 TKFRAME_-135103_SPEC = 'QUATERNION' TKFRAME_-135103_RELATIVE = 'DART_SPACECRAFT' TKFRAME_-135103_Q = ( 0.385006657984158, -0.00114441056377788, -0.00232570706525416, -0.922910155280013 ) \begintext The DART_DRACO frame is defined as a switch frame, where the cruise frame is used before 2022 Sep 02 and the terminal frame is used after that date. \begindata FRAME_DART_DRACO = -135100 FRAME_-135100_NAME = 'DART_DRACO' FRAME_-135100_CLASS = 6 FRAME_-135100_CLASS_ID = -135100 FRAME_-135100_CENTER = -135 FRAME_-135100_ALIGNED_WITH = ( 'DART_DRACO_CRUISE' 'DART_DRACO_TERMINAL' ) FRAME_-135100_START = ( @2021-NOV-27/12:00:00 @2022-SEP-02/00:00:00 ) FRAME_-135100_STOP = ( @2022-SEP-02/00:00:00 @2022-SEP-27/00:00:00 ) \begintext Thruster positions ------------------------------------------------------------------------ There are three sets of four thrusters on the spacecraft. The positions of the nozzle exit in mm from the spacecraft center of mass in the spacecraft frame are tabulated below. This information is captured in the DART structure SPK. Component ID X (mm) Y (mm) Z (mm) ---------------- ------- ------ ------ ------ DART_THRUSTER_A1 -135201 683.95 285.01 1548.38 DART_THRUSTER_A2 -135202 -683.95 285.01 1548.38 DART_THRUSTER_A3 -135203 -683.95 -285.01 1548.38 DART_THRUSTER_A4 -135204 683.95 -285.01 1548.38 DART_THRUSTER_B1 -135211 683.95 285.01 96.01 DART_THRUSTER_B2 -135212 -683.95 285.01 96.01 DART_THRUSTER_B3 -135213 -683.95 -285.01 96.01 DART_THRUSTER_B4 -135214 683.95 -285.01 96.01 DART_THRUSTER_C1 -135221 679.02 389.97 1581.17 DART_THRUSTER_C2 -135222 -679.02 389.97 1581.17 DART_THRUSTER_C3 -135223 -679.02 -389.97 1581.17 DART_THRUSTER_C4 -135224 679.02 -389.97 1581.17 DART NAIF ID Codes -- Definitions ===================================================================== This section contains name to NAIF ID mappings for the DART mission. Once the contents of this file are loaded into the KERNEL POOL, these mappings become available within SPICE, making it possible to use names instead of ID code in high level SPICE routine calls. \begindata NAIF_BODY_NAME += ( 'DART' ) NAIF_BODY_CODE += ( -135 ) NAIF_BODY_NAME += ( 'DART_SPACECRAFT' ) NAIF_BODY_CODE += ( -135000 ) NAIF_BODY_NAME += ( 'DART_SOLARARRAY_POS' ) NAIF_BODY_CODE += ( -135001 ) NAIF_BODY_NAME += ( 'DART_SOLARARRAY_NEG' ) NAIF_BODY_CODE += ( -135002 ) NAIF_BODY_NAME += ( 'DART_HIGH_GAIN_ANTENNA' ) NAIF_BODY_CODE += ( -135003 ) NAIF_BODY_NAME += ( 'DART_DRACO_1X1' ) NAIF_BODY_CODE += ( -135101 ) NAIF_BODY_NAME += ( 'DART_DRACO_2X2' ) NAIF_BODY_CODE += ( -135102 ) NAIF_BODY_NAME += ( 'DART_THRUSTER_A1' ) NAIF_BODY_CODE += ( -135201 ) NAIF_BODY_NAME += ( 'DART_THRUSTER_A2' ) NAIF_BODY_CODE += ( -135202 ) NAIF_BODY_NAME += ( 'DART_THRUSTER_A3' ) NAIF_BODY_CODE += ( -135203 ) NAIF_BODY_NAME += ( 'DART_THRUSTER_A4' ) NAIF_BODY_CODE += ( -135204 ) NAIF_BODY_NAME += ( 'DART_THRUSTER_B1' ) NAIF_BODY_CODE += ( -135211 ) NAIF_BODY_NAME += ( 'DART_THRUSTER_B2' ) NAIF_BODY_CODE += ( -135212 ) NAIF_BODY_NAME += ( 'DART_THRUSTER_B3' ) NAIF_BODY_CODE += ( -135213 ) NAIF_BODY_NAME += ( 'DART_THRUSTER_B4' ) NAIF_BODY_CODE += ( -135214 ) NAIF_BODY_NAME += ( 'DART_THRUSTER_C1' ) NAIF_BODY_CODE += ( -135221 ) NAIF_BODY_NAME += ( 'DART_THRUSTER_C2' ) NAIF_BODY_CODE += ( -135222 ) NAIF_BODY_NAME += ( 'DART_THRUSTER_C3' ) NAIF_BODY_CODE += ( -135223 ) NAIF_BODY_NAME += ( 'DART_THRUSTER_C4' ) NAIF_BODY_CODE += ( -135224 ) NAIF_BODY_NAME += ( 'DART_LICIA_MOUNT' ) NAIF_BODY_CODE += ( -135300 ) \begintext End of FK file.